{"id":"https://openalex.org/W2765798687","doi":"https://doi.org/10.1109/tiv.2017.2767279","title":"Spatial Model Predictive Control for Smooth and Accurate Steering of an Autonomous Truck","display_name":"Spatial Model Predictive Control for Smooth and Accurate Steering of an Autonomous Truck","publication_year":2017,"publication_date":"2017-10-27","ids":{"openalex":"https://openalex.org/W2765798687","doi":"https://doi.org/10.1109/tiv.2017.2767279","mag":"2765798687"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2017.2767279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2017.2767279","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220573","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101548791","display_name":"Pedro F. Lima","orcid":"https://orcid.org/0000-0002-6802-7520"},"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":"Pedro F. Lima","raw_affiliation_strings":["Integrated Transport Research Lab and ACCESS Linnaeus Centre, Department of Automatic Control Department of Automatic Control, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-6802-7520","affiliations":[{"raw_affiliation_string":"Integrated Transport Research Lab and ACCESS Linnaeus Centre, Department of Automatic Control Department of Automatic Control, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001175620","display_name":"Mattias Nilsson","orcid":"https://orcid.org/0000-0002-8616-5273"},"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":"Mattias Nilsson","raw_affiliation_strings":["Research and Development, Scania CV AB, S\u00f6dert\u00e4lje, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Development, Scania CV AB, S\u00f6dert\u00e4lje, Sweden","institution_ids":["https://openalex.org/I1294350288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018922157","display_name":"Marco Trincavelli","orcid":"https://orcid.org/0000-0003-0195-2102"},"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":"Marco Trincavelli","raw_affiliation_strings":["Research and Development, Scania CV AB, S\u00f6dert\u00e4lje, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Development, Scania CV AB, S\u00f6dert\u00e4lje, Sweden","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 Martensson","raw_affiliation_strings":["Integrated Transport Research Lab and ACCESS Linnaeus Centre, Department of Automatic Control Department of Automatic Control, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Transport Research Lab and ACCESS Linnaeus Centre, Department of Automatic Control Department of Automatic Control, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045354671","display_name":"Bo Wahlberg","orcid":"https://orcid.org/0000-0002-1927-1690"},"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":"Bo Wahlberg","raw_affiliation_strings":["Integrated Transport Research Lab and ACCESS Linnaeus Centre, Department of Automatic Control Department of Automatic Control, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Transport Research Lab and ACCESS Linnaeus Centre, Department of Automatic Control Department of Automatic Control, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":{"value":425,"currency":"EUR","value_usd":458},"fwci":3.9961,"has_fulltext":false,"cited_by_count":72,"citation_normalized_percentile":{"value":0.935841,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2","issue":"4","first_page":"238","last_page":"250"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9961000084877014,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9958999752998352,"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/smoothness","display_name":"Smoothness","score":0.8615952730178833},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7060057520866394},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6310757994651794},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.606420636177063},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.6002997756004333},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.5440719127655029},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5321117043495178},{"id":"https://openalex.org/keywords/standard-deviation","display_name":"Standard deviation","score":0.5270588397979736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.511819064617157},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5108075141906738},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.509103000164032},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4906841516494751},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4338364601135254},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3151315748691559},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26683053374290466},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2618741989135742},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24827706813812256},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.23187875747680664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13654524087905884},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07773539423942566},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07394236326217651},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0736275315284729}],"concepts":[{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.8615952730178833},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7060057520866394},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6310757994651794},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.606420636177063},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.6002997756004333},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.5440719127655029},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5321117043495178},{"id":"https://openalex.org/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.5270588397979736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.511819064617157},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5108075141906738},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.509103000164032},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4906841516494751},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4338364601135254},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3151315748691559},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26683053374290466},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2618741989135742},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24827706813812256},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.23187875747680664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13654524087905884},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07773539423942566},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07394236326217651},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0736275315284729},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/tiv.2017.2767279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2017.2767279","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:kth-220573","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220573","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"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":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-220573","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220573","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"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":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1008411448","https://openalex.org/W1492478997","https://openalex.org/W1558979968","https://openalex.org/W1592601589","https://openalex.org/W1898941721","https://openalex.org/W1924417874","https://openalex.org/W1964858953","https://openalex.org/W1968651586","https://openalex.org/W1970411044","https://openalex.org/W1974795838","https://openalex.org/W1976591382","https://openalex.org/W1978956894","https://openalex.org/W1979317847","https://openalex.org/W1992157405","https://openalex.org/W1993170675","https://openalex.org/W1997595810","https://openalex.org/W1999050017","https://openalex.org/W2003032253","https://openalex.org/W2005780170","https://openalex.org/W2020328534","https://openalex.org/W2026165588","https://openalex.org/W2032924574","https://openalex.org/W2043319097","https://openalex.org/W2055207897","https://openalex.org/W2056192740","https://openalex.org/W2063704095","https://openalex.org/W2069239883","https://openalex.org/W2069581154","https://openalex.org/W2071609865","https://openalex.org/W2073787051","https://openalex.org/W2093699968","https://openalex.org/W2095945798","https://openalex.org/W2098916117","https://openalex.org/W2106851097","https://openalex.org/W2109061107","https://openalex.org/W2120179083","https://openalex.org/W2121806728","https://openalex.org/W2123787681","https://openalex.org/W2139137304","https://openalex.org/W2154844948","https://openalex.org/W2155713971","https://openalex.org/W2163057321","https://openalex.org/W2164148538","https://openalex.org/W2171414411","https://openalex.org/W2211577597","https://openalex.org/W2228162491","https://openalex.org/W2306644740","https://openalex.org/W2346479329","https://openalex.org/W2406067508","https://openalex.org/W2512851909","https://openalex.org/W2740589700","https://openalex.org/W2760981468","https://openalex.org/W2782695576","https://openalex.org/W4231761304","https://openalex.org/W4253850128","https://openalex.org/W4293682399","https://openalex.org/W6605295560","https://openalex.org/W6678081342","https://openalex.org/W6689279143","https://openalex.org/W6705143339"],"related_works":["https://openalex.org/W1517019597","https://openalex.org/W1968776045","https://openalex.org/W2296713838","https://openalex.org/W767149399","https://openalex.org/W3036261569","https://openalex.org/W2889950528","https://openalex.org/W575062473","https://openalex.org/W4297672583","https://openalex.org/W2357934771","https://openalex.org/W3033024819"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"an":[5,176],"algorithm":[6],"for":[7],"lateral":[8],"control":[9],"of":[10,48,55,157,182,191],"a":[11,25,108,126,131,135,141,146,186],"vehicle\u2014a":[12],"smooth":[13],"and":[14,51,77,105,134,185],"accurate":[15],"model":[16],"predictive":[17],"controller":[18,41,101,160,179],"(MPC).":[19],"The":[20,40,112],"fundamental":[21],"difference":[22],"compared":[23],"to":[24,63,70,92,150],"standard":[26,187],"MPC":[27,188],"is":[28,33,43,87,102,114,161],"that":[29,129,139],"the":[30,37,46,49,56,64,74,96,100,152,155,158,164,167],"driving":[31,192],"smoothness":[32],"directly":[34],"addressed":[35],"in":[36,180,189],"cost":[38],"function.":[39],"objective":[42],"based":[44],"on":[45,73,107],"minimization":[47],"first-":[50],"second-order":[52],"spatial":[53],"derivatives":[54],"curvature.":[57],"By":[58],"doing":[59],"so,":[60],"jerky":[61],"commands":[62],"steering":[65,75],"wheel,":[66],"which":[67],"could":[68],"lead":[69],"permanent":[71],"damage":[72],"components":[76],"vehicle":[78,149,153],"structure,":[79],"are":[80],"avoided.":[81],"A":[82],"good":[83],"path":[84,168,183],"tracking":[85],"accuracy":[86,184],"ensured":[88],"by":[89],"adding":[90],"constraints":[91],"avoid":[93],"deviations":[94],"from":[95,166],"reference":[97],"path.":[98],"Finally,":[99],"experimentally":[103],"tested":[104],"evaluated":[106],"Scania":[109],"construction":[110],"truck.":[111],"evaluation":[113],"performed":[115],"at":[116],"Scania's":[117],"facilities":[118],"near":[119],"S\u00f6dert\u00e4lje,":[120],"Sweden":[121],"via":[122],"two":[123],"different":[124],"paths:":[125],"precision":[127],"track":[128,138],"resembles":[130,140],"mining":[132],"scenario":[133],"high-speed":[136],"test":[137],"highway":[142],"situation.":[143],"Even":[144],"using":[145],"linearized":[147],"kinematic":[148],"predict":[151],"motion,":[154],"performance":[156],"proposed":[159],"encouraging,":[162],"since":[163],"deviation":[165],"never":[169],"exceeds":[170],"30":[171],"cm.":[172],"It":[173],"clearly":[174],"outperforms":[175],"industrial":[177],"pure-pursuit":[178],"terms":[181,190],"smoothness.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
