Modeling, Identification, and Predictive Control of a Driver Steering Assistance System

Ziya Ercan*, Ashwin Carvalho, Metin Gokasan, Francesco Borrelli

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


This paper presents the design of a driver steering assistance system, which provides a corrective torque in order to guide the driver. While designing such a system, it is important to consider the interactions since the driver modifies the transfer function from the control input to the output of interest during a shared steering task. The novelty of our approach lies in the formulation of the predictive controller, which employs a model of the driver-in-the-loop steering dynamics, where an online parameter identification scheme is proposed to track the time-varying parameters of the process. An optimal guidance torque is calculated with respect to the level of interaction using the updated model. We validate the proposed approach by performing an experimental study with five participants in a guided lane, keeping task under different interaction behaviors of participants. The results show the system capability to adapt the control input based on the driver's acceptance on the torque intervention.

Original languageEnglish
Article number8031985
Pages (from-to)1-11
Number of pages11
JournalIEEE Transactions on Human-Machine Systems
Issue number5
Publication statusPublished - Oct 2017

Bibliographical note

Publisher Copyright:
© 2013 IEEE.


Manuscript received June 24, 2016; revised November 9, 2016, January 16, 2017, and March 29, 2017; accepted May 29, 2017. The work of Z. Ercan was supported by a scholarship provided by the Scientific and Technological Research Council of Turkey between 2015 and 2016. This paper was recommended by Associate Editor R. Toledo. (Corresponding author: Ziya Ercan.) Z. Ercan and M. Gokasan are with the Department of Control and Automation Engineering, Istanbul Technical University, Istanbul 34467, Turkey (e-mail:;

FundersFunder number
Türkiye Bilimsel ve Teknolojik Araştirma Kurumu


    • Haptic guidance systems
    • human-machine interaction
    • model predictive control (MPC)
    • motor driven power steering system (MDPS)
    • recursive parameter estimation


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