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Science China(Technological Sciences) 2017年第4期60卷 576-586页

作者： GUO JingHua LUO YuGong li keqiang Department of Mechanical and Electrical Engineering Xiamen University State Key Laboratory of Automotive Safety and Energy Tsinghua University

In this paper, the platoon control problem of autonomous vehicles in highway is studied. Since the autonomous vehicles have the characteristics of nonlinearities, external disturbances and strong coupling, a novel adaptive fuzzy sliding coordinated control system is constructed to supervise the longitudinal and lateral motions of autonomous vehicles, in which the fuzzy system is employed to approximate the unknown nonlinear functions. Due to the low sensitivity to disturbances and plant parameter variations, the proposed control approach is an efficient way to handle with the complex dynamic plants operating under un-certainty conditions. The asymptotic stability of adaptive coordinated platoon close-loop control system is verified based on the Lyapunov stability theory. The results indicate that the presented adaptive coordinated platoon control approach can accurately achieve the tracking performance and ensures the stability and riding comfort of autonomous vehicles in a platoon. Finally,simulation test is exploited to demonstrate the effectiveness of the proposed control approach.

关键词： autonomous vehicles vehicle dynamics coordinated platoon control nonlinearities adaptive fuzzy sliding mode

Integrated adaptive dynamic surface car-following control for nonholonomic autonomous electric vehicles

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Science China(Technological Sciences) 2017年第8期60卷 1221-1230页

作者： GUO JingHua LUO YuGong li keqiang Department of Mechanical and Electrical Engineering Xiamen University State Key Laboratory of Automotive Safety and Energy Tsinghua University

In this paper,the car-following control problem of nonholonomic autonomous electric vehicles in the curved highway is *** to the fact that the nonholonomic autonomous electric vehicles have the features of strong coupling,parametric uncertainties,nonlinearities and external disturbances,a novel integrated adaptive car-following control system is constructed to supervise the longitudinal and lateral motions of ***,an adaptive fuzzy dynamic surface car-following control strategy is presented to determine a vector of total forces and torque of autonomous electric vehicles,which can guarantee the uniform ultimate boundedness of close-loop control ***,an optimal tire forces distribution law is proposed to dynamically allocate the desired coupled tire longitudinal and lateral forces in ***,simulation results illustrate the effectiveness and robustness of the proposed car-following control approach.

关键词： autonomous electric vehicles car following adaptive dynamic surface control strong coupling integrated control

Towards the Unified Principles for Level 5 Autonomous Vehicles

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Engineering 2021年第9期7卷 1313-1325页

作者： Jianqiang Wang Heye Huang keqiang li Jun li State Key Laboratory of Automotive Safety and Energy School of Vehicle and MobilityTsinghua UniversityBeijing 100084China

The rapid advance of autonomous vehicles(AVs)has motivated new perspectives and potential challenges for existing modes of ***,driving assistance systems of Level 3 and below have been widely produced,and several applications of Level 4 systems to specific situations have also been gradually *** improving the automation level and vehicle intelligence,these systems can be further advanced towards fully autonomous ***,general development concepts for Level 5 AVs remain unclear,and the existing methods employed in the development processes of Levels 0-4 have been mainly based on task-driven function development related to specific ***,it is difficult to identify the problems encountered by high-level *** essential logical and physical mechanisms of vehicles have hindered further progression towards Level 5 *** exploring the physical mechanisms behind high-level autonomous driving systems and analyzing the essence of driving,we put forward a coordinated and balanced framework based on the brain-cerebellum-organ concept through reasoning and *** on a mixed mode relying on the crow inference and parrot imitation approach,we explore the research paradigm of autonomous learning and prior knowledge to realize the characteristics of self-learning,self-adaptation,and self-transcendence for *** a systematic,unified,and balanced point of view and based on least action principles and unified safety field concepts,we aim to provide a novel research concept and develop an effective approach for the research and development of high-level AVs,specifically at Level 5.

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

Predictive cruise control for heavy trucks based on slope information under cloud control system

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Journal of Systems Engineering and Electronics 2022年第4期33卷 812-826页

作者： li Shuyan WAN Keke GAO Bolin li Rui WANG Yue li keqiang College of Engineering China Agricultural UniversityBeijing 100083China School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China

With the advantage of fast calculation and map resources on cloud control system(CCS), cloud-based predictive cruise control(CPCC) for heavy trucks has great potential to improve energy efficiency, which is significant to achieve the goal of national carbon neutrality. However, most investigations focus on the on-board predictive cruise control(PCC) system,lack of research on CPCC architecture under CCS. Besides, the current PCC algorithms have the problems of a single control target and high computational complexity, which hinders the improvement of the control effect. In this paper, a layered architecture based on CCS is proposed to effectively address the realtime computing of CPCC system and the deployment of its algorithm on vehicle-cloud. In addition, based on the dynamic programming principle and the proposed road point segmentation method(RPSM), a PCC algorithm is designed to optimize the speed and gear of heavy trucks with slope information. Simulation results show that the CPCC system can adaptively control vehicle driving through the slope prediction, with fuel-saving rate of 6.17% in comparison with the constant cruise control. Also,compared with other similar algorithms, the PCC algorithm can make the engine operate more in the efficient zone by cooperatively optimizing the gear and speed. Moreover, the RPSM algorithm can reconfigure the road in advance, with a 91% roadpoint reduction rate, significantly reducing algorithm ***, this study has essential research significance for the economic driving of heavy trucks and the promotion of the CPCC system.

关键词： predictive cruise control(PCC) cloud control system(CCS) layered architecture road point segmentation method(RPSM) economic driving

Neural-Fuzzy-Based Adaptive Sliding Mode Automatic Steering Control of Vision-based Unmanned Electric Vehicles

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Chinese Journal of Mechanical Engineering 2021年第5期34卷 56-68页

作者： Jinghua Guo keqiang li Jingjing Fan Yugong Luo Jingyao Wang School of Aerospace Engineering Xiamen UniversityXiamen 361005China State Key Laboratory of Automotive Safety and Energy Tsinghua UniversityBeijing 100084China School of Electrical and Control Engineering North China University of TechnologyBeijing 100144China

This paper presents a novel neural-fuzzy-based adaptive sliding mode automatic steering control strategy to improve the driving performance of vision-based unmanned electric vehicles with time-varying and uncertain ***,the kinematic and dynamic models which accurately express the steering behaviors of vehicles are constructed,and in which the relationship between the look-ahead time and vehicle velocity is ***,in order to overcome the external disturbances,parametric uncertainties and time-varying features of vehicles,a neural-fuzzy-based adaptive sliding mode automatic steering controller is proposed to supervise the lateral dynamic behavior of unmanned electric vehicles,which includes an equivalent control law and an adaptive variable structure control *** this novel automatic steering control system of vehicles,a neural network system is utilized for approximating the switching control gain of variable structure control law,and a fuzzy inference system is presented to adjust the thickness of boundary layer in *** stability of closed-loop neural-fuzzy-based adaptive sliding mode automatic steering control system is proven using the Lyapunov ***,the results illustrate that the presented control scheme has the excellent properties in term of error convergence and robustness.

关键词： Vision-based unmanned electric vehicles Automatic steering Neural-fuzzy adaptive sliding control Vehicle lateral dynamics

An adaptive cascade trajectory tracking control for over-actuated autonomous electric vehicles with input saturation

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Science China(Technological Sciences) 2019年第12期62卷 2153-2160页

作者： GUO JingHua LUO YuGong WANG JingYao li keqiang CHEN Tao School of Aerospace Engineering Xiamen UniversityXiamen 361005China State Key Laboratory of Automotive Safety and Energy Tsinghua UniversitBejing 100084China China Automotive Engineering Research Institute Co LtdChongqing 401122China

This paper presented a novel adaptive cascade nonlinear trajectory tracking control scheme of over-actuated autonomous electric vehicles involving input saturation. First, a nonlinear vehicle dynamic model with input saturation is established, which can accurately describe the features of uncertainties and coupling of autonomous electric vehicles, and the hyperbolic tangent function is designed to estimate the saturation function for dealing with the input saturation problem. Then, a novel adaptive cascade trajectory tracking control scheme is designed. An adaptive neural network-based terminal sliding control law is proposed for producing the generalized force/moment in real-time, the asymptotic stability of this adaptive control system is proven by Lyapunov theory, and a quasi-newton distribution law is designed to determine the optimum tire forces that guarantee the actual generalized forces/moment are close to the desired values. Finally, simulation results demonstrate the effectiveness of the proposed control scheme.

关键词： autonomous electric vehicles input saturation over-actuated distribution adaptive terminal sliding control

HUMAN-SIMULATING VEHICLE STEERING CONTROL ALGORITHM

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Chinese Journal of Mechanical Engineering 2006年第2期19卷 233-236页

作者： XU Youchun li keqiang CHANG Ming CHEN Jun State Key Laboratory of Automotive Safety ＆ Energy Tsinghua UniversityBeijing 100084 China Deprtment of Automobile Engineering Military Transportation InstituteTianjin 300161 China

A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control（HS） algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.

关键词： Human-simulating control Sigmoid function Steering algorithm

Robust cooperation of connected vehicle systems with eigenvalue-bounded interaction topologies in the presence of uncertain dynamics

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Frontiers of Mechanical Engineering 2018年第3期13卷 354-367页

作者： keqiang li Feng GAO Shengbo Eben li Yang ZHENG Hongbo GAO State Key Laboratory of Automotive Safety and Energy Department of Automotive Engineering Tsinghua University Beijing 100084 China School of Automotive Engineering Chongqing University Chongqing 400044 China Department of Engineering Science University of Oxford Oxford OX13PJ UK

This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by a predesigned range. With an inverse model to compensate for nonlinear powertrain dynamics, vehicles in a platoon are modeled by third-order uncertain systems with bounded disturbances. On the basis of the eigenvalue decomposition of topological matrices, we convert the platoon system to a norm-bounded uncertain part and a diagonally structured certain part by applying linear transformation. We then use a common Lyapunov method to design a distributed H-infinity controller. Numerically, two linear matrix inequalities corresponding to the minimum and maximum eigenvalues should be solved. The resulting controller can tolerate interaction topologies with eigenvalues located in a certain range. The proposed method can also ensure robustness performance and disturbance attenuation ability for the closed-loop platoon system. Hardware-in-the-loop tests are performed to validate the effectiveness of our method.

关键词： automated vehicles platoon distributedcontrol robustness

Cloud Control System Architectures,Technologies and Applications on Intelligent and Connected Vehicles:a Review

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Chinese Journal of Mechanical Engineering 2021年第5期34卷 3-25页

作者： Wenbo Chu Qiqige Wuniri Xiaoping Du Qiuchi Xiong Tai Huang keqiang li National Innovation Center of Intelligent and Connected Vehicles Beijing 100176China School of Software Beihang UniversityBeijing 100083China State Key Laboratory of Automotive Safety&Energy School of Vehicle and MobilityTsinghua UniversityBeijing 100084China

The electrification of vehicle helps to improve its operation efficiency and *** to fast development of network,sensors,as well as computing technology,it becomes realizable to have vehicles driving *** achieve autonomous driving,several steps,including environment perception,path-planning,and dynamic control,need to be ***,vehicles equipped with on-board sensors still have limitations in acquiring necessary environmental data for optimal driving *** and connected vehicles(ICV)cloud control system(CCS)has been introduced as a new concept as it is a potentially synthetic solution for high level automated driving to improve safety and optimize traffic flow in intelligent *** paper systematically investigated the concept of cloud control system from cloud related applications on ICVs,and cloud control system architecture design,as well as its core technologies *** on the analysis,the challenges and suggestions on cloud control system development have been addressed.

关键词： Intelligent and connected vehicles Cloud control system Cloud control base platform Cloud controlled and automated driving

Effect of dissolved organic nitrogen on the bloom of Prorocentrum donghaiense and Karenia spp. in the East China Sea coastal waters

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Acta Oceanologica Sinica 2024年第6期43卷 71-85页

作者： Xiaoru Cui Guangming Zhen Jing Zhao keqiang li Xiulin Wang Key Laboratory of Marine Chemistry Theory and Technology/Frontiers Science Center for Deep Ocean Multispheres and Earth System of Ministry of Education Ocean University of ChinaQingdao 266100China College of Environmental Science and Engineering Ocean University of ChinaQingdao 266100China College of Chemistry and Chemical Engineering Ocean University of ChinaQingdao 266100China

Understan ding the mechanism of harmful algal bloom formation is vital for effectively preventing algal bloom outbreaks in coastal *** *** in the East China Sea show a significant correlation with nutrient ***,the impact of key components of nutrients,especially dissolved organic nitrogen(DON),on the blooms of Karenia *** not *** research is still *** this study,the cruise observations,field mesocosm-flask culture experiments,and a multinitrogen-tri-phytoplankton-detritus model(NTPD) are combined to reveal the quantitative influence of nutrient regimes on the shift of Prorocentrum donghaiense and Karenia *** the East China *** has a synchronism rhythm of *** spp.-diatom loop in the field culture experiment,which is consistent with the results of the cruise *** results showed that the processes of terrigenous DON(TeDON) and dissolved inorganic nitrogen(DIN:NO_(3)^(-)-N,NH_(4)^(+)-N) absorption promoted *** to become the dominant algae in the community;whereas the processes of DON from *** absorption promoted Karenia *** become the dominant algae in ambient DIN *** addition,the three-dimensional fluorescence components of humus C,tyrosine and fulvic acid can indicate the processes of growth and extinction of *** and Karenia spp.,*** study infers that *** and Karenia *** shift mechanism associated with the nutrient regime in coastal waters,which provides a scientific basis for the environmental management of coastal eco system health.

关键词： Karenia spp. Prorocentrum donghaiense nutrients multinitrogen-tri-phytoplankton-detritus model three-dimensional fluorescence