Abstract
Driver assistance system that uses a steering torque as a control input has an advantage that the system can be intervened by driver. Therefore, this system is expected to assist the driver in controlling vehicle and reduce driver's workload. This paper proposes a lane-keeping assistance system that uses steering torque as a control input. The cooperative control performance of the driver and this system at different levels of assistance was proved by computer simulation and experiment using driving simulator. The results show that this system can reduce the driver workload and also slightly improve the lane-keeping performance.
