Unknown Input Observer Design for Estimation of Moment and Vehicle Dynamices

This paper proposes a method based on an unknown input observer to estimate vehicle state and control torque during human-automation collaborative driving. The design conservatism and computational complexity of the vehicle are reduced by establishing a linear parameter time-varying model under the premise of ensuring the model’s accuracy. Based on the unknown input decoupling technology, an LPV observer is designed to ensure the estimation performance of vehicle state and driver-in-the-loop control torque. Using the Lyapunov stability theorem, a sufficient condition for the design of the LPV observer is guaranteed. At the same time, Simulink simulation is used to ensure the effectiveness of simultaneous estimation of vehicle state and driver torque by unknown input observer based on the LPV model.