A fault adaptive LPV shared control for driver assistance using advanced fault estimators

• Estimating driver performance from steering behavior. • Observer-based methods for dedicating and reconstructing time-varying driver faults. • Adaptive shared control scheduled by real-time driver performance monitoring • Improving Lane keeping through linear parameter-varying control function of vehicle speed and driver performance. • Simulations and experiments results validate the proposed shared-control strategy. This paper introduces a fault-adaptive shared control approach for driver assistance in semi-automated vehicles. The difference between an ideal and an actual driver is estimated using two methods: a descriptor H ∞ filter and a cascaded Luenberger observer with a linear filter. Unlike related works, the proposed estimation strategies accurately reconstruct the time-varying deviations, considered as a fault, without using restrictive assumptions. The estimated driver deviation is then used in a linear parameter-varying controller scheduled by longitudinal velocity and driver performance, improving steering assistance and overall tracking accuracy. The proposed methods are validated using simulations and in an experimental scaled platform.