Kai Liu

Kai Liu

Engineer @ UISEE, PhD @ Beijing Institute of Technology, Visiting scholar @ Ohio State University.

Personal Introduction

刘凯，2004 年 9 月至 2008 年 7 月就读于北京理工大学机械与车辆学院,机械工程及自动化专业。

2008 年获得北京理工大学工学学士学位,并于同年保送至北京理工大学机械与车辆学院,攻读机械电子工程专业硕士研究生,导师龚建伟。

于 2010 年 7 月获得硕士学位之后至 2013 年 9 月期间,在中国科学院深圳先进技术研究院电动汽车研发中心从事电动汽车的轻量化研究。

2013 年 9 月考入北京理工大学机械与车辆学院车辆工程专业,开始攻读博士学位,导师陈慧岩教授。2015 年 9 月至 2017 年 9 月期间,受国家留学基金委资助,赴美国俄亥俄州立大学汽车研究中心 (Center for Automotive Research, CAR) 进行了为期两年的博士生联合培养,导师 Umit Ozguner 教授。 博士期间的研究方向为无人驾驶车辆的动力学建模、操纵稳定性分析、运动规划、模型预测控制和增强学习等。

除了学术研究外，刘凯在博士期间还多次参加无人驾驶车辆相关赛事，将研究成果与实际应用相结合，并取得了良好的成绩。主要参加的无人驾驶车辆赛事如下：

  • 于2013年参加由国家自然科学基金委组织的“智能车未来挑战赛”，本人在这次比赛中担任规划控制组组长，负责局部运动规划与跟踪控制部分任务，为北京理工大学在这次比赛中获得第1名贡献了自己的力量；
  • 于2014年参加陆军装备部组织的“跨越险阻2014”地面无人系统挑战赛，在这次比赛中担任车队队长，顺利完成比赛，并获得了单位第2名的成绩；
  • 于2018年参加陆军装备部组织的“跨越险阻2018”陆上无人系统挑战赛，并帮助北京理工大学获单位A组第3名的好成绩，本人在此次比赛中担任车队队长。

从2019年3月至今，加入驭势科技，从事无人驾驶车辆的决策规划控制算法研究。

My name is Kai Liu(刘凯). I like autonomous vehicles! More specifically, trajectory tracking controller design for vehicles with interesting dynamics. While in grad school I discovered that I am fascinated by numerical methods, especially those used for simulation, control, and optimization.

I completed my B.S. in Mechanical Engineering at Beijing Institure of Technology(BIT) in 2008. Then, I continued my graduate work under the supervision of Prof. Jianwei Gong at BIT, where I earned my M.S. in 2010. I got my PhD degree under the supervision of Prof. Huiyan Chen in IVRC at Beijing Institute of Technology in 2019. I also worked as a visiting scholar under the supervision of Prof. Umit Ozguner at CAR in Ohio State University from 2015 to 2017.

My research covers the area of motion planning and control, dynamics modeling and simulation for autonomous vehicles, model predictive control and reinforcement learning. My focus is more about optimization-based control algorithms subject to handling stability contraints. I developed several handy simulation tools to support motion planning and control algorithms testing of autonomous driving system based on V-REP, Simulink and CarSim.

Research Interests

  • Dynamics Modeling and Model Predictive Control
  • Stabilization Control for High-speed Self-driving Vehicles
  • Artificial Potential Field based Off-road Terrain Path Planning
  • Simulation for Developments and Evaluations of Trajectory Tracking Algorithms
  • Reinforcement Learning with MPC for Adaptive and Accurate Trajectory Tracjing Control

Work experience

I am a motion plan and control engineer at UISEE, where I work with autonomous ground vehicles. Previously I was at SIAT-CAS, where I developed data acquisition and control code for electric vehicles.

Academic publications

Books

  1. 龚建伟， 刘凯， 齐建勇, 无人驾驶车辆模型预测控制(第2版). 北京: 北京理工大学出版社, 2019.

Model Predictive Control for Self-driving Vehicles (2ed Edition)

Code available at: https://github.com/leoking99-BIT/MPC-for-Self-driving-Vehicles

Thesis

  1. 刘凯, “基于模型预测的无人驾驶车辆操纵稳定性控制研究,” PhD thesis, 北京理工大学, 北京, 2019.

Journal Articles

  1. 刘凯， 王威， 龚建伟， 陈慧岩， 陈舒平, “越野地形下智能车辆的动力学建模与轨迹跟踪,” 北京理工大学学报, vol. 39, no. 9, pp. 933–937, 2019.
  2. 刘凯， 陈慧岩， 龚建伟， 陈舒平， 张玉, “高速无人驾驶车辆的操控稳定性研究,” 汽车工程, vol. 41, no. 5, pp. 514–521, 2019.
  3. 王威， 陈慧岩， 马建昊， 刘凯， 龚建伟, “基于Frenet坐标系和控制延时补偿的智能车辆路径跟踪 ,” 兵工学报, 2019.
  4. 胡家铭， 胡宇辉， 陈慧岩， 刘凯, “基于模型预测控制的无人驾驶履带车辆轨迹跟踪方法研究,” 兵工学报, vol. 40, no. 3, pp. 456–462, 2019.
  5. Kai Liu, Jianwei Gong, Shuping Chen, Yu Zhang, and Huiyan Chen, “Model Predictive Stabilization Control of High-Speed Autonomous Ground Vehicles Considering the Effect of Road Topography,” Applied Sciences, vol. 8, no. 5, pp. 822–837, 2018.
  6. K. Liu, J. Gong, A. Kurt, H. Chen, and U. Ozguner, “Dynamic Modeling and Control of High-speed Automated Vehicles for Lane Change Maneuver,” IEEE Transactions on Intelligent Vehicles, vol. 3, no. 3, pp. 329–339, 2018.
  7. 刘凯， 龚建伟， 陈舒平， 张玉， 陈慧岩, “高速无人驾驶车辆最优运动规划与控制的动力学建模分析,” 机械工程学报, vol. 54, no. 14, pp. 141–151, 2018.
  8. Yu Zhang, Huiyan Chen, Steven L. Waslander, Jianwei Gong, Guangming Xiong, Tian Yang, and Kai Liu, “Hybrid Trajectory Planning for Autonomous Driving in Highly Constrained Environments,” IEEE Access, vol. 6, pp. 32800–32819, 2018.
  9. Yu Zhang, Huiyan Chen, Steven Waslander, Tian Yang, Sheng Zhang, Guangming Xiong, and Kai Liu, “Toward a More Complete, Flexible, and Safer Speed Planning for Autonomous Driving via Convex Optimization,” Sensors, vol. 18, no. 7, 2018.
  10. Jianwei Gong, Wei Xu, Yan Jiang, Kai Liu, Hongfen Guo, and Yinjian Sun, “Multi-constrained model predictive control for autonomous ground vehicle trajectory tracking,” Journal of Beijing Institute of Technology, vol. 24, no. 4, pp. 441–448, 2015.
  11. 徐威， 刘凯， 孙银建， 姜岩， 龚建伟, “开放式模块化的无人平台体系结构,” 计算机应用, pp. 301–305E, 2014.

Conferences

  1. “Off-road Terrain Path Planning for Differential Steering Vehicles Based on Artificial Potential Field Gradient,” in IEEE International Conference on Intelligent Transportation Systems (ITSC), 2019.
  2. Kai Liu, Jianwei Gong, Chao Lu, Yu Zhang, and Huiyan Chen, “A Pseudospectral Strategy for Lane Change Maneuver of Automated Vehicles on the Highway,” in CICTP, 2018, pp. 135–45.
  3. Yu Zhang, Huiyan Chen, Steven L. Waslander, Tian Yang, Sheng Zhang, Guangming Xiong, and Kai Liu, “Speed Planning for Autonomous Driving via Convex Optimization,” in IEEE International Conference on Intelligent Transportation Systems (ITSC), 2018, pp. 1–8.
  4. K. Liu, J. Gong, A. Kurt, H. Chen, and U. Ozguner, “A model predictive-based approach for longitudinal control in autonomous driving with lateral interruptions,” in IEEE Intelligent Vehicles Symposium (IV), 2017, pp. 359–364.
  5. Jianwei Gong, Yulin Duan, Kai Liu, Yongdan Chen, Guangming Xiong, and Huiyan Chen, “A Robust Multistrategy Unmanned Ground Vehicle Navigation Method Using Laser Radar,” in IEEE Intelligent Vehicles Symposium (IV), 2009, pp. 417–424.

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