{"id":"https://openalex.org/W3205100421","doi":"https://doi.org/10.3390/s21206845","title":"A Variable-Sampling Time Model Predictive Control Algorithm for Improving Path-Tracking Performance of a Vehicle","display_name":"A Variable-Sampling Time Model Predictive Control Algorithm for Improving Path-Tracking Performance of a Vehicle","publication_year":2021,"publication_date":"2021-10-14","ids":{"openalex":"https://openalex.org/W3205100421","doi":"https://doi.org/10.3390/s21206845","mag":"3205100421","pmid":"https://pubmed.ncbi.nlm.nih.gov/34696056"},"language":"en","primary_location":{"id":"doi:10.3390/s21206845","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21206845","pdf_url":"https://www.mdpi.com/1424-8220/21/20/6845/pdf?version=1634531921","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/20/6845/pdf?version=1634531921","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101943429","display_name":"Yoonsuk Choi","orcid":"https://orcid.org/0000-0002-8395-1690"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yoonsuk Choi","raw_affiliation_strings":["The Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Korea"],"raw_orcid":"https://orcid.org/0000-0002-8395-1690","affiliations":[{"raw_affiliation_string":"The Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101428690","display_name":"Wonwoo Lee","orcid":"https://orcid.org/0000-0002-6506-3753"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonwoo Lee","raw_affiliation_strings":["The Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102027209","display_name":"Jeesu Kim","orcid":"https://orcid.org/0000-0002-2542-0234"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeesu Kim","raw_affiliation_strings":["Department of Congno-Mechatronics Engineering, Pusan National University, Busan 46241, Korea","Department of Optics and Mechatronics Engineering, Pusan National University, Busan 46241, Korea"],"raw_orcid":"https://orcid.org/0000-0002-2542-0234","affiliations":[{"raw_affiliation_string":"Department of Congno-Mechatronics Engineering, Pusan National University, Busan 46241, Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Department of Optics and Mechatronics Engineering, Pusan National University, Busan 46241, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019044787","display_name":"Jinwoo Yoo","orcid":"https://orcid.org/0000-0003-1025-3784"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jinwoo Yoo","raw_affiliation_strings":["Department of Automobile and IT Convergence, Kookmin University, Seoul 02707, Korea"],"raw_orcid":"https://orcid.org/0000-0003-1025-3784","affiliations":[{"raw_affiliation_string":"Department of Automobile and IT Convergence, Kookmin University, Seoul 02707, Korea","institution_ids":["https://openalex.org/I110273157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5019044787"],"corresponding_institution_ids":["https://openalex.org/I110273157"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.3896,"has_fulltext":true,"cited_by_count":31,"citation_normalized_percentile":{"value":0.79410061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"21","issue":"20","first_page":"6845","last_page":"6845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9987000226974487,"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/T12810","display_name":"Real-time simulation and control systems","score":0.996999979019165,"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/model-predictive-control","display_name":"Model predictive control","score":0.8298667669296265},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.6921725869178772},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6699848175048828},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6091827154159546},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.606454074382782},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5805624723434448},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5598510503768921},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.546736478805542},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5129582285881042},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.41971462965011597},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3636508584022522},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19252467155456543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12899458408355713},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.11168518662452698}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8298667669296265},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.6921725869178772},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6699848175048828},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6091827154159546},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.606454074382782},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5805624723434448},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5598510503768921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.546736478805542},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5129582285881042},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.41971462965011597},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3636508584022522},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19252467155456543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12899458408355713},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.11168518662452698},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s21206845","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21206845","pdf_url":"https://www.mdpi.com/1424-8220/21/20/6845/pdf?version=1634531921","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:34696056","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34696056","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:europepmc.org:7429781","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC8541678","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8541678","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8541678","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:c23e5a70369a479985df914cb3114d2e","is_oa":true,"landing_page_url":"https://doaj.org/article/c23e5a70369a479985df914cb3114d2e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 20, p 6845 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/20/6845/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21206845","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 21; Issue 20; Pages: 6845","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21206845","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21206845","pdf_url":"https://www.mdpi.com/1424-8220/21/20/6845/pdf?version=1634531921","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1403324975","display_name":null,"funder_award_id":"2021R1A5A1032937","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G246087467","display_name":null,"funder_award_id":"NRF2021R1A5A1032937","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G2635774263","display_name":null,"funder_award_id":"2021R1A5A1032937","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G2995480478","display_name":null,"funder_award_id":"NRF2021R1A5A1032937","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G8084986156","display_name":null,"funder_award_id":"NRF-2021R1A5A1032937","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G8456609207","display_name":null,"funder_award_id":"NRF- 2021R1F1A1062153","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G8488729577","display_name":null,"funder_award_id":"2021R1A5A1032937","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3205100421.pdf","grobid_xml":"https://content.openalex.org/works/W3205100421.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W132419959","https://openalex.org/W1492106702","https://openalex.org/W1592601589","https://openalex.org/W1968651586","https://openalex.org/W1977622616","https://openalex.org/W1978956894","https://openalex.org/W2005867341","https://openalex.org/W2028284408","https://openalex.org/W2041344731","https://openalex.org/W2073450640","https://openalex.org/W2112320238","https://openalex.org/W2139430868","https://openalex.org/W2165449829","https://openalex.org/W2170973929","https://openalex.org/W2269209296","https://openalex.org/W2306644740","https://openalex.org/W2341848647","https://openalex.org/W2624449213","https://openalex.org/W2765883855","https://openalex.org/W2863749457","https://openalex.org/W2909668839","https://openalex.org/W2912187427","https://openalex.org/W2978802601","https://openalex.org/W3004563645","https://openalex.org/W3012544220","https://openalex.org/W3082946196","https://openalex.org/W3107623777","https://openalex.org/W3112540789","https://openalex.org/W3133357558","https://openalex.org/W3133431778","https://openalex.org/W3175049622"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4251298892","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2356013541","https://openalex.org/W2060165215","https://openalex.org/W2385444679","https://openalex.org/W2384015130"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,64,87],"novel":[4],"model":[5],"predictive":[6],"control":[7,19,43,77],"(MPC)":[8],"algorithm":[9,23,126],"that":[10,122],"increases":[11],"the":[12,18,25,33,37,42,46,58,75,85,92,99,107,123,135],"path":[13,26],"tracking":[14,27],"performance":[15,101,130],"according":[16,40],"to":[17,41,132],"input.":[20],"The":[21,61,119],"proposed":[22,110,124],"reduces":[24],"errors":[28],"of":[29,36,57,63,66,96,106,134],"MPC":[30,59,111,125,137],"by":[31],"updating":[32],"sampling":[34],"time":[35],"next":[38],"step":[39,56],"inputs":[44],"(i.e.,":[45],"lateral":[47],"velocity":[48],"and":[49,68,74,98,103,109,115],"front":[50],"steering":[51],"angle)":[52],"calculated":[53,80],"in":[54,81],"each":[55,82],"algorithm.":[60,138],"scenarios":[62],"mixture":[65],"straight":[67],"curved":[69],"driving":[70],"paths":[71],"were":[72,113],"constructed,":[73],"optimal":[76],"input":[78],"was":[79,89],"step.":[83],"In":[84],"experiment,":[86],"scenario":[88],"created":[90],"with":[91,117],"Automated":[93],"Driving":[94],"Toolbox":[95],"MATLAB,":[97],"path-following":[100,129],"characteristics":[102],"computation":[104],"times":[105],"existing":[108,136],"algorithms":[112],"verified":[114],"compared":[116,131],"simulations.":[118],"results":[120],"prove":[121],"has":[127],"improved":[128],"those":[133]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
