抄録
This paper proposes an operation assistance system that compensates for driving skills of elderly drivers and realizes good course tracing performance. This system consists of self-localization and assist torque calculator based on risk-potential that indicates the sense of danger that driver feels from road boundary. The shape of risk-potential is fixed by given road width and parameter study that uses maximum lateral acceleration as a basis. The assist torque is calculated from the lateral force that is obtained from the shape of risk-potential and the lateral displacement at the preview point. The amount of assistance will be determined by multiplying calculated assist torque and assist gain that indicates the ratio of assistance. In this paper, the assist gain is uniquely specified and the effectiveness of proposed operation assistance system is verified by conducting experiments of shared driving using the driving simulator in crosswind scenario.
