Fig. 3: Independent and combined estimations of the driver motor control measured on the test bench (virtual driver configuration).
From: Haptics based multi-level collaborative steering control for automated driving
a The estimation of the driver target angle \({\hat{\theta }}_{d}\) is computed from the actual driver impedance Zd,1 and Zd,2, while the estimated driver impedance \({\hat{Z}}_{d,1}\) and \({\hat{Z}}_{d,2}\) are calculated with the actual driver target angle θd. b The estimation of the driver target angle \({\hat{\theta }}_{d}\) is computed from Eq. (13) and the estimated driver impedance \({\hat{Z}}_{d,1}\) and \({\hat{Z}}_{d,2}\) are calculated with the estimated driver target angle.
