POSTDoctoral research
 

As a postdoc, my research foci were in integrated path planning and path tracking, ethics, and driver adaptation for autonomous vehicles.  A model predictive control framework was used to balance the trajectory with the stability and handling limits of the vehicle.  

Stanford's X1 vehicle testbed

Stanford's X1 vehicle testbed

I also worked on the incorporation of ethics into the programming of automated vehicles, collaborating with ethicists and philosophers.  Here is a link to a workshop I organized and helped moderate in June 2015:  goo.gl/lnw8NC

 

 

More articles about the research in our lab on ethics in automated vehicles can be found below:

Stanford News: http://goo.gl/3fyGJR
C3 Connected Mobility Summit: http://goo.gl/2F2M9q
Süddeutsche Zeitung: http://goo.gl/1KmhTe
Forbes: http://goo.gl/Q2WIjR
Bloomberg: http://goo.gl/djoKr8

Finally, I worked on researching the adaptation of drivers to sudden changes in the vehicle handling feel for both current safety concerns as well as future handover situations between an automated vehicle and a driver.  All of the research projects test algorithms in experiments using the Stanford X1 vehicle testbed, a student-built, steer-by-wire car.

Zooming along in X1!  (Photo credit: Patrick Beaudoin)

Zooming along in X1!  (Photo credit: Patrick Beaudoin)

 

ENGINE CONTROL

Toyota 2AZ-FE engine, 4 cylinder, 2.4 liter, dual cam overhead

Toyota 2AZ-FE engine, 4 cylinder, 2.4 liter, dual cam overhead

My Ph.D. research was in discrete sliding control for engine cold start.  I designed algorithms that mitigated errors and uncertainties such as sampling time, quantization, and fixed-point processing via a variety of control frameworks, including discrete sliding control, discrete sliding control with input uncertainty bounds, adaptive discrete sliding control, and multiple-input, multiple-output adaptive discrete sliding control.  The algorithms were implemented on the UC Berkeley Toyota engine test cell for the cold start application.

UC Berkeley Toyota Engine Test Cell

UC Berkeley Toyota Engine Test Cell