{"id":"https://openalex.org/W3002220310","doi":"https://doi.org/10.1109/iccve45908.2019.8965231","title":"A Path Tracking Approach for Autonomous Driving on Slippery Surfaces","display_name":"A Path Tracking Approach for Autonomous Driving on Slippery Surfaces","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3002220310","doi":"https://doi.org/10.1109/iccve45908.2019.8965231","mag":"3002220310"},"language":"en","primary_location":{"id":"doi:10.1109/iccve45908.2019.8965231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccve45908.2019.8965231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016427770","display_name":"Enrico Regolin","orcid":"https://orcid.org/0000-0002-1895-2363"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Regolin","raw_affiliation_strings":["University of Pavia,Dipartimento di Ingegneria Industriale e dell'Informazione,Pavia,Italy,27100","University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pavia,Dipartimento di Ingegneria Industriale e dell'Informazione,Pavia,Italy,27100","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085986804","display_name":"Massimo Zambelli","orcid":"https://orcid.org/0000-0002-4712-7530"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Zambelli","raw_affiliation_strings":["University of Pavia,Dipartimento di Ingegneria Industriale e dell'Informazione,Pavia,Italy,27100","University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pavia,Dipartimento di Ingegneria Industriale e dell'Informazione,Pavia,Italy,27100","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059383543","display_name":"M Vanzulli","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Vanzulli","raw_affiliation_strings":["University of Pavia,Dipartimento di Ingegneria Industriale e dell'Informazione,Pavia,Italy,27100","University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pavia,Dipartimento di Ingegneria Industriale e dell'Informazione,Pavia,Italy,27100","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073649425","display_name":"Antonella Ferrara","orcid":"https://orcid.org/0000-0002-1977-8248"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonella Ferrara","raw_affiliation_strings":["University of Pavia,Dipartimento di Ingegneria Industriale e dell'Informazione,Pavia,Italy,27100","University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pavia,Dipartimento di Ingegneria Industriale e dell'Informazione,Pavia,Italy,27100","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1276,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54589958,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7630467414855957},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7280746102333069},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5694860816001892},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5683751106262207},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5428065061569214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4832787811756134},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43994566798210144},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4377371072769165},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43172526359558105},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.42571762204170227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2696695923805237},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23911988735198975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1238558292388916},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11301106214523315},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11203983426094055},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.09677290916442871}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7630467414855957},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7280746102333069},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5694860816001892},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5683751106262207},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5428065061569214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4832787811756134},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43994566798210144},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4377371072769165},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43172526359558105},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.42571762204170227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2696695923805237},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23911988735198975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1238558292388916},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11301106214523315},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11203983426094055},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.09677290916442871},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccve45908.2019.8965231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccve45908.2019.8965231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1577238357","https://openalex.org/W1960613717","https://openalex.org/W1981622069","https://openalex.org/W2019954549","https://openalex.org/W2145175815","https://openalex.org/W2343568200","https://openalex.org/W2346595613","https://openalex.org/W2513395028","https://openalex.org/W2735025962","https://openalex.org/W2754582583","https://openalex.org/W2754611171","https://openalex.org/W2765979093","https://openalex.org/W2793753444","https://openalex.org/W2794309357","https://openalex.org/W2883304611","https://openalex.org/W2920854611","https://openalex.org/W2956736795","https://openalex.org/W3105834261","https://openalex.org/W3137529443","https://openalex.org/W4206713226","https://openalex.org/W4229667009","https://openalex.org/W6765719742"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611","https://openalex.org/W2145006118"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3,16,58,123,139],"linear":[4,62],"Model":[5],"Predictive":[6],"Control":[7],"(MPC)":[8],"based":[9,71],"controller":[10,93],"for":[11,25,96,131],"the":[12,26,33,47,50,65,73,77,100,109,114,119,132,152],"path":[13,34,51],"tracking":[14,35],"of":[15,32,49,76,146],"given":[17],"trajectory":[18],"is":[19,36,94,103,129,136],"proposed,":[20],"which":[21,81],"generates":[22],"suitable":[23,59],"references":[24],"dynamical":[27],"vehicle":[28,125],"states.":[29],"The":[30,44,134],"goal":[31],"to":[37,56,107,113],"achieve":[38],"good":[39],"performance":[40,135],"on":[41,64,72,138],"slippery":[42],"conditions.":[43],"equations":[45],"describing":[46],"evolution":[48],"are":[52,69],"linearized":[53,120],"in":[54,105],"order":[55,106],"obtain":[57],"model,":[60],"and":[61,149],"constraints":[63],"produced":[66],"reference":[67,97],"states":[68,80],"applied":[70],"prior":[74],"knowledge":[75],"reachable":[78],"equilibrium":[79],"characterize":[82],"steady-state":[83],"cornering.":[84],"A":[85],"previously":[86],"proposed":[87],"low-level":[88],"LQR-ISM":[89],"(Integral":[90],"Sliding":[91],"Mode)":[92],"exploited":[95],"tracking,":[98],"where":[99],"ISM":[101],"component":[102],"required":[104],"enhance":[108],"robustness":[110],"with":[111],"respect":[112],"several":[115],"approximations":[116],"introduced":[117],"by":[118,144],"models.":[121],"IPG-CarMaker,":[122],"high-fidelity":[124],"dynamics":[126],"simulation":[127],"software,":[128],"used":[130],"validation.":[133],"verified":[137],"wet":[140],"asphalt":[141],"track":[142],"characterized":[143],"segments":[145],"different":[147],"curvature,":[148],"compared":[150],"against":[151],"CarMaker":[153],"driver.":[154]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
