Shared control of highly automated vehicles using steer-by-wire systems

A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver &#x02BC s abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control &#x0028 MPC &#x0029 controller driving the vehicle along an optimal safe path. The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver &#x02BC s abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.