Dual control theoretic driver assistance - Dynamic characteristics of steering torque control based on linear quadratic regulator

This paper proposes a driver assistance system with a dual control theoretic scheme, which tries to perform safety control of a vehicle as well as identification of the driver's cognitive state simultaneously. The dual control theoretic driver assistance algorithm uses steering torque control based on a linear quadratic regulator (LQR). A controller and mathematical models for the vehicle and steering system were built, where the steering torque control was applied to switching feedback gains in the LQR controller. This paper discusses the dynamic characteristics for steering torque control under constraints on the state and manipulated variables.