Speaker：姜宇 博士

（美国ClearMotion公司CTO office主任科学家）

Title: XYZ motion planning for autonomous vehicles with active suspension systems

Date：2022-12-16（Friday）    Time：10:00-11:00

Venue：腾讯会议  608-668-609

Host：张宏伟

摘要（Abstract)：

Motion planners are a class of critical modules present in almost all autonomous vehicles. Generally speaking, a planner is responsible for generating a safe, comfortable, and dynamically feasible trajectory through the environment. Most of the previously developed motion planning methods focus on a 2D setting, in which only in-plane (longitudinal and lateral) motions of the vehicle are taken into consideration. In this talk, a novel xyz-motion planning problem will be presented to account for not only the xy-motion, but also the vertical motion and active suspension control inputs, by making use of upcoming road surface data. Indeed, with the rapid development of active suspension technology, it is believed that active suspension systems will become indispensable to AVs in the near future, for the significant comfort and safety improvements they provide. In addition, the recent development of perception and mapping technologies is feasible to provide accurate road surface information. As a result, the actuation components of an AV will also include the suspension actuator forces, and motion planning for AVs will need to be extended from the xy-plane to the xyz-space.

报告人简介(About the speaker):

Dr. Yu Jiang received his Ph.D. degree in Electrical Engineering from New York University, in 2014. Currently, he is the Principal Scientist with the CTO Office at ClearMotion, Billerica, MA. Prior to joining the company, he worked as a Software Engineer at MathWorks, and the Controls Tech Lead at ISEE AI. His research interests include learning-based control and its applications in cloud-aided preview active suspension control and autonomous truck-trailer systems. He received the Shimemura Young Author Prize at the 9th Asian Control Conference in Istanbul, Turkey, in 2013. He is the co-author of the book "Robust Adaptive Dynamic Programming", Wiley 2017. He currently serves on the Editorial Board of Control Engineering Practice. He is the General Chair of the 1st Workshop on Urban Digital Twins for Intelligent Road Inspection (UDTIRI), in conjunction with the 2022 IEEE International Conference on Big Data (IEEE BigData 2022).