{"id":"https://openalex.org/W2990407612","doi":"https://doi.org/10.1109/tfuzz.2019.2955044","title":"Fuzzy-Model-Based Output Feedback Steering Control in Autonomous Driving Subject to Actuator Constraints","display_name":"Fuzzy-Model-Based Output Feedback Steering Control in Autonomous Driving Subject to Actuator Constraints","publication_year":2019,"publication_date":"2019-11-22","ids":{"openalex":"https://openalex.org/W2990407612","doi":"https://doi.org/10.1109/tfuzz.2019.2955044","mag":"2990407612"},"language":"en","primary_location":{"id":"doi:10.1109/tfuzz.2019.2955044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2019.2955044","pdf_url":null,"source":{"id":"https://openalex.org/S134177497","display_name":"IEEE Transactions on Fuzzy Systems","issn_l":"1063-6706","issn":["1063-6706","1941-0034"],"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 Fuzzy Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://kclpure.kcl.ac.uk/ws/files/130871234/Fuzzy_Model_Based_Output_Feedback_Steering_Control_in_Autonomous_Driving_Subject_to_Actuator_Constraints_Accepted_Author_version_.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010117485","display_name":"Changzhu Zhang","orcid":"https://orcid.org/0000-0001-7244-7280"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changzhu Zhang","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-7244-7280","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059514204","display_name":"Hak\u2010Keung Lam","orcid":"https://orcid.org/0000-0002-6572-7265"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hak-Keung Lam","raw_affiliation_strings":["Department of Informatics, King's College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6572-7265","affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050453488","display_name":"Jianbin Qiu","orcid":"https://orcid.org/0000-0001-7707-6159"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbin Qiu","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7707-6159","affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025104684","display_name":"Peng Qi","orcid":"https://orcid.org/0000-0003-0514-9464"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Qi","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0514-9464","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5644-1188","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0988,"has_fulltext":true,"cited_by_count":71,"citation_normalized_percentile":{"value":0.86635631,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"29","issue":"3","first_page":"457","last_page":"470"},"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/T10524","display_name":"Traffic control and management","score":0.9940999746322632,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9853000044822693,"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/carsim","display_name":"CarSim","score":0.9225641489028931},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7863710522651672},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6166080832481384},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5841646194458008},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5567469596862793},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5297473669052124},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.519501805305481},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5111373066902161},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5107128620147705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4828527569770813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36439579725265503},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20174208283424377},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.13318780064582825},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10047087073326111}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.9225641489028931},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7863710522651672},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6166080832481384},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5841646194458008},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5567469596862793},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5297473669052124},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.519501805305481},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5111373066902161},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5107128620147705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4828527569770813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36439579725265503},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20174208283424377},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.13318780064582825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10047087073326111},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tfuzz.2019.2955044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2019.2955044","pdf_url":null,"source":{"id":"https://openalex.org/S134177497","display_name":"IEEE Transactions on Fuzzy Systems","issn_l":"1063-6706","issn":["1063-6706","1941-0034"],"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 Fuzzy Systems","raw_type":"journal-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/fd0cac21-e1d3-4473-bd7c-7e92594d7c08","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/fd0cac21-e1d3-4473-bd7c-7e92594d7c08","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/130871234/Fuzzy_Model_Based_Output_Feedback_Steering_Control_in_Autonomous_Driving_Subject_to_Actuator_Constraints_Accepted_Author_version_.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, C, Lam, H, Qiu, J, Qi, P & Chen, Q 2021, 'Fuzzy-Model-Based Output Feedback Steering Control in Autonomous Driving Subject to Actuator Constraints', IEEE Transactions on Fuzzy Systems, vol. 29, no. 3, 8910455, pp. 457-470. https://doi.org/10.1109/TFUZZ.2019.2955044","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/fd0cac21-e1d3-4473-bd7c-7e92594d7c08","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/fd0cac21-e1d3-4473-bd7c-7e92594d7c08","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/130871234/Fuzzy_Model_Based_Output_Feedback_Steering_Control_in_Autonomous_Driving_Subject_to_Actuator_Constraints_Accepted_Author_version_.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, C, Lam, H, Qiu, J, Qi, P & Chen, Q 2021, 'Fuzzy-Model-Based Output Feedback Steering Control in Autonomous Driving Subject to Actuator Constraints', IEEE Transactions on Fuzzy Systems, vol. 29, no. 3, 8910455, pp. 457-470. https://doi.org/10.1109/TFUZZ.2019.2955044","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1375595937","display_name":null,"funder_award_id":"61922063","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2176622570","display_name":null,"funder_award_id":"61873311","funder_id":"https://openalex.org/F4320321940","funder_display_name":"Harbin Institute of Technology"},{"id":"https://openalex.org/G5249327851","display_name":null,"funder_award_id":"19ZR1478900","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"},{"id":"https://openalex.org/G5414707815","display_name":null,"funder_award_id":"61763045","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5565712806","display_name":null,"funder_award_id":"61733013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6320805841","display_name":null,"funder_award_id":"61922063","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"},{"id":"https://openalex.org/G7860957227","display_name":null,"funder_award_id":"U1764261","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8236406306","display_name":null,"funder_award_id":"61873311","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8495729842","display_name":"\u9762\u5411\u5f00\u653e\u5f0f\u65e0\u4eba\u9a7e\u9a76\u8f66\u7fa4\u7684\u6b63\u5219\u6027\u81ea\u534f\u673a\u7406\u7814\u7a76","funder_award_id":"61872271","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8965547950","display_name":null,"funder_award_id":"SKLRS201801A03","funder_id":"https://openalex.org/F4320321940","funder_display_name":"Harbin Institute of Technology"}],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321940","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2990407612.pdf","grobid_xml":"https://content.openalex.org/works/W2990407612.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W102190310","https://openalex.org/W562026345","https://openalex.org/W835401223","https://openalex.org/W1484920569","https://openalex.org/W1968082040","https://openalex.org/W1968452087","https://openalex.org/W1968651586","https://openalex.org/W1979660509","https://openalex.org/W1992985278","https://openalex.org/W1994039679","https://openalex.org/W2002675616","https://openalex.org/W2008375920","https://openalex.org/W2015716598","https://openalex.org/W2027506191","https://openalex.org/W2027590459","https://openalex.org/W2027758424","https://openalex.org/W2036021531","https://openalex.org/W2038391913","https://openalex.org/W2056934327","https://openalex.org/W2072251728","https://openalex.org/W2089322056","https://openalex.org/W2098176962","https://openalex.org/W2106730320","https://openalex.org/W2112930335","https://openalex.org/W2113640862","https://openalex.org/W2115476210","https://openalex.org/W2117408957","https://openalex.org/W2121336591","https://openalex.org/W2125217642","https://openalex.org/W2126581329","https://openalex.org/W2132312293","https://openalex.org/W2143752115","https://openalex.org/W2172117433","https://openalex.org/W2212406332","https://openalex.org/W2477231637","https://openalex.org/W2524886531","https://openalex.org/W2606425361","https://openalex.org/W2606823482","https://openalex.org/W2613563514","https://openalex.org/W2622358436","https://openalex.org/W2748466577","https://openalex.org/W2765486331","https://openalex.org/W2771524903","https://openalex.org/W2780382848","https://openalex.org/W2800741184","https://openalex.org/W2808667805","https://openalex.org/W3146876554","https://openalex.org/W4252199061"],"related_works":["https://openalex.org/W2090534964","https://openalex.org/W2107572791","https://openalex.org/W2007435079","https://openalex.org/W2772596473","https://openalex.org/W1979110738","https://openalex.org/W1492891152","https://openalex.org/W2534917980","https://openalex.org/W4251854423","https://openalex.org/W3186144085","https://openalex.org/W2022405596"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"the":[3,32,39,49,57,86,97,109,132,135,153,164,167],"problem":[4],"of":[5,134,166],"steering":[6,44,70,98],"control":[7,81,99,150],"based":[8],"on":[9],"Takagi-Sugeno":[10],"(T-S)":[11],"fuzzy":[12,75,88],"vehicle":[13,30,33,50],"lateral":[14],"dynamics":[15,51],"is":[16,52,94],"investigated":[17],"for":[18,96],"autonomous":[19],"driving":[20],"with":[21,124,146],"nonlinearities,":[22],"system":[23],"uncertainties,":[24],"and":[25,47,78,113,138,152],"actuator":[26,110],"constraints.":[27],"During":[28],"normal":[29],"cruising,":[31],"velocity":[34],"always":[35],"changes":[36],"due":[37],"to":[38,85,130],"different":[40,61],"road":[41,62],"conditions":[42],"and/or":[43],"wheel":[45],"maneuvers,":[46],"moreover,":[48],"also":[53],"significantly":[54],"influenced":[55],"by":[56],"tire/road":[58],"forces":[59],"under":[60],"surface":[63],"conditions,":[64],"which":[65,162],"brings":[66],"many":[67],"difficulties":[68],"in":[69,100,142,158],"controller":[71,92,156,169],"design.":[72],"By":[73],"adopting":[74],"modeling":[76],"techniques":[77],"varying":[79],"look-ahead":[80,148],"strategy,":[82],"an":[83],"approach":[84],"T-S":[87,104],"antiwindup":[89],"output":[90],"feedback":[91],"design":[93,170],"proposed":[95],"path":[101,143],"tracking":[102,144],"within":[103],"fuzzy-model-based":[105],"analysis":[106],"framework,":[107],"where":[108],"amplitude":[111],"saturation":[112],"rate":[114],"limit":[115],"are":[116,128,160],"simultaneously":[117],"taken":[118],"into":[119],"consideration.":[120],"Finally,":[121],"valuation":[122],"results":[123,141],"Carsim/MATLAB":[125],"joint":[126],"simulation":[127],"shown":[129],"demonstrate":[131],"effectiveness":[133],"developed":[136,168],"methods,":[137],"some":[139],"comparison":[140],"performance":[145],"fixed":[147],"distance":[149],"rule":[151],"driver":[154],"model":[155],"embedded":[157],"Carsim":[159],"provided,":[161],"illustrate":[163],"advantages":[165],"method.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}
