id	sid	tid	token	lemma	pos
ajst-27311	1	1	academic	academic	ADJ
ajst-27311	1	2	journal	journal	NOUN
ajst-27311	1	3	of	of	ADP
ajst-27311	1	4	science	science	NOUN
ajst-27311	1	5	and	and	CCONJ
ajst-27311	1	6	technology	technology	NOUN
ajst-27311	1	7	issn	issn	NOUN
ajst-27311	1	8	:	:	PUNCT
ajst-27311	1	9	2771	2771	NUM
ajst-27311	1	10	-	-	SYM
ajst-27311	1	11	3032	3032	NUM
ajst-27311	1	12	|	|	NOUN
ajst-27311	1	13	vol	vol	NOUN
ajst-27311	1	14	.	.	PROPN
ajst-27311	1	15	13	13	NUM
ajst-27311	1	16	,	,	PUNCT
ajst-27311	1	17	no	no	INTJ
ajst-27311	1	18	.	.	NOUN
ajst-27311	1	19	2	2	NUM
ajst-27311	1	20	,	,	PUNCT
ajst-27311	1	21	2024	2024	NUM
ajst-27311	1	22	51	51	NUM
ajst-27311	1	23	the	the	DET
ajst-27311	1	24	summary	summary	NOUN
ajst-27311	1	25	of	of	ADP
ajst-27311	1	26	artificial	artificial	ADJ
ajst-27311	1	27	intelligence	intelligence	NOUN
ajst-27311	1	28	vehicle	vehicle	NOUN
ajst-27311	1	29	obstacle	obstacle	NOUN
ajst-27311	1	30	avoidance	avoidance	NOUN
ajst-27311	1	31	system	system	NOUN
ajst-27311	1	32	shuo	shuo	PROPN
ajst-27311	1	33	ma1	ma1	PROPN
ajst-27311	1	34	,	,	PUNCT
ajst-27311	1	35	*	*	PROPN
ajst-27311	1	36	1xi'an	1xi'an	NUM
ajst-27311	1	37	mingde	mingde	PROPN
ajst-27311	1	38	institute	institute	PROPN
ajst-27311	1	39	of	of	ADP
ajst-27311	1	40	technology	technology	PROPN
ajst-27311	1	41	,	,	PUNCT
ajst-27311	1	42	xi’an	xi’an	PROPN
ajst-27311	1	43	,	,	PUNCT
ajst-27311	1	44	710018	710018	NUM
ajst-27311	1	45	,	,	PUNCT
ajst-27311	1	46	china	china	PROPN
ajst-27311	1	47	*	*	PUNCT
ajst-27311	1	48	corresponding	correspond	VERB
ajst-27311	1	49	author	author	NOUN
ajst-27311	1	50	’s	’s	PART
ajst-27311	1	51	e	e	NOUN
ajst-27311	1	52	-	-	NOUN
ajst-27311	1	53	mail	mail	NOUN
ajst-27311	1	54	:	:	PUNCT
ajst-27311	1	55	muscle040614@qq.com	muscle040614@qq.com	PROPN
ajst-27311	1	56	abstract	abstract	NOUN
ajst-27311	1	57	:	:	PUNCT
ajst-27311	1	58	with	with	ADP
ajst-27311	1	59	the	the	DET
ajst-27311	1	60	rapid	rapid	ADJ
ajst-27311	1	61	increase	increase	NOUN
ajst-27311	1	62	in	in	ADP
ajst-27311	1	63	the	the	DET
ajst-27311	1	64	global	global	ADJ
ajst-27311	1	65	number	number	NOUN
ajst-27311	1	66	of	of	ADP
ajst-27311	1	67	vehicles	vehicle	NOUN
ajst-27311	1	68	,	,	PUNCT
ajst-27311	1	69	frequent	frequent	ADJ
ajst-27311	1	70	traffic	traffic	NOUN
ajst-27311	1	71	accidents	accident	NOUN
ajst-27311	1	72	and	and	CCONJ
ajst-27311	1	73	urban	urban	ADJ
ajst-27311	1	74	traffic	traffic	NOUN
ajst-27311	1	75	congestion	congestion	NOUN
ajst-27311	1	76	have	have	AUX
ajst-27311	1	77	become	become	VERB
ajst-27311	1	78	urgent	urgent	ADJ
ajst-27311	1	79	social	social	ADJ
ajst-27311	1	80	problems	problem	NOUN
ajst-27311	1	81	that	that	PRON
ajst-27311	1	82	need	need	VERB
ajst-27311	1	83	to	to	PART
ajst-27311	1	84	be	be	AUX
ajst-27311	1	85	solved	solve	VERB
ajst-27311	1	86	.	.	PUNCT
ajst-27311	2	1	as	as	ADP
ajst-27311	2	2	an	an	DET
ajst-27311	2	3	innovative	innovative	ADJ
ajst-27311	2	4	solution	solution	NOUN
ajst-27311	2	5	,	,	PUNCT
ajst-27311	2	6	autonomous	autonomous	ADJ
ajst-27311	2	7	driving	driving	NOUN
ajst-27311	2	8	technology	technology	NOUN
ajst-27311	2	9	is	be	AUX
ajst-27311	2	10	gradually	gradually	ADV
ajst-27311	2	11	demonstrating	demonstrate	VERB
ajst-27311	2	12	its	its	PRON
ajst-27311	2	13	potential	potential	NOUN
ajst-27311	2	14	,	,	PUNCT
ajst-27311	2	15	and	and	CCONJ
ajst-27311	2	16	in	in	ADP
ajst-27311	2	17	this	this	DET
ajst-27311	2	18	cutting	cut	VERB
ajst-27311	2	19	-	-	PUNCT
ajst-27311	2	20	edge	edge	NOUN
ajst-27311	2	21	field	field	NOUN
ajst-27311	2	22	,	,	PUNCT
ajst-27311	2	23	automatic	automatic	ADJ
ajst-27311	2	24	obstacle	obstacle	NOUN
ajst-27311	2	25	avoidance	avoidance	NOUN
ajst-27311	2	26	technology	technology	NOUN
ajst-27311	2	27	is	be	AUX
ajst-27311	2	28	undoubtedly	undoubtedly	ADV
ajst-27311	2	29	the	the	DET
ajst-27311	2	30	core	core	NOUN
ajst-27311	2	31	.	.	PUNCT
ajst-27311	3	1	it	it	PRON
ajst-27311	3	2	deeply	deeply	ADV
ajst-27311	3	3	integrates	integrate	VERB
ajst-27311	3	4	advanced	advanced	ADJ
ajst-27311	3	5	sensing	sense	VERB
ajst-27311	3	6	technology	technology	NOUN
ajst-27311	3	7	and	and	CCONJ
ajst-27311	3	8	intelligent	intelligent	ADJ
ajst-27311	3	9	control	control	NOUN
ajst-27311	3	10	algorithms	algorithm	NOUN
ajst-27311	3	11	,	,	PUNCT
ajst-27311	3	12	aiming	aim	VERB
ajst-27311	3	13	to	to	PART
ajst-27311	3	14	enable	enable	VERB
ajst-27311	3	15	vehicles	vehicle	NOUN
ajst-27311	3	16	to	to	PART
ajst-27311	3	17	quickly	quickly	ADV
ajst-27311	3	18	make	make	VERB
ajst-27311	3	19	safe	safe	ADJ
ajst-27311	3	20	and	and	CCONJ
ajst-27311	3	21	accurate	accurate	ADJ
ajst-27311	3	22	evasive	evasive	ADJ
ajst-27311	3	23	actions	action	NOUN
ajst-27311	3	24	when	when	SCONJ
ajst-27311	3	25	encountering	encounter	VERB
ajst-27311	3	26	potential	potential	ADJ
ajst-27311	3	27	obstacles	obstacle	NOUN
ajst-27311	3	28	.	.	PUNCT
ajst-27311	4	1	the	the	DET
ajst-27311	4	2	evolution	evolution	NOUN
ajst-27311	4	3	of	of	ADP
ajst-27311	4	4	automatic	automatic	ADJ
ajst-27311	4	5	obstacle	obstacle	NOUN
ajst-27311	4	6	avoidance	avoidance	NOUN
ajst-27311	4	7	technology	technology	NOUN
ajst-27311	4	8	has	have	AUX
ajst-27311	4	9	gone	go	VERB
ajst-27311	4	10	beyond	beyond	ADP
ajst-27311	4	11	simple	simple	ADJ
ajst-27311	4	12	functional	functional	ADJ
ajst-27311	4	13	pursuits	pursuit	NOUN
ajst-27311	4	14	and	and	CCONJ
ajst-27311	4	15	shifted	shift	VERB
ajst-27311	4	16	towards	towards	ADP
ajst-27311	4	17	deep	deep	ADJ
ajst-27311	4	18	integration	integration	NOUN
ajst-27311	4	19	of	of	ADP
ajst-27311	4	20	various	various	ADJ
ajst-27311	4	21	cutting	cutting	NOUN
ajst-27311	4	22	-	-	PUNCT
ajst-27311	4	23	edge	edge	NOUN
ajst-27311	4	24	technologies	technology	NOUN
ajst-27311	4	25	to	to	PART
ajst-27311	4	26	optimize	optimize	VERB
ajst-27311	4	27	obstacle	obstacle	NOUN
ajst-27311	4	28	avoidance	avoidance	NOUN
ajst-27311	4	29	efficiency	efficiency	NOUN
ajst-27311	4	30	.	.	PUNCT
ajst-27311	5	1	in	in	ADP
ajst-27311	5	2	summary	summary	NOUN
ajst-27311	5	3	,	,	PUNCT
ajst-27311	5	4	the	the	DET
ajst-27311	5	5	innovation	innovation	NOUN
ajst-27311	5	6	and	and	CCONJ
ajst-27311	5	7	development	development	NOUN
ajst-27311	5	8	of	of	ADP
ajst-27311	5	9	automatic	automatic	ADJ
ajst-27311	5	10	obstacle	obstacle	NOUN
ajst-27311	5	11	avoidance	avoidance	NOUN
ajst-27311	5	12	technology	technology	NOUN
ajst-27311	5	13	are	be	AUX
ajst-27311	5	14	leading	lead	VERB
ajst-27311	5	15	the	the	DET
ajst-27311	5	16	technological	technological	ADJ
ajst-27311	5	17	revolution	revolution	NOUN
ajst-27311	5	18	in	in	ADP
ajst-27311	5	19	the	the	DET
ajst-27311	5	20	field	field	NOUN
ajst-27311	5	21	of	of	ADP
ajst-27311	5	22	autonomous	autonomous	ADJ
ajst-27311	5	23	driving	driving	NOUN
ajst-27311	5	24	,	,	PUNCT
ajst-27311	5	25	not	not	PART
ajst-27311	5	26	only	only	ADV
ajst-27311	5	27	profoundly	profoundly	ADV
ajst-27311	5	28	changing	change	VERB
ajst-27311	5	29	the	the	DET
ajst-27311	5	30	mode	mode	NOUN
ajst-27311	5	31	of	of	ADP
ajst-27311	5	32	human	human	ADJ
ajst-27311	5	33	vehicle	vehicle	NOUN
ajst-27311	5	34	interaction	interaction	NOUN
ajst-27311	5	35	,	,	PUNCT
ajst-27311	5	36	but	but	CCONJ
ajst-27311	5	37	also	also	ADV
ajst-27311	5	38	having	have	VERB
ajst-27311	5	39	a	a	DET
ajst-27311	5	40	profound	profound	ADJ
ajst-27311	5	41	impact	impact	NOUN
ajst-27311	5	42	on	on	ADP
ajst-27311	5	43	the	the	DET
ajst-27311	5	44	vision	vision	NOUN
ajst-27311	5	45	of	of	ADP
ajst-27311	5	46	future	future	ADJ
ajst-27311	5	47	smart	smart	ADJ
ajst-27311	5	48	city	city	NOUN
ajst-27311	5	49	transportation	transportation	NOUN
ajst-27311	5	50	systems	system	NOUN
ajst-27311	5	51	.	.	PUNCT
ajst-27311	6	1	keywords	keyword	NOUN
ajst-27311	6	2	:	:	PUNCT
ajst-27311	6	3	history	history	NOUN
ajst-27311	6	4	of	of	ADP
ajst-27311	6	5	development	development	NOUN
ajst-27311	6	6	;	;	PUNCT
ajst-27311	6	7	automatic	automatic	ADJ
ajst-27311	6	8	obstacle	obstacle	NOUN
ajst-27311	6	9	avoidance	avoidance	NOUN
ajst-27311	6	10	technology	technology	NOUN
ajst-27311	6	11	;	;	PUNCT
ajst-27311	6	12	technology	technology	NOUN
ajst-27311	6	13	introduction	introduction	NOUN
ajst-27311	6	14	;	;	PUNCT
ajst-27311	6	15	hardware	hardware	NOUN
ajst-27311	6	16	and	and	CCONJ
ajst-27311	6	17	software	software	NOUN
ajst-27311	6	18	development	development	NOUN
ajst-27311	6	19	.	.	PUNCT
ajst-27311	7	1	1	1	X
ajst-27311	7	2	.	.	X
ajst-27311	7	3	the	the	DET
ajst-27311	7	4	development	development	NOUN
ajst-27311	7	5	history	history	NOUN
ajst-27311	7	6	of	of	ADP
ajst-27311	7	7	intelligent	intelligent	ADJ
ajst-27311	7	8	vehicles	vehicle	NOUN
ajst-27311	7	9	the	the	DET
ajst-27311	7	10	earliest	early	ADJ
ajst-27311	7	11	autonomous	autonomous	ADJ
ajst-27311	7	12	driving	driving	NOUN
ajst-27311	7	13	experiment	experiment	NOUN
ajst-27311	7	14	can	can	AUX
ajst-27311	7	15	be	be	AUX
ajst-27311	7	16	traced	trace	VERB
ajst-27311	7	17	back	back	ADV
ajst-27311	7	18	to	to	ADP
ajst-27311	7	19	1925	1925	NUM
ajst-27311	7	20	,	,	PUNCT
ajst-27311	7	21	when	when	SCONJ
ajst-27311	7	22	the	the	DET
ajst-27311	7	23	world	world	NOUN
ajst-27311	7	24	's	's	PART
ajst-27311	7	25	first	first	ADJ
ajst-27311	7	26	self	self	NOUN
ajst-27311	7	27	driving	drive	VERB
ajst-27311	7	28	car	car	NOUN
ajst-27311	7	29	was	be	AUX
ajst-27311	7	30	produced	produce	VERB
ajst-27311	7	31	by	by	ADP
ajst-27311	7	32	a	a	DET
ajst-27311	7	33	wireless	wireless	ADJ
ajst-27311	7	34	control	control	NOUN
ajst-27311	7	35	company	company	NOUN
ajst-27311	7	36	called	call	VERB
ajst-27311	7	37	the	the	DET
ajst-27311	7	38	"	"	PUNCT
ajst-27311	7	39	american	american	ADJ
ajst-27311	7	40	miracle	miracle	NOUN
ajst-27311	7	41	"	"	PUNCT
ajst-27311	7	42	.	.	PUNCT
ajst-27311	8	1	it	it	PRON
ajst-27311	8	2	could	could	AUX
ajst-27311	8	3	receive	receive	VERB
ajst-27311	8	4	wireless	wireless	ADJ
ajst-27311	8	5	signals	signal	NOUN
ajst-27311	8	6	emitted	emit	VERB
ajst-27311	8	7	by	by	ADP
ajst-27311	8	8	rear	rear	ADJ
ajst-27311	8	9	cars	car	NOUN
ajst-27311	8	10	and	and	CCONJ
ajst-27311	8	11	respond	respond	VERB
ajst-27311	8	12	to	to	ADP
ajst-27311	8	13	road	road	NOUN
ajst-27311	8	14	conditions	condition	NOUN
ajst-27311	8	15	,	,	PUNCT
ajst-27311	8	16	such	such	ADJ
ajst-27311	8	17	as	as	ADP
ajst-27311	8	18	acceleration	acceleration	NOUN
ajst-27311	8	19	,	,	PUNCT
ajst-27311	8	20	deceleration	deceleration	NOUN
ajst-27311	8	21	,	,	PUNCT
ajst-27311	8	22	steering	steering	NOUN
ajst-27311	8	23	,	,	PUNCT
ajst-27311	8	24	braking	braking	NOUN
ajst-27311	8	25	,	,	PUNCT
ajst-27311	8	26	honking	honking	NOUN
ajst-27311	8	27	,	,	PUNCT
ajst-27311	8	28	etc	etc	X
ajst-27311	8	29	.	.	X
ajst-27311	9	1	this	this	PRON
ajst-27311	9	2	marked	mark	VERB
ajst-27311	9	3	the	the	DET
ajst-27311	9	4	beginning	beginning	NOUN
ajst-27311	9	5	of	of	ADP
ajst-27311	9	6	research	research	NOUN
ajst-27311	9	7	on	on	ADP
ajst-27311	9	8	autonomous	autonomous	ADJ
ajst-27311	9	9	driving	driving	NOUN
ajst-27311	9	10	technology	technology	NOUN
ajst-27311	9	11	.	.	PUNCT
ajst-27311	10	1	but	but	CCONJ
ajst-27311	10	2	at	at	ADP
ajst-27311	10	3	that	that	DET
ajst-27311	10	4	time	time	NOUN
ajst-27311	10	5	,	,	PUNCT
ajst-27311	10	6	people	people	NOUN
ajst-27311	10	7	's	's	PART
ajst-27311	10	8	ideas	idea	NOUN
ajst-27311	10	9	were	be	AUX
ajst-27311	10	10	a	a	DET
ajst-27311	10	11	bit	bit	NOUN
ajst-27311	10	12	wrong	wrong	ADJ
ajst-27311	10	13	.	.	PUNCT
ajst-27311	11	1	they	they	PRON
ajst-27311	11	2	wanted	want	VERB
ajst-27311	11	3	to	to	PART
ajst-27311	11	4	create	create	VERB
ajst-27311	11	5	an	an	DET
ajst-27311	11	6	"	"	PUNCT
ajst-27311	11	7	electronic	electronic	ADJ
ajst-27311	11	8	intelligent	intelligent	ADJ
ajst-27311	11	9	highway	highway	NOUN
ajst-27311	11	10	"	"	PUNCT
ajst-27311	11	11	to	to	PART
ajst-27311	11	12	match	match	VERB
ajst-27311	11	13	the	the	DET
ajst-27311	11	14	"	"	PUNCT
ajst-27311	11	15	smart	smart	ADJ
ajst-27311	11	16	car	car	NOUN
ajst-27311	11	17	"	"	PUNCT
ajst-27311	11	18	and	and	CCONJ
ajst-27311	11	19	continuously	continuously	ADV
ajst-27311	11	20	send	send	VERB
ajst-27311	11	21	signals	signal	NOUN
ajst-27311	11	22	to	to	ADP
ajst-27311	11	23	the	the	DET
ajst-27311	11	24	car	car	NOUN
ajst-27311	11	25	to	to	PART
ajst-27311	11	26	keep	keep	VERB
ajst-27311	11	27	it	it	PRON
ajst-27311	11	28	running	run	VERB
ajst-27311	11	29	normally	normally	ADV
ajst-27311	11	30	.	.	PUNCT
ajst-27311	12	1	however	however	ADV
ajst-27311	12	2	,	,	PUNCT
ajst-27311	12	3	the	the	DET
ajst-27311	12	4	complex	complex	ADJ
ajst-27311	12	5	technology	technology	NOUN
ajst-27311	12	6	and	and	CCONJ
ajst-27311	12	7	huge	huge	ADJ
ajst-27311	12	8	engineering	engineering	NOUN
ajst-27311	12	9	volume	volume	NOUN
ajst-27311	12	10	and	and	CCONJ
ajst-27311	12	11	cost	cost	NOUN
ajst-27311	12	12	quickly	quickly	ADV
ajst-27311	12	13	eliminated	eliminate	VERB
ajst-27311	12	14	this	this	DET
ajst-27311	12	15	technology	technology	NOUN
ajst-27311	12	16	.	.	PUNCT
ajst-27311	13	1	after	after	ADP
ajst-27311	13	2	1946	1946	NUM
ajst-27311	13	3	,	,	PUNCT
ajst-27311	13	4	the	the	DET
ajst-27311	13	5	concept	concept	NOUN
ajst-27311	13	6	of	of	ADP
ajst-27311	13	7	smart	smart	ADJ
ajst-27311	13	8	cars	car	NOUN
ajst-27311	13	9	gradually	gradually	ADV
ajst-27311	13	10	took	take	VERB
ajst-27311	13	11	shape	shape	NOUN
ajst-27311	13	12	with	with	ADP
ajst-27311	13	13	the	the	DET
ajst-27311	13	14	development	development	NOUN
ajst-27311	13	15	of	of	ADP
ajst-27311	13	16	computer	computer	NOUN
ajst-27311	13	17	technology	technology	NOUN
ajst-27311	13	18	and	and	CCONJ
ajst-27311	13	19	sensor	sensor	NOUN
ajst-27311	13	20	technology	technology	NOUN
ajst-27311	13	21	,	,	PUNCT
ajst-27311	13	22	and	and	CCONJ
ajst-27311	13	23	people	people	NOUN
ajst-27311	13	24	's	's	PART
ajst-27311	13	25	research	research	NOUN
ajst-27311	13	26	began	begin	VERB
ajst-27311	13	27	to	to	PART
ajst-27311	13	28	focus	focus	VERB
ajst-27311	13	29	on	on	ADP
ajst-27311	13	30	the	the	DET
ajst-27311	13	31	intelligence	intelligence	NOUN
ajst-27311	13	32	of	of	ADP
ajst-27311	13	33	the	the	DET
ajst-27311	13	34	vehicle	vehicle	NOUN
ajst-27311	13	35	itself	itself	PRON
ajst-27311	13	36	.	.	PUNCT
ajst-27311	14	1	in	in	ADP
ajst-27311	14	2	the	the	DET
ajst-27311	14	3	1980s	1980	NOUN
ajst-27311	14	4	,	,	PUNCT
ajst-27311	14	5	the	the	DET
ajst-27311	14	6	concept	concept	NOUN
ajst-27311	14	7	of	of	ADP
ajst-27311	14	8	autonomous	autonomous	ADJ
ajst-27311	14	9	driving	driving	NOUN
ajst-27311	14	10	began	begin	VERB
ajst-27311	14	11	to	to	PART
ajst-27311	14	12	receive	receive	VERB
ajst-27311	14	13	more	more	ADJ
ajst-27311	14	14	attention	attention	NOUN
ajst-27311	14	15	and	and	CCONJ
ajst-27311	14	16	research	research	NOUN
ajst-27311	14	17	.	.	PUNCT
ajst-27311	15	1	for	for	ADP
ajst-27311	15	2	many	many	ADJ
ajst-27311	15	3	years	year	NOUN
ajst-27311	15	4	,	,	PUNCT
ajst-27311	15	5	the	the	DET
ajst-27311	15	6	development	development	NOUN
ajst-27311	15	7	of	of	ADP
ajst-27311	15	8	intelligent	intelligent	ADJ
ajst-27311	15	9	cars	car	NOUN
ajst-27311	15	10	has	have	AUX
ajst-27311	15	11	only	only	ADV
ajst-27311	15	12	been	be	AUX
ajst-27311	15	13	for	for	ADP
ajst-27311	15	14	one	one	NUM
ajst-27311	15	15	goal	goal	NOUN
ajst-27311	15	16	,	,	PUNCT
ajst-27311	15	17	which	which	PRON
ajst-27311	15	18	is	be	AUX
ajst-27311	15	19	to	to	PART
ajst-27311	15	20	enable	enable	VERB
ajst-27311	15	21	cars	car	NOUN
ajst-27311	15	22	to	to	PART
ajst-27311	15	23	autonomously	autonomously	ADV
ajst-27311	15	24	complete	complete	VERB
ajst-27311	15	25	the	the	DET
ajst-27311	15	26	entire	entire	ADJ
ajst-27311	15	27	journey	journey	NOUN
ajst-27311	15	28	with	with	ADP
ajst-27311	15	29	a	a	DET
ajst-27311	15	30	set	set	NOUN
ajst-27311	15	31	starting	starting	NOUN
ajst-27311	15	32	and	and	CCONJ
ajst-27311	15	33	ending	end	VERB
ajst-27311	15	34	point	point	NOUN
ajst-27311	15	35	.	.	PUNCT
ajst-27311	16	1	in	in	ADP
ajst-27311	16	2	the	the	DET
ajst-27311	16	3	21st	21st	ADJ
ajst-27311	16	4	century	century	NOUN
ajst-27311	16	5	,	,	PUNCT
ajst-27311	16	6	the	the	DET
ajst-27311	16	7	research	research	NOUN
ajst-27311	16	8	and	and	CCONJ
ajst-27311	16	9	application	application	NOUN
ajst-27311	16	10	of	of	ADP
ajst-27311	16	11	intelligent	intelligent	ADJ
ajst-27311	16	12	vehicles	vehicle	NOUN
ajst-27311	16	13	began	begin	VERB
ajst-27311	16	14	to	to	PART
ajst-27311	16	15	accelerate	accelerate	VERB
ajst-27311	16	16	,	,	PUNCT
ajst-27311	16	17	and	and	CCONJ
ajst-27311	16	18	information	information	NOUN
ajst-27311	16	19	technology	technology	NOUN
ajst-27311	16	20	and	and	CCONJ
ajst-27311	16	21	internet	internet	NOUN
ajst-27311	16	22	technology	technology	NOUN
ajst-27311	16	23	changed	change	VERB
ajst-27311	16	24	rapidly	rapidly	ADV
ajst-27311	16	25	.	.	PUNCT
ajst-27311	17	1	a	a	DET
ajst-27311	17	2	2014	2014	NUM
ajst-27311	17	3	study	study	NOUN
ajst-27311	17	4	indicated	indicate	VERB
ajst-27311	17	5	that	that	SCONJ
ajst-27311	17	6	high	high	ADJ
ajst-27311	17	7	-	-	PUNCT
ajst-27311	17	8	performance	performance	NOUN
ajst-27311	17	9	electromechanical	electromechanical	ADJ
ajst-27311	17	10	information	information	NOUN
ajst-27311	17	11	systems	system	NOUN
ajst-27311	17	12	have	have	AUX
ajst-27311	17	13	provided	provide	VERB
ajst-27311	17	14	possibilities	possibility	NOUN
ajst-27311	17	15	for	for	ADP
ajst-27311	17	16	intelligent	intelligent	ADJ
ajst-27311	17	17	vehicles	vehicle	NOUN
ajst-27311	17	18	.	.	PUNCT
ajst-27311	18	1	in	in	ADP
ajst-27311	18	2	the	the	DET
ajst-27311	18	3	same	same	ADJ
ajst-27311	18	4	year	year	NOUN
ajst-27311	18	5	,	,	PUNCT
ajst-27311	18	6	the	the	DET
ajst-27311	18	7	development	development	NOUN
ajst-27311	18	8	of	of	ADP
ajst-27311	18	9	the	the	DET
ajst-27311	18	10	internet	internet	NOUN
ajst-27311	18	11	further	far	ADV
ajst-27311	18	12	provided	provide	VERB
ajst-27311	18	13	technical	technical	ADJ
ajst-27311	18	14	support	support	NOUN
ajst-27311	18	15	for	for	ADP
ajst-27311	18	16	the	the	DET
ajst-27311	18	17	popularization	popularization	NOUN
ajst-27311	18	18	of	of	ADP
ajst-27311	18	19	the	the	DET
ajst-27311	18	20	internet	internet	NOUN
ajst-27311	18	21	of	of	ADP
ajst-27311	18	22	things	thing	NOUN
ajst-27311	18	23	in	in	ADP
ajst-27311	18	24	vehicles	vehicle	NOUN
ajst-27311	18	25	.	.	PUNCT
ajst-27311	19	1	in	in	ADP
ajst-27311	19	2	2015	2015	NUM
ajst-27311	19	3	,	,	PUNCT
ajst-27311	19	4	the	the	DET
ajst-27311	19	5	research	research	NOUN
ajst-27311	19	6	content	content	NOUN
ajst-27311	19	7	and	and	CCONJ
ajst-27311	19	8	key	key	ADJ
ajst-27311	19	9	technologies	technology	NOUN
ajst-27311	19	10	of	of	ADP
ajst-27311	19	11	intelligent	intelligent	ADJ
ajst-27311	19	12	vehicles	vehicle	NOUN
ajst-27311	19	13	were	be	AUX
ajst-27311	19	14	further	far	ADV
ajst-27311	19	15	explored	explore	VERB
ajst-27311	19	16	.	.	PUNCT
ajst-27311	20	1	in	in	ADP
ajst-27311	20	2	2018	2018	NUM
ajst-27311	20	3	,	,	PUNCT
ajst-27311	20	4	the	the	DET
ajst-27311	20	5	development	development	NOUN
ajst-27311	20	6	of	of	ADP
ajst-27311	20	7	intelligent	intelligent	ADJ
ajst-27311	20	8	vehicles	vehicle	NOUN
ajst-27311	20	9	has	have	AUX
ajst-27311	20	10	shifted	shift	VERB
ajst-27311	20	11	from	from	ADP
ajst-27311	20	12	theoretical	theoretical	ADJ
ajst-27311	20	13	research	research	NOUN
ajst-27311	20	14	to	to	ADP
ajst-27311	20	15	exploration	exploration	NOUN
ajst-27311	20	16	of	of	ADP
ajst-27311	20	17	practical	practical	ADJ
ajst-27311	20	18	applications	application	NOUN
ajst-27311	20	19	.	.	PUNCT
ajst-27311	21	1	in	in	ADP
ajst-27311	21	2	the	the	DET
ajst-27311	21	3	same	same	ADJ
ajst-27311	21	4	year	year	NOUN
ajst-27311	21	5	,	,	PUNCT
ajst-27311	21	6	autonomous	autonomous	ADJ
ajst-27311	21	7	vehicles	vehicle	NOUN
ajst-27311	21	8	were	be	AUX
ajst-27311	21	9	considered	consider	VERB
ajst-27311	21	10	a	a	DET
ajst-27311	21	11	product	product	NOUN
ajst-27311	21	12	of	of	ADP
ajst-27311	21	13	the	the	DET
ajst-27311	21	14	efficient	efficient	ADJ
ajst-27311	21	15	integration	integration	NOUN
ajst-27311	21	16	of	of	ADP
ajst-27311	21	17	automotive	automotive	ADJ
ajst-27311	21	18	technology	technology	NOUN
ajst-27311	21	19	and	and	CCONJ
ajst-27311	21	20	information	information	NOUN
ajst-27311	21	21	and	and	CCONJ
ajst-27311	21	22	communication	communication	NOUN
ajst-27311	21	23	technology	technology	NOUN
ajst-27311	21	24	,	,	PUNCT
ajst-27311	21	25	which	which	PRON
ajst-27311	21	26	effectively	effectively	ADV
ajst-27311	21	27	improved	improve	VERB
ajst-27311	21	28	transportation	transportation	NOUN
ajst-27311	21	29	efficiency	efficiency	NOUN
ajst-27311	21	30	and	and	CCONJ
ajst-27311	21	31	safety	safety	NOUN
ajst-27311	21	32	.	.	PUNCT
ajst-27311	22	1	in	in	ADP
ajst-27311	22	2	addition	addition	NOUN
ajst-27311	22	3	,	,	PUNCT
ajst-27311	22	4	the	the	DET
ajst-27311	22	5	technological	technological	ADJ
ajst-27311	22	6	development	development	NOUN
ajst-27311	22	7	trends	trend	NOUN
ajst-27311	22	8	of	of	ADP
ajst-27311	22	9	intelligent	intelligent	ADJ
ajst-27311	22	10	vehicles	vehicle	NOUN
ajst-27311	22	11	,	,	PUNCT
ajst-27311	22	12	including	include	VERB
ajst-27311	22	13	the	the	DET
ajst-27311	22	14	impact	impact	NOUN
ajst-27311	22	15	on	on	ADP
ajst-27311	22	16	traffic	traffic	NOUN
ajst-27311	22	17	safety	safety	NOUN
ajst-27311	22	18	,	,	PUNCT
ajst-27311	22	19	energy	energy	NOUN
ajst-27311	22	20	conservation	conservation	NOUN
ajst-27311	22	21	and	and	CCONJ
ajst-27311	22	22	emission	emission	NOUN
ajst-27311	22	23	reduction	reduction	NOUN
ajst-27311	22	24	,	,	PUNCT
ajst-27311	22	25	urban	urban	ADJ
ajst-27311	22	26	transportation	transportation	NOUN
ajst-27311	22	27	planning	planning	NOUN
ajst-27311	22	28	,	,	PUNCT
ajst-27311	22	29	etc	etc	X
ajst-27311	22	30	.	.	X
ajst-27311	22	31	,	,	PUNCT
ajst-27311	22	32	have	have	AUX
ajst-27311	22	33	also	also	ADV
ajst-27311	22	34	been	be	AUX
ajst-27311	22	35	widely	widely	ADV
ajst-27311	22	36	discussed	discuss	VERB
ajst-27311	22	37	.	.	PUNCT
ajst-27311	23	1	until	until	ADP
ajst-27311	23	2	2020	2020	NUM
ajst-27311	23	3	,	,	PUNCT
ajst-27311	23	4	the	the	DET
ajst-27311	23	5	technology	technology	NOUN
ajst-27311	23	6	of	of	ADP
ajst-27311	23	7	intelligent	intelligent	ADJ
ajst-27311	23	8	vehicles	vehicle	NOUN
ajst-27311	23	9	has	have	AUX
ajst-27311	23	10	involved	involve	VERB
ajst-27311	23	11	multiple	multiple	ADJ
ajst-27311	23	12	aspects	aspect	NOUN
ajst-27311	23	13	,	,	PUNCT
ajst-27311	23	14	mainly	mainly	ADV
ajst-27311	23	15	including	include	VERB
ajst-27311	23	16	fuzzy	fuzzy	ADJ
ajst-27311	23	17	logic	logic	NOUN
ajst-27311	23	18	processing	processing	NOUN
ajst-27311	23	19	,	,	PUNCT
ajst-27311	23	20	network	network	NOUN
ajst-27311	23	21	intelligent	intelligent	ADJ
ajst-27311	23	22	vehicle	vehicle	NOUN
ajst-27311	23	23	adaptive	adaptive	ADJ
ajst-27311	23	24	calculation	calculation	NOUN
ajst-27311	23	25	,	,	PUNCT
ajst-27311	23	26	and	and	CCONJ
ajst-27311	23	27	speech	speech	NOUN
ajst-27311	23	28	recognition	recognition	NOUN
ajst-27311	23	29	.	.	PUNCT
ajst-27311	24	1	the	the	DET
ajst-27311	24	2	application	application	NOUN
ajst-27311	24	3	of	of	ADP
ajst-27311	24	4	these	these	DET
ajst-27311	24	5	technologies	technology	NOUN
ajst-27311	24	6	has	have	AUX
ajst-27311	24	7	greatly	greatly	ADV
ajst-27311	24	8	improved	improve	VERB
ajst-27311	24	9	the	the	DET
ajst-27311	24	10	safety	safety	NOUN
ajst-27311	24	11	performance	performance	NOUN
ajst-27311	24	12	of	of	ADP
ajst-27311	24	13	vehicles	vehicle	NOUN
ajst-27311	24	14	.	.	PUNCT
ajst-27311	25	1	the	the	DET
ajst-27311	25	2	series	series	NOUN
ajst-27311	25	3	of	of	ADP
ajst-27311	25	4	challenges	challenge	NOUN
ajst-27311	25	5	faced	face	VERB
ajst-27311	25	6	in	in	ADP
ajst-27311	25	7	the	the	DET
ajst-27311	25	8	development	development	NOUN
ajst-27311	25	9	of	of	ADP
ajst-27311	25	10	intelligent	intelligent	ADJ
ajst-27311	25	11	vehicles	vehicle	NOUN
ajst-27311	25	12	mainly	mainly	ADV
ajst-27311	25	13	include	include	VERB
ajst-27311	25	14	the	the	DET
ajst-27311	25	15	level	level	NOUN
ajst-27311	25	16	of	of	ADP
ajst-27311	25	17	technological	technological	ADJ
ajst-27311	25	18	development	development	NOUN
ajst-27311	25	19	,	,	PUNCT
ajst-27311	25	20	industry	industry	NOUN
ajst-27311	25	21	policy	policy	NOUN
ajst-27311	25	22	awareness	awareness	NOUN
ajst-27311	25	23	,	,	PUNCT
ajst-27311	25	24	and	and	CCONJ
ajst-27311	25	25	the	the	DET
ajst-27311	25	26	soundness	soundness	NOUN
ajst-27311	25	27	of	of	ADP
ajst-27311	25	28	relevant	relevant	ADJ
ajst-27311	25	29	regulations	regulation	NOUN
ajst-27311	25	30	,	,	PUNCT
ajst-27311	25	31	which	which	PRON
ajst-27311	25	32	can	can	AUX
ajst-27311	25	33	not	not	PART
ajst-27311	25	34	be	be	AUX
ajst-27311	25	35	ignored	ignore	VERB
ajst-27311	25	36	;	;	PUNCT
ajst-27311	25	37	therefore	therefore	ADV
ajst-27311	25	38	,	,	PUNCT
ajst-27311	25	39	the	the	DET
ajst-27311	25	40	development	development	NOUN
ajst-27311	25	41	of	of	ADP
ajst-27311	25	42	intelligent	intelligent	ADJ
ajst-27311	25	43	vehicles	vehicle	NOUN
ajst-27311	25	44	has	have	AUX
ajst-27311	25	45	been	be	AUX
ajst-27311	25	46	improved	improve	VERB
ajst-27311	25	47	in	in	ADP
ajst-27311	25	48	terms	term	NOUN
ajst-27311	25	49	of	of	ADP
ajst-27311	25	50	supporting	support	VERB
ajst-27311	25	51	policies	policy	NOUN
ajst-27311	25	52	and	and	CCONJ
ajst-27311	25	53	regulations	regulation	NOUN
ajst-27311	25	54	for	for	ADP
ajst-27311	25	55	technological	technological	ADJ
ajst-27311	25	56	innovation	innovation	NOUN
ajst-27311	25	57	industries	industry	NOUN
ajst-27311	25	58	,	,	PUNCT
ajst-27311	25	59	as	as	ADV
ajst-27311	25	60	well	well	ADV
ajst-27311	25	61	as	as	ADP
ajst-27311	25	62	the	the	DET
ajst-27311	25	63	improvement	improvement	NOUN
ajst-27311	25	64	of	of	ADP
ajst-27311	25	65	people	people	NOUN
ajst-27311	25	66	's	's	PART
ajst-27311	25	67	awareness	awareness	NOUN
ajst-27311	25	68	level	level	NOUN
ajst-27311	25	69	;	;	PUNCT
ajst-27311	25	70	to	to	PART
ajst-27311	25	71	better	well	ADV
ajst-27311	25	72	leverage	leverage	VERB
ajst-27311	25	73	the	the	DET
ajst-27311	25	74	role	role	NOUN
ajst-27311	25	75	of	of	ADP
ajst-27311	25	76	intelligent	intelligent	ADJ
ajst-27311	25	77	vehicles	vehicle	NOUN
ajst-27311	25	78	in	in	ADP
ajst-27311	25	79	development	development	NOUN
ajst-27311	25	80	;	;	PUNCT
ajst-27311	25	81	at	at	ADP
ajst-27311	25	82	the	the	DET
ajst-27311	25	83	same	same	ADJ
ajst-27311	25	84	time	time	NOUN
ajst-27311	25	85	,	,	PUNCT
ajst-27311	25	86	it	it	PRON
ajst-27311	25	87	also	also	ADV
ajst-27311	25	88	faces	face	VERB
ajst-27311	25	89	many	many	ADJ
ajst-27311	25	90	challenges	challenge	NOUN
ajst-27311	25	91	.	.	PUNCT
ajst-27311	26	1	the	the	DET
ajst-27311	26	2	research	research	NOUN
ajst-27311	26	3	results	result	VERB
ajst-27311	26	4	in	in	ADP
ajst-27311	26	5	2022	2022	NUM
ajst-27311	26	6	once	once	ADV
ajst-27311	26	7	again	again	ADV
ajst-27311	26	8	confirm	confirm	VERB
ajst-27311	26	9	the	the	DET
ajst-27311	26	10	pivotal	pivotal	ADJ
ajst-27311	26	11	position	position	NOUN
ajst-27311	26	12	of	of	ADP
ajst-27311	26	13	intelligent	intelligent	ADJ
ajst-27311	26	14	vehicles	vehicle	NOUN
ajst-27311	26	15	in	in	ADP
ajst-27311	26	16	the	the	DET
ajst-27311	26	17	global	global	ADJ
ajst-27311	26	18	intelligent	intelligent	ADJ
ajst-27311	26	19	technology	technology	NOUN
ajst-27311	26	20	revolution	revolution	NOUN
ajst-27311	26	21	.	.	PUNCT
ajst-27311	27	1	research	research	NOUN
ajst-27311	27	2	suggests	suggest	VERB
ajst-27311	27	3	that	that	SCONJ
ajst-27311	27	4	smart	smart	ADJ
ajst-27311	27	5	cars	car	NOUN
ajst-27311	27	6	are	be	AUX
ajst-27311	27	7	an	an	DET
ajst-27311	27	8	important	important	ADJ
ajst-27311	27	9	carrier	carrier	NOUN
ajst-27311	27	10	for	for	ADP
ajst-27311	27	11	promoting	promote	VERB
ajst-27311	27	12	automotive	automotive	ADJ
ajst-27311	27	13	intelligence	intelligence	NOUN
ajst-27311	27	14	and	and	CCONJ
ajst-27311	27	15	a	a	DET
ajst-27311	27	16	crucial	crucial	ADJ
ajst-27311	27	17	direction	direction	NOUN
ajst-27311	27	18	for	for	ADP
ajst-27311	27	19	leading	lead	VERB
ajst-27311	27	20	international	international	ADJ
ajst-27311	27	21	technological	technological	ADJ
ajst-27311	27	22	competition	competition	NOUN
ajst-27311	27	23	and	and	CCONJ
ajst-27311	27	24	industrial	industrial	ADJ
ajst-27311	27	25	transformation	transformation	NOUN
ajst-27311	27	26	and	and	CCONJ
ajst-27311	27	27	upgrading	upgrading	NOUN
ajst-27311	27	28	.	.	PUNCT
ajst-27311	28	1	in	in	ADP
ajst-27311	28	2	addition	addition	NOUN
ajst-27311	28	3	,	,	PUNCT
ajst-27311	28	4	the	the	DET
ajst-27311	28	5	development	development	NOUN
ajst-27311	28	6	of	of	ADP
ajst-27311	28	7	intelligent	intelligent	ADJ
ajst-27311	28	8	vehicles	vehicle	NOUN
ajst-27311	28	9	involves	involve	VERB
ajst-27311	28	10	many	many	ADJ
ajst-27311	28	11	aspects	aspect	NOUN
ajst-27311	28	12	such	such	ADJ
ajst-27311	28	13	as	as	ADP
ajst-27311	28	14	vehicle	vehicle	NOUN
ajst-27311	28	15	computing	computing	NOUN
ajst-27311	28	16	,	,	PUNCT
ajst-27311	28	17	vehicle	vehicle	NOUN
ajst-27311	28	18	networking	networking	NOUN
ajst-27311	28	19	,	,	PUNCT
ajst-27311	28	20	autonomous	autonomous	ADJ
ajst-27311	28	21	driving	driving	NOUN
ajst-27311	28	22	technology	technology	NOUN
ajst-27311	28	23	,	,	PUNCT
ajst-27311	28	24	etc	etc	X
ajst-27311	28	25	.	.	X
ajst-27311	29	1	these	these	DET
ajst-27311	29	2	fields	field	NOUN
ajst-27311	29	3	collectively	collectively	ADV
ajst-27311	29	4	promote	promote	VERB
ajst-27311	29	5	the	the	DET
ajst-27311	29	6	development	development	NOUN
ajst-27311	29	7	and	and	CCONJ
ajst-27311	29	8	progress	progress	NOUN
ajst-27311	29	9	of	of	ADP
ajst-27311	29	10	intelligent	intelligent	ADJ
ajst-27311	29	11	vehicles	vehicle	NOUN
ajst-27311	29	12	.	.	PUNCT
ajst-27311	30	1	in	in	ADP
ajst-27311	30	2	summary	summary	NOUN
ajst-27311	30	3	,	,	PUNCT
ajst-27311	30	4	smart	smart	ADJ
ajst-27311	30	5	cars	car	NOUN
ajst-27311	30	6	are	be	AUX
ajst-27311	30	7	an	an	DET
ajst-27311	30	8	important	important	ADJ
ajst-27311	30	9	component	component	NOUN
ajst-27311	30	10	of	of	ADP
ajst-27311	30	11	the	the	DET
ajst-27311	30	12	intelligent	intelligent	ADJ
ajst-27311	30	13	revolution	revolution	NOUN
ajst-27311	30	14	.	.	PUNCT
ajst-27311	31	1	2	2	X
ajst-27311	31	2	.	.	X
ajst-27311	31	3	key	key	ADJ
ajst-27311	31	4	technologies	technology	NOUN
ajst-27311	31	5	of	of	ADP
ajst-27311	31	6	obstacle	obstacle	NOUN
ajst-27311	31	7	avoidance	avoidance	NOUN
ajst-27311	31	8	system	system	NOUN
ajst-27311	31	9	at	at	ADP
ajst-27311	31	10	present	present	ADJ
ajst-27311	31	11	,	,	PUNCT
ajst-27311	31	12	there	there	PRON
ajst-27311	31	13	are	be	VERB
ajst-27311	31	14	two	two	NUM
ajst-27311	31	15	mainstream	mainstream	ADJ
ajst-27311	31	16	schools	school	NOUN
ajst-27311	31	17	of	of	ADP
ajst-27311	31	18	thought	thought	NOUN
ajst-27311	31	19	.	.	PUNCT
ajst-27311	32	1	52	52	NUM
ajst-27311	32	2	one	one	NOUN
ajst-27311	32	3	is	be	AUX
ajst-27311	32	4	autonomous	autonomous	ADJ
ajst-27311	32	5	driving	driving	NOUN
ajst-27311	32	6	,	,	PUNCT
ajst-27311	32	7	which	which	PRON
ajst-27311	32	8	mainly	mainly	ADV
ajst-27311	32	9	relies	rely	VERB
ajst-27311	32	10	on	on	ADP
ajst-27311	32	11	cameras	camera	NOUN
ajst-27311	32	12	to	to	PART
ajst-27311	32	13	accurately	accurately	ADV
ajst-27311	32	14	capture	capture	VERB
ajst-27311	32	15	the	the	DET
ajst-27311	32	16	surrounding	surround	VERB
ajst-27311	32	17	environment	environment	NOUN
ajst-27311	32	18	of	of	ADP
ajst-27311	32	19	vehicles	vehicle	NOUN
ajst-27311	32	20	.	.	PUNCT
ajst-27311	33	1	through	through	ADP
ajst-27311	33	2	image	image	NOUN
ajst-27311	33	3	processing	processing	NOUN
ajst-27311	33	4	and	and	CCONJ
ajst-27311	33	5	system	system	NOUN
ajst-27311	33	6	algorithms	algorithm	NOUN
ajst-27311	33	7	,	,	PUNCT
ajst-27311	33	8	the	the	DET
ajst-27311	33	9	system	system	NOUN
ajst-27311	33	10	can	can	AUX
ajst-27311	33	11	recognize	recognize	VERB
ajst-27311	33	12	various	various	ADJ
ajst-27311	33	13	objects	object	NOUN
ajst-27311	33	14	such	such	ADJ
ajst-27311	33	15	as	as	ADP
ajst-27311	33	16	road	road	NOUN
ajst-27311	33	17	signs	sign	NOUN
ajst-27311	33	18	,	,	PUNCT
ajst-27311	33	19	pedestrians	pedestrian	NOUN
ajst-27311	33	20	,	,	PUNCT
ajst-27311	33	21	and	and	CCONJ
ajst-27311	33	22	vehicles	vehicle	NOUN
ajst-27311	33	23	.	.	PUNCT
ajst-27311	34	1	the	the	DET
ajst-27311	34	2	advantage	advantage	NOUN
ajst-27311	34	3	of	of	ADP
ajst-27311	34	4	this	this	DET
ajst-27311	34	5	solution	solution	NOUN
ajst-27311	34	6	is	be	AUX
ajst-27311	34	7	that	that	SCONJ
ajst-27311	34	8	it	it	PRON
ajst-27311	34	9	can	can	AUX
ajst-27311	34	10	capture	capture	VERB
ajst-27311	34	11	external	external	ADJ
ajst-27311	34	12	color	color	NOUN
ajst-27311	34	13	and	and	CCONJ
ajst-27311	34	14	motion	motion	NOUN
ajst-27311	34	15	information	information	NOUN
ajst-27311	34	16	,	,	PUNCT
ajst-27311	34	17	which	which	PRON
ajst-27311	34	18	is	be	AUX
ajst-27311	34	19	more	more	ADV
ajst-27311	34	20	conducive	conducive	ADJ
ajst-27311	34	21	to	to	ADP
ajst-27311	34	22	recognizing	recognize	VERB
ajst-27311	34	23	visual	visual	ADJ
ajst-27311	34	24	information	information	NOUN
ajst-27311	34	25	such	such	ADJ
ajst-27311	34	26	as	as	ADP
ajst-27311	34	27	traffic	traffic	NOUN
ajst-27311	34	28	signs	sign	NOUN
ajst-27311	34	29	and	and	CCONJ
ajst-27311	34	30	signal	signal	ADJ
ajst-27311	34	31	lights	light	NOUN
ajst-27311	34	32	.	.	PUNCT
ajst-27311	35	1	the	the	DET
ajst-27311	35	2	disadvantage	disadvantage	NOUN
ajst-27311	35	3	is	be	AUX
ajst-27311	35	4	that	that	SCONJ
ajst-27311	35	5	it	it	PRON
ajst-27311	35	6	is	be	AUX
ajst-27311	35	7	affected	affect	VERB
ajst-27311	35	8	by	by	ADP
ajst-27311	35	9	external	external	ADJ
ajst-27311	35	10	light	light	NOUN
ajst-27311	35	11	,	,	PUNCT
ajst-27311	35	12	and	and	CCONJ
ajst-27311	35	13	its	its	PRON
ajst-27311	35	14	performance	performance	NOUN
ajst-27311	35	15	will	will	AUX
ajst-27311	35	16	significantly	significantly	ADV
ajst-27311	35	17	decrease	decrease	VERB
ajst-27311	35	18	at	at	ADP
ajst-27311	35	19	night	night	NOUN
ajst-27311	35	20	and	and	CCONJ
ajst-27311	35	21	on	on	ADP
ajst-27311	35	22	rainy	rainy	ADJ
ajst-27311	35	23	days	day	NOUN
ajst-27311	35	24	.	.	PUNCT
ajst-27311	36	1	another	another	DET
ajst-27311	36	2	approach	approach	NOUN
ajst-27311	36	3	is	be	AUX
ajst-27311	36	4	based	base	VERB
ajst-27311	36	5	on	on	ADP
ajst-27311	36	6	the	the	DET
ajst-27311	36	7	laser	laser	NOUN
ajst-27311	36	8	radar	radar	NOUN
ajst-27311	36	9	route	route	NOUN
ajst-27311	36	10	,	,	PUNCT
ajst-27311	36	11	using	use	VERB
ajst-27311	36	12	lasers	laser	NOUN
ajst-27311	36	13	to	to	PART
ajst-27311	36	14	explore	explore	VERB
ajst-27311	36	15	the	the	DET
ajst-27311	36	16	surrounding	surround	VERB
ajst-27311	36	17	environment	environment	NOUN
ajst-27311	36	18	and	and	CCONJ
ajst-27311	36	19	generate	generate	VERB
ajst-27311	36	20	3d	3d	NUM
ajst-27311	36	21	point	point	NOUN
ajst-27311	36	22	cloud	cloud	NOUN
ajst-27311	36	23	images	image	NOUN
ajst-27311	36	24	,	,	PUNCT
ajst-27311	36	25	which	which	PRON
ajst-27311	36	26	can	can	AUX
ajst-27311	36	27	also	also	ADV
ajst-27311	36	28	identify	identify	VERB
ajst-27311	36	29	and	and	CCONJ
ajst-27311	36	30	locate	locate	VERB
ajst-27311	36	31	surrounding	surround	VERB
ajst-27311	36	32	objects.[1	objects.[1	ADJ
ajst-27311	36	33	]	]	PUNCT
ajst-27311	36	34	however	however	ADV
ajst-27311	36	35	,	,	PUNCT
ajst-27311	36	36	the	the	DET
ajst-27311	36	37	disadvantage	disadvantage	NOUN
ajst-27311	36	38	is	be	AUX
ajst-27311	36	39	that	that	SCONJ
ajst-27311	36	40	the	the	DET
ajst-27311	36	41	production	production	NOUN
ajst-27311	36	42	cost	cost	NOUN
ajst-27311	36	43	is	be	AUX
ajst-27311	36	44	high	high	ADJ
ajst-27311	36	45	,	,	PUNCT
ajst-27311	36	46	the	the	DET
ajst-27311	36	47	volume	volume	NOUN
ajst-27311	36	48	is	be	AUX
ajst-27311	36	49	large	large	ADJ
ajst-27311	36	50	,	,	PUNCT
ajst-27311	36	51	and	and	CCONJ
ajst-27311	36	52	it	it	PRON
ajst-27311	36	53	is	be	AUX
ajst-27311	36	54	generally	generally	ADV
ajst-27311	36	55	inconvenient	inconvenient	ADJ
ajst-27311	36	56	to	to	PART
ajst-27311	36	57	place	place	VERB
ajst-27311	36	58	cars	car	NOUN
ajst-27311	36	59	in	in	ADP
ajst-27311	36	60	daily	daily	ADJ
ajst-27311	36	61	life	life	NOUN
ajst-27311	36	62	.	.	PUNCT
ajst-27311	37	1	it	it	PRON
ajst-27311	37	2	can	can	AUX
ajst-27311	37	3	work	work	VERB
ajst-27311	37	4	under	under	ADP
ajst-27311	37	5	any	any	DET
ajst-27311	37	6	lighting	lighting	NOUN
ajst-27311	37	7	conditions	condition	NOUN
ajst-27311	37	8	.	.	PUNCT
ajst-27311	38	1	compared	compare	VERB
ajst-27311	38	2	to	to	ADP
ajst-27311	38	3	cameras	camera	NOUN
ajst-27311	38	4	,	,	PUNCT
ajst-27311	38	5	the	the	DET
ajst-27311	38	6	advantage	advantage	NOUN
ajst-27311	38	7	is	be	AUX
ajst-27311	38	8	to	to	PART
ajst-27311	38	9	identify	identify	VERB
ajst-27311	38	10	and	and	CCONJ
ajst-27311	38	11	locate	locate	VERB
ajst-27311	38	12	surrounding	surround	VERB
ajst-27311	38	13	objects	object	NOUN
ajst-27311	38	14	.	.	PUNCT
ajst-27311	39	1	nowadays	nowadays	ADV
ajst-27311	39	2	,	,	PUNCT
ajst-27311	39	3	many	many	ADJ
ajst-27311	39	4	companies	company	NOUN
ajst-27311	39	5	are	be	AUX
ajst-27311	39	6	committed	commit	VERB
ajst-27311	39	7	to	to	ADP
ajst-27311	39	8	integrating	integrate	VERB
ajst-27311	39	9	these	these	DET
ajst-27311	39	10	two	two	NUM
ajst-27311	39	11	technologies	technology	NOUN
ajst-27311	39	12	to	to	PART
ajst-27311	39	13	make	make	VERB
ajst-27311	39	14	smart	smart	ADJ
ajst-27311	39	15	cars	car	NOUN
ajst-27311	39	16	have	have	VERB
ajst-27311	39	17	both	both	DET
ajst-27311	39	18	advantages	advantage	NOUN
ajst-27311	39	19	.	.	PUNCT
ajst-27311	40	1	[	[	X
ajst-27311	40	2	2	2	NUM
ajst-27311	40	3	]	]	SYM
ajst-27311	40	4	2.1	2.1	NUM
ajst-27311	40	5	.	.	PUNCT
ajst-27311	41	1	communication	communication	NOUN
ajst-27311	41	2	technology	technology	NOUN
ajst-27311	41	3	the	the	DET
ajst-27311	41	4	key	key	NOUN
ajst-27311	41	5	to	to	ADP
ajst-27311	41	6	achieving	achieve	VERB
ajst-27311	41	7	autonomous	autonomous	ADJ
ajst-27311	41	8	driving	driving	NOUN
ajst-27311	41	9	and	and	CCONJ
ajst-27311	41	10	intelligent	intelligent	ADJ
ajst-27311	41	11	transportation	transportation	NOUN
ajst-27311	41	12	systems	system	NOUN
ajst-27311	41	13	is	be	AUX
ajst-27311	41	14	the	the	DET
ajst-27311	41	15	communication	communication	NOUN
ajst-27311	41	16	technology	technology	NOUN
ajst-27311	41	17	of	of	ADP
ajst-27311	41	18	intelligent	intelligent	ADJ
ajst-27311	41	19	vehicles	vehicle	NOUN
ajst-27311	41	20	.	.	PUNCT
ajst-27311	42	1	these	these	DET
ajst-27311	42	2	technologies	technology	NOUN
ajst-27311	42	3	not	not	PART
ajst-27311	42	4	only	only	ADV
ajst-27311	42	5	support	support	VERB
ajst-27311	42	6	communication	communication	NOUN
ajst-27311	42	7	between	between	ADP
ajst-27311	42	8	vehicles	vehicle	NOUN
ajst-27311	42	9	,	,	PUNCT
ajst-27311	42	10	but	but	CCONJ
ajst-27311	42	11	also	also	ADV
ajst-27311	42	12	between	between	ADP
ajst-27311	42	13	vehicles	vehicle	NOUN
ajst-27311	42	14	and	and	CCONJ
ajst-27311	42	15	roadside	roadside	NOUN
ajst-27311	42	16	infrastructure	infrastructure	NOUN
ajst-27311	42	17	,	,	PUNCT
ajst-27311	42	18	between	between	ADP
ajst-27311	42	19	vehicles	vehicle	NOUN
ajst-27311	42	20	and	and	CCONJ
ajst-27311	42	21	pedestrians	pedestrian	NOUN
ajst-27311	42	22	,	,	PUNCT
ajst-27311	42	23	and	and	CCONJ
ajst-27311	42	24	between	between	ADP
ajst-27311	42	25	vehicles	vehicle	NOUN
ajst-27311	42	26	and	and	CCONJ
ajst-27311	42	27	everything	everything	PRON
ajst-27311	42	28	else	else	ADV
ajst-27311	42	29	.	.	PUNCT
ajst-27311	43	1	with	with	ADP
ajst-27311	43	2	the	the	DET
ajst-27311	43	3	development	development	NOUN
ajst-27311	43	4	of	of	ADP
ajst-27311	43	5	technology	technology	NOUN
ajst-27311	43	6	,	,	PUNCT
ajst-27311	43	7	the	the	DET
ajst-27311	43	8	communication	communication	NOUN
ajst-27311	43	9	technology	technology	NOUN
ajst-27311	43	10	of	of	ADP
ajst-27311	43	11	smart	smart	ADJ
ajst-27311	43	12	cars	car	NOUN
ajst-27311	43	13	has	have	AUX
ajst-27311	43	14	evolved	evolve	VERB
ajst-27311	43	15	from	from	ADP
ajst-27311	43	16	early	early	ADJ
ajst-27311	43	17	infrared	infrare	VERB
ajst-27311	43	18	,	,	PUNCT
ajst-27311	43	19	microwave	microwave	NOUN
ajst-27311	43	20	,	,	PUNCT
ajst-27311	43	21	and	and	CCONJ
ajst-27311	43	22	millimeter	millimeter	NOUN
ajst-27311	43	23	wave	wave	NOUN
ajst-27311	43	24	based	base	VERB
ajst-27311	43	25	communication	communication	NOUN
ajst-27311	43	26	to	to	ADP
ajst-27311	43	27	low	low	ADJ
ajst-27311	43	28	latency	latency	NOUN
ajst-27311	43	29	and	and	CCONJ
ajst-27311	43	30	high	high	ADJ
ajst-27311	43	31	reliability	reliability	NOUN
ajst-27311	43	32	communication	communication	NOUN
ajst-27311	43	33	achieved	achieve	VERB
ajst-27311	43	34	using	use	VERB
ajst-27311	43	35	5	5	NUM
ajst-27311	43	36	g	g	NOUN
ajst-27311	43	37	technology	technology	NOUN
ajst-27311	43	38	.	.	PUNCT
ajst-27311	44	1	the	the	DET
ajst-27311	44	2	intelligent	intelligent	ADJ
ajst-27311	44	3	vehicle	vehicle	NOUN
ajst-27311	44	4	communication	communication	NOUN
ajst-27311	44	5	technology	technology	NOUN
ajst-27311	44	6	mainly	mainly	ADV
ajst-27311	44	7	includes	include	VERB
ajst-27311	44	8	the	the	DET
ajst-27311	44	9	following	following	ADJ
ajst-27311	44	10	points	point	NOUN
ajst-27311	44	11	:	:	PUNCT
ajst-27311	44	12	2.1.1	2.1.1	NUM
ajst-27311	44	13	.	.	X
ajst-27311	44	14	internet	internet	NOUN
ajst-27311	44	15	of	of	ADP
ajst-27311	44	16	vehicles	vehicle	NOUN
ajst-27311	44	17	technology	technology	NOUN
ajst-27311	44	18	internet	internet	NOUN
ajst-27311	44	19	of	of	ADP
ajst-27311	44	20	vehicles	vehicle	NOUN
ajst-27311	44	21	technology	technology	NOUN
ajst-27311	44	22	has	have	AUX
ajst-27311	44	23	become	become	VERB
ajst-27311	44	24	the	the	DET
ajst-27311	44	25	foundation	foundation	NOUN
ajst-27311	44	26	of	of	ADP
ajst-27311	44	27	the	the	DET
ajst-27311	44	28	development	development	NOUN
ajst-27311	44	29	of	of	ADP
ajst-27311	44	30	intelligent	intelligent	ADJ
ajst-27311	44	31	automobiles	automobile	NOUN
ajst-27311	44	32	,	,	PUNCT
ajst-27311	44	33	which	which	PRON
ajst-27311	44	34	has	have	AUX
ajst-27311	44	35	emerged	emerge	VERB
ajst-27311	44	36	with	with	ADP
ajst-27311	44	37	the	the	DET
ajst-27311	44	38	development	development	NOUN
ajst-27311	44	39	of	of	ADP
ajst-27311	44	40	intelligent	intelligent	ADJ
ajst-27311	44	41	automobiles	automobile	NOUN
ajst-27311	44	42	.	.	PUNCT
ajst-27311	45	1	ethernet	ethernet	NOUN
ajst-27311	45	2	technology	technology	NOUN
ajst-27311	45	3	provides	provide	VERB
ajst-27311	45	4	a	a	DET
ajst-27311	45	5	solution	solution	NOUN
ajst-27311	45	6	for	for	ADP
ajst-27311	45	7	automotive	automotive	ADJ
ajst-27311	45	8	intelligence	intelligence	NOUN
ajst-27311	45	9	,	,	PUNCT
ajst-27311	45	10	as	as	SCONJ
ajst-27311	45	11	its	its	PRON
ajst-27311	45	12	advantages	advantage	NOUN
ajst-27311	45	13	have	have	AUX
ajst-27311	45	14	been	be	AUX
ajst-27311	45	15	introduced	introduce	VERB
ajst-27311	45	16	into	into	ADP
ajst-27311	45	17	the	the	DET
ajst-27311	45	18	field	field	NOUN
ajst-27311	45	19	of	of	ADP
ajst-27311	45	20	automotive	automotive	ADJ
ajst-27311	45	21	communication	communication	NOUN
ajst-27311	45	22	.	.	PUNCT
ajst-27311	46	1	in	in	ADP
ajst-27311	46	2	addition	addition	NOUN
ajst-27311	46	3	,	,	PUNCT
ajst-27311	46	4	the	the	DET
ajst-27311	46	5	intelligent	intelligent	ADJ
ajst-27311	46	6	electronic	electronic	ADJ
ajst-27311	46	7	control	control	NOUN
ajst-27311	46	8	system	system	NOUN
ajst-27311	46	9	of	of	ADP
ajst-27311	46	10	the	the	DET
ajst-27311	46	11	car	car	NOUN
ajst-27311	46	12	also	also	ADV
ajst-27311	46	13	applies	apply	VERB
ajst-27311	46	14	lin	lin	PROPN
ajst-27311	46	15	communication	communication	NOUN
ajst-27311	46	16	technology	technology	NOUN
ajst-27311	46	17	to	to	PART
ajst-27311	46	18	support	support	VERB
ajst-27311	46	19	information	information	NOUN
ajst-27311	46	20	transmission	transmission	NOUN
ajst-27311	46	21	between	between	ADP
ajst-27311	46	22	electronic	electronic	ADJ
ajst-27311	46	23	devices	device	NOUN
ajst-27311	46	24	inside	inside	ADP
ajst-27311	46	25	the	the	DET
ajst-27311	46	26	car	car	NOUN
ajst-27311	46	27	.	.	PUNCT
ajst-27311	47	1	[	[	X
ajst-27311	47	2	3	3	NUM
ajst-27311	47	3	]	]	SYM
ajst-27311	47	4	2.1.2	2.1.2	NUM
ajst-27311	47	5	.	.	PUNCT
ajst-27311	47	6	v2x	v2x	VERB
ajst-27311	47	7	communication	communication	NOUN
ajst-27311	47	8	technology	technology	NOUN
ajst-27311	47	9	v2x	v2x	VERB
ajst-27311	47	10	communication	communication	NOUN
ajst-27311	47	11	technology	technology	NOUN
ajst-27311	47	12	is	be	AUX
ajst-27311	47	13	an	an	DET
ajst-27311	47	14	important	important	ADJ
ajst-27311	47	15	component	component	NOUN
ajst-27311	47	16	of	of	ADP
ajst-27311	47	17	intelligent	intelligent	ADJ
ajst-27311	47	18	vehicle	vehicle	NOUN
ajst-27311	47	19	communication	communication	NOUN
ajst-27311	47	20	technology	technology	NOUN
ajst-27311	47	21	,	,	PUNCT
ajst-27311	47	22	including	include	VERB
ajst-27311	47	23	communication	communication	NOUN
ajst-27311	47	24	methods	method	NOUN
ajst-27311	47	25	between	between	ADP
ajst-27311	47	26	cars	car	NOUN
ajst-27311	47	27	,	,	PUNCT
ajst-27311	47	28	cars	car	NOUN
ajst-27311	47	29	and	and	CCONJ
ajst-27311	47	30	roadside	roadside	NOUN
ajst-27311	47	31	infrastructure	infrastructure	NOUN
ajst-27311	47	32	,	,	PUNCT
ajst-27311	47	33	cars	car	NOUN
ajst-27311	47	34	and	and	CCONJ
ajst-27311	47	35	pedestrians	pedestrian	NOUN
ajst-27311	47	36	,	,	PUNCT
ajst-27311	47	37	etc	etc	X
ajst-27311	47	38	.	.	X
ajst-27311	48	1	the	the	DET
ajst-27311	48	2	application	application	NOUN
ajst-27311	48	3	of	of	ADP
ajst-27311	48	4	5	5	NUM
ajst-27311	48	5	g	g	NOUN
ajst-27311	48	6	technology	technology	NOUN
ajst-27311	48	7	enables	enable	VERB
ajst-27311	48	8	v2x	v2x	VERB
ajst-27311	48	9	communication	communication	NOUN
ajst-27311	48	10	technology	technology	NOUN
ajst-27311	48	11	to	to	PART
ajst-27311	48	12	provide	provide	VERB
ajst-27311	48	13	ultra	ultra	ADJ
ajst-27311	48	14	reliable	reliable	ADJ
ajst-27311	48	15	and	and	CCONJ
ajst-27311	48	16	low	low	ADJ
ajst-27311	48	17	latency	latency	NOUN
ajst-27311	48	18	communication	communication	NOUN
ajst-27311	48	19	,	,	PUNCT
ajst-27311	48	20	which	which	PRON
ajst-27311	48	21	is	be	AUX
ajst-27311	48	22	crucial	crucial	ADJ
ajst-27311	48	23	for	for	ADP
ajst-27311	48	24	the	the	DET
ajst-27311	48	25	implementation	implementation	NOUN
ajst-27311	48	26	of	of	ADP
ajst-27311	48	27	autonomous	autonomous	ADJ
ajst-27311	48	28	driving	driving	NOUN
ajst-27311	48	29	and	and	CCONJ
ajst-27311	48	30	intelligent	intelligent	ADJ
ajst-27311	48	31	transportation	transportation	NOUN
ajst-27311	48	32	systems	system	NOUN
ajst-27311	48	33	.	.	PUNCT
ajst-27311	49	1	[	[	X
ajst-27311	49	2	4	4	NUM
ajst-27311	49	3	]	]	SYM
ajst-27311	49	4	2.1.3	2.1.3	NUM
ajst-27311	49	5	.	.	PUNCT
ajst-27311	49	6	wireless	wireless	ADJ
ajst-27311	49	7	communication	communication	NOUN
ajst-27311	49	8	technology	technology	NOUN
ajst-27311	49	9	wireless	wireless	ADJ
ajst-27311	49	10	communication	communication	NOUN
ajst-27311	49	11	technology	technology	NOUN
ajst-27311	49	12	plays	play	VERB
ajst-27311	49	13	a	a	DET
ajst-27311	49	14	crucial	crucial	ADJ
ajst-27311	49	15	role	role	NOUN
ajst-27311	49	16	in	in	ADP
ajst-27311	49	17	smart	smart	ADJ
ajst-27311	49	18	cars	car	NOUN
ajst-27311	49	19	.	.	PUNCT
ajst-27311	50	1	wifi	wifi	NOUN
ajst-27311	50	2	technology	technology	NOUN
ajst-27311	50	3	is	be	AUX
ajst-27311	50	4	applied	apply	VERB
ajst-27311	50	5	in	in	ADP
ajst-27311	50	6	smart	smart	ADJ
ajst-27311	50	7	car	car	NOUN
ajst-27311	50	8	data	datum	NOUN
ajst-27311	50	9	communication	communication	NOUN
ajst-27311	50	10	to	to	PART
ajst-27311	50	11	support	support	VERB
ajst-27311	50	12	the	the	DET
ajst-27311	50	13	debugging	debugging	NOUN
ajst-27311	50	14	of	of	ADP
ajst-27311	50	15	smart	smart	ADJ
ajst-27311	50	16	car	car	NOUN
ajst-27311	50	17	control	control	NOUN
ajst-27311	50	18	systems	system	NOUN
ajst-27311	50	19	.	.	PUNCT
ajst-27311	51	1	in	in	ADP
ajst-27311	51	2	addition	addition	NOUN
ajst-27311	51	3	,	,	PUNCT
ajst-27311	51	4	wireless	wireless	ADJ
ajst-27311	51	5	vehicle	vehicle	NOUN
ajst-27311	51	6	networking	network	VERB
ajst-27311	51	7	technology	technology	NOUN
ajst-27311	51	8	has	have	AUX
ajst-27311	51	9	also	also	ADV
ajst-27311	51	10	been	be	AUX
ajst-27311	51	11	widely	widely	ADV
ajst-27311	51	12	applied	apply	VERB
ajst-27311	51	13	in	in	ADP
ajst-27311	51	14	the	the	DET
ajst-27311	51	15	development	development	NOUN
ajst-27311	51	16	of	of	ADP
ajst-27311	51	17	intelligent	intelligent	ADJ
ajst-27311	51	18	transportation	transportation	NOUN
ajst-27311	51	19	application	application	NOUN
ajst-27311	51	20	systems	system	NOUN
ajst-27311	51	21	and	and	CCONJ
ajst-27311	51	22	connected	connected	ADJ
ajst-27311	51	23	vehicle	vehicle	NOUN
ajst-27311	51	24	networks	network	NOUN
ajst-27311	51	25	.	.	PUNCT
ajst-27311	52	1	2.1.4	2.1.4	X
ajst-27311	52	2	.	.	PUNCT
ajst-27311	52	3	sensor	sensor	NOUN
ajst-27311	52	4	communication	communication	NOUN
ajst-27311	52	5	technology	technology	NOUN
ajst-27311	52	6	sensor	sensor	NOUN
ajst-27311	52	7	technology	technology	NOUN
ajst-27311	52	8	is	be	AUX
ajst-27311	52	9	used	use	VERB
ajst-27311	52	10	in	in	ADP
ajst-27311	52	11	smart	smart	ADJ
ajst-27311	52	12	cars	car	NOUN
ajst-27311	52	13	to	to	PART
ajst-27311	52	14	collect	collect	VERB
ajst-27311	52	15	important	important	ADJ
ajst-27311	52	16	information	information	NOUN
ajst-27311	52	17	about	about	ADP
ajst-27311	52	18	the	the	DET
ajst-27311	52	19	vehicle	vehicle	NOUN
ajst-27311	52	20	's	's	PART
ajst-27311	52	21	operating	operate	VERB
ajst-27311	52	22	status	status	NOUN
ajst-27311	52	23	,	,	PUNCT
ajst-27311	52	24	such	such	ADJ
ajst-27311	52	25	as	as	ADP
ajst-27311	52	26	air	air	NOUN
ajst-27311	52	27	pockets	pocket	NOUN
ajst-27311	52	28	,	,	PUNCT
ajst-27311	52	29	distance	distance	NOUN
ajst-27311	52	30	detection	detection	NOUN
ajst-27311	52	31	,	,	PUNCT
ajst-27311	52	32	mechanical	mechanical	ADJ
ajst-27311	52	33	and	and	CCONJ
ajst-27311	52	34	electronic	electronic	ADJ
ajst-27311	52	35	components	component	NOUN
ajst-27311	52	36	,	,	PUNCT
ajst-27311	52	37	tire	tire	NOUN
ajst-27311	52	38	pressure	pressure	NOUN
ajst-27311	52	39	,	,	PUNCT
ajst-27311	52	40	collision	collision	NOUN
ajst-27311	52	41	force	force	NOUN
ajst-27311	52	42	,	,	PUNCT
ajst-27311	52	43	and	and	CCONJ
ajst-27311	52	44	passenger	passenger	NOUN
ajst-27311	52	45	conditions	condition	NOUN
ajst-27311	52	46	.	.	PUNCT
ajst-27311	53	1	the	the	DET
ajst-27311	53	2	transmission	transmission	NOUN
ajst-27311	53	3	of	of	ADP
ajst-27311	53	4	this	this	DET
ajst-27311	53	5	information	information	NOUN
ajst-27311	53	6	is	be	AUX
ajst-27311	53	7	essential	essential	ADJ
ajst-27311	53	8	to	to	PART
ajst-27311	53	9	achieve	achieve	VERB
ajst-27311	53	10	intelligent	intelligent	ADJ
ajst-27311	53	11	transportation	transportation	NOUN
ajst-27311	53	12	systems	system	NOUN
ajst-27311	53	13	and	and	CCONJ
ajst-27311	53	14	improve	improve	VERB
ajst-27311	53	15	road	road	NOUN
ajst-27311	53	16	safety	safety	NOUN
ajst-27311	53	17	.	.	PUNCT
ajst-27311	54	1	[	[	X
ajst-27311	54	2	5,6	5,6	NUM
ajst-27311	54	3	]	]	SYM
ajst-27311	54	4	2.2	2.2	NUM
ajst-27311	54	5	.	.	PUNCT
ajst-27311	54	6	radar	radar	NOUN
ajst-27311	54	7	system	system	NOUN
ajst-27311	54	8	the	the	DET
ajst-27311	54	9	purpose	purpose	NOUN
ajst-27311	54	10	of	of	ADP
ajst-27311	54	11	the	the	DET
ajst-27311	54	12	radar	radar	NOUN
ajst-27311	54	13	system	system	NOUN
ajst-27311	54	14	in	in	ADP
ajst-27311	54	15	intelligent	intelligent	ADJ
ajst-27311	54	16	vehicles	vehicle	NOUN
ajst-27311	54	17	is	be	AUX
ajst-27311	54	18	to	to	PART
ajst-27311	54	19	achieve	achieve	VERB
ajst-27311	54	20	comprehensive	comprehensive	ADJ
ajst-27311	54	21	perception	perception	NOUN
ajst-27311	54	22	and	and	CCONJ
ajst-27311	54	23	autonomy	autonomy	NOUN
ajst-27311	54	24	of	of	ADP
ajst-27311	54	25	the	the	DET
ajst-27311	54	26	vehicle	vehicle	NOUN
ajst-27311	54	27	,	,	PUNCT
ajst-27311	54	28	and	and	CCONJ
ajst-27311	54	29	it	it	PRON
ajst-27311	54	30	is	be	AUX
ajst-27311	54	31	also	also	ADV
ajst-27311	54	32	one	one	NUM
ajst-27311	54	33	of	of	ADP
ajst-27311	54	34	the	the	DET
ajst-27311	54	35	key	key	ADJ
ajst-27311	54	36	technologies	technology	NOUN
ajst-27311	54	37	for	for	ADP
ajst-27311	54	38	advanced	advanced	ADJ
ajst-27311	54	39	driving	driving	NOUN
ajst-27311	54	40	assistance	assistance	NOUN
ajst-27311	54	41	systems	system	NOUN
ajst-27311	54	42	.	.	PUNCT
ajst-27311	55	1	these	these	DET
ajst-27311	55	2	systems	system	NOUN
ajst-27311	55	3	perceive	perceive	VERB
ajst-27311	55	4	the	the	DET
ajst-27311	55	5	surrounding	surround	VERB
ajst-27311	55	6	environment	environment	NOUN
ajst-27311	55	7	by	by	ADP
ajst-27311	55	8	emitting	emit	VERB
ajst-27311	55	9	electromagnetic	electromagnetic	ADJ
ajst-27311	55	10	waves	wave	NOUN
ajst-27311	55	11	and	and	CCONJ
ajst-27311	55	12	receiving	receive	VERB
ajst-27311	55	13	reflected	reflect	VERB
ajst-27311	55	14	signals	signal	NOUN
ajst-27311	55	15	,	,	PUNCT
ajst-27311	55	16	thereby	thereby	ADV
ajst-27311	55	17	helping	help	VERB
ajst-27311	55	18	vehicles	vehicle	NOUN
ajst-27311	55	19	identify	identify	VERB
ajst-27311	55	20	obstacles	obstacle	NOUN
ajst-27311	55	21	,	,	PUNCT
ajst-27311	55	22	measure	measure	NOUN
ajst-27311	55	23	distance	distance	NOUN
ajst-27311	55	24	and	and	CCONJ
ajst-27311	55	25	speed	speed	NOUN
ajst-27311	55	26	,	,	PUNCT
ajst-27311	55	27	and	and	CCONJ
ajst-27311	55	28	perform	perform	VERB
ajst-27311	55	29	path	path	NOUN
ajst-27311	55	30	planning	planning	NOUN
ajst-27311	55	31	.	.	PUNCT
ajst-27311	56	1	with	with	ADP
ajst-27311	56	2	the	the	DET
ajst-27311	56	3	development	development	NOUN
ajst-27311	56	4	of	of	ADP
ajst-27311	56	5	intelligent	intelligent	ADJ
ajst-27311	56	6	vehicle	vehicle	NOUN
ajst-27311	56	7	technology	technology	NOUN
ajst-27311	56	8	,	,	PUNCT
ajst-27311	56	9	radar	radar	NOUN
ajst-27311	56	10	systems	system	NOUN
ajst-27311	56	11	have	have	AUX
ajst-27311	56	12	made	make	VERB
ajst-27311	56	13	significant	significant	ADJ
ajst-27311	56	14	progress	progress	NOUN
ajst-27311	56	15	in	in	ADP
ajst-27311	56	16	both	both	DET
ajst-27311	56	17	hardware	hardware	NOUN
ajst-27311	56	18	and	and	CCONJ
ajst-27311	56	19	algorithms	algorithm	NOUN
ajst-27311	56	20	.	.	PUNCT
ajst-27311	57	1	millimeter	millimeter	NOUN
ajst-27311	57	2	wave	wave	PROPN
ajst-27311	57	3	radar	radar	NOUN
ajst-27311	57	4	has	have	AUX
ajst-27311	57	5	become	become	VERB
ajst-27311	57	6	the	the	DET
ajst-27311	57	7	main	main	ADJ
ajst-27311	57	8	sensor	sensor	NOUN
ajst-27311	57	9	for	for	ADP
ajst-27311	57	10	long	long	ADJ
ajst-27311	57	11	-	-	PUNCT
ajst-27311	57	12	distance	distance	NOUN
ajst-27311	57	13	detection	detection	NOUN
ajst-27311	57	14	in	in	ADP
ajst-27311	57	15	intelligent	intelligent	ADJ
ajst-27311	57	16	vehicles	vehicle	NOUN
ajst-27311	57	17	due	due	ADP
ajst-27311	57	18	to	to	ADP
ajst-27311	57	19	its	its	PRON
ajst-27311	57	20	long	long	ADJ
ajst-27311	57	21	-	-	PUNCT
ajst-27311	57	22	range	range	NOUN
ajst-27311	57	23	,	,	PUNCT
ajst-27311	57	24	all	all	DET
ajst-27311	57	25	-	-	PUNCT
ajst-27311	57	26	weather	weather	NOUN
ajst-27311	57	27	capability	capability	NOUN
ajst-27311	57	28	,	,	PUNCT
ajst-27311	57	29	and	and	CCONJ
ajst-27311	57	30	low	low	ADJ
ajst-27311	57	31	cost	cost	NOUN
ajst-27311	57	32	.	.	PUNCT
ajst-27311	58	1	millimeter	millimeter	NOUN
ajst-27311	58	2	wave	wave	PROPN
ajst-27311	58	3	radar	radar	NOUN
ajst-27311	58	4	can	can	AUX
ajst-27311	58	5	provide	provide	VERB
ajst-27311	58	6	the	the	DET
ajst-27311	58	7	identification	identification	NOUN
ajst-27311	58	8	of	of	ADP
ajst-27311	58	9	distance	distance	NOUN
ajst-27311	58	10	,	,	PUNCT
ajst-27311	58	11	speed	speed	NOUN
ajst-27311	58	12	and	and	CCONJ
ajst-27311	58	13	movement	movement	NOUN
ajst-27311	58	14	direction	direction	NOUN
ajst-27311	58	15	of	of	ADP
ajst-27311	58	16	objects	object	NOUN
ajst-27311	58	17	in	in	ADP
ajst-27311	58	18	front	front	NOUN
ajst-27311	58	19	of	of	ADP
ajst-27311	58	20	the	the	DET
ajst-27311	58	21	vehicle	vehicle	NOUN
ajst-27311	58	22	,	,	PUNCT
ajst-27311	58	23	which	which	PRON
ajst-27311	58	24	is	be	AUX
ajst-27311	58	25	crucial	crucial	ADJ
ajst-27311	58	26	to	to	ADP
ajst-27311	58	27	the	the	DET
ajst-27311	58	28	safety	safety	NOUN
ajst-27311	58	29	and	and	CCONJ
ajst-27311	58	30	reliability	reliability	NOUN
ajst-27311	58	31	of	of	ADP
ajst-27311	58	32	the	the	DET
ajst-27311	58	33	auto	auto	NOUN
ajst-27311	58	34	drive	drive	NOUN
ajst-27311	58	35	system	system	NOUN
ajst-27311	58	36	.	.	PUNCT
ajst-27311	59	1	in	in	ADP
ajst-27311	59	2	addition	addition	NOUN
ajst-27311	59	3	,	,	PUNCT
ajst-27311	59	4	the	the	DET
ajst-27311	59	5	application	application	NOUN
ajst-27311	59	6	of	of	ADP
ajst-27311	59	7	millimeter	millimeter	NOUN
ajst-27311	59	8	wave	wave	NOUN
ajst-27311	59	9	radar	radar	NOUN
ajst-27311	59	10	is	be	AUX
ajst-27311	59	11	not	not	PART
ajst-27311	59	12	limited	limit	VERB
ajst-27311	59	13	to	to	ADP
ajst-27311	59	14	a	a	DET
ajst-27311	59	15	single	single	ADJ
ajst-27311	59	16	function	function	NOUN
ajst-27311	59	17	,	,	PUNCT
ajst-27311	59	18	but	but	CCONJ
ajst-27311	59	19	can	can	AUX
ajst-27311	59	20	also	also	ADV
ajst-27311	59	21	be	be	AUX
ajst-27311	59	22	used	use	VERB
ajst-27311	59	23	in	in	ADP
ajst-27311	59	24	conjunction	conjunction	NOUN
ajst-27311	59	25	with	with	ADP
ajst-27311	59	26	other	other	ADJ
ajst-27311	59	27	sensors	sensor	NOUN
ajst-27311	59	28	such	such	ADJ
ajst-27311	59	29	as	as	ADP
ajst-27311	59	30	vision	vision	NOUN
ajst-27311	59	31	and	and	CCONJ
ajst-27311	59	32	lidar	lidar	NOUN
ajst-27311	59	33	to	to	PART
ajst-27311	59	34	further	far	ADV
ajst-27311	59	35	improve	improve	VERB
ajst-27311	59	36	system	system	NOUN
ajst-27311	59	37	performance	performance	NOUN
ajst-27311	59	38	.	.	PUNCT
ajst-27311	60	1	lidar	lidar	NOUN
ajst-27311	60	2	is	be	AUX
ajst-27311	60	3	another	another	DET
ajst-27311	60	4	important	important	ADJ
ajst-27311	60	5	environmental	environmental	ADJ
ajst-27311	60	6	sensing	sense	VERB
ajst-27311	60	7	sensor	sensor	NOUN
ajst-27311	60	8	that	that	PRON
ajst-27311	60	9	emits	emit	VERB
ajst-27311	60	10	a	a	DET
ajst-27311	60	11	laser	laser	NOUN
ajst-27311	60	12	beam	beam	NOUN
ajst-27311	60	13	and	and	CCONJ
ajst-27311	60	14	measures	measure	NOUN
ajst-27311	60	15	the	the	DET
ajst-27311	60	16	reflected	reflect	VERB
ajst-27311	60	17	beam	beam	NOUN
ajst-27311	60	18	to	to	PART
ajst-27311	60	19	create	create	VERB
ajst-27311	60	20	a	a	DET
ajst-27311	60	21	three	three	NUM
ajst-27311	60	22	-	-	PUNCT
ajst-27311	60	23	dimensional	dimensional	ADJ
ajst-27311	60	24	image	image	NOUN
ajst-27311	60	25	of	of	ADP
ajst-27311	60	26	the	the	DET
ajst-27311	60	27	surrounding	surround	VERB
ajst-27311	60	28	environment	environment	NOUN
ajst-27311	60	29	.	.	PUNCT
ajst-27311	61	1	the	the	DET
ajst-27311	61	2	application	application	NOUN
ajst-27311	61	3	of	of	ADP
ajst-27311	61	4	lidar	lidar	NOUN
ajst-27311	61	5	in	in	ADP
ajst-27311	61	6	intelligent	intelligent	ADJ
ajst-27311	61	7	driving	driving	NOUN
ajst-27311	61	8	includes	include	VERB
ajst-27311	61	9	multiple	multiple	ADJ
ajst-27311	61	10	aspects	aspect	NOUN
ajst-27311	61	11	such	such	ADJ
ajst-27311	61	12	as	as	ADP
ajst-27311	61	13	point	point	NOUN
ajst-27311	61	14	cloud	cloud	ADJ
ajst-27311	61	15	segmentation	segmentation	NOUN
ajst-27311	61	16	,	,	PUNCT
ajst-27311	61	17	target	target	VERB
ajst-27311	61	18	tracking	tracking	NOUN
ajst-27311	61	19	and	and	CCONJ
ajst-27311	61	20	recognition	recognition	NOUN
ajst-27311	61	21	,	,	PUNCT
ajst-27311	61	22	real	real	ADJ
ajst-27311	61	23	-	-	PUNCT
ajst-27311	61	24	time	time	NOUN
ajst-27311	61	25	positioning	positioning	NOUN
ajst-27311	61	26	,	,	PUNCT
ajst-27311	61	27	and	and	CCONJ
ajst-27311	61	28	map	map	VERB
ajst-27311	61	29	reconstruction	reconstruction	NOUN
ajst-27311	61	30	.	.	PUNCT
ajst-27311	62	1	the	the	DET
ajst-27311	62	2	advantage	advantage	NOUN
ajst-27311	62	3	of	of	ADP
ajst-27311	62	4	lidar	lidar	NOUN
ajst-27311	62	5	lies	lie	VERB
ajst-27311	62	6	in	in	ADP
ajst-27311	62	7	its	its	PRON
ajst-27311	62	8	high	high	ADJ
ajst-27311	62	9	precision	precision	NOUN
ajst-27311	62	10	and	and	CCONJ
ajst-27311	62	11	resolution	resolution	NOUN
ajst-27311	62	12	,	,	PUNCT
ajst-27311	62	13	which	which	PRON
ajst-27311	62	14	enables	enable	VERB
ajst-27311	62	15	it	it	PRON
ajst-27311	62	16	to	to	PART
ajst-27311	62	17	provide	provide	VERB
ajst-27311	62	18	detailed	detailed	ADJ
ajst-27311	62	19	environmental	environmental	ADJ
ajst-27311	62	20	information	information	NOUN
ajst-27311	62	21	in	in	ADP
ajst-27311	62	22	complex	complex	ADJ
ajst-27311	62	23	environments	environment	NOUN
ajst-27311	62	24	.	.	PUNCT
ajst-27311	63	1	however	however	ADV
ajst-27311	63	2	,	,	PUNCT
ajst-27311	63	3	the	the	DET
ajst-27311	63	4	challenges	challenge	NOUN
ajst-27311	63	5	faced	face	VERB
ajst-27311	63	6	by	by	ADP
ajst-27311	63	7	radar	radar	NOUN
ajst-27311	63	8	systems	system	NOUN
ajst-27311	63	9	are	be	AUX
ajst-27311	63	10	constantly	constantly	ADV
ajst-27311	63	11	increasing	increase	VERB
ajst-27311	63	12	with	with	ADP
ajst-27311	63	13	the	the	DET
ajst-27311	63	14	development	development	NOUN
ajst-27311	63	15	of	of	ADP
ajst-27311	63	16	autonomous	autonomous	ADJ
ajst-27311	63	17	driving	driving	NOUN
ajst-27311	63	18	technology	technology	NOUN
ajst-27311	63	19	.	.	PUNCT
ajst-27311	64	1	one	one	NUM
ajst-27311	64	2	of	of	ADP
ajst-27311	64	3	the	the	DET
ajst-27311	64	4	main	main	ADJ
ajst-27311	64	5	issues	issue	NOUN
ajst-27311	64	6	is	be	AUX
ajst-27311	64	7	interference	interference	NOUN
ajst-27311	64	8	,	,	PUNCT
ajst-27311	64	9	especially	especially	ADV
ajst-27311	64	10	with	with	ADP
ajst-27311	64	11	the	the	DET
ajst-27311	64	12	widespread	widespread	ADJ
ajst-27311	64	13	use	use	NOUN
ajst-27311	64	14	of	of	ADP
ajst-27311	64	15	radar	radar	NOUN
ajst-27311	64	16	sensors	sensor	NOUN
ajst-27311	64	17	in	in	ADP
ajst-27311	64	18	automobiles	automobile	NOUN
ajst-27311	64	19	.	.	PUNCT
ajst-27311	65	1	to	to	PART
ajst-27311	65	2	address	address	VERB
ajst-27311	65	3	this	this	DET
ajst-27311	65	4	issue	issue	NOUN
ajst-27311	65	5	,	,	PUNCT
ajst-27311	65	6	researchers	researcher	NOUN
ajst-27311	65	7	have	have	AUX
ajst-27311	65	8	proposed	propose	VERB
ajst-27311	65	9	the	the	DET
ajst-27311	65	10	concept	concept	NOUN
ajst-27311	65	11	of	of	ADP
ajst-27311	65	12	digital	digital	ADJ
ajst-27311	65	13	orthogonal	orthogonal	ADJ
ajst-27311	65	14	frequency	frequency	NOUN
ajst-27311	65	15	division	division	NOUN
ajst-27311	65	16	multiplexing	multiplexing	NOUN
ajst-27311	65	17	radar	radar	NOUN
ajst-27311	65	18	,	,	PUNCT
ajst-27311	65	19	which	which	PRON
ajst-27311	65	20	is	be	AUX
ajst-27311	65	21	based	base	VERB
ajst-27311	65	22	on	on	ADP
ajst-27311	65	23	cognitive	cognitive	ADJ
ajst-27311	65	24	interference	interference	NOUN
ajst-27311	65	25	avoidance	avoidance	NOUN
ajst-27311	65	26	and	and	CCONJ
ajst-27311	65	27	dynamically	dynamically	ADV
ajst-27311	65	28	adjusts	adjust	VERB
ajst-27311	65	29	waveforms	waveform	NOUN
ajst-27311	65	30	to	to	PART
ajst-27311	65	31	adapt	adapt	VERB
ajst-27311	65	32	to	to	PART
ajst-27311	65	33	interference	interference	NOUN
ajst-27311	65	34	,	,	PUNCT
ajst-27311	65	35	thereby	thereby	ADV
ajst-27311	65	36	improving	improve	VERB
ajst-27311	65	37	the	the	DET
ajst-27311	65	38	system	system	NOUN
ajst-27311	65	39	's	's	PART
ajst-27311	65	40	anti	anti	ADJ
ajst-27311	65	41	-	-	ADJ
ajst-27311	65	42	interference	interference	ADJ
ajst-27311	65	43	ability	ability	NOUN
ajst-27311	65	44	.	.	PUNCT
ajst-27311	66	1	in	in	ADP
ajst-27311	66	2	addition	addition	NOUN
ajst-27311	66	3	,	,	PUNCT
ajst-27311	66	4	research	research	NOUN
ajst-27311	66	5	on	on	ADP
ajst-27311	66	6	the	the	DET
ajst-27311	66	7	smart	smart	ADJ
ajst-27311	66	8	in	in	ADP
ajst-27311	66	9	car	car	NOUN
ajst-27311	66	10	radar	radar	NOUN
ajst-27311	66	11	system	system	NOUN
ajst-27311	66	12	is	be	AUX
ajst-27311	66	13	also	also	ADV
ajst-27311	66	14	ongoing	ongoing	ADJ
ajst-27311	66	15	.	.	PUNCT
ajst-27311	67	1	for	for	ADP
ajst-27311	67	2	example	example	NOUN
ajst-27311	67	3	,	,	PUNCT
ajst-27311	67	4	the	the	DET
ajst-27311	67	5	accuracy	accuracy	NOUN
ajst-27311	67	6	of	of	ADP
ajst-27311	67	7	radar	radar	NOUN
ajst-27311	67	8	can	can	AUX
ajst-27311	67	9	be	be	AUX
ajst-27311	67	10	improved	improve	VERB
ajst-27311	67	11	by	by	ADP
ajst-27311	67	12	integrating	integrate	VERB
ajst-27311	67	13	communication	communication	NOUN
ajst-27311	67	14	and	and	CCONJ
ajst-27311	67	15	cognitive	cognitive	ADJ
ajst-27311	67	16	sparse	sparse	ADJ
ajst-27311	67	17	mimo	mimo	PROPN
ajst-27311	67	18	radar	radar	NOUN
ajst-27311	67	19	technology	technology	NOUN
ajst-27311	67	20	,	,	PUNCT
ajst-27311	67	21	which	which	PRON
ajst-27311	67	22	is	be	AUX
ajst-27311	67	23	essential	essential	ADJ
ajst-27311	67	24	for	for	ADP
ajst-27311	67	25	safe	safe	ADJ
ajst-27311	67	26	driving	driving	NOUN
ajst-27311	67	27	.	.	PUNCT
ajst-27311	68	1	at	at	ADP
ajst-27311	68	2	the	the	DET
ajst-27311	68	3	same	same	ADJ
ajst-27311	68	4	time	time	NOUN
ajst-27311	68	5	,	,	PUNCT
ajst-27311	68	6	continuously	continuously	ADV
ajst-27311	68	7	optimize	optimize	VERB
ajst-27311	68	8	the	the	DET
ajst-27311	68	9	integrated	integrate	VERB
ajst-27311	68	10	design	design	NOUN
ajst-27311	68	11	of	of	ADP
ajst-27311	68	12	the	the	DET
ajst-27311	68	13	radar	radar	NOUN
ajst-27311	68	14	system	system	NOUN
ajst-27311	68	15	,	,	PUNCT
ajst-27311	68	16	such	such	ADJ
ajst-27311	68	17	as	as	ADP
ajst-27311	68	18	the	the	DET
ajst-27311	68	19	design	design	NOUN
ajst-27311	68	20	of	of	ADP
ajst-27311	68	21	highly	highly	ADV
ajst-27311	68	22	integrated	integrate	VERB
ajst-27311	68	23	radar	radar	NOUN
ajst-27311	68	24	sensors	sensor	NOUN
ajst-27311	68	25	that	that	PRON
ajst-27311	68	26	help	help	VERB
ajst-27311	68	27	reduce	reduce	VERB
ajst-27311	68	28	costs	cost	NOUN
ajst-27311	68	29	and	and	CCONJ
ajst-27311	68	30	improve	improve	VERB
ajst-27311	68	31	production	production	NOUN
ajst-27311	68	32	efficiency	efficiency	NOUN
ajst-27311	68	33	.	.	PUNCT
ajst-27311	69	1	[	[	X
ajst-27311	69	2	7	7	NUM
ajst-27311	69	3	-	-	SYM
ajst-27311	69	4	9	9	NUM
ajst-27311	69	5	]	]	SYM
ajst-27311	69	6	2.3	2.3	NUM
ajst-27311	69	7	.	.	PUNCT
ajst-27311	69	8	software	software	NOUN
ajst-27311	69	9	technology	technology	PROPN
ajst-27311	69	10	2.3.1	2.3.1	NUM
ajst-27311	69	11	.	.	PUNCT
ajst-27311	70	1	anti	anti	ADJ
ajst-27311	70	2	lock	lock	NOUN
ajst-27311	70	3	braking	brake	VERB
ajst-27311	70	4	system	system	NOUN
ajst-27311	70	5	anti	anti	ADJ
ajst-27311	70	6	lock	lock	NOUN
ajst-27311	70	7	braking	brake	VERB
ajst-27311	70	8	system	system	NOUN
ajst-27311	70	9	(	(	PUNCT
ajst-27311	70	10	abs	ab	NOUN
ajst-27311	70	11	)	)	PUNCT
ajst-27311	70	12	is	be	AUX
ajst-27311	70	13	a	a	DET
ajst-27311	70	14	technology	technology	NOUN
ajst-27311	70	15	used	use	VERB
ajst-27311	70	16	to	to	PART
ajst-27311	70	17	improve	improve	VERB
ajst-27311	70	18	the	the	DET
ajst-27311	70	19	safety	safety	NOUN
ajst-27311	70	20	and	and	CCONJ
ajst-27311	70	21	stability	stability	NOUN
ajst-27311	70	22	of	of	ADP
ajst-27311	70	23	vehicles	vehicle	NOUN
ajst-27311	70	24	during	during	ADP
ajst-27311	70	25	emergency	emergency	NOUN
ajst-27311	70	26	braking	braking	NOUN
ajst-27311	70	27	.	.	PUNCT
ajst-27311	71	1	abs	ab	NOUN
ajst-27311	71	2	controls	control	VERB
ajst-27311	71	3	and	and	CCONJ
ajst-27311	71	4	adjusts	adjust	VERB
ajst-27311	71	5	the	the	DET
ajst-27311	71	6	braking	brake	VERB
ajst-27311	71	7	force	force	NOUN
ajst-27311	71	8	of	of	ADP
ajst-27311	71	9	the	the	DET
ajst-27311	71	10	wheels	wheel	NOUN
ajst-27311	71	11	to	to	PART
ajst-27311	71	12	prevent	prevent	VERB
ajst-27311	71	13	them	they	PRON
ajst-27311	71	14	from	from	ADP
ajst-27311	71	15	locking	lock	VERB
ajst-27311	71	16	up	up	ADP
ajst-27311	71	17	during	during	ADP
ajst-27311	71	18	braking	braking	NOUN
ajst-27311	71	19	,	,	PUNCT
ajst-27311	71	20	thereby	thereby	ADV
ajst-27311	71	21	maximizing	maximize	VERB
ajst-27311	71	22	the	the	DET
ajst-27311	71	23	road	road	NOUN
ajst-27311	71	24	adhesion	adhesion	NOUN
ajst-27311	71	25	coefficient	coefficient	NOUN
ajst-27311	71	26	,	,	PUNCT
ajst-27311	71	27	shortening	shorten	VERB
ajst-27311	71	28	the	the	DET
ajst-27311	71	29	braking	brake	VERB
ajst-27311	71	30	distance	distance	NOUN
ajst-27311	71	31	,	,	PUNCT
ajst-27311	71	32	preventing	prevent	VERB
ajst-27311	71	33	skidding	skidding	NOUN
ajst-27311	71	34	,	,	PUNCT
ajst-27311	71	35	and	and	CCONJ
ajst-27311	71	36	improving	improve	VERB
ajst-27311	71	37	directional	directional	ADJ
ajst-27311	71	38	stability	stability	NOUN
ajst-27311	71	39	during	during	ADP
ajst-27311	71	40	braking	brake	VERB
ajst-27311	71	41	.	.	PUNCT
ajst-27311	72	1	this	this	DET
ajst-27311	72	2	system	system	NOUN
ajst-27311	72	3	is	be	AUX
ajst-27311	72	4	crucial	crucial	ADJ
ajst-27311	72	5	53	53	NUM
ajst-27311	72	6	for	for	ADP
ajst-27311	72	7	improving	improve	VERB
ajst-27311	72	8	the	the	DET
ajst-27311	72	9	braking	brake	VERB
ajst-27311	72	10	performance	performance	NOUN
ajst-27311	72	11	and	and	CCONJ
ajst-27311	72	12	safety	safety	NOUN
ajst-27311	72	13	of	of	ADP
ajst-27311	72	14	automobiles	automobile	NOUN
ajst-27311	72	15	,	,	PUNCT
ajst-27311	72	16	especially	especially	ADV
ajst-27311	72	17	during	during	ADP
ajst-27311	72	18	high	high	ADJ
ajst-27311	72	19	-	-	PUNCT
ajst-27311	72	20	speed	speed	NOUN
ajst-27311	72	21	driving	driving	NOUN
ajst-27311	72	22	and	and	CCONJ
ajst-27311	72	23	emergency	emergency	NOUN
ajst-27311	72	24	braking	braking	NOUN
ajst-27311	72	25	.	.	PUNCT
ajst-27311	73	1	the	the	DET
ajst-27311	73	2	working	work	VERB
ajst-27311	73	3	principle	principle	NOUN
ajst-27311	73	4	of	of	ADP
ajst-27311	73	5	abs	ab	NOUN
ajst-27311	73	6	is	be	AUX
ajst-27311	73	7	based	base	VERB
ajst-27311	73	8	on	on	ADP
ajst-27311	73	9	precise	precise	ADJ
ajst-27311	73	10	control	control	NOUN
ajst-27311	73	11	of	of	ADP
ajst-27311	73	12	wheel	wheel	NOUN
ajst-27311	73	13	slip	slip	NOUN
ajst-27311	73	14	ratio	ratio	NOUN
ajst-27311	73	15	.	.	PUNCT
ajst-27311	74	1	abs	ab	NOUN
ajst-27311	74	2	ensures	ensure	VERB
ajst-27311	74	3	optimal	optimal	ADJ
ajst-27311	74	4	friction	friction	NOUN
ajst-27311	74	5	between	between	ADP
ajst-27311	74	6	the	the	DET
ajst-27311	74	7	wheels	wheel	NOUN
ajst-27311	74	8	and	and	CCONJ
ajst-27311	74	9	the	the	DET
ajst-27311	74	10	road	road	NOUN
ajst-27311	74	11	surface	surface	NOUN
ajst-27311	74	12	when	when	SCONJ
ajst-27311	74	13	the	the	DET
ajst-27311	74	14	wheels	wheel	NOUN
ajst-27311	74	15	are	be	AUX
ajst-27311	74	16	about	about	ADJ
ajst-27311	74	17	to	to	PART
ajst-27311	74	18	lock	lock	VERB
ajst-27311	74	19	,	,	PUNCT
ajst-27311	74	20	and	and	CCONJ
ajst-27311	74	21	reduces	reduce	VERB
ajst-27311	74	22	slip	slip	NOUN
ajst-27311	74	23	by	by	ADP
ajst-27311	74	24	adjusting	adjust	VERB
ajst-27311	74	25	brake	brake	NOUN
ajst-27311	74	26	pressure	pressure	NOUN
ajst-27311	74	27	.	.	PUNCT
ajst-27311	75	1	this	this	DET
ajst-27311	75	2	control	control	NOUN
ajst-27311	75	3	can	can	AUX
ajst-27311	75	4	be	be	AUX
ajst-27311	75	5	achieved	achieve	VERB
ajst-27311	75	6	through	through	ADP
ajst-27311	75	7	various	various	ADJ
ajst-27311	75	8	methods	method	NOUN
ajst-27311	75	9	,	,	PUNCT
ajst-27311	75	10	including	include	VERB
ajst-27311	75	11	pid	pid	NOUN
ajst-27311	75	12	control	control	NOUN
ajst-27311	75	13	,	,	PUNCT
ajst-27311	75	14	fuzzy	fuzzy	ADJ
ajst-27311	75	15	logic	logic	NOUN
ajst-27311	75	16	control	control	NOUN
ajst-27311	75	17	,	,	PUNCT
ajst-27311	75	18	etc	etc	X
ajst-27311	75	19	.	.	X
ajst-27311	76	1	in	in	ADP
ajst-27311	76	2	order	order	NOUN
ajst-27311	76	3	to	to	PART
ajst-27311	76	4	further	far	ADV
ajst-27311	76	5	improve	improve	VERB
ajst-27311	76	6	the	the	DET
ajst-27311	76	7	performance	performance	NOUN
ajst-27311	76	8	of	of	ADP
ajst-27311	76	9	abs	ab	NOUN
ajst-27311	76	10	,	,	PUNCT
ajst-27311	76	11	researchers	researcher	NOUN
ajst-27311	76	12	have	have	AUX
ajst-27311	76	13	proposed	propose	VERB
ajst-27311	76	14	target	target	NOUN
ajst-27311	76	15	slip	slip	NOUN
ajst-27311	76	16	ratio	ratio	NOUN
ajst-27311	76	17	control	control	NOUN
ajst-27311	76	18	strategies	strategy	NOUN
ajst-27311	76	19	and	and	CCONJ
ajst-27311	76	20	variable	variable	ADJ
ajst-27311	76	21	target	target	NOUN
ajst-27311	76	22	slip	slip	VERB
ajst-27311	76	23	ratio	ratio	NOUN
ajst-27311	76	24	methods	method	NOUN
ajst-27311	76	25	based	base	VERB
ajst-27311	76	26	on	on	ADP
ajst-27311	76	27	lyapunov	lyapunov	PROPN
ajst-27311	76	28	theory	theory	NOUN
ajst-27311	76	29	in	in	ADP
ajst-27311	76	30	recent	recent	ADJ
ajst-27311	76	31	years	year	NOUN
ajst-27311	76	32	to	to	PART
ajst-27311	76	33	optimize	optimize	VERB
ajst-27311	76	34	the	the	DET
ajst-27311	76	35	friction	friction	NOUN
ajst-27311	76	36	between	between	ADP
ajst-27311	76	37	tires	tire	NOUN
ajst-27311	76	38	and	and	CCONJ
ajst-27311	76	39	road	road	NOUN
ajst-27311	76	40	surfaces	surface	NOUN
ajst-27311	76	41	,	,	PUNCT
ajst-27311	76	42	reduce	reduce	VERB
ajst-27311	76	43	the	the	DET
ajst-27311	76	44	yaw	yaw	NOUN
ajst-27311	76	45	moment	moment	NOUN
ajst-27311	76	46	generated	generate	VERB
ajst-27311	76	47	by	by	ADP
ajst-27311	76	48	longitudinal	longitudinal	ADJ
ajst-27311	76	49	tire	tire	NOUN
ajst-27311	76	50	road	road	NOUN
ajst-27311	76	51	friction	friction	NOUN
ajst-27311	76	52	.	.	PUNCT
ajst-27311	77	1	in	in	ADP
ajst-27311	77	2	addition	addition	NOUN
ajst-27311	77	3	,	,	PUNCT
ajst-27311	77	4	besides	besides	SCONJ
ajst-27311	77	5	passenger	passenger	NOUN
ajst-27311	77	6	cars	car	NOUN
ajst-27311	77	7	,	,	PUNCT
ajst-27311	77	8	abs	ab	NOUN
ajst-27311	77	9	can	can	AUX
ajst-27311	77	10	also	also	ADV
ajst-27311	77	11	be	be	AUX
ajst-27311	77	12	applied	apply	VERB
ajst-27311	77	13	to	to	ADP
ajst-27311	77	14	commercial	commercial	ADJ
ajst-27311	77	15	vehicles	vehicle	NOUN
ajst-27311	77	16	.	.	PUNCT
ajst-27311	78	1	the	the	DET
ajst-27311	78	2	previous	previous	ADJ
ajst-27311	78	3	study	study	NOUN
ajst-27311	78	4	proposed	propose	VERB
ajst-27311	78	5	an	an	DET
ajst-27311	78	6	abs	ab	NOUN
ajst-27311	78	7	control	control	NOUN
ajst-27311	78	8	strategy	strategy	NOUN
ajst-27311	78	9	for	for	ADP
ajst-27311	78	10	commercial	commercial	ADJ
ajst-27311	78	11	vehicles	vehicle	NOUN
ajst-27311	78	12	to	to	PART
ajst-27311	78	13	maximize	maximize	VERB
ajst-27311	78	14	tire	tire	NOUN
ajst-27311	78	15	road	road	NOUN
ajst-27311	78	16	contact	contact	NOUN
ajst-27311	78	17	friction	friction	NOUN
ajst-27311	78	18	while	while	SCONJ
ajst-27311	78	19	minimizing	minimize	VERB
ajst-27311	78	20	yaw	yaw	ADJ
ajst-27311	78	21	moment	moment	NOUN
ajst-27311	78	22	.	.	PUNCT
ajst-27311	79	1	it	it	PRON
ajst-27311	79	2	can	can	AUX
ajst-27311	79	3	be	be	AUX
ajst-27311	79	4	seen	see	VERB
ajst-27311	79	5	that	that	SCONJ
ajst-27311	79	6	the	the	DET
ajst-27311	79	7	development	development	NOUN
ajst-27311	79	8	and	and	CCONJ
ajst-27311	79	9	application	application	NOUN
ajst-27311	79	10	of	of	ADP
ajst-27311	79	11	abs	ab	NOUN
ajst-27311	79	12	technology	technology	NOUN
ajst-27311	79	13	are	be	AUX
ajst-27311	79	14	gradually	gradually	ADV
ajst-27311	79	15	extending	extend	VERB
ajst-27311	79	16	to	to	ADP
ajst-27311	79	17	a	a	DET
ajst-27311	79	18	wider	wide	ADJ
ajst-27311	79	19	range	range	NOUN
ajst-27311	79	20	of	of	ADP
ajst-27311	79	21	vehicle	vehicle	NOUN
ajst-27311	79	22	types	type	NOUN
ajst-27311	79	23	.	.	PUNCT
ajst-27311	80	1	although	although	SCONJ
ajst-27311	80	2	significant	significant	ADJ
ajst-27311	80	3	progress	progress	NOUN
ajst-27311	80	4	has	have	AUX
ajst-27311	80	5	been	be	AUX
ajst-27311	80	6	made	make	VERB
ajst-27311	80	7	,	,	PUNCT
ajst-27311	80	8	there	there	PRON
ajst-27311	80	9	are	be	VERB
ajst-27311	80	10	still	still	ADV
ajst-27311	80	11	certain	certain	ADJ
ajst-27311	80	12	challenges	challenge	NOUN
ajst-27311	80	13	and	and	CCONJ
ajst-27311	80	14	limitations	limitation	NOUN
ajst-27311	80	15	,	,	PUNCT
ajst-27311	80	16	such	such	ADJ
ajst-27311	80	17	as	as	ADP
ajst-27311	80	18	the	the	DET
ajst-27311	80	19	impact	impact	NOUN
ajst-27311	80	20	on	on	ADP
ajst-27311	80	21	abs	ab	NOUN
ajst-27311	80	22	performance	performance	NOUN
ajst-27311	80	23	in	in	ADP
ajst-27311	80	24	some	some	DET
ajst-27311	80	25	harsh	harsh	ADJ
ajst-27311	80	26	road	road	NOUN
ajst-27311	80	27	conditions	condition	NOUN
ajst-27311	80	28	;	;	PUNCT
ajst-27311	80	29	therefore	therefore	ADV
ajst-27311	80	30	,	,	PUNCT
ajst-27311	80	31	researchers	researcher	NOUN
ajst-27311	80	32	are	be	AUX
ajst-27311	80	33	studying	study	VERB
ajst-27311	80	34	new	new	ADJ
ajst-27311	80	35	control	control	NOUN
ajst-27311	80	36	strategies	strategy	NOUN
ajst-27311	80	37	and	and	CCONJ
ajst-27311	80	38	technologies	technology	NOUN
ajst-27311	80	39	,	,	PUNCT
ajst-27311	80	40	such	such	ADJ
ajst-27311	80	41	as	as	ADP
ajst-27311	80	42	integrated	integrated	ADJ
ajst-27311	80	43	control	control	NOUN
ajst-27311	80	44	methods	method	NOUN
ajst-27311	80	45	,	,	PUNCT
ajst-27311	80	46	to	to	PART
ajst-27311	80	47	maximize	maximize	VERB
ajst-27311	80	48	road	road	NOUN
ajst-27311	80	49	friction	friction	NOUN
ajst-27311	80	50	and	and	CCONJ
ajst-27311	80	51	maintain	maintain	VERB
ajst-27311	80	52	directional	directional	ADJ
ajst-27311	80	53	stability	stability	NOUN
ajst-27311	80	54	during	during	ADP
ajst-27311	80	55	emergency	emergency	NOUN
ajst-27311	80	56	braking	braking	NOUN
ajst-27311	80	57	;	;	PUNCT
ajst-27311	80	58	this	this	DET
ajst-27311	80	59	method	method	NOUN
ajst-27311	80	60	is	be	AUX
ajst-27311	80	61	based	base	VERB
ajst-27311	80	62	on	on	ADP
ajst-27311	80	63	abs	ab	NOUN
ajst-27311	80	64	and	and	CCONJ
ajst-27311	80	65	combines	combine	VERB
ajst-27311	80	66	direct	direct	ADJ
ajst-27311	80	67	yaw	yaw	NOUN
ajst-27311	80	68	moment	moment	NOUN
ajst-27311	80	69	control	control	NOUN
ajst-27311	80	70	with	with	ADP
ajst-27311	80	71	active	active	ADJ
ajst-27311	80	72	front	front	ADJ
ajst-27311	80	73	wheel	wheel	NOUN
ajst-27311	80	74	steering	steering	NOUN
ajst-27311	80	75	through	through	ADP
ajst-27311	80	76	optimization	optimization	NOUN
ajst-27311	80	77	.	.	PUNCT
ajst-27311	81	1	therefore	therefore	ADV
ajst-27311	81	2	,	,	PUNCT
ajst-27311	81	3	in	in	ADP
ajst-27311	81	4	the	the	DET
ajst-27311	81	5	field	field	NOUN
ajst-27311	81	6	of	of	ADP
ajst-27311	81	7	automotive	automotive	ADJ
ajst-27311	81	8	engineering	engineering	NOUN
ajst-27311	81	9	,	,	PUNCT
ajst-27311	81	10	these	these	DET
ajst-27311	81	11	topics	topic	NOUN
ajst-27311	81	12	are	be	AUX
ajst-27311	81	13	being	be	AUX
ajst-27311	81	14	carried	carry	VERB
ajst-27311	81	15	out	out	ADP
ajst-27311	81	16	.	.	PUNCT
ajst-27311	82	1	[	[	X
ajst-27311	82	2	10	10	NUM
ajst-27311	82	3	]	]	SYM
ajst-27311	82	4	2.3.2	2.3.2	NUM
ajst-27311	82	5	.	.	PUNCT
ajst-27311	82	6	traction	traction	PROPN
ajst-27311	82	7	control	control	NOUN
ajst-27311	82	8	system	system	NOUN
ajst-27311	82	9	the	the	DET
ajst-27311	82	10	traction	traction	PROPN
ajst-27311	82	11	control	control	NOUN
ajst-27311	82	12	system	system	NOUN
ajst-27311	82	13	(	(	PUNCT
ajst-27311	82	14	tcs	tcs	NOUN
ajst-27311	82	15	)	)	PUNCT
ajst-27311	82	16	is	be	AUX
ajst-27311	82	17	an	an	DET
ajst-27311	82	18	active	active	ADJ
ajst-27311	82	19	safety	safety	NOUN
ajst-27311	82	20	system	system	NOUN
ajst-27311	82	21	aimed	aim	VERB
ajst-27311	82	22	at	at	ADP
ajst-27311	82	23	improving	improve	VERB
ajst-27311	82	24	the	the	DET
ajst-27311	82	25	acceleration	acceleration	NOUN
ajst-27311	82	26	performance	performance	NOUN
ajst-27311	82	27	,	,	PUNCT
ajst-27311	82	28	directional	directional	ADJ
ajst-27311	82	29	stability	stability	NOUN
ajst-27311	82	30	,	,	PUNCT
ajst-27311	82	31	and	and	CCONJ
ajst-27311	82	32	steering	steer	VERB
ajst-27311	82	33	control	control	NOUN
ajst-27311	82	34	ability	ability	NOUN
ajst-27311	82	35	of	of	ADP
ajst-27311	82	36	vehicles	vehicle	NOUN
ajst-27311	82	37	under	under	ADP
ajst-27311	82	38	various	various	ADJ
ajst-27311	82	39	road	road	NOUN
ajst-27311	82	40	conditions	condition	NOUN
ajst-27311	82	41	.	.	PUNCT
ajst-27311	83	1	it	it	PRON
ajst-27311	83	2	is	be	AUX
ajst-27311	83	3	an	an	DET
ajst-27311	83	4	extension	extension	NOUN
ajst-27311	83	5	technology	technology	NOUN
ajst-27311	83	6	of	of	ADP
ajst-27311	83	7	the	the	DET
ajst-27311	83	8	anti	anti	ADJ
ajst-27311	83	9	lock	lock	NOUN
ajst-27311	83	10	braking	brake	VERB
ajst-27311	83	11	system	system	NOUN
ajst-27311	83	12	.	.	PUNCT
ajst-27311	84	1	tcs	tcs	NOUN
ajst-27311	84	2	can	can	AUX
ajst-27311	84	3	limit	limit	VERB
ajst-27311	84	4	excessive	excessive	ADJ
ajst-27311	84	5	slip	slip	NOUN
ajst-27311	84	6	of	of	ADP
ajst-27311	84	7	the	the	DET
ajst-27311	84	8	driving	drive	VERB
ajst-27311	84	9	wheels	wheel	NOUN
ajst-27311	84	10	and	and	CCONJ
ajst-27311	84	11	fully	fully	ADV
ajst-27311	84	12	utilize	utilize	VERB
ajst-27311	84	13	the	the	DET
ajst-27311	84	14	traction	traction	NOUN
ajst-27311	84	15	provided	provide	VERB
ajst-27311	84	16	by	by	ADP
ajst-27311	84	17	the	the	DET
ajst-27311	84	18	ground	ground	NOUN
ajst-27311	84	19	by	by	ADP
ajst-27311	84	20	adjusting	adjust	VERB
ajst-27311	84	21	the	the	DET
ajst-27311	84	22	engine	engine	NOUN
ajst-27311	84	23	output	output	NOUN
ajst-27311	84	24	torque	torque	NOUN
ajst-27311	84	25	and	and	CCONJ
ajst-27311	84	26	the	the	DET
ajst-27311	84	27	driving	drive	VERB
ajst-27311	84	28	wheel	wheel	NOUN
ajst-27311	84	29	cylinder	cylinder	NOUN
ajst-27311	84	30	pressure	pressure	NOUN
ajst-27311	84	31	.	.	PUNCT
ajst-27311	85	1	the	the	DET
ajst-27311	85	2	application	application	NOUN
ajst-27311	85	3	of	of	ADP
ajst-27311	85	4	tcs	tcs	NOUN
ajst-27311	85	5	is	be	AUX
ajst-27311	85	6	not	not	PART
ajst-27311	85	7	limited	limit	VERB
ajst-27311	85	8	to	to	ADP
ajst-27311	85	9	passenger	passenger	NOUN
ajst-27311	85	10	cars	car	NOUN
ajst-27311	85	11	,	,	PUNCT
ajst-27311	85	12	but	but	CCONJ
ajst-27311	85	13	also	also	ADV
ajst-27311	85	14	widely	widely	ADV
ajst-27311	85	15	used	use	VERB
ajst-27311	85	16	in	in	ADP
ajst-27311	85	17	fields	field	NOUN
ajst-27311	85	18	such	such	ADJ
ajst-27311	85	19	as	as	ADP
ajst-27311	85	20	off	off	ADP
ajst-27311	85	21	-	-	PUNCT
ajst-27311	85	22	road	road	NOUN
ajst-27311	85	23	vehicles	vehicle	NOUN
ajst-27311	85	24	,	,	PUNCT
ajst-27311	85	25	electric	electric	ADJ
ajst-27311	85	26	vehicles	vehicle	NOUN
ajst-27311	85	27	,	,	PUNCT
ajst-27311	85	28	and	and	CCONJ
ajst-27311	85	29	highspeed	highspeed	PROPN
ajst-27311	85	30	maglev	maglev	NOUN
ajst-27311	85	31	trains	train	NOUN
ajst-27311	85	32	.	.	PUNCT
ajst-27311	86	1	the	the	DET
ajst-27311	86	2	working	work	VERB
ajst-27311	86	3	principle	principle	NOUN
ajst-27311	86	4	of	of	ADP
ajst-27311	86	5	tcs	tcs	NOUN
ajst-27311	86	6	is	be	AUX
ajst-27311	86	7	based	base	VERB
ajst-27311	86	8	on	on	ADP
ajst-27311	86	9	the	the	DET
ajst-27311	86	10	corresponding	correspond	VERB
ajst-27311	86	11	relationship	relationship	NOUN
ajst-27311	86	12	between	between	ADP
ajst-27311	86	13	the	the	DET
ajst-27311	86	14	wheel	wheel	NOUN
ajst-27311	86	15	slip	slip	NOUN
ajst-27311	86	16	rate	rate	NOUN
ajst-27311	86	17	of	of	ADP
ajst-27311	86	18	the	the	DET
ajst-27311	86	19	driving	drive	VERB
ajst-27311	86	20	vehicle	vehicle	NOUN
ajst-27311	86	21	and	and	CCONJ
ajst-27311	86	22	the	the	DET
ajst-27311	86	23	road	road	NOUN
ajst-27311	86	24	adhesion	adhesion	NOUN
ajst-27311	86	25	coefficient	coefficient	NOUN
ajst-27311	86	26	.	.	PUNCT
ajst-27311	87	1	under	under	ADP
ajst-27311	87	2	different	different	ADJ
ajst-27311	87	3	road	road	NOUN
ajst-27311	87	4	conditions	condition	NOUN
ajst-27311	87	5	,	,	PUNCT
ajst-27311	87	6	the	the	DET
ajst-27311	87	7	optimal	optimal	ADJ
ajst-27311	87	8	slip	slip	NOUN
ajst-27311	87	9	rate	rate	NOUN
ajst-27311	87	10	value	value	NOUN
ajst-27311	87	11	is	be	AUX
ajst-27311	87	12	obtained	obtain	VERB
ajst-27311	87	13	by	by	ADP
ajst-27311	87	14	adjusting	adjust	VERB
ajst-27311	87	15	the	the	DET
ajst-27311	87	16	driving	drive	VERB
ajst-27311	87	17	torque	torque	NOUN
ajst-27311	87	18	on	on	ADP
ajst-27311	87	19	the	the	DET
ajst-27311	87	20	driving	drive	VERB
ajst-27311	87	21	wheels	wheel	NOUN
ajst-27311	87	22	,	,	PUNCT
ajst-27311	87	23	thereby	thereby	ADV
ajst-27311	87	24	obtaining	obtain	VERB
ajst-27311	87	25	the	the	DET
ajst-27311	87	26	maximum	maximum	ADJ
ajst-27311	87	27	traction	traction	NOUN
ajst-27311	87	28	force	force	NOUN
ajst-27311	87	29	during	during	ADP
ajst-27311	87	30	vehicle	vehicle	NOUN
ajst-27311	87	31	driving	driving	NOUN
ajst-27311	87	32	.	.	PUNCT
ajst-27311	88	1	to	to	PART
ajst-27311	88	2	achieve	achieve	VERB
ajst-27311	88	3	this	this	DET
ajst-27311	88	4	goal	goal	NOUN
ajst-27311	88	5	,	,	PUNCT
ajst-27311	88	6	the	the	DET
ajst-27311	88	7	tcs	tcs	NOUN
ajst-27311	88	8	system	system	NOUN
ajst-27311	88	9	adopts	adopt	VERB
ajst-27311	88	10	various	various	ADJ
ajst-27311	88	11	control	control	NOUN
ajst-27311	88	12	algorithms	algorithm	NOUN
ajst-27311	88	13	,	,	PUNCT
ajst-27311	88	14	including	include	VERB
ajst-27311	88	15	pid	pid	NOUN
ajst-27311	88	16	control	control	NOUN
ajst-27311	88	17	,	,	PUNCT
ajst-27311	88	18	sliding	slide	VERB
ajst-27311	88	19	mode	mode	NOUN
ajst-27311	88	20	control	control	NOUN
ajst-27311	88	21	,	,	PUNCT
ajst-27311	88	22	optimal	optimal	ADJ
ajst-27311	88	23	control	control	NOUN
ajst-27311	88	24	,	,	PUNCT
ajst-27311	88	25	and	and	CCONJ
ajst-27311	88	26	adaptive	adaptive	ADJ
ajst-27311	88	27	pid	pid	NOUN
ajst-27311	88	28	control	control	NOUN
ajst-27311	88	29	strategy	strategy	NOUN
ajst-27311	88	30	based	base	VERB
ajst-27311	88	31	on	on	ADP
ajst-27311	88	32	genetic	genetic	ADJ
ajst-27311	88	33	algorithm	algorithm	NOUN
ajst-27311	88	34	and	and	CCONJ
ajst-27311	88	35	fuzzy	fuzzy	ADJ
ajst-27311	88	36	control	control	NOUN
ajst-27311	88	37	rules	rule	NOUN
ajst-27311	88	38	.	.	PUNCT
ajst-27311	89	1	these	these	DET
ajst-27311	89	2	control	control	NOUN
ajst-27311	89	3	algorithms	algorithm	NOUN
ajst-27311	89	4	can	can	AUX
ajst-27311	89	5	effectively	effectively	ADV
ajst-27311	89	6	suppress	suppress	VERB
ajst-27311	89	7	excessive	excessive	ADJ
ajst-27311	89	8	slippage	slippage	NOUN
ajst-27311	89	9	of	of	ADP
ajst-27311	89	10	the	the	DET
ajst-27311	89	11	driving	drive	VERB
ajst-27311	89	12	wheels	wheel	NOUN
ajst-27311	89	13	under	under	ADP
ajst-27311	89	14	different	different	ADJ
ajst-27311	89	15	road	road	NOUN
ajst-27311	89	16	conditions	condition	NOUN
ajst-27311	89	17	,	,	PUNCT
ajst-27311	89	18	improving	improve	VERB
ajst-27311	89	19	the	the	DET
ajst-27311	89	20	vehicle	vehicle	NOUN
ajst-27311	89	21	's	's	PART
ajst-27311	89	22	power	power	NOUN
ajst-27311	89	23	performance	performance	NOUN
ajst-27311	89	24	and	and	CCONJ
ajst-27311	89	25	driving	drive	VERB
ajst-27311	89	26	stability	stability	NOUN
ajst-27311	89	27	.	.	PUNCT
ajst-27311	90	1	in	in	ADP
ajst-27311	90	2	practical	practical	ADJ
ajst-27311	90	3	applications	application	NOUN
ajst-27311	90	4	,	,	PUNCT
ajst-27311	90	5	the	the	DET
ajst-27311	90	6	development	development	NOUN
ajst-27311	90	7	of	of	ADP
ajst-27311	90	8	hardware	hardware	NOUN
ajst-27311	90	9	circuit	circuit	NOUN
ajst-27311	90	10	modules	module	NOUN
ajst-27311	90	11	and	and	CCONJ
ajst-27311	90	12	control	control	NOUN
ajst-27311	90	13	software	software	NOUN
ajst-27311	90	14	,	,	PUNCT
ajst-27311	90	15	as	as	ADV
ajst-27311	90	16	well	well	ADV
ajst-27311	90	17	as	as	ADP
ajst-27311	90	18	offline	offline	ADJ
ajst-27311	90	19	simulation	simulation	NOUN
ajst-27311	90	20	analysis	analysis	NOUN
ajst-27311	90	21	and	and	CCONJ
ajst-27311	90	22	real	real	ADJ
ajst-27311	90	23	vehicle	vehicle	NOUN
ajst-27311	90	24	road	road	NOUN
ajst-27311	90	25	matching	matching	NOUN
ajst-27311	90	26	testing	testing	NOUN
ajst-27311	90	27	based	base	VERB
ajst-27311	90	28	on	on	ADP
ajst-27311	90	29	simulation	simulation	NOUN
ajst-27311	90	30	platforms	platform	NOUN
ajst-27311	90	31	,	,	PUNCT
ajst-27311	90	32	all	all	PRON
ajst-27311	90	33	involve	involve	VERB
ajst-27311	90	34	the	the	DET
ajst-27311	90	35	design	design	NOUN
ajst-27311	90	36	and	and	CCONJ
ajst-27311	90	37	development	development	NOUN
ajst-27311	90	38	of	of	ADP
ajst-27311	90	39	tcs	tcs	NOUN
ajst-27311	90	40	systems	system	NOUN
ajst-27311	90	41	.	.	PUNCT
ajst-27311	91	1	for	for	ADP
ajst-27311	91	2	example	example	NOUN
ajst-27311	91	3	,	,	PUNCT
ajst-27311	91	4	the	the	DET
ajst-27311	91	5	tcs	tcs	NOUN
ajst-27311	91	6	controller	controller	NOUN
ajst-27311	91	7	designed	design	VERB
ajst-27311	91	8	and	and	CCONJ
ajst-27311	91	9	developed	develop	VERB
ajst-27311	91	10	based	base	VERB
ajst-27311	91	11	on	on	ADP
ajst-27311	91	12	the	the	DET
ajst-27311	91	13	mc9s12xs128	mc9s12xs128	PROPN
ajst-27311	91	14	microcontroller	microcontroller	NOUN
ajst-27311	91	15	can	can	AUX
ajst-27311	91	16	effectively	effectively	ADV
ajst-27311	91	17	control	control	VERB
ajst-27311	91	18	the	the	DET
ajst-27311	91	19	slip	slip	NOUN
ajst-27311	91	20	of	of	ADP
ajst-27311	91	21	driving	drive	VERB
ajst-27311	91	22	wheels	wheel	NOUN
ajst-27311	91	23	,	,	PUNCT
ajst-27311	91	24	improve	improve	VERB
ajst-27311	91	25	the	the	DET
ajst-27311	91	26	acceleration	acceleration	NOUN
ajst-27311	91	27	performance	performance	NOUN
ajst-27311	91	28	of	of	ADP
ajst-27311	91	29	vehicles	vehicle	NOUN
ajst-27311	91	30	under	under	ADP
ajst-27311	91	31	complex	complex	ADJ
ajst-27311	91	32	road	road	NOUN
ajst-27311	91	33	conditions	condition	NOUN
ajst-27311	91	34	,	,	PUNCT
ajst-27311	91	35	and	and	CCONJ
ajst-27311	91	36	achieve	achieve	VERB
ajst-27311	91	37	functions	function	NOUN
ajst-27311	91	38	such	such	ADJ
ajst-27311	91	39	as	as	ADP
ajst-27311	91	40	signal	signal	NOUN
ajst-27311	91	41	acquisition	acquisition	NOUN
ajst-27311	91	42	and	and	CCONJ
ajst-27311	91	43	processing	processing	NOUN
ajst-27311	91	44	,	,	PUNCT
ajst-27311	91	45	control	control	NOUN
ajst-27311	91	46	decision	decision	NOUN
ajst-27311	91	47	-	-	PUNCT
ajst-27311	91	48	making	making	NOUN
ajst-27311	91	49	,	,	PUNCT
ajst-27311	91	50	and	and	CCONJ
ajst-27311	91	51	driving	drive	VERB
ajst-27311	91	52	execution	execution	NOUN
ajst-27311	91	53	mechanisms	mechanism	NOUN
ajst-27311	91	54	.	.	PUNCT
ajst-27311	92	1	in	in	ADP
ajst-27311	92	2	addition	addition	NOUN
ajst-27311	92	3	,	,	PUNCT
ajst-27311	92	4	the	the	DET
ajst-27311	92	5	research	research	NOUN
ajst-27311	92	6	on	on	ADP
ajst-27311	92	7	tcs	tcs	NOUN
ajst-27311	92	8	system	system	NOUN
ajst-27311	92	9	also	also	ADV
ajst-27311	92	10	includes	include	VERB
ajst-27311	92	11	the	the	DET
ajst-27311	92	12	exploration	exploration	NOUN
ajst-27311	92	13	of	of	ADP
ajst-27311	92	14	road	road	NOUN
ajst-27311	92	15	surface	surface	NOUN
ajst-27311	92	16	recognition	recognition	NOUN
ajst-27311	92	17	methods	method	NOUN
ajst-27311	92	18	based	base	VERB
ajst-27311	92	19	on	on	ADP
ajst-27311	92	20	wheel	wheel	NOUN
ajst-27311	92	21	acceleration	acceleration	NOUN
ajst-27311	92	22	,	,	PUNCT
ajst-27311	92	23	as	as	ADV
ajst-27311	92	24	well	well	ADV
ajst-27311	92	25	as	as	ADP
ajst-27311	92	26	the	the	DET
ajst-27311	92	27	consideration	consideration	NOUN
ajst-27311	92	28	of	of	ADP
ajst-27311	92	29	the	the	DET
ajst-27311	92	30	impact	impact	NOUN
ajst-27311	92	31	of	of	ADP
ajst-27311	92	32	high	high	ADJ
ajst-27311	92	33	-	-	PUNCT
ajst-27311	92	34	speed	speed	NOUN
ajst-27311	92	35	maglev	maglev	NOUN
ajst-27311	92	36	train	train	NOUN
ajst-27311	92	37	traction	traction	NOUN
ajst-27311	92	38	control	control	NOUN
ajst-27311	92	39	strategies	strategy	NOUN
ajst-27311	92	40	on	on	ADP
ajst-27311	92	41	the	the	DET
ajst-27311	92	42	suspension	suspension	NOUN
ajst-27311	92	43	system	system	NOUN
ajst-27311	92	44	and	and	CCONJ
ajst-27311	92	45	other	other	ADJ
ajst-27311	92	46	road	road	NOUN
ajst-27311	92	47	surface	surface	NOUN
ajst-27311	92	48	recognition	recognition	NOUN
ajst-27311	92	49	technologies	technology	NOUN
ajst-27311	92	50	.	.	PUNCT
ajst-27311	93	1	these	these	DET
ajst-27311	93	2	studies	study	NOUN
ajst-27311	93	3	not	not	PART
ajst-27311	93	4	only	only	ADV
ajst-27311	93	5	improve	improve	VERB
ajst-27311	93	6	the	the	DET
ajst-27311	93	7	performance	performance	NOUN
ajst-27311	93	8	of	of	ADP
ajst-27311	93	9	tcs	tcs	NOUN
ajst-27311	93	10	systems	system	NOUN
ajst-27311	93	11	,	,	PUNCT
ajst-27311	93	12	but	but	CCONJ
ajst-27311	93	13	also	also	ADV
ajst-27311	93	14	provide	provide	VERB
ajst-27311	93	15	theoretical	theoretical	ADJ
ajst-27311	93	16	basis	basis	NOUN
ajst-27311	93	17	and	and	CCONJ
ajst-27311	93	18	technical	technical	ADJ
ajst-27311	93	19	support	support	NOUN
ajst-27311	93	20	,	,	PUNCT
ajst-27311	93	21	enabling	enable	VERB
ajst-27311	93	22	tcs	tcs	NOUN
ajst-27311	93	23	technology	technology	NOUN
ajst-27311	93	24	to	to	PART
ajst-27311	93	25	be	be	AUX
ajst-27311	93	26	applied	apply	VERB
ajst-27311	93	27	in	in	ADP
ajst-27311	93	28	a	a	DET
ajst-27311	93	29	wider	wide	ADJ
ajst-27311	93	30	range	range	NOUN
ajst-27311	93	31	of	of	ADP
ajst-27311	93	32	fields	field	NOUN
ajst-27311	93	33	.	.	PUNCT
ajst-27311	94	1	at	at	ADP
ajst-27311	94	2	present	present	ADJ
ajst-27311	94	3	,	,	PUNCT
ajst-27311	94	4	the	the	DET
ajst-27311	94	5	research	research	NOUN
ajst-27311	94	6	on	on	ADP
ajst-27311	94	7	tcs	tcs	NOUN
ajst-27311	94	8	system	system	NOUN
ajst-27311	94	9	in	in	ADP
ajst-27311	94	10	china	china	PROPN
ajst-27311	94	11	is	be	AUX
ajst-27311	94	12	relatively	relatively	ADV
ajst-27311	94	13	backward	backward	ADJ
ajst-27311	94	14	.	.	PUNCT
ajst-27311	95	1	in	in	ADP
ajst-27311	95	2	foreign	foreign	ADJ
ajst-27311	95	3	countries	country	NOUN
ajst-27311	95	4	,	,	PUNCT
ajst-27311	95	5	comprehensive	comprehensive	ADJ
ajst-27311	95	6	control	control	NOUN
ajst-27311	95	7	of	of	ADP
ajst-27311	95	8	cylinders	cylinder	NOUN
ajst-27311	95	9	,	,	PUNCT
ajst-27311	95	10	clutches	clutch	NOUN
ajst-27311	95	11	,	,	PUNCT
ajst-27311	95	12	transmissions	transmission	NOUN
ajst-27311	95	13	,	,	PUNCT
ajst-27311	95	14	and	and	CCONJ
ajst-27311	95	15	driving	drive	VERB
ajst-27311	95	16	wheel	wheel	NOUN
ajst-27311	95	17	brakes	brake	NOUN
ajst-27311	95	18	has	have	AUX
ajst-27311	95	19	been	be	AUX
ajst-27311	95	20	initially	initially	ADV
ajst-27311	95	21	achieved	achieve	VERB
ajst-27311	95	22	.	.	PUNCT
ajst-27311	96	1	the	the	DET
ajst-27311	96	2	main	main	ADJ
ajst-27311	96	3	difficulty	difficulty	NOUN
ajst-27311	96	4	in	in	ADP
ajst-27311	96	5	china	china	PROPN
ajst-27311	96	6	is	be	AUX
ajst-27311	96	7	the	the	DET
ajst-27311	96	8	inability	inability	NOUN
ajst-27311	96	9	to	to	PART
ajst-27311	96	10	effectively	effectively	ADV
ajst-27311	96	11	avoid	avoid	VERB
ajst-27311	96	12	external	external	ADJ
ajst-27311	96	13	interference	interference	NOUN
ajst-27311	96	14	,	,	PUNCT
ajst-27311	96	15	such	such	ADJ
ajst-27311	96	16	as	as	ADP
ajst-27311	96	17	electrical	electrical	ADJ
ajst-27311	96	18	signal	signal	NOUN
ajst-27311	96	19	interference	interference	NOUN
ajst-27311	96	20	or	or	CCONJ
ajst-27311	96	21	road	road	NOUN
ajst-27311	96	22	emergencies	emergency	NOUN
ajst-27311	96	23	.	.	PUNCT
ajst-27311	97	1	the	the	DET
ajst-27311	97	2	key	key	NOUN
ajst-27311	97	3	is	be	AUX
ajst-27311	97	4	to	to	PART
ajst-27311	97	5	make	make	VERB
ajst-27311	97	6	the	the	DET
ajst-27311	97	7	system	system	NOUN
ajst-27311	97	8	more	more	ADV
ajst-27311	97	9	proactive	proactive	ADJ
ajst-27311	97	10	and	and	CCONJ
ajst-27311	97	11	to	to	PART
ajst-27311	97	12	determine	determine	VERB
ajst-27311	97	13	the	the	DET
ajst-27311	97	14	coordinated	coordinated	ADJ
ajst-27311	97	15	control	control	NOUN
ajst-27311	97	16	between	between	ADP
ajst-27311	97	17	local	local	ADJ
ajst-27311	97	18	sensors	sensor	NOUN
ajst-27311	97	19	and	and	CCONJ
ajst-27311	97	20	the	the	DET
ajst-27311	97	21	overall	overall	ADJ
ajst-27311	97	22	system	system	NOUN
ajst-27311	97	23	in	in	ADP
ajst-27311	97	24	order	order	NOUN
ajst-27311	97	25	to	to	PART
ajst-27311	97	26	ensure	ensure	VERB
ajst-27311	97	27	the	the	DET
ajst-27311	97	28	efficient	efficient	ADJ
ajst-27311	97	29	operation	operation	NOUN
ajst-27311	97	30	of	of	ADP
ajst-27311	97	31	the	the	DET
ajst-27311	97	32	entire	entire	ADJ
ajst-27311	97	33	system	system	NOUN
ajst-27311	97	34	.	.	PUNCT
ajst-27311	98	1	[	[	X
ajst-27311	98	2	11,12	11,12	NUM
ajst-27311	98	3	]	]	X
ajst-27311	98	4	2.3.3	2.3.3	NUM
ajst-27311	98	5	.	.	PUNCT
ajst-27311	98	6	big	big	ADJ
ajst-27311	98	7	data	datum	NOUN
ajst-27311	98	8	applications	application	NOUN
ajst-27311	98	9	the	the	DET
ajst-27311	98	10	development	development	NOUN
ajst-27311	98	11	of	of	ADP
ajst-27311	98	12	intelligent	intelligent	ADJ
ajst-27311	98	13	transportation	transportation	NOUN
ajst-27311	98	14	systems	system	NOUN
ajst-27311	98	15	has	have	AUX
ajst-27311	98	16	shifted	shift	VERB
ajst-27311	98	17	from	from	ADP
ajst-27311	98	18	traditional	traditional	ADJ
ajst-27311	98	19	technology	technology	NOUN
ajst-27311	98	20	driven	drive	VERB
ajst-27311	98	21	systems	system	NOUN
ajst-27311	98	22	to	to	ADP
ajst-27311	98	23	datadriven	datadriven	ADJ
ajst-27311	98	24	intelligent	intelligent	ADJ
ajst-27311	98	25	transportation	transportation	NOUN
ajst-27311	98	26	systems	system	NOUN
ajst-27311	98	27	,	,	PUNCT
ajst-27311	98	28	marking	mark	VERB
ajst-27311	98	29	a	a	DET
ajst-27311	98	30	shift	shift	NOUN
ajst-27311	98	31	from	from	ADP
ajst-27311	98	32	single	single	ADJ
ajst-27311	98	33	functionality	functionality	NOUN
ajst-27311	98	34	to	to	ADP
ajst-27311	98	35	multifunctional	multifunctional	ADJ
ajst-27311	98	36	,	,	PUNCT
ajst-27311	98	37	multi	multi	ADJ
ajst-27311	98	38	-	-	ADJ
ajst-27311	98	39	source	source	ADJ
ajst-27311	98	40	data	datum	NOUN
ajst-27311	98	41	,	,	PUNCT
ajst-27311	98	42	and	and	CCONJ
ajst-27311	98	43	to	to	ADP
ajst-27311	98	44	learning	learn	VERB
ajst-27311	98	45	algorithm	algorithm	NOUN
ajst-27311	98	46	driven	drive	VERB
ajst-27311	98	47	intelligent	intelligent	ADJ
ajst-27311	98	48	transportation	transportation	NOUN
ajst-27311	98	49	systems	system	NOUN
ajst-27311	98	50	.	.	PUNCT
ajst-27311	99	1	this	this	DET
ajst-27311	99	2	transformation	transformation	NOUN
ajst-27311	99	3	enables	enable	VERB
ajst-27311	99	4	intelligent	intelligent	ADJ
ajst-27311	99	5	transportation	transportation	NOUN
ajst-27311	99	6	systems	system	NOUN
ajst-27311	99	7	to	to	PART
ajst-27311	99	8	optimize	optimize	VERB
ajst-27311	99	9	their	their	PRON
ajst-27311	99	10	performance	performance	NOUN
ajst-27311	99	11	more	more	ADV
ajst-27311	99	12	effectively	effectively	ADV
ajst-27311	99	13	,	,	PUNCT
ajst-27311	99	14	while	while	SCONJ
ajst-27311	99	15	becoming	become	VERB
ajst-27311	99	16	safer	safe	ADJ
ajst-27311	99	17	,	,	PUNCT
ajst-27311	99	18	more	more	ADV
ajst-27311	99	19	efficient	efficient	ADJ
ajst-27311	99	20	,	,	PUNCT
ajst-27311	99	21	and	and	CCONJ
ajst-27311	99	22	profitable	profitable	ADJ
ajst-27311	99	23	.	.	PUNCT
ajst-27311	100	1	for	for	ADP
ajst-27311	100	2	example	example	NOUN
ajst-27311	100	3	,	,	PUNCT
ajst-27311	100	4	predicting	predict	VERB
ajst-27311	100	5	traffic	traffic	NOUN
ajst-27311	100	6	flow	flow	NOUN
ajst-27311	100	7	through	through	ADP
ajst-27311	100	8	deep	deep	ADJ
ajst-27311	100	9	learning	learning	NOUN
ajst-27311	100	10	methods	method	NOUN
ajst-27311	100	11	demonstrates	demonstrate	VERB
ajst-27311	100	12	the	the	DET
ajst-27311	100	13	potential	potential	ADJ
ajst-27311	100	14	application	application	NOUN
ajst-27311	100	15	of	of	ADP
ajst-27311	100	16	big	big	ADJ
ajst-27311	100	17	data	datum	NOUN
ajst-27311	100	18	in	in	ADP
ajst-27311	100	19	intelligent	intelligent	ADJ
ajst-27311	100	20	transportation	transportation	NOUN
ajst-27311	100	21	systems	system	NOUN
ajst-27311	100	22	.	.	PUNCT
ajst-27311	101	1	the	the	DET
ajst-27311	101	2	application	application	NOUN
ajst-27311	101	3	of	of	ADP
ajst-27311	101	4	big	big	ADJ
ajst-27311	101	5	data	datum	NOUN
ajst-27311	101	6	analysis	analysis	NOUN
ajst-27311	101	7	technology	technology	NOUN
ajst-27311	101	8	in	in	ADP
ajst-27311	101	9	intelligent	intelligent	ADJ
ajst-27311	101	10	vehicles	vehicle	NOUN
ajst-27311	101	11	includes	include	VERB
ajst-27311	101	12	but	but	CCONJ
ajst-27311	101	13	is	be	AUX
ajst-27311	101	14	not	not	PART
ajst-27311	101	15	limited	limit	VERB
ajst-27311	101	16	to	to	ADP
ajst-27311	101	17	the	the	DET
ajst-27311	101	18	design	design	NOUN
ajst-27311	101	19	of	of	ADP
ajst-27311	101	20	vehicle	vehicle	NOUN
ajst-27311	101	21	to	to	PART
ajst-27311	101	22	roadside	roadside	NOUN
ajst-27311	101	23	communication	communication	NOUN
ajst-27311	101	24	protocols	protocol	NOUN
ajst-27311	101	25	,	,	PUNCT
ajst-27311	101	26	smart	smart	ADJ
ajst-27311	101	27	city	city	NOUN
ajst-27311	101	28	traffic	traffic	NOUN
ajst-27311	101	29	management	management	NOUN
ajst-27311	101	30	,	,	PUNCT
ajst-27311	101	31	electric	electric	ADJ
ajst-27311	101	32	vehicle	vehicle	NOUN
ajst-27311	101	33	network	network	NOUN
ajst-27311	101	34	analysis	analysis	NOUN
ajst-27311	101	35	,	,	PUNCT
ajst-27311	101	36	and	and	CCONJ
ajst-27311	101	37	intelligent	intelligent	ADJ
ajst-27311	101	38	management	management	NOUN
ajst-27311	101	39	of	of	ADP
ajst-27311	101	40	autonomous	autonomous	ADJ
ajst-27311	101	41	vehicles	vehicle	NOUN
ajst-27311	101	42	.	.	PUNCT
ajst-27311	102	1	these	these	DET
ajst-27311	102	2	applications	application	NOUN
ajst-27311	102	3	demonstrate	demonstrate	VERB
ajst-27311	102	4	how	how	SCONJ
ajst-27311	102	5	big	big	ADJ
ajst-27311	102	6	data	data	NOUN
ajst-27311	102	7	analysis	analysis	NOUN
ajst-27311	102	8	technology	technology	NOUN
ajst-27311	102	9	can	can	AUX
ajst-27311	102	10	help	help	VERB
ajst-27311	102	11	solve	solve	VERB
ajst-27311	102	12	transportation	transportation	NOUN
ajst-27311	102	13	challenges	challenge	NOUN
ajst-27311	102	14	in	in	ADP
ajst-27311	102	15	smart	smart	ADJ
ajst-27311	102	16	cities	city	NOUN
ajst-27311	102	17	,	,	PUNCT
ajst-27311	102	18	improve	improve	VERB
ajst-27311	102	19	traffic	traffic	NOUN
ajst-27311	102	20	efficiency	efficiency	NOUN
ajst-27311	102	21	and	and	CCONJ
ajst-27311	102	22	safety	safety	NOUN
ajst-27311	102	23	.	.	PUNCT
ajst-27311	103	1	for	for	ADP
ajst-27311	103	2	example	example	NOUN
ajst-27311	103	3	,	,	PUNCT
ajst-27311	103	4	the	the	DET
ajst-27311	103	5	odot	odot	PROPN
ajst-27311	103	6	project	project	NOUN
ajst-27311	103	7	demonstrated	demonstrate	VERB
ajst-27311	103	8	the	the	DET
ajst-27311	103	9	importance	importance	NOUN
ajst-27311	103	10	of	of	ADP
ajst-27311	103	11	data	datum	NOUN
ajst-27311	103	12	cleaning	cleaning	NOUN
ajst-27311	103	13	methods	method	NOUN
ajst-27311	103	14	in	in	ADP
ajst-27311	103	15	improving	improve	VERB
ajst-27311	103	16	data	datum	NOUN
ajst-27311	103	17	quality	quality	NOUN
ajst-27311	103	18	by	by	ADP
ajst-27311	103	19	using	use	VERB
ajst-27311	103	20	machine	machine	NOUN
ajst-27311	103	21	learning	learn	VERB
ajst-27311	103	22	techniques	technique	NOUN
ajst-27311	103	23	to	to	PART
ajst-27311	103	24	improve	improve	VERB
ajst-27311	103	25	travel	travel	NOUN
ajst-27311	103	26	time	time	NOUN
ajst-27311	103	27	prediction	prediction	NOUN
ajst-27311	103	28	.	.	PUNCT
ajst-27311	104	1	in	in	ADP
ajst-27311	104	2	addition	addition	NOUN
ajst-27311	104	3	,	,	PUNCT
ajst-27311	104	4	a	a	DET
ajst-27311	104	5	distributed	distribute	VERB
ajst-27311	104	6	big	big	ADJ
ajst-27311	104	7	data	datum	NOUN
ajst-27311	104	8	analysis	analysis	NOUN
ajst-27311	104	9	architecture	architecture	NOUN
ajst-27311	104	10	has	have	AUX
ajst-27311	104	11	been	be	AUX
ajst-27311	104	12	proposed	propose	VERB
ajst-27311	104	13	to	to	PART
ajst-27311	104	14	meet	meet	VERB
ajst-27311	104	15	the	the	DET
ajst-27311	104	16	data	datum	NOUN
ajst-27311	104	17	acquisition	acquisition	NOUN
ajst-27311	104	18	,	,	PUNCT
ajst-27311	104	19	storage	storage	NOUN
ajst-27311	104	20	,	,	PUNCT
ajst-27311	104	21	and	and	CCONJ
ajst-27311	104	22	analysis	analysis	NOUN
ajst-27311	104	23	requirements	requirement	NOUN
ajst-27311	104	24	in	in	ADP
ajst-27311	104	25	the	the	DET
ajst-27311	104	26	transportation	transportation	NOUN
ajst-27311	104	27	system	system	NOUN
ajst-27311	104	28	,	,	PUNCT
ajst-27311	104	29	while	while	SCONJ
ajst-27311	104	30	graph	graph	NOUN
ajst-27311	104	31	processing	processing	NOUN
ajst-27311	104	32	technology	technology	NOUN
ajst-27311	104	33	is	be	AUX
ajst-27311	104	34	used	use	VERB
ajst-27311	104	35	for	for	ADP
ajst-27311	104	36	processing	process	VERB
ajst-27311	104	37	intelligent	intelligent	ADJ
ajst-27311	104	38	vehicle	vehicle	NOUN
ajst-27311	104	39	network	network	NOUN
ajst-27311	104	40	data	datum	NOUN
ajst-27311	104	41	,	,	PUNCT
ajst-27311	104	42	demonstrating	demonstrate	VERB
ajst-27311	104	43	the	the	DET
ajst-27311	104	44	potential	potential	NOUN
ajst-27311	104	45	of	of	ADP
ajst-27311	104	46	big	big	ADJ
ajst-27311	104	47	data	datum	NOUN
ajst-27311	104	48	processing	processing	NOUN
ajst-27311	104	49	technology	technology	NOUN
ajst-27311	104	50	in	in	ADP
ajst-27311	104	51	solving	solve	VERB
ajst-27311	104	52	dynamic	dynamic	ADJ
ajst-27311	104	53	structural	structural	ADJ
ajst-27311	104	54	challenges	challenge	NOUN
ajst-27311	104	55	.	.	PUNCT
ajst-27311	105	1	2.3.4	2.3.4	X
ajst-27311	105	2	.	.	X
ajst-27311	105	3	path	path	NOUN
ajst-27311	105	4	planning	planning	NOUN
ajst-27311	105	5	technology	technology	NOUN
ajst-27311	105	6	ensuring	ensure	VERB
ajst-27311	105	7	the	the	DET
ajst-27311	105	8	safe	safe	ADJ
ajst-27311	105	9	and	and	CCONJ
ajst-27311	105	10	efficient	efficient	ADJ
ajst-27311	105	11	operation	operation	NOUN
ajst-27311	105	12	of	of	ADP
ajst-27311	105	13	autonomous	autonomous	ADJ
ajst-27311	105	14	vehicles	vehicle	NOUN
ajst-27311	105	15	,	,	PUNCT
ajst-27311	105	16	intelligent	intelligent	ADJ
ajst-27311	105	17	vehicle	vehicle	NOUN
ajst-27311	105	18	path	path	NOUN
ajst-27311	105	19	planning	planning	NOUN
ajst-27311	105	20	is	be	AUX
ajst-27311	105	21	one	one	NUM
ajst-27311	105	22	of	of	ADP
ajst-27311	105	23	the	the	DET
ajst-27311	105	24	key	key	ADJ
ajst-27311	105	25	technologies	technology	NOUN
ajst-27311	105	26	.	.	PUNCT
ajst-27311	106	1	it	it	PRON
ajst-27311	106	2	can	can	AUX
ajst-27311	106	3	be	be	AUX
ajst-27311	106	4	seen	see	VERB
ajst-27311	106	5	that	that	SCONJ
ajst-27311	106	6	the	the	DET
ajst-27311	106	7	research	research	NOUN
ajst-27311	106	8	and	and	CCONJ
ajst-27311	106	9	application	application	NOUN
ajst-27311	106	10	of	of	ADP
ajst-27311	106	11	intelligent	intelligent	ADJ
ajst-27311	106	12	vehicle	vehicle	NOUN
ajst-27311	106	13	path	path	NOUN
ajst-27311	106	14	planning	planning	NOUN
ajst-27311	106	15	cover	cover	VERB
ajst-27311	106	16	various	various	ADJ
ajst-27311	106	17	methods	method	NOUN
ajst-27311	106	18	and	and	CCONJ
ajst-27311	106	19	technologies	technology	NOUN
ajst-27311	106	20	,	,	PUNCT
ajst-27311	106	21	including	include	VERB
ajst-27311	106	22	but	but	CCONJ
ajst-27311	106	23	not	not	PART
ajst-27311	106	24	limited	limit	VERB
ajst-27311	106	25	to	to	ADP
ajst-27311	106	26	artificial	artificial	ADJ
ajst-27311	106	27	potential	potential	ADJ
ajst-27311	106	28	field	field	NOUN
ajst-27311	106	29	algorithms	algorithm	NOUN
ajst-27311	106	30	,	,	PUNCT
ajst-27311	106	31	hybrid	hybrid	ADJ
ajst-27311	106	32	trajectory	trajectory	NOUN
ajst-27311	106	33	planning	planning	NOUN
ajst-27311	106	34	schemes	scheme	NOUN
ajst-27311	106	35	,	,	PUNCT
ajst-27311	106	36	computer	computer	NOUN
ajst-27311	106	37	vision	vision	NOUN
ajst-27311	106	38	based	base	VERB
ajst-27311	106	39	path	path	NOUN
ajst-27311	106	40	planning	planning	NOUN
ajst-27311	106	41	,	,	PUNCT
ajst-27311	106	42	and	and	CCONJ
ajst-27311	106	43	methods	method	NOUN
ajst-27311	106	44	combining	combine	VERB
ajst-27311	106	45	fuzzy	fuzzy	ADJ
ajst-27311	106	46	decision	decision	NOUN
ajst-27311	106	47	-	-	PUNCT
ajst-27311	106	48	making	making	NOUN
ajst-27311	106	49	and	and	CCONJ
ajst-27311	106	50	potential	potential	ADJ
ajst-27311	106	51	field	field	NOUN
ajst-27311	106	52	grids	grid	NOUN
ajst-27311	106	53	.	.	PUNCT
ajst-27311	107	1	the	the	DET
ajst-27311	107	2	application	application	NOUN
ajst-27311	107	3	of	of	ADP
ajst-27311	107	4	artificial	artificial	ADJ
ajst-27311	107	5	potential	potential	ADJ
ajst-27311	107	6	field	field	NOUN
ajst-27311	107	7	algorithm	algorithm	NOUN
ajst-27311	107	8	in	in	ADP
ajst-27311	107	9	intelligent	intelligent	ADJ
ajst-27311	107	10	vehicle	vehicle	NOUN
ajst-27311	107	11	path	path	NOUN
ajst-27311	107	12	planning	planning	NOUN
ajst-27311	107	13	shows	show	VERB
ajst-27311	107	14	that	that	SCONJ
ajst-27311	107	15	the	the	DET
ajst-27311	107	16	smooth	smooth	ADJ
ajst-27311	107	17	and	and	CCONJ
ajst-27311	107	18	54	54	NUM
ajst-27311	107	19	safe	safe	ADJ
ajst-27311	107	20	path	path	NOUN
ajst-27311	107	21	planning	planning	NOUN
ajst-27311	107	22	and	and	CCONJ
ajst-27311	107	23	tracking	tracking	NOUN
ajst-27311	107	24	control	control	NOUN
ajst-27311	107	25	of	of	ADP
ajst-27311	107	26	intelligent	intelligent	ADJ
ajst-27311	107	27	vehicles	vehicle	NOUN
ajst-27311	107	28	can	can	AUX
ajst-27311	107	29	be	be	AUX
ajst-27311	107	30	achieved	achieve	VERB
ajst-27311	107	31	by	by	ADP
ajst-27311	107	32	constructing	construct	VERB
ajst-27311	107	33	obstacle	obstacle	NOUN
ajst-27311	107	34	point	point	NOUN
ajst-27311	107	35	models	model	NOUN
ajst-27311	107	36	and	and	CCONJ
ajst-27311	107	37	constraining	constrain	VERB
ajst-27311	107	38	steering	steering	NOUN
ajst-27311	107	39	angles	angle	NOUN
ajst-27311	107	40	.	.	PUNCT
ajst-27311	108	1	in	in	ADP
ajst-27311	108	2	addition	addition	NOUN
ajst-27311	108	3	,	,	PUNCT
ajst-27311	108	4	hybrid	hybrid	ADJ
ajst-27311	108	5	track	track	NOUN
ajst-27311	108	6	planning	planning	NOUN
ajst-27311	108	7	schemes	scheme	NOUN
ajst-27311	108	8	can	can	AUX
ajst-27311	108	9	cope	cope	VERB
ajst-27311	108	10	with	with	ADP
ajst-27311	108	11	dynamically	dynamically	ADV
ajst-27311	108	12	changing	change	VERB
ajst-27311	108	13	driving	drive	VERB
ajst-27311	108	14	environments	environment	NOUN
ajst-27311	108	15	and	and	CCONJ
ajst-27311	108	16	generate	generate	VERB
ajst-27311	108	17	responsive	responsive	ADJ
ajst-27311	108	18	tracks	track	NOUN
ajst-27311	108	19	through	through	ADP
ajst-27311	108	20	a	a	DET
ajst-27311	108	21	combination	combination	NOUN
ajst-27311	108	22	of	of	ADP
ajst-27311	108	23	numerical	numerical	ADJ
ajst-27311	108	24	optimization	optimization	NOUN
ajst-27311	108	25	methods	method	NOUN
ajst-27311	108	26	.	.	PUNCT
ajst-27311	109	1	the	the	DET
ajst-27311	109	2	advantage	advantage	NOUN
ajst-27311	109	3	of	of	ADP
ajst-27311	109	4	these	these	DET
ajst-27311	109	5	methods	method	NOUN
ajst-27311	109	6	is	be	AUX
ajst-27311	109	7	that	that	SCONJ
ajst-27311	109	8	they	they	PRON
ajst-27311	109	9	can	can	AUX
ajst-27311	109	10	respond	respond	VERB
ajst-27311	109	11	in	in	ADP
ajst-27311	109	12	realtime	realtime	NOUN
ajst-27311	109	13	to	to	ADP
ajst-27311	109	14	changes	change	NOUN
ajst-27311	109	15	in	in	ADP
ajst-27311	109	16	the	the	DET
ajst-27311	109	17	driving	drive	VERB
ajst-27311	109	18	environment	environment	NOUN
ajst-27311	109	19	and	and	CCONJ
ajst-27311	109	20	improve	improve	VERB
ajst-27311	109	21	safety	safety	NOUN
ajst-27311	109	22	and	and	CCONJ
ajst-27311	109	23	efficiency	efficiency	NOUN
ajst-27311	109	24	in	in	ADP
ajst-27311	109	25	path	path	NOUN
ajst-27311	109	26	planning	planning	NOUN
ajst-27311	109	27	.	.	PUNCT
ajst-27311	110	1	a	a	DET
ajst-27311	110	2	path	path	NOUN
ajst-27311	110	3	planning	planning	NOUN
ajst-27311	110	4	system	system	NOUN
ajst-27311	110	5	based	base	VERB
ajst-27311	110	6	on	on	ADP
ajst-27311	110	7	computer	computer	NOUN
ajst-27311	110	8	vision	vision	NOUN
ajst-27311	110	9	can	can	AUX
ajst-27311	110	10	achieve	achieve	VERB
ajst-27311	110	11	image	image	NOUN
ajst-27311	110	12	processing	processing	NOUN
ajst-27311	110	13	,	,	PUNCT
ajst-27311	110	14	monocular	monocular	ADJ
ajst-27311	110	15	vision	vision	NOUN
ajst-27311	110	16	ranging	ranging	NOUN
ajst-27311	110	17	,	,	PUNCT
ajst-27311	110	18	and	and	CCONJ
ajst-27311	110	19	other	other	ADJ
ajst-27311	110	20	functions	function	NOUN
ajst-27311	110	21	by	by	ADP
ajst-27311	110	22	optimizing	optimize	VERB
ajst-27311	110	23	ant	ant	ADJ
ajst-27311	110	24	colony	colony	NOUN
ajst-27311	110	25	algorithm	algorithm	NOUN
ajst-27311	110	26	,	,	PUNCT
ajst-27311	110	27	thereby	thereby	ADV
ajst-27311	110	28	improving	improve	VERB
ajst-27311	110	29	operation	operation	NOUN
ajst-27311	110	30	time	time	NOUN
ajst-27311	110	31	.	.	PUNCT
ajst-27311	111	1	this	this	DET
ajst-27311	111	2	method	method	NOUN
ajst-27311	111	3	is	be	AUX
ajst-27311	111	4	particularly	particularly	ADV
ajst-27311	111	5	suitable	suitable	ADJ
ajst-27311	111	6	for	for	ADP
ajst-27311	111	7	dangerous	dangerous	ADJ
ajst-27311	111	8	or	or	CCONJ
ajst-27311	111	9	unsuitable	unsuitable	ADJ
ajst-27311	111	10	human	human	ADJ
ajst-27311	111	11	activities	activity	NOUN
ajst-27311	111	12	that	that	PRON
ajst-27311	111	13	can	can	AUX
ajst-27311	111	14	improve	improve	VERB
ajst-27311	111	15	the	the	DET
ajst-27311	111	16	performance	performance	NOUN
ajst-27311	111	17	of	of	ADP
ajst-27311	111	18	intelligent	intelligent	ADJ
ajst-27311	111	19	vehicle	vehicle	NOUN
ajst-27311	111	20	path	path	NOUN
ajst-27311	111	21	planning	planning	NOUN
ajst-27311	111	22	.	.	PUNCT
ajst-27311	112	1	the	the	DET
ajst-27311	112	2	method	method	NOUN
ajst-27311	112	3	of	of	ADP
ajst-27311	112	4	combining	combine	VERB
ajst-27311	112	5	fuzzy	fuzzy	ADJ
ajst-27311	112	6	decision	decision	NOUN
ajst-27311	112	7	-	-	PUNCT
ajst-27311	112	8	making	making	NOUN
ajst-27311	112	9	with	with	ADP
ajst-27311	112	10	potential	potential	ADJ
ajst-27311	112	11	grid	grid	NOUN
ajst-27311	112	12	solves	solve	VERB
ajst-27311	112	13	the	the	DET
ajst-27311	112	14	problem	problem	NOUN
ajst-27311	112	15	of	of	ADP
ajst-27311	112	16	unreachable	unreachable	ADJ
ajst-27311	112	17	and	and	CCONJ
ajst-27311	112	18	oscillating	oscillate	VERB
ajst-27311	112	19	targets	target	NOUN
ajst-27311	112	20	near	near	ADP
ajst-27311	112	21	obstacles	obstacle	NOUN
ajst-27311	112	22	,	,	PUNCT
ajst-27311	112	23	and	and	CCONJ
ajst-27311	112	24	improves	improve	VERB
ajst-27311	112	25	the	the	DET
ajst-27311	112	26	smoothness	smoothness	NOUN
ajst-27311	112	27	of	of	ADP
ajst-27311	112	28	the	the	DET
ajst-27311	112	29	path	path	NOUN
ajst-27311	112	30	by	by	ADP
ajst-27311	112	31	introducing	introduce	VERB
ajst-27311	112	32	influencing	influence	VERB
ajst-27311	112	33	factors	factor	NOUN
ajst-27311	112	34	and	and	CCONJ
ajst-27311	112	35	fuzzy	fuzzy	ADJ
ajst-27311	112	36	decision	decision	NOUN
ajst-27311	112	37	-	-	PUNCT
ajst-27311	112	38	making	making	NOUN
ajst-27311	112	39	.	.	PUNCT
ajst-27311	113	1	the	the	DET
ajst-27311	113	2	effectiveness	effectiveness	NOUN
ajst-27311	113	3	of	of	ADP
ajst-27311	113	4	this	this	DET
ajst-27311	113	5	method	method	NOUN
ajst-27311	113	6	lies	lie	VERB
ajst-27311	113	7	in	in	ADP
ajst-27311	113	8	its	its	PRON
ajst-27311	113	9	ability	ability	NOUN
ajst-27311	113	10	to	to	PART
ajst-27311	113	11	comprehensively	comprehensively	ADV
ajst-27311	113	12	consider	consider	VERB
ajst-27311	113	13	heading	head	VERB
ajst-27311	113	14	angle	angle	NOUN
ajst-27311	113	15	and	and	CCONJ
ajst-27311	113	16	potential	potential	ADJ
ajst-27311	113	17	field	field	NOUN
ajst-27311	113	18	value	value	NOUN
ajst-27311	113	19	,	,	PUNCT
ajst-27311	113	20	and	and	CCONJ
ajst-27311	113	21	select	select	VERB
ajst-27311	113	22	the	the	DET
ajst-27311	113	23	optimal	optimal	ADJ
ajst-27311	113	24	path	path	NOUN
ajst-27311	113	25	in	in	ADP
ajst-27311	113	26	the	the	DET
ajst-27311	113	27	selection	selection	NOUN
ajst-27311	113	28	of	of	ADP
ajst-27311	113	29	path	path	NOUN
ajst-27311	113	30	points	point	NOUN
ajst-27311	113	31	.	.	PUNCT
ajst-27311	114	1	the	the	DET
ajst-27311	114	2	research	research	NOUN
ajst-27311	114	3	and	and	CCONJ
ajst-27311	114	4	application	application	NOUN
ajst-27311	114	5	of	of	ADP
ajst-27311	114	6	intelligent	intelligent	ADJ
ajst-27311	114	7	vehicle	vehicle	NOUN
ajst-27311	114	8	path	path	NOUN
ajst-27311	114	9	planning	planning	NOUN
ajst-27311	114	10	have	have	AUX
ajst-27311	114	11	shown	show	VERB
ajst-27311	114	12	that	that	SCONJ
ajst-27311	114	13	by	by	ADP
ajst-27311	114	14	combining	combine	VERB
ajst-27311	114	15	multiple	multiple	ADJ
ajst-27311	114	16	technologies	technology	NOUN
ajst-27311	114	17	and	and	CCONJ
ajst-27311	114	18	methods	method	NOUN
ajst-27311	114	19	,	,	PUNCT
ajst-27311	114	20	the	the	DET
ajst-27311	114	21	safety	safety	NOUN
ajst-27311	114	22	,	,	PUNCT
ajst-27311	114	23	efficiency	efficiency	NOUN
ajst-27311	114	24	,	,	PUNCT
ajst-27311	114	25	and	and	CCONJ
ajst-27311	114	26	realtime	realtime	ADJ
ajst-27311	114	27	performance	performance	NOUN
ajst-27311	114	28	of	of	ADP
ajst-27311	114	29	path	path	NOUN
ajst-27311	114	30	planning	planning	NOUN
ajst-27311	114	31	can	can	AUX
ajst-27311	114	32	be	be	AUX
ajst-27311	114	33	effectively	effectively	ADV
ajst-27311	114	34	improved	improve	VERB
ajst-27311	114	35	.	.	PUNCT
ajst-27311	115	1	future	future	ADJ
ajst-27311	115	2	research	research	NOUN
ajst-27311	115	3	may	may	AUX
ajst-27311	115	4	further	far	ADV
ajst-27311	115	5	explore	explore	VERB
ajst-27311	115	6	the	the	DET
ajst-27311	115	7	optimization	optimization	NOUN
ajst-27311	115	8	and	and	CCONJ
ajst-27311	115	9	combination	combination	NOUN
ajst-27311	115	10	of	of	ADP
ajst-27311	115	11	these	these	DET
ajst-27311	115	12	methods	method	NOUN
ajst-27311	115	13	to	to	PART
ajst-27311	115	14	cope	cope	VERB
ajst-27311	115	15	with	with	ADP
ajst-27311	115	16	more	more	ADV
ajst-27311	115	17	complex	complex	ADJ
ajst-27311	115	18	and	and	CCONJ
ajst-27311	115	19	changing	change	VERB
ajst-27311	115	20	driving	drive	VERB
ajst-27311	115	21	environments	environment	NOUN
ajst-27311	115	22	.	.	PUNCT
ajst-27311	116	1	[	[	X
ajst-27311	116	2	13	13	NUM
ajst-27311	116	3	]	]	PUNCT
ajst-27311	116	4	references	reference	NOUN
ajst-27311	116	5	[	[	X
ajst-27311	116	6	1	1	NUM
ajst-27311	116	7	]	]	X
ajst-27311	116	8	zhao	zhao	X
ajst-27311	116	9	,	,	PUNCT
ajst-27311	116	10	m.r.(2023)research	m.r.(2023)research	PROPN
ajst-27311	116	11	on	on	ADP
ajst-27311	116	12	automotive	automotive	ADJ
ajst-27311	116	13	braking	braking	NOUN
ajst-27311	116	14	system	system	NOUN
ajst-27311	116	15	based	base	VERB
ajst-27311	116	16	on	on	ADP
ajst-27311	116	17	active	active	ADJ
ajst-27311	116	18	obstacle	obstacle	NOUN
ajst-27311	116	19	avoidance.automotive	avoidance.automotive	PROPN
ajst-27311	116	20	test	test	NOUN
ajst-27311	116	21	report	report	NOUN
ajst-27311	116	22	,	,	PUNCT
ajst-27311	116	23	11:16	11:16	NUM
ajst-27311	116	24	-	-	SYM
ajst-27311	116	25	18	18	NUM
ajst-27311	116	26	.	.	PUNCT
ajst-27311	117	1	[	[	X
ajst-27311	117	2	2	2	NUM
ajst-27311	117	3	]	]	X
ajst-27311	117	4	chen	chen	PROPN
ajst-27311	117	5	,	,	PUNCT
ajst-27311	117	6	h.	h.	PROPN
ajst-27311	117	7	,xv	,xv	PROPN
ajst-27311	117	8	,	,	PUNCT
ajst-27311	117	9	j.b.(2014)trends	j.b.(2014)trend	NOUN
ajst-27311	117	10	in	in	ADP
ajst-27311	117	11	the	the	DET
ajst-27311	117	12	development	development	NOUN
ajst-27311	117	13	of	of	ADP
ajst-27311	117	14	intelligent	intelligent	ADJ
ajst-27311	117	15	automotive	automotive	ADJ
ajst-27311	117	16	technology.china	technology.china	NUM
ajst-27311	117	17	integrated	integrate	VERB
ajst-27311	117	18	circuit23	circuit23	NOUN
ajst-27311	117	19	,	,	PUNCT
ajst-27311	117	20	23(11	23(11	NUM
ajst-27311	117	21	):	):	PUNCT
ajst-27311	117	22	64	64	NUM
ajst-27311	117	23	-	-	SYM
ajst-27311	117	24	70	70	NUM
ajst-27311	118	1	[	[	X
ajst-27311	118	2	3	3	NUM
ajst-27311	118	3	]	]	SYM
ajst-27311	118	4	li	li	PROPN
ajst-27311	118	5	,	,	PUNCT
ajst-27311	118	6	f.(2020)analysis	f.(2020)analysis	NOUN
ajst-27311	118	7	of	of	ADP
ajst-27311	118	8	communication	communication	NOUN
ajst-27311	118	9	technology	technology	NOUN
ajst-27311	118	10	for	for	ADP
ajst-27311	118	11	connected	connect	VERB
ajst-27311	118	12	vehicles.digital	vehicles.digital	ADJ
ajst-27311	118	13	communication	communication	NOUN
ajst-27311	118	14	world	world	NOUN
ajst-27311	118	15	,	,	PUNCT
ajst-27311	118	16	182	182	NUM
ajst-27311	118	17	(	(	PUNCT
ajst-27311	118	18	02	02	NUM
ajst-27311	118	19	):	):	PUNCT
ajst-27311	118	20	87	87	NUM
ajst-27311	118	21	.	.	PUNCT
ajst-27311	119	1	[	[	X
ajst-27311	119	2	4	4	NUM
ajst-27311	119	3	]	]	X
ajst-27311	119	4	wang	wang	PROPN
ajst-27311	119	5	,	,	PUNCT
ajst-27311	119	6	r.b	r.b	PROPN
ajst-27311	119	7	.	.	PROPN
ajst-27311	119	8	,you	,you	PROPN
ajst-27311	119	9	,	,	PUNCT
ajst-27311	119	10	f.	f.	PROPN
ajst-27311	119	11	,	,	PUNCT
ajst-27311	119	12	cui	cui	PROPN
ajst-27311	119	13	,	,	PUNCT
ajst-27311	119	14	g.j	g.j	PROPN
ajst-27311	119	15	.	.	PROPN
ajst-27311	119	16	,	,	PUNCT
ajst-27311	119	17	et	et	PROPN
ajst-27311	119	18	al.(2004)road	al.(2004)road	ADJ
ajst-27311	119	19	recognition	recognition	NOUN
ajst-27311	119	20	of	of	ADP
ajst-27311	119	21	high	high	ADJ
ajst-27311	119	22	-	-	PUNCT
ajst-27311	119	23	speed	speed	NOUN
ajst-27311	119	24	intelligent	intelligent	ADJ
ajst-27311	119	25	vehicles	vehicle	NOUN
ajst-27311	119	26	based	base	VERB
ajst-27311	119	27	on	on	ADP
ajst-27311	119	28	computer	computer	NOUN
ajst-27311	119	29	vision	vision	NOUN
ajst-27311	119	30	.	.	PUNCT
ajst-27311	120	1	computer	computer	NOUN
ajst-27311	120	2	engineering	engineering	NOUN
ajst-27311	120	3	and	and	CCONJ
ajst-27311	120	4	applications,26:18	applications,26:18	PROPN
ajst-27311	120	5	-	-	PUNCT
ajst-27311	120	6	21	21	NUM
ajst-27311	120	7	.	.	PUNCT
ajst-27311	121	1	[	[	X
ajst-27311	121	2	5	5	NUM
ajst-27311	121	3	]	]	X
ajst-27311	121	4	bai	bai	PROPN
ajst-27311	121	5	,	,	PUNCT
ajst-27311	121	6	l.l	l.l	PROPN
ajst-27311	121	7	.	.	PROPN
ajst-27311	121	8	,	,	PUNCT
ajst-27311	121	9	han	han	PROPN
ajst-27311	121	10	,	,	PUNCT
ajst-27311	121	11	t.p.(2015)research	t.p.(2015)research	VERB
ajst-27311	121	12	on	on	ADP
ajst-27311	121	13	the	the	DET
ajst-27311	121	14	application	application	NOUN
ajst-27311	121	15	of	of	ADP
ajst-27311	121	16	big	big	ADJ
ajst-27311	121	17	data	datum	NOUN
ajst-27311	121	18	in	in	ADP
ajst-27311	121	19	intelligent	intelligent	ADJ
ajst-27311	121	20	transportation	transportation	NOUN
ajst-27311	121	21	systems.computer	systems.computer	NOUN
ajst-27311	121	22	knowledge	knowledge	NOUN
ajst-27311	121	23	and	and	CCONJ
ajst-27311	121	24	technology,11(10):204	technology,11(10):204	NOUN
ajst-27311	121	25	-	-	SYM
ajst-27311	121	26	206	206	NUM
ajst-27311	121	27	.	.	PUNCT
ajst-27311	122	1	[	[	X
ajst-27311	122	2	6	6	NUM
ajst-27311	122	3	]	]	X
ajst-27311	122	4	yue	yue	PROPN
ajst-27311	122	5	,	,	PUNCT
ajst-27311	122	6	j.m	j.m	PROPN
ajst-27311	122	7	.	.	PROPN
ajst-27311	122	8	,yuan	,yuan	PROPN
ajst-27311	122	9	,	,	PUNCT
ajst-27311	122	10	l.q.(2013)big	l.q.(2013)big	X
ajst-27311	122	11	data	datum	NOUN
ajst-27311	122	12	analysis	analysis	NOUN
ajst-27311	122	13	in	in	ADP
ajst-27311	122	14	the	the	DET
ajst-27311	122	15	development	development	NOUN
ajst-27311	122	16	of	of	ADP
ajst-27311	122	17	intelligent	intelligent	ADJ
ajst-27311	122	18	transportation	transportation	NOUN
ajst-27311	122	19	.	.	PUNCT
ajst-27311	123	1	productivity	productivity	NOUN
ajst-27311	123	2	research	research	PROPN
ajst-27311	123	3	,	,	PUNCT
ajst-27311	123	4	no.251	no.251	PROPN
ajst-27311	123	5	(	(	PUNCT
ajst-27311	123	6	06):137	06):137	PROPN
ajst-27311	123	7	-	-	PUNCT
ajst-27311	123	8	138	138	NUM
ajst-27311	123	9	+	+	NOUN
ajst-27311	123	10	165	165	NUM
ajst-27311	123	11	.	.	PUNCT
ajst-27311	124	1	[	[	X
ajst-27311	124	2	7	7	X
ajst-27311	124	3	]	]	X
ajst-27311	124	4	ding	ding	NOUN
ajst-27311	124	5	,	,	PUNCT
ajst-27311	124	6	x.c.(2019)the	x.c.(2019)the	DET
ajst-27311	124	7	application	application	NOUN
ajst-27311	124	8	of	of	ADP
ajst-27311	124	9	big	big	ADJ
ajst-27311	124	10	data	datum	NOUN
ajst-27311	124	11	technology	technology	NOUN
ajst-27311	124	12	in	in	ADP
ajst-27311	124	13	the	the	DET
ajst-27311	124	14	construction	construction	NOUN
ajst-27311	124	15	of	of	ADP
ajst-27311	124	16	intelligent	intelligent	ADJ
ajst-27311	124	17	transportation	transportation	NOUN
ajst-27311	124	18	platforms	platform	NOUN
ajst-27311	124	19	.	.	PUNCT
ajst-27311	125	1	computer	computer	NOUN
ajst-27311	125	2	knowledge	knowledge	NOUN
ajst-27311	125	3	and	and	CCONJ
ajst-27311	125	4	technology,15(16):178	technology,15(16):178	NOUN
ajst-27311	125	5	-	-	NUM
ajst-27311	125	6	179	179	NUM
ajst-27311	126	1	[	[	X
ajst-27311	126	2	8	8	NUM
ajst-27311	126	3	]	]	SYM
ajst-27311	126	4	an	an	PRON
ajst-27311	126	5	,	,	PUNCT
ajst-27311	126	6	l.f	l.f	PROPN
ajst-27311	126	7	.	.	PROPN
ajst-27311	126	8	,	,	PUNCT
ajst-27311	126	9	chen	chen	PROPN
ajst-27311	126	10	,	,	PUNCT
ajst-27311	126	11	t.	t.	PROPN
ajst-27311	126	12	,	,	PUNCT
ajst-27311	126	13	cheng	cheng	PROPN
ajst-27311	126	14	,	,	PUNCT
ajst-27311	126	15	a.g	a.g	PROPN
ajst-27311	126	16	.	.	PROPN
ajst-27311	126	17	,et	,et	PUNCT
ajst-27311	126	18	al.(2017)simulation	al.(2017)simulation	NOUN
ajst-27311	126	19	of	of	ADP
ajst-27311	126	20	intelligent	intelligent	ADJ
ajst-27311	126	21	vehicle	vehicle	NOUN
ajst-27311	126	22	path	path	NOUN
ajst-27311	126	23	planning	planning	NOUN
ajst-27311	126	24	based	base	VERB
ajst-27311	126	25	on	on	ADP
ajst-27311	126	26	artificial	artificial	ADJ
ajst-27311	126	27	potential	potential	ADJ
ajst-27311	126	28	field	field	NOUN
ajst-27311	126	29	algorithm.automotive	algorithm.automotive	CCONJ
ajst-27311	126	30	engineering,39(12):1451	engineering,39(12):1451	NOUN
ajst-27311	126	31	-	-	PUNCT
ajst-27311	126	32	1456	1456	NUM
ajst-27311	126	33	.	.	PUNCT
ajst-27311	127	1	[	[	X
ajst-27311	127	2	9	9	NUM
ajst-27311	127	3	]	]	SYM
ajst-27311	127	4	fu	fu	NOUN
ajst-27311	127	5	,	,	PUNCT
ajst-27311	127	6	x.x	x.x	PROPN
ajst-27311	127	7	.	.	PROPN
ajst-27311	127	8	,jiang	,jiang	PROPN
ajst-27311	127	9	,	,	PUNCT
ajst-27311	127	10	y.h	y.h	PROPN
ajst-27311	127	11	.	.	PROPN
ajst-27311	127	12	,huang	,huang	PROPN
ajst-27311	127	13	,	,	PUNCT
ajst-27311	127	14	d.x	d.x	PROPN
ajst-27311	127	15	.	.	PROPN
ajst-27311	127	16	,et	,et	PUNCT
ajst-27311	127	17	al.(2015)a	al.(2015)a	X
ajst-27311	128	1	new	new	ADJ
ajst-27311	128	2	real	real	ADJ
ajst-27311	128	3	-	-	PUNCT
ajst-27311	128	4	time	time	NOUN
ajst-27311	128	5	intelligent	intelligent	ADJ
ajst-27311	128	6	vehicle	vehicle	NOUN
ajst-27311	128	7	trajectory	trajectory	NOUN
ajst-27311	128	8	planning	planning	NOUN
ajst-27311	128	9	method.control	method.control	NOUN
ajst-27311	128	10	and	and	CCONJ
ajst-27311	128	11	decision	decision	NOUN
ajst-27311	128	12	-	-	PUNCT
ajst-27311	128	13	making	making	NOUN
ajst-27311	128	14	,	,	PUNCT
ajst-27311	128	15	30(10):1751	30(10):1751	NUM
ajst-27311	128	16	-	-	SYM
ajst-27311	128	17	1758	1758	NUM
ajst-27311	128	18	.	.	PUNCT
ajst-27311	129	1	[	[	X
ajst-27311	129	2	10	10	NUM
ajst-27311	129	3	]	]	X
ajst-27311	129	4	gao	gao	PROPN
ajst-27311	129	5	,	,	PUNCT
ajst-27311	129	6	p.	p.	PROPN
ajst-27311	129	7	,cheng	,cheng	PROPN
ajst-27311	129	8	,	,	PUNCT
ajst-27311	129	9	w.h.(2020)a	w.h.(2020)a	PROPN
ajst-27311	129	10	brief	brief	ADJ
ajst-27311	129	11	discussion	discussion	NOUN
ajst-27311	129	12	on	on	ADP
ajst-27311	129	13	automotive	automotive	ADJ
ajst-27311	129	14	abs	ab	NOUN
ajst-27311	129	15	braking	brake	VERB
ajst-27311	129	16	system	system	NOUN
ajst-27311	129	17	.	.	PUNCT
ajst-27311	130	1	internal	internal	ADJ
ajst-27311	130	2	combustion	combustion	NOUN
ajst-27311	130	3	engine	engine	NOUN
ajst-27311	130	4	and	and	CCONJ
ajst-27311	130	5	accessories	accessory	NOUN
ajst-27311	130	6	,	,	PUNCT
ajst-27311	130	7	no.301(01):150	no.301(01):150	NOUN
ajst-27311	130	8	-	-	PUNCT
ajst-27311	130	9	151	151	NUM
ajst-27311	130	10	[	[	SYM
ajst-27311	130	11	11	11	NUM
ajst-27311	130	12	]	]	SYM
ajst-27311	130	13	li	li	PROPN
ajst-27311	130	14	,	,	PUNCT
ajst-27311	130	15	x.d	x.d	PROPN
ajst-27311	130	16	.	.	PROPN
ajst-27311	130	17	,he	,he	PROPN
ajst-27311	130	18	,	,	PUNCT
ajst-27311	130	19	l.	l.	PROPN
ajst-27311	130	20	,ye	,ye	PROPN
ajst-27311	130	21	,	,	PUNCT
ajst-27311	130	22	w.	w.	PROPN
ajst-27311	130	23	,et	,et	PUNCT
ajst-27311	130	24	al.(2020)design	al.(2020)design	NOUN
ajst-27311	130	25	of	of	ADP
ajst-27311	130	26	tcs	tcs	NOUN
ajst-27311	130	27	sliding	slide	VERB
ajst-27311	130	28	mode	mode	NOUN
ajst-27311	130	29	controller	controller	NOUN
ajst-27311	130	30	for	for	ADP
ajst-27311	130	31	electric	electric	PROPN
ajst-27311	130	32	vehicles.computer	vehicles.computer	PROPN
ajst-27311	130	33	simulation	simulation	NOUN
ajst-27311	130	34	,	,	PUNCT
ajst-27311	130	35	37(02	37(02	NUM
ajst-27311	130	36	):	):	PUNCT
ajst-27311	130	37	144	144	NUM
ajst-27311	130	38	-	-	SYM
ajst-27311	130	39	148	148	NUM
ajst-27311	130	40	+	+	NOUN
ajst-27311	130	41	230	230	NUM
ajst-27311	130	42	.	.	PUNCT
ajst-27311	131	1	[	[	X
ajst-27311	131	2	12	12	NUM
ajst-27311	131	3	]	]	X
ajst-27311	131	4	yang	yang	PROPN
ajst-27311	131	5	,	,	PUNCT
ajst-27311	131	6	c.	c.	PROPN
ajst-27311	131	7	,song	,song	PROPN
ajst-27311	131	8	,	,	PUNCT
ajst-27311	131	9	j.	j.	PROPN
ajst-27311	131	10	,li	,li	PROPN
ajst-27311	131	11	,	,	PUNCT
ajst-27311	131	12	l.	l.	PROPN
ajst-27311	131	13	,et	,et	PUNCT
ajst-27311	131	14	al.(2008)optimal	al.(2008)optimal	NOUN
ajst-27311	131	15	driving	drive	VERB
ajst-27311	131	16	torque	torque	NOUN
ajst-27311	131	17	control	control	NOUN
ajst-27311	131	18	in	in	ADP
ajst-27311	131	19	traction	traction	NOUN
ajst-27311	131	20	control	control	NOUN
ajst-27311	131	21	system.journal	system.journal	PROPN
ajst-27311	131	22	of	of	ADP
ajst-27311	131	23	tsinghua	tsinghua	PROPN
ajst-27311	131	24	university	university	PROPN
ajst-27311	131	25	(	(	PUNCT
ajst-27311	131	26	natural	natural	ADJ
ajst-27311	131	27	science	science	NOUN
ajst-27311	131	28	edition),(11):1989	edition),(11):1989	NOUN
ajst-27311	131	29	-	-	SYM
ajst-27311	131	30	1992	1992	NUM
ajst-27311	131	31	.	.	PUNCT
ajst-27311	132	1	[	[	X
ajst-27311	132	2	13	13	NUM
ajst-27311	132	3	]	]	SYM
ajst-27311	132	4	han	han	PROPN
ajst-27311	132	5	,	,	PUNCT
ajst-27311	132	6	t.j.(2016)design	t.j.(2016)design	PROPN
ajst-27311	132	7	of	of	ADP
ajst-27311	132	8	pwm	pwm	NOUN
ajst-27311	132	9	closed	close	VERB
ajst-27311	132	10	-	-	PUNCT
ajst-27311	132	11	loop	loop	NOUN
ajst-27311	132	12	control	control	NOUN
ajst-27311	132	13	system	system	NOUN
ajst-27311	132	14	for	for	ADP
ajst-27311	132	15	dc	dc	PROPN
ajst-27311	132	16	motor	motor	NOUN
ajst-27311	132	17	based	base	VERB
ajst-27311	132	18	on	on	ADP
ajst-27311	132	19	mc9s12xs128.machine	mc9s12xs128.machine	NOUN
ajst-27311	132	20	tool	tool	PROPN
ajst-27311	132	21	&	&	CCONJ
ajst-27311	132	22	hydraulics	hydraulic	NOUN
ajst-27311	132	23	,	,	PUNCT
ajst-27311	132	24	44(07):109	44(07):109	NUM
ajst-27311	132	25	-	-	SYM
ajst-27311	132	26	111	111	NUM
ajst-27311	132	27	.	.	PUNCT