This paper proposes a vehicle-parking trajectory planning method that addresses the issues of a long trajectory planning time and difficult training convergence during automatic parking. The process involves two stages: finding a parking space and parking planning. The first stage uses model predictive control (MPC) for trajectory tracking from the initial position of the vehicle to the starting point of the parking operation. The second stage employs the proximal policy optimization (PPO) algorithm to transform the parking behavior into a reinforcement learning process. A four-dimensional reward function is set to evaluate the strategy based on a formal reward, guiding the adjustment of neural network parameters and reducing the exploration of invalid actions. Finally, a simulation environment is built for the parking scene, and a network framework is designed. The proposed method is compared with the deep deterministic policy gradient and double-delay deep deterministic policy gradient algorithms in the same scene. Results confirm that the MPC controller accurately performs trajectory-tracking control with minimal steering wheel angle changes and smooth, continuous movement. The PPO-based reinforcement learning method achieves shorter learning times, totaling only 30% and 37.5% of the deep deterministic policy gradient (DDPG) and twin-delayed deep deterministic policy gradient (TD3), and the number of iterations to reach convergence for the PPO algorithm with the introduction of the four-dimensional evaluation metrics is 75% and 68% shorter compared to the DDPG and TD3 algorithms, respectively. This study demonstrates the effectiveness of the proposed method in addressing a slow convergence and long training times in parking trajectory planning, improving parking timeliness.

Multitarget tracking based on multisensor fusion perception is one of the key technologies to realize the intelligent driving of automobiles and has become a research hotspot in the field of intelligent driving. However, most current autonomous-vehicle target-tracking methods based on the fusion of millimeter-wave radar and lidar information struggle to guarantee accuracy and reliability in the measured data, and cannot effectively solve the multitarget-tracking problem in complex scenes. In view of this, based on the distributed multisensor multitarget tracking (DMMT) system, this paper proposes a multitarget-tracking method for autonomous vehicles that comprehensively considers key technologies such as target tracking, sensor registration, track association, and data fusion based on millimeter-wave radar and lidar. First, a single-sensor multitarget-tracking method suitable for millimeter-wave radar and lidar is proposed to form the respective target tracks; second, the Kalman filter temporal registration method and the residual bias estimation spatial registration method are used to realize the temporal and spatial registration of millimeter-wave radar and lidar data; third, use the sequential m-best method based on the new target density to find the track the correlation of different sensors; and finally, the IF heterogeneous sensor fusion algorithm is used to optimally combine the track information provided by millimeter-wave radar and lidar, and finally form a stable and high-precision global track. In order to verify the proposed method, a multitarget-tracking simulation verification in a high-speed scene is carried out. The results show that the multitarget-tracking method proposed in this paper can realize the track tracking of multiple target vehicles in high-speed driving scenarios. Compared with a single-radar tracker, the position, velocity, size, and direction estimation errors of the track fusion tracker are reduced by 85.5%, 64.6%, 75.3%, and 9.5% respectively, and the average value of GOSPA indicators is reduced by 19.8%; more accurate target state information can be obtained than a single-radar tracker.

Accurate prediction of machine RUL plays a crucial role in reducing human casualties and economic losses, which is of significance. The ability to handle spatiotemporal information contributes to improving the prediction performance of machine RUL. However, most existing models for spatiotemporal information processing are not only complex in structure but also lack adaptive feature extraction capabilities. Therefore, a lightweight operator with adaptive spatiotemporal information extraction ability named Involution GRU (Inv-GRU) is proposed for aero-engine RUL prediction. Involution, the adaptive feature extraction operator, is replaced by the information connection in the gated recurrent unit to achieve adaptively spatiotemporal information extraction and reduce the parameters. Thus, Inv-GRU can well extract the degradation information of the aero-engine. Then, for the RUL prediction task, the Inv-GRU-based deep learning (DL) framework is firstly constructed, where features extracted by Inv-GRU and several human-made features are separately processed to generate health indicators (HIs) from multi-raw data of aero-engines. Finally, fully connected layers are adopted to reduce the dimension and regress RUL based on the generated HIs. By applying the Inv-GRU-based DL framework to the Commercial Modular Aero Propulsion System Simulation (C-MAPSS) datasets, successful predictions of aero-engines RUL have been achieved. Quantitative comparative experiments have demonstrated the advantage of the proposed method over other approaches in terms of both RUL prediction accuracy and computational burden.

Considering the perception of a driver, driving safety, and riding comfort, an adaptive cruise control (ACC) method based on a multi-objective (MO) real-time optimization control algorithm is proposed. The ACC system can be divided into various working modes according to the driver’s perception, as well as the relative state of the host vehicle and the preceding vehicle. To distinguish the driver’s intention in the rapid acceleration, strong deceleration, steady, and larger clearance modes, a fuzzy tool is proposed to solve the problem. To maintain the inter-clearance, velocity, and jerking action in a reasonable region, an MO control algorithm based on model predictive control was used to obtain the optimal control vectors. Moreover, the control vector increment is restricted to suppressing the fluctuation caused by switching among various modes. Simulations were conducted for various scenarios to verify the effectiveness of the ACC method. The simulation results indicated that the driver’s comfort and fuel economy improved by 35.3% and 16.6%, respectively, compared with the linear quadratic algorithm in a complicated driving environment. Various simulation results demonstrated that the MO-ACC controller can reduce fuel consumption while barely sacrificing riding comfort or tracking performance, as compared to the linear quadratic controller.

In order to meet the personalized needs of Chinese intelligent vehicles and improve the satisfaction and acceptance of human–computer interaction and collaboration in domestic intelligent vehicles. In this paper, we design an adaptive longitudinal following model that integrates the perceptual perturbation process and driver characteristics for simulating driver following behavior and studying the variability of driver following behavior. Firstly, for the independence and randomness of driver perception process, a set of random variables conforming to Wiener process is introduced to simulate the perception process of speed and following distance of the vehicle in front; secondly, for the characteristic differences of different drivers' following behavior, a driver characteristic parameter identification algorithm is designed to identify the expected collision time distance and following distance parameters of different drivers, and the identified parameters will be used for Again, a sliding mode control system based on fuzzy switching gain adjustment is designed to simulate the driver following control system. The results show that the designed following model recognizes the driver's characteristics well and can better simulate the driver's following behavior, and the following index is relatively improved by 80%.

The ability to handle spatiotemporal information makes contribution for improving the prediction performance of machine RUL. However, most existing models for spatiotemporal information processing are not only complex in structure but also lack adaptive feature extraction capabilities. Therefore, a lightweight operator with adaptive spatiotemporal information extraction ability named Involution GRU (Inv-GRU) is proposed for aero-engine RUL prediction. Involution, the adaptive feature extraction operator, is replaced by the information connection in the gated recurrent unit for obtaining the adaptively spatiotemporal information extraction ability and reducing the parameters. Thus, Inv-GRU can well extract the degradation information the of aero-engine. Then for RUL prediction task, the Inv-GRU based deep learning (DL) framework is firstly constructed, where features extracted by Inv-GRU and several human-made features are separately processed to generate the health indicators (HIs) from multi-raw data of aero-engines. Finally, fully connection layers are adopted are adopted to reduce dimension and regress RUL based on the generated HIs. By applying the Inv-GRU based DL framework to the Commercial Modular Aero Propulsion System Simulation (C-MAPSS) datasets, successful predictions of aero-engines RUL have been achieved. Comparative analysis reveals that the proposed model exhibits superior overall prediction performance compared to recent public methods.