Decoupling-Based LPV Observer for Driver Torque Intervention Estimation in Human–Machine Shared Driving Under Uncertain Vehicle Dynamics - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Automation Science and Engineering Année : 2024

Decoupling-Based LPV Observer for Driver Torque Intervention Estimation in Human–Machine Shared Driving Under Uncertain Vehicle Dynamics

Résumé

This paper proposes a method for simultaneous estimation of both the driver torque and the sideslip angle within the context of human-machine shared driving control for autonomous ground vehicles. To this end, the driver torque is considered as an unknown input (UI) and the sideslip angle is an unmeasured state of the vehicle dynamics system. For simultaneous estimation purpose, a decoupling-based technique is leveraged to design an unknown input observer (UIO). The UIO design goal is to decouple the effect of the unknown driver torque while minimizing the influence of the modeling uncertainties, considered as unknown exogenous disturbances, from the lateral tires forces and the steering system. Linear parameter-varying (LPV) framework is used to deal with the time-varying nature of the vehicle longitudinal speed. Based on Lyapunov stability theory, we derive sufficient conditions, expressed in terms of linear matrix inequality (LMI) constraints, for LPV unknown input observer design. The simultaneous vehicle estimation is reformulated as a convex optimization problem, where the modeling uncertainty influence can be minimized via the ℓ∞− gain performance. Hardware-in-the-loop (HiL) tests are performed with the SHERPA dynamic simulator and a human driver to show the effectiveness of the proposed UIO-based estimation method, especially within the cooperative driving control framework
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Dates et versions

hal-04565275 , version 1 (01-05-2024)

Identifiants

Citer

Anh-Tu Nguyen, Thierry-Marie Guerra, Chouki Sentouh, Jean-Christophe Popieul. Decoupling-Based LPV Observer for Driver Torque Intervention Estimation in Human–Machine Shared Driving Under Uncertain Vehicle Dynamics. IEEE Transactions on Automation Science and Engineering, In press, ⟨10.1109/TASE.2024.3394240⟩. ⟨hal-04565275⟩
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