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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年第17卷第1期页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles vehicle dynamic modeling model predictive control path following optimization algorithm

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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

《工程（英文）》 doi: 10.1016/j.eng.2023.10.001

摘要： This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently. Firstly, we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline. Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve. Considering the road constraints and vehicle dynamics, limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system. Furthermore, in selecting the optimal trajectory, we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’ behavior and summarizing their manipulation characteristics of “seeking benefits and avoiding losses.” Finally, by integrating the idea of receding-horizon optimization, the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility, optimality, and adaptability. Extensive simulations and experiments are performed, and the results demonstrate the framework’s feasibility and effectiveness, which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants. Moreover, we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’ manipulation.

关键词： Autonomous vehicle Trajectory planning Multi-performance objectives Principle of least action

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Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

《工程（英文）》 doi: 10.1016/j.eng.2023.10.005

摘要： While autonomous vehicles are vital components of intelligent transportation systems, ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving. Therefore, we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles. The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety. Specifically, an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics. In addition, an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics. Moreover, we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety model. Finally, the proposed approach is evaluated through both simulations and experiments. These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

关键词： Autonomous vehicle Decision-making Reinforcement learning Adversarial attack Safety guarantee

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从有缆遥控水下机器人到自治水下机器人

封锡盛

《中国工程科学》 2000年第2卷第12期页码 29-33

摘要：

文章给出了水下机器人的定义，依据定义进行了分类，简要回顾了几类重要水下机器人的进展，指出了无人无缆自治水下机器人（AUVs）是当今水下机器人研究与开发的热点，介绍了最近20年沈阳自动化研究所与国内外有关单位合作，在水下机器人领域从无人有缆遥控水下机器人（ROVs）到AUVs的研究开发工作，它从一个侧面反映了我国在这一领域的进展情况

关键词：水下机器人 AUVs ROVs 潜水器海洋开发海洋工程

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智能无人潜水器技术发展研究

吴有生,赵羿羽,郎舒妍,王传荣

《中国工程科学》 2020年第22卷第6期页码 26-31 doi: 10.15302/J-SSCAE-2020.06.004

摘要：

无人潜水器是开展深海探测与作业的重要工具，成为世界海洋装备的重点发展方向。本文着眼我国智能无人潜水器（ AUV） 2035 年技术体系布局，梳理世界 AUV 在发展规划、技术研发与应用等方面的进展，凝练 AUV 技术发展趋势和2035 年发展远景；进一步总结我国 AUV 在发展现状，研判规划、设备、产业化等方面存在的问题。研究分析了包括感知、通信导航、能源、自主航行、协同作业在内的领域未来关键技术攻关方向，以材料、可靠性为重点的基础研究方向，论证了AUV 谱系化、国产化研制重大科技专项初步方案。研究提出顶层规划、行业协同、政策引导、人才培养等方面的对策建议，以期为我国 AUV 产业的高质量发展提供理论参考。

关键词：深海探测智能无人潜水器发展趋势关键技术基础研究

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迈向L5级自动驾驶汽车的发展原则 Article

王建强, 黄荷叶, 李克强, 李骏

《工程（英文）》 2021年第7卷第9期页码 1313-1325 doi: 10.1016/j.eng.2020.10.018

摘要：

自动驾驶汽车的快速发展给现有交通出行方式带来了全新面貌和潜在挑战。目前，L3 级及以下驾驶辅助系统已经量产，L4 级在特定场景下的一些应用也逐步开发，通过逐渐提高车辆的自动化、智能化程度来不断向完全自动驾驶发展。然而，针对L5 级自动驾驶汽车的发展思路始终未明确，而现有针对L0~L4级自动驾驶发展过程的研发方式主要基于任务驱动来进行特定场景下的功能开发，难以揭示高等级自动驾驶汽车所需解决问题的本质逻辑和物理机制，进而阻碍了迈向L5 级自动驾驶的途径。本文通过探索高等级自动驾驶系统背后的物理机制，并从驾驶的本质出发，采用推理演绎方式，提出“大脑-小脑-器官”协调平衡框架，基于“乌鸦推理+鹦鹉学舌”的混合模式，探索“自主学习+先验知识”的研究范式，实现自动驾驶汽车“自学习、自适应、自超越”特性。从系统、统一、均衡的角度出发，基于最小作用量原理和统一安全场思想，旨在为高等级自动驾驶汽车，尤其是L5 级自动驾驶的研发提供一种全新的研发思路与有效途径。

关键词：自动驾驶汽车最小作用量原理行车安全场自主学习基础范式

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基于混合强化学习的自动驾驶汽车行人避撞方法 Research Article

李惠乾1,黄晋1,曹重1,杨殿阁1,钟志华2

《信息与电子工程前沿（英文）》 2023年第24卷第1期页码 131-140 doi: 10.1631/FITEE.2200128

摘要：确保行人的安全对自动驾驶汽车而言至关重要，同时也具有一定挑战。经典的行人避撞策略无法应对不确定性，而基于学习的方法缺乏明确的性能保障。本文提出一种基于混合强化学习的行人避撞方法，以使自动驾驶车辆能够与具有行为不确定性的行人安全交互。该方法集成了规则策略和强化学习策略，并设计了一个激活函数选择具有更高置信度的作为最终策略，通过这种方式保证最终策略的表现不亚于规则策略。为说明所提方法的有效性，本文使用一种加速测试方法生成了行为随机的行人进行仿真验证。结果表明，该方法在测试场景中的成功率，相比基准方法的94.4%，提升至98.8%。

关键词：行人；混合强化学习；自动驾驶汽车；决策

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大规模车辆排队的调度与规划技术的进展与挑战 Review

Jing Hou, Guang Chen, Jin Huang, Yingjun Qiao, Lu Xiong, Fuxi Wen, Alois Knoll, Changjun Jiang

《工程（英文）》 2023年第28卷第9期页码 26-48 doi: 10.1016/j.eng.2023.01.012

摘要：

Through vehicle-to-vehicle (V2V) communication, autonomizing a vehicle platoon can significantly reduce the distance between vehicles, thereby reducing air resistance and improving road traffic efficiency. The gradual maturation of platoon control technology is enabling vehicle platoons to achieve basic driving functions, thereby permitting large-scale vehicle platoon scheduling and planning, which is essential for industrialized platoon applications and generates significant economic benefits. Scheduling and planning are required in many aspects of vehicle platoon operation; here, we outline the advantages and challenges of a number of the most important applications, including platoon formation scheduling, lane-change planning, passing traffic light scheduling, and vehicle resource allocation. This paper's primary objective is to integrate current independent platoon scheduling and planning techniques into an integrated architecture to meet the demands of large-scale platoon applications. To this end, we first summarize the general techniques of vehicle platoon scheduling and planning, then list the primary scenarios for scheduling and planning technique application, and finally discuss current challenges and future development trends in platoon scheduling and planning. We hope that this paper can encourage related platoon researchers to conduct more systematic research and integrate multiple platoon scheduling and planning technologies and applications.

关键词： Autonomous vehicle platoon Autonomous driving Connected and automated vehicles Scheduling and planning techniques

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基于AUV初始方向角和海流环境的SOM任务分配算法 Special Feature on Intelligent Robats

Da-qi ZHU, Yun QU, Simon X. YANG

《信息与电子工程前沿（英文）》 2019年第20卷第3期页码 330-341 doi: 10.1631/FITEE.1800562

摘要：实际水下环境存在海流。本文针对多自治机器人任务分配系统提出一个改进的自组织神经网络算法。该算法充分考虑自治水下机器人初始方向角和海流环境。每个自治水下机器人都参与竞争。选出实际航行路径最短的自治水下机器人作为获胜神经元，同时确保总航行路径最短。首先，初始化每个自治水下机器人的位置与方向角以及海流流速与方向。其次，通过竞争，选择海流环境下最短航行路径的水下机器人作为获胜神经元，并将该获胜神经元分配给相应目标点。为证明该算法有效性，给出相应仿真结果。

关键词：自治水下机器人；自组织神经网络；初始方向角；海流

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

《机械工程前沿（英文）》 2007年第2卷第2期页码 197-200 doi: 10.1007/s11465-007-0033-7

摘要： Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle. The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance. Its position and omni-direction motion are precise. A Charge Coupled Device (CCD) camera is used for measuring and for visual navi gation. A control system is developed. The precision of the position is 0.5 mm, the resolution is about 0.05 mm, and the maximum velocity is about 52 mm/s. The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.

关键词： measuring distance autonomous locomotion advantage navigation

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飞行器驾驶机器人——一种面向有人飞行器的新型无人驾驶系统 Article

金子博, 李道春, 向锦武

《工程（英文）》 2023年第27卷第8期页码 242-253 doi: 10.1016/j.eng.2022.10.018

摘要：

飞行器驾驶机器人是一种新型的无人驾驶概念，是指通过机器人系统操纵驾驶有人飞机，从而形成一种新型的无人飞行系统，充分发挥有人飞机的平台成熟度、负载能力和适航性等优点，同时显著扩展了无人飞行器的应用领域。本文详细讨论了飞行器驾驶机器人这一概念及其优点，并提出了一种面向有人直升机的直升机驾驶机器人。根据直升机操纵机构的操控特点设计了驾驶机器人伺服机构。对驾驶机器人系统进行了运动学分析，并在此基础上建立了驾驶机器人飞行控制器的直接驱动方法，减少了机器人伺服过程的操纵延迟和控制误差。建立了驾驶机器人的配套地面站系统，实现了不同飞行模式下驾驶机器人系统的功能集成。最后，设计研制了一套直升机驾驶机器人样机，并将其安装在有人直升机上进行了飞行测试。测试结果表明，驾驶机器人能够独立驾驶直升机实现前飞、后飞、侧飞和转弯飞行，验证了直升机驾驶机器人的有效性。

关键词：直升机飞行器驾驶机器人飞行控制无人系统

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Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0686-2

摘要： With the proposal of intelligent mines, unmanned mining has become a research hotspot in recent years. In the field of autonomous excavation, environmental perception and excavation trajectory planning are two key issues because they have considerable influences on operation performance. In this study, an unmanned electric shovel (UES) is developed, and key robotization processes consisting of environment modeling and optimal excavation trajectory planning are presented. Initially, the point cloud of the material surface is collected and reconstructed by polynomial response surface (PRS) method. Then, by establishing the dynamical model of the UES, a point to point (PTP) excavation trajectory planning method is developed to improve both the mining efficiency and fill factor and to reduce the energy consumption. Based on optimal trajectory command, the UES performs autonomous excavation. The experimental results show that the proposed surface reconstruction method can accurately represent the material surface. On the basis of reconstructed surface, the PTP trajectory planning method rapidly obtains a reasonable mining trajectory with high fill factor and mining efficiency. Compared with the common excavation trajectory planning approaches, the proposed method tends to be more capable in terms of mining time and energy consumption, ensuring high-performance excavation of the UES in practical mining environment.

关键词： autonomous excavation unmanned electric shovel point cloud excavation trajectory planning

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自动驾驶地图有关政策的思考和建议

刘经南,董杨,詹骄,高柯夫

《中国工程科学》 2019年第21卷第3期页码 92-97 doi: 10.15302/J-SSCAE-2019.03.004

摘要：

自动驾驶地图作为实现汽车自动驾驶的关键基础设施，对于推动我国自动驾驶领域的商业化开发至关重要。现阶段，我国受地图测绘、应用和监管等相关法律法规的制度掣肘，在自动驾驶地图的产业化进程方面相对滞后。为此，本文着重分析了我国在自动驾驶地图开发、应用和管理中面临的主要政策法规问题：自动驾驶地图是否需加密的问题、自动驾驶地图部分地理信息表达受限的问题、自动驾驶地图地理信息采集资质和审图流程的问题、自动驾驶地图事故责任和保险问题、自动驾驶地图相关测试规范和测试场景问题。同时结合国内外自动驾驶领域的发展趋势，给出加快我国自动驾驶汽车开发和商业化进程的四点建议：制定自动驾驶地图管理模式、允许自动驾驶地图应用试点及有序开放、适当放开企业权限及优化审核流程、建立国家级自动驾驶地图平台。

关键词：自动驾驶地图自动驾驶法规自动驾驶政策

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一种适用于自动驾驶汽车的多层地图模型和车道级轨迹规划 Article

江昆, 杨殿阁, 柳超然, 张涛, 肖中阳

《工程（英文）》 2019年第5卷第2期页码 305-318 doi: 10.1016/j.eng.2018.11.032

摘要：

越来越多的司机依赖于汽车或手机上的电子地图导航系统来选择最佳的驾驶路线，以节省时间和提高安全性，在不久的将来，电子地图和导航系统有望在未来交通运输系统中发挥更大的作用。为了将现有的导航系统扩展到更多的应用领域，如自动驾驶，需要考虑在传统道路地图模型的基础上，建立车道级地图模型和车道级轨迹规划。本研究针对传统电子地图内容不够丰富的局限性，提出了一种全新的七层自动驾驶地图结构模型，并将它命名为清华地图模型。考虑车辆换道、转向和直行等不同行车特点，建立了车道级路段行车代价模型，建立一种分层路径轨迹搜索方法，能够在道路和车道网络中实现快速的轨迹规划，能够很好地支持自动驾驶的车道级轨迹规划。通过在虚拟道路网络和实际道路网络上的测试，充分验证了该地图模型和算法的灵活性和有效性。

关键词：车道级地图路径规划清华地图模型行车代价模型

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Research on the theory and application of adsorbed natural gas used in new energy vehicles: A review

Zhengwei NIE,Yuyi LIN,Xiaoyi JIN

《机械工程前沿（英文）》 2016年第11卷第3期页码 258-274 doi: 10.1007/s11465-016-0381-2

摘要：

Natural gas, whose primary constituent is methane, has been considered a convincing alternative for the growth of the energy supply worldwide. Adsorbed natural gas (ANG), the most promising methane storage method, has been an active field of study in the past two decades. ANG constitutes a safe and low-cost way to store methane for natural gas vehicles at an acceptable energy density while working at substantially low pressures (3.5–4.0 MPa), allowing for conformable store tank. This work serves to review the state-of-the-art development reported in the scientific literature on adsorbents, adsorption theories, ANG conformable tanks, and related technologies on ANG vehicles. Patent literature has also been searched and discussed. The review aims at illustrating both achievements and problems of the ANG technologies-based vehicles, as well as forecasting the development trends and critical issues to be resolved of these technologies.

关键词： adsorbed natural gas (ANG) adsorbent adsorption theory conformable tank natural gas vehicles (NGVs)