{"id":"https://openalex.org/W4394862713","doi":"https://doi.org/10.1109/tits.2024.3384444","title":"Uniform Finite Time Safe Path Tracking Control for Obstacle Avoidance of Autonomous Vehicle via Barrier Function Approach","display_name":"Uniform Finite Time Safe Path Tracking Control for Obstacle Avoidance of Autonomous Vehicle via Barrier Function Approach","publication_year":2024,"publication_date":"2024-04-16","ids":{"openalex":"https://openalex.org/W4394862713","doi":"https://doi.org/10.1109/tits.2024.3384444"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3384444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3384444","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5077952947","display_name":"Jinheng Han","orcid":"https://orcid.org/0000-0001-6380-4135"},"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":"Jinheng Han","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6380-4135","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068780105","display_name":"Junzhi Zhang","orcid":"https://orcid.org/0000-0002-5055-2941"},"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":"Junzhi Zhang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5055-2941","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086123029","display_name":"Chengkun He","orcid":"https://orcid.org/0000-0003-3144-7166"},"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":"Chengkun He","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072073374","display_name":"Chen Lv","orcid":"https://orcid.org/0000-0001-6897-4512"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen Lv","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6897-4512","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029384695","display_name":"Henglai Wei","orcid":"https://orcid.org/0000-0002-9237-1620"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Henglai Wei","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9237-1620","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427792","display_name":"Junfeng Zhang","orcid":"https://orcid.org/0000-0002-8121-7425"},"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":"Junfeng Zhang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068593680","display_name":"Shiyue Zhao","orcid":"https://orcid.org/0000-0001-6742-2767"},"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":"Shiyue Zhao","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6742-2767","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, the State Key Laboratory of Intelligent Green Vehicle and Mobility, and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8167,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.83882581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"25","issue":"8","first_page":"9512","last_page":"9523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9923999905586243,"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":0.9923999905586243,"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":0.9847000241279602,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9635999798774719,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.835979700088501},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.574368417263031},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5270835757255554},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5203306674957275},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4810226559638977},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4783353805541992},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4752861261367798},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4286944270133972},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4226226210594177},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4143720269203186},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3890622556209564},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3516243100166321},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33847934007644653},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.22863230109214783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17571470141410828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10188987851142883},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09924319386482239},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.06705120205879211}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.835979700088501},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.574368417263031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5270835757255554},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5203306674957275},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4810226559638977},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4783353805541992},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4752861261367798},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4286944270133972},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4226226210594177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4143720269203186},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3890622556209564},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3516243100166321},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33847934007644653},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.22863230109214783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17571470141410828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10188987851142883},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09924319386482239},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.06705120205879211},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3384444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3384444","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2871786398","display_name":null,"funder_award_id":"2022YFB2503103","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1972013173","https://openalex.org/W1988837728","https://openalex.org/W2062373349","https://openalex.org/W2174765655","https://openalex.org/W2282033015","https://openalex.org/W2306644740","https://openalex.org/W2341848647","https://openalex.org/W2513988836","https://openalex.org/W2743764028","https://openalex.org/W2792491297","https://openalex.org/W2904303363","https://openalex.org/W2913181250","https://openalex.org/W2942052244","https://openalex.org/W2945494979","https://openalex.org/W2962227480","https://openalex.org/W2962784748","https://openalex.org/W2982632025","https://openalex.org/W3012348377","https://openalex.org/W3015947429","https://openalex.org/W3022293162","https://openalex.org/W3048293652","https://openalex.org/W3087767325","https://openalex.org/W3092366433","https://openalex.org/W3109478114","https://openalex.org/W3111789127","https://openalex.org/W3123320451","https://openalex.org/W3133776341","https://openalex.org/W3168590294","https://openalex.org/W3168828539","https://openalex.org/W3170303765","https://openalex.org/W3187170253","https://openalex.org/W3205315134","https://openalex.org/W3208261894","https://openalex.org/W3209661875","https://openalex.org/W3209800702","https://openalex.org/W3216015368","https://openalex.org/W3217645262","https://openalex.org/W4205659817","https://openalex.org/W4224231583","https://openalex.org/W4285102592","https://openalex.org/W4285198396","https://openalex.org/W4293210811"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Precise":[0],"path":[1,25,34],"tracking":[2,26,35,63,81,109],"and":[3,12,60,99,105,132,138],"agilely":[4],"avoiding":[5],"obstacles":[6],"are":[7],"essential":[8],"for":[9],"the":[10,41,68,115,124,129,136,145],"stability":[11],"safety":[13],"of":[14,140],"autonomous":[15],"driving.":[16],"In":[17],"this":[18],"paper,":[19],"we":[20],"introduce":[21],"a":[22,37,77,86],"uniform":[23],"safe":[24,70],"control":[27],"strategy":[28],"that":[29,55,95],"combines":[30],"obstacle":[31,57],"avoidance":[32,45,58],"with":[33],"via":[36],"barrier":[38,53,90],"function.":[39],"Unlike":[40],"conventional":[42],"hierarchical":[43],"collision":[44],"methods,":[46],"our":[47,141],"approach":[48,117],"employs":[49],"an":[50],"integral":[51],"heuristic":[52],"function":[54],"addresses":[56],"planning":[59],"reference":[61],"trajectory":[62,71],"problems":[64],"simultaneously.":[65],"Via":[66],"this,":[67],"complex":[69],"following":[72],"problem":[73],"is":[74],"simplified":[75],"into":[76],"tractable":[78],"yaw":[79,107],"angle":[80,108],"problem.":[82],"We":[83],"then":[84],"present":[85],"novel":[87],"finite-time":[88,120],"adaptive":[89],"function-based":[91],"sliding":[92],"mode":[93],"controller":[94],"handles":[96],"input":[97],"saturation":[98],"enhances":[100],"robustness.":[101],"This":[102],"ensures":[103],"precise":[104],"robust":[106],"within":[110],"specified":[111],"performance":[112],"constraints.":[113],"Moreover,":[114],"proposed":[116],"achieves":[118],"accelerated":[119],"convergence":[121,126],"compared":[122],"to":[123],"exponential":[125],"rate.":[127],"Finally,":[128],"Carsim-Simulink":[130],"co-simulations":[131],"real-vehicle":[133],"experiments":[134],"validate":[135],"effectiveness":[137],"superiority":[139],"method":[142],"in":[143],"addressing":[144],"path-tracking":[146],"challenge,":[147],"while":[148],"upholding":[149],"driving":[150],"safety.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
