{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,27]],"date-time":"2026-06-27T20:30:15Z","timestamp":1782592215052,"version":"3.54.5"},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2025,10,3]],"date-time":"2025-10-03T00:00:00Z","timestamp":1759449600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,10,3]],"date-time":"2025-10-03T00:00:00Z","timestamp":1759449600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["SN COMPUT. SCI."],"DOI":"10.1007\/s42979-025-04384-5","type":"journal-article","created":{"date-parts":[[2025,10,3]],"date-time":"2025-10-03T11:01:01Z","timestamp":1759489261000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Fault Tolerant Shared Control for Cooperative Lane-Keeping Systems of Highly Automated Steer-by-Wire Vehicle"],"prefix":"10.1007","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-2991-0394","authenticated-orcid":false,"given":"Mohammed","family":"Boudaoud","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chouki","family":"Sentouh","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cindy","family":"Cappelle","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maan El Badaoui","family":"El Najjar","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jean-Christophe","family":"Popieul","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,10,3]]},"reference":[{"key":"4384_CR1","unstructured":"Hoeger R, Amditis A, Kunert M, Hoess A, Flemisch F, Krueger H-P, Bartels A, Beutner A, Pagle K. Highly automated vehicles for intelligent transport: Haveit approach. In: ITS World Congress, NY, USA 2008."},{"key":"4384_CR2","unstructured":"Flemisch F, Schindler J, Kelsch J, Schieben A, Damb\u00f6ck D. Some bridging methods towards a balanced design of human-machine systems, applied to highly automated vehicles. Applied Ergonomics International Conference 2008."},{"issue":"5","key":"4384_CR3","doi-asserted-by":"publisher","first-page":"1186","DOI":"10.1109\/TVT.2002.800617","volume":"51","author":"R Rajamani","year":"2002","unstructured":"Rajamani R, Zhu C. Semi-autonomous adaptive cruise control systems. IEEE Trans Veh Technol. 2002;51(5):1186\u201392.","journal-title":"IEEE Trans Veh Technol"},{"key":"4384_CR4","doi-asserted-by":"crossref","unstructured":"Oudainia MR, Sentouh C, Nguyen A-T, Popieul J-C. Adaptive cost function-based shared driving control for cooperative lane-keeping systems with user-test experiments. IEEE Trans Intell Veh. 2023;9(1):304\u2013314.","DOI":"10.1109\/TIV.2023.3317979"},{"key":"4384_CR5","doi-asserted-by":"publisher","unstructured":"Glida HE, Oudainia MR, Sentouh C, Popieul J-C. A new model-free shared control for lane-keeping assist system: theory and experimental validation. IEEE Trans Intell Veh. 2024. https:\/\/doi.org\/10.1109\/TIV.2024.3445176.","DOI":"10.1109\/TIV.2024.3445176"},{"key":"4384_CR6","unstructured":"Schieben A, Temme G, K\u00f6ster F, Flemisch F. How to interact with a highly automated vehicle. Generic interaction design schemes and test results of a usability assessment. Human Cent Autom. 2011;251\u2013267. https:\/\/elib.dlr.de\/71999\/."},{"key":"4384_CR7","unstructured":"Altby A, Majdanzic D. Design and implementation of a fault-tolerant drive-by-wire system. 2014. https:\/\/hdl.handle.net\/20.500.12380\/208025"},{"key":"4384_CR8","doi-asserted-by":"crossref","unstructured":"Miller D, Sun A, Johns M, Ive H, Sirkin D, Aich S, Ju W. Distraction becomes engagement in automated driving. In: Proceedings of the Human Factors and Ergonomics Society Annual Meeting, 2015;vol. 59, pp. 1676\u20131680. Sage Publications Sage CA: Los Angeles, CA","DOI":"10.1177\/1541931215591362"},{"issue":"2","key":"4384_CR9","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1080\/1463922021000054335","volume":"5","author":"DB Kaber","year":"2004","unstructured":"Kaber DB, Endsley MR. The effects of level of automation and adaptive automation on human performance, situation awareness and workload in a dynamic control task. Theor Issues Ergon Sci. 2004;5(2):113\u201353.","journal-title":"Theor Issues Ergon Sci"},{"issue":"3","key":"4384_CR10","doi-asserted-by":"publisher","first-page":"404","DOI":"10.1518\/001872008X288547","volume":"50","author":"JD Lee","year":"2008","unstructured":"Lee JD. Review of a pivotal human factors article:\u201chumans and automation: use, misuse, disuse, abuse\u2019\u2019. Hum Factors. 2008;50(3):404\u201310.","journal-title":"Hum Factors"},{"issue":"5","key":"4384_CR11","doi-asserted-by":"publisher","first-page":"991","DOI":"10.1006\/ijhc.1999.0252","volume":"51","author":"LJ Skitka","year":"1999","unstructured":"Skitka LJ, Mosier KL, Burdick M. Does automation bias decision-making? Int J Hum Comput Stud. 1999;51(5):991\u20131006.","journal-title":"Int J Hum Comput Stud"},{"issue":"2","key":"4384_CR12","doi-asserted-by":"publisher","first-page":"410","DOI":"10.1109\/JAS.2019.1911384","volume":"6","author":"C Huang","year":"2019","unstructured":"Huang C, Naghdy F, Du H, Huang H. Shared control of highly automated vehicles using steer-by-wire systems. IEEE\/CAA J Autom Sin. 2019;6(2):410\u201323.","journal-title":"IEEE\/CAA J Autom Sin"},{"issue":"12","key":"4384_CR13","doi-asserted-by":"publisher","first-page":"7671","DOI":"10.1109\/TIE.2016.2590993","volume":"63","author":"SK Kommuri","year":"2016","unstructured":"Kommuri SK, Defoort M, Karimi HR, Veluvolu KC. A robust observer-based sensor fault-tolerant control for pmsm in electric vehicles. IEEE Trans Industr Electron. 2016;63(12):7671\u201381.","journal-title":"IEEE Trans Industr Electron"},{"issue":"2","key":"4384_CR14","doi-asserted-by":"publisher","first-page":"792","DOI":"10.1109\/TITS.2019.2956936","volume":"22","author":"J Xiong","year":"2019","unstructured":"Xiong J, Cheong JW, Xiong Z, Dempster AG, Tian S, Wang R. Integrity for multi-sensor cooperative positioning. IEEE Trans Intell Transp Syst. 2019;22(2):792\u2013807.","journal-title":"IEEE Trans Intell Transp Syst"},{"issue":"5","key":"4384_CR15","doi-asserted-by":"publisher","first-page":"4319","DOI":"10.1109\/TITS.2020.3043485","volume":"23","author":"F Khelladi","year":"2020","unstructured":"Khelladi F, Boudali M, Orjuela R, Cassaro M, Basset M, Roos C. An emergency hierarchical guidance control strategy for autonomous vehicles. IEEE Trans Intell Transp Syst. 2020;23(5):4319\u201330.","journal-title":"IEEE Trans Intell Transp Syst"},{"issue":"9","key":"4384_CR16","doi-asserted-by":"publisher","first-page":"1513","DOI":"10.3390\/electronics9091513","volume":"9","author":"A Abbaspour","year":"2020","unstructured":"Abbaspour A, Mokhtari S, Sargolzaei A, Yen KK. A survey on active fault-tolerant control systems. Electronics. 2020;9(9):1513.","journal-title":"Electronics"},{"key":"4384_CR17","doi-asserted-by":"publisher","first-page":"298","DOI":"10.1016\/j.ymssp.2019.01.019","volume":"123","author":"T Chen","year":"2019","unstructured":"Chen T, Chen L, Xu X, Cai Y, Jiang H, Sun X. Passive fault-tolerant path following control of autonomous distributed drive electric vehicle considering steering system fault. Mech Syst Signal Process. 2019;123:298\u2013315.","journal-title":"Mech Syst Signal Process"},{"key":"4384_CR18","doi-asserted-by":"crossref","unstructured":"dos Santos B, Lopes A, and Ara\u00fajo RE. \"Fault detection scheme for a road vehicle with four independent single-wheel electric motors and steer-by-wire system.\" Advanced Vehicle Control. CRC Press, 2016; pp. 417\u2013422.","DOI":"10.1201\/9781315265285-67"},{"issue":"2","key":"4384_CR19","doi-asserted-by":"publisher","first-page":"321","DOI":"10.1002\/asjc.717","volume":"16","author":"S Anwar","year":"2014","unstructured":"Anwar S, Niu W. A nonlinear observer based analytical redundancy for predictive fault tolerant control of a steer-by-wire system. Asian J Control. 2014;16(2):321\u201334.","journal-title":"Asian J Control"},{"key":"4384_CR20","unstructured":"Gadda CD. Optimal fault-detection filter design for steer-by-wire vehicles. Ph.d. dissertation, Stanford University, Stanford, California, USA 2009."},{"issue":"11","key":"4384_CR21","doi-asserted-by":"publisher","first-page":"3123","DOI":"10.1080\/00207179.2020.1752399","volume":"94","author":"C Huang","year":"2021","unstructured":"Huang C, Huang H, Naghdy F, Du H, Ma D. Actuator fault tolerant control for steer-by-wire systems. Int J Control. 2021;94(11):3123\u201334.","journal-title":"Int J Control"},{"issue":"3","key":"4384_CR22","doi-asserted-by":"publisher","first-page":"1558","DOI":"10.1109\/TMECH.2020.3023947","volume":"26","author":"W Zhao","year":"2020","unstructured":"Zhao W, Wang A, Zou S, Zhang H. Individual auxiliary and fault-tolerant control of steer-by-wire system considering different drivers steering characteristics. IEEE\/ASME Trans Mechatron. 2020;26(3):1558\u201369.","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"4384_CR23","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2022.105218","volume":"164","author":"R Lamouchi","year":"2022","unstructured":"Lamouchi R, Raissi T, Amairi M, Aoun M. On interval observer design for active fault tolerant control of linear parameter-varying systems. Syst Control Lett. 2022;164:105218.","journal-title":"Syst Control Lett"},{"issue":"9","key":"4384_CR24","doi-asserted-by":"publisher","first-page":"1578","DOI":"10.1109\/TAC.2006.878732","volume":"51","author":"B Jiang","year":"2006","unstructured":"Jiang B, Staroswiecki M, Cocquempot V. Fault accommodation for nonlinear dynamic systems. IEEE Trans Autom Control. 2006;51(9):1578\u201383.","journal-title":"IEEE Trans Autom Control"},{"issue":"7","key":"4384_CR25","doi-asserted-by":"publisher","first-page":"1073","DOI":"10.1109\/9.508919","volume":"41","author":"H Wang","year":"1996","unstructured":"Wang H, Daley S. Actuator fault diagnosis: an adaptive observer-based technique. IEEE Trans Autom Control. 1996;41(7):1073\u20138.","journal-title":"IEEE Trans Autom Control"},{"issue":"3","key":"4384_CR26","first-page":"320","volume":"6","author":"K Zhang","year":"2008","unstructured":"Zhang K, Jiang B, Cocquempot V. Adaptive observer-based fast fault estimation. Int J Control Autom Syst. 2008;6(3):320\u20136.","journal-title":"Int J Control Autom Syst"},{"issue":"5","key":"4384_CR27","doi-asserted-by":"publisher","first-page":"679","DOI":"10.1007\/s00034-009-9109-4","volume":"28","author":"K Zhang","year":"2009","unstructured":"Zhang K, Jiang B, Shi P. A new approach to observer-based fault-tolerant controller design for Takagi-Sugeno fuzzy systems with state delay. Circuits Syst Signal Process. 2009;28(5):679\u201397.","journal-title":"Circuits Syst Signal Process"},{"key":"4384_CR28","doi-asserted-by":"crossref","unstructured":"Medero A, Sename O, Puig V. Control reconfiguration of lateral adas steering control in the presence of driver errors using combined parity space\/lpv approaches. In: 2021 5th International Conference on Control and Fault-Tolerant Systems (SysTol), 2021; pp. 7\u201312 . IEEE","DOI":"10.1109\/SysTol52990.2021.9595648"},{"issue":"6","key":"4384_CR29","doi-asserted-by":"publisher","first-page":"5030","DOI":"10.1109\/TIE.2019.2924611","volume":"67","author":"S Ifqir","year":"2019","unstructured":"Ifqir S, Dalil I, Na\u00efma A-O, Sa\u00efd M. Adaptive threshold generation for vehicle fault detection using switched t-s interval observers. IEEE Trans Industr Electron. 2019;67(6):5030\u201340.","journal-title":"IEEE Trans Industr Electron"},{"issue":"6","key":"4384_CR30","first-page":"3885","volume":"62","author":"Q Jia","year":"2015","unstructured":"Jia Q, Chen W, Zhang Y, Li H. Fault reconstruction and fault-tolerant control via learning observers in Takagi-Sugeno fuzzy descriptor systems with time delays. IEEE Trans Industr Electron. 2015;62(6):3885\u201395.","journal-title":"IEEE Trans Industr Electron"},{"issue":"1","key":"4384_CR31","doi-asserted-by":"publisher","first-page":"4033","DOI":"10.1016\/j.ifacol.2017.08.721","volume":"50","author":"R Lamouchi","year":"2017","unstructured":"Lamouchi R, Amairi M, Raissi T, Aoun M. Actuator fault compensation in a set-membership framework for linear parameter-varying systems. IFAC-PapersOnLine. 2017;50(1):4033\u20138.","journal-title":"IFAC-PapersOnLine"},{"key":"4384_CR32","volume-title":"Vehicle dynamics and control","author":"R Rajamani","year":"2011","unstructured":"Rajamani R. Vehicle dynamics and control. New York: Springer; 2011."},{"key":"4384_CR33","unstructured":"Vantsevich VV, Gray JP. Relaxation length review and time constant analysis for agile tire dynamics control. In: International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2015;vol. 57106, pp. 003\u201301038 . American Society of Mechanical Engineers"},{"issue":"5","key":"4384_CR34","doi-asserted-by":"publisher","first-page":"1962","DOI":"10.1109\/TCST.2018.2842211","volume":"27","author":"C Sentouh","year":"2018","unstructured":"Sentouh C, Nguyen A-T, Benloucif MA, Popieul J-C. Driver-automation cooperation oriented approach for shared control of lane keeping assist systems. IEEE Trans Control Syst Technol. 2018;27(5):1962\u201378.","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"5","key":"4384_CR35","doi-asserted-by":"publisher","first-page":"3819","DOI":"10.1109\/TIE.2016.2645146","volume":"64","author":"A-T Nguyen","year":"2016","unstructured":"Nguyen A-T, Sentouh C, Popieul J-C. Driver-automation cooperative approach for shared steering control under multiple system constraints: design and experiments. IEEE Trans Industr Electron. 2016;64(5):3819\u201330.","journal-title":"IEEE Trans Industr Electron"},{"key":"4384_CR36","doi-asserted-by":"crossref","unstructured":"Boudaoud M, Sentouh C, Cappelle C, El\u00a0Najjar M, Popieul J-C. A new observer-based fault tolerant shared control for sbw systems with actuator fault for driver assistance. In: 21st International Conference on Informatics in Control, Automation and Robotics, 2024;pp. 189\u2013197. SCITEPRESS-Science and Technology Publications","DOI":"10.5220\/0013069800003822"},{"key":"4384_CR37","volume-title":"Fuzzy control systems design and analysis: a linear matrix inequality approach","author":"K Tanaka","year":"2004","unstructured":"Tanaka K, Wang HO. Fuzzy control systems design and analysis: a linear matrix inequality approach. Hoboken: Wiley; 2004."},{"issue":"6","key":"4384_CR38","doi-asserted-by":"publisher","first-page":"643","DOI":"10.1002\/asjc.145","volume":"11","author":"K Zhang","year":"2009","unstructured":"Zhang K, Jiang B, Cocquempot V. Fast adaptive fault estimation and accommodation for nonlinear time-varying delay systems. Asian J Control. 2009;11(6):643\u201352.","journal-title":"Asian J Control"},{"issue":"7","key":"4384_CR39","doi-asserted-by":"publisher","first-page":"7017","DOI":"10.1109\/TITS.2021.3066417","volume":"23","author":"M Fouka","year":"2021","unstructured":"Fouka M, Nehaoua L, Arioui H. Motorcycle state estimation and tire cornering stiffness identification applied to road safety: using observer-based identifiers. IEEE Trans Intell Transp Syst. 2021;23(7):7017\u201327.","journal-title":"IEEE Trans Intell Transp Syst"},{"key":"4384_CR40","doi-asserted-by":"publisher","unstructured":"Glida HE, Sentouh C, Chelihi A, Floris J, Popieul J-C. Event-triggered adaptive fault-tolerant control based on sliding mode\/neural network for lane keeping assistance systems in steer-by-wire vehicles. IEEE Trans Intell Veh. 2024;10(3):1597\u20131608. https:\/\/doi.org\/10.1109\/TIV.2024.3430086.","DOI":"10.1109\/TIV.2024.3430086"}],"container-title":["SN Computer Science"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s42979-025-04384-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s42979-025-04384-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s42979-025-04384-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,3]],"date-time":"2025-10-03T11:01:17Z","timestamp":1759489277000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s42979-025-04384-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,3]]},"references-count":40,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2025,10]]}},"alternative-id":["4384"],"URL":"https:\/\/doi.org\/10.1007\/s42979-025-04384-5","relation":{},"ISSN":["2661-8907"],"issn-type":[{"value":"2661-8907","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,10,3]]},"assertion":[{"value":"20 May 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 September 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 October 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed Consent"}}],"article-number":"867"}}