CAO WENJING

(曹文静)

Profile Information

Affiliation: Associate Professor, Faculty of Science and Technology, Department of Engineering and Applied Sciences, Sophia University

Degree: 工学学士(天津大学)
工学修士(天津大学)
学術博士(九州大学)

Researcher number: 40824751
J-GLOBAL ID: 201801017601865201
researchmap Member ID: 7000023346

(Subject of research)
Research about generation of merging maneuver of automobile
Optimal switching of operation modes of automobile power-train with transportation condition considered

Research Interests

Control engineering, Automatic control, Mechanical engineering, Electrical and electronic engineering, programming, Optimal control, model predictive control, nonlinear control, automatic driving of automobiles, control of powertrains of automobile, automatic control of robots

Research Areas

Research History

Apr, 2018 - Present

Faculty of Science and Technology, Sophia University
Apr, 2014 - Jan, 2018

パワートレイン技術先行開発部, 日産自動車株式会社

Education

Apr, 2011 - Mar, 2014

Kyushu University
Oct, 2010 - Mar, 2011

Kyushu University
Sep, 2007 - Jun, 2009

電工理論及び新技術研究科, 自動化学院, 天津大学
Sep, 2003 - Jul, 2007

電気工程及びその自動化学科, 自動化学院, 天津大学

Committee Memberships

Aug, 2018 - Present

自動車制御とモデル研究部門委員会, 自動車技術会
Apr, 2022

Research Committee on Theory and Application of Model Predictive Control
Sep, 2018 - Mar, 2019

制御部門プラントモデリング部会委員, 計測自動制御学会

Awards

Mar, 2024

Attractive Lecture Reward, Sophia University, Faculty of Science and Technology
Feb, 2019

Best Paper Award

Wenjing Cao, Masakazu Mukai, Taketoshi Kawabe

Papers

Routes Optimization for Electric Power Delivery EVs Considering Predicted Traffic Congestion Conditions

Mo Chen, Mayu Ogasawara, Edyta Dzieminska, Emir Yilmaz, Shuang Gao, Wenjing Cao

2025 SICE Festival with Annual Conference, 2025, Sep, 2025 Peer-reviewedInvitedLast authorCorresponding author
Consensus Control of Electric Vehicle Charging Stations for Providing Performance-based Frequency Regulation Service

Shuang Gao, Chenhao Li, Wenjing Cao, Wenjing Cao, Yanbo Che

IEEE Transactions on Vehicular Technology, 74(9) 13809-13820, Sep, 2025 Peer-reviewed
Optimization of Electricity Delivery Routes for EVs Considering Predicted Residential Electricity Demand

Hongkang Yu, Rin Kuroiwa, Edyta Dzieminska, Emir Yilmaz, Huang Xiaoliang, Wenjing Cao

2025 American Control Conference (ACC), 2025, Jul, 2025 Peer-reviewedLast authorCorresponding author
Optimization of Price Plan for a Smart Satellite City with;Price Sensitivity Considered

Wenjing Cao, Shota Zenke, Zhenlong Wu, Takehito Kobayashi

2025 JSAE Annual Congress (Spring), 122, May 21, 2025 Peer-reviewedInvitedLead authorCorresponding author
Energy Management Method Optimising Engine Ignition on/off Timing and Operating Points of Powertrain Components for Series Hybrid Electric Vehicle

Wenjing Cao, Rintaro Goto, Tsuyoshi Yuno, Taketoshi Kawabe, Masakazu Mukai

IEEJ Journal of Industry Applications, 14(3), May, 2025 Peer-reviewedLead authorCorresponding author
Lane Detection and Optimization for Mobile Robot Using YOLOP and Kalman Filter on ROS2

Hongkang Yu, Wei Zhao, Zhewen Zheng, Mo Chen, Jumma Tanaka, Ramu Ogita, Wenjing Cao

The 12th SICE Multi-Symposium on Control Systems (MSCS 2025), Mar, 2025 Last authorCorresponding author
Integration of YOLOP and Kalman Filter on ROS2 platform for Enhanced Lane Detection of AI Formula Robot

Hongkang Yu, Wei Zhao, Zhewen Zheng, Mo Chen, Jumma Tanaka, Ramu Ogita, Wenjing Cao

The 9th International Conference on Robotics, Control and Automation (ICRCA 2025), Mar, 2025 Peer-reviewedLast authorCorresponding author
Robust and Energy-Efficient Torque Vectoring for a Four In-Wheel Motor Electric Vehicle Based on Sliding Mode and Model Predictive Control

Zhewen Zheng, Wenjing Cao, Yuya Kubota, Yoshihisa Nakano, Shuang Gao, Takashi Suzuki

Unmanned Systems, 1-14, Feb, 2025 Peer-reviewedCorresponding author

Attachment
Distributed control for automated vehicle groups using control barrier and control Lyapunov functions

Yuzuki Hayashi, Wenjing Cao, Masakazu Mukai

Asian Journal of Control, 1-16, Jan, 2025 Peer-reviewed
Research on Visual SLAM Configuration Using ZED Camera for AI Formula Unmanned Vehicle

Chen Mo, Zhao Wei, Ogita Ramu, Cao Wenjing

SI2024, 2024 1-4, Dec, 2024 Peer-reviewedInvitedLast authorCorresponding author
SICE-JSAE-PaiMaP Benchmark Problem of Mobility Service Using Automated Driving in Smart Satellite City (I)

Yuji Yasui, Masakazu Mukai, Toshihiro Aono, Wenjing Cao, Yoshihiro Mizoguchi, Yutaka Hirano, Chisa Kobayashi

2024 SICE Festival 2024 with Annual Conference, 2024 WeAT5.6, Aug, 2024 Peer-reviewedInvited
Simultaneous Optimization of the Engine Operating Points and Ignition Timing for EMS of SHEV Based on NMPC

Zheng, Zhewen, Cao, Wenjing, Yuno, Tsuyoshi, Kawabe, Taketoshi, Mukai, Masakazu

IFAC NMPC 2024, FriINT.14, Aug, 2024 Peer-reviewedCorresponding author
Optimal Energy Management of SHEV with Realistic Generator Model That Optimize the Ignition Timing and Powertrain Operating Points Simultaneously (I)

Wenjing Cao, Zhewen Zheng

SICE FES 2024, WeAT5.2-WeAT5.2, Aug, 2024 Peer-reviewedInvitedLead authorCorresponding author
Enhancing Elderly Mobility with a Quadruped Robot-Led Wheelchair System Based on MPC

Daifeng Wang, Wenjing Cao, Hongkang Yu, Itsuki Taima, Atsuo Takanishi

The 14th ASCC(ASCC 2024), 14, Jul, 2024 Peer-reviewedInvitedCorresponding author
Nonlinear Model Predictive Control for Energy Management Strategies of a Series-type HybridElectric Vehicle

Zhewen Zheng, Wenjing Cao, Tsuyoshi Yuno, Taketoshi Kawabe, Masakazu Mukai

The 14th ASCC(ASCC 2024), 14, Jul, 2024 Peer-reviewedInvitedLast authorCorresponding author
Optimization Problem of Mobility Service in Smart Satellite City-SICE-JSAE-πMAP Benchmark Problem-

Yuji Yasui, Masakazu Mukai, Yuta Hirano, Toshihiro Aono, Yoshihiro, Mizoguchi, Wenjing Cao, Shinichi Kawai, Taisei Ito, Chisa Kobayashi

168, May, 2024 Peer-reviewedInvited
Maximizing Smart Mobility Service Revenues through Dynamic Programming (First Report)

Takehito Kobayashi, Wenjing Cao

170, May, 2024 Peer-reviewedInvitedLast authorCorresponding author
ベジェ曲線による経路再計画とLPVMPCを用いた動的障害物回避のための車両挙動制御手法の構築

The 11h SICE Multi-Symposium on Control Systems, 11 3M6-3, Mar, 2024 Peer-reviewedInvitedLast authorCorresponding author
Optimization of electricity delivery routes for an EV Considering household electricity demand predicted using ELM

Rin Kuroiwa, Wenjing Cao, Mayu Ogasawara, Yu Zhang

Transactions of the Society of Instrument and Control Engineers, 60(3), Mar, 2024 Peer-reviewedInvitedCorresponding author
Robust Torque Distribution Control with Energy Optimization for Four-Wheel Electric Vehicles

Yuya Kubota, Wenjing Cao

2023 62nd IEEE Conference on Decision and Control (CDC), 62 2705, Dec, 2023 Peer-reviewed
Control Strategy and Path-Following in Electric Vehicles with 4 In-Wheel Motors Using a Linear Equivalent Two-Wheel Model

Yoshihisa Nakano, Wenjing Cao

2023 62nd IEEE Conference on Decision and Control (CDC), 62 2711, Dec, 2023 Peer-reviewedLast authorCorresponding author
Nonlinear Model-Predictive Driving Control of ICE Vehicles Equipped with CVTs via Relaxation of Switching Behaviours

Tsuyoshi Yuno, Wenjing Cao, Koki Yasuda, Takanobu Sawada, Taketoshi Kawabe

SICE Journal of Control, Measurement, and System Integration (TMSI), TMSI 2281572, Nov, 2023 Peer-reviewed
Dual quaternion-based SLERP MPC Local Controller for Safe Self-driving of Robotic Wheelchairs

Daifeng Wang, Wenjing Cao, Atsuo Takanishi

Robotics, 12(6) 153-153, Nov, 2023 Peer-reviewed
Motion Planning for a Robotic Wheelchair with SLERP MPC Local Planner

Wang Daifeng, Cao Wenjing, Zhang Bo, Mukai Masakazu

SICE Annual Conference 2023, Sep, 2023 Peer-reviewedInvitedCorresponding author
Route planning algorithm based on dynamic programming for electric vehicles delivering electric power to a region isolated from power grid

Yu Zhang, Wenjing Cao, Hanqing Zhao, Shuang Gao

Artificial Life and Robotics, Jun, 2023 Peer-reviewedLast authorCorresponding author

Attachment
Improved Nonlinear Extended Observer Based Adaptive Fuzzy Output Feedback Control for a Class of Uncertain Nonlinear Systems with Unknown Input Hysteresis

Linlin Nie, Miaolei Zhou, Wenjing Cao

IEEE Transactions on Fuzzy Systems, 1-11, Apr, 2023 Peer-reviewed
Model predictive eco-driving control of internal-combustion-engine vehicles equipped with CVTs in car-following scenarios

Shinsaku Yoshinaka, Satoru Narisawa, Tsuyoshi Yuno, Wenjing Cao, Masakazu Mukai, Taketoshi Kawabe

SICE Journal of Control, Measurement, and System Integration, 16(1) 109-116, Mar 18, 2023
Optimal route planning algorithm for electric power delivery by an EV considering traffic congestion conditions

M.Ogasawara, W.Cao, R.Kuroiwa, Y.Zhang

The 10th SICE Multi-Symposium on Control Systems, 2023 2A5-4, Mar, 2023 Corresponding author
Optimization of electricity delivery routes for EVs Considering household electricity demand predicted using ELM

R.Kuroiwa, W.Cao, M.Ogasawara, Y.Zhang

The 10th SICE Multi-Symposium on Control Systems, 2023 2M5-1, Mar, 2023 InvitedCorresponding author
Neural Network Based Iterative Learning Control for Magnetic Shape Memory Alloy Actuator with Iteration-Dependent Uncertainties

YeweiYu, ChenZhang, WenjingCao, XiaoliangHuang, XiuyuZhang, MiaoleiZhou

Mechanical Systems and Signal Processing, 187 109950, Mar, 2023 Peer-reviewed
Impact of road slope on most fuel-economic PnG strategies for internal-combustion-engine-driven vehicles

Wenjing Cao, Bo Zhang, Masakazu Mukai

IFAC-PapersOnLine, 55(40) 163-168, Nov 1, 2022 Peer-reviewedLead authorCorresponding author
Optimal assignment method for mobile assistive robots using matching theory

Shimada Natsuki, Wenjing Cao, Yu Zhang

Artificial Life and Robotics, 2022, Nov, 2022 Peer-reviewedCorresponding author
Composite Data Driven-Based Adaptive Control for a Piezoelectric Linear Motor

Yifan Wang, Miaolei Zhou, Dawei Hou, Wenjing Cao, Xiaoliang Huang

IEEE Transactions on Instrumentation and Measurement, 71 3527912, Nov, 2022 Peer-reviewed
Analysis of impacts of road slope on the fuel-saving potential and the most fuel-economic manner of pulse and glide strategy for an Internal-combustion-driven vehicle

Wenjing Cao, Bo Zhang, Masakazu Mukai

1st IFAC Workshop on Control of Complex Systems (COSY 2022), 2022, Nov, 2022 Peer-reviewedLead authorCorresponding author
An Energy Management Method That Optimizes the Ignition On/Off Timing of a Series-Type Hybrid Electric Vehicle

Wenjing Cao, Rintaro Goto, Tsuyoshi Yuno, Taketoshi Kawabe

SICE Annual Conference 2022, SICE2022, 2022, Sep, 2022 Peer-reviewedInvitedLead authorCorresponding author
Combined Provision of Economic Dispatch and Frequency Regulation by Aggregated EVs Considering Electricity Market Interaction

Shuang Gao, Ruxin Dai, Wenjing Cao, Yanbo Che

IEEE Transactions on Transportation Electrification ( Early Access ), Aug, 2022 Peer-reviewed
Lane change algorithm using rule-based control method based on look-ahead concept for the scenario when emergency vehicle approaching

Wenjing Cao, Hanqing Zhao

Artificial Life and Robotics, 2022, Aug, 2022 Peer-reviewedLead authorCorresponding author
A Feedback Control Scheme for Distributed Energy System Used Waste Incinerator

Zhenhui Xu, Wei Wang, Kai Zhao, Edyta Dzieminska, Wenjing Cao, Tielong Shen

2022 International Conference on Electrical, Computer and Energy Technologies (ICECET), 2022, Jul, 2022 Peer-reviewed
Analysis of fuel efficiency characteristic of an internal-combustion-engine-driven vehicle using pulse and glide strategy driving on a slope road

Wenjing Cao, Bo Zhang, Masakazu Mukai

The 13th Asian Control Conference (ASCC 2022), May, 2022 Peer-reviewedInvitedLead authorCorresponding author
Pulse and glide strategy analysis based on engine operating point during pulse mode

Wenjing Cao, Tsuyoshi Yuno, Taketoshi Kawabe

European Journal of Control, 65, May, 2022 Peer-reviewedLead authorCorresponding author

Attachment
Fuel consumption reduction effect of pre-acceleration before gliding of a vehicle with free-wheeling

Wenjing Cao, Taketoshi Kawabe, Tsuyoshi Yuno, Xiaoliang Huang

Control Theory and Technology, Apr, 2022 Peer-reviewedLead authorCorresponding author

Attachment
Study on the Formulation of Vehicle Merging Problems for Model Predictive Control

Yuki Kishi, Wenjing Cao, Masakazu Mukai

Artificial Life and Robotics, Mar, 2022 Peer-reviewed
Route planning algorithm based on dynamic programming for Electric vehicles used to delivery electric power for an isolated area

Yu ZHANG, Wenjing CAO, Hanqing ZHAO, Shuang GAO

27th International Symposium on Artificial Life and Robotics, 27, Jan, 2022 Peer-reviewedCorresponding author
Merging Trajectory Generation Based on Rule-based Control in Situations with Emergency Vehicle

Wenjing Cao, Hanqing Zhao

27th International Symposium on Artificial Life and Robotics, 27, Jan, 2022 Peer-reviewedLead authorCorresponding author
Optimal Assignment Method for Mobile Assist Robot Using Matching Theory

Natsuki Shimada, Wenjing Cao, Yu Zhang

27th International Symposium on Artificial Life and Robotics, 27, Jan, 2022 Peer-reviewedCorresponding author
Potential Economic Benefit of Electric Vehicles as Energy Storage in the Electricity Market

Shuang Gao, Ruxin Dai, Wenjing Cao, Hongjie Jia, Yunfei Mu

The annual conference ICPE 2021-The 2nd International Conference on Power Engineering, 2, Dec, 2021 Peer-reviewed
A parameter setting method to find the required state estimation accuracy for a motion control method in merging scenario

Wenjing Cao, Masakazu Mukai, Taketoshi Kawabe

Asian Journal of Control, Sep 14, 2021 Peer-reviewedLead authorCorresponding author
Analysis of PnG Strategy Focusing on the Effect of the Duration of Pulse Mode

Wenjing Cao, Taketoshi Kawabe, Tsuyoshi Yuno

6th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, 2021, Sep, 2021 Peer-reviewedInvitedLead authorCorresponding author
Analysis of PnG Strategy Focusing on the Effect of the Duration of Pulse Mode

Cao, Wenjing, Kawabe, Taketoshi, Yuno, Tsuyoshi

Proceedings of 6th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, 54(10) 424-429, Sep, 2021 Peer-reviewedInvitedLead authorCorresponding author
Model-Predictive Eco-Driving Control Using Future Information of Traffic Lights

Yuno, Tsuyoshi, Cao, Wenjing, Kawabe, Taketoshi

6th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Sep, 2021 Peer-reviewedInvited

Misc.

Study on Control Theory and its Applications towards Human-Centered World

Cao Wenjing

Journal of the Society of Instrument and Control Engineers, 58(2) 79-81, Feb 10, 2019 Peer-reviewedInvited

Presentations

Maximization of Smart Mobility Service Revenue Considering Ride-share Discount Rate Using Dynamic Programming

Wenjing Cao

2025 SICE Festival with Annual Conference, Sep 12, 2025 Invited
Control Strategy and Path-Following in Electric Vehicles with 4 In-Wheel Motors Using a Linear Equivalent Two-Wheel Model

Yoshihisa Nakano, Wenjing Cao

2023 62nd IEEE Conference on Decision and Control (CDC), Dec 14, 2023 Invited
Robust Torque Distribution Control with Energy Optimization for Four-Wheel Electric Vehicles

Yuya Kubota, Wenjing cao

2023 62nd IEEE Conference on Decision and Control (CDC), Dec 14, 2023 Invited
SICE Annual Conference SICE2022

Koki Aizawa, Makoto Obayashi, Fumie Ogawa, Wenjing Cao, Anirudh Reddy Kondapally, Nozomi Hata

SICE Annual Conference SICE2022, Sep 8, 2022 Invited
Automotive Propulsion System Toward Carbon neutrality

Jing Sun, Wenjing Cao, Akira Ohata, Hayato Nakada

SICE Annual Conference SICE2022, Sep 8, 2022 Invited

Teaching Experience

Mar, 2022 - Present

GREEN ENGINEERING LAB Control of mobile robot (Sophia University)
Sep, 2018 - Present

Advanced Control theory A (Sophia University)
Sep, 2018 - Present

Robotics engineering (Sophia University)
Sep, 2018 - Present

Modern control theory (Sophia University)
Apr, 2018 - Present

linear algebra (Sophia University)

Professional Memberships

May, 2022 - Present

the Institute of Electrical Engineers of Japan
Apr, 2021 - Present

IEEE
上智大学理工学振興会
自動車技術会
計測自動制御学会

Research Projects

Construction of a real-time controller of cooperative merging behavior to save fuel and alleviate congestion by predicting the behavior of the front vehicle

Grants-in-Aid for Scientific Research, Japan Society for the Promotion of Science, Apr, 2024 - Mar, 2027

Academic Activities

SICE SI 2024 Session proposal and session chair

Planning, Management, etc., Panel moderator, Session chair, etc.

The Society of Instrument and Control Engineers, Aug 8, 2024 - Dec 31, 2024
IFAC MPC 2024

Planning, Management, etc.

IFAC, Jan, 2023 - Dec, 2024
SICE FES 2024 JSAE-SICE-PaiMaP Industry-Academia Collaboration Toward Automotive Society Beyond 2030

Planning, Management, etc.

The Society of Instrument and Control Engineers, Dec 20, 2023 - Aug 30, 2024
IFAC NMPC 2024 Vehicles session chair

Panel moderator, Session chair, etc.

IFAC, Aug 21, 2024 - Aug 24, 2024
IFAC E-COSM 2024 AE and paper reviewer

Review, evaluation, Peer review

IFAC, Apr 13, 2024 - Aug 7, 2024

Social Activities

SICE2022 Session Chair

Commentator, Consultant

The Society of Instrument and Control Engineers, SICE annual conference 2022, Sep 6, 2022 - Sep 9, 2022
2022年電気学会産業応用部門大会

Consultant, Official expert, Logistic support, Others

電気学会, 2022年電気学会産業応用部門大会, Dec, 2021 - Sep, 2022
自動車技術会自動車制御とモデル研究部門委員会

Others

Aug 30, 2018

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