A Lateral Control Method of Intelligent Vehicles Based on Shared Control

This paper studies the lateral control problem for intelligent vehicles based on concept of shared control. Considering participation drivers in loop, a control-based controller is designed, which consists two differed controllers: one an LQR-based autonomous driving and other driver’s intention-based fuzzy controller. For vehicle dynamic model with two-degrees freedom, LQR are designed. Then, constructed, integrates aforementioned controllers. Finally, co-simulation by MATLAB/Simulink Carsim presented. Furthermore, simulation results show that designed can track desired path better performance than