Keqiang Li
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View article: STFC: Spatio-temporal formation control for connected and autonomous vehicles in multi-lane traffic
STFC: Spatio-temporal formation control for connected and autonomous vehicles in multi-lane traffic Open
Formation control of Connected and Autonomous Vehicles (CAVs) has shown significant potential for improving traffic safety and efficiency in multi-lane traffic. However, previous work has primarily focused on spatial coordination while neg…
View article: Effects of physical activity dose on cognitive ability in Chinese adolescent students: parallel mediating roles of sleep quality and smartphone addiction
Effects of physical activity dose on cognitive ability in Chinese adolescent students: parallel mediating roles of sleep quality and smartphone addiction Open
Introduction Adolescence is a critical developmental period marked by heightened vulnerability to cognitive and psychological disruptions. Although physical activity has been linked to improved mental health and cognition, the underlying b…
View article: InteractiveOmni: A Unified Omni-modal Model for Audio-Visual Multi-turn Dialogue
InteractiveOmni: A Unified Omni-modal Model for Audio-Visual Multi-turn Dialogue Open
We introduce InteractiveOmni, a unified and open-source omni-modal large language model for audio-visual multi-turn interaction, ranging from 4B to 8B parameters, designed to lead the field of lightweight models by offering comprehensive o…
View article: Spatio-Temporal Recursive Method for Traffic Flow Interpolation
Spatio-Temporal Recursive Method for Traffic Flow Interpolation Open
Traffic data sequence imputation plays a crucial role in maintaining the integrity and reliability of transportation analytics and decision-making systems. With the proliferation of sensor technologies and IoT devices, traffic data often c…
View article: Self-supervised Pretraining for Integrated Prediction and Planning of Automated Vehicles
Self-supervised Pretraining for Integrated Prediction and Planning of Automated Vehicles Open
Predicting the future of surrounding agents and accordingly planning a safe, goal-directed trajectory are crucial for automated vehicles. Current methods typically rely on imitation learning to optimize metrics against the ground truth, of…
View article: Hierarchical optimization control strategy of hybrid electric vehicle platoon under communication failure
Hierarchical optimization control strategy of hybrid electric vehicle platoon under communication failure Open
View article: Robust Nonlinear Data-Driven Predictive Control for Mixed Vehicle Platoons via Koopman Operator and Reachability Analysis
Robust Nonlinear Data-Driven Predictive Control for Mixed Vehicle Platoons via Koopman Operator and Reachability Analysis Open
Mixed vehicle platoons, comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), hold significant potential for enhancing traffic performance. However, most existing control strategies assume linear system dynam…
View article: The Study of Differential Game on Government Carbon Trading Policy and Firms’ Production Strategies Under Different Market Competition Levels
The Study of Differential Game on Government Carbon Trading Policy and Firms’ Production Strategies Under Different Market Competition Levels Open
We construct a Stackelberg differential game model in which industries with varying degrees of market rivalry are the followers, and the government is the leader, describing their long-term dynamic optimal decision-making behaviors, and we…
View article: Conformal Symplectic Optimization for Stable Reinforcement Learning
Conformal Symplectic Optimization for Stable Reinforcement Learning Open
Training deep reinforcement learning (RL) agents necessitates overcoming the highly unstable nonconvex stochastic optimization inherent in the trial-and-error mechanism. To tackle this challenge, we propose a physics-inspired optimization …
View article: Decision Making and Control of Autonomous Vehicles Under the Condition of Front Vehicle Sideslip
Decision Making and Control of Autonomous Vehicles Under the Condition of Front Vehicle Sideslip Open
View article: Mixed Platoon Control under Noise and Attacks: Robust Data-Driven Predictive Control and Human-in-the-Loop Validation
Mixed Platoon Control under Noise and Attacks: Robust Data-Driven Predictive Control and Human-in-the-Loop Validation Open
Controlling mixed platoons, which consist of both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), poses significant challenges due to the uncertain and unknown human driving behaviors. Data-driven control methods …
View article: Modeling and Analysis of Mixed Traffic Networks with Human-Driven and Autonomous Vehicles
Modeling and Analysis of Mixed Traffic Networks with Human-Driven and Autonomous Vehicles Open
The emergence of connected and automated vehicles (CAV) indicates improved traffic mobility in future traffic transportation systems. This study addresses the research gap in macroscopic traffic modeling of mixed traffic networks where CAV…
View article: Unveiling the Black Box: Independent Functional Module Evaluation for Bird's-Eye-View Perception Model
Unveiling the Black Box: Independent Functional Module Evaluation for Bird's-Eye-View Perception Model Open
End-to-end models are emerging as the mainstream in autonomous driving perception. However, the inability to meticulously deconstruct their internal mechanisms results in diminished development efficacy and impedes the establishment of tru…
View article: Vision-Driven 2D Supervised Fine-Tuning Framework for Bird's Eye View Perception
Vision-Driven 2D Supervised Fine-Tuning Framework for Bird's Eye View Perception Open
Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…
View article: The effect of shear on nucleation and movement of basal plane dislocations in 4H-SiC
The effect of shear on nucleation and movement of basal plane dislocations in 4H-SiC Open
Basal plane dislocations (BPDs) are a key factor influencing the advancement of the 4H-SiC semiconductor. In this paper, the effects of shear forces on the nucleation and movement of BPDs are revealed by employing molecular dynamics simula…
View article: OE-BevSeg: An Object Informed and Environment Aware Multimodal Framework for Bird's-eye-view Vehicle Semantic Segmentation
OE-BevSeg: An Object Informed and Environment Aware Multimodal Framework for Bird's-eye-view Vehicle Semantic Segmentation Open
Bird's-eye-view (BEV) semantic segmentation is becoming crucial in autonomous driving systems. It realizes ego-vehicle surrounding environment perception by projecting 2D multi-view images into 3D world space. Recently, BEV segmentation ha…
View article: Hierarchical and Decoupled BEV Perception Learning Framework for Autonomous Driving
Hierarchical and Decoupled BEV Perception Learning Framework for Autonomous Driving Open
Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor r…
View article: Feature Map Convergence Evaluation for Functional Module
Feature Map Convergence Evaluation for Functional Module Open
Autonomous driving perception models are typically composed of multiple functional modules that interact through complex relationships to accomplish environment understanding. However, perception models are predominantly optimized as a bla…
View article: Neural Radiance Field in Autonomous Driving: A Survey
Neural Radiance Field in Autonomous Driving: A Survey Open
Neural Radiance Field (NeRF) has garnered significant attention from both academia and industry due to its intrinsic advantages, particularly its implicit representation and novel view synthesis capabilities. With the rapid advancements in…
View article: Evaluate Geometry of Radiance Fields with Low-Frequency Color Prior
Evaluate Geometry of Radiance Fields with Low-Frequency Color Prior Open
A radiance field is an effective representation of 3D scenes, which has been widely adopted in novel-view synthesis and 3D reconstruction. It is still an open and challenging problem to evaluate the geometry, i.e., the density field, as th…
View article: CMG-Net: Robust Normal Estimation for Point Clouds via Chamfer Normal Distance and Multi-Scale Geometry
CMG-Net: Robust Normal Estimation for Point Clouds via Chamfer Normal Distance and Multi-Scale Geometry Open
This work presents an accurate and robust method for estimating normals from point clouds. In contrast to predecessor approaches that minimize the deviations between the annotated and the predicted normals directly, leading to direction in…
View article: Collaborative Multi-Lane on-Ramp Merging Strategy for Connected and Automated Vehicles Using Dynamic Conflict Graph
Collaborative Multi-Lane on-Ramp Merging Strategy for Connected and Automated Vehicles Using Dynamic Conflict Graph Open
The on-ramp merging in multi-lane highway scenarios presents challenges due to the complexity of coordinating vehicles’ merging and lane-changing behaviors, while ensuring safety and optimizing traffic flow. However, there are few studies …
View article: Robust Data-EnablEd Predictive Leading Cruise Control via Reachability Analysis
Robust Data-EnablEd Predictive Leading Cruise Control via Reachability Analysis Open
Data-driven predictive control promises model-free wave-dampening strategies for Connected and Autonomous Vehicles (CAVs) in mixed traffic flow. However, its performance relies on data quality, which suffers from unknown noise and disturba…
View article: Review and Perspectives on Human Emotion for Connected Automated Vehicles
Review and Perspectives on Human Emotion for Connected Automated Vehicles Open
The progression toward automated driving and the latest advancement in vehicular networking have led to novel and natural human-vehicle-road systems, in which affective human-vehicle interaction is a crucial factor affecting the acceptance…
View article: Physics-Informed Framework for Dynamic Traffic State Prediction: A Cell Transformer Approach at Signalized Intersections
Physics-Informed Framework for Dynamic Traffic State Prediction: A Cell Transformer Approach at Signalized Intersections Open
View article: Development Strategy of Vehicle-Energy-Road-Cloud Collaboration in the New Technological Situation
Development Strategy of Vehicle-Energy-Road-Cloud Collaboration in the New Technological Situation Open
Vehicle ‒ energy‒road‒ cloud collaboration seamlessly integrates vehicles, energy, transportation, and the cloud, which is conducive to accelerating the formation of a new intelligent, low-carbon, safe, and efficient ecosystem of travel an…
View article: Concept, Principle, and Modeling of Driving Risk Entropy Based on Human-Vehicle-Road Coupling Model for Autonomous Vehicle
Concept, Principle, and Modeling of Driving Risk Entropy Based on Human-Vehicle-Road Coupling Model for Autonomous Vehicle Open
View article: High-Efficiency Verification Strategy for Multi-Vehicle Cooperative Lane-Change Using Optimal Feature Selection
High-Efficiency Verification Strategy for Multi-Vehicle Cooperative Lane-Change Using Optimal Feature Selection Open
View article: Joint Optimization of Signal Scheme and Vehicle Trajectories Based on Vehicular Delay Estimation Model
Joint Optimization of Signal Scheme and Vehicle Trajectories Based on Vehicular Delay Estimation Model Open
View article: Cloud-Based Platoon Predictive Cruise Control Considering Fuel-Efficient and Platoon Stability
Cloud-Based Platoon Predictive Cruise Control Considering Fuel-Efficient and Platoon Stability Open
This work investigates commercial vehicle platoon predictive cruise control for highways. We propose a cloud-based platoon predictive cruise control method (CPPCC). A two-layered control architecture of the CPPCC is proposed as a platoon p…