1988年、1990年和1994年 清华大学自动化系分别获学士学位、硕士学位和博士学位
1995年 德国慕尼黑技术大学访问学者
1994年7月博士毕业至今在清华大学从事教学和科研工作
[1]交通运输部自动驾驶专题研究组 特聘顾问
[2]中国公路学会智能道路专家委员会 专家
[3]中国指挥与控制学会智能指挥调度专业委员会 委员
[4]中国智能交通协会专家委员会智慧公路专业工作委员会 专家
[5]国汽(北京)智能网联汽车研究院技术委员会 委员
[6]北京市智能网联驾驶技术咨询专家委员会 专家
[7]浙江省智慧高速公路建设专家组 专家
[8]湖南省智能交通行业协会专家委员会副主任
[9]武汉市车联网专家委员会 专家
[10]长沙市智能网联汽车发展专家委员会 成员
[11]芜湖市信息化建设 顾问
[12]张家口市冬奥会筹办专家咨询委员会智慧交通领域 专家
[13]智能车路协同技术创新产业联盟 秘书长
主要从事基于车路协同为的车辆协同安全驾驶和交通主动控制理论和技术，包括：
[1]支持多模式无线通信（802.11p、LTE-V、5G）的人、车、路实时数据交互理论和技术；
[2]人、车、路车辆驾驶协同安全控制理论和技术；
[3]以全时空交通信息为基础的城市和公路交通流理论（交通大脑），以及结合车辆控制的交通主动控制理论和技术。
1、国家自然科学基金项目（61673233），车路协同环境下单交叉口交通主动控制建模和优化，项目负责人，2017-2020
2、北京市科委重大专项，绿色校园微循环电动车示范，课题负责人，2015-2016
3、国家“863”主题项目（2011AA110400），智能车路协同关键技术研究，项目首席专家， 2011-2013。
4、国家“863”课题（2011AA110401），车路协同系统设计、信息交互和集成验证研究，课题负责人，起止时间：2011-2013。
5、国家“863”项目（2009AA11Z206），混合交通条件下行人安全状态识别技术，项目主要成员，起止时间：2009-2011。
6、国家自然科学基金项目（60774034），城市道路交通系统复杂性分析方法研究，项目主要成员，起止时间：2007-2010。
7、国家“973”项目课题（2006CB705506）：城市交通信息融合、集成与计算实验，课题主要成员，起止时间：2006-2010年。
8、国家“863”项目（2006AA11Z208），交通参与者行为模式与干预技术，项目负责人，起止时间：2006-2008。
[1]2016年“交通流数据的统计建模理论与预测方法”，获中华人民共和国教育部自然科学奖二等奖
[2]2012年 “城市区域交通状态分析理论与方法”，获中国智能交通协会科学技术二等奖
[3]2011年 “新一代智能化交通控制集成关键技术研究及应用”，获公安部科学技术二等奖
[4]2008年 获清华大学颁发的 “优秀国防生导师”荣誉称号
[5]2014年 本科招生“突出贡献奖”
[6]2007年 获招生工作“最佳个人奖”
[7]2006年 获清华大学研究生“良师益友”（优秀导师）
[8]2003年 获清华大学“先进工作者”
专著：
[1]张毅，姚丹亚，《基于车路协同的智能交通系统体系框架》，电子工业出版社，2015年5月，ISBN 978-7-121-25906-7
[2]袁建华，姚丹亚等，《新一代智能化交通控制系统理论及技术》化学工业出版社，2014年8月, 2014, ISBN 978-7-121-20934-3
译著：
[1]姚丹亚，张盈盈等译，交通工程设计－原理与实践（第2版），电子工业出版社，2008年1月
主要论文：
[1].Dajun Wang, Xin Pei, Li Li, Danya Yao, "Risky driver recognition based on vehicle speed time series", IEEE Transactions on Human-Machine Systems, vol. 48, no. 1, pp. 63-71, 2018. (SCI IDS: FT1SA; SCI WOS: 000422915300007; EI: 20175204578308)
[2].Chijung Cheng, Zhuo Yang, Danya Yao, “A Speed Guide Model for Collision Avoidance in Non-Signalized Intersections Based on Reduplicate Game Theory”, IEEE Intelligent Vehicles Symposium, pp. 1614-1619, 2018.
[3].Chang Lu, Mengkai Shi, Jiayang Li, Danya Yao, “Application-based Performance Evaluation of Wireless Access in Vehicular Environment using Broadcast Protocol”，IEEE Intelligent Vehicles Symposium, pp. 67-72, 2018. (EI: 20184706119934)
[4].Qiang Guo, Pengpeng Xu, Xin Pei, S. C. Wong, Danya Yao, "The effect of road network patterns on pedestrian safety: A zone-based Bayesian spatial modeling approach", Accident Analysis and Prevention, vol. 99, pp. 114-124, 2017. (SCI: EK6VF, EI: 20164903086337)
[5].Hongxin Chen, Shuo Feng, Xin Pei, Zuo Zhang, Danya Yao, "Dangerous Driving Behavior Recognition and Prevention Based on Autoregressive Time Series Model", Tsinghua Science and Technology, vol. 22, no. 6, pp. 682-690, 2017. (SCI: FR2HG, EI: 20175204588464)
[6].Mengkai Shi, Chang Lu, Yi Zhang, Danya Yao, "DSRC and LTE-V Communication Performance Evaluation and Improvement Based on Typical V2X Application at Intersection", Chinese Automation Congress (CAC), 2017. (EI: 20183005597928)
[7].陈洪昕,崔健,张佐,姚丹亚. 基于自然语言处理的交通拥堵程度评价[J]. 清华大学学报(自然科学版), no.03, pp.287-293,2016. (EI:20161702294759)
[8].Pei X., Wong S.C, Sze N.N. and Yao D. Bootstrap Resampling Approach to Disaggregate Analysis of Road Crash in Hong Kong. Accident Analysis & Prevention, vol.95, pp. 512-520, 2016. (SSCI:DW3FC)
[9].Zhuo Yang, He Huang, Danya Yao, Yi Zhang. Cooperative driving model for non-signalized intersections based on reduplicate dynamic game [A]. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC 2016), Rio de Janeiro, Brazil, November 1-4, pp: 1366-1371. 2016. (EI: 20170403281755)
[10].Heng WEI, Wei LIU, Yu-sen WANG, Dan-ya YAO. Improved Design of Generalized Dynamic Rollover Threshold of Multi-Axial Vehicle. Proceedings of the 13th International Forum of Automotive Traffic Safety, pp 251- 262, 2016. (EI: 20170903403216)
[11].Yaohan He, Danya Yao, Yi Zhang, Xin Pei, Li Li, Cellular Automaton model for bidirectional traffic under condition of intelligent vehicle infrastructure cooperative systems, Proceedings of IEEE Conference on Vehicular Electronics and Safety, 2016. (EI:7548172)
[12].Guo Qiang, Pei Xin, Yao Danya, Wong S.C. Role of street pattern in zone-based traffic safety analysis. Journal of Central South University, vol.22, no.6, pp.2416-2422, 2015(SCI: CK2MC)
[13].Pei Xin, Li li, Wang Dajun, Yao Danya. A Simple Algorithm for Risky Driving Recognition. Presented at The 20th Hong Kong Society for transportation studies (HKSTS) conference, Hong Kong, 14-16, 2015
[14]. Zhang, Yingying; Yao, Danya; Peng, Lihui，Qiu, Tony Z. ; Scene-based pedestrian safety performance model in mixed traffic situation, IET INTELLIGENT TRANSPORT SYSTEMS, 2014, (SCI Index)
[15].LI Li, WEN Ding, YAO Danya. A survey of traffic control aided by vehicular communication [J]. IEEE Transactions on Intelligent Transportation Systems, 2014, 15(1): 425-432. (SCI: AA7QP)
[16].LI Bowen, YAO Danya. Calculation of Vehicle Real-time Position Overcoming the GPS Positioning Latency with MEMS INS, 2014 IEEE International Conference on Service Operations and Logistics, and Informatics，October 8-10, 2014, Qingdao, Shandong, China. (EI检索:20145000318186)
[17].YUAN Zhaojun, XIE Xudong, HU Jianming, ZHANG Yi, YAO Danya. An effective method for fog-degraded traffic image enhancement. 2014 IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI), pp:27-32, 2014. (EI: 20145000318144)
[18].YUAN Zhaojun, XIE Xudonge, HU Jianming, YAO Danya. An Efficient Method for Traffic Image Denoising. The 9th International Conference on Traffic & Transportation Studies (ICTTS 2014). (EI Index)
[19].李博文 姚丹亚，低成本车载MEMS惯导导航定位方法研究. 中国惯性技术学报，2014年12月，第22卷第6期. (EI收录)
[20].李博文, 姚丹亚, 蒋凤成. 车载GPS定位滞后时间的计算方法[J]. 清华大学学报(自然科学版), 2014年9月, 第54卷第9期. (EI检索：20145200366034)
[21].PEI Xin, SZE N.N., WONG S.C., HUANG Ling, YAO Danya. Disaggregated Crash Prediction Models for Different Crash Types using Joint Probability Model. The 17th HKSTS International Conference, 15-17, Dec, 2013, Hong Kong. (EI检索: 20134616984870)
[22].常刚, 张毅, 姚丹亚. 基于时空依赖性的区域路网短时交通流预测模型[J]. 清华大学学报: 自然科学版, 2013 (2): 215-221. (EI检索: 20132816484143)
[23].Yingying Zhang, Danya Yao, Qiu T.Z., Lihui Peng and Yi Zhang, Pedestrian Safety Analysis in Mixed Traffic Condition Using Video Data, IEEE Transactions on Intelligent Transportation Systems, 13(4), pp: 1832-1844, 2012 (SCI：13148950，2011 IF：3.452)
[24].ZHANG Yingying, YAO Danya, QIU Tony Z., PENG Lihui. Pedestrian Safety Analysis in Mixed Traffic Conditions Using Video Data [J]. Intelligent Transportation Systems, IEEE Transactions on, 2012, 13(4): 1832-1844. (SCI: 081BU)
[25].CHEN Xiaobo, YAO Danya. An empirically comparative analysis of 802.11n and 802.11p performances in CVIS [C]. ITS Telecommunications (ITST), 2012 12th International Conference on. IEEE, 2012: 848-851. (EI检索: 20131016084737)
[26].LIU Shuai, ZHU Tao, ZHANG Yingying, YAO Danya. Video Based Mixed Traffic Detection and Tracking Algorithms. The 17th HKSTS International Conference, Hong Kong, 2012. (EI检索: 20141017434432 )
[27].LI Hui, CHEN Xiaobo, HUANG Ling, YAO Danya. A GPS/Wi-Fi Integrated System for Positioning in Cooperative Vehicle and Infrastructure System [C]. Vehicular Electronics and Safety (ICVES), 2012 IEEE International Conference on. IEEE, 2012: 285-289. (EI检索: 20124115556848)
[28].Chang Gang, Zhang Yi, Yao Danya. Missing data imputation for traffic flow based on improved local least squares [J]. Tsinghua Science and Technology, 2012, 17(3): 304-309. (EI检索: 20123215322718)
[29].Y. Zhang, S. Liu, T. Z. Qiu and D. Y. Yao, "Video based pedestrian-vehicle conflict analysis in mixed traffic condition," Transportation Research Board, 2012.
[30].CHEN Xiaobo, LI Hui, YANG Chen, YAO Danya. An Empirical Analysis of V2I Communication in Vehicular Ad-Hoc Network Based on IEEE 802.11n [C]. 19th ITS World Congress, 2012.
[31].ZHANG Yinging, LIU Shuai, QIU Tony Z., YAO Danya. Video-Based Pedestrian-Vehicle Conflict Analysis in Mixed Traffic Conditions [C]. Transportation Research Board 91st Annual Meeting. 2012 (12-0767).
[32].ZHANG Haizheng, LI Weixia, LI Zhiheng, TAN Jiyuan, YAO Danya, LI Li. Signal control strategy between expressway off-ramp and on-ramp area in Beijing [C]. Intelligent Transportation Systems (ITSC), 2012 15th International IEEE Conference on. IEEE, 2012: 385-390. (EI检索: 20125115825159)
[33].LI Weixia, YIN Shengchao, ZHANG Haizheng, ZHANG Yi, YAO Danya. Characteristics Analysis of Traffic Flow Behaviors on Beijing Urban Expressways [C]. CICTP 2012@ sMultimodal Transportation Systems—Convenient, Safe, Cost-Effective, Efficient. ASCE, 2012: 422-433. (EI检索: 20130615985547)
[34].耿晨曜,姚丹亚,张盈盈,等.基于Map-Reduce的分布式视频处理平台.计算机工程.2012, vol.10.
[35].Chen, X., Yao, D., Zhang, Y., Su, Y., Zhang, Y. Design and Implementation of Cooperative Vehicle and Infrastructure System Based on IEEE 802.11n [J]. Transportation Research Record, No. 2243, 2011. Pp158-166 (SCI Index).
[36].Xu, R., Su, Y., Yin, S., Yao, D., Zhang, H., and Peng, L. Evaluation of integrated signal strategies for Beijing expressway ramp control [C]. Proceedings of IEEE Intelligent Vehicle Symposium, Baden-Baden, Germany, 2011: 807-813. (EI: 20113114191887)
[37].Xu, R., Su, Y., Yao, D., et al. Validity of integrated signal control strategy on urban expressways with three different ramp lengths [C]. Proceedings of the 1st Int. Conf. on Transportation Information and Safety, Wuhan, China, 2011: 786-794. (EI: 20113614311515)
[38].Xu, R., Yin, S., Yao, D., Zhang, Y., Su, Y., et al. Efficiency analysis on integrated traffic signal control about urban expressway [C]. Proceedings of the 11th International Conference of Chinese Transportation Professionals, Nanjing, China, 2011: 1422-1433. (EI: 20114014393164)
[39].Xu, R., Huang, L., Su, Y., Yin, S., Yao, D., Peng, L. An Analysis on Traffic Flow Characteristics and Lane Changing Behaviors in Beijing Urban Expressway Bottlenecks. Proceedings of 14th IEEE Intelligent Transportation Systems Conference, Washington, DC, USA, 2011, pp. 822-827. (EI Index)
[40].Yin, S., Su, Y., Wang, C., Yao, D., Li, L. and Zhang, Y. Comparison of Vehicle Departure Headways in Beijing and Atlanta [J]. Tsinghua Science and Technology, 2011, 16(3):332-336. (EI: 20112414053016)
[41].Y. Zhang, D. Yao, T. Z. Qiu and L. Peng, "Vehicle-pedestrian interaction analysis in mixed traffic condition," in ICTIS 2011: Multimodal Approach to Sustained Transportation System Development —Information, Technology, Implementation, Wuhan, China, 2011, pp. 552-559. （EI Index）
[42].Chang, G., Zhang, Y., Yao, D., and Yue, Y. HMM Based Fuzzy Model for Short-Term Traffic Forecasting[C]. Proceedings of the 1st Int. Conf. on Transportation Information and Safety, Wuhan, China, 2011: 786-794. （EI Index）
[43]. Chang, G., Zhang, Y., Yao, D., and Yue, Y. A Summary of Short-Term Traffic Flow Forecasting Methods[C]. Proceedings of the 11th International Conference of Chinese Transportation Professionals, Nanjing, China, 2011: 1422-1433. （EI Index）
[44].Lu, L., Su, Y., Yao, D., et al. The delay of bus near a stop when mixed traffic flow is considered [C]. Proceedings of IEEE Intelligent Vehicle Symposium, University of California, San Diego, CA, USA, 2010:1104-1109. (EI: 20103713235755)
[45].Lu, Lu, Su, Yuelong, Yao, Danya, et al. Optimal design of bus stops that are shared by multiple lines of buses [C]. IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, p 125-130, 2010, 13th International IEEE Conference on Intelligent Transportation Systems, ITSC 2010, Madeira Island, Portugal, 2010:125-130. (EI: 20105213525079)
[46].Zhang, H., Su, Y., Li, Z., Yao, D., et al. An analysis on the operating effects of Beijing urban intelligent transportation management systems [C]. Proceedings of the 17th World Congress on Intelligent Transportation Systems, Busan, Korea, 2010, CD: TP069-6.
[47].苏岳龙, 路鹭, 姚丹亚, 等. 经典交通流模型在城市车路不平衡发展评价中的应用. 公路交通科技, 2010, 27(11):108-112. (中文核心期刊)
[48].Zhang, H., Su, Y., Peng, L., Yao, D.. A review of game theory applications in transportation analysis [C]. Proceedings of the 2010 International Conference on Computer and Information Application, Tianjin, China, 2010.
[49].Lu Lu, Yuelong Su, Tianlong Yun, Danya Yao, Li Li, A comparison of phase transitions produced by PARAMICS, TransModeler and VISSIM [J]. IEEE Intelligent Transportation Systems Magazine, vol. 2, no. 3, pp. 19-24, 2010,（SCi index）。
[50].Yingying Zhang, Chenyao Geng, Danya Yao, Lihui Peng. Real-Time Traffic Object Detection Technique Based on Improved Background Differencing Algorithm[C]. World Conference on Transport Research, 2010 Lisbon.
专利：
[1]姚丹亚、卞正防、张 毅，基于变频调速系统的交通流视频检测标定方法，发明专利，专利号：ZL200610089386.3
[2]姚丹亚、陆 磊、张 毅、丁 芒，基于数字摄像机的闯红灯检测系统及方法，发明专利，专利号：ZL200710121793.2
[3]姚丹亚、丁芒、张煦，更新背景图像的方法和装置，发明专利，专利号号：ZL 2009 1 0082339.X
[4]姚丹亚、张盈盈、彭黎辉、张毅，一种基于分层结构的事件视频检测系统，发明专利，专利号：ZL 2010 1 0179184.4
[5]姚丹亚，彭黎辉，耿晨曜，张盈盈，一种用于实时视频处理的分布式计算系统和方法，发明专利，专利号：ZL2010 1 0125088.1
[6]姚丹亚，陈晓博，李辉，杨宸，石梦凯，一种多模式无线通信车路协同数据交互系统，发明专利，专利号：2012 1 0080266.2
[7]姚丹亚，李博文，蒋凤成，一种车辆实时无滞后定位设备及无滞后位置的计算方法，发明专利，专利号：ZL 2013 1 0324962.8
[8]姚丹亚，蒋凤成，一种GPS速度信息改进车载速度表的方法，发明专利，专利号：ZL 2014 1 0670999.0
[9]姚丹亚、练岚香，一种机动车故障预警和召回预测系统，已授权，专利号:ZL201310656729.X
[10]姚丹亚、魏恒、黄何，基于车载 CAN 总线的动态位移采集系统，专利号: ZL201410109225.0
[11]谢旭东、胡坚明、任勇、张毅、裴欣、姚丹亚、李力，一种双目视觉的车辆里程计算法，专利号:ZL201510609741.4
[12]裴欣、李力、李兴山、张佐、姚丹亚、张毅，一种用于事故分析与安全评价的平衡采样方法，专利号:ZL201510382446.X
[13]胡坚明、裴欣、李骄阳、张毅、姚丹亚，一种可变间隔发车的快速公交车组合调度方法，专利号:ZL201511021248.7
[14]胡坚明、裴欣、张似衡、张毅、谢旭东、李力、姚丹亚，基于交通配流分布差异制定的交通 疏导方法，专利号:ZL201510788521.2
软件著作权：
[1]姚丹亚、蔡豫、陆磊，基于图像处理技术的交通事件检测软件V1.0，登记号：2007SRBJ1398
[2]姚丹亚、苏岳龙、许闻达、程思瀚，混合交通流分析建模和仿真软件V1.0登记号：2008SRBJ3723
[3]姚丹亚、赵世文 、苏岳龙 ，无信号灯控制道路交叉口通行能力分析软件V1.0，登记号：2009SRBJ0080
[4]姚丹亚、苏岳龙、路鹭, 混合交通状态下公交站点机非冲突仿真软件V1.0，登记号：2010SRBJ5686
[5]姚丹亚、苏岳龙、路鹭, 多泊位公交车站停靠车位设计软件V1.0，登记号：2010SRBJ5687
[6]姚丹亚、张煦、耿晨曜、张盈盈、刘帅、彭黎辉，基于混合交通场景的交通事件检测软件平台V1.0，登记号：2012SR010640
