Data-driven Shared Steering Control Design for Lane Keeping

Mengzhe Huang, Weinan Gao, Yebin Wang, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


In this paper, we propose a shared steering control strategy for semi-autonomous vehicles by taking into account the interaction between the driver and his/her vehicle. The copilot controller cooperates with the driver and help maintain the vehicle in the central position of a lane. Taking advantage of the small-gain theory, the design procedure does not rely on the perfect knowledge of the model and states for the driver. An adaptive dynamic programming method is introduced to develop a shared controller in real-time using online measurable input-output data from vehicle sensors. The efficacy of the proposed shared steering controller is demonstrated by computer-based simulations.

Original languageEnglish (US)
Pages (from-to)155-160
Number of pages6
Journal2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
Issue number13
StatePublished - Jan 1 2018


  • Cooperative driving
  • adaptive dynamic programming (ADP)
  • human in the loop
  • steering control

ASJC Scopus subject areas

  • Control and Systems Engineering


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