{"id":"https://openalex.org/W3187899477","doi":"https://doi.org/10.1109/tvt.2021.3100988","title":"Real-Time Longitudinal and Lateral State Estimation of Preceding Vehicle Based on Moving Horizon Estimation","display_name":"Real-Time Longitudinal and Lateral State Estimation of Preceding Vehicle Based on Moving Horizon Estimation","publication_year":2021,"publication_date":"2021-07-30","ids":{"openalex":"https://openalex.org/W3187899477","doi":"https://doi.org/10.1109/tvt.2021.3100988","mag":"3187899477"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2021.3100988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3100988","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/A5019184939","display_name":"Hanghang Liu","orcid":"https://orcid.org/0000-0001-6718-8392"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanghang Liu","raw_affiliation_strings":["Department of Control Science and Engineering, Jilin University, Changchun, China","State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-6718-8392","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007971153","display_name":"Ping Wang","orcid":"https://orcid.org/0000-0002-9947-1034"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Wang","raw_affiliation_strings":["Department of Control Science and Engineering, Jilin University, Changchun, China","State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0002-9947-1034","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101190324","display_name":"Jiamei Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiamei Lin","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634116","display_name":"Haitao Ding","orcid":"https://orcid.org/0000-0003-2729-2907"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Ding","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-2729-2907","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074996561","display_name":"Hong Chen","orcid":"https://orcid.org/0000-0002-1724-8649"},"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"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Chen","raw_affiliation_strings":["Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China","Department of Control Science and Engineering, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0002-1724-8649","affiliations":[{"raw_affiliation_string":"Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100684647","display_name":"Fang Xu","orcid":"https://orcid.org/0000-0001-8974-7642"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Xu","raw_affiliation_strings":["Department of Control Science and Engineering, Jilin University, Changchun, China","State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2545,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.92010369,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"70","issue":"9","first_page":"8755","last_page":"8768"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"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":0.9948999881744385,"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/estimator","display_name":"Estimator","score":0.6695699095726013},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6356929540634155},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6086570024490356},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5016653537750244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43571603298187256},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42460280656814575},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4242873787879944},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33722442388534546},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24228981137275696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20372095704078674},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1948811411857605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1859750747680664}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6695699095726013},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6356929540634155},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6086570024490356},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5016653537750244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43571603298187256},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42460280656814575},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4242873787879944},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33722442388534546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24228981137275696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20372095704078674},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1948811411857605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1859750747680664},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2021.3100988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3100988","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":[],"awards":[{"id":"https://openalex.org/G3259577528","display_name":null,"funder_award_id":"61790564","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3289986663","display_name":null,"funder_award_id":"U1864206","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8369633618","display_name":null,"funder_award_id":"62073152","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1911575252","https://openalex.org/W1992636780","https://openalex.org/W1996595210","https://openalex.org/W2043681729","https://openalex.org/W2046699988","https://openalex.org/W2121040315","https://openalex.org/W2138194424","https://openalex.org/W2153416300","https://openalex.org/W2167052694","https://openalex.org/W2167420061","https://openalex.org/W2300303305","https://openalex.org/W2481081394","https://openalex.org/W2486908081","https://openalex.org/W2542879759","https://openalex.org/W2549125172","https://openalex.org/W2592680288","https://openalex.org/W2617994934","https://openalex.org/W2743556323","https://openalex.org/W2785634791","https://openalex.org/W2788345492","https://openalex.org/W2800703096","https://openalex.org/W2897846421","https://openalex.org/W2900901991","https://openalex.org/W2907868915","https://openalex.org/W2945856812","https://openalex.org/W2947132895","https://openalex.org/W2949411810","https://openalex.org/W2981582744","https://openalex.org/W3000909096","https://openalex.org/W3002525663","https://openalex.org/W3088035741","https://openalex.org/W3094077559","https://openalex.org/W4235623249"],"related_works":["https://openalex.org/W4287880334","https://openalex.org/W4366700029","https://openalex.org/W3175363083","https://openalex.org/W4285230481","https://openalex.org/W4385769873","https://openalex.org/W2015759683","https://openalex.org/W4281634296","https://openalex.org/W4319161863","https://openalex.org/W2516638161","https://openalex.org/W2062829680"],"abstract_inverted_index":{"In":[0],"the":[1,21,38,50,74,82,87,95,102,106,117,139,142,150,160,174,177,187],"advanced":[2],"driver":[3,66],"assistance":[4],"system":[5],"(ADAS)":[6],"and":[7,24,42,109,180,190],"autonomous":[8],"driving":[9,30,104],"systems,":[10,31],"accurate":[11,193],"information":[12],"on":[13,81],"preceding":[14,39,121,196],"vehicle":[15,40,55,75,89,133,197],"motion":[16,119],"states":[17,44,135],"is":[18,45,78,92,129,147,153],"vital":[19],"for":[20,37,73],"path":[22],"planning":[23],"control.":[25],"To":[26,137],"develop":[27],"those":[28],"intelligent":[29],"a":[32,68,124],"modular":[33],"integrated":[34],"estimation":[35,62,169],"algorithm":[36,170],"longitudinal":[41,76,90],"lateral":[43,96,111,118,134],"proposed":[46,168],"in":[47,99,186],"this":[48],"paper,":[49],"coupled":[51],"nonlinear":[52,110,125],"characteristics":[53],"of":[54,120,195],"dynamics":[56,112],"are":[57,113,184],"applied":[58],"to":[59,94,115,131,158],"improve":[60,159],"state":[61],"accuracy.":[63],"First,":[64],"considering":[65],"aggressiveness,":[67],"linear":[69],"moving":[70,126],"horizon":[71,127],"estimator":[72,97,128],"speed":[77,91],"designed":[79],"based":[80],"car":[83],"following":[84],"model.":[85],"Then,":[86],"estimated":[88],"delivered":[93],"module":[98],"real-time.":[100],"For":[101],"arbitrary":[103],"routes,":[105],"Serret-Frenet":[107],"equations":[108],"combined":[114],"describe":[116],"vehicle.":[122],"Furthermore,":[123],"constructed":[130],"estimate":[132,194],"accurately.":[136],"reduce":[138],"computational":[140],"burden,":[141],"multiple":[143,165],"shooting":[144],"(MS)":[145],"method":[146],"introduced,":[148],"then":[149],"objective":[151],"function":[152],"divided":[154],"into":[155],"several":[156],"segments":[157],"strong":[161],"nonlinearity":[162],"produced":[163],"by":[164],"iterations.":[166],"The":[167],"can":[171],"effectively":[172],"handle":[173],"initial":[175],"biases,":[176],"additive":[178],"biases":[179],"model":[181],"error,":[182],"which":[183],"common":[185],"acquired":[188],"signals,":[189],"provide":[191],"an":[192],"states.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}