{"id":"https://openalex.org/W4298395605","doi":"https://doi.org/10.1007/s10489-022-04148-1","title":"Sim-to-real transfer and reality gap modeling in model predictive control for autonomous driving","display_name":"Sim-to-real transfer and reality gap modeling in model predictive control for autonomous driving","publication_year":2022,"publication_date":"2022-10-01","ids":{"openalex":"https://openalex.org/W4298395605","doi":"https://doi.org/10.1007/s10489-022-04148-1"},"language":"en","primary_location":{"id":"doi:10.1007/s10489-022-04148-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10489-022-04148-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10489-022-04148-1.pdf","source":{"id":"https://openalex.org/S74726891","display_name":"Applied Intelligence","issn_l":"0924-669X","issn":["0924-669X","1573-7497"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10489-022-04148-1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051151484","display_name":"Iv\u00e1n Garc\u00eda Daza","orcid":"https://orcid.org/0000-0001-8940-6434"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Iv\u00e1n Garc\u00eda Daza","raw_affiliation_strings":["Computer Engineering Department, University of Alcal\u00e1, Alcal\u00e1 de Henares, 28805, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Computer Engineering Department, University of Alcal\u00e1, Alcal\u00e1 de Henares, 28805, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089861281","display_name":"Rub\u00e9n Izquierdo","orcid":"https://orcid.org/0000-0002-6722-3036"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Rub\u00e9n Izquierdo","raw_affiliation_strings":["Computer Engineering Department, University of Alcal\u00e1, Alcal\u00e1 de Henares, 28805, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Computer Engineering Department, University of Alcal\u00e1, Alcal\u00e1 de Henares, 28805, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053009982","display_name":"Luis Mart\u00ednez","orcid":"https://orcid.org/0000-0001-8648-7857"},"institutions":[{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Miguel Mart\u00ednez","raw_affiliation_strings":["Computer Engineering Department, University of Alcal\u00e1, Alcal\u00e1 de Henares, 28805, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Computer Engineering Department, University of Alcal\u00e1, Alcal\u00e1 de Henares, 28805, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002308362","display_name":"Ola Benderius","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ola Benderius","raw_affiliation_strings":["Department of Mechanics and Maritime Sciences, Chalmers University of Technology, Gothenburg, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Mechanics and Maritime Sciences, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016004555","display_name":"David Fern\u00e1ndez Llorca","orcid":"https://orcid.org/0000-0003-2433-7110"},"institutions":[{"id":"https://openalex.org/I4210166174","display_name":"Joint Research Center","ror":"https://ror.org/05a4nj078","country_code":"ES","type":"government","lineage":["https://openalex.org/I1320481043","https://openalex.org/I2800387288","https://openalex.org/I4210161702","https://openalex.org/I4210166174"]},{"id":"https://openalex.org/I189268942","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78","country_code":"ES","type":"education","lineage":["https://openalex.org/I189268942"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"David Fern\u00e1ndez Llorca","raw_affiliation_strings":["Computer Engineering Department, University of Alcal\u00e1, Alcal\u00e1 de Henares, 28805, Madrid, Spain","Joint Research Center, European Commission, Seville, 41092, Andalucia, Spain"],"affiliations":[{"raw_affiliation_string":"Computer Engineering Department, University of Alcal\u00e1, Alcal\u00e1 de Henares, 28805, Madrid, Spain","institution_ids":["https://openalex.org/I189268942"]},{"raw_affiliation_string":"Joint Research Center, European Commission, Seville, 41092, Andalucia, Spain","institution_ids":["https://openalex.org/I4210166174"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051151484"],"corresponding_institution_ids":["https://openalex.org/I189268942"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":2.0335,"has_fulltext":true,"cited_by_count":29,"citation_normalized_percentile":{"value":0.86179228,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"53","issue":"10","first_page":"12719","last_page":"12735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8307070732116699},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5157182812690735},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.5089023113250732},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4882993698120117},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48065149784088135},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4641408324241638},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4557669758796692},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44912269711494446},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.435558021068573},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.41748252511024475},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3862128257751465},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3096828758716583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1028461754322052}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8307070732116699},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5157182812690735},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.5089023113250732},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4882993698120117},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48065149784088135},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4641408324241638},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4557669758796692},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44912269711494446},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.435558021068573},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.41748252511024475},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3862128257751465},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3096828758716583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1028461754322052},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10489-022-04148-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10489-022-04148-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10489-022-04148-1.pdf","source":{"id":"https://openalex.org/S74726891","display_name":"Applied Intelligence","issn_l":"0924-669X","issn":["0924-669X","1573-7497"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Intelligence","raw_type":"journal-article"},{"id":"pmh:oai:research.chalmers.se:532512","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/542526ef-ae97-4482-b3ed-c5d2598c40b1","pdf_url":"https://research.chalmers.se/publication/532512/file/532512_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"doi:10.1007/s10489-022-04148-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10489-022-04148-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10489-022-04148-1.pdf","source":{"id":"https://openalex.org/S74726891","display_name":"Applied Intelligence","issn_l":"0924-669X","issn":["0924-669X","1573-7497"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323755","display_name":"Universidad de Alcal\u00e1","ror":"https://ror.org/04pmn0e78"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4298395605.pdf","grobid_xml":"https://content.openalex.org/works/W4298395605.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W1996082609","https://openalex.org/W2151765012","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2615547864","https://openalex.org/W2761438413","https://openalex.org/W2762521050","https://openalex.org/W2793066675","https://openalex.org/W2887852696","https://openalex.org/W2921180939","https://openalex.org/W3002275227","https://openalex.org/W3088310808","https://openalex.org/W3111489085","https://openalex.org/W3120734124","https://openalex.org/W3120778962","https://openalex.org/W3130451601","https://openalex.org/W3131852626","https://openalex.org/W3212580602"],"related_works":["https://openalex.org/W4231704780","https://openalex.org/W2083794993","https://openalex.org/W352609212","https://openalex.org/W4200340037","https://openalex.org/W1511772879","https://openalex.org/W4379115841","https://openalex.org/W608917066","https://openalex.org/W4283652261","https://openalex.org/W585424826","https://openalex.org/W564602992"],"abstract_inverted_index":{"Abstract":[0],"The":[1,159,242,266],"main":[2],"challenge":[3],"for":[4,155,206],"the":[5,19,33,47,61,91,98,105,129,152,165,178,181,185,190,225,229,245,248,255,261,305],"adoption":[6],"of":[7,16,23,35,41,49,57,63,100,104,126,132,167,180,201,274,307],"autonomous":[8,27,36,108,207],"driving":[9,37],"is":[10,39,86,111,118,122,161],"to":[11,31,150,162,176,302],"ensure":[12],"an":[13,123,293],"adequate":[14],"level":[15],"safety.":[17],"Considering":[18],"almost":[20],"infinite":[21],"variability":[22],"possible":[24],"scenarios":[25],"that":[26,84],"vehicles":[28],"would":[29],"have":[30],"face,":[32],"use":[34,99],"simulators":[38,101],"becoming":[40],"utmost":[42],"importance.":[43],"Simulation":[44],"suites":[45],"allow":[46],"used":[48,113],"automated":[50],"validation":[51,65],"techniques":[52],"in":[53,83,135,141,184,238,282],"a":[54,80,87,147,198,272],"wide":[55],"variety":[56],"scenarios,":[58],"and":[59,71,94,110,172,175,222,232,247,260,277,284],"enable":[60],"development":[62,202],"closed-loop":[64],"methods,":[66],"such":[67],"as":[68],"machine":[69],"learning":[70,73],"reinforcement":[72],"approaches.":[74],"However,":[75],"simulation":[76,92,170,182,283],"tools":[77],"suffer":[78],"from":[79,193],"standing":[81],"flaw":[82],"there":[85,121],"noticeable":[88],"gap":[89,154,194],"between":[90,169,244],"conditions":[93],"real-world":[95,173],"scenarios.":[96],"Although":[97],"powers":[102],"most":[103],"research":[106],"around":[107],"driving,":[109],"generally":[112],"within":[114],"all":[115],"domains":[116],"it":[117],"divided":[119],"into,":[120],"inherent":[124],"source":[125],"error":[127,168,243],"given":[128],"stochastic":[130],"nature":[131],"activities":[133],"performed":[134,291],"real":[136,239,249,285],"world,":[137],"which":[138,196],"are":[139],"unreplicable":[140],"computer":[142],"environments.":[143],"This":[144],"paper":[145],"proposes":[146],"new":[148,199],"approach":[149],"assess":[151],"real-to-sim":[153],"path":[156,230],"tracking":[157],"systems.":[158],"aim":[160],"narrow":[163],"down":[164],"sources":[166],"results":[171],"conditions,":[174],"evaluate":[177],"performance":[179],"suite":[183],"design":[186],"process":[187,273],"by":[188],"employing":[189],"information":[191],"extracted":[192],"analysis,":[195],"adds":[197],"dimension":[200],"against":[203,292],"other":[204],"approaches":[205],"driving.":[208],"A":[209,288],"real-time":[210],"model":[211,296],"predictive":[212,297],"controller":[213,267,298],"(MPC)":[214],"based":[215],"on":[216,271],"adaptive":[217],"potential":[218],"fields":[219],"was":[220,252,268,278,290,299],"developed":[221],"validated":[223],"using":[224,254],"CARLA":[226],"simulator.":[227],"Both":[228],"planning":[231],"vehicle":[233],"control":[234],"systems":[235],"where":[236],"tested":[237,280],"traffic":[240,286],"conditions.":[241,287],"simulator":[246],"data":[250],"acquisition":[251],"evaluated":[253,270],"Pearson":[256],"correlation":[257],"coefficient":[258],"(PCC)":[259],"max":[262],"normalized":[263],"cross-correlation":[264],"(MNCC).":[265],"further":[269,303],"sim-to-real":[275],"transfer,":[276],"finally":[279],"both":[281],"comparison":[289],"optimal-control":[294],"ILQR-based":[295],"carried":[300],"out":[301],"showcase":[304],"validity":[306],"this":[308],"approach.":[309]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}