Keke Geng
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View article: Air–Ground Collaborative Multi-Target Detection Task Assignment and Path Planning Optimization
Air–Ground Collaborative Multi-Target Detection Task Assignment and Path Planning Optimization Open
Collaborative exploration in environments involving multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) represents a crucial research direction in multi-agent systems. However, there is still a lack of research in …
View article: Review on Environmental Perception Methods of Autonomous Vehicles
Review on Environmental Perception Methods of Autonomous Vehicles Open
摘要: 智能汽车是全球汽车产业的未来发展方向,是推动我国自主汽车产业高质量发展的应有之义。智能汽车依靠人工智能、泛在传感等先进技术的赋能,实现对驾驶人认知感知、决策规划及控制执行的增强或替代。对道路环境的实时、精准和鲁棒的感知是汽车智能化的基石,近十年间智能汽车感知领域的巨大飞跃多是由深度学习技术推动的。针对近年智能汽车环境感知技术的发展现状,首先梳理智能汽车环境感知系统软硬件架构,对感知、计算设备以及算法部署平台进行总体概述;其次,围绕目标检测与语义分割、多目标跟踪、目标…
View article: Estimating the visibility in foggy weather based on meteorological and video data: A Recurrent Neural Network approach
Estimating the visibility in foggy weather based on meteorological and video data: A Recurrent Neural Network approach Open
The research of visibility detection in foggy days is of great significance to both road traffic and air transport safety. Based on the meteorological and video data collected from an airport, a deep Recurrent Neural Network (RNN) model wa…
View article: Adaptive Multi-modal Fusion Instance Segmentation for CAEVs in Complex Conditions: Dataset, Framework and Verifications
Adaptive Multi-modal Fusion Instance Segmentation for CAEVs in Complex Conditions: Dataset, Framework and Verifications Open
Current works of environmental perception for connected autonomous electrified vehicles (CAEVs) mainly focus on the object detection task in good weather and illumination conditions, they often perform poorly in adverse scenarios and have …
View article: Automatic Recalibration of Camera and LiDAR Using Sensor Fusion Odometry
Automatic Recalibration of Camera and LiDAR Using Sensor Fusion Odometry Open
：The driving environment of the intelligent vehicle is complex and diverse, which inevitably leads to the change of the relative pose of the sensors.Aiming to solving the problem of recalibration after the drift of camera or LiDAR equipped…
View article: Deep Dual-Modal Traffic Objects Instance Segmentation Method Using Camera and LIDAR Data for Autonomous Driving
Deep Dual-Modal Traffic Objects Instance Segmentation Method Using Camera and LIDAR Data for Autonomous Driving Open
Recent advancements in environmental perception for autonomous vehicles have been driven by deep learning-based approaches. However, effective traffic target detection in complex environments remains a challenging task. This paper presents…
View article: Robust Path Tracking Control for Autonomous Vehicle Based on a Novel Fault Tolerant Adaptive Model Predictive Control Algorithm
Robust Path Tracking Control for Autonomous Vehicle Based on a Novel Fault Tolerant Adaptive Model Predictive Control Algorithm Open
Autonomous vehicles are expected to completely change the development model of the transportation industry and bring great convenience to our lives. Autonomous vehicles need to constantly obtain the motion status information with on-board …
View article: Fault-Tolerant Model Predictive Control Algorithm for Path Tracking of Autonomous Vehicle
Fault-Tolerant Model Predictive Control Algorithm for Path Tracking of Autonomous Vehicle Open
The fault detection and isolation are very important for the driving safety of autonomous vehicles. At present, scholars have conducted extensive research on model-based fault detection and isolation algorithms in vehicle systems, but few …
View article: Adaptive Multi-Modal Fusion Instance Segmentation for CAEVs in Complex Conditions: Dataset, Framework and Verifications
Adaptive Multi-Modal Fusion Instance Segmentation for CAEVs in Complex Conditions: Dataset, Framework and Verifications Open
This paper aims to develop an end-to-end sharpening mixture of experts (SMoE) fusion framework to improve the robustness and accuracy of the perception systems for CAEVs in complex illumination and weather conditions. Three original contri…
View article: Using Deep Learning in Infrared Images to Enable Human Gesture Recognition for Autonomous Vehicles
Using Deep Learning in Infrared Images to Enable Human Gesture Recognition for Autonomous Vehicles Open
The realization of a novel human gesture recognition algorithm is essential to enable the effective collision avoidance of autonomous vehicles. Compared to visible spectrum cameras, the use of infrared imaging can enable more robust human …
View article: Active Collision Avoidance Adaptive Control Based on Identification of Different Emergency Conditions
Active Collision Avoidance Adaptive Control Based on Identification of Different Emergency Conditions Open
摘要: 针对车辆高速紧急工况下的主动避撞问题,提出一种基于工况辨识的自适应避撞控制策略。以实时交通环境信息与车辆状态信息为基础构建一种紧急工况避撞模式分类方法,该方法把紧急工况避撞模式分为制动避撞、转向避撞、协调避撞三种模式。对于制动避撞模式,设计一种考虑路面附着条件和驾乘人员舒适度的纵向制动避撞策略;对于转向操纵避撞模式,构建基于多项式路径规划的避撞策略;对于制动和转向协调避撞模式,设计一种基于数据驱动的自学习协调控制策略。不同控制策略的期望输出通过比例积分微分(Prop…
View article: Dynamic analysis of a high speed motorized spindle for internal grinding of slender holes
Dynamic analysis of a high speed motorized spindle for internal grinding of slender holes Open
The purpose of this paper is to investigate the dynamic characteristics of a high speed motorized spindle for internal grinding of slender holes. The modified transfer matrix method is used to establish the dynamic model of the motorized s…
View article: Applications of Multi-height Sensors Data Fusion and Fault-tolerant Kalman Filter in Integrated Navigation System of UAV
Applications of Multi-height Sensors Data Fusion and Fault-tolerant Kalman Filter in Integrated Navigation System of UAV Open
This paper presents a scheme for integrated navigation systems with applications of multi-height sensors data fusion and fault-tolerant Kalman filter(FTKF). It can complete data fusion for multi-height sensors, detect faulty sensors online…
View article: A Fuzzy Controller: Using Monocular Computer Vision to See and Avoid Obstacle for Quadcopter
A Fuzzy Controller: Using Monocular Computer Vision to See and Avoid Obstacle for Quadcopter Open
In this paper use the monocular computer vision, which is in the direction forward of quadcopter, to calculate the spatial distribution of these feature points matching.So that we can find out the approximate contour of the obstacle.A fuzz…