A Method to Improve Stability of Adaptive Steering Driver-Vehicle Systems

We have developed an adaptive steering controller achieving good tracking performance. However, we have designed an ideal vehicle model in disregard of the variations of the driver properties. For the variations of the driver properties, if an adequate ideal vehicle model can be designed, the better handling stability of the adaptive driver-combined-vehicle systems can be realized. In this paper, we propose a scheme to design an ideal vehicle model adequate for the variations of the driver properties. Finally, it is shown by carrying out numerical simulations that the designed ideal vehicle model is very effective.