{"id":"https://openalex.org/W4408696825","doi":"https://doi.org/10.1109/itsc58415.2024.10920186","title":"Model Predictive Control for Autonomous Driving: Comparing Kinematic and Dynamic Models of Tractor-Trailer Systems","display_name":"Model Predictive Control for Autonomous Driving: Comparing Kinematic and Dynamic Models of Tractor-Trailer Systems","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408696825","doi":"https://doi.org/10.1109/itsc58415.2024.10920186"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10920186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10920186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th 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/A5116732450","display_name":"Gustav Vallinder","orcid":null},"institutions":[{"id":"https://openalex.org/I1294350288","display_name":"Scania (Sweden)","ror":"https://ror.org/03g4sde39","country_code":"SE","type":"company","lineage":["https://openalex.org/I1294350288"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Gustav Vallinder","raw_affiliation_strings":["Scania CV AB,S&#x00F6;dert&#x00E4;lje,Sweden,SE-15132"],"affiliations":[{"raw_affiliation_string":"Scania CV AB,S&#x00F6;dert&#x00E4;lje,Sweden,SE-15132","institution_ids":["https://openalex.org/I1294350288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020507591","display_name":"Jonas M\u00e5rtensson","orcid":"https://orcid.org/0000-0002-3672-5316"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jonas M\u00e5rtensson","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101548791","display_name":"Pedro F. Lima","orcid":"https://orcid.org/0000-0002-6802-7520"},"institutions":[{"id":"https://openalex.org/I1294350288","display_name":"Scania (Sweden)","ror":"https://ror.org/03g4sde39","country_code":"SE","type":"company","lineage":["https://openalex.org/I1294350288"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Pedro F. Lima","raw_affiliation_strings":["Scania CV AB,S&#x00F6;dert&#x00E4;lje,Sweden,SE-15132"],"affiliations":[{"raw_affiliation_string":"Scania CV AB,S&#x00F6;dert&#x00E4;lje,Sweden,SE-15132","institution_ids":["https://openalex.org/I1294350288"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089241991","display_name":"Sriharsha Bhat","orcid":"https://orcid.org/0000-0002-5839-5573"},"institutions":[{"id":"https://openalex.org/I1294350288","display_name":"Scania (Sweden)","ror":"https://ror.org/03g4sde39","country_code":"SE","type":"company","lineage":["https://openalex.org/I1294350288"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sriharsha Bhat","raw_affiliation_strings":["Scania CV AB,S&#x00F6;dert&#x00E4;lje,Sweden,SE-15132"],"affiliations":[{"raw_affiliation_string":"Scania CV AB,S&#x00F6;dert&#x00E4;lje,Sweden,SE-15132","institution_ids":["https://openalex.org/I1294350288"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5116732450"],"corresponding_institution_ids":["https://openalex.org/I1294350288"],"apc_list":null,"apc_paid":null,"fwci":1.0135,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7868567,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3154","last_page":"3159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9513000249862671,"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":0.9513000249862671,"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":0.9397000074386597,"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/kinematics","display_name":"Kinematics","score":0.8093822002410889},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.803369402885437},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.7105294466018677},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6295937895774841},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.536358654499054},{"id":"https://openalex.org/keywords/real-time-kinematic","display_name":"Real Time Kinematic","score":0.48064959049224854},{"id":"https://openalex.org/keywords/articulated-vehicle","display_name":"Articulated vehicle","score":0.4779248833656311},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46191051602363586},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44160693883895874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4266960024833679},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.41015443205833435},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.346951961517334},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2679564952850342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1305265724658966},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.07247850298881531},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06941050291061401}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8093822002410889},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.803369402885437},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.7105294466018677},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6295937895774841},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.536358654499054},{"id":"https://openalex.org/C93103318","wikidata":"https://www.wikidata.org/wiki/Q980965","display_name":"Real Time Kinematic","level":4,"score":0.48064959049224854},{"id":"https://openalex.org/C56691938","wikidata":"https://www.wikidata.org/wiki/Q1411533","display_name":"Articulated vehicle","level":3,"score":0.4779248833656311},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46191051602363586},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44160693883895874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4266960024833679},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.41015443205833435},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.346951961517334},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2679564952850342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1305265724658966},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.07247850298881531},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06941050291061401},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc58415.2024.10920186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10920186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1562460111","https://openalex.org/W1576408494","https://openalex.org/W1592601589","https://openalex.org/W2115955659","https://openalex.org/W2970668611","https://openalex.org/W2981547524","https://openalex.org/W3045618520","https://openalex.org/W3155794842","https://openalex.org/W3207305612","https://openalex.org/W4285071855","https://openalex.org/W4286285658"],"related_works":["https://openalex.org/W85000515","https://openalex.org/W652468396","https://openalex.org/W58835972","https://openalex.org/W2246352041","https://openalex.org/W758062354","https://openalex.org/W3000199577","https://openalex.org/W4251749649","https://openalex.org/W1576941914","https://openalex.org/W3169150583","https://openalex.org/W3175006268"],"abstract_inverted_index":{"Investigations":[0],"of":[1,6,68,83,93,103],"kinematic":[2,26,43,105],"and":[3,24,27,44,53,62,106],"dynamic":[4,28,46,70,95,107],"models":[5,30,108],"tractor-trailer":[7,29],"systems":[8],"have":[9],"historically":[10],"been":[11],"performed":[12],"for":[13,31],"stability":[14],"analysis":[15],"or":[16],"state":[17],"estimation.":[18],"In":[19,97],"this":[20],"work,":[21],"we":[22],"present":[23],"evaluate":[25],"model":[32,47,71],"predictive":[33],"control":[34,73],"(MPC).":[35],"We":[36],"show":[37],"in":[38,72,109],"open-loop":[39],"simulations":[40],"that":[41],"a":[42,45,110],"are":[48,79],"equivalent":[49],"at":[50],"low":[51,90],"speeds":[52],"short":[54],"discretization":[55,76,84],"time":[56,77],"steps.":[57],"A":[58,81],"zero":[59],"speed":[60,91],"singularity":[61],"stiff":[63],"dynamics":[64],"prevents":[65],"the":[66,69,89,94,100,104],"usage":[67],"design,":[74],"where":[75],"steps":[78],"longer.":[80],"method":[82],"is":[85,113],"proposed":[86],"to":[87],"resolve":[88],"feasibility":[92],"model.":[96],"closed-loop":[98],"simulations,":[99],"real-time":[101],"applicability":[102],"nonlinear":[111],"MPC":[112],"verified.":[114]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
