Abstract
In this study, a vehicle dynamics controller for an active steering vehicle is designed using the concept of Smith compensation to mitigate the effect of the driver' s response time to the lane following characteristics. The design method is based on the explicit consideration of the response time so that the proposed controller is suitable for an aged driver who tends to react sluggishly. Numerical simulation results are provided to show the robustness of this approach to the modeling error of the response time. The behavior of the driver-vehicle system remains almost unchanged even when the controller is tuned for an aged driver and the vehicle is steered by a younger person who responds promptly within a typical dead time.
