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专著
P. Hang, C. Lv, and X. Chen, “Human-Like Decision Making and Control for Autonomous Driving,” Taylor & Francis CRC Press, 2022. ISBN: 9781003287087.
期刊论文
C. Chen, X. Chen, C. Guo, P. Hang*, "Trajectory Prediction for Autonomous Driving Based on Structural Informer Method", IEEE Trans. Autom. Sci. Eng., DOI: 10.1109/TASE.2023.3342978, 2023.
Y. Xing, Z. Hu, P. Hang, C. Lv, "A Parallel Time Series Modeling Framework for Forecasting and Fault Detection on Intelligent Vehicles", IEEE Trans. Intell. Veh., DOI: 10.1109/TIV.2023.3342648, 2023.
J. Liu, D. Zhou, P. Hang*, Y. Ni, J. Sun, "Towards Socially Responsive Autonomous Vehicles: A Reinforcement Learning Framework with Driving Priors and Coordination Awareness", IEEE Trans. Intell. Veh., DOI: 10.1109/TIV.2023.3332080, 2023.
P. Hang, Y. Zhang, C. Lv, "Brain-Inspired Modelling and Decision-Making for Human-Like Autonomous Driving in Mixed Traffic Environment", IEEE Trans. Intell. Transp. Syst., vol. 24, no. 10, pp. 10420–10432, 2023.
Y. Zhang, G. Zhou, P. Hang, C. Huang, H. Huang, "An Enhanced Backtracking Search Algorithm for the Flight Planning of a Multi-drones-assisted Commercial Parcel Delivery System", IEEE Trans. Intell. Transp. Syst., vol. 24, no. 10, pp. 11396–11409, 2023.
C. Huang, Y. Wang, P. Hang, Z. Zuo, B. Leng, "Advanced Sensing and Safety Control for Connected and Automated Vehicles", Sensors, vol. 23, no. 2, Article ID: 1037, 2023.
Z. Yan, X. Chen, M. Yan, P. Hang*, "Design and Optimization of a Novel Electronic Mechanical Brake Actuator Based on Cam", Actuators, vol. 12, no. 8, Article ID: 329, 2023.
P. Hang, C. Huang, Z. Hu, C. Lv, “Decision making for connected automated vehicles at urban intersections considering social and individual benefits”, IEEE Trans. Intell. Transp. Syst., vol. 23, no. 11, pp. 22549–22562, 2022.
P. Hang, C. Huang, Z. Hu, C. Lv, “Driving conflict resolution of autonomous vehicles at unsignalized intersections: a differential game approach”, IEEE ASME Trans. Mechatron., vol. 27, no. 6, pp. 5136–5146, 2022.
P. Hang, Y. Zhang, N. de Boer, C. Lv, “Conflict resolution for connected automated vehicles at unsignalized roundabouts considering personalized driving behaviours,” Green Energy Intell. Transp., vol. 1, Article ID: 100003, 2022.
P. Hang, X. Xia, G. Chen, and X. Chen, “Active safety control of automated electric vehicles at driving limits: a tube-based MPC approach,” IEEE Trans. Transp. Electrif., vol. 8, no. 1, pp. 1338–1349, 2022. (ESI Highly Cited Paper)
P. Hang, C. Lv, C. Huang, Y. Xing, and Z. Hu, “Cooperative decision making of connected automated vehicles at multi-lane merging zone: a coalitional game approach,” IEEE Trans. Intell. Transp. Syst., vol. 23, no. 4, pp. 3829–3841, 2022.
P. Hang, and X. Chen, “Active safety control of X-by-wire electric vehicles: a survey,” SAE Intl. J. Vehicle Dyn. Stability NVH, vol. 6, no. 2, pp. 115–133, 2022.
P. Hang, X. Chen, “Towards active safety driving: controller design of an active rear steering system for intelligent vehicles,” Machines, vol. 10, no. 7, Article ID: 544, 2022.
P. Hang, B. Lou, C. Lv, “Nonlinear predictive motion control for autonomous mobile robots considering active fault-tolerant control and regenerative braking,” Sensors, vol. 22, no. 10, Article ID: 3939, 2022.
Y. Tian, Q. Yao, P. Hang, and S. Wang, “A gain-scheduled robust controller for autonomous vehicles path tracking based on LPV system with MPC and H∞,” IEEE Trans. Veh. Technol., vol. 71, no. 9, pp. 9350– 9362, 2022.
C. Huang, C. Lv, P. Hang, Z. Hu, and Y. Xing, “Human-machine adaptive shared control for safe automated driving under automation,” IEEE Intell. Transp. Syst. Mag., vol. 14, no. 2, pp. 53–66, 2022.
Z. Hu, C. Lv, P. Hang, C. Huang, and Y. Xing, “Data-driven estimation of driver attention using calibration-free eye gaze and scene features,” IEEE Trans. Ind. Electron., vol. 69, no. 2, pp. 1800–1808, 2022. (ESI Highly Cited Paper)
Y. Zhang, P. Hang, C. Huang, and C. Lv, “Human-like interactive behavior generation for autonomous vehicles: a bayesian game-theoretic approach with Turing test”, Adv. Intell. Syst., vol. 4, no. 5, Article ID: 2100211, 2022.
C. Lv, P. Hang, Y. Xing, A.T. Nguyen, A. Jolfaei, “Guest Editorial: Decision Making and Control for Connected and Automated Vehicles”, IET Intel. Transport Syst., doi: 10.1049/itr2.12282, 2022.
Y. Tian, Q. Yao, P. Hang, and S. Wang, “Adaptive coordinated path tracking control strategy for autonomous vehicles with direct yaw moment control,” Chin. J. Mech. Eng. Engl. Ed., vol. 35, no. 1, pp. 1–15, 2022. (CJME创刊35周年优秀论文)
P. Hang, C. Lv, Y. Xing, C. Huang, and Z. Hu, “Human-like decision making for autonomous driving: a noncooperative game theoretic approach,” IEEE Trans. Intell. Transp. Syst., vol. 22, no. 4, pp. 2076–2087, 2021. (ESI Highly Cited Paper)
P. Hang, X. Xia, and X. Chen, “Handling stability advancement with 4WS and DYC coordinated control: a gain-scheduled robust control approach,” IEEE Trans. Veh. Technol., vol. 70, no. 4, pp. 3164–3174, 2021.
P. Hang, C. Huang, Z. Hu, Y. Xing, and C. Lv, “Decision making of connected automated vehicles at an unsignalized roundabout considering personalized driving behaviours,” IEEE Trans. Veh. Technol., vol. 70, no. 5, pp. 4051–4064, 2021.
X. Xia, P. Hang*, N. Xu, Y. Huang, L. Xiong, and Z. Yu, “Advancing estimation accuracy of sideslip angle by fusing vehicle kinematics and dynamics information with fuzzy logic,” IEEE Trans. Veh. Technol., vol. 70, no. 7, pp. 6577–6590, 2021.
P. Hang, X. Chen, and W. Wang, “Cooperative control framework for human driver and active rear steering system to advance active safety,” IEEE Trans. Intell. Veh., vol. 6, no. 3, pp. 460–469, 2021.
P. Hang, and X. Chen, “Towards autonomous driving: review and perspectives on configuration and control of four-wheel independent drive/steering electric vehicles,” Actuators, vol. 10, no. 8, Article ID: 184, 2021.
P. Hang, and X. Chen, “Path tracking control of 4-wheel-steering autonomous ground vehicles based on linear parameter-varying system with experimental verification,” Proc IMechE, Part I: J. Syst. Control Eng., vol. 235, no. 3, pp. 411–423, 2021.
P. Hang, S. Huang, X. Chen, and K. K. Tan, “Path planning of collision avoidance for unmanned ground vehicles: a nonlinear model predictive control approach,” Proc IMechE, Part I: J. Syst. Control Eng., vol. 235, no. 2, pp. 222–236, 2021.
C. Huang, P. Hang, Z. Hu, and C. Lv, “Collision-probability-aware human-machine cooperative planning for safe automated driving,” IEEE Trans. Veh. Technol., vol. 70, no. 10, pp. 9752–9763, 2021.
C. Huang, H. Huang, J. Zhang, P. Hang, Z. Hu, and C. Lv, “Human-machine cooperative trajectory planning and tracking for safe automated driving,” IEEE Trans. Intell. Transp. Syst., doi: 10.1109/TITS.2021.3109596, 2021.
Y. Xing, C. Lv, D. Cao, and P. Hang, “Toward human-vehicle collaboration: survey and perspectives on human behaviors and cognition for automated driving,” Transp. Res. Part C Emerg. Technol., vol. 128, Article ID: 103199, 2021.
C. Huang, H. Huang, P. Hang, H. Gao, J. Wu, Z. Huang, and C. Lv, “Personalized trajectory planning and control of lane-change maneuvers for autonomous driving,” IEEE Trans. Veh. Technol., vol. 70, no. 6, pp. 5511–5523, 2021.
C. Huang, C. Lv, P. Hang, and Y. Xing, “Towards safe and personalized autonomous driving: decision-making and motion control with DPF and CDT techniques,” IEEE ASME Trans. Mechatron., vol. 26, no. 2, pp. 611–620, 2021.
Z. Hu, Y. Xing, C. Lv, P. Hang, and J. Liu, “Deep convolutional neural network-based Bernoulli heatmap for head pose estimation,” Neurocomputing, vol. 436, pp. 198–209, 2021.
Y. Xing, C. Lv, X. Mo, Z. Hu, C. Huang, and P. Hang, “Toward safe and smart mobility: energy-aware deep learning for driving behavior analysis and prediction of connected vehicles,” IEEE Trans. Intell. Transp. Syst., vol. 22, no. 7, pp. 4267–4280, 2021.
D. Zhang, C. Lv, T. Yang, and P. Hang, “Cyber-attack detection for autonomous vehicles through state estimation of vehicle dynamics,” Automotive Innovation, vol. 4, pp. 262–273, 2021.
P. Hang, C. Lv, C. Huang, J. Cai, Z. Hu, and Y. Xing, “An integrated framework of decision making and motion planning for autonomous vehicles considering social behaviors,” IEEE Trans. Veh. Technol., vol. 69, no. 12, pp. 14458–14469, 2020.
P. Hang, X. Chen, and F. Luo, “LPV/H∞ controller design for path tracking of autonomous ground vehicles through four-wheel steering and direct yaw-moment control,” Int. J. Automot. Technol., vol. 20, no. 4, pp. 679–691, 2019. (?AT-Springer Award)
P. Hang, and X. Chen, “Integrated chassis control algorithm design for path tracking based on four-wheel steering and direct yaw-moment control,” Proc IMechE, Part I: J. Syst. Control Eng., vol. 233, no. 6, pp. 625–641, 2019.
P. Hang, X. Chen, S. Fang, and F. Luo, “Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system,” Int. J. Automot. Technol., vol. 18, no. 5, pp. 785–797, 2017.
P. Hang, X. Chen, F. Luo, and S. Fang, “Robust control of a four-wheel-independent-steering electric vehicle for path tracking,” SAE Intl. J. Vehicle Dyn. Stability NVH, vol. 1, no. 2, pp. 307–316, 2017.
X. Chen, P. Hang, W. Wang, and Y. Li, “Design and analysis of a novel wheel type continuously variable transmission,” Mech. Mach. Theory, vol. 107, pp. 13–26, 2017.
倪颖, 齐骁, 杭鹏, 周东浩, 孙剑. 无保护左转环境下自动驾驶汽车交互策略分析. 中国公路学报, 36(9): 271–287, 2023.
严周栋, 杭鹏, 陈重璞, 乔依然, 薛卡, 陈辛波. 分布式电驱动装载机驱动防滑控制. 汽车工程, 45(10):1944–1953, 2023.
杭鹏, 陈辛波, 张榜,等. 四轮独立转向-独立驱动电动车主动避障路径规划与跟踪控制. 汽车工程, 41(2):170–176, 2019. (中国知网“三高”（高PCSI 、高被引、高下载）论文)
陈辛波, 罗杰, 杭鹏, 等. 某新型线控转向系统的自适应模糊滑模控制. 汽车工程, 40(5): 568–574, 2018.
陈辛波, 杭鹏, 吴宪,等. 轴距可变微型电动车整车构型与性能分析. 汽车工程, 39(6):636–641&682, 2017.
陈辛波, 杭鹏, 王叶枫,等. 电动汽车轮边减速驱动系统转矩检测方法. 同济大学学报：自然科学版, 44(2): 286–290&316, 2016.
会议论文
S. Fang, P. Hang*, and J. Sun, “A real-time cooperative driving framework for un-signalized intersection”, in 7th CAA International Conference on Vehicular Control and Intelligence (CVCI 2023), Changsha, China, 2023.
J. Liu, P. Hang*, X. Qi, J. Wang, and J. Sun, “MTD-GPT: A Multi-Task Decision-Making GPT Model for Autonomous Driving at Unsignalized Intersections,” in 26th IEEE Intelligent Transportation Systems Conference (IEEE ITSC 2023), Bilbao, Spain, 2023.
P. Hang, C. Lv, C. Huang, and Z. Hu, “Cooperative decision making of lane-change for automated vehicles considering human-like driving characteristics,” in Proceedings of the 40th Chinese Control Conference, Shanghai, China, 2021.
J. Cai, P. Hang, and C. Lv, “Game theoretic modeling and decision making for connected vehicle interactions at urban intersections,” in 2021 IEEE International Conference on Advanced Robotics and Mechatronics, Chongqing, Chian, 2021.
J. Wu, Z. Huang, P. Hang, C. Huang, N. de Boer, and C. Lv, “Digital twin-enabled reinforcement learning for end-to-end autonomous driving,” in 2021 IEEE 1st International Conference on Digital Twins and Parallel Intelligence, Beijing, Chian, 2021. (Outstanding Student Paper Award)
P. Hang, C. Lv, C. Huang, Y. Xing, Z. Hu, and J. Cai, “Human-like lane-change decision making for automated driving with a game theoretic approach”, in 4th CAA International Conference on Vehicular Control and Intelligence (CVCI 2020), Hangzhou, China, 2020, pp. 708–713.
C. Huang, P. Hang, J. Wu, A. T. Nguyen, and C. Lv, “Reference-free human-automation shared control for obstacle avoidance of automated vehicles,” in 2020 IEEE International Conference on SMC, Toronto, Canada, 2020, pp. 4398–4403.
X. Chen, Y. Peng, P. Hang, and T. Tang, “Path tracking control of four-wheel independent steering electric vehicles based on optimal control,” in Proceedings of the 39th Chinese Control Conference, Shenyang, China, 2020，pp. 5436–5442.
X. Chen, Y. Han, and P. Hang, “Researches on 4WIS-4WID stability with LQR coordinated 4WS and DYC,” in 26th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, Gothenburg, Sweden, 2019, pp. 1508–1516.
P. Hang, Y. Han, X. Chen, and B. Zhang, “Design of an active collision avoidance system for a 4WIS-4WID electric vehicle,” in 5th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Changchun, China, 2018, pp. 771–777.
P. Hang, X. Chen, B. Zhang, and T. Tang, “Longitudinal velocity tracking control of a 4WID electric vehicle,” in 5th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Changchun, China, 2018, pp. 790–795.
X. Chen, P. Xie, P. Hang, P. Shi, W. Chen, and Y. Shen, “Algorithm design of truck turning warning system,” in Proceeding of the 15th International Forum of Automotive Traffic Safety, Chongqing, China, 2018, pp. 308–320.
Y. Li, B. Zhang, X. Chen, and P. Hang, “Research on path tracking control of four-wheel-independent-steering electric vehicle based on co-simulation of Carsim/Simulink,” in Proceedings of the 37th Chinese Control Conference, Wuhan, China, 2018, pp. 1096–1102.
P. Hang, X. Chen, and F. Luo, “Path-tracking controller design for a 4WIS and 4WID electric vehicle with steer-by-wire system,” in SAE 2017 Intelligent and Connected Vehicles Symposium, Kunshan, China, 2017.
P. Hang, F. Luo, S. Fang, and X. Chen, “Path tracking control of a four-wheel-independent-steering electric vehicle based on model predictive control,” in Proceedings of the 36th Chinese Control Conference, Dalian, China, 2017, pp. 9360–9366.
J. Luo, P. Hang, F. Luo, L. Wu, and X. Chen, “Sliding mode-based learning control for a novel steering-by-wire system,” in Proceedings of the 36th Chinese Control Conference, Dalian, China, 2017, pp. 3627–3634.
X. Chen, F. Luo, P. Hang, and J. Luo, “Steering mode switch control of four-wheel-independent-steering electric vehicle,” in 19th ASIA Pacific Automotive Engineering Conference, Shanghai, China, 2017, pp. 437–453. (Award of Excellent Paper)
P. Hang, X. Chen, S. Fang, and F. Luo, “Controller design of steer-by-wire 4WIS electric vehicle with various steering modes,” in Proceedings of the FISITA 2016 World Automotive Congress, Busan, Korea, 2016.
X. Chen, S. Fang, P. Hang, F. Luo, and X. Wu, “The steering modes switching control of four wheels independently steering-by-wire vehicle based on path planning,” in FISITA 2016 World Automotive Congress, Busan, Korea, 2016
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