This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we emplo...This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.展开更多
This paper presents the generalized principles of least action of variable mass nonholonomic nonconservative system in noninertial reference frame, proves the equivalence between Holder form and Suslov form, and then ...This paper presents the generalized principles of least action of variable mass nonholonomic nonconservative system in noninertial reference frame, proves the equivalence between Holder form and Suslov form, and then obtains differential equations of motion of variable mass nonholonomic nonconservative system in noninertial reference frame.展开更多
The principle of least action, which has so successfully been applied to diverse fields of physics looks back at three centuries of philosophical and mathematical discussions and controversies. They could not explain ...The principle of least action, which has so successfully been applied to diverse fields of physics looks back at three centuries of philosophical and mathematical discussions and controversies. They could not explain why nature is applying the principle and why scalar energy quantities succeed in describing dynamic motion. When the least action integral is subdivided into infinitesimal small sections each one has to maintain the ability to minimize. This however has the mathematical consequence that the Lagrange function at a given point of the trajectory, the dynamic, available energy generating motion, must itself have a fundamental property to minimize. Since a scalar quantity, a pure number, cannot do that, energy must fundamentally be dynamic and time oriented for a consistent understanding. It must have vectorial properties in aiming at a decrease of free energy per state (which would also allow derivation of the second law of thermodynamics). Present physics is ignoring that and applying variation calculus as a formal mathematical tool to impose a minimization of scalar assumed energy quantities for obtaining dynamic motion. When, however, the dynamic property of energy is taken seriously it is fundamental and has also to be applied to quantum processes. A consequence is that particle and wave are not equivalent, but the wave (distributed energy) follows from the first (concentrated energy). Information, provided from the beginning, an information self-image of matter, is additionally needed to recreate the particle from the wave, shaping a “dynamic” particle-wave duality. It is shown that this new concept of a “dynamic” quantum state rationally explains quantization, the double slit experiment and quantum correlation, which has not been possible before. Some more general considerations on the link between quantum processes, gravitation and cosmological phenomena are also advanced.展开更多
A generalized refractive index in the form of optic eikonal is defined through com- paring frame definitions of left-handed and right-handed sets and indicates the sign of the refractive index covered by the quadratic...A generalized refractive index in the form of optic eikonal is defined through com- paring frame definitions of left-handed and right-handed sets and indicates the sign of the refractive index covered by the quadratic form of the eikonal equation. Fer- mat’s principle is generalized, and the general refractive law is derived directly. Under this definition, the comparison between Fermat’s principle and the least ac- tion principle is made through employing path integral and analogizing L. de Broglie’s theory.展开更多
The generalized principle of least action in electromagnetism is presented, which is effective even though in lossy and nonreciprocal media. It is pointed out that the Maxwell’s equations can be derived from this pri...The generalized principle of least action in electromagnetism is presented, which is effective even though in lossy and nonreciprocal media. It is pointed out that the Maxwell’s equations can be derived from this principle. At last for example of its applications, some useful variational expressions for electromagnetic fields are derived systematically from the principle.展开更多
The rapid advance of autonomous vehicles(AVs)has motivated new perspectives and potential challenges for existing modes of transportation.Currently,driving assistance systems of Level 3 and below have been widely prod...The rapid advance of autonomous vehicles(AVs)has motivated new perspectives and potential challenges for existing modes of transportation.Currently,driving assistance systems of Level 3 and below have been widely produced,and several applications of Level 4 systems to specific situations have also been gradually developed.By improving the automation level and vehicle intelligence,these systems can be further advanced towards fully autonomous driving.However,general development concepts for Level 5 AVs remain unclear,and the existing methods employed in the development processes of Levels 0-4 have been mainly based on task-driven function development related to specific scenarios.Therefore,it is difficult to identify the problems encountered by high-level AVs.The essential logical and physical mechanisms of vehicles have hindered further progression towards Level 5 systems.By exploring the physical mechanisms behind high-level autonomous driving systems and analyzing the essence of driving,we put forward a coordinated and balanced framework based on the brain-cerebellum-organ concept through reasoning and deduction.Based on a mixed mode relying on the crow inference and parrot imitation approach,we explore the research paradigm of autonomous learning and prior knowledge to realize the characteristics of self-learning,self-adaptation,and self-transcendence for AVs.From a systematic,unified,and balanced point of view and based on least action principles and unified safety field concepts,we aim to provide a novel research concept and develop an effective approach for the research and development of high-level AVs,specifically at Level 5.展开更多
基金supported by the National Natural Science Foundation of China(the Key Project,52131201Science Fund for Creative Research Groups,52221005)+1 种基金the China Scholarship Councilthe Joint Laboratory for Internet of Vehicles,Ministry of Education–China MOBILE Communications Corporation。
文摘This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.
文摘This paper presents the generalized principles of least action of variable mass nonholonomic nonconservative system in noninertial reference frame, proves the equivalence between Holder form and Suslov form, and then obtains differential equations of motion of variable mass nonholonomic nonconservative system in noninertial reference frame.
文摘The principle of least action, which has so successfully been applied to diverse fields of physics looks back at three centuries of philosophical and mathematical discussions and controversies. They could not explain why nature is applying the principle and why scalar energy quantities succeed in describing dynamic motion. When the least action integral is subdivided into infinitesimal small sections each one has to maintain the ability to minimize. This however has the mathematical consequence that the Lagrange function at a given point of the trajectory, the dynamic, available energy generating motion, must itself have a fundamental property to minimize. Since a scalar quantity, a pure number, cannot do that, energy must fundamentally be dynamic and time oriented for a consistent understanding. It must have vectorial properties in aiming at a decrease of free energy per state (which would also allow derivation of the second law of thermodynamics). Present physics is ignoring that and applying variation calculus as a formal mathematical tool to impose a minimization of scalar assumed energy quantities for obtaining dynamic motion. When, however, the dynamic property of energy is taken seriously it is fundamental and has also to be applied to quantum processes. A consequence is that particle and wave are not equivalent, but the wave (distributed energy) follows from the first (concentrated energy). Information, provided from the beginning, an information self-image of matter, is additionally needed to recreate the particle from the wave, shaping a “dynamic” particle-wave duality. It is shown that this new concept of a “dynamic” quantum state rationally explains quantization, the double slit experiment and quantum correlation, which has not been possible before. Some more general considerations on the link between quantum processes, gravitation and cosmological phenomena are also advanced.
基金the National Natural Science Foundation of China (Grant No. 60601028)
文摘A generalized refractive index in the form of optic eikonal is defined through com- paring frame definitions of left-handed and right-handed sets and indicates the sign of the refractive index covered by the quadratic form of the eikonal equation. Fer- mat’s principle is generalized, and the general refractive law is derived directly. Under this definition, the comparison between Fermat’s principle and the least ac- tion principle is made through employing path integral and analogizing L. de Broglie’s theory.
文摘The generalized principle of least action in electromagnetism is presented, which is effective even though in lossy and nonreciprocal media. It is pointed out that the Maxwell’s equations can be derived from this principle. At last for example of its applications, some useful variational expressions for electromagnetic fields are derived systematically from the principle.
基金This work was jointly supported by the National Science Fund for Distinguished Young Scholars(51625503)the National Natural Science Foundation of China,the Major Project(61790561)the Joint Laboratory for Internet of Vehicle,Ministry of Education,China Mobile Communications Corporation.
文摘The rapid advance of autonomous vehicles(AVs)has motivated new perspectives and potential challenges for existing modes of transportation.Currently,driving assistance systems of Level 3 and below have been widely produced,and several applications of Level 4 systems to specific situations have also been gradually developed.By improving the automation level and vehicle intelligence,these systems can be further advanced towards fully autonomous driving.However,general development concepts for Level 5 AVs remain unclear,and the existing methods employed in the development processes of Levels 0-4 have been mainly based on task-driven function development related to specific scenarios.Therefore,it is difficult to identify the problems encountered by high-level AVs.The essential logical and physical mechanisms of vehicles have hindered further progression towards Level 5 systems.By exploring the physical mechanisms behind high-level autonomous driving systems and analyzing the essence of driving,we put forward a coordinated and balanced framework based on the brain-cerebellum-organ concept through reasoning and deduction.Based on a mixed mode relying on the crow inference and parrot imitation approach,we explore the research paradigm of autonomous learning and prior knowledge to realize the characteristics of self-learning,self-adaptation,and self-transcendence for AVs.From a systematic,unified,and balanced point of view and based on least action principles and unified safety field concepts,we aim to provide a novel research concept and develop an effective approach for the research and development of high-level AVs,specifically at Level 5.
