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李柏

发布于:2020-04-11 星期六 12:39:05 点击数:3151

以“精细建模+高效求解”为核心,研究1) 自动驾驶车辆/智能网联汽车的预测、决策、规划、控制技术,以及2) 智能制造中的先进控制技术。涉及计算最优控制、模型预测控制等现代控制方法、数值优化方法、机器学习方法以及离散数学方法。

(NEW) 欢迎联系报名2021级研究生。除本专业外,也欢迎控制科学、人工智能、计算机、数学、航空航天、化工、智能交通、管理等跨专业考生报名。在人生观、价值观正确的前提下,候选人宜提前打好坚实的数学、英文基础,且必须具备扎实的计算机编程功底(优先考虑具有编程竞赛获奖经历的候选人)。

基本信息

姓名: 李柏

系别: 机电工程系

职称/职务: 副教授、硕士生导师、岳麓学者(晨星岗)

E-mail: libaioutstanding@163.com(主要)  libai@hnu.edu.cn(备用)

教学课程: A2002009M现代控制理论与方法、A2002058M计算最优控制理论、A2002060M自动驾驶决策规划理论

English Version

教育背景

2013年9月—2018年6月  浙江大学 控制科学与工程学院 博士 (导师:邵之江 教授)

2009年9月—2013年7月  北京航空航天大学 理科实验班 本科

期间,2016年12月—2017年06月  密歇根大学安娜堡分校 土木工程系 联合培养博士生 (联合培养导师:Henry X. Liu 教授)

          2012年09月—2013年01月  台湾清华大学 资讯工程系 本科交换生

工作履历

2020年3月至今  湖南大学 机械与运载工程学院 副教授

2018年7月—2020年3月  北京京东世纪贸易有限公司 X事业部 算法工程师

学术兼职

IEEE T-RO、T-ITS、T-VT、T-EC、T-SMC、T-CBB、IEEE Access、Transportation Research Part C、Robotics and Autonomous Systems、Engineering Applications of Artificial Intelligence、Knowledge-Based Systems、Artificial Intelligence Review、Applied Soft Computing、Applied Mathematics and Computation、Computers in Industry、Swarm and Evolutionary Computation、Mechanical Systems and Signal Processing、Reliability Engineering & System Safety、ICRA、CDC、IV、ITSC、IFAC等国际知名期刊/会议审稿人.

研究领域

聚焦于智能车决策规划技术在产业孵化时期亟待解决的困难问题,具体包括:

1、智能车拟人化行驶行为决策

2、智能车容错/故障-安全轨迹规划

3、车路系统的稳态动力学建模

4、车规级决策规划算法高性能计算

5、智能车感知决策规划一体化方案

6、智能车局部行为决策的端到端方案

7、智能车在极限工况下的运动规划与控制

8、多体智能车局部运动规划

9、多智能网联汽车协同决策与规划

10、人工智能算法设计及其在自主无人系统领域的创新应用

阶段性实验结果见https://space.bilibili.com/26649350 (持续更新)

科研项目

1、国家自然科学基金委员会,面上项目,61773341,垂直起降可重复使用火箭返回着陆过程实时轨迹优化,2018-01至2021-12,80万,在研,参与;

2、国家自然科学基金委员会,面上项目,61773340,基于两层协调结构的空分供气网络调控方法,2018-01至2018-12,20万,已结题,参与;

3、浙江省新苗人才计划,2016R401239,自主驾驶中高质量运动决策与控制的理论研究,2016-05至2017-05,0.5万,已结题,主持.

学术成果

专著

李柏. 复杂约束下自动驾驶车辆运动规划的计算最优控制方法研究. 博士学位论文. 2018.07. [Full text]

李柏, 葛雨明. 智能网联汽车协同决策与规划技术. 北京:机械工业出版社. 2020.06. (ISBN:978-7-111-64687-7). [Code]

李柏, 张友民, 彭晓燕. 自动驾驶中的十个运筹学优化问题. 北京:铁道出版社. 2021.


代表论文

非结构化场景中自主泊车轨迹优化

  • Bai Li, Kexin Wang, and Zhijiang Shao, “Time-optimal maneuver planning in automatic parallel parking using a simultaneous dynamic optimization approach,” IEEE Transactions on Intelligent Transportation Systems, 17(11), 3263-3274, 2016. (IF = 5.744)  [Full text]

  • Bai Li, Tankut Acarman, Xiaoyan Peng, et al., “Maneuver planning for automatic parking with safe travel corridors: A numerical optimal control approach”, 2020 European Control Conference (ECC), 1993-1998, 2020. [Code]

  • Bai Li, and Youmin Zhang, “Fast trajectory planning for off-road autonomous driving with a spatiotemporal tunnel and numerical optimal control approach”, 2019 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 924–929, 2019.

  • Bai Li, and Zhijiang Shao, “A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles,” Knowledge-Based Systems, 86, 11-20, 2015. (IF = 5.101) [Full text]

  • Bai Li, Youmin Zhang, and Zhijiang Shao, “Spatio-temporal decomposition: A knowledge-based initialization strategy for parallel parking motion optimization,” Knowledge-Based Systems, 107, 179-196, 2016. (IF = 5.101) [Code]

  • Bai Li, and Zhijiang Shao, “Simultaneous dynamic optimization: A trajectory planning method for nonholonomic car-like robots,” Advances in Engineering Software, 87, 30-42, 2015. (IF = 4.194)

▲ 结构化道路场景中行为决策与轨迹规划

  • Bai Li, and Youmin Zhang, "Fast trajectory planning in Cartesian rather than Frenet frame: A precise solution for autonomous driving in complex urban scenarios", IFAC-PapersOnLine, XX(XX), XX-XX, 2020. [Code]

▲ 多智能网联汽车协同运动规划

  • Bai Li, Youmin Zhang, Yiheng Feng, et al., “Balancing computation speed and quality: A decentralized motion planning method for cooperative lane changes of connected and automated vehicles,” IEEE Transactions on Intelligent Vehicles, 3(3), 340-350, 2018. [Code]

  • Bai Li, Ning Jia, Pu Li, et al., “Incrementally constrained dynamic optimization: A computational framework for lane change motion planning of connected and automated vehicles,” Journal of Intelligent Transportation Systems, 23(6), 557-568, 2019. (IF = 2.568) [Code]

  • Bai Li, Youmin Zhang, Ning Jia, and Zhijiang Shao, “Simultaneous versus joint computing: A case study of multi-vehicle parking motion planning,” Journal of Computational Science, 20, 30-40, 2017. (IF = 2.502)

  • Bai Li, Youmin Zhang, Yuming Ge, et al., “Optimal control-based online motion planning for cooperative lane changes of connected and automated vehicles,” 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3689-3694, 2017.

  • Bai Li, Youmin Zhang, Ning Jia, et al., “Paving green passage for emergency vehicle in heavy traffic: Real-time motion planning under the connected and automated vehicles environment,” 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 153-158, 2017.

  • Bai Li, Zhijiang Shao, Youmin Zhang, and Pu Li, “Nonlinear programming for multi-vehicle motion planning with Homotopy initialization strategies,” 2017 13th IEEE Conference on Automation Science and Engineering (CASE), 118-123, 2017.

  • Bai Li, Hong Liu, Duo Xiao, et al., “Centralized and optimal motion planning for large-scale AGV systems: A generic approach,” Advances in Engineering Software, 106, 33-46, 2017. (IF = 4.194)

  • Bai Li, Youmin Zhang, Yue Zhang, and Ning Jia, “Cooperative lane change motion planning of connected and automated vehicles: A stepwise computational framework,” 2018 IEEE Intelligent Vehicles Symposium (IV), 334-338, 2018. [Code]

▲ 无信号灯路口协同通行管理

  • Bai Li, Youmin Zhang, Ning Jia, et al., “ Autonomous intersection management over continuous space: A microscopic and precise solution via computational optimal control,” IFAC-PapersOnLine, XX(XX), XX-XX, 2020. [Code]

  • Bai Li, and Youmin Zhang, “Fault-tolerant cooperative motion planning of connected and automated vehicles at a signal-free and lane-free intersection,” IFAC-PapersOnLine, 51(24), 60-67, 2018.

  • Bai Li, Youmin Zhang, Yue Zhang, et al., “Near-optimal online motion planning of connected and automated vehicles at a signal-free and lane-free intersection,” 2018 IEEE Intelligent Vehicles Symposium (IV), 1432-1437, 2018.

拖挂车/卡车等多体车辆的运动规划

  • Bai Li, Tankut Acarman, Youmin Zhang, et al., “Tractor-trailer vehicle trajectory planning in narrow environments with a progressively constrained optimal control approach,” IEEE Transactions on Intelligent Vehicles, 5(2), XX-XX, 2020. [Full text] [Code]

  • Bai Li, Youmin Zhang, Tankut Acarman, et al., “Trajectory planning for a tractor with multiple trailers in extremely narrow environments: A unified approach”, 2019 IEEE International Conference on Robotics and Automation (ICRA), 8557–8562, 2019. [Code]

  • Bai Li, Kexin Wang, and Zhijiang Shao, “Time-optimal trajectory planning for tractor-trailer vehicles via simultaneous dynamic optimization,” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3844-3849, 2015.

  • Bai Li, and Zhijiang Shao, “An incremental strategy for tractor-trailer vehicle global trajectory optimization in the presence of obstacles,” 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1447-1452, 2015.

  • Bai Li, and Zhijiang Shao, “Precise trajectory optimization for articulated wheeled vehicles in cluttered environments,” Advances in Engineering Software, 92, 40-47, 2016. (IF = 4.194)

▲ 人工智能算法设计及其在交叉学科中的创新应用

  • Bai Li, “Research on WNN modeling for gold price forecasting based on improved artificial bee colony algorithm,” Computational Intelligence and Neuroscience, 2014, 2. (IF = 2.154)

  • Bai Li, Ya Li, and Ligang Going, “Protein secondary structure optimization using an improved artificial bee colony algorithm based on AB off-lattice model,” Engineering Applications of Artificial Intelligence, 27, 70-79, 2014. (IF = 3.526)

  • Bai Li, and Yuan Yao, “An edge-based optimization method for shape recognition using atomic potential function,” Engineering Applications of Artificial Intelligence, 35, 14-25, 2014. (IF = 3.526)

  • Bai Li, Ligang Gong, and Wenlun Yang, "An improved artificial bee colony algorithm based on balance-evolution strategy for unmanned combat aerial vehicle path planning," Scientific World Journal, 232704, 1-10, 2014. [Full text] [Code]

  • Bai Li, Raymond Chiong, and Ligang Gong, “Search-evasion path planning for submarines using the artificial bee colony algorithm,” 2014 IEEE Congress on Evolutionary Computation (CEC), 528-535, 2014.

  • Bai Li, Raymond Chiong, and Mu Lin, “A two-layer optimization framework for UAV path planning with interval uncertainties,” 2014 IEEE Symposium on Computational Intelligence in Production and Logistics Systems (CIPLS), 120-127, 2014.

  • Bai Li, Mu Lin, Qiao Liu, et al., “Protein folding optimization based on 3D off-lattice model via an improved artificial bee colony algorithm,” Journal of Molecular Modeling, 21(10), 261, 2015. (IF = 1.335)

  • Bai Li, Raymond Chiong, and Mu Lin, “A balance-evolution artificial bee colony algorithm for protein structure optimization based on a three-dimensional AB off-lattice model,” Computational Biology and Chemistry, 54, 1-12, 2015. (IF = 1.581) [Code]

▲ 综述与技术报告

  • Bai Li, et al., “Autonomous last-mile delivery vehicles in complex traffic environments,” Computers, accepted, 2020. (IF = 3.564) [Preprint]

  • 李柏, 张友民, 邵之江. 自动驾驶车辆运动规划方法综述[J]. 控制与信息技术, 2018(06): 1-6.


发明专利

CN 110758388A 自动驾驶车辆以及自动驾驶控制方法和装置 (公开-实审)

CN 110806218A 泊车路径规划方法、装置和系统 (公开-实审)

CN 110884502A 自动驾驶路径规划质量测评方法、装置和系统 (公开-实审)

CN 110907193A 自动驾驶车辆编队行驶的测试方法、装置和系统 (公开-实审)

CN 110907197A 车辆测试方法、装置和系统 (公开-实审)

CN 110955244A 轨迹规划方法、装置、介质及电子设备 (公开-实审)

CN 110836671A 轨迹规划方法、轨迹规划装置、存储介质与电子设备 (公开-实审)

CN 110647151A 坐标转换方法及装置、计算机可读存储介质、电子设备 (公开-实审)

CN 110703753A 路径规划方法及装置、电子设备、存储介质 (公开-实审)

CN 110749325A 航迹规划方法和装置 (公开-实审)

CN 110782092A 无人配送车在非结构化场景中的轨迹规划方法及装置 (公开-实审)

奖励与荣誉

国际自动控制联合会(IFAC)2014–2016年度最佳期刊论文奖(第一作者)

国际智能车会议(IV 2018)最佳论文提名(第一作者)

浙江省2018年度优秀毕业生

期刊Knowledge-Based Systems、Applied Soft Computing杰出审稿人(Outstanding Reviewer)

京东集团X事业部2018、2019年度优秀员工(创新金点子奖、专利达人奖)