arXiv subjects

Huilong Yu

Publications and source records attributed to Huilong Yu.

4 recordsLinked to original sources

arXiv2025

An Evolutionary Game-Theoretic Merging Decision-Making Considering Social Acceptance for Autonomous Driving

Highway on-ramp merging is of great challenge for autonomous vehicles (AVs), since they have to proactively interact with surrounding vehicles to enter the main road safely within limited time. However, existing decision-making algorithms fail to adequately address dynamic complexities and social acceptance of AVs, leading to suboptimal or unsafe merging decisions. To address this, we propose an evolutionary game-theoretic (EGT) merging decision-making framework, grounded in the bounded rationality of human drivers, which dynamically balances the benefits of both AVs and main-road vehicles (MVs). We formulate the cut-in decision-making process as an EGT problem with a multi-objective payoff function that reflects human-like driving preferences. By solving the replicator dynamic equation for the evolutionarily stable strategy (ESS), the optimal cut-in timing is derived, balancing efficiency, comfort, and safety for both AVs and MVs. A real-time driving style estimation algorithm is proposed to adjust the game payoff function online by observing the immediate reactions of MVs. Empirical results demonstrate that we improve the efficiency, comfort and safety of both AVs and MVs compared with existing game-theoretic and traditional planning approaches across multi-object metrics.

cs.RO↗

arXiv2020

Digital Quadruplets for Cyber-Physical-Social Systems based Parallel Driving: From Concept to Applications

Digital quadruplets aiming to improve road safety, traffic efficiency, and driving cooperation for future connected automated vehicles are proposed with the enlightenment of ACP based parallel driving. The ACP method denotes Artificial societies, Computational experiments, and Parallel execution modules for cyber-physical-social systems. Four agents are designed in the framework of digital quadruplets: descriptive vehicles, predictive vehicles, prescriptive vehicles, and real vehicles. The three virtual vehicles (descriptive, predictive, and prescriptive) dynamically interact with the real one in order to enhance the safety and performance of the real vehicle. The details of the three virtual vehicles in the digital quadruplets are described. Then, the interactions between the virtual and real vehicles are presented. The experimental results of the digital quadruplets demonstrate the effectiveness of the proposed framework.

cs.RO↗

arXiv2018

Optimal Design and Control of 4-IWD Electric Vehicles based on a 14-DOF Vehicle Model

A 4-independent wheel driving (4-IWD) electric vehicle has distinctive advantages with both enhanced dynamic and energy efficiency performances since this configuration provides more flexibilities from both the design and control aspects. However, it is difficult to achieve the optimal performances of a 4-IWD electric vehicle with conventional design and control approaches. This work is dedicated to investigating the vehicular optimal design and control approaches, with a 4-IWD electric race car aiming at minimizing the lap time on a given circuit as a case study. A 14-DOF vehicle model that can fully evaluate the influences of the unsprung mass is developed based on Lagrangian dynamics. The 14-DOF vehicle model implemented with the reprogrammed Magic Formula tire model and a time-efficient suspension model supports metric operations and parallel computing, which can dramatically improve the computational efficiency. The optimal design and control problems with design parameters of the motor, transmission, mass center, anti-roll bar and the suspension of the race car are successively formulated. The formulated problems are subsequently solved by directly transcribing the original problems into large scale nonlinear optimization problems based on trapezoidal approach. The influences of the mounting positions of the propulsion system, the mass and inertia of the unsprung masses, the anti-roll bars and suspensions on the lap time are analyzed and compared quantitatively. Some interesting findings that are different from the `already known facts' are presented.

math.OC↗

arXiv2018

Dimensioning and Power Management of Hybrid Energy Storage Systems for Electric Vehicles with Multiple Optimization Criteria

Hybrid energy storage systems that combine lithium-ion batteries and supercapacitors are considered as an attractive solution to overcome the drawbacks of battery-only energy storage systems, such as high cost, low power density, and short cycle life, which hinder the popularity of electric vehicles. A properly sized hybrid energy storage system and an implementable real-time power management system are of great importance to achieve satisfactory driving mileage and battery cycle life. However, dimensioning and power management problems are quite complicated and challenging in practice. To address these challenges, this work proposes a Bi-level multi-objective design and control framework with the non-dominated sorting genetic algorithm-II and fuzzy logic control as key components, to obtain an optimal sized hybrid energy storage system and the corresponding optimal real-time power management system based on fuzzy logic control simultaneously. In particular, a vectorized fuzzy inference system is devised, which allows large-scale fuzzy logic controllers to run in parallel, thereby improving optimization efficiency. Pareto optimal solutions of different hybrid energy storage systems incorporating both optimal design and control parameters are obtained and compared to show the achieved enhancements of the proposed approach.

eess.SY↗