id	sid	tid	token	lemma	pos
ajst-2080	1	1	academic	academic	ADJ
ajst-2080	1	2	journal	journal	NOUN
ajst-2080	1	3	of	of	ADP
ajst-2080	1	4	science	science	NOUN
ajst-2080	1	5	and	and	CCONJ
ajst-2080	1	6	technology	technology	NOUN
ajst-2080	1	7	issn	issn	NOUN
ajst-2080	1	8	:	:	PUNCT
ajst-2080	1	9	2771	2771	NUM
ajst-2080	1	10	-	-	SYM
ajst-2080	1	11	3032	3032	NUM
ajst-2080	1	12	|	|	NOUN
ajst-2080	1	13	vol	vol	NOUN
ajst-2080	1	14	.	.	PROPN
ajst-2080	2	1	3	3	NUM
ajst-2080	2	2	,	,	PUNCT
ajst-2080	2	3	no	no	INTJ
ajst-2080	2	4	.	.	NOUN
ajst-2080	2	5	2	2	NUM
ajst-2080	2	6	,	,	PUNCT
ajst-2080	2	7	2022	2022	NUM
ajst-2080	2	8	10	10	NUM
ajst-2080	2	9	research	research	NOUN
ajst-2080	2	10	on	on	ADP
ajst-2080	2	11	autopilot	autopilot	NOUN
ajst-2080	2	12	trajectory	trajectory	NOUN
ajst-2080	2	13	planning	planning	NOUN
ajst-2080	2	14	based	base	VERB
ajst-2080	2	15	on	on	ADP
ajst-2080	2	16	deep	deep	ADJ
ajst-2080	2	17	learning	learning	NOUN
ajst-2080	2	18	qiong	qiong	PROPN
ajst-2080	2	19	ren1	ren1	PROPN
ajst-2080	2	20	,	,	PUNCT
ajst-2080	2	21	a	a	DET
ajst-2080	2	22	,	,	PUNCT
ajst-2080	2	23	junming	junme	VERB
ajst-2080	2	24	chang1	chang1	PROPN
ajst-2080	2	25	,	,	PUNCT
ajst-2080	2	26	b	b	PROPN
ajst-2080	2	27	1jianghan	1jianghan	NUM
ajst-2080	2	28	university	university	NOUN
ajst-2080	2	29	,	,	PUNCT
ajst-2080	2	30	wuhan	wuhan	PROPN
ajst-2080	2	31	,	,	PUNCT
ajst-2080	2	32	430056	430056	NUM
ajst-2080	2	33	,	,	PUNCT
ajst-2080	2	34	china	china	PROPN
ajst-2080	2	35	aqiongren@jhun.edu.cn	aqiongren@jhun.edu.cn	PROPN
ajst-2080	2	36	,	,	PUNCT
ajst-2080	2	37	bjmchang@163.com	bjmchang@163.com	X
ajst-2080	2	38	abstract	abstract	NOUN
ajst-2080	2	39	:	:	PUNCT
ajst-2080	2	40	vehicle	vehicle	NOUN
ajst-2080	2	41	trajectory	trajectory	NOUN
ajst-2080	2	42	is	be	AUX
ajst-2080	2	43	usually	usually	ADV
ajst-2080	2	44	used	use	VERB
ajst-2080	2	45	in	in	ADP
ajst-2080	2	46	driving	drive	VERB
ajst-2080	2	47	behavior	behavior	NOUN
ajst-2080	2	48	modeling	modeling	NOUN
ajst-2080	2	49	and	and	CCONJ
ajst-2080	2	50	traffic	traffic	NOUN
ajst-2080	2	51	safety	safety	NOUN
ajst-2080	2	52	.	.	PUNCT
ajst-2080	3	1	in	in	ADP
ajst-2080	3	2	order	order	NOUN
ajst-2080	3	3	to	to	PART
ajst-2080	3	4	obtain	obtain	VERB
ajst-2080	3	5	vehicle	vehicle	NOUN
ajst-2080	3	6	tracks	track	NOUN
ajst-2080	3	7	in	in	ADP
ajst-2080	3	8	traffic	traffic	NOUN
ajst-2080	3	9	video	video	NOUN
ajst-2080	3	10	,	,	PUNCT
ajst-2080	3	11	an	an	DET
ajst-2080	3	12	automatic	automatic	ADJ
ajst-2080	3	13	acquisition	acquisition	NOUN
ajst-2080	3	14	method	method	NOUN
ajst-2080	3	15	based	base	VERB
ajst-2080	3	16	on	on	ADP
ajst-2080	3	17	depth	depth	NOUN
ajst-2080	3	18	learning	learning	NOUN
ajst-2080	3	19	is	be	AUX
ajst-2080	3	20	proposed	propose	VERB
ajst-2080	3	21	.	.	PUNCT
ajst-2080	4	1	in	in	ADP
ajst-2080	4	2	this	this	DET
ajst-2080	4	3	paper	paper	NOUN
ajst-2080	4	4	,	,	PUNCT
ajst-2080	4	5	the	the	DET
ajst-2080	4	6	yolov5	yolov5	NOUN
ajst-2080	4	7	detector	detector	NOUN
ajst-2080	4	8	is	be	AUX
ajst-2080	4	9	used	use	VERB
ajst-2080	4	10	to	to	PART
ajst-2080	4	11	detect	detect	VERB
ajst-2080	4	12	vehicles	vehicle	NOUN
ajst-2080	4	13	in	in	ADP
ajst-2080	4	14	the	the	DET
ajst-2080	4	15	region	region	NOUN
ajst-2080	4	16	of	of	ADP
ajst-2080	4	17	interest	interest	NOUN
ajst-2080	4	18	in	in	ADP
ajst-2080	4	19	continuous	continuous	ADJ
ajst-2080	4	20	frames	frame	NOUN
ajst-2080	4	21	,	,	PUNCT
ajst-2080	4	22	and	and	CCONJ
ajst-2080	4	23	the	the	DET
ajst-2080	4	24	deepsort	deepsort	NOUN
ajst-2080	4	25	tracker	tracker	NOUN
ajst-2080	4	26	is	be	AUX
ajst-2080	4	27	used	use	VERB
ajst-2080	4	28	to	to	PART
ajst-2080	4	29	track	track	VERB
ajst-2080	4	30	robust	robust	ADJ
ajst-2080	4	31	and	and	CCONJ
ajst-2080	4	32	fast	fast	ADJ
ajst-2080	4	33	vehicles	vehicle	NOUN
ajst-2080	4	34	.	.	PUNCT
ajst-2080	5	1	this	this	DET
ajst-2080	5	2	tracker	tracker	NOUN
ajst-2080	5	3	can	can	AUX
ajst-2080	5	4	effectively	effectively	ADV
ajst-2080	5	5	reduce	reduce	VERB
ajst-2080	5	6	the	the	DET
ajst-2080	5	7	jump	jump	NOUN
ajst-2080	5	8	of	of	ADP
ajst-2080	5	9	target	target	NOUN
ajst-2080	5	10	i	i	PROPN
ajst-2080	5	11	d	d	PROPN
ajst-2080	5	12	,	,	PUNCT
ajst-2080	5	13	improve	improve	VERB
ajst-2080	5	14	tracking	track	VERB
ajst-2080	5	15	stability	stability	NOUN
ajst-2080	5	16	,	,	PUNCT
ajst-2080	5	17	obtain	obtain	VERB
ajst-2080	5	18	the	the	DET
ajst-2080	5	19	real	real	ADJ
ajst-2080	5	20	-	-	PUNCT
ajst-2080	5	21	world	world	NOUN
ajst-2080	5	22	coordinates	coordinate	NOUN
ajst-2080	5	23	of	of	ADP
ajst-2080	5	24	vehicles	vehicle	NOUN
ajst-2080	5	25	through	through	ADP
ajst-2080	5	26	perspective	perspective	ADJ
ajst-2080	5	27	transformation	transformation	NOUN
ajst-2080	5	28	,	,	PUNCT
ajst-2080	5	29	and	and	CCONJ
ajst-2080	5	30	use	use	VERB
ajst-2080	5	31	a	a	DET
ajst-2080	5	32	locally	locally	ADV
ajst-2080	5	33	weighted	weight	VERB
ajst-2080	5	34	regression	regression	NOUN
ajst-2080	5	35	algorithm	algorithm	NOUN
ajst-2080	5	36	to	to	PART
ajst-2080	5	37	smooth	smooth	VERB
ajst-2080	5	38	the	the	DET
ajst-2080	5	39	track	track	NOUN
ajst-2080	5	40	.	.	PUNCT
ajst-2080	6	1	the	the	DET
ajst-2080	6	2	experimental	experimental	ADJ
ajst-2080	6	3	results	result	NOUN
ajst-2080	6	4	show	show	VERB
ajst-2080	6	5	that	that	SCONJ
ajst-2080	6	6	the	the	DET
ajst-2080	6	7	average	average	ADJ
ajst-2080	6	8	multi	multi	ADJ
ajst-2080	6	9	-	-	ADJ
ajst-2080	6	10	target	target	ADJ
ajst-2080	6	11	tracking	tracking	NOUN
ajst-2080	6	12	accuracy	accuracy	NOUN
ajst-2080	6	13	of	of	ADP
ajst-2080	6	14	the	the	DET
ajst-2080	6	15	method	method	NOUN
ajst-2080	6	16	in	in	ADP
ajst-2080	6	17	the	the	DET
ajst-2080	6	18	expressway	expressway	NOUN
ajst-2080	6	19	monitoring	monitor	VERB
ajst-2080	6	20	data	datum	NOUN
ajst-2080	6	21	set	set	VERB
ajst-2080	6	22	is	be	AUX
ajst-2080	6	23	96.1	96.1	NUM
ajst-2080	6	24	%	%	NOUN
ajst-2080	6	25	,	,	PUNCT
ajst-2080	6	26	and	and	CCONJ
ajst-2080	6	27	the	the	DET
ajst-2080	6	28	average	average	ADJ
ajst-2080	6	29	accuracy	accuracy	NOUN
ajst-2080	6	30	of	of	ADP
ajst-2080	6	31	trajectory	trajectory	NOUN
ajst-2080	6	32	acquisition	acquisition	NOUN
ajst-2080	6	33	is	be	AUX
ajst-2080	6	34	more	more	ADJ
ajst-2080	6	35	than	than	ADP
ajst-2080	6	36	93	93	NUM
ajst-2080	6	37	%	%	NOUN
ajst-2080	6	38	.	.	PUNCT
ajst-2080	7	1	the	the	DET
ajst-2080	7	2	smoothing	smooth	VERB
ajst-2080	7	3	algorithm	algorithm	NOUN
ajst-2080	7	4	can	can	AUX
ajst-2080	7	5	effectively	effectively	ADV
ajst-2080	7	6	remove	remove	VERB
ajst-2080	7	7	the	the	DET
ajst-2080	7	8	trajectory	trajectory	NOUN
ajst-2080	7	9	noise	noise	NOUN
ajst-2080	7	10	.	.	PUNCT
ajst-2080	8	1	keywords	keyword	NOUN
ajst-2080	8	2	:	:	PUNCT
ajst-2080	8	3	deep	deep	ADJ
ajst-2080	8	4	learning	learning	NOUN
ajst-2080	8	5	,	,	PUNCT
ajst-2080	8	6	automatic	automatic	ADJ
ajst-2080	8	7	driving	driving	NOUN
ajst-2080	8	8	,	,	PUNCT
ajst-2080	8	9	trajectory	trajectory	NOUN
ajst-2080	8	10	planning	planning	NOUN
ajst-2080	8	11	.	.	PUNCT
ajst-2080	9	1	1	1	X
ajst-2080	9	2	.	.	X
ajst-2080	9	3	introduction	introduction	NOUN
ajst-2080	9	4	traffic	traffic	NOUN
ajst-2080	9	5	information	information	NOUN
ajst-2080	9	6	is	be	AUX
ajst-2080	9	7	the	the	DET
ajst-2080	9	8	basis	basis	NOUN
ajst-2080	9	9	and	and	CCONJ
ajst-2080	9	10	guarantee	guarantee	NOUN
ajst-2080	9	11	of	of	ADP
ajst-2080	9	12	an	an	DET
ajst-2080	9	13	intelligent	intelligent	ADJ
ajst-2080	9	14	transportation	transportation	NOUN
ajst-2080	9	15	system	system	NOUN
ajst-2080	9	16	.	.	PUNCT
ajst-2080	10	1	obtaining	obtain	VERB
ajst-2080	10	2	comprehensive	comprehensive	ADJ
ajst-2080	10	3	,	,	PUNCT
ajst-2080	10	4	accurate	accurate	ADJ
ajst-2080	10	5	,	,	PUNCT
ajst-2080	10	6	reliable	reliable	ADJ
ajst-2080	10	7	,	,	PUNCT
ajst-2080	10	8	and	and	CCONJ
ajst-2080	10	9	real	real	ADJ
ajst-2080	10	10	-	-	PUNCT
ajst-2080	10	11	time	time	NOUN
ajst-2080	10	12	traffic	traffic	NOUN
ajst-2080	10	13	information	information	NOUN
ajst-2080	10	14	is	be	AUX
ajst-2080	10	15	vital	vital	ADJ
ajst-2080	10	16	in	in	ADP
ajst-2080	10	17	traffic	traffic	NOUN
ajst-2080	10	18	management	management	NOUN
ajst-2080	10	19	and	and	CCONJ
ajst-2080	10	20	safety	safety	NOUN
ajst-2080	10	21	,	,	PUNCT
ajst-2080	10	22	driving	drive	VERB
ajst-2080	10	23	behavior	behavior	NOUN
ajst-2080	10	24	modeling	modeling	NOUN
ajst-2080	10	25	,	,	PUNCT
ajst-2080	10	26	and	and	CCONJ
ajst-2080	10	27	microscopic	microscopic	ADJ
ajst-2080	10	28	traffic	traffic	NOUN
ajst-2080	10	29	flow	flow	NOUN
ajst-2080	10	30	analysis	analysis	NOUN
ajst-2080	10	31	.	.	PUNCT
ajst-2080	11	1	the	the	DET
ajst-2080	11	2	collection	collection	NOUN
ajst-2080	11	3	methods	method	NOUN
ajst-2080	11	4	of	of	ADP
ajst-2080	11	5	traffic	traffic	NOUN
ajst-2080	11	6	information	information	NOUN
ajst-2080	11	7	include	include	VERB
ajst-2080	11	8	microwave	microwave	NOUN
ajst-2080	11	9	radar	radar	NOUN
ajst-2080	11	10	,	,	PUNCT
ajst-2080	11	11	video	video	NOUN
ajst-2080	11	12	,	,	PUNCT
ajst-2080	11	13	infrared	infrared	ADJ
ajst-2080	11	14	and	and	CCONJ
ajst-2080	11	15	induction	induction	NOUN
ajst-2080	11	16	coil	coil	NOUN
ajst-2080	11	17	,	,	PUNCT
ajst-2080	11	18	etc	etc	X
ajst-2080	11	19	.	.	X
ajst-2080	11	20	in	in	ADP
ajst-2080	11	21	these	these	DET
ajst-2080	11	22	collection	collection	NOUN
ajst-2080	11	23	technologies	technology	NOUN
ajst-2080	11	24	,	,	PUNCT
ajst-2080	11	25	video	video	NOUN
ajst-2080	11	26	images	image	NOUN
ajst-2080	11	27	have	have	VERB
ajst-2080	11	28	the	the	DET
ajst-2080	11	29	characteristics	characteristic	NOUN
ajst-2080	11	30	of	of	ADP
ajst-2080	11	31	high	high	ADJ
ajst-2080	11	32	intuitiveness	intuitiveness	NOUN
ajst-2080	11	33	,	,	PUNCT
ajst-2080	11	34	rich	rich	ADJ
ajst-2080	11	35	information	information	NOUN
ajst-2080	11	36	,	,	PUNCT
ajst-2080	11	37	and	and	CCONJ
ajst-2080	11	38	robust	robust	ADJ
ajst-2080	11	39	traceability	traceability	NOUN
ajst-2080	11	40	.	.	PUNCT
ajst-2080	12	1	more	more	ADJ
ajst-2080	12	2	and	and	CCONJ
ajst-2080	12	3	more	more	ADJ
ajst-2080	12	4	researchers	researcher	NOUN
ajst-2080	12	5	use	use	VERB
ajst-2080	12	6	image	image	NOUN
ajst-2080	12	7	processing	processing	NOUN
ajst-2080	12	8	technology	technology	NOUN
ajst-2080	12	9	to	to	PART
ajst-2080	12	10	extract	extract	VERB
ajst-2080	12	11	traffic	traffic	NOUN
ajst-2080	12	12	data	datum	NOUN
ajst-2080	12	13	from	from	ADP
ajst-2080	12	14	video	video	NOUN
ajst-2080	12	15	.	.	PUNCT
ajst-2080	13	1	in	in	ADP
ajst-2080	13	2	these	these	DET
ajst-2080	13	3	data	datum	NOUN
ajst-2080	13	4	,	,	PUNCT
ajst-2080	13	5	the	the	DET
ajst-2080	13	6	driving	drive	VERB
ajst-2080	13	7	track	track	NOUN
ajst-2080	13	8	of	of	ADP
ajst-2080	13	9	vehicles	vehicle	NOUN
ajst-2080	13	10	fully	fully	ADV
ajst-2080	13	11	reflects	reflect	VERB
ajst-2080	13	12	the	the	DET
ajst-2080	13	13	driving	drive	VERB
ajst-2080	13	14	behavior	behavior	NOUN
ajst-2080	13	15	of	of	ADP
ajst-2080	13	16	vehicles	vehicle	NOUN
ajst-2080	13	17	,	,	PUNCT
ajst-2080	13	18	and	and	CCONJ
ajst-2080	13	19	microscopic	microscopic	ADJ
ajst-2080	13	20	parameters	parameter	NOUN
ajst-2080	13	21	of	of	ADP
ajst-2080	13	22	traffic	traffic	NOUN
ajst-2080	13	23	flow	flow	NOUN
ajst-2080	13	24	,	,	PUNCT
ajst-2080	13	25	such	such	ADJ
ajst-2080	13	26	as	as	ADP
ajst-2080	13	27	road	road	NOUN
ajst-2080	13	28	traffic	traffic	NOUN
ajst-2080	13	29	volume	volume	NOUN
ajst-2080	13	30	,	,	PUNCT
ajst-2080	13	31	vehicle	vehicle	NOUN
ajst-2080	13	32	speed	speed	NOUN
ajst-2080	13	33	,	,	PUNCT
ajst-2080	13	34	headway	headway	NOUN
ajst-2080	13	35	,	,	PUNCT
ajst-2080	13	36	and	and	CCONJ
ajst-2080	13	37	so	so	ADV
ajst-2080	13	38	on	on	ADV
ajst-2080	13	39	,	,	PUNCT
ajst-2080	13	40	can	can	AUX
ajst-2080	13	41	be	be	AUX
ajst-2080	13	42	obtained	obtain	VERB
ajst-2080	13	43	by	by	ADP
ajst-2080	13	44	processing	process	VERB
ajst-2080	13	45	the	the	DET
ajst-2080	13	46	vehicle	vehicle	NOUN
ajst-2080	13	47	track	track	NOUN
ajst-2080	13	48	.	.	PUNCT
ajst-2080	14	1	the	the	DET
ajst-2080	14	2	accurate	accurate	ADJ
ajst-2080	14	3	extraction	extraction	NOUN
ajst-2080	14	4	of	of	ADP
ajst-2080	14	5	vehicle	vehicle	NOUN
ajst-2080	14	6	trajectory	trajectory	NOUN
ajst-2080	14	7	is	be	AUX
ajst-2080	14	8	of	of	ADP
ajst-2080	14	9	great	great	ADJ
ajst-2080	14	10	significance	significance	NOUN
ajst-2080	14	11	for	for	ADP
ajst-2080	14	12	analyzing	analyze	VERB
ajst-2080	14	13	traffic	traffic	NOUN
ajst-2080	14	14	behavior	behavior	NOUN
ajst-2080	14	15	and	and	CCONJ
ajst-2080	14	16	obtaining	obtain	VERB
ajst-2080	14	17	the	the	DET
ajst-2080	14	18	running	run	VERB
ajst-2080	14	19	state	state	NOUN
ajst-2080	14	20	of	of	ADP
ajst-2080	14	21	traffic	traffic	NOUN
ajst-2080	14	22	flow	flow	NOUN
ajst-2080	14	23	.	.	PUNCT
ajst-2080	15	1	to	to	PART
ajst-2080	15	2	extract	extract	VERB
ajst-2080	15	3	vehicle	vehicle	NOUN
ajst-2080	15	4	trajectory	trajectory	NOUN
ajst-2080	15	5	based	base	VERB
ajst-2080	15	6	on	on	ADP
ajst-2080	15	7	a	a	DET
ajst-2080	15	8	video	video	NOUN
ajst-2080	15	9	,	,	PUNCT
ajst-2080	15	10	detecting	detect	VERB
ajst-2080	15	11	and	and	CCONJ
ajst-2080	15	12	tracking	tracking	NOUN
ajst-2080	15	13	vehicles	vehicle	NOUN
ajst-2080	15	14	is	be	AUX
ajst-2080	15	15	necessary[1	necessary[1	ADJ
ajst-2080	15	16	]	]	PUNCT
ajst-2080	15	17	.	.	PUNCT
ajst-2080	16	1	the	the	DET
ajst-2080	16	2	traditional	traditional	ADJ
ajst-2080	16	3	vehicle	vehicle	NOUN
ajst-2080	16	4	detection	detection	NOUN
ajst-2080	16	5	and	and	CCONJ
ajst-2080	16	6	tracking	tracking	NOUN
ajst-2080	16	7	methods	method	NOUN
ajst-2080	16	8	are	be	AUX
ajst-2080	16	9	mainly	mainly	ADV
ajst-2080	16	10	divided	divide	VERB
ajst-2080	16	11	into	into	ADP
ajst-2080	16	12	two	two	NUM
ajst-2080	16	13	categories	category	NOUN
ajst-2080	16	14	:	:	PUNCT
ajst-2080	16	15	motion	motion	NOUN
ajst-2080	16	16	-	-	PUNCT
ajst-2080	16	17	based	base	VERB
ajst-2080	16	18	and	and	CCONJ
ajst-2080	16	19	feature	feature	NOUN
ajst-2080	16	20	based	base	VERB
ajst-2080	16	21	.	.	PUNCT
ajst-2080	17	1	the	the	DET
ajst-2080	17	2	motion	motion	NOUN
ajst-2080	17	3	-	-	PUNCT
ajst-2080	17	4	based	base	VERB
ajst-2080	17	5	method	method	NOUN
ajst-2080	17	6	is	be	AUX
ajst-2080	17	7	mainly	mainly	ADV
ajst-2080	17	8	realized	realize	VERB
ajst-2080	17	9	by	by	ADP
ajst-2080	17	10	the	the	DET
ajst-2080	17	11	frame	frame	NOUN
ajst-2080	17	12	difference	difference	NOUN
ajst-2080	17	13	method	method	NOUN
ajst-2080	17	14	,	,	PUNCT
ajst-2080	17	15	background	background	NOUN
ajst-2080	17	16	modeling	modeling	NOUN
ajst-2080	17	17	,	,	PUNCT
ajst-2080	17	18	optical	optical	ADJ
ajst-2080	17	19	flow	flow	NOUN
ajst-2080	17	20	method[2	method[2	NOUN
ajst-2080	17	21	]	]	PUNCT
ajst-2080	17	22	.	.	PUNCT
ajst-2080	18	1	feature	feature	NOUN
ajst-2080	18	2	-	-	PUNCT
ajst-2080	18	3	based	base	VERB
ajst-2080	18	4	methods	method	NOUN
ajst-2080	18	5	mainly	mainly	ADV
ajst-2080	18	6	detect	detect	VERB
ajst-2080	18	7	vehicles	vehicle	NOUN
ajst-2080	18	8	by	by	ADP
ajst-2080	18	9	designing	design	VERB
ajst-2080	18	10	features	feature	NOUN
ajst-2080	18	11	such	such	ADJ
ajst-2080	18	12	as	as	ADP
ajst-2080	18	13	artificial	artificial	ADJ
ajst-2080	18	14	intelligence	intelligence	NOUN
ajst-2080	18	15	.	.	PUNCT
ajst-2080	19	1	this	this	DET
ajst-2080	19	2	paper	paper	NOUN
ajst-2080	19	3	uses	use	VERB
ajst-2080	19	4	the	the	DET
ajst-2080	19	5	background	background	NOUN
ajst-2080	19	6	difference	difference	NOUN
ajst-2080	19	7	method	method	NOUN
ajst-2080	19	8	based	base	VERB
ajst-2080	19	9	on	on	ADP
ajst-2080	19	10	symmetrical	symmetrical	ADJ
ajst-2080	19	11	difference	difference	NOUN
ajst-2080	19	12	block	block	NOUN
ajst-2080	19	13	modeling	modeling	NOUN
ajst-2080	19	14	to	to	PART
ajst-2080	19	15	detect	detect	VERB
ajst-2080	19	16	vehicles	vehicle	NOUN
ajst-2080	19	17	in	in	ADP
ajst-2080	19	18	uav	uav	PROPN
ajst-2080	19	19	video	video	NOUN
ajst-2080	19	20	.	.	PUNCT
ajst-2080	20	1	a	a	DET
ajst-2080	20	2	vehicle	vehicle	NOUN
ajst-2080	20	3	detection	detection	NOUN
ajst-2080	20	4	and	and	CCONJ
ajst-2080	20	5	tracking	tracking	NOUN
ajst-2080	20	6	method	method	NOUN
ajst-2080	20	7	based	base	VERB
ajst-2080	20	8	on	on	ADP
ajst-2080	20	9	multi	multi	ADJ
ajst-2080	20	10	-	-	ADJ
ajst-2080	20	11	scale	scale	ADJ
ajst-2080	20	12	edge	edge	NOUN
ajst-2080	20	13	fusion	fusion	NOUN
ajst-2080	20	14	and	and	CCONJ
ajst-2080	20	15	intelligent	intelligent	ADJ
ajst-2080	20	16	feature	feature	NOUN
ajst-2080	20	17	matching	matching	NOUN
ajst-2080	20	18	is	be	AUX
ajst-2080	20	19	proposed	propose	VERB
ajst-2080	20	20	to	to	PART
ajst-2080	20	21	overcome	overcome	VERB
ajst-2080	20	22	the	the	DET
ajst-2080	20	23	noise	noise	NOUN
ajst-2080	20	24	and	and	CCONJ
ajst-2080	20	25	background	background	NOUN
ajst-2080	20	26	interference	interference	NOUN
ajst-2080	20	27	of	of	ADP
ajst-2080	20	28	traditional	traditional	ADJ
ajst-2080	20	29	edge	edge	NOUN
ajst-2080	20	30	feature	feature	NOUN
ajst-2080	20	31	detection	detection	NOUN
ajst-2080	20	32	methods	method	NOUN
ajst-2080	20	33	.	.	PUNCT
ajst-2080	21	1	in	in	ADP
ajst-2080	21	2	this	this	DET
ajst-2080	21	3	paper	paper	NOUN
ajst-2080	21	4	,	,	PUNCT
ajst-2080	21	5	the	the	DET
ajst-2080	21	6	improved	improve	VERB
ajst-2080	21	7	intelligent	intelligent	ADJ
ajst-2080	21	8	optical	optical	ADJ
ajst-2080	21	9	flow	flow	NOUN
ajst-2080	21	10	method	method	NOUN
ajst-2080	21	11	is	be	AUX
ajst-2080	21	12	used	use	VERB
ajst-2080	21	13	to	to	PART
ajst-2080	21	14	track	track	VERB
ajst-2080	21	15	vehicle	vehicle	NOUN
ajst-2080	21	16	feature	feature	NOUN
ajst-2080	21	17	points[3	points[3	PROPN
ajst-2080	21	18	]	]	PUNCT
ajst-2080	21	19	.	.	PUNCT
ajst-2080	22	1	then	then	ADV
ajst-2080	22	2	the	the	DET
ajst-2080	22	3	same	same	ADJ
ajst-2080	22	4	vehicle	vehicle	NOUN
ajst-2080	22	5	feature	feature	NOUN
ajst-2080	22	6	points	point	NOUN
ajst-2080	22	7	are	be	AUX
ajst-2080	22	8	clustered	cluster	VERB
ajst-2080	22	9	and	and	CCONJ
ajst-2080	22	10	matched	match	VERB
ajst-2080	22	11	through	through	ADP
ajst-2080	22	12	the	the	DET
ajst-2080	22	13	gaussian	gaussian	ADJ
ajst-2080	22	14	mixture	mixture	NOUN
ajst-2080	22	15	model	model	NOUN
ajst-2080	22	16	and	and	CCONJ
ajst-2080	22	17	spectral	spectral	ADJ
ajst-2080	22	18	clustering	clustering	NOUN
ajst-2080	22	19	,	,	PUNCT
ajst-2080	22	20	and	and	CCONJ
ajst-2080	22	21	the	the	DET
ajst-2080	22	22	mismatched	mismatch	VERB
ajst-2080	22	23	tracks	track	NOUN
ajst-2080	22	24	will	will	AUX
ajst-2080	22	25	be	be	AUX
ajst-2080	22	26	filtered	filter	VERB
ajst-2080	22	27	.	.	PUNCT
ajst-2080	23	1	this	this	DET
ajst-2080	23	2	paper	paper	NOUN
ajst-2080	23	3	uses	use	VERB
ajst-2080	23	4	an	an	DET
ajst-2080	23	5	adaptive	adaptive	ADJ
ajst-2080	23	6	immune	immune	ADJ
ajst-2080	23	7	particle	particle	NOUN
ajst-2080	23	8	filter	filter	NOUN
ajst-2080	23	9	vehicle	vehicle	NOUN
ajst-2080	23	10	tracking	tracking	NOUN
ajst-2080	23	11	algorithm	algorithm	NOUN
ajst-2080	23	12	.	.	PUNCT
ajst-2080	24	1	according	accord	VERB
ajst-2080	24	2	to	to	ADP
ajst-2080	24	3	the	the	DET
ajst-2080	24	4	characteristics	characteristic	NOUN
ajst-2080	24	5	of	of	ADP
ajst-2080	24	6	vehicle	vehicle	NOUN
ajst-2080	24	7	driving	drive	VERB
ajst-2080	24	8	in	in	ADP
ajst-2080	24	9	the	the	DET
ajst-2080	24	10	actual	actual	ADJ
ajst-2080	24	11	scene	scene	NOUN
ajst-2080	24	12	,	,	PUNCT
ajst-2080	24	13	adaptive	adaptive	ADJ
ajst-2080	24	14	learning	learning	NOUN
ajst-2080	24	15	parameters	parameter	NOUN
ajst-2080	24	16	are	be	AUX
ajst-2080	24	17	added	add	VERB
ajst-2080	24	18	to	to	ADP
ajst-2080	24	19	the	the	DET
ajst-2080	24	20	corresponding	corresponding	ADJ
ajst-2080	24	21	part	part	NOUN
ajst-2080	24	22	of	of	ADP
ajst-2080	24	23	the	the	DET
ajst-2080	24	24	algorithm	algorithm	NOUN
ajst-2080	24	25	to	to	PART
ajst-2080	24	26	ensure	ensure	VERB
ajst-2080	24	27	robustness	robustness	NOUN
ajst-2080	24	28	of	of	ADP
ajst-2080	24	29	the	the	DET
ajst-2080	24	30	algorithm[4	algorithm[4	NUM
ajst-2080	24	31	]	]	PUNCT
ajst-2080	24	32	.	.	PUNCT
ajst-2080	25	1	in	in	ADP
ajst-2080	25	2	recent	recent	ADJ
ajst-2080	25	3	years	year	NOUN
ajst-2080	25	4	,	,	PUNCT
ajst-2080	25	5	with	with	ADP
ajst-2080	25	6	the	the	DET
ajst-2080	25	7	development	development	NOUN
ajst-2080	25	8	of	of	ADP
ajst-2080	25	9	artificial	artificial	ADJ
ajst-2080	25	10	intelligence	intelligence	NOUN
ajst-2080	25	11	technologies	technology	NOUN
ajst-2080	25	12	such	such	ADJ
ajst-2080	25	13	as	as	ADP
ajst-2080	25	14	deep	deep	ADJ
ajst-2080	25	15	learning	learning	NOUN
ajst-2080	25	16	and	and	CCONJ
ajst-2080	25	17	computer	computer	NOUN
ajst-2080	25	18	vision	vision	NOUN
ajst-2080	25	19	,	,	PUNCT
ajst-2080	25	20	deep	deep	ADJ
ajst-2080	25	21	learning	learning	NOUN
ajst-2080	25	22	models	model	NOUN
ajst-2080	25	23	have	have	AUX
ajst-2080	25	24	achieved	achieve	VERB
ajst-2080	25	25	high	high	ADJ
ajst-2080	25	26	accuracy	accuracy	NOUN
ajst-2080	25	27	in	in	ADP
ajst-2080	25	28	the	the	DET
ajst-2080	25	29	field	field	NOUN
ajst-2080	25	30	of	of	ADP
ajst-2080	25	31	target	target	NOUN
ajst-2080	25	32	detection	detection	NOUN
ajst-2080	25	33	and	and	CCONJ
ajst-2080	25	34	recognition	recognition	NOUN
ajst-2080	25	35	by	by	ADP
ajst-2080	25	36	virtue	virtue	NOUN
ajst-2080	25	37	of	of	ADP
ajst-2080	25	38	their	their	PRON
ajst-2080	25	39	powerful	powerful	ADJ
ajst-2080	25	40	ability	ability	NOUN
ajst-2080	25	41	of	of	ADP
ajst-2080	25	42	feature	feature	NOUN
ajst-2080	25	43	extraction	extraction	NOUN
ajst-2080	25	44	and	and	CCONJ
ajst-2080	25	45	abstract	abstract	ADJ
ajst-2080	25	46	expression	expression	NOUN
ajst-2080	25	47	.	.	PUNCT
ajst-2080	26	1	in	in	ADP
ajst-2080	26	2	this	this	DET
ajst-2080	26	3	paper	paper	NOUN
ajst-2080	26	4	,	,	PUNCT
ajst-2080	26	5	based	base	VERB
ajst-2080	26	6	on	on	ADP
ajst-2080	26	7	the	the	DET
ajst-2080	26	8	depth	depth	NOUN
ajst-2080	26	9	learning	learning	NOUN
ajst-2080	26	10	method	method	NOUN
ajst-2080	26	11	,	,	PUNCT
ajst-2080	26	12	the	the	DET
ajst-2080	26	13	roadside	roadside	NOUN
ajst-2080	26	14	video	video	NOUN
ajst-2080	26	15	is	be	AUX
ajst-2080	26	16	used	use	VERB
ajst-2080	26	17	as	as	ADP
ajst-2080	26	18	the	the	DET
ajst-2080	26	19	input	input	NOUN
ajst-2080	26	20	to	to	PART
ajst-2080	26	21	achieve	achieve	VERB
ajst-2080	26	22	fast	fast	ADJ
ajst-2080	26	23	and	and	CCONJ
ajst-2080	26	24	high	high	ADJ
ajst-2080	26	25	-	-	PUNCT
ajst-2080	26	26	precision	precision	NOUN
ajst-2080	26	27	vehicle	vehicle	NOUN
ajst-2080	26	28	tracking	tracking	NOUN
ajst-2080	26	29	.	.	PUNCT
ajst-2080	27	1	in	in	ADP
ajst-2080	27	2	this	this	DET
ajst-2080	27	3	paper	paper	NOUN
ajst-2080	27	4	,	,	PUNCT
ajst-2080	27	5	we	we	PRON
ajst-2080	27	6	use	use	VERB
ajst-2080	27	7	an	an	DET
ajst-2080	27	8	aggregate	aggregate	ADJ
ajst-2080	27	9	channel	channel	NOUN
ajst-2080	27	10	feature	feature	NOUN
ajst-2080	27	11	neural	neural	ADJ
ajst-2080	27	12	network	network	NOUN
ajst-2080	27	13	based	base	VERB
ajst-2080	27	14	on	on	ADP
ajst-2080	27	15	human	human	ADJ
ajst-2080	27	16	characteristics	characteristic	NOUN
ajst-2080	27	17	to	to	PART
ajst-2080	27	18	extract	extract	VERB
ajst-2080	27	19	vehicle	vehicle	NOUN
ajst-2080	27	20	trajectories	trajectory	NOUN
ajst-2080	27	21	under	under	ADP
ajst-2080	27	22	traffic	traffic	NOUN
ajst-2080	27	23	congestion	congestion	NOUN
ajst-2080	27	24	.	.	PUNCT
ajst-2080	28	1	although	although	SCONJ
ajst-2080	28	2	the	the	DET
ajst-2080	28	3	above	above	ADJ
ajst-2080	28	4	research	research	NOUN
ajst-2080	28	5	has	have	AUX
ajst-2080	28	6	realized	realize	VERB
ajst-2080	28	7	vehicle	vehicle	NOUN
ajst-2080	28	8	detection	detection	NOUN
ajst-2080	28	9	and	and	CCONJ
ajst-2080	28	10	tracking	tracking	NOUN
ajst-2080	28	11	,	,	PUNCT
ajst-2080	28	12	most	most	ADJ
ajst-2080	28	13	of	of	ADP
ajst-2080	28	14	them	they	PRON
ajst-2080	28	15	have	have	VERB
ajst-2080	28	16	limitations	limitation	NOUN
ajst-2080	28	17	such	such	ADJ
ajst-2080	28	18	as	as	ADP
ajst-2080	28	19	low	low	ADJ
ajst-2080	28	20	extraction	extraction	NOUN
ajst-2080	28	21	accuracy	accuracy	NOUN
ajst-2080	28	22	,	,	PUNCT
ajst-2080	28	23	weak	weak	ADJ
ajst-2080	28	24	track	track	NOUN
ajst-2080	28	25	continuity	continuity	NOUN
ajst-2080	28	26	,	,	PUNCT
ajst-2080	28	27	and	and	CCONJ
ajst-2080	28	28	can	can	AUX
ajst-2080	28	29	not	not	PART
ajst-2080	28	30	cope	cope	VERB
ajst-2080	28	31	with	with	ADP
ajst-2080	28	32	complex	complex	ADJ
ajst-2080	28	33	road	road	NOUN
ajst-2080	28	34	environments	environment	NOUN
ajst-2080	28	35	and	and	CCONJ
ajst-2080	28	36	severe	severe	ADJ
ajst-2080	28	37	weather	weather	NOUN
ajst-2080	28	38	conditions	condition	NOUN
ajst-2080	28	39	.	.	PUNCT
ajst-2080	29	1	in	in	ADP
ajst-2080	29	2	this	this	DET
ajst-2080	29	3	paper[5	paper[5	NOUN
ajst-2080	29	4	]	]	X
ajst-2080	29	5	,	,	PUNCT
ajst-2080	29	6	a	a	DET
ajst-2080	29	7	new	new	ADJ
ajst-2080	29	8	method	method	NOUN
ajst-2080	29	9	to	to	PART
ajst-2080	29	10	extract	extract	VERB
ajst-2080	29	11	vehicle	vehicle	NOUN
ajst-2080	29	12	trajectory	trajectory	NOUN
ajst-2080	29	13	,	,	PUNCT
ajst-2080	29	14	which	which	PRON
ajst-2080	29	15	mainly	mainly	ADV
ajst-2080	29	16	includes	include	VERB
ajst-2080	29	17	three	three	NUM
ajst-2080	29	18	steps	step	NOUN
ajst-2080	29	19	:	:	PUNCT
ajst-2080	29	20	vehicle	vehicle	NOUN
ajst-2080	29	21	detection	detection	NOUN
ajst-2080	29	22	,	,	PUNCT
ajst-2080	29	23	vehicle	vehicle	NOUN
ajst-2080	29	24	tracking	tracking	NOUN
ajst-2080	29	25	,	,	PUNCT
ajst-2080	29	26	and	and	CCONJ
ajst-2080	29	27	trajectory	trajectory	NOUN
ajst-2080	29	28	post	post	NOUN
ajst-2080	29	29	-	-	ADJ
ajst-2080	29	30	processing	processing	NOUN
ajst-2080	29	31	.	.	PUNCT
ajst-2080	30	1	the	the	DET
ajst-2080	30	2	first	first	ADJ
ajst-2080	30	3	step	step	NOUN
ajst-2080	30	4	is	be	AUX
ajst-2080	30	5	to	to	PART
ajst-2080	30	6	use	use	VERB
ajst-2080	30	7	an	an	DET
ajst-2080	30	8	intelligent	intelligent	ADJ
ajst-2080	30	9	detector	detector	NOUN
ajst-2080	30	10	to	to	PART
ajst-2080	30	11	automatically	automatically	ADV
ajst-2080	30	12	detect	detect	VERB
ajst-2080	30	13	the	the	DET
ajst-2080	30	14	vehicles	vehicle	NOUN
ajst-2080	30	15	in	in	ADP
ajst-2080	30	16	the	the	DET
ajst-2080	30	17	region	region	NOUN
ajst-2080	30	18	of	of	ADP
ajst-2080	30	19	interest	interest	NOUN
ajst-2080	30	20	on	on	ADP
ajst-2080	30	21	each	each	DET
ajst-2080	30	22	lane	lane	NOUN
ajst-2080	30	23	in	in	ADP
ajst-2080	30	24	the	the	DET
ajst-2080	30	25	video	video	NOUN
ajst-2080	30	26	frame	frame	NOUN
ajst-2080	30	27	.	.	PUNCT
ajst-2080	31	1	after	after	ADP
ajst-2080	31	2	obtaining	obtain	VERB
ajst-2080	31	3	the	the	DET
ajst-2080	31	4	vehicle	vehicle	NOUN
ajst-2080	31	5	position	position	NOUN
ajst-2080	31	6	,	,	PUNCT
ajst-2080	31	7	the	the	DET
ajst-2080	31	8	second	second	ADJ
ajst-2080	31	9	step	step	NOUN
ajst-2080	31	10	is	be	AUX
ajst-2080	31	11	to	to	PART
ajst-2080	31	12	use	use	VERB
ajst-2080	31	13	the	the	DET
ajst-2080	31	14	advanced	advanced	ADJ
ajst-2080	31	15	tracker	tracker	NOUN
ajst-2080	31	16	to	to	PART
ajst-2080	31	17	achieve	achieve	VERB
ajst-2080	31	18	fast	fast	ADJ
ajst-2080	31	19	and	and	CCONJ
ajst-2080	31	20	accurate	accurate	ADJ
ajst-2080	31	21	tracking	tracking	NOUN
ajst-2080	31	22	.	.	PUNCT
ajst-2080	32	1	in	in	ADP
ajst-2080	32	2	the	the	DET
ajst-2080	32	3	last	last	ADJ
ajst-2080	32	4	step	step	NOUN
ajst-2080	32	5	,	,	PUNCT
ajst-2080	32	6	the	the	DET
ajst-2080	32	7	perspective	perspective	ADJ
ajst-2080	32	8	transformation	transformation	NOUN
ajst-2080	32	9	matrix	matrix	NOUN
ajst-2080	32	10	is	be	AUX
ajst-2080	32	11	used	use	VERB
ajst-2080	32	12	to	to	PART
ajst-2080	32	13	map	map	VERB
ajst-2080	32	14	the	the	DET
ajst-2080	32	15	vehicle	vehicle	NOUN
ajst-2080	32	16	coordinate	coordinate	NOUN
ajst-2080	32	17	position	position	NOUN
ajst-2080	32	18	from	from	ADP
ajst-2080	32	19	the	the	DET
ajst-2080	32	20	pixel	pixel	PROPN
ajst-2080	32	21	coordinate	coordinate	NOUN
ajst-2080	32	22	system	system	NOUN
ajst-2080	32	23	to	to	ADP
ajst-2080	32	24	the	the	DET
ajst-2080	32	25	world	world	NOUN
ajst-2080	32	26	coordinate	coordinate	NOUN
ajst-2080	32	27	system	system	NOUN
ajst-2080	32	28	,	,	PUNCT
ajst-2080	32	29	and	and	CCONJ
ajst-2080	32	30	then	then	ADV
ajst-2080	32	31	the	the	DET
ajst-2080	32	32	locally	locally	ADV
ajst-2080	32	33	weighted	weight	VERB
ajst-2080	32	34	regression	regression	NOUN
ajst-2080	32	35	algorithm	algorithm	NOUN
ajst-2080	32	36	is	be	AUX
ajst-2080	32	37	used	use	VERB
ajst-2080	32	38	to	to	PART
ajst-2080	32	39	eliminate	eliminate	VERB
ajst-2080	32	40	the	the	DET
ajst-2080	32	41	outliers	outlier	NOUN
ajst-2080	32	42	and	and	CCONJ
ajst-2080	32	43	zigzag	zigzag	VERB
ajst-2080	32	44	oscillations	oscillation	NOUN
ajst-2080	32	45	of	of	ADP
ajst-2080	32	46	the	the	DET
ajst-2080	32	47	original	original	ADJ
ajst-2080	32	48	acquisition	acquisition	NOUN
ajst-2080	32	49	track[6	track[6	PRON
ajst-2080	32	50	]	]	PUNCT
ajst-2080	32	51	.	.	PUNCT
ajst-2080	33	1	2	2	X
ajst-2080	33	2	.	.	X
ajst-2080	33	3	essence	essence	NOUN
ajst-2080	33	4	and	and	CCONJ
ajst-2080	33	5	challenge	challenge	NOUN
ajst-2080	33	6	of	of	ADP
ajst-2080	33	7	automatic	automatic	ADJ
ajst-2080	33	8	driving	driving	NOUN
ajst-2080	33	9	trajectory	trajectory	NOUN
ajst-2080	33	10	prediction	prediction	NOUN
ajst-2080	33	11	2.1	2.1	NUM
ajst-2080	33	12	.	.	PUNCT
ajst-2080	34	1	track	track	NOUN
ajst-2080	34	2	prediction	prediction	NOUN
ajst-2080	34	3	in	in	ADP
ajst-2080	34	4	the	the	DET
ajst-2080	34	5	actual	actual	ADJ
ajst-2080	34	6	model	model	NOUN
ajst-2080	35	1	,	,	PUNCT
ajst-2080	35	2	it	it	PRON
ajst-2080	35	3	is	be	AUX
ajst-2080	35	4	mainly	mainly	ADV
ajst-2080	35	5	abstracted	abstract	VERB
ajst-2080	35	6	into	into	ADP
ajst-2080	35	7	two	two	NUM
ajst-2080	35	8	forms	form	NOUN
ajst-2080	35	9	.	.	PUNCT
ajst-2080	36	1	one	one	NUM
ajst-2080	36	2	is	be	AUX
ajst-2080	36	3	to	to	PART
ajst-2080	36	4	predict	predict	VERB
ajst-2080	36	5	the	the	DET
ajst-2080	36	6	dynamic	dynamic	ADJ
ajst-2080	36	7	model	model	NOUN
ajst-2080	36	8	of	of	ADP
ajst-2080	36	9	the	the	DET
ajst-2080	36	10	target	target	NOUN
ajst-2080	36	11	at	at	ADP
ajst-2080	36	12	the	the	DET
ajst-2080	36	13	next	next	ADJ
ajst-2080	36	14	time	time	NOUN
ajst-2080	36	15	according	accord	VERB
ajst-2080	36	16	to	to	ADP
ajst-2080	36	17	the	the	DET
ajst-2080	36	18	dynamic	dynamic	ADJ
ajst-2080	36	19	parameters	parameter	NOUN
ajst-2080	36	20	of	of	ADP
ajst-2080	36	21	the	the	DET
ajst-2080	36	22	target	target	NOUN
ajst-2080	36	23	at	at	ADP
ajst-2080	36	24	this	this	DET
ajst-2080	36	25	time	time	NOUN
ajst-2080	36	26	(	(	PUNCT
ajst-2080	36	27	mainly	mainly	ADV
ajst-2080	36	28	the	the	DET
ajst-2080	36	29	size	size	NOUN
ajst-2080	36	30	and	and	CCONJ
ajst-2080	36	31	direction	direction	NOUN
ajst-2080	36	32	of	of	ADP
ajst-2080	36	33	the	the	DET
ajst-2080	36	34	speed	speed	NOUN
ajst-2080	36	35	)	)	PUNCT
ajst-2080	36	36	and	and	CCONJ
ajst-2080	36	37	calculate	calculate	VERB
ajst-2080	36	38	the	the	DET
ajst-2080	36	39	coordinate	coordinate	NOUN
ajst-2080	36	40	position	position	NOUN
ajst-2080	36	41	on	on	ADP
ajst-2080	36	42	this	this	DET
ajst-2080	36	43	basis	basis	NOUN
ajst-2080	36	44	.	.	PUNCT
ajst-2080	37	1	this	this	DET
ajst-2080	37	2	modeling	modeling	NOUN
ajst-2080	37	3	method	method	NOUN
ajst-2080	37	4	is	be	AUX
ajst-2080	37	5	more	more	ADV
ajst-2080	37	6	common	common	ADJ
ajst-2080	37	7	in	in	ADP
ajst-2080	37	8	traditional	traditional	ADJ
ajst-2080	37	9	models	model	NOUN
ajst-2080	37	10	.	.	PUNCT
ajst-2080	38	1	the	the	DET
ajst-2080	38	2	other	other	ADJ
ajst-2080	38	3	abstracts	abstract	NOUN
ajst-2080	38	4	the	the	DET
ajst-2080	38	5	trajectory	trajectory	NOUN
ajst-2080	38	6	as	as	ADP
ajst-2080	38	7	a	a	DET
ajst-2080	38	8	set	set	NOUN
ajst-2080	38	9	of	of	ADP
ajst-2080	38	10	coordinate	coordinate	NOUN
ajst-2080	38	11	points	point	NOUN
ajst-2080	38	12	.	.	PUNCT
ajst-2080	39	1	at	at	ADP
ajst-2080	39	2	this	this	DET
ajst-2080	39	3	time	time	NOUN
ajst-2080	39	4	,	,	PUNCT
ajst-2080	39	5	the	the	DET
ajst-2080	39	6	input	input	NOUN
ajst-2080	39	7	11	11	NUM
ajst-2080	39	8	of	of	ADP
ajst-2080	39	9	the	the	DET
ajst-2080	39	10	model	model	NOUN
ajst-2080	39	11	is	be	AUX
ajst-2080	39	12	the	the	DET
ajst-2080	39	13	trajectory	trajectory	NOUN
ajst-2080	39	14	coordinates	coordinate	NOUN
ajst-2080	39	15	of	of	ADP
ajst-2080	39	16	the	the	DET
ajst-2080	39	17	target	target	NOUN
ajst-2080	39	18	in	in	ADP
ajst-2080	39	19	the	the	DET
ajst-2080	39	20	scene	scene	NOUN
ajst-2080	39	21	in	in	ADP
ajst-2080	39	22	the	the	DET
ajst-2080	39	23	past	past	ADJ
ajst-2080	39	24	period	period	NOUN
ajst-2080	39	25	,	,	PUNCT
ajst-2080	39	26	and	and	CCONJ
ajst-2080	39	27	the	the	DET
ajst-2080	39	28	output	output	NOUN
ajst-2080	39	29	is	be	AUX
ajst-2080	39	30	the	the	DET
ajst-2080	39	31	trajectory	trajectory	NOUN
ajst-2080	39	32	coordinates	coordinate	NOUN
ajst-2080	39	33	of	of	ADP
ajst-2080	39	34	the	the	DET
ajst-2080	39	35	future	future	ADJ
ajst-2080	39	36	period	period	NOUN
ajst-2080	39	37	inferred	infer	VERB
ajst-2080	39	38	by	by	ADP
ajst-2080	39	39	the	the	DET
ajst-2080	39	40	model	model	NOUN
ajst-2080	39	41	.	.	PUNCT
ajst-2080	40	1	indepth	indepth	PROPN
ajst-2080	40	2	learning	learning	NOUN
ajst-2080	40	3	model	model	NOUN
ajst-2080	41	1	,	,	PUNCT
ajst-2080	41	2	the	the	DET
ajst-2080	41	3	trajectory	trajectory	NOUN
ajst-2080	41	4	is	be	AUX
ajst-2080	41	5	often	often	ADV
ajst-2080	41	6	regarded	regard	VERB
ajst-2080	41	7	as	as	ADP
ajst-2080	41	8	a	a	DET
ajst-2080	41	9	sequence	sequence	NOUN
ajst-2080	41	10	of	of	ADP
ajst-2080	41	11	coordinate	coordinate	NOUN
ajst-2080	41	12	points	point	NOUN
ajst-2080	41	13	.	.	PUNCT
ajst-2080	42	1	in	in	ADP
ajst-2080	42	2	deep	deep	ADJ
ajst-2080	42	3	learning	learning	NOUN
ajst-2080	42	4	,	,	PUNCT
ajst-2080	42	5	such	such	ADJ
ajst-2080	42	6	tasks	task	NOUN
ajst-2080	42	7	,	,	PUNCT
ajst-2080	42	8	like	like	ADP
ajst-2080	42	9	natural	natural	ADJ
ajst-2080	42	10	language	language	NOUN
ajst-2080	42	11	processing	processing	NOUN
ajst-2080	42	12	,	,	PUNCT
ajst-2080	42	13	belong	belong	VERB
ajst-2080	42	14	to	to	ADP
ajst-2080	42	15	typical	typical	ADJ
ajst-2080	42	16	sequence	sequence	NOUN
ajst-2080	42	17	processing	processing	NOUN
ajst-2080	42	18	problems	problem	NOUN
ajst-2080	42	19	,	,	PUNCT
ajst-2080	42	20	so	so	SCONJ
ajst-2080	42	21	we	we	PRON
ajst-2080	42	22	can	can	AUX
ajst-2080	42	23	usually	usually	ADV
ajst-2080	42	24	see	see	VERB
ajst-2080	42	25	similar	similar	ADJ
ajst-2080	42	26	structures	structure	NOUN
ajst-2080	42	27	such	such	ADJ
ajst-2080	42	28	as	as	ADP
ajst-2080	42	29	long	long	ADJ
ajst-2080	42	30	short	short	ADJ
ajst-2080	42	31	term	term	NOUN
ajst-2080	42	32	memory	memory	NOUN
ajst-2080	42	33	(	(	PUNCT
ajst-2080	42	34	lstm	lstm	NOUN
ajst-2080	42	35	)	)	PUNCT
ajst-2080	42	36	,	,	PUNCT
ajst-2080	42	37	transformer[7	transformer[7	ADP
ajst-2080	42	38	]	]	PUNCT
ajst-2080	42	39	.	.	PUNCT
ajst-2080	43	1	the	the	DET
ajst-2080	43	2	modeling	modeling	NOUN
ajst-2080	43	3	of	of	ADP
ajst-2080	43	4	the	the	DET
ajst-2080	43	5	trajectory	trajectory	NOUN
ajst-2080	43	6	prediction	prediction	NOUN
ajst-2080	43	7	problem	problem	NOUN
ajst-2080	43	8	is	be	AUX
ajst-2080	43	9	not	not	PART
ajst-2080	43	10	complex	complex	ADJ
ajst-2080	43	11	,	,	PUNCT
ajst-2080	43	12	but	but	CCONJ
ajst-2080	43	13	the	the	DET
ajst-2080	43	14	diversity	diversity	NOUN
ajst-2080	43	15	of	of	ADP
ajst-2080	43	16	factors	factor	NOUN
ajst-2080	43	17	affecting	affect	VERB
ajst-2080	43	18	trajectory	trajectory	NOUN
ajst-2080	43	19	trend	trend	NOUN
ajst-2080	43	20	leads	lead	VERB
ajst-2080	43	21	to	to	ADP
ajst-2080	43	22	the	the	DET
ajst-2080	43	23	complexity	complexity	NOUN
ajst-2080	43	24	of	of	ADP
ajst-2080	43	25	the	the	DET
ajst-2080	43	26	problem	problem	NOUN
ajst-2080	43	27	,	,	PUNCT
ajst-2080	43	28	which	which	PRON
ajst-2080	43	29	can	can	AUX
ajst-2080	43	30	be	be	AUX
ajst-2080	43	31	divided	divide	VERB
ajst-2080	43	32	into	into	ADP
ajst-2080	43	33	the	the	DET
ajst-2080	43	34	following	follow	VERB
ajst-2080	43	35	categories	category	NOUN
ajst-2080	43	36	.	.	PUNCT
ajst-2080	44	1	2.2	2.2	NUM
ajst-2080	44	2	.	.	PUNCT
ajst-2080	45	1	intelligent	intelligent	ADJ
ajst-2080	45	2	driving	driving	NOUN
ajst-2080	45	3	system	system	NOUN
ajst-2080	45	4	for	for	ADP
ajst-2080	45	5	trajectory	trajectory	NOUN
ajst-2080	45	6	prediction	prediction	NOUN
ajst-2080	45	7	(	(	PUNCT
ajst-2080	45	8	1	1	NUM
ajst-2080	45	9	)	)	PUNCT
ajst-2080	45	10	scenario	scenario	NOUN
ajst-2080	45	11	factors	factor	NOUN
ajst-2080	45	12	.	.	PUNCT
ajst-2080	46	1	in	in	ADP
ajst-2080	46	2	different	different	ADJ
ajst-2080	46	3	traffic	traffic	NOUN
ajst-2080	46	4	scenarios	scenario	NOUN
ajst-2080	46	5	,	,	PUNCT
ajst-2080	46	6	pedestrians	pedestrian	NOUN
ajst-2080	46	7	and	and	CCONJ
ajst-2080	46	8	vehicles	vehicle	NOUN
ajst-2080	46	9	will	will	AUX
ajst-2080	46	10	be	be	AUX
ajst-2080	46	11	significantly	significantly	ADV
ajst-2080	46	12	affected	affect	VERB
ajst-2080	46	13	by	by	ADP
ajst-2080	46	14	the	the	DET
ajst-2080	46	15	specific	specific	ADJ
ajst-2080	46	16	environment	environment	NOUN
ajst-2080	46	17	.	.	PUNCT
ajst-2080	47	1	first	first	ADV
ajst-2080	47	2	,	,	PUNCT
ajst-2080	47	3	the	the	DET
ajst-2080	47	4	objects	object	NOUN
ajst-2080	47	5	of	of	ADP
ajst-2080	47	6	the	the	DET
ajst-2080	47	7	scene	scene	NOUN
ajst-2080	47	8	for	for	ADP
ajst-2080	47	9	example	example	NOUN
ajst-2080	47	10	,	,	PUNCT
ajst-2080	47	11	pedestrians	pedestrian	NOUN
ajst-2080	47	12	can	can	AUX
ajst-2080	47	13	not	not	PART
ajst-2080	47	14	pass	pass	VERB
ajst-2080	47	15	through	through	ADP
ajst-2080	47	16	walls	wall	NOUN
ajst-2080	47	17	,	,	PUNCT
ajst-2080	47	18	and	and	CCONJ
ajst-2080	47	19	vehicles	vehicle	NOUN
ajst-2080	47	20	can	can	AUX
ajst-2080	47	21	not	not	PART
ajst-2080	47	22	drive	drive	VERB
ajst-2080	47	23	through	through	ADP
ajst-2080	47	24	the	the	DET
ajst-2080	47	25	center	center	NOUN
ajst-2080	47	26	of	of	ADP
ajst-2080	47	27	a	a	DET
ajst-2080	47	28	circle	circle	NOUN
ajst-2080	47	29	in	in	ADP
ajst-2080	47	30	a	a	DET
ajst-2080	47	31	roundabout	roundabout	NOUN
ajst-2080	47	32	,	,	PUNCT
ajst-2080	47	33	which	which	PRON
ajst-2080	47	34	requires	require	VERB
ajst-2080	47	35	the	the	DET
ajst-2080	47	36	algorithm	algorithm	NOUN
ajst-2080	47	37	to	to	PART
ajst-2080	47	38	be	be	AUX
ajst-2080	47	39	able	able	ADJ
ajst-2080	47	40	to	to	PART
ajst-2080	47	41	identify	identify	VERB
ajst-2080	47	42	obstacles	obstacle	NOUN
ajst-2080	47	43	.	.	PUNCT
ajst-2080	48	1	in	in	ADP
ajst-2080	48	2	addition	addition	NOUN
ajst-2080	48	3	,	,	PUNCT
ajst-2080	48	4	the	the	DET
ajst-2080	48	5	scene	scene	NOUN
ajst-2080	48	6	will	will	AUX
ajst-2080	48	7	also	also	ADV
ajst-2080	48	8	have	have	VERB
ajst-2080	48	9	an	an	DET
ajst-2080	48	10	implicit	implicit	ADJ
ajst-2080	48	11	impact	impact	NOUN
ajst-2080	48	12	.	.	PUNCT
ajst-2080	49	1	for	for	ADP
ajst-2080	49	2	example	example	NOUN
ajst-2080	49	3	,	,	PUNCT
ajst-2080	49	4	pedestrians	pedestrian	NOUN
ajst-2080	49	5	crossing	cross	VERB
ajst-2080	49	6	the	the	DET
ajst-2080	49	7	street	street	NOUN
ajst-2080	49	8	at	at	ADP
ajst-2080	49	9	the	the	DET
ajst-2080	49	10	intersection	intersection	NOUN
ajst-2080	49	11	will	will	AUX
ajst-2080	49	12	have	have	VERB
ajst-2080	49	13	a	a	DET
ajst-2080	49	14	faster	fast	ADJ
ajst-2080	49	15	speed	speed	NOUN
ajst-2080	49	16	than	than	ADP
ajst-2080	49	17	students	student	NOUN
ajst-2080	49	18	walking	walk	VERB
ajst-2080	49	19	on	on	ADP
ajst-2080	49	20	the	the	DET
ajst-2080	49	21	campus	campus	NOUN
ajst-2080	49	22	,	,	PUNCT
ajst-2080	49	23	and	and	CCONJ
ajst-2080	49	24	vehicles	vehicle	NOUN
ajst-2080	49	25	will	will	AUX
ajst-2080	49	26	be	be	AUX
ajst-2080	49	27	limited	limit	VERB
ajst-2080	49	28	by	by	ADP
ajst-2080	49	29	signs	sign	NOUN
ajst-2080	49	30	and	and	CCONJ
ajst-2080	49	31	traffic	traffic	NOUN
ajst-2080	49	32	rules	rule	NOUN
ajst-2080	49	33	,	,	PUNCT
ajst-2080	49	34	which	which	PRON
ajst-2080	49	35	also	also	ADV
ajst-2080	49	36	requires	require	VERB
ajst-2080	49	37	the	the	DET
ajst-2080	49	38	algorithm	algorithm	NOUN
ajst-2080	49	39	to	to	PART
ajst-2080	49	40	understand	understand	VERB
ajst-2080	49	41	the	the	DET
ajst-2080	49	42	type	type	NOUN
ajst-2080	49	43	of	of	ADP
ajst-2080	49	44	scene	scene	NOUN
ajst-2080	49	45	.	.	PUNCT
ajst-2080	50	1	(	(	PUNCT
ajst-2080	50	2	2	2	X
ajst-2080	50	3	)	)	PUNCT
ajst-2080	50	4	individual	individual	ADJ
ajst-2080	50	5	differences	difference	NOUN
ajst-2080	50	6	.	.	PUNCT
ajst-2080	51	1	due	due	ADP
ajst-2080	51	2	to	to	ADP
ajst-2080	51	3	individual	individual	ADJ
ajst-2080	51	4	differences	difference	NOUN
ajst-2080	51	5	in	in	ADP
ajst-2080	51	6	personality	personality	NOUN
ajst-2080	51	7	,	,	PUNCT
ajst-2080	51	8	age	age	NOUN
ajst-2080	51	9	,	,	PUNCT
ajst-2080	51	10	mental	mental	ADJ
ajst-2080	51	11	state	state	NOUN
ajst-2080	51	12	,	,	PUNCT
ajst-2080	51	13	and	and	CCONJ
ajst-2080	51	14	other	other	ADJ
ajst-2080	51	15	aspects	aspect	NOUN
ajst-2080	51	16	,	,	PUNCT
ajst-2080	51	17	their	their	PRON
ajst-2080	51	18	marching	marching	NOUN
ajst-2080	51	19	strategies	strategy	NOUN
ajst-2080	51	20	will	will	AUX
ajst-2080	51	21	also	also	ADV
ajst-2080	51	22	be	be	AUX
ajst-2080	51	23	significantly	significantly	ADV
ajst-2080	51	24	different	different	ADJ
ajst-2080	51	25	.	.	PUNCT
ajst-2080	52	1	for	for	ADP
ajst-2080	52	2	example	example	NOUN
ajst-2080	52	3	,	,	PUNCT
ajst-2080	52	4	a	a	DET
ajst-2080	52	5	pedestrian	pedestrian	NOUN
ajst-2080	52	6	who	who	PRON
ajst-2080	52	7	is	be	AUX
ajst-2080	52	8	impatient	impatient	ADJ
ajst-2080	52	9	or	or	CCONJ
ajst-2080	52	10	in	in	ADP
ajst-2080	52	11	a	a	DET
ajst-2080	52	12	hurry	hurry	NOUN
ajst-2080	52	13	may	may	AUX
ajst-2080	52	14	adopt	adopt	VERB
ajst-2080	52	15	a	a	DET
ajst-2080	52	16	more	more	ADV
ajst-2080	52	17	aggressive	aggressive	ADJ
ajst-2080	52	18	strategy	strategy	NOUN
ajst-2080	52	19	when	when	SCONJ
ajst-2080	52	20	avoiding	avoid	VERB
ajst-2080	52	21	obstacles	obstacle	NOUN
ajst-2080	52	22	;	;	PUNCT
ajst-2080	52	23	the	the	DET
ajst-2080	52	24	young	young	NOUN
ajst-2080	52	25	are	be	AUX
ajst-2080	52	26	often	often	ADV
ajst-2080	52	27	faster	fast	ADJ
ajst-2080	52	28	than	than	ADP
ajst-2080	52	29	the	the	DET
ajst-2080	52	30	old	old	ADJ
ajst-2080	52	31	;	;	PUNCT
ajst-2080	52	32	some	some	DET
ajst-2080	52	33	people	people	NOUN
ajst-2080	52	34	's	's	PART
ajst-2080	52	35	comfortable	comfortable	ADJ
ajst-2080	52	36	social	social	ADJ
ajst-2080	52	37	distance	distance	NOUN
ajst-2080	52	38	is	be	AUX
ajst-2080	52	39	considerable	considerable	ADJ
ajst-2080	52	40	,	,	PUNCT
ajst-2080	52	41	which	which	PRON
ajst-2080	52	42	leads	lead	VERB
ajst-2080	52	43	to	to	ADP
ajst-2080	52	44	their	their	PRON
ajst-2080	52	45	trajectory	trajectory	NOUN
ajst-2080	52	46	always	always	ADV
ajst-2080	52	47	being	be	AUX
ajst-2080	52	48	far	far	ADV
ajst-2080	52	49	away	away	ADV
ajst-2080	52	50	from	from	ADP
ajst-2080	52	51	others	other	NOUN
ajst-2080	52	52	.	.	PUNCT
ajst-2080	53	1	(	(	PUNCT
ajst-2080	53	2	3	3	X
ajst-2080	53	3	)	)	PUNCT
ajst-2080	53	4	complex	complex	ADJ
ajst-2080	53	5	interactions	interaction	NOUN
ajst-2080	53	6	.	.	PUNCT
ajst-2080	54	1	the	the	DET
ajst-2080	54	2	travel	travel	NOUN
ajst-2080	54	3	strategies	strategy	NOUN
ajst-2080	54	4	of	of	ADP
ajst-2080	54	5	pedestrians	pedestrian	NOUN
ajst-2080	54	6	and	and	CCONJ
ajst-2080	54	7	vehicles	vehicle	NOUN
ajst-2080	54	8	are	be	AUX
ajst-2080	54	9	not	not	PART
ajst-2080	54	10	independent	independent	ADJ
ajst-2080	54	11	of	of	ADP
ajst-2080	54	12	each	each	DET
ajst-2080	54	13	other	other	ADJ
ajst-2080	54	14	but	but	CCONJ
ajst-2080	54	15	have	have	VERB
ajst-2080	54	16	very	very	ADV
ajst-2080	54	17	complex	complex	ADJ
ajst-2080	54	18	interactions	interaction	NOUN
ajst-2080	54	19	.	.	PUNCT
ajst-2080	55	1	traffic	traffic	NOUN
ajst-2080	55	2	participants	participant	NOUN
ajst-2080	55	3	in	in	ADP
ajst-2080	55	4	the	the	DET
ajst-2080	55	5	same	same	ADJ
ajst-2080	55	6	scene	scene	NOUN
ajst-2080	55	7	will	will	AUX
ajst-2080	55	8	react	react	VERB
ajst-2080	55	9	to	to	ADP
ajst-2080	55	10	their	their	PRON
ajst-2080	55	11	own	own	ADJ
ajst-2080	55	12	strategies	strategy	NOUN
ajst-2080	55	13	and	and	CCONJ
ajst-2080	55	14	adjust	adjust	VERB
ajst-2080	55	15	their	their	PRON
ajst-2080	55	16	own	own	ADJ
ajst-2080	55	17	strategies	strategy	NOUN
ajst-2080	55	18	.	.	PUNCT
ajst-2080	56	1	for	for	ADP
ajst-2080	56	2	example	example	NOUN
ajst-2080	56	3	,	,	PUNCT
ajst-2080	56	4	three	three	NUM
ajst-2080	56	5	or	or	CCONJ
ajst-2080	56	6	five	five	NUM
ajst-2080	56	7	friends	friend	NOUN
ajst-2080	56	8	will	will	AUX
ajst-2080	56	9	walk	walk	VERB
ajst-2080	56	10	together	together	ADV
ajst-2080	56	11	,	,	PUNCT
ajst-2080	56	12	and	and	CCONJ
ajst-2080	56	13	the	the	DET
ajst-2080	56	14	driver	driver	NOUN
ajst-2080	56	15	will	will	AUX
ajst-2080	56	16	brake	brake	VERB
ajst-2080	56	17	gently	gently	ADV
ajst-2080	56	18	when	when	SCONJ
ajst-2080	56	19	there	there	PRON
ajst-2080	56	20	is	be	VERB
ajst-2080	56	21	a	a	DET
ajst-2080	56	22	vehicle	vehicle	NOUN
ajst-2080	56	23	changing	change	VERB
ajst-2080	56	24	lanes	lane	NOUN
ajst-2080	56	25	ahead	ahead	ADV
ajst-2080	56	26	.	.	PUNCT
ajst-2080	57	1	to	to	PART
ajst-2080	57	2	judge	judge	VERB
ajst-2080	57	3	the	the	DET
ajst-2080	57	4	interaction	interaction	NOUN
ajst-2080	57	5	strategy	strategy	NOUN
ajst-2080	57	6	of	of	ADP
ajst-2080	57	7	each	each	DET
ajst-2080	57	8	traffic	traffic	NOUN
ajst-2080	57	9	participant	participant	NOUN
ajst-2080	57	10	,	,	PUNCT
ajst-2080	57	11	its	its	PRON
ajst-2080	57	12	purpose	purpose	NOUN
ajst-2080	57	13	and	and	CCONJ
ajst-2080	57	14	intention	intention	NOUN
ajst-2080	57	15	are	be	AUX
ajst-2080	57	16	crucial	crucial	ADJ
ajst-2080	57	17	,	,	PUNCT
ajst-2080	57	18	which	which	PRON
ajst-2080	57	19	is	be	AUX
ajst-2080	57	20	entirely	entirely	ADV
ajst-2080	57	21	implicit	implicit	ADJ
ajst-2080	57	22	in	in	ADP
ajst-2080	57	23	the	the	DET
ajst-2080	57	24	model	model	NOUN
ajst-2080	57	25	,	,	PUNCT
ajst-2080	57	26	so	so	ADV
ajst-2080	57	27	higher	high	ADJ
ajst-2080	57	28	requirements	requirement	NOUN
ajst-2080	57	29	are	be	AUX
ajst-2080	57	30	put	put	VERB
ajst-2080	57	31	forward	forward	ADV
ajst-2080	57	32	for	for	ADP
ajst-2080	57	33	the	the	DET
ajst-2080	57	34	algorithm	algorithm	NOUN
ajst-2080	57	35	.	.	PUNCT
ajst-2080	58	1	therefore	therefore	ADV
ajst-2080	58	2	,	,	PUNCT
ajst-2080	58	3	the	the	DET
ajst-2080	58	4	model	model	NOUN
ajst-2080	58	5	should	should	AUX
ajst-2080	58	6	be	be	AUX
ajst-2080	58	7	able	able	ADJ
ajst-2080	58	8	to	to	PART
ajst-2080	58	9	infer	infer	VERB
ajst-2080	58	10	the	the	DET
ajst-2080	58	11	intentions	intention	NOUN
ajst-2080	58	12	of	of	ADP
ajst-2080	58	13	each	each	DET
ajst-2080	58	14	traffic	traffic	NOUN
ajst-2080	58	15	participant	participant	NOUN
ajst-2080	58	16	and	and	CCONJ
ajst-2080	58	17	,	,	PUNCT
ajst-2080	58	18	on	on	ADP
ajst-2080	58	19	this	this	DET
ajst-2080	58	20	basis	basis	NOUN
ajst-2080	58	21	,	,	PUNCT
ajst-2080	58	22	understand	understand	VERB
ajst-2080	58	23	the	the	DET
ajst-2080	58	24	relationship	relationship	NOUN
ajst-2080	58	25	between	between	ADP
ajst-2080	58	26	each	each	DET
ajst-2080	58	27	traffic	traffic	NOUN
ajst-2080	58	28	participant	participant	NOUN
ajst-2080	58	29	,	,	PUNCT
ajst-2080	58	30	which	which	PRON
ajst-2080	58	31	is	be	AUX
ajst-2080	58	32	one	one	NUM
ajst-2080	58	33	of	of	ADP
ajst-2080	58	34	the	the	DET
ajst-2080	58	35	central	central	ADJ
ajst-2080	58	36	issues	issue	NOUN
ajst-2080	58	37	of	of	ADP
ajst-2080	58	38	trajectory	trajectory	NOUN
ajst-2080	58	39	prediction	prediction	NOUN
ajst-2080	58	40	.	.	PUNCT
ajst-2080	59	1	3	3	X
ajst-2080	59	2	.	.	X
ajst-2080	59	3	establishment	establishment	NOUN
ajst-2080	59	4	of	of	ADP
ajst-2080	59	5	automatic	automatic	ADJ
ajst-2080	59	6	driving	driving	NOUN
ajst-2080	59	7	vehicle	vehicle	NOUN
ajst-2080	59	8	cut	cut	NOUN
ajst-2080	59	9	in	in	ADP
ajst-2080	59	10	the	the	DET
ajst-2080	59	11	data	datum	NOUN
ajst-2080	59	12	set	set	VERB
ajst-2080	59	13	3.1	3.1	NUM
ajst-2080	59	14	.	.	PUNCT
ajst-2080	60	1	automatic	automatic	ADJ
ajst-2080	60	2	driving	driving	NOUN
ajst-2080	60	3	data	datum	NOUN
ajst-2080	60	4	the	the	DET
ajst-2080	60	5	data	datum	NOUN
ajst-2080	60	6	set	set	VERB
ajst-2080	60	7	used	use	VERB
ajst-2080	60	8	in	in	ADP
ajst-2080	60	9	this	this	DET
ajst-2080	60	10	paper	paper	NOUN
ajst-2080	60	11	is	be	AUX
ajst-2080	60	12	the	the	DET
ajst-2080	60	13	natural	natural	ADJ
ajst-2080	60	14	driving	drive	VERB
ajst-2080	60	15	data	datum	NOUN
ajst-2080	60	16	collected	collect	VERB
ajst-2080	60	17	by	by	ADP
ajst-2080	60	18	the	the	DET
ajst-2080	60	19	"	"	PUNCT
ajst-2080	60	20	china	china	PROPN
ajst-2080	60	21	automotive	automotive	PROPN
ajst-2080	60	22	research	research	PROPN
ajst-2080	60	23	institute	institute	PROPN
ajst-2080	60	24	natural	natural	ADJ
ajst-2080	60	25	driving	driving	NOUN
ajst-2080	60	26	data	datum	NOUN
ajst-2080	60	27	research	research	NOUN
ajst-2080	60	28	(	(	PUNCT
ajst-2080	60	29	caeri	caeri	NOUN
ajst-2080	60	30	-	-	PUNCT
ajst-2080	60	31	nds	nds	NOUN
ajst-2080	60	32	)	)	PUNCT
ajst-2080	60	33	"	"	PUNCT
ajst-2080	60	34	project	project	NOUN
ajst-2080	60	35	.	.	PUNCT
ajst-2080	61	1	the	the	DET
ajst-2080	61	2	project	project	NOUN
ajst-2080	61	3	has	have	AUX
ajst-2080	61	4	carried	carry	VERB
ajst-2080	61	5	out	out	ADP
ajst-2080	61	6	large	large	ADJ
ajst-2080	61	7	-	-	PUNCT
ajst-2080	61	8	scale	scale	NOUN
ajst-2080	61	9	driving	driving	NOUN
ajst-2080	61	10	data	datum	NOUN
ajst-2080	61	11	collection	collection	NOUN
ajst-2080	61	12	in	in	ADP
ajst-2080	61	13	many	many	ADJ
ajst-2080	61	14	provinces	province	NOUN
ajst-2080	61	15	and	and	CCONJ
ajst-2080	61	16	cities	city	NOUN
ajst-2080	61	17	in	in	ADP
ajst-2080	61	18	china	china	PROPN
ajst-2080	61	19	.	.	PUNCT
ajst-2080	62	1	up	up	ADP
ajst-2080	62	2	to	to	ADP
ajst-2080	62	3	now	now	ADV
ajst-2080	62	4	,	,	PUNCT
ajst-2080	62	5	100000	100000	NUM
ajst-2080	62	6	km	km	NOUN
ajst-2080	62	7	of	of	ADP
ajst-2080	62	8	natural	natural	ADJ
ajst-2080	62	9	driving	driving	NOUN
ajst-2080	62	10	data	datum	NOUN
ajst-2080	62	11	have	have	AUX
ajst-2080	62	12	been	be	AUX
ajst-2080	62	13	collected	collect	VERB
ajst-2080	62	14	by	by	ADP
ajst-2080	62	15	this	this	DET
ajst-2080	62	16	technology	technology	NOUN
ajst-2080	62	17	.	.	PUNCT
ajst-2080	63	1	the	the	DET
ajst-2080	63	2	data	data	NOUN
ajst-2080	63	3	acquisition	acquisition	NOUN
ajst-2080	63	4	equipment	equipment	NOUN
ajst-2080	63	5	configured	configure	VERB
ajst-2080	63	6	for	for	ADP
ajst-2080	63	7	the	the	DET
ajst-2080	63	8	test	test	NOUN
ajst-2080	63	9	vehicle	vehicle	NOUN
ajst-2080	63	10	includes	include	VERB
ajst-2080	63	11	cameras	camera	NOUN
ajst-2080	63	12	,	,	PUNCT
ajst-2080	63	13	millimeter	millimeter	NOUN
ajst-2080	63	14	-	-	PUNCT
ajst-2080	63	15	wave	wave	NOUN
ajst-2080	63	16	radars	radar	NOUN
ajst-2080	63	17	,	,	PUNCT
ajst-2080	63	18	gps	gps	PROPN
ajst-2080	63	19	,	,	PUNCT
ajst-2080	63	20	and	and	CCONJ
ajst-2080	63	21	other	other	ADJ
ajst-2080	63	22	sensors	sensor	NOUN
ajst-2080	63	23	,	,	PUNCT
ajst-2080	63	24	which	which	PRON
ajst-2080	63	25	can	can	AUX
ajst-2080	63	26	obtain	obtain	VERB
ajst-2080	63	27	self	self	NOUN
ajst-2080	63	28	-	-	PUNCT
ajst-2080	63	29	driving	drive	VERB
ajst-2080	63	30	data	datum	NOUN
ajst-2080	63	31	,	,	PUNCT
ajst-2080	63	32	surrounding	surround	VERB
ajst-2080	63	33	target	target	NOUN
ajst-2080	63	34	vehicle	vehicle	NOUN
ajst-2080	63	35	information	information	NOUN
ajst-2080	63	36	,	,	PUNCT
ajst-2080	63	37	etc	etc	X
ajst-2080	63	38	.	.	X
ajst-2080	64	1	the	the	DET
ajst-2080	64	2	sampling	sample	VERB
ajst-2080	64	3	frequency	frequency	NOUN
ajst-2080	64	4	is	be	AUX
ajst-2080	64	5	25hz	25hz	ADJ
ajst-2080	64	6	.	.	PUNCT
ajst-2080	65	1	the	the	DET
ajst-2080	65	2	driving	drive	VERB
ajst-2080	65	3	data	datum	NOUN
ajst-2080	65	4	of	of	ADP
ajst-2080	65	5	the	the	DET
ajst-2080	65	6	self	self	NOUN
ajst-2080	65	7	-	-	PUNCT
ajst-2080	65	8	owned	own	VERB
ajst-2080	65	9	vehicle	vehicle	NOUN
ajst-2080	65	10	is	be	AUX
ajst-2080	65	11	obtained	obtain	VERB
ajst-2080	65	12	by	by	ADP
ajst-2080	65	13	the	the	DET
ajst-2080	65	14	can	can	AUX
ajst-2080	65	15	bus	bus	NOUN
ajst-2080	65	16	of	of	ADP
ajst-2080	65	17	the	the	DET
ajst-2080	65	18	vehicle	vehicle	NOUN
ajst-2080	65	19	,	,	PUNCT
ajst-2080	65	20	including	include	VERB
ajst-2080	65	21	the	the	DET
ajst-2080	65	22	speed	speed	NOUN
ajst-2080	65	23	,	,	PUNCT
ajst-2080	65	24	acceleration	acceleration	NOUN
ajst-2080	65	25	,	,	PUNCT
ajst-2080	65	26	steering	steering	NOUN
ajst-2080	65	27	wheel	wheel	NOUN
ajst-2080	65	28	angle	angle	NOUN
ajst-2080	65	29	,	,	PUNCT
ajst-2080	65	30	etc	etc	X
ajst-2080	65	31	.	.	X
ajst-2080	65	32	of	of	ADP
ajst-2080	65	33	the	the	DET
ajst-2080	65	34	self	self	NOUN
ajst-2080	65	35	-	-	PUNCT
ajst-2080	65	36	owned	own	VERB
ajst-2080	65	37	vehicle	vehicle	NOUN
ajst-2080	65	38	;	;	PUNCT
ajst-2080	65	39	the	the	DET
ajst-2080	65	40	information	information	NOUN
ajst-2080	65	41	of	of	ADP
ajst-2080	65	42	surrounding	surround	VERB
ajst-2080	65	43	target	target	NOUN
ajst-2080	65	44	vehicles	vehicle	NOUN
ajst-2080	65	45	is	be	AUX
ajst-2080	65	46	collected	collect	VERB
ajst-2080	65	47	by	by	ADP
ajst-2080	65	48	cameras	camera	NOUN
ajst-2080	65	49	,	,	PUNCT
ajst-2080	65	50	radars	radar	NOUN
ajst-2080	65	51	,	,	PUNCT
ajst-2080	65	52	etc	etc	X
ajst-2080	65	53	.	.	X
ajst-2080	65	54	,	,	PUNCT
ajst-2080	65	55	including	include	VERB
ajst-2080	65	56	the	the	DET
ajst-2080	65	57	speed	speed	NOUN
ajst-2080	65	58	,	,	PUNCT
ajst-2080	65	59	acceleration	acceleration	NOUN
ajst-2080	65	60	,	,	PUNCT
ajst-2080	65	61	and	and	CCONJ
ajst-2080	65	62	distance	distance	NOUN
ajst-2080	65	63	between	between	ADP
ajst-2080	65	64	the	the	DET
ajst-2080	65	65	target	target	NOUN
ajst-2080	65	66	vehicle	vehicle	NOUN
ajst-2080	65	67	and	and	CCONJ
ajst-2080	65	68	its	its	PRON
ajst-2080	65	69	own	own	ADJ
ajst-2080	65	70	vehicle	vehicle	NOUN
ajst-2080	65	71	,	,	PUNCT
ajst-2080	65	72	see	see	VERB
ajst-2080	65	73	figure	figure	NOUN
ajst-2080	65	74	1	1	NUM
ajst-2080	65	75	.	.	PUNCT
ajst-2080	65	76	figure	figure	NOUN
ajst-2080	65	77	1	1	NUM
ajst-2080	65	78	.	.	PUNCT
ajst-2080	66	1	the	the	DET
ajst-2080	66	2	model	model	NOUN
ajst-2080	66	3	of	of	ADP
ajst-2080	66	4	automatic	automatic	ADJ
ajst-2080	66	5	driving	driving	NOUN
ajst-2080	66	6	trajectory	trajectory	NOUN
ajst-2080	66	7	prediction	prediction	NOUN
ajst-2080	66	8	system	system	NOUN
ajst-2080	66	9	3.2	3.2	NUM
ajst-2080	66	10	.	.	PUNCT
ajst-2080	67	1	data	datum	NOUN
ajst-2080	67	2	preprocessing	preprocesse	VERB
ajst-2080	67	3	in	in	ADP
ajst-2080	67	4	order	order	NOUN
ajst-2080	67	5	to	to	PART
ajst-2080	67	6	reduce	reduce	VERB
ajst-2080	67	7	the	the	DET
ajst-2080	67	8	subsequent	subsequent	ADJ
ajst-2080	67	9	calculation	calculation	NOUN
ajst-2080	67	10	cost	cost	NOUN
ajst-2080	67	11	,	,	PUNCT
ajst-2080	67	12	the	the	DET
ajst-2080	67	13	test	test	NOUN
ajst-2080	67	14	data	data	NOUN
ajst-2080	67	15	is	be	AUX
ajst-2080	67	16	first	first	ADJ
ajst-2080	67	17	de	de	ADV
ajst-2080	67	18	-	-	VERB
ajst-2080	67	19	sampled	sample	VERB
ajst-2080	67	20	,	,	PUNCT
ajst-2080	67	21	and	and	CCONJ
ajst-2080	67	22	the	the	DET
ajst-2080	67	23	sampling	sample	VERB
ajst-2080	67	24	frequency	frequency	NOUN
ajst-2080	67	25	is	be	AUX
ajst-2080	67	26	reduced	reduce	VERB
ajst-2080	67	27	by	by	ADP
ajst-2080	67	28	one	one	NUM
ajst-2080	67	29	time	time	NOUN
ajst-2080	67	30	.	.	PUNCT
ajst-2080	68	1	driving	drive	VERB
ajst-2080	68	2	data	datum	NOUN
ajst-2080	68	3	will	will	AUX
ajst-2080	68	4	inevitably	inevitably	ADV
ajst-2080	68	5	be	be	AUX
ajst-2080	68	6	affected	affect	VERB
ajst-2080	68	7	by	by	ADP
ajst-2080	68	8	some	some	DET
ajst-2080	68	9	particular	particular	ADJ
ajst-2080	68	10	factors	factor	NOUN
ajst-2080	68	11	in	in	ADP
ajst-2080	68	12	the	the	DET
ajst-2080	68	13	process	process	NOUN
ajst-2080	68	14	of	of	ADP
ajst-2080	68	15	collection	collection	NOUN
ajst-2080	68	16	,	,	PUNCT
ajst-2080	68	17	such	such	ADJ
ajst-2080	68	18	as	as	ADP
ajst-2080	68	19	light	light	ADJ
ajst-2080	68	20	environment	environment	NOUN
ajst-2080	68	21	conditions	condition	NOUN
ajst-2080	68	22	and	and	CCONJ
ajst-2080	68	23	equipment	equipment	NOUN
ajst-2080	68	24	conditions	condition	NOUN
ajst-2080	68	25	.	.	PUNCT
ajst-2080	69	1	these	these	DET
ajst-2080	69	2	factors	factor	NOUN
ajst-2080	69	3	may	may	AUX
ajst-2080	69	4	lead	lead	VERB
ajst-2080	69	5	to	to	ADP
ajst-2080	69	6	incomplete	incomplete	ADJ
ajst-2080	69	7	or	or	CCONJ
ajst-2080	69	8	inaccurate	inaccurate	ADJ
ajst-2080	69	9	data	datum	NOUN
ajst-2080	69	10	collection	collection	NOUN
ajst-2080	69	11	,	,	PUNCT
ajst-2080	69	12	resulting	result	VERB
ajst-2080	69	13	in	in	ADP
ajst-2080	69	14	unpredictable	unpredictable	ADJ
ajst-2080	69	15	consequences	consequence	NOUN
ajst-2080	69	16	for	for	ADP
ajst-2080	69	17	the	the	DET
ajst-2080	69	18	test	test	NOUN
ajst-2080	69	19	.	.	PUNCT
ajst-2080	70	1	therefore	therefore	ADV
ajst-2080	70	2	,	,	PUNCT
ajst-2080	70	3	before	before	ADP
ajst-2080	70	4	using	use	VERB
ajst-2080	70	5	the	the	DET
ajst-2080	70	6	data	datum	NOUN
ajst-2080	70	7	,	,	PUNCT
ajst-2080	70	8	we	we	PRON
ajst-2080	70	9	must	must	AUX
ajst-2080	70	10	process	process	VERB
ajst-2080	70	11	the	the	DET
ajst-2080	70	12	missing	miss	VERB
ajst-2080	70	13	values	value	NOUN
ajst-2080	70	14	and	and	CCONJ
ajst-2080	70	15	noises	noise	NOUN
ajst-2080	70	16	in	in	ADP
ajst-2080	70	17	the	the	DET
ajst-2080	70	18	data	datum	NOUN
ajst-2080	70	19	set	set	VERB
ajst-2080	70	20	.	.	PUNCT
ajst-2080	71	1	due	due	ADP
ajst-2080	71	2	to	to	ADP
ajst-2080	71	3	the	the	DET
ajst-2080	71	4	time	time	NOUN
ajst-2080	71	5	characteristics	characteristic	NOUN
ajst-2080	71	6	of	of	ADP
ajst-2080	71	7	vehicle	vehicle	NOUN
ajst-2080	71	8	trajectory	trajectory	NOUN
ajst-2080	71	9	,	,	PUNCT
ajst-2080	71	10	the	the	DET
ajst-2080	71	11	missing	miss	VERB
ajst-2080	71	12	values	value	NOUN
ajst-2080	71	13	are	be	AUX
ajst-2080	71	14	filled	fill	VERB
ajst-2080	71	15	by	by	ADP
ajst-2080	71	16	combining	combine	VERB
ajst-2080	71	17	the	the	DET
ajst-2080	71	18	nearest	near	ADJ
ajst-2080	71	19	neighbor	neighbor	NOUN
ajst-2080	71	20	filling	filling	NOUN
ajst-2080	71	21	method	method	NOUN
ajst-2080	71	22	and	and	CCONJ
ajst-2080	71	23	the	the	DET
ajst-2080	71	24	interpolation	interpolation	NOUN
ajst-2080	71	25	method	method	NOUN
ajst-2080	71	26	.	.	PUNCT
ajst-2080	72	1	the	the	DET
ajst-2080	72	2	noise	noise	NOUN
ajst-2080	72	3	in	in	ADP
ajst-2080	72	4	the	the	DET
ajst-2080	72	5	driving	drive	VERB
ajst-2080	72	6	data	datum	NOUN
ajst-2080	72	7	set	set	VERB
ajst-2080	72	8	is	be	AUX
ajst-2080	72	9	filtered	filter	VERB
ajst-2080	72	10	.	.	PUNCT
ajst-2080	73	1	the	the	DET
ajst-2080	73	2	algorithm	algorithm	NOUN
ajst-2080	73	3	in	in	ADP
ajst-2080	73	4	this	this	DET
ajst-2080	73	5	paper	paper	NOUN
ajst-2080	73	6	is	be	AUX
ajst-2080	73	7	a	a	DET
ajst-2080	73	8	method	method	NOUN
ajst-2080	73	9	based	base	VERB
ajst-2080	73	10	on	on	ADP
ajst-2080	73	11	polynomial	polynomial	ADJ
ajst-2080	73	12	least	least	ADJ
ajst-2080	73	13	square	square	ADJ
ajst-2080	73	14	fitting	fitting	ADJ
ajst-2080	73	15	in	in	ADP
ajst-2080	73	16	the	the	DET
ajst-2080	73	17	time	time	NOUN
ajst-2080	73	18	domain	domain	NOUN
ajst-2080	73	19	,	,	PUNCT
ajst-2080	73	20	which	which	PRON
ajst-2080	73	21	can	can	AUX
ajst-2080	73	22	ensure	ensure	VERB
ajst-2080	73	23	the	the	DET
ajst-2080	73	24	shape	shape	NOUN
ajst-2080	73	25	and	and	CCONJ
ajst-2080	73	26	width	width	NOUN
ajst-2080	73	27	of	of	ADP
ajst-2080	73	28	the	the	DET
ajst-2080	73	29	signal	signal	NOUN
ajst-2080	73	30	are	be	AUX
ajst-2080	73	31	unchanged	unchanged	ADJ
ajst-2080	73	32	while	while	SCONJ
ajst-2080	73	33	filtering	filter	VERB
ajst-2080	73	34	and	and	CCONJ
ajst-2080	73	35	is	be	AUX
ajst-2080	73	36	widely	widely	ADV
ajst-2080	73	37	used	use	VERB
ajst-2080	73	38	in	in	ADP
ajst-2080	73	39	data	datum	NOUN
ajst-2080	73	40	smoothing	smoothing	NOUN
ajst-2080	73	41	and	and	CCONJ
ajst-2080	73	42	denoising	denoising	NOUN
ajst-2080	73	43	.	.	PUNCT
ajst-2080	74	1	in	in	ADP
ajst-2080	74	2	this	this	DET
ajst-2080	74	3	paper	paper	NOUN
ajst-2080	74	4	,	,	PUNCT
ajst-2080	74	5	the	the	DET
ajst-2080	74	6	savitzky	savitzky	ADJ
ajst-2080	74	7	golay	golay	NOUN
ajst-2080	74	8	filter	filter	NOUN
ajst-2080	74	9	is	be	AUX
ajst-2080	74	10	used	use	VERB
ajst-2080	74	11	to	to	PART
ajst-2080	74	12	filter	filter	VERB
ajst-2080	74	13	the	the	DET
ajst-2080	74	14	12	12	NUM
ajst-2080	74	15	noise	noise	NOUN
ajst-2080	74	16	of	of	ADP
ajst-2080	74	17	natural	natural	ADJ
ajst-2080	74	18	driving	driving	NOUN
ajst-2080	74	19	data	datum	NOUN
ajst-2080	74	20	.	.	PUNCT
ajst-2080	75	1	the	the	DET
ajst-2080	75	2	expression	expression	NOUN
ajst-2080	75	3	is	be	AUX
ajst-2080	75	4	:	:	PUNCT
ajst-2080	75	5	(	(	PUNCT
ajst-2080	75	6	1	1	X
ajst-2080	75	7	)	)	PUNCT
ajst-2080	75	8	(	(	PUNCT
ajst-2080	75	9	2	2	NUM
ajst-2080	75	10	)	)	PUNCT
ajst-2080	75	11	(	(	PUNCT
ajst-2080	75	12	3	3	X
ajst-2080	75	13	)	)	PUNCT
ajst-2080	75	14	y(i	y(i	PROPN
ajst-2080	75	15	)	)	PUNCT
ajst-2080	75	16	is	be	AUX
ajst-2080	75	17	the	the	DET
ajst-2080	75	18	processed	process	VERB
ajst-2080	75	19	data	datum	NOUN
ajst-2080	75	20	,	,	PUNCT
ajst-2080	75	21	i	i	PROPN
ajst-2080	75	22	=	=	PROPN
ajst-2080	75	23	m	m	PROPN
ajst-2080	75	24	,	,	PUNCT
ajst-2080	75	25	0	0	NUM
ajst-2080	75	26	,	,	PUNCT
ajst-2080	75	27	m	m	PRON
ajst-2080	75	28	,	,	PUNCT
ajst-2080	75	29	is	be	AUX
ajst-2080	75	30	the	the	DET
ajst-2080	75	31	total	total	ADJ
ajst-2080	75	32	error	error	NOUN
ajst-2080	75	33	square	square	ADJ
ajst-2080	75	34	sum	sum	NOUN
ajst-2080	75	35	;	;	PUNCT
ajst-2080	75	36	x	x	SYM
ajst-2080	75	37	(	(	PUNCT
ajst-2080	75	38	i	i	NOUN
ajst-2080	75	39	)	)	PUNCT
ajst-2080	75	40	is	be	AUX
ajst-2080	75	41	unprocessed	unprocesse	VERB
ajst-2080	75	42	data	datum	NOUN
ajst-2080	75	43	,	,	PUNCT
ajst-2080	75	44	p<2	p<2	ADV
ajst-2080	75	45	m	m	VERB
ajst-2080	75	46	3.3	3.3	NUM
ajst-2080	75	47	.	.	PUNCT
ajst-2080	76	1	extraction	extraction	NOUN
ajst-2080	76	2	of	of	ADP
ajst-2080	76	3	vehicle	vehicle	NOUN
ajst-2080	76	4	entry	entry	NOUN
ajst-2080	76	5	scenarios	scenario	NOUN
ajst-2080	76	6	the	the	DET
ajst-2080	76	7	timing	timing	NOUN
ajst-2080	76	8	and	and	CCONJ
ajst-2080	76	9	speed	speed	NOUN
ajst-2080	76	10	of	of	ADP
ajst-2080	76	11	vehicle	vehicle	NOUN
ajst-2080	76	12	entry	entry	NOUN
ajst-2080	76	13	are	be	AUX
ajst-2080	76	14	affected	affect	VERB
ajst-2080	76	15	by	by	ADP
ajst-2080	76	16	the	the	DET
ajst-2080	76	17	vehicle	vehicle	NOUN
ajst-2080	76	18	(	(	PUNCT
ajst-2080	76	19	primary	primary	ADJ
ajst-2080	76	20	vehicle	vehicle	NOUN
ajst-2080	76	21	)	)	PUNCT
ajst-2080	76	22	in	in	ADP
ajst-2080	76	23	the	the	DET
ajst-2080	76	24	target	target	NOUN
ajst-2080	76	25	lane	lane	NOUN
ajst-2080	76	26	.	.	PUNCT
ajst-2080	77	1	the	the	DET
ajst-2080	77	2	vehicle	vehicle	NOUN
ajst-2080	77	3	cutin	cutin	PROPN
ajst-2080	77	4	scenario	scenario	PROPN
ajst-2080	77	5	mainly	mainly	ADV
ajst-2080	77	6	includes	include	VERB
ajst-2080	77	7	a	a	DET
ajst-2080	77	8	primary	primary	ADJ
ajst-2080	77	9	vehicle	vehicle	NOUN
ajst-2080	77	10	on	on	ADP
ajst-2080	77	11	the	the	DET
ajst-2080	77	12	main	main	ADJ
ajst-2080	77	13	lane	lane	NOUN
ajst-2080	77	14	and	and	CCONJ
ajst-2080	77	15	a	a	DET
ajst-2080	77	16	target	target	NOUN
ajst-2080	77	17	vehicle	vehicle	NOUN
ajst-2080	77	18	on	on	ADP
ajst-2080	77	19	the	the	DET
ajst-2080	77	20	adjacent	adjacent	ADJ
ajst-2080	77	21	lane	lane	NOUN
ajst-2080	77	22	that	that	PRON
ajst-2080	77	23	wants	want	VERB
ajst-2080	77	24	to	to	PART
ajst-2080	77	25	cut	cut	VERB
ajst-2080	77	26	into	into	ADP
ajst-2080	77	27	the	the	DET
ajst-2080	77	28	main	main	ADJ
ajst-2080	77	29	lane	lane	NOUN
ajst-2080	77	30	.	.	PUNCT
ajst-2080	78	1	it	it	PRON
ajst-2080	78	2	shows	show	VERB
ajst-2080	78	3	the	the	DET
ajst-2080	78	4	schematic	schematic	ADJ
ajst-2080	78	5	diagram	diagram	NOUN
ajst-2080	78	6	of	of	ADP
ajst-2080	78	7	a	a	DET
ajst-2080	78	8	vehicle	vehicle	NOUN
ajst-2080	78	9	cut	cut	VERB
ajst-2080	78	10	in	in	ADP
ajst-2080	78	11	a	a	DET
ajst-2080	78	12	scenario	scenario	NOUN
ajst-2080	78	13	under	under	ADP
ajst-2080	78	14	a	a	DET
ajst-2080	78	15	human	human	ADJ
ajst-2080	78	16	-	-	PUNCT
ajst-2080	78	17	machine	machine	NOUN
ajst-2080	78	18	mixed	mixed	ADJ
ajst-2080	78	19	driving	driving	NOUN
ajst-2080	78	20	environment	environment	NOUN
ajst-2080	78	21	.	.	PUNCT
ajst-2080	79	1	yellow	yellow	ADJ
ajst-2080	79	2	av	av	PROPN
ajst-2080	79	3	represents	represent	VERB
ajst-2080	79	4	driverless	driverless	ADJ
ajst-2080	79	5	vehicles	vehicle	NOUN
ajst-2080	79	6	on	on	ADP
ajst-2080	79	7	the	the	DET
ajst-2080	79	8	main	main	ADJ
ajst-2080	79	9	lane	lane	NOUN
ajst-2080	79	10	,	,	PUNCT
ajst-2080	79	11	and	and	CCONJ
ajst-2080	79	12	blue	blue	ADJ
ajst-2080	79	13	hv	hv	PROPN
ajst-2080	79	14	represents	represent	VERB
ajst-2080	79	15	manually	manually	ADV
ajst-2080	79	16	driven	drive	VERB
ajst-2080	79	17	vehicles	vehicle	NOUN
ajst-2080	79	18	that	that	PRON
ajst-2080	79	19	may	may	AUX
ajst-2080	79	20	cut	cut	VERB
ajst-2080	79	21	into	into	ADP
ajst-2080	79	22	the	the	DET
ajst-2080	79	23	main	main	ADJ
ajst-2080	79	24	lane	lane	NOUN
ajst-2080	79	25	;	;	PUNCT
ajst-2080	79	26	at	at	ADP
ajst-2080	79	27	this	this	DET
ajst-2080	79	28	time	time	NOUN
ajst-2080	79	29	,	,	PUNCT
ajst-2080	79	30	the	the	DET
ajst-2080	79	31	uncertainty	uncertainty	NOUN
ajst-2080	79	32	of	of	ADP
ajst-2080	79	33	the	the	DET
ajst-2080	79	34	future	future	ADJ
ajst-2080	79	35	trajectory	trajectory	NOUN
ajst-2080	79	36	of	of	ADP
ajst-2080	79	37	the	the	DET
ajst-2080	79	38	blue	blue	ADJ
ajst-2080	79	39	hv	hv	PROPN
ajst-2080	79	40	may	may	AUX
ajst-2080	79	41	cause	cause	VERB
ajst-2080	79	42	the	the	DET
ajst-2080	79	43	yellow	yellow	ADJ
ajst-2080	79	44	av	av	PROPN
ajst-2080	79	45	to	to	PART
ajst-2080	79	46	generate	generate	VERB
ajst-2080	79	47	wrong	wrong	ADJ
ajst-2080	79	48	decisions	decision	NOUN
ajst-2080	79	49	,	,	PUNCT
ajst-2080	79	50	resulting	result	VERB
ajst-2080	79	51	in	in	ADP
ajst-2080	79	52	vehicle	vehicle	NOUN
ajst-2080	79	53	collisions	collision	NOUN
ajst-2080	79	54	.	.	PUNCT
ajst-2080	80	1	based	base	VERB
ajst-2080	80	2	on	on	ADP
ajst-2080	80	3	the	the	DET
ajst-2080	80	4	cut	cut	NOUN
ajst-2080	80	5	-	-	PUNCT
ajst-2080	80	6	in	in	ADP
ajst-2080	80	7	scenario	scenario	NOUN
ajst-2080	80	8	defined	define	VERB
ajst-2080	80	9	above	above	ADV
ajst-2080	80	10	,	,	PUNCT
ajst-2080	80	11	extract	extract	VERB
ajst-2080	80	12	qualified	qualified	ADJ
ajst-2080	80	13	cut	cut	VERB
ajst-2080	80	14	-	-	PUNCT
ajst-2080	80	15	in	in	ADP
ajst-2080	80	16	scenario	scenario	NOUN
ajst-2080	80	17	segment	segment	NOUN
ajst-2080	80	18	-	-	PUNCT
ajst-2080	80	19	related	relate	VERB
ajst-2080	80	20	data	datum	NOUN
ajst-2080	80	21	from	from	ADP
ajst-2080	80	22	the	the	DET
ajst-2080	80	23	natural	natural	ADJ
ajst-2080	80	24	driving	driving	NOUN
ajst-2080	80	25	dataset	dataset	NOUN
ajst-2080	80	26	.	.	PUNCT
ajst-2080	81	1	first	first	ADV
ajst-2080	81	2	,	,	PUNCT
ajst-2080	81	3	define	define	VERB
ajst-2080	81	4	the	the	DET
ajst-2080	81	5	coordinate	coordinate	NOUN
ajst-2080	81	6	system	system	NOUN
ajst-2080	81	7	to	to	PART
ajst-2080	81	8	determine	determine	VERB
ajst-2080	81	9	the	the	DET
ajst-2080	81	10	position	position	NOUN
ajst-2080	81	11	of	of	ADP
ajst-2080	81	12	the	the	DET
ajst-2080	81	13	entry	entry	NOUN
ajst-2080	81	14	target	target	NOUN
ajst-2080	81	15	vehicle	vehicle	NOUN
ajst-2080	81	16	and	and	CCONJ
ajst-2080	81	17	the	the	DET
ajst-2080	81	18	primary	primary	ADJ
ajst-2080	81	19	vehicle	vehicle	NOUN
ajst-2080	81	20	.	.	PUNCT
ajst-2080	82	1	take	take	VERB
ajst-2080	82	2	the	the	DET
ajst-2080	82	3	centerline	centerline	NOUN
ajst-2080	82	4	of	of	ADP
ajst-2080	82	5	the	the	DET
ajst-2080	82	6	lane	lane	NOUN
ajst-2080	82	7	where	where	SCONJ
ajst-2080	82	8	the	the	DET
ajst-2080	82	9	leading	lead	VERB
ajst-2080	82	10	vehicle	vehicle	NOUN
ajst-2080	82	11	is	be	AUX
ajst-2080	82	12	located	locate	VERB
ajst-2080	82	13	as	as	ADP
ajst-2080	82	14	the	the	DET
ajst-2080	82	15	reference	reference	NOUN
ajst-2080	82	16	,	,	PUNCT
ajst-2080	82	17	and	and	CCONJ
ajst-2080	82	18	take	take	VERB
ajst-2080	82	19	the	the	DET
ajst-2080	82	20	direction	direction	NOUN
ajst-2080	82	21	perpendicular	perpendicular	NOUN
ajst-2080	82	22	to	to	ADP
ajst-2080	82	23	the	the	DET
ajst-2080	82	24	longitudinal	longitudinal	ADJ
ajst-2080	82	25	axis	axis	NOUN
ajst-2080	82	26	x	x	PUNCT
ajst-2080	82	27	as	as	SCONJ
ajst-2080	82	28	the	the	DET
ajst-2080	82	29	horizontal	horizontal	ADJ
ajst-2080	82	30	axis	axis	NOUN
ajst-2080	82	31	y.	y.	PROPN
ajst-2080	82	32	make	make	VERB
ajst-2080	82	33	the	the	DET
ajst-2080	82	34	vertical	vertical	ADJ
ajst-2080	82	35	line	line	NOUN
ajst-2080	82	36	perpendicular	perpendicular	NOUN
ajst-2080	82	37	to	to	ADP
ajst-2080	82	38	the	the	DET
ajst-2080	82	39	lane	lane	NOUN
ajst-2080	82	40	centerline	centerline	NOUN
ajst-2080	82	41	through	through	ADP
ajst-2080	82	42	the	the	DET
ajst-2080	82	43	track	track	NOUN
ajst-2080	82	44	point	point	NOUN
ajst-2080	82	45	of	of	ADP
ajst-2080	82	46	the	the	DET
ajst-2080	82	47	primary	primary	ADJ
ajst-2080	82	48	vehicle	vehicle	NOUN
ajst-2080	82	49	in	in	ADP
ajst-2080	82	50	the	the	DET
ajst-2080	82	51	first	first	ADJ
ajst-2080	82	52	time	time	NOUN
ajst-2080	82	53	step	step	NOUN
ajst-2080	82	54	in	in	ADP
ajst-2080	82	55	the	the	DET
ajst-2080	82	56	history	history	NOUN
ajst-2080	82	57	observation	observation	NOUN
ajst-2080	82	58	sequence	sequence	NOUN
ajst-2080	82	59	,	,	PUNCT
ajst-2080	82	60	take	take	VERB
ajst-2080	82	61	the	the	DET
ajst-2080	82	62	vertical	vertical	ADJ
ajst-2080	82	63	point	point	NOUN
ajst-2080	82	64	as	as	ADP
ajst-2080	82	65	the	the	DET
ajst-2080	82	66	origin	origin	NOUN
ajst-2080	82	67	of	of	ADP
ajst-2080	82	68	the	the	DET
ajst-2080	82	69	coordinate	coordinate	NOUN
ajst-2080	82	70	system	system	NOUN
ajst-2080	82	71	,	,	PUNCT
ajst-2080	82	72	and	and	CCONJ
ajst-2080	82	73	take	take	VERB
ajst-2080	82	74	the	the	DET
ajst-2080	82	75	direction	direction	NOUN
ajst-2080	82	76	along	along	ADP
ajst-2080	82	77	which	which	PRON
ajst-2080	82	78	the	the	DET
ajst-2080	82	79	vehicle	vehicle	NOUN
ajst-2080	82	80	moves	move	VERB
ajst-2080	82	81	forward	forward	ADV
ajst-2080	82	82	as	as	ADP
ajst-2080	82	83	the	the	DET
ajst-2080	82	84	positive	positive	ADJ
ajst-2080	82	85	direction	direction	NOUN
ajst-2080	82	86	of	of	ADP
ajst-2080	82	87	the	the	DET
ajst-2080	82	88	longitudinal	longitudinal	ADJ
ajst-2080	82	89	axis	axis	NOUN
ajst-2080	82	90	.	.	PUNCT
ajst-2080	83	1	take	take	VERB
ajst-2080	83	2	the	the	DET
ajst-2080	83	3	left	left	ADJ
ajst-2080	83	4	side	side	NOUN
ajst-2080	83	5	facing	face	VERB
ajst-2080	83	6	the	the	DET
ajst-2080	83	7	forward	forward	ADJ
ajst-2080	83	8	direction	direction	NOUN
ajst-2080	83	9	of	of	ADP
ajst-2080	83	10	the	the	DET
ajst-2080	83	11	vehicle	vehicle	NOUN
ajst-2080	83	12	as	as	ADP
ajst-2080	83	13	the	the	DET
ajst-2080	83	14	positive	positive	ADJ
ajst-2080	83	15	direction	direction	NOUN
ajst-2080	83	16	of	of	ADP
ajst-2080	83	17	the	the	DET
ajst-2080	83	18	transverse	transverse	NOUN
ajst-2080	83	19	axis	axis	NOUN
ajst-2080	83	20	.	.	PUNCT
ajst-2080	84	1	the	the	DET
ajst-2080	84	2	coordinates	coordinate	NOUN
ajst-2080	84	3	of	of	ADP
ajst-2080	84	4	the	the	DET
ajst-2080	84	5	leading	lead	VERB
ajst-2080	84	6	vehicle	vehicle	NOUN
ajst-2080	84	7	can	can	AUX
ajst-2080	84	8	be	be	AUX
ajst-2080	84	9	determined	determine	VERB
ajst-2080	84	10	by	by	ADP
ajst-2080	84	11	collecting	collect	VERB
ajst-2080	84	12	data	datum	NOUN
ajst-2080	84	13	,	,	PUNCT
ajst-2080	84	14	and	and	CCONJ
ajst-2080	84	15	then	then	ADV
ajst-2080	84	16	the	the	DET
ajst-2080	84	17	coordinate	coordinate	NOUN
ajst-2080	84	18	position	position	NOUN
ajst-2080	84	19	of	of	ADP
ajst-2080	84	20	the	the	DET
ajst-2080	84	21	target	target	NOUN
ajst-2080	84	22	cutting	cutting	NOUN
ajst-2080	84	23	in	in	ADP
ajst-2080	84	24	the	the	DET
ajst-2080	84	25	vehicle	vehicle	NOUN
ajst-2080	84	26	can	can	AUX
ajst-2080	84	27	be	be	AUX
ajst-2080	84	28	determined	determine	VERB
ajst-2080	84	29	according	accord	VERB
ajst-2080	84	30	to	to	ADP
ajst-2080	84	31	the	the	DET
ajst-2080	84	32	relative	relative	ADJ
ajst-2080	84	33	distance	distance	NOUN
ajst-2080	84	34	between	between	ADP
ajst-2080	84	35	the	the	DET
ajst-2080	84	36	primary	primary	ADJ
ajst-2080	84	37	vehicle	vehicle	NOUN
ajst-2080	84	38	and	and	CCONJ
ajst-2080	84	39	the	the	DET
ajst-2080	84	40	target	target	NOUN
ajst-2080	84	41	vehicle	vehicle	NOUN
ajst-2080	84	42	.	.	PUNCT
ajst-2080	85	1	deo	deo	NOUN
ajst-2080	85	2	et	et	PROPN
ajst-2080	85	3	al	al	PROPN
ajst-2080	85	4	.	.	PROPN
ajst-2080	85	5	proposed	propose	VERB
ajst-2080	85	6	that	that	SCONJ
ajst-2080	85	7	vehicle	vehicle	NOUN
ajst-2080	85	8	lane	lane	NOUN
ajst-2080	85	9	change	change	NOUN
ajst-2080	85	10	includes	include	VERB
ajst-2080	85	11	the	the	DET
ajst-2080	85	12	preparation	preparation	NOUN
ajst-2080	85	13	stage	stage	NOUN
ajst-2080	85	14	and	and	CCONJ
ajst-2080	85	15	stability	stability	NOUN
ajst-2080	85	16	stage	stage	NOUN
ajst-2080	85	17	.	.	PUNCT
ajst-2080	86	1	if	if	SCONJ
ajst-2080	86	2	the	the	DET
ajst-2080	86	3	vehicle	vehicle	NOUN
ajst-2080	86	4	is	be	AUX
ajst-2080	86	5	at	at	ADP
ajst-2080	86	6	the	the	DET
ajst-2080	86	7	lane	lane	NOUN
ajst-2080	86	8	change	change	NOUN
ajst-2080	86	9	point	point	NOUN
ajst-2080	86	10	at	at	ADP
ajst-2080	86	11	time	time	NOUN
ajst-2080	86	12	t	t	PROPN
ajst-2080	86	13	,	,	PUNCT
ajst-2080	86	14	define	define	VERB
ajst-2080	86	15	the	the	DET
ajst-2080	86	16	track	track	NOUN
ajst-2080	86	17	on	on	ADP
ajst-2080	86	18	time	time	NOUN
ajst-2080	86	19	interval	interval	NOUN
ajst-2080	86	20	t	t	PROPN
ajst-2080	86	21	±	±	NUM
ajst-2080	86	22	4s	4s	NUM
ajst-2080	86	23	as	as	ADP
ajst-2080	86	24	lane	lane	NOUN
ajst-2080	86	25	change	change	NOUN
ajst-2080	86	26	state	state	NOUN
ajst-2080	86	27	;	;	PUNCT
ajst-2080	86	28	inspired	inspire	VERB
ajst-2080	86	29	by	by	ADP
ajst-2080	86	30	this	this	PRON
ajst-2080	86	31	,	,	PUNCT
ajst-2080	86	32	it	it	PRON
ajst-2080	86	33	is	be	AUX
ajst-2080	86	34	set	set	VERB
ajst-2080	86	35	that	that	SCONJ
ajst-2080	86	36	if	if	SCONJ
ajst-2080	86	37	the	the	DET
ajst-2080	86	38	last	last	ADJ
ajst-2080	86	39	time	time	NOUN
ajst-2080	86	40	node	node	NOUN
ajst-2080	86	41	of	of	ADP
ajst-2080	86	42	the	the	DET
ajst-2080	86	43	extracted	extract	VERB
ajst-2080	86	44	track	track	NOUN
ajst-2080	86	45	clip	clip	NOUN
ajst-2080	86	46	falls	fall	VERB
ajst-2080	86	47	within	within	ADP
ajst-2080	86	48	the	the	DET
ajst-2080	86	49	time	time	NOUN
ajst-2080	86	50	interval	interval	NOUN
ajst-2080	86	51	t	t	PROPN
ajst-2080	86	52	±	±	NUM
ajst-2080	86	53	3.2s	3.2s	NUM
ajst-2080	86	54	,	,	PUNCT
ajst-2080	86	55	the	the	DET
ajst-2080	86	56	track	track	NOUN
ajst-2080	86	57	clip	clip	NOUN
ajst-2080	86	58	is	be	AUX
ajst-2080	86	59	recorded	record	VERB
ajst-2080	86	60	as	as	ADP
ajst-2080	86	61	the	the	DET
ajst-2080	86	62	cut	cut	NOUN
ajst-2080	86	63	in	in	ADP
ajst-2080	86	64	scene	scene	NOUN
ajst-2080	86	65	clip	clip	NOUN
ajst-2080	86	66	.	.	PUNCT
ajst-2080	87	1	each	each	DET
ajst-2080	87	2	7.2s	7.2s	NUM
ajst-2080	87	3	cut	cut	NOUN
ajst-2080	87	4	in	in	ADP
ajst-2080	87	5	track	track	NOUN
ajst-2080	87	6	segment	segment	NOUN
ajst-2080	87	7	is	be	AUX
ajst-2080	87	8	selected	select	VERB
ajst-2080	87	9	as	as	ADP
ajst-2080	87	10	a	a	DET
ajst-2080	87	11	training	training	NOUN
ajst-2080	87	12	sample	sample	NOUN
ajst-2080	87	13	,	,	PUNCT
ajst-2080	87	14	in	in	ADP
ajst-2080	87	15	which	which	PRON
ajst-2080	87	16	the	the	DET
ajst-2080	87	17	first	first	ADJ
ajst-2080	87	18	4s	4s	NUM
ajst-2080	87	19	data	datum	NOUN
ajst-2080	87	20	is	be	AUX
ajst-2080	87	21	used	use	VERB
ajst-2080	87	22	as	as	ADP
ajst-2080	87	23	historical	historical	ADJ
ajst-2080	87	24	track	track	NOUN
ajst-2080	87	25	data	datum	NOUN
ajst-2080	87	26	,	,	PUNCT
ajst-2080	87	27	and	and	CCONJ
ajst-2080	87	28	the	the	DET
ajst-2080	87	29	last	last	ADJ
ajst-2080	87	30	3.2s	3.2s	NUM
ajst-2080	87	31	data	datum	NOUN
ajst-2080	87	32	is	be	AUX
ajst-2080	87	33	used	use	VERB
ajst-2080	87	34	as	as	ADP
ajst-2080	87	35	future	future	ADJ
ajst-2080	87	36	track	track	NOUN
ajst-2080	87	37	data	datum	NOUN
ajst-2080	87	38	.	.	PUNCT
ajst-2080	88	1	one	one	NUM
ajst-2080	88	2	time	time	NOUN
ajst-2080	88	3	step	step	NOUN
ajst-2080	88	4	of	of	ADP
ajst-2080	88	5	the	the	DET
ajst-2080	88	6	sample	sample	NOUN
ajst-2080	88	7	is	be	AUX
ajst-2080	88	8	0.08s	0.08s	NUM
ajst-2080	88	9	.	.	PUNCT
ajst-2080	89	1	according	accord	VERB
ajst-2080	89	2	to	to	ADP
ajst-2080	89	3	the	the	DET
ajst-2080	89	4	established	establish	VERB
ajst-2080	89	5	coordinate	coordinate	NOUN
ajst-2080	89	6	system	system	NOUN
ajst-2080	89	7	,	,	PUNCT
ajst-2080	89	8	extract	extract	VERB
ajst-2080	89	9	the	the	DET
ajst-2080	89	10	cut	cut	NOUN
ajst-2080	89	11	-	-	PUNCT
ajst-2080	89	12	in	in	ADP
ajst-2080	89	13	scene	scene	NOUN
ajst-2080	89	14	clips	clip	NOUN
ajst-2080	89	15	.	.	PUNCT
ajst-2080	90	1	the	the	DET
ajst-2080	90	2	extraction	extraction	NOUN
ajst-2080	90	3	criteria	criterion	NOUN
ajst-2080	90	4	are	be	AUX
ajst-2080	90	5	as	as	SCONJ
ajst-2080	90	6	follows	follow	VERB
ajst-2080	90	7	.	.	PUNCT
ajst-2080	91	1	(	(	PUNCT
ajst-2080	91	2	1	1	X
ajst-2080	91	3	)	)	PUNCT
ajst-2080	91	4	calculate	calculate	VERB
ajst-2080	91	5	the	the	DET
ajst-2080	91	6	vehicle	vehicle	NOUN
ajst-2080	91	7	displacement	displacement	NOUN
ajst-2080	91	8	in	in	ADP
ajst-2080	91	9	each	each	DET
ajst-2080	91	10	time	time	NOUN
ajst-2080	91	11	step	step	NOUN
ajst-2080	91	12	,	,	PUNCT
ajst-2080	91	13	and	and	CCONJ
ajst-2080	91	14	round	round	VERB
ajst-2080	91	15	off	off	ADP
ajst-2080	91	16	the	the	DET
ajst-2080	91	17	vehicle	vehicle	NOUN
ajst-2080	91	18	track	track	NOUN
ajst-2080	91	19	with	with	ADP
ajst-2080	91	20	displacement	displacement	NOUN
ajst-2080	91	21	more	more	ADV
ajst-2080	91	22	significant	significant	ADJ
ajst-2080	91	23	than	than	ADP
ajst-2080	91	24	3	3	NUM
ajst-2080	91	25	m	m	NOUN
ajst-2080	91	26	in	in	ADP
ajst-2080	91	27	one	one	NUM
ajst-2080	91	28	time	time	NOUN
ajst-2080	91	29	step	step	NOUN
ajst-2080	91	30	;	;	PUNCT
ajst-2080	91	31	since	since	SCONJ
ajst-2080	91	32	the	the	DET
ajst-2080	91	33	research	research	NOUN
ajst-2080	91	34	is	be	AUX
ajst-2080	91	35	to	to	PART
ajst-2080	91	36	cut	cut	VERB
ajst-2080	91	37	into	into	ADP
ajst-2080	91	38	the	the	DET
ajst-2080	91	39	scene	scene	NOUN
ajst-2080	91	40	and	and	CCONJ
ajst-2080	91	41	focus	focus	VERB
ajst-2080	91	42	on	on	ADP
ajst-2080	91	43	the	the	DET
ajst-2080	91	44	lateral	lateral	ADJ
ajst-2080	91	45	displacement	displacement	NOUN
ajst-2080	91	46	of	of	ADP
ajst-2080	91	47	the	the	DET
ajst-2080	91	48	vehicle	vehicle	NOUN
ajst-2080	91	49	,	,	PUNCT
ajst-2080	91	50	the	the	DET
ajst-2080	91	51	vehicle	vehicle	NOUN
ajst-2080	91	52	track	track	NOUN
ajst-2080	91	53	with	with	ADP
ajst-2080	91	54	a	a	DET
ajst-2080	91	55	lateral	lateral	ADJ
ajst-2080	91	56	displacement	displacement	NOUN
ajst-2080	91	57	more	more	ADV
ajst-2080	91	58	significant	significant	ADJ
ajst-2080	91	59	than	than	ADP
ajst-2080	91	60	0.2	0.2	NUM
ajst-2080	91	61	m	m	NOUN
ajst-2080	91	62	in	in	ADP
ajst-2080	91	63	a	a	DET
ajst-2080	91	64	time	time	NOUN
ajst-2080	91	65	step	step	NOUN
ajst-2080	91	66	is	be	AUX
ajst-2080	91	67	discarded	discard	VERB
ajst-2080	91	68	.	.	PUNCT
ajst-2080	92	1	(	(	PUNCT
ajst-2080	92	2	2	2	X
ajst-2080	92	3	)	)	PUNCT
ajst-2080	92	4	to	to	PART
ajst-2080	92	5	predict	predict	VERB
ajst-2080	92	6	the	the	DET
ajst-2080	92	7	future	future	ADJ
ajst-2080	92	8	trajectory	trajectory	NOUN
ajst-2080	92	9	according	accord	VERB
ajst-2080	92	10	to	to	ADP
ajst-2080	92	11	the	the	DET
ajst-2080	92	12	historical	historical	ADJ
ajst-2080	92	13	trajectory	trajectory	NOUN
ajst-2080	92	14	information	information	NOUN
ajst-2080	92	15	,	,	PUNCT
ajst-2080	92	16	the	the	DET
ajst-2080	92	17	trajectory	trajectory	NOUN
ajst-2080	92	18	clip	clip	NOUN
ajst-2080	92	19	information	information	NOUN
ajst-2080	92	20	of	of	ADP
ajst-2080	92	21	sufficient	sufficient	ADJ
ajst-2080	92	22	length	length	NOUN
ajst-2080	92	23	is	be	AUX
ajst-2080	92	24	required	require	VERB
ajst-2080	92	25	.	.	PUNCT
ajst-2080	93	1	the	the	DET
ajst-2080	93	2	trajectory	trajectory	NOUN
ajst-2080	93	3	clip	clip	NOUN
ajst-2080	93	4	with	with	ADP
ajst-2080	93	5	a	a	DET
ajst-2080	93	6	duration	duration	NOUN
ajst-2080	93	7	of	of	ADP
ajst-2080	93	8	less	less	ADJ
ajst-2080	93	9	than	than	ADP
ajst-2080	93	10	10s	10	NOUN
ajst-2080	93	11	is	be	AUX
ajst-2080	93	12	omitted	omit	VERB
ajst-2080	93	13	here	here	ADV
ajst-2080	93	14	.	.	PUNCT
ajst-2080	94	1	(	(	PUNCT
ajst-2080	94	2	3	3	X
ajst-2080	94	3	)	)	PUNCT
ajst-2080	94	4	find	find	VERB
ajst-2080	94	5	the	the	DET
ajst-2080	94	6	intersection	intersection	NOUN
ajst-2080	94	7	point	point	NOUN
ajst-2080	94	8	of	of	ADP
ajst-2080	94	9	the	the	DET
ajst-2080	94	10	cut	cut	NOUN
ajst-2080	94	11	-	-	PUNCT
ajst-2080	94	12	in	in	ADP
ajst-2080	94	13	vehicle	vehicle	NOUN
ajst-2080	94	14	track	track	NOUN
ajst-2080	94	15	and	and	CCONJ
ajst-2080	94	16	lane	lane	NOUN
ajst-2080	94	17	line	line	NOUN
ajst-2080	94	18	and	and	CCONJ
ajst-2080	94	19	determine	determine	VERB
ajst-2080	94	20	it	it	PRON
ajst-2080	94	21	as	as	ADP
ajst-2080	94	22	the	the	DET
ajst-2080	94	23	cut	cut	NOUN
ajst-2080	94	24	-	-	PUNCT
ajst-2080	94	25	in	in	ADP
ajst-2080	94	26	point	point	NOUN
ajst-2080	94	27	.	.	PUNCT
ajst-2080	95	1	then	then	ADV
ajst-2080	95	2	,	,	PUNCT
ajst-2080	95	3	sample	sample	NOUN
ajst-2080	95	4	40	40	NUM
ajst-2080	95	5	time	time	NOUN
ajst-2080	95	6	steps	step	NOUN
ajst-2080	95	7	along	along	ADP
ajst-2080	95	8	the	the	DET
ajst-2080	95	9	time	time	NOUN
ajst-2080	95	10	axis	axis	NOUN
ajst-2080	95	11	direction	direction	NOUN
ajst-2080	95	12	and	and	CCONJ
ajst-2080	95	13	129time	129time	NUM
ajst-2080	95	14	steps	step	NOUN
ajst-2080	95	15	along	along	ADP
ajst-2080	95	16	the	the	DET
ajst-2080	95	17	opposite	opposite	ADJ
ajst-2080	95	18	direction	direction	NOUN
ajst-2080	95	19	of	of	ADP
ajst-2080	95	20	the	the	DET
ajst-2080	95	21	time	time	NOUN
ajst-2080	95	22	axis	axis	NOUN
ajst-2080	95	23	(	(	PUNCT
ajst-2080	95	24	at	at	ADP
ajst-2080	95	25	least	least	ADJ
ajst-2080	95	26	50	50	NUM
ajst-2080	95	27	-	-	PUNCT
ajst-2080	95	28	time	time	NOUN
ajst-2080	95	29	steps	step	NOUN
ajst-2080	95	30	must	must	AUX
ajst-2080	95	31	be	be	AUX
ajst-2080	95	32	met	meet	VERB
ajst-2080	95	33	to	to	PART
ajst-2080	95	34	meet	meet	VERB
ajst-2080	95	35	the	the	DET
ajst-2080	95	36	definition	definition	NOUN
ajst-2080	95	37	of	of	ADP
ajst-2080	95	38	the	the	DET
ajst-2080	95	39	cut	cut	NOUN
ajst-2080	95	40	in	in	ADP
ajst-2080	95	41	scene	scene	NOUN
ajst-2080	95	42	segment	segment	NOUN
ajst-2080	95	43	)	)	PUNCT
ajst-2080	95	44	,	,	PUNCT
ajst-2080	95	45	and	and	CCONJ
ajst-2080	95	46	determine	determine	VERB
ajst-2080	95	47	the	the	DET
ajst-2080	95	48	vehicle	vehicle	NOUN
ajst-2080	95	49	track	track	NOUN
ajst-2080	95	50	in	in	ADP
ajst-2080	95	51	this	this	DET
ajst-2080	95	52	period	period	NOUN
ajst-2080	95	53	as	as	ADP
ajst-2080	95	54	a	a	DET
ajst-2080	95	55	cut	cut	NOUN
ajst-2080	95	56	in	in	ADP
ajst-2080	95	57	scene	scene	NOUN
ajst-2080	95	58	segment	segment	NOUN
ajst-2080	95	59	.	.	PUNCT
ajst-2080	96	1	4	4	X
ajst-2080	96	2	.	.	X
ajst-2080	96	3	cut	cut	VERB
ajst-2080	96	4	in	in	ADP
ajst-2080	96	5	a	a	DET
ajst-2080	96	6	trajectory	trajectory	NOUN
ajst-2080	96	7	prediction	prediction	NOUN
ajst-2080	96	8	model	model	NOUN
ajst-2080	96	9	4.1	4.1	NUM
ajst-2080	96	10	.	.	PUNCT
ajst-2080	97	1	input	input	NOUN
ajst-2080	97	2	characteristic	characteristic	ADJ
ajst-2080	97	3	vehicle	vehicle	NOUN
ajst-2080	97	4	the	the	DET
ajst-2080	97	5	selection	selection	NOUN
ajst-2080	97	6	of	of	ADP
ajst-2080	97	7	input	input	NOUN
ajst-2080	97	8	characteristics	characteristic	NOUN
ajst-2080	97	9	of	of	ADP
ajst-2080	97	10	cut	cut	NOUN
ajst-2080	97	11	in	in	ADP
ajst-2080	97	12	trajectory	trajectory	NOUN
ajst-2080	97	13	prediction	prediction	NOUN
ajst-2080	97	14	model	model	NOUN
ajst-2080	97	15	is	be	AUX
ajst-2080	97	16	crucial	crucial	ADJ
ajst-2080	97	17	to	to	ADP
ajst-2080	97	18	the	the	DET
ajst-2080	97	19	accuracy	accuracy	NOUN
ajst-2080	97	20	of	of	ADP
ajst-2080	97	21	prediction	prediction	NOUN
ajst-2080	97	22	.	.	PUNCT
ajst-2080	98	1	for	for	ADP
ajst-2080	98	2	the	the	DET
ajst-2080	98	3	short	short	ADJ
ajst-2080	98	4	-	-	PUNCT
ajst-2080	98	5	term	term	NOUN
ajst-2080	98	6	future	future	ADJ
ajst-2080	98	7	trajectory	trajectory	NOUN
ajst-2080	98	8	prediction	prediction	NOUN
ajst-2080	98	9	of	of	ADP
ajst-2080	98	10	the	the	DET
ajst-2080	98	11	target	target	NOUN
ajst-2080	98	12	vehicle	vehicle	NOUN
ajst-2080	98	13	,	,	PUNCT
ajst-2080	98	14	its	its	PRON
ajst-2080	98	15	historical	historical	ADJ
ajst-2080	98	16	trajectory	trajectory	NOUN
ajst-2080	98	17	,	,	PUNCT
ajst-2080	98	18	especially	especially	ADV
ajst-2080	98	19	the	the	DET
ajst-2080	98	20	part	part	NOUN
ajst-2080	98	21	near	near	ADP
ajst-2080	98	22	the	the	DET
ajst-2080	98	23	current	current	ADJ
ajst-2080	98	24	time	time	NOUN
ajst-2080	98	25	point	point	NOUN
ajst-2080	98	26	,	,	PUNCT
ajst-2080	98	27	has	have	VERB
ajst-2080	98	28	more	more	ADV
ajst-2080	98	29	effective	effective	ADJ
ajst-2080	98	30	information	information	NOUN
ajst-2080	98	31	characteristics	characteristic	NOUN
ajst-2080	98	32	.	.	PUNCT
ajst-2080	99	1	on	on	ADP
ajst-2080	99	2	the	the	DET
ajst-2080	99	3	other	other	ADJ
ajst-2080	99	4	hand	hand	NOUN
ajst-2080	99	5	,	,	PUNCT
ajst-2080	99	6	the	the	DET
ajst-2080	99	7	interaction	interaction	NOUN
ajst-2080	99	8	between	between	ADP
ajst-2080	99	9	vehicles	vehicle	NOUN
ajst-2080	99	10	and	and	CCONJ
ajst-2080	99	11	the	the	DET
ajst-2080	99	12	behavior	behavior	NOUN
ajst-2080	99	13	of	of	ADP
ajst-2080	99	14	surrounding	surround	VERB
ajst-2080	99	15	vehicles	vehicle	NOUN
ajst-2080	99	16	will	will	AUX
ajst-2080	99	17	also	also	ADV
ajst-2080	99	18	affect	affect	VERB
ajst-2080	99	19	the	the	DET
ajst-2080	99	20	future	future	ADJ
ajst-2080	99	21	trajectory	trajectory	NOUN
ajst-2080	99	22	of	of	ADP
ajst-2080	99	23	the	the	DET
ajst-2080	99	24	target	target	NOUN
ajst-2080	99	25	vehicle	vehicle	NOUN
ajst-2080	99	26	.	.	PUNCT
ajst-2080	100	1	therefore	therefore	ADV
ajst-2080	100	2	,	,	PUNCT
ajst-2080	100	3	the	the	DET
ajst-2080	100	4	selected	select	VERB
ajst-2080	100	5	input	input	NOUN
ajst-2080	100	6	feature	feature	NOUN
ajst-2080	100	7	contains	contain	VERB
ajst-2080	100	8	the	the	DET
ajst-2080	100	9	following	follow	VERB
ajst-2080	100	10	two	two	NUM
ajst-2080	100	11	parts	part	NOUN
ajst-2080	100	12	.	.	PUNCT
ajst-2080	101	1	(	(	PUNCT
ajst-2080	101	2	1	1	X
ajst-2080	101	3	)	)	PUNCT
ajst-2080	101	4	information	information	NOUN
ajst-2080	101	5	of	of	ADP
ajst-2080	101	6	target	target	NOUN
ajst-2080	101	7	vehicle	vehicle	NOUN
ajst-2080	101	8	:	:	PUNCT
ajst-2080	101	9	longitudinal	longitudinal	ADJ
ajst-2080	101	10	coordinate	coordinate	NOUN
ajst-2080	101	11	,	,	PUNCT
ajst-2080	101	12	transverse	transverse	NOUN
ajst-2080	101	13	coordinate	coordinate	NOUN
ajst-2080	101	14	,	,	PUNCT
ajst-2080	101	15	speed	speed	NOUN
ajst-2080	101	16	and	and	CCONJ
ajst-2080	101	17	acceleration	acceleration	NOUN
ajst-2080	101	18	of	of	ADP
ajst-2080	101	19	target	target	NOUN
ajst-2080	101	20	vehicle	vehicle	NOUN
ajst-2080	101	21	,	,	PUNCT
ajst-2080	101	22	and	and	CCONJ
ajst-2080	101	23	direction	direction	NOUN
ajst-2080	101	24	angle	angle	NOUN
ajst-2080	101	25	and	and	CCONJ
ajst-2080	101	26	direction	direction	NOUN
ajst-2080	101	27	angular	angular	ADJ
ajst-2080	101	28	velocity	velocity	NOUN
ajst-2080	101	29	of	of	ADP
ajst-2080	101	30	vehicle	vehicle	NOUN
ajst-2080	101	31	relative	relative	ADJ
ajst-2080	101	32	to	to	ADP
ajst-2080	101	33	the	the	DET
ajst-2080	101	34	self	self	NOUN
ajst-2080	101	35	vehicle	vehicle	NOUN
ajst-2080	101	36	.	.	PUNCT
ajst-2080	102	1	(	(	PUNCT
ajst-2080	102	2	2	2	X
ajst-2080	102	3	)	)	PUNCT
ajst-2080	102	4	interaction	interaction	NOUN
ajst-2080	102	5	information	information	NOUN
ajst-2080	102	6	:	:	PUNCT
ajst-2080	102	7	relative	relative	ADJ
ajst-2080	102	8	longitudinal	longitudinal	ADJ
ajst-2080	102	9	distance	distance	NOUN
ajst-2080	102	10	,	,	PUNCT
ajst-2080	102	11	relative	relative	ADJ
ajst-2080	102	12	transverse	transverse	NOUN
ajst-2080	102	13	distance	distance	NOUN
ajst-2080	102	14	,	,	PUNCT
ajst-2080	102	15	relative	relative	ADJ
ajst-2080	102	16	longitudinal	longitudinal	ADJ
ajst-2080	102	17	velocity	velocity	NOUN
ajst-2080	102	18	,	,	PUNCT
ajst-2080	102	19	relative	relative	ADJ
ajst-2080	102	20	transverse	transverse	NOUN
ajst-2080	102	21	velocity	velocity	NOUN
ajst-2080	102	22	,	,	PUNCT
ajst-2080	102	23	and	and	CCONJ
ajst-2080	102	24	relative	relative	ADJ
ajst-2080	102	25	longitudinal	longitudinal	ADJ
ajst-2080	102	26	acceleration	acceleration	NOUN
ajst-2080	102	27	between	between	ADP
ajst-2080	102	28	the	the	DET
ajst-2080	102	29	target	target	NOUN
ajst-2080	102	30	vehicle	vehicle	NOUN
ajst-2080	102	31	and	and	CCONJ
ajst-2080	102	32	the	the	DET
ajst-2080	102	33	owner	owner	NOUN
ajst-2080	102	34	vehicle	vehicle	NOUN
ajst-2080	102	35	.	.	PUNCT
ajst-2080	103	1	therefore	therefore	ADV
ajst-2080	103	2	,	,	PUNCT
ajst-2080	103	3	the	the	DET
ajst-2080	103	4	information	information	NOUN
ajst-2080	103	5	of	of	ADP
ajst-2080	103	6	the	the	DET
ajst-2080	103	7	input	input	NOUN
ajst-2080	103	8	feature	feature	NOUN
ajst-2080	103	9	can	can	AUX
ajst-2080	103	10	be	be	AUX
ajst-2080	103	11	expressed	express	VERB
ajst-2080	103	12	information	information	NOUN
ajst-2080	103	13	of	of	ADP
ajst-2080	103	14	the	the	DET
ajst-2080	103	15	target	target	NOUN
ajst-2080	103	16	vehicle	vehicle	NOUN
ajst-2080	103	17	;	;	PUNCT
ajst-2080	103	18	is	be	AUX
ajst-2080	103	19	the	the	DET
ajst-2080	103	20	information	information	NOUN
ajst-2080	103	21	about	about	ADP
ajst-2080	103	22	the	the	DET
ajst-2080	103	23	interaction	interaction	NOUN
ajst-2080	103	24	between	between	ADP
ajst-2080	103	25	the	the	DET
ajst-2080	103	26	target	target	NOUN
ajst-2080	103	27	vehicle	vehicle	NOUN
ajst-2080	103	28	and	and	CCONJ
ajst-2080	103	29	its	its	PRON
ajst-2080	103	30	vehicle	vehicle	NOUN
ajst-2080	103	31	the	the	DET
ajst-2080	103	32	longitudinal	longitudinal	ADJ
ajst-2080	103	33	and	and	CCONJ
ajst-2080	103	34	transverse	transverse	NOUN
ajst-2080	103	35	coordinates	coordinate	NOUN
ajst-2080	103	36	of	of	ADP
ajst-2080	103	37	the	the	DET
ajst-2080	103	38	target	target	NOUN
ajst-2080	103	39	vehicle	vehicle	NOUN
ajst-2080	103	40	;	;	PUNCT
ajst-2080	103	41	is	be	AUX
ajst-2080	103	42	the	the	DET
ajst-2080	103	43	speed	speed	NOUN
ajst-2080	103	44	of	of	ADP
ajst-2080	103	45	the	the	DET
ajst-2080	103	46	target	target	NOUN
ajst-2080	103	47	vehicle	vehicle	NOUN
ajst-2080	103	48	;	;	PUNCT
ajst-2080	103	49	is	be	AUX
ajst-2080	103	50	the	the	DET
ajst-2080	103	51	acceleration	acceleration	NOUN
ajst-2080	103	52	of	of	ADP
ajst-2080	103	53	the	the	DET
ajst-2080	103	54	target	target	NOUN
ajst-2080	103	55	vehicle	vehicle	NOUN
ajst-2080	103	56	,	,	PUNCT
ajst-2080	103	57	see	see	VERB
ajst-2080	103	58	fig	fig	NOUN
ajst-2080	103	59	.	.	PUNCT
ajst-2080	104	1	2	2	X
ajst-2080	104	2	.	.	X
ajst-2080	105	1	y	y	PROPN
ajst-2080	105	2	𝑖	𝑖	PROPN
ajst-2080	105	3	𝑘	𝑘	X
ajst-2080	105	4	0	0	NUM
ajst-2080	105	5	𝑝	𝑝	NUM
ajst-2080	105	6	𝑎𝑘𝑖𝑘∑	𝑎𝑘𝑖𝑘∑	NOUN
ajst-2080	105	7	𝐸	𝐸	NOUN
ajst-2080	105	8	𝐼	𝐼	PROPN
ajst-2080	105	9	𝑀	𝑀	PROPN
ajst-2080	105	10	𝑀	𝑀	PROPN
ajst-2080	105	11	𝑦	𝑦	NOUN
ajst-2080	105	12	𝑖	𝑖	VERB
ajst-2080	105	13	𝑥	𝑥	NOUN
ajst-2080	105	14	𝑖	𝑖	SYM
ajst-2080	105	15	2∑	2∑	NUM
ajst-2080	105	16	𝜕𝐸	𝜕𝐸	ADP
ajst-2080	105	17	𝜕𝑎𝑘	𝜕𝑎𝑘	SYM
ajst-2080	105	18	0	0	NUM
ajst-2080	105	19	13	13	NUM
ajst-2080	105	20	figure	figure	NOUN
ajst-2080	105	21	2	2	NUM
ajst-2080	105	22	.	.	PUNCT
ajst-2080	105	23	research	research	NOUN
ajst-2080	105	24	on	on	ADP
ajst-2080	105	25	automatic	automatic	ADJ
ajst-2080	105	26	driving	driving	NOUN
ajst-2080	105	27	vehicle	vehicle	NOUN
ajst-2080	105	28	cut	cut	VERB
ajst-2080	105	29	in	in	ADP
ajst-2080	105	30	data	datum	NOUN
ajst-2080	105	31	set	set	VERB
ajst-2080	105	32	algorithm	algorithm	NOUN
ajst-2080	105	33	system	system	NOUN
ajst-2080	105	34	and	and	CCONJ
ajst-2080	105	35	are	be	AUX
ajst-2080	105	36	respectively	respectively	ADV
ajst-2080	105	37	the	the	DET
ajst-2080	105	38	direction	direction	NOUN
ajst-2080	105	39	angle	angle	NOUN
ajst-2080	105	40	and	and	CCONJ
ajst-2080	105	41	direction	direction	NOUN
ajst-2080	105	42	angular	angular	ADJ
ajst-2080	105	43	velocity	velocity	NOUN
ajst-2080	105	44	of	of	ADP
ajst-2080	105	45	the	the	DET
ajst-2080	105	46	target	target	NOUN
ajst-2080	105	47	vehicle	vehicle	NOUN
ajst-2080	105	48	relative	relative	ADJ
ajst-2080	105	49	to	to	ADP
ajst-2080	105	50	the	the	DET
ajst-2080	105	51	self	self	NOUN
ajst-2080	105	52	vehicle	vehicle	NOUN
ajst-2080	105	53	;	;	PUNCT
ajst-2080	105	54	and	and	CCONJ
ajst-2080	105	55	are	be	AUX
ajst-2080	105	56	the	the	DET
ajst-2080	105	57	relative	relative	ADJ
ajst-2080	105	58	longitudinal	longitudinal	ADJ
ajst-2080	105	59	distance	distance	NOUN
ajst-2080	105	60	and	and	CCONJ
ajst-2080	105	61	transverse	transverse	NOUN
ajst-2080	105	62	distance	distance	NOUN
ajst-2080	105	63	between	between	ADP
ajst-2080	105	64	the	the	DET
ajst-2080	105	65	target	target	NOUN
ajst-2080	105	66	vehicle	vehicle	NOUN
ajst-2080	105	67	and	and	CCONJ
ajst-2080	105	68	the	the	DET
ajst-2080	105	69	owner	owner	NOUN
ajst-2080	105	70	vehicle	vehicle	NOUN
ajst-2080	105	71	respectively	respectively	ADV
ajst-2080	105	72	;	;	PUNCT
ajst-2080	105	73	and	and	CCONJ
ajst-2080	105	74	are	be	AUX
ajst-2080	105	75	the	the	DET
ajst-2080	105	76	relative	relative	ADJ
ajst-2080	105	77	longitudinal	longitudinal	ADJ
ajst-2080	105	78	speed	speed	NOUN
ajst-2080	105	79	and	and	CCONJ
ajst-2080	105	80	relative	relative	ADJ
ajst-2080	105	81	transverse	transverse	NOUN
ajst-2080	105	82	speed	speed	NOUN
ajst-2080	105	83	of	of	ADP
ajst-2080	105	84	the	the	DET
ajst-2080	105	85	target	target	NOUN
ajst-2080	105	86	vehicle	vehicle	NOUN
ajst-2080	105	87	and	and	CCONJ
ajst-2080	105	88	the	the	DET
ajst-2080	105	89	owner	owner	NOUN
ajst-2080	105	90	vehicle	vehicle	NOUN
ajst-2080	105	91	respectively	respectively	ADV
ajst-2080	105	92	;	;	PUNCT
ajst-2080	105	93	is	be	AUX
ajst-2080	105	94	the	the	DET
ajst-2080	105	95	relative	relative	ADJ
ajst-2080	105	96	longitudinal	longitudinal	ADJ
ajst-2080	105	97	acceleration	acceleration	NOUN
ajst-2080	105	98	of	of	ADP
ajst-2080	105	99	the	the	DET
ajst-2080	105	100	target	target	NOUN
ajst-2080	105	101	vehicle	vehicle	NOUN
ajst-2080	105	102	and	and	CCONJ
ajst-2080	105	103	the	the	DET
ajst-2080	105	104	owner	owner	NOUN
ajst-2080	105	105	vehicle	vehicle	NOUN
ajst-2080	105	106	.	.	PUNCT
ajst-2080	106	1	3	3	NUM
ajst-2080	106	2	verification	verification	NOUN
ajst-2080	106	3	and	and	CCONJ
ajst-2080	106	4	analysis	analysis	NOUN
ajst-2080	106	5	3.1	3.1	NUM
ajst-2080	106	6	test	test	NOUN
ajst-2080	106	7	setup	setup	NOUN
ajst-2080	106	8	this	this	DET
ajst-2080	106	9	paper	paper	NOUN
ajst-2080	106	10	uses	use	VERB
ajst-2080	106	11	average	average	ADJ
ajst-2080	106	12	displacement	displacement	NOUN
ajst-2080	106	13	error	error	NOUN
ajst-2080	106	14	(	(	PUNCT
ajst-2080	106	15	ade	ade	PROPN
ajst-2080	106	16	)	)	PUNCT
ajst-2080	106	17	and	and	CCONJ
ajst-2080	106	18	final	final	ADJ
ajst-2080	106	19	displacement	displacement	NOUN
ajst-2080	106	20	error	error	NOUN
ajst-2080	106	21	(	(	PUNCT
ajst-2080	106	22	fde	fde	NOUN
ajst-2080	106	23	)	)	PUNCT
ajst-2080	106	24	to	to	PART
ajst-2080	106	25	evaluate	evaluate	VERB
ajst-2080	106	26	the	the	DET
ajst-2080	106	27	trajectory	trajectory	NOUN
ajst-2080	106	28	prediction	prediction	NOUN
ajst-2080	106	29	model	model	NOUN
ajst-2080	106	30	.	.	PUNCT
ajst-2080	107	1	ade	ade	PROPN
ajst-2080	107	2	represents	represent	VERB
ajst-2080	107	3	the	the	DET
ajst-2080	107	4	average	average	ADJ
ajst-2080	107	5	euclidean	euclidean	ADJ
ajst-2080	107	6	distance	distance	NOUN
ajst-2080	107	7	(	(	PUNCT
ajst-2080	107	8	med	med	PROPN
ajst-2080	107	9	)	)	PUNCT
ajst-2080	107	10	between	between	ADP
ajst-2080	107	11	all	all	DET
ajst-2080	107	12	predicted	predict	VERB
ajst-2080	107	13	positions	position	NOUN
ajst-2080	107	14	and	and	CCONJ
ajst-2080	107	15	the	the	DET
ajst-2080	107	16	actual	actual	ADJ
ajst-2080	107	17	position	position	NOUN
ajst-2080	107	18	in	in	ADP
ajst-2080	107	19	the	the	DET
ajst-2080	107	20	prediction	prediction	NOUN
ajst-2080	107	21	window	window	NOUN
ajst-2080	107	22	,	,	PUNCT
ajst-2080	107	23	and	and	CCONJ
ajst-2080	107	24	fde	fde	PROPN
ajst-2080	107	25	represents	represent	VERB
ajst-2080	107	26	the	the	DET
ajst-2080	107	27	average	average	ADJ
ajst-2080	107	28	euclidean	euclidean	ADJ
ajst-2080	107	29	distance	distance	NOUN
ajst-2080	107	30	between	between	ADP
ajst-2080	107	31	the	the	DET
ajst-2080	107	32	final	final	ADJ
ajst-2080	107	33	predicted	predict	VERB
ajst-2080	107	34	position	position	NOUN
ajst-2080	107	35	at	at	ADP
ajst-2080	107	36	the	the	DET
ajst-2080	107	37	end	end	NOUN
ajst-2080	107	38	of	of	ADP
ajst-2080	107	39	the	the	DET
ajst-2080	107	40	prediction	prediction	NOUN
ajst-2080	107	41	track	track	NOUN
ajst-2080	107	42	and	and	CCONJ
ajst-2080	107	43	the	the	DET
ajst-2080	107	44	corresponding	corresponding	ADJ
ajst-2080	107	45	absolute	absolute	ADJ
ajst-2080	107	46	position	position	NOUN
ajst-2080	107	47	.	.	PUNCT
ajst-2080	108	1	the	the	PRON
ajst-2080	108	2	smaller	small	ADJ
ajst-2080	108	3	the	the	DET
ajst-2080	108	4	values	value	NOUN
ajst-2080	108	5	of	of	ADP
ajst-2080	108	6	ade	ade	PROPN
ajst-2080	108	7	and	and	CCONJ
ajst-2080	108	8	fde	fde	PROPN
ajst-2080	108	9	,	,	PUNCT
ajst-2080	108	10	the	the	PRON
ajst-2080	108	11	better	well	ADJ
ajst-2080	108	12	the	the	DET
ajst-2080	108	13	prediction	prediction	NOUN
ajst-2080	108	14	effect	effect	NOUN
ajst-2080	108	15	.	.	PUNCT
ajst-2080	109	1	the	the	DET
ajst-2080	109	2	formula	formula	NOUN
ajst-2080	109	3	is	be	AUX
ajst-2080	109	4	:	:	PUNCT
ajst-2080	109	5	(	(	PUNCT
ajst-2080	109	6	4	4	NUM
ajst-2080	109	7	)	)	PUNCT
ajst-2080	109	8	(	(	PUNCT
ajst-2080	109	9	5	5	NUM
ajst-2080	109	10	)	)	PUNCT
ajst-2080	109	11	where	where	SCONJ
ajst-2080	109	12	:	:	PUNCT
ajst-2080	109	13	n	n	PRON
ajst-2080	109	14	is	be	AUX
ajst-2080	109	15	the	the	DET
ajst-2080	109	16	total	total	ADJ
ajst-2080	109	17	amount	amount	NOUN
ajst-2080	109	18	of	of	ADP
ajst-2080	109	19	samples	sample	NOUN
ajst-2080	109	20	;	;	PUNCT
ajst-2080	109	21	xi	xi	NUM
ajst-2080	109	22	and	and	CCONJ
ajst-2080	109	23	yi	yi	PROPN
ajst-2080	109	24	are	be	AUX
ajst-2080	109	25	the	the	DET
ajst-2080	109	26	actual	actual	ADJ
ajst-2080	109	27	values	value	NOUN
ajst-2080	109	28	of	of	ADP
ajst-2080	109	29	the	the	DET
ajst-2080	109	30	vertical	vertical	ADJ
ajst-2080	109	31	and	and	CCONJ
ajst-2080	109	32	horizontal	horizontal	ADJ
ajst-2080	109	33	coordinates	coordinate	NOUN
ajst-2080	109	34	,	,	PUNCT
ajst-2080	109	35	respectively	respectively	ADV
ajst-2080	109	36	;	;	PUNCT
ajst-2080	109	37	x	x	SYM
ajst-2080	109	38	̂	̂	PUNCT
ajst-2080	109	39	i	i	PROPN
ajst-2080	109	40	,	,	PUNCT
ajst-2080	109	41	y	y	PROPN
ajst-2080	109	42	̂	̂	PUNCT
ajst-2080	109	43	i	i	PRON
ajst-2080	109	44	is	be	AUX
ajst-2080	109	45	the	the	DET
ajst-2080	109	46	predicted	predict	VERB
ajst-2080	109	47	value	value	NOUN
ajst-2080	109	48	of	of	ADP
ajst-2080	109	49	the	the	DET
ajst-2080	109	50	longitudinal	longitudinal	ADJ
ajst-2080	109	51	coordinate	coordinate	NOUN
ajst-2080	109	52	and	and	CCONJ
ajst-2080	109	53	transverse	transverse	NOUN
ajst-2080	109	54	coordinate	coordinate	NOUN
ajst-2080	109	55	,	,	PUNCT
ajst-2080	109	56	respectively	respectively	ADV
ajst-2080	109	57	;	;	PUNCT
ajst-2080	109	58	the	the	DET
ajst-2080	109	59	subscript	subscript	NOUN
ajst-2080	109	60	e	e	PROPN
ajst-2080	109	61	represents	represent	VERB
ajst-2080	109	62	the	the	DET
ajst-2080	109	63	final	final	ADJ
ajst-2080	109	64	predicted	predict	VERB
ajst-2080	109	65	position	position	NOUN
ajst-2080	109	66	.	.	PUNCT
ajst-2080	110	1	in	in	ADP
ajst-2080	110	2	order	order	NOUN
ajst-2080	110	3	to	to	PART
ajst-2080	110	4	verify	verify	VERB
ajst-2080	110	5	the	the	DET
ajst-2080	110	6	effect	effect	NOUN
ajst-2080	110	7	of	of	ADP
ajst-2080	110	8	the	the	DET
ajst-2080	110	9	prediction	prediction	NOUN
ajst-2080	110	10	model	model	NOUN
ajst-2080	110	11	proposed	propose	VERB
ajst-2080	110	12	in	in	ADP
ajst-2080	110	13	this	this	DET
ajst-2080	110	14	paper	paper	NOUN
ajst-2080	110	15	,	,	PUNCT
ajst-2080	110	16	four	four	NUM
ajst-2080	110	17	kinds	kind	NOUN
ajst-2080	110	18	of	of	ADP
ajst-2080	110	19	networks	network	NOUN
ajst-2080	110	20	are	be	AUX
ajst-2080	110	21	used	use	VERB
ajst-2080	110	22	to	to	PART
ajst-2080	110	23	compare	compare	VERB
ajst-2080	110	24	the	the	DET
ajst-2080	110	25	performance	performance	NOUN
ajst-2080	110	26	of	of	ADP
ajst-2080	110	27	each	each	DET
ajst-2080	110	28	model	model	NOUN
ajst-2080	110	29	.	.	PUNCT
ajst-2080	111	1	(	(	PUNCT
ajst-2080	111	2	1	1	X
ajst-2080	111	3	)	)	PUNCT
ajst-2080	111	4	lstm	lstm	NOUN
ajst-2080	111	5	:	:	PUNCT
ajst-2080	111	6	long	long	ADJ
ajst-2080	111	7	and	and	CCONJ
ajst-2080	111	8	short	short	ADJ
ajst-2080	111	9	-	-	PUNCT
ajst-2080	111	10	term	term	NOUN
ajst-2080	111	11	memory	memory	NOUN
ajst-2080	111	12	networks	network	NOUN
ajst-2080	111	13	are	be	AUX
ajst-2080	111	14	used	use	VERB
ajst-2080	111	15	for	for	ADP
ajst-2080	111	16	trajectory	trajectory	NOUN
ajst-2080	111	17	prediction	prediction	NOUN
ajst-2080	111	18	.	.	PUNCT
ajst-2080	112	1	(	(	PUNCT
ajst-2080	112	2	2	2	X
ajst-2080	112	3	)	)	PUNCT
ajst-2080	112	4	gated	gate	VERB
ajst-2080	112	5	current	current	ADJ
ajst-2080	112	6	unit	unit	NOUN
ajst-2080	112	7	(	(	PUNCT
ajst-2080	112	8	gru	gru	PROPN
ajst-2080	112	9	):	):	PUNCT
ajst-2080	112	10	a	a	DET
ajst-2080	112	11	variant	variant	NOUN
ajst-2080	112	12	of	of	ADP
ajst-2080	112	13	rnn	rnn	NOUN
ajst-2080	112	14	is	be	AUX
ajst-2080	112	15	proposed	propose	VERB
ajst-2080	112	16	to	to	PART
ajst-2080	112	17	solve	solve	VERB
ajst-2080	112	18	long	long	ADJ
ajst-2080	112	19	-	-	PUNCT
ajst-2080	112	20	term	term	NOUN
ajst-2080	112	21	memory	memory	NOUN
ajst-2080	112	22	problems	problem	NOUN
ajst-2080	112	23	and	and	CCONJ
ajst-2080	112	24	gradient	gradient	NOUN
ajst-2080	112	25	in	in	ADP
ajst-2080	112	26	backpropagation	backpropagation	NOUN
ajst-2080	112	27	.	.	PUNCT
ajst-2080	113	1	structurally	structurally	ADV
ajst-2080	113	2	,	,	PUNCT
ajst-2080	113	3	gru	gru	PROPN
ajst-2080	113	4	has	have	VERB
ajst-2080	113	5	only	only	ADV
ajst-2080	113	6	two	two	NUM
ajst-2080	113	7	gates	gate	NOUN
ajst-2080	113	8	,	,	PUNCT
ajst-2080	113	9	and	and	CCONJ
ajst-2080	113	10	its	its	PRON
ajst-2080	113	11	performance	performance	NOUN
ajst-2080	113	12	is	be	AUX
ajst-2080	113	13	similar	similar	ADJ
ajst-2080	113	14	to	to	ADP
ajst-2080	113	15	lstm	lstm	PROPN
ajst-2080	113	16	.	.	PUNCT
ajst-2080	114	1	gru	gru	PROPN
ajst-2080	114	2	has	have	VERB
ajst-2080	114	3	fewer	few	ADJ
ajst-2080	114	4	parameters	parameter	NOUN
ajst-2080	114	5	and	and	CCONJ
ajst-2080	114	6	lower	low	ADJ
ajst-2080	114	7	calculation	calculation	NOUN
ajst-2080	114	8	costs	cost	NOUN
ajst-2080	114	9	.	.	PUNCT
ajst-2080	115	1	(	(	PUNCT
ajst-2080	115	2	3	3	X
ajst-2080	115	3	)	)	PUNCT
ajst-2080	115	4	bi	bi	ADJ
ajst-2080	115	5	lstm	lstm	NOUN
ajst-2080	115	6	:	:	PUNCT
ajst-2080	115	7	bidirectional	bidirectional	ADJ
ajst-2080	115	8	lstm	lstm	NOUN
ajst-2080	115	9	network	network	NOUN
ajst-2080	115	10	.	.	PUNCT
ajst-2080	116	1	(	(	PUNCT
ajst-2080	116	2	4	4	X
ajst-2080	116	3	)	)	PUNCT
ajst-2080	116	4	bi	bi	PROPN
ajst-2080	116	5	gru	gru	PROPN
ajst-2080	116	6	:	:	PUNCT
ajst-2080	116	7	bidirectional	bidirectional	PROPN
ajst-2080	116	8	gru	gru	PROPN
ajst-2080	116	9	network	network	NOUN
ajst-2080	116	10	.	.	PUNCT
ajst-2080	117	1	4.2	4.2	NUM
ajst-2080	117	2	.	.	PUNCT
ajst-2080	117	3	ngsim	ngsim	PROPN
ajst-2080	117	4	dataset	dataset	NOUN
ajst-2080	117	5	verification	verification	NOUN
ajst-2080	117	6	in	in	ADP
ajst-2080	117	7	order	order	NOUN
ajst-2080	117	8	to	to	PART
ajst-2080	117	9	test	test	VERB
ajst-2080	117	10	the	the	DET
ajst-2080	117	11	robustness	robustness	NOUN
ajst-2080	117	12	of	of	ADP
ajst-2080	117	13	the	the	DET
ajst-2080	117	14	proposed	propose	VERB
ajst-2080	117	15	model	model	NOUN
ajst-2080	117	16	,	,	PUNCT
ajst-2080	117	17	this	this	DET
ajst-2080	117	18	paper	paper	NOUN
ajst-2080	117	19	also	also	ADV
ajst-2080	117	20	uses	use	VERB
ajst-2080	117	21	the	the	DET
ajst-2080	117	22	vehicle	vehicle	NOUN
ajst-2080	117	23	trajectory	trajectory	NOUN
ajst-2080	117	24	data	datum	NOUN
ajst-2080	117	25	of	of	ADP
ajst-2080	117	26	the	the	DET
ajst-2080	117	27	ngsim	ngsim	ADJ
ajst-2080	117	28	project	project	NOUN
ajst-2080	117	29	of	of	ADP
ajst-2080	117	30	the	the	DET
ajst-2080	117	31	data	datum	NOUN
ajst-2080	117	32	set	set	VERB
ajst-2080	117	33	for	for	ADP
ajst-2080	117	34	comparative	comparative	ADJ
ajst-2080	117	35	testing	testing	NOUN
ajst-2080	117	36	.	.	PUNCT
ajst-2080	118	1	aerial	aerial	ADJ
ajst-2080	118	2	cameras	camera	NOUN
ajst-2080	118	3	collect	collect	VERB
ajst-2080	118	4	the	the	DET
ajst-2080	118	5	data	datum	NOUN
ajst-2080	118	6	of	of	ADP
ajst-2080	118	7	the	the	DET
ajst-2080	118	8	detected	detect	VERB
ajst-2080	118	9	road	road	NOUN
ajst-2080	118	10	section	section	NOUN
ajst-2080	118	11	with	with	ADP
ajst-2080	118	12	a	a	DET
ajst-2080	118	13	sampling	sample	VERB
ajst-2080	118	14	frequency	frequency	NOUN
ajst-2080	118	15	of	of	ADP
ajst-2080	118	16	10hz	10hz	NOUN
ajst-2080	118	17	.	.	PUNCT
ajst-2080	119	1	the	the	DET
ajst-2080	119	2	data	datum	NOUN
ajst-2080	119	3	set	set	VERB
ajst-2080	119	4	provides	provide	VERB
ajst-2080	119	5	the	the	DET
ajst-2080	119	6	vehicle	vehicle	NOUN
ajst-2080	119	7	speed	speed	NOUN
ajst-2080	119	8	,	,	PUNCT
ajst-2080	119	9	acceleration	acceleration	NOUN
ajst-2080	119	10	,	,	PUNCT
ajst-2080	119	11	location	location	NOUN
ajst-2080	119	12	coordinates	coordinate	NOUN
ajst-2080	119	13	,	,	PUNCT
ajst-2080	119	14	lane	lane	NOUN
ajst-2080	119	15	information	information	NOUN
ajst-2080	119	16	,	,	PUNCT
ajst-2080	119	17	etc	etc	X
ajst-2080	119	18	.	.	X
ajst-2080	120	1	the	the	DET
ajst-2080	120	2	lane	lane	NOUN
ajst-2080	120	3	change	change	NOUN
ajst-2080	120	4	track	track	NOUN
ajst-2080	120	5	and	and	CCONJ
ajst-2080	120	6	lane	lane	NOUN
ajst-2080	120	7	keeping	keeping	NOUN
ajst-2080	120	8	segment	segment	NOUN
ajst-2080	120	9	are	be	AUX
ajst-2080	120	10	extracted	extract	VERB
ajst-2080	120	11	from	from	ADP
ajst-2080	120	12	the	the	DET
ajst-2080	120	13	data	datum	NOUN
ajst-2080	120	14	set	set	VERB
ajst-2080	120	15	to	to	PART
ajst-2080	120	16	generate	generate	VERB
ajst-2080	120	17	the	the	DET
ajst-2080	120	18	test	test	NOUN
ajst-2080	120	19	data	datum	NOUN
ajst-2080	120	20	set	set	VERB
ajst-2080	120	21	,	,	PUNCT
ajst-2080	120	22	divided	divide	VERB
ajst-2080	120	23	into	into	ADP
ajst-2080	120	24	a	a	DET
ajst-2080	120	25	training	training	NOUN
ajst-2080	120	26	set	set	NOUN
ajst-2080	120	27	,	,	PUNCT
ajst-2080	120	28	verification	verification	NOUN
ajst-2080	120	29	set	set	NOUN
ajst-2080	120	30	,	,	PUNCT
ajst-2080	120	31	and	and	CCONJ
ajst-2080	120	32	test	test	NOUN
ajst-2080	120	33	set	set	VERB
ajst-2080	120	34	according	accord	VERB
ajst-2080	120	35	to	to	ADP
ajst-2080	120	36	the	the	DET
ajst-2080	120	37	ratio	ratio	NOUN
ajst-2080	120	38	of	of	ADP
ajst-2080	120	39	8:1:1	8:1:1	PROPN
ajst-2080	120	40	.	.	PUNCT
ajst-2080	121	1	table	table	NOUN
ajst-2080	121	2	3	3	NUM
ajst-2080	121	3	.	.	PUNCT
ajst-2080	121	4	evaluation	evaluation	NOUN
ajst-2080	121	5	indicators	indicator	NOUN
ajst-2080	121	6	of	of	ADP
ajst-2080	121	7	each	each	DET
ajst-2080	121	8	model	model	NOUN
ajst-2080	121	9	model	model	NOUN
ajst-2080	121	10	evaluation	evaluation	NOUN
ajst-2080	121	11	index	index	NOUN
ajst-2080	121	12	gru	gru	VERB
ajst-2080	121	13	2.236	2.236	NUM
ajst-2080	121	14	2.486	2.486	NUM
ajst-2080	121	15	lstm	lstm	NOUN
ajst-2080	121	16	2.707	2.707	NUM
ajst-2080	121	17	3.158	3.158	NUM
ajst-2080	121	18	bi	bi	NOUN
ajst-2080	121	19	-	-	NOUN
ajst-2080	121	20	gru	gru	NOUN
ajst-2080	121	21	1.814	1.814	NUM
ajst-2080	121	22	2.884	2.884	NUM
ajst-2080	121	23	bi	bi	NOUN
ajst-2080	121	24	-	-	NOUN
ajst-2080	121	25	lstm	lstm	ADJ
ajst-2080	121	26	1.741	1.741	NUM
ajst-2080	121	27	2.929	2.929	NUM
ajst-2080	121	28	to	to	PART
ajst-2080	121	29	sum	sum	VERB
ajst-2080	121	30	up	up	ADP
ajst-2080	121	31	,	,	PUNCT
ajst-2080	121	32	the	the	DET
ajst-2080	121	33	improved	improve	VERB
ajst-2080	121	34	bi	bi	NOUN
ajst-2080	121	35	lstm	lstm	NOUN
ajst-2080	121	36	proposed	propose	VERB
ajst-2080	121	37	in	in	ADP
ajst-2080	121	38	this	this	DET
ajst-2080	121	39	paper	paper	NOUN
ajst-2080	121	40	can	can	AUX
ajst-2080	121	41	better	well	ADV
ajst-2080	121	42	adapt	adapt	VERB
ajst-2080	121	43	to	to	ADP
ajst-2080	121	44	the	the	DET
ajst-2080	121	45	impact	impact	NOUN
ajst-2080	121	46	of	of	ADP
ajst-2080	121	47	data	datum	NOUN
ajst-2080	121	48	set	set	VERB
ajst-2080	121	49	differences	difference	NOUN
ajst-2080	121	50	and	and	CCONJ
ajst-2080	121	51	has	have	VERB
ajst-2080	121	52	advantages	advantage	NOUN
ajst-2080	121	53	and	and	CCONJ
ajst-2080	121	54	robustness	robustness	NOUN
ajst-2080	121	55	in	in	ADP
ajst-2080	121	56	ngsim	ngsim	ADJ
ajst-2080	121	57	data	datum	NOUN
ajst-2080	121	58	sets	set	NOUN
ajst-2080	121	59	.	.	PUNCT
ajst-2080	122	1	5	5	X
ajst-2080	122	2	.	.	X
ajst-2080	122	3	conclusion	conclusion	NOUN
ajst-2080	122	4	in	in	ADP
ajst-2080	122	5	this	this	DET
ajst-2080	122	6	paper	paper	NOUN
ajst-2080	122	7	,	,	PUNCT
ajst-2080	122	8	the	the	DET
ajst-2080	122	9	extraction	extraction	NOUN
ajst-2080	122	10	criteria	criterion	NOUN
ajst-2080	122	11	of	of	ADP
ajst-2080	122	12	vehicle	vehicle	NOUN
ajst-2080	122	13	cut	cut	NOUN
ajst-2080	122	14	-	-	PUNCT
ajst-2080	122	15	in	in	ADP
ajst-2080	122	16	scenes	scene	NOUN
ajst-2080	122	17	are	be	AUX
ajst-2080	122	18	designed	design	VERB
ajst-2080	122	19	.	.	PUNCT
ajst-2080	123	1	the	the	DET
ajst-2080	123	2	eligible	eligible	ADJ
ajst-2080	123	3	vehicle	vehicle	NOUN
ajst-2080	123	4	cut	cut	NOUN
ajst-2080	123	5	-	-	PUNCT
ajst-2080	123	6	in	in	ADP
ajst-2080	123	7	scene	scene	NOUN
ajst-2080	123	8	fragments	fragment	NOUN
ajst-2080	123	9	are	be	AUX
ajst-2080	123	10	extracted	extract	VERB
ajst-2080	123	11	from	from	ADP
ajst-2080	123	12	the	the	DET
ajst-2080	123	13	natural	natural	ADJ
ajst-2080	123	14	driving	driving	NOUN
ajst-2080	123	15	data	datum	NOUN
ajst-2080	123	16	.	.	PUNCT
ajst-2080	124	1	the	the	DET
ajst-2080	124	2	sliding	sliding	ADJ
ajst-2080	124	3	time	time	NOUN
ajst-2080	124	4	window	window	NOUN
ajst-2080	124	5	method	method	NOUN
ajst-2080	124	6	filters	filter	VERB
ajst-2080	124	7	the	the	DET
ajst-2080	124	8	above	above	ADV
ajst-2080	124	9	-	-	PUNCT
ajst-2080	124	10	extracted	extract	VERB
ajst-2080	124	11	cut	cut	NOUN
ajst-2080	124	12	-	-	PUNCT
ajst-2080	124	13	in	in	ADP
ajst-2080	124	14	-	-	PUNCT
ajst-2080	124	15	scene	scene	NOUN
ajst-2080	124	16	fragments	fragment	NOUN
ajst-2080	124	17	and	and	CCONJ
ajst-2080	124	18	generates	generate	VERB
ajst-2080	124	19	a	a	DET
ajst-2080	124	20	data	data	NOUN
ajst-2080	124	21	set	set	VERB
ajst-2080	124	22	,	,	PUNCT
ajst-2080	124	23	which	which	PRON
ajst-2080	124	24	is	be	AUX
ajst-2080	124	25	used	use	VERB
ajst-2080	124	26	to	to	PART
ajst-2080	124	27	train	train	VERB
ajst-2080	124	28	and	and	CCONJ
ajst-2080	124	29	test	test	VERB
ajst-2080	124	30	the	the	DET
ajst-2080	124	31	proposed	propose	VERB
ajst-2080	124	32	model	model	NOUN
ajst-2080	124	33	.	.	PUNCT
ajst-2080	125	1	considering	consider	VERB
ajst-2080	125	2	the	the	DET
ajst-2080	125	3	influence	influence	NOUN
ajst-2080	125	4	of	of	ADP
ajst-2080	125	5	selfdriving	selfdrive	VERB
ajst-2080	125	6	vehicles	vehicle	NOUN
ajst-2080	125	7	on	on	ADP
ajst-2080	125	8	the	the	DET
ajst-2080	125	9	future	future	ADJ
ajst-2080	125	10	state	state	NOUN
ajst-2080	125	11	of	of	ADP
ajst-2080	125	12	the	the	DET
ajst-2080	125	13	front	front	ADJ
ajst-2080	125	14	entry	entry	NOUN
ajst-2080	125	15	vehicle	vehicle	NOUN
ajst-2080	125	16	,	,	PUNCT
ajst-2080	125	17	combining	combine	VERB
ajst-2080	125	18	the	the	DET
ajst-2080	125	19	advantages	advantage	NOUN
ajst-2080	125	20	of	of	ADP
ajst-2080	125	21	bi	bi	ADJ
ajst-2080	125	22	lstm	lstm	NOUN
ajst-2080	125	23	network	network	NOUN
ajst-2080	125	24	that	that	PRON
ajst-2080	125	25	is	be	AUX
ajst-2080	125	26	good	good	ADJ
ajst-2080	125	27	at	at	ADP
ajst-2080	125	28	learning	learn	VERB
ajst-2080	125	29	and	and	CCONJ
ajst-2080	125	30	using	use	VERB
ajst-2080	125	31	context	context	NOUN
ajst-2080	125	32	information	information	NOUN
ajst-2080	125	33	and	and	CCONJ
ajst-2080	125	34	the	the	DET
ajst-2080	125	35	ability	ability	NOUN
ajst-2080	125	36	of	of	ADP
ajst-2080	125	37	in	in	ADP
ajst-2080	125	38	out	out	ADP
ajst-2080	125	39	fast	fast	ADJ
ajst-2080	125	40	connection	connection	NOUN
ajst-2080	125	41	to	to	PART
ajst-2080	125	42	effectively	effectively	ADV
ajst-2080	125	43	reduce	reduce	VERB
ajst-2080	125	44	gradient	gradient	ADJ
ajst-2080	125	45	disappearance	disappearance	NOUN
ajst-2080	125	46	and	and	CCONJ
ajst-2080	125	47	network	network	NOUN
ajst-2080	125	48	degradation	degradation	NOUN
ajst-2080	125	49	,	,	PUNCT
ajst-2080	125	50	a	a	DET
ajst-2080	125	51	modified	modify	VERB
ajst-2080	125	52	bi	bi	ADJ
ajst-2080	125	53	lstm	lstm	PROPN
ajst-2080	125	54	model	model	NOUN
ajst-2080	125	55	based	base	VERB
ajst-2080	125	56	on	on	ADP
ajst-2080	125	57	deep	deep	ADJ
ajst-2080	125	58	learning	learning	NOUN
ajst-2080	125	59	is	be	AUX
ajst-2080	125	60	proposed	propose	VERB
ajst-2080	125	61	to	to	PART
ajst-2080	125	62	predict	predict	VERB
ajst-2080	125	63	the	the	DET
ajst-2080	125	64	entry	entry	NOUN
ajst-2080	125	65	trajectory	trajectory	NOUN
ajst-2080	125	66	of	of	ADP
ajst-2080	125	67	vehicles	vehicle	NOUN
ajst-2080	125	68	in	in	ADP
ajst-2080	125	69	a	a	DET
ajst-2080	125	70	man	man	NOUN
ajst-2080	125	71	-	-	PUNCT
ajst-2080	125	72	machine	machine	NOUN
ajst-2080	125	73	hybrid	hybrid	ADJ
ajst-2080	125	74	driving	driving	NOUN
ajst-2080	125	75	environment	environment	NOUN
ajst-2080	125	76	.	.	PUNCT
ajst-2080	126	1	through	through	ADP
ajst-2080	126	2	the	the	DET
ajst-2080	126	3	comparison	comparison	NOUN
ajst-2080	126	4	and	and	CCONJ
ajst-2080	126	5	analysis	analysis	NOUN
ajst-2080	126	6	of	of	ADP
ajst-2080	126	7	the	the	DET
ajst-2080	126	8	test	test	NOUN
ajst-2080	126	9	results	result	NOUN
ajst-2080	126	10	,	,	PUNCT
ajst-2080	126	11	it	it	PRON
ajst-2080	126	12	can	can	AUX
ajst-2080	126	13	be	be	AUX
ajst-2080	126	14	proved	prove	VERB
ajst-2080	126	15	that	that	SCONJ
ajst-2080	126	16	the	the	DET
ajst-2080	126	17	proposed	propose	VERB
ajst-2080	126	18	method	method	NOUN
ajst-2080	126	19	has	have	AUX
ajst-2080	126	20	greatly	greatly	ADV
ajst-2080	126	21	improved	improve	VERB
ajst-2080	126	22	the	the	DET
ajst-2080	126	23	prediction	prediction	NOUN
ajst-2080	126	24	effect	effect	NOUN
ajst-2080	126	25	of	of	ADP
ajst-2080	126	26	the	the	DET
ajst-2080	126	27	cut	cut	NOUN
ajst-2080	126	28	in	in	ADP
ajst-2080	126	29	vehicle	vehicle	NOUN
ajst-2080	126	30	trajectory	trajectory	NOUN
ajst-2080	126	31	and	and	CCONJ
ajst-2080	126	32	has	have	VERB
ajst-2080	126	33	a	a	DET
ajst-2080	126	34	high	high	ADJ
ajst-2080	126	35	application	application	NOUN
ajst-2080	126	36	value	value	NOUN
ajst-2080	126	37	.	.	PUNCT
ajst-2080	127	1	acknowledgment	acknowledgment	NOUN
ajst-2080	127	2	this	this	DET
ajst-2080	127	3	paper	paper	NOUN
ajst-2080	127	4	is	be	AUX
ajst-2080	127	5	sponsored	sponsor	VERB
ajst-2080	127	6	by	by	ADP
ajst-2080	127	7	scientific	scientific	ADJ
ajst-2080	127	8	research	research	NOUN
ajst-2080	127	9	project	project	NOUN
ajst-2080	127	10	of	of	ADP
ajst-2080	127	11	hubei	hubei	PROPN
ajst-2080	127	12	provincial	provincial	ADJ
ajst-2080	127	13	department	department	NOUN
ajst-2080	127	14	of	of	ADP
ajst-2080	127	15	education	education	NOUN
ajst-2080	127	16	(	(	PUNCT
ajst-2080	127	17	project	project	NOUN
ajst-2080	127	18	no	no	NOUN
ajst-2080	127	19	.	.	NOUN
ajst-2080	127	20	17g046	17g046	NOUN
ajst-2080	127	21	)	)	PUNCT
ajst-2080	127	22	.	.	PUNCT
ajst-2080	128	1	ade	ade	NOUN
ajst-2080	129	1	1	1	NUM
ajst-2080	130	1	y	y	NOUN
ajst-2080	131	1	i	i	PRON
ajst-2080	132	1	1	1	NUM
ajst-2080	132	2	n	n	NOUN
ajst-2080	133	1	xi	xi	INTJ
ajst-2080	133	2	xi	xi	PROPN
ajst-2080	133	3	2	2	NUM
ajst-2080	133	4	yi	yi	NOUN
ajst-2080	133	5	yi	yi	NOUN
ajst-2080	133	6	2∑	2∑	NUM
ajst-2080	134	1	fde	fde	PROPN
ajst-2080	134	2	xe	xe	PROPN
ajst-2080	134	3	xe	xe	PROPN
ajst-2080	134	4	2	2	NUM
ajst-2080	134	5	ye	ye	NOUN
ajst-2080	134	6	ye	ye	NOUN
ajst-2080	134	7	2	2	NUM
ajst-2080	134	8	14	14	NUM
ajst-2080	134	9	references	reference	NOUN
ajst-2080	134	10	[	[	X
ajst-2080	134	11	1	1	NUM
ajst-2080	134	12	]	]	PUNCT
ajst-2080	134	13	zhang	zhang	PROPN
ajst-2080	134	14	xinyu	xinyu	PROPN
ajst-2080	134	15	,	,	PUNCT
ajst-2080	134	16	gao	gao	PROPN
ajst-2080	134	17	hongbo	hongbo	PROPN
ajst-2080	134	18	,	,	PUNCT
ajst-2080	134	19	zhao	zhao	PROPN
ajst-2080	134	20	jianhui	jianhui	PROPN
ajst-2080	134	21	,	,	PUNCT
ajst-2080	134	22	et	et	PROPN
ajst-2080	134	23	al	al	PROPN
ajst-2080	134	24	.	.	PROPN
ajst-2080	134	25	overview	overview	NOUN
ajst-2080	134	26	of	of	ADP
ajst-2080	134	27	autonomous	autonomous	ADJ
ajst-2080	134	28	driving	driving	NOUN
ajst-2080	134	29	technology	technology	NOUN
ajst-2080	134	30	based	base	VERB
ajst-2080	134	31	on	on	ADP
ajst-2080	134	32	deep	deep	ADJ
ajst-2080	134	33	learning	learning	NOUN
ajst-2080	134	34	journal	journal	PROPN
ajst-2080	134	35	of	of	ADP
ajst-2080	134	36	tsinghua	tsinghua	PROPN
ajst-2080	134	37	university	university	PROPN
ajst-2080	134	38	,	,	PUNCT
ajst-2080	134	39	vol	vol	NOUN
ajst-2080	134	40	.	.	PROPN
ajst-2080	134	41	16	16	NUM
ajst-2080	134	42	(	(	PUNCT
ajst-2080	134	43	2020	2020	NUM
ajst-2080	134	44	)	)	PUNCT
ajst-2080	134	45	no	no	INTJ
ajst-2080	134	46	.	.	NOUN
ajst-2080	134	47	06	06	NUM
ajst-2080	134	48	,	,	PUNCT
ajst-2080	134	49	p.312	p.312	NOUN
ajst-2080	134	50	-	-	PUNCT
ajst-2080	134	51	316	316	NUM
ajst-2080	134	52	.	.	PUNCT
ajst-2080	135	1	[	[	X
ajst-2080	135	2	2	2	X
ajst-2080	135	3	]	]	X
ajst-2080	135	4	leo	leo	PROPN
ajst-2080	135	5	.	.	PUNCT
ajst-2080	135	6	target	target	NOUN
ajst-2080	135	7	detection	detection	NOUN
ajst-2080	135	8	using	use	VERB
ajst-2080	135	9	deep	deep	ADJ
ajst-2080	135	10	learning	learn	VERB
ajst-2080	135	11	china	china	PROPN
ajst-2080	135	12	equipment	equipment	PROPN
ajst-2080	135	13	engineering	engineering	NOUN
ajst-2080	135	14	,	,	PUNCT
ajst-2080	135	15	vol	vol	NOUN
ajst-2080	135	16	.	.	PROPN
ajst-2080	135	17	14	14	NUM
ajst-2080	135	18	(	(	PUNCT
ajst-2080	135	19	2021	2021	NUM
ajst-2080	135	20	)	)	PUNCT
ajst-2080	136	1	no	no	INTJ
ajst-2080	136	2	.	.	NOUN
ajst-2080	136	3	10	10	NUM
ajst-2080	136	4	,	,	PUNCT
ajst-2080	136	5	p.98	p.98	PROPN
ajst-2080	136	6	-	-	X
ajst-2080	136	7	99	99	NUM
ajst-2080	136	8	.	.	PUNCT
ajst-2080	137	1	[	[	X
ajst-2080	137	2	3	3	X
ajst-2080	137	3	]	]	X
ajst-2080	137	4	ren	ren	PROPN
ajst-2080	137	5	bohan	bohan	PROPN
ajst-2080	137	6	.	.	PUNCT
ajst-2080	138	1	image	image	NOUN
ajst-2080	138	2	segmentation	segmentation	NOUN
ajst-2080	138	3	using	use	VERB
ajst-2080	138	4	deep	deep	ADJ
ajst-2080	138	5	learning	learning	NOUN
ajst-2080	138	6	.	.	PUNCT
ajst-2080	139	1	china	china	PROPN
ajst-2080	139	2	equipment	equipment	PROPN
ajst-2080	139	3	engineering	engineering	NOUN
ajst-2080	139	4	,	,	PUNCT
ajst-2080	139	5	vol	vol	NOUN
ajst-2080	139	6	.	.	PROPN
ajst-2080	139	7	12	12	NUM
ajst-2080	139	8	(	(	PUNCT
ajst-2080	139	9	2022	2022	NUM
ajst-2080	139	10	)	)	PUNCT
ajst-2080	139	11	no	no	NOUN
ajst-2080	139	12	.	.	NOUN
ajst-2080	139	13	14	14	NUM
ajst-2080	139	14	,	,	PUNCT
ajst-2080	139	15	p.124	p.124	NOUN
ajst-2080	139	16	-	-	SYM
ajst-2080	139	17	126	126	NUM
ajst-2080	139	18	.	.	PUNCT
ajst-2080	140	1	[	[	X
ajst-2080	140	2	4	4	X
ajst-2080	140	3	]	]	X
ajst-2080	140	4	liu	liu	PROPN
ajst-2080	140	5	zhiqiang	zhiqiang	PROPN
ajst-2080	140	6	,	,	PUNCT
ajst-2080	140	7	zhang	zhang	PROPN
ajst-2080	140	8	zhongyun	zhongyun	PROPN
ajst-2080	140	9	,	,	PUNCT
ajst-2080	140	10	ni	ni	PROPN
ajst-2080	140	11	jie	jie	PROPN
ajst-2080	140	12	,	,	PUNCT
ajst-2080	140	13	et	et	PROPN
ajst-2080	140	14	al	al	PROPN
ajst-2080	140	15	.	.	PROPN
ajst-2080	140	16	research	research	NOUN
ajst-2080	140	17	on	on	ADP
ajst-2080	140	18	multisensor	multisensor	NOUN
ajst-2080	140	19	fusion	fusion	NOUN
ajst-2080	140	20	vehicle	vehicle	NOUN
ajst-2080	140	21	detection	detection	NOUN
ajst-2080	140	22	method	method	NOUN
ajst-2080	140	23	under	under	ADP
ajst-2080	140	24	dual	dual	ADJ
ajst-2080	140	25	dynamic	dynamic	ADJ
ajst-2080	140	26	conditions	condition	NOUN
ajst-2080	140	27	.	.	PUNCT
ajst-2080	141	1	mechanical	mechanical	ADJ
ajst-2080	141	2	design	design	NOUN
ajst-2080	141	3	and	and	CCONJ
ajst-2080	141	4	manufacturing	manufacturing	NOUN
ajst-2080	141	5	,	,	PUNCT
ajst-2080	141	6	vol	vol	NOUN
ajst-2080	141	7	.	.	PROPN
ajst-2080	141	8	18	18	NUM
ajst-2080	141	9	(	(	PUNCT
ajst-2080	141	10	2020	2020	NUM
ajst-2080	141	11	)	)	PUNCT
ajst-2080	141	12	no	no	INTJ
ajst-2080	141	13	.	.	NOUN
ajst-2080	141	14	16	16	NUM
ajst-2080	141	15	,	,	PUNCT
ajst-2080	141	16	p.85	p.85	NOUN
ajst-2080	141	17	-	-	SYM
ajst-2080	141	18	86	86	NUM
ajst-2080	141	19	.	.	PUNCT
ajst-2080	142	1	[	[	X
ajst-2080	142	2	5	5	NUM
ajst-2080	142	3	]	]	PUNCT
ajst-2080	142	4	wang	wang	PROPN
ajst-2080	142	5	kejun	kejun	PROPN
ajst-2080	142	6	,	,	PUNCT
ajst-2080	142	7	zhao	zhao	PROPN
ajst-2080	142	8	yandong	yandong	PROPN
ajst-2080	142	9	,	,	PUNCT
ajst-2080	142	10	xing	xing	PROPN
ajst-2080	142	11	xianglei	xianglei	PROPN
ajst-2080	142	12	.	.	PUNCT
ajst-2080	143	1	research	research	NOUN
ajst-2080	143	2	progress	progress	NOUN
ajst-2080	143	3	in	in	ADP
ajst-2080	143	4	the	the	DET
ajst-2080	143	5	application	application	NOUN
ajst-2080	143	6	of	of	ADP
ajst-2080	143	7	deep	deep	ADJ
ajst-2080	143	8	learning	learning	NOUN
ajst-2080	143	9	in	in	ADP
ajst-2080	143	10	the	the	DET
ajst-2080	143	11	field	field	NOUN
ajst-2080	143	12	of	of	ADP
ajst-2080	143	13	driverless	driverless	NOUN
ajst-2080	143	14	vehicles	vehicle	NOUN
ajst-2080	143	15	journal	journal	NOUN
ajst-2080	143	16	of	of	ADP
ajst-2080	143	17	intelligent	intelligent	ADJ
ajst-2080	143	18	systems	system	NOUN
ajst-2080	143	19	,	,	PUNCT
ajst-2080	143	20	vol	vol	NOUN
ajst-2080	143	21	.	.	PROPN
ajst-2080	144	1	10	10	NUM
ajst-2080	144	2	(	(	PUNCT
ajst-2080	144	3	2021	2021	NUM
ajst-2080	144	4	)	)	PUNCT
ajst-2080	145	1	no	no	INTJ
ajst-2080	145	2	.	.	NOUN
ajst-2080	145	3	10	10	NUM
ajst-2080	145	4	,	,	PUNCT
ajst-2080	145	5	p.136	p.136	NOUN
ajst-2080	145	6	-	-	SYM
ajst-2080	145	7	138	138	NUM
ajst-2080	145	8	.	.	PUNCT
ajst-2080	146	1	[	[	X
ajst-2080	146	2	6	6	NUM
ajst-2080	146	3	]	]	PUNCT
ajst-2080	146	4	huang	huang	PROPN
ajst-2080	146	5	liangji	liangji	PROPN
ajst-2080	146	6	,	,	PUNCT
ajst-2080	146	7	tang	tang	PROPN
ajst-2080	146	8	tao	tao	PROPN
ajst-2080	146	9	.	.	PUNCT
ajst-2080	147	1	analysis	analysis	NOUN
ajst-2080	147	2	and	and	CCONJ
ajst-2080	147	3	design	design	NOUN
ajst-2080	147	4	of	of	ADP
ajst-2080	147	5	auto	auto	NOUN
ajst-2080	147	6	drive	drive	NOUN
ajst-2080	147	7	system	system	NOUN
ajst-2080	147	8	for	for	ADP
ajst-2080	147	9	metro	metro	PROPN
ajst-2080	147	10	trains	train	NOUN
ajst-2080	147	11	journal	journal	PROPN
ajst-2080	147	12	of	of	ADP
ajst-2080	147	13	beijing	beijing	PROPN
ajst-2080	147	14	jiaotong	jiaotong	PROPN
ajst-2080	147	15	university	university	PROPN
ajst-2080	147	16	,	,	PUNCT
ajst-2080	147	17	vol	vol	NOUN
ajst-2080	147	18	.	.	PROPN
ajst-2080	147	19	19	19	NUM
ajst-2080	147	20	(	(	PUNCT
ajst-2080	147	21	2021	2021	NUM
ajst-2080	147	22	)	)	PUNCT
ajst-2080	147	23	no	no	INTJ
ajst-2080	147	24	.	.	NOUN
ajst-2080	147	25	12	12	NUM
ajst-2080	147	26	,	,	PUNCT
ajst-2080	147	27	p.26	p.26	NOUN
ajst-2080	147	28	-	-	PUNCT
ajst-2080	147	29	29	29	NUM
ajst-2080	147	30	.	.	PUNCT
ajst-2080	148	1	[	[	X
ajst-2080	148	2	7	7	X
ajst-2080	148	3	]	]	X
ajst-2080	148	4	liu	liu	PROPN
ajst-2080	148	5	jun	jun	PROPN
ajst-2080	148	6	,	,	PUNCT
ajst-2080	148	7	yuan	yuan	PROPN
ajst-2080	148	8	jun	jun	PROPN
ajst-2080	148	9	,	,	PUNCT
ajst-2080	148	10	cai	cai	PROPN
ajst-2080	148	11	junyu	junyu	PROPN
ajst-2080	148	12	,	,	PUNCT
ajst-2080	148	13	et	et	PROPN
ajst-2080	148	14	al	al	PROPN
ajst-2080	148	15	.	.	PROPN
ajst-2080	148	16	agricultural	agricultural	ADJ
ajst-2080	148	17	machinery	machinery	NOUN
ajst-2080	148	18	auto	auto	NOUN
ajst-2080	148	19	drive	drive	NOUN
ajst-2080	148	20	system	system	NOUN
ajst-2080	148	21	based	base	VERB
ajst-2080	148	22	on	on	ADP
ajst-2080	148	23	gps	gps	PROPN
ajst-2080	148	24	/	/	SYM
ajst-2080	148	25	ins	in	NOUN
ajst-2080	148	26	and	and	CCONJ
ajst-2080	148	27	steering	steering	NOUN
ajst-2080	148	28	by	by	ADP
ajst-2080	148	29	wire	wire	NOUN
ajst-2080	148	30	journal	journal	NOUN
ajst-2080	148	31	of	of	ADP
ajst-2080	148	32	agricultural	agricultural	ADJ
ajst-2080	148	33	engineering	engineering	NOUN
ajst-2080	148	34	,	,	PUNCT
ajst-2080	148	35	vol	vol	NOUN
ajst-2080	148	36	.	.	PROPN
ajst-2080	148	37	21	21	NUM
ajst-2080	148	38	(	(	PUNCT
ajst-2080	148	39	2020	2020	NUM
ajst-2080	148	40	)	)	PUNCT
ajst-2080	148	41	no	no	INTJ
ajst-2080	148	42	.	.	NOUN
ajst-2080	148	43	08	08	NUM
ajst-2080	148	44	,	,	PUNCT
ajst-2080	148	45	p.112	p.112	NOUN
ajst-2080	148	46	-	-	SYM
ajst-2080	148	47	115	115	NUM
ajst-2080	148	48	.	.	PUNCT