{"id":"https://openalex.org/W4387935015","doi":"https://doi.org/10.1109/access.2023.3325326","title":"A Longitudinal/Lateral Coupled Neural Network Model Predictive Controller for Path Tracking of Self-Driving Vehicle","display_name":"A Longitudinal/Lateral Coupled Neural Network Model Predictive Controller for Path Tracking of Self-Driving Vehicle","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4387935015","doi":"https://doi.org/10.1109/access.2023.3325326"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3325326","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3325326","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10295962.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10295962.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017818321","display_name":"Sibing Yang","orcid":"https://orcid.org/0009-0005-3275-8101"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sibing Yang","raw_affiliation_strings":["Beijing Key Laboratory of Powertrain for New Energy Vehicle, School of Mechanical, Electronic, and Control Engineering, Beijing Jiaotong University, Beijing, China","School of Mechanical, Electronic, and Control Engineering, Beijing Key Laboratory of Powertrain for New Energy Vehicle, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0005-3275-8101","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Powertrain for New Energy Vehicle, School of Mechanical, Electronic, and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]},{"raw_affiliation_string":"School of Mechanical, Electronic, and Control Engineering, Beijing Key Laboratory of Powertrain for New Energy Vehicle, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101638210","display_name":"Cong Geng","orcid":"https://orcid.org/0000-0003-1017-367X"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong Geng","raw_affiliation_strings":["Beijing Key Laboratory of Powertrain for New Energy Vehicle, School of Mechanical, Electronic, and Control Engineering, Beijing Jiaotong University, Beijing, China","School of Mechanical, Electronic, and Control Engineering, Beijing Key Laboratory of Powertrain for New Energy Vehicle, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1017-367X","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Powertrain for New Energy Vehicle, School of Mechanical, Electronic, and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]},{"raw_affiliation_string":"School of Mechanical, Electronic, and Control Engineering, Beijing Key Laboratory of Powertrain for New Energy Vehicle, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017818321"],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.0747,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.76437661,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"117121","last_page":"117136"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9944999814033508,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9944999814033508,"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/T12095","display_name":"Vehicle emissions and performance","score":0.991100013256073,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9807000160217285,"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/control-theory","display_name":"Control theory (sociology)","score":0.7806830406188965},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7248137593269348},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.6849631071090698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.682098925113678},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5613911747932434},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5437248349189758},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41080474853515625},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2257538139820099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22224465012550354}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7806830406188965},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7248137593269348},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.6849631071090698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.682098925113678},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5613911747932434},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5437248349189758},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41080474853515625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2257538139820099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22224465012550354},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3325326","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3325326","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10295962.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ac918cc864bf488bbc3c5c57446431d5","is_oa":true,"landing_page_url":"https://doaj.org/article/ac918cc864bf488bbc3c5c57446431d5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 117121-117136 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3325326","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3325326","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10295962.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G720194796","display_name":null,"funder_award_id":"2017YFB103701","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387935015.pdf","grobid_xml":"https://content.openalex.org/works/W4387935015.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1514682902","https://openalex.org/W1577754176","https://openalex.org/W1955413402","https://openalex.org/W2054649160","https://openalex.org/W2058059714","https://openalex.org/W2112930335","https://openalex.org/W2282033015","https://openalex.org/W2750277188","https://openalex.org/W2759941489","https://openalex.org/W2901959574","https://openalex.org/W2923554444","https://openalex.org/W2941223119","https://openalex.org/W2952762354","https://openalex.org/W2963195425","https://openalex.org/W2974459665","https://openalex.org/W2978802601","https://openalex.org/W2980673794","https://openalex.org/W2989394062","https://openalex.org/W3006746595","https://openalex.org/W3012213494","https://openalex.org/W3015947429","https://openalex.org/W3026308822","https://openalex.org/W3044225827","https://openalex.org/W3080180764","https://openalex.org/W3081870136","https://openalex.org/W3090809839","https://openalex.org/W3097634115","https://openalex.org/W3102306960","https://openalex.org/W3112384063","https://openalex.org/W3137361670","https://openalex.org/W3185823006","https://openalex.org/W3201443213","https://openalex.org/W3209904857","https://openalex.org/W3215579648","https://openalex.org/W4205550208","https://openalex.org/W4225266563","https://openalex.org/W4311174866","https://openalex.org/W4311415901","https://openalex.org/W4380995717"],"related_works":["https://openalex.org/W4225394202","https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W3032952384","https://openalex.org/W3034302643","https://openalex.org/W1990079087","https://openalex.org/W1847088711","https://openalex.org/W3036642985","https://openalex.org/W2964335273","https://openalex.org/W1889624880"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"the":[3,13,38,49,53,63,72,87,113,138,142,146,152,180,191,197,208,212],"model":[4,56,75,115,148],"predictive":[5],"control(MPC)":[6],"algorithm":[7,133,164],"has":[8],"been":[9],"increasingly":[10],"applied":[11],"to":[12,20,23,91,103,136],"path":[14],"tracking":[15],"of":[16,32,52,89,112,145,196,207],"self-driving":[17],"vehicles":[18,43],"due":[19],"its":[21],"capacity":[22],"deal":[24],"with":[25,76,158,171],"dynamic":[26,39],"constraints":[27],"explicitly.":[28],"The":[29,108,130,162,187],"control":[30,64,99,127,163,192],"performance":[31],"MPC":[33,90,173,202,209],"is":[34,128,134,149,169],"highly":[35],"dependent":[36],"on":[37,123,151,179,211],"model.":[40],"However,":[41],"as":[42],"are":[44,203],"strongly":[45],"coupled":[46,126,199],"nonlinear":[47],"systems,":[48],"prediction":[50,85,94,143],"accuracy":[51,144,193],"classical":[54,73,172],"mechanism":[55,74,160,213],"decreases":[57],"greatly":[58],"at":[59,216],"high-speed":[60],"conditions,":[61],"and":[62,100,110,118,121,156,176,194],"error":[65],"also":[66],"increases.":[67],"This":[68],"paper":[69,168],"proposes":[70],"replacing":[71],"a":[77],"recurrent":[78],"neural":[79,200],"network(RNN)":[80],"for":[81],"vehicle":[82,154],"dynamical":[83],"state":[84,101,106],"under":[86],"framework":[88],"realize":[92],"higher":[93,204],"accuracy.":[95],"RNN":[96,114,147],"uses":[97],"historical":[98],"variables":[102],"predict":[104],"future":[105],"variables.":[107],"input":[109],"output":[111],"include":[116],"longitudinal":[117],"lateral":[119],"variables,":[120],"based":[122,210],"this,":[124],"longitudinal/lateral":[125,198],"realized.":[129],"differential":[131],"evolution":[132],"proposed":[135,165],"solve":[137],"optimization":[139],"problem.":[140],"Finally,":[141],"verified":[150],"real":[153],"dataset":[155],"compared":[157,170],"linear/nonlinear":[159],"models.":[161],"in":[166],"this":[167],"against":[174],"low":[175],"high":[177,217],"speeds":[178],"ADAMS/":[181],"Python/":[182],"Simulink":[183],"joint":[184],"simulation":[185],"platform.":[186],"results":[188],"show":[189],"that":[190,206],"stability":[195],"network":[201],"than":[205],"model,":[214],"especially":[215],"speed.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}