{"id":"https://openalex.org/W3114622139","doi":"https://doi.org/10.1109/tvt.2020.3046052","title":"Holistic Adaptive Multi-Model Predictive Control for the Path Following of 4WID Autonomous Vehicles","display_name":"Holistic Adaptive Multi-Model Predictive Control for the Path Following of 4WID Autonomous Vehicles","publication_year":2020,"publication_date":"2020-12-21","ids":{"openalex":"https://openalex.org/W3114622139","doi":"https://doi.org/10.1109/tvt.2020.3046052","mag":"3114622139"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2020.3046052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3046052","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5017209009","display_name":"Yixiao Liang","orcid":"https://orcid.org/0000-0002-2088-7943"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]},{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CA","CN"],"is_corresponding":true,"raw_author_name":"Yixiao Liang","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, ON, Canada","State Key Laboratory of Mechanical Transmissions and the School of Automotive Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-2088-7943","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmissions and the School of Automotive Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046922272","display_name":"Yinong Li","orcid":"https://orcid.org/0000-0001-8523-9384"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinong Li","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmissions and the School of Automotive Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0001-8523-9384","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmissions and the School of Automotive Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020470831","display_name":"Amir Khajepour","orcid":"https://orcid.org/0000-0002-1998-6100"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Khajepour","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-1998-6100","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023862346","display_name":"Ling Zheng","orcid":"https://orcid.org/0000-0001-8292-1476"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ling Zheng","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmissions and the School of Automotive Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0001-8292-1476","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmissions and the School of Automotive Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017209009"],"corresponding_institution_ids":["https://openalex.org/I151746483","https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":4.1762,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.94125475,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"70","issue":"1","first_page":"69","last_page":"81"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"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":1.0,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9943000078201294,"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/carsim","display_name":"CarSim","score":0.8904423713684082},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7704119682312012},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6233105659484863},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5582517385482788},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5327494144439697},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5173715949058533},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5022897720336914},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4834540784358978},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4784260392189026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35886287689208984},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29433539509773254},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.13948622345924377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07839024066925049}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.8904423713684082},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7704119682312012},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6233105659484863},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5582517385482788},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5327494144439697},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5173715949058533},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5022897720336914},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4834540784358978},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4784260392189026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35886287689208984},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29433539509773254},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.13948622345924377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07839024066925049},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2020.3046052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3046052","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3240924829","display_name":null,"funder_award_id":"201906050066","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G8566872725","display_name":null,"funder_award_id":"51875061","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/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W601351931","https://openalex.org/W629297016","https://openalex.org/W1699327229","https://openalex.org/W1979317847","https://openalex.org/W1988462079","https://openalex.org/W2036021531","https://openalex.org/W2041806131","https://openalex.org/W2054624091","https://openalex.org/W2062354720","https://openalex.org/W2092707869","https://openalex.org/W2144943016","https://openalex.org/W2149686194","https://openalex.org/W2172117433","https://openalex.org/W2212957503","https://openalex.org/W2289016861","https://openalex.org/W2314224933","https://openalex.org/W2321419480","https://openalex.org/W2323597089","https://openalex.org/W2345026604","https://openalex.org/W2346595613","https://openalex.org/W2426532714","https://openalex.org/W2436008783","https://openalex.org/W2469944670","https://openalex.org/W2526086648","https://openalex.org/W2529203031","https://openalex.org/W2587803554","https://openalex.org/W2617574644","https://openalex.org/W2741311434","https://openalex.org/W2759941489","https://openalex.org/W2767363820","https://openalex.org/W2775081645","https://openalex.org/W2780107358","https://openalex.org/W2782608458","https://openalex.org/W2790176947","https://openalex.org/W2791190216","https://openalex.org/W2810110363","https://openalex.org/W2889470209","https://openalex.org/W2889773622","https://openalex.org/W2889870787","https://openalex.org/W2899474210","https://openalex.org/W2907393839","https://openalex.org/W2912361519","https://openalex.org/W2913416895","https://openalex.org/W2918589332","https://openalex.org/W2926065969","https://openalex.org/W2956192832","https://openalex.org/W2959712667","https://openalex.org/W2961585556","https://openalex.org/W2966245882","https://openalex.org/W2967312051","https://openalex.org/W2968301722","https://openalex.org/W2974672060","https://openalex.org/W2991364595","https://openalex.org/W3013799433","https://openalex.org/W3017736836","https://openalex.org/W4300995080","https://openalex.org/W6682101403","https://openalex.org/W6768488272"],"related_works":["https://openalex.org/W2107572791","https://openalex.org/W2007435079","https://openalex.org/W1979110738","https://openalex.org/W128654086","https://openalex.org/W2534917980","https://openalex.org/W1492891152","https://openalex.org/W4251854423","https://openalex.org/W3186144085","https://openalex.org/W2022405596","https://openalex.org/W2009041800"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,19,53,91,120],"novel":[4],"adaptive":[5,93,122],"multiple-model":[6,121],"predictive":[7],"control":[8,41,148],"(MPC)":[9],"scheme":[10],"for":[11],"Four-Wheel":[12],"Independent":[13],"Drive":[14],"(4WID)":[15],"autonomous":[16],"vehicles":[17],"with":[18,126],"holistic":[20,68],"structure.":[21],"Firstly,":[22],"the":[23,31,36,40,44,60,64,67,74,78,85,88,99,103,114,141,146],"combined":[24],"vehicle-path":[25],"model":[26,56,62],"is":[27,57,70,95,124],"established.":[28],"To":[29],"ensure":[30],"real-time":[32],"performance":[33],"of":[34,63,87,102,145],"MPC,":[35],"coupling":[37],"relationships":[38],"in":[39,50,116,150],"output":[42],"and":[43,77,143,153],"longitudinal/lateral":[45],"motions":[46],"are":[47],"well":[48],"decoupled,":[49],"this":[51],"way":[52],"linear":[54],"integrated":[55],"utilized":[58],"as":[59],"internal":[61],"controller.":[65],"Then,":[66],"MPC":[69],"proposed":[71,89,147],"to":[72,97,105],"acquire":[73],"steering":[75],"angle":[76],"force":[79],"on":[80,84,136],"each":[81],"corner.":[82],"Based":[83],"advantages":[86],"structure,":[90],"weight":[92],"mechanism":[94],"introduced":[96],"improve":[98],"handling":[100],"ability":[101],"controller":[104],"various":[106],"driving":[107,155],"conditions,":[108],"especially":[109],"some":[110],"extreme":[111,154],"conditions.":[112,156],"For":[113],"uncertainties":[115],"tire":[117],"cornering":[118],"stiffness,":[119],"law":[123],"designed":[125],"its":[127],"convergence":[128],"proved":[129],"by":[130],"Lyapunov":[131],"theory.":[132],"Numerical":[133],"results":[134],"based":[135],"Carsim-Simulink":[137],"co-simulation":[138],"platform":[139],"demonstrate":[140],"effectiveness":[142],"superiority":[144],"method":[149],"both":[151],"normal":[152]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":9}],"updated_date":"2026-05-15T08:27:34.491423","created_date":"2025-10-10T00:00:00"}
