{"id":"https://openalex.org/W3021272849","doi":"https://doi.org/10.1109/tiv.2020.2992857","title":"Lateral Control in Precision Docking Using RTK-GNSS/INS and LiDAR for Localization","display_name":"Lateral Control in Precision Docking Using RTK-GNSS/INS and LiDAR for Localization","publication_year":2020,"publication_date":"2020-05-06","ids":{"openalex":"https://openalex.org/W3021272849","doi":"https://doi.org/10.1109/tiv.2020.2992857","mag":"3021272849"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2020.2992857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2020.2992857","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048081991","display_name":"Takayuki Ando","orcid":"https://orcid.org/0000-0001-7442-1893"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]},{"id":"https://openalex.org/I91947458","display_name":"Mejiro University","ror":"https://ror.org/047wxqn68","country_code":"JP","type":"education","lineage":["https://openalex.org/I91947458"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takayuki Ando","raw_affiliation_strings":["University of Tokyo, Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"University of Tokyo, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I91947458","https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078601171","display_name":"Wataru Kugimiya","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wataru Kugimiya","raw_affiliation_strings":["Advanced Smart Mobility Co., Ltd., Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Advanced Smart Mobility Co., Ltd., Meguro, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077440505","display_name":"Tatsuya Hashimoto","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tatsuya Hashimoto","raw_affiliation_strings":["Advanced Smart Mobility Co., Ltd., Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Advanced Smart Mobility Co., Ltd., Meguro, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023520545","display_name":"Fujio Momiyama","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fujio Momiyama","raw_affiliation_strings":["Advanced Smart Mobility Co., Ltd., Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Advanced Smart Mobility Co., Ltd., Meguro, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083519672","display_name":"Keiiji Aoki","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Keiiji Aoki","raw_affiliation_strings":["Advanced Smart Mobility Co., Ltd., Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Advanced Smart Mobility Co., Ltd., Meguro, Tokyo, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023192293","display_name":"Kimihiko Nakano","orcid":"https://orcid.org/0000-0003-3532-960X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]},{"id":"https://openalex.org/I91947458","display_name":"Mejiro University","ror":"https://ror.org/047wxqn68","country_code":"JP","type":"education","lineage":["https://openalex.org/I91947458"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kimihiko Nakano","raw_affiliation_strings":["University of Tokyo, Meguro, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"University of Tokyo, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I91947458","https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5048081991"],"corresponding_institution_ids":["https://openalex.org/I74801974","https://openalex.org/I91947458"],"apc_list":null,"apc_paid":null,"fwci":2.6713,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.89893378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"6","issue":"1","first_page":"78","last_page":"87"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9970999956130981,"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/gnss-applications","display_name":"GNSS applications","score":0.7514264583587646},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6489216089248657},{"id":"https://openalex.org/keywords/standard-deviation","display_name":"Standard deviation","score":0.5733823776245117},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49866509437561035},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.485929399728775},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.47188201546669006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4415318965911865},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.316952645778656},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2896622121334076},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.26981422305107117},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.16065028309822083},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15070980787277222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10961702466011047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10905119776725769},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0851532518863678},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07803219556808472}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7514264583587646},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6489216089248657},{"id":"https://openalex.org/C22679943","wikidata":"https://www.wikidata.org/wiki/Q159375","display_name":"Standard deviation","level":2,"score":0.5733823776245117},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49866509437561035},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.485929399728775},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.47188201546669006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4415318965911865},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.316952645778656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2896622121334076},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.26981422305107117},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.16065028309822083},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15070980787277222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10961702466011047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10905119776725769},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0851532518863678},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07803219556808472},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2020.2992857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2020.2992857","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W587752234","https://openalex.org/W628959076","https://openalex.org/W1984536024","https://openalex.org/W2014506919","https://openalex.org/W2027304711","https://openalex.org/W2057856563","https://openalex.org/W2090369164","https://openalex.org/W2096526041","https://openalex.org/W2096576273","https://openalex.org/W2105768701","https://openalex.org/W2106564525","https://openalex.org/W2127988032","https://openalex.org/W2136221000","https://openalex.org/W2144231326","https://openalex.org/W2154844948","https://openalex.org/W2345549004","https://openalex.org/W2572827232","https://openalex.org/W2739191067","https://openalex.org/W2995861794","https://openalex.org/W3125037508","https://openalex.org/W6617253520","https://openalex.org/W6619993727","https://openalex.org/W6639294633"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W2062829680","https://openalex.org/W2516638161"],"abstract_inverted_index":{"This":[0],"article":[1],"describes":[2,175],"the":[3,34,40,53,57,65,80,90,94,112,130,134,142,162,170,176],"design":[4,52],"of":[5,21,36,39,59,79,93,101,133,145],"a":[6,86],"lateral":[7,41,105,131,146,178],"control":[8],"method":[9],"for":[10,17,153],"precision":[11,125,149],"docking":[12,126,150],"using":[13,45,151],"GNSS/INS":[14],"and":[15,55,72,89,172],"LiDAR":[16,152],"localization.":[18],"The":[19,76,107,165],"aim":[20],"this":[22],"study":[23],"is":[24,155,159],"to":[25,118,128],"verify":[26,168],"whether":[27],"an":[28],"automated":[29],"driving":[30],"bus":[31],"can":[32,82],"achieve":[33],"requirement":[35],"standard":[37,143],"deviation":[38,144],"error":[42,147],"(1.25":[43],"cm)":[44],"onboard":[46],"sensors":[47,95],"without":[48],"additional":[49],"infrastructure.":[50],"To":[51],"controller":[54],"decide":[56],"conditions":[58],"pilot":[60],"tests":[61],"on":[62],"public":[63],"roads,":[64],"vehicle":[66,81,113,135,171,177],"dynamics,":[67,71],"steering":[68,77],"system,":[69,88],"sensor":[70,173],"disturbances":[73],"are":[74,96],"modelled.":[75],"system":[78],"be":[83,116],"approximated":[84],"as":[85],"second-order":[87],"measuring":[91],"time":[92],"considered,":[97],"which":[98,158],"cause":[99],"reduction":[100],"damping":[102],"ratio":[103],"in":[104,148],"dynamics.":[106],"numerical":[108],"analysis":[109],"revealed":[110],"that":[111,141,169],"speed":[114],"should":[115],"reduced":[117],"under":[119,161],"4.2":[120],"m/s":[121],"(15":[122],"km/h)":[123],"before":[124],"starts,":[127],"make":[129],"motion":[132,179],"more":[136],"stable.":[137],"Experimental":[138],"results":[139,166],"show":[140],"localization":[154],"1.2":[156],"cm,":[157],"slightly":[160],"criterion":[163],"threshold.":[164],"also":[167],"model":[174],"appropriately.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
