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

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 4-4 doi: 10.1007/s11465-021-0660-4

Abstract: presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomousvehicles, which has multiple constraints and an integrated model of vehicle and road dynamics.constraints, which can improve the path following quality for better ride comfort and road availability of autonomousvehicles.

Keywords： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization    

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Data-driven rolling eco-speed optimization for autonomous vehicles

Frontiers of Engineering Management doi: 10.1007/s42524-023-0284-y

Abstract: spaced signalized intersections lead to frequent emergency acceleration, deceleration, and idling in vehiclesAdvances in vehicle-to-vehicle and vehicle-to-infrastructure communication technologies allow autonomousvehicles (AVs) to perceive signals over long distances and coordinate with other vehicles, thereby mitigating

Keywords： data-driven learning     speed optimization     autonomous vehicles     energy saving    

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From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Strategic Study of CAE 2000, Volume 2, Issue 12,   Pages 29-33

Abstract:

A clear definition and a very fine classification of the unmanned undersea vehicles are given in thisthat the autonomous underwater vehicles at present is a hot spot in the research realm of the unmannedundersea vehicles.descriptions of the first remotely operated tethered vehicle “HR- 01” in China, the first autonomousunderwater vehicle “Explorer” and the autonomous underwater vehicle CR-01 (6 000 m).

Keywords： undersea vehicles     ROV     AUV     ocean engineer     ocean resources exploration    

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Development of Autonomous Underwater Vehicles Technology

Wu Yousheng, Zhao Yiyu, Lang Shuyan, Wang Chuanrong

Strategic Study of CAE 2020, Volume 22, Issue 6,   Pages 26-31 doi: 10.15302/J-SSCAE-2020.06.004

Abstract: This study aims to propose a technical system layout for the autonomous underwater vehicles (AUVs) developmentefforts on breakthroughs in key technologies including perception, communication/navigation, energy, autonomous

Keywords： deep-sea exploration     autonomous underwater vehicles     development trend     key technologies     fundamental    

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A Survey on an Emerging Safety Challenge for Autonomous Vehicles: Safety of the Intended Functionality Review

Hong Wang, Wenbo Shao, Chen Sun, Kai Yang, Dongpu Cao, Jun Li

Engineering 2024, Volume 33, Issue 2,   Pages 17-35 doi: 10.1016/j.eng.2023.10.011

Abstract: As the complexity of autonomousvehicles (AVs) continues to increase and artificial intelligence algorithms are becoming increasingly

Keywords： Safety of the intended functionality     Autonomous vehicles     Artificial intelligence     Uncertainty     Verification    

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Towards the Unified Principles for Level 5 Autonomous Vehicles Article

Jianqiang Wang, Heye Huang, Keqiang Li, Jun Li

Engineering 2021, Volume 7, Issue 9,   Pages 1313-1325 doi: 10.1016/j.eng.2020.10.018

Abstract:

The rapid advance of autonomous vehicles (AVs) has motivated new perspectives and potential challengesautomation level and vehicle intelligence, these systems
can be further advanced towards fully autonomousThe essential logical
and physical mechanisms of vehicles have hindered further progression towardsBy exploring the physical mechanisms behind high-level autonomous driving systems and analyzing the essencemode relying on the crow inference and parrot imitation approach, we explore the research paradigm of autonomous

Keywords： Autonomous vehicle     Principle of least action     Driving safety field     Autonomous learning     Basic paradigm    

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Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning Research Article

Huiqian LI, Jin HUANG, Zhong CAO, Diange YANG, Zhihua ZHONG,lihq20@mails.tsinghua.edu.cn,huangjin@tsinghua.edu.cn,caoc15@mails.tsinghua.edu.cn,ydg@tsinghua.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 1,   Pages 131-140 doi: 10.1631/FITEE.2200128

Abstract: Ensuring the safety of s is essential and challenging when are involved. Classical avoidance strategies cannot handle uncertainty, and learning-based methods lack performance guarantees. In this paper we propose a (HRL) approach for to safely interact with s behaving uncertainly. The method integrates the rule-based strategy and reinforcement learning strategy. The confidence of both strategies is evaluated using the data recorded in the training process. Then we design an activation function to select the final policy with higher confidence. In this way, we can guarantee that the final policy performance is not worse than that of the rule-based policy. To demonstrate the effectiveness of the proposed method, we validate it in simulation using an accelerated testing technique to generate stochastic s. The results indicate that it increases the success rate for avoidance to 98.8%, compared with 94.4% of the baseline method.

Keywords： Pedestrian     Hybrid reinforcement learning     Autonomous vehicles     Decision-making    

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

Xiangkun He, Wenhui Huang, Chen Lv

Engineering 2024, Volume 33, Issue 2,   Pages 77-89 doi: 10.1016/j.eng.2023.10.005

Abstract:

While autonomous vehicles are vital components of intelligent transportation systems, ensuring thetrustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.vehicles.Moreover, we devise a safety mask to guarantee the collision safety of the autonomous driving agent duringThese results indicate that the autonomous driving agent can make trustworthy decisions and drastically

Keywords： 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 Article

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

Engineering 2024, Volume 33, Issue 2,   Pages 63-76 doi: 10.1016/j.eng.2023.10.001

Abstract:

This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles

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

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Large-Scale Vehicle Platooning: Advances and Challenges in Scheduling and Planning Techniques Review

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

Engineering 2023, Volume 28, Issue 9,   Pages 26-48 doi: 10.1016/j.eng.2023.01.012

Abstract: vehicle-to-vehicle (V2V) communication, autonomizing a vehicle platoon can significantly reduce the distance between vehicles

Keywords： Autonomous vehicle platoon     Autonomous driving     Connected and automated vehicles     Scheduling and planning    

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Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment Special Feature on Intelligent Robats

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

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 330-341 doi: 10.1631/FITEE.1800562

Abstract: An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles

Keywords： Autonomous underwater vehicles     Self-organizing neural networks     Azimuths     Ocean current    

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GeeNet: robust and fast point cloud completion for ground elevation estimation towards autonomous vehicles Research Article

刘沥文1,杨卫东1,2,费奔1

Frontiers of Information Technology & Electronic Engineering 2024, Volume 25, Issue 7,   Pages 938-950 doi: 10.1631/FITEE.2300388

Abstract: 地面高程估计对于无人驾驶汽车和智能机器人的许多应用至关重要，包括三维物体检测、导航空间检测、用于定位的点云匹配和用于建图的配准。然而，现有大多数工作将地面视为没有高度信息的平面，导致这些应用中出现不准确的操作。本文提出一种端到端的轻量级方法GeeNet，可几乎实时地补全地面，同时在基于网格的表示中估计地面高程。GeeNet利用二维/三维卷积的混合来保留轻量级架构，以回归网格每个单元格的地面高程信息。GeeNet首次实现了语义场景补全的地面高程估计。使用SemanticKITTI和SemanticPOSS数据集对GeeNet进行验证，展示了其在地面高程估计和点云语义场景补全方面的定性和定量性能。此外，其跨数据集泛化能力也得到实验证明。相比文献方法，GeeNet取得更好性能，并以0.88 ms运行时实现地面高程估计和地面补全。

Keywords： 点云补全；地面高程估计；实时；自动驾驶车辆    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous

Keywords： measuring     distance     autonomous locomotion     advantage     navigation    

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Deployment of autonomous driving on bus rapid transit lanes: Synergy between autonomous vehicle speed

Frontiers of Engineering Management doi: 10.1007/s42524-024-3107-x

Abstract: This study investigates the use of autonomous vehicles in bus rapid transit lanes during the initialphases of autonomous driving development.The aim is to accelerate the advancement of autonomous driving technologies and enhance the efficiencyWe first develop a dynamic joint optimization model that adjusts autonomous vehicle speeds and bus timetablesMoreover, by strategically managing the entry of autonomous vehicles into the lane and modifying bus

Keywords： autonomous driving     bus rapid transit lane     timetable design     joint optimization    

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

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0686-2

Abstract: In the field of autonomous excavation, environmental perception and excavation trajectory planning areBased on optimal trajectory command, the UES performs autonomous excavation.

Keywords： autonomous excavation     unmanned electric shovel     point cloud     excavation trajectory planning    

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Title Author Date Type Operation

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

Journal Article

Data-driven rolling eco-speed optimization for autonomous vehicles

Journal Article

From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Journal Article

Development of Autonomous Underwater Vehicles Technology

Wu Yousheng, Zhao Yiyu, Lang Shuyan, Wang Chuanrong

Journal Article

A Survey on an Emerging Safety Challenge for Autonomous Vehicles: Safety of the Intended Functionality

Hong Wang, Wenbo Shao, Chen Sun, Kai Yang, Dongpu Cao, Jun Li

Journal Article

Towards the Unified Principles for Level 5 Autonomous Vehicles

Jianqiang Wang, Heye Huang, Keqiang Li, Jun Li

Journal Article

Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning

Huiqian LI, Jin HUANG, Zhong CAO, Diange YANG, Zhihua ZHONG,lihq20@mails.tsinghua.edu.cn,huangjin@tsinghua.edu.cn,caoc15@mails.tsinghua.edu.cn,ydg@tsinghua.edu.cn

Journal Article

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

Xiangkun He, Wenhui Huang, Chen Lv

Journal Article

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

Journal Article

Large-Scale Vehicle Platooning: Advances and Challenges in Scheduling and Planning Techniques

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

Journal Article

Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

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

Journal Article

GeeNet: robust and fast point cloud completion for ground elevation estimation towards autonomous vehicles

刘沥文1,杨卫东1,2,费奔1

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Journal Article

Deployment of autonomous driving on bus rapid transit lanes: Synergy between autonomous vehicle speed

Journal Article

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

Journal Article