{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T00:39:18Z","timestamp":1778287158521,"version":"3.51.4"},"reference-count":41,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2021,7,8]],"date-time":"2021-07-08T00:00:00Z","timestamp":1625702400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51805388"],"award-info":[{"award-number":["51805388"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Chinese National Key Research and Development Project","award":["2018YFB0105203"],"award-info":[{"award-number":["2018YFB0105203"]}]},{"name":"Foshan Xianhu Laboratory of the Advanced Energy Science and Technology Guangdong Labor-atory","award":["XHD2020-003"],"award-info":[{"award-number":["XHD2020-003"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a shared steering control framework for lane keeping and obstacle avoidance based on multi-objective model predictive control. One of the control objectives is to track the reference trajectory, which is updated continuously by the trajectory planning module; whereas the other is to track the driver\u2019s current steering command, so as to consider the driver\u2019s intention. By adding the two control objectives to the cost function of an MPC shared controller, a smooth combination of the commands of the driver and the automation can be achieved through the optimization. The authority of the driver and the automation is allocated by adjusting the weights of the objective terms in the cost function, which is determined by the proposed situation assessment method considering the longitudinal and lateral risks simultaneously. The results of the CarSim-Matlab\/Simulink joint simulations show that the proposed shared controller can assist the driver to complete the tasks of lane keeping and obstacle avoidance smoothly while maintaining a good level of vehicle stability.<\/jats:p>","DOI":"10.3390\/s21144671","type":"journal-article","created":{"date-parts":[[2021,7,8]],"date-time":"2021-07-08T04:32:49Z","timestamp":1625718769000},"page":"4671","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Shared Steering Control for Lane Keeping and Obstacle Avoidance Based on Multi-Objective MPC"],"prefix":"10.3390","volume":"21","author":[{"given":"Yang","family":"Liang","sequence":"first","affiliation":[{"name":"School of Automotive Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Research Center for New Energy & Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan 430070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0170-8700","authenticated-orcid":false,"given":"Zhishuai","family":"Yin","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Research Center for New Energy & Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan 430070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linzhen","family":"Nie","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Hubei Research Center for New Energy & Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan 430070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,7,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1038\/d41586-018-04158-5","article-title":"People must retain control of autonomous vehicles","volume":"556","author":"Nunes","year":"2018","journal-title":"Nature"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Maurer, M., Gerdes, J.C., Lenz, B., and Winner, H. 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