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Haptic guidance in a shared steering assistance system has drawn significantattention in intelligent vehicle fields, owing to its mutual communicationability for vehicle control. By exerting continuous torque on the steeringwheel, both the driver and support system can share lateral control of thevehicle. However, current haptic guidance steering systems demonstrate somedeficiencies in assisting lane changing. This study explored a new steeringinteraction method, including the design and evaluation of an intention-basedhaptic shared steering system. Such an intention-based method can support bothlane keeping and lane changing assistance, by detecting a driver lane changeintention. By using a deep learning-based method to model a driver decisiontiming regarding lane crossing, an adaptive gain control method was proposedfor realizing a steering control system. An intention consistency method wasproposed to detect whether the driver and the system were acting towards thesame target trajectories and to accurately capture the driver intention. Adriving simulator experiment was conducted to test the system performance.Participants were required to perform six trials with assistive methods and onetrial without assistance. The results demonstrated that the supporting systemdecreased the lane departure risk in the lane keeping tasks and could support afast and stable lane changing maneuver.

Intention-Based Lane Changing and Lane Keeping Haptic Guidance Steering System