李柏

2009年09月—2013年07月  北京航空航天大学 电气工程及其自动化 本科 (毕业设计导师：林岩 教授)

2013年09月—2018年06月  浙江大学 控制科学与工程学院 博士 (导师：邵之江 教授，合作培养：张友民 教授) 

2016年12月—2017年06月  密歇根大学安娜堡分校 土木工程系 联合培养博士生 (联合培养：Henry X. Liu 教授)

2018年7月—2020年3月  北京京东世纪贸易有限公司 京东物流 X事业部(自动驾驶研发部) 算法工程师

2020年3月—2025年3月  湖南大学 机械与运载工程学院 副教授

2025年3月—20XX年X月  华东师范大学 通信与电子工程学院 教授

李柏，华东师范大学通信与电子工程学院全职正教授，研究方向为计算最优控制理论及其在自主无人系统领域的应用，在吕岳教授团队从事教学科研工作。李柏2013年于北京航空航天大学获工学学士学位，2018年于浙江大学获工学博士学位，目前以第一作者身份在IEEE Transactions on Intelligent Transportation Systems、IEEE Transactions on Systems, Man, and Cybernetics: Systems、IEEE Transactions on Mechatronics、IEEE Transactions on Intelligent Vehicles等国际刊物发表论文80余篇（引用次数4200+，h指数36，i10指数74），作为第一著者出版专著2部，作为第一发明人获得中国发明专利授权28项，主持国家自然科学基金项目1项、主持中央军委科技委“国防科技173计划”基金项目（重点基金）1项、主持湖南省自然科学基金项目1项、主持复杂系统管理与控制国家重点实验室2022年度开放课题1项以及若干企业委托横向项目。2017年获国际自动控制联合会颁发的2014–2016年度最佳期刊论文奖（第一作者），2021年获《控制与信息技术》期刊2018–2021年度优秀论文一等奖（第一作者），2022年获得湖南大学青年教师托举计划资助，2022年1月起担任智能车领域国际期刊IEEE Transactions on Intelligent Vehicles编辑，2022年12月获得IEEE Transactions on Intelligent Vehicles期刊颁发的2022年度Best Associate Editor Award（最佳编辑奖），2023年获湖南省湖湘青年英才计划资助，并成为IEEE Senior Member。2021至2024年以来连续入选Elsevier全球前2%顶尖科学家年度榜单，2024年入选Elsevier全球前2%顶尖科学家终身成就榜单。

SCI期刊IEEE Transactions on Intelligent Vehicles (IF = 8.200), Associate Editor (2022至今)[Link]

期刊《控制与信息技术》编委会 青年委员(2022至今)[Link]

自动化学会 智能车工作委员会 副主任

期刊《智能科学与技术学报》编委会 青年委员(2024至今) 

SCI期刊Electronics(IF=2.9,二区)客座编辑，智能车规划与控制专刊，征稿中[Link]

SCI期刊Machines(IF=2.1,二区)客座编辑，自动驾驶轨迹优化专刊，征稿中[Link]

SCI期刊IEEE Vehicular Technology Magazine(IF=5.9,一区)客座编辑，AI与优化专刊，征稿中[Link]

湖南省交通工程学会 智能网联专业委员会 委员(2020-2024) 

长沙智能驾驶研究院 主任科学家(2020-2023) 

IEEE ITSC 2022自主泊车轨迹规划国际挑战赛(TPCAP)组委会主席

IEEE T-RO、T-CYB、T-ITS、T-MECH、T-II、T-IE、T-VT、T-SMC、T-IV、T-CBB、T-EC、T-NSE、IEEE Vehicular Technology Magazine、IEEE Intelligent Transportation System Magazine、Engineering、Transportation Research Part C、Transportation Research Part E、Robotics and Autonomous Systems、Engineering Applications of Artificial Intelligence、Knowledge-Based Systems、Applied Soft Computing、Applied Mathematics and Computation、Computers in Industry、Swarm and Evolutionary Computation、Mechanical Systems and Signal Processing、Reliability Engineering & System Safety、ICRA、IROS、CDC、IVS、ITSC等国际期刊/会议审稿人，详情见本人publon主页[Link]

计算最优控制理论与非凸优化方法

智能驾驶决策、规划与控制

低速非结构化场景自动驾驶轨迹优化

智能网联汽车协同轨迹规划

智能车在线轨迹重规划

多智能体容错指派与容错调度

大规模无人机/无人车集群协同轨迹规划

智能车教育与竞赛

柔性机械臂建模、运动规划与跟踪控制

柔性穿刺针的进针轨迹规划

智能烹饪机器人

基于大语言模型的厨师职业教育

信息物理社会系统与平行智能

主要研究成果见BILIBILI个人主页: https://space.bilibili.com/26649350

科技部 国家重点研发计划，封闭和半开放条件下智能车路系统测试评估与示范应用，2019-03至2022-03，子课题负责人

横向课题，无人化仓储叉车集群智能调度与规划技术研究，2020-09至2021-01，主持

横向课题，面向特殊环境的运载装备 智能控制技术研究，2021-01至2021-12，参与

湖南省自然科学基金，自动驾驶车辆的容错轨迹规划方法研究，2021-04至2023-04，主持

国家自然科学基金，复杂非结构化环境约束下计算过程可测可控的智能车运动规划方法研究，2022-01至2024-12，主持

国家军委科技委“国防科技173计划”基金项目（重点基金），XXXX环境下XXXXX运动规划方法，2021-10至2024-10，主持

国家重点实验室开放课题，E2S9021119，面向泊车轨迹规划质量评价的平行测试方法研究，2022-01至2022-12，主持

横向课题，港口无人集卡自动驾驶复杂场景规划系统软件开发，2022-05至2022-11，主持

横向课题，无人车编队化行驶协同决策规划开发，2022-10至2023-02，主持

横向课题，弱依赖地图及定位规划软件开发，2023-01至2023-06，主持

湖南省人才项目，湖湘青年英才项目，主持

专著

• 李柏.复杂约束下自动驾驶车辆运动规划的计算最优控制方法研究. 浙江大学博士学位论文. 2018.06.（190+次引用）

• 李柏,葛雨明. 智能网联汽车协同决策与规划技术. 机械工业出版社. 2020.07.

• 李柏,张友民,彭晓燕,欧阳亚坤,孔旗. 自动驾驶决策规划技术理论与实践. 铁道出版社. 2021.11.

论文

低速非结构化场景自动驾驶轨迹优化

• Bai Li, Yakun Ouyang, Xiaohui Li, Dongpu Cao*, Tantan Zhang, and Yaonan Wang, “Mixed-integer and conditional trajectory planning for an autonomous mining truck in loading/dumping scenarios: A global optimization approach,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 2, pp. 1512–1522, 2023.

• Bai Li, Tankut Acarman, Youmin Zhang, et al., “Optimization-based trajectory planning for autonomous parking with irregularly placed obstacles: A lightweight iterative framework,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 8, pp. 11970–11981, 2022.

• Bai Li, Kexin Wang, and Zhijiang Shao, “Time-optimal maneuver planning in automatic parallel parking using a simultaneous dynamic optimization approach,” IEEE Transactions on Intelligent Transportation Systems, vol. 17, no. 11, pp. 3263–3274, 2016. 

• Bai Li, and Zhijiang Shao, “A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles,” Knowledge-Based Systems, vol. 86, pp. 11–20, 2015.

• Bai Li, Youmin Zhang, and Zhijiang Shao, “Spatio-temporal decomposition: A knowledge-based initialization strategy for parallel parking motion optimization,” Knowledge-Based Systems, vol. 107, pp. 179–196, 2016.

• Chaoyi Sun, Qing Li, Bai Li, and Li Li*, “A successive linearization in feasible set algorithm for vehicle motion planning in unstructured and low-speed scenarios,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 4, pp. 3724–3736, 2022.

• Yuqing Guo, Danya Yao, Bai Li, Haichuan Gao, and Li Li*, “Down-sized initialization for optimization-based unstructured trajectory planning by only optimizing critical variables,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 1, pp. 709–720, 2023.

• Yuqing Guo, ..., Bai Li, and Li Li*, “A survey of trajectory planning methods for autonomous driving — Part I: Unstructured scenarios,” IEEE Transactions on Intelligent Vehicles, accepted, 2024.

结构化道路场景自动驾驶轨迹规划

• Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang, “Autonomous driving on curvy roads without reliance on Frenet frame: A Cartesian-based trajectory planning method,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 9, pp. 15729–15741, 2022.

• Bai Li, Qi Kong, Youmin Zhang, et al., On-road trajectory planning with spatio-temporal RRT* and always-feasible quadratic program, 2020 16th IEEE International Conference on Automation Science and Engineering (CASE), 943–948, 2020.

• Bai Li, Tankut Acarman, Youmin Zhang, and Qi Kong, Occlusion-aware on-road autonomous driving: A path planning method in combination with honking decision making, 33rd Chinese Control and Decision Conference (CCDC), pp. 7403–7408, 2021.

• Bai Li, Occlusion-aware on-road autonomous driving: A trajectory planning method considering occlusions of Lidars, Optik, vol. 243, no. 167347, 2021.

• Long Chen*, Siyu Teng, Bai Li, …. “Milestones in autonomous driving and intelligent vehicles—Part II: Perception and planning,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 10, pp. 6401–6415, 2023.

• Long Chen, Yuchen Li, Chao Huang, Bai Li, ..., Nanning Zheng, and Fei-Yue Wang, “Milestones in autonomous driving and intelligent vehicles: Survey of surveys,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 2, pp. 1046–1056, 2023.

• Siyu Teng, Xuemin Hu, Peng Deng, Bai Li, ...., Long Chen, “Motion planning for autonomous driving: The state of the art and future perspectives,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 6, pp. 3692–3711, 2023.

• Bai Li, Shaoshan Liu*, Jie Tang, Jean-Luc Gaudiot, Liangliang Zhang, and Qi Kong, “Autonomous last-mile delivery vehicles in complex traffic environments,” Computer, vol. 53, no. 11, pp. 26–35, 2020.

智能网联汽车协同轨迹规划

• Bai Li, Dongpu Cao*, Shiqi Tang, Tantan Zhang, Hairong Dong, Yaonan Wang, and Fei-Yue Wang, “Sharing traffic priorities via cyber physical social intelligence: A lane-free autonomous intersection management method in Metaverse”, IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 4, pp. 2025–2036, 2023.

• Yakun Ouyang, Bai Li*, Youmin Zhang, et al., “Fast and optimal trajectory planning for multiple vehicles in a nonconvex and cluttered environment: Benchmarks, methodology, and experiments,” 2022 IEEE International Conference on Robotics and Automation (ICRA), pp.10746–10752, 2022.

• Bai Li, Yakun Ouyang, Youmin Zhang, et al., “Optimal cooperative maneuver planning for multiple nonholonomic robots in a tiny environment via adaptive-scaling constrained optimization,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1511–1518, 2021.

• Bai Li, Youmin Zhang, Tankut Acarman, et al., “Lane-free autonomous intersection management: A batch-processing framework integrating the reservation-based and planning-based methods”, 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 7915–7921, 2021.

• Bai Li, Youmin Zhang, Yiheng Feng, et al., “Balancing computation speed and quality: A decentralized motion planning method for cooperative lane changes of connected and automated vehicles,” IEEE Transactions on Intelligent Vehicles, vol.3, no. 3, pp. 340–350, 2018.

• Bai Li, Youmin Zhang, Yue Zhang, et al., “Near-optimal online motion planning of connected and automated vehicles at a signal-free and lane-free intersection,” 2018 IEEE Intelligent Vehicles Symposium (IV), pp. 1432–1437, 2018.

• Bai Li, and Youmin Zhang, “Fault-tolerant cooperative motion planning of connected and automated vehicles at a signal-free and lane-free intersection,” IFAC-PapersOnLine, vol. 51, no. 24, pp. 60–67, 2018.

• Bai Li, Youmin Zhang, Ning Jia, and Zhijiang Shao, “Simultaneous versus joint computing: A case study of multi-vehicle parking motion planning,” Journal of Computational Science, vol. 20, pp. 30–40, 2017.

• Bai Li, Youmin Zhang, Yuming Ge, et al., “Optimal control-based online motion planning for cooperative lane changes of connected and automated vehicles,” 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3689–3694, 2017.

• Bai Li, Youmin Zhang, Ning Jia, et al., “Paving green passage for emergency vehicle in heavy traffic: Real-time motion planning under the connected and automated vehicles environment,” 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), pp. 153–158, 2017.

智能车教育与无人赛车

• Bai Li, Lili Fan, Yakun Ouyang, Shiqi Tang, Xiao Wang*, Dongpu Cao, and Fei-Yue Wang, “Online competition of trajectory planning for automated parking: Benchmarks, achievements, learned lessons, and future perspectives,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 1, pp. 16–21, 2023.

• Bai Li, Yile Fang, Tian’ao Xu, Siji Ma*, Haorui Wang, Yazhou Wang, Xinyuan Li, Tantan Zhang, Xuepeng Bian, and Fei-Yue Wang, “Toward fair and thrilling autonomous racing: Governance rules and performance metrics for the Autonomous One,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 8, pp. 3974–3982, 2023. 

• Bai Li, Ting Gao, Siji Ma, Youmin Zhang, Tankut Acarman, ..., Fei-Yue Wang*, “From Formula One to Autonomous One: History, achievements, and future perspectives,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 5, pp. 3217–3223, 2023.

• Bai Li, Tian'ao Xu, Xinyuan Li, ..., Fei-Yue Wang*, “Integrating large language models and Metaverse in autonomous racing: An education-oriented perspective,” IEEE Transactions on Intelligent Vehicles, vol. 9, no. 1, pp. 59–64, 2024.

• Tantan Zhang, Yueshuo Sun, Yazhou Wang, Bai Li, Yonglin Tian*, and Fei-Yue Wang, “A survey of vehicle dynamics modeling methods for autonomous racing: Theoretical models, physical/virtual platforms, and perspectives,” IEEE Transactions on Intelligent Vehicles, vol. 9, no. 3, pp. 4312–4334, 2024.

智能车在线轨迹重规划

• Bai Li, Yazhou Wang, Siji Ma, Xuepeng Bian, Hu Li, Tantan Zhang, Xiaohui Li*, Youmin Zhang, “Adaptive pure pursuit: A real-time path planner using tracking controllers to plan safe and kinematically feasible paths,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 9, pp. 4155–4168, 2023.

• Bai Li, Zhuyan Yin, Yakun Ouyang*, Youmin Zhang, Xiang Zhong*, and Shiqi Tang, “Online trajectory replanning for sudden environmental changes during automated parking: A parallel stitching method,” IEEE Transactions on Intelligent Vehicles, vol. 7, no. 3, pp. 748–757, 2022.

计算最优控制理论与非凸优化方法

• Bai Li, Youmin Zhang, Tantan Zhang, Tankut Acarman, Yakun Ouyang, Li Li*, Hairong Dong, and Dongpu Cao, “Embodied footprints: A safety-guaranteed collision-avoidance model for numerical optimization-based trajectory planning,” IEEE Transactions on Intelligent Transportation Systems, vol. 25, no. 2, pp. 2046–2060, 2024.

• Bai Li, and Zhijiang Shao*, “Simultaneous dynamic optimization: A trajectory planning method for nonholonomic car-like robots,” Advances in Engineering Software, vol. 87, pp. 30–42, 2015.

• Yuqing Guo, Danya Yao, Bai Li, Zimin He, Haichuan Gao, and Li Li*, “Trajectory planning for an autonomous vehicle in spatially constrained environments,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 10, pp. 18326–18336, 2022.

重载卡车/多体拖挂车运动规划方法

• Bai Li, Li Li*, Tankut Acarman, Zhijiang Shao, and Ming Yue, “Optimization-based maneuver planning for a tractor-trailer vehicle in a curvy tunnel: A weak reliance on sampling and search,” IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 706–713, 2022.

• Bai Li, Tankut Acarman, Youmin Zhang*, Liangliang Zhang, Cagdas Yaman, and Qi Kong, “Tractor-trailer vehicle trajectory planning in narrow environments with a progressively constrained optimal control approach,” IEEE Transactions on Intelligent Vehicles, vol. 5, no. 3, pp. 414–425, 2020.

• Bai Li, Youmin Zhang*, Tankut Acarma, Qi Kong, and Yue Zhang, “Trajectory planning for a tractor with multiple trailers in extremely narrow environments: A unified approach,” 2019 IEEE International Conference on Robotics and Automation (ICRA), pp. 8557–8562, 2019.

• Bai Li, and Zhijiang Shao*, “Precise trajectory optimization for articulated wheeled vehicles in cluttered environments,” Advances in Engineering Software, vol. 92, pp. 40–47, 2016.

• Bai Li, and Zhijiang Shao*, “Time-optimal trajectory planning for tractor-trailer vehicles via simultaneous dynamic optimization,” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3844–3849, 2015.

柔性机械臂/柔性机构建模规划与控制

• Bai Li, Xinyuan Li, Hejia Gao, Fei-Yue Wang, “Advances in Flexible Robotic Manipulator Systems — Part I: Overview and Dynamics Modeling Methods,”IEEE Transactions on Mechatronics, vol. 29, no. 2, pp. 1100–1110, 2024.

• Bai Li, Xinyuan Li, Hejia Gao, Fei-Yue Wang, “Advances in Flexible Robotic Manipulator Systems — Part II: Planning, Control, Applications, and Perspectives,”IEEE Transactions on Mechatronics, vol. 29, no. 3, pp. 1680–1689, 2024.

智能烹饪系统与餐饮大模型

• 李鑫源,李柏,孙跃硕,等.基于多模态大语言模型的数字厨师与智能烹饪系统[J].智能科学与技术学报, 2024,6(04): 429-444.

• 李柏,宋秭函,李鑫源,等.基于代理智能的平行厨师：从AI Agents到智慧数字机器人饮食系[J].模式识别与人工智能, 2025,39.

人工智能与多模态大模型应用

• Yaodong Cui, Shucheng Huang, Jiaming Zhong, Zhenan Liu, Yutong Wang, Chen Sun, Bai Li, Xiao Wang, and Amir Khajepour, “DriveLLM: Charting the path toward full autonomous driving with large language models,” IEEE Transactions on Intelligent Vehicles, vol. 9, no. 1, pp. 1450–1464, 2024.

• Wen Hu, Zejian Deng, Yang Wu, Bangji Zhang, Wenbo Li, Xiaofeng Xiao, Bai Li, and Dongpu Cao, “Formulating vehicle aggressiveness towards social cognitive autonomous driving,” IEEE Transactions on Intelligent Vehicles, vol. 8, no. 3, pp. 2097–2109, 2023.

• Y. Tian, ..., Bai Li, ..., Fei-Yue Wang, VistaGPT: Generative Parallel Transformers for Vehicles With Intelligent Systems for Transport Automation, IEEE Transactions on Intelligent Vehicles, vol. 8, no. 9, pp. 4198–4207, 2023.

• Y. Tian, ..., Bai Li, Yisheng Lv, Levente Kovács, and Fei-Yue Wang, UAVs meet LLMs: Overviews and perspectives towards agentic low-altitude mobility, Information Fusion, vol. 122, art. no. 103158, 2025.

  
  

专利

（限于篇幅，仅列出作为第一发明人且已授权专利）

1. ZL 202110764024.4 一种基于无信号灯路口的自主路口管理系统及方法

2. ZL 202111254252.3 基于信任域的井下矿用铰接车轨迹规划方法

3. ZL 202210024530.4 一种具有不停车绕障功能的泊车轨迹重规划方法

4. ZL 202010388961.X 车辆协同行驶的质量评估方法、装置、服务器及介质

5. ZL 201811530830.X 用于生成信息的方法和装置

6. ZL 201811547151.3 泊车路径生成方法和装置

7. ZL 201910196252.9 车辆调度方法、车辆调度装置及计算机可读存储介质

8. ZL 201911239626.7 自动驾驶路径规划质量测评方法、装置和系统

9. ZL 201910984513.3 坐标转换方法及装置、计算机可读存储介质、电子设备

10. ZL 201911171461.4 自动驾驶方法、装置和存储介质

11. ZL 201910959757.6 一种自动驾驶的紧急避险方法和装置

12. ZL 201911200053.7 泊车路径规划方法、装置和系统

13. ZL 201911200592.0 自动驾驶车辆编队行驶的测试方法、装置和系统

14. ZL 202010301538.1 一种轨迹预测方法、装置、设备及存储介质

15. ZL 201910195706.0 车辆的控制方法、装置和计算机可读存储介质

16. ZL 201910359452.1 导航的处理方法、装置、设备及存储介质

17. ZL 201911114431.X 轨迹规划方法、轨迹规划装置、存储介质与电子设备

18. ZL 201911199716.8 航迹规划方法和装置

19. ZL 201911221931.3 轨迹规划方法、装置、介质及电子设备

20. ZL 201911174107.7 无人车的路径规划方法、装置和计算机可读存储介质

21. ZL 201910193612.X 用于控制车辆通行的方法和装置

22. ZL 202010001027.8 一种多车协同轨迹规划方法、装置、设备及存储介质

23. ZL 202010248522.9 在无信号灯路口实现车路协同的方法和装置

24. ZL 201911151252.3 一种轨迹决策方法、装置、设备和存储介质

25. ZL 201911285207.7 机器人轨迹规划方法、装置、存储介质及电子设备

26. ZL 202010106957.X 轨迹规划方法、装置、电子设备及计算机可读介质

27. ZL 201911171558.5 自动驾驶车辆以及自动驾驶控制方法和装置

28. ZL 201910983922.1 路径规划方法及装置、电子设备、存储介质

指导学生

• 欧阳亚坤.复杂非结构化环境下的自动驾驶运动规划方法.湖南大学硕士学位论文. 2023.06.

• 唐仕祺.复杂感知环境下的自动驾驶车辆运动规划方法研究.湖南大学硕士学位论文. 2023.06.

• 王涯舟.面向露天矿区无人矿卡的高性能运动规划方法研究.湖南大学硕士学位论文. 2024.06.

2025.04 《控制与信息技术》期刊2024年度优秀论文三等奖（通信作者）

2025.01 湖南大学学位评定委员会 优秀学术学位硕士论文指导教师

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