推荐论文摘要

王世峰，戴祥，徐宁，等

推荐论文摘要

无人驾驶汽车环境感知技术综述

王世峰，戴祥，徐宁，等

无人驾驶汽车在行驶过程中获取外界环境信息是车辆进行导航定位、路径规划及运动控制的根本前提。首先对无人车环境感知所需传感器的特点和原理进行了介绍，然后阐述了激光雷达和相机的标定方法，并论述了道路、行人、车辆、交通信号及标识检测任务中的关键技术，同时分析了各种传感器的优势与限定条件，论述了各项关键技术的原理与方法，从而对无人驾驶汽车在环境感知领域的关键技术进行了综合论述。

激光雷达；相机；毫米波雷达；环境感知；无人驾驶汽车

来源出版物：长春理工大学学报：自然科学版, 2017 (1):1-6

联系邮箱：王世峰，SF.Wang@cust.edu.cn

智能网联汽车（ICV）技术的发展现状及趋势

李克强，戴一凡，李升波，等

摘要：综述了智能网联汽车（ICV）技术的发展现状及趋势。ICV的体系架构包括价值链、技术链与产业链。ICV的4个发展阶段是：自主式驾驶辅助、网联式驾驶辅助、人机共驾、高度自动/无人驾驶；关键技术有：环境感知、智能决策、控制执行、人机共驾、通信与平台、信息安全等。由于ICV是未来汽车技术发展的一个重要方向，其技术与产业发展是中国汽车工业转型升级的重要机遇；因而，中国要发展智能网联汽车，就应该充分结合本国体制优势，依托顶层设计。

关键词：智能网联汽车（ICV）；驾驶辅助；人机共驾；无人驾驶

来源出版物：汽车安全与节能学报, 2017, 8(01): 1-14

联系邮箱：李克强，ikq@tsinghua.edu.cn

基于混沌理论的无人驾驶车辆行驶轨迹量化分析

孙扬，熊光明，陈慧岩，等

摘要：针对无人驾驶车辆客观量化评价困难的问题，提出基于混沌理论的无人驾驶车辆行驶轨迹的量化分析方法。应用五次多项式方法结合优秀驾驶员驾驶车辆行驶的初始状态和目标状态设计无人驾驶车辆的理想轨迹，计算实际行驶轨迹与理想轨迹的偏差得到偏差时间数据序列；采用混沌理论的C-C方法对偏差时间数据序列重构相空间；计算偏差时间数据序列的Lyapunov指数，实现无人驾驶车辆行驶轨迹的量化表示。运用提出的方法对无人驾驶车辆避障换道的行驶轨迹偏差时间数据序列进行相空间重构，计算其Lyapunov指数为正值，表征人驾驶车辆系统的混沌性，还表征人驾驶车辆收敛到稳态响应的快慢程度。试验表明基于混沌理论的无人驾驶车辆行驶轨迹的量化分析是可行的，有效的。

关键词：无人驾驶车辆；混沌；量化分析；Lyapunov指数

来源出版物：机械工程学报, 2016, 52(2): 127-133

联系邮箱：熊光明，xiongguangming@bit.edu.cn

无人驾驶车辆路径跟踪的增量式PID控制

谭宝成，王宾

摘要：为了实现无人驾驶车辆沿着预设路径安全稳定行驶，基于车辆实际位置和给定位置的坐标关系，建立了无人驾驶车辆的路径跟踪模型；分析车辆当前位置及航向信息与目标路径的偏差，提出误差带内外分状况的控制策略；通过改进和优化传统增量式比例积分微分控制（PID控制）算法，提出了一种新型增量式PID控制算法.实验结果表明：改进后的增量式PID算法相较于传统增量式PID算法，无人车路径跟踪的上升时间、调整时间均减小，响应速度加快，超调量减小，车辆实现快速稳定的路径跟踪。

关键词：无人驾驶车辆；路径跟踪；PID控制；误差带

来源出版物：华南理工大学学报（自然科学版）, 2016,44(12): 996-1001

联系邮箱：谭宝成，xaitdzx@163.com

无人驾驶车辆局部路径规划的时间一致性与鲁棒性研究

姜岩，王琦，龚建伟，等

摘要：在无人驾驶系统中，局部规划在跟踪全局路径的同时完成避障，提高了规划系统在动态未知环境中的工作能力。避障分析的有效性是局部规划最重要的功能之一。然而在仿真和实车测试中发现，广泛使用的基于优化求解的局部规划算法无法在不依赖全局精确定位时保证规划结果满足时间一致性要求。时间不一致将导致车辆的实际行驶路线偏离初始规划结果，造成避障分析失效。本文设计了基于前向预测的局部路径规划算法，在不依赖全局精确定位的前提下保证规划结果的时间一致性。除了时间一致性问题外，跟踪控制误差也是导致规划结果避障分析失效的主要原因之一。现有研究大多通过膨胀障碍物体现误差的影响，然而这种方法无法避免车辆驶入膨胀危险区域而停车。本算法在路径生成过程中增加误差影响，用通行区域代替原有不具有宽度的规划路径进行避障分析，既可以解决误差导致的避障失效，又避免出现膨胀障碍物带来的问题。通过V-Rep软件与实车规划程序进行联合仿真，在能够体现时间一致性影响的典型场景中对本算法与基于最优化曲线生成的局部路径规划算法进行比较，验证了该算法具有更好的安全分析有效性。应用本算法的北京理工大学无人驾驶平台参加了2013年“智能车未来挑战赛”，在无人干预的情况下顺利完成18公里城郊赛段和5公里城市赛段行驶，展现了良好的避障能力。

关键词：智能车辆；局部规划；时间一致性；鲁棒性

来源出版物：自动化学报, 2015, 41(3): 518-527

联系邮箱：姜岩，piuzuzu@gmail.com

智能车转向系统的研究及设计

段建民，杨晨，李龙杰，等

摘要：设计了一套适合无人驾驶智能车BJUT-Ⅳ的转向系统；该系统转向电机采用奇瑞A3电子式助力转向系统（EPS）的转向电机；增量式光电编码器对转向电机的位置以及转速进行检测；汽车转向柱上安装SX4300转角传感器，对方向盘的旋转角度进行检测；该系统采用RS-232实现控制器与上位机之间的相互通信；实验证明，BJUT-Ⅳ智能车可以在阻力最大条件下快速准确地实现转向动作；该转向系统设计合理、稳定性高、实时性强；同时，转向系统的成功应用为今后智能车底层控制奠定基础。

关键词：智能车；电子式助力转向系统；底层控制

来源出版物：计算机控制与测量, 2015, 23(5): 1780-1782

关键词：autonomous ground vehicles; local trajectory planning; tracking control; obstacle avoidance;model-based predictive trajectory; generation

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

联系邮箱：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.

关键词：autonomous vehicle; collision avoidance; model predictive control (MPC); multiconstraints;path planning;path tracking

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

联系邮箱：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.

关键词：autonomous vehicles; information flow topology;platoon; scalability; stability

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

联系邮箱：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.

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

联系邮箱：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.

关键词：algorithms; automation cooperative systems;geographic information systems (GISs); position measurement

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

联系邮箱：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.

关键词：automated vehicle; autonomous vehicle; cooperative automated vehicle; cyberattacks;security

来源出版物：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.

关键词：path planning; navigation; multi-robot systems;motion planning; mobile robots; control of robotic systems

来源出版物：Robotica, 2015, 33(3): 463-497

联系邮箱：Hoy, M ; mch.hoy@gmail.com

责任编辑：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.