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Human-Machine Shared Lateral Control Strategy for Intelligent Vehicles Based on Human Driver Risk Perception Reliability

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Automotive Innovation 2024年第1期7卷 102-120页

作者： Dongjian Song Bing Zhu Jian Zhao Jiayi Han State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China

Intelligent vehicle(Ⅳ)technology has developed rapidly in recent years.However,achieving fully unmanned driving still presents numerous challenges,which means that human drivers will continue to play a vital role in vehicle operation for the foreseeable future.Human-machine shared driving,involving cooperation between a human driver and an automated driving system(AVS),has been widely regarded as a necessary stage for the development of IVs.Focusing onⅣdriving safety,this study proposed a human-machine shared lateral control strategy(HSLCS)based on the reliability of driver risk perception.The HSLCS starts by identifying the effective areas of driver risk perception based on eye movements.It establishes an anisotropic driving risk field,which serves as the foundation for the AVS to assess risk levels.Building upon the cumulative and diminishing effects of risk perception,the proposed approach leverages the driver's risk perception effective area and converts the risk field into a representation aligned with the driver's perspective.Subsequently,it quantifies the reliability of the driver's risk perception by using area-matching rules.Finally,based on the driver’s risk perception reliability and dif-ferences in lateral driving operation between the human driver and the AVS,the dynamic distribution of driving authority is achieved through a fuzzy rule-based system,and the human-machine shared lateral control is completed by using model predictive control.The HSLCS was tested across various scenarios on a driver-in-the-loop test platform.The results show that the HSLCS can realize the synergy and complementarity of human and machine intelligence,effectively ensuring the safety ofⅣoperation.

关键词： Intelligent vehicle Human-machine shared driving Risk perception Driving authority distribution

Mitotic inheritance of DNA methylation: more than just copy and paste

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Journal of Genetics and Genomics 2021年第1期48卷 1-13页

作者： Xuan Ming Bing Zhu Yingfeng Lia National Laboratory of Biomacromolecules Institute of BiophysicsChinese Academy of SciencesBeijing 100101China College of Life Sciences University of Chinese Academy of SciencesBeijing 100049China

Decades of investigation on DNA methylation have led to deeper insights into its metabolic mechanisms and biological functions.This understanding was fueled by the recent development of genome editing tools and our improved capacity for analyzing the global DNA methylome in mammalian cells.This review focuses on the maintenance of DNA methylation patterns during mitotic cell division.We discuss the latest discoveries of the mechanisms for the inheritance of DNA methylation as a stable epigenetic memory.We also highlight recent evidence showing the rapid turnover of DNA methylation as a dynamic gene regulatory mechanism.A body of work has shown that altered DNA methylomes are common features in aging and disease.We discuss the potential links between methylation maintenance mechanisms and diseaseassociated methylation changes.

关键词： DNMT1 Mitotic DNA methylation inheritance Neighboring reinforcement model Aging-associated methylation changes

Robust Distributed Model Predictive Control for Formation Tracking of Nonholonomic Vehicles

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 560-562页

作者： Zhigang Luo Bing Zhu Jianying Zheng Zewei Zheng School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Dear Editor,This letter proposes a robust distributed model predictive control(MPC) strategy for formation tracking of a group of wheeled vehicles subject to constraints and disturbances. Formation control has attract... 详细信息

关键词： letter constraints searching

Research on the collapse process of a near-wall bubble

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Journal of Hydrodynamics 2023年第5期35卷 899-912页

作者： Bing Zhu Wang Han Wen-jun Xu Wei Zhang University of Shanghai for Science and Technology Shanghai200093China Shanghai Key Laboratory of Power Energy in Multiphase Flow and Heat Transfer Shanghai200093China Marine Design and Research Institute of China Shanghai200011China

The effect of wall on the bubble collapse is significant. A compressible numerical simulation method based on the state equation was used to numerically calculate the collapse process of bubbles at different leaving wall distances. The results show that when the dimensionless distance between the bubble center and the wall is greater than zero, the bubble generates a high-pressure region at the top of the interface, which induces a jet toward the wall. When the dimensionless distance is less than zero, the jet is generated from the vicinity of the contact position between the bubble and the wall and moves along the wall towards the center axis of the bubble. When the dimensionless distance is equal to zero, that is, the center of the bubble coincides with the center of the wall, the bubble shrinks uniformly, and its collapse process is consistent with that of a single bubble in free space under the same parameter conditions. Comparison of these three typical cases of dimensionless distance from the wall reveals that the presence of the wall induces an asymmetric effect and a pressure gradient effect in the flow field around the bubble, and the farthest point away from the center of the attached wall is a high-pressure region, which induces destabilization of the bubble interface and the occurrence of jets.

关键词： Bubble collapse compressible simulation shock wave propagation jet flow direction

Hydrodynamic characteristics and noise reduction mechanism of a wave leading hydrofoil placed in the wake of a cylinder

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Journal of Hydrodynamics 2023年第6期35卷 1089-1100页

作者： Bing Zhu Yue Li Wen-jun Xu Wei Zhang School of Energy and Power Engineering University of Shanghai for Science and TechnologyShanghai200093China National Key Laboratory of Marine Engine Science and Technology Shanghai201108China Marine Design and Research Institute of China Shanghai200011China

We have investigated the hydrodynamic and acoustic performance of a hydrofoil with a wave leading edge that is being ingested in a cylindrical wake,to explore the interaction and noise reduction mechanism with the use of near flow field and far field noise decoupled prediction methods of large eddy simulation(LES)and Ffowcs Williams-Hawkings(FW-H).Our results indicate that the wave leading edge has minimal effect on the hydrodynamic performance,however,it has demonstrated the ability to significantly improve the acoustic performance.Through the comparison of sound pressure level(SPL)and acoustic directivity,we have observed that the wave leading edge can significantly reduce the broadband noise in the far field.This is due to its ability to break the large-scale structure of the incoming flow,which weakens the direct impact and therefore reduces the tone noise.Additionally,the interaction between the broken vortex and the boundary layer around the hydrofoil surface is weakened,leading to a reduction in surface pressure pulsation and broadband noise intensity.The wave structure primarily affects the flow structure near the leading edge,resulting in a reduction in flow disturbance and sound source intensity,and an improvement in the acoustic feedback loop between the foil and the fore-cylinder.

关键词： Wave leading hydrofoil cylinder wake ingesting turbulence noise reduction large eddy simulation(LES)

Epigenetic regulation of future expression

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Epigenetic regulation of future expression

首届植物科学前沿学术大会

作者： Bing Zhu National Laboratory of Biomacromolecules CAS Center for Excellence in Biomacromolecules Institute of Biophysics Chinese Academy of Sciences

The epigenetic systems help to fulfil two basic challenges of multicellular organisms:proliferation and differentiation.Epigenetic plasticity allows cells to differentiate,whereas epigenetic inheritance and maintenance help to maintain cell fate in proliferating cells and postmitotic cells.Interestingly,epigenetic mechanism not only regulate gene expression at the current stage,but also regulates gene induction kinetics in the future,via different mechanisms in different biological processes.In this talk,I will highlight our recent discoveries regarding how epigenetic mechanisms regulate the kinetics of future gene induction in biological processes such as memory and reining.

关键词： epigenetics gene induction kinetics priming memory reining

来源： cnki会议评论

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朱兵:希望未来设计成为创新驱动的硬指标

设计 2021年第2期34卷 57-58页

作者：朱兵光华龙腾奖委员会

《设计》朱兵《设计》:请谈谈光华龙腾奖以及您和光华龙腾奖的渊源。朱兵:原来我们的设计主要是讲工业设计,路甬祥委员长提出一个全新的理论:设计分三个阶段——农耕设计,工业设计,和当今的创新设计。创新设计就是在新的技术、新的环境... 详细信息

《设计》朱兵《设计》:请谈谈光华龙腾奖以及您和光华龙腾奖的渊源。朱兵:原来我们的设计主要是讲工业设计,路甬祥委员长提出一个全新的理论:设计分三个阶段——农耕设计,工业设计,和当今的创新设计。创新设计就是在新的技术、新的环境、新的材料、新的条件下,与各个领域,特别是与文化的融合。在融合的环境里,这个阶段应该是一个全球范围创新设计的概念。在提出创新设计的过程中间,开展了很多调研,那个时候我就陪同他进行调研,协助他来推动这件事情。

关键词：创新设计朱兵全球范围硬指标创新驱动龙腾文化的融合调研

Recruitment and reinforcement: maintaining epigenetic silencing

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Science China(Life Sciences) 2018年第5期61卷 515-522页

作者： Chengzhi Wang Bing Zhu Jun Xiong National Laboratory of Biomacromolecules CAS Center for Excellence in Biomacromolecules Institute of BiophysicsChinese Academy of Sciences College of Life Sciences University of Chinese Academy of Sciences

Cells need to appropriately balance transcriptional stability and adaptability in order to maintain their identities while responding robustly to various stimuli. Eukaryotic cells use an elegant "epigenetic" system to achieve this functionality. "Epigenetics" is referred to as heritable information beyond the DNA sequence, including histone and DNA modifications, nc RNAs and other chromatin-related components. Here, we review the mechanisms of the epigenetic inheritance of a repressive chromatin state,with an emphasis on recent progress in the field. We emphasize that(i) epigenetic information is inherited in a relatively stable but imprecise fashion;(ii) multiple cis and trans factors are involved in the maintenance of epigenetic information during mitosis; and(iii) the maintenance of a repressive epigenetic state requires both recruitment and self-reinforcement mechanisms.These mechanisms crosstalk with each other and form interconnected feedback loops to shape a stable epigenetic system while maintaining certain degrees of flexibility.

关键词：维护要求有丝分裂期真核细胞相对稳定稳定性 DNA 染色质适应性

Performance Evaluation Method for Automated Driving System in Logical Scenario

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Automotive Innovation 2022年第3期5卷 299-310页

作者： Peixing Zhang Bing Zhu Jian Zhao Tianxin Fan Yuhang Sun State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchunChina

With the continuous improvement of automated driving technology,how to evaluate the performance of an automated driving system is attracting more and more attention.Meanwhile,with the creation of scenario-based test methods,the traditional evaluation index based on a single test can no longer meet the requirements of high-level safety verification for automated driving system,and the performance evaluation of such a system in logical scenarios will be the mainstream.Based on the scenario-based test method and Turing test theory,a performance evaluation method for an automated driving system in the whole parameter space of a logical scenario is proposed.The logical scenario parameter space is partitioned according to the risk degree of concrete scenario,and the evaluation process in different zones are determined.Subsequently,the anthropo-morphic index in the safe zone and the collision-avoidance index in the danger zone are defined by comparing test results of human driving and ideal vehicle motion.Taking front vehicle low-speed and cut-out scenarios as examples,two automated driving algorithms are tested in the virtual environment,and the test results are evaluated both by the proposed method and by human observation.The results show that the results of the proposed method are consistent with the subjective feelings of humans;additionally,it can be applied to scenario-based tests and the verification process of an automated driving system.

关键词： Automated driving system Logical scenario Performance evaluation Anthropomorphic index