Human assist control considering shape of target system

Human operational errors, especially those that result in car crashes, are recognized as a significant issue in modern society. Recently, assistance with control systems operated by humans has generated interest in its detailed investigation. Previously, to avoid collisions with obstacles as a result of arbitrary human input, control barrier function‐based collision avoidance methods have been utilized. However, safety can only be guaranteed in the condition that a target system is a point. In this paper, we propose a new control barrier function that can guarantee the safety of the entire shape of the control target. We design a lane‐keeping assistance system that considers the shape of a target system for a rear‐wheel‐drive car with a control barrier function. The effectiveness of the proposed method is confirmed by computer simulation.