This research concerns issues arising in the design and implementation of advanced driver assistance systems, specifically longitudinal and lateral controllers; their effects on the dynamic performance of the vehicle, and their impact on the driver.\ud \ud The current state of the art is discussed as part of an extensive literature review, which highlights prominent gaps in the published research. There is a lack of understanding as to the effects of adverse environmental factors on the vehicle dynamics, and the effects of the\ud systems' on the comfort of the driver. A novel twin track approach was taken to investigate these issues: the effects of the systems' on the vehicle dynamics were monitored using a range of off-line simulation tools, while the systems' impact on the driver was considered using an on-line driving simulator experiment.\ud \ud An adaptive cruise control system was developed, tuned to provide a comfortable response and implemented on a sophisticated off-line 9 degree of freedom vehicle model, with a non-linear tyre model. The system was tested in a range of environmental conditions. These simulations highlighted the good performance of the system in wet conditions, and revealed some possible driver conflicts. \ud \ud Two lateral control systems were developed, one based on a look down methodology, and the second on a more driver emulating look ahead approach. The systems were tested using the same high fidelity vehicle model, and an extensive range of suitable motorway manoeuvres. The systems were compared, proving the comfort and stability benefits of the look ahead system.\ud \ud The longitudinal and lateral control systems were integrated with the University of Leeds driving simulator. Ten subject drivers drove with and without the systems through a range of scenarios, some of which required evasive action. The impact of the systems on the driver, and the driver's response to safety critical scenarios was assessed. Results displayed little safety benefit of the systems in evasive scenarios, but drivers perceived\ud improved awareness and comfort when under their control.\ud \ud The potential of advanced driver assistance systems to make driving a more comfortable and safe experience has been demonstrated, although the system engineer must consider the impact of the systems on the driver throughout their design and implementation.\u
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