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Intelligent Vehicle Electrical Power Supply System with Central Coordinated Protection

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Chinese Journal of Mechanical Engineering 2016年第4期29卷 781-791页

作者： yang diange KONG Weiwei LI Bing LIAN Xiaomin State Key Laboratory of Automotive Safety and Energy Tsinghua University

The current research of vehicle electrical power supply system mainly focuses on electric vehicles（EV） and hybrid electric vehicles（HEV）.The vehicle electrical power supply system used in traditional fuel vehicles is rather simple and imperfect;electrical/electronic devices（EEDs） applied in vehicles are usually directly connected with the vehicle＇s *** increasing numbers of EEDs being applied in traditional fuel vehicles,vehicle electrical power supply systems should be optimized and improved so that they can work more safely and more *** this paper,a new vehicle electrical power supply system for traditional fuel vehicles,which accounts for all electrical/electronic devices and complex work conditions,is proposed based on a smart electrical/electronic device（SEED） *** as an independent intelligent electrical power supply network,the proposed system is isolated from the electrical control module and communication network,and access to the vehicle system is made through a bus *** results in a clean controller power supply with no electromagnetic interference.A new practical battery state of charge（So C） estimation method is also proposed to achieve more accurate So C estimation for lead-acid batteries in traditional fuel vehicles so that the intelligent power system can monitor the status of the battery for an over-current state in each power *** protection methods are also used to ensure power supply *** and tests on a traditional fuel vehicle are performed,and the results reveal that the battery So C is calculated quickly and sufficiently accurately for battery over-discharge ***-current protection is achieved,and the entire vehicle＇s power utilization is *** traditional fuel vehicles,the proposed vehicle electrical power supply system is comprehensive and has a unified system architecture,enhancing system reliability and security.

关键词： vehicle electrical power supply battery management vehicle electrical system traditional fuel vehicle

PTMOT: A Probabilistic Multiple Object Tracker Enhanced by Tracklet Confidence for Autonomous Driving

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Automotive Innovation 2022年第3期5卷 260-271页

作者： Kun Jiang Yining Shi Taohua Zhou Mengmeng yang diange yang State Key Lab of Automotive Safety and Energy Center for Intelligent Connected Vehicles and TransportationSchool of Vehicle and MobilityTsinghua UniversityLee Shau Kee Building No A639Beijing 100084China

Real driving scenarios,due to occlusions and disturbances,provide disordered and noisy measurements,which makes the task of multi-object tracking quite *** approach is to find deterministic data association;however,it has unstable performance in high clutter *** paper proposes a novel probabilistic tracklet-enhanced multiple object tracker(PTMOT),which integrates Poisson multi-Bernoulli mixture(PMBM)filter with confidence of *** proposed method is able to realize efficient and robust probabilistic association for 3D multi-object tracking(MOT)and improve the PMBM filter’s continuity by smoothing single target hypothesis with global *** consists of two key ***,the PMBM tracker based on sets of tracklets is implemented to realize probabilistic fusion of disordered ***,the confidence of tracklets is smoothed through a smoothing-while-filtering *** MOT tests on nuScenes tracking dataset demonstrate that the proposed method achieves superior performance in different modalities.

关键词： 3D multi-object tracking Random finite set Probabilistic association Tracklet confidence smoothing

Crowdsourced Road Semantics Mapping Based on Pixel-Wise Confidence Level

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Automotive Innovation 2022年第1期5卷 43-56页

作者： Benny Wijaya Kun Jiang Mengmeng yang Tuopu Wen Xuewei Tang diange yang State Key Laboratory of Automotive Safety and Energy and Center for Intelligent Connected Vehicles and TransportationTsinghua UniversityBeijing 100084China

High-definition map has become a vital cornerstone in the navigation of autonomous vehicles in complex traffic ***,the construction of high-definition maps has become *** methods relying on expensive mapping vehicles equipped with high-end sensor equipment are not suitable for mass map construction because of the limitation imposed by its high ***,this paper proposes a new method to create a high-definition road semantics map using multi-vehicle sensor *** proposed method implements crowdsourced point-based visual SLAM to align and combine the local maps derived by multiple *** allows users to modify the extraction process by using a more sophisticated neural network,thus achieving a more accurate detection result when compared with traditional binarization *** resulting map consists of road marking points suitable for autonomous vehicle navigation and path-planning ***,the method is evaluated on the real-world KAIST urban dataset and Shougang dataset to demonstrate the level of detail and accuracy of the proposed map with 0.369 m in mapping errors in ideal condition.

关键词： Crowdsourced mapping Map fusion SLAM Semantic mapping

Driving Space for Autonomous Vehicles

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Automotive Innovation 2019年第4期2卷 241-253页

作者： diange yang Xinyu Jiao Kun Jiang Zhong Cao State Key Laboratory of Automotive Safety and Energy Department of Automotive EngineeringCollaborative Innovation Center of Intelligent New Energy VehicleTsinghua UniversityBeijing 100084China

Driving space for autonomous vehicles(AVs)is a simplified representation of real driving environments that helps facilitate driving decision *** literatures present numerous methods for constructing driving spaces,which is a fundamental step in AV *** study reviews the existing researches to gain a more systematic understanding of driving space and focuses on two questions:how to reconstruct the driving environment,and how to make driving decisions within the constructed driving ***,the advantages and disadvantages of different types of driving space are *** study provides further understanding of the relationship between perception and decision-making and gives insight into direction of future research on driving space of AVs.

关键词： Autonomous vehicle Driving space Drivable area Environment perception Autonomous vehicle decision

GCD‑L: A Novel Method for Geometric Change Detection in HD Maps Using Low‑Cost Sensors

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Automotive Innovation 2022年第3期5卷 324-332页

作者： Peng Sun Yunpeng Wang Peng He Xinxin Pei Mengmeng yang Kun Jiang diange yang Autonomous Driving Technology Baidu IncBeijingChina School of Vehicle and Mobility Tsinghua UniversityLee Shau Kee Building No A639Beijing 100084China

Updating high-definition maps is imperative for the safety of autonomous ***,positional changes in lane lines are hard to be detected in a timely manner due to a limited number of expensive surveying vehicles over a large geo-graphic ***,a novel method is proposed to detect the geometric changes of lane lines using low-cost sensors,such as consumer-grade global navigation satellite system(GNSS)hardware receivers and *** proposed framework geometric change detection using low-cost sensors(GCD-L)and algorithm change segment compare(CSC),which are based on the lane width between the curb line and the adjacent leftmost lane line,can perceive the positional changes of the leftmost lane line on highway and expressway *** effectiveness of the proposed method is verified by evaluating it on a real-world typical urban ring road *** experimental results show that 71%detected change segments are valid with only two round crowdsourced maps.

关键词： Autonomous driving HD Maps Lane line Change detection

Exploring the application of blockchain technology in crowdsource autonomous driving map updating

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Communications in Transportation Research 2024年第1期4卷 297-300页

作者： Benny Wijaya Mengmeng yang Kun Jiang Wei Zhang diange yang School of Vehicle and Mobility Tsinghua UniversityBeijing100084China Department of Geographic Information Management Ministry of Natural Resources of the People's Republic of ChinaBeijing100034China

*** Autonomous driving maps are crucial for providing high-quality location data and are essential for intelligent vehicle *** developing countries,frequent road construction necessitates constant map updates to ensure the safety and efficiency of autonomous *** centralized updating methods,which rely on specialized surveying vehicles,are costly and inefficient and have long update cycles,failing to meet the demands for map accuracy and timeliness.

关键词： autonomous driving surveying

Intelligent and connected vehicles： Current status and future perspectives

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Science China(Technological Sciences) 2018年第10期61卷 1446-1471页

作者： yang diange JIANG Kun ZHAO Ding YU ChunLei CAO Zhong XIE ShiChao XIAO Zhongyang JIAO XinYu WANG SiJia ZHANG Kai State Key Laboratory of Automotive Safety and Energy Department of Automotive Engineering Collaborative Innovation Center of Intelligent New Energy Vehicle Tsinghua University Beijing 100084 China University of Michigan Transportation Research Institute Ann Arbor MI 48109 USA

Intelligent connected vehicles(ICVs) are believed to change people's life in the near future by making the transportation safer,cleaner and more comfortable. Although many prototypes of ICVs have been developed to prove the concept of autonomous driving and the feasibility of improving traffic efficiency, there still exists a significant gap before achieving mass production of high-level ICVs. The objective of this study is to present an overview of both the state of the art and future perspectives of key technologies that are needed for future ICVs. It is a challenging task to review all related works and predict their future perspectives, especially for such a complex and interdisciplinary area of research. This article is organized to overview the ICV key technologies by answering three questions: what are the milestones in the history of ICVs; what are the electronic components needed for building an ICV platform; and what are the essential algorithms to enable intelligent driving? To answer the first question, the article has reviewed the history and the development milestones of ICVs. For the second question, the recent technology advances in electrical/electronic architecture, sensors, and actuators are presented. For the third question, the article focuses on the algorithms in decision making, as the perception and control algorithm are covered in the development of sensors and actuators. To achieve correct decision-making, there exist two different approaches: the principle-based approach and data-driven approach. The advantages and limitations of both approaches are explained and analyzed. Currently automotive engineers are concerned more with the vehicle platform technology, whereas the academic researchers prefer to focus on theoretical algorithms. However, only by incorporating elements from both worlds can we accelerate the production of high-level ICVs.

关键词： intelligent connected vehicle (ICV) autonomous driving artificial intelligence advanced driver assistance systems(ADAS) electrical/electronic architecture (EEA) environmental perception decision-making ICV computation platform

Stability of General Linear Dynamic Multi-Agent Systems under Switching Topologies with Positive Real Eigenvlues

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Engineering 2020年第6期6卷 688-694页

作者： Shengbo Eben Li Zhitao Wang yang Zheng diange yang Keyou You State Key Lab of Automotive Safety and Energy School of Vehicle and MobilityTsinghua UniversityBeijing 100084China Department of Engineering Science Balliol CollegeUniversity of OxfordOxford 0X13PJUK Department of Automation Tsinghua UniversityBeijing 100084China

The time-varying network topology can significantly affect the stability of multi-agent *** paper examines the stability of leader-follower multi-agent systems with general linear dynamics and switching network topologies,which have applications in the platooning of connected *** switching interaction topology is modeled as a class of directed graphs in order to describe the information exchange between multi-agent systems,where the eigenvalues of every associated matrix are required to be positive *** Hurwitz criterion and the Riccati inequality are used to design a distributed control law and estimate the convergence speed of the closed-loop system.A sufficient condition is provided for the stability of multi-agent systems under switching topologies.A common Lyapunov function is formulated to prove closed-loop stability for the directed network with switching *** result is applied to a typical cyber-physical system—that is,a connected vehicle platoon—which illustrates the effectiveness of the proposed method.

关键词： Stability Multi-agent system Switching topologies Common Lyapunov function

Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning

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Frontiers of Information Technology & Electronic Engineering 2023年第1期24卷 131-140页

作者： Huiqian LI Jin HUANG Zhong CAO diange yang Zhihua ZHONG School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Chinese Academy of Engineering Beijing 100088China

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

关键词： Pedestrian Hybrid reinforcement learning Autonomous vehicles Decision-making