本文針對駕駛與輔助系統在車輛側向控制中因控制目標認知不同所導致的交互修正行為(衝突現象)進行探討與設計改善。首先針對控制器效能惡化所引起的衝突問題設計Robust MRAC轉向輔助控制器，其中包含以輸出誤差決定的補償輸入，藉此補償模型不確定性影響並增進系統穩健度。再針對駕駛與控制器欲追蹤路徑不同所引起之衝突進行初步簡易的控制權重調節器設計。最後藉由進行駕駛人模擬駕駛實驗來驗證控制器與調節器是否達到預期效果。根據模擬與實驗結果顯示，強健控制器在處理模型不確定性所造成的駕駛轉向性能降低問題上獲得成效，而與其他適應性輔助系統相較下也確實具有較佳的穩健度。另外在調節器初步設計部分，在較單純的駕駛情況下，當駕駛改變欲追蹤目標，調節器可藉由假設已知的外部系統所提供之駕駛狀態資訊，以調整駕駛與控制器間的控制權重來避免衝突發生，使車輛維持穩定表現。

This thesis is investigation of coordinating the conflict between the driver and a lane keeping assist controller. A robust model reference adaptive control that can compensate the model uncertainty for system is applied to the design of vehicle steering assist. The controller includes a compensate input to counteract the effect of the model uncertainty, and can enhance the robustness to prevent the conflict. Then design a control weighting shifter to prevent the conflict when the driver and the controller’s desired path were different. Preliminary simulation and experiments study indicates that these designs successfully prevent the conflict.

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