id	sid	tid	token	lemma	pos
ajst-15054	1	1	academic	academic	ADJ
ajst-15054	1	2	journal	journal	NOUN
ajst-15054	1	3	of	of	ADP
ajst-15054	1	4	science	science	NOUN
ajst-15054	1	5	and	and	CCONJ
ajst-15054	1	6	technology	technology	NOUN
ajst-15054	1	7	issn	issn	NOUN
ajst-15054	1	8	:	:	PUNCT
ajst-15054	1	9	2771	2771	NUM
ajst-15054	1	10	-	-	SYM
ajst-15054	1	11	3032	3032	NUM
ajst-15054	1	12	|	|	NOUN
ajst-15054	1	13	vol	vol	NOUN
ajst-15054	1	14	.	.	PROPN
ajst-15054	1	15	8	8	NUM
ajst-15054	1	16	,	,	PUNCT
ajst-15054	1	17	no	no	INTJ
ajst-15054	1	18	.	.	NOUN
ajst-15054	1	19	2	2	NUM
ajst-15054	1	20	,	,	PUNCT
ajst-15054	1	21	2023	2023	NUM
ajst-15054	1	22	128	128	NUM
ajst-15054	1	23	study	study	NOUN
ajst-15054	1	24	on	on	ADP
ajst-15054	1	25	anthropomorphic	anthropomorphic	ADJ
ajst-15054	1	26	lane	lane	NOUN
ajst-15054	2	1	changing	change	VERB
ajst-15054	2	2	decision	decision	NOUN
ajst-15054	2	3	making	make	VERB
ajst-15054	2	4	for	for	ADP
ajst-15054	2	5	smart	smart	ADJ
ajst-15054	2	6	trucks	truck	NOUN
ajst-15054	2	7	based	base	VERB
ajst-15054	2	8	on	on	ADP
ajst-15054	2	9	driving	drive	VERB
ajst-15054	2	10	behavior	behavior	NOUN
ajst-15054	2	11	shenhao	shenhao	PROPN
ajst-15054	2	12	hou1	hou1	PROPN
ajst-15054	2	13	,	,	PUNCT
ajst-15054	2	14	*	*	PROPN
ajst-15054	2	15	1	1	NUM
ajst-15054	2	16	college	college	NOUN
ajst-15054	2	17	of	of	ADP
ajst-15054	2	18	automobile	automobile	NOUN
ajst-15054	2	19	and	and	CCONJ
ajst-15054	2	20	transportation	transportation	NOUN
ajst-15054	2	21	,	,	PUNCT
ajst-15054	2	22	tianjin	tianjin	PROPN
ajst-15054	2	23	university	university	PROPN
ajst-15054	2	24	of	of	ADP
ajst-15054	2	25	technology	technology	NOUN
ajst-15054	2	26	and	and	CCONJ
ajst-15054	2	27	education	education	NOUN
ajst-15054	2	28	,	,	PUNCT
ajst-15054	2	29	tianjin	tianjin	PROPN
ajst-15054	2	30	300222	300222	NUM
ajst-15054	2	31	,	,	PUNCT
ajst-15054	2	32	china	china	PROPN
ajst-15054	2	33	*	*	PUNCT
ajst-15054	2	34	corresponding	correspond	VERB
ajst-15054	2	35	author	author	NOUN
ajst-15054	2	36	:	:	PUNCT
ajst-15054	2	37	shenhao	shenhao	PROPN
ajst-15054	2	38	hou	hou	PROPN
ajst-15054	2	39	(	(	PUNCT
ajst-15054	2	40	email	email	NOUN
ajst-15054	2	41	:	:	PUNCT
ajst-15054	2	42	416926579@qq.com	416926579@qq.com	NUM
ajst-15054	2	43	)	)	PUNCT
ajst-15054	2	44	abstract	abstract	NOUN
ajst-15054	2	45	:	:	PUNCT
ajst-15054	2	46	in	in	ADP
ajst-15054	2	47	order	order	NOUN
ajst-15054	2	48	to	to	PART
ajst-15054	2	49	improve	improve	VERB
ajst-15054	2	50	the	the	DET
ajst-15054	2	51	applicability	applicability	NOUN
ajst-15054	2	52	of	of	ADP
ajst-15054	2	53	the	the	DET
ajst-15054	2	54	lane	lane	NOUN
ajst-15054	2	55	change	change	NOUN
ajst-15054	2	56	decision	decision	NOUN
ajst-15054	2	57	model	model	NOUN
ajst-15054	2	58	to	to	ADP
ajst-15054	2	59	different	different	ADJ
ajst-15054	2	60	styles	style	NOUN
ajst-15054	2	61	of	of	ADP
ajst-15054	2	62	drivers	driver	NOUN
ajst-15054	2	63	,	,	PUNCT
ajst-15054	2	64	especially	especially	ADV
ajst-15054	2	65	for	for	ADP
ajst-15054	2	66	trucks	truck	NOUN
ajst-15054	2	67	with	with	ADP
ajst-15054	2	68	less	less	ADJ
ajst-15054	2	69	flexibility	flexibility	NOUN
ajst-15054	2	70	and	and	CCONJ
ajst-15054	2	71	stability	stability	NOUN
ajst-15054	2	72	of	of	ADP
ajst-15054	2	73	their	their	PRON
ajst-15054	2	74	own	own	ADJ
ajst-15054	2	75	,	,	PUNCT
ajst-15054	2	76	safe	safe	ADJ
ajst-15054	2	77	and	and	CCONJ
ajst-15054	2	78	reasonable	reasonable	ADJ
ajst-15054	2	79	lane	lane	NOUN
ajst-15054	2	80	change	change	NOUN
ajst-15054	2	81	decisions	decision	NOUN
ajst-15054	2	82	are	be	AUX
ajst-15054	2	83	more	more	ADV
ajst-15054	2	84	important	important	ADJ
ajst-15054	2	85	.	.	PUNCT
ajst-15054	3	1	in	in	ADP
ajst-15054	3	2	this	this	DET
ajst-15054	3	3	paper	paper	NOUN
ajst-15054	3	4	,	,	PUNCT
ajst-15054	3	5	based	base	VERB
ajst-15054	3	6	on	on	ADP
ajst-15054	3	7	the	the	DET
ajst-15054	3	8	research	research	NOUN
ajst-15054	3	9	of	of	ADP
ajst-15054	3	10	integrating	integrate	VERB
ajst-15054	3	11	personalized	personalized	ADJ
ajst-15054	3	12	driver	driver	NOUN
ajst-15054	3	13	styles	style	NOUN
ajst-15054	3	14	in	in	ADP
ajst-15054	3	15	automatic	automatic	ADJ
ajst-15054	3	16	lane	lane	NOUN
ajst-15054	3	17	change	change	NOUN
ajst-15054	3	18	control	control	NOUN
ajst-15054	3	19	technology	technology	NOUN
ajst-15054	3	20	,	,	PUNCT
ajst-15054	3	21	a	a	DET
ajst-15054	3	22	vehicle	vehicle	NOUN
ajst-15054	3	23	lane	lane	NOUN
ajst-15054	3	24	change	change	NOUN
ajst-15054	3	25	decision	decision	NOUN
ajst-15054	3	26	model	model	NOUN
ajst-15054	3	27	considering	consider	VERB
ajst-15054	3	28	driver	driver	NOUN
ajst-15054	3	29	styles	style	NOUN
ajst-15054	3	30	is	be	AUX
ajst-15054	3	31	established	establish	VERB
ajst-15054	3	32	.	.	PUNCT
ajst-15054	4	1	firstly	firstly	ADV
ajst-15054	4	2	,	,	PUNCT
ajst-15054	4	3	the	the	DET
ajst-15054	4	4	highd	highd	NOUN
ajst-15054	4	5	dataset	dataset	VERB
ajst-15054	4	6	is	be	AUX
ajst-15054	4	7	screened	screen	VERB
ajst-15054	4	8	and	and	CCONJ
ajst-15054	4	9	the	the	DET
ajst-15054	4	10	drivers	driver	NOUN
ajst-15054	4	11	are	be	AUX
ajst-15054	4	12	classified	classify	VERB
ajst-15054	4	13	by	by	ADP
ajst-15054	4	14	driving	drive	VERB
ajst-15054	4	15	style	style	NOUN
ajst-15054	4	16	using	use	VERB
ajst-15054	4	17	principal	principal	ADJ
ajst-15054	4	18	component	component	NOUN
ajst-15054	4	19	analysis	analysis	NOUN
ajst-15054	4	20	and	and	CCONJ
ajst-15054	4	21	k	k	NOUN
ajst-15054	4	22	-	-	PUNCT
ajst-15054	4	23	means	means	NOUN
ajst-15054	4	24	(	(	PUNCT
ajst-15054	4	25	k	k	NOUN
ajst-15054	4	26	-	-	PUNCT
ajst-15054	4	27	means	means	ADJ
ajst-15054	4	28	)	)	PUNCT
ajst-15054	4	29	cluster	cluster	NOUN
ajst-15054	4	30	analysis	analysis	NOUN
ajst-15054	4	31	.	.	PUNCT
ajst-15054	5	1	secondly	secondly	ADV
ajst-15054	5	2	,	,	PUNCT
ajst-15054	5	3	we	we	PRON
ajst-15054	5	4	propose	propose	VERB
ajst-15054	5	5	a	a	DET
ajst-15054	5	6	lane	lane	NOUN
ajst-15054	5	7	change	change	NOUN
ajst-15054	5	8	decision	decision	NOUN
ajst-15054	5	9	model	model	NOUN
ajst-15054	5	10	that	that	PRON
ajst-15054	5	11	takes	take	VERB
ajst-15054	5	12	into	into	ADP
ajst-15054	5	13	account	account	NOUN
ajst-15054	5	14	the	the	DET
ajst-15054	5	15	rationality	rationality	NOUN
ajst-15054	5	16	and	and	CCONJ
ajst-15054	5	17	safety	safety	NOUN
ajst-15054	5	18	of	of	ADP
ajst-15054	5	19	lane	lane	NOUN
ajst-15054	5	20	change	change	NOUN
ajst-15054	5	21	by	by	ADP
ajst-15054	5	22	learning	learn	VERB
ajst-15054	5	23	human	human	ADJ
ajst-15054	5	24	drivers	driver	NOUN
ajst-15054	5	25	'	'	PART
ajst-15054	5	26	driving	drive	VERB
ajst-15054	5	27	behavior	behavior	NOUN
ajst-15054	5	28	experience	experience	NOUN
ajst-15054	5	29	through	through	ADP
ajst-15054	5	30	long	long	ADJ
ajst-15054	5	31	short	short	ADJ
ajst-15054	5	32	-	-	PUNCT
ajst-15054	5	33	term	term	NOUN
ajst-15054	5	34	memory	memory	NOUN
ajst-15054	5	35	(	(	PUNCT
ajst-15054	5	36	lstm	lstm	ADJ
ajst-15054	5	37	)	)	PUNCT
ajst-15054	5	38	method	method	NOUN
ajst-15054	5	39	,	,	PUNCT
ajst-15054	5	40	so	so	SCONJ
ajst-15054	5	41	as	as	SCONJ
ajst-15054	5	42	to	to	PART
ajst-15054	5	43	improve	improve	VERB
ajst-15054	5	44	drivers	driver	NOUN
ajst-15054	5	45	'	'	PART
ajst-15054	5	46	acceptance	acceptance	NOUN
ajst-15054	5	47	and	and	CCONJ
ajst-15054	5	48	satisfaction	satisfaction	NOUN
ajst-15054	5	49	of	of	ADP
ajst-15054	5	50	smart	smart	ADJ
ajst-15054	5	51	cars	car	NOUN
ajst-15054	5	52	.	.	PUNCT
ajst-15054	6	1	finally	finally	ADV
ajst-15054	6	2	,	,	PUNCT
ajst-15054	6	3	the	the	DET
ajst-15054	6	4	joint	joint	ADJ
ajst-15054	6	5	simulation	simulation	NOUN
ajst-15054	6	6	by	by	ADP
ajst-15054	6	7	simulink	simulink	PROPN
ajst-15054	6	8	/	/	SYM
ajst-15054	6	9	carsim	carsim	PROPN
ajst-15054	6	10	/	/	SYM
ajst-15054	6	11	prescan	prescan	PROPN
ajst-15054	6	12	software	software	NOUN
ajst-15054	6	13	proves	prove	VERB
ajst-15054	6	14	that	that	SCONJ
ajst-15054	6	15	the	the	DET
ajst-15054	6	16	lane	lane	NOUN
ajst-15054	6	17	change	change	NOUN
ajst-15054	6	18	decision	decision	NOUN
ajst-15054	6	19	method	method	NOUN
ajst-15054	6	20	based	base	VERB
ajst-15054	6	21	on	on	ADP
ajst-15054	6	22	the	the	DET
ajst-15054	6	23	driver	driver	NOUN
ajst-15054	6	24	's	's	PART
ajst-15054	6	25	style	style	NOUN
ajst-15054	6	26	proposed	propose	VERB
ajst-15054	6	27	in	in	ADP
ajst-15054	6	28	this	this	DET
ajst-15054	6	29	study	study	NOUN
ajst-15054	6	30	can	can	AUX
ajst-15054	6	31	realize	realize	VERB
ajst-15054	6	32	the	the	DET
ajst-15054	6	33	autonomous	autonomous	ADJ
ajst-15054	6	34	lane	lane	NOUN
ajst-15054	6	35	change	change	NOUN
ajst-15054	6	36	task	task	NOUN
ajst-15054	6	37	of	of	ADP
ajst-15054	6	38	smart	smart	ADJ
ajst-15054	6	39	cars	car	NOUN
ajst-15054	6	40	.	.	PUNCT
ajst-15054	7	1	keywords	keyword	NOUN
ajst-15054	7	2	:	:	PUNCT
ajst-15054	7	3	highway	highway	NOUN
ajst-15054	7	4	safety	safety	NOUN
ajst-15054	7	5	,	,	PUNCT
ajst-15054	7	6	curved	curved	ADJ
ajst-15054	7	7	section	section	NOUN
ajst-15054	7	8	,	,	PUNCT
ajst-15054	7	9	lane	lane	NOUN
ajst-15054	7	10	changing	change	VERB
ajst-15054	7	11	,	,	PUNCT
ajst-15054	7	12	emergency	emergency	NOUN
ajst-15054	7	13	collision	collision	NOUN
ajst-15054	7	14	avoidance	avoidance	NOUN
ajst-15054	7	15	,	,	PUNCT
ajst-15054	7	16	minimum	minimum	ADJ
ajst-15054	7	17	safe	safe	ADJ
ajst-15054	7	18	distance	distance	NOUN
ajst-15054	7	19	.	.	PUNCT
ajst-15054	8	1	1	1	X
ajst-15054	8	2	.	.	X
ajst-15054	8	3	introduction	introduction	NOUN
ajst-15054	8	4	intelligent	intelligent	ADJ
ajst-15054	8	5	vehicles	vehicle	NOUN
ajst-15054	8	6	are	be	AUX
ajst-15054	8	7	one	one	NUM
ajst-15054	8	8	of	of	ADP
ajst-15054	8	9	the	the	DET
ajst-15054	8	10	hotspots	hotspot	NOUN
ajst-15054	8	11	in	in	ADP
ajst-15054	8	12	vehicle	vehicle	NOUN
ajst-15054	8	13	engineering	engineering	NOUN
ajst-15054	8	14	research	research	NOUN
ajst-15054	8	15	,	,	PUNCT
ajst-15054	8	16	and	and	CCONJ
ajst-15054	8	17	their	their	PRON
ajst-15054	8	18	self	self	NOUN
ajst-15054	8	19	-	-	PUNCT
ajst-15054	8	20	driving	drive	VERB
ajst-15054	8	21	systems	system	NOUN
ajst-15054	8	22	have	have	VERB
ajst-15054	8	23	advantages	advantage	NOUN
ajst-15054	8	24	such	such	ADJ
ajst-15054	8	25	as	as	ADP
ajst-15054	8	26	higher	high	ADJ
ajst-15054	8	27	safety	safety	NOUN
ajst-15054	8	28	,	,	PUNCT
ajst-15054	8	29	comfort	comfort	NOUN
ajst-15054	8	30	,	,	PUNCT
ajst-15054	8	31	energy	energy	NOUN
ajst-15054	8	32	saving	saving	NOUN
ajst-15054	8	33	and	and	CCONJ
ajst-15054	8	34	pollution	pollution	NOUN
ajst-15054	8	35	reduction	reduction	NOUN
ajst-15054	8	36	compared	compare	VERB
ajst-15054	8	37	with	with	ADP
ajst-15054	8	38	traditional	traditional	ADJ
ajst-15054	8	39	vehicles	vehicle	NOUN
ajst-15054	8	40	.	.	PUNCT
ajst-15054	9	1	in	in	ADP
ajst-15054	9	2	order	order	NOUN
ajst-15054	9	3	to	to	PART
ajst-15054	9	4	ensure	ensure	VERB
ajst-15054	9	5	road	road	NOUN
ajst-15054	9	6	safety	safety	NOUN
ajst-15054	9	7	and	and	CCONJ
ajst-15054	9	8	smooth	smooth	ADJ
ajst-15054	9	9	traffic	traffic	NOUN
ajst-15054	9	10	flow	flow	NOUN
ajst-15054	9	11	,	,	PUNCT
ajst-15054	9	12	selfdriving	selfdriving	NOUN
ajst-15054	9	13	vehicles	vehicle	NOUN
ajst-15054	9	14	and	and	CCONJ
ajst-15054	9	15	human	human	NOUN
ajst-15054	9	16	-	-	PUNCT
ajst-15054	9	17	driving	drive	VERB
ajst-15054	9	18	vehicles	vehicle	NOUN
ajst-15054	9	19	need	need	VERB
ajst-15054	9	20	to	to	PART
ajst-15054	9	21	travel	travel	VERB
ajst-15054	9	22	together	together	ADV
ajst-15054	9	23	on	on	ADP
ajst-15054	9	24	the	the	DET
ajst-15054	9	25	road	road	NOUN
ajst-15054	9	26	and	and	CCONJ
ajst-15054	9	27	maintain	maintain	VERB
ajst-15054	9	28	consistency	consistency	NOUN
ajst-15054	9	29	over	over	ADP
ajst-15054	9	30	a	a	DET
ajst-15054	9	31	period	period	NOUN
ajst-15054	9	32	of	of	ADP
ajst-15054	9	33	time	time	NOUN
ajst-15054	9	34	.	.	PUNCT
ajst-15054	10	1	however	however	ADV
ajst-15054	10	2	,	,	PUNCT
ajst-15054	10	3	it	it	PRON
ajst-15054	10	4	is	be	AUX
ajst-15054	10	5	not	not	PART
ajst-15054	10	6	feasible	feasible	ADJ
ajst-15054	10	7	to	to	PART
ajst-15054	10	8	transform	transform	VERB
ajst-15054	10	9	the	the	DET
ajst-15054	10	10	driver	driver	NOUN
ajst-15054	10	11	into	into	ADP
ajst-15054	10	12	a	a	DET
ajst-15054	10	13	machine	machine	NOUN
ajst-15054	10	14	driving	drive	VERB
ajst-15054	10	15	mode	mode	NOUN
ajst-15054	10	16	.	.	PUNCT
ajst-15054	11	1	in	in	ADP
ajst-15054	11	2	contrast	contrast	NOUN
ajst-15054	11	3	,	,	PUNCT
ajst-15054	11	4	it	it	PRON
ajst-15054	11	5	is	be	AUX
ajst-15054	11	6	more	more	ADV
ajst-15054	11	7	practical	practical	ADJ
ajst-15054	11	8	to	to	PART
ajst-15054	11	9	make	make	VERB
ajst-15054	11	10	the	the	DET
ajst-15054	11	11	anthropomorphization	anthropomorphization	NOUN
ajst-15054	11	12	of	of	ADP
ajst-15054	11	13	self	self	NOUN
ajst-15054	11	14	-	-	PUNCT
ajst-15054	11	15	driving	drive	VERB
ajst-15054	11	16	vehicles	vehicle	NOUN
ajst-15054	11	17	technically	technically	ADV
ajst-15054	11	18	possible	possible	ADJ
ajst-15054	11	19	by	by	ADP
ajst-15054	11	20	extracting	extract	VERB
ajst-15054	11	21	the	the	DET
ajst-15054	11	22	driving	drive	VERB
ajst-15054	11	23	characteristics	characteristic	NOUN
ajst-15054	11	24	of	of	ADP
ajst-15054	11	25	the	the	DET
ajst-15054	11	26	driver	driver	NOUN
ajst-15054	11	27	and	and	CCONJ
ajst-15054	11	28	inputting	inputte	VERB
ajst-15054	11	29	them	they	PRON
ajst-15054	11	30	into	into	ADP
ajst-15054	11	31	a	a	DET
ajst-15054	11	32	computer	computer	NOUN
ajst-15054	11	33	.	.	PUNCT
ajst-15054	12	1	the	the	DET
ajst-15054	12	2	purpose	purpose	NOUN
ajst-15054	12	3	of	of	ADP
ajst-15054	12	4	this	this	DET
ajst-15054	12	5	study	study	NOUN
ajst-15054	12	6	is	be	AUX
ajst-15054	12	7	to	to	PART
ajst-15054	12	8	learn	learn	VERB
ajst-15054	12	9	the	the	DET
ajst-15054	12	10	characteristics	characteristic	NOUN
ajst-15054	12	11	of	of	ADP
ajst-15054	12	12	drivers	driver	NOUN
ajst-15054	12	13	when	when	SCONJ
ajst-15054	12	14	they	they	PRON
ajst-15054	12	15	perform	perform	VERB
ajst-15054	12	16	lane	lane	NOUN
ajst-15054	12	17	changing	change	VERB
ajst-15054	12	18	normally	normally	ADV
ajst-15054	12	19	and	and	CCONJ
ajst-15054	12	20	to	to	PART
ajst-15054	12	21	model	model	VERB
ajst-15054	12	22	the	the	DET
ajst-15054	12	23	lane	lane	NOUN
ajst-15054	12	24	changing	change	VERB
ajst-15054	12	25	decision	decision	NOUN
ajst-15054	12	26	of	of	ADP
ajst-15054	12	27	intelligent	intelligent	ADJ
ajst-15054	12	28	trucks	truck	NOUN
ajst-15054	12	29	in	in	ADP
ajst-15054	12	30	free	free	ADJ
ajst-15054	12	31	lane	lane	NOUN
ajst-15054	12	32	changing	change	VERB
ajst-15054	12	33	situations	situation	NOUN
ajst-15054	12	34	to	to	PART
ajst-15054	12	35	ensure	ensure	VERB
ajst-15054	12	36	the	the	DET
ajst-15054	12	37	safety	safety	NOUN
ajst-15054	12	38	and	and	CCONJ
ajst-15054	12	39	ride	ride	VERB
ajst-15054	12	40	comfort	comfort	NOUN
ajst-15054	12	41	of	of	ADP
ajst-15054	12	42	self	self	NOUN
ajst-15054	12	43	-	-	PUNCT
ajst-15054	12	44	driving	drive	VERB
ajst-15054	12	45	vehicles	vehicle	NOUN
ajst-15054	12	46	when	when	SCONJ
ajst-15054	12	47	changing	change	VERB
ajst-15054	12	48	lanes	lane	NOUN
ajst-15054	12	49	.	.	PUNCT
ajst-15054	13	1	initially	initially	ADV
ajst-15054	13	2	,	,	PUNCT
ajst-15054	13	3	the	the	DET
ajst-15054	13	4	lane	lane	NOUN
ajst-15054	13	5	changing	change	VERB
ajst-15054	13	6	decision	decision	NOUN
ajst-15054	13	7	-	-	PUNCT
ajst-15054	13	8	making	make	VERB
ajst-15054	13	9	model	model	NOUN
ajst-15054	13	10	was	be	AUX
ajst-15054	13	11	based	base	VERB
ajst-15054	13	12	on	on	ADP
ajst-15054	13	13	the	the	DET
ajst-15054	13	14	rules	rule	NOUN
ajst-15054	13	15	of	of	ADP
ajst-15054	13	16	the	the	DET
ajst-15054	13	17	road	road	NOUN
ajst-15054	13	18	,	,	PUNCT
ajst-15054	13	19	and	and	CCONJ
ajst-15054	13	20	gipps[1	gipps[1	NOUN
ajst-15054	13	21	]	]	PUNCT
ajst-15054	13	22	proposed	propose	VERB
ajst-15054	13	23	in	in	ADP
ajst-15054	13	24	the	the	DET
ajst-15054	13	25	twentieth	twentieth	ADJ
ajst-15054	13	26	century	century	NOUN
ajst-15054	13	27	that	that	PRON
ajst-15054	13	28	lane	lane	NOUN
ajst-15054	13	29	changing	change	VERB
ajst-15054	13	30	behavior	behavior	NOUN
ajst-15054	13	31	can	can	AUX
ajst-15054	13	32	be	be	AUX
ajst-15054	13	33	analyzed	analyze	VERB
ajst-15054	13	34	from	from	ADP
ajst-15054	13	35	three	three	NUM
ajst-15054	13	36	aspects	aspect	NOUN
ajst-15054	13	37	:	:	PUNCT
ajst-15054	13	38	1	1	NUM
ajst-15054	13	39	)	)	PUNCT
ajst-15054	13	40	necessity	necessity	NOUN
ajst-15054	13	41	,	,	PUNCT
ajst-15054	13	42	2	2	NUM
ajst-15054	13	43	)	)	PUNCT
ajst-15054	13	44	safety	safety	NOUN
ajst-15054	13	45	,	,	PUNCT
ajst-15054	13	46	and	and	CCONJ
ajst-15054	14	1	3	3	X
ajst-15054	14	2	)	)	PUNCT
ajst-15054	14	3	propensity.yang[2	propensity.yang[2	PROPN
ajst-15054	14	4	]	]	PUNCT
ajst-15054	14	5	and	and	CCONJ
ajst-15054	14	6	others	other	NOUN
ajst-15054	14	7	not	not	PART
ajst-15054	14	8	only	only	ADV
ajst-15054	14	9	considered	consider	VERB
ajst-15054	14	10	the	the	DET
ajst-15054	14	11	probability	probability	NOUN
ajst-15054	14	12	of	of	ADP
ajst-15054	14	13	lane	lane	NOUN
ajst-15054	14	14	changing	change	VERB
ajst-15054	14	15	,	,	PUNCT
ajst-15054	14	16	but	but	CCONJ
ajst-15054	14	17	also	also	ADV
ajst-15054	14	18	introduced	introduce	VERB
ajst-15054	14	19	the	the	DET
ajst-15054	14	20	random	random	ADJ
ajst-15054	14	21	error	error	NOUN
ajst-15054	14	22	on	on	ADP
ajst-15054	14	23	the	the	DET
ajst-15054	14	24	basis	basis	NOUN
ajst-15054	14	25	of	of	ADP
ajst-15054	14	26	gipps	gipps	PROPN
ajst-15054	14	27	's	's	PART
ajst-15054	14	28	proposed	propose	VERB
ajst-15054	14	29	model	model	NOUN
ajst-15054	14	30	.	.	PUNCT
ajst-15054	15	1	hidas[3	hidas[3	PROPN
ajst-15054	15	2	]	]	X
ajst-15054	15	3	et	et	PROPN
ajst-15054	15	4	al	al	PROPN
ajst-15054	15	5	.	.	PROPN
ajst-15054	15	6	classified	classify	VERB
ajst-15054	15	7	the	the	DET
ajst-15054	15	8	vehicle	vehicle	NOUN
ajst-15054	15	9	lane	lane	NOUN
ajst-15054	15	10	changing	change	VERB
ajst-15054	15	11	into	into	ADP
ajst-15054	15	12	free	free	ADJ
ajst-15054	15	13	lane	lane	NOUN
ajst-15054	15	14	changing	change	VERB
ajst-15054	15	15	,	,	PUNCT
ajst-15054	15	16	forced	force	VERB
ajst-15054	15	17	lane	lane	NOUN
ajst-15054	15	18	changing	change	VERB
ajst-15054	15	19	and	and	CCONJ
ajst-15054	15	20	collaborative	collaborative	ADJ
ajst-15054	15	21	lane	lane	NOUN
ajst-15054	15	22	changing.kesting[4	changing.kesting[4	PROPN
ajst-15054	15	23	]	]	X
ajst-15054	15	24	et	et	PROPN
ajst-15054	15	25	al	al	PROPN
ajst-15054	15	26	.	.	PROPN
ajst-15054	15	27	expressed	express	VERB
ajst-15054	15	28	the	the	DET
ajst-15054	15	29	lane	lane	NOUN
ajst-15054	15	30	changing	change	VERB
ajst-15054	15	31	gain	gain	NOUN
ajst-15054	15	32	by	by	ADP
ajst-15054	15	33	acceleration	acceleration	NOUN
ajst-15054	15	34	and	and	CCONJ
ajst-15054	15	35	proposed	propose	VERB
ajst-15054	15	36	a	a	DET
ajst-15054	15	37	mobll	mobll	NOUN
ajst-15054	15	38	model	model	NOUN
ajst-15054	15	39	based	base	VERB
ajst-15054	15	40	on	on	ADP
ajst-15054	15	41	and	and	CCONJ
ajst-15054	15	42	speed	speed	NOUN
ajst-15054	15	43	control	control	NOUN
ajst-15054	15	44	.	.	PUNCT
ajst-15054	16	1	with	with	ADP
ajst-15054	16	2	the	the	DET
ajst-15054	16	3	development	development	NOUN
ajst-15054	16	4	of	of	ADP
ajst-15054	16	5	deep	deep	ADJ
ajst-15054	16	6	learning	learning	NOUN
ajst-15054	16	7	and	and	CCONJ
ajst-15054	16	8	machine	machine	NOUN
ajst-15054	16	9	learning	learning	NOUN
ajst-15054	16	10	,	,	PUNCT
ajst-15054	16	11	more	more	ADJ
ajst-15054	16	12	scholars	scholar	NOUN
ajst-15054	16	13	are	be	AUX
ajst-15054	16	14	trying	try	VERB
ajst-15054	16	15	to	to	PART
ajst-15054	16	16	improve	improve	VERB
ajst-15054	16	17	the	the	DET
ajst-15054	16	18	stability	stability	NOUN
ajst-15054	16	19	and	and	CCONJ
ajst-15054	16	20	accuracy	accuracy	NOUN
ajst-15054	16	21	of	of	ADP
ajst-15054	16	22	the	the	DET
ajst-15054	16	23	lane	lane	NOUN
ajst-15054	16	24	changing	change	VERB
ajst-15054	16	25	decision	decision	NOUN
ajst-15054	16	26	through	through	ADP
ajst-15054	16	27	this	this	PRON
ajst-15054	16	28	more	more	ADV
ajst-15054	16	29	advanced	advanced	ADJ
ajst-15054	16	30	method.qiu	method.qiu	X
ajst-15054	17	1	[	[	X
ajst-15054	17	2	5	5	NUM
ajst-15054	17	3	]	]	PUNCT
ajst-15054	17	4	et	et	PROPN
ajst-15054	17	5	al	al	PROPN
ajst-15054	17	6	.	.	PROPN
ajst-15054	17	7	used	use	VERB
ajst-15054	17	8	bayesian	bayesian	NOUN
ajst-15054	17	9	network	network	NOUN
ajst-15054	17	10	to	to	PART
ajst-15054	17	11	model	model	NOUN
ajst-15054	17	12	vehicle	vehicle	NOUN
ajst-15054	17	13	lane	lane	PROPN
ajst-15054	17	14	changing.motamedidehkordi	changing.motamedidehkordi	PROPN
ajst-15054	18	1	[	[	X
ajst-15054	18	2	6	6	NUM
ajst-15054	18	3	]	]	PUNCT
ajst-15054	18	4	et	et	PROPN
ajst-15054	18	5	al	al	PROPN
ajst-15054	18	6	.	.	PROPN
ajst-15054	18	7	modeled	model	VERB
ajst-15054	18	8	the	the	DET
ajst-15054	18	9	lane	lane	NOUN
ajst-15054	18	10	changing	change	VERB
ajst-15054	18	11	decision	decision	NOUN
ajst-15054	18	12	through	through	ADP
ajst-15054	18	13	random	random	ADJ
ajst-15054	18	14	forests.shalev	forests.shalev	ADJ
ajst-15054	18	15	-	-	PUNCT
ajst-15054	18	16	shwartz	shwartz	ADJ
ajst-15054	18	17	s[7	s[7	PROPN
ajst-15054	18	18	]	]	X
ajst-15054	18	19	et	et	PROPN
ajst-15054	18	20	al	al	PROPN
ajst-15054	18	21	.	.	PROPN
ajst-15054	18	22	decomposed	decompose	VERB
ajst-15054	18	23	the	the	DET
ajst-15054	18	24	decision	decision	NOUN
ajst-15054	18	25	into	into	ADP
ajst-15054	18	26	two	two	NUM
ajst-15054	18	27	parts	part	NOUN
ajst-15054	18	28	,	,	PUNCT
ajst-15054	18	29	thus	thus	ADV
ajst-15054	18	30	ensuring	ensure	VERB
ajst-15054	18	31	the	the	DET
ajst-15054	18	32	stability	stability	NOUN
ajst-15054	18	33	and	and	CCONJ
ajst-15054	18	34	accuracy	accuracy	NOUN
ajst-15054	18	35	of	of	ADP
ajst-15054	18	36	the	the	DET
ajst-15054	18	37	decision	decision	NOUN
ajst-15054	18	38	.	.	PUNCT
ajst-15054	19	1	decomposed	decompose	VERB
ajst-15054	19	2	,	,	PUNCT
ajst-15054	19	3	thus	thus	ADV
ajst-15054	19	4	ensuring	ensure	VERB
ajst-15054	19	5	the	the	DET
ajst-15054	19	6	safety	safety	NOUN
ajst-15054	19	7	of	of	ADP
ajst-15054	19	8	the	the	DET
ajst-15054	19	9	proposed	propose	VERB
ajst-15054	19	10	decision	decision	NOUN
ajst-15054	19	11	while	while	SCONJ
ajst-15054	19	12	greatly	greatly	ADV
ajst-15054	19	13	improving	improve	VERB
ajst-15054	19	14	the	the	DET
ajst-15054	19	15	reliability	reliability	NOUN
ajst-15054	19	16	of	of	ADP
ajst-15054	19	17	the	the	DET
ajst-15054	19	18	decision	decision	NOUN
ajst-15054	19	19	.	.	PUNCT
ajst-15054	20	1	liu	liu	PROPN
ajst-15054	20	2	m[8	m[8	PROPN
ajst-15054	20	3	]	]	PUNCT
ajst-15054	20	4	,	,	PUNCT
ajst-15054	20	5	although	although	SCONJ
ajst-15054	20	6	using	use	VERB
ajst-15054	20	7	the	the	DET
ajst-15054	20	8	algorithm	algorithm	NOUN
ajst-15054	20	9	of	of	ADP
ajst-15054	20	10	decision	decision	NOUN
ajst-15054	20	11	tree	tree	NOUN
ajst-15054	20	12	to	to	PART
ajst-15054	20	13	realize	realize	VERB
ajst-15054	20	14	the	the	DET
ajst-15054	20	15	modeling	modeling	NOUN
ajst-15054	20	16	of	of	ADP
ajst-15054	20	17	lane	lane	NOUN
ajst-15054	20	18	changing	change	VERB
ajst-15054	20	19	decision	decision	NOUN
ajst-15054	20	20	in	in	ADP
ajst-15054	20	21	urban	urban	ADJ
ajst-15054	20	22	environment	environment	NOUN
ajst-15054	20	23	,	,	PUNCT
ajst-15054	20	24	their	their	PRON
ajst-15054	20	25	proposed	propose	VERB
ajst-15054	20	26	driving	driving	NOUN
ajst-15054	20	27	environment	environment	NOUN
ajst-15054	20	28	is	be	AUX
ajst-15054	20	29	too	too	ADV
ajst-15054	20	30	ideal	ideal	ADJ
ajst-15054	20	31	,	,	PUNCT
ajst-15054	20	32	and	and	CCONJ
ajst-15054	20	33	at	at	ADP
ajst-15054	20	34	the	the	DET
ajst-15054	20	35	same	same	ADJ
ajst-15054	20	36	time	time	NOUN
ajst-15054	20	37	,	,	PUNCT
ajst-15054	20	38	there	there	PRON
ajst-15054	20	39	is	be	VERB
ajst-15054	20	40	the	the	DET
ajst-15054	20	41	problem	problem	NOUN
ajst-15054	20	42	of	of	ADP
ajst-15054	20	43	insufficient	insufficient	ADJ
ajst-15054	20	44	consideration	consideration	NOUN
ajst-15054	20	45	of	of	ADP
ajst-15054	20	46	vehicle	vehicle	NOUN
ajst-15054	20	47	dynamics	dynamic	NOUN
ajst-15054	20	48	constraints	constraint	NOUN
ajst-15054	20	49	.	.	PUNCT
ajst-15054	21	1	jin	jin	PROPN
ajst-15054	21	2	fan[9	fan[9	AUX
ajst-15054	21	3	]	]	PUNCT
ajst-15054	21	4	used	use	VERB
ajst-15054	21	5	convolutional	convolutional	ADJ
ajst-15054	21	6	neural	neural	ADJ
ajst-15054	21	7	network	network	NOUN
ajst-15054	21	8	to	to	PART
ajst-15054	21	9	obtain	obtain	VERB
ajst-15054	21	10	the	the	DET
ajst-15054	21	11	optimal	optimal	ADJ
ajst-15054	21	12	solution	solution	NOUN
ajst-15054	21	13	for	for	ADP
ajst-15054	21	14	decision	decision	NOUN
ajst-15054	21	15	making	making	NOUN
ajst-15054	21	16	and	and	CCONJ
ajst-15054	21	17	verified	verify	VERB
ajst-15054	21	18	the	the	DET
ajst-15054	21	19	migration	migration	NOUN
ajst-15054	21	20	of	of	ADP
ajst-15054	21	21	the	the	DET
ajst-15054	21	22	proposed	propose	VERB
ajst-15054	21	23	model	model	NOUN
ajst-15054	21	24	by	by	ADP
ajst-15054	21	25	using	use	VERB
ajst-15054	21	26	the	the	DET
ajst-15054	21	27	highway	highway	NOUN
ajst-15054	21	28	dataset	dataset	VERB
ajst-15054	21	29	in	in	ADP
ajst-15054	21	30	china	china	PROPN
ajst-15054	21	31	.	.	PUNCT
ajst-15054	22	1	wang	wang	PROPN
ajst-15054	22	2	shubo[10	shubo[10	PROPN
ajst-15054	22	3	]	]	PUNCT
ajst-15054	22	4	et	et	PROPN
ajst-15054	22	5	al	al	PROPN
ajst-15054	22	6	.	.	PROPN
ajst-15054	22	7	used	use	VERB
ajst-15054	22	8	environmental	environmental	ADJ
ajst-15054	22	9	state	state	NOUN
ajst-15054	22	10	information	information	NOUN
ajst-15054	22	11	as	as	ADP
ajst-15054	22	12	input	input	NOUN
ajst-15054	22	13	and	and	CCONJ
ajst-15054	22	14	decision	decision	NOUN
ajst-15054	22	15	commands	command	NOUN
ajst-15054	22	16	as	as	ADP
ajst-15054	22	17	output	output	NOUN
ajst-15054	22	18	to	to	PART
ajst-15054	22	19	train	train	VERB
ajst-15054	22	20	the	the	DET
ajst-15054	22	21	decision	decision	NOUN
ajst-15054	22	22	-	-	PUNCT
ajst-15054	22	23	making	make	VERB
ajst-15054	22	24	system	system	NOUN
ajst-15054	22	25	using	use	VERB
ajst-15054	22	26	deep	deep	ADJ
ajst-15054	22	27	reinforcement	reinforcement	NOUN
ajst-15054	22	28	learning	learning	NOUN
ajst-15054	22	29	,	,	PUNCT
ajst-15054	22	30	but	but	CCONJ
ajst-15054	22	31	the	the	DET
ajst-15054	22	32	final	final	ADJ
ajst-15054	22	33	training	training	NOUN
ajst-15054	22	34	effect	effect	NOUN
ajst-15054	22	35	was	be	AUX
ajst-15054	22	36	less	less	ADV
ajst-15054	22	37	satisfactory	satisfactory	ADJ
ajst-15054	22	38	.	.	PUNCT
ajst-15054	23	1	at	at	ADP
ajst-15054	23	2	present	present	ADJ
ajst-15054	23	3	,	,	PUNCT
ajst-15054	23	4	deep	deep	ADJ
ajst-15054	23	5	learning	learning	NOUN
ajst-15054	23	6	has	have	AUX
ajst-15054	23	7	been	be	AUX
ajst-15054	23	8	widely	widely	ADV
ajst-15054	23	9	recognized	recognize	VERB
ajst-15054	23	10	as	as	ADP
ajst-15054	23	11	an	an	DET
ajst-15054	23	12	effective	effective	ADJ
ajst-15054	23	13	means	mean	NOUN
ajst-15054	23	14	to	to	PART
ajst-15054	23	15	improve	improve	VERB
ajst-15054	23	16	the	the	DET
ajst-15054	23	17	perceptual	perceptual	ADJ
ajst-15054	23	18	ability	ability	NOUN
ajst-15054	23	19	of	of	ADP
ajst-15054	23	20	automatic	automatic	ADJ
ajst-15054	23	21	driving	driving	NOUN
ajst-15054	23	22	,	,	PUNCT
ajst-15054	23	23	and	and	CCONJ
ajst-15054	23	24	there	there	PRON
ajst-15054	23	25	are	be	VERB
ajst-15054	23	26	still	still	ADV
ajst-15054	23	27	some	some	DET
ajst-15054	23	28	limitations	limitation	NOUN
ajst-15054	23	29	from	from	ADP
ajst-15054	23	30	the	the	DET
ajst-15054	23	31	point	point	NOUN
ajst-15054	23	32	of	of	ADP
ajst-15054	23	33	view	view	NOUN
ajst-15054	23	34	of	of	ADP
ajst-15054	23	35	the	the	DET
ajst-15054	23	36	research	research	NOUN
ajst-15054	23	37	object	object	NOUN
ajst-15054	23	38	and	and	CCONJ
ajst-15054	23	39	means	mean	VERB
ajst-15054	23	40	:	:	PUNCT
ajst-15054	23	41	firstly	firstly	ADV
ajst-15054	23	42	,	,	PUNCT
ajst-15054	23	43	the	the	DET
ajst-15054	23	44	research	research	NOUN
ajst-15054	23	45	object	object	NOUN
ajst-15054	23	46	of	of	ADP
ajst-15054	23	47	vehicle	vehicle	NOUN
ajst-15054	23	48	lane	lane	NOUN
ajst-15054	23	49	-	-	PUNCT
ajst-15054	23	50	changing	change	VERB
ajst-15054	23	51	decision	decision	NOUN
ajst-15054	23	52	-	-	PUNCT
ajst-15054	23	53	making	making	NOUN
ajst-15054	23	54	is	be	AUX
ajst-15054	23	55	mainly	mainly	ADV
ajst-15054	23	56	for	for	ADP
ajst-15054	23	57	sedans	sedan	NOUN
ajst-15054	23	58	,	,	PUNCT
ajst-15054	23	59	while	while	SCONJ
ajst-15054	23	60	the	the	DET
ajst-15054	23	61	research	research	NOUN
ajst-15054	23	62	for	for	ADP
ajst-15054	23	63	heavy	heavy	ADJ
ajst-15054	23	64	trucks	truck	NOUN
ajst-15054	23	65	is	be	AUX
ajst-15054	23	66	still	still	ADV
ajst-15054	23	67	relatively	relatively	ADV
ajst-15054	23	68	small	small	ADJ
ajst-15054	23	69	;	;	PUNCT
ajst-15054	23	70	secondly	secondly	ADV
ajst-15054	23	71	,	,	PUNCT
ajst-15054	23	72	an	an	DET
ajst-15054	23	73	important	important	ADJ
ajst-15054	23	74	research	research	NOUN
ajst-15054	23	75	direction	direction	NOUN
ajst-15054	23	76	in	in	ADP
ajst-15054	23	77	the	the	DET
ajst-15054	23	78	area	area	NOUN
ajst-15054	23	79	of	of	ADP
ajst-15054	23	80	decision	decision	NOUN
ajst-15054	23	81	-	-	PUNCT
ajst-15054	23	82	making	make	VERB
ajst-15054	23	83	and	and	CCONJ
ajst-15054	23	84	planning	planning	NOUN
ajst-15054	23	85	tasks	task	NOUN
ajst-15054	23	86	is	be	AUX
ajst-15054	23	87	the	the	DET
ajst-15054	23	88	anthropomorphism	anthropomorphism	NOUN
ajst-15054	23	89	of	of	ADP
ajst-15054	23	90	automatic	automatic	ADJ
ajst-15054	23	91	driving	driving	NOUN
ajst-15054	23	92	decision	decision	NOUN
ajst-15054	23	93	-	-	PUNCT
ajst-15054	23	94	making	making	NOUN
ajst-15054	23	95	,	,	PUNCT
ajst-15054	23	96	which	which	PRON
ajst-15054	23	97	does	do	AUX
ajst-15054	23	98	n't	not	PART
ajst-15054	23	99	need	need	VERB
ajst-15054	23	100	to	to	PART
ajst-15054	23	101	provide	provide	VERB
ajst-15054	23	102	its	its	PRON
ajst-15054	23	103	own	own	ADJ
ajst-15054	23	104	a	a	DET
ajst-15054	23	105	lot	lot	NOUN
ajst-15054	23	106	of	of	ADP
ajst-15054	23	107	driving	drive	VERB
ajst-15054	23	108	rules	rule	NOUN
ajst-15054	23	109	,	,	PUNCT
ajst-15054	23	110	as	as	ADV
ajst-15054	23	111	long	long	ADV
ajst-15054	23	112	as	as	SCONJ
ajst-15054	23	113	the	the	DET
ajst-15054	23	114	system	system	NOUN
ajst-15054	23	115	is	be	AUX
ajst-15054	23	116	given	give	VERB
ajst-15054	23	117	enough	enough	ADJ
ajst-15054	23	118	driving	drive	VERB
ajst-15054	23	119	data	datum	NOUN
ajst-15054	23	120	,	,	PUNCT
ajst-15054	23	121	the	the	DET
ajst-15054	23	122	neural	neural	ADJ
ajst-15054	23	123	network	network	NOUN
ajst-15054	23	124	model	model	NOUN
ajst-15054	23	125	can	can	AUX
ajst-15054	23	126	automatically	automatically	ADV
ajst-15054	23	127	learn	learn	VERB
ajst-15054	23	128	the	the	DET
ajst-15054	23	129	driving	driving	NOUN
ajst-15054	23	130	skills	skill	NOUN
ajst-15054	23	131	under	under	ADP
ajst-15054	23	132	different	different	ADJ
ajst-15054	23	133	traffic	traffic	NOUN
ajst-15054	23	134	conditions	condition	NOUN
ajst-15054	23	135	.	.	PUNCT
ajst-15054	24	1	therefore	therefore	ADV
ajst-15054	24	2	,	,	PUNCT
ajst-15054	24	3	the	the	DET
ajst-15054	24	4	design	design	NOUN
ajst-15054	24	5	of	of	ADP
ajst-15054	24	6	lane	lane	NOUN
ajst-15054	24	7	-	-	PUNCT
ajst-15054	24	8	changing	change	VERB
ajst-15054	24	9	decisionmaking	decisionmake	VERB
ajst-15054	24	10	models	model	NOUN
ajst-15054	24	11	using	use	VERB
ajst-15054	24	12	neural	neural	ADJ
ajst-15054	24	13	networks	network	NOUN
ajst-15054	24	14	plays	play	VERB
ajst-15054	24	15	an	an	DET
ajst-15054	24	16	important	important	ADJ
ajst-15054	24	17	role	role	NOUN
ajst-15054	24	18	in	in	ADP
ajst-15054	24	19	realizing	realize	VERB
ajst-15054	24	20	anthropomorphic	anthropomorphic	ADJ
ajst-15054	24	21	decision	decision	NOUN
ajst-15054	24	22	-	-	PUNCT
ajst-15054	24	23	making	making	NOUN
ajst-15054	24	24	for	for	ADP
ajst-15054	24	25	selfdriving	selfdrive	VERB
ajst-15054	24	26	cars	car	NOUN
ajst-15054	24	27	.	.	PUNCT
ajst-15054	25	1	trucks	truck	NOUN
ajst-15054	25	2	play	play	VERB
ajst-15054	25	3	a	a	DET
ajst-15054	25	4	very	very	ADV
ajst-15054	25	5	important	important	ADJ
ajst-15054	25	6	role	role	NOUN
ajst-15054	25	7	in	in	ADP
ajst-15054	25	8	land	land	NOUN
ajst-15054	25	9	transportation	transportation	NOUN
ajst-15054	25	10	because	because	SCONJ
ajst-15054	25	11	of	of	ADP
ajst-15054	25	12	the	the	DET
ajst-15054	25	13	large	large	ADJ
ajst-15054	25	14	amount	amount	NOUN
ajst-15054	25	15	of	of	ADP
ajst-15054	25	16	cargo	cargo	NOUN
ajst-15054	25	17	they	they	PRON
ajst-15054	25	18	carry	carry	VERB
ajst-15054	25	19	.	.	PUNCT
ajst-15054	26	1	it	it	PRON
ajst-15054	26	2	is	be	AUX
ajst-15054	26	3	due	due	ADJ
ajst-15054	26	4	to	to	ADP
ajst-15054	26	5	the	the	DET
ajst-15054	26	6	large	large	ADJ
ajst-15054	26	7	amount	amount	NOUN
ajst-15054	26	8	of	of	ADP
ajst-15054	26	9	loaded	loaded	ADJ
ajst-15054	26	10	cargo	cargo	NOUN
ajst-15054	26	11	leads	lead	VERB
ajst-15054	26	12	to	to	ADP
ajst-15054	26	13	its	its	PRON
ajst-15054	26	14	own	own	ADJ
ajst-15054	26	15	characteristics	characteristic	NOUN
ajst-15054	26	16	of	of	ADP
ajst-15054	26	17	large	large	ADJ
ajst-15054	26	18	mass	mass	ADJ
ajst-15054	26	19	and	and	CCONJ
ajst-15054	26	20	high	high	ADJ
ajst-15054	26	21	center	center	NOUN
ajst-15054	26	22	of	of	ADP
ajst-15054	26	23	gravity	gravity	NOUN
ajst-15054	26	24	,	,	PUNCT
ajst-15054	26	25	which	which	PRON
ajst-15054	26	26	greatly	greatly	ADV
ajst-15054	26	27	increases	increase	VERB
ajst-15054	26	28	the	the	DET
ajst-15054	26	29	possibility	possibility	NOUN
ajst-15054	26	30	of	of	ADP
ajst-15054	26	31	vehicle	vehicle	NOUN
ajst-15054	26	32	destabilization	destabilization	NOUN
ajst-15054	26	33	due	due	ADP
ajst-15054	26	34	to	to	ADP
ajst-15054	26	35	continuous	continuous	ADJ
ajst-15054	26	36	steering	steering	NOUN
ajst-15054	26	37	during	during	ADP
ajst-15054	26	38	high	high	ADJ
ajst-15054	26	39	-	-	PUNCT
ajst-15054	26	40	speed	speed	NOUN
ajst-15054	26	41	lane	lane	NOUN
ajst-15054	26	42	changing	change	VERB
ajst-15054	26	43	,	,	PUNCT
ajst-15054	26	44	thus	thus	ADV
ajst-15054	26	45	leading	lead	VERB
ajst-15054	26	46	to	to	ADP
ajst-15054	26	47	major	major	ADJ
ajst-15054	26	48	traffic	traffic	NOUN
ajst-15054	26	49	accidents	accident	NOUN
ajst-15054	26	50	[	[	X
ajst-15054	26	51	11	11	NUM
ajst-15054	26	52	]	]	PUNCT
ajst-15054	26	53	.	.	PUNCT
ajst-15054	27	1	in	in	ADP
ajst-15054	27	2	order	order	NOUN
ajst-15054	27	3	to	to	PART
ajst-15054	27	4	improve	improve	VERB
ajst-15054	27	5	the	the	DET
ajst-15054	27	6	safety	safety	NOUN
ajst-15054	27	7	of	of	ADP
ajst-15054	27	8	intelligent	intelligent	ADJ
ajst-15054	27	9	trucks	truck	NOUN
ajst-15054	27	10	as	as	ADV
ajst-15054	27	11	well	well	ADV
ajst-15054	27	12	as	as	ADP
ajst-15054	27	13	to	to	PART
ajst-15054	27	14	improve	improve	VERB
ajst-15054	27	15	the	the	DET
ajst-15054	27	16	efficiency	efficiency	NOUN
ajst-15054	27	17	of	of	ADP
ajst-15054	27	18	access	access	NOUN
ajst-15054	27	19	,	,	PUNCT
ajst-15054	27	20	it	it	PRON
ajst-15054	27	21	is	be	AUX
ajst-15054	27	22	necessary	necessary	ADJ
ajst-15054	27	23	to	to	PART
ajst-15054	27	24	improve	improve	VERB
ajst-15054	27	25	the	the	DET
ajst-15054	27	26	lane	lane	NOUN
ajst-15054	27	27	changing	change	VERB
ajst-15054	27	28	ability	ability	NOUN
ajst-15054	27	29	of	of	ADP
ajst-15054	27	30	intelligent	intelligent	ADJ
ajst-15054	27	31	trucks	truck	NOUN
ajst-15054	27	32	.	.	PUNCT
ajst-15054	28	1	129	129	NUM
ajst-15054	28	2	in	in	ADP
ajst-15054	28	3	this	this	DET
ajst-15054	28	4	paper	paper	NOUN
ajst-15054	28	5	,	,	PUNCT
ajst-15054	28	6	we	we	PRON
ajst-15054	28	7	take	take	VERB
ajst-15054	28	8	driving	drive	VERB
ajst-15054	28	9	style	style	NOUN
ajst-15054	28	10	as	as	ADP
ajst-15054	28	11	the	the	DET
ajst-15054	28	12	starting	starting	NOUN
ajst-15054	28	13	point	point	NOUN
ajst-15054	28	14	,	,	PUNCT
ajst-15054	28	15	categorize	categorize	VERB
ajst-15054	28	16	driving	drive	VERB
ajst-15054	28	17	styles	style	NOUN
ajst-15054	28	18	through	through	ADP
ajst-15054	28	19	highd	highd	NOUN
ajst-15054	28	20	database	database	NOUN
ajst-15054	28	21	,	,	PUNCT
ajst-15054	28	22	establish	establish	VERB
ajst-15054	28	23	a	a	DET
ajst-15054	28	24	lane	lane	NOUN
ajst-15054	28	25	changing	change	VERB
ajst-15054	28	26	decision	decision	NOUN
ajst-15054	28	27	model	model	NOUN
ajst-15054	28	28	based	base	VERB
ajst-15054	28	29	on	on	ADP
ajst-15054	28	30	lstm	lstm	PROPN
ajst-15054	28	31	neural	neural	ADJ
ajst-15054	28	32	network	network	NOUN
ajst-15054	28	33	,	,	PUNCT
ajst-15054	28	34	and	and	CCONJ
ajst-15054	28	35	finally	finally	ADV
ajst-15054	28	36	verify	verify	VERB
ajst-15054	28	37	the	the	DET
ajst-15054	28	38	lane	lane	NOUN
ajst-15054	28	39	changing	change	VERB
ajst-15054	28	40	decision	decision	NOUN
ajst-15054	28	41	through	through	ADP
ajst-15054	28	42	simulation	simulation	NOUN
ajst-15054	28	43	software	software	NOUN
ajst-15054	28	44	and	and	CCONJ
ajst-15054	28	45	driving	drive	VERB
ajst-15054	28	46	simulation	simulation	NOUN
ajst-15054	28	47	platform	platform	NOUN
ajst-15054	28	48	.	.	PUNCT
ajst-15054	29	1	2	2	X
ajst-15054	29	2	.	.	X
ajst-15054	29	3	driving	drive	VERB
ajst-15054	29	4	style	style	NOUN
ajst-15054	29	5	classificatio	classificatio	NOUN
ajst-15054	29	6	driving	drive	VERB
ajst-15054	29	7	style	style	NOUN
ajst-15054	29	8	refers	refer	VERB
ajst-15054	29	9	to	to	ADP
ajst-15054	29	10	the	the	DET
ajst-15054	29	11	relatively	relatively	ADV
ajst-15054	29	12	stable	stable	ADJ
ajst-15054	29	13	driving	drive	VERB
ajst-15054	29	14	behavior	behavior	NOUN
ajst-15054	29	15	characteristics	characteristic	NOUN
ajst-15054	29	16	presented	present	VERB
ajst-15054	29	17	by	by	ADP
ajst-15054	29	18	a	a	DET
ajst-15054	29	19	person	person	NOUN
ajst-15054	29	20	in	in	ADP
ajst-15054	29	21	the	the	DET
ajst-15054	29	22	process	process	NOUN
ajst-15054	29	23	of	of	ADP
ajst-15054	29	24	driving	drive	VERB
ajst-15054	29	25	a	a	DET
ajst-15054	29	26	vehicle	vehicle	NOUN
ajst-15054	29	27	,	,	PUNCT
ajst-15054	29	28	reflecting	reflect	VERB
ajst-15054	29	29	the	the	DET
ajst-15054	29	30	driver	driver	NOUN
ajst-15054	29	31	's	's	PART
ajst-15054	29	32	mastery	mastery	NOUN
ajst-15054	29	33	of	of	ADP
ajst-15054	29	34	the	the	DET
ajst-15054	29	35	vehicle	vehicle	NOUN
ajst-15054	29	36	's	's	PART
ajst-15054	29	37	habitual	habitual	ADJ
ajst-15054	29	38	maneuvering	maneuver	VERB
ajst-15054	29	39	behavior	behavior	NOUN
ajst-15054	29	40	[	[	X
ajst-15054	29	41	12	12	NUM
ajst-15054	29	42	]	]	PUNCT
ajst-15054	29	43	.	.	PUNCT
ajst-15054	30	1	there	there	PRON
ajst-15054	30	2	are	be	VERB
ajst-15054	30	3	many	many	ADJ
ajst-15054	30	4	factors	factor	NOUN
ajst-15054	30	5	that	that	PRON
ajst-15054	30	6	can	can	AUX
ajst-15054	30	7	influence	influence	VERB
ajst-15054	30	8	driving	drive	VERB
ajst-15054	30	9	style	style	NOUN
ajst-15054	30	10	,	,	PUNCT
ajst-15054	30	11	including	include	VERB
ajst-15054	30	12	the	the	DET
ajst-15054	30	13	driver	driver	NOUN
ajst-15054	30	14	's	's	PART
ajst-15054	30	15	personality	personality	NOUN
ajst-15054	30	16	,	,	PUNCT
ajst-15054	30	17	gender	gender	NOUN
ajst-15054	30	18	,	,	PUNCT
ajst-15054	30	19	driving	drive	VERB
ajst-15054	30	20	age	age	NOUN
ajst-15054	30	21	and	and	CCONJ
ajst-15054	30	22	driving	driving	NOUN
ajst-15054	30	23	experience	experience	NOUN
ajst-15054	30	24	,	,	PUNCT
ajst-15054	30	25	as	as	ADV
ajst-15054	30	26	well	well	ADV
ajst-15054	30	27	as	as	ADP
ajst-15054	30	28	road	road	NOUN
ajst-15054	30	29	and	and	CCONJ
ajst-15054	30	30	environmental	environmental	ADJ
ajst-15054	30	31	factors	factor	NOUN
ajst-15054	30	32	.	.	PUNCT
ajst-15054	31	1	therefore	therefore	ADV
ajst-15054	31	2	,	,	PUNCT
ajst-15054	31	3	driving	drive	VERB
ajst-15054	31	4	styles	style	NOUN
ajst-15054	31	5	have	have	AUX
ajst-15054	31	6	been	be	AUX
ajst-15054	31	7	studied	study	VERB
ajst-15054	31	8	in	in	ADP
ajst-15054	31	9	order	order	NOUN
ajst-15054	31	10	to	to	PART
ajst-15054	31	11	improve	improve	VERB
ajst-15054	31	12	the	the	DET
ajst-15054	31	13	comfort	comfort	NOUN
ajst-15054	31	14	of	of	ADP
ajst-15054	31	15	drivers	driver	NOUN
ajst-15054	31	16	with	with	ADP
ajst-15054	31	17	different	different	ADJ
ajst-15054	31	18	styles	style	NOUN
ajst-15054	31	19	when	when	SCONJ
ajst-15054	31	20	riding	ride	VERB
ajst-15054	31	21	smart	smart	ADJ
ajst-15054	31	22	trucks	truck	NOUN
ajst-15054	31	23	as	as	ADV
ajst-15054	31	24	well	well	ADV
ajst-15054	31	25	as	as	ADP
ajst-15054	31	26	to	to	PART
ajst-15054	31	27	enhance	enhance	VERB
ajst-15054	31	28	the	the	DET
ajst-15054	31	29	safety	safety	NOUN
ajst-15054	31	30	level	level	NOUN
ajst-15054	31	31	of	of	ADP
ajst-15054	31	32	smart	smart	ADJ
ajst-15054	31	33	trucks	truck	NOUN
ajst-15054	31	34	.	.	PUNCT
ajst-15054	32	1	2.1	2.1	NUM
ajst-15054	32	2	.	.	PUNCT
ajst-15054	32	3	introduction	introduction	NOUN
ajst-15054	32	4	to	to	ADP
ajst-15054	32	5	the	the	DET
ajst-15054	32	6	highd	highd	NOUN
ajst-15054	32	7	vehicle	vehicle	NOUN
ajst-15054	32	8	dataset	dataset	VERB
ajst-15054	32	9	in	in	ADP
ajst-15054	32	10	this	this	DET
ajst-15054	32	11	paper	paper	NOUN
ajst-15054	32	12	,	,	PUNCT
ajst-15054	32	13	the	the	DET
ajst-15054	32	14	highd	highd	NOUN
ajst-15054	32	15	vehicle	vehicle	NOUN
ajst-15054	32	16	trajectory	trajectory	PROPN
ajst-15054	32	17	open	open	PROPN
ajst-15054	32	18	source	source	NOUN
ajst-15054	32	19	dataset	dataset	NOUN
ajst-15054	32	20	is	be	AUX
ajst-15054	32	21	used	use	VERB
ajst-15054	32	22	as	as	ADP
ajst-15054	32	23	the	the	DET
ajst-15054	32	24	data	data	NOUN
ajst-15054	32	25	source	source	NOUN
ajst-15054	32	26	[	[	X
ajst-15054	32	27	13	13	NUM
ajst-15054	32	28	]	]	PUNCT
ajst-15054	32	29	.	.	PUNCT
ajst-15054	33	1	this	this	DET
ajst-15054	33	2	dataset	dataset	NOUN
ajst-15054	33	3	is	be	AUX
ajst-15054	33	4	vehicle	vehicle	NOUN
ajst-15054	33	5	information	information	NOUN
ajst-15054	33	6	extracted	extract	VERB
ajst-15054	33	7	by	by	ADP
ajst-15054	33	8	uavs	uavs	NOUN
ajst-15054	33	9	photographing	photograph	VERB
ajst-15054	33	10	german	german	ADJ
ajst-15054	33	11	highways	highway	NOUN
ajst-15054	33	12	at	at	ADP
ajst-15054	33	13	high	high	ADJ
ajst-15054	33	14	altitude	altitude	NOUN
ajst-15054	33	15	,	,	PUNCT
ajst-15054	33	16	and	and	CCONJ
ajst-15054	33	17	figure	figure	VERB
ajst-15054	33	18	1	1	NUM
ajst-15054	33	19	shows	show	VERB
ajst-15054	33	20	a	a	DET
ajst-15054	33	21	bird	bird	NOUN
ajst-15054	33	22	's	's	PART
ajst-15054	33	23	eye	eye	NOUN
ajst-15054	33	24	view	view	NOUN
ajst-15054	33	25	view	view	NOUN
ajst-15054	33	26	of	of	ADP
ajst-15054	33	27	the	the	DET
ajst-15054	33	28	uav	uav	PROPN
ajst-15054	33	29	capturing	capture	VERB
ajst-15054	33	30	a	a	DET
ajst-15054	33	31	length	length	NOUN
ajst-15054	33	32	of	of	ADP
ajst-15054	33	33	about	about	ADV
ajst-15054	33	34	420	420	NUM
ajst-15054	33	35	m.	m.	NOUN
ajst-15054	33	36	figure	figure	NOUN
ajst-15054	33	37	1	1	NUM
ajst-15054	33	38	.	.	PUNCT
ajst-15054	34	1	drone	drone	NOUN
ajst-15054	34	2	captures	capture	NOUN
ajst-15054	34	3	road	road	NOUN
ajst-15054	34	4	map	map	NOUN
ajst-15054	34	5	2.2	2.2	NUM
ajst-15054	34	6	.	.	PUNCT
ajst-15054	35	1	categorizing	categorize	VERB
ajst-15054	35	2	driving	drive	VERB
ajst-15054	35	3	styles	style	NOUN
ajst-15054	35	4	in	in	ADP
ajst-15054	35	5	this	this	DET
ajst-15054	35	6	paper	paper	NOUN
ajst-15054	35	7	,	,	PUNCT
ajst-15054	35	8	13	13	NUM
ajst-15054	35	9	feature	feature	NOUN
ajst-15054	35	10	parameters	parameter	NOUN
ajst-15054	35	11	related	relate	VERB
ajst-15054	35	12	to	to	ADP
ajst-15054	35	13	driving	drive	VERB
ajst-15054	35	14	style	style	NOUN
ajst-15054	35	15	are	be	AUX
ajst-15054	35	16	selected	select	VERB
ajst-15054	35	17	to	to	PART
ajst-15054	35	18	reflect	reflect	VERB
ajst-15054	35	19	the	the	DET
ajst-15054	35	20	driver	driver	NOUN
ajst-15054	35	21	's	's	PART
ajst-15054	35	22	driving	drive	VERB
ajst-15054	35	23	behavior	behavior	NOUN
ajst-15054	35	24	.	.	PUNCT
ajst-15054	36	1	in	in	ADP
ajst-15054	36	2	this	this	DET
ajst-15054	36	3	paper	paper	NOUN
ajst-15054	36	4	,	,	PUNCT
ajst-15054	36	5	principal	principal	ADJ
ajst-15054	36	6	component	component	NOUN
ajst-15054	36	7	analysis	analysis	NOUN
ajst-15054	36	8	[	[	X
ajst-15054	36	9	14	14	NUM
ajst-15054	36	10	]	]	X
ajst-15054	36	11	(	(	PUNCT
ajst-15054	36	12	pca	pca	NOUN
ajst-15054	36	13	)	)	PUNCT
ajst-15054	36	14	is	be	AUX
ajst-15054	36	15	used	use	VERB
ajst-15054	36	16	for	for	ADP
ajst-15054	36	17	dimensionality	dimensionality	NOUN
ajst-15054	36	18	reduction	reduction	NOUN
ajst-15054	36	19	.	.	PUNCT
ajst-15054	37	1	in	in	ADP
ajst-15054	37	2	the	the	DET
ajst-15054	37	3	pca	pca	NOUN
ajst-15054	37	4	dimensionality	dimensionality	NOUN
ajst-15054	37	5	reduction	reduction	NOUN
ajst-15054	37	6	process	process	NOUN
ajst-15054	37	7	,	,	PUNCT
ajst-15054	37	8	variables	variable	NOUN
ajst-15054	37	9	that	that	PRON
ajst-15054	37	10	may	may	AUX
ajst-15054	37	11	be	be	AUX
ajst-15054	37	12	correlated	correlate	VERB
ajst-15054	37	13	are	be	AUX
ajst-15054	37	14	first	first	ADV
ajst-15054	37	15	extracted	extract	VERB
ajst-15054	37	16	,	,	PUNCT
ajst-15054	37	17	and	and	CCONJ
ajst-15054	37	18	then	then	ADV
ajst-15054	37	19	these	these	DET
ajst-15054	37	20	correlated	correlate	VERB
ajst-15054	37	21	feature	feature	NOUN
ajst-15054	37	22	variables	variable	NOUN
ajst-15054	37	23	are	be	AUX
ajst-15054	37	24	converted	convert	VERB
ajst-15054	37	25	into	into	ADP
ajst-15054	37	26	a	a	DET
ajst-15054	37	27	set	set	NOUN
ajst-15054	37	28	of	of	ADP
ajst-15054	37	29	fewer	few	ADJ
ajst-15054	37	30	and	and	CCONJ
ajst-15054	37	31	linearly	linearly	ADV
ajst-15054	37	32	uncorrelated	uncorrelated	ADJ
ajst-15054	37	33	variables	variable	NOUN
ajst-15054	37	34	by	by	ADP
ajst-15054	37	35	orthogonal	orthogonal	ADJ
ajst-15054	37	36	transformation	transformation	NOUN
ajst-15054	37	37	to	to	PART
ajst-15054	37	38	replace	replace	VERB
ajst-15054	37	39	the	the	DET
ajst-15054	37	40	original	original	ADJ
ajst-15054	37	41	variables	variable	NOUN
ajst-15054	37	42	.	.	PUNCT
ajst-15054	38	1	the	the	DET
ajst-15054	38	2	contribution	contribution	NOUN
ajst-15054	38	3	rate	rate	NOUN
ajst-15054	38	4	of	of	ADP
ajst-15054	38	5	different	different	ADJ
ajst-15054	38	6	principal	principal	ADJ
ajst-15054	38	7	components	component	NOUN
ajst-15054	38	8	and	and	CCONJ
ajst-15054	38	9	the	the	DET
ajst-15054	38	10	cumulative	cumulative	ADJ
ajst-15054	38	11	contribution	contribution	NOUN
ajst-15054	38	12	rate	rate	NOUN
ajst-15054	38	13	can	can	AUX
ajst-15054	38	14	be	be	AUX
ajst-15054	38	15	obtained	obtain	VERB
ajst-15054	38	16	through	through	ADP
ajst-15054	38	17	calculation	calculation	NOUN
ajst-15054	38	18	,	,	PUNCT
ajst-15054	38	19	and	and	CCONJ
ajst-15054	38	20	the	the	DET
ajst-15054	38	21	calculation	calculation	NOUN
ajst-15054	38	22	results	result	NOUN
ajst-15054	38	23	are	be	AUX
ajst-15054	38	24	shown	show	VERB
ajst-15054	38	25	in	in	ADP
ajst-15054	38	26	table	table	NOUN
ajst-15054	38	27	1	1	NUM
ajst-15054	38	28	.	.	PUNCT
ajst-15054	38	29	table	table	NOUN
ajst-15054	38	30	1	1	NUM
ajst-15054	38	31	.	.	PUNCT
ajst-15054	38	32	factor	factor	NOUN
ajst-15054	38	33	analysis	analysis	NOUN
ajst-15054	38	34	related	relate	VERB
ajst-15054	38	35	data	data	NOUN
ajst-15054	38	36	number	number	NOUN
ajst-15054	38	37	eigenvalue	eigenvalue	NOUN
ajst-15054	38	38	rate%	rate%	PUNCT
ajst-15054	38	39	cumulative	cumulative	ADJ
ajst-15054	38	40	contribution%	contribution%	PUNCT
ajst-15054	38	41	1	1	NUM
ajst-15054	38	42	4.574	4.574	NUM
ajst-15054	38	43	33.442	33.442	NUM
ajst-15054	38	44	33.442	33.442	NUM
ajst-15054	38	45	2	2	NUM
ajst-15054	38	46	3.648	3.648	NUM
ajst-15054	38	47	21.112	21.112	NUM
ajst-15054	38	48	54.554	54.554	NUM
ajst-15054	38	49	3	3	NUM
ajst-15054	38	50	2.756	2.756	NUM
ajst-15054	38	51	19.225	19.225	NUM
ajst-15054	38	52	73.779	73.779	NUM
ajst-15054	38	53	…	…	PUNCT
ajst-15054	38	54	…	…	PUNCT
ajst-15054	38	55	…	…	PUNCT
ajst-15054	38	56	…	…	PUNCT
ajst-15054	38	57	11	11	NUM
ajst-15054	38	58	0.051	0.051	NUM
ajst-15054	38	59	0.309	0.309	NUM
ajst-15054	38	60	99.657	99.657	NUM
ajst-15054	38	61	12	12	NUM
ajst-15054	38	62	0.040	0.040	NUM
ajst-15054	38	63	0.279	0.279	NUM
ajst-15054	38	64	99.936	99.936	NUM
ajst-15054	38	65	13	13	NUM
ajst-15054	38	66	0.008	0.008	NUM
ajst-15054	38	67	0.064	0.064	NUM
ajst-15054	38	68	100.000	100.000	NUM
ajst-15054	38	69	get	get	VERB
ajst-15054	38	70	the	the	DET
ajst-15054	38	71	original	original	ADJ
ajst-15054	38	72	data	datum	NOUN
ajst-15054	38	73	and	and	CCONJ
ajst-15054	38	74	the	the	DET
ajst-15054	38	75	principal	principal	ADJ
ajst-15054	38	76	components	component	NOUN
ajst-15054	38	77	of	of	ADP
ajst-15054	38	78	the	the	DET
ajst-15054	38	79	eigenvectors	eigenvector	NOUN
ajst-15054	38	80	.	.	PUNCT
ajst-15054	39	1	according	accord	VERB
ajst-15054	39	2	to	to	ADP
ajst-15054	39	3	the	the	DET
ajst-15054	39	4	coefficient	coefficient	NOUN
ajst-15054	39	5	matrix	matrix	NOUN
ajst-15054	39	6	,	,	PUNCT
ajst-15054	39	7	we	we	PRON
ajst-15054	39	8	can	can	AUX
ajst-15054	39	9	get	get	VERB
ajst-15054	39	10	the	the	DET
ajst-15054	39	11	expression	expression	NOUN
ajst-15054	39	12	of	of	ADP
ajst-15054	39	13	the	the	DET
ajst-15054	39	14	common	common	ADJ
ajst-15054	39	15	factor	factor	NOUN
ajst-15054	39	16	:	:	PUNCT
ajst-15054	39	17	where	where	SCONJ
ajst-15054	39	18	f1	f1	NOUN
ajst-15054	39	19	is	be	AUX
ajst-15054	39	20	the	the	DET
ajst-15054	39	21	"	"	PUNCT
ajst-15054	39	22	acceleration	acceleration	NOUN
ajst-15054	39	23	factor	factor	NOUN
ajst-15054	39	24	"	"	PUNCT
ajst-15054	39	25	,	,	PUNCT
ajst-15054	39	26	f2	f2	PROPN
ajst-15054	39	27	is	be	AUX
ajst-15054	39	28	the	the	DET
ajst-15054	39	29	"	"	PUNCT
ajst-15054	39	30	transverse	transverse	NOUN
ajst-15054	39	31	factor	factor	NOUN
ajst-15054	39	32	"	"	PUNCT
ajst-15054	39	33	,	,	PUNCT
ajst-15054	39	34	f3	f3	PROPN
ajst-15054	39	35	is	be	AUX
ajst-15054	39	36	the	the	DET
ajst-15054	39	37	"	"	PUNCT
ajst-15054	39	38	follow	follow	VERB
ajst-15054	39	39	-	-	PUNCT
ajst-15054	39	40	up	up	ADP
ajst-15054	39	41	factor	factor	NOUN
ajst-15054	39	42	"	"	PUNCT
ajst-15054	39	43	,	,	PUNCT
ajst-15054	39	44	f4	f4	PROPN
ajst-15054	39	45	is	be	AUX
ajst-15054	39	46	the	the	DET
ajst-15054	39	47	"	"	PUNCT
ajst-15054	39	48	longitudinal	longitudinal	ADJ
ajst-15054	39	49	factor	factor	NOUN
ajst-15054	39	50	"	"	PUNCT
ajst-15054	39	51	.	.	PUNCT
ajst-15054	40	1	f4	f4	PROPN
ajst-15054	40	2	is	be	AUX
ajst-15054	40	3	the	the	DET
ajst-15054	40	4	"	"	PUNCT
ajst-15054	40	5	longitudinal	longitudinal	ADJ
ajst-15054	40	6	factor	factor	NOUN
ajst-15054	40	7	"	"	PUNCT
ajst-15054	40	8	.	.	PUNCT
ajst-15054	41	1	1	1	NUM
ajst-15054	41	2	1	1	NUM
ajst-15054	41	3	2	2	NUM
ajst-15054	41	4	13	13	NUM
ajst-15054	41	5	2	2	NUM
ajst-15054	41	6	1	1	NUM
ajst-15054	41	7	2	2	NUM
ajst-15054	41	8	13	13	NUM
ajst-15054	41	9	3	3	NUM
ajst-15054	41	10	1	1	NUM
ajst-15054	41	11	2	2	NUM
ajst-15054	41	12	13	13	NUM
ajst-15054	41	13	4	4	NUM
ajst-15054	41	14	1	1	NUM
ajst-15054	41	15	2	2	NUM
ajst-15054	41	16	13	13	NUM
ajst-15054	41	17	0.26	0.26	NUM
ajst-15054	41	18	0.363	0.363	NUM
ajst-15054	41	19	0.027	0.027	NUM
ajst-15054	41	20	0.286	0.286	NUM
ajst-15054	41	21	0.206	0.206	NUM
ajst-15054	41	22	0.319	0.319	NUM
ajst-15054	41	23	0.021	0.021	NUM
ajst-15054	41	24	0.051	0.051	NUM
ajst-15054	41	25	0.08	0.08	NUM
ajst-15054	41	26	0.494	0.494	NUM
ajst-15054	41	27	0.404	0.404	NUM
ajst-15054	41	28	0.401	0.401	NUM
ajst-15054	41	29	f	f	NOUN
ajst-15054	41	30	x	x	SYM
ajst-15054	41	31	x	x	PUNCT
ajst-15054	41	32	x	x	X
ajst-15054	41	33	f	f	NOUN
ajst-15054	41	34	x	x	PUNCT
ajst-15054	41	35	x	x	PUNCT
ajst-15054	41	36	x	x	X
ajst-15054	41	37	f	f	NOUN
ajst-15054	41	38	x	x	PUNCT
ajst-15054	41	39	x	x	PUNCT
ajst-15054	41	40	x	x	X
ajst-15054	41	41	f	f	NOUN
ajst-15054	41	42	x	x	PUNCT
ajst-15054	41	43	x	x	PUNCT
ajst-15054	41	44	x	x	X
ajst-15054	41	45			PROPN
ajst-15054	41	46			PROPN
ajst-15054	41	47			PROPN
ajst-15054	41	48			VERB
ajst-15054	41	49			NUM
ajst-15054	41	50			NUM
ajst-15054	41	51			PROPN
ajst-15054	41	52			ADV
ajst-15054	41	53			PUNCT
ajst-15054	41	54			VERB
ajst-15054	41	55			NUM
ajst-15054	41	56			NUM
ajst-15054	41	57			PROPN
ajst-15054	41	58			PROPN
ajst-15054	41	59			ADV
ajst-15054	41	60			NOUN
ajst-15054	41	61			X
ajst-15054	41	62			PROPN
ajst-15054	41	63			ADV
ajst-15054	41	64			PUNCT
ajst-15054	41	65			ADJ
ajst-15054	41	66	�	�	PROPN
ajst-15054	41	67	�	�	PROPN
ajst-15054	41	68	�	�	PROPN
ajst-15054	41	69	�	�	PROPN
ajst-15054	41	70	(	(	PUNCT
ajst-15054	41	71	1	1	NUM
ajst-15054	41	72	)	)	PUNCT
ajst-15054	41	73	2.3	2.3	NUM
ajst-15054	41	74	.	.	PUNCT
ajst-15054	42	1	driving	drive	VERB
ajst-15054	42	2	style	style	NOUN
ajst-15054	42	3	k	k	NOUN
ajst-15054	42	4	-	-	PUNCT
ajst-15054	42	5	means	mean	VERB
ajst-15054	42	6	clustering	clustering	NOUN
ajst-15054	42	7	results	result	NOUN
ajst-15054	42	8	the	the	DET
ajst-15054	42	9	k	k	NOUN
ajst-15054	42	10	-	-	PUNCT
ajst-15054	42	11	means	means	NOUN
ajst-15054	42	12	algorithm	algorithm	NOUN
ajst-15054	42	13	was	be	AUX
ajst-15054	42	14	applied	apply	VERB
ajst-15054	42	15	for	for	ADP
ajst-15054	42	16	cluster	cluster	NOUN
ajst-15054	42	17	analysis	analysis	NOUN
ajst-15054	42	18	and	and	CCONJ
ajst-15054	42	19	from	from	ADP
ajst-15054	42	20	the	the	DET
ajst-15054	42	21	above	above	NOUN
ajst-15054	42	22	it	it	PRON
ajst-15054	42	23	is	be	AUX
ajst-15054	42	24	clear	clear	ADJ
ajst-15054	42	25	that	that	SCONJ
ajst-15054	42	26	4	4	NUM
ajst-15054	42	27	factors	factor	NOUN
ajst-15054	42	28	were	be	AUX
ajst-15054	42	29	selected	select	VERB
ajst-15054	42	30	for	for	ADP
ajst-15054	42	31	the	the	DET
ajst-15054	42	32	analysis	analysis	NOUN
ajst-15054	42	33	.	.	PUNCT
ajst-15054	43	1	the	the	DET
ajst-15054	43	2	number	number	NOUN
ajst-15054	43	3	of	of	ADP
ajst-15054	43	4	cluster	cluster	NOUN
ajst-15054	43	5	centers	center	NOUN
ajst-15054	43	6	selected	select	VERB
ajst-15054	43	7	is	be	AUX
ajst-15054	43	8	3	3	NUM
ajst-15054	43	9	.	.	PUNCT
ajst-15054	44	1	the	the	DET
ajst-15054	44	2	number	number	NOUN
ajst-15054	44	3	of	of	ADP
ajst-15054	44	4	three	three	NUM
ajst-15054	44	5	types	type	NOUN
ajst-15054	44	6	obtained	obtain	VERB
ajst-15054	44	7	and	and	CCONJ
ajst-15054	44	8	the	the	DET
ajst-15054	44	9	factor	factor	NOUN
ajst-15054	44	10	values	value	NOUN
ajst-15054	44	11	are	be	AUX
ajst-15054	44	12	shown	show	VERB
ajst-15054	44	13	in	in	ADP
ajst-15054	44	14	table	table	NOUN
ajst-15054	44	15	2	2	NUM
ajst-15054	44	16	.	.	PUNCT
ajst-15054	45	1	the	the	DET
ajst-15054	45	2	comparison	comparison	NOUN
ajst-15054	45	3	shows	show	VERB
ajst-15054	45	4	that	that	DET
ajst-15054	45	5	type	type	NOUN
ajst-15054	45	6	1	1	NUM
ajst-15054	45	7	is	be	AUX
ajst-15054	45	8	aggressive	aggressive	ADJ
ajst-15054	45	9	driver	driver	NOUN
ajst-15054	45	10	,	,	PUNCT
ajst-15054	45	11	type	type	NOUN
ajst-15054	45	12	2	2	NUM
ajst-15054	45	13	is	be	AUX
ajst-15054	45	14	cautious	cautious	ADJ
ajst-15054	45	15	driver	driver	NOUN
ajst-15054	45	16	and	and	CCONJ
ajst-15054	45	17	type	type	NOUN
ajst-15054	45	18	3	3	NUM
ajst-15054	45	19	is	be	AUX
ajst-15054	45	20	average	average	ADJ
ajst-15054	45	21	driver	driver	NOUN
ajst-15054	45	22	.	.	PUNCT
ajst-15054	46	1	the	the	DET
ajst-15054	46	2	experimental	experimental	ADJ
ajst-15054	46	3	data	datum	NOUN
ajst-15054	46	4	includes	include	VERB
ajst-15054	46	5	51	51	NUM
ajst-15054	46	6	groups	group	NOUN
ajst-15054	46	7	of	of	ADP
ajst-15054	46	8	cautious	cautious	ADJ
ajst-15054	46	9	data	datum	NOUN
ajst-15054	46	10	,	,	PUNCT
ajst-15054	46	11	94	94	NUM
ajst-15054	46	12	groups	group	NOUN
ajst-15054	46	13	of	of	ADP
ajst-15054	46	14	aggressive	aggressive	ADJ
ajst-15054	46	15	data	datum	NOUN
ajst-15054	46	16	,	,	PUNCT
ajst-15054	46	17	and	and	CCONJ
ajst-15054	46	18	201	201	NUM
ajst-15054	46	19	groups	group	NOUN
ajst-15054	46	20	of	of	ADP
ajst-15054	46	21	general	general	ADJ
ajst-15054	46	22	data	data	PROPN
ajst-15054	46	23	.	.	PUNCT
ajst-15054	47	1	table	table	NOUN
ajst-15054	47	2	2	2	NUM
ajst-15054	47	3	.	.	PUNCT
ajst-15054	47	4	factor	factor	NOUN
ajst-15054	47	5	score	score	NOUN
ajst-15054	47	6	coefficient	coefficient	NOUN
ajst-15054	47	7	matrix	matrix	NOUN
ajst-15054	47	8	clustering	clustering	NOUN
ajst-15054	47	9	center	center	NOUN
ajst-15054	47	10	factor	factor	NOUN
ajst-15054	47	11	f1	f1	NOUN
ajst-15054	47	12	f2	f2	PROPN
ajst-15054	47	13	f3	f3	VERB
ajst-15054	47	14	f4	f4	NOUN
ajst-15054	47	15	amount	amount	NOUN
ajst-15054	47	16	-19.235	-19.235	ADP
ajst-15054	47	17	13.615	13.615	NUM
ajst-15054	47	18	1.019	1.019	NUM
ajst-15054	47	19	32.088	32.088	NUM
ajst-15054	47	20	94	94	NUM
ajst-15054	47	21	-4.937	-4.937	ADP
ajst-15054	47	22	3.921	3.921	NUM
ajst-15054	47	23	3.216	3.216	NUM
ajst-15054	47	24	15.265	15.265	NUM
ajst-15054	47	25	51	51	NUM
ajst-15054	47	26	-15.140	-15.140	NOUN
ajst-15054	47	27	10.193	10.193	NUM
ajst-15054	47	28	1.475	1.475	NUM
ajst-15054	47	29	26.059	26.059	NUM
ajst-15054	47	30	201	201	NUM
ajst-15054	47	31	3	3	NUM
ajst-15054	47	32	.	.	PUNCT
ajst-15054	47	33	autonomous	autonomous	ADJ
ajst-15054	47	34	lane	lane	NOUN
ajst-15054	47	35	-	-	PUNCT
ajst-15054	47	36	changing	change	VERB
ajst-15054	47	37	behavioral	behavioral	ADJ
ajst-15054	47	38	decision	decision	NOUN
ajst-15054	47	39	making	make	VERB
ajst-15054	47	40	for	for	ADP
ajst-15054	47	41	intelligent	intelligent	ADJ
ajst-15054	47	42	trucks	truck	NOUN
ajst-15054	47	43	in	in	ADP
ajst-15054	47	44	order	order	NOUN
ajst-15054	47	45	to	to	PART
ajst-15054	47	46	make	make	VERB
ajst-15054	47	47	the	the	DET
ajst-15054	47	48	lane	lane	NOUN
ajst-15054	47	49	changing	change	VERB
ajst-15054	47	50	decision	decision	NOUN
ajst-15054	47	51	more	more	ADJ
ajst-15054	47	52	anthropomorphic	anthropomorphic	NOUN
ajst-15054	47	53	,	,	PUNCT
ajst-15054	47	54	this	this	DET
ajst-15054	47	55	paper	paper	NOUN
ajst-15054	47	56	adopts	adopt	VERB
ajst-15054	47	57	neural	neural	ADJ
ajst-15054	47	58	network	network	NOUN
ajst-15054	47	59	to	to	PART
ajst-15054	47	60	learn	learn	VERB
ajst-15054	47	61	the	the	DET
ajst-15054	47	62	lane	lane	NOUN
ajst-15054	47	63	changing	change	VERB
ajst-15054	47	64	decision	decision	NOUN
ajst-15054	47	65	,	,	PUNCT
ajst-15054	47	66	the	the	DET
ajst-15054	47	67	method	method	NOUN
ajst-15054	47	68	can	can	AUX
ajst-15054	47	69	use	use	VERB
ajst-15054	47	70	the	the	DET
ajst-15054	47	71	driver	driver	NOUN
ajst-15054	47	72	's	's	PART
ajst-15054	47	73	lane	lane	NOUN
ajst-15054	47	74	changing	change	VERB
ajst-15054	47	75	driving	drive	VERB
ajst-15054	47	76	behavior	behavior	NOUN
ajst-15054	47	77	data	datum	NOUN
ajst-15054	47	78	to	to	PART
ajst-15054	47	79	imitate	imitate	VERB
ajst-15054	47	80	the	the	DET
ajst-15054	47	81	driver	driver	NOUN
ajst-15054	47	82	's	's	PART
ajst-15054	47	83	driving	driving	NOUN
ajst-15054	47	84	experience	experience	NOUN
ajst-15054	47	85	to	to	PART
ajst-15054	47	86	learn	learn	VERB
ajst-15054	47	87	,	,	PUNCT
ajst-15054	47	88	so	so	SCONJ
ajst-15054	47	89	as	as	SCONJ
ajst-15054	47	90	to	to	PART
ajst-15054	47	91	make	make	VERB
ajst-15054	47	92	the	the	DET
ajst-15054	47	93	driving	drive	VERB
ajst-15054	47	94	decision	decision	NOUN
ajst-15054	47	95	of	of	ADP
ajst-15054	47	96	the	the	DET
ajst-15054	47	97	intelligent	intelligent	ADJ
ajst-15054	47	98	trucks	truck	NOUN
ajst-15054	47	99	more	more	ADV
ajst-15054	47	100	similar	similar	ADJ
ajst-15054	47	101	to	to	ADP
ajst-15054	47	102	the	the	DET
ajst-15054	47	103	real	real	ADJ
ajst-15054	47	104	drivers	driver	NOUN
ajst-15054	47	105	,	,	PUNCT
ajst-15054	47	106	and	and	CCONJ
ajst-15054	47	107	this	this	DET
ajst-15054	47	108	paper	paper	NOUN
ajst-15054	47	109	proposes	propose	VERB
ajst-15054	47	110	an	an	DET
ajst-15054	47	111	architecture	architecture	NOUN
ajst-15054	47	112	of	of	ADP
ajst-15054	47	113	an	an	DET
ajst-15054	47	114	autonomous	autonomous	ADJ
ajst-15054	47	115	lane	lane	NOUN
ajst-15054	47	116	changing	change	VERB
ajst-15054	47	117	decision	decision	NOUN
ajst-15054	47	118	-	-	PUNCT
ajst-15054	47	119	making	make	VERB
ajst-15054	47	120	method	method	NOUN
ajst-15054	47	121	for	for	ADP
ajst-15054	47	122	intelligent	intelligent	ADJ
ajst-15054	47	123	trucks	truck	NOUN
ajst-15054	47	124	.	.	PUNCT
ajst-15054	48	1	3.1	3.1	NUM
ajst-15054	48	2	.	.	PUNCT
ajst-15054	48	3	model	model	NOUN
ajst-15054	48	4	input	input	NOUN
ajst-15054	48	5	definitions	definition	NOUN
ajst-15054	48	6	the	the	DET
ajst-15054	48	7	raw	raw	ADJ
ajst-15054	48	8	data	datum	NOUN
ajst-15054	48	9	are	be	AUX
ajst-15054	48	10	processed	process	VERB
ajst-15054	48	11	to	to	PART
ajst-15054	48	12	extract	extract	VERB
ajst-15054	48	13	the	the	DET
ajst-15054	48	14	following	follow	VERB
ajst-15054	48	15	feature	feature	NOUN
ajst-15054	48	16	parameters	parameter	NOUN
ajst-15054	48	17	as	as	ADP
ajst-15054	48	18	inputs	input	NOUN
ajst-15054	48	19	to	to	ADP
ajst-15054	48	20	the	the	DET
ajst-15054	48	21	lane	lane	NOUN
ajst-15054	48	22	changing	change	VERB
ajst-15054	48	23	decision	decision	NOUN
ajst-15054	48	24	model	model	NOUN
ajst-15054	48	25	:	:	PUNCT
ajst-15054	48	26	1	1	X
ajst-15054	48	27	)	)	PUNCT
ajst-15054	48	28	the	the	DET
ajst-15054	48	29	travel	travel	NOUN
ajst-15054	48	30	distance	distance	NOUN
ajst-15054	48	31	of	of	ADP
ajst-15054	48	32	this	this	DET
ajst-15054	48	33	vehicle	vehicle	NOUN
ajst-15054	48	34	with	with	ADP
ajst-15054	48	35	respect	respect	NOUN
ajst-15054	48	36	to	to	ADP
ajst-15054	48	37	the	the	DET
ajst-15054	48	38	vehicles	vehicle	NOUN
ajst-15054	48	39	before	before	ADV
ajst-15054	48	40	and	and	CCONJ
ajst-15054	48	41	after	after	ADP
ajst-15054	48	42	it	it	PRON
ajst-15054	48	43	;	;	PUNCT
ajst-15054	48	44	2	2	X
ajst-15054	48	45	)	)	PUNCT
ajst-15054	48	46	the	the	DET
ajst-15054	48	47	collision	collision	NOUN
ajst-15054	48	48	time	time	NOUN
ajst-15054	48	49	of	of	ADP
ajst-15054	48	50	this	this	DET
ajst-15054	48	51	vehicle	vehicle	NOUN
ajst-15054	48	52	relative	relative	ADJ
ajst-15054	48	53	to	to	ADP
ajst-15054	48	54	the	the	DET
ajst-15054	48	55	vehicles	vehicle	NOUN
ajst-15054	48	56	before	before	ADV
ajst-15054	48	57	and	and	CCONJ
ajst-15054	48	58	after	after	ADP
ajst-15054	48	59	it	it	PRON
ajst-15054	48	60	;	;	PUNCT
ajst-15054	48	61	3	3	X
ajst-15054	48	62	)	)	PUNCT
ajst-15054	48	63	the	the	DET
ajst-15054	48	64	headway	headway	NOUN
ajst-15054	48	65	time	time	NOUN
ajst-15054	48	66	distance	distance	NOUN
ajst-15054	48	67	of	of	ADP
ajst-15054	48	68	this	this	DET
ajst-15054	48	69	vehicle	vehicle	NOUN
ajst-15054	48	70	relative	relative	ADJ
ajst-15054	48	71	to	to	ADP
ajst-15054	48	72	the	the	DET
ajst-15054	48	73	vehicles	vehicle	NOUN
ajst-15054	48	74	before	before	ADV
ajst-15054	48	75	and	and	CCONJ
ajst-15054	48	76	after	after	ADP
ajst-15054	48	77	it	it	PRON
ajst-15054	48	78	;	;	PUNCT
ajst-15054	48	79	(	(	PUNCT
ajst-15054	48	80	4	4	X
ajst-15054	48	81	)	)	PUNCT
ajst-15054	48	82	longitudinal	longitudinal	ADJ
ajst-15054	48	83	velocity	velocity	NOUN
ajst-15054	48	84	,	,	PUNCT
ajst-15054	48	85	acceleration	acceleration	NOUN
ajst-15054	48	86	xv	xv	PROPN
ajst-15054	48	87	,	,	PUNCT
ajst-15054	48	88	xa	xa	PROPN
ajst-15054	48	89	,	,	PUNCT
ajst-15054	48	90	and	and	CCONJ
ajst-15054	48	91	lateral	lateral	ADJ
ajst-15054	48	92	velocity	velocity	NOUN
ajst-15054	48	93	,	,	PUNCT
ajst-15054	48	94	acceleration	acceleration	NOUN
ajst-15054	48	95	yv	yv	PROPN
ajst-15054	48	96	,	,	PUNCT
ajst-15054	48	97	ya	ya	PROPN
ajst-15054	48	98	of	of	ADP
ajst-15054	48	99	the	the	DET
ajst-15054	48	100	vehicle	vehicle	NOUN
ajst-15054	48	101	;	;	PUNCT
ajst-15054	48	102	5	5	X
ajst-15054	48	103	)	)	PUNCT
ajst-15054	48	104	the	the	DET
ajst-15054	48	105	front	front	ADJ
ajst-15054	48	106	sight	sight	NOUN
ajst-15054	48	107	distance	distance	NOUN
ajst-15054	48	108	fd	fd	PROPN
ajst-15054	48	109	and	and	CCONJ
ajst-15054	48	110	rear	rear	ADJ
ajst-15054	48	111	sight	sight	NOUN
ajst-15054	48	112	distance	distance	NOUN
ajst-15054	48	113	bd	bd	PROPN
ajst-15054	48	114	of	of	ADP
ajst-15054	48	115	this	this	DET
ajst-15054	48	116	vehicle	vehicle	NOUN
ajst-15054	48	117	with	with	ADP
ajst-15054	48	118	respect	respect	NOUN
ajst-15054	48	119	to	to	ADP
ajst-15054	48	120	the	the	DET
ajst-15054	48	121	vehicle	vehicle	NOUN
ajst-15054	48	122	in	in	ADP
ajst-15054	48	123	front	front	NOUN
ajst-15054	48	124	and	and	CCONJ
ajst-15054	48	125	behind	behind	ADV
ajst-15054	48	126	.	.	PUNCT
ajst-15054	49	1	(	(	PUNCT
ajst-15054	49	2	6	6	X
ajst-15054	49	3	)	)	PUNCT
ajst-15054	49	4	driving	drive	VERB
ajst-15054	49	5	behavior	behavior	NOUN
ajst-15054	49	6	label	label	NOUN
ajst-15054	49	7	.	.	PUNCT
ajst-15054	50	1	3.2	3.2	NUM
ajst-15054	50	2	.	.	PUNCT
ajst-15054	50	3	model	model	NOUN
ajst-15054	50	4	training	training	NOUN
ajst-15054	50	5	and	and	CCONJ
ajst-15054	50	6	evaluation	evaluation	NOUN
ajst-15054	50	7	the	the	DET
ajst-15054	50	8	existence	existence	NOUN
ajst-15054	50	9	of	of	ADP
ajst-15054	50	10	loss	loss	NOUN
ajst-15054	50	11	during	during	ADP
ajst-15054	50	12	the	the	DET
ajst-15054	50	13	training	training	NOUN
ajst-15054	50	14	process	process	NOUN
ajst-15054	50	15	of	of	ADP
ajst-15054	50	16	lstm	lstm	PROPN
ajst-15054	50	17	network	network	NOUN
ajst-15054	50	18	model	model	NOUN
ajst-15054	50	19	is	be	AUX
ajst-15054	50	20	shown	show	VERB
ajst-15054	50	21	in	in	ADP
ajst-15054	50	22	fig	fig	NOUN
ajst-15054	50	23	.	.	PUNCT
ajst-15054	51	1	2	2	NUM
ajst-15054	51	2	,	,	PUNCT
ajst-15054	51	3	and	and	CCONJ
ajst-15054	51	4	the	the	DET
ajst-15054	51	5	convergence	convergence	NOUN
ajst-15054	51	6	of	of	ADP
ajst-15054	51	7	lstm	lstm	NOUN
ajst-15054	51	8	model	model	NOUN
ajst-15054	51	9	is	be	AUX
ajst-15054	51	10	judged	judge	VERB
ajst-15054	51	11	by	by	ADP
ajst-15054	51	12	observing	observe	VERB
ajst-15054	51	13	the	the	DET
ajst-15054	51	14	change	change	NOUN
ajst-15054	51	15	of	of	ADP
ajst-15054	51	16	loss	loss	NOUN
ajst-15054	51	17	function	function	NOUN
ajst-15054	51	18	curve	curve	NOUN
ajst-15054	51	19	.	.	PUNCT
ajst-15054	52	1	130	130	NUM
ajst-15054	52	2	figure	figure	NOUN
ajst-15054	52	3	2	2	NUM
ajst-15054	52	4	.	.	PUNCT
ajst-15054	52	5	lstm	lstm	NOUN
ajst-15054	52	6	model	model	PROPN
ajst-15054	52	7	loss	loss	NOUN
ajst-15054	52	8	decline	decline	NOUN
ajst-15054	52	9	curve	curve	NOUN
ajst-15054	52	10	in	in	ADP
ajst-15054	52	11	order	order	NOUN
ajst-15054	52	12	to	to	PART
ajst-15054	52	13	verify	verify	VERB
ajst-15054	52	14	the	the	DET
ajst-15054	52	15	effectiveness	effectiveness	NOUN
ajst-15054	52	16	of	of	ADP
ajst-15054	52	17	the	the	DET
ajst-15054	52	18	lane	lane	NOUN
ajst-15054	52	19	changing	change	VERB
ajst-15054	52	20	decision	decision	NOUN
ajst-15054	52	21	-	-	PUNCT
ajst-15054	52	22	making	make	VERB
ajst-15054	52	23	model	model	NOUN
ajst-15054	52	24	proposed	propose	VERB
ajst-15054	52	25	in	in	ADP
ajst-15054	52	26	this	this	DET
ajst-15054	52	27	paper	paper	NOUN
ajst-15054	52	28	,	,	PUNCT
ajst-15054	52	29	comparison	comparison	NOUN
ajst-15054	52	30	tests	test	NOUN
ajst-15054	52	31	are	be	AUX
ajst-15054	52	32	conducted	conduct	VERB
ajst-15054	52	33	with	with	ADP
ajst-15054	52	34	the	the	DET
ajst-15054	52	35	lane	lane	NOUN
ajst-15054	52	36	changing	change	VERB
ajst-15054	52	37	recognition	recognition	NOUN
ajst-15054	52	38	model	model	NOUN
ajst-15054	52	39	based	base	VERB
ajst-15054	52	40	on	on	ADP
ajst-15054	52	41	support	support	NOUN
ajst-15054	52	42	vector	vector	NOUN
ajst-15054	52	43	machine	machine	NOUN
ajst-15054	52	44	,	,	PUNCT
ajst-15054	52	45	hidden	hide	VERB
ajst-15054	52	46	markov	markov	NOUN
ajst-15054	52	47	model	model	NOUN
ajst-15054	52	48	,	,	PUNCT
ajst-15054	52	49	and	and	CCONJ
ajst-15054	52	50	back	back	ADJ
ajst-15054	52	51	propagation	propagation	NOUN
ajst-15054	52	52	neural	neural	ADJ
ajst-15054	52	53	network	network	NOUN
ajst-15054	52	54	on	on	ADP
ajst-15054	52	55	the	the	DET
ajst-15054	52	56	same	same	ADJ
ajst-15054	52	57	dataset	dataset	NOUN
ajst-15054	52	58	,	,	PUNCT
ajst-15054	52	59	respectively	respectively	ADV
ajst-15054	52	60	,	,	PUNCT
ajst-15054	52	61	and	and	CCONJ
ajst-15054	52	62	the	the	DET
ajst-15054	52	63	experimental	experimental	ADJ
ajst-15054	52	64	results	result	NOUN
ajst-15054	52	65	are	be	AUX
ajst-15054	52	66	shown	show	VERB
ajst-15054	52	67	in	in	ADP
ajst-15054	52	68	table	table	NOUN
ajst-15054	52	69	3	3	NUM
ajst-15054	52	70	,	,	PUNCT
ajst-15054	52	71	which	which	PRON
ajst-15054	52	72	indicate	indicate	VERB
ajst-15054	52	73	that	that	SCONJ
ajst-15054	52	74	the	the	DET
ajst-15054	52	75	performance	performance	NOUN
ajst-15054	52	76	of	of	ADP
ajst-15054	52	77	the	the	DET
ajst-15054	52	78	model	model	NOUN
ajst-15054	52	79	based	base	VERB
ajst-15054	52	80	on	on	ADP
ajst-15054	52	81	the	the	DET
ajst-15054	52	82	lstm	lstm	PROPN
ajst-15054	52	83	neural	neural	ADJ
ajst-15054	52	84	network	network	NOUN
ajst-15054	52	85	proposed	propose	VERB
ajst-15054	52	86	in	in	ADP
ajst-15054	52	87	this	this	DET
ajst-15054	52	88	study	study	NOUN
ajst-15054	52	89	has	have	VERB
ajst-15054	52	90	a	a	DET
ajst-15054	52	91	significant	significant	ADJ
ajst-15054	52	92	advantage	advantage	NOUN
ajst-15054	52	93	.	.	PUNCT
ajst-15054	53	1	table	table	NOUN
ajst-15054	53	2	3	3	NUM
ajst-15054	53	3	.	.	PUNCT
ajst-15054	53	4	model	model	NOUN
ajst-15054	53	5	training	training	NOUN
ajst-15054	53	6	results	result	NOUN
ajst-15054	53	7	mould	mould	AUX
ajst-15054	53	8	accuracy	accuracy	VERB
ajst-15054	53	9	lstm	lstm	NOUN
ajst-15054	53	10	test	test	NOUN
ajst-15054	53	11	1	1	NUM
ajst-15054	53	12	96.76	96.76	NUM
ajst-15054	53	13	%	%	NOUN
ajst-15054	53	14	lstm	lstm	NOUN
ajst-15054	53	15	test	test	NOUN
ajst-15054	53	16	2	2	NUM
ajst-15054	53	17	95.68	95.68	NUM
ajst-15054	53	18	%	%	NOUN
ajst-15054	53	19	lstm	lstm	NOUN
ajst-15054	53	20	test	test	NOUN
ajst-15054	53	21	3	3	NUM
ajst-15054	53	22	96.22	96.22	NUM
ajst-15054	53	23	%	%	NOUN
ajst-15054	53	24	lstm	lstm	NOUN
ajst-15054	53	25	test	test	VERB
ajst-15054	53	26	4	4	NUM
ajst-15054	53	27	95.14	95.14	NUM
ajst-15054	53	28	%	%	NOUN
ajst-15054	53	29	svm	svm	NOUN
ajst-15054	53	30	70.04	70.04	NUM
ajst-15054	53	31	%	%	NOUN
ajst-15054	53	32	back	back	NOUN
ajst-15054	53	33	propagation	propagation	NOUN
ajst-15054	53	34	90.55	90.55	NUM
ajst-15054	53	35	%	%	NOUN
ajst-15054	53	36	hidden	hide	VERB
ajst-15054	53	37	markov	markov	NOUN
ajst-15054	53	38	88.27	88.27	NUM
ajst-15054	53	39	%	%	NOUN
ajst-15054	53	40	4	4	NUM
ajst-15054	53	41	.	.	PUNCT
ajst-15054	53	42	validation	validation	NOUN
ajst-15054	53	43	and	and	CCONJ
ajst-15054	53	44	analysis	analysis	NOUN
ajst-15054	53	45	of	of	ADP
ajst-15054	53	46	anthropomorphic	anthropomorphic	ADJ
ajst-15054	53	47	lane	lane	NOUN
ajst-15054	53	48	change	change	NOUN
ajst-15054	53	49	decision	decision	NOUN
ajst-15054	53	50	models	model	NOUN
ajst-15054	53	51	4.1	4.1	NUM
ajst-15054	53	52	.	.	PUNCT
ajst-15054	54	1	validation	validation	NOUN
ajst-15054	54	2	of	of	ADP
ajst-15054	54	3	the	the	DET
ajst-15054	54	4	lane	lane	NOUN
ajst-15054	54	5	change	change	NOUN
ajst-15054	54	6	decision	decision	NOUN
ajst-15054	54	7	model	model	NOUN
ajst-15054	54	8	in	in	ADP
ajst-15054	54	9	this	this	DET
ajst-15054	54	10	paper	paper	NOUN
ajst-15054	54	11	,	,	PUNCT
ajst-15054	54	12	prescan	prescan	PROPN
ajst-15054	54	13	/	/	SYM
ajst-15054	54	14	simulink	simulink	PROPN
ajst-15054	54	15	/	/	SYM
ajst-15054	54	16	carsim	carsim	PROPN
ajst-15054	54	17	is	be	AUX
ajst-15054	54	18	used	use	VERB
ajst-15054	54	19	to	to	PART
ajst-15054	54	20	verify	verify	VERB
ajst-15054	54	21	the	the	DET
ajst-15054	54	22	feasibility	feasibility	NOUN
ajst-15054	54	23	of	of	ADP
ajst-15054	54	24	lane	lane	NOUN
ajst-15054	54	25	changing	change	VERB
ajst-15054	54	26	decision	decision	NOUN
ajst-15054	54	27	.	.	PUNCT
ajst-15054	55	1	the	the	DET
ajst-15054	55	2	simulation	simulation	NOUN
ajst-15054	55	3	results	result	NOUN
ajst-15054	55	4	of	of	ADP
ajst-15054	55	5	this	this	DET
ajst-15054	55	6	experiment	experiment	NOUN
ajst-15054	55	7	are	be	AUX
ajst-15054	55	8	shown	show	VERB
ajst-15054	55	9	in	in	ADP
ajst-15054	55	10	fig	fig	NOUN
ajst-15054	55	11	.	.	PUNCT
ajst-15054	56	1	3	3	NUM
ajst-15054	56	2	,	,	PUNCT
ajst-15054	56	3	the	the	DET
ajst-15054	56	4	intelligent	intelligent	ADJ
ajst-15054	56	5	car	car	NOUN
ajst-15054	56	6	is	be	AUX
ajst-15054	56	7	traveling	travel	VERB
ajst-15054	56	8	in	in	ADP
ajst-15054	56	9	the	the	DET
ajst-15054	56	10	right	right	ADJ
ajst-15054	56	11	lane	lane	NOUN
ajst-15054	56	12	of	of	ADP
ajst-15054	56	13	the	the	DET
ajst-15054	56	14	highway	highway	NOUN
ajst-15054	56	15	,	,	PUNCT
ajst-15054	56	16	the	the	DET
ajst-15054	56	17	vehicle	vehicle	NOUN
ajst-15054	56	18	located	locate	VERB
ajst-15054	56	19	in	in	ADP
ajst-15054	56	20	front	front	NOUN
ajst-15054	56	21	of	of	ADP
ajst-15054	56	22	the	the	DET
ajst-15054	56	23	car	car	NOUN
ajst-15054	56	24	is	be	AUX
ajst-15054	56	25	traveling	travel	VERB
ajst-15054	56	26	slowly	slowly	ADV
ajst-15054	56	27	,	,	PUNCT
ajst-15054	56	28	the	the	DET
ajst-15054	56	29	speed	speed	NOUN
ajst-15054	56	30	is	be	AUX
ajst-15054	56	31	low	low	ADJ
ajst-15054	56	32	,	,	PUNCT
ajst-15054	56	33	and	and	CCONJ
ajst-15054	56	34	the	the	DET
ajst-15054	56	35	speed	speed	NOUN
ajst-15054	56	36	of	of	ADP
ajst-15054	56	37	the	the	DET
ajst-15054	56	38	vehicle	vehicle	NOUN
ajst-15054	56	39	in	in	ADP
ajst-15054	56	40	front	front	NOUN
ajst-15054	56	41	of	of	ADP
ajst-15054	56	42	the	the	DET
ajst-15054	56	43	left	left	ADJ
ajst-15054	56	44	lane	lane	NOUN
ajst-15054	56	45	is	be	AUX
ajst-15054	56	46	higher	high	ADJ
ajst-15054	56	47	than	than	ADP
ajst-15054	56	48	the	the	DET
ajst-15054	56	49	speed	speed	NOUN
ajst-15054	56	50	of	of	ADP
ajst-15054	56	51	the	the	DET
ajst-15054	56	52	car	car	NOUN
ajst-15054	56	53	,	,	PUNCT
ajst-15054	56	54	the	the	DET
ajst-15054	56	55	distance	distance	NOUN
ajst-15054	56	56	of	of	ADP
ajst-15054	56	57	the	the	DET
ajst-15054	56	58	vehicle	vehicle	NOUN
ajst-15054	56	59	behind	behind	ADP
ajst-15054	56	60	the	the	DET
ajst-15054	56	61	left	left	ADJ
ajst-15054	56	62	lane	lane	NOUN
ajst-15054	56	63	is	be	AUX
ajst-15054	56	64	farther	farth	ADJ
ajst-15054	56	65	and	and	CCONJ
ajst-15054	56	66	the	the	DET
ajst-15054	56	67	speed	speed	NOUN
ajst-15054	56	68	is	be	AUX
ajst-15054	56	69	close	close	ADJ
ajst-15054	56	70	to	to	ADP
ajst-15054	56	71	that	that	PRON
ajst-15054	56	72	of	of	ADP
ajst-15054	56	73	the	the	DET
ajst-15054	56	74	car	car	NOUN
ajst-15054	56	75	,	,	PUNCT
ajst-15054	56	76	therefore	therefore	ADV
ajst-15054	56	77	,	,	PUNCT
ajst-15054	56	78	the	the	DET
ajst-15054	56	79	driving	drive	VERB
ajst-15054	56	80	conditions	condition	NOUN
ajst-15054	56	81	of	of	ADP
ajst-15054	56	82	the	the	DET
ajst-15054	56	83	left	left	ADJ
ajst-15054	56	84	lane	lane	NOUN
ajst-15054	56	85	are	be	AUX
ajst-15054	56	86	better	well	ADJ
ajst-15054	56	87	,	,	PUNCT
ajst-15054	56	88	and	and	CCONJ
ajst-15054	56	89	the	the	DET
ajst-15054	56	90	judgment	judgment	NOUN
ajst-15054	56	91	is	be	AUX
ajst-15054	56	92	that	that	SCONJ
ajst-15054	56	93	the	the	DET
ajst-15054	56	94	conditions	condition	NOUN
ajst-15054	56	95	of	of	ADP
ajst-15054	56	96	the	the	DET
ajst-15054	56	97	lane	lane	NOUN
ajst-15054	56	98	change	change	NOUN
ajst-15054	56	99	are	be	AUX
ajst-15054	56	100	satisfied	satisfied	ADJ
ajst-15054	56	101	at	at	ADP
ajst-15054	56	102	the	the	DET
ajst-15054	56	103	present	present	ADJ
ajst-15054	56	104	time	time	NOUN
ajst-15054	56	105	,	,	PUNCT
ajst-15054	56	106	and	and	CCONJ
ajst-15054	56	107	the	the	DET
ajst-15054	56	108	vehicle	vehicle	NOUN
ajst-15054	56	109	starts	start	VERB
ajst-15054	56	110	to	to	PART
ajst-15054	56	111	execute	execute	VERB
ajst-15054	56	112	the	the	DET
ajst-15054	56	113	left	left	ADJ
ajst-15054	56	114	lane	lane	NOUN
ajst-15054	56	115	change	change	NOUN
ajst-15054	56	116	.	.	PUNCT
ajst-15054	57	1	(	(	PUNCT
ajst-15054	57	2	a	a	X
ajst-15054	57	3	)	)	PUNCT
ajst-15054	57	4	start	start	NOUN
ajst-15054	57	5	of	of	ADP
ajst-15054	57	6	simulation	simulation	NOUN
ajst-15054	57	7	(	(	PUNCT
ajst-15054	57	8	b	b	NOUN
ajst-15054	57	9	)	)	PUNCT
ajst-15054	57	10	change	change	NOUN
ajst-15054	57	11	of	of	ADP
ajst-15054	57	12	channel	channel	NOUN
ajst-15054	57	13	decision	decision	NOUN
ajst-15054	57	14	implementation	implementation	NOUN
ajst-15054	57	15	figure	figure	NOUN
ajst-15054	57	16	3	3	NUM
ajst-15054	57	17	.	.	PUNCT
ajst-15054	57	18	simulation	simulation	NOUN
ajst-15054	57	19	process	process	NOUN
ajst-15054	57	20	for	for	ADP
ajst-15054	57	21	lane	lane	NOUN
ajst-15054	57	22	change	change	NOUN
ajst-15054	57	23	decision	decision	NOUN
ajst-15054	57	24	making	make	VERB
ajst-15054	57	25	4.2	4.2	NUM
ajst-15054	57	26	.	.	PUNCT
ajst-15054	58	1	validation	validation	NOUN
ajst-15054	58	2	of	of	ADP
ajst-15054	58	3	lane	lane	NOUN
ajst-15054	58	4	-	-	PUNCT
ajst-15054	58	5	changing	change	VERB
ajst-15054	58	6	decision	decision	NOUN
ajst-15054	58	7	model	model	NOUN
ajst-15054	58	8	based	base	VERB
ajst-15054	58	9	on	on	ADP
ajst-15054	58	10	different	different	ADJ
ajst-15054	58	11	driving	driving	NOUN
ajst-15054	58	12	styles	style	NOUN
ajst-15054	58	13	the	the	DET
ajst-15054	58	14	driving	drive	VERB
ajst-15054	58	15	simulation	simulation	NOUN
ajst-15054	58	16	platform	platform	NOUN
ajst-15054	58	17	built	build	VERB
ajst-15054	58	18	in	in	ADP
ajst-15054	58	19	this	this	DET
ajst-15054	58	20	paper	paper	NOUN
ajst-15054	58	21	consists	consist	VERB
ajst-15054	58	22	of	of	ADP
ajst-15054	58	23	a	a	DET
ajst-15054	58	24	host	host	NOUN
ajst-15054	58	25	computer	computer	NOUN
ajst-15054	58	26	equipped	equip	VERB
ajst-15054	58	27	with	with	ADP
ajst-15054	58	28	virtual	virtual	ADJ
ajst-15054	58	29	test	test	NOUN
ajst-15054	58	30	drive	drive	NOUN
ajst-15054	58	31	(	(	PUNCT
ajst-15054	58	32	vtd	vtd	NOUN
ajst-15054	58	33	)	)	PUNCT
ajst-15054	58	34	simulation	simulation	NOUN
ajst-15054	58	35	software	software	NOUN
ajst-15054	58	36	,	,	PUNCT
ajst-15054	58	37	a	a	DET
ajst-15054	58	38	high	high	ADJ
ajst-15054	58	39	-	-	PUNCT
ajst-15054	58	40	definition	definition	NOUN
ajst-15054	58	41	display	display	NOUN
ajst-15054	58	42	,	,	PUNCT
ajst-15054	58	43	and	and	CCONJ
ajst-15054	58	44	driving	drive	VERB
ajst-15054	58	45	simulation	simulation	NOUN
ajst-15054	58	46	equipment	equipment	NOUN
ajst-15054	58	47	.	.	PUNCT
ajst-15054	59	1	the	the	DET
ajst-15054	59	2	lane	lane	NOUN
ajst-15054	59	3	-	-	PUNCT
ajst-15054	59	4	changing	change	VERB
ajst-15054	59	5	simulation	simulation	NOUN
ajst-15054	59	6	condition	condition	NOUN
ajst-15054	59	7	is	be	AUX
ajst-15054	59	8	shown	show	VERB
ajst-15054	59	9	in	in	ADP
ajst-15054	59	10	fig	fig	NOUN
ajst-15054	59	11	.	.	PUNCT
ajst-15054	60	1	3	3	NUM
ajst-15054	60	2	,	,	PUNCT
ajst-15054	60	3	where	where	SCONJ
ajst-15054	60	4	the	the	DET
ajst-15054	60	5	scene	scene	NOUN
ajst-15054	60	6	is	be	AUX
ajst-15054	60	7	built	build	VERB
ajst-15054	60	8	in	in	ADP
ajst-15054	60	9	vtd	vtd	PROPN
ajst-15054	60	10	and	and	CCONJ
ajst-15054	60	11	six	six	NUM
ajst-15054	60	12	drivers	driver	NOUN
ajst-15054	60	13	are	be	AUX
ajst-15054	60	14	recruited	recruit	VERB
ajst-15054	60	15	for	for	ADP
ajst-15054	60	16	simulated	simulated	ADJ
ajst-15054	60	17	driving	driving	NOUN
ajst-15054	60	18	experiments	experiment	NOUN
ajst-15054	60	19	,	,	PUNCT
ajst-15054	60	20	and	and	CCONJ
ajst-15054	60	21	the	the	DET
ajst-15054	60	22	driving	drive	VERB
ajst-15054	60	23	styles	style	NOUN
ajst-15054	60	24	of	of	ADP
ajst-15054	60	25	the	the	DET
ajst-15054	60	26	drivers	driver	NOUN
ajst-15054	60	27	have	have	AUX
ajst-15054	60	28	been	be	AUX
ajst-15054	60	29	tested	test	VERB
ajst-15054	60	30	and	and	CCONJ
ajst-15054	60	31	categorized	categorize	VERB
ajst-15054	60	32	accordingly	accordingly	ADV
ajst-15054	60	33	before	before	ADP
ajst-15054	60	34	the	the	DET
ajst-15054	60	35	experiments	experiment	NOUN
ajst-15054	60	36	.	.	PUNCT
ajst-15054	61	1	since	since	SCONJ
ajst-15054	61	2	the	the	DET
ajst-15054	61	3	driving	drive	VERB
ajst-15054	61	4	styles	style	NOUN
ajst-15054	61	5	of	of	ADP
ajst-15054	61	6	drivers	driver	NOUN
ajst-15054	61	7	are	be	AUX
ajst-15054	61	8	different	different	ADJ
ajst-15054	61	9	,	,	PUNCT
ajst-15054	61	10	the	the	DET
ajst-15054	61	11	requirements	requirement	NOUN
ajst-15054	61	12	for	for	ADP
ajst-15054	61	13	the	the	DET
ajst-15054	61	14	environmental	environmental	ADJ
ajst-15054	61	15	conditions	condition	NOUN
ajst-15054	61	16	in	in	ADP
ajst-15054	61	17	the	the	DET
ajst-15054	61	18	lane	lane	NOUN
ajst-15054	61	19	changing	change	VERB
ajst-15054	61	20	process	process	NOUN
ajst-15054	61	21	will	will	AUX
ajst-15054	61	22	also	also	ADV
ajst-15054	61	23	be	be	AUX
ajst-15054	61	24	different	different	ADJ
ajst-15054	61	25	.	.	PUNCT
ajst-15054	62	1	different	different	ADJ
ajst-15054	62	2	drivers	driver	NOUN
ajst-15054	62	3	'	'	PART
ajst-15054	62	4	attitudes	attitude	NOUN
ajst-15054	62	5	,	,	PUNCT
ajst-15054	62	6	thinking	think	VERB
ajst-15054	62	7	styles	style	NOUN
ajst-15054	62	8	and	and	CCONJ
ajst-15054	62	9	habitual	habitual	ADJ
ajst-15054	62	10	driving	driving	NOUN
ajst-15054	62	11	behaviors	behavior	NOUN
ajst-15054	62	12	have	have	VERB
ajst-15054	62	13	an	an	DET
ajst-15054	62	14	impact	impact	NOUN
ajst-15054	62	15	on	on	ADP
ajst-15054	62	16	driving	drive	VERB
ajst-15054	62	17	vehicles	vehicle	NOUN
ajst-15054	62	18	.	.	PUNCT
ajst-15054	63	1	compared	compare	VERB
ajst-15054	63	2	to	to	ADP
ajst-15054	63	3	other	other	ADJ
ajst-15054	63	4	driving	driving	NOUN
ajst-15054	63	5	behaviors	behavior	NOUN
ajst-15054	63	6	,	,	PUNCT
ajst-15054	63	7	when	when	SCONJ
ajst-15054	63	8	changing	change	VERB
ajst-15054	63	9	lanes	lane	NOUN
ajst-15054	63	10	,	,	PUNCT
ajst-15054	63	11	it	it	PRON
ajst-15054	63	12	is	be	AUX
ajst-15054	63	13	important	important	ADJ
ajst-15054	63	14	to	to	PART
ajst-15054	63	15	observe	observe	VERB
ajst-15054	63	16	not	not	PART
ajst-15054	63	17	only	only	ADV
ajst-15054	63	18	the	the	DET
ajst-15054	63	19	situation	situation	NOUN
ajst-15054	63	20	in	in	ADP
ajst-15054	63	21	front	front	NOUN
ajst-15054	63	22	of	of	ADP
ajst-15054	63	23	you	you	PRON
ajst-15054	63	24	but	but	CCONJ
ajst-15054	63	25	also	also	ADV
ajst-15054	63	26	the	the	DET
ajst-15054	63	27	traffic	traffic	NOUN
ajst-15054	63	28	conditions	condition	NOUN
ajst-15054	63	29	behind	behind	ADV
ajst-15054	63	30	and	and	CCONJ
ajst-15054	63	31	to	to	ADP
ajst-15054	63	32	the	the	DET
ajst-15054	63	33	side	side	NOUN
ajst-15054	63	34	,	,	PUNCT
ajst-15054	63	35	and	and	CCONJ
ajst-15054	63	36	to	to	PART
ajst-15054	63	37	make	make	VERB
ajst-15054	63	38	lane	lane	NOUN
ajst-15054	63	39	-	-	PUNCT
ajst-15054	63	40	changing	change	VERB
ajst-15054	63	41	decisions	decision	NOUN
ajst-15054	63	42	based	base	VERB
ajst-15054	63	43	on	on	ADP
ajst-15054	63	44	the	the	DET
ajst-15054	63	45	observed	observed	ADJ
ajst-15054	63	46	information	information	NOUN
ajst-15054	63	47	.	.	PUNCT
ajst-15054	64	1	drivers	driver	NOUN
ajst-15054	64	2	with	with	ADP
ajst-15054	64	3	different	different	ADJ
ajst-15054	64	4	styles	style	NOUN
ajst-15054	64	5	pay	pay	VERB
ajst-15054	64	6	attention	attention	NOUN
ajst-15054	64	7	to	to	ADP
ajst-15054	64	8	different	different	ADJ
ajst-15054	64	9	traffic	traffic	NOUN
ajst-15054	64	10	conditions	condition	NOUN
ajst-15054	64	11	when	when	SCONJ
ajst-15054	64	12	changing	change	VERB
ajst-15054	64	13	lanes	lane	NOUN
ajst-15054	64	14	,	,	PUNCT
ajst-15054	64	15	and	and	CCONJ
ajst-15054	64	16	they	they	PRON
ajst-15054	64	17	have	have	VERB
ajst-15054	64	18	different	different	ADJ
ajst-15054	64	19	lane	lane	NOUN
ajst-15054	64	20	-	-	PUNCT
ajst-15054	64	21	changing	change	VERB
ajst-15054	64	22	thresholds	threshold	NOUN
ajst-15054	64	23	.	.	PUNCT
ajst-15054	65	1	therefore	therefore	ADV
ajst-15054	65	2	,	,	PUNCT
ajst-15054	65	3	this	this	DET
ajst-15054	65	4	paper	paper	NOUN
ajst-15054	65	5	establishes	establish	VERB
ajst-15054	65	6	a	a	DET
ajst-15054	65	7	lane	lane	NOUN
ajst-15054	65	8	-	-	PUNCT
ajst-15054	65	9	changing	change	VERB
ajst-15054	65	10	decision	decision	NOUN
ajst-15054	65	11	-	-	PUNCT
ajst-15054	65	12	making	make	VERB
ajst-15054	65	13	model	model	NOUN
ajst-15054	65	14	for	for	ADP
ajst-15054	65	15	drivers	driver	NOUN
ajst-15054	65	16	with	with	ADP
ajst-15054	65	17	different	different	ADJ
ajst-15054	65	18	driving	driving	NOUN
ajst-15054	65	19	styles	style	NOUN
ajst-15054	65	20	to	to	PART
ajst-15054	65	21	ensure	ensure	VERB
ajst-15054	65	22	the	the	DET
ajst-15054	65	23	performance	performance	NOUN
ajst-15054	65	24	of	of	ADP
ajst-15054	65	25	the	the	DET
ajst-15054	65	26	model	model	NOUN
ajst-15054	65	27	in	in	ADP
ajst-15054	65	28	terms	term	NOUN
ajst-15054	65	29	of	of	ADP
ajst-15054	65	30	decision	decision	NOUN
ajst-15054	65	31	-	-	PUNCT
ajst-15054	65	32	making	make	VERB
ajst-15054	65	33	safety	safety	NOUN
ajst-15054	65	34	and	and	CCONJ
ajst-15054	65	35	comfort	comfort	NOUN
ajst-15054	65	36	,	,	PUNCT
ajst-15054	65	37	and	and	CCONJ
ajst-15054	65	38	to	to	PART
ajst-15054	65	39	further	far	ADV
ajst-15054	65	40	improve	improve	VERB
ajst-15054	65	41	the	the	DET
ajst-15054	65	42	accuracy	accuracy	NOUN
ajst-15054	65	43	of	of	ADP
ajst-15054	65	44	the	the	DET
ajst-15054	65	45	decision	decision	NOUN
ajst-15054	65	46	-	-	PUNCT
ajst-15054	65	47	making	make	VERB
ajst-15054	65	48	model	model	NOUN
ajst-15054	65	49	.	.	PUNCT
ajst-15054	66	1	through	through	ADP
ajst-15054	66	2	the	the	DET
ajst-15054	66	3	simulation	simulation	NOUN
ajst-15054	66	4	experiments	experiment	NOUN
ajst-15054	66	5	of	of	ADP
ajst-15054	66	6	the	the	DET
ajst-15054	66	7	drivers	driver	NOUN
ajst-15054	66	8	,	,	PUNCT
ajst-15054	66	9	and	and	CCONJ
ajst-15054	66	10	after	after	ADP
ajst-15054	66	11	collecting	collect	VERB
ajst-15054	66	12	as	as	ADV
ajst-15054	66	13	well	well	ADV
ajst-15054	66	14	as	as	ADP
ajst-15054	66	15	processing	process	VERB
ajst-15054	66	16	the	the	DET
ajst-15054	66	17	obtained	obtain	VERB
ajst-15054	66	18	data	datum	NOUN
ajst-15054	66	19	,	,	PUNCT
ajst-15054	66	20	the	the	DET
ajst-15054	66	21	comparison	comparison	NOUN
ajst-15054	66	22	graphs	graph	NOUN
ajst-15054	66	23	of	of	ADP
ajst-15054	66	24	lane	lane	NOUN
ajst-15054	66	25	changing	change	VERB
ajst-15054	66	26	moments	moment	NOUN
ajst-15054	66	27	,	,	PUNCT
ajst-15054	66	28	lane	lane	NOUN
ajst-15054	66	29	changing	change	VERB
ajst-15054	66	30	times	time	NOUN
ajst-15054	66	31	and	and	CCONJ
ajst-15054	66	32	decision	decision	NOUN
ajst-15054	66	33	-	-	PUNCT
ajst-15054	66	34	making	make	VERB
ajst-15054	66	35	models	model	NOUN
ajst-15054	66	36	of	of	ADP
ajst-15054	66	37	drivers	driver	NOUN
ajst-15054	66	38	with	with	ADP
ajst-15054	66	39	different	different	ADJ
ajst-15054	66	40	driving	driving	NOUN
ajst-15054	66	41	styles	style	NOUN
ajst-15054	66	42	are	be	AUX
ajst-15054	66	43	made	make	VERB
ajst-15054	66	44	as	as	SCONJ
ajst-15054	66	45	shown	show	VERB
ajst-15054	66	46	in	in	ADP
ajst-15054	66	47	fig	fig	NOUN
ajst-15054	66	48	.	.	PUNCT
ajst-15054	67	1	4	4	NUM
ajst-15054	67	2	.	.	X
ajst-15054	67	3	131	131	NUM
ajst-15054	67	4	general	general	ADJ
ajst-15054	67	5	  	  	SPACE
ajst-15054	67	6	drivers	driver	NOUN
ajst-15054	67	7	generalized	generalize	VERB
ajst-15054	67	8	  	  	SPACE
ajst-15054	67	9	decision	decision	NOUN
ajst-15054	67	10	  	  	SPACE
ajst-15054	67	11	model	model	NOUN
ajst-15054	67	12	aggressive	aggressive	ADJ
ajst-15054	67	13	  	  	SPACE
ajst-15054	67	14	drivers	driver	NOUN
ajst-15054	67	15	radical	radical	ADJ
ajst-15054	67	16	  	  	SPACE
ajst-15054	67	17	decision	decision	NOUN
ajst-15054	67	18	  	  	SPACE
ajst-15054	67	19	modeling	model	VERB
ajst-15054	67	20	cautious	cautious	ADJ
ajst-15054	67	21	  	  	SPACE
ajst-15054	67	22	drivers	driver	NOUN
ajst-15054	67	23	cautious	cautious	ADJ
ajst-15054	67	24	  	  	SPACE
ajst-15054	67	25	decision	decision	NOUN
ajst-15054	67	26	  	  	SPACE
ajst-15054	67	27	model	model	NOUN
ajst-15054	67	28	th	th	X
ajst-15054	67	29	e	e	NOUN
ajst-15054	67	30	  	  	SPACE
ajst-15054	67	31	m	m	VERB
ajst-15054	67	32	o	o	NOUN
ajst-15054	67	33	m	m	NOUN
ajst-15054	67	34	e	e	NOUN
ajst-15054	67	35	n	n	NOUN
ajst-15054	67	36	t	t	PROPN
ajst-15054	67	37	  	  	SPACE
ajst-15054	67	38	o	o	NOUN
ajst-15054	68	1	f	f	X
ajst-15054	68	2	  	  	SPACE
ajst-15054	68	3	la	la	PROPN
ajst-15054	68	4	ne	ne	PROPN
ajst-15054	68	5	 	 	SPACE
ajst-15054	68	6	c	c	PROPN
ajst-15054	68	7	ha	ha	INTJ
ajst-15054	68	8	ng	ng	PROPN
ajst-15054	68	9	e	e	X
ajst-15054	68	10	(	(	PUNCT
ajst-15054	68	11	a	a	DET
ajst-15054	68	12	)	)	PUNCT
ajst-15054	68	13	comparison	comparison	NOUN
ajst-15054	68	14	of	of	ADP
ajst-15054	68	15	changeover	changeover	NOUN
ajst-15054	68	16	moments	moment	NOUN
ajst-15054	68	17	tr	tr	VERB
ajst-15054	68	18	an	an	DET
ajst-15054	68	19	si	si	PROPN
ajst-15054	68	20	t	t	PROPN
ajst-15054	68	21	  	  	SPACE
ajst-15054	68	22	ti	ti	NOUN
ajst-15054	68	23	m	m	PROPN
ajst-15054	68	24	e	e	NOUN
ajst-15054	68	25	general	general	ADJ
ajst-15054	68	26	  	  	SPACE
ajst-15054	68	27	drivers	driver	NOUN
ajst-15054	68	28	generalized	generalize	VERB
ajst-15054	68	29	  	  	SPACE
ajst-15054	68	30	decision	decision	NOUN
ajst-15054	68	31	  	  	SPACE
ajst-15054	68	32	model	model	NOUN
ajst-15054	68	33	aggressive	aggressive	ADJ
ajst-15054	68	34	  	  	SPACE
ajst-15054	68	35	drivers	driver	NOUN
ajst-15054	68	36	radical	radical	ADJ
ajst-15054	68	37	  	  	SPACE
ajst-15054	68	38	decision	decision	NOUN
ajst-15054	68	39	  	  	SPACE
ajst-15054	68	40	modeling	model	VERB
ajst-15054	68	41	cautious	cautious	ADJ
ajst-15054	68	42	  	  	SPACE
ajst-15054	68	43	drivers	driver	NOUN
ajst-15054	68	44	cautious	cautious	ADJ
ajst-15054	68	45	  	  	SPACE
ajst-15054	68	46	decision	decision	NOUN
ajst-15054	68	47	  	  	SPACE
ajst-15054	68	48	model	model	NOUN
ajst-15054	68	49	(	(	PUNCT
ajst-15054	68	50	b	b	NOUN
ajst-15054	68	51	)	)	PUNCT
ajst-15054	68	52	changeover	changeover	NOUN
ajst-15054	68	53	time	time	NOUN
ajst-15054	68	54	comparison	comparison	NOUN
ajst-15054	68	55	figure	figure	NOUN
ajst-15054	68	56	4	4	NUM
ajst-15054	68	57	.	.	PUNCT
ajst-15054	68	58	comparison	comparison	NOUN
ajst-15054	68	59	chart	chart	NOUN
ajst-15054	68	60	of	of	ADP
ajst-15054	68	61	experimental	experimental	ADJ
ajst-15054	68	62	results	result	NOUN
ajst-15054	68	63	by	by	ADP
ajst-15054	68	64	analyzing	analyze	VERB
ajst-15054	68	65	different	different	ADJ
ajst-15054	68	66	driver	driver	NOUN
ajst-15054	68	67	data	datum	NOUN
ajst-15054	68	68	,	,	PUNCT
ajst-15054	68	69	we	we	PRON
ajst-15054	68	70	obtained	obtain	VERB
ajst-15054	68	71	the	the	DET
ajst-15054	68	72	corresponding	corresponding	ADJ
ajst-15054	68	73	types	type	NOUN
ajst-15054	68	74	of	of	ADP
ajst-15054	68	75	lane	lane	NOUN
ajst-15054	68	76	change	change	NOUN
ajst-15054	68	77	decisions	decision	NOUN
ajst-15054	68	78	.	.	PUNCT
ajst-15054	69	1	as	as	ADP
ajst-15054	69	2	a	a	DET
ajst-15054	69	3	result	result	NOUN
ajst-15054	69	4	,	,	PUNCT
ajst-15054	69	5	corresponding	corresponding	ADJ
ajst-15054	69	6	variations	variation	NOUN
ajst-15054	69	7	in	in	ADP
ajst-15054	69	8	lane	lane	NOUN
ajst-15054	69	9	change	change	NOUN
ajst-15054	69	10	moments	moment	NOUN
ajst-15054	69	11	and	and	CCONJ
ajst-15054	69	12	lane	lane	NOUN
ajst-15054	69	13	change	change	NOUN
ajst-15054	69	14	times	time	NOUN
ajst-15054	69	15	were	be	AUX
ajst-15054	69	16	observed	observe	VERB
ajst-15054	69	17	,	,	PUNCT
ajst-15054	69	18	as	as	SCONJ
ajst-15054	69	19	shown	show	VERB
ajst-15054	69	20	in	in	ADP
ajst-15054	69	21	fig	fig	NOUN
ajst-15054	69	22	.	.	PUNCT
ajst-15054	70	1	4	4	X
ajst-15054	70	2	.	.	X
ajst-15054	70	3	in	in	ADP
ajst-15054	70	4	terms	term	NOUN
ajst-15054	70	5	of	of	ADP
ajst-15054	70	6	lane	lane	NOUN
ajst-15054	70	7	change	change	NOUN
ajst-15054	70	8	moments	moment	NOUN
ajst-15054	70	9	,	,	PUNCT
ajst-15054	70	10	the	the	DET
ajst-15054	70	11	lane	lane	NOUN
ajst-15054	70	12	change	change	VERB
ajst-15054	70	13	moments	moment	NOUN
ajst-15054	70	14	of	of	ADP
ajst-15054	70	15	aggressive	aggressive	ADJ
ajst-15054	70	16	drivers	driver	NOUN
ajst-15054	70	17	'	'	PART
ajst-15054	70	18	decisions	decision	NOUN
ajst-15054	70	19	are	be	AUX
ajst-15054	70	20	0.25	0.25	NUM
ajst-15054	70	21	seconds	second	NOUN
ajst-15054	70	22	earlier	early	ADV
ajst-15054	70	23	than	than	ADP
ajst-15054	70	24	those	those	PRON
ajst-15054	70	25	of	of	ADP
ajst-15054	70	26	average	average	ADJ
ajst-15054	70	27	drivers	driver	NOUN
ajst-15054	70	28	,	,	PUNCT
ajst-15054	70	29	while	while	SCONJ
ajst-15054	70	30	the	the	DET
ajst-15054	70	31	lane	lane	NOUN
ajst-15054	70	32	change	change	VERB
ajst-15054	70	33	moments	moment	NOUN
ajst-15054	70	34	of	of	ADP
ajst-15054	70	35	cautious	cautious	ADJ
ajst-15054	70	36	drivers	driver	NOUN
ajst-15054	70	37	'	'	PART
ajst-15054	70	38	decisions	decision	NOUN
ajst-15054	70	39	are	be	AUX
ajst-15054	70	40	0.31	0.31	NUM
ajst-15054	70	41	seconds	second	NOUN
ajst-15054	70	42	later	later	ADV
ajst-15054	70	43	than	than	ADP
ajst-15054	70	44	those	those	PRON
ajst-15054	70	45	of	of	ADP
ajst-15054	70	46	average	average	ADJ
ajst-15054	70	47	drivers	driver	NOUN
ajst-15054	70	48	.	.	PUNCT
ajst-15054	71	1	in	in	ADP
ajst-15054	71	2	terms	term	NOUN
ajst-15054	71	3	of	of	ADP
ajst-15054	71	4	lane	lane	NOUN
ajst-15054	71	5	change	change	NOUN
ajst-15054	71	6	time	time	NOUN
ajst-15054	71	7	,	,	PUNCT
ajst-15054	71	8	the	the	DET
ajst-15054	71	9	lane	lane	NOUN
ajst-15054	71	10	change	change	NOUN
ajst-15054	71	11	time	time	NOUN
ajst-15054	71	12	of	of	ADP
ajst-15054	71	13	the	the	DET
ajst-15054	71	14	aggressive	aggressive	ADJ
ajst-15054	71	15	driver	driver	NOUN
ajst-15054	71	16	decision	decision	NOUN
ajst-15054	71	17	decreased	decrease	VERB
ajst-15054	71	18	by	by	ADP
ajst-15054	71	19	0.49	0.49	NUM
ajst-15054	71	20	seconds	second	NOUN
ajst-15054	71	21	compared	compare	VERB
ajst-15054	71	22	to	to	ADP
ajst-15054	71	23	the	the	DET
ajst-15054	71	24	average	average	ADJ
ajst-15054	71	25	driver	driver	NOUN
ajst-15054	71	26	,	,	PUNCT
ajst-15054	71	27	while	while	SCONJ
ajst-15054	71	28	the	the	DET
ajst-15054	71	29	lane	lane	NOUN
ajst-15054	71	30	change	change	NOUN
ajst-15054	71	31	time	time	NOUN
ajst-15054	71	32	of	of	ADP
ajst-15054	71	33	the	the	DET
ajst-15054	71	34	cautious	cautious	ADJ
ajst-15054	71	35	driver	driver	NOUN
ajst-15054	71	36	decision	decision	NOUN
ajst-15054	71	37	increased	increase	VERB
ajst-15054	71	38	by	by	ADP
ajst-15054	71	39	0.6	0.6	NUM
ajst-15054	71	40	seconds	second	NOUN
ajst-15054	71	41	compared	compare	VERB
ajst-15054	71	42	to	to	ADP
ajst-15054	71	43	the	the	DET
ajst-15054	71	44	average	average	ADJ
ajst-15054	71	45	driver	driver	NOUN
ajst-15054	71	46	.	.	PUNCT
ajst-15054	72	1	as	as	SCONJ
ajst-15054	72	2	mentioned	mention	VERB
ajst-15054	72	3	above	above	ADV
ajst-15054	72	4	,	,	PUNCT
ajst-15054	72	5	the	the	DET
ajst-15054	72	6	data	datum	NOUN
ajst-15054	72	7	collected	collect	VERB
ajst-15054	72	8	by	by	ADP
ajst-15054	72	9	the	the	DET
ajst-15054	72	10	driving	drive	VERB
ajst-15054	72	11	simulator	simulator	NOUN
ajst-15054	72	12	is	be	AUX
ajst-15054	72	13	extracted	extract	VERB
ajst-15054	72	14	and	and	CCONJ
ajst-15054	72	15	analyzed	analyze	VERB
ajst-15054	72	16	,	,	PUNCT
ajst-15054	72	17	and	and	CCONJ
ajst-15054	72	18	a	a	DET
ajst-15054	72	19	lane	lane	NOUN
ajst-15054	72	20	-	-	PUNCT
ajst-15054	72	21	changing	change	VERB
ajst-15054	72	22	decision	decision	NOUN
ajst-15054	72	23	-	-	PUNCT
ajst-15054	72	24	making	make	VERB
ajst-15054	72	25	model	model	NOUN
ajst-15054	72	26	is	be	AUX
ajst-15054	72	27	established	establish	VERB
ajst-15054	72	28	based	base	VERB
ajst-15054	72	29	on	on	ADP
ajst-15054	72	30	the	the	DET
ajst-15054	72	31	long	long	ADJ
ajst-15054	72	32	and	and	CCONJ
ajst-15054	72	33	short	short	ADJ
ajst-15054	72	34	-	-	PUNCT
ajst-15054	72	35	term	term	NOUN
ajst-15054	72	36	neural	neural	ADJ
ajst-15054	72	37	networks	network	NOUN
ajst-15054	72	38	,	,	PUNCT
ajst-15054	72	39	and	and	CCONJ
ajst-15054	72	40	the	the	DET
ajst-15054	72	41	driving	drive	VERB
ajst-15054	72	42	styles	style	NOUN
ajst-15054	72	43	are	be	AUX
ajst-15054	72	44	added	add	VERB
ajst-15054	72	45	into	into	ADP
ajst-15054	72	46	it	it	PRON
ajst-15054	72	47	so	so	SCONJ
ajst-15054	72	48	as	as	SCONJ
ajst-15054	72	49	to	to	PART
ajst-15054	72	50	improve	improve	VERB
ajst-15054	72	51	the	the	DET
ajst-15054	72	52	applicability	applicability	NOUN
ajst-15054	72	53	as	as	ADV
ajst-15054	72	54	well	well	ADV
ajst-15054	72	55	as	as	ADP
ajst-15054	72	56	the	the	DET
ajst-15054	72	57	comfort	comfort	NOUN
ajst-15054	72	58	of	of	ADP
ajst-15054	72	59	drivers	driver	NOUN
ajst-15054	72	60	with	with	ADP
ajst-15054	72	61	different	different	ADJ
ajst-15054	72	62	styles	style	NOUN
ajst-15054	72	63	to	to	ADP
ajst-15054	72	64	the	the	DET
ajst-15054	72	65	lane	lane	NOUN
ajst-15054	72	66	-	-	PUNCT
ajst-15054	72	67	changing	change	VERB
ajst-15054	72	68	decisionmaking	decisionmake	VERB
ajst-15054	72	69	model	model	NOUN
ajst-15054	72	70	proposed	propose	VERB
ajst-15054	72	71	in	in	ADP
ajst-15054	72	72	this	this	DET
ajst-15054	72	73	paper	paper	NOUN
ajst-15054	72	74	.	.	PUNCT
ajst-15054	73	1	5	5	X
ajst-15054	73	2	.	.	X
ajst-15054	73	3	conclusion	conclusion	NOUN
ajst-15054	73	4	the	the	DET
ajst-15054	73	5	manuscript	manuscript	NOUN
ajst-15054	73	6	should	should	AUX
ajst-15054	73	7	include	include	VERB
ajst-15054	73	8	a	a	DET
ajst-15054	73	9	conclusion	conclusion	NOUN
ajst-15054	73	10	.	.	PUNCT
ajst-15054	74	1	in	in	ADP
ajst-15054	74	2	this	this	DET
ajst-15054	74	3	section	section	NOUN
ajst-15054	74	4	,	,	PUNCT
ajst-15054	74	5	summarize	summarize	VERB
ajst-15054	74	6	what	what	PRON
ajst-15054	74	7	was	be	AUX
ajst-15054	74	8	described	describe	VERB
ajst-15054	74	9	in	in	ADP
ajst-15054	74	10	your	your	PRON
ajst-15054	74	11	paper	paper	NOUN
ajst-15054	74	12	.	.	PUNCT
ajst-15054	75	1	1	1	NUM
ajst-15054	75	2	)	)	PUNCT
ajst-15054	75	3	in	in	ADP
ajst-15054	75	4	this	this	DET
ajst-15054	75	5	paper	paper	NOUN
ajst-15054	75	6	,	,	PUNCT
ajst-15054	75	7	we	we	PRON
ajst-15054	75	8	investigated	investigate	VERB
ajst-15054	75	9	how	how	SCONJ
ajst-15054	75	10	to	to	PART
ajst-15054	75	11	incorporate	incorporate	VERB
ajst-15054	75	12	personalized	personalized	ADJ
ajst-15054	75	13	driver	driver	NOUN
ajst-15054	75	14	styles	style	NOUN
ajst-15054	75	15	in	in	ADP
ajst-15054	75	16	automated	automate	VERB
ajst-15054	75	17	lane	lane	NOUN
ajst-15054	75	18	changing	change	VERB
ajst-15054	75	19	decision	decision	NOUN
ajst-15054	75	20	making	making	NOUN
ajst-15054	75	21	,	,	PUNCT
ajst-15054	75	22	and	and	CCONJ
ajst-15054	75	23	developed	develop	VERB
ajst-15054	75	24	a	a	DET
ajst-15054	75	25	vehicle	vehicle	NOUN
ajst-15054	75	26	lane	lane	NOUN
ajst-15054	75	27	changing	change	VERB
ajst-15054	75	28	decision	decision	NOUN
ajst-15054	75	29	making	make	VERB
ajst-15054	75	30	model	model	NOUN
ajst-15054	75	31	that	that	PRON
ajst-15054	75	32	considers	consider	VERB
ajst-15054	75	33	driver	driver	NOUN
ajst-15054	75	34	styles	style	NOUN
ajst-15054	75	35	.	.	PUNCT
ajst-15054	76	1	the	the	DET
ajst-15054	76	2	data	datum	NOUN
ajst-15054	76	3	in	in	ADP
ajst-15054	76	4	the	the	DET
ajst-15054	76	5	highd	highd	NOUN
ajst-15054	76	6	database	database	NOUN
ajst-15054	76	7	were	be	AUX
ajst-15054	76	8	analyzed	analyze	VERB
ajst-15054	76	9	using	use	VERB
ajst-15054	76	10	principal	principal	ADJ
ajst-15054	76	11	component	component	NOUN
ajst-15054	76	12	analysis	analysis	NOUN
ajst-15054	76	13	and	and	CCONJ
ajst-15054	76	14	k	k	NOUN
ajst-15054	76	15	-	-	PUNCT
ajst-15054	76	16	means	means	NOUN
ajst-15054	76	17	clustering	cluster	VERB
ajst-15054	76	18	in	in	ADP
ajst-15054	76	19	order	order	NOUN
ajst-15054	76	20	to	to	PART
ajst-15054	76	21	classify	classify	VERB
ajst-15054	76	22	the	the	DET
ajst-15054	76	23	data	datum	NOUN
ajst-15054	76	24	according	accord	VERB
ajst-15054	76	25	to	to	ADP
ajst-15054	76	26	driving	drive	VERB
ajst-15054	76	27	style	style	NOUN
ajst-15054	76	28	.	.	PUNCT
ajst-15054	77	1	by	by	ADP
ajst-15054	77	2	analyzing	analyze	VERB
ajst-15054	77	3	the	the	DET
ajst-15054	77	4	driving	drive	VERB
ajst-15054	77	5	data	datum	NOUN
ajst-15054	77	6	of	of	ADP
ajst-15054	77	7	drivers	driver	NOUN
ajst-15054	77	8	with	with	ADP
ajst-15054	77	9	different	different	ADJ
ajst-15054	77	10	styles	style	NOUN
ajst-15054	77	11	,	,	PUNCT
ajst-15054	77	12	the	the	DET
ajst-15054	77	13	characteristics	characteristic	NOUN
ajst-15054	77	14	of	of	ADP
ajst-15054	77	15	lane	lane	NOUN
ajst-15054	77	16	changing	change	VERB
ajst-15054	77	17	behavior	behavior	NOUN
ajst-15054	77	18	of	of	ADP
ajst-15054	77	19	drivers	driver	NOUN
ajst-15054	77	20	with	with	ADP
ajst-15054	77	21	different	different	ADJ
ajst-15054	77	22	styles	style	NOUN
ajst-15054	77	23	were	be	AUX
ajst-15054	77	24	obtained	obtain	VERB
ajst-15054	77	25	.	.	PUNCT
ajst-15054	78	1	(	(	PUNCT
ajst-15054	78	2	2	2	NUM
ajst-15054	78	3	)	)	PUNCT
ajst-15054	78	4	in	in	ADP
ajst-15054	78	5	this	this	DET
ajst-15054	78	6	paper	paper	NOUN
ajst-15054	78	7	,	,	PUNCT
ajst-15054	78	8	an	an	DET
ajst-15054	78	9	anthropomorphic	anthropomorphic	ADJ
ajst-15054	78	10	autonomous	autonomous	ADJ
ajst-15054	78	11	lane	lane	NOUN
ajst-15054	78	12	changing	change	VERB
ajst-15054	78	13	decision	decision	NOUN
ajst-15054	78	14	-	-	PUNCT
ajst-15054	78	15	making	make	VERB
ajst-15054	78	16	method	method	NOUN
ajst-15054	78	17	for	for	ADP
ajst-15054	78	18	smart	smart	ADJ
ajst-15054	78	19	trucks	truck	NOUN
ajst-15054	78	20	is	be	AUX
ajst-15054	78	21	proposed	propose	VERB
ajst-15054	78	22	to	to	PART
ajst-15054	78	23	learn	learn	VERB
ajst-15054	78	24	the	the	DET
ajst-15054	78	25	driver	driver	NOUN
ajst-15054	78	26	's	's	PART
ajst-15054	78	27	behavior	behavior	NOUN
ajst-15054	78	28	based	base	VERB
ajst-15054	78	29	on	on	ADP
ajst-15054	78	30	lstm	lstm	PROPN
ajst-15054	78	31	neural	neural	ADJ
ajst-15054	78	32	network	network	NOUN
ajst-15054	78	33	in	in	ADP
ajst-15054	78	34	order	order	NOUN
ajst-15054	78	35	to	to	PART
ajst-15054	78	36	build	build	VERB
ajst-15054	78	37	a	a	DET
ajst-15054	78	38	lane	lane	NOUN
ajst-15054	78	39	changing	change	VERB
ajst-15054	78	40	decision	decision	NOUN
ajst-15054	78	41	-	-	PUNCT
ajst-15054	78	42	making	make	VERB
ajst-15054	78	43	model	model	NOUN
ajst-15054	78	44	,	,	PUNCT
ajst-15054	78	45	which	which	PRON
ajst-15054	78	46	is	be	AUX
ajst-15054	78	47	found	find	VERB
ajst-15054	78	48	to	to	PART
ajst-15054	78	49	have	have	VERB
ajst-15054	78	50	a	a	DET
ajst-15054	78	51	high	high	ADJ
ajst-15054	78	52	accuracy	accuracy	NOUN
ajst-15054	78	53	rate	rate	NOUN
ajst-15054	78	54	.	.	PUNCT
ajst-15054	79	1	simulink	simulink	PROPN
ajst-15054	79	2	/	/	SYM
ajst-15054	79	3	carsim	carsim	PROPN
ajst-15054	79	4	/	/	SYM
ajst-15054	79	5	prescan	prescan	PROPN
ajst-15054	79	6	joint	joint	ADJ
ajst-15054	79	7	simulation	simulation	NOUN
ajst-15054	79	8	is	be	AUX
ajst-15054	79	9	used	use	VERB
ajst-15054	79	10	to	to	PART
ajst-15054	79	11	verify	verify	VERB
ajst-15054	79	12	the	the	DET
ajst-15054	79	13	feasibility	feasibility	NOUN
ajst-15054	79	14	of	of	ADP
ajst-15054	79	15	the	the	DET
ajst-15054	79	16	lane	lane	NOUN
ajst-15054	79	17	changing	change	VERB
ajst-15054	79	18	decision	decision	NOUN
ajst-15054	79	19	.	.	PUNCT
ajst-15054	80	1	(	(	PUNCT
ajst-15054	80	2	3	3	X
ajst-15054	80	3	)	)	PUNCT
ajst-15054	80	4	through	through	ADP
ajst-15054	80	5	the	the	DET
ajst-15054	80	6	simulated	simulated	ADJ
ajst-15054	80	7	driving	driving	NOUN
ajst-15054	80	8	environment	environment	NOUN
ajst-15054	80	9	constructed	construct	VERB
ajst-15054	80	10	,	,	PUNCT
ajst-15054	80	11	different	different	ADJ
ajst-15054	80	12	styles	style	NOUN
ajst-15054	80	13	of	of	ADP
ajst-15054	80	14	drivers	driver	NOUN
ajst-15054	80	15	are	be	AUX
ajst-15054	80	16	recruited	recruit	VERB
ajst-15054	80	17	to	to	PART
ajst-15054	80	18	perform	perform	VERB
ajst-15054	80	19	lane	lane	NOUN
ajst-15054	80	20	changing	change	VERB
ajst-15054	80	21	under	under	ADP
ajst-15054	80	22	the	the	DET
ajst-15054	80	23	set	set	ADJ
ajst-15054	80	24	working	working	NOUN
ajst-15054	80	25	conditions	condition	NOUN
ajst-15054	80	26	,	,	PUNCT
ajst-15054	80	27	and	and	CCONJ
ajst-15054	80	28	compared	compare	VERB
ajst-15054	80	29	with	with	ADP
ajst-15054	80	30	the	the	DET
ajst-15054	80	31	lane	lane	NOUN
ajst-15054	80	32	-	-	PUNCT
ajst-15054	80	33	changing	change	VERB
ajst-15054	80	34	decision	decision	NOUN
ajst-15054	80	35	of	of	ADP
ajst-15054	80	36	introducing	introduce	VERB
ajst-15054	80	37	driving	drive	VERB
ajst-15054	80	38	styles	style	NOUN
ajst-15054	80	39	proposed	propose	VERB
ajst-15054	80	40	in	in	ADP
ajst-15054	80	41	this	this	DET
ajst-15054	80	42	paper	paper	NOUN
ajst-15054	80	43	,	,	PUNCT
ajst-15054	80	44	and	and	CCONJ
ajst-15054	80	45	the	the	DET
ajst-15054	80	46	comparison	comparison	NOUN
ajst-15054	80	47	results	result	VERB
ajst-15054	80	48	show	show	VERB
ajst-15054	80	49	that	that	SCONJ
ajst-15054	80	50	the	the	DET
ajst-15054	80	51	effect	effect	NOUN
ajst-15054	80	52	is	be	AUX
ajst-15054	80	53	better	well	ADJ
ajst-15054	80	54	.	.	PUNCT
ajst-15054	81	1	finally	finally	ADV
ajst-15054	81	2	,	,	PUNCT
ajst-15054	81	3	the	the	DET
ajst-15054	81	4	design	design	NOUN
ajst-15054	81	5	and	and	CCONJ
ajst-15054	81	6	development	development	NOUN
ajst-15054	81	7	of	of	ADP
ajst-15054	81	8	the	the	DET
ajst-15054	81	9	autonomous	autonomous	ADJ
ajst-15054	81	10	lane	lane	NOUN
ajst-15054	81	11	-	-	PUNCT
ajst-15054	81	12	changing	change	VERB
ajst-15054	81	13	behavioral	behavioral	ADJ
ajst-15054	81	14	decision	decision	NOUN
ajst-15054	81	15	-	-	PUNCT
ajst-15054	81	16	making	make	VERB
ajst-15054	81	17	model	model	NOUN
ajst-15054	81	18	for	for	ADP
ajst-15054	81	19	intelligent	intelligent	ADJ
ajst-15054	81	20	trucks	truck	NOUN
ajst-15054	81	21	is	be	AUX
ajst-15054	81	22	completed.authors	completed.author	NOUN
ajst-15054	81	23	are	be	AUX
ajst-15054	81	24	strongly	strongly	ADV
ajst-15054	81	25	encouraged	encourage	VERB
ajst-15054	81	26	not	not	PART
ajst-15054	81	27	to	to	PART
ajst-15054	81	28	reference	reference	VERB
ajst-15054	81	29	multiple	multiple	ADJ
ajst-15054	81	30	figures	figure	NOUN
ajst-15054	81	31	or	or	CCONJ
ajst-15054	81	32	tables	table	NOUN
ajst-15054	81	33	in	in	ADP
ajst-15054	81	34	the	the	DET
ajst-15054	81	35	conclusion	conclusion	NOUN
ajst-15054	81	36	;	;	PUNCT
ajst-15054	81	37	these	these	PRON
ajst-15054	81	38	should	should	AUX
ajst-15054	81	39	be	be	AUX
ajst-15054	81	40	referenced	reference	VERB
ajst-15054	81	41	in	in	ADP
ajst-15054	81	42	the	the	DET
ajst-15054	81	43	body	body	NOUN
ajst-15054	81	44	of	of	ADP
ajst-15054	81	45	the	the	DET
ajst-15054	81	46	paper	paper	NOUN
ajst-15054	81	47	.	.	PUNCT
ajst-15054	82	1	references	reference	NOUN
ajst-15054	82	2	[	[	X
ajst-15054	82	3	1	1	NUM
ajst-15054	82	4	]	]	PUNCT
ajst-15054	82	5	gipps	gipps	NOUN
ajst-15054	82	6	p	p	PROPN
ajst-15054	82	7	g.	g.	PROPN
ajst-15054	82	8	a	a	DET
ajst-15054	82	9	model	model	NOUN
ajst-15054	82	10	for	for	ADP
ajst-15054	82	11	the	the	DET
ajst-15054	82	12	structure	structure	NOUN
ajst-15054	82	13	of	of	ADP
ajst-15054	82	14	lane	lane	NOUN
ajst-15054	82	15	-	-	PUNCT
ajst-15054	82	16	changing	change	VERB
ajst-15054	82	17	decisions[j	decisions[j	PROPN
ajst-15054	82	18	]	]	PUNCT
ajst-15054	82	19	.	.	PUNCT
ajst-15054	83	1	transportation	transportation	NOUN
ajst-15054	83	2	research	research	NOUN
ajst-15054	83	3	part	part	NOUN
ajst-15054	83	4	b	b	NOUN
ajst-15054	83	5	:	:	PUNCT
ajst-15054	83	6	methodological	methodological	ADJ
ajst-15054	83	7	,	,	PUNCT
ajst-15054	83	8	1986	1986	NUM
ajst-15054	83	9	,	,	PUNCT
ajst-15054	83	10	20(5	20(5	NUM
ajst-15054	83	11	):	):	PUNCT
ajst-15054	83	12	403–414	403–414	NUM
ajst-15054	83	13	.	.	PUNCT
ajst-15054	84	1	[	[	X
ajst-15054	84	2	2	2	NUM
ajst-15054	84	3	]	]	X
ajst-15054	84	4	yang	yang	PROPN
ajst-15054	84	5	q	q	PROPN
ajst-15054	84	6	,	,	PUNCT
ajst-15054	84	7	koutsopoulos	koutsopoulos	PROPN
ajst-15054	84	8	h	h	PROPN
ajst-15054	84	9	n.	n.	PROPN
ajst-15054	84	10	a	a	DET
ajst-15054	84	11	microscopic	microscopic	ADJ
ajst-15054	84	12	traffic	traffic	NOUN
ajst-15054	84	13	simulator	simulator	NOUN
ajst-15054	84	14	for	for	ADP
ajst-15054	84	15	evaluation	evaluation	NOUN
ajst-15054	84	16	of	of	ADP
ajst-15054	84	17	dynamic	dynamic	ADJ
ajst-15054	84	18	traffic	traffic	NOUN
ajst-15054	84	19	management	management	NOUN
ajst-15054	84	20	systems[j	systems[j	PROPN
ajst-15054	84	21	]	]	PUNCT
ajst-15054	84	22	.	.	PUNCT
ajst-15054	85	1	transportation	transportation	NOUN
ajst-15054	85	2	research	research	NOUN
ajst-15054	85	3	part	part	NOUN
ajst-15054	85	4	c	c	NOUN
ajst-15054	85	5	:	:	PUNCT
ajst-15054	85	6	emerging	emerge	VERB
ajst-15054	85	7	technologies	technology	NOUN
ajst-15054	85	8	,	,	PUNCT
ajst-15054	85	9	1996	1996	NUM
ajst-15054	85	10	,	,	PUNCT
ajst-15054	85	11	4(3	4(3	NUM
ajst-15054	85	12	):	):	PUNCT
ajst-15054	85	13	113–129	113–129	NUM
ajst-15054	85	14	.	.	PUNCT
ajst-15054	86	1	[	[	X
ajst-15054	86	2	3	3	X
ajst-15054	86	3	]	]	PUNCT
ajst-15054	86	4	hidas	hidas	PROPN
ajst-15054	86	5	p.	p.	PROPN
ajst-15054	86	6	modelling	model	VERB
ajst-15054	86	7	lane	lane	PROPN
ajst-15054	86	8	changing	change	VERB
ajst-15054	86	9	and	and	CCONJ
ajst-15054	86	10	merging	merge	VERB
ajst-15054	86	11	in	in	ADP
ajst-15054	86	12	microscopic	microscopic	ADJ
ajst-15054	86	13	traffic	traffic	NOUN
ajst-15054	86	14	simulation[j	simulation[j	NOUN
ajst-15054	86	15	]	]	PUNCT
ajst-15054	86	16	.	.	PUNCT
ajst-15054	87	1	transportation	transportation	NOUN
ajst-15054	87	2	research	research	NOUN
ajst-15054	87	3	part	part	NOUN
ajst-15054	87	4	c	c	NOUN
ajst-15054	87	5	:	:	PUNCT
ajst-15054	87	6	emerging	emerge	VERB
ajst-15054	87	7	technologies	technology	NOUN
ajst-15054	87	8	,	,	PUNCT
ajst-15054	87	9	2002	2002	NUM
ajst-15054	87	10	,	,	PUNCT
ajst-15054	87	11	10(5	10(5	NUM
ajst-15054	87	12	):	):	PUNCT
ajst-15054	87	13	351–371	351–371	NUM
ajst-15054	87	14	.	.	PUNCT
ajst-15054	88	1	132	132	NUM
ajst-15054	88	2	[	[	SYM
ajst-15054	88	3	4	4	X
ajst-15054	88	4	]	]	PUNCT
ajst-15054	88	5	kesting	kesting	NOUN
ajst-15054	88	6	a	a	PRON
ajst-15054	88	7	,	,	PUNCT
ajst-15054	88	8	treiber	treiber	PROPN
ajst-15054	88	9	m	m	PROPN
ajst-15054	88	10	,	,	PUNCT
ajst-15054	88	11	helbing	helbe	VERB
ajst-15054	88	12	d.	d.	PROPN
ajst-15054	88	13	general	general	PROPN
ajst-15054	88	14	lane	lane	PROPN
ajst-15054	88	15	-	-	PUNCT
ajst-15054	88	16	changing	change	VERB
ajst-15054	88	17	model	model	NOUN
ajst-15054	88	18	mobil	mobil	NOUN
ajst-15054	88	19	for	for	ADP
ajst-15054	88	20	car	car	NOUN
ajst-15054	88	21	-	-	PUNCT
ajst-15054	88	22	following	follow	VERB
ajst-15054	88	23	models[j	models[j	PROPN
ajst-15054	88	24	]	]	PUNCT
ajst-15054	88	25	.	.	PUNCT
ajst-15054	89	1	transportation	transportation	NOUN
ajst-15054	89	2	research	research	NOUN
ajst-15054	89	3	record	record	NOUN
ajst-15054	89	4	:	:	PUNCT
ajst-15054	89	5	journal	journal	NOUN
ajst-15054	89	6	of	of	ADP
ajst-15054	89	7	the	the	DET
ajst-15054	89	8	transportation	transportation	NOUN
ajst-15054	89	9	research	research	NOUN
ajst-15054	89	10	board	board	NOUN
ajst-15054	89	11	,	,	PUNCT
ajst-15054	89	12	2007(1999)[2023	2007(1999)[2023	PROPN
ajst-15054	89	13	-	-	SYM
ajst-15054	89	14	06	06	NUM
ajst-15054	89	15	-	-	SYM
ajst-15054	89	16	21	21	NUM
ajst-15054	89	17	]	]	PUNCT
ajst-15054	89	18	.	.	PUNCT
ajst-15054	90	1	[	[	X
ajst-15054	90	2	5	5	NUM
ajst-15054	90	3	]	]	X
ajst-15054	90	4	qiu	qiu	PROPN
ajst-15054	90	5	s	s	PROPN
ajst-15054	90	6	,	,	PUNCT
ajst-15054	90	7	liu	liu	PROPN
ajst-15054	90	8	yl	yl	PROPN
ajst-15054	90	9	,	,	PUNCT
ajst-15054	90	10	ma	ma	PROPN
ajst-15054	90	11	ln	ln	PROPN
ajst-15054	90	12	,	,	PUNCT
ajst-15054	90	13	yang	yang	PROPN
ajst-15054	90	14	d	d	PROPN
ajst-15054	90	15	,	,	PUNCT
ajst-15054	90	16	da	da	PROPN
ajst-15054	90	17	q	q	NOUN
ajst-15054	90	18	x	x	PUNCT
ajst-15054	90	19	y.	y.	NOUN
ajst-15054	90	20	vehicle	vehicle	NOUN
ajst-15054	90	21	lanechanging	lanechanging	NOUN
ajst-15054	90	22	model	model	NOUN
ajst-15054	90	23	based	base	VERB
ajst-15054	90	24	on	on	ADP
ajst-15054	90	25	bayesian	bayesian	NOUN
ajst-15054	90	26	network[j	network[j	PROPN
ajst-15054	90	27	]	]	PUNCT
ajst-15054	90	28	.	.	PUNCT
ajst-15054	91	1	transportation	transportation	NOUN
ajst-15054	91	2	systems	system	NOUN
ajst-15054	91	3	engineering	engineering	NOUN
ajst-15054	91	4	and	and	CCONJ
ajst-15054	91	5	information	information	NOUN
ajst-15054	91	6	,	,	PUNCT
ajst-15054	91	7	2015	2015	NUM
ajst-15054	91	8	,	,	PUNCT
ajst-15054	91	9	15(5	15(5	NUM
ajst-15054	91	10	):	):	PUNCT
ajst-15054	91	11	67	67	NUM
ajst-15054	91	12	.	.	PUNCT
ajst-15054	92	1	[	[	X
ajst-15054	92	2	6	6	NUM
ajst-15054	92	3	]	]	X
ajst-15054	92	4	motamedidehkordi	motamedidehkordi	PROPN
ajst-15054	92	5	n	n	PROPN
ajst-15054	92	6	,	,	PUNCT
ajst-15054	92	7	amini	amini	PROPN
ajst-15054	92	8	s	s	PROPN
ajst-15054	92	9	,	,	PUNCT
ajst-15054	92	10	hoffmann	hoffmann	PROPN
ajst-15054	92	11	s	s	PROPN
ajst-15054	92	12	,	,	PUNCT
ajst-15054	92	13	busch	busch	PROPN
ajst-15054	92	14	f	f	PROPN
ajst-15054	92	15	,	,	PUNCT
ajst-15054	92	16	fitriyanti	fitriyanti	PROPN
ajst-15054	92	17	m.	m.	NOUN
ajst-15054	92	18	modeling	model	VERB
ajst-15054	92	19	tactical	tactical	ADJ
ajst-15054	92	20	lane	lane	NOUN
ajst-15054	92	21	-	-	PUNCT
ajst-15054	92	22	change	change	NOUN
ajst-15054	92	23	behavior	behavior	NOUN
ajst-15054	92	24	for	for	ADP
ajst-15054	92	25	automated	automate	VERB
ajst-15054	92	26	vehicles	vehicle	NOUN
ajst-15054	92	27	:	:	PUNCT
ajst-15054	92	28	a	a	DET
ajst-15054	92	29	supervised	supervised	ADJ
ajst-15054	92	30	machine	machine	NOUN
ajst-15054	92	31	learning	learn	VERB
ajst-15054	92	32	approach	approach	NOUN
ajst-15054	92	33	[	[	X
ajst-15054	92	34	c	c	X
ajst-15054	92	35	]	]	PUNCT
ajst-15054	92	36	.	.	PUNCT
ajst-15054	93	1	[	[	X
ajst-15054	93	2	7	7	X
ajst-15054	93	3	]	]	PUNCT
ajst-15054	93	4	shalev	shalev	NOUN
ajst-15054	93	5	-	-	PUNCT
ajst-15054	93	6	shwartz	shwartz	PROPN
ajst-15054	93	7	s	s	PROPN
ajst-15054	93	8	,	,	PUNCT
ajst-15054	93	9	shammah	shammah	PROPN
ajst-15054	93	10	s	s	PART
ajst-15054	93	11	,	,	PUNCT
ajst-15054	93	12	shashua	shashua	NOUN
ajst-15054	93	13	a.	a.	PROPN
ajst-15054	93	14	safe	safe	PROPN
ajst-15054	93	15	,	,	PUNCT
ajst-15054	93	16	multi	multi	ADJ
ajst-15054	93	17	-	-	ADJ
ajst-15054	93	18	agent	agent	ADJ
ajst-15054	93	19	,	,	PUNCT
ajst-15054	93	20	reinforcement	reinforcement	NOUN
ajst-15054	93	21	learning	learning	NOUN
ajst-15054	93	22	for	for	ADP
ajst-15054	93	23	autonomous	autonomous	ADJ
ajst-15054	93	24	driving	driving	NOUN
ajst-15054	94	1	[	[	X
ajst-15054	94	2	j	j	X
ajst-15054	94	3	]	]	X
ajst-15054	94	4	.	.	PUNCT
ajst-15054	95	1	2016	2016	NUM
ajst-15054	95	2	.	.	PUNCT
ajst-15054	95	3	,	,	PUNCT
ajst-15054	95	4	2016	2016	NUM
ajst-15054	95	5	.	.	PUNCT
ajst-15054	96	1	[	[	X
ajst-15054	96	2	8	8	NUM
ajst-15054	96	3	]	]	X
ajst-15054	96	4	liu	liu	PROPN
ajst-15054	96	5	m.	m.	NOUN
ajst-15054	96	6	behavioral	behavioral	ADJ
ajst-15054	96	7	decision	decision	NOUN
ajst-15054	96	8	planning	planning	NOUN
ajst-15054	96	9	and	and	CCONJ
ajst-15054	96	10	motion	motion	NOUN
ajst-15054	96	11	control	control	NOUN
ajst-15054	96	12	of	of	ADP
ajst-15054	96	13	intelligent	intelligent	ADJ
ajst-15054	96	14	vehicles	vehicle	NOUN
ajst-15054	96	15	in	in	ADP
ajst-15054	96	16	urban	urban	ADJ
ajst-15054	96	17	driving	driving	NOUN
ajst-15054	96	18	environment[d	environment[d	PROPN
ajst-15054	96	19	]	]	PUNCT
ajst-15054	96	20	.	.	PUNCT
ajst-15054	97	1	xi'an	xi'an	PROPN
ajst-15054	97	2	university	university	PROPN
ajst-15054	97	3	of	of	ADP
ajst-15054	97	4	science	science	NOUN
ajst-15054	97	5	and	and	CCONJ
ajst-15054	97	6	technology,2018	technology,2018	ADP
ajst-15054	97	7	.	.	PUNCT
ajst-15054	98	1	[	[	X
ajst-15054	98	2	9	9	NUM
ajst-15054	98	3	]	]	X
ajst-15054	98	4	jin	jin	PROPN
ajst-15054	98	5	fan	fan	PROPN
ajst-15054	98	6	.	.	PUNCT
ajst-15054	98	7	research	research	NOUN
ajst-15054	98	8	on	on	ADP
ajst-15054	98	9	end	end	NOUN
ajst-15054	98	10	-	-	PUNCT
ajst-15054	98	11	to	to	ADP
ajst-15054	98	12	-	-	PUNCT
ajst-15054	98	13	end	end	NOUN
ajst-15054	98	14	decision	decision	NOUN
ajst-15054	98	15	making	making	NOUN
ajst-15054	98	16	of	of	ADP
ajst-15054	98	17	intelligent	intelligent	ADJ
ajst-15054	98	18	vehicles	vehicle	NOUN
ajst-15054	98	19	based	base	VERB
ajst-15054	98	20	on	on	ADP
ajst-15054	98	21	spatio	spatio	PROPN
ajst-15054	98	22	-	-	PUNCT
ajst-15054	98	23	temporal	temporal	ADJ
ajst-15054	98	24	recurrent	recurrent	ADJ
ajst-15054	98	25	neural	neural	ADJ
ajst-15054	98	26	network[d	network[d	NOUN
ajst-15054	98	27	]	]	PUNCT
ajst-15054	98	28	.	.	PUNCT
ajst-15054	99	1	university	university	NOUN
ajst-15054	99	2	of	of	ADP
ajst-15054	99	3	electronic	electronic	ADJ
ajst-15054	99	4	science	science	NOUN
ajst-15054	99	5	and	and	CCONJ
ajst-15054	99	6	technology,2018	technology,2018	ADP
ajst-15054	99	7	.	.	PUNCT
ajst-15054	100	1	[	[	X
ajst-15054	100	2	10	10	NUM
ajst-15054	100	3	]	]	X
ajst-15054	100	4	j	j	PROPN
ajst-15054	100	5	wang	wang	PROPN
ajst-15054	100	6	shubo	shubo	PROPN
ajst-15054	100	7	.	.	PUNCT
ajst-15054	101	1	research	research	NOUN
ajst-15054	101	2	on	on	ADP
ajst-15054	101	3	intelligent	intelligent	ADJ
ajst-15054	101	4	vehicle	vehicle	NOUN
ajst-15054	101	5	driving	drive	VERB
ajst-15054	101	6	decision	decision	NOUN
ajst-15054	101	7	-	-	PUNCT
ajst-15054	101	8	making	make	VERB
ajst-15054	101	9	algorithm	algorithm	NOUN
ajst-15054	101	10	for	for	ADP
ajst-15054	101	11	structured	structured	ADJ
ajst-15054	101	12	road	road	NOUN
ajst-15054	101	13	environment[d	environment[d	NOUN
ajst-15054	101	14	]	]	PUNCT
ajst-15054	101	15	.	.	PUNCT
ajst-15054	102	1	jilin	jilin	PROPN
ajst-15054	102	2	university,2019	university,2019	PROPN
ajst-15054	102	3	.	.	PUNCT
ajst-15054	103	1	[	[	X
ajst-15054	103	2	11	11	NUM
ajst-15054	103	3	]	]	PUNCT
ajst-15054	103	4	saeedi	saeedi	NOUN
ajst-15054	103	5	a	a	PRON
ajst-15054	103	6	,	,	PUNCT
ajst-15054	103	7	kazemi	kazemi	PROPN
ajst-15054	103	8	r	r	PROPN
ajst-15054	103	9	,	,	PUNCT
ajst-15054	103	10	azadi	azadi	PROPN
ajst-15054	103	11	s.	s.	PROPN
ajst-15054	103	12	analysis	analysis	NOUN
ajst-15054	103	13	of	of	ADP
ajst-15054	103	14	roll	roll	NOUN
ajst-15054	103	15	control	control	NOUN
ajst-15054	103	16	system	system	NOUN
ajst-15054	103	17	to	to	PART
ajst-15054	103	18	eliminate	eliminate	VERB
ajst-15054	103	19	liquid	liquid	ADJ
ajst-15054	103	20	sloshing	sloshing	NOUN
ajst-15054	103	21	effect	effect	NOUN
ajst-15054	103	22	on	on	ADP
ajst-15054	103	23	lateral	lateral	ADJ
ajst-15054	103	24	stability	stability	NOUN
ajst-15054	103	25	of	of	ADP
ajst-15054	103	26	an	an	DET
ajst-15054	103	27	articulated	articulated	ADJ
ajst-15054	103	28	vehicle	vehicle	NOUN
ajst-15054	103	29	carrying	carry	VERB
ajst-15054	103	30	liquid[j	liquid[j	NOUN
ajst-15054	103	31	]	]	PUNCT
ajst-15054	103	32	.	.	PUNCT
ajst-15054	104	1	international	international	ADJ
ajst-15054	104	2	journal	journal	PROPN
ajst-15054	104	3	of	of	ADP
ajst-15054	104	4	engineering	engineering	NOUN
ajst-15054	104	5	,	,	PUNCT
ajst-15054	104	6	2016	2016	NUM
ajst-15054	104	7	.	.	PUNCT
ajst-15054	105	1	[	[	X
ajst-15054	105	2	12	12	NUM
ajst-15054	105	3	]	]	X
ajst-15054	105	4	lajunen	lajunen	NOUN
ajst-15054	105	5	t	t	PROPN
ajst-15054	105	6	,	,	PUNCT
ajst-15054	105	7	özkan	özkan	ADJ
ajst-15054	105	8	t.	t.	NOUN
ajst-15054	105	9	chapter	chapter	NOUN
ajst-15054	105	10	4	4	NUM
ajst-15054	105	11	self	self	NOUN
ajst-15054	105	12	-	-	PUNCT
ajst-15054	105	13	report	report	NOUN
ajst-15054	105	14	instruments	instrument	NOUN
ajst-15054	105	15	and	and	CCONJ
ajst-15054	105	16	methods[m	methods[m	NOUN
ajst-15054	105	17	]	]	PUNCT
ajst-15054	105	18	.	.	PUNCT
ajst-15054	106	1	porter	porter	PROPN
ajst-15054	106	2	b	b	PROPN
ajst-15054	106	3	e.	e.	PROPN
ajst-15054	106	4	//handbook	//handbook	PROPN
ajst-15054	106	5	of	of	ADP
ajst-15054	106	6	traffic	traffic	NOUN
ajst-15054	106	7	psychology	psychology	NOUN
ajst-15054	106	8	.	.	PUNCT
ajst-15054	107	1	san	san	PROPN
ajst-15054	107	2	diego	diego	PROPN
ajst-15054	107	3	:	:	PUNCT
ajst-15054	107	4	academic	academic	ADJ
ajst-15054	107	5	press,2011	press,2011	NOUN
ajst-15054	107	6	:	:	PUNCT
ajst-15054	107	7	43–59	43–59	NOUN
ajst-15054	107	8	.	.	PUNCT
ajst-15054	108	1	[	[	X
ajst-15054	108	2	13	13	NUM
ajst-15054	108	3	]	]	SYM
ajst-15054	108	4	krajewski	krajewski	PROPN
ajst-15054	108	5	r	r	PROPN
ajst-15054	108	6	,	,	PUNCT
ajst-15054	108	7	bock	bock	NOUN
ajst-15054	108	8	j	j	PROPN
ajst-15054	108	9	,	,	PUNCT
ajst-15054	108	10	kloeker	kloeker	PROPN
ajst-15054	108	11	l	l	PROPN
ajst-15054	108	12	,	,	PUNCT
ajst-15054	108	13	eckstein	eckstein	PROPN
ajst-15054	108	14	l.	l.	PROPN
ajst-15054	108	15	the	the	DET
ajst-15054	108	16	highd	highd	NOUN
ajst-15054	108	17	dataset	dataset	VERB
ajst-15054	108	18	:	:	PUNCT
ajst-15054	108	19	a	a	DET
ajst-15054	108	20	drone	drone	NOUN
ajst-15054	108	21	dataset	dataset	NOUN
ajst-15054	108	22	of	of	ADP
ajst-15054	108	23	naturalistic	naturalistic	ADJ
ajst-15054	108	24	vehicle	vehicle	NOUN
ajst-15054	108	25	trajectories	trajectory	NOUN
ajst-15054	108	26	on	on	ADP
ajst-15054	108	27	german	german	ADJ
ajst-15054	108	28	highways	highway	NOUN
ajst-15054	108	29	for	for	ADP
ajst-15054	108	30	validation	validation	NOUN
ajst-15054	108	31	of	of	ADP
ajst-15054	108	32	highly	highly	ADV
ajst-15054	108	33	automated	automate	VERB
ajst-15054	108	34	driving	drive	VERB
ajst-15054	108	35	systems[c]//2018	systems[c]//2018	PROPN
ajst-15054	108	36	21st	21st	ADJ
ajst-15054	108	37	international	international	ADJ
ajst-15054	108	38	conference	conference	NOUN
ajst-15054	108	39	on	on	ADP
ajst-15054	108	40	intelligent	intelligent	ADJ
ajst-15054	108	41	transportation	transportation	NOUN
ajst-15054	108	42	systems	system	NOUN
ajst-15054	108	43	(	(	PUNCT
ajst-15054	108	44	itsc	itsc	NOUN
ajst-15054	108	45	)	)	PUNCT
ajst-15054	108	46	.	.	PUNCT
ajst-15054	109	1	[	[	X
ajst-15054	109	2	14	14	NUM
ajst-15054	109	3	]	]	X
ajst-15054	109	4	zhao	zhao	PROPN
ajst-15054	109	5	han	han	PROPN
ajst-15054	109	6	,	,	PUNCT
ajst-15054	109	7	liu	liu	PROPN
ajst-15054	109	8	hao	hao	PROPN
ajst-15054	109	9	,	,	PUNCT
ajst-15054	109	10	qiu	qiu	PROPN
ajst-15054	109	11	mingming	mingming	PROPN
ajst-15054	109	12	,	,	PUNCT
ajst-15054	109	13	cao	cao	PROPN
ajst-15054	109	14	longkai	longkai	PROPN
ajst-15054	109	15	,	,	PUNCT
ajst-15054	109	16	zhang	zhang	PROPN
ajst-15054	109	17	yilei	yilei	PROPN
ajst-15054	109	18	,	,	PUNCT
ajst-15054	109	19	yu	yu	PROPN
ajst-15054	109	20	wei	wei	PROPN
ajst-15054	109	21	.	.	PUNCT
ajst-15054	109	22	research	research	NOUN
ajst-15054	109	23	on	on	ADP
ajst-15054	109	24	driving	drive	VERB
ajst-15054	109	25	style	style	NOUN
ajst-15054	109	26	recognition	recognition	NOUN
ajst-15054	109	27	method	method	NOUN
ajst-15054	109	28	considering	consider	VERB
ajst-15054	109	29	the	the	DET
ajst-15054	109	30	influence	influence	NOUN
ajst-15054	109	31	of	of	ADP
ajst-15054	109	32	traffic	traffic	NOUN
ajst-15054	109	33	density[j	density[j	PROPN
ajst-15054	109	34	]	]	PUNCT
ajst-15054	109	35	.	.	PUNCT
ajst-15054	110	1	automotive	automotive	ADJ
ajst-15054	110	2	engineering	engineering	PROPN
ajst-15054	110	3	,	,	PUNCT
ajst-15054	110	4	2020	2020	NUM
ajst-15054	110	5	,	,	PUNCT
ajst-15054	110	6	42(12	42(12	NUM
ajst-15054	110	7	):	):	PUNCT
ajst-15054	110	8	1718	1718	NUM
ajst-15054	110	9	-	-	SYM
ajst-15054	110	10	1727	1727	NUM
ajst-15054	110	11	.	.	PUNCT