一、研究对象/物理背景：

研究方向一：网联车辆先进控制与智能驾驶

• 车辆混合动力系统优化控制 

• 千人千车千面——个性化智能驾驶 

• 分布式电驱动/全矢量线控底盘智能控制

研究方向二：特种功能装备设计与智能化

• 特种功能车辆底盘-作业系统智能控制 

• 多栖自主机器人设计与智能控制 

• 骨折复位机器人设计与智能控制

  
  

二、理论方法：

机器学习/人工智能，最优化方法，最优控制，学习控制等

科研项目：

在研项目信息：

[1] 坡弯地形区域智能网联混合动力物流车柔性跟驰与节能控制，国家自然科学基金青年基金，30万元，1/1；

[2] 基于云智慧远程监控系统的混合动力物流卡车实时优化控制方法研究，中央引导地方科技发展资金项目(自由探索类基础研究)，15万元，1/9；

[3] 耦合发动机瞬态的智能网联HEV实时优化控制方法研究，吉林大学汽车仿真与控制国家重点实验室开放课题，10万元，1/1；

[4] 燕山大学‘燕山学者’科研启动经费，200万，2020/9-

[5] ‘青年英才’培养计划，15万元，在研

[6] 企业委托研究，智能线控底盘综合测试平台开发，200万，在研

[7] 企业委托研究，履带车辆性能综合评价工况研究，12.2万元，在研

[8] 企业委托研究，低空飞行平台混合动力系统开发，32万元，在研

[9] 企业委托研究，个性化智能驾驶，233万元，在研

完成项目信息：

[1] V2X环境下耦合发动机暂态的HEV预测优化控制方法研究，河北省自然科学基金春晖人才项目，10万元，1/6；

[2] 智能网联混合动力汽车速度-能量协同优化控制研究，清华大学汽车安全与节能国家重点实验室开放基金，10万元，1/1；

[3] 智能网联HEV车速-能量-发动机瞬态多元耦合机理及协同控制，河北省教育厅-河北省高等学校科学技术研究项目，3万元，1/5；

[4] 智能网联插电式混合动力汽车实时高效运行控制研究，河北省引进留学人员资助项目，3万元，1/5；

[5] 智能网联车平台搭建及技术研究，教育部产学合作协同育人项目，2万元，1/1。

[6] 北京云智域控汽车技术有限公司委托研究，洗扫车混合动力系统快速控制原型技术开发，80万，结题

[7] 国家智能网联汽车创新中心，自动驾驶产业化典型应用场景模型测试项目，36万，结题

[8] 企业委托研究，基于FPLG（自由活塞发电机）的无人平台一体化动力学模型开发与应用仿真，27万元，结题

[9] 日本国家基金项目 （政府-汽车产业联盟AICE联合基金萌芽项目），「次世代低燃費エンジンに向け、交通流情報を活用

したECU学習・制御アルゴリズムの開発研究」（面向下一代低油耗发动机、活用交通流信息的ECU学习•控制算法的开发研究），

2019/04–2021/03，220万日元/年，主持。

[10] 日本丰田汽车公司委托研究，「次世代エンジン制御技術に関する研究」（下一代发动机控制技术开发），2005年至今，

2000万日元/年，在研，参加，近6年承担子课题《基于数据的发动机学习与优化控制研究》负责人。

[11] 日本文部科学省科研費 国家基金重点，17H03284，「外界情報活用による自動車エンジンの個性化最適制御手法」

（基于外部环境信息的汽车发动机最优控制方法），2017/04–2020/03，1794万日元，第2/总6人。承担子课题90万日元。

[12] 日本内阁府JST技术革新推进项目 国家基金，「リーンバーンSIエンジン制御のためのモデリングとオンボード最適化手法」

（稀薄燃烧SI发动机基于模型的控制开发与实时优化），2015/09–2019/03，2562.2万日元，第2/总7人，team leader。

论文成果：

发表/合作发表SCI论文50余篇，国际学术会议发表50余篇次（*为通讯作者）:

近三年代表性中科院一区TOP论文（一作/通讯）：

[1]1/8, 2025, Model-free reinforcement learning-based transient power control of vehicle fuel cell systems, Applied Energy, 388: 125614, 2025. SCI一区TOP期刊

[2]1/6, 2025,Hierarchical eco-driving of connected hybrid electric vehicles: integrating predictive cruise control and cost-to-go approximation guided energy management, Energy, 319: 134579, 2025. SCI一区TOP期刊

[3]1/6, 2024, Conflict Modeling at Signalized Intersection: An Evolutionary Game Theory Analysis, Information Sciences, 697: 121771, 2025. SCI一区TOP期刊

[4]1/9, 2024, Hierarchical eco-driving control strategy for connected automated fuel cell hybrid vehicles and scenario-/hardware-in-the loop validation, Energy, 292: 130592, 2024. SCI一区TOP期刊

[5]1/9,2024,Pre-optimization-assisted deep reinforcement learning-based energy management strategy for a series-parallel hybrid electric truck, Energy, 302: 131628, 2024. SCI一区TOP期刊

[6]1/6, 2024, Mitigation of Motion Sickness and Optimization of Motion Comfort in Autonomous Vehicles: Systematic Survey, IEEE Trans. on Intelligent Transportation Systems, 25(12): 2024. SCI一区TOP期刊

[7]4*/6, 2024, Non-dominated sorting artificial rabbit multi-objective sizing optimization for a conceptual powertrain of a 6*4 battery electric tractor truck, Energy, 304: 132009, 2024. SCI一区TOP期刊.

[8]3*/7, 2024, Non-Hierarchical Prescribed Performance Control for Yaw Stability of Intelligent Heavy Trucks with Electro-Hydraulic Compound Steering. IEEE Transactions on Transportation Electrification (Early Access), DOI: 10.1109/TTE.2024.3407064.SCI一区TOP期刊.

[9]3*/5, 2024, Safe off-policy reinforcement learning on eco-driving for a P2-P3 hybrid electric truck, Energy, 313: 133884, 2024. SCI一区TOP期刊.

[10]2*/6, 2023,Optimal sizing and energy management of a novel dual-motor powertrain for electric vehicles, Energy, 275: 127315, 2023. SCI一区TOP期刊

 在投中科院一区TOP论文（一作/通讯）：

[11]4*/8, 2025, High-Order Fully Actuated System Approach for Road Sense Control in Steer-by-Wire Systems: A Modular Torque Design and Nonlinearity Elimination Approach, IEEE/ASME Transactions on Mechatronics, SCI一区TOP期刊, 第二轮审稿

[12]1/7, 2025, Hierarchical Adaptive Trajectory Tracking Control for Distributed Drive Electric Vehicles: A High-Order Fully Actuated System Approach, IEEE Transactions on Transportation Electrification, SCI一区TOP期刊

[13]1/8, 2025, Event-Triggered Game and Fault Compensation Control for Distributed Drive Electric Vehicles: A High-Order Fully Actuated System Approach, IEEE Transactions on Industrial Electronics, SCI一区TOP期刊

[14]1/8, 2025, Sliding Mode Control of Steering Feedback Torque for Steer-by-Wire Systems: A High-Order Fully Actuated System Approach, IEEE Transactions on Transportation Electrification, SCI一区TOP期刊

[15]2*/6, 2025, Autonomous Collision Avoidance via Potential Field and Predictive Control, Advanced Engineering Informatics, SCI一区TOP期刊, under review

[16]1/6, 2025, Active Suspension Systems Control with Disturbance Compensation: A High-order Fully Actuated System Approach, IEEE/ASME Transactions on Mechatronics, SCI一区TOP期刊, under review

[17]3*/7, 2025, A High-Order Fully Actuated Approach to Control of PEM Fuel Cell Air Supply Systems, Applied Energy, SCI一区TOP期刊, under review

[18]1/7, 2025, Mitigating Motion Sickness of Autonomous Vehicles in Continuous Curve Scenarios: A Nonlinear Model Predictive Control Method[J]. IEEE T-SMC, SCI一区TOP期刊, under review.

[19]2*/7, 2025, Adaptive Tracking Control for Dual-Three-Phase Motor Steer-by-wire System: High-order Fully Actuated System Method. IEEE TII, SCI一区TOP期刊, under review.

[20]3*/6, 2025, Semi-Supervised Feature-Driven Clustering Model Assisted Fracture X-ray Classification, Information Sciences, SCI一区TOP期刊, under review

部分国内外学术会议论文：

[11]2*/2，2023，A Human-Like Lane-changing Behavior Model for Autonomous Vehicles in Mixed Traffic Flow Environment，Proceedings of International 

Conference on Electric Vehicle and Vehicle Engineering (CEVVE 2023)，EI检索

[12]3*/3，2023，Optimal Control of Active Suspension Considering Mitigating Motion Sickness in Automated Vehicles，Proceedings of 2023 62th Annual 

Conference of the Society of Instrument and Control Engineers of Japan (SICE) ,EI检索

[13]5*/5，2023，Model of Conflict at Intersection Based on Evolutionary Game，Proceedings of International Conference on Vehicular Control and 

Intelligence (CVCI2023)，EI检索

[14]4*/4，2022，A data-driven real time energy management strategy for fuel cell hybrid vehicle in the connected environment，Proceedings of 

the 13th Asian Control Conference (ASCC 2022)，EI检索

[15]2*/3，2022，Adaptive iterative learning trajectory tracking control for autonomous farming vehicle with alignment condition，Proceedings of 

Chinese Control Conference (CCC 2022)，EI检索

[16]4*/4，2022，Energy Management for a Series-Parallel Plug-In Hybrid Electric Truck Based on Reinforcement Learning，Proceedings of 

the 13th Asian Control Conference (ASCC 2022)，EI检索

[17]2*/2, 2021, Intelligent ECMS for Connected Plug-In Hybrid Electric Vehicles, IFAC PapersOnline, EI检索

[18]2*/2，2021，A Real-time Energy Management Strategy of HEVs Based on Velocity Prediction，Proceedings of 2021 60th Annual Conference of 

the Society of Instrument and Control Engineers of Japan (SICE), EI检索

1.Yahui Zhang, Jinwu Gao, Tielong Shen, Probabilistic Guaranteed Gradient Learning-Based Spark Advance Self-Optimizing Control for Spark-Ignited Engines, 

IEEE Transactions on Neural Networks and Learning Systems, 29(10): 4683-4693, 2018. (中科院 1区, Top期刊, IF=8.793)

2.Jinwu Gao, Yahui Zhang*, Jiangyan Zhang, Tielong Shen. Adaptive internal model-based control of RGF with online map learning and statistical feedback law, 

IEEE/ASME Transactions on Mechatronics. Vol. 25, Iss. 2, pp. 1117 – 1128, 2020. (1区, Top期刊, IF= 5.673)

3.Xun Shen, Yahui Zhang*, Kota Sata, Tielong Shen, Gaussian Mixture Model Clustering-based Knock Threshold Learning in Automotive Engines, 

IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2020.3000732. Early Access (1区, Top期刊, IF= 5.673)

4.Zidan Xu, Yahui Zhang*, Huanyu Di, Tielong Shen, Combustion Variation Control Strategy with Thermal Efficiency Optimization for Lean Combustion in SI Engines, 

Applied Energy, 251: 113329, 2019. (1区, Top期刊, IF=8.848)

5.Yahui Zhang, Xun Shen, Tielong Shen, A survey on online learning and optimization for spark advance control of SI engines, 

Science China - Information Sciences, 61(7): 070201, 2018. (2区, IF= 3.304)

6.Yahui Zhang, Xiaohong Jiao, Liang Li*, Chao Yang, Lipeng Zhang, Jian Song. A hybrid dynamic programming-rule based algorithm for real-time energy optimization of plug-in hybrid electric bus. 

Science China - Technological Science, 57(12): 2542-2550, 2014. (2区, IF= 2.302)

7.Xun Shen, Yahui Zhang*, Tielong Shen, Cylinder pressure resonant frequency cyclic estimation-based knock intensity metric in combustion engines, 

Applied Thermal Engineering, 158: 113756, 2019. (2区, Top期刊, IF= 4.725)

8.Yahui Zhang, Xun Shen, Yuhu Wu, Tielong Shen, On-board knock probability map learning-based spark advance control for combustion engines, 

International Journal of Engine Research, 20(10):1073–1088, 2019. (4区, IF= 2.382)

9.Huanyu Di, Yahui Zhang*, Tielong Shen, Chaos theory based in-cylinder pressure analysis and its application in combustion control of spark-ignition engines, 

Journal of Thermal Science and Technology, 15(1):19-00270, pp. 1-16, 2020. (4区, IF= 0.781)

10.Liang Li*, Yahui Zhang, Chao Yang, Xiaohong Jiao, Lipeng Zhang, Jian Song. Hybrid Genetic Algorithm-Based Optimization of Powertrain and Control Parameters of Plug-in Hybrid Electric Bus. 

Journal of the Franklin Institute, 352(3): 776-801, 2015. (2区, Top期刊, IF= 4.036, 导师第一作者)

11.Jinwu Gao, Yahui Zhang, Tielong Shen*, An on-board calibration scheme for map-based combustion phase control of spark-ignition engines, 

IEEE/ASME Transactions on Mechatronics, 22(4):1485-1496, 2017. (1区, Top期刊, IF= 5.673)

12.Xun Shen, Yahui Zhang, Tielong Shen, Chanyut Khajorntraidet, Spark advance self-optimization with knock probability threshold for lean-burn operation mode of SI engine, 

Energy, 122: 1-10, 2017. (1区, Top期刊, IF= 6.082)

13.Bo Zhang, Yahui Zhang, Jiangyan Zhang, Tielong Shen, Optimal Comfortability Control of Hybrid Electric Powertrain in Acceleration Mode, 

Science China - Information Sciences. (2区, IF= 3.304)

14.Liang Li*, Chao Yang, Yahui Zhang, Lipeng Zhang, Jian Song. Correctional DP-based energy management strategy of plug-in hybrid electric bus for city-bus route. 

IEEE Transactions on Vehicular Technology, 64(7): 2792-2803, 2015. (2区, Top期刊, 高被引论文、热点论文, IF=5.379)

15.Jiangyan Zhang, Fuguo Xu, Yahui Zhang, Tielong Shen. ELM-based Driver Torque Demand Prediction and Real-time Optimal Energy Management Strategy for HEVs, 

Neural Computing and Applications, pp.1-19, 2019. (2区, IF=4.774)

16.Chao Yang, Xiaohong Jiao, Liang Li, Yahui Zhang, Lipeng Zhang, Jian Song. Robust coordinated control for hybrid electric bus with single-shaft parallel hybrid powertrain, 

IET Control Theory and Applications, 9 (2): 270 - 282, 2015. (2区, 高被引论文, IF=3.343)

17.Chao Yang, Xiaohong Jiao, Liang Li, Yahui Zhang, Lipeng Zhang, Jian Song. Electromechanical coupling driving control for single-shaft parallel hybrid powertrain, 

Science China Technological Science, 57(3): 541-549, 2014. (2区, IF= 2.302)

18.Lipeng Zhang, Liang Li, Bingnan Qi, Chong Wang, Yahui Zhang, Jian Song. Parameters optimum matching of pure electric vehicle dual-mode coupling drive system. 

Science China Technological Sciences, 57(11): 2265-2277, 2014. (2区, IF= 2.302)

19.Xun Shen, Tinghui Ouyang, Zhengxi Chen, Shuang Zhao, Jiaxin Fang, Yahui Zhang, Randomized Computation for the Current Stress Policy Design in the DAB Converter, 

IEEE Control Systems Letters, online. (JCR Q1区)

20.Benjamin Pla, Pau Bares, Irina Jimenez, Carlos Guardiola, Yahui Zhang, Tielong Shen, Development of a fuzzy logic map-based knock control for spark ignition engines, 

Applied Energy. (1区, Top期刊, IF=8.848)

专利：

[1] 张亚辉;王子萌;王众;田阳等.基于深度强化学习的混合动力电动车系统控制方法,中国，公告号：CN117184095A，公告日：20231208，权利人：燕山大学

[2] 张亚辉;李淦鑫;刘艳玲;田阳等.基于强化学习的燃料电池发动机系统工作点切换控制方法,公告号: CN117174959A,公告日: 20231205,权利人: 燕山大学

[3] 张亚辉;王继者;狄桓宇;田阳等. 一种适用复杂道路环境的车辆自动控制辅助信号传递装置, 公告号: CN114499557B,  公告日: 20230303, 权利人: 燕山大学

[4] 张亚辉;齐麟;焦晓红;方一鸣.一种应用于智能网联汽车的巡航控制的人机交互系统,公告号: CN113968240B,  公告日: 20230407, 权利人: 燕山大学

[5] 张亚辉;赵浩翰;焦晓红;田阳等. 一种基于路面信息考虑乘员晕动的车辆主动悬架控制方法, 公告号: CN116749700A,  公告日: 20230915, 权利人: 燕山大学

[6] 张亚辉;李宏民;李昊谞;田阳等. 一种冷链物流卡车的动力耦合系统, 公告号: CN114347776A,  公告日: 20220415, 权利人: 燕山大学

[7] 文桂林;张佳龙;孙迎兵;张亚辉等.适用于踝关节骨折的中医手法正骨机器人,公告号: CN116942392A公告日: 20231027权利人: 燕山大学;北京大学人民医院

[8] 文桂林;张佳龙;张亚辉;孙迎兵等.正骨复位踝关节全自由度固定装置,公告号: CN116942395A,公告日: 20231027,权利人: 燕山大学;北京大学人民医院

[9] 焦晓红;王振南;张亚辉;张婷等. 基于元学习的网联车辆速度预测方法, 公告号: CN114881308A,  公告日: 20220809, 权利人: 燕山大学

[10] 焦晓红;陈晓龙;魏泽毅;张亚辉等. 一种基于等效消耗最小策略的燃料电池汽车能量管理方法, 公告号: CN114771293A,  公告日: 20220722, 权利人: 燕山大学

[11] 焦晓红;游雄雄;张亚辉.一种考虑制冷系统耗能的冷链混动车实时优化控制方法,公告号: CN114228696B,  公告日: 20230815, 权利人: 燕山大学

[12] 焦晓红;齐麟;张亚辉;方一鸣.一种用于智能网联车辆巡航模式下的信号灯通行冗余系统,公告号: CN114141040B,  公告日: 20230221, 权利人: 燕山大学

[13] 田阳;李宏民;张亚辉;苗静等.一种双电机耦合驱动系统,公告号: CN113665353A,  公告日: 20211119, 权利人: 燕山大学

[14] 田阳;李宏民;张亚辉;苗静等. 一种双电机纯电动汽车多模动力耦合驱动系统,公告号: CN113619382A,公告日: 20211109, 权利人: 燕山大学

[15] 李亮, 张亚辉, 杨超, 黄硕, 宋誓利. 一种获取插电式混合动力公交车线路交通信息的方法, 中国, 公告号: CN103116983B,  公告日: 2015.01.07, 权利人: 清华大学 

[16] 李亮, 杨超, 张亚辉, 黄硕, 宋誓利. 一种插电式混合动力客车的控制方法, 中国, 公告号: CN102991497B, 公告日: 2014.03.12, 权利人: 清华大学

[17] Kota Sata, Masato Ehara, Tielong Shen, Xun Shen, Yahui Zhang. Control apparatus, control method, discrimination boundary setting apparatus, 

and discrimination boundary setting method, No. US 2020/0102929 A1, April 2020. Toyota Motor Corporation. 丰田公司国际专利。