本研究主要針對駕駛模型不確定性所代表的駕駛因外在或內在因素，所造成的車輛駕駛轉向性能降低問題，提出發展一個轉向輔助控制器，期望使整體車輛駕駛性能達到並保持在理想駕駛操控的狀態。因此，本論文的目標在驗證是否可使用適應性控制法則來設計一個轉向輔助控制器，在駕駛操控車輛行進時，駕駛輔助適應性控制器能針對駕駛模型參數的不確定性進行修正，補償所應採取的控制動作，藉以解決駕駛模型中參數不確定因素所造成車輛轉向性能降低之可行性。由模擬分析和實驗結果可知控制器有發揮它的效能，在駕駛情況不佳時，改善車輛行駛狀況。

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