刘亚辉
副教授，博士生导师
办公电话：
电子邮件：liuyahui@tsinghua.edu.cn



个人主页


个人概述
教育背景
工作履历
研究领域
研究概况
人才培养
学术兼职
荣誉与奖励
学术成果
主要从事人-车系统动力学等研究。包括人-车协同转向控制及共驾技术研究，高舒适性与安全性的智能汽车动力学控制，汽车产品缺陷判定技术分析与汽车召回。
2003.9－2009.1 北京航空航天大学车辆工程专业，工学博士
1999.9－2003.7 吉林大学车辆工程专业，工学学士


2017.07 - 至今 清华大学汽车工程系 副教授
2014.10－2015.10 美国加州大学伯克利分校 访问
2011.12 - 2017.6 清华大学汽车工程系 助理研究员
2010.10－2011.03 日本JTEKT研究所 访问
2009.01－2011.12 清华大学汽车工程系 博士后


研究领域

人-车系统动力学（D-VD，Driver-Vehicle Dynamics）

研究兴趣
智能汽车转向控制，人-车协同转向控制及共驾技术;汽车产品缺陷判定技术分析与汽车召回


作为项目负责人承担国家自然科学基金、国家重点研发计划课题等多项科研课题，主要包括：

1、 国家重点研发计划（课题），“交通行为预测与运行风险在线评估关键技术”，2019~2022，主持；
2、 国家自然科学基金，“考虑乘员舒适度的自动驾驶汽车转向控制”，2019～2022，主持；

3、 国家重点研发计划（子课题），“高效电动液压助力转向系统”，2017～2021，主持；
4、 国家自然科学基金，“基于驾驶员转向操纵运动机能学特性的汽车转向性能评价研究”，2014～2017，主持；
5、 清华大学基础研究专项，“汽车转向路感分析模型及转向路感综合评价研究”，2015～2017，主持；
6、 国家市场监管总局项目，“汽车召回数据应用分析”，2018-2019，主持；
7、 国家质检总局项目，“汽车转向系统缺陷判定实验研究”，2012～2013，主持；
8、 国家自然科学基金，“基于驾驶员神经肌肉力学特性的转向舒适性研究”，2011～2013，主持；
9、 中国博士后科学基金特别资助，“汽车转向舒适性评价研究”，2011～2012，主持；



讲授课程
《汽车构造2》
《底盘设计》
《汽车底盘构造》


1. Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control (JDSMC) 副主编
2. 中国公路学报 副主编
3. ASME/IEEE/SAE Member
4. Co-Chair of Sessions of IECON 2017
5. 国家市场监管总局缺陷产品管理中心 汽车产品召回核心专家
2019，北京高校第十一届青年教师教学基本功比赛A组三等奖；
2018，国家自然科学基金委机械学科优秀结题项目(ICFDM2018)；

2018，清华大学第八届青年教师教学大赛工科组二等奖；
2017，茅以升北京青年科技奖；
2017，重庆市科技进步一等奖；
2016，清华大学（首届）年度教学优秀奖；
2016，中国汽车工业优秀青年科技人才奖；
2014，国家科技进步二等奖（排名2）；
2011，北京市科学技术奖一等奖（排名2）；



发表论文84篇，其中SCI论文42篇，获授权国家发明专利10项。




主要期刊论文


2020
1. Y. Liu, X. Ji*, K. Yang, X. He, X. Na, Y. Liu*, “Finite-time optimized robust control with adaptive state estimation algorithm for autonomous heavy vehicle”, Mechanical Systems and Signal Processing, Vol. 139, 106616, 2020.
2. C. Huang, L. Li, Y. Liu*, L. Xiao,“Robust Observer Based Intermittent Forces Estimation for Driver Intervention Identification”, IEEE Transactions on Vehicular Technology, DOI:10.1109/TVT.2020.**, 2020.
3. K. Yang, Y. Liu, X. Na, X. He, Y. Liu, J. Wu, S. Nakano, X. Ji, “Preview-Scheduled Steering Assistance Control for Co-piloting Vehicle: A Human-Like Methodology”, Vehicle System Dynamics, Vol. 58(4), pp. 518-544, 2020


2019
1. X. He, Y. Liu, C. Lv, X. Ji*, Y. Liu*, “Emergency steering control of autonomous vehicle for collision avoidance and stabilization”, Vehicle System Dynamics, Vol. 57(8), pp. 1163-1187, 2019.
2. X. Ji, K. Yang, X. Na, C. Lv, Y. Liu, Y. Liu*, “Feedback Game-based Shared Control Scheme Design for Emergency Collision Avoidance: A Fuzzy-LQR Approach”, Journal of Dynamic Systems, Measurement and Control, Vol. 141(8), pp. 081005, 2019.
3. B. Ma, Y. Liu, X. Na, Y. Liu*, Y. Yang, “A shared steering controller design based on steer-by-wire system considering human-machine goal consistency”, Journal of The Franklin Institute, Vol. 356(8), pp. 4397-4419, 2019.
4. H. Zheng, J. Hu, Y. Liu*, “A bilateral control scheme for vehicle steer-by-wire system with road feel and steering controller design”, Transaction of the Institute of Measurement and Control, Vol. 41(3), pp. 593-604, 2019.
5. X. Ji, K. Yang, X. Na, C. Lv, Y. Liu*, “Shared steering torque control for lane change assistance: a stochastic game-theoretic approach”, IEEE Transactions on Industrial Electronics, Vol. 66(4), pp. 3093-3105, 2019.
6. 季学武, 费聪, 何祥坤, 刘玉龙, 刘亚辉*, “基于 LSTM 网络的驾驶意图识别及车辆轨迹预测”, 中国公路学报, Vol. 32(6), pp. 34-42, 2019.


2018
1. Y. Wang, Y. Liu*, H. Fujimoto, Y. Hori, “Vision-based Lateral State Estimation for Integrated Control of Automated Vehicles considering Multi-rate and Uneven Measurement Delay Issues”, IEEE/ASME Transactions on Mechatronics, Vol. 23(6), pp. 2619-2627, 2018.
2. L. Li, K. He, X. Wang*, Y. Liu*, “Sensor fault-tolerant control for gear-shifting engaging process of automated manual transmission”, Mechanical Systems and Signal Processing, Vol. 99, pp. 790-804, 2018.
3. Y. Liu, X. Fan, C. Lv, J. Wu, L. Li, D. Ding, “An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles”, Mechanical Systems and Signal Processing, Vol. 100, pp. 605-616, 2018.
4. Y. Liu, Q. Liu, C. Lv, M. Zheng, X. Ji, “A study on objective evaluation of vehicle steering comfort based on driver’s electromyogram and movement trajectory”, IEEE Transactions on Human-Machine Systems, Vol. 48(1), pp. 41-49, 2018.
5. X. Ji, Y. Liu, X. He, K. Yang, X. Na, C. Lv, Y. Liu*, “Interactive Control Paradigm based Robust Lateral Stability Controller Design for Autonomous Automobile Path Tracking with Uncertain Disturbance: A Dynamic Game Approach”, IEEE Transactions on Vehicular Technology, Vol. 67(8), pp. 6906-6920, 2018.
6. C. Lv, Y. Liu*, X. Hu, H. Guo, D. Cao*, F. Wang, “Simultaneous Observation of Hybrid States for Cyber-Physical Systems: A Case Study of Electric Vehicle Powertrain”, IEEE Transactions on Cybernetics, Vol. 48(8), pp. 2357-2367, 2018.
7. Y. Wang, Z. Zhou, C. Wei, Y. Liu*, C. Yin*, “Host-Target Vehicle Model-based Lateral State Estimation for Preceding Target Vehicles Considering Measurement Delay”, IEEE Transactions on Industrial Informatics, Vol. 14(9), pp. 4190-4199, 2018.
8. X. Ji, Y. Liu, X. Na, Y. Liu*, “Research on interactive steering control strategy between driver and AFS in different game equilibrium strategies and information patterns”, Vehicle System Dynamics, Vol. 56(9), pp. 1344-1374, 2018.
9. X. Ji, X. He, C. Lv, Y. Liu*, J. Wu, “A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation”, Vehicle System Dynamics, Vol. 56(6), pp. 923-946, 2018.
10. X. Ji, X. He, C. Lv, Y. Liu*, J. Wu, “Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits”, Control Engineering Practice, Vol. 76, pp. 41-53, 2018.
11. C. Lv, Y. Xing, C. Lu, Y. Liu, H. Guo, H. Gao, D. Cao, “Hybrid-Learning-Based Classification and Quantitative Inference of Driver Braking Intensity of an Electrified Vehicle”, IEEE Transactions on Vehicular Technology, Vol. 67(7), pp. 5718-5729, 2018.
12. B. Ma, Y. Liu*, Y. Gao, Y. Yang, “Estimation of vehicle sideslip angle based on steering torque”, The International Journal of Advanced Manufacturing Technology, Vol. 94(9-12), pp. 3229-3237, 2018.
13. B. Ma, C. Lv, Y. Liu*, M. Zheng, Y. Yang, X. Ji, “Estimation of road adhesion coefficient based on tire aligning torque distribution”, Journal of Dynamic Systems, Measurement and Control, Vol. 140(5), pp. 051010-051010-17, 2018.
14. X. Wang, L. Li*, K. He, Y. Liu*, C. Liu, “Position and Force Switching Control for Automated Manual Transmission Gear-shift”, Journal of Dynamic Systems, Measurement and Control, Vol. 140(8), pp. 081010-081010-9, 2018.
15. B. Ma, Y. Liu*, X. Ji, Y. Yang, “Investigation of a steering defect and its compensation using a steering-torque control strategy in an extreme driving situation”, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 232(4), pp. 534-546, 2018.
16. Q. Liu, Y. Liu*, C. Liu, B. Chen, W. Zhang, L. Li, X. Ji, “Hierarchical Lateral Control Scheme for Autonomous Vehicle with Uneven Time Delays Induced by Vision Sensors”, Sensors, Vol. 18(8), 2544, 2018.
17. H. Zheng, S. Ma, Y. Liu*, “Vehicle braking force distribution with electronic pneumatic braking and hierarchical structure for commercial vehicle”, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 232(4), pp. 481-493, 2018.


2017
1. Y. Liu, T. Li, Y. Yang, X. Ji*, J. Wu, “Estimation of tire-road friction coefficient based on combined APF-IEKF and iteration algorithm”, Mechanical Systems and Signal Processing, Vol. 88, pp. 25-35, 2017. ?
2. Y. Liu, Q. Liu, X. Ji, R. Hayama, T. Mizuno, S. Nakano, “A new objective evaluation method for vehicle steering comfort”, Journal of Dynamic Systems, Measurement and Control, Vol. 139(9), pp. 091013, 2017.
3. Y. Nie, Y. Liu*, S. Cheng, M. Mei, “Unified brake service by a hierarchical controller for active deceleration control in automated driving system”, Energies, Vol. 10(12), pp. 2052, 2017.
4. 陈征, 刘亚辉*, 杨芳, “基于进化-增强学习方法的插电式混合动力公交车能量管理策略”, 机械工程学报, Vol. 53(16), pp. 86-93, 2017.
5. K. Yang, Y. Liu, Y. Liu, X. He, X. Ji, “A Linear Time-varying MPC Method for Vehicle Path-following Assistance Based on Steering Torque”,PROCEEDINGS OF THE IECON - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETYin 2017.
6. X. Ji, Y. Liu, Y. Liu, B. Ma, J. Wu, X. Na, “Control Between Driver and AFS Considering Different Human-Machine Goal Consistency”, PROCEEDINGS OF THE IECON - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETYin 2017.

7. X. He, X. Ji, K. Yang, Y. Liu, J. Wu, Y. Liu, “Autonomous Emergency Braking Control Based on Hierarchical Strategy Using Integrated-Electro-Hydraulic Brake System”,SAE Technical Paper 2017-01-1964.
8. X. He, K. Yang, X. Ji, Y. Liu, W. Deng, “Research on vehicle stability control strategy based on integrated-electro-hydraulic brake system”,SAE Technical Paper 2017-01-1565.
9. 何祥坤, 杨恺明, 季学武, “基于集成式线控液压制动系统的车辆稳定性控制”,汽车安全与节能学报, Vol. 8(2), pp. 170-177, 2017.


2016
1. Y. Wei*, C. Oertel, Y. Liu, X. Li, “A theoretical model of speed dependent steering torque of rolling tyres”, Vehicle System Dynamics, Vol. 54(4), pp. 463-473, 2016.
2. L. Li, X. Li, X. Wang, Y. Liu*, J. Song, X. Ran, “Transient switching control strategy from regenerative braking to anti-lock braking with a semi-brake-by-wire system”, Vehicle System Dynamics, Vol. 54(2), pp. 231-257, 2016.
3. B. Ma, Y. Yang*, Y. Liu*, X. Ji, H. Zheng, “Analysis of vehicle static steering torque based on tire-road contact patch sliding model and variable transmission ratio”, Advances in Mechanical Engineering, Vol. 8(9), pp. 1-11, 2016.
4. J. Wu, Y. Liu*, F. Wang, Y. Zhao, “Vehicle active steering control research based on two-DOF robust internal model control”, Chinese Journal of Mechanical Engineering, Vol. 29(4), pp. 739-746, 2016.


2015
1. X. Ji, J. Wu, Y. Zhao, Y. Liu, X. Zhao, “A new robust control method for active front steering considering the intention of the driver”, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 229(4), pp. 518-531, 2015.
2. J. Wu, Y. Zhao, X. Ji, Y. Liu, C. Yin, “A modified structure internal model robust control method for the integration of active front steering and direct yaw moment control”, Science China Technological Sciences, Vol. 58(1), pp. 75-85, 2015.
3. J. Wu, Y. Zhao, X. Ji, Y. Liu, L. Zhang, “Generalized internal model robust control for active front steering intervention”, Chinese Journal of Mechanical Engineering, Vol. 28(2), pp. 285-293, 2015.


2014
1. Y. Liu, X. Ji, R. Hayama, T. Mizuno, S. Nakano, “Method for measuring a driver’s steering efficiency using electromyography”, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 228(10), pp. 1170-1184, 2014.
2. Y. Liu, X. Ji, R. Hayama, T. Mizuno, “A novel estimating method for steering efficiency of the driver with electromyography signals”, Chinese Journal of Mechanical Engineering, Vol. 26(3), pp. 460-467, 2014.
3. Y. Yang, Y. Liu*, M. Wang, R. Ji, X. Ji, “Objective evaluation method of steering comfort based on movement quality evaluation of driver steering maneuver”, Chinese Journal of Mechanical Engineering, Vol. 27(5), pp. 1027-1037, 2014.
4. 肖凌云, 刘亚辉, 张卫亮, “汽车电动转向系统缺陷辨识实验方法的研究”, 汽车工程, Vol. 36(9), pp. 1117-1121, 2014.


2013及以前
1. Y. Liu, X. Ji, R. Hayama, T. Mizuno, L. Lou, “Function of shoulder muscles of driver in vehicle steering maneuver”, Science China Technological Sciences, Vol. 55(12), pp. 3445-3454, 2012.
2. Y. Liu, X. Ji*, “Matching strategy of electric power steering assistant characters based on the vehicle inherent road feel”, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 225(11), pp. 1481-1491, 2011.
3. Y. Liu, X. Ji*, “Simulation of cavitation in rotary valve of hydraulic power steering gear”, Science in China Series E: Technological Sciences, Vol. 52(11), pp. 3142-3148, 2009.
4. 张卫亮, 肖凌云*, 刘亚辉, “汽车转向系统缺陷风险评估准则与汽车召回案例”, 汽车安全与节能学报, Vol. 4(4), pp. 361-366, 2013.




发明专利
1. 一种汽车转向操纵机构转动惯量和阻尼参数的测量方法，3.1；
2. 一种汽车转向操纵机构转动惯量和阻尼参数的测量方法，5.8；
3. 一种汽车电动助力转向系统故障模拟装置，2.4；
4. 一种汽车驾驶员转向操纵效率评估方法，5.0；
5. 一种汽车驾驶员转向操纵舒适性评价方法，7.4；
6. 一种汽车驾驶员运动学和动力学参数测试系统，8.0；
7. 一种汽车行驶时单轮自回正力矩测量装置和方法, 1.0;
8.车辆助力制动的控制方法、装置及车辆助力制动系统,8.8;
9.车辆主动制动的控制方法、装置及车辆主动制动系统,7.3;
10.一种自动驾驶汽车线控底盘在环测试系统,1.5;