A304 Following Performance to the Target Trajectory of Haptic Guidance Steering Control Feed-backing the Position of the Look Ahead Point

Abstract

The controller of haptic guidance steering control which assists a driver to steer smoothly is designed. In our previous works, the controller calculated the haptic steering torque from the error between the target trajectory and the center of gravity of the vehicle. In this study, driver model is considered to use the look ahead point instead of the center of gravity for the feedback. The experimental result using the moving-based driving simulator shows no significant improvement by using look ahead point. The control with strong feed-backing gain is wrong following performance to target trajectory.