Driver torque steering assisting control considering the uncertainties of the driver’s behavior in following large curvature path

A fuzzy dynamic output-feedback controller is proposed in this paper for assisting driver's steering torque in following path of large curvature, considering uncertainties of driver's steering behavior. A driver-vehicle-road (DVR) model based on steering torque is adopted in the controller design. The driver model for path following is under the assumption that the driver utilizes two virtual angles for guidance. Seven characteristic parameters are defined to explain the driver's steering behavior, and uncertainties of these parameters are considered in the controller design. The Takagi-Sugeno (T-S) fuzzy method is adopted to handle these uncertainties. Then a linear matrix inequalities (LMIs)-based T-S full-order dynamic compensator is designed considering this DVR model to assist driver's steering for tracking path with large curvature. Simulations in Matlab/Simulink-CarSim environment are conducted to validate effectiveness of the proposed controller. The simulation results show that the designed controller can provide individual assistance for drivers with different proficiencies, and improve driving comfort significantly.