Selina Pan

Yi-Wen Liao, Selina Pan, Francesco Borrelli et al.

This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including their bounds. The main idea is developed under the structure of adaptive sliding mode control; an update law decreases the gain inside and increases the gain outside a vicinity of the sliding surface. The semi-global stability of the closed-loop system and the adaptation error are guaranteed by Lyapunov theory. The simulation results show that the proposed adaptation methodology can reduce the magnitude of the controller gain to the minimum possible value and smooth out the chattering.

Akshay Bhardwaj, Yidu Lu, Selina Pan et al.

Automatic emergency steering maneuvers can be used to avoid more obstacles than emergency braking alone. While a steer-by-wire system can decouple the driver who might act as a disturbance during the emergency steering maneuver, the alternative in which the steering wheel remains coupled can enable the driver to cover for automation faults and conform to regulations that require the driver to retain control authority. In this paper we present results from a driving simulator study with 48 participants in which we tested the performance of three emergency steering intervention schemes. In the first scheme, the driver was decoupled and the automation system had full control over the vehicle. In the second and third schemes, the driver was coupled and the automation system was either given a high impedance or a low impedance. Two types of unexpected automation faults were also simulated. Results showed that a high impedance automation system results in significantly fewer collisions during intended steering interventions but significantly higher collisions during automation faults when compared to a low impedance automation system. Moreover, decoupling the driver did not seem to significantly influence the time required to hand back control to the driver. When coupled, drivers were able to cover for a faulty automation system and avoid obstacles to a certain degree, though differences by condition were significant for only one type of automation fault.