{"id":"https://openalex.org/W4286285658","doi":"https://doi.org/10.1109/iv51971.2022.9827350","title":"Conception and Experimental Validation of a Model Predictive Control (MPC) for Lateral Control of a Truck-Trailer","display_name":"Conception and Experimental Validation of a Model Predictive Control (MPC) for Lateral Control of a Truck-Trailer","publication_year":2022,"publication_date":"2022-06-05","ids":{"openalex":"https://openalex.org/W4286285658","doi":"https://doi.org/10.1109/iv51971.2022.9827350"},"language":"en","primary_location":{"id":"doi:10.1109/iv51971.2022.9827350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827350","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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 Intelligent Vehicles Symposium (IV)","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/A5070718510","display_name":"Mohit Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mohit Kumar","raw_affiliation_strings":["Mobile Perception System, Forschungszentrum Informatik,Karlsruhe,Germany","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","Mobile Perception System, Forschungszentrum Informatik, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Mobile Perception System, Forschungszentrum Informatik,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Mobile Perception System, Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102261698","display_name":"Andreas Haas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andreas Haas","raw_affiliation_strings":["Electric/ Electronic Systems Automation, MAN Truck &#x0026; Bus SE,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Electric/ Electronic Systems Automation, MAN Truck &#x0026; Bus SE,Munich,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077667297","display_name":"Peter Strau\u00df","orcid":"https://orcid.org/0000-0002-8693-9304"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peter Strauss","raw_affiliation_strings":["Electric/ Electronic Systems Automation, MAN Truck &#x0026; Bus SE,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Electric/ Electronic Systems Automation, MAN Truck &#x0026; Bus SE,Munich,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034433588","display_name":"Sven Kraus","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sven Kraus","raw_affiliation_strings":["Electric/ Electronic Systems Automation, MAN Truck &#x0026; Bus SE,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Electric/ Electronic Systems Automation, MAN Truck &#x0026; Bus SE,Munich,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061681603","display_name":"\u00d6mer \u015eahin Ta\u015f","orcid":"https://orcid.org/0000-0002-1249-260X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Omer Sahin Tas","raw_affiliation_strings":["Mobile Perception System, Forschungszentrum Informatik,Karlsruhe,Germany","Mobile Perception System, Forschungszentrum Informatik, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Mobile Perception System, Forschungszentrum Informatik,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Mobile Perception System, Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","Mobile Perception System, Forschungszentrum Informatik, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Mobile Perception System, Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5070718510"],"corresponding_institution_ids":["https://openalex.org/I102335020","https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":2.5966,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.92919779,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1550","last_page":"1557"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9984999895095825,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9976000189781189,"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/trailer","display_name":"Trailer","score":0.880097508430481},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.7972042560577393},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7509161233901978},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4897432327270508},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44572675228118896},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.42179346084594727},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3503601849079132},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3439328372478485},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3247145414352417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12424319982528687}],"concepts":[{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.880097508430481},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.7972042560577393},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7509161233901978},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4897432327270508},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44572675228118896},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.42179346084594727},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3503601849079132},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3439328372478485},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3247145414352417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12424319982528687}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv51971.2022.9827350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827350","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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 Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W953471668","https://openalex.org/W2013439434","https://openalex.org/W2095200084","https://openalex.org/W2159062024","https://openalex.org/W2534937603","https://openalex.org/W2585767007","https://openalex.org/W2589163624","https://openalex.org/W2842089854","https://openalex.org/W2886216548","https://openalex.org/W2970251172","https://openalex.org/W3007510068","https://openalex.org/W3118365659","https://openalex.org/W3118542893","https://openalex.org/W4248339654","https://openalex.org/W6625134878","https://openalex.org/W6733010289","https://openalex.org/W6774473095"],"related_works":["https://openalex.org/W2911148753","https://openalex.org/W2101882832","https://openalex.org/W4327694446","https://openalex.org/W1517019597","https://openalex.org/W819012784","https://openalex.org/W1968776045","https://openalex.org/W2296713838","https://openalex.org/W1978510931","https://openalex.org/W4245592507","https://openalex.org/W2558800934"],"abstract_inverted_index":{"The":[0,13,82,100,125,166,223],"automation":[1],"of":[2,28,32,107,127,129,153],"a":[3,37,43,60,65,74,79,194,215],"truck-trailer":[4,38,155,218],"offers":[5],"enormous":[6],"potential":[7],"for":[8,36,51,64,231],"safe":[9],"and":[10,25,53,156,158,198,220,229],"efficient":[11],"transportation.":[12],"optimal":[14,109,163],"control":[15,31,80,83,88,164],"approaches,":[16],"e.g.,":[17],"MPC,":[18],"have":[19],"significantly":[20],"improved":[21],"the":[22,26,29,46,70,90,97,105,108,113,117,122,130,138,150,154,162,172,179,187,200,210],"tracking":[23],"accuracy":[24],"smoothness":[27],"lateral":[30,61],"vehicles.":[33],"MPC":[34,62,212,225],"application":[35],"is":[39,49,134,169,178,226],"complex":[40],"compared":[41],"to":[42,96,137,149],"car":[44],"as":[45,86],"system":[47,71,114,132,219],"behavior":[48],"different":[50],"forwarding":[52],"reversing.":[54],"In":[55],"this":[56],"paper,":[57],"we":[58,68],"propose":[59],"algorithm":[63],"truck-trailer,":[66],"where":[67],"linearize":[69,112],"dynamics":[72,115,133,152],"around":[73,116],"nominal":[75,91,101,119,167],"trajectory":[76,102,168],"computed":[77,118],"using":[78,193],"law.":[81],"law":[84],"formulated":[85],"cascade":[87],"computes":[89],"trajectory,":[92,120],"an":[93],"initial":[94],"guess":[95],"optimization":[98,146,184],"process.":[99],"lies":[103],"in":[104],"vicinity":[106],"trajectory.":[110],"We":[111,208],"reducing":[121],"linearization":[123],"errors.":[124],"region":[126],"validity":[128],"linearized":[131],"narrow":[135],"due":[136],"system\u2019s":[139],"instability":[140],"during":[141],"reverse":[142],"driving.":[143],"A":[144],"quadratic":[145],"problem":[147],"subjective":[148],"linear":[151,180],"state":[157],"input":[159],"constraints":[160],"defines":[161],"problem.":[165],"stable":[170],"over":[171],"prediction":[173,181,206],"horizon":[174],"while":[175],"reversing,":[176],"so":[177],"model,":[182],"improving":[183],"feasibility.":[185],"Further,":[186],"discretization":[188],"errors":[189],"are":[190],"also":[191],"reduced":[192],"small":[195],"discrete":[196],"step":[197],"integrating":[199],"model":[201],"multiple":[202],"times":[203],"between":[204],"two":[205],"steps.":[207],"tested":[209],"developed":[211,224],"approach":[213],"on":[214],"prototypical":[216],"full-scale":[217],"discussed":[221],"results.":[222],"considerably":[227],"fast":[228],"accurate":[230],"real-time":[232],"application.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
