The Effects of Driver Coupling and Automation Impedance on Emergency Steering Interventions

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 would essentially act as a disturbance during the emergency steering maneuver, the alternative in which the steering wheel remains coupled would 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. We analyzed cases in which the driver was decoupled and the automation given full authority, or the driver was coupled and the automation given a low impedance, or the driver was coupled and the automation given a high 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 in emergency interventions did not seem to significantly increase 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.

Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control

Controlling soft robots with precision is a challenge due in large part to the difficulty of constructing models that are amenable to model-based control design techniques. Koopman Operator Theory offers a way to construct explicit linear dynamical models of soft robots and to control them using established model-based linear control methods. This method is data-driven, yet unlike other data-driven models such as neural networks, it yields an explicit control-oriented linear model rather than just a "black-box" input-output mapping. This work describes this Koopman-based system identification method and its application to model predictive controller design. A model and MPC controller of a pneumatic soft robot arm was constructed via the method, and its performance was evaluated over several trajectory following tasks in the real-world. On all of the tasks, the Koopman-based MPC controller outperformed a benchmark MPC controller based on a linear state-space model of the same system.