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Towards Safe Autonomous Driving:Decision Making with Observation‑Robust Reinforcement Learning

Automotive Innovation 2023年第4期6卷 509-520页

作者： Xiangkun He Chen Lv State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchunChina School of Mechanical and Aerospace Engineering Nanyang Technological University639798 NanyangSingapore

Most real-world situations involve unavoidable measurement noises or perception errors which result in unsafe decision making or even casualty in autonomous *** address these issues and further improve safety,automated driving is required to be capable of handling perception ***,this paper presents an observation-robust reinforcement learning against observational uncertainties to realize safe decision making for autonomous ***,an adversarial agent is trained online to generate optimal adversarial attacks on observations,which attempts to amplify the average variation distance on perturbed *** addition,an observation-robust actor-critic approach is developed to enable the agent to learn the optimal policies and ensure that the changes of the policies perturbed by optimal adversarial attacks remain within a certain ***,the safe decision making scheme is evaluated on a lane change task under complex highway traffic *** results show that the developed approach can ensure autonomous driving performance,as well as the policy robustness against adversarial attacks on observations.

关键词： Autonomous vehicle Robust reinforcement learning Safe decision making Adversarial attack

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Applying machine-learning screening of single transition metal atoms anchored on N-dopedγ-graphyne for carbon monoxide electroreduction toward C_(1)products

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Nano Research 2023年第8期16卷 11511-11520页

作者： Dongxu Jiao Dantong Zhang Dewen Wang Jinchang Fan Xingcheng Ma Jingxiang Zhao Weitao Zheng Xiaoqiang Cui State Key Laboratory of Automotive Simulation and Control School of Materials Science and Engineeringand Key Laboratory of Automobile Materials of MOEJilin UniversityChangchun 130012China College of Chemistry and Chemical Engineering and Key Laboratory of Photonic and Electronic Bandgap MaterialsMinistry of EducationHarbin Normal UniversityHarbin 150025China Multiscale Crystal Materials Research Center Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

Carbon monoxide electroreduction(COER)has been a key part of tandem electrolysis of carbon dioxide(CO_(2)),in which searching for high catalytic performance COER electrocatalysts remains a great ***,by means of density functional theory(DFT)computations,we explored the potential of a series of transition metal atoms anchored on N-dopedγ-graphyne(TM@N-GY,TM from Ti to Au)as the COER *** found that the final product selectivity of these single-atom catalysts depended on the position of the metal atom in the periodic table,with metals in the front and middle of each periodic period exhibiting high selectivity for CH_(4),while metals in the back producing CH_(3)*** learning(ML)found that metal atomic number was intrinsic to the difference in COER performance of these single-atom catalysts(SACs).The free energy changes showed that Mn@N-GY and Ni@N-GY exhibited outstanding COER catalytic performance for producing CH_(4)and CH_(3)OH,*** results provide theoretical and experimental guidance for designing efficient COER catalysts to generate C_(1)products.

关键词： CO electroreduction single atom catalysts γ-graphyne density functional theory machine learning

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Underestimated benefits of NO_(x) control in reducing SNA and O_(3) based on missing heterogeneous HONO sources

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Frontiers of Environmental Science & Engineering 2024年第3期18卷 57-67页

作者： Shuping Zhang Haotian Zheng Jun Liu Yao Shi Tianzeng Chen Chaoyang Xue Fenfen Zhang Yueqi Jiang Xiangping Zhang Shovan Kumar Sahu Biwu Chu Jia Xing State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China China Academy of Civil Aviation Science and Technology Beijing 100028China State Key Joint Laboratory of Environment Simulation and Pollution Control Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China Yellow River Institute of Hydraulic Research Zhengzhou 450003China Centre for Climate Research Singapore Meteorological Service SingaporeSingapore 537054Singapore

Substantial NO_(x) emission mitigation is crucial for the synergistic reduction of particulate matter and ozone(O_(3))pollution in *** traditional air quality model does not consider heterogeneous HONO chemistry,leading to uncertainties in estimating the benefits of NO_(x) *** studies have shown that the parameterization of heterogeneous HONO formation increases both the simulated value of sulfate–nitrate–ammonium(SNA)and that of O_(3),thus adding the heterogeneous reactions of HONO into air quality models inevitably leads to changes in the estimated benefits of NO_(x) *** we investigated the changes in SNA and O_(3)concentrations from NO_(x) emission reduction before and after adding heterogeneous HONO reactions in the Community Multi-Scale Air Quality(CMAQ)*** heterogeneous HONO reactions in the simulation improved the benefits of NO_(x) reduction in terms of SNA control in *** 80%NO_(x) reduction,the reduction in SNA increased from 36.9%without considering heterogeneous HONO reactions to 42.8%with heterogeneous HONO *** reduction in the maximum daily 8h average(MDA8)O_(3)in summer caused by NO_(x) reduction increased slightly from 4.7%to 5.2%after adding heterogeneous HONO *** results in this study highlight the enhanced effectiveness of NO_(x) controls for the reduction of SNA and O_(3)after considering heterogeneous HONO formation in a complex chemical ambient,demonstrating the importance of NO_(x) controls in reducing PM2.5 and O_(3)pollution in China.

关键词： Heterogeneous HONO NO_(x) reduction PM_(2.5) O_(3)

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Selective dissolution to synthesize densely populated Pt single atom catalyst

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Nano Research 2023年第1期16卷 219-227页

作者： Weinan Yang Xiaoguang Zhao Ya Wang Rong Wang Wenhao Yang Yue Peng Junhua Li State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Sinopec Research Institute of Petroleum Processing Beijing 100083China

Single atom catalysts(SACs)have become one of research focuses in heterogeneous catalysis for their effective utilization of active metal atoms and unique properties in various catalytic ***,due to their high surface energy,noble metal single atoms like Pt tend to migrate and agglomerate to form larger clusters or nanoparticles,which makes it a challenge to fabricate noble metal SACs with high loading(>5 wt.%).Furthermore,the decisive factors of loading maximum are still not ***,we reported a manganese oxide supported Pt SAC with a high loading of 5.6 wt.%synthesized by selective dissolution *** pre-stabilization of Pt by coordinated oxygen and the abundant surface defects of support are the determinants of high *** Pt SAC exhibited much better H_(2)spill-over and hydrocarbon oxidation abilities with lower adsorption and dissociation energies than the manganese oxide support because of its local electronic structure with less repulsion.

关键词： manganese oxide selective dissolution single-atom catalysis hydrogen spill-over propene oxidation

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Thermodynamic-based ecological scaling theory in urban metabolic framework:a review

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Frontiers of Environmental Science & Engineering 2025年第1期19卷 69-85页

作者： Gengyuan Liu Mingwan Wu State Key Joint Laboratory of Environmental Simulation and Pollution Control School of EnvironmentBeijing Normal UniversityBeijing 100875China Beijing Engineering Research Center for Watershed Environmental Restoration&Integrated Ecological Regulation Beijing 100875China

Prior research has consistently demonstrated that urban economic and social systems adhere to the empirical scaling ***,a plethora of evidence,including the scale-free networks of energy metabolism,the allometric growth patterns of species and populations,and the scaling law relationship between exergy and transformity in biosphere systems across various levels,indicates that urban ecosystems exhibit multi-level scaling law characteristics in energy metabolism under self-organization,alongside significant human activity *** study synthesizes these findings to hypothesize that urban ecological components are also aligned with system-level scaling theory within the urban metabolism *** encompasses:1)the existence of multistable coexistence and mutual transformation phenomena,mirroring the dynamic nature of scaling laws;and 2)a nuanced balance between the ecosystem and the socio-economic system,particularly in the realms of spatial competition and output *** ecosystem scaling theory hypotheses of urban metabolic processes offer a theoretical foundation for identifying ecological security tipping points,which are pivotal in the strategic decision-making for ecological planning and management in the future.

关键词： Ecosystem scaling theory Urban metabolism Complexity Critical review

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A bacteria-based index of biotic integrity indicates aquatic ecosystem restoration

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Environmental Science and Ecotechnology 2024年第6期22卷 178-190页

作者： Qi Liu Senlu Yin Yujun Yi School of Environment Beijing Normal UniversityBeijing 100875China State Key Laboratory of Water Environment Simulation and Pollution Control Beijing Normal UniversityBeijing 100875China

Intensive ecological interventions have been carried out in highly polluted shallow lakes to improve their environments and restore their ***,certain treatments,such as dredging polluted sediment and stocking fish,can impact the aquatic communities,including benthos and *** impacts can alter the composition and characteristics of aquatic communities,which makes community-based ecological assessments *** we develop a bacteria-based index of biotic integrity(IBI)that can clearly indicate the restoration of aquatic ecosystems with minimal artificial *** applied this method to a restored shallow lake during 3-year intensive ecological *** interventions reduced nutrients and heavy metals by 27.1%and 16.7%in the sediment,while the total organic carbon(TOC)increased by 8.0%due to the proliferation of ***,the abundance of sulfur-related metabolic pathways decreased by 10.5%as the responses to improved *** score of bacteria-based IBI,which is calculated based on the diversity,composition,and function of benthic bacterial communities,increased from 0.62 in 2018 to 0.81 in *** study not only provides an applicable method for aquatic ecological assessment under intensive artificial interventions but also extends the application of IBI to complex application scenarios,such as ecosystems with significantly different aquatic communities and comparisons between different basins.

关键词： Baiyangdian lake 16S rRNA Benthic bacterial community Ecological restoration Aquatic ecological assessment

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Estimating NOx Sensor Ammonia Cross-Sensitivity Factor Using a Data-Driven Approach in SCR Systems 7

Estimating NOx Sensor Ammonia Cross-Sensitivity Factor Using...

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

作者： Wang, Ning Gong, Xun Hu, Yunfeng Sun, Yao State Key Laboratory of Automotive Simulation and Control College of Artificial Intelligence Jilin University Changchun China State Key Laboratory of Automotive Simulation and Control College of Telecommunications Engineering Jilin University Changchun China State Key Laboratory of Automotive Simulation and Control College of Automotive Engineering Jilin University Changchun China

ISBN: (纸本)9798350340488

Selective Catalytic Reduction (SCR) is a module used in the aftertreatment system to mitigate the nitrogen oxides (NOx) emissions, and it can be affected by cross-sensitivity, resulting in a decrease in control performance and even controller failure. A commonly adopted approach is estimating the cross-sensitivity factor to correct the downstream NOx concentration, but the current estimation strategies often incur relatively high costs. In this paper, we propose a novel and more cost-effective method based on data-driven for estimating the cross-sensitivity factor. Specifically, we design a network architecture based on Long Short-Term Memory (LSTM) and attention mechanism. LSTM is utilized to capture the non-linear relationship between input features, historical information, and the cross-sensitivity factor. The introduced attention mechanism allows the model to focus more on important information, thereby further improving the estimation accuracy. This method eliminates the need for complex mechanism modeling and parameter calibration, and reduces the computational burden during online operation, resulting in significant time and computational resource *** simulation experiments conducted transient bench data validate the excellent performance of the designed cross-sensitivity factor estimator, as evidenced by comparative analysis with three alternative methods, and demonstrate the rationality of feature selection through the feature ablation analysis. © 2023 IEEE.

关键词： aftertreatment attention cross-sensitivity factor Long Short-Term Memory

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Lane change trajectory planning method for intelligent vehicles considering surrounding risk 7

Lane change trajectory planning method for intelligent vehic...

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

作者： Liu, Ke Wang, Honglin Fu, Yao Liu, Haoran The State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China

ISBN: (纸本)9798350340488

Intelligent vehicle trajectory planning is a multi-objective coupling optimization problem with multiple constraints. Rapid generation of collision-free smooth trajectories that meet kinematic and dynamic constraints can improve the safety and comfort of intelligent vehicle lane-changing process. In order to improve the efficiency of trajectory planning, this paper uses the path and speed decoupling method to generate a feasible lane-changing trajectory set. First, the B-spline curve is used to generate a feasible lane-changing path, and then the speed planning is completed based on Dynamic programming (DP) and Quadratic programming (QP). Considering safety, comfort and efficiency, a comprehensive cost function is established, and the trajectory with the smallest cost function is selected as the output target. The safety cost function is based on the theory of driving risk field, and the safety potential energy index is used to evaluate the safety of the trajectory, which can quantify the risk level of the surrounding traffic factors on the whole process of lane-changing. The simulation results show that the proposed method can quickly plan a reasonable trajectory in the lane-changing scene, and can effectively avoid collision with dynamic obstacles while maintaining safety and efficiency. © 2023 IEEE.

关键词： comprehensive cost function intelligent vehicle surrounding risk trajectory planning

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BPNN Based Energy Management Strategy for Pure Electric Vehicles 7

BPNN Based Energy Management Strategy for Pure Electric Vehi...

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

作者： Zhang, Shilong Wang, Fei Lu, Henghui Yang, Shen State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China

ISBN: (纸本)9798350340488

In order to enhance the real-time performance of model predictive control (MPC) based energy management strategy (EMS), this paper proposes a real-time automotive energy management strategy based on backpropagation neural network (BPNN) approximation of MPC controller. Firstly, establish a pure electric vehicle (PEV) simulation model, then design a BP neural network, and the joint simulation model is established to predict the speed, the energy management is finally realized by combining the energy consumption evaluation model. Compared with the EMS based on MPC controller, the energy-saving control effect is marginally diminished, and the real-time performance of vehicle speed track prediction is greatly improved. The proposed EMS can optimize the driver's speed trajectory and control vehicle movement in real-time, resulting in better comprehensive energy-saving control effects compared to traditional MPC. © 2023 IEEE.

关键词： Backpropagation neural network Electric vehicles Energy management strategy Model predictive control Velocity prediction

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Hybrid Adaptive Event‑Triggered Platoon control with Package Dropout

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Automotive Innovation 2022年第4期5卷 347-358页

作者： Jiawei Wang Fangwu Ma Liang Wu Guanpu Wu The State Key Laboratory of Automotive Simulation and Control Jilin University5988 Renmin StreetChangchun 130022China

A novel hybrid adaptive event-triggered platoon control strategy is proposed to achieve the balanced coordination between communication resource utilization and vehicle-following performance considering the effect of package *** deal with the disturbance caused by the event-triggered scheme,the parameter space approach is adopted to derive the feasible region from which cooperative adaptive cruise control controller satisfies internal stability,distance accuracy,and string ***,the Bernoulli random distribution process is employed to depict the phenomenon of package drop-out,and the hybrid coefficient is proposed to realize the allocation between the adaptive trigger threshold strategy and the adaptive headway *** simulation of a six-vehicle platoon is carried out to verify the effectiveness of the designed control *** show that about 78.76%of communication resources have been saved by applying the event-triggered scheme,while guaranteeing the desired vehicle-following *** in the non-ideal communication environment with frequent package dropouts,the hybrid adaptive strategy achieves the coordination among communication resource utilization,string stability margin,distance accuracy,and traffic efficiency.

关键词： Cooperative adaptive cruise control Event-triggered scheme Hybrid adaptive strategy Package dropout Parameter space approach

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