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A Probabilistic Architecture of Long-Term Vehicle Trajectory Prediction for Autonomous Driving

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Engineering 2022年第12期19卷 228-239页

作者： Jinxin Liu Yugong Luo Zhihua Zhong Keqiang Li heye huang Hui Xiong State Key Laboratory of Automotive Safety and Energy Tsinghua UniversityBeijing 100084China

In mixed and dynamic traffic environments,accurate long-term trajectory forecasting of surrounding vehicles is one of the indispensable preconditions for autonomous vehicles to accomplish reasonable behavioral decisions and guarantee driving *** this paper,we propose an integrated probabilistic architecture for long-term vehicle trajectory prediction,which consists of a driving inference model(DIM)and a trajectory prediction model(TPM).The DIM is designed and employed to accurately infer the potential driving intention based on a dynamic Bayesian *** proposed DIM incorporates the basic traffic rules and multivariate vehicle motion *** further improve the prediction accuracy and realize uncertainty estimation,we develop a Gaussian process-based TPM,considering both the short-term prediction results of the vehicle model and the driving motion ***,the effectiveness of our novel approach is demonstrated by conducting experiments on a public naturalistic driving dataset under lane-changing *** superior performance on the task of long-term trajectory prediction is presented and verified by comparing with other advanced methods.

关键词： Autonomous driving Dynamic Bayesian network Driving intention recognition Gaussian process Vehicle trajectory prediction

A probabilistic risk assessment framework considering lane-changing behavior interaction

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Science China(Information Sciences) 2020年第9期63卷 94-108页

作者： heye huang Jianqiang WANG Cong FEI Xunjia ZHENG Yibin YANG Jinxin LIU Xiangbin WU Qing XU The State Key Laboratory of Automotive Safety and Energy Tsinghua University Intel

Understanding the dynamic characteristics of surrounding vehicles and estimating the potential risk of mixed traffic can help reliable autonomous driving. However, the existing risk assessment methods are challenging to detect dangerous situations in advance and tackle the uncertainty of mixed traffic. In this paper, we propose a probabilistic driving risk assessment framework based on intention identification and risk assessment of surrounding vehicles. Firstly, we set up an intention identification model(IIM) via long short-term memory(LSTM) networks to identify the intention possibility of the surrounding vehicles. Then a risk assessment model(RAM) based on the driving safety field is employed to output the potential ***, driving safety field can reflect the coupling relationship of drivers, vehicles, and roads by analyzing their interaction. Finally, an integrated risk evaluation model combining both IIM and RAM is developed to form a dynamic potential risk map considering multi-vehicle interaction. For example, in a typical but challenging lane-changing scenario, an intelligent vehicle can assess its driving status by calculating a risk map in real time that represents the risk generated by the estimated intentions of surrounding ***, simulations and naturalistic driving experiments are conducted in the extracted lane-changing scenarios, and the results verify the effectiveness of the proposed model considering lane-changing behavior interaction.

关键词： behavior probability risk assessment intention identification LSTM driving safety field

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

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Engineering 2024年第2期33卷 63-76页

作者： heye huang Yicong Liu Jinxin Liu Qisong Yang Jianqiang Wang David Abbink Arkady Zgonnikov School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Department of Cognitive Robotics Faculty of MechanicalMaritime and Materials Engineering(3mE)Delft University of TechnologyDelft 2628Netherlands Department of Software Technology Faculty of Electrical EngineeringMathematics and Computer ScienceDelft University of TechnologyDelft 2628Netherlands Xi’an Institute of High-Technology Xi’an 710051China

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 ***,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road *** coordinates are then transformed to achieve the curvature continuity of the generated *** the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate ***,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 *** 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 ***,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

越野环境下基于势能场模型的智能车概率图路径规划方法

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兵工学报 2021年第7期42卷 1496-1505页

作者：田洪清王建强黄荷叶丁峰清华大学汽车安全与节能国家重点实验室北京100084

复杂越野环境下的路径规划是实现智能车无人驾驶的一项关键技术.越野环境中存在多种影响车辆运动的障碍物、环境威胁和越野道路,传统路径规划方法以路径长度或时间最短为优化目标,难以在复杂越野环境中正确规划安全可行的车辆行驶路径.... 详细信息

复杂越野环境下的路径规划是实现智能车无人驾驶的一项关键技术.越野环境中存在多种影响车辆运动的障碍物、环境威胁和越野道路,传统路径规划方法以路径长度或时间最短为优化目标,难以在复杂越野环境中正确规划安全可行的车辆行驶路径.针对该问题,提出了基于势能场模型的概率图(AFP-PRM)算法,采用人工势能场算法对越野环境建模,评估车辆通行风险.使用概率图算法以优化节点间多维度通行代价为目标进行路径规划;考虑车辆动力学特性,用动态曲率平滑法对行车轨迹优化;应用AFP-PRM算法在模拟越野环境下进行路径规划仿真实验.仿真结果表明:AFP-PRM算法在路径规划过程中采用人工势能场算法,综合了越野环境中障碍物、环境威胁和道路条件的耦合作用;使用概率图算法,建立采样点之间的多维度通行代价评估矩阵;在复杂的越野道路条件下生成可行、安全、高效的通行路径,为智能车提供了一种多目标优化路径规划算法.

关键词：智能车越野环境势能场概率图路径规划

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行车风险量化新方法及其防控策略仿真研究

机械工程学报 2024年第10期60卷 207-221页

作者：郑讯佳蒋骏皓黄荷叶王建强许庆张强重庆文理学院智能制造工程学院重庆402160 中国汽车工程研究院股份有限公司重庆401122 清华大学车辆与运载工程学院北京100084

行车风险受人、车、路多类时变因素的耦合影响,如何对其进行准确量化一直是制约汽车智能安全技术发展的难题。提出考虑驾驶人行为特性的行车风险量化新方法并介绍对应的行车风险防控策略,将行车风险量化与等效力模型结合,设计行车风险... 详细信息

行车风险受人、车、路多类时变因素的耦合影响,如何对其进行准确量化一直是制约汽车智能安全技术发展的难题。提出考虑驾驶人行为特性的行车风险量化新方法并介绍对应的行车风险防控策略,将行车风险量化与等效力模型结合,设计行车风险的场模型框架。通过考虑车道线约束和车辆行驶路径的变化,在车辆行驶的纵向和横线上设置不同的风险梯度调整系数并采用Frenet坐标转换,使得行车风险在车辆行驶的纵向和横向上具有较大的差异。结合行车风险的防控指标,设计3种高速公路直行冲突场景和9种无信号灯交叉路口冲突仿真场景,并分别与纵向控制模型(Longitudinal control model,LCM)和预计时间(Time to intersection,TTI)阈值对比,仿真结果表明,所设计的车辆行驶决策模型能够识别各个方向上的风险并能主动执行风险防控,相比LCM模型在安全性上更优;另外,建立的左转风险防控算法在900次无信号交叉路口仿真中的碰撞事故发生率为0,相比TTI阈值算法具有更高的通行效率和安全性。

关键词：行车风险量化建模风险防控行车安全场

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司美格鲁肽治疗初诊肥胖2型糖尿病1例

中华糖尿病杂志 2022年第S01期14卷 266-268页

作者：黄华英陈荷叶楼雪勇浙江省金华市中心医院内分泌代谢科金华321000

报道1例在浙江省金华市中心医院内分泌代谢科就诊的新诊断的2型糖尿病患者使用司美格鲁肽治疗的诊疗过程。患者为32岁男性,因“体检发现血糖升高1周”就诊。患者体型肥胖,诊断为2型糖尿病、高血压、高脂血症、脂肪肝。予司美格鲁肽联合... 详细信息

报道1例在浙江省金华市中心医院内分泌代谢科就诊的新诊断的2型糖尿病患者使用司美格鲁肽治疗的诊疗过程。患者为32岁男性,因“体检发现血糖升高1周”就诊。患者体型肥胖,诊断为2型糖尿病、高血压、高脂血症、脂肪肝。予司美格鲁肽联合二甲双胍治疗,患者血糖控制良好,体重明显下降,无不良反应,患者满意度高。司美格鲁肽除了有效降糖,还可以快速减重、降血压、降血脂、改善脂肪肝,对2型糖尿病患者有多重获益。

关键词：糖尿病,2型胰高糖素样肽-1受体激动剂周制剂司美格鲁肽

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改进特征匹配算法在银行卡号识别中的应用

吉林大学学报（理学版） 2018年第1期56卷 126-129页

作者：董延华陈中华宋和烨黄雨吉林师范大学计算机学院数值模拟吉林省高校重点实验室吉林四平136000

针对目前银行卡号识别算法的不足,基于模式识别技术,提出一种改进的特征匹配算法,并将其应用于银行卡号识别.改进的特征提取算法改变了特征向量,并增加特征学习次数,解决了传统方法识别银行卡号正确率较低的问题,并保证了识别效率.仿真... 详细信息

针对目前银行卡号识别算法的不足,基于模式识别技术,提出一种改进的特征匹配算法,并将其应用于银行卡号识别.改进的特征提取算法改变了特征向量,并增加特征学习次数,解决了传统方法识别银行卡号正确率较低的问题,并保证了识别效率.仿真实验结果表明,改进的特征提取算法可有效提高银行卡号识别的正确率.

关键词：数字识别改进特征匹配特征向量欧氏距离

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香蕉枯萎病田间发病株的高效灭菌方法筛选

植物保护学报 2015年第3期42卷 362-369页

作者：刘磊梁昌聪覃和业杨腊英郭立佳黄俊生中国热带农业科学院环境与植物保护研究所农业部热带作物有害生物综合治理重点实验室海南省热带农业有害生物监测与控制重点实验室海口571101 热作两院种苗组培中心海南儋州571737

为筛选有效防控香蕉枯萎病菌扩散蔓延的灭菌方法,采用含毒介质培养法测定咪鲜胺和多菌灵不同配比对枯萎病菌的毒力作用以筛选最佳混配液,比较最佳混配液与生石灰、草甘膦、咪鲜胺的平板抑菌和大田灭菌效果,并研究了大田不同施用方式对... 详细信息

为筛选有效防控香蕉枯萎病菌扩散蔓延的灭菌方法,采用含毒介质培养法测定咪鲜胺和多菌灵不同配比对枯萎病菌的毒力作用以筛选最佳混配液,比较最佳混配液与生石灰、草甘膦、咪鲜胺的平板抑菌和大田灭菌效果,并研究了大田不同施用方式对最佳混配液灭菌效果的影响。结果表明,咪鲜胺与多菌灵体积比为10∶1时得最佳混配液,可显著提高对香蕉枯萎病菌的抑制效果,增效系数为1.53,EC50值最小,为0.025 mg/L;4种药剂的EC50值由大到小为草甘膦>生石灰>咪鲜胺>最佳混配液。1 000 mg/L最佳混配液喷施于大田病株5 d后根际土壤病菌含量下降了95.93%,10 d后球茎病菌含量减少了71.88%,综合灭菌效果显著优于其它处理。此外,应用打孔灌药法可显著提高最佳混配液对大田病株的灭菌效果,施用5 d后球茎病菌含量减少了95.95%。表明以打孔灌药法施用1 000 mg/L最佳混配液灭菌效果显著且操作便捷,易于推广应用。

关键词：香蕉枯萎病混配杀菌剂打孔灌药病株灭菌

Effectiveness and safety of red yeast rice predominated by monacolin Kβ-hydroxy acid form for hyperlipidemia treatment and management

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Journal of Traditional Chinese Medicine 2022年第2期42卷 264-271页

作者： CHEN Benjian huang Xiaodan PENG Huiting LI Yishi CAO Yongtao WU Huanlin XU Danping Department of Medical Guangdong Provincial Hospital of Chinese MedicineThe Second Affiliated Hospital of Guangzhou University of Chinese MedicineGuangzhou 510120China the Second Clinical College Guangzhou University of Chinese MedicineGuangzhou 510405China the First Clinical College Guangzhou University of Chinese MedicineGuangzhou 510405China Department of Mathematical&Computer Sciences Indiana University of PennsylvaniaIndiana 15705PAUSA Department of Cardiology Dongzhimen HospitalBeijing University of Chinese MedicineBeijing 350122China Department of Traditional Chinese Medicine the Eighth Affiliated HospitalSunYat-Sen UniversityShenzhen 518033China

OBJECTIVE:To assess the lipid-lowering activity and safety of a dietary supplement containing monacolin Kβ-hydroxy acid form(MKA),heye(Folium Nelumbinis),and Cangzhu(Rhizoma Atractylodis Lanceae),compared to lifestyle ***:Totally 117 subjects with moderate to severe dyslipidemia(according to Chinese guidelines)and low CV risk were randomly assigned into three treatment groups:lifestyle modification(LM),LM plus a low dosage of MKA,LM plus a high dosage of MKA,and treated for 60 *** primary endpoint was the reduction of low density lipoprotein cholesterol(LDL-C)and total cholesterol(TC).Safeties along with Traditional Chinese Medicine Syndromes were assessed through the ***:A low dosage of MKA along with lifestyle modifications caused a significant decrease in LDL-C by 15.6%on average(95%CI,9.6%to 21%)with,a decrease in TC by 15.3%on average(95%CI,9.26%to 21.4%),and a decrease in non-HDL-C by 35.4%(95%CI,25.76%to 41.34%).Weak evidence of a reduction of triglycerides but an increment of HDL-C was observed in patients with severe *** severe adverse events occurred during the ***:Our results confirm the LDL-C and TC lowering properties of MKA is clinically *** also produces a significant reduction of non-HDL-C,and slightly effects on TG and HDL-C as well.

关键词： hydroxy acids lovastatin hyperlipidemias cholesterol cardiovascular prevention lifestyle modifications red yeast rice