{"id":"https://openalex.org/W4399800919","doi":"https://doi.org/10.1109/tvt.2024.3414410","title":"D-Tracking: Digital Twin Enabled Trajectory Tracking System of Autonomous Vehicles","display_name":"D-Tracking: Digital Twin Enabled Trajectory Tracking System of Autonomous Vehicles","publication_year":2024,"publication_date":"2024-06-19","ids":{"openalex":"https://openalex.org/W4399800919","doi":"https://doi.org/10.1109/tvt.2024.3414410"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3414410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3414410","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/A5030326597","display_name":"Yaqi Hu","orcid":"https://orcid.org/0009-0008-9430-2144"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaqi Hu","raw_affiliation_strings":["School of Automation, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-9430-2144","affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083997283","display_name":"Maoqiang Wu","orcid":"https://orcid.org/0000-0002-5132-5222"},"institutions":[{"id":"https://openalex.org/I187400657","display_name":"South China Normal University","ror":"https://ror.org/01kq0pv72","country_code":"CN","type":"education","lineage":["https://openalex.org/I187400657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maoqiang Wu","raw_affiliation_strings":["School of Electronics and Information Engineering, South China Normal University, Foshan, China"],"raw_orcid":"https://orcid.org/0000-0002-5132-5222","affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, South China Normal University, Foshan, China","institution_ids":["https://openalex.org/I187400657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062761975","display_name":"Jiawen Kang","orcid":"https://orcid.org/0000-0002-8218-3490"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawen Kang","raw_affiliation_strings":["School of Automation, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8218-3490","affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100659097","display_name":"Rong Yu","orcid":"https://orcid.org/0000-0002-9042-7256"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Yu","raw_affiliation_strings":["School of Automation, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9042-7256","affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.771,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.96113546,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"73","issue":"11","first_page":"16457","last_page":"16469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10763","display_name":"Digital Transformation in Industry","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10763","display_name":"Digital Transformation in Industry","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/trajectory","display_name":"Trajectory","score":0.6951228380203247},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6894755363464355},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.5849897861480713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4632182717323303},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.4147641062736511},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33400940895080566},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.2424950897693634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.191145658493042},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.15487661957740784},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.098635733127594}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6951228380203247},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6894755363464355},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.5849897861480713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4632182717323303},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.4147641062736511},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33400940895080566},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2424950897693634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.191145658493042},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.15487661957740784},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.098635733127594},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3414410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3414410","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":"Affordable and clean energy","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2421778219","display_name":null,"funder_award_id":"62401213","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2687675416","display_name":"\u8f66\u8054\u7f51\u8fb9\u7f18\u667a\u80fd\u7684\u8d44\u6e90\u4f18\u5316\u4e0e\u670d\u52a1\u534f\u540c\u7814\u7a76","funder_award_id":"61971148","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6757976958","display_name":null,"funder_award_id":"U22A2054","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G751536327","display_name":null,"funder_award_id":"62102099","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2212666816","https://openalex.org/W2734506266","https://openalex.org/W2912445127","https://openalex.org/W2946800729","https://openalex.org/W2950373453","https://openalex.org/W2981402159","https://openalex.org/W2995861794","https://openalex.org/W3004006877","https://openalex.org/W3016931720","https://openalex.org/W3085640145","https://openalex.org/W3091872140","https://openalex.org/W3134652089","https://openalex.org/W3203814043","https://openalex.org/W3209400804","https://openalex.org/W4200382269","https://openalex.org/W4205373550","https://openalex.org/W4313213983","https://openalex.org/W4313400029","https://openalex.org/W4313449066","https://openalex.org/W4313478129","https://openalex.org/W4313887139","https://openalex.org/W4321195200","https://openalex.org/W4362714881","https://openalex.org/W4365790382","https://openalex.org/W4378187745","https://openalex.org/W4386824960","https://openalex.org/W4387449317","https://openalex.org/W4390956198","https://openalex.org/W4391341764","https://openalex.org/W4392309314","https://openalex.org/W4396564292","https://openalex.org/W6753596642"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2394134009","https://openalex.org/W2592302855","https://openalex.org/W1971984615","https://openalex.org/W2380612839","https://openalex.org/W1567854708","https://openalex.org/W4235384131"],"abstract_inverted_index":{"The":[0,234],"precision":[1],"of":[2,10,52,70,82,92,112,237],"trajectory":[3,41,123,171],"tracking":[4,27,53,93,133],"significantly":[5],"influences":[6],"the":[7,26,30,34,38,67,71,75,80,83,96,100,106,117,121,125,132,208,219,224,238],"driving":[8,193],"safety":[9],"autonomous":[11,113],"vehicles.":[12],"Therefore,":[13],"it":[14],"is":[15,167,211,228,244],"crucial":[16],"to":[17,24,65,115,119,196,218],"accurately":[18],"estimate":[19],"and":[20,33,99,108,128,144,186,204,241],"use":[21,105],"control":[22,110,188,200],"algorithms":[23,111,201],"reduce":[25],"error":[28,94,210,227],"between":[29,95],"real":[31,72,97,163,177],"vehicle":[32,73,98,178],"expected":[35,40,76,101,122,126],"trajectory.":[36,102],"However,":[37],"discrete":[39],"points":[42],"generated":[43],"by":[44,130,153,213,230],"traditional":[45],"planners":[46],"result":[47],"in":[48,87,183],"an":[49],"estimation":[50,91],"bias":[51],"error.":[54,134],"In":[55],"this":[56],"paper,":[57],"we":[58],"propose":[59],"a":[60,88,138,145,155,162],"digital":[61],"twin":[62],"(DT)":[63],"function":[64],"calculate":[66],"projection":[68],"point":[69],"on":[74,176],"trajectory,":[77],"serving":[78],"as":[79,190,192],"position":[81],"DT":[84],"vehicle,":[85],"resulting":[86],"more":[89,214],"precise":[90],"We":[103],"then":[104],"lateral":[107,136,185,199,209],"longitudinal":[109,160,170,187,221,225],"vehicles":[114,118],"enable":[116],"track":[120],"with":[124],"speed":[127,226],"acceleration":[129],"reducing":[131],"For":[135,159],"control,":[137,161],"Model":[139],"Predictive":[140],"Control":[141],"(MPC)":[142],"algorithm":[143,150,166],"Linear":[146],"Quadratic":[147],"Regulator":[148],"(LQR)":[149],"are":[151],"improved":[152],"incorporating":[154],"feedforward":[156],"Proportional-Integral-Derivative":[157],"(PID).":[158],"data-based":[164],"PID":[165,222],"designed":[168],"for":[169],"tracking.":[172],"Experimental":[173],"results":[174],"based":[175],"experiments":[179],"demonstrate":[180],"significant":[181],"improvements":[182],"both":[184],"accuracy,":[189],"well":[191],"stability.":[194],"Compared":[195,217],"state-of-the-art":[197],"model-based":[198,220],"Double-layer":[202],"MPC":[203],"Baidu's":[205],"Apollo":[206],"LQR,":[207],"reduced":[212,229],"than":[215],"60%.":[216],"algorithm,":[223],"at":[231],"least":[232],"38%.":[233],"oscillation":[235],"amplitude":[236],"wheel":[239],"angle":[240,243],"yaw":[242],"also":[245],"obviously":[246],"decreased.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2025-10-10T00:00:00"}