A Novel Adaptive Steering Torque Control Approach for Human–Machine Cooperation Autonomous Vehicles

Human–machine cooperation (HMC) driving can realize the sharing of vehicle control rights between drivers and autonomous driving systems. However, the system disturbances and parameter uncertainties introduced by HMC driving are also inevitable. To solve the above problems, this study proposes an HMC steering torque control method based on the model reference adaptive control (MRAC). First, to des...