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.


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    Title :

    Robust Estimation of Driver Steering Torque for Driver-Automation Co-driving Vehicles Considering Sampling Delay


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wong, Pak Kin (editor) / Xu, Jun (editor) / Li, Wenfeng (author) / Lian, Zheng (author) / Zhao, Jing (author) / Xie, Zhengchao (author) / Wong, Pak Kin (author)

    Conference:

    International Conference on Electric Vehicle and Vehicle Engineering ; 2024 ; Zhuhai, China December 20, 2024 - December 22, 2024



    Publication date :

    2025-07-01


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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