id	sid	tid	token	lemma	pos
ajst-7731	1	1	academic	academic	ADJ
ajst-7731	1	2	journal	journal	NOUN
ajst-7731	1	3	of	of	ADP
ajst-7731	1	4	science	science	NOUN
ajst-7731	1	5	and	and	CCONJ
ajst-7731	1	6	technology	technology	NOUN
ajst-7731	1	7	issn	issn	NOUN
ajst-7731	1	8	:	:	PUNCT
ajst-7731	1	9	2771	2771	NUM
ajst-7731	1	10	-	-	SYM
ajst-7731	1	11	3032	3032	NUM
ajst-7731	1	12	|	|	NOUN
ajst-7731	1	13	vol	vol	NOUN
ajst-7731	1	14	.	.	PROPN
ajst-7731	2	1	5	5	NUM
ajst-7731	2	2	,	,	PUNCT
ajst-7731	2	3	no	no	INTJ
ajst-7731	2	4	.	.	NOUN
ajst-7731	2	5	3	3	NUM
ajst-7731	2	6	,	,	PUNCT
ajst-7731	2	7	2023	2023	NUM
ajst-7731	2	8	72	72	NUM
ajst-7731	2	9	research	research	NOUN
ajst-7731	2	10	on	on	ADP
ajst-7731	2	11	lateral	lateral	ADJ
ajst-7731	2	12	path	path	NOUN
ajst-7731	2	13	tracking	tracking	NOUN
ajst-7731	2	14	control	control	NOUN
ajst-7731	2	15	of	of	ADP
ajst-7731	2	16	driverless	driverless	NOUN
ajst-7731	2	17	vehicle	vehicle	NOUN
ajst-7731	2	18	lin	lin	PROPN
ajst-7731	2	19	chen	chen	PROPN
ajst-7731	2	20	yi	yi	PROPN
ajst-7731	2	21	bin	bin	PROPN
ajst-7731	2	22	vocational	vocational	PROPN
ajst-7731	2	23	and	and	CCONJ
ajst-7731	2	24	technical	technical	PROPN
ajst-7731	2	25	college	college	NOUN
ajst-7731	2	26	,	,	PUNCT
ajst-7731	2	27	yi	yi	PROPN
ajst-7731	2	28	bin	bin	PROPN
ajst-7731	2	29	644003	644003	NUM
ajst-7731	2	30	,	,	PUNCT
ajst-7731	2	31	china	china	PROPN
ajst-7731	2	32	abstract	abstract	NOUN
ajst-7731	2	33	:	:	PUNCT
ajst-7731	2	34	the	the	DET
ajst-7731	2	35	unmanned	unmanned	ADJ
ajst-7731	2	36	vehicle	vehicle	NOUN
ajst-7731	2	37	system	system	NOUN
ajst-7731	2	38	has	have	VERB
ajst-7731	2	39	nonlinear	nonlinear	ADJ
ajst-7731	2	40	,	,	PUNCT
ajst-7731	2	41	time	time	NOUN
ajst-7731	2	42	-	-	PUNCT
ajst-7731	2	43	varying	vary	VERB
ajst-7731	2	44	characteristics	characteristic	NOUN
ajst-7731	2	45	and	and	CCONJ
ajst-7731	2	46	uncertainties	uncertainty	NOUN
ajst-7731	2	47	.	.	PUNCT
ajst-7731	3	1	the	the	DET
ajst-7731	3	2	traditional	traditional	ADJ
ajst-7731	3	3	single	single	ADJ
ajst-7731	3	4	control	control	NOUN
ajst-7731	3	5	algorithm	algorithm	NOUN
ajst-7731	3	6	can	can	AUX
ajst-7731	3	7	not	not	PART
ajst-7731	3	8	effectively	effectively	ADV
ajst-7731	3	9	coordinate	coordinate	VERB
ajst-7731	3	10	the	the	DET
ajst-7731	3	11	autonomous	autonomous	ADJ
ajst-7731	3	12	steering	steering	NOUN
ajst-7731	3	13	control	control	NOUN
ajst-7731	3	14	system	system	NOUN
ajst-7731	3	15	and	and	CCONJ
ajst-7731	3	16	can	can	AUX
ajst-7731	3	17	not	not	PART
ajst-7731	3	18	meet	meet	VERB
ajst-7731	3	19	the	the	DET
ajst-7731	3	20	control	control	NOUN
ajst-7731	3	21	requirements	requirement	NOUN
ajst-7731	3	22	under	under	ADP
ajst-7731	3	23	different	different	ADJ
ajst-7731	3	24	working	work	VERB
ajst-7731	3	25	conditions	condition	NOUN
ajst-7731	3	26	.	.	PUNCT
ajst-7731	4	1	the	the	DET
ajst-7731	4	2	path	path	NOUN
ajst-7731	4	3	tracking	tracking	NOUN
ajst-7731	4	4	control	control	NOUN
ajst-7731	4	5	is	be	AUX
ajst-7731	4	6	the	the	DET
ajst-7731	4	7	core	core	NOUN
ajst-7731	4	8	technology	technology	NOUN
ajst-7731	4	9	of	of	ADP
ajst-7731	4	10	the	the	DET
ajst-7731	4	11	driverless	driverless	NOUN
ajst-7731	4	12	vehicle	vehicle	NOUN
ajst-7731	4	13	,	,	PUNCT
ajst-7731	4	14	which	which	PRON
ajst-7731	4	15	makes	make	VERB
ajst-7731	4	16	the	the	DET
ajst-7731	4	17	driverless	driverless	NOUN
ajst-7731	4	18	vehicle	vehicle	NOUN
ajst-7731	4	19	travel	travel	NOUN
ajst-7731	4	20	along	along	ADP
ajst-7731	4	21	the	the	DET
ajst-7731	4	22	target	target	NOUN
ajst-7731	4	23	trajectory	trajectory	NOUN
ajst-7731	4	24	through	through	ADP
ajst-7731	4	25	the	the	DET
ajst-7731	4	26	lateral	lateral	ADJ
ajst-7731	4	27	and	and	CCONJ
ajst-7731	4	28	longitudinal	longitudinal	ADJ
ajst-7731	4	29	control	control	NOUN
ajst-7731	4	30	of	of	ADP
ajst-7731	4	31	the	the	DET
ajst-7731	4	32	vehicle	vehicle	NOUN
ajst-7731	4	33	.	.	PUNCT
ajst-7731	5	1	first	first	ADV
ajst-7731	5	2	of	of	ADP
ajst-7731	5	3	all	all	PRON
ajst-7731	5	4	,	,	PUNCT
ajst-7731	5	5	the	the	DET
ajst-7731	5	6	research	research	NOUN
ajst-7731	5	7	on	on	ADP
ajst-7731	5	8	the	the	DET
ajst-7731	5	9	joint	joint	ADJ
ajst-7731	5	10	simulation	simulation	NOUN
ajst-7731	5	11	platform	platform	NOUN
ajst-7731	5	12	of	of	ADP
ajst-7731	5	13	driverless	driverless	NOUN
ajst-7731	5	14	vehicles	vehicle	NOUN
ajst-7731	5	15	under	under	ADP
ajst-7731	5	16	different	different	ADJ
ajst-7731	5	17	working	work	VERB
ajst-7731	5	18	conditions	condition	NOUN
ajst-7731	5	19	is	be	AUX
ajst-7731	5	20	carried	carry	VERB
ajst-7731	5	21	out	out	ADP
ajst-7731	5	22	from	from	ADP
ajst-7731	5	23	the	the	DET
ajst-7731	5	24	aspects	aspect	NOUN
ajst-7731	5	25	of	of	ADP
ajst-7731	5	26	accuracy	accuracy	NOUN
ajst-7731	5	27	,	,	PUNCT
ajst-7731	5	28	real	real	ADJ
ajst-7731	5	29	-	-	PUNCT
ajst-7731	5	30	time	time	NOUN
ajst-7731	5	31	,	,	PUNCT
ajst-7731	5	32	stability	stability	NOUN
ajst-7731	5	33	and	and	CCONJ
ajst-7731	5	34	ease	ease	NOUN
ajst-7731	5	35	of	of	ADP
ajst-7731	5	36	realization	realization	NOUN
ajst-7731	5	37	of	of	ADP
ajst-7731	5	38	the	the	DET
ajst-7731	5	39	lateral	lateral	ADJ
ajst-7731	5	40	motion	motion	NOUN
ajst-7731	5	41	of	of	ADP
ajst-7731	5	42	driverless	driverless	NOUN
ajst-7731	5	43	vehicles	vehicle	NOUN
ajst-7731	5	44	;	;	PUNCT
ajst-7731	5	45	then	then	ADV
ajst-7731	5	46	,	,	PUNCT
ajst-7731	5	47	a	a	DET
ajst-7731	5	48	suitable	suitable	ADJ
ajst-7731	5	49	joint	joint	ADJ
ajst-7731	5	50	simulation	simulation	NOUN
ajst-7731	5	51	platform	platform	NOUN
ajst-7731	5	52	for	for	ADP
ajst-7731	5	53	driverless	driverless	NOUN
ajst-7731	5	54	vehicle	vehicle	NOUN
ajst-7731	5	55	is	be	AUX
ajst-7731	5	56	built	build	VERB
ajst-7731	5	57	;	;	PUNCT
ajst-7731	5	58	finally	finally	ADV
ajst-7731	5	59	,	,	PUNCT
ajst-7731	5	60	the	the	DET
ajst-7731	5	61	joint	joint	ADJ
ajst-7731	5	62	simulation	simulation	NOUN
ajst-7731	5	63	platform	platform	NOUN
ajst-7731	5	64	is	be	AUX
ajst-7731	5	65	used	use	VERB
ajst-7731	5	66	to	to	PART
ajst-7731	5	67	study	study	VERB
ajst-7731	5	68	the	the	DET
ajst-7731	5	69	path	path	NOUN
ajst-7731	5	70	tracking	tracking	NOUN
ajst-7731	5	71	control	control	NOUN
ajst-7731	5	72	of	of	ADP
ajst-7731	5	73	driverless	driverless	NOUN
ajst-7731	5	74	vehicles	vehicle	NOUN
ajst-7731	5	75	in	in	ADP
ajst-7731	5	76	order	order	NOUN
ajst-7731	5	77	to	to	PART
ajst-7731	5	78	comprehensively	comprehensively	ADV
ajst-7731	5	79	investigate	investigate	VERB
ajst-7731	5	80	the	the	DET
ajst-7731	5	81	effect	effect	NOUN
ajst-7731	5	82	of	of	ADP
ajst-7731	5	83	path	path	NOUN
ajst-7731	5	84	tracking	tracking	NOUN
ajst-7731	5	85	control	control	NOUN
ajst-7731	5	86	.	.	PUNCT
ajst-7731	6	1	the	the	DET
ajst-7731	6	2	results	result	NOUN
ajst-7731	6	3	show	show	VERB
ajst-7731	6	4	that	that	SCONJ
ajst-7731	6	5	the	the	DET
ajst-7731	6	6	path	path	NOUN
ajst-7731	6	7	tracking	tracking	NOUN
ajst-7731	6	8	control	control	NOUN
ajst-7731	6	9	system	system	NOUN
ajst-7731	6	10	improves	improve	VERB
ajst-7731	6	11	the	the	DET
ajst-7731	6	12	reliable	reliable	ADJ
ajst-7731	6	13	control	control	NOUN
ajst-7731	6	14	performance	performance	NOUN
ajst-7731	6	15	under	under	ADP
ajst-7731	6	16	a	a	DET
ajst-7731	6	17	wide	wide	ADJ
ajst-7731	6	18	range	range	NOUN
ajst-7731	6	19	of	of	ADP
ajst-7731	6	20	driving	drive	VERB
ajst-7731	6	21	conditions	condition	NOUN
ajst-7731	6	22	.	.	PUNCT
ajst-7731	7	1	keywords	keyword	NOUN
ajst-7731	7	2	:	:	PUNCT
ajst-7731	7	3	driverless	driverless	NOUN
ajst-7731	7	4	cars	car	NOUN
ajst-7731	7	5	,	,	PUNCT
ajst-7731	7	6	lateral	lateral	ADJ
ajst-7731	7	7	control	control	NOUN
ajst-7731	7	8	,	,	PUNCT
ajst-7731	7	9	path	path	NOUN
ajst-7731	7	10	tracking	tracking	NOUN
ajst-7731	7	11	.	.	PUNCT
ajst-7731	8	1	1	1	X
ajst-7731	8	2	.	.	X
ajst-7731	8	3	introduction	introduction	NOUN
ajst-7731	8	4	the	the	DET
ajst-7731	8	5	number	number	NOUN
ajst-7731	8	6	of	of	ADP
ajst-7731	8	7	cars	car	NOUN
ajst-7731	8	8	has	have	AUX
ajst-7731	8	9	increased	increase	VERB
ajst-7731	8	10	year	year	NOUN
ajst-7731	8	11	by	by	ADP
ajst-7731	8	12	year	year	NOUN
ajst-7731	8	13	,	,	PUNCT
ajst-7731	8	14	leading	lead	VERB
ajst-7731	8	15	to	to	ADP
ajst-7731	8	16	traffic	traffic	NOUN
ajst-7731	8	17	accidents	accident	NOUN
ajst-7731	8	18	,	,	PUNCT
ajst-7731	8	19	traffic	traffic	NOUN
ajst-7731	8	20	congestion	congestion	NOUN
ajst-7731	8	21	,	,	PUNCT
ajst-7731	8	22	environmental	environmental	ADJ
ajst-7731	8	23	pollution	pollution	NOUN
ajst-7731	8	24	and	and	CCONJ
ajst-7731	8	25	other	other	ADJ
ajst-7731	8	26	problems	problem	NOUN
ajst-7731	8	27	[	[	X
ajst-7731	8	28	1	1	X
ajst-7731	8	29	]	]	X
ajst-7731	9	1	[	[	X
ajst-7731	9	2	2	2	NUM
ajst-7731	9	3	]	]	PUNCT
ajst-7731	9	4	.	.	PUNCT
ajst-7731	10	1	in	in	ADP
ajst-7731	10	2	addition	addition	NOUN
ajst-7731	10	3	,	,	PUNCT
ajst-7731	10	4	the	the	DET
ajst-7731	10	5	state	state	NOUN
ajst-7731	10	6	of	of	ADP
ajst-7731	10	7	the	the	DET
ajst-7731	10	8	driver	driver	NOUN
ajst-7731	10	9	determines	determine	VERB
ajst-7731	10	10	the	the	DET
ajst-7731	10	11	driving	drive	VERB
ajst-7731	10	12	state	state	NOUN
ajst-7731	10	13	of	of	ADP
ajst-7731	10	14	the	the	DET
ajst-7731	10	15	vehicle	vehicle	NOUN
ajst-7731	10	16	.	.	PUNCT
ajst-7731	11	1	the	the	DET
ajst-7731	11	2	mature	mature	ADJ
ajst-7731	11	3	driverless	driverless	NOUN
ajst-7731	11	4	system	system	NOUN
ajst-7731	11	5	is	be	AUX
ajst-7731	11	6	more	more	ADV
ajst-7731	11	7	reliable	reliable	ADJ
ajst-7731	11	8	than	than	ADP
ajst-7731	11	9	the	the	DET
ajst-7731	11	10	uneven	uneven	ADJ
ajst-7731	11	11	driver	driver	NOUN
ajst-7731	11	12	technology	technology	NOUN
ajst-7731	12	1	[	[	X
ajst-7731	12	2	3	3	X
ajst-7731	12	3	]	]	X
ajst-7731	12	4	[	[	X
ajst-7731	12	5	4	4	NUM
ajst-7731	12	6	]	]	PUNCT
ajst-7731	12	7	.	.	PUNCT
ajst-7731	13	1	path	path	NOUN
ajst-7731	13	2	tracking	tracking	NOUN
ajst-7731	13	3	control	control	NOUN
ajst-7731	13	4	is	be	AUX
ajst-7731	13	5	also	also	ADV
ajst-7731	13	6	one	one	NUM
ajst-7731	13	7	of	of	ADP
ajst-7731	13	8	the	the	DET
ajst-7731	13	9	key	key	ADJ
ajst-7731	13	10	technologies	technology	NOUN
ajst-7731	13	11	of	of	ADP
ajst-7731	13	12	driverless	driverless	NOUN
ajst-7731	13	13	vehicles	vehicle	NOUN
ajst-7731	13	14	.	.	PUNCT
ajst-7731	14	1	its	its	PRON
ajst-7731	14	2	performance	performance	NOUN
ajst-7731	14	3	directly	directly	ADV
ajst-7731	14	4	affects	affect	VERB
ajst-7731	14	5	the	the	DET
ajst-7731	14	6	tracking	tracking	NOUN
ajst-7731	14	7	effect	effect	NOUN
ajst-7731	14	8	of	of	ADP
ajst-7731	14	9	driverless	driverless	NOUN
ajst-7731	14	10	vehicles	vehicle	NOUN
ajst-7731	14	11	on	on	ADP
ajst-7731	14	12	the	the	DET
ajst-7731	14	13	planned	planned	ADJ
ajst-7731	14	14	path	path	NOUN
ajst-7731	14	15	.	.	PUNCT
ajst-7731	15	1	due	due	ADP
ajst-7731	15	2	to	to	ADP
ajst-7731	15	3	the	the	DET
ajst-7731	15	4	strong	strong	ADJ
ajst-7731	15	5	coupling	coupling	NOUN
ajst-7731	15	6	,	,	PUNCT
ajst-7731	15	7	nonlinear	nonlinear	ADJ
ajst-7731	15	8	,	,	PUNCT
ajst-7731	15	9	timevarying	timevarying	NOUN
ajst-7731	15	10	and	and	CCONJ
ajst-7731	15	11	other	other	ADJ
ajst-7731	15	12	dynamic	dynamic	ADJ
ajst-7731	15	13	characteristics	characteristic	NOUN
ajst-7731	15	14	of	of	ADP
ajst-7731	15	15	the	the	DET
ajst-7731	15	16	vehicle	vehicle	NOUN
ajst-7731	15	17	itself	itself	PRON
ajst-7731	15	18	,	,	PUNCT
ajst-7731	15	19	and	and	CCONJ
ajst-7731	15	20	the	the	DET
ajst-7731	15	21	changeable	changeable	ADJ
ajst-7731	15	22	driving	driving	NOUN
ajst-7731	15	23	conditions	condition	NOUN
ajst-7731	15	24	,	,	PUNCT
ajst-7731	15	25	it	it	PRON
ajst-7731	15	26	is	be	AUX
ajst-7731	15	27	still	still	ADV
ajst-7731	15	28	a	a	DET
ajst-7731	15	29	great	great	ADJ
ajst-7731	15	30	challenge	challenge	NOUN
ajst-7731	15	31	to	to	PART
ajst-7731	15	32	make	make	VERB
ajst-7731	15	33	the	the	DET
ajst-7731	15	34	driverless	driverless	NOUN
ajst-7731	15	35	vehicle	vehicle	NOUN
ajst-7731	15	36	have	have	AUX
ajst-7731	15	37	better	well	ADV
ajst-7731	15	38	tracking	track	VERB
ajst-7731	15	39	control	control	NOUN
ajst-7731	15	40	performance	performance	NOUN
ajst-7731	15	41	.	.	PUNCT
ajst-7731	16	1	the	the	DET
ajst-7731	16	2	traditional	traditional	ADJ
ajst-7731	16	3	single	single	ADJ
ajst-7731	16	4	control	control	NOUN
ajst-7731	16	5	algorithm	algorithm	NOUN
ajst-7731	16	6	can	can	AUX
ajst-7731	16	7	not	not	PART
ajst-7731	16	8	effectively	effectively	ADV
ajst-7731	16	9	coordinate	coordinate	VERB
ajst-7731	16	10	the	the	DET
ajst-7731	16	11	control	control	NOUN
ajst-7731	16	12	requirements	requirement	NOUN
ajst-7731	16	13	of	of	ADP
ajst-7731	16	14	the	the	DET
ajst-7731	16	15	autonomous	autonomous	ADJ
ajst-7731	16	16	steering	steering	NOUN
ajst-7731	16	17	control	control	NOUN
ajst-7731	16	18	system	system	NOUN
ajst-7731	16	19	under	under	ADP
ajst-7731	16	20	different	different	ADJ
ajst-7731	16	21	working	work	VERB
ajst-7731	16	22	conditions	condition	NOUN
ajst-7731	16	23	,	,	PUNCT
ajst-7731	16	24	and	and	CCONJ
ajst-7731	16	25	some	some	DET
ajst-7731	16	26	key	key	ADJ
ajst-7731	16	27	technologies	technology	NOUN
ajst-7731	16	28	need	need	VERB
ajst-7731	16	29	to	to	PART
ajst-7731	16	30	be	be	AUX
ajst-7731	16	31	explored	explore	VERB
ajst-7731	16	32	and	and	CCONJ
ajst-7731	16	33	studied	study	VERB
ajst-7731	16	34	[	[	PUNCT
ajst-7731	16	35	5	5	NUM
ajst-7731	16	36	]	]	PUNCT
ajst-7731	17	1	[	[	X
ajst-7731	17	2	6	6	NUM
ajst-7731	17	3	]	]	X
ajst-7731	17	4	[	[	X
ajst-7731	17	5	7	7	NUM
ajst-7731	17	6	]	]	SYM
ajst-7731	17	7	.	.	PUNCT
ajst-7731	18	1	2	2	X
ajst-7731	18	2	.	.	X
ajst-7731	18	3	analysis	analysis	NOUN
ajst-7731	18	4	of	of	ADP
ajst-7731	18	5	current	current	ADJ
ajst-7731	18	6	situation	situation	NOUN
ajst-7731	18	7	of	of	ADP
ajst-7731	18	8	driverless	driverless	NOUN
ajst-7731	18	9	vehicle	vehicle	NOUN
ajst-7731	18	10	lateral	lateral	ADJ
ajst-7731	18	11	path	path	NOUN
ajst-7731	18	12	the	the	DET
ajst-7731	18	13	progress	progress	NOUN
ajst-7731	18	14	and	and	CCONJ
ajst-7731	18	15	technical	technical	ADJ
ajst-7731	18	16	points	point	NOUN
ajst-7731	18	17	of	of	ADP
ajst-7731	18	18	attention	attention	NOUN
ajst-7731	18	19	of	of	ADP
ajst-7731	18	20	each	each	DET
ajst-7731	18	21	institution	institution	NOUN
ajst-7731	18	22	are	be	AUX
ajst-7731	18	23	different	different	ADJ
ajst-7731	18	24	in	in	ADP
ajst-7731	18	25	the	the	DET
ajst-7731	18	26	current	current	ADJ
ajst-7731	18	27	situation	situation	NOUN
ajst-7731	18	28	of	of	ADP
ajst-7731	18	29	horizontal	horizontal	ADJ
ajst-7731	18	30	path	path	NOUN
ajst-7731	18	31	research	research	NOUN
ajst-7731	18	32	.	.	PUNCT
ajst-7731	19	1	the	the	DET
ajst-7731	19	2	basic	basic	ADJ
ajst-7731	19	3	driverless	driverless	NOUN
ajst-7731	19	4	technical	technical	ADJ
ajst-7731	19	5	route	route	NOUN
ajst-7731	19	6	is	be	AUX
ajst-7731	19	7	similar	similar	ADJ
ajst-7731	19	8	,	,	PUNCT
ajst-7731	19	9	mainly	mainly	ADV
ajst-7731	19	10	including	include	VERB
ajst-7731	19	11	four	four	NUM
ajst-7731	19	12	aspects	aspect	NOUN
ajst-7731	19	13	of	of	ADP
ajst-7731	19	14	capabilities	capability	NOUN
ajst-7731	19	15	:	:	PUNCT
ajst-7731	19	16	perception	perception	NOUN
ajst-7731	19	17	,	,	PUNCT
ajst-7731	19	18	planning	planning	NOUN
ajst-7731	19	19	,	,	PUNCT
ajst-7731	19	20	processing	processing	NOUN
ajst-7731	19	21	and	and	CCONJ
ajst-7731	19	22	execution	execution	NOUN
ajst-7731	19	23	.	.	PUNCT
ajst-7731	20	1	in	in	ADP
ajst-7731	20	2	autonomous	autonomous	ADJ
ajst-7731	20	3	vehicle	vehicle	NOUN
ajst-7731	20	4	,	,	PUNCT
ajst-7731	20	5	multi	multi	ADJ
ajst-7731	20	6	-	-	ADJ
ajst-7731	20	7	sensor	sensor	ADJ
ajst-7731	20	8	fusion	fusion	NOUN
ajst-7731	20	9	,	,	PUNCT
ajst-7731	20	10	various	various	ADJ
ajst-7731	20	11	electrical	electrical	ADJ
ajst-7731	20	12	equipment	equipment	NOUN
ajst-7731	20	13	and	and	CCONJ
ajst-7731	20	14	actuators	actuator	NOUN
ajst-7731	20	15	form	form	VERB
ajst-7731	20	16	a	a	DET
ajst-7731	20	17	neural	neural	ADJ
ajst-7731	20	18	network	network	NOUN
ajst-7731	20	19	of	of	ADP
ajst-7731	20	20	autonomous	autonomous	ADJ
ajst-7731	20	21	driving	driving	NOUN
ajst-7731	20	22	technology	technology	NOUN
ajst-7731	20	23	,	,	PUNCT
ajst-7731	20	24	which	which	PRON
ajst-7731	20	25	processes	process	VERB
ajst-7731	20	26	the	the	DET
ajst-7731	20	27	environment	environment	NOUN
ajst-7731	20	28	sensed	sense	VERB
ajst-7731	20	29	by	by	ADP
ajst-7731	20	30	sensors	sensor	NOUN
ajst-7731	20	31	,	,	PUNCT
ajst-7731	20	32	converts	convert	VERB
ajst-7731	20	33	it	it	PRON
ajst-7731	20	34	into	into	ADP
ajst-7731	20	35	execution	execution	NOUN
ajst-7731	20	36	commands	command	NOUN
ajst-7731	20	37	,	,	PUNCT
ajst-7731	20	38	and	and	CCONJ
ajst-7731	20	39	realizes	realize	VERB
ajst-7731	20	40	unmanned	unmanned	ADJ
ajst-7731	20	41	driving	driving	NOUN
ajst-7731	20	42	.	.	PUNCT
ajst-7731	21	1	figure	figure	NOUN
ajst-7731	21	2	1	1	NUM
ajst-7731	21	3	shows	show	VERB
ajst-7731	21	4	the	the	DET
ajst-7731	21	5	installation	installation	NOUN
ajst-7731	21	6	positions	position	NOUN
ajst-7731	21	7	of	of	ADP
ajst-7731	21	8	various	various	ADJ
ajst-7731	21	9	visual	visual	ADJ
ajst-7731	21	10	sensors	sensor	NOUN
ajst-7731	21	11	on	on	ADP
ajst-7731	21	12	the	the	DET
ajst-7731	21	13	a8	a8	PROPN
ajst-7731	21	14	.	.	PUNCT
ajst-7731	22	1	in	in	ADP
ajst-7731	22	2	addition	addition	NOUN
ajst-7731	22	3	to	to	ADP
ajst-7731	22	4	automobile	automobile	NOUN
ajst-7731	22	5	enterprises	enterprise	NOUN
ajst-7731	22	6	,	,	PUNCT
ajst-7731	22	7	some	some	DET
ajst-7731	22	8	internet	internet	NOUN
ajst-7731	22	9	enterprises	enterprise	NOUN
ajst-7731	22	10	have	have	AUX
ajst-7731	22	11	also	also	ADV
ajst-7731	22	12	made	make	VERB
ajst-7731	22	13	in	in	ADP
ajst-7731	22	14	-	-	PUNCT
ajst-7731	22	15	depth	depth	NOUN
ajst-7731	22	16	layout	layout	NOUN
ajst-7731	22	17	of	of	ADP
ajst-7731	22	18	driverless	driverless	NOUN
ajst-7731	22	19	technology	technology	NOUN
ajst-7731	22	20	,	,	PUNCT
ajst-7731	22	21	such	such	ADJ
ajst-7731	22	22	as	as	ADP
ajst-7731	22	23	google	google	NOUN
ajst-7731	22	24	in	in	ADP
ajst-7731	22	25	foreign	foreign	ADJ
ajst-7731	22	26	countries	country	NOUN
ajst-7731	22	27	and	and	CCONJ
ajst-7731	22	28	baidu	baidu	VERB
ajst-7731	22	29	in	in	ADP
ajst-7731	22	30	china	china	PROPN
ajst-7731	22	31	.	.	PUNCT
ajst-7731	23	1	figure	figure	VERB
ajst-7731	23	2	1	1	NUM
ajst-7731	23	3	.	.	PUNCT
ajst-7731	24	1	position	position	NOUN
ajst-7731	24	2	of	of	ADP
ajst-7731	24	3	audi	audi	PROPN
ajst-7731	24	4	a8	a8	PROPN
ajst-7731	24	5	sensor	sensor	NOUN
ajst-7731	24	6	73	73	NUM
ajst-7731	24	7	from	from	ADP
ajst-7731	24	8	the	the	DET
ajst-7731	24	9	aspects	aspect	NOUN
ajst-7731	24	10	of	of	ADP
ajst-7731	24	11	the	the	DET
ajst-7731	24	12	accuracy	accuracy	NOUN
ajst-7731	24	13	,	,	PUNCT
ajst-7731	24	14	real	real	ADJ
ajst-7731	24	15	-	-	PUNCT
ajst-7731	24	16	time	time	NOUN
ajst-7731	24	17	,	,	PUNCT
ajst-7731	24	18	stability	stability	NOUN
ajst-7731	24	19	and	and	CCONJ
ajst-7731	24	20	ease	ease	NOUN
ajst-7731	24	21	of	of	ADP
ajst-7731	24	22	realization	realization	NOUN
ajst-7731	24	23	of	of	ADP
ajst-7731	24	24	the	the	DET
ajst-7731	24	25	lateral	lateral	ADJ
ajst-7731	24	26	motion	motion	NOUN
ajst-7731	24	27	of	of	ADP
ajst-7731	24	28	driverless	driverless	NOUN
ajst-7731	24	29	vehicles	vehicle	NOUN
ajst-7731	24	30	,	,	PUNCT
ajst-7731	24	31	the	the	DET
ajst-7731	24	32	research	research	NOUN
ajst-7731	24	33	on	on	ADP
ajst-7731	24	34	the	the	DET
ajst-7731	24	35	joint	joint	ADJ
ajst-7731	24	36	simulation	simulation	NOUN
ajst-7731	24	37	platform	platform	NOUN
ajst-7731	24	38	of	of	ADP
ajst-7731	24	39	driverless	driverless	NOUN
ajst-7731	24	40	vehicles	vehicle	NOUN
ajst-7731	24	41	under	under	ADP
ajst-7731	24	42	different	different	ADJ
ajst-7731	24	43	working	work	VERB
ajst-7731	24	44	conditions	condition	NOUN
ajst-7731	24	45	is	be	AUX
ajst-7731	24	46	carried	carry	VERB
ajst-7731	24	47	out	out	ADP
ajst-7731	24	48	,	,	PUNCT
ajst-7731	24	49	and	and	CCONJ
ajst-7731	24	50	a	a	DET
ajst-7731	24	51	suitable	suitable	ADJ
ajst-7731	24	52	joint	joint	ADJ
ajst-7731	24	53	simulation	simulation	NOUN
ajst-7731	24	54	platform	platform	NOUN
ajst-7731	24	55	of	of	ADP
ajst-7731	24	56	driverless	driverless	NOUN
ajst-7731	24	57	vehicles	vehicle	NOUN
ajst-7731	24	58	is	be	AUX
ajst-7731	24	59	built	build	VERB
ajst-7731	24	60	.	.	PUNCT
ajst-7731	25	1	on	on	ADP
ajst-7731	25	2	this	this	DET
ajst-7731	25	3	basis	basis	NOUN
ajst-7731	25	4	,	,	PUNCT
ajst-7731	25	5	the	the	DET
ajst-7731	25	6	path	path	NOUN
ajst-7731	25	7	tracking	tracking	NOUN
ajst-7731	25	8	control	control	NOUN
ajst-7731	25	9	of	of	ADP
ajst-7731	25	10	driverless	driverless	NOUN
ajst-7731	25	11	vehicles	vehicle	NOUN
ajst-7731	25	12	is	be	AUX
ajst-7731	25	13	studied	study	VERB
ajst-7731	25	14	by	by	ADP
ajst-7731	25	15	using	use	VERB
ajst-7731	25	16	the	the	DET
ajst-7731	25	17	joint	joint	ADJ
ajst-7731	25	18	simulation	simulation	NOUN
ajst-7731	25	19	platform	platform	NOUN
ajst-7731	25	20	to	to	PART
ajst-7731	25	21	comprehensively	comprehensively	ADV
ajst-7731	25	22	investigate	investigate	VERB
ajst-7731	25	23	the	the	DET
ajst-7731	25	24	effect	effect	NOUN
ajst-7731	25	25	of	of	ADP
ajst-7731	25	26	path	path	NOUN
ajst-7731	25	27	tracking	track	VERB
ajst-7731	25	28	control	control	NOUN
ajst-7731	25	29	.	.	PUNCT
ajst-7731	26	1	through	through	ADP
ajst-7731	26	2	this	this	DET
ajst-7731	26	3	research	research	NOUN
ajst-7731	26	4	,	,	PUNCT
ajst-7731	26	5	students	student	NOUN
ajst-7731	26	6	will	will	AUX
ajst-7731	26	7	be	be	AUX
ajst-7731	26	8	driven	drive	VERB
ajst-7731	26	9	to	to	PART
ajst-7731	26	10	participate	participate	VERB
ajst-7731	26	11	in	in	ADP
ajst-7731	26	12	the	the	DET
ajst-7731	26	13	lateral	lateral	ADJ
ajst-7731	26	14	path	path	NOUN
ajst-7731	26	15	tracking	tracking	NOUN
ajst-7731	26	16	control	control	NOUN
ajst-7731	26	17	of	of	ADP
ajst-7731	26	18	driverless	driverless	NOUN
ajst-7731	26	19	vehicles	vehicle	NOUN
ajst-7731	26	20	,	,	PUNCT
ajst-7731	26	21	and	and	CCONJ
ajst-7731	26	22	the	the	DET
ajst-7731	26	23	level	level	NOUN
ajst-7731	26	24	of	of	ADP
ajst-7731	26	25	talent	talent	NOUN
ajst-7731	26	26	training	training	NOUN
ajst-7731	26	27	will	will	AUX
ajst-7731	26	28	be	be	AUX
ajst-7731	26	29	improved	improve	VERB
ajst-7731	26	30	;	;	PUNCT
ajst-7731	26	31	focusing	focus	VERB
ajst-7731	26	32	on	on	ADP
ajst-7731	26	33	the	the	DET
ajst-7731	26	34	research	research	NOUN
ajst-7731	26	35	of	of	ADP
ajst-7731	26	36	intelligent	intelligent	ADJ
ajst-7731	26	37	control	control	NOUN
ajst-7731	26	38	engineering	engineering	NOUN
ajst-7731	26	39	technology	technology	NOUN
ajst-7731	26	40	of	of	ADP
ajst-7731	26	41	electric	electric	ADJ
ajst-7731	26	42	vehicles	vehicle	NOUN
ajst-7731	26	43	,	,	PUNCT
ajst-7731	26	44	we	we	PRON
ajst-7731	26	45	will	will	AUX
ajst-7731	26	46	accelerate	accelerate	VERB
ajst-7731	26	47	the	the	DET
ajst-7731	26	48	research	research	NOUN
ajst-7731	26	49	and	and	CCONJ
ajst-7731	26	50	application	application	NOUN
ajst-7731	26	51	of	of	ADP
ajst-7731	26	52	electric	electric	ADJ
ajst-7731	26	53	vehicles	vehicle	NOUN
ajst-7731	26	54	and	and	CCONJ
ajst-7731	26	55	intelligent	intelligent	ADJ
ajst-7731	26	56	vehicles	vehicle	NOUN
ajst-7731	26	57	.	.	PUNCT
ajst-7731	27	1	3	3	X
ajst-7731	27	2	.	.	X
ajst-7731	27	3	research	research	NOUN
ajst-7731	27	4	on	on	ADP
ajst-7731	27	5	lateral	lateral	ADJ
ajst-7731	27	6	path	path	NOUN
ajst-7731	27	7	tracking	track	VERB
ajst-7731	27	8	control	control	NOUN
ajst-7731	27	9	intelligent	intelligent	ADJ
ajst-7731	27	10	vehicles	vehicle	NOUN
ajst-7731	27	11	are	be	AUX
ajst-7731	27	12	the	the	DET
ajst-7731	27	13	synthesis	synthesis	NOUN
ajst-7731	27	14	of	of	ADP
ajst-7731	27	15	various	various	ADJ
ajst-7731	27	16	cuttingedge	cuttingedge	NOUN
ajst-7731	27	17	technologies	technology	NOUN
ajst-7731	27	18	,	,	PUNCT
ajst-7731	27	19	including	include	VERB
ajst-7731	27	20	multi	multi	ADJ
ajst-7731	27	21	-	-	ADJ
ajst-7731	27	22	sensor	sensor	ADJ
ajst-7731	27	23	fusion	fusion	NOUN
ajst-7731	27	24	,	,	PUNCT
ajst-7731	27	25	information	information	NOUN
ajst-7731	27	26	transmission	transmission	NOUN
ajst-7731	27	27	,	,	PUNCT
ajst-7731	27	28	wire	wire	NOUN
ajst-7731	27	29	control	control	NOUN
ajst-7731	27	30	and	and	CCONJ
ajst-7731	27	31	artificial	artificial	ADJ
ajst-7731	27	32	intelligence	intelligence	NOUN
ajst-7731	27	33	.	.	PUNCT
ajst-7731	28	1	intelligent	intelligent	ADJ
ajst-7731	28	2	vehicle	vehicle	NOUN
ajst-7731	28	3	technology	technology	NOUN
ajst-7731	28	4	can	can	AUX
ajst-7731	28	5	make	make	VERB
ajst-7731	28	6	judgments	judgment	NOUN
ajst-7731	28	7	according	accord	VERB
ajst-7731	28	8	to	to	ADP
ajst-7731	28	9	the	the	DET
ajst-7731	28	10	obtained	obtain	VERB
ajst-7731	28	11	traffic	traffic	NOUN
ajst-7731	28	12	environment	environment	NOUN
ajst-7731	28	13	information	information	NOUN
ajst-7731	28	14	,	,	PUNCT
ajst-7731	28	15	and	and	CCONJ
ajst-7731	28	16	control	control	VERB
ajst-7731	28	17	the	the	DET
ajst-7731	28	18	lower	low	ADJ
ajst-7731	28	19	control	control	NOUN
ajst-7731	28	20	objects	object	NOUN
ajst-7731	28	21	through	through	ADP
ajst-7731	28	22	various	various	ADJ
ajst-7731	28	23	control	control	NOUN
ajst-7731	28	24	algorithms	algorithm	NOUN
ajst-7731	28	25	in	in	ADP
ajst-7731	28	26	the	the	DET
ajst-7731	28	27	upper	upper	ADJ
ajst-7731	28	28	layer	layer	NOUN
ajst-7731	28	29	,	,	PUNCT
ajst-7731	28	30	that	that	ADV
ajst-7731	28	31	is	is	ADV
ajst-7731	28	32	,	,	PUNCT
ajst-7731	28	33	to	to	PART
ajst-7731	28	34	complete	complete	VERB
ajst-7731	28	35	horizontal	horizontal	ADJ
ajst-7731	28	36	and	and	CCONJ
ajst-7731	28	37	vertical	vertical	ADJ
ajst-7731	28	38	control	control	NOUN
ajst-7731	28	39	of	of	ADP
ajst-7731	28	40	vehicles	vehicle	NOUN
ajst-7731	28	41	.	.	PUNCT
ajst-7731	29	1	intelligent	intelligent	ADJ
ajst-7731	29	2	vehicles	vehicle	NOUN
ajst-7731	29	3	will	will	AUX
ajst-7731	29	4	reduce	reduce	VERB
ajst-7731	29	5	traffic	traffic	NOUN
ajst-7731	29	6	congestion	congestion	NOUN
ajst-7731	29	7	,	,	PUNCT
ajst-7731	29	8	reduce	reduce	VERB
ajst-7731	29	9	the	the	DET
ajst-7731	29	10	incidence	incidence	NOUN
ajst-7731	29	11	of	of	ADP
ajst-7731	29	12	traffic	traffic	NOUN
ajst-7731	29	13	accidents	accident	NOUN
ajst-7731	29	14	,	,	PUNCT
ajst-7731	29	15	improve	improve	VERB
ajst-7731	29	16	energy	energy	NOUN
ajst-7731	29	17	efficiency	efficiency	NOUN
ajst-7731	29	18	,	,	PUNCT
ajst-7731	29	19	improve	improve	VERB
ajst-7731	29	20	driving	drive	VERB
ajst-7731	29	21	safety	safety	NOUN
ajst-7731	29	22	and	and	CCONJ
ajst-7731	29	23	comfort	comfort	NOUN
ajst-7731	29	24	,	,	PUNCT
ajst-7731	29	25	and	and	CCONJ
ajst-7731	29	26	free	free	ADJ
ajst-7731	29	27	people	people	NOUN
ajst-7731	29	28	from	from	ADP
ajst-7731	29	29	the	the	DET
ajst-7731	29	30	monotonous	monotonous	ADJ
ajst-7731	29	31	and	and	CCONJ
ajst-7731	29	32	boring	boring	ADJ
ajst-7731	29	33	work	work	NOUN
ajst-7731	29	34	of	of	ADP
ajst-7731	29	35	drivers	driver	NOUN
ajst-7731	29	36	to	to	PART
ajst-7731	29	37	engage	engage	VERB
ajst-7731	29	38	in	in	ADP
ajst-7731	29	39	more	more	ADV
ajst-7731	29	40	meaningful	meaningful	ADJ
ajst-7731	29	41	work	work	NOUN
ajst-7731	29	42	.	.	PUNCT
ajst-7731	30	1	the	the	DET
ajst-7731	30	2	continuous	continuous	ADJ
ajst-7731	30	3	improvement	improvement	NOUN
ajst-7731	30	4	of	of	ADP
ajst-7731	30	5	intelligent	intelligent	ADJ
ajst-7731	30	6	vehicle	vehicle	NOUN
ajst-7731	30	7	technology	technology	NOUN
ajst-7731	30	8	will	will	AUX
ajst-7731	30	9	eventually	eventually	ADV
ajst-7731	30	10	serve	serve	VERB
ajst-7731	30	11	mankind	mankind	NOUN
ajst-7731	30	12	in	in	ADP
ajst-7731	30	13	the	the	DET
ajst-7731	30	14	form	form	NOUN
ajst-7731	30	15	of	of	ADP
ajst-7731	30	16	driverless	driverless	NOUN
ajst-7731	30	17	vehicles	vehicle	NOUN
ajst-7731	30	18	.	.	PUNCT
ajst-7731	31	1	the	the	DET
ajst-7731	31	2	driverless	driverless	NOUN
ajst-7731	31	3	vehicle	vehicle	NOUN
ajst-7731	31	4	is	be	AUX
ajst-7731	31	5	mainly	mainly	ADV
ajst-7731	31	6	composed	compose	VERB
ajst-7731	31	7	of	of	ADP
ajst-7731	31	8	five	five	NUM
ajst-7731	31	9	modules	module	NOUN
ajst-7731	31	10	:	:	PUNCT
ajst-7731	31	11	environment	environment	NOUN
ajst-7731	31	12	perception	perception	NOUN
ajst-7731	31	13	,	,	PUNCT
ajst-7731	31	14	positioning	positioning	NOUN
ajst-7731	31	15	and	and	CCONJ
ajst-7731	31	16	navigation	navigation	NOUN
ajst-7731	31	17	,	,	PUNCT
ajst-7731	31	18	path	path	NOUN
ajst-7731	31	19	planning	planning	NOUN
ajst-7731	31	20	,	,	PUNCT
ajst-7731	31	21	central	central	ADJ
ajst-7731	31	22	processing	processing	NOUN
ajst-7731	31	23	unit	unit	NOUN
ajst-7731	31	24	,	,	PUNCT
ajst-7731	31	25	motion	motion	NOUN
ajst-7731	31	26	control	control	NOUN
ajst-7731	31	27	and	and	CCONJ
ajst-7731	31	28	auxiliary	auxiliary	ADJ
ajst-7731	31	29	driving	driving	NOUN
ajst-7731	31	30	.	.	PUNCT
ajst-7731	32	1	the	the	DET
ajst-7731	32	2	detailed	detailed	ADJ
ajst-7731	32	3	composition	composition	NOUN
ajst-7731	32	4	and	and	CCONJ
ajst-7731	32	5	relationship	relationship	NOUN
ajst-7731	32	6	of	of	ADP
ajst-7731	32	7	each	each	DET
ajst-7731	32	8	module	module	NOUN
ajst-7731	32	9	are	be	AUX
ajst-7731	32	10	shown	show	VERB
ajst-7731	32	11	in	in	ADP
ajst-7731	32	12	fig	fig	NOUN
ajst-7731	32	13	.	.	PUNCT
ajst-7731	33	1	2	2	X
ajst-7731	33	2	.	.	X
ajst-7731	33	3	figure	figure	NOUN
ajst-7731	33	4	2	2	NUM
ajst-7731	33	5	.	.	NOUN
ajst-7731	33	6	five	five	NUM
ajst-7731	33	7	modules	module	NOUN
ajst-7731	33	8	of	of	ADP
ajst-7731	33	9	driverless	driverless	NOUN
ajst-7731	33	10	vehicle	vehicle	NOUN
ajst-7731	33	11	path	path	NOUN
ajst-7731	33	12	tracking	tracking	NOUN
ajst-7731	33	13	control	control	NOUN
ajst-7731	33	14	is	be	AUX
ajst-7731	33	15	one	one	NUM
ajst-7731	33	16	of	of	ADP
ajst-7731	33	17	the	the	DET
ajst-7731	33	18	key	key	ADJ
ajst-7731	33	19	technologies	technology	NOUN
ajst-7731	33	20	of	of	ADP
ajst-7731	33	21	driverless	driverless	NOUN
ajst-7731	33	22	vehicle	vehicle	NOUN
ajst-7731	33	23	,	,	PUNCT
ajst-7731	33	24	and	and	CCONJ
ajst-7731	33	25	its	its	PRON
ajst-7731	33	26	performance	performance	NOUN
ajst-7731	33	27	directly	directly	ADV
ajst-7731	33	28	affects	affect	VERB
ajst-7731	33	29	the	the	DET
ajst-7731	33	30	tracking	tracking	NOUN
ajst-7731	33	31	effect	effect	NOUN
ajst-7731	33	32	of	of	ADP
ajst-7731	33	33	driverless	driverless	NOUN
ajst-7731	33	34	vehicle	vehicle	NOUN
ajst-7731	33	35	on	on	ADP
ajst-7731	33	36	the	the	DET
ajst-7731	33	37	planned	planned	ADJ
ajst-7731	33	38	path	path	NOUN
ajst-7731	33	39	.	.	PUNCT
ajst-7731	34	1	due	due	ADP
ajst-7731	34	2	to	to	ADP
ajst-7731	34	3	the	the	DET
ajst-7731	34	4	strong	strong	ADJ
ajst-7731	34	5	coupling	coupling	NOUN
ajst-7731	34	6	,	,	PUNCT
ajst-7731	34	7	nonlinear	nonlinear	ADJ
ajst-7731	34	8	,	,	PUNCT
ajst-7731	34	9	time	time	NOUN
ajst-7731	34	10	-	-	PUNCT
ajst-7731	34	11	varying	vary	VERB
ajst-7731	34	12	and	and	CCONJ
ajst-7731	34	13	other	other	ADJ
ajst-7731	34	14	dynamic	dynamic	ADJ
ajst-7731	34	15	characteristics	characteristic	NOUN
ajst-7731	34	16	of	of	ADP
ajst-7731	34	17	the	the	DET
ajst-7731	34	18	vehicle	vehicle	NOUN
ajst-7731	34	19	itself	itself	PRON
ajst-7731	34	20	,	,	PUNCT
ajst-7731	34	21	as	as	ADV
ajst-7731	34	22	well	well	ADV
ajst-7731	34	23	as	as	ADP
ajst-7731	34	24	the	the	DET
ajst-7731	34	25	variable	variable	ADJ
ajst-7731	34	26	driving	driving	NOUN
ajst-7731	34	27	conditions	condition	NOUN
ajst-7731	34	28	,	,	PUNCT
ajst-7731	34	29	the	the	DET
ajst-7731	34	30	tracking	tracking	NOUN
ajst-7731	34	31	control	control	NOUN
ajst-7731	34	32	algorithm	algorithm	NOUN
ajst-7731	34	33	based	base	VERB
ajst-7731	34	34	on	on	ADP
ajst-7731	34	35	preview	preview	NOUN
ajst-7731	34	36	theory	theory	NOUN
ajst-7731	34	37	is	be	AUX
ajst-7731	34	38	used	use	VERB
ajst-7731	34	39	to	to	PART
ajst-7731	34	40	track	track	VERB
ajst-7731	34	41	and	and	CCONJ
ajst-7731	34	42	predict	predict	VERB
ajst-7731	34	43	the	the	DET
ajst-7731	34	44	path	path	NOUN
ajst-7731	34	45	,	,	PUNCT
ajst-7731	34	46	further	far	ADV
ajst-7731	34	47	improving	improve	VERB
ajst-7731	34	48	the	the	DET
ajst-7731	34	49	accuracy	accuracy	NOUN
ajst-7731	34	50	.	.	PUNCT
ajst-7731	35	1	3.1	3.1	NUM
ajst-7731	35	2	.	.	X
ajst-7731	35	3	tracking	track	VERB
ajst-7731	35	4	control	control	NOUN
ajst-7731	35	5	algorithm	algorithm	NOUN
ajst-7731	35	6	based	base	VERB
ajst-7731	35	7	on	on	ADP
ajst-7731	35	8	preview	preview	NOUN
ajst-7731	35	9	theory	theory	NOUN
ajst-7731	35	10	the	the	DET
ajst-7731	35	11	tracking	tracking	NOUN
ajst-7731	35	12	control	control	NOUN
ajst-7731	35	13	algorithm	algorithm	NOUN
ajst-7731	35	14	based	base	VERB
ajst-7731	35	15	on	on	ADP
ajst-7731	35	16	the	the	DET
ajst-7731	35	17	preview	preview	NOUN
ajst-7731	35	18	theory	theory	NOUN
ajst-7731	35	19	is	be	AUX
ajst-7731	35	20	mainly	mainly	ADV
ajst-7731	35	21	designed	design	VERB
ajst-7731	35	22	on	on	ADP
ajst-7731	35	23	the	the	DET
ajst-7731	35	24	basis	basis	NOUN
ajst-7731	35	25	of	of	ADP
ajst-7731	35	26	the	the	DET
ajst-7731	35	27	optimal	optimal	ADJ
ajst-7731	35	28	preview	preview	NOUN
ajst-7731	35	29	control	control	NOUN
ajst-7731	35	30	theory	theory	NOUN
ajst-7731	35	31	proposed	propose	VERB
ajst-7731	35	32	by	by	ADP
ajst-7731	35	33	academician	academician	PROPN
ajst-7731	35	34	guo	guo	PROPN
ajst-7731	35	35	kong	kong	PROPN
ajst-7731	35	36	-	-	PUNCT
ajst-7731	35	37	hui	hui	PROPN
ajst-7731	35	38	and	and	CCONJ
ajst-7731	35	39	others	other	NOUN
ajst-7731	35	40	.	.	PUNCT
ajst-7731	36	1	its	its	PRON
ajst-7731	36	2	basic	basic	ADJ
ajst-7731	36	3	principle	principle	NOUN
ajst-7731	36	4	is	be	AUX
ajst-7731	36	5	to	to	PART
ajst-7731	36	6	set	set	VERB
ajst-7731	36	7	one	one	NUM
ajst-7731	36	8	or	or	CCONJ
ajst-7731	36	9	more	more	ADJ
ajst-7731	36	10	preview	preview	NOUN
ajst-7731	36	11	points	point	NOUN
ajst-7731	36	12	at	at	ADP
ajst-7731	36	13	a	a	DET
ajst-7731	36	14	certain	certain	ADJ
ajst-7731	36	15	distance	distance	NOUN
ajst-7731	36	16	in	in	ADP
ajst-7731	36	17	front	front	NOUN
ajst-7731	36	18	of	of	ADP
ajst-7731	36	19	the	the	DET
ajst-7731	36	20	vehicle	vehicle	NOUN
ajst-7731	36	21	,	,	PUNCT
ajst-7731	36	22	then	then	ADV
ajst-7731	36	23	obtain	obtain	VERB
ajst-7731	36	24	the	the	DET
ajst-7731	36	25	position	position	NOUN
ajst-7731	36	26	and	and	CCONJ
ajst-7731	36	27	attitude	attitude	NOUN
ajst-7731	36	28	deviation	deviation	NOUN
ajst-7731	36	29	information	information	NOUN
ajst-7731	36	30	at	at	ADP
ajst-7731	36	31	the	the	DET
ajst-7731	36	32	preview	preview	NOUN
ajst-7731	36	33	points	point	NOUN
ajst-7731	36	34	,	,	PUNCT
ajst-7731	36	35	and	and	CCONJ
ajst-7731	36	36	then	then	ADV
ajst-7731	36	37	control	control	VERB
ajst-7731	36	38	the	the	DET
ajst-7731	36	39	vehicle	vehicle	NOUN
ajst-7731	36	40	according	accord	VERB
ajst-7731	36	41	to	to	ADP
ajst-7731	36	42	these	these	DET
ajst-7731	36	43	information	information	NOUN
ajst-7731	36	44	and	and	CCONJ
ajst-7731	36	45	the	the	DET
ajst-7731	36	46	real	real	ADJ
ajst-7731	36	47	-	-	PUNCT
ajst-7731	36	48	time	time	NOUN
ajst-7731	36	49	motion	motion	NOUN
ajst-7731	36	50	state	state	NOUN
ajst-7731	36	51	of	of	ADP
ajst-7731	36	52	the	the	DET
ajst-7731	36	53	vehicle	vehicle	NOUN
ajst-7731	36	54	,	,	PUNCT
ajst-7731	36	55	so	so	SCONJ
ajst-7731	36	56	as	as	SCONJ
ajst-7731	36	57	to	to	PART
ajst-7731	36	58	track	track	VERB
ajst-7731	36	59	the	the	DET
ajst-7731	36	60	desired	desire	VERB
ajst-7731	36	61	path	path	NOUN
ajst-7731	36	62	.	.	PUNCT
ajst-7731	37	1	at	at	ADP
ajst-7731	37	2	first	first	ADV
ajst-7731	37	3	,	,	PUNCT
ajst-7731	37	4	model	model	ADJ
ajst-7731	37	5	predictive	predictive	ADJ
ajst-7731	37	6	control	control	NOUN
ajst-7731	37	7	was	be	AUX
ajst-7731	37	8	mainly	mainly	ADV
ajst-7731	37	9	used	use	VERB
ajst-7731	37	10	in	in	ADP
ajst-7731	37	11	the	the	DET
ajst-7731	37	12	field	field	NOUN
ajst-7731	37	13	of	of	ADP
ajst-7731	37	14	industrial	industrial	ADJ
ajst-7731	37	15	control	control	NOUN
ajst-7731	37	16	,	,	PUNCT
ajst-7731	37	17	also	also	ADV
ajst-7731	37	18	known	know	VERB
ajst-7731	37	19	as	as	ADP
ajst-7731	37	20	rolling	roll	VERB
ajst-7731	37	21	time	time	NOUN
ajst-7731	37	22	-	-	PUNCT
ajst-7731	37	23	domain	domain	NOUN
ajst-7731	37	24	optimal	optimal	ADJ
ajst-7731	37	25	control	control	NOUN
ajst-7731	37	26	.	.	PUNCT
ajst-7731	38	1	in	in	ADP
ajst-7731	38	2	essence	essence	NOUN
ajst-7731	38	3	,	,	PUNCT
ajst-7731	38	4	this	this	DET
ajst-7731	38	5	control	control	NOUN
ajst-7731	38	6	algorithm	algorithm	NOUN
ajst-7731	38	7	is	be	AUX
ajst-7731	38	8	a	a	DET
ajst-7731	38	9	solution	solution	NOUN
ajst-7731	38	10	method	method	NOUN
ajst-7731	38	11	based	base	VERB
ajst-7731	38	12	on	on	ADP
ajst-7731	38	13	objective	objective	ADJ
ajst-7731	38	14	function	function	NOUN
ajst-7731	38	15	optimization	optimization	NOUN
ajst-7731	38	16	.	.	PUNCT
ajst-7731	39	1	the	the	DET
ajst-7731	39	2	algorithm	algorithm	NOUN
ajst-7731	39	3	can	can	AUX
ajst-7731	39	4	be	be	AUX
ajst-7731	39	5	divided	divide	VERB
ajst-7731	39	6	into	into	ADP
ajst-7731	39	7	three	three	NUM
ajst-7731	39	8	steps	step	NOUN
ajst-7731	39	9	:	:	PUNCT
ajst-7731	39	10	model	model	NOUN
ajst-7731	39	11	-	-	PUNCT
ajst-7731	39	12	based	base	VERB
ajst-7731	39	13	state	state	NOUN
ajst-7731	39	14	prediction	prediction	NOUN
ajst-7731	39	15	,	,	PUNCT
ajst-7731	39	16	constrained	constrain	VERB
ajst-7731	39	17	optimization	optimization	NOUN
ajst-7731	39	18	in	in	ADP
ajst-7731	39	19	finite	finite	ADJ
ajst-7731	39	20	time	time	NOUN
ajst-7731	39	21	domain	domain	NOUN
ajst-7731	39	22	,	,	PUNCT
ajst-7731	39	23	and	and	CCONJ
ajst-7731	39	24	feedback	feedback	NOUN
ajst-7731	39	25	correction	correction	NOUN
ajst-7731	39	26	.	.	PUNCT
ajst-7731	40	1	the	the	DET
ajst-7731	40	2	path	path	NOUN
ajst-7731	40	3	tracking	track	VERB
ajst-7731	40	4	control	control	NOUN
ajst-7731	40	5	algorithm	algorithm	NOUN
ajst-7731	40	6	based	base	VERB
ajst-7731	40	7	on	on	ADP
ajst-7731	40	8	the	the	DET
ajst-7731	40	9	model	model	NOUN
ajst-7731	40	10	predictive	predictive	PROPN
ajst-7731	40	11	control	control	PROPN
ajst-7731	40	12	theory	theory	NOUN
ajst-7731	40	13	has	have	VERB
ajst-7731	40	14	the	the	DET
ajst-7731	40	15	advantage	advantage	NOUN
ajst-7731	40	16	of	of	ADP
ajst-7731	40	17	dealing	deal	VERB
ajst-7731	40	18	with	with	ADP
ajst-7731	40	19	multiple	multiple	ADJ
ajst-7731	40	20	model	model	NOUN
ajst-7731	40	21	constraints	constraint	NOUN
ajst-7731	40	22	.	.	PUNCT
ajst-7731	41	1	there	there	PRON
ajst-7731	41	2	are	be	VERB
ajst-7731	41	3	many	many	ADJ
ajst-7731	41	4	constraint	constraint	NOUN
ajst-7731	41	5	problems	problem	NOUN
ajst-7731	41	6	such	such	ADJ
ajst-7731	41	7	as	as	ADP
ajst-7731	41	8	dynamics	dynamic	NOUN
ajst-7731	41	9	and	and	CCONJ
ajst-7731	41	10	kinematics	kinematic	NOUN
ajst-7731	41	11	in	in	ADP
ajst-7731	41	12	the	the	DET
ajst-7731	41	13	driving	driving	NOUN
ajst-7731	41	14	process	process	NOUN
ajst-7731	41	15	of	of	ADP
ajst-7731	41	16	driverless	driverless	NOUN
ajst-7731	41	17	vehicles	vehicle	NOUN
ajst-7731	41	18	.	.	PUNCT
ajst-7731	42	1	model	model	NOUN
ajst-7731	42	2	predictive	predictive	PROPN
ajst-7731	42	3	control	control	NOUN
ajst-7731	42	4	provides	provide	VERB
ajst-7731	42	5	an	an	DET
ajst-7731	42	6	ideal	ideal	ADJ
ajst-7731	42	7	method	method	NOUN
ajst-7731	42	8	to	to	PART
ajst-7731	42	9	solve	solve	VERB
ajst-7731	42	10	these	these	DET
ajst-7731	42	11	constraint	constraint	NOUN
ajst-7731	42	12	problems	problem	NOUN
ajst-7731	42	13	.	.	PUNCT
ajst-7731	43	1	at	at	ADP
ajst-7731	43	2	the	the	DET
ajst-7731	43	3	same	same	ADJ
ajst-7731	43	4	time	time	NOUN
ajst-7731	43	5	,	,	PUNCT
ajst-7731	43	6	it	it	PRON
ajst-7731	43	7	can	can	AUX
ajst-7731	43	8	effectively	effectively	ADV
ajst-7731	43	9	reduce	reduce	VERB
ajst-7731	43	10	the	the	DET
ajst-7731	43	11	influence	influence	NOUN
ajst-7731	43	12	of	of	ADP
ajst-7731	43	13	time	time	NOUN
ajst-7731	43	14	-	-	PUNCT
ajst-7731	43	15	varying	vary	VERB
ajst-7731	43	16	,	,	PUNCT
ajst-7731	43	17	uncertain	uncertain	ADJ
ajst-7731	43	18	and	and	CCONJ
ajst-7731	43	19	external	external	ADJ
ajst-7731	43	20	environmental	environmental	ADJ
ajst-7731	43	21	interference	interference	NOUN
ajst-7731	43	22	factors	factor	NOUN
ajst-7731	43	23	on	on	ADP
ajst-7731	43	24	the	the	DET
ajst-7731	43	25	control	control	NOUN
ajst-7731	43	26	effect	effect	NOUN
ajst-7731	43	27	of	of	ADP
ajst-7731	43	28	driverless	driverless	NOUN
ajst-7731	43	29	vehicles	vehicle	NOUN
ajst-7731	43	30	,	,	PUNCT
ajst-7731	43	31	but	but	CCONJ
ajst-7731	43	32	it	it	PRON
ajst-7731	43	33	also	also	ADV
ajst-7731	43	34	has	have	VERB
ajst-7731	43	35	the	the	DET
ajst-7731	43	36	disadvantages	disadvantage	NOUN
ajst-7731	43	37	of	of	ADP
ajst-7731	43	38	slow	slow	ADJ
ajst-7731	43	39	solution	solution	NOUN
ajst-7731	43	40	speed	speed	NOUN
ajst-7731	43	41	and	and	CCONJ
ajst-7731	43	42	high	high	ADJ
ajst-7731	43	43	model	model	NOUN
ajst-7731	43	44	accuracy	accuracy	NOUN
ajst-7731	43	45	.	.	PUNCT
ajst-7731	44	1	74	74	NUM
ajst-7731	44	2	3.2	3.2	NUM
ajst-7731	44	3	.	.	PUNCT
ajst-7731	45	1	main	main	ADJ
ajst-7731	45	2	research	research	NOUN
ajst-7731	45	3	contents	content	NOUN
ajst-7731	45	4	of	of	ADP
ajst-7731	45	5	lateral	lateral	ADJ
ajst-7731	45	6	path	path	NOUN
ajst-7731	45	7	tracking	tracking	NOUN
ajst-7731	45	8	control	control	NOUN
ajst-7731	45	9	(	(	PUNCT
ajst-7731	45	10	1	1	NUM
ajst-7731	45	11	)	)	PUNCT
ajst-7731	45	12	research	research	NOUN
ajst-7731	45	13	on	on	ADP
ajst-7731	45	14	typical	typical	ADJ
ajst-7731	45	15	working	working	NOUN
ajst-7731	45	16	conditions	condition	NOUN
ajst-7731	45	17	of	of	ADP
ajst-7731	45	18	lateral	lateral	ADJ
ajst-7731	45	19	motion	motion	NOUN
ajst-7731	45	20	control	control	NOUN
ajst-7731	45	21	of	of	ADP
ajst-7731	45	22	driverless	driverless	NOUN
ajst-7731	45	23	vehicle	vehicle	NOUN
ajst-7731	45	24	according	accord	VERB
ajst-7731	45	25	to	to	ADP
ajst-7731	45	26	the	the	DET
ajst-7731	45	27	actual	actual	ADJ
ajst-7731	45	28	driving	drive	VERB
ajst-7731	45	29	environment	environment	NOUN
ajst-7731	45	30	of	of	ADP
ajst-7731	45	31	the	the	DET
ajst-7731	45	32	vehicle	vehicle	NOUN
ajst-7731	45	33	,	,	PUNCT
ajst-7731	45	34	combined	combine	VERB
ajst-7731	45	35	with	with	ADP
ajst-7731	45	36	the	the	DET
ajst-7731	45	37	requirements	requirement	NOUN
ajst-7731	45	38	of	of	ADP
ajst-7731	45	39	different	different	ADJ
ajst-7731	45	40	working	working	NOUN
ajst-7731	45	41	conditions	condition	NOUN
ajst-7731	45	42	on	on	ADP
ajst-7731	45	43	the	the	DET
ajst-7731	45	44	vehicle	vehicle	NOUN
ajst-7731	45	45	speed	speed	NOUN
ajst-7731	45	46	and	and	CCONJ
ajst-7731	45	47	path	path	NOUN
ajst-7731	45	48	,	,	PUNCT
ajst-7731	45	49	a	a	DET
ajst-7731	45	50	typical	typical	ADJ
ajst-7731	45	51	lateral	lateral	ADJ
ajst-7731	45	52	motion	motion	NOUN
ajst-7731	45	53	control	control	NOUN
ajst-7731	45	54	working	work	VERB
ajst-7731	45	55	condition	condition	NOUN
ajst-7731	45	56	is	be	AUX
ajst-7731	45	57	formed	form	VERB
ajst-7731	45	58	.	.	PUNCT
ajst-7731	46	1	the	the	DET
ajst-7731	46	2	typical	typical	ADJ
ajst-7731	46	3	driving	driving	NOUN
ajst-7731	46	4	path	path	NOUN
ajst-7731	46	5	of	of	ADP
ajst-7731	46	6	driverless	driverless	NOUN
ajst-7731	46	7	vehicle	vehicle	NOUN
ajst-7731	46	8	under	under	ADP
ajst-7731	46	9	different	different	ADJ
ajst-7731	46	10	driving	driving	NOUN
ajst-7731	46	11	conditions	condition	NOUN
ajst-7731	46	12	is	be	AUX
ajst-7731	46	13	studied	study	VERB
ajst-7731	46	14	.	.	PUNCT
ajst-7731	47	1	(	(	PUNCT
ajst-7731	47	2	2	2	X
ajst-7731	47	3	)	)	PUNCT
ajst-7731	47	4	research	research	NOUN
ajst-7731	47	5	on	on	ADP
ajst-7731	47	6	road	road	NOUN
ajst-7731	47	7	model	model	NOUN
ajst-7731	47	8	and	and	CCONJ
ajst-7731	47	9	vehicle	vehicle	NOUN
ajst-7731	47	10	dynamics	dynamic	NOUN
ajst-7731	47	11	model	model	NOUN
ajst-7731	47	12	of	of	ADP
ajst-7731	47	13	typical	typical	ADJ
ajst-7731	47	14	driving	drive	VERB
ajst-7731	47	15	conditions	condition	NOUN
ajst-7731	47	16	figure	figure	VERB
ajst-7731	47	17	3	3	NUM
ajst-7731	47	18	.	.	NOUN
ajst-7731	47	19	function	function	NOUN
ajst-7731	47	20	and	and	CCONJ
ajst-7731	47	21	interface	interface	NOUN
ajst-7731	47	22	diagram	diagram	NOUN
ajst-7731	47	23	of	of	ADP
ajst-7731	47	24	carsim	carsim	PROPN
ajst-7731	47	25	study	study	VERB
ajst-7731	47	26	the	the	DET
ajst-7731	47	27	key	key	ADJ
ajst-7731	47	28	technologies	technology	NOUN
ajst-7731	47	29	of	of	ADP
ajst-7731	47	30	road	road	NOUN
ajst-7731	47	31	model	model	NOUN
ajst-7731	47	32	and	and	CCONJ
ajst-7731	47	33	vehicle	vehicle	NOUN
ajst-7731	47	34	dynamics	dynamic	NOUN
ajst-7731	47	35	model	model	NOUN
ajst-7731	47	36	based	base	VERB
ajst-7731	47	37	on	on	ADP
ajst-7731	47	38	parametric	parametric	ADJ
ajst-7731	47	39	modeling	modeling	NOUN
ajst-7731	47	40	.	.	PUNCT
ajst-7731	48	1	based	base	VERB
ajst-7731	48	2	on	on	ADP
ajst-7731	48	3	a	a	DET
ajst-7731	48	4	parametric	parametric	ADJ
ajst-7731	48	5	modeling	modeling	NOUN
ajst-7731	48	6	software	software	NOUN
ajst-7731	48	7	,	,	PUNCT
ajst-7731	48	8	typical	typical	ADJ
ajst-7731	48	9	parametric	parametric	ADJ
ajst-7731	48	10	modeling	modeling	NOUN
ajst-7731	48	11	software	software	NOUN
ajst-7731	48	12	is	be	AUX
ajst-7731	48	13	shown	show	VERB
ajst-7731	48	14	in	in	ADP
ajst-7731	48	15	figure	figure	NOUN
ajst-7731	48	16	4	4	NUM
ajst-7731	48	17	.	.	PUNCT
ajst-7731	49	1	all	all	DET
ajst-7731	49	2	road	road	NOUN
ajst-7731	49	3	models	model	NOUN
ajst-7731	49	4	and	and	CCONJ
ajst-7731	49	5	vehicle	vehicle	NOUN
ajst-7731	49	6	dynamics	dynamic	NOUN
ajst-7731	49	7	models	model	NOUN
ajst-7731	49	8	required	require	VERB
ajst-7731	49	9	for	for	ADP
ajst-7731	49	10	lateral	lateral	ADJ
ajst-7731	49	11	motion	motion	NOUN
ajst-7731	49	12	control	control	NOUN
ajst-7731	49	13	are	be	AUX
ajst-7731	49	14	established	establish	VERB
ajst-7731	49	15	to	to	PART
ajst-7731	49	16	realize	realize	VERB
ajst-7731	49	17	the	the	DET
ajst-7731	49	18	visualization	visualization	NOUN
ajst-7731	49	19	of	of	ADP
ajst-7731	49	20	road	road	NOUN
ajst-7731	49	21	information	information	NOUN
ajst-7731	49	22	of	of	ADP
ajst-7731	49	23	driverless	driverless	NOUN
ajst-7731	49	24	vehicles	vehicle	NOUN
ajst-7731	49	25	.	.	PUNCT
ajst-7731	50	1	the	the	DET
ajst-7731	50	2	subsystems	subsystem	NOUN
ajst-7731	50	3	and	and	CCONJ
ajst-7731	50	4	setting	set	VERB
ajst-7731	50	5	interfaces	interface	NOUN
ajst-7731	50	6	included	include	VERB
ajst-7731	50	7	in	in	ADP
ajst-7731	50	8	the	the	DET
ajst-7731	50	9	vehicle	vehicle	NOUN
ajst-7731	50	10	dynamics	dynamic	NOUN
ajst-7731	50	11	model	model	NOUN
ajst-7731	50	12	are	be	AUX
ajst-7731	50	13	shown	show	VERB
ajst-7731	50	14	in	in	ADP
ajst-7731	50	15	fig	fig	NOUN
ajst-7731	50	16	.	.	PUNCT
ajst-7731	51	1	4	4	X
ajst-7731	51	2	.	.	X
ajst-7731	51	3	figure	figure	VERB
ajst-7731	51	4	4	4	NUM
ajst-7731	51	5	.	.	PUNCT
ajst-7731	51	6	vehicle	vehicle	NOUN
ajst-7731	51	7	subsystem	subsystem	NOUN
ajst-7731	51	8	and	and	CCONJ
ajst-7731	51	9	carsim	carsim	PROPN
ajst-7731	51	10	vehicle	vehicle	NOUN
ajst-7731	51	11	model	model	NOUN
ajst-7731	51	12	setting	set	VERB
ajst-7731	51	13	interface	interface	NOUN
ajst-7731	51	14	75	75	NUM
ajst-7731	51	15	(	(	PUNCT
ajst-7731	51	16	3	3	NUM
ajst-7731	51	17	)	)	PUNCT
ajst-7731	51	18	research	research	NOUN
ajst-7731	51	19	on	on	ADP
ajst-7731	51	20	lateral	lateral	ADJ
ajst-7731	51	21	path	path	NOUN
ajst-7731	51	22	tracking	tracking	NOUN
ajst-7731	51	23	control	control	NOUN
ajst-7731	51	24	based	base	VERB
ajst-7731	51	25	on	on	ADP
ajst-7731	51	26	path	path	NOUN
ajst-7731	51	27	tracking	track	VERB
ajst-7731	51	28	control	control	NOUN
ajst-7731	51	29	algorithm	algorithm	NOUN
ajst-7731	51	30	the	the	DET
ajst-7731	51	31	path	path	NOUN
ajst-7731	51	32	tracker	tracker	NOUN
ajst-7731	51	33	is	be	AUX
ajst-7731	51	34	designed	design	VERB
ajst-7731	51	35	through	through	ADP
ajst-7731	51	36	the	the	DET
ajst-7731	51	37	path	path	NOUN
ajst-7731	51	38	tracking	track	VERB
ajst-7731	51	39	control	control	NOUN
ajst-7731	51	40	algorithm	algorithm	NOUN
ajst-7731	51	41	,	,	PUNCT
ajst-7731	51	42	and	and	CCONJ
ajst-7731	51	43	the	the	DET
ajst-7731	51	44	influence	influence	NOUN
ajst-7731	51	45	of	of	ADP
ajst-7731	51	46	the	the	DET
ajst-7731	51	47	design	design	NOUN
ajst-7731	51	48	parameters	parameter	NOUN
ajst-7731	51	49	on	on	ADP
ajst-7731	51	50	the	the	DET
ajst-7731	51	51	path	path	NOUN
ajst-7731	51	52	tracking	tracking	NOUN
ajst-7731	51	53	controller	controller	NOUN
ajst-7731	51	54	is	be	AUX
ajst-7731	51	55	studied	study	VERB
ajst-7731	51	56	.	.	PUNCT
ajst-7731	52	1	the	the	DET
ajst-7731	52	2	model	model	NOUN
ajst-7731	52	3	predictive	predictive	PROPN
ajst-7731	52	4	control	control	NOUN
ajst-7731	52	5	parameters	parameter	NOUN
ajst-7731	52	6	suitable	suitable	ADJ
ajst-7731	52	7	for	for	ADP
ajst-7731	52	8	the	the	DET
ajst-7731	52	9	project	project	NOUN
ajst-7731	52	10	are	be	AUX
ajst-7731	52	11	obtained	obtain	VERB
ajst-7731	52	12	,	,	PUNCT
ajst-7731	52	13	so	so	SCONJ
ajst-7731	52	14	that	that	SCONJ
ajst-7731	52	15	the	the	DET
ajst-7731	52	16	path	path	NOUN
ajst-7731	52	17	tracking	tracking	NOUN
ajst-7731	52	18	controller	controller	NOUN
ajst-7731	52	19	can	can	AUX
ajst-7731	52	20	take	take	VERB
ajst-7731	52	21	into	into	ADP
ajst-7731	52	22	account	account	NOUN
ajst-7731	52	23	the	the	DET
ajst-7731	52	24	calculation	calculation	NOUN
ajst-7731	52	25	speed	speed	NOUN
ajst-7731	52	26	and	and	CCONJ
ajst-7731	52	27	control	control	NOUN
ajst-7731	52	28	accuracy	accuracy	NOUN
ajst-7731	52	29	.	.	PUNCT
ajst-7731	53	1	(	(	PUNCT
ajst-7731	53	2	4	4	X
ajst-7731	53	3	)	)	PUNCT
ajst-7731	53	4	research	research	NOUN
ajst-7731	53	5	on	on	ADP
ajst-7731	53	6	joint	joint	ADJ
ajst-7731	53	7	simulation	simulation	NOUN
ajst-7731	53	8	platform	platform	NOUN
ajst-7731	53	9	based	base	VERB
ajst-7731	53	10	on	on	ADP
ajst-7731	53	11	typical	typical	ADJ
ajst-7731	53	12	road	road	NOUN
ajst-7731	53	13	conditions	condition	NOUN
ajst-7731	53	14	and	and	CCONJ
ajst-7731	53	15	path	path	NOUN
ajst-7731	53	16	tracking	tracking	NOUN
ajst-7731	53	17	control	control	NOUN
ajst-7731	53	18	algorithm	algorithm	NOUN
ajst-7731	53	19	research	research	NOUN
ajst-7731	53	20	on	on	ADP
ajst-7731	53	21	the	the	DET
ajst-7731	53	22	joint	joint	ADJ
ajst-7731	53	23	simulation	simulation	NOUN
ajst-7731	53	24	platform	platform	NOUN
ajst-7731	53	25	for	for	ADP
ajst-7731	53	26	driverless	driverless	NOUN
ajst-7731	53	27	vehicles	vehicle	NOUN
ajst-7731	53	28	under	under	ADP
ajst-7731	53	29	different	different	ADJ
ajst-7731	53	30	working	work	VERB
ajst-7731	53	31	conditions	condition	NOUN
ajst-7731	53	32	,	,	PUNCT
ajst-7731	53	33	and	and	CCONJ
ajst-7731	53	34	build	build	VERB
ajst-7731	53	35	a	a	DET
ajst-7731	53	36	suitable	suitable	ADJ
ajst-7731	53	37	joint	joint	ADJ
ajst-7731	53	38	simulation	simulation	NOUN
ajst-7731	53	39	platform	platform	NOUN
ajst-7731	53	40	for	for	ADP
ajst-7731	53	41	driverless	driverless	NOUN
ajst-7731	53	42	vehicles	vehicle	NOUN
ajst-7731	53	43	.	.	PUNCT
ajst-7731	54	1	on	on	ADP
ajst-7731	54	2	this	this	DET
ajst-7731	54	3	basis	basis	NOUN
ajst-7731	54	4	,	,	PUNCT
ajst-7731	54	5	the	the	DET
ajst-7731	54	6	path	path	NOUN
ajst-7731	54	7	tracking	tracking	NOUN
ajst-7731	54	8	control	control	NOUN
ajst-7731	54	9	of	of	ADP
ajst-7731	54	10	driverless	driverless	NOUN
ajst-7731	54	11	vehicles	vehicle	NOUN
ajst-7731	54	12	is	be	AUX
ajst-7731	54	13	studied	study	VERB
ajst-7731	54	14	by	by	ADP
ajst-7731	54	15	using	use	VERB
ajst-7731	54	16	the	the	DET
ajst-7731	54	17	joint	joint	ADJ
ajst-7731	54	18	simulation	simulation	NOUN
ajst-7731	54	19	platform	platform	NOUN
ajst-7731	54	20	to	to	PART
ajst-7731	54	21	comprehensively	comprehensively	ADV
ajst-7731	54	22	investigate	investigate	VERB
ajst-7731	54	23	the	the	DET
ajst-7731	54	24	effect	effect	NOUN
ajst-7731	54	25	of	of	ADP
ajst-7731	54	26	path	path	NOUN
ajst-7731	54	27	tracking	tracking	NOUN
ajst-7731	54	28	control	control	NOUN
ajst-7731	54	29	.	.	PUNCT
ajst-7731	55	1	4	4	X
ajst-7731	55	2	.	.	X
ajst-7731	55	3	key	key	ADJ
ajst-7731	55	4	technologies	technology	NOUN
ajst-7731	55	5	(	(	PUNCT
ajst-7731	55	6	1	1	X
ajst-7731	55	7	)	)	PUNCT
ajst-7731	55	8	research	research	NOUN
ajst-7731	55	9	on	on	ADP
ajst-7731	55	10	typical	typical	ADJ
ajst-7731	55	11	working	working	NOUN
ajst-7731	55	12	conditions	condition	NOUN
ajst-7731	55	13	of	of	ADP
ajst-7731	55	14	lateral	lateral	ADJ
ajst-7731	55	15	motion	motion	NOUN
ajst-7731	55	16	control	control	NOUN
ajst-7731	55	17	of	of	ADP
ajst-7731	55	18	driverless	driverless	NOUN
ajst-7731	55	19	vehicle	vehicle	NOUN
ajst-7731	55	20	and	and	CCONJ
ajst-7731	55	21	establishment	establishment	NOUN
ajst-7731	55	22	of	of	ADP
ajst-7731	55	23	corresponding	correspond	VERB
ajst-7731	55	24	road	road	NOUN
ajst-7731	55	25	model	model	NOUN
ajst-7731	55	26	it	it	PRON
ajst-7731	55	27	is	be	AUX
ajst-7731	55	28	proposed	propose	VERB
ajst-7731	55	29	to	to	PART
ajst-7731	55	30	build	build	VERB
ajst-7731	55	31	a	a	DET
ajst-7731	55	32	typical	typical	ADJ
ajst-7731	55	33	road	road	NOUN
ajst-7731	55	34	model	model	NOUN
ajst-7731	55	35	for	for	ADP
ajst-7731	55	36	lateral	lateral	ADJ
ajst-7731	55	37	motion	motion	NOUN
ajst-7731	55	38	control	control	NOUN
ajst-7731	55	39	based	base	VERB
ajst-7731	55	40	on	on	ADP
ajst-7731	55	41	a	a	DET
ajst-7731	55	42	parametric	parametric	ADJ
ajst-7731	55	43	modeling	modeling	NOUN
ajst-7731	55	44	software	software	NOUN
ajst-7731	55	45	.	.	PUNCT
ajst-7731	56	1	it	it	PRON
ajst-7731	56	2	is	be	AUX
ajst-7731	56	3	necessary	necessary	ADJ
ajst-7731	56	4	to	to	PART
ajst-7731	56	5	output	output	VERB
ajst-7731	56	6	the	the	DET
ajst-7731	56	7	road	road	NOUN
ajst-7731	56	8	information	information	NOUN
ajst-7731	56	9	of	of	ADP
ajst-7731	56	10	the	the	DET
ajst-7731	56	11	road	road	NOUN
ajst-7731	56	12	model	model	NOUN
ajst-7731	56	13	in	in	ADP
ajst-7731	56	14	real	real	ADJ
ajst-7731	56	15	time	time	NOUN
ajst-7731	56	16	,	,	PUNCT
ajst-7731	56	17	and	and	CCONJ
ajst-7731	56	18	complete	complete	VERB
ajst-7731	56	19	the	the	DET
ajst-7731	56	20	establishment	establishment	NOUN
ajst-7731	56	21	of	of	ADP
ajst-7731	56	22	the	the	DET
ajst-7731	56	23	reference	reference	NOUN
ajst-7731	56	24	trajectory	trajectory	NOUN
ajst-7731	56	25	under	under	ADP
ajst-7731	56	26	this	this	DET
ajst-7731	56	27	road	road	NOUN
ajst-7731	56	28	model	model	NOUN
ajst-7731	56	29	.	.	PUNCT
ajst-7731	57	1	it	it	PRON
ajst-7731	57	2	is	be	AUX
ajst-7731	57	3	one	one	NUM
ajst-7731	57	4	of	of	ADP
ajst-7731	57	5	the	the	DET
ajst-7731	57	6	technical	technical	ADJ
ajst-7731	57	7	keys	key	NOUN
ajst-7731	57	8	of	of	ADP
ajst-7731	57	9	the	the	DET
ajst-7731	57	10	project	project	NOUN
ajst-7731	57	11	to	to	PART
ajst-7731	57	12	output	output	VERB
ajst-7731	57	13	the	the	DET
ajst-7731	57	14	reference	reference	NOUN
ajst-7731	57	15	trajectory	trajectory	NOUN
ajst-7731	57	16	and	and	CCONJ
ajst-7731	57	17	road	road	NOUN
ajst-7731	57	18	information	information	NOUN
ajst-7731	57	19	to	to	ADP
ajst-7731	57	20	the	the	DET
ajst-7731	57	21	path	path	NOUN
ajst-7731	57	22	tracking	tracking	NOUN
ajst-7731	57	23	controller	controller	NOUN
ajst-7731	57	24	.	.	PUNCT
ajst-7731	58	1	(	(	PUNCT
ajst-7731	58	2	2	2	X
ajst-7731	58	3	)	)	PUNCT
ajst-7731	58	4	research	research	NOUN
ajst-7731	58	5	on	on	ADP
ajst-7731	58	6	path	path	NOUN
ajst-7731	58	7	tracking	tracking	NOUN
ajst-7731	58	8	controller	controller	NOUN
ajst-7731	58	9	based	base	VERB
ajst-7731	58	10	on	on	ADP
ajst-7731	58	11	path	path	NOUN
ajst-7731	58	12	tracking	tracking	NOUN
ajst-7731	58	13	control	control	NOUN
ajst-7731	58	14	algorithm	algorithm	NOUN
ajst-7731	58	15	firstly	firstly	ADV
ajst-7731	58	16	,	,	PUNCT
ajst-7731	58	17	the	the	DET
ajst-7731	58	18	traditional	traditional	ADJ
ajst-7731	58	19	single	single	ADJ
ajst-7731	58	20	lateral	lateral	ADJ
ajst-7731	58	21	path	path	NOUN
ajst-7731	58	22	control	control	NOUN
ajst-7731	58	23	algorithm	algorithm	PROPN
ajst-7731	58	24	is	be	AUX
ajst-7731	58	25	studied	study	VERB
ajst-7731	58	26	to	to	PART
ajst-7731	58	27	find	find	VERB
ajst-7731	58	28	out	out	ADP
ajst-7731	58	29	its	its	PRON
ajst-7731	58	30	advantages	advantage	NOUN
ajst-7731	58	31	and	and	CCONJ
ajst-7731	58	32	disadvantages	disadvantage	NOUN
ajst-7731	58	33	.	.	PUNCT
ajst-7731	59	1	combined	combine	VERB
ajst-7731	59	2	with	with	ADP
ajst-7731	59	3	the	the	DET
ajst-7731	59	4	multi	multi	ADJ
ajst-7731	59	5	condition	condition	NOUN
ajst-7731	59	6	road	road	NOUN
ajst-7731	59	7	model	model	NOUN
ajst-7731	59	8	,	,	PUNCT
ajst-7731	59	9	the	the	DET
ajst-7731	59	10	lateral	lateral	ADJ
ajst-7731	59	11	path	path	NOUN
ajst-7731	59	12	control	control	NOUN
ajst-7731	59	13	algorithm	algorithm	PROPN
ajst-7731	59	14	is	be	AUX
ajst-7731	59	15	improved	improve	VERB
ajst-7731	59	16	,	,	PUNCT
ajst-7731	59	17	and	and	CCONJ
ajst-7731	59	18	on	on	ADP
ajst-7731	59	19	this	this	DET
ajst-7731	59	20	basis	basis	NOUN
ajst-7731	59	21	,	,	PUNCT
ajst-7731	59	22	the	the	DET
ajst-7731	59	23	path	path	NOUN
ajst-7731	59	24	tracking	tracking	NOUN
ajst-7731	59	25	controller	controller	NOUN
ajst-7731	59	26	is	be	AUX
ajst-7731	59	27	established	establish	VERB
ajst-7731	59	28	to	to	PART
ajst-7731	59	29	achieve	achieve	VERB
ajst-7731	59	30	more	more	ADV
ajst-7731	59	31	accurate	accurate	ADJ
ajst-7731	59	32	lateral	lateral	ADJ
ajst-7731	59	33	tracking	tracking	NOUN
ajst-7731	59	34	control	control	NOUN
ajst-7731	59	35	of	of	ADP
ajst-7731	59	36	driverless	driverless	NOUN
ajst-7731	59	37	vehicles	vehicle	NOUN
ajst-7731	59	38	.	.	PUNCT
ajst-7731	60	1	(	(	PUNCT
ajst-7731	60	2	3	3	X
ajst-7731	60	3	)	)	PUNCT
ajst-7731	60	4	realization	realization	NOUN
ajst-7731	60	5	of	of	ADP
ajst-7731	60	6	a	a	DET
ajst-7731	60	7	joint	joint	ADJ
ajst-7731	60	8	simulation	simulation	NOUN
ajst-7731	60	9	platform	platform	NOUN
ajst-7731	60	10	for	for	ADP
ajst-7731	60	11	driverless	driverless	NOUN
ajst-7731	60	12	vehicle	vehicle	NOUN
ajst-7731	60	13	lateral	lateral	ADJ
ajst-7731	60	14	path	path	NOUN
ajst-7731	60	15	tracking	tracking	NOUN
ajst-7731	60	16	control	control	NOUN
ajst-7731	60	17	using	use	VERB
ajst-7731	60	18	the	the	DET
ajst-7731	60	19	road	road	NOUN
ajst-7731	60	20	model	model	NOUN
ajst-7731	60	21	,	,	PUNCT
ajst-7731	60	22	the	the	DET
ajst-7731	60	23	vehicle	vehicle	NOUN
ajst-7731	60	24	dynamics	dynamic	NOUN
ajst-7731	60	25	model	model	NOUN
ajst-7731	60	26	and	and	CCONJ
ajst-7731	60	27	the	the	DET
ajst-7731	60	28	path	path	NOUN
ajst-7731	60	29	tracking	tracking	NOUN
ajst-7731	60	30	controller	controller	NOUN
ajst-7731	60	31	,	,	PUNCT
ajst-7731	60	32	the	the	DET
ajst-7731	60	33	driverless	driverless	NOUN
ajst-7731	60	34	vehicle	vehicle	NOUN
ajst-7731	60	35	joint	joint	PROPN
ajst-7731	60	36	simulation	simulation	NOUN
ajst-7731	60	37	platform	platform	NOUN
ajst-7731	60	38	is	be	AUX
ajst-7731	60	39	built	build	VERB
ajst-7731	60	40	to	to	PART
ajst-7731	60	41	complete	complete	VERB
ajst-7731	60	42	the	the	DET
ajst-7731	60	43	tracking	tracking	NOUN
ajst-7731	60	44	control	control	NOUN
ajst-7731	60	45	of	of	ADP
ajst-7731	60	46	the	the	DET
ajst-7731	60	47	given	give	VERB
ajst-7731	60	48	path	path	NOUN
ajst-7731	60	49	through	through	ADP
ajst-7731	60	50	the	the	DET
ajst-7731	60	51	simulation	simulation	NOUN
ajst-7731	60	52	platform	platform	NOUN
ajst-7731	60	53	,	,	PUNCT
ajst-7731	60	54	and	and	CCONJ
ajst-7731	60	55	verify	verify	VERB
ajst-7731	60	56	the	the	DET
ajst-7731	60	57	effectiveness	effectiveness	NOUN
ajst-7731	60	58	,	,	PUNCT
ajst-7731	60	59	accuracy	accuracy	NOUN
ajst-7731	60	60	and	and	CCONJ
ajst-7731	60	61	real	real	ADJ
ajst-7731	60	62	-	-	PUNCT
ajst-7731	60	63	time	time	NOUN
ajst-7731	60	64	of	of	ADP
ajst-7731	60	65	the	the	DET
ajst-7731	60	66	path	path	NOUN
ajst-7731	60	67	tracking	track	VERB
ajst-7731	60	68	control	control	NOUN
ajst-7731	60	69	algorithm	algorithm	NOUN
ajst-7731	60	70	.	.	PUNCT
ajst-7731	61	1	research	research	NOUN
ajst-7731	61	2	on	on	ADP
ajst-7731	61	3	the	the	DET
ajst-7731	61	4	lateral	lateral	ADJ
ajst-7731	61	5	path	path	NOUN
ajst-7731	61	6	tracking	tracking	NOUN
ajst-7731	61	7	control	control	NOUN
ajst-7731	61	8	of	of	ADP
ajst-7731	61	9	driverless	driverless	NOUN
ajst-7731	61	10	vehicles	vehicle	NOUN
ajst-7731	61	11	parametric	parametric	ADJ
ajst-7731	61	12	modeling	modeling	NOUN
ajst-7731	61	13	software	software	NOUN
ajst-7731	61	14	realizes	realize	VERB
ajst-7731	61	15	the	the	DET
ajst-7731	61	16	visualization	visualization	NOUN
ajst-7731	61	17	of	of	ADP
ajst-7731	61	18	road	road	NOUN
ajst-7731	61	19	,	,	PUNCT
ajst-7731	61	20	vehicle	vehicle	NOUN
ajst-7731	61	21	dynamics	dynamic	NOUN
ajst-7731	61	22	and	and	CCONJ
ajst-7731	61	23	typical	typical	ADJ
ajst-7731	61	24	working	working	NOUN
ajst-7731	61	25	conditions	condition	NOUN
ajst-7731	61	26	.	.	PUNCT
ajst-7731	62	1	it	it	PRON
ajst-7731	62	2	overcomes	overcome	VERB
ajst-7731	62	3	the	the	DET
ajst-7731	62	4	shortcomings	shortcoming	NOUN
ajst-7731	62	5	of	of	ADP
ajst-7731	62	6	traditional	traditional	ADJ
ajst-7731	62	7	path	path	NOUN
ajst-7731	62	8	tracking	tracking	NOUN
ajst-7731	62	9	control	control	NOUN
ajst-7731	62	10	,	,	PUNCT
ajst-7731	62	11	which	which	PRON
ajst-7731	62	12	only	only	ADV
ajst-7731	62	13	tracks	track	VERB
ajst-7731	62	14	the	the	DET
ajst-7731	62	15	desired	desire	VERB
ajst-7731	62	16	path	path	NOUN
ajst-7731	62	17	,	,	PUNCT
ajst-7731	62	18	and	and	CCONJ
ajst-7731	62	19	can	can	AUX
ajst-7731	62	20	output	output	VERB
ajst-7731	62	21	real	real	ADJ
ajst-7731	62	22	-	-	PUNCT
ajst-7731	62	23	time	time	NOUN
ajst-7731	62	24	operation	operation	NOUN
ajst-7731	62	25	information	information	NOUN
ajst-7731	62	26	of	of	ADP
ajst-7731	62	27	vehicles	vehicle	NOUN
ajst-7731	62	28	;	;	PUNCT
ajst-7731	62	29	it	it	PRON
ajst-7731	62	30	can	can	AUX
ajst-7731	62	31	not	not	PART
ajst-7731	62	32	only	only	ADV
ajst-7731	62	33	better	well	ADV
ajst-7731	62	34	reflect	reflect	VERB
ajst-7731	62	35	the	the	DET
ajst-7731	62	36	running	run	VERB
ajst-7731	62	37	behavior	behavior	NOUN
ajst-7731	62	38	of	of	ADP
ajst-7731	62	39	the	the	DET
ajst-7731	62	40	vehicle	vehicle	NOUN
ajst-7731	62	41	,	,	PUNCT
ajst-7731	62	42	but	but	CCONJ
ajst-7731	62	43	also	also	ADV
ajst-7731	62	44	provide	provide	VERB
ajst-7731	62	45	a	a	DET
ajst-7731	62	46	basis	basis	NOUN
ajst-7731	62	47	for	for	ADP
ajst-7731	62	48	the	the	DET
ajst-7731	62	49	establishment	establishment	NOUN
ajst-7731	62	50	of	of	ADP
ajst-7731	62	51	the	the	DET
ajst-7731	62	52	path	path	NOUN
ajst-7731	62	53	tracking	tracking	NOUN
ajst-7731	62	54	controller	controller	NOUN
ajst-7731	62	55	.	.	PUNCT
ajst-7731	63	1	combined	combine	VERB
ajst-7731	63	2	with	with	ADP
ajst-7731	63	3	the	the	DET
ajst-7731	63	4	joint	joint	ADJ
ajst-7731	63	5	simulation	simulation	NOUN
ajst-7731	63	6	technology	technology	NOUN
ajst-7731	63	7	of	of	ADP
ajst-7731	63	8	the	the	DET
ajst-7731	63	9	joint	joint	ADJ
ajst-7731	63	10	simulation	simulation	NOUN
ajst-7731	63	11	platform	platform	NOUN
ajst-7731	63	12	of	of	ADP
ajst-7731	63	13	typical	typical	ADJ
ajst-7731	63	14	road	road	NOUN
ajst-7731	63	15	conditions	condition	NOUN
ajst-7731	63	16	and	and	CCONJ
ajst-7731	63	17	path	path	NOUN
ajst-7731	63	18	tracking	tracking	NOUN
ajst-7731	63	19	controllers	controller	NOUN
ajst-7731	63	20	,	,	PUNCT
ajst-7731	63	21	the	the	DET
ajst-7731	63	22	path	path	NOUN
ajst-7731	63	23	tracking	tracking	NOUN
ajst-7731	63	24	and	and	CCONJ
ajst-7731	63	25	road	road	NOUN
ajst-7731	63	26	conditions	condition	NOUN
ajst-7731	63	27	form	form	VERB
ajst-7731	63	28	a	a	DET
ajst-7731	63	29	closed	closed	ADJ
ajst-7731	63	30	-	-	PUNCT
ajst-7731	63	31	loop	loop	NOUN
ajst-7731	63	32	control	control	NOUN
ajst-7731	63	33	,	,	PUNCT
ajst-7731	63	34	which	which	PRON
ajst-7731	63	35	can	can	AUX
ajst-7731	63	36	better	well	ADV
ajst-7731	63	37	verify	verify	VERB
ajst-7731	63	38	the	the	DET
ajst-7731	63	39	tracking	tracking	NOUN
ajst-7731	63	40	ability	ability	NOUN
ajst-7731	63	41	of	of	ADP
ajst-7731	63	42	the	the	DET
ajst-7731	63	43	vehicle	vehicle	NOUN
ajst-7731	63	44	model	model	NOUN
ajst-7731	63	45	to	to	ADP
ajst-7731	63	46	the	the	DET
ajst-7731	63	47	desired	desire	VERB
ajst-7731	63	48	path	path	NOUN
ajst-7731	63	49	,	,	PUNCT
ajst-7731	63	50	and	and	CCONJ
ajst-7731	63	51	output	output	VERB
ajst-7731	63	52	the	the	DET
ajst-7731	63	53	vehicle	vehicle	NOUN
ajst-7731	63	54	state	state	NOUN
ajst-7731	63	55	in	in	ADP
ajst-7731	63	56	real	real	ADJ
ajst-7731	63	57	time	time	NOUN
ajst-7731	63	58	to	to	PART
ajst-7731	63	59	judge	judge	VERB
ajst-7731	63	60	the	the	DET
ajst-7731	63	61	effectiveness	effectiveness	NOUN
ajst-7731	63	62	of	of	ADP
ajst-7731	63	63	path	path	NOUN
ajst-7731	63	64	tracking	tracking	NOUN
ajst-7731	63	65	.	.	PUNCT
ajst-7731	64	1	the	the	DET
ajst-7731	64	2	verification	verification	NOUN
ajst-7731	64	3	of	of	ADP
ajst-7731	64	4	the	the	DET
ajst-7731	64	5	effectiveness	effectiveness	NOUN
ajst-7731	64	6	and	and	CCONJ
ajst-7731	64	7	accuracy	accuracy	NOUN
ajst-7731	64	8	of	of	ADP
ajst-7731	64	9	the	the	DET
ajst-7731	64	10	driverless	driverless	NOUN
ajst-7731	64	11	vehicle	vehicle	NOUN
ajst-7731	64	12	path	path	NOUN
ajst-7731	64	13	tracking	tracking	NOUN
ajst-7731	64	14	control	control	NOUN
ajst-7731	64	15	,	,	PUNCT
ajst-7731	64	16	the	the	DET
ajst-7731	64	17	simulation	simulation	NOUN
ajst-7731	64	18	and	and	CCONJ
ajst-7731	64	19	verification	verification	NOUN
ajst-7731	64	20	of	of	ADP
ajst-7731	64	21	the	the	DET
ajst-7731	64	22	built	build	VERB
ajst-7731	64	23	joint	joint	ADJ
ajst-7731	64	24	simulation	simulation	NOUN
ajst-7731	64	25	platform	platform	NOUN
ajst-7731	64	26	,	,	PUNCT
ajst-7731	64	27	and	and	CCONJ
ajst-7731	64	28	the	the	DET
ajst-7731	64	29	technical	technical	ADJ
ajst-7731	64	30	specifications	specification	NOUN
ajst-7731	64	31	based	base	VERB
ajst-7731	64	32	on	on	ADP
ajst-7731	64	33	the	the	DET
ajst-7731	64	34	path	path	NOUN
ajst-7731	64	35	tracking	tracking	NOUN
ajst-7731	64	36	control	control	NOUN
ajst-7731	64	37	will	will	AUX
ajst-7731	64	38	be	be	AUX
ajst-7731	64	39	more	more	ADV
ajst-7731	64	40	perfect	perfect	ADJ
ajst-7731	64	41	,	,	PUNCT
ajst-7731	64	42	which	which	PRON
ajst-7731	64	43	provides	provide	VERB
ajst-7731	64	44	the	the	DET
ajst-7731	64	45	possibility	possibility	NOUN
ajst-7731	64	46	for	for	ADP
ajst-7731	64	47	the	the	DET
ajst-7731	64	48	follow	follow	VERB
ajst-7731	64	49	-	-	PUNCT
ajst-7731	64	50	up	up	ADP
ajst-7731	64	51	indepth	indepth	ADJ
ajst-7731	64	52	research	research	NOUN
ajst-7731	64	53	.	.	PUNCT
ajst-7731	65	1	5	5	X
ajst-7731	65	2	.	.	X
ajst-7731	65	3	summary	summary	VERB
ajst-7731	65	4	through	through	ADP
ajst-7731	65	5	the	the	DET
ajst-7731	65	6	design	design	NOUN
ajst-7731	65	7	of	of	ADP
ajst-7731	65	8	the	the	DET
ajst-7731	65	9	path	path	NOUN
ajst-7731	65	10	tracking	track	VERB
ajst-7731	65	11	controller	controller	NOUN
ajst-7731	65	12	of	of	ADP
ajst-7731	65	13	the	the	DET
ajst-7731	65	14	driverless	driverless	NOUN
ajst-7731	65	15	vehicle	vehicle	NOUN
ajst-7731	65	16	,	,	PUNCT
ajst-7731	65	17	the	the	DET
ajst-7731	65	18	research	research	NOUN
ajst-7731	65	19	on	on	ADP
ajst-7731	65	20	the	the	DET
ajst-7731	65	21	lateral	lateral	ADJ
ajst-7731	65	22	path	path	NOUN
ajst-7731	65	23	tracking	tracking	NOUN
ajst-7731	65	24	control	control	NOUN
ajst-7731	65	25	of	of	ADP
ajst-7731	65	26	the	the	DET
ajst-7731	65	27	driverless	driverless	NOUN
ajst-7731	65	28	vehicle	vehicle	NOUN
ajst-7731	65	29	can	can	AUX
ajst-7731	65	30	be	be	AUX
ajst-7731	65	31	used	use	VERB
ajst-7731	65	32	in	in	ADP
ajst-7731	65	33	the	the	DET
ajst-7731	65	34	auxiliary	auxiliary	ADJ
ajst-7731	65	35	steering	steering	NOUN
ajst-7731	65	36	of	of	ADP
ajst-7731	65	37	the	the	DET
ajst-7731	65	38	vehicle	vehicle	NOUN
ajst-7731	65	39	to	to	ADP
ajst-7731	65	40	a	a	DET
ajst-7731	65	41	certain	certain	ADJ
ajst-7731	65	42	extent	extent	NOUN
ajst-7731	65	43	,	,	PUNCT
ajst-7731	65	44	which	which	PRON
ajst-7731	65	45	can	can	AUX
ajst-7731	65	46	improve	improve	VERB
ajst-7731	65	47	the	the	DET
ajst-7731	65	48	safety	safety	NOUN
ajst-7731	65	49	of	of	ADP
ajst-7731	65	50	the	the	DET
ajst-7731	65	51	vehicle	vehicle	NOUN
ajst-7731	65	52	.	.	PUNCT
ajst-7731	66	1	the	the	DET
ajst-7731	66	2	joint	joint	ADJ
ajst-7731	66	3	simulation	simulation	NOUN
ajst-7731	66	4	technology	technology	NOUN
ajst-7731	66	5	of	of	ADP
ajst-7731	66	6	the	the	DET
ajst-7731	66	7	joint	joint	ADJ
ajst-7731	66	8	simulation	simulation	NOUN
ajst-7731	66	9	platform	platform	NOUN
ajst-7731	66	10	based	base	VERB
ajst-7731	66	11	on	on	ADP
ajst-7731	66	12	the	the	DET
ajst-7731	66	13	typical	typical	ADJ
ajst-7731	66	14	road	road	NOUN
ajst-7731	66	15	conditions	condition	NOUN
ajst-7731	66	16	and	and	CCONJ
ajst-7731	66	17	the	the	DET
ajst-7731	66	18	path	path	NOUN
ajst-7731	66	19	tracking	tracking	NOUN
ajst-7731	66	20	controller	controller	NOUN
ajst-7731	66	21	can	can	AUX
ajst-7731	66	22	study	study	VERB
ajst-7731	66	23	the	the	DET
ajst-7731	66	24	effectiveness	effectiveness	NOUN
ajst-7731	66	25	of	of	ADP
ajst-7731	66	26	the	the	DET
ajst-7731	66	27	driverless	driverless	NOUN
ajst-7731	66	28	vehicle	vehicle	NOUN
ajst-7731	66	29	on	on	ADP
ajst-7731	66	30	the	the	DET
ajst-7731	66	31	desired	desire	VERB
ajst-7731	66	32	path	path	NOUN
ajst-7731	66	33	tracking	tracking	NOUN
ajst-7731	66	34	in	in	ADP
ajst-7731	66	35	real	real	ADJ
ajst-7731	66	36	time	time	NOUN
ajst-7731	66	37	,	,	PUNCT
ajst-7731	66	38	and	and	CCONJ
ajst-7731	66	39	has	have	VERB
ajst-7731	66	40	more	more	ADV
ajst-7731	66	41	practical	practical	ADJ
ajst-7731	66	42	significance	significance	NOUN
ajst-7731	66	43	.	.	PUNCT
ajst-7731	67	1	the	the	DET
ajst-7731	67	2	combination	combination	NOUN
ajst-7731	67	3	of	of	ADP
ajst-7731	67	4	driverless	driverless	NOUN
ajst-7731	67	5	systems	system	NOUN
ajst-7731	67	6	and	and	CCONJ
ajst-7731	67	7	the	the	DET
ajst-7731	67	8	completion	completion	NOUN
ajst-7731	67	9	of	of	ADP
ajst-7731	67	10	certain	certain	ADJ
ajst-7731	67	11	promotion	promotion	NOUN
ajst-7731	67	12	and	and	CCONJ
ajst-7731	67	13	application	application	NOUN
ajst-7731	67	14	will	will	AUX
ajst-7731	67	15	have	have	VERB
ajst-7731	67	16	great	great	ADJ
ajst-7731	67	17	social	social	ADJ
ajst-7731	67	18	and	and	CCONJ
ajst-7731	67	19	economic	economic	ADJ
ajst-7731	67	20	value	value	NOUN
ajst-7731	67	21	.	.	PUNCT
ajst-7731	68	1	acknowledgment	acknowledgment	NOUN
ajst-7731	68	2	project	project	NOUN
ajst-7731	68	3	number	number	NOUN
ajst-7731	68	4	:	:	PUNCT
ajst-7731	68	5	ybzysc20	ybzysc20	PROPN
ajst-7731	68	6	-	-	PUNCT
ajst-7731	68	7	62	62	NUM
ajst-7731	68	8	;	;	PUNCT
ajst-7731	68	9	ybzy20cxtd05	ybzy20cxtd05	PROPN
ajst-7731	68	10	new	new	ADJ
ajst-7731	68	11	energy	energy	NOUN
ajst-7731	68	12	vehicle	vehicle	NOUN
ajst-7731	68	13	control	control	NOUN
ajst-7731	68	14	technology	technology	NOUN
ajst-7731	68	15	and	and	CCONJ
ajst-7731	68	16	r	r	NOUN
ajst-7731	68	17	&	&	CCONJ
ajst-7731	68	18	d	d	PROPN
ajst-7731	68	19	team	team	NOUN
ajst-7731	68	20	references	reference	NOUN
ajst-7731	68	21	[	[	X
ajst-7731	68	22	1	1	NUM
ajst-7731	68	23	]	]	PUNCT
ajst-7731	68	24	li	li	PROPN
ajst-7731	68	25	yuhao	yuhao	PROPN
ajst-7731	68	26	,	,	PUNCT
ajst-7731	68	27	zhao	zhao	PROPN
ajst-7731	68	28	youqun	youqun	PROPN
ajst-7731	68	29	.	.	PUNCT
ajst-7731	69	1	path	path	PROPN
ajst-7731	69	2	tracking	tracking	NOUN
ajst-7731	69	3	of	of	ADP
ajst-7731	69	4	four	four	NUM
ajst-7731	69	5	-	-	PUNCT
ajst-7731	69	6	wheel	wheel	NOUN
ajst-7731	69	7	independent	independent	ADJ
ajst-7731	69	8	steering	steering	NOUN
ajst-7731	69	9	driverless	driverless	NOUN
ajst-7731	69	10	vehicle	vehicle	NOUN
ajst-7731	69	11	based	base	VERB
ajst-7731	69	12	on	on	ADP
ajst-7731	69	13	double	double	ADJ
ajst-7731	69	14	-	-	PUNCT
ajst-7731	69	15	layer	layer	NOUN
ajst-7731	69	16	control	control	NOUN
ajst-7731	69	17	strategy	strategy	NOUN
ajst-7731	70	1	[	[	X
ajst-7731	70	2	j	j	X
ajst-7731	70	3	]	]	X
ajst-7731	70	4	.	.	PUNCT
ajst-7731	71	1	journal	journal	PROPN
ajst-7731	71	2	of	of	ADP
ajst-7731	71	3	jiangsu	jiangsu	PROPN
ajst-7731	71	4	university	university	PROPN
ajst-7731	71	5	(	(	PUNCT
ajst-7731	71	6	natural	natural	ADJ
ajst-7731	71	7	science	science	NOUN
ajst-7731	71	8	edition	edition	NOUN
ajst-7731	71	9	)	)	PUNCT
ajst-7731	71	10	,	,	PUNCT
ajst-7731	71	11	2022	2022	NUM
ajst-7731	71	12	,	,	PUNCT
ajst-7731	71	13	43	43	NUM
ajst-7731	71	14	(	(	PUNCT
ajst-7731	71	15	04	04	NUM
ajst-7731	71	16	):	):	PUNCT
ajst-7731	71	17	386	386	NUM
ajst-7731	71	18	-	-	SYM
ajst-7731	71	19	393	393	NUM
ajst-7731	71	20	.	.	PUNCT
ajst-7731	72	1	[	[	X
ajst-7731	72	2	2	2	NUM
ajst-7731	72	3	]	]	X
ajst-7731	72	4	zhang	zhang	PROPN
ajst-7731	72	5	weigang	weigang	PROPN
ajst-7731	72	6	,	,	PUNCT
ajst-7731	72	7	zhang	zhang	PROPN
ajst-7731	72	8	peng	peng	PROPN
ajst-7731	72	9	,	,	PUNCT
ajst-7731	72	10	wei	wei	PROPN
ajst-7731	72	11	hao	hao	PROPN
ajst-7731	72	12	,	,	PUNCT
ajst-7731	72	13	xiong	xiong	PROPN
ajst-7731	72	14	juezhen	juezhen	PROPN
ajst-7731	72	15	.	.	PUNCT
ajst-7731	73	1	an	an	DET
ajst-7731	73	2	improved	improved	ADJ
ajst-7731	73	3	route	route	NOUN
ajst-7731	73	4	tracking	track	VERB
ajst-7731	73	5	control	control	NOUN
ajst-7731	73	6	algorithm	algorithm	NOUN
ajst-7731	73	7	for	for	ADP
ajst-7731	73	8	driverless	driverless	NOUN
ajst-7731	73	9	vehicles	vehicle	NOUN
ajst-7731	73	10	based	base	VERB
ajst-7731	73	11	on	on	ADP
ajst-7731	73	12	ltvmpc	ltvmpc	PROPN
ajst-7731	74	1	[	[	X
ajst-7731	74	2	j	j	X
ajst-7731	74	3	]	]	X
ajst-7731	74	4	.	.	PUNCT
ajst-7731	75	1	journal	journal	PROPN
ajst-7731	75	2	of	of	ADP
ajst-7731	75	3	hunan	hunan	PROPN
ajst-7731	75	4	university	university	PROPN
ajst-7731	75	5	(	(	PUNCT
ajst-7731	75	6	natural	natural	ADJ
ajst-7731	75	7	science	science	NOUN
ajst-7731	75	8	edition	edition	NOUN
ajst-7731	75	9	)	)	PUNCT
ajst-7731	75	10	,	,	PUNCT
ajst-7731	75	11	2021	2021	NUM
ajst-7731	75	12	,	,	PUNCT
ajst-7731	75	13	48	48	NUM
ajst-7731	75	14	(	(	PUNCT
ajst-7731	75	15	10	10	NUM
ajst-7731	75	16	):	):	PUNCT
ajst-7731	75	17	67	67	NUM
ajst-7731	75	18	-	-	SYM
ajst-7731	75	19	73	73	NUM
ajst-7731	75	20	.	.	PUNCT
ajst-7731	76	1	[	[	X
ajst-7731	76	2	3	3	NUM
ajst-7731	76	3	]	]	X
ajst-7731	76	4	jia	jia	PROPN
ajst-7731	76	5	changjian	changjian	PROPN
ajst-7731	76	6	.	.	PUNCT
ajst-7731	77	1	design	design	NOUN
ajst-7731	77	2	of	of	ADP
ajst-7731	77	3	route	route	NOUN
ajst-7731	77	4	tracking	track	VERB
ajst-7731	77	5	control	control	NOUN
ajst-7731	77	6	system	system	NOUN
ajst-7731	77	7	for	for	ADP
ajst-7731	77	8	driverless	driverless	ADJ
ajst-7731	77	9	new	new	ADJ
ajst-7731	77	10	energy	energy	NOUN
ajst-7731	77	11	vehicles	vehicle	NOUN
ajst-7731	77	12	under	under	ADP
ajst-7731	77	13	the	the	DET
ajst-7731	77	14	vision	vision	NOUN
ajst-7731	77	15	of	of	ADP
ajst-7731	77	16	internet	internet	NOUN
ajst-7731	77	17	of	of	ADP
ajst-7731	77	18	vehicles	vehicle	NOUN
ajst-7731	77	19	technology	technology	NOUN
ajst-7731	78	1	[	[	X
ajst-7731	78	2	j	j	X
ajst-7731	78	3	]	]	X
ajst-7731	78	4	.	.	PUNCT
ajst-7731	79	1	industrial	industrial	ADJ
ajst-7731	79	2	heating	heating	NOUN
ajst-7731	79	3	,	,	PUNCT
ajst-7731	79	4	2020,49	2020,49	NUM
ajst-7731	79	5	(	(	PUNCT
ajst-7731	79	6	12	12	NUM
ajst-7731	79	7	):	):	PUNCT
ajst-7731	79	8	47	47	NUM
ajst-7731	79	9	-	-	SYM
ajst-7731	79	10	49	49	NUM
ajst-7731	79	11	+	+	NUM
ajst-7731	79	12	52	52	NUM
ajst-7731	79	13	.	.	PUNCT
ajst-7731	80	1	[	[	X
ajst-7731	80	2	4	4	NUM
ajst-7731	80	3	]	]	PUNCT
ajst-7731	80	4	wu	wu	PROPN
ajst-7731	80	5	xiaolong	xiaolong	PROPN
ajst-7731	80	6	,	,	PUNCT
ajst-7731	80	7	xia	xia	PROPN
ajst-7731	80	8	fugen	fugen	PROPN
ajst-7731	80	9	,	,	PUNCT
ajst-7731	80	10	chen	chen	PROPN
ajst-7731	80	11	jing	jing	PROPN
ajst-7731	80	12	,	,	PUNCT
ajst-7731	80	13	xu	xu	PROPN
ajst-7731	80	14	jia	jia	PROPN
ajst-7731	80	15	.	.	PROPN
ajst-7731	80	16	path	path	PROPN
ajst-7731	80	17	tracking	tracking	NOUN
ajst-7731	80	18	control	control	NOUN
ajst-7731	80	19	of	of	ADP
ajst-7731	80	20	driverless	driverless	NOUN
ajst-7731	80	21	vehicle	vehicle	NOUN
ajst-7731	80	22	based	base	VERB
ajst-7731	80	23	on	on	ADP
ajst-7731	80	24	energy	energy	NOUN
ajst-7731	80	25	optimization	optimization	NOUN
ajst-7731	80	26	[	[	X
ajst-7731	80	27	j	j	X
ajst-7731	80	28	]	]	X
ajst-7731	80	29	.	.	PUNCT
ajst-7731	81	1	journal	journal	PROPN
ajst-7731	81	2	of	of	ADP
ajst-7731	81	3	system	system	NOUN
ajst-7731	81	4	simulation	simulation	NOUN
ajst-7731	81	5	,	,	PUNCT
ajst-7731	81	6	2022,34	2022,34	NUM
ajst-7731	81	7	(	(	PUNCT
ajst-7731	81	8	01	01	NUM
ajst-7731	81	9	):	):	PUNCT
ajst-7731	81	10	163	163	NUM
ajst-7731	81	11	-	-	SYM
ajst-7731	81	12	169	169	NUM
ajst-7731	81	13	.	.	PUNCT
ajst-7731	82	1	[	[	X
ajst-7731	82	2	5	5	X
ajst-7731	82	3	]	]	X
ajst-7731	82	4	zhang	zhang	PROPN
ajst-7731	82	5	xu	xu	PROPN
ajst-7731	82	6	,	,	PUNCT
ajst-7731	82	7	zhou	zhou	PROPN
ajst-7731	82	8	shiying	shiying	PROPN
ajst-7731	82	9	,	,	PUNCT
ajst-7731	82	10	shi	shi	PROPN
ajst-7731	82	11	zhengtang	zhengtang	PROPN
ajst-7731	82	12	,	,	PUNCT
ajst-7731	82	13	zhao	zhao	PROPN
ajst-7731	82	14	jian	jian	PROPN
ajst-7731	82	15	,	,	PUNCT
ajst-7731	82	16	zhu	zhu	PROPN
ajst-7731	82	17	bing	bing	NOUN
ajst-7731	82	18	.	.	PUNCT
ajst-7731	83	1	path	path	PROPN
ajst-7731	83	2	planning	planning	NOUN
ajst-7731	83	3	and	and	CCONJ
ajst-7731	83	4	tracking	tracking	NOUN
ajst-7731	83	5	control	control	NOUN
ajst-7731	83	6	of	of	ADP
ajst-7731	83	7	driverless	driverless	NOUN
ajst-7731	83	8	vehicle	vehicle	NOUN
ajst-7731	83	9	overtaking	overtaking	NOUN
ajst-7731	83	10	in	in	ADP
ajst-7731	83	11	curve	curve	NOUN
ajst-7731	83	12	using	use	VERB
ajst-7731	83	13	sliding	slide	VERB
ajst-7731	83	14	mode	mode	NOUN
ajst-7731	83	15	conditional	conditional	ADJ
ajst-7731	83	16	integration	integration	NOUN
ajst-7731	84	1	[	[	X
ajst-7731	84	2	j	j	X
ajst-7731	84	3	]	]	X
ajst-7731	84	4	.	.	PUNCT
ajst-7731	85	1	control	control	PROPN
ajst-7731	85	2	theory	theory	NOUN
ajst-7731	85	3	and	and	CCONJ
ajst-7731	85	4	application	application	NOUN
ajst-7731	85	5	,	,	PUNCT
ajst-7731	85	6	2021,38	2021,38	NUM
ajst-7731	85	7	(	(	PUNCT
ajst-7731	85	8	02	02	NUM
ajst-7731	85	9	):	):	PUNCT
ajst-7731	85	10	197	197	NUM
ajst-7731	85	11	-	-	SYM
ajst-7731	85	12	205	205	NUM
ajst-7731	85	13	.	.	PUNCT
ajst-7731	86	1	[	[	X
ajst-7731	86	2	6	6	NUM
ajst-7731	86	3	]	]	X
ajst-7731	86	4	zhang	zhang	PROPN
ajst-7731	86	5	feitie	feitie	PROPN
ajst-7731	86	6	,	,	PUNCT
ajst-7731	86	7	feng	feng	PROPN
ajst-7731	86	8	shansen	shansen	PROPN
ajst-7731	86	9	,	,	PUNCT
ajst-7731	86	10	huang	huang	PROPN
ajst-7731	86	11	jing	jing	PROPN
ajst-7731	86	12	.	.	PUNCT
ajst-7731	87	1	research	research	NOUN
ajst-7731	87	2	on	on	ADP
ajst-7731	87	3	path	path	NOUN
ajst-7731	87	4	tracking	tracking	NOUN
ajst-7731	87	5	control	control	NOUN
ajst-7731	87	6	of	of	ADP
ajst-7731	87	7	unmanned	unmanned	ADJ
ajst-7731	87	8	vehicles	vehicle	NOUN
ajst-7731	88	1	[	[	X
ajst-7731	88	2	j	j	X
ajst-7731	88	3	]	]	X
ajst-7731	88	4	.	.	PUNCT
ajst-7731	89	1	computer	computer	NOUN
ajst-7731	89	2	simulation	simulation	PROPN
ajst-7731	89	3	,	,	PUNCT
ajst-7731	89	4	2019,36	2019,36	NUM
ajst-7731	89	5	(	(	PUNCT
ajst-7731	89	6	06	06	NUM
ajst-7731	89	7	):	):	PUNCT
ajst-7731	89	8	175	175	NUM
ajst-7731	89	9	-	-	SYM
ajst-7731	89	10	178	178	NUM
ajst-7731	89	11	+	+	NUM
ajst-7731	89	12	407	407	NUM
ajst-7731	89	13	.	.	PUNCT
ajst-7731	90	1	[	[	X
ajst-7731	90	2	7	7	X
ajst-7731	90	3	]	]	X
ajst-7731	90	4	guo	guo	PROPN
ajst-7731	90	5	yingshi	yingshi	PROPN
ajst-7731	90	6	,	,	PUNCT
ajst-7731	90	7	jiang	jiang	PROPN
ajst-7731	90	8	zhengmin	zhengmin	PROPN
ajst-7731	90	9	,	,	PUNCT
ajst-7731	90	10	bai	bai	PROPN
ajst-7731	90	11	yan	yan	PROPN
ajst-7731	90	12	,	,	PUNCT
ajst-7731	90	13	tang	tang	PROPN
ajst-7731	90	14	jiejian	jiejian	PROPN
ajst-7731	90	15	.	.	PUNCT
ajst-7731	91	1	research	research	NOUN
ajst-7731	91	2	on	on	ADP
ajst-7731	91	3	anthropomorphism	anthropomorphism	NOUN
ajst-7731	91	4	of	of	ADP
ajst-7731	91	5	route	route	NOUN
ajst-7731	91	6	tracking	track	VERB
ajst-7731	91	7	control	control	NOUN
ajst-7731	91	8	method	method	NOUN
ajst-7731	91	9	for	for	ADP
ajst-7731	91	10	driverless	driverless	NOUN
ajst-7731	91	11	vehicles	vehicle	NOUN
ajst-7731	92	1	[	[	X
ajst-7731	92	2	j	j	X
ajst-7731	92	3	]	]	X
ajst-7731	92	4	.	.	PUNCT
ajst-7731	93	1	china	china	PROPN
ajst-7731	93	2	journal	journal	PROPN
ajst-7731	93	3	of	of	ADP
ajst-7731	93	4	highways	highway	NOUN
ajst-7731	93	5	,	,	PUNCT
ajst-7731	93	6	2018,31	2018,31	PROPN
ajst-7731	93	7	(	(	PUNCT
ajst-7731	93	8	08	08	NUM
ajst-7731	93	9	):	):	PUNCT
ajst-7731	93	10	189	189	NUM
ajst-7731	93	11	-	-	SYM
ajst-7731	93	12	196	196	NUM
ajst-7731	93	13	.	.	PUNCT