Lane Keeping SOSM Controller with an Adaptive Automation Authority in Shared Driving Control

The work presented in this paper focuses on the development of an adaptive control authority for shared driving control. The aim is to permit the driver to steer momentarily the vehicle over the assistance device without deactivating it especially in case of lane change or obstacle avoidance. Based on second order sliding mode control technique, a steering assistance action is calculated including the driver’s behavior to ensure a lane keeping and increase the shared driving control performances. Simulation tests are effectuated to show the effeteness of the adopted method to deal with disturbance and many specific driving maneuvers.