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This work focuses on the shared-control of vehicle lateral dynamics, proposing a control architecture that can help the driver following the desired trajectory in dangerous situations. To do this, a novel shared-control formulation is presented, in which the assistance and the driver steering torques are adaptively weighted to dynamically change the control authority share between driver and controller. Simulations in the CarSim multibody simulation environment favorably witness the effectiveness of the overall approach.
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Borroni et al. (2018) studied this question.
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