王世峰，戴祥，徐寧，等

推薦論文摘要

無人駕駛汽車環(huán)境感知技術(shù)綜述

王世峰，戴祥，徐寧，等

無人駕駛汽車在行駛過程中獲取外界環(huán)境信息是車輛進(jìn)行導(dǎo)航定位、路徑規(guī)劃及運(yùn)動(dòng)控制的根本前提。首先對(duì)無人車環(huán)境感知所需傳感器的特點(diǎn)和原理進(jìn)行了介紹，然后闡述了激光雷達(dá)和相機(jī)的標(biāo)定方法，并論述了道路、行人、車輛、交通信號(hào)及標(biāo)識(shí)檢測任務(wù)中的關(guān)鍵技術(shù)，同時(shí)分析了各種傳感器的優(yōu)勢(shì)與限定條件，論述了各項(xiàng)關(guān)鍵技術(shù)的原理與方法，從而對(duì)無人駕駛汽車在環(huán)境感知領(lǐng)域的關(guān)鍵技術(shù)進(jìn)行了綜合論述。

激光雷達(dá)；相機(jī)；毫米波雷達(dá)；環(huán)境感知；無人駕駛汽車

來源出版物：長春理工大學(xué)學(xué)報(bào)：自然科學(xué)版, 2017 (1):1-6

聯(lián)系郵箱：王世峰，SF.Wang@cust.edu.cn

智能網(wǎng)聯(lián)汽車（ICV）技術(shù)的發(fā)展現(xiàn)狀及趨勢(shì)

李克強(qiáng)，戴一凡，李升波，等

摘要：綜述了智能網(wǎng)聯(lián)汽車（ICV）技術(shù)的發(fā)展現(xiàn)狀及趨勢(shì)。ICV的體系架構(gòu)包括價(jià)值鏈、技術(shù)鏈與產(chǎn)業(yè)鏈。ICV的4個(gè)發(fā)展階段是：自主式駕駛輔助、網(wǎng)聯(lián)式駕駛輔助、人機(jī)共駕、高度自動(dòng)/無人駕駛；關(guān)鍵技術(shù)有：環(huán)境感知、智能決策、控制執(zhí)行、人機(jī)共駕、通信與平臺(tái)、信息安全等。由于ICV是未來汽車技術(shù)發(fā)展的一個(gè)重要方向，其技術(shù)與產(chǎn)業(yè)發(fā)展是中國汽車工業(yè)轉(zhuǎn)型升級(jí)的重要機(jī)遇；因而，中國要發(fā)展智能網(wǎng)聯(lián)汽車，就應(yīng)該充分結(jié)合本國體制優(yōu)勢(shì)，依托頂層設(shè)計(jì)。

關(guān)鍵詞：智能網(wǎng)聯(lián)汽車（ICV）；駕駛輔助；人機(jī)共駕；無人駕駛

來源出版物：汽車安全與節(jié)能學(xué)報(bào), 2017, 8(01): 1-14

聯(lián)系郵箱：李克強(qiáng)，ikq@tsinghua.edu.cn

基于混沌理論的無人駕駛車輛行駛軌跡量化分析

孫揚(yáng)，熊光明，陳慧巖，等

摘要：針對(duì)無人駕駛車輛客觀量化評(píng)價(jià)困難的問題，提出基于混沌理論的無人駕駛車輛行駛軌跡的量化分析方法。應(yīng)用五次多項(xiàng)式方法結(jié)合優(yōu)秀駕駛員駕駛車輛行駛的初始狀態(tài)和目標(biāo)狀態(tài)設(shè)計(jì)無人駕駛車輛的理想軌跡，計(jì)算實(shí)際行駛軌跡與理想軌跡的偏差得到偏差時(shí)間數(shù)據(jù)序列；采用混沌理論的C-C方法對(duì)偏差時(shí)間數(shù)據(jù)序列重構(gòu)相空間；計(jì)算偏差時(shí)間數(shù)據(jù)序列的Lyapunov指數(shù)，實(shí)現(xiàn)無人駕駛車輛行駛軌跡的量化表示。運(yùn)用提出的方法對(duì)無人駕駛車輛避障換道的行駛軌跡偏差時(shí)間數(shù)據(jù)序列進(jìn)行相空間重構(gòu)，計(jì)算其Lyapunov指數(shù)為正值，表征人駕駛車輛系統(tǒng)的混沌性，還表征人駕駛車輛收斂到穩(wěn)態(tài)響應(yīng)的快慢程度。試驗(yàn)表明基于混沌理論的無人駕駛車輛行駛軌跡的量化分析是可行的，有效的。

關(guān)鍵詞：無人駕駛車輛；混沌；量化分析；Lyapunov指數(shù)

來源出版物：機(jī)械工程學(xué)報(bào), 2016, 52(2): 127-133

聯(lián)系郵箱：熊光明，xiongguangming@bit.edu.cn

無人駕駛車輛路徑跟蹤的增量式PID控制

譚寶成，王賓

摘要：為了實(shí)現(xiàn)無人駕駛車輛沿著預(yù)設(shè)路徑安全穩(wěn)定行駛，基于車輛實(shí)際位置和給定位置的坐標(biāo)關(guān)系，建立了無人駕駛車輛的路徑跟蹤模型；分析車輛當(dāng)前位置及航向信息與目標(biāo)路徑的偏差，提出誤差帶內(nèi)外分狀況的控制策略；通過改進(jìn)和優(yōu)化傳統(tǒng)增量式比例積分微分控制（PID控制）算法，提出了一種新型增量式PID控制算法.實(shí)驗(yàn)結(jié)果表明：改進(jìn)后的增量式PID算法相較于傳統(tǒng)增量式PID算法，無人車路徑跟蹤的上升時(shí)間、調(diào)整時(shí)間均減小，響應(yīng)速度加快，超調(diào)量減小，車輛實(shí)現(xiàn)快速穩(wěn)定的路徑跟蹤。

關(guān)鍵詞：無人駕駛車輛；路徑跟蹤；PID控制；誤差帶

來源出版物：華南理工大學(xué)學(xué)報(bào)（自然科學(xué)版）, 2016,44(12): 996-1001

聯(lián)系郵箱：譚寶成，xaitdzx@163.com

無人駕駛車輛局部路徑規(guī)劃的時(shí)間一致性與魯棒性研究

姜巖，王琦，龔建偉，等

摘要：在無人駕駛系統(tǒng)中，局部規(guī)劃在跟蹤全局路徑的同時(shí)完成避障，提高了規(guī)劃系統(tǒng)在動(dòng)態(tài)未知環(huán)境中的工作能力。避障分析的有效性是局部規(guī)劃最重要的功能之一。然而在仿真和實(shí)車測試中發(fā)現(xiàn)，廣泛使用的基于優(yōu)化求解的局部規(guī)劃算法無法在不依賴全局精確定位時(shí)保證規(guī)劃結(jié)果滿足時(shí)間一致性要求。時(shí)間不一致將導(dǎo)致車輛的實(shí)際行駛路線偏離初始規(guī)劃結(jié)果，造成避障分析失效。本文設(shè)計(jì)了基于前向預(yù)測的局部路徑規(guī)劃算法，在不依賴全局精確定位的前提下保證規(guī)劃結(jié)果的時(shí)間一致性。除了時(shí)間一致性問題外，跟蹤控制誤差也是導(dǎo)致規(guī)劃結(jié)果避障分析失效的主要原因之一?，F(xiàn)有研究大多通過膨脹障礙物體現(xiàn)誤差的影響，然而這種方法無法避免車輛駛?cè)肱蛎浳ｋU(xiǎn)區(qū)域而停車。本算法在路徑生成過程中增加誤差影響，用通行區(qū)域代替原有不具有寬度的規(guī)劃路徑進(jìn)行避障分析，既可以解決誤差導(dǎo)致的避障失效，又避免出現(xiàn)膨脹障礙物帶來的問題。通過V-Rep軟件與實(shí)車規(guī)劃程序進(jìn)行聯(lián)合仿真，在能夠體現(xiàn)時(shí)間一致性影響的典型場景中對(duì)本算法與基于最優(yōu)化曲線生成的局部路徑規(guī)劃算法進(jìn)行比較，驗(yàn)證了該算法具有更好的安全分析有效性。應(yīng)用本算法的北京理工大學(xué)無人駕駛平臺(tái)參加了2013年“智能車未來挑戰(zhàn)賽”，在無人干預(yù)的情況下順利完成18公里城郊賽段和5公里城市賽段行駛，展現(xiàn)了良好的避障能力。

關(guān)鍵詞：智能車輛；局部規(guī)劃；時(shí)間一致性；魯棒性

來源出版物：自動(dòng)化學(xué)報(bào), 2015, 41(3): 518-527

聯(lián)系郵箱：姜巖，piuzuzu@gmail.com

智能車轉(zhuǎn)向系統(tǒng)的研究及設(shè)計(jì)

段建民，楊晨，李龍杰，等

摘要：設(shè)計(jì)了一套適合無人駕駛智能車BJUT-Ⅳ的轉(zhuǎn)向系統(tǒng)；該系統(tǒng)轉(zhuǎn)向電機(jī)采用奇瑞A3電子式助力轉(zhuǎn)向系統(tǒng)（EPS）的轉(zhuǎn)向電機(jī)；增量式光電編碼器對(duì)轉(zhuǎn)向電機(jī)的位置以及轉(zhuǎn)速進(jìn)行檢測；汽車轉(zhuǎn)向柱上安裝SX4300轉(zhuǎn)角傳感器，對(duì)方向盤的旋轉(zhuǎn)角度進(jìn)行檢測；該系統(tǒng)采用RS-232實(shí)現(xiàn)控制器與上位機(jī)之間的相互通信；實(shí)驗(yàn)證明，BJUT-Ⅳ智能車可以在阻力最大條件下快速準(zhǔn)確地實(shí)現(xiàn)轉(zhuǎn)向動(dòng)作；該轉(zhuǎn)向系統(tǒng)設(shè)計(jì)合理、穩(wěn)定性高、實(shí)時(shí)性強(qiáng)；同時(shí)，轉(zhuǎn)向系統(tǒng)的成功應(yīng)用為今后智能車底層控制奠定基礎(chǔ)。

關(guān)鍵詞：智能車；電子式助力轉(zhuǎn)向系統(tǒng)；底層控制

來源出版物：計(jì)算機(jī)控制與測量, 2015, 23(5): 1780-1782

關(guān)鍵詞：autonomous ground vehicles; local trajectory planning; tracking control; obstacle avoidance;model-based predictive trajectory; generation

來源出版物：Mechanical Systems and Signal Processing,2017, 87: 118-137

聯(lián)系郵箱：Sun, ZP; sunzhenping@outlook.com

Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints

Ji, J; Khajepour, A; Melek, WW; et al.

Abstract:A path planning and tracking framework is presented to maintain a collision-free path for autonomous vehicles. For path-planning approaches, a 3-D virtual dangerous potential field is constructed as a superposition of trigonometric functions of the road and the exponential function of obstacles, which can generate a desired trajectory for collision avoidance when a vehicle collision with obstacles is likely to happen. Next, to track the planned trajectory for collision avoidance maneuvers, the path-tracking controller formulated the tracking task as amulticonstrained model predictive control (MMPC)problem and calculated the front steering angle to prevent the vehicle from colliding with a moving obstacle vehicle.Simulink and CarSim simulations are conducted in the case where moving obstacles exist. The simulation results show that the proposed path-planning approach is effective for many driving scenarios, and the MMPC-based path-tracking controller provides dynamic tracking performance and maintains good maneuverability.

關(guān)鍵詞：autonomous vehicle; collision avoidance; model predictive control (MPC); multiconstraints;path planning;path tracking

來源出版物：IEEE Transactions on Vehicular Technology,2017, 66(2): 952-964

聯(lián)系郵箱：Ji, J; jijiess@163.com

Stability and scalability of homogeneous vehicular platoon: Study on the influence of information flow topologies

Zheng, Y; Li, SE; Wang, JQ; et al.

Abstract:In addition to decentralized controllers, the information flow among vehicles can significantly affect the dynamics of a platoon. This paper studies the influence of information flow topology on the internal stability and scalability of homogeneous vehicular platoons moving in a rigid formation. A linearized vehicle longitudinal dynamicmodel is derived using the exact feedback linearization technique, which accommodates the inertial delay of powertrain dynamics. Directed graphs are adopted to describe different types of allowable information flow interconnecting vehicles, including both radar-based sensors and vehicle-to-vehicle (V2V)communications. Under linear feedback controllers, a unified internal stability theorem is proved by using the algebraic graph theory and Routh-Hurwitz stability criterion. The theorem explicitly establishes the stabilizing thresholds of linear controller gains for platoons, under a large class of different information flow topologies. Using matrix eigenvalue analysis, the scalability is investigated for platoons under two typical information flow topologies, i.e., 1) the stability margin of platoon decays to zero as 0 (1/N-2) for bidirectional topology; and 2) the stability margin is always bounded and independent of the platoon size for bidirectional-leader topology. Numerical simulations are used to illustrate the results.

關(guān)鍵詞：autonomous vehicles; information flow topology;platoon; scalability; stability

來源出版物：IEEE Transactions on Intelligent Transportation Systems, 2016, 17(1): 14-26

聯(lián)系郵箱：Zheng, Y; zhengy13@mails.tsinghua.edu.cn

The social dilemma of autonomous vehicles

Bonnefon, JF; Shariff, A; Rahwan, I

Abstract:Autonomous vehicles (AVs) should reduce traffic accidents, but they will sometimes have to choose between two evils, such as running over pedestrians or sacrificing themselves and their passenger to save the pedestrians. Defining the algorithms that will help AVs make these moral decisions is a formidable challenge. We found that participants in six Amazon Mechanical Turk studies approved of utilitarian AVs (that is, AVs that sacrifice their passengers for the greater good) and would like others to buy them, but they would themselves prefer to ride in AVs that protect their passengers at all costs. The study participants disapprove of enforcing utilitarian regulations for AVs and would be less willing to buy such an AV. Accordingly, regulating for utilitarian algorithms may paradoxically increase casualties by postponing the adoption of a safer technology.

來源出版物：Science, 2016, 352(6293): 1573-1576

聯(lián)系郵箱：Rahwan, I; irahwan@mit.edu

Vision-based target detection and localization via a team of cooperative UAV and UGVs

Minaeian, S; Liu, J; Son, YJ

Abstract:Unmanned vehicles (UVs) play a key role in autonomous surveillance scenarios. A major task needed by these UVs in undertaking autonomous patrol missions is to detect the targets and find their locations in real-time. In this paper, a new vision-based target detection and localization system is presented to make use of different capabilities of UVs as a cooperative team. The scenario considered in this paper is a team of an unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs) tracking and controlling crowds on a border area. A customized motion detection algorithm is applied to follow the crowd from the moving camera mounted on the UAV. Due to UAVs lower resolution and broader detection range, UGVs with higher resolution and fidelity are used as the individual human detectors, as well as moving landmarks to localize the detected crowds withunknown independently moving patterns at each time point. The UAVs localization algorithm, proposed in this paper, then converts the crowds' image locations into their real-world positions, using perspective transformation. A rule-of-thumb localization method by a UGV is also presented, which estimates the geographic locations of the detected individuals. Moreover, an agent-based simulation model is developed for system verification, with different parameters, such as flight altitude, number of landmarks,and landmark assignment method. The performance measure considered in this paper is the average Euclidean distance between the estimated locations and simulated geographic waypoints of the crowd. Experimental results demonstrate the effectiveness of the proposed framework for autonomous surveillance by UVs.

關(guān)鍵詞：algorithms; automation cooperative systems;geographic information systems (GISs); position measurement

來源出版物：IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2016, 46(7): 1005-1016

聯(lián)系郵箱：Minaeian, S; minaeian@email.arizona.edu

Potential cyberattacks on automated vehicles

Petit, J; Shladover, SE

Abstract:Vehicle automation has been one of the fundamental applications within the field of intelligent transportation systems (ITS) since the start of ITS research in the mid-1980s. For most of this time, it has been generally viewed as a futuristic concept that is not close to being ready for deployment. However, recent development of “self-driving” cars and the announcement by car manufacturers of their deployment by 2020 show that this is becoming a reality. The ITS industry has already been focusing much of its attention on the concepts of “connected vehicles” (United States) or “cooperative ITS” (Europe).These concepts are based on communication of data among vehicles (V2V) and/or between vehicles and the infrastructure (V2I/I2V) to provide the information needed to implement ITS applications. The separate threads of automated vehicles and cooperative ITS have not yet been thoroughly woven together, but this will be a necessary step in the near future because the cooperative exchange of data will provide vital inputs to improve the performance and safety of the automation systems. Thus, it is important to start thinking about the cybersecurity implications of cooperative automated vehicle systems. In this paper, we investigate the potential cyberattacks specific to automated vehicles, with their special needs and vulnerabilities. We analyze the threats on autonomous automated vehicles and cooperative automated vehicles. This analysis shows the need for considerably more redundancy than many have been expecting. We also raise awareness to generate discussion about these threats at this early stage in the development of vehicle automation systems.

關(guān)鍵詞：automated vehicle; autonomous vehicle; cooperative automated vehicle; cyberattacks;security

來源出版物：IEEE Transactions on Intelligent

Transportation Systems, 2015, 16(2): 546-556

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: A survey

Hoy, M; Matveev, AS; Savkin, AV

Abstract:We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved.The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment,particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

關(guān)鍵詞：path planning; navigation; multi-robot systems;motion planning; mobile robots; control of robotic systems

來源出版物：Robotica, 2015, 33(3): 463-497

聯(lián)系郵箱：Hoy, M ; mch.hoy@gmail.com

責(zé)任編輯：王微

Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles

Li, XH; Sun, ZP; Cao, DP; et al.

This study proposes a novel integrated local trajectory planning and tracking control (ILTPTC)framework for autonomous vehicles driving along a reference path with obstacles avoidance. For this ILTPTC framework, an efficient state-space sampling-based trajectory planning scheme is employed to smoothly follow the reference path. A model based predictive path generation algorithm is applied to produce a set of smooth and kinematically-feasible paths connecting the initial state with the sampling terminal states. A velocity control law is then designed to assign a speed value at each of the points along the generated paths. An objective function considering both safety and comfort performance is carefully formulated for assessing the generated trajectories and selecting the optimal one. For accurately tracking the optimal trajectory while overcoming external disturbances and model uncertainties, a combined feedforward and feedback controller is developed. Both simulation analyses and vehicle testing are performed to verify the effectiveness of the proposed ILTPTC framework, and future research is also briefly discussed.