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A Sensorless State Estimation for A Safety-Oriented Cyber-Physical System in Urban driving:Deep Learning Approach

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IEEE/CAA Journal of Automatica Sinica 2021年第1期8卷 169-178页

作者： Mohammad Al-Sharman David Murdoch Dongpu Cao Chen Lv Yahya Zweiri Derek Rayside William Melek the Department of Electrical and Computer Engineering University of WaterlooWaterloo N2L 3G1Canada the Department of Mechanical and Mechatronics Engineering University of WaterlooWaterloo N2L 3G1Canada the cognitive autonomous driving lab University of WaterlooWaterloo N2L 3G1Canada the School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 999002Singapore the Faculty of Science Engineering and ComputingKingston University LondonLondon SW153DWUK the Khalifa University Center for autonomous Robotic Systems Department of Aerospace EngineeringKhalifa UniversityAbu Dhabi 127788UAE

In today's modern electric vehicles,enhancing the safety-critical cyber-physical system(CPS)'s performance is necessary for the safe maneuverability of the *** a typical CPS,the braking system is crucial for the vehicle design and safe ***,precise state estimation of the brake pressure is desired to perform safe driving with a high degree of *** this paper,a sensorless state estimation technique of the vehicle's brake pressure is developed using a deep-learning approach.A deep neural network(DNN)is structured and trained using deep-learning training techniques,such as,dropout and rectified *** techniques are utilized to obtain more accurate model for brake pressure state estimation *** proposed model is trained using real experimental training data which were collected via conducting real vehicle *** vehicle was attached to a chassis dynamometer while the brake pressure data were collected under random driving *** on these experimental data,the DNN is trained and the performance of the proposed state estimation approach is validated *** results demonstrate high-accuracy brake pressure state estimation with RMSE of 0.048 MPa.

关键词： Brake pressure state estimation cyber-physical system(CPS) deep learning dropout regularization approach

A vision-centered multi-sensor fusing approach to self-localization and obstacle perception for robotic cars

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Frontiers of Information Technology & Electronic Engineering 2017年第1期18卷 122-138页

作者： Jian-ru XUE Di WANG Shao-yi DU Di-xiao CUI Yong HUANG Nan-ning ZHENG lab of Visual cognitive Computing and Intelligent Vehicle Xi'an Jiaotong University

Most state-of-the-art robotic cars＇ perception systems are quite different from the way a human driver understands traffic environments. First, humans assimilate information from the traffic scene mainly through visual perception, while the machine perception of traffic environments needs to fuse information from several different kinds of sensors to meet safety-critical requirements. Second, a robotic car requires nearly 100% correct perception results for its autonomous driving, while an experienced human driver works well with dynamic traffic environments, in which machine perception could easily produce noisy perception results. In this paper, we propose a vision-centered multi-sensor fusing framework for a traffic environment perception approach to autonomous driving, which fuses camera, LIDAR, and GIS information consistently via both geometrical and semantic constraints for efficient self- localization and obstacle perception. We also discuss robust machine vision algorithms that have been successfully integrated with the framework and address multiple levels of machine vision techniques, from collecting training data, efficiently processing sensor data, and extracting low-level features, to higher-level object and environment mapping. The proposed framework has been tested extensively in actual urban scenes with our self-developed robotic cars for eight years. The empirical results validate its robustness and efficiency.

关键词： Visual perception Self-localization Mapping Motion planning Robotic car

Critical safe distance design to improve driving safety based on vehicle-to-vehicle communications

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Journal of Central South University 2013年第11期20卷 3334-3344页

作者：陈晨吕宁刘雷裴庆祺李晓记 State Key laboratory of Integrated Service Networks (Xidian University) School of Electronic Engineering Xidian University Key laboratory of cognitive Radio and Information Processing of Ministry of Education (Guilin University of Electronic Technology)

A critical safe distance(CSD)model in V2V(vehicle-to-vehicle)communication systems was proposed to primarily enhance driving safety by disseminating warning notifications to vehicles when they approach calculated *** elaborately analyzing the vehicular movement features especially when braking,our CSD definition was introduced and its configuration method was given through dividing radio range into different communication *** on our definition,the needed message propagation delay was also derived which could be used to control the beacon frequency or ***,the detailed CSD expressions were proposed in different mobility scenarios by fully considering the relative movement status between the front and rear *** results show that our proposed model could provide reasonable CSD under different movement scenarios which eliminates the unnecessary reserved inter-vehicle distance and guarantee the safety at the same *** compared time-headway model always shows a smaller CSD due to focusing on traffic efficiency whereas the traditional braking model generally outputs a larger CSD because it assumes that the following car drives with a constant speed and did not discuss the scenario when the leading car suddenly *** from these two models,our proposed model could well balances the requirements between driving safety and traffic throughput efficiency by generating a CSD in between the values of the two models in most cases.

关键词： vehicle-to-vehicle communication systems collsion avoidance saftey distance

Bio-inspired vision mimetics toward next-generation collision-avoidance automation

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The Innovation 2023年第1期4卷 24-25页

作者： Gary J.W.Xu Kun Guo Seop Hyeong Park Poly Z.H.Sun Aiguo Song Human Factors in driving lab Huawei Technologies Co.Ltd.Shenzhen 518038China School of Psychology University of LincolnLincoln LN67TSUK School of Software Hallym UniversityChunchon Gangwon-do 24252South Korea School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China School of Instrument Science and Engineering Southeast UniversityNanjing 210096China

MOTIVATION The current“deep learning+large-scale data+strong supervised labeling”technology framework of collision avoidance for ground robots and aerial drones is becoming *** development gradually faces challenges from real open-scene applications,including small data,weak annotation,and *** by the neural structure and processes underlying human cognition(eg,human visual,auditory,and tactile systems)and the knowledge learned from daily driving tasks,a high-level cognitive system is developed for integrating collision sensing and collision *** bio-inspired cognitive approach has the advantages of good robustness,high self-adaptability,and low computation consumption in practical driving scenes.

关键词： collision driving integrating

Activation of endogenous neurogenesis and angiogenesis by basic fibroblast growth factor-chitosan gel in an adult rat model of ischemic stroke

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Neural Regeneration Research 2024年第2期19卷 409-415页

作者： Hongmei Duan Shulun Li Peng Hao Fei Hao Wen Zhao Yudan Gao Hui Qiao Yiming Gu Yang Lv Xinjie Bao Kin Chiu Kwok-Fai So Zhaoyang Yang Xiaoguang Li Department of Neurobiology School of Basic Medical SciencesCapital Medical UniversityBeijingChina Beijing Key laboratory for Biomaterials and Neural Regeneration School of Engineering MedicineBeihang UniversityBeijingChina Department of Epidemiology and Statistics School of Public Health and ManagementNingxia Medical UniversityYinchuanNingxia Hui Autonomous RegionChina Department of Physical Education Capital University of Economics and BusinessmBeijingChina Department of Neurosurgery Peking Union Medical College HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijingChina Department of Psychology State Key Lab of Brain and Cognitive SciencesThe University of Hong KongHong Kong Special Administration RegionChina Guangdong-Hongkong-Macao Institute of CNS Regeneration Ministry of Education CNS Regeneration Collaborative Joint LaboratoryJinan UniversityGuangzhouGuangdong ProvinceChina Bioland laboratory(Guangzhou Regenerative Medicine and Health Guangdong laboratory) GuangzhouGuangdong ProvinceChina Department of Ophthalmology and State Key laboratory of Brain and cognitive Sciences The University of Hong KongHong Kong Special Administration RegionChina Center for Brain Science and Brain-Inspired Intelligence Guangdong-Hong Kong-Macao Greater Bay AreaGuangzhouGuangdong ProvinceChina Co-innovation Center of Neuroregeneration Nantong UniversityNantongJiangsu ProvinceChina Department of Biomedical Engineering School of Biological Science and Medical EngineeringBeihang UniversityBeijingChina

Attempts have been made to use cell transplantation and biomaterials to promote cell proliferation,differentiation,migration,and survival,as well as angiogenesis,in the context of brain ***,whether bioactive materials can repair the damage caused by ischemic stroke by activating endogenous neurogenesis and angiogenesis is still *** this study,we applied chitosan gel loaded with basic fibroblast growth factor to the stroke cavity 7 days after ischemic stroke in *** gel slowly released basic fibroblast growth factor,which improved the local microenvironment,activated endogenous neural stem/progenitor cells,and recruited these cells to migrate toward the penumbra and stroke cavity and subsequently differentiate into neurons,while enhancing angiogenesis in the penumbra and stroke cavity and ultimately leading to partial functional *** study revealed the mechanism by which bioactive materials repair ischemic strokes,thus providing a new strategy for the clinical application of bioactive materials in the treatment of ischemic stroke.

关键词： adult endogenous neurogenesis angiogenesis basic fibroblast growth factor-chitosan gel chitosan functional recovery ischemic stroke neural stem cell newborn neuron

A Survey and Tutorial of EEG-Based Brain Monitoring for Driver State Analysis

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IEEE/CAA Journal of Automatica Sinica 2021年第7期8卷 1222-1242页

作者： Ce Zhang Azim Eskandarian Virginia Tech Mechanical Engineering Department ASIM lab Virginia 24061-0131 USA

The driver’s cognitive and physiological states affect his/her ability to control the ***,these driver states are essential to the safety of *** design of advanced driver assistance systems(ADAS)or autonomous vehicles will depend on their ability to interact effectively with the driver.A deeper understanding of the driver state is,therefore,***(EEG)is proven to be one of the most effective methods for driver state monitoring and human error *** paper discusses EEG-based driver state detection systems and their corresponding analysis algorithms over the last three ***,the commonly used EEG system setup for driver state studies is ***,the EEG signal preprocessing,feature extraction,and classification algorithms for driver state detection are ***,EEG-based driver state monitoring research is reviewed in-depth,and its future development is *** is concluded that the current EEGbased driver state monitoring algorithms are promising for safety ***,many improvements are still required in EEG artifact reduction,real-time processing,and between-subject classification accuracy.

关键词： Advanced driver assistance systems(ADAS) data analysis electroencephalography(EEG) intelligent vehicles machine learning algorithms neural network.

Enhancing autonomous Racing Strategies:A cognitive Hierarchy-Based Safe Motion Planning Approach

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Enhancing Autonomous Racing Strategies:A Cognitive Hierarchy...

On the performance of shared autonomous bicycles:A simulation study

第43届中国控制会议

作者： Xuanming Zhang Xianlin Zeng Zhihong Peng National Key laboratory of autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology

autonomous vehicle motion planning in competitive scenarios,such as car racing,presents significant challenges due to the unpredictability of adversaries' *** generate intelligent autonomous behavior,vehicles must anticipate and react to the maneuvers of other ***,existing game-theoretic motion planning approaches often assume full knowledge of opponents' behavior patterns,overlooking the inherent uncertainty of such *** assumption can lead to suboptimal performance in critical maneuvers,such as blocking and *** address this issue,this paper proposes a motion planning method based on cognitive hierarchy *** method enhances the understanding of agent behavior patterns through a probabilistic model that updates inferences about each opponent's cognitive level from interaction ***,the proposed planner incorporates a new cost function and discrete-time control barrier functions to ensure safety during *** effectiveness of our planner is demonstrated through comparative simulations with the sensitivityenhanced best response iteration(SE-IBR) *** results indicate that the proposed algorithm outperforms the SE-IBR in blocking and overtaking scenarios,highlighting its potential to improve autonomous strategies in competitive driving situations.

关键词： Motion planning autonomous vehicle competitive scenario cognitive hierarchy theory

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Communications in Transportation Research 2022年第1期2卷 116-151页

作者： Naroa Coretti Sanchez Inigo Martinez Luis Alonso Pastor Kent Larson MIT Media lab CambridgeMAUSA University of Navarra San SebastianSpain

As society faces global challenges such as population growth and climate change,rethinking cities is now more imperative than *** design of cities can not be abstracted from the design of their mobility ***,efficient solutions must be found to transport people and goods throughout the city efficiently and *** autonomous bicycle-sharing system would combine the most relevant benefits of vehicle-sharing,autonomy,and micro-mobility,increasing the efficiency and convenience of bicycle-sharing systems and incentivizing more people to bike and enjoy their cities in an environmentally friendly *** to the novelty of introducing autonomous driving technology into bicycle-sharing systems and their inherent complexity,there is a need to quantify the potential impact of autonomy on fleet performance and user *** paper presents the results of an agent-based simulation that provides an in-depth understanding of the fleet behavior of autonomous bicycle-sharing systems in realistic scenarios,including a rebalancing system based on demand *** addition,this work describes the impact of different parameters on system efficiency and service ***,it quantifies the extent to which an autonomous system would outperform current station-based and dockless bicycle-sharing *** obtained results show that with a fleet size three and a half times smaller than a station-based system and eight times smaller than a dockless system,an autonomous system can improve overall performance and user experience even with no rebalancing.

关键词： Future mobility Bicycle-sharing systems autonomous vehicles Micro-mobility Agent-based simulation Multi-agent systems

On the simulation of shared autonomous micro-mobility

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Communications in Transportation Research 2022年第1期2卷 104-115页

作者： Naroa Coretti Sanchez Inigo Martinez Luis Alonso Pastor Kent Larson MIT Media lab CambridgeMAUSA University of Navarra San SebastianSpain

Fast urbanization and climate change require innovative systems for an efficient movement of people and goods in *** trends towards vehicle-sharing,autonomous vehicles,and the use of micro-mobility systems gain strength,the intersection of these fields appears as an area of great *** could potentially bring the convenience of on-demand mobility into already prevalent shared micro-mobility systems(SMMS),increasing their efficiency and incentivizing more people to use active mobility *** novelty of introducing autonomous driving technology into SMMS and their inherent complexity requires tools to assess and quantify the potential impact of autonomy on fleet performance and user *** paper presents an ad-hoc agentbased simulator for the assessment of the fleet behavior of autonomous SMMS in realistic scenarios,including a rebalancing system based on demand *** also allows comparing its performance to station-based and dockless *** proposed simulation framework is highly configurable and flexible and works with high resolution and precision geospatial *** results of studies carried out with this simulation tool could provide valuable insights for many stakeholders,including vehicle design engineers,fleet operators,city planners,and governments.

关键词： Future mobility autonomous vehicles Micro-mobility Agent-basedsimulation Multi-agentsystems