This paper proposes an estimation method to acquire the driver steering torque for the driver-automation co-driving vehicles considering sampling delay. Firstly, a vehicle lateral dynamics model is established with two steering inputs from both the driver and control system. The nonlinearities are described by a fuzzy method. Secondly, a fast adaptive observer is constructed to estimate the driver steering input while achieving the simultaneous estimation of vehicle lateral dynamics. Then, a set of matrix equalities is derived to ensure the asymptotic stability and minimize the estimation error with consideration of the sampling delay. Moreover, the observer gains are calculated by solving a condition. Finally, the effectiveness of the observer is verified via simulations.
Robust Estimation of Driver Steering Torque for Driver-Automation Co-driving Vehicles Considering Sampling Delay
Lect. Notes Electrical Eng.
International Conference on Electric Vehicle and Vehicle Engineering ; 2024 ; Zhuhai, China December 20, 2024 - December 22, 2024
Selected Contributions of 2024 2nd International Conference on Electric Vehicle and Vehicle Engineering ; Chapter : 11 ; 91-98
2025-07-01
8 pages
Article/Chapter (Book)
Electronic Resource
English
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