English
教职工
郑四发

博士

教授 博士生导师

清华大学苏州汽车研究院 副院长

地址:清华大学李兆基科技大楼A645室

电话:010-62785964

邮件:zsf@tsinghua.edu.cn

个人主页

1988.09-1993.07

清华大学汽车工程系 车辆工程专业

学士

清华大学计算机系 电子计算机技术专业 

第二学士

1993.09-1997.07

清华大学汽车工程系 汽车设计制造专业

硕士、博士




1993.09-1997.07

Department of Automotive Engineering, Tsinghua University

Doctor of Engineering

1988.09-1993.07

Department of Automotive Engineering, Tsinghua University

Bachelor of Engineering

Department of Computer Science and Technology,Tsinghua University

Bachelor of Electronic Information Technology (Minor)



1997.09 — 2002.03

清华大学汽车工程系讲师

2002.04 — 2003.10

日本国立交通安全环境研究所 研究员

2003.10 — 2014.08

清华大学汽车工程系  副研究员

2012.10 — 现在清华大学苏州汽车研究院 副院长
2014.09 — 现在清华大学车辆与运载学院 教授 博士生导师
2014.05 — 现在中国汽车工程学会振动噪声分会 副主任


其中:2006.09-2006.12 德国亚琛工业大学DAAD高级访问学者

2010.11-2010.12 意大利米兰理工大学高级访问学者


2002.04-2003.10

日本国立交通安全环境研究所  研究员

1997.09-2002.03

清华大学汽车工程系讲师


2014.10 till now  Professor, Department of Automotive Engineering, Tsinghua University

2012.10 till now  Suzhou Automobile Research Institute, Tsinghua University, Vice Director

2010.10-2011.12  Visiting professor, Politechnico di Milano, Italy

2006.9-2006.12   DAAD Visiting professor, RWTH Aachen University, Germany

2003.10-2014.09 Associate Professor, Department of Automotive Engineering, Tsinghua University

2002.7-2003.9    EFF Fellow, Researcher, National Traffic Safety and Environmental Laboratory, Japan,

1997.8-2002.6    Lecturer, Department of Automotive Engineering, Tsinghua University 


智能网联汽车 

车辆动力学及控制

汽车噪声及振动控制


Autonomous Driving

Vehicle Dynamics and control

Vehicle NVH


1.  国家自然科学基金委员会 创新研究群体项目, 52221005, 智能车辆协同决策与控制, 2023-2027

2.   国家重点研发计划课题,2020YFB1600202, “车控操作系统可靠性与功能安全性关键技术研究”,2020-2023

3.   清华大学清华-丰田联合研究院基金专项, 20213930023, 复杂交通系统中行人行为的理解与交互, 2021-2023

4.   清华大学清华-丰田联合研究院跨学科专项, 20223930039, 面向智慧城市的智能出行系统与示范, 2022-2024

5.   清华大学国强研究院人工智能与机器人领域专项科研, 2021GQS1002, 面向物业室内服务机器人的感知系统, 2021-202309 至 2022-05, 215万元

1.  NSFC Innovative Research Group Project, 52221005, Intelligent Vehicle Collaborative Decision Making and Control, 2023-2027

2  National key R&D project2020YFB1600202, key technology research on reliability and functional safety of vehicle control operating system2020-2023

3. Tsinghua-Toyota Joint Research Institute Fund, 20213930023, Understanding and Interaction of Pedestrian Behavior in Complex Transportation Systems, 2021-2023

4. Tsinghua-Toyota Joint Research Institute Interdisciplinary Project, 20223930039, Intelligent Mobility System and Demonstration for Smart City2022-2024

5. Research in the Field of Artificial Intelligence and Robotics, Guoqiang Research Institute, Tsinghua University, 2021GQS1002, Perception System for Property Indoor Service Robots, 2021-2023


    负责讲授的课程:

1.      “汽车工程II-垂向和侧向动力学”(英文研究生课程,48学时)

2.      “汽车噪声控制”(本科生课程,32学时)

3.      “动态测试与分析”(研究生课程,64学时 部分)

    已指导毕业博士7人,毕业硕士23人。在读博士生7人,硕士生5人。   

   

1.     Vehicle Engineering II : Vertical and Lateral Dynamics (Graduate courses, 48 hours )

2.      Noise control of Automobile (Undergraduate courses, Chinese, 32 hours )

3.      Dynamic Testing and Analysis (Graduate courses, part of 64 hours )


  


1.中国汽车工程学会理事

2.中国汽车芯片产业创新战略理事

3.国家车联网质量检验检测中心专家委员会委员

4.中国汽车芯片产业创新战略理事、汽车芯片标准工作组成员

5.中国智能网联汽车产业创新联盟基础软件工作组成员

6.《声学学报》,《Chinese Journal of Acoustics (in English)》编委;

7.中国汽车工程学会振动噪声分会副主任


1    Director of the Chinese Society of Automotive Engineers

2      Director of Innovation Strategy for China's Automotive Chip Industry

3      Member of the Expert Committee of the National Internet of Vehicles Quality Inspection and Testing Center

4      Member of the Intelligent Connected Safety Branch of the Chinese Society of Automotive Engineers

5   Member of the Basic Software Working Group and the Automotive Chip Standards Working Group of the China Intelligent Connected Vehicle Industry Innovation Alliance

6      Editorial board member of the Chinese Journal of Acoustics

7   Deputy Director of the Vibration and Noise Branch of the Chinese Society of Automotive Engineering



先后获中国汽车工业科技进步一等奖1项(2009年),国家技术发明奖二等奖(2010年);2010年中国汽车工业优秀青年科技人才奖,教育部技术发明一等奖1项(2012年),中国智能交通科学技术一等奖1项(2012年)国家技术发明奖二等奖(2013年),中国汽车工业科技进步二等奖1项(2020年),中国智能交通科学技术二等奖1项(2023年)


1. Second prize of the State Technological Innovation Award, 2013,“Intelligent safety of vehicles with running environment perception and cooperative control”

2. First Prize of Science and technology of Ministry of Education, 2012 ,“Intelligent safety of vehicles with cooperative perception and control”

3. Second prize of the State technological Innovation 2010, “Noise sources identification and control of running vehicles

4 First prize of China Intelligent Transportation Science and Technology Award, 2012

5. Chinese Automotive Industry Excellent Researcher ,2010

6. First prize of China Automotive Technology Progress, 2009, “Noise sources identification and control of running vehicles”

7. Second prize of China Automotive Technology Progress, 2020

8. Second prize of China Intelligent Transportation Science and Technology Award, 2023






学术成果:

发表学术论文100多篇,已授权发明专利130多项。

近三年发表论文:

2023

1)     Learn Zero-Constraint-Violation Safe Policy in Model-Free Constrained Reinforcement Learning. IEEE Transactions on Neural Networks and Learning Systems. Ma, Haitong; Liu, Changliu; Li, Shengbo; Zheng, Sifa; Sun, Wenchao; Chen, Jianyu.2023

2)     What Truly Matters in Trajectory Prediction for Autonomous Driving? Annual Conference on Neural Information Processing Systems (NeurIPS),2023. Phong Tran, Haoran Wu, Cunjun Yu, Panpan Cai, Sifa Zheng, David Hsu.

3)     AttentionTrack: Multiple Object Tracking in Traffic Scenarios Using Features Attention. IEEE Transactions on Intelligent Transportation Systems,2023. Chuang Zhang , Sifa Zheng, Haoran Wu, Ziqing Gu, Wenchao Sun, Lei Yang.

4)     Safe-state Enhancement Method for Autonomous Driving via Direct Hierarchical Reinforcement Learning. IEEE Transactions on Intelligent Transportation Systems, Ziqing Gu, Lingping Gao, Haitong Ma, Shengbo Eben Li, Sifa Zheng, Wei Jing, Junbo Chen.2023

5)     Distributed MPC for Multi-Vehicle Cooperative Control Considering the Surrounding Vehicle Personality. IEEE Transactions on Intelligent Transportation Systems, Haoran Li, Tingyang Zhang, Sifa Zheng, Chuan Sun. 2023

6)     Accelerating Point-Voxel Representation of 3D Object Detection for Automatic Driving. IEEE Transactions on Artificial Intelligence. JieCheng Cao, Chongben Tao, Zufeng Zhang, Zhen Gao, Xizhao Luo, Sifa Zheng, Yuan Zhu. 2023

7)     智能网联车辆个性化运动控制与测试评价方法,李浩然、郑四发、孙川 等著,ISBN 9787302627388, 清华大学出版社,2023年2月

8)     A Risk Level Assessment Method for Traffic Scenarios Based on BEV Perception, IEEE Symposium on Intelligent Vehicle, 2023

9)     MCHFormer: A Multi-Cross Hybrid Former of Point-Image for 3D Object Detection, Early access article, IEEE Transactions on Intelligent Vehicles, 2023

10)  Accelerating Point-Voxel Representation of 3D Object Detection for Automatic Driving, Early access article, IEEE Transactions on Artificial Intelligence, 2023

11)  F-PVNet: Frustum-Level 3-D Object Detection on Point–Voxel Feature Representation for Autonomous Driving, IEEE Internet of Things Journal, 2023

2022

12)Integrated eco-driving automation of intelligent vehicles in multi-lane scenario via model-accelerated reinforcement learning. Transportation Research Part C,Ziqing Gu, Yuming Yin, Shengbo Eben Li, Jingliang Duan, Fawang Zhang, Sifa Zheng, Ruigang Yang,2022.9.14

13)Joint Synthesis of Safety Certificate and Safe Control Policy using Constrained Reinforcement Learning. 4th Annual Learning for Dynamics & Control Conference,Haitong Ma, Changliu Liu, Shengbo Eben Li, Sifa Zheng, Jianyu Chen,2022.03.02

14)Distributed Model Predictive Control of Connected Multi-Vehicle Systems at Unsignalized Intersections. IEEE 5th IEEE International Conference on Unmanned Systems (ICUS),Qiang Ge, Guillaume Sartoretti, Jingliang Duan, Shengbo Eben Li, Yuming Yin, Sifa Zheng,2022.10.28

15)Performance-Driven Controller Tuning via Derivative-Free Reinforcement Learning.2022 61st IEEE Conference on Decision and Control (CDC),Yuheng Lei, Jianyu Chen, Shengbo Eben Li, Sifa Zheng,2022.12.6

16)F-PVNet: Frustum-level 3D Object Detection on Point-Voxel Feature Representation for Autonomous Driving. IEEE Internet of Things Journal. Chongben Tao, Shiping Fu, Chen Wang, Xizhao Luo, Huayi Li, Zhen Gao, Zufeng Zhang, and Sifa Zheng,2022.12.21

17)Cola-HRL: Continuous-Lattice Hierarchical Reinforcement Learning for Autonomous Driving. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Lingping Gao, Ziqing Gu, Cong Qiu, Lanxin Lei, Shengbo Eben Li, Sifa Zheng, Wei Jing, Junbo Chen. October 23-27, 2022, Kyoto, Japan

18)Joint synthesis of safety certiffcate and safe control policy using constrained reinforcement learning. H. Ma, C. Liu, S. E. Li, S. Zheng, and J. Chen. in Proceedings of The 4th Annual Learning for Dynamics and Control Conference, ser. Proceedings of Machine Learning Research, R. Firoozi, N. Mehr, E. Yel, R. Antonova, J. Bohg, M. Schwager, and M. Kochenderfer, Eds., vol. 168. PMLR, 23–24 Jun 2022, pp. 97–109.

2021

19)Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function. Haitong Ma,Jianyu Chen , Shengbo Eben Li, Ziyu Lin, Yang Guan, Yangang Ren, Sifa Zheng. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) .September 27 - October 1, 2021. Prague, Czech Republic.

20)Feasibility Enhancement of Constrained Receding Horizon Control Using Generalized Control Barrier Function. Haitong Ma, Xiangteng Zhang, Shengbo Eben Li, Ziyu Lin, Yao Lyu, Sifa Zheng. IEEE 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 2021

21)   Belief state separated reinforcement learning for autonomous vehicle decision making under uncertainty. Ziqing Gu, Yujie Yang, Jingliang Duan, Shengbo Eben Li, Jianyu Chen, Wenhan Cao, Sifa Zheng. 2021 IEEE Intelligent Transportation Systems Conference (ITSC),2021

22) Applying the Extended Theory of Planned Behavior to Pedestrian Intention Estimation, Haoran Wu, Sifa Zheng, Qing Xu, Jianqiang Wang. 32nd IEEE Intelligent Vehicles Symposium (IV) , IV 2021

23) Numerically Stable Dynamic Bicycle Model for Discrete-time Control, Qiang GeShengbo Eben LiQi SunSifa Zheng. 32nd IEEE Intelligent Vehicles Symposium (IV) (IV 2021) workshop

24) Real-time coordination of connected vehicles at intersections using graphical mixed integer optimization. IET Intelligent Transport Systems, Qiang Ge, Qi Sun, Zhen Wang, Shengbo Eben Li, Ziqing Gu,Sifa Zheng, Lyuchao. Liao. 2021

2020

25) An active safety control method of collision avoidance for intelligent connected vehicle based on driving risk perception. Journal of Intelligent Manufacturing, Chuan Sun, Sifa Zheng, Yulin Ma, Duanfeng Chu, Junru Yang, Yuncheng Zhou, Yicheng Li. 2020

26)  A novel multi-mode hybrid control method for cooperative driving of an automated vehicle platoon, IEEE Internet of Things Journal, Yulin Ma, Zhixiong Li, Reza malekian, Sifa Zheng .2020

27)  Online Offloading Scheduling and Resource Allocation Algorithms for Vehicular Edge Computing System, IEEE Access, Wang  Zhen; Zheng Sifa; Ge Qiang; Li Keqiang . 2020.Vol.8: 52428-52442

28)  Quantification and characterization of the role of subjective preferences on vehicle acceleration sound quality, Mechanical Systems and Signal Processing, Liao, Xiangning; Zheng, Sifa.2020,Vol.138

29)   Haoran Wu, Likun Wang, Sifa Zheng, Qing Xu, Jianqiang Wang .Crossing-Road Pedestrian Trajectory Prediction Based on Intention and Behavior Identification, 2020 IEEE Intelligent Transportation Systems Conference (ITSC),Rhodes, Greece. September 20-23, 2020 (Virtual)