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学者姓名：张利国
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Abstract ：
Understanding decision-making in autonomous driving models is essential for real-world applications. Attribution explanation is a primary research direction for interpreting neural network decisions. However, in the context of autonomous driving, numerical attributions fail to interpret the complex semantic information and often result in explanations that are difficult to understand. This paper introduces a novel semantic attribution approach that both identifies where important features appear and provides intuitive information about what they represent. To establish the semantic correspondences for attributions, we propose an interpreting framework that integrates unsupervised differentiable semantic representations with the attribution computational model. To further enhance the accuracy of the attribution computation while ensuring strong semantic correspondence, we design a Semantic-Informed Aumann-Shapley (SIAS) method, which defines a novel integration path solution using constraints from semantic scores and discrete gradients. Extensive experiments confirm that our method outperforms state-of-the-art explanation techniques both qualitatively and quantitatively in autonomous driving scenarios.
Keyword ：
attribution explanation attribution explanation semantic representation semantic representation Shapley value Shapley value Autonomous driving Autonomous driving
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| GB/T 7714 | Shi, Rui , Li, Tianxing , Yamaguchi, Yasushi et al. Understanding Decision-Making of Autonomous Driving via Semantic Attribution [J]. | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS , 2024 . |
| MLA | Shi, Rui et al. "Understanding Decision-Making of Autonomous Driving via Semantic Attribution" . | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2024) . |
| APA | Shi, Rui , Li, Tianxing , Yamaguchi, Yasushi , Zhang, Liguo . Understanding Decision-Making of Autonomous Driving via Semantic Attribution . | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS , 2024 . |
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Abstract ：
Parallelization is widely employed to improve the exploration ability of controllers. However, it is rare to provide a lightweight scheme for reducing homogeneous policies with theoretical guarantees. This article is concerned with a novel parallel scheme for solving optimal control problems. In brief, we design a novel global indicator that inherits the theoretical guarantees of a class of iterative reinforcement learning algorithms. By generating a tentative function, the global indicator can guide and communicate with parallel controllers to accelerate the learning process. Using two typical exploration policies, the novel parallel scheme can rapidly compress the neighborhood of the optimal cost function. Besides, two parallel algorithms based on value iteration and Q-learning are established to improve the data efficiency through different extensions. Finally, two benchmark problems are presented to demonstrate the learning effectiveness of the novel parallel scheme.
Keyword ：
Adaptive critic Adaptive critic nonlinear control nonlinear control parallel learning parallel learning Q-learning Q-learning reinforcement learning (RL) reinforcement learning (RL) discrete-time systems discrete-time systems value iteration (VI) value iteration (VI)
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| GB/T 7714 | Wang, Ding , Wang, Jiangyu , Hu, Lingzhi et al. Novel Parallel Formulation for Iterative Reinforcement Learning Control [J]. | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS , 2024 , 54 (10) : 6320-6331 . |
| MLA | Wang, Ding et al. "Novel Parallel Formulation for Iterative Reinforcement Learning Control" . | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 54 . 10 (2024) : 6320-6331 . |
| APA | Wang, Ding , Wang, Jiangyu , Hu, Lingzhi , Zhang, Liguo . Novel Parallel Formulation for Iterative Reinforcement Learning Control . | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS , 2024 , 54 (10) , 6320-6331 . |
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Abstract ：
This paper studies the cooperative control problem for multiple mixed vehicle platoons, which are composed of a large number of connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs). Compared to the routine mixed vehicle platoon, multiple mixed vehicle platoons considered in this paper are not limited to running in a single lane, and it is assumed that there exists no globally known reference velocity. Firstly, the multiple mixed vehicle platoons are divided into multiple interrelated subplatoons according to the location of the CAVs. The structure of each subplatoon is '1+n'. i.e., by a CAV leading n HDVs. Then a generic model is constructed for each sub-platoon based on the optimal velocity model for HDV and the kinematic model for CAV, respectively. Secondly, a reset strategy based cooperative control algorithm is designed for CAVs to lead the multiple mixed vehicle platoons travelling at a consistent velocity and a desired inter-vehicle spacing, where the reference velocities of CAVs are periodically reset based on a consensus protocol. Specifically, dynamic state feedback controller is designed for each CAV behind under incorporation. Finally, numerical studies validate that the proposed reset strategy based cooperative control algorithm can increase the convergence rate and ensure comparable control performance compared to the existing algorithms that require a globally known reference velocity.
Keyword ：
consensus consensus cooperative control cooperative control mixed vehicle platoons mixed vehicle platoons reset control reset control
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| GB/T 7714 | Wang, Shuqi , Zhan, Jingyuan , Deng, Heng et al. Cooperative Control for Multiple Mixed Vehicle Platoons Based on Reset Strategy [J]. | 2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024 , 2024 : 309-314 . |
| MLA | Wang, Shuqi et al. "Cooperative Control for Multiple Mixed Vehicle Platoons Based on Reset Strategy" . | 2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024 (2024) : 309-314 . |
| APA | Wang, Shuqi , Zhan, Jingyuan , Deng, Heng , Zhang, Liguo . Cooperative Control for Multiple Mixed Vehicle Platoons Based on Reset Strategy . | 2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024 , 2024 , 309-314 . |
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Abstract ：
The operation of heating, ventilation, and air conditioning (HVAC) systems in modern buildings often suffers due to the limited adaptability and efficiency of conventional rule-based control mechanisms. Addressing the need for more rational and flexible operation, we introduce a novel multi-objective optimization approach leveraging Deep Q-Network (DQN) for open office environments. Our method aims to strike an optimal balance between minimizing energy consumption and maximizing occupant comfort within the air conditioning system. Unlike rule-based methods, our data-driven approach circumvents the need for extensive a priori knowledge of building-specific thermodynamics, thereby enhancing adaptability and ease of deployment. We developed a building simulation model for the target open office area, complemented by a custom-built simulation and testing platform integrated with a building modeling interface. This platform facilitates real-time data acquisition and parameter adjustment, enabling the DQN agent to efficiently control HVAC operations. By dynamically adjusting temperature setpoints across various thermal zones via variable air volume (VAV) actuators, the DQN agent skillfully navigates the energy-occupant comfort trade-off. Empirical evidence from extensive training iterations indicates that our DQN-based control method outperforms traditional rule-based systems, reducing energy consumption by up to 24% while maintaining optimal occupant comfort. The experimental results demonstrate the efficacy of the proposed method for energy optimization in building management.
Keyword ：
HVAC HVAC multi-objective optimization multi-objective optimization deep reinforcement learning deep reinforcement learning energy optimization energy optimization energy simulation energy simulation
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| GB/T 7714 | Li, Xiaolong , Shi, Rui , Deng, Heng et al. Reinforcement Learning Based Optimization Method for Comfort-energy Balance in Multi-zone HVAC System [J]. | 2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024 , 2024 : 1736-1741 . |
| MLA | Li, Xiaolong et al. "Reinforcement Learning Based Optimization Method for Comfort-energy Balance in Multi-zone HVAC System" . | 2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024 (2024) : 1736-1741 . |
| APA | Li, Xiaolong , Shi, Rui , Deng, Heng , Zhang, Liguo . Reinforcement Learning Based Optimization Method for Comfort-energy Balance in Multi-zone HVAC System . | 2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024 , 2024 , 1736-1741 . |
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Abstract ：
This article investigates the stabilization problem of stop-and-go waves in vehicle traffic flow with bilateral boundary feedback control. The stop-and-go waves induce the discontinuities of vehicle speed and density, which inturn lead to different traffic states on the front and back sides of the shock front. According to the Rankine-Hugoniot condition, a propagation equation of the shock front is proposed depending on the characteristic velocities of the Aw-Rascle-Zhang traffic flow model. Then, the complete dynamics of the stop-and-go waves is formulated as a coupled hyperbolic partial differential equations (PDE- PDE) system with a common moving boundary. The well posedness of the coupled system with the moving boundary is established via the fixed-domain method. To stabilize the discontinuous traffic state and the location of shock front simultaneously, the bilateral boundary feedback control is formulated for the stop-and-go waves of traffic flow. Some sufficient conditions in terms of matrix inequalities are derived for ensuring the local exponential stability of the closed-loop system in the H-2-norm. Finally, the theoretical results are illustrated with numerical simulations.
Keyword ：
Aw-Rascle-Zhang (ARZ) traffic flow model Aw-Rascle-Zhang (ARZ) traffic flow model Shock waves Shock waves boundary stabilization boundary stabilization Vehicle dynamics Vehicle dynamics Feedback control Feedback control Numerical models Numerical models coupled partial differential equations (PDE-PDE) system coupled partial differential equations (PDE-PDE) system Lyapunov function Lyapunov function Mathematical models Mathematical models stop-and-go waves stop-and-go waves Electric shock Electric shock Roads Roads
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| GB/T 7714 | Zhang, Liguo , Luan, Haoran , Zhan, Jingyuan . Stabilization of Stop-and-Go Waves in Vehicle Traffic Flow [J]. | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (7) : 4583-4597 . |
| MLA | Zhang, Liguo et al. "Stabilization of Stop-and-Go Waves in Vehicle Traffic Flow" . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL 69 . 7 (2024) : 4583-4597 . |
| APA | Zhang, Liguo , Luan, Haoran , Zhan, Jingyuan . Stabilization of Stop-and-Go Waves in Vehicle Traffic Flow . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (7) , 4583-4597 . |
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Abstract ：
This paper studies the cooperative control problem of a mixed vehicle platoon, which is composed of connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs) in an arbitrary order. An alternating direction method of multipliers (ADMM) based distributed model predictive control (DMPC) algorithm is proposed for CAVs to lead the mixed vehicle platoon travelling in a string with anticipated inter-vehicle spacing and a desired velocity. First, the mixed vehicle platoon is divided into multiple interrelated sub-platoons with any two adjacent sub-platoons having a common CAV, and then a generic model is constructed for each sub-platoon based on the intelligent driver model for HDV and the kinematic model for CAV, respectively. Second, a local MPC controller is designed for each sub-platoon to optimize the control inputs of CAVs with the objective of minimizing the position and velocity errors of all vehicles in the sub-platoon, and then the ADMM is utilized to obtain the global optimal solution among local MPC controllers of all sub-platoons. Finally, numerical simulations and experiments are carried out to verify the effectiveness of the proposed DMPC algorithm, the results of which reveal that it can reduce the computation cost significantly and ensure the control performance comparable to the centralized MPC algorithm.
Keyword ：
mixed vehicle platoon mixed vehicle platoon distributed model predictive control distributed model predictive control alternating direction method of multipliers alternating direction method of multipliers
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| GB/T 7714 | Zhan, Jingyuan , Hua, Zhen , Zhang, Liguo . Cooperative predictive control for arbitrarily mixed vehicle platoons with guaranteed global optimality [J]. | IET INTELLIGENT TRANSPORT SYSTEMS , 2023 , 17 (8) : 1702-1714 . |
| MLA | Zhan, Jingyuan et al. "Cooperative predictive control for arbitrarily mixed vehicle platoons with guaranteed global optimality" . | IET INTELLIGENT TRANSPORT SYSTEMS 17 . 8 (2023) : 1702-1714 . |
| APA | Zhan, Jingyuan , Hua, Zhen , Zhang, Liguo . Cooperative predictive control for arbitrarily mixed vehicle platoons with guaranteed global optimality . | IET INTELLIGENT TRANSPORT SYSTEMS , 2023 , 17 (8) , 1702-1714 . |
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Abstract ：
This paper investigates the model-based periodic event-triggered control strategy for Inter-Vehicle Communication (IVC) in the field of cyber-physical transportation system (CPTS). The vehicle needs to periodically broadcast its state information to other vehicles to ensure the traffic safety. Considering the scarcity of communication resources in traffic network, an event-triggered control is introduced to strike a balance between the communication cost and the estimation quality. The state information of the vehicle is calculated by the local estimator through the interacting filtering algorithm, and the scheduling module controls the broadcast behavior of the vehicle. When the channel between the dead reckoning module and the local estimator is activated, the local estimator broadcasts the current estimation results in the vehicular network. Otherwise, the dead reckoning module in neighboring vehicles calculates the computative state based on the available information. In view of the characteristics of event-triggering, a periodic verification is attached to the system to obtain an ideal compromise between conventional periodic sampled-data control and event-triggered control. Furthermore, the probability distribution of estimated states in the dead reckoning module is calculated, which helps to the design of event-triggered strategy and parameter selection. Extensive simulation and real experiments are conducted to illustrate the effectiveness of the proposed communication control strategy.
Keyword ：
cyber-physical transportation system (CPTS) cyber-physical transportation system (CPTS) interacting filtering algorithm interacting filtering algorithm periodic event-triggered control periodic event-triggered control inter-vehicle communications (IVC) inter-vehicle communications (IVC) Communication control strategy Communication control strategy
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| GB/T 7714 | Jiang, Fengyao , Deng, Heng , Zhang, Liguo . Periodic Event-triggered Control for Inter-vehicle Communications [J]. | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS , 2023 , 21 (4) : 1285-1295 . |
| MLA | Jiang, Fengyao et al. "Periodic Event-triggered Control for Inter-vehicle Communications" . | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 21 . 4 (2023) : 1285-1295 . |
| APA | Jiang, Fengyao , Deng, Heng , Zhang, Liguo . Periodic Event-triggered Control for Inter-vehicle Communications . | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS , 2023 , 21 (4) , 1285-1295 . |
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Abstract ：
The saturated boundary stabilization problem for quasi-linear hyperbolic systems of balance laws is considered under H2-norm in this paper, where the boundary conditions of the system are subject to actuator saturations. The resulting closed-loop system is proven to be locally exponentially stable with respect to the steady states in the presence of saturations. To this end, the sector nonlinearity model is introduced to deal with the saturation term, and then sufficient conditions for ensuring the locally exponential stability are established in terms of a set of matrix inequalities by employing the Lyapunov function method along with a sector condition. Furthermore, these results are applied to the stabilization of the two-lane traffic flow dynamic represented by Lighthill-Whitham-Richards (LWR) model. By utilizing variable speed limit (VSL) devices, a saturated boundary feedback controller is designed to stabilize the two-lane traffic flow, and the exponential convergence of the quasi-linear traffic flow system in H2 sense is validated by numerical simulations.
Keyword ：
saturated boundary feedback control saturated boundary feedback control Quasi-linear hyperbolic systems Quasi-linear hyperbolic systems Lyapunov function Lyapunov function sector condition sector condition LWR traffic flow model LWR traffic flow model
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| GB/T 7714 | Zhao, Hanxu , Zhan, Jingyuan , Zhang, Liguo . Saturated boundary feedback control of quasi-linear hyperbolic balance laws with application to LWR traffic flow stabilization [J]. | ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS , 2023 , 29 . |
| MLA | Zhao, Hanxu et al. "Saturated boundary feedback control of quasi-linear hyperbolic balance laws with application to LWR traffic flow stabilization" . | ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS 29 (2023) . |
| APA | Zhao, Hanxu , Zhan, Jingyuan , Zhang, Liguo . Saturated boundary feedback control of quasi-linear hyperbolic balance laws with application to LWR traffic flow stabilization . | ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS , 2023 , 29 . |
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Abstract ：
In contrast to the fruitful results in saturated control of ordinary differential equation (ODE) systems, there are few related studies for hyperbolic partial differential equation (PDE) systems. This paper focuses on the saturated boundary feedback stabilization problem for the Lighthill-Whitham-Richards (LWR) traffic flow model, in which a variable speed limit (VSL) device is applied at the downstream boundary in the presence of actuator saturation and a saturated boundary feedback controller is proposed to drive the traffic density to the steady state. By employing the Lyapunov function method along with a modified local sector condition, sufficient conditions for ensuring the local exponential stability of the LWR traffic flow system are developed in C1-norm. Remarkably, the proposed sufficient conditions establish a relationship between the control gain and the region of exponential stability (RES), and thus the maximal RES can be determined by introducing an optimization criterion. Lastly, numerical simulations are performed to verify the effectiveness of the theoretical results.(c) 2023 Elsevier B.V. All rights reserved.
Keyword ：
Actuator saturation Actuator saturation Lyapunov function Lyapunov function LWR traffic flow model LWR traffic flow model Sector condition Sector condition Boundary control Boundary control
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| GB/T 7714 | Zhao, Hanxu , Zhan, Jingyuan , Zhang, Liguo . Saturated boundary feedback stabilization for LWR traffic flow model [J]. | SYSTEMS & CONTROL LETTERS , 2023 , 173 . |
| MLA | Zhao, Hanxu et al. "Saturated boundary feedback stabilization for LWR traffic flow model" . | SYSTEMS & CONTROL LETTERS 173 (2023) . |
| APA | Zhao, Hanxu , Zhan, Jingyuan , Zhang, Liguo . Saturated boundary feedback stabilization for LWR traffic flow model . | SYSTEMS & CONTROL LETTERS , 2023 , 173 . |
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Abstract ：
This paper studies an optimal tuning of the boundary controller for a heterogeneous traffic flow model with disturbances in order to alleviate congested traffic. The macroscopic first-order N-class Aw-Rascle traffic model consists of 2N hyperbolic partial differential equations. The vehicle size and the driver's behavior characterize the type of vehicle. There are m positive characteristic velocities and 2N - m negative characteristic velocities in the congested traffic after linearizing the model equations around the steady state depending on the spatial variable. By using the backstepping method, a controller implemented by a ramp metering at the inlet boundary is designed for rejecting the disturbances to stabilize the 2N x 2N heterogeneous traffic system. The developed controller in terms of proportional integral control is derived from mapping the original system to a target system with a proportional integral boundary control rejecting the disturbances. The integral input-to-state stability of the target system is proved by using the Lyapunov method. Finally, an optimization problem is established and solved for seeking the optimal tuning of the controller. (c) 2022 Elsevier Ltd. All rights reserved.
Keyword ：
Boundary controller Boundary controller Backstepping Backstepping Traffic congestion Traffic congestion Disturbances Disturbances Optimal tuning Optimal tuning Multi-type AR traffic model Multi-type AR traffic model
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| GB/T 7714 | Guan, Lina , Zhang, Liguo , Prieur, Christophe . Controller design for heterogeneous traffic with bottleneck and disturbances [J]. | AUTOMATICA , 2023 , 148 . |
| MLA | Guan, Lina et al. "Controller design for heterogeneous traffic with bottleneck and disturbances" . | AUTOMATICA 148 (2023) . |
| APA | Guan, Lina , Zhang, Liguo , Prieur, Christophe . Controller design for heterogeneous traffic with bottleneck and disturbances . | AUTOMATICA , 2023 , 148 . |
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