姓名：边有钢

职称：副教授、硕士生导师

邮箱：byg10@foxmail.com

教育背景

2010.08~2014.07 清华大学 汽车工程系 学士

2014.08~2019.07 清华大学 车辆与运载学院 博士

2017.11~2018.10 美国加州大学河滨分校 电子工程系 访问学者

研究领域

分布式控制、网联多车协同、车路协同

科研项目

1.2021.01~2023.12，深海矿采资源开采关键装备技术研究与示范应用，湖南省科技重大专项，课题负责人；

2.2020.01~2023.12，混合多车系统节能型协同控制设计与分析方法，国家自然科学基金青年科学基金项目，主持；

3.2021.01~2023.12，异质多载具系统分布式模型预测控制方法研究，湖南省自然科学基金项目青年基金项目，主持；

4.2019.09~2021.09，水下运载装备推进与控制关键技术研究，湖南省重点领域研发计划，核心参与；

5.2020.04~2021.07，智轨电车智能驾驶性能提升，湖大-中车重大校企合作项目，参与；

6.2018.10~2020.09，矿用自卸车无人驾驶系统研制，湖大-中车重大校企合作项目，参与。

学术成果

期刊论文（*通信作者）

1.Long, C., Qin, X.,Bian, Y., & Hu, M. (2021). Trajectory tracking control of ROVs considering external disturbances and measurement noises using ESKF-based MPC. Ocean Engineering, 241, 109991.

2.关英杰,邹丽,郑皓,边有刚&于宗冰.(2021).深海矿产矿浆泵矿石颗粒回流性能.哈尔滨工程大学学报(11),1557-1565.

3.边有钢,杨依琳,胡满江,杜长坤,徐彪&秦兆博.(2022).基于双向多车跟随式拓扑的混合车辆队列稳定性研究.中国公路学报(03),66-77.

4.Bian Y, Li S E, Ren W, Wang J, Li K, Liu Henry X. Cooperation of Multiple Connected Vehicles at Unsignalized Intersections: Distributed Observation, Optimization, and Control[J]. IEEE Transactions on Industrial Electronics, 2020, 67 (12): 10744-10754.

5.Li K,Bian Y*, Li S E, Xu B, Wang J. Distributed Model Predictive Control of Multi-Vehicle Systems with Switching Communication Topologies [J]. Transportation Research Part C: Emerging Technologies, 2020, 118: 102717.

6.Bian Y, Ding J, Hu M, Xu Q, Wang J, Li K. An advanced lane-keeping assistance system with switchable assistance modes [J]. IEEE Transactions on Intelligent Transportation Systems, 2020, 21 (1): 385-396.

7.Bian Y, Zheng Y, Ren W, Li S E, Wang J, Li K. Reducing time headway for platooning of connected vehicles via V2V communication [J]. Transportation Research Part C: Emerging Technologies, 2019, 102: 87-105.

8.Wang Z,Bian Y, Shladover S E, Wu G, Li S E, Barth M J. A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles[J]. IEEE Intelligent Transportation Systems Magazine, 2020, 12 (1): 4-24.

9.Zheng Y,Bian Y, Li S E, Li S. Cooperative control of heterogeneous connected vehicles with directed acyclic interactions [J]. IEEE Intelligent Transportation Systems Magazine, 2018.

10.Wang J,Bian Y, Xu B, Qin H, Hu M, Huang B. V2I-based startup assistance system at signalized intersections [J]. Advances in Mechanical Engineering, 2015, 7 (8): 1-11.

11.Xu B, Ban X,Bian Y, Li W, Wang J, Li S E, Li K. Cooperative method of traffic signal optimization and speed control of connected vehicles at isolated intersections [J]. IEEE Transaction on Intelligent Transportation Systems, 2019, 20 (4): 1390-1403.

12.Xu B, Li S E,Bian Y, Li S, Ban X, Wang J, Li K. Distributed conflict-free cooperation for multiple connected vehicles at unsignalized intersections [J]. Transportation Research Part C: Emerging Technologies, 2018, 93: 322-334.

13.Chen X, Xu B, Qin X,Bian Y, Hu M, Sun N. Non-signalized Intersection Network Management with Connected and Automated Vehicles[J]. IEEE Access, 8: 122065-122077.

14.Hu M, Wu J, Qin H,Bian Y, Xu B, He J. Coordinated collision avoidance for connected vehicles using relative kinetic energy density [J]. International Journal of Automotive Technology, 2017, 18 (5): 923-932.

15.Xu B, Chen X, Li K, Hu M,Bian Y, Xu Q, Wang J. Double-layer speed optimization for reducing fuel consumption with vehicle-to-infrastructure communication [J]. Journal of Intelligent Transportation Systems: Technology, Planning, and Operations, 2019: 1-12.

16.Wang D, Hu M, Wang Y, Wang J, Qin H,Bian Y. Model predictive control-based cooperative lane change strategy for improving traffic flow [J]. Advances in Mechanical Engineering, 2016, 8 (2): 1-17.

17.胡满江,边有钢,许庆,徐彪,丁洁云,李克强.自适应驾驶员行为特征的车道偏离防范系统[J].汽车工程, 2017, 39 (10): 1152-1157.

18.常雪阳,许庆,李克强,边有钢,韩海兰,张俊.通信时延与丢包下智能网联汽车控制性能分析[J].中国公路学报, 2019, 32 (06): 216-225.

会议论文

1.Wang, X., Ren, G., Zhou, H., Xie, G.,Bian, Y., & Xu, B. (2020, August). Assessing the Reliability of Hybrid Clouds with Monte Carlo Simulation. In 2020 7th IEEE International Conference on Cyber Security and Cloud Computing (CSCloud)/2020 6th IEEE International Conference on Edge Computing and Scalable Cloud (EdgeCom) (pp. 264-269). IEEE.

2.Li, C.,Bian, Y., Zhang, J., Du, C., Cui, Q., & Hu, M. (2020, December). Distributed Model Predictive Control for Cooperative Diving of Multi-AUV Systems. In 2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI) (pp. 169-174). IEEE.

3.杨依琳,边有钢,胡满江,杜长坤,徐彪&秦兆博.(2021).混合交通环境车辆队列协同控制.控制与信息技术(01),9-16.

4.陈鑫鹏,徐彪,胡满江,秦兆博&边有钢.(2021).一种基于等步长分层拓展的混合A~*路径规划方法.控制与信息技术(01),17-22+29.

5.Bian Y, Qin X, Du C, Xu B, Yang Z, Hu M. A Unified Hierarchical Framework for Platoon Control of Connected Vehicles with Heterogeneous Control Modes [C]//2020 23rd IEEE International Conference on Intelligent Transportation Systems (ITSC 2020) (accepted).

6.Bian Y, Zheng Y, Li S E, Wang Z, Xu Q, Wang J, Li K. Reducing time headway for platoons of connected vehicles via multiple-predecessor following [C]// 2018 21th IEEE International Conference on Intelligent Transportation Systems (ITSC 2018), IEEE, 2018: 1240-1245.

7.Bian Y, Wang J, Huang B, Li K, Lai S, Isert C. Car2X technology-based“Green Light on Demand”system [C]// 2014 17th IEEE International Conference on Intelligent Transportation Systems (ITSC 2014), IEEE, 2014: 3052-3057.

8.Bian Y, Zheng Y, Li S E, Xu Q, Wang J, Li K. Behavioral cooperation of multiple connected vehicles with directed acyclic interactions using feedforward-feedback control [C]// 2018 14th International Symposium on Advanced Vehicle Control (AVEC’18), 2018.

9.Qin X,Bian Y, Hu Z, Sun N, Hu M. Distributed Vehicular Platoon Control Considering Communication Topology Disturbances [C]// 2020 23rd IEEE International Conference on Intelligent Transportation Systems (ITSC 2020) (accepted)

10.Qin X,Bian Y, Yang Z, Hu M. Distributed Vehicular Platoon Control with Heterogeneous Communication Delays [C]//2020 32nd Chinese Control and Decision Conference (CCDC 2020) (accepted).

11.Wang X,Bian Y, Qin X, Hu M, Xu B, Xie G. Finite-time Platoon Control of Connected and Automated Vehicles with Mismatched Disturbances [C]//2020 Chinese Control Conference (CCC 2020) (accepted).

12.Du C, LiuH,BianY,YuC. Potential function based finite-time event-triggered consensus control for multi-agent systems over directed graphs [C]// 2020 IEEE Conference on Decision and Control (IEEE CDC 2020) (accepted).

13.Xu B, Ban X,Bian Y, Wang J, Li K. V2I based cooperation between traffic signal and approaching automated vehicles [C]// 2017 28th IEEE Intelligent Vehicles Symposium (IV), 2017: 1658-1664. (国际会议最佳论文奖)

14.Li S E, Zheng Y,Bian Y, Li K. Distributed receding horizon control of a platoon of multiple CAVs with discontinuous-gear transmissions [C]// 2016 13rd International Symposium on Advanced Vehicle Control (AVEC’16), 2016: 111-117.

15.Yin C, Xu B, Chen X, Qin Z,Bian Y. Nonlinear Model Predictive Control for Path Tracking Using Discrete Previewed Points [C]//2020 23rd IEEE International Conference on Intelligent Transportation Systems (ITSC 2020) (accepted).

16.Wang X, Ren G, Zhou H, Xie G,Bian Y, Xu B. Assessing the Reliability of Hybrid Clouds with Monte Carlo Simulation[C]//2020 6th IEEE International Conference on Edge Computing and Scalable Cloud 2020 (EdgeCom 2020) (accepted).

参编专著

1.Li S E, Long X, Chang L, DuanJ,Bian Y. Promoting connected and automated vehicles with cooperative sensing and control technology[M]. Cooperative Intelligent Transport Systems: Towards high-level automated driving, IET, 2019.

发明专利

1.边有钢,张田田,胡云卿,刘海涛,尚敬,胡满江,徐彪,秦兆博,秦洪懋,王晓伟,秦晓辉,谢国涛,丁荣军.一种自动驾驶车辆学习型路径跟踪预测控制方法[P].中国：CN113306573B,2022-08-16.

2.边有钢,张俊杰,徐彪,秦兆博,秦洪懋,秦晓辉,谢国涛,王晓伟,胡满江,李崇康,丁荣军.水下自主航行器深度和纵向解耦控制方法及系统[P].中国：CN113050666B,2022-05-03.

3.边有钢,陈昱衡,徐彪,崔庆佳,胡满江,秦兆博,秦洪懋,秦晓辉,谢国涛,王晓伟,丁荣军.一种抗洋流扰动的自主水下机器人动力定位方法和系统[P].中国：CN113485390B,2022-05-03.

4.边有钢,李崇康,徐彪,孙宁,胡满江,秦兆博,谢国涛,王晓伟,秦洪懋,秦晓辉,丁荣军.一种考虑通信部分失效的车辆队列控制方法及系统[P].中国：CN111665843B,2022-04-29.

5.边有钢,李崇康,胡满江,秦兆博,秦洪懋,王晓伟,秦晓辉,谢国涛,徐彪,丁荣军.基于反馈优化的车辆节能预测自适应巡航控制方法和装置[P].中国：CN113561976B,2022-04-19.

6.边有钢,谭艳,徐彪,胡满江,王晓伟,秦洪懋,秦晓辉,秦兆博,谢国涛,丁荣军.一种考虑通信存在随机丢包的车辆队列控制方法及系统[P].中国：CN113568409B,2022-03-18.

7.边有钢,谭艳,谢国涛,王晓伟,秦洪懋,秦晓辉,徐彪,秦兆博,胡满江,丁荣军.一种多智能体分布式模型预测控制方法及系统[P].中国：CN112684781B,2022-02-15.

8.边有钢,王静雅,谢国涛,胡满江,秦晓辉,王晓伟,徐彪,秦兆博,孙宁,丁荣军.一种基于深度强化学习的车道保持控制算法及系统[P].中国：CN110654384A,2020-01-07.

9.边有钢,李崇康,胡满江,秦晓辉,秦兆博,谢国涛,王晓伟,徐彪,丁荣军.一种保障交通流稳定的车辆编队控制方法和系统[P].中国：CN111047853A,2020-04-21.

10.边有钢,王晓伟,谢国涛,徐彪,秦晓辉,杨泽宇,胡展溢,孟天闯,胡满江,钟志华.一种基于合流时间优化的匝道合流协同控制方法及系统[P].中国：CN111243296A,2020-06-05.

11.边有钢,王选,胡满江,谢国涛,王晓伟,徐彪,秦晓辉,秦兆博,秦洪懋,丁荣军.一种指定收敛时间的车辆编队控制方法和系统[P].中国：CN111267848A,2020-06-12.

12.李克强,边有钢,李升波,罗禹贡,徐彪,王建强,许庆,秦洪懋,胡满江.一种基于无线通信的非信控交叉路口车辆编队通行方法[P].中国：CN106781435B,2019-12-10.

13.王建强,李克强,边有钢,王云鹏,黄彬.一种基于车路通讯的交叉口车辆快速通行辅助方法及装置[P].北京：CN104123851A,2014-10-29.

14.徐彪,杨帆,边有钢,胡满江,秦兆博,秦晓辉,王晓伟,谢国涛,钟志华.一种结构化道路局部路径规划方法[P].中国：CN110766220A,2020-02-07.

15.秦兆博,陈鑫,边有钢,胡满江,徐彪,秦晓辉,谢国涛,王晓伟,陈亮,丁荣军.一种基于碰撞情况分析的自动泊车起始区域确定方法[P].中国：CN110775053A,2020-02-11.

16.徐彪,杨帆,边有钢,谢国涛,秦晓辉,王晓伟,秦兆博,胡满江,丁荣军.一种改进型三次样条插值曲线拟合路径点方法[P].中国：CN110823238A,2020-02-21.

17.胡满江,李俊妮,边有钢,秦兆博,谢国涛,王晓伟,徐彪,秦晓辉,孙宁.基于车载通信的防后车追尾预警与控制方法及系统[P].中国：CN111127920A,2020-05-08.

18.秦晓辉,常灯祥,边有钢,谢国涛,王晓伟,秦兆博,胡满江,徐彪,丁荣军.一种基于循环神经网络的端到端激光雷达标定方法[P].中国：CN111103577A,2020-05-05.

19.徐彪,陈晓龙,边有钢,胡满江,秦兆博,王晓伟,秦晓辉,谢国涛,丁荣军.一种露天矿区交叉路口车辆通行控制方法[P].中国：CN111243303A,2020-06-05.

20.秦晓辉,王晓伟,边有钢,徐彪,谢国涛,胡满江,杨泽宇,胡展溢,周华健,钟志华.一种基于IMU预积分的自动驾驶系统激光雷达在线标定方法[P].中国：CN111257853A,2020-06-09.

21.江浩斌,胡子牛,边有钢,刘擎超,孟天闯,杨泽宇.一种智能网联汽车的匝道分合流协同控制方法及系统[P].中国：CN111369813A,2020-07-03.

22.谢国涛,严康健,边有钢,胡满江,徐彪,秦兆博,秦晓辉,王晓伟,丁荣军.一种考虑车辆颠簸的障碍物检测方法及系统[P].中国：CN111381248A,2020-07-07.

23.胡满江,卜令坤,边有钢,秦晓辉,秦兆博,王晓伟,谢国涛,徐彪,秦洪懋,丁荣军.一种基于前馈-反馈控制的车辆编队方法和系统[P].中国：CN111332290A,2020-06-26.

24.江浩斌,胡子牛,边有钢,刘擎超,杨泽宇,江绍康,吴明康.一种严格避撞的车辆队列分布式鲁棒控制方法及系统[P].中国：CN111443714A,2020-07-24.

25.胡满江,王选,边有钢,孙宁,徐彪,秦晓辉,秦兆博,谢国涛,王晓伟,秦洪懋,丁荣军.一种基于扰动观测器的有限时间收敛车辆编队控制方法[P].中国：CN111650942A,2020-09-11.

26.李克强,王建强,徐彪,边有钢,梁锋华,胡满江,秦洪懋,许庆.交叉路口交通信号和车辆协同控制方法及装置、车辆[P].中国：CN106448194B,2019-03-19.

27.胡满江,张宏宇,王晓伟,边有钢,秦兆博,徐彪,谢国涛,秦晓辉,丁荣军.一种智慧路灯杆及具有其的智慧交通系统[P].中国：CN210462932U,2020-05-05.

28.王晓伟,王惠,胡满江,边有钢,徐彪,谢国涛,秦晓辉,秦兆博,丁荣军.一种车边云协同架构的协同任务迁移系统及算法[P].中国：CN110928658A,2020-03-27.

29.秦晓辉,谢国涛,王晓伟,边有钢,徐彪,胡满江,杨泽宇,胡展溢,钟志华.一种融合车载信息的自动驾驶系统激光雷达在线标定方法[P].中国：CN111142091A,2020-05-12.

30.王晓伟,张宏宇,胡满江,边有钢,秦兆博,徐彪,谢国涛,秦晓辉,丁荣军.一种基于路灯杆的智慧交通控制方法及系统[P].中国：CN111210629A,2020-05-29.

31.秦兆博,陈鑫,胡满江,边有钢,王晓伟,谢国涛,秦晓辉,徐彪,陈亮,丁荣军.一种基于最佳泊车起始点的路径规划方法[P].中国：CN111397623A,2020-07-10.

32.徐彪,秦晓辉,谢国涛,王晓伟,边有钢,胡满江,孟天闯,钟志华.一种面向智慧车列交通系统的匝道合流控制方法及系统[P].中国：CN111091721A,2020-05-01.

33.徐彪,王俊懿,胡满江,秦兆博,边有钢,谢国涛,秦晓辉,王晓伟,尹冲,丁荣军.一种车辆路径跟踪控制方法[P].中国：CN110989625A,2020-04-10.

34.秦晓辉,徐彪,谢国涛,王晓伟,边有钢,胡满江,杨泽宇,胡展溢,钟志华.一种基于深度卷积神经网络的激光雷达在线标定方法[P].中国：CN111103578A,2020-05-05.

35.谢国涛,汪东升,秦晓辉,王晓伟,边有钢,胡满江,徐彪,秦兆博,丁荣军.一种毫米波雷达外参数在线标定方法[P].中国：CN111060881A,2020-04-24.

36.谢国涛,王晓伟,秦晓辉,徐彪,边有钢,胡满江,杨泽宇,周华健,钟志华.一种基于深度强化学习的多模型目标状态预测方法及系统[P].中国：CN111401458A,2020-07-10.

软件著作权

1.边有钢,胡满江, 王晓伟, 秦晓辉, 徐彪，谢国涛，秦兆博. 车辆编队分布式模型预测控制软件 v1.0 [CP/CD]. 著作权登记号: 2020SR0292188.

2.王晓伟, 胡满江, 秦兆博,边有钢,徐彪，秦晓辉，谢国涛. 面向封闭区域的高精度地图软件v1.0 [CP/CD]. 著作权登记号: 2020SR0292532.

3.胡满江，王晓伟，秦兆博，边有钢，徐彪，秦洪懋，秦晓辉，谢国涛. 车辆管理系统软件v1.0 [CP/CD]. 著作权登记号: 2020SR0829670.

4.徐彪, 秦兆博, 胡满江, 王晓伟,边有钢, 谢国涛, 秦晓辉. 车辆局部路径规划软件 v1.0 [CP/CD]. 著作权登记号: 2020SR0292435.

5.秦洪懋, 王建强, 胡满江, 徐彪,边有钢, 朱铭瀚, 黄彬, 秦晓辉, 李克强. . 基于车路通讯的交叉口车辆快速通行辅助方法及装置控制系统 v1.0 [CP/CD]. 著作权登记号: 2016SR116245.

6.胡满江, 王建强, 秦洪懋, 徐彪,边有钢,黄彬, 朱铭瀚, 秦晓辉, 李克强. 连续交叉口车辆通行控制方法及系统v1.0 [CP/CD]. 著作权登记号: 2016SR115732.

奖励与荣誉

1.2017年6月，美国洛杉矶，国际电子电气工程师学会智能车辆国际会议（IEEE IV）最佳论文奖；

2.2022年湖南大学教学成果奖一等奖；

3.2022年湖南省教学成果奖三等奖。