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Simultaneous Multi-vehicle Detection and Tracking Framework with Pavement Constraints Based on Machine Learning and Particle Filter Algorithm

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Chinese Journal of Mechanical Engineering 2014年第6期27卷 1169-1177页

作者： WANG Ke HUANG Zhi zhong zhihua State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University College of Automotive Engineering Chongqing University

Due to the large variations of environment with ever-changing background and vehicles with different shapes, colors and appearances, to implement a real-time on-board vehicle recognition system with high adaptability, efficiency and robustness in complicated environments, remains challenging. This paper introduces a simultaneous detection and tracking framework for robust on-board vehicle recognition based on monocular vision technology. The framework utilizes a novel layered machine learning and particle filter to build a multi-vehicle detection and tracking system. In the vehicle detection stage, a layered machine learning method is presented, which combines coarse-search and fine-search to obtain the target using the AdaBoost-based training algorithm. The pavement segmentation method based on characteristic similarity is proposed to estimate the most likely pavement area. Efficiency and accuracy are enhanced by restricting vehicle detection within the downsized area of pavement. In vehicle tracking stage, a multi-objective tracking algorithm based on target state management and particle filter is proposed. The proposed system is evaluated by roadway video captured in a variety of traffics, illumination, and weather conditions. The evaluating results show that, under conditions of proper illumination and clear vehicle appearance, the proposed system achieves 91.2% detection rate and 2.6% false detection rate. Experiments compared to typical algorithms show that, the presented algorithm reduces the false detection rate nearly by half at the cost of decreasing 2.7%–8.6% detection rate. This paper proposes a multi-vehicle detection and tracking system, which is promising for implementation in an on-board vehicle recognition system with high precision, strong robustness and low computational cost.

关键词： simultaneous detection and tracking pavement segmentation layered machine learning particle filter

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Design and Occupant-Protection Performance Analysis of a New Tubular Driver Airbag

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Engineering 2018年第2期4卷 127-133页

作者： Huajian Zhou zhihua zhong Manjiang Hu Department of Automotive Engineering Tsinghua University Beijing 100084 China Tongji University Shanghai 200092 China

An airbag is an effective protective device for vehicle occupant safety, but may cause unexpected injury from the excessive energy of ignition when it is deployed, This paper focuses on the design of a new tubular driver airhag from the perspective of reducing the dosage of gas generant, Three different dummies were selected for computer simulation to investigate the stiffness and protection performance of the new airhag, Next, a multi-objective optimization of the 50th percentile dummy was conducted, The results show that the static volume of the new airhag is only about 113 of the volume of an ordinary one, and the injury value of each type of dummy can meet legal requirements while reducing the gas dosage by at least 30%, The combined injury index （Pcomb） decreases by 22% and the gas dosage is reduced by 32% after optimization, This study demonstrates that the new tubular driver airbag has great potential for protection in terms of reducing the gas dosage,

关键词： New tubular airbag Occupant protection Multi-objective optimization

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Vehicle roll stability control with active roll-resistant electro-hydraulic suspension

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Frontiers of Mechanical Engineering 2020年第1期15卷 43-54页

作者： Lijun XIAO Ming WANG Bangji ZHANG zhihua zhong State Key Laboratory of Advanced Design and Manufacture for Vehicle Body Hunan UniversityChangsha 410082China

This study examines roll stability control for vehicles with an active roll-resistant electro-hydraulic suspension(RREHS)subsystem under steering ***,we derive a vehicle model with four degrees of freedom and incorporates yaw and roll ***,an optimal linear quadratic regulator controller is obtained in consideration of dynamic vehicle ***,an RREHS subsystem with an electric servo-valve actuator is proposed,and the corresponding dynamic equations are ***,field experiments are conducted to validate the performance of the vehicle model under sine-wave and double-lane-change steering ***,the effectiveness of the active RREHS is determined by examining vehicle responses under sine-wave and double-lane-change *** enhancement in vehicle roll stability through the RREHS subsystem is also verified.

关键词： electro-hydraulic suspension roll stability LQR experiment

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Preface for Robust and Certifiable Perception System for Intelligent Vehicle

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Automotive Innovation 2022年第3期5卷 221-222页

作者： Guang Chen Alois Knoll zhihua zhong School of Automotive Studies and Department of Computer Science Tongji UniversityShanghaiChina 不详

The perception system is one of the most important parts of intelligent vehicles and has developed rapidly in recent ***,efficiency,and robustness of perception algorithms like object detection and scene parsing have been greatly ***,developing a robust and certifiable perception system is still *** perception systems can only work in relatively simple traffic scenarios,such as highways or closed environments,and would possibly fail in extreme conditions with the presence of extreme amounts of outliers due to false detection or sensor malfunction.

关键词： extreme false perception

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State of the Art on Deep Learning-enhanced Rendering Methods

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Machine Intelligence Research 2023年第6期20卷 799-821页

作者： Qi Wang zhihua zhong Yuchi Huo Hujun Bao Rui Wang State Key Laboratory of CAD&CG Zhejiang UniversityHangzhou310058China Zhejiang Laboratory Hangzhou311121China

Photorealistic rendering of the virtual world is an important and classic problem in the field of computer *** the development of GPU hardware and continuous research on computer graphics,representing and rendering virtual scenes has become easier and more ***,there are still unresolved challenges in efficiently rendering global illumination *** the same time,machine learning and computer vision provide real-world image analysis and synthesis methods,which can be exploited by computer graphics rendering *** learning-enhanced rendering combines techniques from deep learning and computer vision into the traditional graphics rendering pipeline to enhance existing rasterization or Monte Carlo integration *** state-of-the-art report summarizes recent studies of deep learning-enhanced rendering in the computer graphics ***,we focus on works of renderers represented using neural networks,whether the scene is represented by neural networks or traditional scene *** works are either for general scenes or specific scenes,which are differentiated by the need to retrain the network for new scenes.

关键词： Neural rendering computer graphics scene representation rendering post-processing

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AN IMPROVED MODAL ANALYSIS FOR THREE-DIMENSIONAL PROBLEMS USING FACE-BASED SMOOTHED FINITE ELEMENT METHOD

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Acta Mechanica Solida Sinica 2013年第2期26卷 140-150页

作者： Zhicheng He Guangyao Li zhihua zhong Aiguo Cheng Guiyong Zhang Eric Li State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Intelligent Systems for Medicine Laboratory School of Mechanical and Chemical EngineeringThe University of Western Australia35 Stirling HighwayCrawley WA 6009Australia Department of Mechanical Engineering National University of Singapore9 Engineering Drive 1117576Singapore

In this work, we further extended the face-based smoothed finite element method （FS-FEM） for modal analysis of three-dimensional solids using four-node tetrahedron elements. The FS-FEM is formulated based on the smoothed Calerkin weak form which employs smoothed strains obtained using the gradient smoothing operation on face-based smoothing domains. This strain smoothing operation can provide softening effect to the system stiffness and make the FSFEM provide more accurate eigenfrequency prediction than the FEM does. Numerical studies have verified this attractive property of FS-FEM as well as its ability and effectiveness on providing reliable eigenfrequency and eigenmode prediction in practical engineering application.

关键词： numerical method meshfree method modal analysis face-based smoothed finiteelement method (FS-FEM)

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In-situ carbonizing of coal pitch on the surface of silica sphere as quasi-graphitized carbon stationary phase for liquid chromatography

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Chinese Chemical Letters 2023年第7期34卷 219-221页

作者： Sen Xu zhihua zhong Yu Wang Lingyi Zhang Weibing Zhang Shanghai Key Laboratory of Functional Materials Chemistry School of Chemistry&Molecular EngineeringEast China University of Science and Technology.Shanghai200237China

A novel chromatography stationary phase with a quasi-graphitized carbon modified shell has been developed. Coal pitch was directly carbonized on the surface of porous silica with in-situ carbonization. The carbonized coal pitch coating exhibits some degree of graphitization with a 78 nm-thick layer on the surface of silica and a 0.5 nm-thick layer on the inner surface of the mesopores. Based on the special structure of the graphitized carbon coating, the novel stationary phase can provide multiple interactions such as hydrophobic interaction, π-π interaction and dipole-dipole interaction. The novel composite material exhibited unique separation selectivity and excellent separation efficiency for polar compounds, including imidazoles, nucleosides and pesticides. Besides, the packed column also exhibited great repeatability with the RSDs of the retention time of nucleosides between 0.07%-0.50%(n = 5). Finally, satisfied result was achieved in the separation of fullerenes on the new column, suggesting the great potential in the industrial-scale purification of fullerenes.

关键词： Graphitized carbon Coal pitch High performance liquid chromatography Chromatographic separation Fullerenes

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Hierarchical Cooperative Control of Connected Vehicles:From Heterogeneous Parameters to Heterogeneous Structures

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1590-1602页

作者： Manjiang Hu Lingkun Bu Yougang Bian Hongmao Qin Ning Sun Dongpu Cao zhihua zhong the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan UniversityChangsha 410082China Wuxi Intelligent Control Research Institute Hunan UniversityWuxi 214115China the School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China

As one of the typical applications of connected vehicles(CVs),the vehicle platoon control technique has been proven to have the advantages of reducing emissions,improving traffic throughout and driving *** this paper,a unified hierarchical framework is designed for cooperative control of CVs with both heterogeneous model parameters and *** separating neighboring information interaction from local dynamics control,the proposed framework is designed to contain an upper-level observing layer and a lower-level tracking control layer,which helps address the heterogeneity in vehicle parameters and *** the proposed framework,an observer is designed for following vehicles to observe the leading vehicle's states using neighboring communication,while a tracking controller is designed to track the observed leading vehicle using local feedback ***-loop stability in the absence and presence of communication time delay is analyzed,and the observer is further extended to a finite time convergent one to address string stability under general communication *** simulation and field experiment verify the effectiveness of the proposed method.

关键词： Communication delay connected vehicle(CV) heterogeneity string stability vehicle platoon

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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

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Explicit–Implicit Co-Simulation Techniques for Dynamic Responses of a Passenger Car on Arbitrary Road Surfaces

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Engineering 2019年第6期5卷 1171-1178页

作者： Hongzhou Hu zhihua zhong State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan UniversityChangsha 410082China

To study the durability of a passenger car, this work investigates numerical simulation techniques. The investigations are based on an explicit implicit approach in which substructure techniques are used to reduce the simulation time, allowing full vehicle dynamic analyses to be performed on a timescale that is dif cult or impossible with the conventional nite element model (FEM). The model used here includes all necessary nonlinearities in order to maintain accuracy. All key components of the car structure are modeled with deformable materials. Tire road interactions are modeled in the explicit package with contact-impact interfaces with arbitrary frictional and geometric properties. Key parameters of the responses of the car driven on six different kinds of test road surfaces are examined and compared with experimental values. It can be concluded that the explicit implicit co-simulation techniques used here are ef cient and accurate enough for engineering purposes. This paper also discusses the limitations of the proposed method and outlines possible improvements for future work.

关键词： Durability study Dynamic responses Passenger car Explicit–implicit co-simulation Contact-impact Friction Substructures

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