@article{ref1,
title="Cooperative copilot with active steering assistance for vehicle lane keeping",
journal="International journal of vehicle design",
year="1998",
author="Hsu, J. C. and Chen, Wan-Lin and Shien, KH and Yeh, EC",
volume="19",
number="1",
pages="78-107",
abstract="A new vehicular steering system named cooperative copilot is developed for assisting the driver to keep vehicle in the lane safely. The concept is to construct a steering control system with driver and copilot operating at the same time, and the developed copilot can monitor the driver's control actions and correct them as necessary. The copilot can generate the bounds of feasible steering angle by a specially designed controller, and it can determine whether the appropriate steering correction should be applied. The previewed road curvatures are utilized and shaped as control references by a developed guidance law to reduce vehicular lateral acceleration, and the vehicle motion variables and road width are also employed for generating suitable zone of steering angle. A fixed-based driving simulator is used to examine the performance of the developed cooperative copilot and how it works with a human driver in the driving system.<p />",
language="en",
issn="0143-3369",
doi="",
url="http://dx.doi.org/"
}