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| 1 | Intelligent and connected vehicles: Current status and future perspectives显示文摘Intelligent connected vehicles(ICVs) are believed to change people's life in the near future by making the transportation safer,cleaner and more comfortable. Although many prototypes of ICVs have been developed to prove the concept of autonomous driving and the feasibility of improving traffic efficiency, there still exists a significant gap before achieving mass production of high-level ICVs. The objective of this study is to present an overview of both the state of the art and future perspectives of key technologies that are needed for future ICVs. It is a challenging task to review all related works and predict their future perspectives, especially for such a complex and interdisciplinary area of research. This article is organized to overview the ICV key technologies by answering three questions: what are the milestones in the history of ICVs; what are the electronic components needed for building an ICV platform; and what are the essential algorithms to enable intelligent driving? To answer the first question, the article has reviewed the history and the development milestones of ICVs. For the second question, the recent technology advances in electrical/electronic architecture, sensors, and actuators are presented. For the third question, the article focuses on the algorithms in decision making, as the perception and control algorithm are covered in the development of sensors and actuators. To achieve correct decision-making, there exist two different approaches: the principle-based approach and data-driven approach. The advantages and limitations of both approaches are explained and analyzed. Currently automotive engineers are concerned more with the vehicle platform technology, whereas the academic researchers prefer to focus on theoretical algorithms. However, only by incorporating elements from both worlds can we accelerate the production of high-level ICVs. | YANG DianGe JIANG Kun ZHAO Ding YU ChunLei CAO Zhong XIE ShiChao XIAO ZhongYang JIAO XinYu WANG SiJia ZHANG Kai | 2018 | Science China(Technological Sciences)2018，61，10： | 31 |
| 2 | A Flexible Multi-Layer Map Model Designed for Lane-Level Route Planning in Autonomous Vehicles显示文摘An increasing number of drivers are relying on digital map navigation systems in vehicles or mobile phones to select optimal driving routes in order to save time and improve safety. In the near future, digital map navigation systems are expected to play more important roles in transportation systems. In order to extend current navigation systems to more applications, two fundamental problems must be resolved: the lane-level map model and lane-level route planning. This study proposes solutions to both problems. The current limitation of the lane-level map model is not its accuracy but its flexibility;this study proposes a novel seven-layer map structure, called as Tsinghua map model, which is able to support autonomous driving in a flexible and efficient way. For lane-level route planning, we propose a hierarchical route-searching algorithm to accelerate the planning process, even in the presence of complicated lane networks. In addition, we model the travel costs allocated for lane-level road networks by analyzing vehicle maneuvers in traversing lanes, changing lanes, and turning at intersections. Tests were performed on both a grid network and a real lane-level road network to demonstrate the validity and efficiency of the proposed algorithm. | Kun Jiang Diange Yang Chaoran Liu Tao Zhang Zhongyang Xiao | 2019 | Engineering2019，5，2： | 14 |
| 3 | Research on acoustic holography method for identification of sound sources显示文摘This paper presents the method named acoustic holography which can be used to identify noise sources. A new formula of holography reconstruction is obtained, based on the Kirchhoff integral formula. Some simulating tests are carried out using the new formula. The comparison with other reconstruction formulas proves that the new formula is more effective. By using acoustic holography method, some interesting results about the noise of a vehicle are shown. The results proves that acoustic holography is an effective method for the identification of the complex noise sources. | YANG Diange ZHENG Sifa LI Yukang LIAN Xiaomin JIANG Xiaoyu(Automotive Engineering Department, Tsinghua University Beijing 100084)(State Key Laboratory of Automotive Safety and Energy Beijing 100084)Received Dec. 12, 2000 | 2002 | Chinese Journal of Acoustics2002，21，4： | 2 |
| 4 | Intelligent Vehicle Electrical Power Supply System with Central Coordinated Protection显示文摘The current research of vehicle electrical power supply system mainly focuses on electric vehicles(EV) and hybrid electric vehicles(HEV).The vehicle electrical power supply system used in traditional fuel vehicles is rather simple and imperfect;electrical/electronic devices(EEDs) applied in vehicles are usually directly connected with the vehicle's battery.With increasing numbers of EEDs being applied in traditional fuel vehicles,vehicle electrical power supply systems should be optimized and improved so that they can work more safely and more effectively.In this paper,a new vehicle electrical power supply system for traditional fuel vehicles,which accounts for all electrical/electronic devices and complex work conditions,is proposed based on a smart electrical/electronic device(SEED) system.Working as an independent intelligent electrical power supply network,the proposed system is isolated from the electrical control module and communication network,and access to the vehicle system is made through a bus interface.This results in a clean controller power supply with no electromagnetic interference.A new practical battery state of charge(So C) estimation method is also proposed to achieve more accurate So C estimation for lead-acid batteries in traditional fuel vehicles so that the intelligent power system can monitor the status of the battery for an over-current state in each power channel.Optimized protection methods are also used to ensure power supply safety.Experiments and tests on a traditional fuel vehicle are performed,and the results reveal that the battery So C is calculated quickly and sufficiently accurately for battery over-discharge protection.Over-current protection is achieved,and the entire vehicle's power utilization is optimized.For traditional fuel vehicles,the proposed vehicle electrical power supply system is comprehensive and has a unified system architecture,enhancing system reliability and security. | YANG Diange KONG Weiwei LI Bing LIAN Xiaomin | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 2 |
| 5 | A study on the method for cleaning and repairing the probe vehicle data显示文摘 | Zhang Zhaosheng Yang Diange Zhang Tao et at | 2013 | IEEE Transactions on Intelligent Transportation Systems2013，14，1： | 1 |
| 6 | Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning显示文摘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. | Huiqian LI Jin HUANG Zhong CAO Diange YANG Zhihua ZHONG | 2023 | Frontiers of Information Technology & Electronic Engineering2023，24，1： | 1 |
| 7 | Synthetic Fuzzy Evaluation Method of Trajectory Similarity in Map-Matching显示文摘 | Diange Yang Tao Zhang Jiangtao Li al et | 2011 | Journal of Intelligent Transportation Systems2011，15，4： | 1 |
| 8 | Distributed vehicle body electric/electronic system architecture with central coordination control显示文摘 | GU Zhengmin YANG Diange ZHANG Xinfeng | 2009 | Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering2009，224，2： | 1 |
| 9 | An improvedvirtual intersection model for vehicle navigation atintersections显示文摘 | ZHANG Tao YANG Diange LI Ting | 2011 | Transportation Research Part C:Emerging Technologies2011，19，3： | 1 |
| 10 | Quantita- tive measurement of pass-by noise radiated by vehicles running at high speeds 显示文摘 | Yang Diange Wang Ziteng Li Bing | 2011 | Journal of Sound and Vi- bration2011，330，： | 1 |
| 11 | A hybridacoustic holography technique for moving sound sourceidentification based on wave superposition algorithm 显示文摘 | YANG Diange WANG Ziteng LI Bing | 2012 | Noise Control Eng J2012，60，1： | 1 |
| 12 | Developmentand calibration of acoustic video camera system for movingvehicles 显示文摘 | YANG Diange WANG Ziteng LI Bing et ai | 2011 | J Sound Vibr2011，330，： | 1 |
| 13 | Quantitativemeasurement of pass-by noise radiated by vehicles running alhigh speeds 显示文摘 | YANG Diange WANG Ziteng LI Bing | 2011 | J Sound Vibr2011，330，： | 1 |
| 14 | Synthetic Fuzzy E-valuation Method of Trajectory Similarity in Map-Matching 显示文摘 | Yang Diange Zhang Tao Li Jiangtao | 2011 | Journal of Intelligent Transportation Systems2011，15，4： | 1 |
| 15 | PTMOT: A Probabilistic Multiple Object Tracker Enhanced by Tracklet Confidence for Autonomous Driving显示文摘Real driving scenarios,due to occlusions and disturbances,provide disordered and noisy measurements,which makes the task of multi-object tracking quite challenging.Conventional approach is to find deterministic data association;however,it has unstable performance in high clutter density.This paper proposes a novel probabilistic tracklet-enhanced multiple object tracker(PTMOT),which integrates Poisson multi-Bernoulli mixture(PMBM)filter with confidence of tracklets.The proposed method is able to realize efficient and robust probabilistic association for 3D multi-object tracking(MOT)and improve the PMBM filter’s continuity by smoothing single target hypothesis with global hypothesis.It consists of two key parts.First,the PMBM tracker based on sets of tracklets is implemented to realize probabilistic fusion of disordered measure-ments.Second,the confidence of tracklets is smoothed through a smoothing-while-filtering approach.Extensive MOT tests on nuScenes tracking dataset demonstrate that the proposed method achieves superior performance in different modalities. | Kun Jiang Yining Shi Taohua Zhou Mengmeng Yang Diange Yang | 2022 | Automotive Innovation2022，5，3： | 0 |
| 16 | GCD‑L: A Novel Method for Geometric Change Detection in HD Maps Using Low‑Cost Sensors显示文摘Updating high-definition maps is imperative for the safety of autonomous vehicles.However,positional changes in lane lines are hard to be detected in a timely manner due to a limited number of expensive surveying vehicles over a large geo-graphic area.Herein,a novel method is proposed to detect the geometric changes of lane lines using low-cost sensors,such as consumer-grade global navigation satellite system(GNSS)hardware receivers and cameras.The proposed framework geometric change detection using low-cost sensors(GCD-L)and algorithm change segment compare(CSC),which are based on the lane width between the curb line and the adjacent leftmost lane line,can perceive the positional changes of the leftmost lane line on highway and expressway roads.The effectiveness of the proposed method is verified by evaluating it on a real-world typical urban ring road dataset.The experimental results show that 71%detected change segments are valid with only two round crowdsourced maps. | Peng Sun Yunpeng Wang Peng He Xinxin Pei Mengmeng Yang Kun Jiang Diange Yang | 2022 | Automotive Innovation2022，5，3： | 0 |
| 17 | Stability of General Linear Dynamic Multi-Agent Systems under Switching Topologies with Positive Real Eigenvlues显示文摘The time-varying network topology can significantly affect the stability of multi-agent systems.This paper examines the stability of leader-follower multi-agent systems with general linear dynamics and switching network topologies,which have applications in the platooning of connected vehicles.The switching interaction topology is modeled as a class of directed graphs in order to describe the information exchange between multi-agent systems,where the eigenvalues of every associated matrix are required to be positive real.The Hurwitz criterion and the Riccati inequality are used to design a distributed control law and estimate the convergence speed of the closed-loop system.A sufficient condition is provided for the stability of multi-agent systems under switching topologies.A common Lyapunov function is formulated to prove closed-loop stability for the directed network with switching topologies.The result is applied to a typical cyber-physical system—that is,a connected vehicle platoon—which illustrates the effectiveness of the proposed method. | Shengbo Eben Li Zhitao Wang Yang Zheng Diange Yang Keyou You | 2020 | Engineering2020，6，6： | 0 |
| 18 | Driving Space for Autonomous Vehicles显示文摘Driving space for autonomous vehicles(AVs)is a simplified representation of real driving environments that helps facilitate driving decision processes.Existing literatures present numerous methods for constructing driving spaces,which is a fundamental step in AV development.This study reviews the existing researches to gain a more systematic understanding of driving space and focuses on two questions:how to reconstruct the driving environment,and how to make driving decisions within the constructed driving space.Furthermore,the advantages and disadvantages of different types of driving space are analyzed.The study provides further understanding of the relationship between perception and decision-making and gives insight into direction of future research on driving space of AVs. | Diange Yang Xinyu Jiao Kun Jiang Zhong Cao | 2019 | Automotive Innovation2019，2，4： | 0 |
| 19 | Video visualization for moving sound sources based on binoculars stereo and acoustic holography显示文摘为动人的健全来源的录像可视化方法是很 important.The 在动人的来源的 sound filed 测量的空间位置被一个自动化方法基于望远镜立体声技术测量,动人的健全来源的表面的空间坐标自动地是坚定的。动人的来源的表面的健全的地为动人的健全来源用声学的雷射摄影术方法与一个麦克风数组被重建。在健全的地和录像图象之间的空间印射被构造,并且另外健全的地的时间顺序和图象是 founded.Then,重建的健全的地和真实世界的图象被合并,并且动人的来源的设想的健全的地录像自动地被产生。一个健全的域测量系统基于这个方法被开发,有这个系统的动人的健全来源的测量结果显示健全的域录像可视化与建议方法,健全来源和他们的变化进程有效地被认识到能从产生录像直接被看见,为动人的健全来源的鉴定和本地化能与这个方法是更容易的。 | YANG Diange ZHENG Sifa LI Bing LI Keqiang LIAN Xiaomin | 2011 | Chinese Journal of Acoustics2011，30，2： | 0 |
| 20 | Cutting-Edge Technologies on Automotive and Mobility Applied in Beijing 2022 Winter Olympics显示文摘Electric vehicles(EVs)and intelligent and connected vehicles(ICVs)are promising solutions for a more sustainable environment and safer transportation.For better performance,EVs and ICVs need to address issues in special conditions,such as extremely cold weather,complex routes,and mixed traffic scenarios,where hazards associated with batteries,propulsion systems,and other automotive technologies could pose risks to vehicles. | Cheng Lin Diange Yang | 2022 | Automotive Innovation2022，5，1： | 0 |
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