{"id":"https://openalex.org/W3194185973","doi":"https://doi.org/10.1007/s43684-021-00005-z","title":"Model predictive control for autonomous ground vehicles: a review","display_name":"Model predictive control for autonomous ground vehicles: a review","publication_year":2021,"publication_date":"2021-08-17","ids":{"openalex":"https://openalex.org/W3194185973","doi":"https://doi.org/10.1007/s43684-021-00005-z","mag":"3194185973"},"language":"en","primary_location":{"id":"doi:10.1007/s43684-021-00005-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s43684-021-00005-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s43684-021-00005-z.pdf","source":{"id":"https://openalex.org/S4210227358","display_name":"Autonomous Intelligent Systems","issn_l":"2730-616X","issn":["2730-616X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["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":"Autonomous Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://link.springer.com/content/pdf/10.1007/s43684-021-00005-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041805308","display_name":"Shuyou Yu","orcid":"https://orcid.org/0000-0001-9751-3520"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyou Yu","raw_affiliation_strings":["Department of Control Science and Engineering, Jilin University, Changchun, China","State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108137097","display_name":"Matthias Hirche","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Hirche","raw_affiliation_strings":["Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, Stuttgart, 70569, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, Stuttgart, 70569, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003126186","display_name":"Yanjun Huang","orcid":"https://orcid.org/0000-0003-3133-8031"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Huang","raw_affiliation_strings":["College of Electronic and Information Engineering, Tongji University, Shanghai, China","Institute of Intelligent Vehicles, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Institute of Intelligent Vehicles, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074996561","display_name":"Hong Chen","orcid":"https://orcid.org/0000-0002-1724-8649"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Chen","raw_affiliation_strings":["College of Electronic and Information Engineering, Tongji University, Shanghai, China","Institute of Intelligent Vehicles, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Institute of Intelligent Vehicles, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001090900","display_name":"Frank Allg\u00f6wer","orcid":"https://orcid.org/0000-0002-3702-3658"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Allg\u00f6wer","raw_affiliation_strings":["Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, Stuttgart, 70569, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, Stuttgart, 70569, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1854,"has_fulltext":true,"cited_by_count":112,"citation_normalized_percentile":{"value":0.97363564,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"1","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9896000027656555,"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":0.9865000247955322,"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/model-predictive-control","display_name":"Model predictive control","score":0.9066340923309326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6547645330429077},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6304507255554199},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5230092406272888},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4420965909957886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22383984923362732},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17664676904678345}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.9066340923309326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6547645330429077},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6304507255554199},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5230092406272888},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4420965909957886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22383984923362732},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17664676904678345},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s43684-021-00005-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s43684-021-00005-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s43684-021-00005-z.pdf","source":{"id":"https://openalex.org/S4210227358","display_name":"Autonomous Intelligent Systems","issn_l":"2730-616X","issn":["2730-616X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["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":"Autonomous Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s43684-021-00005-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s43684-021-00005-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s43684-021-00005-z.pdf","source":{"id":"https://openalex.org/S4210227358","display_name":"Autonomous Intelligent Systems","issn_l":"2730-616X","issn":["2730-616X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["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":"Autonomous Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1415524644","display_name":null,"funder_award_id":"61790564","funder_id":"https://openalex.org/F4320335577","funder_display_name":"Major Research Plan"},{"id":"https://openalex.org/G3259577528","display_name":null,"funder_award_id":"61790564","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4256850715","display_name":"Verteilte Dissipativit\u00e4t und Graphentheorie f\u00fcr die verteilte \u00f6konomische pr\u00e4diktive Regelung","funder_award_id":"244600449","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G5543094940","display_name":null,"funder_award_id":"EXC 2075 -390740016","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G5643887040","display_name":null,"funder_award_id":"EXC 2075 - 390740016","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G7249683039","display_name":null,"funder_award_id":"EXC 2075","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8784604414","display_name":"EXC 2075: Datenintegrierte Simulationswissenschaft (SimTech)","funder_award_id":"390740016","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335577","display_name":"Major Research Plan","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3194185973.pdf","grobid_xml":"https://content.openalex.org/works/W3194185973.grobid-xml"},"referenced_works_count":179,"referenced_works":["https://openalex.org/W5339935","https://openalex.org/W61442854","https://openalex.org/W597712775","https://openalex.org/W648378158","https://openalex.org/W1534549270","https://openalex.org/W1554313475","https://openalex.org/W1601380202","https://openalex.org/W1631623342","https://openalex.org/W1724370735","https://openalex.org/W1851495196","https://openalex.org/W1898348870","https://openalex.org/W1964749572","https://openalex.org/W1967464662","https://openalex.org/W1971804534","https://openalex.org/W1977495763","https://openalex.org/W1978956894","https://openalex.org/W1981723834","https://openalex.org/W1987108534","https://openalex.org/W1988600994","https://openalex.org/W1991638565","https://openalex.org/W1993171261","https://openalex.org/W1994402784","https://openalex.org/W1995286048","https://openalex.org/W2001963325","https://openalex.org/W2007509686","https://openalex.org/W2013741239","https://openalex.org/W2019191656","https://openalex.org/W2024608581","https://openalex.org/W2034250407","https://openalex.org/W2039836203","https://openalex.org/W2041109651","https://openalex.org/W2041454799","https://openalex.org/W2044197961","https://openalex.org/W2045332133","https://openalex.org/W2052927763","https://openalex.org/W2062915697","https://openalex.org/W2067390368","https://openalex.org/W2068384492","https://openalex.org/W2070305104","https://openalex.org/W2074331168","https://openalex.org/W2077557510","https://openalex.org/W2079254858","https://openalex.org/W2079684373","https://openalex.org/W2084080083","https://openalex.org/W2089470280","https://openalex.org/W2092887546","https://openalex.org/W2098902740","https://openalex.org/W2100096641","https://openalex.org/W2103419342","https://openalex.org/W2103491909","https://openalex.org/W2105169766","https://openalex.org/W2105576913","https://openalex.org/W2105828033","https://openalex.org/W2108196201","https://openalex.org/W2109583010","https://openalex.org/W2112930335","https://openalex.org/W2113446247","https://openalex.org/W2114981118","https://openalex.org/W2116554046","https://openalex.org/W2118612728","https://openalex.org/W2122029992","https://openalex.org/W2132970287","https://openalex.org/W2134781609","https://openalex.org/W2134902411","https://openalex.org/W2136076679","https://openalex.org/W2137505842","https://openalex.org/W2142194165","https://openalex.org/W2144132844","https://openalex.org/W2146098033","https://openalex.org/W2146487916","https://openalex.org/W2146890818","https://openalex.org/W2153501284","https://openalex.org/W2159688649","https://openalex.org/W2160643434","https://openalex.org/W2163057321","https://openalex.org/W2164902667","https://openalex.org/W2169957008","https://openalex.org/W2170973929","https://openalex.org/W2172117433","https://openalex.org/W2241352138","https://openalex.org/W2275787575","https://openalex.org/W2290877012","https://openalex.org/W2300548493","https://openalex.org/W2301927045","https://openalex.org/W2326020541","https://openalex.org/W2327635608","https://openalex.org/W2341848647","https://openalex.org/W2344719069","https://openalex.org/W2467357393","https://openalex.org/W2478654971","https://openalex.org/W2517296809","https://openalex.org/W2540044113","https://openalex.org/W2563378438","https://openalex.org/W2576586002","https://openalex.org/W2597308796","https://openalex.org/W2601921001","https://openalex.org/W2605571852","https://openalex.org/W2735837047","https://openalex.org/W2739024611","https://openalex.org/W2739178256","https://openalex.org/W2740480282","https://openalex.org/W2741222326","https://openalex.org/W2741602213","https://openalex.org/W2744452518","https://openalex.org/W2756498417","https://openalex.org/W2762367378","https://openalex.org/W2766963179","https://openalex.org/W2783530203","https://openalex.org/W2789408681","https://openalex.org/W2789581209","https://openalex.org/W2792491297","https://openalex.org/W2792969186","https://openalex.org/W2810794112","https://openalex.org/W2887969120","https://openalex.org/W2889470209","https://openalex.org/W2889635098","https://openalex.org/W2893413993","https://openalex.org/W2895098594","https://openalex.org/W2897843855","https://openalex.org/W2897909546","https://openalex.org/W2898762338","https://openalex.org/W2903538495","https://openalex.org/W2908972399","https://openalex.org/W2912361519","https://openalex.org/W2916743832","https://openalex.org/W2943066999","https://openalex.org/W2943526710","https://openalex.org/W2945766453","https://openalex.org/W2948016596","https://openalex.org/W2952672134","https://openalex.org/W2952762354","https://openalex.org/W2961585556","https://openalex.org/W2962011790","https://openalex.org/W2965969844","https://openalex.org/W2967875632","https://openalex.org/W2972211909","https://openalex.org/W2972402028","https://openalex.org/W2972601104","https://openalex.org/W2972718233","https://openalex.org/W2972799235","https://openalex.org/W2973045600","https://openalex.org/W2973122232","https://openalex.org/W2975826207","https://openalex.org/W2978951642","https://openalex.org/W2982632025","https://openalex.org/W2988271954","https://openalex.org/W2989394062","https://openalex.org/W2989935719","https://openalex.org/W2990100297","https://openalex.org/W2990318036","https://openalex.org/W2990539760","https://openalex.org/W2991553555","https://openalex.org/W2993206324","https://openalex.org/W3005702516","https://openalex.org/W3012213494","https://openalex.org/W3012358068","https://openalex.org/W3012487433","https://openalex.org/W3013679533","https://openalex.org/W3015947429","https://openalex.org/W3022774239","https://openalex.org/W3026308822","https://openalex.org/W3032008066","https://openalex.org/W3038664116","https://openalex.org/W3044225827","https://openalex.org/W3080165964","https://openalex.org/W3088035741","https://openalex.org/W3098567417","https://openalex.org/W3099523636","https://openalex.org/W3100603203","https://openalex.org/W3102306960","https://openalex.org/W3105200428","https://openalex.org/W3105918387","https://openalex.org/W3107164117","https://openalex.org/W3110494047","https://openalex.org/W3114622139","https://openalex.org/W3119886350","https://openalex.org/W3143489167","https://openalex.org/W3147444167","https://openalex.org/W4254197906"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W4391913857","https://openalex.org/W2556120871","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Abstract":[0],"This":[1,117],"paper":[2,153],"reviews":[3,142],"model":[4],"predictive":[5],"control":[6,29,40,96,121],"(MPC)":[7],"and":[8,15,56,70,106,111,134,148,157],"its":[9],"wide":[10],"applications":[11,144],"to":[12,37,53,78,82],"both":[13,146],"single":[14,147],"multiple":[16,149],"autonomous":[17],"ground":[18],"vehicles":[19],"(AGVs).":[20],"On":[21,46],"one":[22],"hand,":[23,49],"MPC":[24,69,80,136,143,167],"is":[25,76,137],"a":[26,124],"well-established":[27],"optimal":[28],"method,":[30],"which":[31,93,161],"uses":[32],"the":[33,39,47,66,71,128,152,164],"predicted":[34],"future":[35,158],"information":[36],"optimize":[38],"actions":[41],"while":[42],"explicitly":[43],"considering":[44,90],"constraints.":[45],"other":[48,110],"AGVs":[50,84,103],"are":[51,85],"able":[52],"make":[54],"forecasts":[55],"adapt":[57],"their":[58,113],"decisions":[59],"in":[60,172],"uncertain":[61],"environments.":[62],"Therefore,":[63],"because":[64],"of":[65,68,73,102,132,166],"nature":[67],"requirements":[72],"AGVs,":[74],"it":[75,140],"intuitive":[77],"apply":[79],"algorithms":[81],"AGVs.":[83,150,173],"interesting":[86],"not":[87],"only":[88],"for":[89,119,145],"them":[91],"alone,":[92],"requires":[94],"centralized":[95,133],"approaches,":[97],"but":[98],"also":[99],"as":[100],"groups":[101],"that":[104],"interact":[105],"communicate":[107],"with":[108,169],"each":[109],"have":[112],"own":[114],"controller":[115],"onboard.":[116],"calls":[118],"distributed":[120,135],"solutions.":[122],"First,":[123],"short":[125],"introduction":[126],"into":[127],"basic":[129],"theoretical":[130],"background":[131],"given.":[138],"Then,":[139],"comprehensively":[141],"Finally,":[151],"highlights":[154],"existing":[155],"issues":[156],"research":[159],"directions,":[160],"will":[162],"promote":[163],"development":[165],"schemes":[168],"high":[170],"performance":[171]},"counts_by_year":[{"year":2026,"cited_by_count":19},{"year":2025,"cited_by_count":36},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":10}],"updated_date":"2026-07-26T07:53:14.480251","created_date":"2025-10-10T00:00:00"}
