Abstract
This paper proposes a new Driver Assistance System (DAS) which helps the driver in performing lane following control task. The system has the structure of a parallel virtual driver, which is designed to act in the same manner like an ideal driver. The virtual driver is designed based on the Generalized Predictive Control (GPC) theory. The human driver continuously gets well processed information from the steering wheel as an artificial steering torque. A series of computer simulations and fixed base driving simulator tests were carried out to verify the effectiveness of the DAS. The results show that the task performance was improved by proposed DAS. Moreover, the identification of driver dynamics was carried out to clarify why such improvements could be achieved by the DAS.