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In this paper, a gain-scheduling, robust, and shared controller is proposed to assist drivers in tracking vehicle reference trajectory. In the controller, the driver steering parameters such as delay time, preview time, and steering gain are assumed to be varying with respect to the different characteristics of drivers, vehicle states, and driving scenarios. Meanwhile, the modeling errors and uncertainties in the tire cornering stiffness are also considered in the driver-vehicle system model and the controller design. A global objective function, considering the tracking error, the driver's physical and mental workloads, and the control effort, is designed to optimize the overall performance of the driver-vehicle system. Constraint on eigenvalue placement is added to the controller design to improve the performance of the closed-loop driver-vehicle system. Simulation results under different maneuvers show that the controller can …