Daofei Li

Daofei Li
Zhejiang University | ZJU · College of Energy Engineering

PhD
Working on Safe and Efficient technologies for Automated Driving.

About

46
Publications
7,693
Reads
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460
Citations
Introduction
The main research directions of my group include: 1) Vehicle Dynamics and Control; 2) Automated Driving, including Decision, Planning and Control; 3) Complete Human-Vehicle System Dynamics; 4) Control problems in EV and HEV. Find more about our research via: http://person.zju.edu.cn/en/daofei We also present our research videos in Bilibili.com, i.e. the link https://space.bilibili.com/544424063
Additional affiliations
January 2016 - present
Zhejiang University
Position
  • Professor (Assistant)
Description
  • Leader of HMA Research Group, https://person.zju.edu.cn/en/daofei Teaching (1) Theory of Ground Vehicles (Core Course) (2) Automotive Control and Electronics (Core Course) (3) Automobile History and Culture
February 2014 - January 2016
University of Michigan
Position
  • Visiting Scholar
Description
  • Vehicle Dynamics, Autonomous Vehicle
August 2011 - November 2011
University of Missouri
Position
  • Visiting Scholar
Education
September 2003 - June 2008
Shanghai Jiao Tong University
Field of study
  • Vehicle Engineering
September 1999 - July 2003
Jilin University
Field of study
  • Automotive Engineering

Publications

Publications (46)
Article
Full-text available
Overtaking on two-lane two-way (TLTW) highways is often associated with a high risk of crashing. However, existing models of TLTW overtaking decision, either mechanism- or learning-based, cannot handle well the dynamic coupling among the interacting drivers. For accurate overtaking modelling, it is crucial to consider the uncertainties of interacti...
Preprint
Road irregularities, e.g. potholes or bulges, will cause discomfort, vehicle damages or even accidents, if not being carefully handled by drivers. For driving safety and comfort, especially in highly automated vehicles, there is a need for accurate and efficient way to estimate the road condition ahead in advance. Existing direct sensing based meth...
Preprint
div>Motion planning in dynamic environment is crucial to the automated driving safety. In extremely emergency scenarios with unavoidable collisions, especially those with complex impact patterns, the potential crash risk should be well considered in motion planning. This paper proposes a motion planning algorithm for unavoidable collisions, which d...
Article
Highway pilot assist has become the front line of competition in advanced driver assistance systems. The increasing requirements on safety and user acceptance are calling for personalization in the development process of such systems. Inspired by a finding on drivers’ car-following preferences on lateral direction, a personalized highway pilot assi...
Article
An automated driving system should have the ability to supervise its own performance and to request human driver to take over when necessary. In the lane keeping scenario, the prediction of vehicle future trajectory is the key to realize safe and trustworthy driving automation. Previous studies on vehicle trajectory prediction mainly fall into two...
Preprint
Road irregularities, e.g. potholes or bulges, will cause discomfort, vehicle damages or even accidents, if not being carefully handled by drivers. For driving safety and comfort, especially in highly automated vehicles, there is a need for accurate and efficient way to estimate the road condition ahead in advance. Existing direct sensing based meth...
Preprint
p>Motion sickness is very common in road transport. To guarantee ride comfort and user experience, there is an urgent need for effective solutions to motion sickness mitigation in semi- and fully-automated vehicles. Considering both effectiveness and user-friendliness, a vibration cue system is proposed to inform passengers of the upcoming vehicle...
Preprint
Full-text available
An automated driving system should have the ability to supervise its own performance and to request human driver to take over when necessary. In the lane keeping scenario, the prediction of vehicle future trajectory is the key to realize safe and trustworthy driving automation. Previous studies on vehicle trajectory prediction mainly fall into two...
Preprint
Full-text available
To develop driving automation technologies for human, a human-centered methodology should be adopted for ensured safety and satisfactory user experience. Automated lane change decision in dense highway traffic is challenging, especially when considering the personalized preferences of different drivers. To fulfill human driver centered decision alg...
Preprint
Full-text available
This paper is accepted by IMechE Part D: J. Automobile Engineering. Please check a brief video via the link: https://www.bilibili.com/video/BV1PS4y1j7LL/ ---------->ABSTRACT: Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles shoul...
Preprint
Full-text available
This paper is accepted for publication in IMECHE Part D Journal of Automobile Engineering. Abstract: Highway pilot assist has become the front line of competition in advanced driver assistance systems. The increasing requirements on safety and user acceptance are calling for personalization in the development process of such systems. Inspired by a...
Preprint
Full-text available
Motion planning in dynamic environment is crucial to the automated driving safety. In extremely emergency scenarios with unavoidable collisions, especially those with complex impact patterns, the potential crash risk should be well considered in motion planning. This paper proposes a motion planning algorithm for unavoidable collisions, which direc...
Preprint
Full-text available
Smooth and harmonic interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the expectation of other interacting drivers, which leads to several AV accidents involving human-driven vehicles (HVs)...
Conference Paper
Full-text available
Check video presentation via https://www.bilibili.com/video/BV1fY41187px/ Abstract==> In future fully-automated vehicles, the driver role will change to be passenger, which might cause some unnecessary ride comfort challenges, especially passenger motion sickness in crowded urban traffic. The main idea of this paper is to directly include the moti...
Article
Full-text available
With automated driving, human drivers have been partially, and in the future will be fully, relieved from driving tasks, and it becomes more important to mitigate car-sickness in self-driving vehicles. Previous research on reducing passenger motion sickness mostly focus on improving the cockpit environment through human factors engineering, while f...
Article
A double-tank hybrid pneumatic engine system, with one low pressure tank and one high pressure tank has been proposed to improve the energy conversion efficiency and auxiliary braking power output of regenerative braking of vehicles. The performance of three ideal compression cycle scenarios for the double-tank system has been investigated and the...
Article
Full-text available
Multi-mode hybrid electric vehicles (HEVs) have become popular in recent years because of their high efficiency and excellent overall performance. However, the introduction of multiple operating modes has led to some issues, e.g., mode shift problems, which are not observed in conventional HEVs with a single mode. Similar to a gear shift map in con...
Article
Driving behaviors of the vehicle had a great influence on the riding comfort and fuel consumption in urban traffic conditions. Therefore, CACC system was designed based on the traffic conditions containing the informations such as traffic lights to improve the performance by reducing unnecessary speed keeping or acceleration. The type of tracking t...
Article
The dual drive hybrid electric vehicle (DDHEV) was modeled and the Hangzhou driving cycles were constructed. The new rule based control strategy was extracted from the simulation results of the dynamic programming control strategy; the fuel-saving effect of the new rule based control strategy was evaluated. Results show that the fuel economy increa...
Article
An exhaust energy recovery method was proposed to recover exhaust energy wasted through wastegate under high speed and heavy load conditions, in which compressed air was used as energy storage medium. The simulation model was built to analyze the recovery performance; the promotion of energy recovery efficiency under driving cycle condition was cal...
Article
A compressed air hybrid engine concept based on the medium mixing was proposed in order to recover the exhaust energy. A venturi pipe was utilized to mix the exhaust gas and compressed air. Then the thermodynamic model of hybrid engine was conducted. The impact of some technical parameters on the economic performance of hybrid engine was analyzed....
Article
The compressed air engine is a new kind power machinery, which uses high-pressure air as its energy storage medium and working medium. The high-pressure air expands inside the cylinder to produce power. Compared to the conventional internal combustion engine, compressed air engine has many advantages in terms of simple structure, no pollutant emiss...
Article
Full-text available
With the aim of improving the energy efficiency of conventional vehicles, this paper proposes a pneumatic hybrid engine concept, which features regenerative braking and compressed-air-assisted cranking functions. In the regenerative braking mode, the engine works as a two-stroke compressor and converts the kinematic energy of the vehicle into compr...
Article
Full-text available
Engine start-stop system is one of the main mechanisms for fuel saving in hybrid electric vehicles (HEVs). During those transient events, especially during engine starts, the engine torque pulsations can be an NVH issue if there is direct mechanical coupling between the engine and the driveline. In addition, engine starts may also result in the int...
Article
To improve performance and fuel economy of the pneumatic-internal combustion hybrid system, a supercharging way to direct the high pressure exhaust of pneumatic engine into the internal combustion engine (ICE) cylinder to fully use pneumatic engine exhaust energy was studied. The pneumatic-internal combustion hybrid system mathematical model was bu...
Article
Internal combustion engine is still expected to be the major power unit to propel vehicles for decades from now on. However, for normal driving conditions, more than half of the consumed fuel energy of engine is wasted, in the form of exhaust heat and coolant heat. In order to recover the waste heat generated in the thermodynamic cycle of internal...
Article
Braking energy recovery can significantly contribute to fuel economy and emission reduction, particularly for commercial vehicles driving in urban environment. By using the compressed air storage, rather than expensive and vulnerable batteries, this paper proposes a pneumatic hybrid system with an integrated compressor/expander unit (CEU) for comme...
Article
The pneumatic and internal combustion combined cycle was proposed in order to recycle the exhaust heat of internal combustion engine. The exhaust valve open timing was advanced in this combined cycle, which can raise the exhaust pressure and lead to smoothly full mix of compressed air and exhaust gas. The p-V diagram of combined cycle was built bas...
Article
This paper investigates the feasibility of applying a compressed air powertrain to mine rescue vehicles, which require strict explosion-proof and flame-proof characteristics. Based on both simulation and preliminary tests of a single-cylinder air-powered engine prototype, the concept of compressed air powertrain for a rescue vehicle is proposed. Co...
Article
Braking energy regeneration is beneficial to the improvement of vehicle fuel economy. Among many regenerative braking approaches, air hybrid engine, which is based on conventional internal combustion engine, could realize braking energy recovery with high efficiency and low cost. Based on the conventional 4-stroke internal combustion engine, three...
Article
Full-text available
A novel engine regenerative braking method was presented which adopts a check valve for energy recovery based on the idea of braking energy recovery through compressed air. A single cylinder gasoline engine prototype was modeled and validated with preliminary test by using thermodynamics and gas dynamics theory. Engine braking performances at stead...
Article
Full-text available
The paper proposes a novel pneumatic-fuel hybrid system, which combines a traditional internal combustion engine (ICE) and a pneumatic engine. One important merit of this concept is that the system can recover waste from cooling water of internal combustion engine to optimize the working process of pneumatic engine, and thus to improve the entire e...
Article
In order to improve the efficiency of internal combustion engine, a method of engine exhaust heat recovery through combined pneumatic and internal combustion cycle was proposed. This method used the mixture of exhaust gas and compressed air as working fluid of the pneumatic cycle. The mathematical model of combined cycle working process was built,...
Article
A simulation model for diesel engine with electro-hydraulic driven valves was established and used combined with the electro-hydraulic driven valve movement characteristics obtained by bench test to analyze influences of valve overlap, intake valve closing retarded angle and exhause valve ahead opening advanced angle on engine power and conduct the...
Article
Intake flow characteristics has significant influence on pneumatic engine efficiency. The pneumatic engine intake process was modeled according to CFD theory to examine flow loss of intake compressed-air at the rotational valve mechanism and intake port velocity fields, instantaneous flow characteristics at different times in intake process based o...
Conference Paper
Chassis control systems have evolved dramatically over the past two decades and their impacts on vehicle dynamics can be usefully separated into the three directions, i.e. lateral, longitudinal and vertical directions. Accordingly, the state survey of chassis control systems can be reviewed in following sub-system areas, i.e. steering, driveline/br...
Article
In order to coordinate steering, braking/traction and active stabiliser, an integrated vehicle chassis controller is proposed. The controller is realised via a main/servo-loop structure: in the main-loop, stabilising forces/moments are first calculated using robust sliding mode controller; then in the servo-loop, the stabilising forces/moments are...
Article
Aiming to design an integrated controller of active steering and longitudinal slip ratio system, the entire control task was divided into main-loop and servo-loop: by using nonlinear sliding mode control method, the main-loop controller robustly calculates the generalized forces for vehicle motion stabilizing; and the servo-loop optimally distribut...
Conference Paper
Existing hydraulic active suspension system has several disadvantages such as slow response, high energy consumption and complexity. An energy-regenerative electrical suspension is utilized whose motor actuator is composed of a permanent-magnet direct-current motor with a ball screw and a nut. The significant characteristic of the suspension is tha...
Conference Paper
Full-text available
The yaw stability of a vehicle is crucial to vehicle safety in steering manoeuvres. In this paper, a fuzzy-logic controller is designed for improving vehicle yaw stability by corrective yaw moment generated from differential braking so that the yaw rate and body sideslip angle can trace their desired values. An 8-DOF vehicle model with nonlinear ti...
Article
Full-text available
To optimally allocate control authorities to co-existing active actuators, an integrated chassis controller with main/servo-loop structure is designed to coordinate direct yaw moment control and active steering. Firstly, a sliding mode controller in the main-loop calculates the desired stabilizing forces. Then in the servo-loop, by directly conside...
Article
https://www.koreascience.or.kr/article/JAKO200620056076725.pdf. In order to reduce the negative effects of dynamic coupling among vehicle subsystems and improve the handling performance of vehicle under severe driving conditions, a vehicle chassis control integration approach based on a main-loop and servo-loop structure is proposed. In the main-l...
Article
For the purposes of on-line control, e.g., in an automatic driving system, or of closed-loop directional control simulation, an optimal preview artificial neural network (ANN) driver model based on error elimination algorithm(EEA) is built. Then the optimal preview times are discussed in high frequency range in this system. The simulation results o...

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Projects

Projects (3)
Project
Model-based approach towards automated driving safety design.
Project
To clarify what kinds of personalization do drivers/passengers need in future vehicles; To explore how to realize personalized automation, including driving assist and high level automated driving.