A Study on Shared Steering Control in Driving Experience Perspective: How Strong and How Soon Should Intervention Be?

TL;DR

This study investigates how different shared steering control strategies in lane keeping assistance systems affect driving experience, focusing on optimal intervention strength and timing to improve user satisfaction and trust.

Contribution

It introduces a systematic evaluation of nine control strategies in LKAS, identifying optimal torque and deviation parameters for enhanced driver experience.

Findings

Higher torque reduces lane deviation but may decrease trust and satisfaction.

Minimal deviation in control timing has little impact on subjective measures.

Optimal parameters identified as approximately 2.32 Nm torque and 0.27 m deviation.

Abstract

The lane keeping assistance system (LKAS), a representative of the advanced driver assistance system (ADAS), comprises a shared control that cooperates with the driver to achieve a common goal. The experience of the driver through the steering wheel may vary significantly depending on the steering control strategy of the system. In this study, we examine how driving experience changes according to various steering control strategies. Based on the preliminary study and typical LKAS parameters, nine control strategies (3 torque amounts (TOR) x 3 deviations to start control (DEV)) were designed as a prototype. Eighteen participants participated in evaluating each strategy in a highway environment provided by a driving simulator. Two-way repeated measure ANOVA was used to assess the effects of the system. Both the objective measures (standard deviation of lane position, steering reversal rate, and root mean square of lateral speed) and subjective measures (pleasure and arousal of emotion, trust, disturbance, and satisfaction) are analyzed. The experimental results demonstrate that all dependent measures are significant. As the TOR increased, SDLP decreased. However, no difference is observed between the 2-Nm and 3-Nm TOR in terms of trust and satisfaction. The high disturbance and negative emotion in 3 Nm appear to be the cause. In terms of the DEV, the high level of the root mean square of the lateral speed is observed at 0.8 m. Further, negative effects are found in pleasure, trust, and satisfaction. There is little difference at all dependent measures between 0.0-m and 0.4-m DEV. In the regression model analyzed from the aspect of satisfaction, the 2.32-Nm TOR and 0.27-m DEV are the optimal values. We expect our research on shared steering control with an assistance system to be applied to the experience design of a lateral semi-autonomous vehicle.