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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

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A survey of music emotion recognition

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Frontiers of Computer Science 2022年第6期16卷 51-61页

作者： Donghong han Yanru KONG jiayi han Guoren WANG School of Computer Science and Engineering Northeastern UniversityShenyang110000China Institute of Science and Technology Brain-Inspired Intelligence Fudan UniversityShanghai200082China School of Computer Science&Technology Beijing Institute of TechnologyBeijing100089China

Music is the language of emotions.In recent years,music emotion recognition has attracted widespread attention in the academic and industrial community since it can be widely used in fields like recommendation systems,automatic music composing,psychotherapy,music visualization,and so on.Especially with the rapid development of artificial intelligence,deep learning-based music emotion recognition is gradually becoming mainstream.This paper gives a detailed survey of music emotion recognition.Starting with some preliminary knowledge of music emotion recognition,this paper first introduces some commonly used evaluation metrics.Then a three-part research framework is put forward.Based on this three-part research framework,the knowledge and algorithms involved in each part are introduced with detailed analysis,including some commonly used datasets,emotion models,feature extraction,and emotion recognition algorithms.After that,the challenging problems and development trends of music emotion recognition technology are proposed,and finally,the whole paper is summarized.

关键词： artificial intelligence deep learning music emotion recognition

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The Standards for Drinking Water Quality of China(2022 Edition)Will Take Effect

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China CDC weekly 2023年第13期5卷 297-300页

作者： jiayi han Lan Zhang Bixiong Ye Shenghua Gao Xiaoyuan Yao Xiaoming Shi National Institute of Environmental Health Chinese Center for Disease Control and PreventionBeijingChina

Safe drinking water is a valuable public health resource that affects people’s livelihood and is essential for human health,making it an international concern for drinking water quality improvement.The Standards for Drinking Water Quality of China(China SDWQ)is a legal document approved and issued by the Standardization Administration of the People’s Republic of China that serves as a starting point for protecting public health and ensuring the quality of human life.There are three versions of China SDWQ,including the 1985 edition,2006 edition,and 2022 edition.China SDWQ(2022 edition)sets a wide variety of indices covering biological,chemical,physical,and other risk factors in drinking water.Additionally,it establishes management requirements for the entire water supply process,providing a technical basis and criteria for ensuring drinking water safety and a scientific basis for developing drinking water safety policies and proposing targeted public health protection measures.

关键词： legal drinking edition

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To What Extent Does Corporate Investment Benefit from the Firm's Financial Activities?

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政治经济学季刊 2023年第2期6卷 120-156页

作者： Xiaochen JIANG jiayi han Department of Economics SOAS University of London Legal Information Center Peking University

The impressive development of China's economy over the past few decades has enabled non-financial firms to adopt financial investment in exchange for enhanced financing behavior and short-term profit(shareholder value)maximization,while the persistence of fixed investment leading to dramatic capital accumulation has spurred the nation's rapid economic growth.The existing literature has extensive discussions on the crowd-out effect of financial activities on non-financial firms'fixed investment but overlooks to what extent and under what forces financial activities potentially benefit real investment.This paper investigates whether profits from financial activities have an inverted U-shape relationship with firms'fixed investment.In particular,we aim to identify if the benefit of financial profit on fixed investment is through the financial constraint channel and/or ownership structure channel for Chinese-listed firms from 2003 to 2018.We present robust evidence to support the inverted U-shape relationship between financial profit and fixed investment for the whole sample of firms as well as the split samples of firms(SOEs and non-SOEs).Moreover,among all channels including cash flow,debt financing,managerial shareholding,ownership concentration,and state ownership,this research documents that financial profit mainly benefits firms by reducing debt burden.Firms with concentrated ownership and strong state shareholding are also more likely to crowd-out real investment or potentially alleviate overinvestment.Nevertheless,non-SOEs are more prone to benefit from financial profits by reducing the debt overhang problem than SOEs,whereas ownership concentration for SOEs non-increments the crowd-out effect.

关键词： financialization firm investment financial constraint channel ownership structure channel U-shape relationship China

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考虑风险时空分布特征的跟驰工况行车风险预测

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汽车工程 2024年第5期46卷 766-775,753页

作者：宋东鉴赵健朱冰佟静韩嘉懿刘斌吉林大学汽车仿真与控制国家重点实验室长春130022 吉林大学汽车工程学院长春130022 中国第一汽车集团有限公司长春130011

行车风险预测对提升智能汽车行车安全性至关重要,为此本文提出了一种跟驰工况下的行车风险预测模型(car-following risk prediction model, CRPM)。跟驰中车辆的减速能够反映驾驶人的认知风险,故根据车辆纵向加速度标注跟驰风险等级,并... 详细信息

行车风险预测对提升智能汽车行车安全性至关重要,为此本文提出了一种跟驰工况下的行车风险预测模型(car-following risk prediction model, CRPM)。跟驰中车辆的减速能够反映驾驶人的认知风险,故根据车辆纵向加速度标注跟驰风险等级,并构建基于各向异性行车风险场的风险时空分布特征以用作CRPM的输入。CRPM通过卷积神经网络提取风险的空间分布特性,利用双向长短期记忆网络和注意力机制处理风险的时序依赖关系,最终输出跟驰风险等级。CRPM在航拍数据集AD4CHE上进行训练和测试。结果表明,CRPM具有良好的预测精度和提前预测时间,预测准确率达99.67%,在风险发生前2 s预测准确率为96.73%。

关键词：行车风险预测风险时空分布跟驰航拍数据

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考虑人机信任匹配的人机协同控制策略

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同济大学学报（自然科学版） 2024年第6期52卷 838-845,855,F0002页

作者：孙剑阳友康岳李圣飒韩嘉懿王子衿尹恒同济大学道路与交通工程教育部重点实验室上海201804 吉林大学汽车仿真与控制国家重点实验室长春130025 中佛罗里达大学土木、环境与建筑工程系奥兰多32826

人机互信水平是影响人机协同系统表现的关键因素之一。提出了一种考虑人机信任匹配的主从博弈协同控制策略。建立评估驾驶人和机器相互信任程度的方法,在此基础上根据人机信任匹配程度进行协同驾驶中的权重分配;采用模型预测控制框架并... 详细信息

人机互信水平是影响人机协同系统表现的关键因素之一。提出了一种考虑人机信任匹配的主从博弈协同控制策略。建立评估驾驶人和机器相互信任程度的方法,在此基础上根据人机信任匹配程度进行协同驾驶中的权重分配;采用模型预测控制框架并结合主从博弈进行最优化求解,得出最优的协同控制策略;通过驾驶人在环实验,验证了所提出的协同控制策略的有效性。结果表明,对于不同信任匹配程度的驾驶人,所提出的策略使得驾驶人路径跟踪精度平均提高了70.91%,驾驶负担平均降低了44.03%。所提出的策略能提升车辆的驾驶表现,减轻驾驶人操作负担。

关键词：人机协同控制人机信任匹配权重分配主从博弈

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基于SWOT分析的甘肃省科研院所科技人员培养模式与对策研究

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甘肃科技纵横 2024年第5期53卷 39-44页

作者：李珊韩佳忆刘金鹏甘肃省科学院甘肃兰州730000

为客观评价甘肃省科研院所科技人员引进和培养状况,梳理分析了近4年甘肃省科研院所科技人员情况,并采用SWOT分析方法,研究了甘肃省科研院所科技人员培养引进方面存在的优势、劣势、机遇和挑战。文章提出了通过完善科研院所科技人员培养... 详细信息

为客观评价甘肃省科研院所科技人员引进和培养状况,梳理分析了近4年甘肃省科研院所科技人员情况,并采用SWOT分析方法,研究了甘肃省科研院所科技人员培养引进方面存在的优势、劣势、机遇和挑战。文章提出了通过完善科研院所科技人员培养模式、优化科技人员评价制度、做强科技人员引进基础、加大科技人员激励力度、做活科技人员使用管理等对策,进一步完善科技人员培养、评价、引进、激励及管理使用等机制。对提高甘肃省高水平创新人才数量,完善深化人才发展体制机制改革,努力建设西部地区重要人才中心和创新高地提供借鉴参考。

关键词：科技人员培养模式 SWOT分析法

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More Than Lightening:A Self-Supervised Low-Light Image Enhancement Method Capable for Multiple Degradations

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 622-637页

作者： han Xu jiayi Ma Yixuan Yuan Hao Zhang Xin Tian Xiaojie Guo the Electronic Information School Wuhan UniversityWuhan 430072China IEEE the Department of Electronic Engineering Chinese University of Hong KongHong Kong 999077China the College of Intelligence and Computing Tianjin UniversityTianjin 300350China

Low-light images suffer from low quality due to poor lighting conditions,noise pollution,and improper settings of cameras.To enhance low-light images,most existing methods rely on normal-light images for guidance but the collection of suitable normal-light images is difficult.In contrast,a self-supervised method breaks free from the reliance on normal-light data,resulting in more convenience and better generalization.Existing self-supervised methods primarily focus on illumination adjustment and design pixel-based adjustment methods,resulting in remnants of other degradations,uneven brightness and artifacts.In response,this paper proposes a self-supervised enhancement method,termed as SLIE.It can handle multiple degradations including illumination attenuation,noise pollution,and color shift,all in a self-supervised manner.Illumination attenuation is estimated based on physical principles and local neighborhood information.The removal and correction of noise and color shift removal are solely realized with noisy images and images with color shifts.Finally,the comprehensive and fully self-supervised approach can achieve better adaptability and generalization.It is applicable to various low light conditions,and can reproduce the original color of scenes in natural light.Extensive experiments conducted on four public datasets demonstrate the superiority of SLIE to thirteen state-of-the-art methods.Our code is available at https://***/hanna-xu/SLIE.

关键词： Color correction low-light image enhancement self-supervised learning.

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Arginine methylation of ALKBH5 by PRMT6 promotes breast tumorigenesis via LDHA-mediated glycolysis

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Frontiers of Medicine 2024年第2期18卷 344-356页

作者： Xue han Chune Ren Aifang Jiang Yonghong Sun jiayi Lu Xi Ling Chao Lu Zhenhai Yu Department of Reproductive Medicine Affiliated Hospital of Weifang Medical UniversityWeifang261053China Department of Pathology Affiliated Hospital of Weifang Medical UniversityWeifang261053China

ALKBH5 is a master regulator of N6-methyladenosine(m6A)modification,which plays a crucial role in many biological processes.Here,we show that ALKBH5 is required for breast tumor growth.Interestingly,PRMT6 directly methylates ALKBH5 at R283,which subsequently promotes breast tumor growth.Furthermore,arginine methylation of ALKBH5 by PRMT6 increases LDHA RNA stability via m6A demethylation,leading to increased aerobic glycolysis.Moreover,PRMT6-mediated ALKBH5 arginine methylation is confirmed in PRMT6-knockout mice.Collectively,these findings identify a PRMT6-ALKBH5-LDHA signaling axis as a novel target for the treatment of breast cancer.

关键词： PRMT6 ALKBH5 N6-methyladenosine glycolysis tumor growth

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面向智能汽车人机协同转向控制的强化学习变阻抗人机交互方法

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机械工程学报 2022年第18期58卷 141-149页

作者：韩嘉懿赵健朱冰吉林大学汽车仿真与控制国家重点实验室长春130022

人机交互已成为智能汽车设计的核心要素之一,针对人机协同转向控制问题,提出一种基于强化学习的智能汽车变阻抗人机交互方法。首先基于虚拟阻抗的思想提出针对转向控制的人机交互框架,用于描述控制权分配的连续过程;其次在此基础上,设... 详细信息

人机交互已成为智能汽车设计的核心要素之一,针对人机协同转向控制问题,提出一种基于强化学习的智能汽车变阻抗人机交互方法。首先基于虚拟阻抗的思想提出针对转向控制的人机交互框架,用于描述控制权分配的连续过程;其次在此基础上,设计基于变阻抗的人机协同转向控制算法,通过改变虚拟阻抗动态调整控制权分配;再次开发基于深度确定性策略梯度(Deep deterministic policy gradient,DDPG)的阻抗调协策略,根据驾驶人操纵行为确定虚拟阻抗;最后进行驾驶人在环试验,试验结果表明,与常规方法相比,所提出的方法能够使自动驾驶系统根据驾驶人的操纵行为让渡一定的控制权给驾驶人,人机交互过程平稳、柔和,易于驾驶人适应,对驾驶人的影响更小,降低了驾驶人的操纵负荷,同时自动驾驶系统还能够生成适当大小的控制转矩向驾驶人表达自身的驾驶意图,实现有效的人机交互。

关键词：智能汽车人机交互协同转向阻抗控制强化学习

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