{"id":"https://openalex.org/W4308080369","doi":"https://doi.org/10.1109/itsc55140.2022.9921774","title":"Optimal 4WIS-4WID Vehicle Motion Control in Trajectory Deviation Occasions over Handling Limits","display_name":"Optimal 4WIS-4WID Vehicle Motion Control in Trajectory Deviation Occasions over Handling Limits","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080369","doi":"https://doi.org/10.1109/itsc55140.2022.9921774"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921774","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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/A5101741086","display_name":"Runfeng Li","orcid":"https://orcid.org/0000-0002-1559-0539"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Runfeng Li","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Automotive Safety and Energy,China","State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Automotive Safety and Energy,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103099397","display_name":"Yiwen Sun","orcid":"https://orcid.org/0000-0003-1014-4545"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwen Sun","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Automotive Safety and Energy,China","State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Automotive Safety and Energy,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081707691","display_name":"Ziwang Lu","orcid":"https://orcid.org/0000-0003-4843-1806"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziwang Lu","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Automotive Safety and Energy,China","State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Automotive Safety and Energy,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067598839","display_name":"Guangyu Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyu Tian","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Automotive Safety and Energy,China","State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Automotive Safety and Energy,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101741086"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.2979,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.81974667,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3182","last_page":"3187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9993000030517578,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9830999970436096,"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/T12810","display_name":"Real-time simulation and control systems","score":0.957099974155426,"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":0.7540578246116638},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7364218831062317},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.61844402551651},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5575152635574341},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5521527528762817},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5307922959327698},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5125767588615417},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47613218426704407},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4601038694381714},{"id":"https://openalex.org/keywords/projectile","display_name":"Projectile","score":0.43257713317871094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27992862462997437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25021278858184814},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20939311385154724},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.15312400460243225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13261336088180542},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1271337866783142},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09253346920013428}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7540578246116638},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7364218831062317},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.61844402551651},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5575152635574341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5521527528762817},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5307922959327698},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5125767588615417},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47613218426704407},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4601038694381714},{"id":"https://openalex.org/C49304495","wikidata":"https://www.wikidata.org/wiki/Q49393","display_name":"Projectile","level":2,"score":0.43257713317871094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27992862462997437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25021278858184814},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20939311385154724},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.15312400460243225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13261336088180542},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1271337866783142},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09253346920013428},{"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},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921774","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2537484338","display_name":null,"funder_award_id":"51775291","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3134466133","https://openalex.org/W2362460327","https://openalex.org/W4401424305","https://openalex.org/W2943984654","https://openalex.org/W2883642900","https://openalex.org/W2330459747","https://openalex.org/W2074764239","https://openalex.org/W3190406700","https://openalex.org/W2003479292","https://openalex.org/W3135469233"],"abstract_inverted_index":{"Trajectory":[0],"deviation":[1,36,77],"occasions":[2,37,78],"over":[3,38],"handling":[4,39],"limits":[5,40],"are":[6,55,85],"very":[7],"dangerous":[8],"because":[9],"the":[10,22,59,75,90,100,108,113,115,122,130,143],"vehicle":[11,30,48,60],"is":[12,66,92,118,135],"prone":[13],"to":[14,21,57],"stability":[15],"loss":[16],"or":[17],"secondary":[18],"collision":[19],"owing":[20],"large":[23],"deviation.":[24],"This":[25],"article":[26],"developed":[27,101],"an":[28],"optimal":[29,82,102],"motion":[31,64],"control":[32,83,103,127],"algorithm":[33],"in":[34,112,132],"trajectory":[35,76],"for":[41],"4WIS-4WID":[42,133,146],"vehicles.":[43,147],"A":[44,62],"double":[45],"track":[46],"7DOF":[47],"model":[49,65],"and":[50,81,139],"Magic":[51],"Formula":[52],"tire":[53],"models":[54],"utilized":[56],"describe":[58],"dynamics.":[61],"quasi-projectile":[63],"established":[67],"considering":[68],"Pontryagin":[69],"minimum":[70],"principle,":[71],"based":[72],"on":[73],"which":[74],"recognition":[79],"strategy":[80,84,104],"developed.":[86],"The":[87,126],"effectiveness":[88],"of":[89,129,145],"controller":[91,131],"verified":[93],"through":[94],"Matlab/Simulink.":[95],"Simulation":[96],"results":[97],"show":[98],"that":[99],"can":[105],"effectively":[106],"decrease":[107],"maximum":[109],"lateral":[110],"error,":[111],"meanwhile":[114],"computational":[116],"complexity":[117],"much":[119],"lower":[120],"than":[121,137],"numerical":[123],"nonlinear":[124],"optimization.":[125],"performance":[128],"vehicles":[134],"better":[136],"4WD":[138],"2WS":[140],"vehicles,":[141],"proving":[142],"superiority":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-01-08T20:05:33.558190","created_date":"2025-10-10T00:00:00"}