Shared Steering Using Interpolating Control

This paper presents a novel shared steering control approach aimed at enhancing driver steering performance while adhering to system constraints. The proposed method employs an Interpolating Control (IC) approach to dynamically balance the influence between the human driver and the autonomous controller. Additionally, the methodology incorporates a Simple Interpolation Control (SIC), eliminating the need for online numerical optimization. The SIC generates a sub-optimal interpolation coefficient to weigh control inputs while maintaining system response within predefined constraints. Simulation results demonstrate that the controller improves driver performance across different characteristics when compared to scenarios without shared control.