{"id":"https://openalex.org/W4388579571","doi":"https://doi.org/10.1109/tce.2023.3331843","title":"Path Tracking of Autonomous Vehicle Based on NMPC With Pre-Steering","display_name":"Path Tracking of Autonomous Vehicle Based on NMPC With Pre-Steering","publication_year":2023,"publication_date":"2023-11-10","ids":{"openalex":"https://openalex.org/W4388579571","doi":"https://doi.org/10.1109/tce.2023.3331843"},"language":"en","primary_location":{"id":"doi:10.1109/tce.2023.3331843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2023.3331843","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Consumer Electronics","raw_type":"journal-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/A5069438356","display_name":"Haoran Li","orcid":"https://orcid.org/0000-0001-8477-6583"},"institutions":[{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]},{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"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":"Haoran Li","raw_affiliation_strings":["School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan, Hubei, China","Suzhou Automotive Research Institute, Tsinghua University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8477-6583","affiliations":[{"raw_affiliation_string":"School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Suzhou Automotive Research Institute, Tsinghua University, Suzhou, China","institution_ids":["https://openalex.org/I4210125878","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399797","display_name":"Kai Liu","orcid":"https://orcid.org/0000-0001-5865-7724"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Liu","raw_affiliation_strings":["School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014822993","display_name":"Bo Yang","orcid":"https://orcid.org/0000-0003-0805-7928"},"institutions":[{"id":"https://openalex.org/I132210918","display_name":"North China Institute of Science and Technology","ror":"https://ror.org/0096c7651","country_code":"CN","type":"education","lineage":["https://openalex.org/I132210918"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yang","raw_affiliation_strings":["School of Emergency Technology and Management, North China Institute of Science and Technology, Langfang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Emergency Technology and Management, North China Institute of Science and Technology, Langfang, China","institution_ids":["https://openalex.org/I132210918"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351820","display_name":"Lin Zhang","orcid":"https://orcid.org/0000-0002-0949-2449"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Zhang","raw_affiliation_strings":["School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062938703","display_name":"Yunbing Yan","orcid":"https://orcid.org/0000-0001-9118-5095"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunbing Yan","raw_affiliation_strings":["School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-9118-5095","affiliations":[{"raw_affiliation_string":"School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1708,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.87407287,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"70","issue":"1","first_page":"966","last_page":"979"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9970999956130981,"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/model-predictive-control","display_name":"Model predictive control","score":0.7074794769287109},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6719596982002258},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5600096583366394},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5352538228034973},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5334800481796265},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5199281573295593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5176487565040588},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4910731315612793},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4856759309768677},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4660414755344391},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43494829535484314},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4116200804710388},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4100944399833679},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35362938046455383},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34628069400787354},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27786052227020264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15815186500549316},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1551986038684845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1546800434589386}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7074794769287109},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6719596982002258},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5600096583366394},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5352538228034973},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5334800481796265},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5199281573295593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5176487565040588},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4910731315612793},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4856759309768677},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4660414755344391},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43494829535484314},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4116200804710388},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4100944399833679},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35362938046455383},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34628069400787354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27786052227020264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15815186500549316},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1551986038684845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1546800434589386},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tce.2023.3331843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2023.3331843","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Consumer Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2281575329","display_name":null,"funder_award_id":"3142021002","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G420995028","display_name":null,"funder_award_id":"SYC2022078","funder_id":"https://openalex.org/F4320336618","funder_display_name":"Science and Technology Program of Suzhou"},{"id":"https://openalex.org/G5434744752","display_name":null,"funder_award_id":"3142023021","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6665071802","display_name":null,"funder_award_id":"XJ2021028","funder_id":"https://openalex.org/F4320323540","funder_display_name":"Society of Hong Kong Scholars"},{"id":"https://openalex.org/G6887721219","display_name":null,"funder_award_id":"52002215","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8024091341","display_name":null,"funder_award_id":"BK20220243","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G8285924934","display_name":null,"funder_award_id":"51975428","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"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323540","display_name":"Society of Hong Kong Scholars","ror":"https://ror.org/03gffcv79"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320336618","display_name":"Science and Technology Program of Suzhou","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W17892576","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2073265799","https://openalex.org/W2075694735","https://openalex.org/W2087789797","https://openalex.org/W2167340365","https://openalex.org/W2306644740","https://openalex.org/W2307055197","https://openalex.org/W2346595613","https://openalex.org/W2465192128","https://openalex.org/W2620197950","https://openalex.org/W2754582583","https://openalex.org/W2756335502","https://openalex.org/W2889470209","https://openalex.org/W2904324180","https://openalex.org/W2909908358","https://openalex.org/W2913416895","https://openalex.org/W2946231253","https://openalex.org/W2954933065","https://openalex.org/W2978802601","https://openalex.org/W2996180787","https://openalex.org/W3004407706","https://openalex.org/W3004427256","https://openalex.org/W3008387910","https://openalex.org/W3013624091","https://openalex.org/W3045661780","https://openalex.org/W3087716449","https://openalex.org/W3102121895","https://openalex.org/W3196565809","https://openalex.org/W4205563028","https://openalex.org/W4296703356","https://openalex.org/W4306777705","https://openalex.org/W4312830100"],"related_works":["https://openalex.org/W2393022482","https://openalex.org/W2377346130","https://openalex.org/W1990079087","https://openalex.org/W2361092061","https://openalex.org/W3202234113","https://openalex.org/W2319775965","https://openalex.org/W2357314690","https://openalex.org/W2101188133","https://openalex.org/W2191886813","https://openalex.org/W128654086"],"abstract_inverted_index":{"In":[0],"scenarios":[1,120],"characterized":[2],"by":[3],"significant":[4],"curvature,":[5,123],"such":[6,124],"as":[7,125],"curves,":[8,126],"the":[9,18,34,37,64,81,127],"presence":[10],"of":[11,17,36,80],"steering":[12,108],"system":[13],"hysteresis":[14],"and":[15,25,53,67,95,107],"linearization":[16],"vehicle":[19],"model":[20],"may":[21],"lead":[22],"to":[23,62,76,112],"understeer":[24],"steady-state":[26],"errors,":[27],"thereby":[28],"exerting":[29],"an":[30,49],"adverse":[31],"impact":[32],"on":[33],"performance":[35,103],"tracking":[38,54,79,105],"control":[39],"system.":[40],"To":[41],"address":[42],"these":[43],"formidable":[44],"challenges,":[45],"this":[46],"study":[47],"introduces":[48],"innovative":[50],"path":[51,66],"planning":[52],"framework.":[55],"This":[56],"framework":[57,129],"leverages":[58],"batch":[59],"informed":[60],"trees":[61],"derive":[63],"reference":[65],"employs":[68],"Nonlinear":[69],"Model":[70,114],"Predictive":[71,115],"Control":[72,116],"(NMPC)":[73],"with":[74,99],"pre-steering":[75],"accomplish":[77],"efficient":[78],"predetermined":[82],"path.":[83],"Additionally,":[84],"a":[85,131],"smart":[86],"car":[87],"experiment":[88],"platform":[89],"has":[90],"been":[91],"established":[92],"for":[93],"simulating":[94],"validating":[96],"various":[97],"scenarios,":[98],"results":[100],"demonstrating":[101],"improved":[102],"in":[104,119,135],"accuracy":[106],"smoothness":[109],"when":[110],"compared":[111],"Traditional":[113],"(TMPC).":[117],"Particularly":[118],"involving":[121],"substantial":[122],"proposed":[128],"exhibits":[130],"nearly":[132],"50%":[133],"reduction":[134],"root":[136],"mean":[137],"square":[138],"error,":[139],"underscoring":[140],"its":[141],"enhanced":[142],"performance.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}