  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.
