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Brain-like Intelligent Decision-making Based on Basal Ganglia and Its Application in Automatic Car-following

Journal of Bionic engineering 2021年第6期18卷 1439-1451页

作者： Tianjun Sun Zhenhai Gao Zhiyong Chang Kehan Zhao State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun130022China College of Automotive Engineering Jilin UniversityChangchun130022China College of Biological and Agricultural Engineering Jilin UniversityChangchun130022China College of Materials Science and Engineering Jilin UniversityChangchun130022China

The anthropomorphic intelligence of autonomous driving has been a research hotspot in the ***,current studies have not been able to reveal the mechanism of drivers'natural driving ***,this thesis starts from the perspective of cognitive decision-making in the human brain,which is inspired by the regulation of dopamine feedback in the basal ganglia,and a reinforcement learning model is established to solve the brain-like intelligent decision-making problems in the process of interacting with the *** this thesis,first,a detailed bionic mechanism architecture based on basal ganglia was proposed by the consideration and analysis of its feedback regulation mechanism;second,the above mechanism was transformed into a reinforcement Q-learning model,so as to implement the learning and adaptation abilities of an intelligent vehicle for brain-like intelligent decision-making during car-following;finally,the feasibility and effectiveness of the proposed method were verified by the simulations and real vehicle tests.

关键词： Brain-like intelligent decision-making Dopamine in basal ganglia Reinforcement learning Longitudinal autonomous driving

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Trajectory Prediction Method with Map Nodes Search for Intelligent Vehicles

Trajectory Prediction Method with Map Nodes Search for Intel...

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2023 China Automation Congress, CAC 2023

作者： Li, Jialin Meng, Qingyu Liu, Yanran Guo, Hongyan Li, Shoutao Lv, Ying Jilin University State Key Laboratory of Automotive Simulation and Control The College of Communication Engineering Changchun China The College of Communication Engineering Jilin University Changchun China Intelligent Connected Vehicle Development Institute China FAW Group Co.LTD Changchun China

ISBN: (纸本)9798350303759

Accurately inferring the future motion of neighboring vehicles is an indispensable capability for safe driving of intelligent vehicles. High-definition (HD) maps containing scene constraint information can dramatically improve the performance of trajectory prediction methods. In this paper, a prediction method via map nodes search is proposed to precisely predict the future movement of vehicles. The travelable path search strategy is proposed to search for travelable map nodes in a map that incorporates traffic flow information after graph attention (GAT) aggregation, and the set of map nodes obtained from the search is employed to guide the generation of predicted trajectories. In addition, the designed goal node search mechanism finds the goal node based on map nodes and considers it as a reference for the end point of the vehicle's future movement. Experimental results on nuScenes dataset illustrate that our prediction method is superior to baseline methods. Moreover, the map nodes search strategy can greatly improve the trajectory prediction accuracy and ensure the rationality of the predicted trajectory. © 2023 IEEE.

关键词： Vehicles

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Vehicle state parameter estimation based on improved adaptive observer 7

Vehicle state parameter estimation based on improved adaptiv...

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7th CAA International Conference on Vehicular control and Intelligence, CVCI 2023

作者： Wang, Lianbing Zhao, Xu Wan, Juncheng Guo, Hongyan Zhang, Yiming State Key Laboratory of Automotive Simulation and Control The College of Communication Engineering Jilin University Changchun China College of Communication Engineering Jilin University The Department of Aircraft Control and Information Engineering Jilin Institute of Chemical Technology Changchun China SAIC Motor R&D Innovation Headquarter Shanghai China

ISBN: (纸本)9798350340488

To accurately obtain the state parameters during vehicle driving, this paper designs an adaptive nonlinear observer for vehicle state parameters to mitigate the influence of measurement noise within the framework of extended Kalman filtering. Based on the vehicle nonlinear three degree of freedom, a dead zone observer was designed to accurately estimate the sideslip angle, yaw rate, and longitudinal velocity of the vehicle in answer to the problem of significant noise in lateral acceleration. According to the output variable error, determine the dead zone boundary of the observed state variables at each time based on observation errors, limiting the estimation error within the dead zone boundary and improving noise suppression performance. The validity of this method is validated through a variety of different simulation conditions and by comparison to the EKF algorithm. Results demonstrate that the improved algorithm significantly enhances the estimation precision compared to Extended Kalman Filter algorithm. © 2023 IEEE.

关键词： adaptive observer Extended Kalman Filter intelligent vehicle vehicle state parameters estimation

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Research on the Autonomous Parking Strategy Based on the Ultrasonic Echo Simulator

Research on the Autonomous Parking Strategy Based on the Ult...

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2023 IEEE International Conference on Sensors, Electronics and Computer engineering, ICSECE 2023

作者： Ma, Wenxiao Wang, Qiang Wang, Yindong Leng, Xinlun Luo, Tong Sun, Bohua Jilin University State Key Laboratory of Automotive Simulation and Control Changchun China China Automotive Technology & Research Center Co. Ltd. CATARC Intelligent and Connected Technology Co.Ltd. Tianjin China

ISBN: (纸本)9798350313734

In order to solve the time and economic cost issues of automatic parking algorithm testing for intelligent vehicles in real scenarios, this paper develops a hardware in the loop virtual simulation system for automatic parking based on ultrasonic echo simulator. Based on the vehicle kinematics model, this paper establishes the optimal control problem of parking path planning, converts the optimal control problem into a linear programming problem, and uses the adaptive pseudo spectral method to obtain the optimal trajectory. Combining virtual environment and hardware in the loop system for verification, the experimental results show that accurate obstacle information in the virtual scene can be obtained based on ultrasonic echo signals. In the parallel parking scene of multiple target vehicles, intelligent vehicles can perform trajectory planning based on obstacle information and safely complete parking tasks. © 2023 IEEE.

关键词： Motion planning

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Semantic Segmentation-Inspired Prediction of Pavement Adhesion Coefficient

Semantic Segmentation-Inspired Prediction of Pavement Adhesi...

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Conference on Vehicle control and Intelligence (CVCI)

作者： Hongyan Guo Juncheng Wan Qingyu Meng Yanran Liu State Key Laboratory of Automotive Simulation and Control and the College of Communication Engineering Jilin University Changchun China

Accurate prediction of the adhesion coefficient parameters of the road ahead is critical to the driving safety of intelligent driving vehicles, however, the current stage of raw image-based methods are difficult to achieve high-precision and reliable prediction due to the complexity of the elements within the scene. To this end, a road adhesion coefficient recognition algorithm inspired by semantic segmentation is proposed. The method designs a sequential prediction algorithm structure that includes semantic segmentation, road surface extraction, road surface recognition, and adhesion coefficient mapping. Additionally, the method introduces the spatial attention mechanism and channel attention mechanism separately into the semantic segmentation network and road surface classification network, effectively enhancing the accuracy and real-time performance of the adhesion coefficient prediction algorithm. Experimental results illustrate that this real-time adhesion coefficient prediction algorithm achieves good performance in maintaining accuracy, real-time capability, and robustness. It can accurately and rapidly predict road surface adhesion information in driving scenarios.

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Research on Lane Changing Strategy for Automated Vehicles Basing on Vehicle-in-the-Loop System 6

Research on Lane Changing Strategy for Automated Vehicles Ba...

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6th IEEE International Conference on Automation, Electronics and Electrical engineering, AUTEEE 2023

作者： Wang, Qiang Wang, Yindong Hou, Quanshan Wu, Xiaomeng Meng, Jiaxu Shan, Yingjie Sun, Bohua Catarc Intelligent and Connected Technology Co. Ltd. China Automotive Technology & Research Center Co. Ltd. Tianjin China Jilin University State Key Laboratory of Automotive Simulation and Control Changchun China

ISBN: (纸本)9798350305623

As one of the core technologies of automatic driving, the decision-making module plays a crucial role in the safety of automatic driving. In this paper, a fuzzy logic based automatic driving lane changing strategy is proposed to fuzzy the time to collision and distance coefficients by introducing a safe distance model. Fuzzy rules are established based on expert experience to get the fuzzy output of lane changing willingness, which in turn forms the lane changing decision of the self-driving vehicle. The strategy has strong adaptability and practicality, effectively handles various complex traffic scenarios, and improves the safety and comfort of self-driving vehicles. In this study, a lane-changing scenario is designed in the virtual simulation software, and the vehicle-in-the-loop test platform is utilized for experimental verification. The test results prove that the automatic driving lane changing strategy enables the vehicle to make reasonable lane changing decisions in different traffic scenarios, avoids collision risks, and improves driving comfort. © 2023 IEEE.

关键词： Automated Vehicle Lane Changing Strategy Vehicle-in-the-Loop

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Designing hard wear-resistant conductors by introducing high-plasma-energy heterogeneous metals into transition metal nitrides

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Journal of Materials Science & Technology 2023年第26期157卷 213-219页

作者： Yuankai Li Chaoquan Hu Yao Wu Zhenan Qiao Yifan Cheng Zhiqing Gu Gang Gao Weitao Zheng State Key Laboratory of Superhard Materials Key Laboratory of Automobile Materials of Ministry of EducationSchool of Materials Science and EngineeringJilin Provincial International Cooperation Key Laboratory of High-Efficiency Clean Energy MaterialsJilin UniversityChangchun 130012China State Key Laboratory of Inorganic Synthesis and Preparative Chemistry College of ChemistryJilin UniversityChangchun 130012China SINOPEC Star Co.Ltd. Beijing 100083China Key Laboratory of Medical Electronics and Digital Health of Zhejiang Province College of Information Science and EngineeringJiaxing UniversityJiaxing 314001China National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbin 150080China State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130025China

*** Hard and wear-resistant conductors(HWCs)refer to functional films with simultaneously high hardness,high wear resistance,and good electrical *** have important applica-tions such as next-generation sliding electrical contacts,high-end conductive probe-tip,and oval hole guides for the precision rolling mill[1-4],which has drawn extensive research ***,it is still challenging to integrate high hardness,super wear resis-tance,and high electrical conductivity in one ***-ally,researchers have mainly alloyed the highly conductive met-als Cu,Au,and Pt to improve their hardness and wear resistance.

关键词： wear high electrical

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Adaptive Sliding Mode control for automotive Electronic Throttle based on Extremum Seeking

Adaptive Sliding Mode Control for Automotive Electronic Thro...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Lin Chen Jinwu Gao Jilin University and the Department of Control Science and Engineering State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

With the help of extremum seeking (ES), an improved adaptive sliding mode control (ES-ASMC) method is proposed to accomplish rapid and precise servo control of throttle angle. Some existing adaptive sliding mode control schemes applied to electronic throttle focus only on the switching gain, with limited attention to other parameters. While in the method presented in this study, all parameters of the sliding mode control (SMC) law are optimized simultaneously. An objective function is designed to measure the tracking error, which is subsequently reduced by ES with gradient descent to obtain a more favorable tracking response. In addition, a tracking differentiator is introduced to suppress the measurement noise of the output signal in place of the regular differentiator. Eventually, hardware experiments are conducted in an electronic throttle control (ETC) system to validate the effectiveness of the proposed approach. Comparison with other solutions reveals the superiority of the ES-ASMC in terms of tracking accuracy and response speed.

关键词： Accuracy Noise Switches Linear programming Hardware Trajectory Noise measurement

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Comprehensive evaluation of an ionic liquid based deep purification process for NH_(3)-containing industrial gas

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Journal of Environmental Sciences 2024年第2期136卷 698-708页

作者： Guoxiong Zhan Fei Cao Jianjun Chen Zhen Chen Yuanmeng Duan Fei Chang Shaojuan Zeng Yinge Bai Zengxi Li Xiangping Zhang Junhua Li State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Sino-Danish College University of Chinese Academy of SciencesBeijing 100049China Institute of Process Engineering Chinese Academy of SciencesBeijing 100190China College of Chemical and Engineering University of Chinese Academy of SciencesBeijing 100049China

Ammonia(NH_(3))emission has caused serious environment issues and aroused worldwide *** emerging ionic liquid(IL)provides a greener way to efficiently capture NH_(3).This paper provides rigorous process simulation,optimization and assessment for a novel NH_(3)deep purification process using *** process was designed and investigated by simulation and optimization using ionic liquid[C_(4)im][NTF_(2)]as *** objective functions,total purification cost(TPC),total process CO_(2)emission(TPCOE)and thermal efficiency(ηeff)were employed to optimize the absorption *** simulation and optimization results indicate that at same purification standard and recovery rate,the novel process can achieve lower cost and CO_(2)emission compared to benchmark *** process optimization,the optimal functions can achieve 0.02726$/Nm~3(TPC),311.27 kg CO_(2)/hr(TP-COE),and 52.21%(ηeff)for enhanced ***,compared with conventional process,novel process could decrease over$3 million of purification cost and 10000 tons of CO_(2)emission during the life *** results provide a novel strategy and guidance for deep purification of NH_(3)capture.

关键词： NH_(3) Capture Process Ionic Liquid Process simulation Process Optimization Deep purification

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Research on the Inflence Mechanism and Lightweight of Windshield on the Stiffness of BIW

Research on the Inflence Mechanism and Lightweight of Windsh...

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2023中国汽车工程学会年会暨展览会

作者： Wang Chao Yu Wanyuan Cheng Aiguo He Zhicheng State Key Laboratory of Advanced Design and Manufacture for Vehicle Body Hunan University College of Automotive Engineering Liuzhou Vocational & Technical College

ISBN: (纸本)9789819702510

The impact mechanism of the front windshield on the torsional stiffness of the body in white(BIW) was studied by using a simplified windshield model,and the lightweight design of the front windshield was ***,the influence of the front windshield on the torsional stiffness of the BIW was verified,and the mathematical model and simplified finite element model of the windshield stiffness were *** is concluded that the shear stiffness of the front windshield is the main factor affecting the torsional stiffness of ***,the relationship between the windshield stiffness and the torsional stiffness of the BIW was established,and the influences of the elastic modulus and thickness of different types of windshield on the torsional stiffness of the vehicle body were quickly analyzed using the simplified ***,two lightweight design schemes were carried out for the *** accuracy of the simulation models was verified by *** two schemes have achieved weight reduction by 17.3% and 41.4%,respectively,under the requirements of the stiffness and mode of BIW and the pedestrian protection.

关键词： lightweight mathematic model pedestrian protection simplified model torsional stiffness

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