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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    Titel :

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


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Wong, Pak Kin (Herausgeber:in) / Xu, Jun (Herausgeber:in) / Li, Wenfeng (Autor:in) / Lian, Zheng (Autor:in) / Zhao, Jing (Autor:in) / Xie, Zhengchao (Autor:in) / Wong, Pak Kin (Autor:in)

    Kongress:

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



    Erscheinungsdatum :

    01.07.2025


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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