The Shared Steering Controller Inspired by the Neuromuscular System of Drivers

The steering model of driver is very important for study man-machine shared driving and that neuromuscular system is an important part of driver's steering model. This paper proposed a steering controller for imitating driver's neuromuscular system, which describes characteristics of neuromuscular system, For example, we describing steering force of driver as a result of combination of actuation regulator and impedance regulator. Actuation regulator describes exerting forces on steering wheel, impedance regulator imitates the muscle contraction to against external force disturbances. Afterwards, based on anthropomorphic steering controller model, we further explain its promising application in man-machine shared driving because of improving the safety of shared driving and reducing the risk of lane departure caused by driver. At last, we simulated double lane change test to validate the performance of ADRC controller through set up corresponding models of controller and neuromuscular system in MATLAB and built vehicle model in CarSim. The next work we will do some experiments on driving simulator to evaluate the real-time performance of the controller.