{"id":"https://openalex.org/W2923554444","doi":"https://doi.org/10.1126/scirobotics.aaw1975","title":"Neural network vehicle models for high-performance automated driving","display_name":"Neural network vehicle models for high-performance automated driving","publication_year":2019,"publication_date":"2019-03-13","ids":{"openalex":"https://openalex.org/W2923554444","doi":"https://doi.org/10.1126/scirobotics.aaw1975","mag":"2923554444","pmid":"https://pubmed.ncbi.nlm.nih.gov/33137751"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aaw1975","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aaw1975","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5038255263","display_name":"Nathan A. Spielberg","orcid":"https://orcid.org/0000-0001-8501-0336"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nathan A. Spielberg","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033116076","display_name":"Matthew Brown","orcid":"https://orcid.org/0000-0001-5303-9177"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Brown","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047149457","display_name":"Nitin R. Kapania","orcid":"https://orcid.org/0000-0003-3716-1513"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nitin R. Kapania","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064190653","display_name":"John C. Kegelman","orcid":"https://orcid.org/0000-0002-5490-9688"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John C. Kegelman","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089181686","display_name":"J. Christian Gerdes","orcid":"https://orcid.org/0000-0001-7948-3444"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Christian Gerdes","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Building 530, 440 Escondido Mall, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038255263"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":11.6055,"has_fulltext":false,"cited_by_count":236,"citation_normalized_percentile":{"value":0.98785028,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"4","issue":"28","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9983000159263611,"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":0.9983000159263611,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9983000159263611,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976999759674072,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.7394883632659912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6711738109588623},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6671891808509827},{"id":"https://openalex.org/keywords/feedforward-neural-network","display_name":"Feedforward neural network","score":0.6622793674468994},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5384485721588135},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4870665371417999},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38397443294525146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31063908338546753},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21928393840789795}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7394883632659912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6711738109588623},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6671891808509827},{"id":"https://openalex.org/C47702885","wikidata":"https://www.wikidata.org/wiki/Q5441227","display_name":"Feedforward neural network","level":3,"score":0.6622793674468994},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5384485721588135},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4870665371417999},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38397443294525146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31063908338546753},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21928393840789795},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.aaw1975","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aaw1975","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33137751","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33137751","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G5252386243","display_name":null,"funder_award_id":"DGE \u2013 1147470","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W321338291","https://openalex.org/W1549386224","https://openalex.org/W1571530861","https://openalex.org/W1578293866","https://openalex.org/W1974795838","https://openalex.org/W1996183429","https://openalex.org/W1997704083","https://openalex.org/W2017373494","https://openalex.org/W2023136445","https://openalex.org/W2042520683","https://openalex.org/W2048994833","https://openalex.org/W2069149069","https://openalex.org/W2112930335","https://openalex.org/W2116518644","https://openalex.org/W2121806728","https://openalex.org/W2122440830","https://openalex.org/W2123871098","https://openalex.org/W2124770562","https://openalex.org/W2137983211","https://openalex.org/W2138484437","https://openalex.org/W2139137304","https://openalex.org/W2144733032","https://openalex.org/W2146014298","https://openalex.org/W2159916780","https://openalex.org/W2182631142","https://openalex.org/W2257979135","https://openalex.org/W2281096776","https://openalex.org/W2402144811","https://openalex.org/W2406067508","https://openalex.org/W2510089447","https://openalex.org/W2547019696","https://openalex.org/W2735025962","https://openalex.org/W2842089854","https://openalex.org/W2919115771","https://openalex.org/W2962822327","https://openalex.org/W3146803896"],"related_works":["https://openalex.org/W2115072676","https://openalex.org/W2357447513","https://openalex.org/W4311212821","https://openalex.org/W1529660427","https://openalex.org/W2378845890","https://openalex.org/W2102065768","https://openalex.org/W2900512251","https://openalex.org/W4390752998","https://openalex.org/W2158578859","https://openalex.org/W2358123629"],"abstract_inverted_index":{"Automated":[0],"vehicles":[1,225],"navigate":[2],"through":[3],"their":[4,94,227],"environment":[5],"by":[6,119,141],"first":[7],"planning":[8],"and":[9,40,96,107,138,179],"subsequently":[10],"following":[11],"a":[12,35,47,52,61,75,103,128,133,172],"safe":[13],"trajectory.":[14],"To":[15,122],"prove":[16],"safer":[17],"than":[18,31,151],"human":[19,32],"beings,":[20],"they":[21,98],"must":[22],"ultimately":[23],"perform":[24],"these":[25,124],"tasks":[26],"as":[27,217],"well":[28],"or":[29],"better":[30,149],"drivers":[33],"across":[34],"broad":[36],"range":[37],"of":[38,68,112,115,135,174,223],"conditions":[39],"in":[41,93,157],"critical":[42],"situations.":[43],"We":[44],"show":[45],"that":[46,210],"feedforward-feedback":[48,160],"control":[49,161,222],"structure":[50,131,213],"incorporating":[51],"simple":[53],"physics-based":[54,89],"model":[55,154,182],"can":[56],"be":[57],"used":[58],"to":[59,64,109,185],"track":[60],"path":[62],"up":[63],"the":[65,69,85,113,142,152,158,181,190,195,200,211,218],"friction":[66,205],"limits":[67],"vehicle":[70,116,196],"with":[71,74],"performance":[72,150],"comparable":[73],"champion":[76],"amateur":[77],"race":[78],"car":[79],"driver.":[80],"The":[81,145],"key":[82],"is":[83],"having":[84],"appropriate":[86,187],"model.":[87,144],"Although":[88],"models":[90],"are":[91],"useful":[92],"transparency":[95],"intuition,":[97],"require":[99],"explicit":[100,203],"characterization":[101],"around":[102],"single":[104],"operating":[105,229],"point":[106],"fail":[108],"make":[110,186],"use":[111],"wealth":[114],"data":[117,175],"generated":[118],"autonomous":[120],"vehicles.":[121],"circumvent":[123],"limitations,":[125],"we":[126],"propose":[127],"neural":[129,146],"network":[130,147,212],"using":[132],"sequence":[134],"past":[136],"states":[137],"inputs":[139],"motivated":[140],"physical":[143,153],"achieved":[148],"when":[155,169],"implemented":[156],"same":[159],"architecture":[162],"on":[163,171,193],"an":[164],"experimental":[165],"vehicle.":[166],"More":[167],"notably,":[168],"trained":[170],"combination":[173],"from":[176],"dry":[177],"roads":[178],"snow,":[180],"was":[183,197],"able":[184],"predictions":[188],"for":[189,202,220],"road":[191,204],"surface":[192],"which":[194],"traveling":[198],"without":[199],"need":[201],"estimation.":[206],"These":[207],"findings":[208],"suggest":[209],"merits":[214],"further":[215],"investigation":[216],"basis":[219],"model-based":[221],"automated":[224],"over":[226],"full":[228],"range.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":48},{"year":2024,"cited_by_count":41},{"year":2023,"cited_by_count":48},{"year":2022,"cited_by_count":42},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":7}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
