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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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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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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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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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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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Development and deep-sea exploration of the Haidou-1

《工程管理前沿（英文）》页码 546-549 doi: 10.1007/s42524-023-0260-6

摘要： Development and deep-sea exploration of the Haidou-1

关键词： hadal zone autonomous and remotely-operated vehicle integrated exploration operation deep dive exceeding 10000 meters

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一种用于自动驾驶的车辆概率性长期轨迹预测框架 Article

刘金鑫, 罗禹贡, 钟志华, 李克强, 黄荷叶, 熊辉

《工程（英文）》 2022年第19卷第12期页码 228-239 doi: 10.1016/j.eng.2021.12.020

摘要：

在混合动态交通环境中，准确地预测周围车辆长期范围内的运动轨迹是自动驾驶车辆（AV）实现合理行为决策和保障行车安全不可或缺的前提条件之一。本文提出了一种车辆长期轨迹预测的概率框架，由驾驶意图推理模型（DIM）和轨迹预测模型（TPM）组成。DIM基于动态贝叶斯网络进行设计和应用，用于准确推断车辆潜在的驾驶意图。文中所提出的DIM结合了基本的交通规则和车辆多维运动信息。为了进一步提高轨迹预测精度并实现预测不确定性识别，本文开发了基于高斯过程（GP）的TPM，综合考虑了车辆模型的短期预测结果和运动特性。最后，在高速换道场景下进行仿真验证，说明了新方法的有效性。通过与其他先进方法进行对比，展示并验证了该框架在车辆长期轨迹预测任务中的优异性能。

关键词：自动驾驶动态贝叶斯网络驾驶意图识别高斯过程车辆轨迹预测

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随机环境中的自主水下航行器鲁棒全局路径规划 Research Article

张佳欣1,2,刘妹琴1,2,3,张森林1,2,郑荣濠1,2

《信息与电子工程前沿（英文）》 2022年第23卷第11期页码 1658-1672 doi: 10.1631/FITEE.2200026

摘要：

本文提出一种在随机局部路径成本下使自主水下航行器在作业海域选择性地完成部分预定任务的路径规划器。该问题被表述为定向越野问题的变体。本文在遗传算法（GA）的基础上，提出一种基于贪心策略的遗传算法（GGA）。该算法包含一种新颖的通过在进化过程中将不可行个体映射到可行解空间来提高优化效率的重生算子，并以差分进化规划器计算确定性局部路径成本。局部路径成本的不确定性来自不可预测的障碍物、测量误差和轨迹跟踪误差。为了提高规划器在不确定环境下的鲁棒性，设计了一种用于路径评估的采样策略，通过对局部路径的概率密度函数多次采样，得到对路径实际成本的估计。通过蒙特卡罗仿真实验验证所提规划器的优越性和有效性。仿真结果表明，所提出的GGA在总收益方面优于同类算法4.7%–¬¬24.6%，而基于抽样的GGA路径规划器（S-GGARP）相较于普通的GGA路径规划器（GGARP）提高了5.5%的平均收益。

关键词：自主水下航行器；路径规划；遗传算法；定向越野问题；随机路径成本

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智能无人自主系统发展趋势 Review

Tao ZHANG,Qing LI,Chang-shui ZHANG,Hua-wei LIANG,Ping LI,Tian-miao WANG,Shuo LI,Yun-long ZHU,Cheng WU

《信息与电子工程前沿（英文）》 2017年第18卷第1期页码 68-85 doi: 10.1631/FITEE.1601650

摘要：智能无人自主系统是人工智能的重要应用之一，其发展可大大推动人工智能技术的创新。本文通过其主要成就介绍了智能无人自主系统的发展趋势。并且，本文将相关技术分成了7个领域，包括人工智能技术、无人车、无人机、服务机器人、空间机器人、海洋机器人和无人车间/智能工厂。本文对每个领域的发展趋势进行了介绍。

关键词：智能无人自主系统；无人车；人工智能；机器人学；发展趋势

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智能城市(iCity) 中自动驾驶汽车工业的关键挑战——高清地图 Perspective

Heiko G. Seif,胡晓龙

《工程（英文）》 2016年第2卷第2期页码 159-162 doi: 10.1016/J.ENG.2016.02.010

摘要：

本文对未来城市中自动驾驶的必要技术进行了深入的分析，从车载电脑运算、数据处理、路边基础设施和云解决方案等不同方面反映了科技的发展状况，主要对自动驾驶的核心技术——高清地图的应用所带来的挑战进行了描述。

关键词：自动驾驶交通基础设施智能城市(iCity) Car-to-X 通信系统汽车通信高清地图

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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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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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Current situation and development of wind power in China

BAO Nengsheng, NI Weidou

《能源前沿（英文）》 2007年第1卷第4期页码 371-383 doi: 10.1007/s11708-007-0056-4

摘要： The current development of wind power in China was presented in this paper. Many regions such as Xinjiang Uygur Autonomous Region, Inner Mongolia Autonomous Region and southeast coastal region, etc. in China have abundant wind energ

关键词： Xinjiang current development Mongolia Autonomous southeast coastal Autonomous

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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

《信息与电子工程前沿（英文）》 2015年第16卷第2期页码 166-172 doi: 10.1631/FITEE.1400183

摘要： This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

关键词： Robot modeling Robot navigation Slip and skid control Wheeled mobile robots