检索结果-南通市图书馆

Review of Electrical and Electronic Architectures for autonomous vehicles:Topologies,Networking and Simulators

Automotive Innovation 2024年第1期7卷 82-101页

作者： Wenwei Wang Kaidi Guo Wanke Cao Hailong Zhu Jinrui Nan Lei Yu National Engineering Research Center of Electric vehicles Beijing Institute of Technology(BIT)Beijing 100081China Shenzhen Automotive Research Institute Beijing Institute of Technology(BIT)Shenzhen 518000China State Key Laboratory of Networking and Switching Technology Beijing University of Posts and TelecommunicationBeijing 100876China Purple Mountain Laboratories Nanjing 211111China Beijing Kawen New Energy Vehicle Co. LTDBeijing 102209China

With the rapid development of autonomous vehicles,more and more functions and computing requirements have led to the continuous centralization in the topology of electrical and electronic(E/E)architectures.While certain Tier1 suppliers,such as BOSCH,have previously proposed a serial roadmap for E/E architecture development,implemented since 2015 with significant contributions to the automotive industry,lingering misconceptions and queries persist in actual engineering processes.Notably,there are concerns regarding the perspective of zone-oriented E/E architectures,characterized by zonal concentration,as successors to domain-oriented E/E architectures,known for functional concentration.Addressing these misconceptions and queries,this study introduces a novel parallel roadmap for E/E architecture development,concurrently evaluating domain-oriented and zone-oriented schemes.Furthermore,the study explores hybrid E/E architectures,amalgamating features from both paradigms.To align with the evolution of E/E architectures,networking technologies must adapt correspondingly.The networking mechanisms pivotal in E/E architecture design are comprehensively discussed.Additionally,the study delves into modeling and verification tools pertinent to E/E architecture topologies.In conclusion,the paper outlines existing challenges and unresolved queries in this domain.

关键词： autonomous vehicles Electrical and electronic architectures Topology Networking Domain-oriented Zone-oriented

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

A Survey on an Emerging Safety Challenge for autonomous vehicles:Safety of the Intended Functionality

引用

Engineering 2024年第2期33卷 17-34页

作者： Hong Wang Wenbo Shao Chen Sun Kai Yang Dongpu Cao Jun Li Tsinghua Intelligent Vehicle Design and Safety Research Institute School of Vehicle and MobilityTsinghua UniversityBeijing 100084China CogDrive Lab Department of Mechanical and Mechatronics EngineeringUniversity of WaterlooWaterlooON N2L3G1Canada College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China

As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(SOTIF)has emerged,presenting significant challenges to the widespread deployment of AVs.SOTIF focuses on issues arising from the functional insufficiencies of the AVs’intended functionality or its implementation,apart from conventional safety considerations.From the systems engineering standpoint,this study offers a comprehensive exploration of the SOTIF landscape by reviewing academic research,practical activities,challenges,and perspectives across the development,verification,validation,and operation phases.Academic research encompasses system-level SOTIF studies and algorithm-related SOTIF issues and solutions.Moreover,it encapsulates practical SOTIF activities undertaken by corporations,government entities,and academic institutions spanning international and Chinese contexts,focusing on the overarching methodologies and practices in different phases.Finally,the paper presents future challenges and outlook pertaining to the development,verification,validation,and operation phases,motivating stakeholders to address the remaining obstacles and challenges.

关键词： Safety of the intended functionality autonomous vehicles Artificial intelligence Uncertainty Verification Validation

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Navigation for autonomous vehicles via fast-stable and smooth reinforcement learning

引用

Science China(Technological Sciences) 2024年第2期67卷 423-434页

作者： ZHANG RuiXian YANG JiaNan LIANG Ye LU ShengAo DONG YiFei YANG BaoQing ZHANG LiXian School of Astronautics Harbin Institute of TechnologyHarbin 150001China

This paper investigates the navigation problem of autonomous vehicles based on reinforcement learning(RL)with both stability and smoothness guarantees.By introducing a data-based Lyapunov function,the stability criterion in mean cost is obtained,where the Lyapunov function has a property of fast descending.Then,an off-policy RL algorithm is proposed to train safe policies,in which a more strict constraint is exerted in the framework of model-free RL to ensure the fast convergence of policy generation,in contrast with the existing RL merely with stability guarantee.In addition,by simultaneously introducing constraints on action increments and action distribution variations,the difference between the adjacent actions is effectively alleviated to ensure the smoothness of the obtained policy,instead of only seeking the similarity of the distributions of adjacent actions as commonly done in the past literature.A navigation task of a ground differentially driven mobile vehicle in simulations is adopted to demonstrate the superiority of the proposed algorithm on the fast stability and smoothness.

关键词： autonomous vehicles navigation reinforcement learning smoothness stability

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Adaptive Coordinated Path Tracking Control Strategy for autonomous vehicles with Direct Yaw Moment Control

引用

Chinese Journal of Mechanical Engineering 2022年第1期35卷 223-237页

作者： Ying Tian Qiangqiang Yao Peng Hang Shengyuan Wang Beijing Key Laboratory of Powertrain for New Energy Vehicle School of MechanicalElectronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions.In this study,an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm.The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model.To adaptively adjust the priorities of path tracking accuracy and vehicle stability,an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function.An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions.To ensure vehicle stability,the sideslip angle,yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame.It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and largecurvature conditions.

关键词： autonomous vehicles Path tracking Model predictive control Adaptive coordinated

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning

引用

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 involved.Classical pedestrian avoidance strategies cannot handle uncertainty,and learning-based methods lack performance guarantees.In this paper we propose a hybrid reinforcement learning(HRL)approach for autonomous vehicles to safely interact with pedestrians behaving uncertainly.The method integrates the rule-based strategy and reinforcement learning strategy.The confidence of both strategies is evaluated using the data recorded in the training process.Then we design an activation function to select the final policy with higher confidence.In this way,we can guarantee that the final policy performance is not worse than that of the rule-based policy.To demonstrate the effectiveness of the proposed method,we validate it in simulation using an accelerated testing technique to generate stochastic pedestrians.The 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

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Driving Environment Uncertainty-Aware Motion Planning for autonomous vehicles

引用

Chinese Journal of Mechanical Engineering 2022年第5期35卷 301-314页

作者： Xiaolin Tang Kai Yang Hong Wang Wenhao Yu Xin Yang Teng Liu Jun Li College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China Tsinghua Intelligent Vehicle Design and Safety Research Institute Tsinghua UniversityBeijing 100084China

autonomous vehicles require safe motion planning in uncertain environments,which are largely caused by surrounding vehicles.In this paper,a driving environment uncertainty-aware motion planning framework is proposed to lower the risk of position uncertainty of surrounding vehicles with considering the risk of rollover.First,a 4-degree of freedom vehicle dynamics model,and a rollover risk index are introduced.Besides,the uncertainty of surrounding vehicles’position is processed and propagated based on the Extended Kalman Filter method.Then,the uncertainty potential field is established to handle the position uncertainty of autonomous vehicles.In addition,the model predictive controller is designed as the motion planning framework which accounts for the rollover risk,the position uncertainty of the surrounding vehicles,and vehicle dynamic constraints of autonomous vehicles.Furthermore,two edge cases,the cut-in scenario,and merging scenario are designed.Finally,the safety,effectiveness,and real-time performance of the proposed motion planning framework are demonstrated by employing a hardware-in-the-loop experiment bench.

关键词： Position uncertainty Rollover prevention autonomous vehicles Motion planning Model predictive control

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Human-Like Decision-Making of autonomous vehicles in Dynamic Traffic Scenarios

引用

自动化学报:英文版 2023年第10期10卷 1905-1917页

作者： Tangyike Zhang Junxiang Zhan Jiamin Shi Jingmin Xin Nanning Zheng National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and ApplicationsXi’an 710049 Institute of Artificial Intelligence and Robotics Xi’an Jiaotong UniversityXi’an 710049China Momenta Shanghai 201804China

With the maturation of autonomous driving technology, the use of autonomous vehicles in a socially acceptable manner has become a growing demand of the public. Human-like autonomous driving is expected due to the impact of the differences between autonomous vehicles and human drivers on safety.Although human-like decision-making has become a research hotspot, a unified theory has not yet been formed, and there are significant differences in the implementation and performance of existing methods. This paper provides a comprehensive overview of human-like decision-making for autonomous vehicles. The following issues are discussed: 1) The intelligence level of most autonomous driving decision-making algorithms;2) The driving datasets and simulation platforms for testing and verifying human-like decision-making;3) The evaluation metrics of human-likeness;personalized driving;the application of decisionmaking in real traffic scenarios;and 4) The potential research direction of human-like driving. These research results are significant for creating interpretable human-like driving models and applying them in dynamic traffic scenarios. In the future, the combination of intuitive logical reasoning and hierarchical structure will be an important topic for further research. It is expected to meet the needs of human-like driving.

关键词： autonomous vehicles decision-making driving behavior human-like driving

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

A Type-2 Fuzzy Approach to Driver-Automation Shared Driving Lane Keeping Control of Semi-autonomous vehicles Under Imprecise Premise Variable

引用

Chinese Journal of Mechanical Engineering 2022年第2期35卷 210-227页

作者： Yue Liu Qing Xu Hongyan Guo Hui Zhang School of Transportation Science and Engineering Beihang UniversityBeijing 100091China School of Vehicle and Mobility Tsinghua UniversityBeijing 100000China College of Automotive Engineering Jilin UniversityChangchun 130000China

The driver-automation shared driving is a transition to fully-autonomous driving,in which human driver and vehicular controller cooperatively share the control authority.This paper investigates the shared steering control of semi-autonomous vehicles with uncertainty from imprecise parameter.By considering driver’s lane-keeping behavior on the vehicle system,a driver-automation shared driving model is introduced for control purpose.Based on the interval type-2(IT2)fuzzy theory,moreover,the driver-automation shared driving model with uncertainty from imprecise parameter is described using an IT2 fuzzy model.After that,the corresponding IT2 fuzzy controller is designed and a direct Lyapunov method is applied to analyze the system stability.In this work,sufficient design conditions in terms of linear matrix inequalities are derived,to guarantee the closed-loop stability of the driver-automation shared control system.In addition,an H∞performance is studied to ensure the robustness of control system.Finally,simulation-based results are provided to demonstrate the performance of proposed control method.Furthermore,an existing type-1 fuzzy controller is introduced as comparison to verify the superiority of the proposed IT2 fuzzy controller.

关键词： Driver-automation shared control Fuzzy control Interval type-2 fuzzy system autonomous vehicles

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Systematic literature review on the applications,impacts,and public perceptions of autonomous vehicles in road transportation system

引用

Journal of Traffic and Transportation Engineering(English Edition) 2023年第6期10卷 1037-1060页

作者： Isaac Oyeyemi Olayode Bo Du Alessandro Severino Tiziana Campisi Frimpong Justice Alex SMART Infrastructure Facility University of WollongongWollongongNSW 2522Australia Department of Civil Engineering and Architecture University of CataniaCatania 95131Italy Faculty of Engineering and Architecture Kore University of EnnaEnna 94100Italy School of Automotive Engineering Wuhan University of TechnologyWuhan 430070China

As the advancement of driverless technology,together with information and communication technology moved at a fast pace,autonomous vehicles have attracted great attention from both industries and academic sectors during the past decades.It is evident that this emerging technology has great potential to improve the pedestrian safety on roads,mitigate traffic congestion,increase fuel efficiency,and reduce greenhouse gas emissions.However,there is limited systematic research into the applications and public perceptions of autonomous vehicles in road transportation.The purpose of this systematic literature review is to synthesise and analyse existing research on the applications,implications,and public perceptions of autonomous vehicles in road transportation system.It is found that autonomous vehicles are the future of road transportation and that the negative perception of humans is rapidly changing towards autonomous vehicles.Moreover,to fully deploy autonomous vehicles in a road transportation system,the existing road transportation infrastructure needs significant improvement.This systematic literature review contributes to the comprehensive knowledge of autonomous vehicles and will assist transportation researchers and urban planners to understand the fundamental and conceptual framework of autonomous vehicle technologies in road transportation systems.

关键词： autonomous vehicles autonomous mobility Public perception Road transportation Traffic safety

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

A Combined Reinforcement Learning and Model Predictive Control for Car-Following Maneuver of autonomous vehicles

引用

Chinese Journal of Mechanical Engineering 2023年第3期36卷 315-325页

作者： Liwen Wang Shuo Yang Kang Yuan Yanjun Huang Hong Chen School of Automotive Studies Tongji UniversityShanghai 201804China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 201804China College of Electronic and Information Engineering Tongji UniversityShanghai 201804China

Model predictive control is widely used in the design of autonomous driving algorithms.However,its parameters are sensitive to dynamically varying driving conditions,making it difficult to be implemented into practice.As a result,this study presents a self-learning algorithm based on reinforcement learning to tune a model predictive controller.Specifically,the proposed algorithm is used to extract features of dynamic traffic scenes and adjust the weight coefficients of the model predictive controller.In this method,a risk threshold model is proposed to classify the risk level of the scenes based on the scene features,and aid in the design of the reinforcement learning reward function and ultimately improve the adaptability of the model predictive controller to real-world scenarios.The proposed algorithm is compared to a pure model predictive controller in car-following case.According to the results,the proposed method enables autonomous vehicles to adjust the priority of performance indices reasonably in different scenarios according to risk variations,showing a good scenario adaptability with safety guaranteed.

关键词： Model predictive control Reinforcement learning autonomous vehicles

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：