{"id":"https://openalex.org/W4405812359","doi":"https://doi.org/10.1109/tvt.2024.3522673","title":"Autonomous Vehicle Path Tracking: Stochastic Tube Model Predictive Control With Covariance Steering and Discounted Chance Constraints","display_name":"Autonomous Vehicle Path Tracking: Stochastic Tube Model Predictive Control With Covariance Steering and Discounted Chance Constraints","publication_year":2024,"publication_date":"2024-12-26","ids":{"openalex":"https://openalex.org/W4405812359","doi":"https://doi.org/10.1109/tvt.2024.3522673"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3522673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3522673","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":null,"display_name":"Haonan Yong","orcid":"https://orcid.org/0000-0001-6188-6595"},"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":"Haonan Yong","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0001-6188-6595","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009522244","display_name":"Shaobo Lu","orcid":"https://orcid.org/0000-0002-1550-1751"},"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":"Shaobo Lu","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-1550-1751","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101843415","display_name":"Wenke Xie","orcid":"https://orcid.org/0000-0002-5054-7114"},"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":"Wenke Xie","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tianbei Cui","orcid":null},"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":"Tianbei Cui","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100761647","display_name":"Fan Yang","orcid":"https://orcid.org/0000-0003-4831-2241"},"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":"Fan Yang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":0.6056,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61819045,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"74","issue":"5","first_page":"7124","last_page":"7134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9940000176429749,"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":0.9940000176429749,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9890999794006348,"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":0.9332000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6914456486701965},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6706109642982483},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6135018467903137},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.48783639073371887},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47069382667541504},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4640257954597473},{"id":"https://openalex.org/keywords/stochastic-process","display_name":"Stochastic process","score":0.4215109050273895},{"id":"https://openalex.org/keywords/analysis-of-covariance","display_name":"Analysis of covariance","score":0.41285815834999084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39823275804519653},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38966426253318787},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34292107820510864},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26447930932044983},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.14970499277114868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12420967221260071}],"concepts":[{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6914456486701965},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6706109642982483},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6135018467903137},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.48783639073371887},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47069382667541504},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4640257954597473},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.4215109050273895},{"id":"https://openalex.org/C119340705","wikidata":"https://www.wikidata.org/wiki/Q1628597","display_name":"Analysis of covariance","level":2,"score":0.41285815834999084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39823275804519653},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38966426253318787},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34292107820510864},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26447930932044983},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.14970499277114868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12420967221260071},{"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3522673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3522673","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/G8629015036","display_name":"\u7ebf\u63a7\u8fc7\u9a71\u52a8\u7535\u52a8\u6c7d\u8f66\u5e95\u76d8\u6545\u969c\u8fa8\u8bc6\u4e0e\u535a\u5f08\u5bb9\u9519\u673a\u5236\u7814\u7a76","funder_award_id":"51675066","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":36,"referenced_works":["https://openalex.org/W1981723834","https://openalex.org/W2011416874","https://openalex.org/W2106041333","https://openalex.org/W2783805091","https://openalex.org/W2790176947","https://openalex.org/W2804964303","https://openalex.org/W2963293783","https://openalex.org/W2964076623","https://openalex.org/W2971232659","https://openalex.org/W3008218687","https://openalex.org/W3012213494","https://openalex.org/W3114321494","https://openalex.org/W3122467655","https://openalex.org/W3166673355","https://openalex.org/W3166758669","https://openalex.org/W3169939870","https://openalex.org/W3196415156","https://openalex.org/W3202974135","https://openalex.org/W3206720931","https://openalex.org/W3212567123","https://openalex.org/W3216281690","https://openalex.org/W4211215199","https://openalex.org/W4213112515","https://openalex.org/W4220840981","https://openalex.org/W4229045704","https://openalex.org/W4285232622","https://openalex.org/W4287887996","https://openalex.org/W4311174866","https://openalex.org/W4312248126","https://openalex.org/W4320713066","https://openalex.org/W4322707200","https://openalex.org/W4323338425","https://openalex.org/W4383220243","https://openalex.org/W4385152183","https://openalex.org/W4386132164","https://openalex.org/W4390891827"],"related_works":["https://openalex.org/W4235479087","https://openalex.org/W2383820648","https://openalex.org/W2084133194","https://openalex.org/W2363838894","https://openalex.org/W2050664815","https://openalex.org/W4248848563","https://openalex.org/W4236328372","https://openalex.org/W4287868570","https://openalex.org/W2492984665","https://openalex.org/W4244750876"],"abstract_inverted_index":{"The":[0,58],"path":[1],"tracking":[2,137,159],"performance":[3,138],"of":[4,35,61,79,93,96,103,132,170],"autonomous":[5],"vehicles":[6],"degrades":[7],"due":[8],"to":[9,27,52,109],"model":[10],"uncertainties":[11],"and":[12,54,113,156],"external":[13],"disturbances.":[14,94],"Tube-based":[15],"Model":[16],"Predictive":[17],"Control":[18],"(MPC)":[19],"has":[20,38],"been":[21],"regarded":[22],"as":[23,66],"an":[24],"effective":[25],"approach":[26],"address":[28],"this":[29,43],"issue.":[30],"However,":[31],"the":[32,74,80,87,90,101,111,121,129,148,158,168,171],"over-conservative":[33],"nature":[34],"tube-based":[36],"MPC":[37,49,152],"limited":[39],"its":[40],"broader":[41],"application.":[42],"paper":[44],"proposes":[45],"a":[46,67],"stochastic":[47,150],"tube":[48,151],"method":[50,153],"subjected":[51],"state":[53,123],"control":[55],"chance":[56,115,124],"constraints.":[57],"probability":[59,91],"distribution":[60,92],"system":[62,82],"uncertainty":[63],"is":[64,83,107],"assumed":[65],"prior":[68],"knowledge.":[69],"Leveraging":[70],"covariance":[71],"steering":[72],"theory,":[73],"dynamic":[75],"feedback":[76],"gain":[77],"mechanism":[78],"perturbed":[81],"designed":[84],"accounting":[85],"for":[86],"variability":[88],"in":[89,128],"Instead":[95],"robust":[97],"positive":[98],"invariant":[99],"sets,":[100],"concept":[102],"probabilistic":[104],"reachable":[105],"sets":[106],"used":[108],"determine":[110],"constraint-tightening":[112],"convert":[114],"constraints":[116,125],"into":[117],"deterministic":[118],"ones.":[119],"Furthermore,":[120],"discounted":[122],"are":[126],"incorporated":[127],"cost":[130],"function":[131],"nominal":[133],"system,":[134],"prioritizing":[135],"near-term":[136],"over":[139],"long-term":[140],"behavior.":[141],"A":[142],"joint":[143],"CarSim-Simulink":[144],"simulation":[145],"demonstrated":[146],"that":[147],"proposed":[149,172],"reduces":[154],"conservatism":[155],"enhances":[157],"performance.":[160],"Further":[161],"verification":[162],"through":[163],"hardware-in-loop":[164],"(HIL)":[165],"experiment":[166],"confirmed":[167],"effectiveness":[169],"approach.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
