  Haptic guidance in a shared steering assistance system has drawn significant
attention in intelligent vehicle fields, owing to its mutual communication
ability for vehicle control. By exerting continuous torque on the steering
wheel, both the driver and support system can share lateral control of the
vehicle. However, current haptic guidance steering systems demonstrate some
deficiencies in assisting lane changing. This study explored a new steering
interaction method, including the design and evaluation of an intention-based
haptic shared steering system. Such an intention-based method can support both
lane keeping and lane changing assistance, by detecting a driver lane change
intention. By using a deep learning-based method to model a driver decision
timing regarding lane crossing, an adaptive gain control method was proposed
for realizing a steering control system. An intention consistency method was
proposed to detect whether the driver and the system were acting towards the
same target trajectories and to accurately capture the driver intention. A
driving simulator experiment was conducted to test the system performance.
Participants were required to perform six trials with assistive methods and one
trial without assistance. The results demonstrated that the supporting system
decreased the lane departure risk in the lane keeping tasks and could support a
fast and stable lane changing maneuver.
