id	sid	tid	token	lemma	pos
asir-37319	1	1	applied	apply	VERB
asir-37319	1	2	science	science	NOUN
asir-37319	1	3	and	and	CCONJ
asir-37319	1	4	innovative	innovative	ADJ
asir-37319	1	5	research	research	NOUN
asir-37319	1	6	issn	issn	VERB
asir-37319	1	7	2474	2474	NUM
asir-37319	1	8	-	-	SYM
asir-37319	1	9	4972	4972	NUM
asir-37319	1	10	(	(	PUNCT
asir-37319	1	11	print	print	NOUN
asir-37319	1	12	)	)	PUNCT
asir-37319	1	13	issn	issn	VERB
asir-37319	1	14	2474	2474	NUM
asir-37319	1	15	-	-	SYM
asir-37319	1	16	4980	4980	NUM
asir-37319	1	17	(	(	PUNCT
asir-37319	1	18	online	online	ADJ
asir-37319	1	19	)	)	PUNCT
asir-37319	1	20	vol	vol	NOUN
asir-37319	1	21	.	.	NOUN
asir-37319	1	22	8	8	NUM
asir-37319	1	23	,	,	PUNCT
asir-37319	1	24	no	no	INTJ
asir-37319	1	25	.	.	NOUN
asir-37319	1	26	2	2	NUM
asir-37319	1	27	,	,	PUNCT
asir-37319	1	28	2024	2024	NUM
asir-37319	1	29	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-37319	1	30	57	57	NUM
asir-37319	1	31	original	original	ADJ
asir-37319	1	32	paper	paper	NOUN
asir-37319	1	33	research	research	NOUN
asir-37319	1	34	on	on	ADP
asir-37319	1	35	aeb	aeb	PROPN
asir-37319	1	36	-	-	PUNCT
asir-37319	1	37	p	p	NOUN
asir-37319	1	38	control	control	NOUN
asir-37319	1	39	strategy	strategy	NOUN
asir-37319	1	40	considering	consider	VERB
asir-37319	1	41	braking	brake	VERB
asir-37319	1	42	process	process	NOUN
asir-37319	1	43	comfort	comfort	NOUN
asir-37319	1	44	peng	peng	PROPN
asir-37319	1	45	yang1	yang1	PROPN
asir-37319	2	1	*	*	PROPN
asir-37319	2	2	,	,	PUNCT
asir-37319	2	3	ying	ying	PROPN
asir-37319	2	4	lu1	lu1	PROPN
asir-37319	2	5	&	&	CCONJ
asir-37319	2	6	ye	ye	NOUN
asir-37319	2	7	chen1	chen1	ADJ
asir-37319	2	8	1	1	NUM
asir-37319	2	9	school	school	NOUN
asir-37319	2	10	of	of	ADP
asir-37319	2	11	automotive	automotive	ADJ
asir-37319	2	12	and	and	CCONJ
asir-37319	2	13	traffic	traffic	NOUN
asir-37319	2	14	engineering	engineering	NOUN
asir-37319	2	15	,	,	PUNCT
asir-37319	2	16	jiangsu	jiangsu	PROPN
asir-37319	2	17	university	university	PROPN
asir-37319	2	18	,	,	PUNCT
asir-37319	2	19	zhenjiang	zhenjiang	PROPN
asir-37319	2	20	,	,	PUNCT
asir-37319	2	21	jiangsu	jiangsu	PROPN
asir-37319	2	22	212013	212013	NUM
asir-37319	2	23	,	,	PUNCT
asir-37319	2	24	china	china	PROPN
asir-37319	2	25	*	*	PUNCT
asir-37319	2	26	corresponding	correspond	VERB
asir-37319	2	27	author	author	NOUN
asir-37319	2	28	,	,	PUNCT
asir-37319	2	29	peng	peng	PROPN
asir-37319	2	30	yang	yang	PROPN
asir-37319	2	31	,	,	PUNCT
asir-37319	2	32	e	e	NOUN
asir-37319	2	33	-	-	NOUN
asir-37319	2	34	mail	mail	NOUN
asir-37319	2	35	:	:	PUNCT
asir-37319	2	36	yangpeng037@163.com	yangpeng037@163.com	X
asir-37319	2	37	received	receive	VERB
asir-37319	2	38	:	:	PUNCT
asir-37319	2	39	april	april	PROPN
asir-37319	2	40	17	17	NUM
asir-37319	2	41	,	,	PUNCT
asir-37319	2	42	2024	2024	NUM
asir-37319	2	43	accepted	accept	VERB
asir-37319	2	44	:	:	PUNCT
asir-37319	2	45	may	may	AUX
asir-37319	2	46	3	3	NUM
asir-37319	2	47	,	,	PUNCT
asir-37319	2	48	2024	2024	NUM
asir-37319	2	49	online	online	ADV
asir-37319	2	50	published	publish	VERB
asir-37319	2	51	:	:	PUNCT
asir-37319	2	52	may	may	AUX
asir-37319	2	53	10	10	NUM
asir-37319	2	54	,	,	PUNCT
asir-37319	2	55	2024	2024	NUM
asir-37319	2	56	doi:10.22158	doi:10.22158	NOUN
asir-37319	2	57	/	/	SYM
asir-37319	2	58	asir.v8n2p57	asir.v8n2p57	NOUN
asir-37319	2	59	url	url	PROPN
asir-37319	2	60	:	:	PUNCT
asir-37319	3	1	http://doi.org/10.22158/asir.v8n2p57	http://doi.org/10.22158/asir.v8n2p57	PROPN
asir-37319	3	2	abstract	abstract	ADJ
asir-37319	3	3	a	a	DET
asir-37319	3	4	control	control	NOUN
asir-37319	3	5	approach	approach	NOUN
asir-37319	3	6	for	for	ADP
asir-37319	3	7	the	the	DET
asir-37319	3	8	pedestrian	pedestrian	NOUN
asir-37319	3	9	-	-	PUNCT
asir-37319	3	10	oriented	orient	VERB
asir-37319	3	11	automobile	automobile	NOUN
asir-37319	3	12	automatic	automatic	ADJ
asir-37319	3	13	emergency	emergency	NOUN
asir-37319	3	14	braking	brake	VERB
asir-37319	3	15	system	system	NOUN
asir-37319	3	16	(	(	PUNCT
asir-37319	3	17	aeb	aeb	NOUN
asir-37319	3	18	-	-	PUNCT
asir-37319	3	19	p	p	NOUN
asir-37319	3	20	)	)	PUNCT
asir-37319	3	21	that	that	PRON
asir-37319	3	22	takes	take	VERB
asir-37319	3	23	driving	drive	VERB
asir-37319	3	24	comfort	comfort	NOUN
asir-37319	3	25	into	into	ADP
asir-37319	3	26	account	account	NOUN
asir-37319	3	27	is	be	AUX
asir-37319	3	28	suggested	suggest	VERB
asir-37319	3	29	in	in	ADP
asir-37319	3	30	an	an	DET
asir-37319	3	31	effort	effort	NOUN
asir-37319	3	32	to	to	PART
asir-37319	3	33	further	far	ADV
asir-37319	3	34	optimize	optimize	VERB
asir-37319	3	35	the	the	DET
asir-37319	3	36	aeb	aeb	NOUN
asir-37319	3	37	-	-	PUNCT
asir-37319	3	38	p	p	NOUN
asir-37319	3	39	system	system	NOUN
asir-37319	3	40	's	's	PART
asir-37319	3	41	control	control	NOUN
asir-37319	3	42	algorithm	algorithm	NOUN
asir-37319	3	43	.	.	PUNCT
asir-37319	4	1	firstly	firstly	ADV
asir-37319	4	2	,	,	PUNCT
asir-37319	4	3	for	for	ADP
asir-37319	4	4	the	the	DET
asir-37319	4	5	aeb	aeb	NOUN
asir-37319	4	6	-	-	PUNCT
asir-37319	4	7	p	p	NOUN
asir-37319	4	8	assessment	assessment	NOUN
asir-37319	4	9	standard	standard	NOUN
asir-37319	4	10	of	of	ADP
asir-37319	4	11	c	c	NOUN
asir-37319	4	12	-	-	PUNCT
asir-37319	4	13	ncap	ncap	NOUN
asir-37319	4	14	,	,	PUNCT
asir-37319	4	15	a	a	DET
asir-37319	4	16	braking	braking	NOUN
asir-37319	4	17	safety	safety	NOUN
asir-37319	4	18	distance	distance	NOUN
asir-37319	4	19	model	model	NOUN
asir-37319	4	20	that	that	PRON
asir-37319	4	21	takes	take	VERB
asir-37319	4	22	the	the	DET
asir-37319	4	23	driver	driver	NOUN
asir-37319	4	24	's	's	PART
asir-37319	4	25	comfort	comfort	NOUN
asir-37319	4	26	into	into	ADP
asir-37319	4	27	account	account	NOUN
asir-37319	4	28	during	during	ADP
asir-37319	4	29	braking	braking	NOUN
asir-37319	4	30	is	be	AUX
asir-37319	4	31	created	create	VERB
asir-37319	4	32	.	.	PUNCT
asir-37319	5	1	the	the	DET
asir-37319	5	2	next	next	ADJ
asir-37319	5	3	step	step	NOUN
asir-37319	5	4	was	be	AUX
asir-37319	5	5	to	to	PART
asir-37319	5	6	construct	construct	VERB
asir-37319	5	7	a	a	DET
asir-37319	5	8	hierarchical	hierarchical	ADJ
asir-37319	5	9	controller	controller	NOUN
asir-37319	5	10	using	use	VERB
asir-37319	5	11	pid	pid	NOUN
asir-37319	5	12	and	and	CCONJ
asir-37319	5	13	mpc	mpc	NOUN
asir-37319	5	14	principles	principle	NOUN
asir-37319	5	15	.	.	PUNCT
asir-37319	6	1	lastly	lastly	ADV
asir-37319	6	2	,	,	PUNCT
asir-37319	6	3	carsim	carsim	PROPN
asir-37319	6	4	and	and	CCONJ
asir-37319	6	5	matlab	matlab	PROPN
asir-37319	6	6	/	/	SYM
asir-37319	6	7	simulink	simulink	PROPN
asir-37319	6	8	are	be	AUX
asir-37319	6	9	used	use	VERB
asir-37319	6	10	to	to	PART
asir-37319	6	11	build	build	VERB
asir-37319	6	12	and	and	CCONJ
asir-37319	6	13	validate	validate	VERB
asir-37319	6	14	the	the	DET
asir-37319	6	15	test	test	NOUN
asir-37319	6	16	scenarios	scenario	NOUN
asir-37319	6	17	and	and	CCONJ
asir-37319	6	18	control	control	NOUN
asir-37319	6	19	methods	method	NOUN
asir-37319	6	20	.	.	PUNCT
asir-37319	7	1	the	the	DET
asir-37319	7	2	simulation	simulation	NOUN
asir-37319	7	3	results	result	NOUN
asir-37319	7	4	demonstrate	demonstrate	VERB
asir-37319	7	5	that	that	SCONJ
asir-37319	7	6	both	both	PRON
asir-37319	7	7	ride	ride	VERB
asir-37319	7	8	comfort	comfort	NOUN
asir-37319	7	9	and	and	CCONJ
asir-37319	7	10	driving	drive	VERB
asir-37319	7	11	safety	safety	NOUN
asir-37319	7	12	can	can	AUX
asir-37319	7	13	be	be	AUX
asir-37319	7	14	guaranteed	guarantee	VERB
asir-37319	7	15	by	by	ADP
asir-37319	7	16	the	the	DET
asir-37319	7	17	suggested	suggest	VERB
asir-37319	7	18	control	control	NOUN
asir-37319	7	19	technique	technique	NOUN
asir-37319	7	20	.	.	PUNCT
asir-37319	8	1	keywords	keyword	NOUN
asir-37319	8	2	vehicle	vehicle	NOUN
asir-37319	8	3	engineering	engineering	NOUN
asir-37319	8	4	,	,	PUNCT
asir-37319	8	5	automatic	automatic	ADJ
asir-37319	8	6	emergency	emergency	NOUN
asir-37319	8	7	braking	braking	NOUN
asir-37319	8	8	,	,	PUNCT
asir-37319	8	9	model	model	NOUN
asir-37319	8	10	predicative	predicative	ADJ
asir-37319	8	11	control	control	NOUN
asir-37319	8	12	,	,	PUNCT
asir-37319	8	13	pedestrian	pedestrian	NOUN
asir-37319	8	14	collision	collision	NOUN
asir-37319	8	15	avoidance	avoidance	NOUN
asir-37319	8	16	1	1	NUM
asir-37319	8	17	.	.	PUNCT
asir-37319	9	1	introduction	introduction	NOUN
asir-37319	9	2	the	the	DET
asir-37319	9	3	world	world	PROPN
asir-37319	9	4	health	health	NOUN
asir-37319	9	5	organization	organization	NOUN
asir-37319	9	6	estimates	estimate	VERB
asir-37319	9	7	that	that	SCONJ
asir-37319	9	8	1.35	1.35	NUM
asir-37319	9	9	million	million	NUM
asir-37319	9	10	individuals	individual	NOUN
asir-37319	9	11	worldwide	worldwide	ADV
asir-37319	9	12	lose	lose	VERB
asir-37319	9	13	their	their	PRON
asir-37319	9	14	lives	life	NOUN
asir-37319	9	15	in	in	ADP
asir-37319	9	16	traffic	traffic	NOUN
asir-37319	9	17	accidents	accident	NOUN
asir-37319	9	18	each	each	DET
asir-37319	9	19	year	year	NOUN
asir-37319	9	20	(	(	PUNCT
asir-37319	9	21	world	world	NOUN
asir-37319	9	22	health	health	NOUN
asir-37319	9	23	organization	organization	NOUN
asir-37319	9	24	,	,	PUNCT
asir-37319	9	25	2018	2018	NUM
asir-37319	9	26	)	)	PUNCT
asir-37319	9	27	,	,	PUNCT
asir-37319	9	28	with	with	ADP
asir-37319	9	29	vulnerable	vulnerable	ADJ
asir-37319	9	30	road	road	NOUN
asir-37319	9	31	users	user	NOUN
asir-37319	9	32	accounting	account	VERB
asir-37319	9	33	for	for	ADP
asir-37319	9	34	more	more	ADJ
asir-37319	9	35	than	than	ADP
asir-37319	9	36	half	half	NOUN
asir-37319	9	37	of	of	ADP
asir-37319	9	38	the	the	DET
asir-37319	9	39	fatalities	fatality	NOUN
asir-37319	9	40	.	.	PUNCT
asir-37319	10	1	the	the	DET
asir-37319	10	2	number	number	NOUN
asir-37319	10	3	of	of	ADP
asir-37319	10	4	pedestrian	pedestrian	NOUN
asir-37319	10	5	-	-	PUNCT
asir-37319	10	6	vehicle	vehicle	NOUN
asir-37319	10	7	collision	collision	NOUN
asir-37319	10	8	(	(	PUNCT
asir-37319	10	9	pvc)-related	pvc)-relate	VERB
asir-37319	10	10	injuries	injury	NOUN
asir-37319	10	11	and	and	CCONJ
asir-37319	10	12	fatalities	fatality	NOUN
asir-37319	10	13	in	in	ADP
asir-37319	10	14	china	china	PROPN
asir-37319	10	15	is	be	AUX
asir-37319	10	16	rising	rise	VERB
asir-37319	10	17	annually	annually	ADV
asir-37319	10	18	(	(	PUNCT
asir-37319	10	19	tian	tian	PROPN
asir-37319	10	20	,	,	PUNCT
asir-37319	10	21	zhang	zhang	PROPN
asir-37319	10	22	,	,	PUNCT
asir-37319	10	23	&	&	CCONJ
asir-37319	10	24	wang	wang	PROPN
asir-37319	10	25	,	,	PUNCT
asir-37319	10	26	2020	2020	NUM
asir-37319	10	27	)	)	PUNCT
asir-37319	10	28	.	.	PUNCT
asir-37319	11	1	therefore	therefore	ADV
asir-37319	11	2	,	,	PUNCT
asir-37319	11	3	the	the	DET
asir-37319	11	4	main	main	ADJ
asir-37319	11	5	goal	goal	NOUN
asir-37319	11	6	of	of	ADP
asir-37319	11	7	research	research	NOUN
asir-37319	11	8	on	on	ADP
asir-37319	11	9	vehicle	vehicle	NOUN
asir-37319	11	10	safety	safety	NOUN
asir-37319	11	11	technologies	technology	NOUN
asir-37319	11	12	is	be	AUX
asir-37319	11	13	to	to	PART
asir-37319	11	14	determine	determine	VERB
asir-37319	11	15	how	how	SCONJ
asir-37319	11	16	to	to	PART
asir-37319	11	17	prevent	prevent	VERB
asir-37319	11	18	or	or	CCONJ
asir-37319	11	19	minimize	minimize	VERB
asir-37319	11	20	traffic	traffic	NOUN
asir-37319	11	21	safety	safety	NOUN
asir-37319	11	22	mishaps	mishap	NOUN
asir-37319	11	23	.	.	PUNCT
asir-37319	12	1	one	one	NUM
asir-37319	12	2	significant	significant	ADJ
asir-37319	12	3	automobile	automobile	NOUN
asir-37319	12	4	active	active	ADJ
asir-37319	12	5	safety	safety	NOUN
asir-37319	12	6	technology	technology	NOUN
asir-37319	12	7	that	that	PRON
asir-37319	12	8	can	can	AUX
asir-37319	12	9	significantly	significantly	ADV
asir-37319	12	10	lower	lower	VERB
asir-37319	12	11	the	the	DET
asir-37319	12	12	death	death	NOUN
asir-37319	12	13	rate	rate	NOUN
asir-37319	12	14	of	of	ADP
asir-37319	12	15	vrus	vrus	NOUN
asir-37319	12	16	in	in	ADP
asir-37319	12	17	road	road	NOUN
asir-37319	12	18	accidents	accident	NOUN
asir-37319	12	19	is	be	AUX
asir-37319	12	20	autonomous	autonomous	ADJ
asir-37319	12	21	emergency	emergency	NOUN
asir-37319	12	22	braking	braking	NOUN
asir-37319	12	23	for	for	ADP
asir-37319	12	24	pedestrians	pedestrian	NOUN
asir-37319	12	25	(	(	PUNCT
asir-37319	12	26	aeb	aeb	NOUN
asir-37319	12	27	-	-	PUNCT
asir-37319	12	28	p	p	NOUN
asir-37319	12	29	)	)	PUNCT
asir-37319	12	30	(	(	PUNCT
asir-37319	12	31	fildes	fildes	PROPN
asir-37319	12	32	,	,	PUNCT
asir-37319	12	33	keall	keall	PROPN
asir-37319	12	34	,	,	PUNCT
asir-37319	12	35	bos	bo	NOUN
asir-37319	12	36	,	,	PUNCT
asir-37319	12	37	lie	lie	NOUN
asir-37319	12	38	,	,	PUNCT
asir-37319	12	39	page	page	NOUN
asir-37319	12	40	,	,	PUNCT
asir-37319	12	41	pastor	pastor	NOUN
asir-37319	12	42	,	,	PUNCT
asir-37319	12	43	pennisi	pennisi	VERB
asir-37319	12	44	,	,	PUNCT
asir-37319	12	45	rizzi	rizzi	PROPN
asir-37319	12	46	,	,	PUNCT
asir-37319	12	47	thomas	thomas	PROPN
asir-37319	12	48	,	,	PUNCT
asir-37319	12	49	&	&	CCONJ
asir-37319	12	50	tingvall	tingvall	PROPN
asir-37319	12	51	,	,	PUNCT
asir-37319	12	52	2015	2015	NUM
asir-37319	12	53	)	)	PUNCT
asir-37319	12	54	.	.	PUNCT
asir-37319	13	1	as	as	ADP
asir-37319	13	2	a	a	DET
asir-37319	13	3	result	result	NOUN
asir-37319	13	4	,	,	PUNCT
asir-37319	13	5	numerous	numerous	ADJ
asir-37319	13	6	researchers	researcher	NOUN
asir-37319	13	7	have	have	AUX
asir-37319	13	8	focused	focus	VERB
asir-37319	13	9	on	on	ADP
asir-37319	13	10	enhancing	enhance	VERB
asir-37319	13	11	and	and	CCONJ
asir-37319	13	12	optimizing	optimize	VERB
asir-37319	13	13	aeb	aeb	NOUN
asir-37319	13	14	-	-	PUNCT
asir-37319	13	15	p	p	NOUN
asir-37319	13	16	performance	performance	NOUN
asir-37319	13	17	.	.	PUNCT
asir-37319	14	1	as	as	SCONJ
asir-37319	14	2	research	research	NOUN
asir-37319	14	3	on	on	ADP
asir-37319	14	4	aeb	aeb	NOUN
asir-37319	14	5	deepens	deepen	VERB
asir-37319	14	6	,	,	PUNCT
asir-37319	14	7	some	some	DET
asir-37319	14	8	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-37319	14	9	applied	apply	VERB
asir-37319	14	10	science	science	NOUN
asir-37319	14	11	and	and	CCONJ
asir-37319	14	12	innovative	innovative	ADJ
asir-37319	14	13	research	research	NOUN
asir-37319	14	14	vol	vol	NOUN
asir-37319	14	15	.	.	PROPN
asir-37319	15	1	8	8	NUM
asir-37319	15	2	,	,	PUNCT
asir-37319	15	3	no	no	INTJ
asir-37319	15	4	.	.	NOUN
asir-37319	15	5	2	2	NUM
asir-37319	15	6	,	,	PUNCT
asir-37319	15	7	2024	2024	NUM
asir-37319	15	8	58	58	NUM
asir-37319	15	9	published	publish	VERB
asir-37319	15	10	by	by	ADP
asir-37319	15	11	scholink	scholink	PROPN
asir-37319	15	12	inc	inc	PROPN
asir-37319	15	13	.	.	PROPN
asir-37319	15	14	academics	academic	NOUN
asir-37319	15	15	have	have	AUX
asir-37319	15	16	begun	begin	VERB
asir-37319	15	17	to	to	PART
asir-37319	15	18	design	design	VERB
asir-37319	15	19	the	the	DET
asir-37319	15	20	brake	brake	NOUN
asir-37319	15	21	recovery	recovery	NOUN
asir-37319	15	22	and	and	CCONJ
asir-37319	15	23	release	release	VERB
asir-37319	15	24	zones	zone	NOUN
asir-37319	15	25	during	during	ADP
asir-37319	15	26	partial	partial	ADJ
asir-37319	15	27	braking	braking	NOUN
asir-37319	15	28	and	and	CCONJ
asir-37319	15	29	have	have	AUX
asir-37319	15	30	begun	begin	VERB
asir-37319	15	31	to	to	PART
asir-37319	15	32	incorporate	incorporate	VERB
asir-37319	15	33	driver	driver	NOUN
asir-37319	15	34	characteristics	characteristic	NOUN
asir-37319	15	35	into	into	ADP
asir-37319	15	36	the	the	DET
asir-37319	15	37	safety	safety	NOUN
asir-37319	15	38	control	control	NOUN
asir-37319	15	39	strategy	strategy	NOUN
asir-37319	15	40	in	in	ADP
asir-37319	15	41	an	an	DET
asir-37319	15	42	effort	effort	NOUN
asir-37319	15	43	to	to	PART
asir-37319	15	44	prevent	prevent	VERB
asir-37319	15	45	drivers	driver	NOUN
asir-37319	15	46	from	from	ADP
asir-37319	15	47	becoming	become	VERB
asir-37319	15	48	so	so	ADV
asir-37319	15	49	uncomfortable	uncomfortable	ADJ
asir-37319	15	50	that	that	SCONJ
asir-37319	15	51	they	they	PRON
asir-37319	15	52	turn	turn	VERB
asir-37319	15	53	off	off	ADP
asir-37319	15	54	the	the	DET
asir-37319	15	55	aeb	aeb	NOUN
asir-37319	15	56	-	-	PUNCT
asir-37319	15	57	p	p	NOUN
asir-37319	15	58	system	system	NOUN
asir-37319	15	59	,	,	PUNCT
asir-37319	15	60	which	which	PRON
asir-37319	15	61	increases	increase	VERB
asir-37319	15	62	the	the	DET
asir-37319	15	63	safety	safety	NOUN
asir-37319	15	64	hazard	hazard	NOUN
asir-37319	15	65	(	(	PUNCT
asir-37319	15	66	bae	bae	PROPN
asir-37319	15	67	,	,	PUNCT
asir-37319	15	68	lee	lee	PROPN
asir-37319	15	69	,	,	PUNCT
asir-37319	15	70	&	&	CCONJ
asir-37319	15	71	kang	kang	PROPN
asir-37319	15	72	,	,	PUNCT
asir-37319	15	73	2020	2020	NUM
asir-37319	15	74	)	)	PUNCT
asir-37319	15	75	.	.	PUNCT
asir-37319	16	1	this	this	DET
asir-37319	16	2	paper	paper	NOUN
asir-37319	16	3	proposes	propose	VERB
asir-37319	16	4	an	an	DET
asir-37319	16	5	aeb	aeb	NOUN
asir-37319	16	6	-	-	PUNCT
asir-37319	16	7	p	p	NOUN
asir-37319	16	8	safety	safety	NOUN
asir-37319	16	9	distance	distance	NOUN
asir-37319	16	10	algorithm	algorithm	NOUN
asir-37319	16	11	that	that	PRON
asir-37319	16	12	combines	combine	VERB
asir-37319	16	13	driving	drive	VERB
asir-37319	16	14	safety	safety	NOUN
asir-37319	16	15	and	and	CCONJ
asir-37319	16	16	comfort	comfort	NOUN
asir-37319	16	17	.	.	PUNCT
asir-37319	17	1	comfort	comfort	NOUN
asir-37319	17	2	is	be	AUX
asir-37319	17	3	taken	take	VERB
asir-37319	17	4	into	into	ADP
asir-37319	17	5	consideration	consideration	NOUN
asir-37319	17	6	when	when	SCONJ
asir-37319	17	7	designing	design	VERB
asir-37319	17	8	a	a	DET
asir-37319	17	9	safety	safety	NOUN
asir-37319	17	10	distance	distance	NOUN
asir-37319	17	11	threshold	threshold	NOUN
asir-37319	17	12	model	model	NOUN
asir-37319	17	13	for	for	ADP
asir-37319	17	14	the	the	DET
asir-37319	17	15	aeb	aeb	NOUN
asir-37319	17	16	-	-	PUNCT
asir-37319	17	17	p	p	NOUN
asir-37319	17	18	evaluation	evaluation	NOUN
asir-37319	17	19	standard	standard	NOUN
asir-37319	17	20	of	of	ADP
asir-37319	17	21	c	c	NOUN
asir-37319	17	22	-	-	PUNCT
asir-37319	17	23	ncap	ncap	NOUN
asir-37319	17	24	.	.	PUNCT
asir-37319	18	1	in	in	ADP
asir-37319	18	2	order	order	NOUN
asir-37319	18	3	to	to	PART
asir-37319	18	4	assess	assess	VERB
asir-37319	18	5	the	the	DET
asir-37319	18	6	efficacy	efficacy	NOUN
asir-37319	18	7	of	of	ADP
asir-37319	18	8	the	the	DET
asir-37319	18	9	approach	approach	NOUN
asir-37319	18	10	presented	present	VERB
asir-37319	18	11	in	in	ADP
asir-37319	18	12	this	this	DET
asir-37319	18	13	paper	paper	NOUN
asir-37319	18	14	and	and	CCONJ
asir-37319	18	15	examine	examine	VERB
asir-37319	18	16	the	the	DET
asir-37319	18	17	experimental	experimental	ADJ
asir-37319	18	18	outcomes	outcome	NOUN
asir-37319	18	19	,	,	PUNCT
asir-37319	18	20	an	an	DET
asir-37319	18	21	aeb	aeb	NOUN
asir-37319	18	22	-	-	PUNCT
asir-37319	18	23	p	p	NOUN
asir-37319	18	24	test	test	NOUN
asir-37319	18	25	scenario	scenario	NOUN
asir-37319	18	26	is	be	AUX
asir-37319	18	27	lastly	lastly	ADV
asir-37319	18	28	constructed	construct	VERB
asir-37319	18	29	.	.	PUNCT
asir-37319	19	1	2	2	X
asir-37319	19	2	.	.	X
asir-37319	19	3	aeb	aeb	NOUN
asir-37319	19	4	-	-	PUNCT
asir-37319	19	5	p	p	NOUN
asir-37319	19	6	safety	safety	NOUN
asir-37319	19	7	assessment	assessment	NOUN
asir-37319	19	8	modeling	model	VERB
asir-37319	19	9	2.1	2.1	NUM
asir-37319	19	10	safe	safe	ADJ
asir-37319	19	11	distance	distance	NOUN
asir-37319	19	12	algorithm	algorithm	NOUN
asir-37319	19	13	considering	consider	VERB
asir-37319	19	14	comfort	comfort	NOUN
asir-37319	19	15	in	in	ADP
asir-37319	19	16	order	order	NOUN
asir-37319	19	17	to	to	PART
asir-37319	19	18	fully	fully	ADV
asir-37319	19	19	stop	stop	VERB
asir-37319	19	20	the	the	DET
asir-37319	19	21	car	car	NOUN
asir-37319	19	22	,	,	PUNCT
asir-37319	19	23	the	the	DET
asir-37319	19	24	driver	driver	NOUN
asir-37319	19	25	typically	typically	ADV
asir-37319	19	26	has	have	VERB
asir-37319	19	27	to	to	PART
asir-37319	19	28	go	go	VERB
asir-37319	19	29	through	through	ADP
asir-37319	19	30	a	a	DET
asir-37319	19	31	number	number	NOUN
asir-37319	19	32	of	of	ADP
asir-37319	19	33	phases	phase	NOUN
asir-37319	19	34	,	,	PUNCT
asir-37319	19	35	which	which	PRON
asir-37319	19	36	are	be	AUX
asir-37319	19	37	primarily	primarily	ADV
asir-37319	19	38	broken	break	VERB
asir-37319	19	39	down	down	ADP
asir-37319	19	40	into	into	ADP
asir-37319	19	41	the	the	DET
asir-37319	19	42	following	follow	VERB
asir-37319	19	43	stages	stage	NOUN
asir-37319	19	44	:	:	PUNCT
asir-37319	19	45	the	the	DET
asir-37319	19	46	stage	stage	NOUN
asir-37319	19	47	of	of	ADP
asir-37319	19	48	the	the	DET
asir-37319	19	49	driver	driver	NOUN
asir-37319	19	50	's	's	PART
asir-37319	19	51	reaction	reaction	NOUN
asir-37319	19	52	(	(	PUNCT
asir-37319	19	53	0	0	NUM
asir-37319	19	54	~	~	NOUN
asir-37319	19	55	t1	t1	NOUN
asir-37319	19	56	)	)	PUNCT
asir-37319	19	57	;	;	PUNCT
asir-37319	19	58	the	the	DET
asir-37319	19	59	stage	stage	NOUN
asir-37319	19	60	of	of	ADP
asir-37319	19	61	the	the	DET
asir-37319	19	62	driver	driver	NOUN
asir-37319	19	63	touching	touch	VERB
asir-37319	19	64	the	the	DET
asir-37319	19	65	brake	brake	NOUN
asir-37319	19	66	pedal	pedal	NOUN
asir-37319	19	67	control	control	NOUN
asir-37319	19	68	after	after	ADP
asir-37319	19	69	finishing	finish	VERB
asir-37319	19	70	the	the	DET
asir-37319	19	71	reaction	reaction	NOUN
asir-37319	19	72	(	(	PUNCT
asir-37319	19	73	t1	t1	NOUN
asir-37319	19	74	~	~	NOUN
asir-37319	19	75	t2	t2	NOUN
asir-37319	19	76	)	)	PUNCT
asir-37319	19	77	;	;	PUNCT
asir-37319	19	78	the	the	DET
asir-37319	19	79	stage	stage	NOUN
asir-37319	19	80	where	where	SCONJ
asir-37319	19	81	the	the	DET
asir-37319	19	82	braking	brake	VERB
asir-37319	19	83	system	system	NOUN
asir-37319	19	84	coordinates	coordinate	VERB
asir-37319	19	85	the	the	DET
asir-37319	19	86	delay	delay	NOUN
asir-37319	19	87	(	(	PUNCT
asir-37319	19	88	t2	t2	NOUN
asir-37319	19	89	~	~	SYM
asir-37319	19	90	t3	t3	PROPN
asir-37319	19	91	)	)	PUNCT
asir-37319	19	92	;	;	PUNCT
asir-37319	19	93	the	the	DET
asir-37319	19	94	stage	stage	NOUN
asir-37319	19	95	where	where	SCONJ
asir-37319	19	96	the	the	DET
asir-37319	19	97	braking	braking	NOUN
asir-37319	19	98	decelerates	decelerate	VERB
asir-37319	19	99	(	(	PUNCT
asir-37319	19	100	t3	t3	PROPN
asir-37319	19	101	~	~	PROPN
asir-37319	19	102	t4	t4	PROPN
asir-37319	19	103	)	)	PUNCT
asir-37319	19	104	;	;	PUNCT
asir-37319	19	105	the	the	DET
asir-37319	19	106	stage	stage	NOUN
asir-37319	19	107	where	where	SCONJ
asir-37319	19	108	the	the	DET
asir-37319	19	109	braking	brake	VERB
asir-37319	19	110	duration	duration	NOUN
asir-37319	19	111	phase	phase	NOUN
asir-37319	19	112	(	(	PUNCT
asir-37319	19	113	t4	t4	PROPN
asir-37319	19	114	~	~	PROPN
asir-37319	19	115	t5	t5	PROPN
asir-37319	19	116	)	)	PUNCT
asir-37319	19	117	;	;	PUNCT
asir-37319	19	118	and	and	CCONJ
asir-37319	19	119	the	the	DET
asir-37319	19	120	stage	stage	NOUN
asir-37319	19	121	where	where	SCONJ
asir-37319	19	122	the	the	DET
asir-37319	19	123	braking	braking	NOUN
asir-37319	19	124	ends	end	VERB
asir-37319	19	125	(	(	PUNCT
asir-37319	19	126	t5	t5	PROPN
asir-37319	19	127	~	~	SYM
asir-37319	19	128	t6	t6	PROPN
asir-37319	19	129	)	)	PUNCT
asir-37319	19	130	.	.	PUNCT
asir-37319	20	1	the	the	DET
asir-37319	20	2	duration	duration	NOUN
asir-37319	20	3	of	of	ADP
asir-37319	20	4	each	each	DET
asir-37319	20	5	stage	stage	NOUN
asir-37319	20	6	of	of	ADP
asir-37319	20	7	the	the	DET
asir-37319	20	8	braking	braking	NOUN
asir-37319	20	9	process	process	NOUN
asir-37319	20	10	is	be	AUX
asir-37319	20	11	shown	show	VERB
asir-37319	20	12	by	by	ADP
asir-37319	20	13	the	the	DET
asir-37319	20	14	t1	t1	NOUN
asir-37319	20	15	,	,	PUNCT
asir-37319	20	16	t2	t2	PROPN
asir-37319	20	17	,	,	PUNCT
asir-37319	20	18	t3	t3	ADJ
asir-37319	20	19	,	,	PUNCT
asir-37319	20	20	t4	t4	ADJ
asir-37319	20	21	,	,	PUNCT
asir-37319	20	22	t5	t5	NOUN
asir-37319	20	23	,	,	PUNCT
asir-37319	20	24	t6	t6	PROPN
asir-37319	20	25	,	,	PUNCT
asir-37319	20	26	respectively	respectively	ADV
asir-37319	20	27	.	.	PUNCT
asir-37319	21	1	figure	figure	NOUN
asir-37319	21	2	1	1	NUM
asir-37319	21	3	depicts	depict	VERB
asir-37319	21	4	the	the	DET
asir-37319	21	5	change	change	NOUN
asir-37319	21	6	in	in	ADP
asir-37319	21	7	brake	brake	NOUN
asir-37319	21	8	deceleration	deceleration	NOUN
asir-37319	21	9	during	during	ADP
asir-37319	21	10	vehicle	vehicle	NOUN
asir-37319	21	11	braking	braking	NOUN
asir-37319	21	12	.	.	PUNCT
asir-37319	22	1	figure	figure	NOUN
asir-37319	22	2	1	1	NUM
asir-37319	22	3	.	.	PUNCT
asir-37319	22	4	vehicle	vehicle	NOUN
asir-37319	22	5	braking	braking	NOUN
asir-37319	22	6	process	process	NOUN
asir-37319	22	7	the	the	DET
asir-37319	22	8	brake	brake	NOUN
asir-37319	22	9	safety	safety	NOUN
asir-37319	22	10	distance	distance	NOUN
asir-37319	22	11	model	model	NOUN
asir-37319	22	12	is	be	AUX
asir-37319	22	13	derived	derive	VERB
asir-37319	22	14	by	by	ADP
asir-37319	22	15	examining	examine	VERB
asir-37319	22	16	the	the	DET
asir-37319	22	17	relationship	relationship	NOUN
asir-37319	22	18	between	between	ADP
asir-37319	22	19	the	the	DET
asir-37319	22	20	relative	relative	ADJ
asir-37319	22	21	velocity	velocity	NOUN
asir-37319	22	22	of	of	ADP
asir-37319	22	23	pedestrians	pedestrian	NOUN
asir-37319	22	24	and	and	CCONJ
asir-37319	22	25	self	self	NOUN
asir-37319	22	26	-	-	PUNCT
asir-37319	22	27	vehicles	vehicle	NOUN
asir-37319	22	28	,	,	PUNCT
asir-37319	22	29	with	with	ADP
asir-37319	22	30	an	an	DET
asir-37319	22	31	aim	aim	NOUN
asir-37319	22	32	towards	towards	ADP
asir-37319	22	33	the	the	DET
asir-37319	22	34	typical	typical	ADJ
asir-37319	22	35	aeb	aeb	NOUN
asir-37319	22	36	-	-	PUNCT
asir-37319	22	37	p	p	NOUN
asir-37319	22	38	test	test	NOUN
asir-37319	22	39	scenarios	scenario	NOUN
asir-37319	22	40	specified	specify	VERB
asir-37319	22	41	by	by	ADP
asir-37319	22	42	c	c	NOUN
asir-37319	22	43	-	-	PUNCT
asir-37319	22	44	ncap	ncap	NOUN
asir-37319	22	45	.	.	PUNCT
asir-37319	23	1	when	when	SCONJ
asir-37319	23	2	the	the	DET
asir-37319	23	3	active	active	ADJ
asir-37319	23	4	braking	braking	NOUN
asir-37319	23	5	control	control	NOUN
asir-37319	23	6	is	be	AUX
asir-37319	23	7	engaged	engage	VERB
asir-37319	23	8	,	,	PUNCT
asir-37319	23	9	the	the	DET
asir-37319	23	10	aeb	aeb	NOUN
asir-37319	23	11	-	-	PUNCT
asir-37319	23	12	p	p	NOUN
asir-37319	23	13	system	system	NOUN
asir-37319	23	14	's	's	PART
asir-37319	23	15	braking	brake	VERB
asir-37319	23	16	mechanism	mechanism	NOUN
asir-37319	23	17	resembles	resemble	VERB
asir-37319	23	18	that	that	PRON
asir-37319	23	19	of	of	ADP
asir-37319	23	20	the	the	DET
asir-37319	23	21	driver	driver	NOUN
asir-37319	23	22	-	-	PUNCT
asir-37319	23	23	controlled	control	VERB
asir-37319	23	24	braking	braking	NOUN
asir-37319	23	25	mechanism	mechanism	NOUN
asir-37319	23	26	,	,	PUNCT
asir-37319	23	27	except	except	SCONJ
asir-37319	23	28	it	it	PRON
asir-37319	23	29	lacks	lack	VERB
asir-37319	23	30	the	the	DET
asir-37319	23	31	0	0	NUM
asir-37319	23	32	~	~	NOUN
asir-37319	23	33	t2	t2	NOUN
asir-37319	23	34	phase	phase	NOUN
asir-37319	23	35	.	.	PUNCT
asir-37319	24	1	figure	figure	NOUN
asir-37319	24	2	1	1	NUM
asir-37319	24	3	illustrates	illustrate	VERB
asir-37319	24	4	how	how	SCONJ
asir-37319	24	5	this	this	DET
asir-37319	24	6	paper	paper	NOUN
asir-37319	24	7	introduces	introduce	VERB
asir-37319	24	8	the	the	DET
asir-37319	24	9	rate	rate	NOUN
asir-37319	24	10	of	of	ADP
asir-37319	24	11	change	change	NOUN
asir-37319	24	12	of	of	ADP
asir-37319	24	13	acceleration	acceleration	NOUN
asir-37319	24	14	,	,	PUNCT
asir-37319	24	15	which	which	PRON
asir-37319	24	16	is	be	AUX
asir-37319	24	17	computed	compute	VERB
asir-37319	24	18	as	as	SCONJ
asir-37319	24	19	follows	follow	VERB
asir-37319	24	20	:	:	PUNCT
asir-37319	24	21	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-37319	24	22	applied	apply	VERB
asir-37319	24	23	science	science	NOUN
asir-37319	24	24	and	and	CCONJ
asir-37319	24	25	innovative	innovative	ADJ
asir-37319	24	26	research	research	NOUN
asir-37319	24	27	vol	vol	NOUN
asir-37319	24	28	.	.	PROPN
asir-37319	25	1	8	8	NUM
asir-37319	25	2	,	,	PUNCT
asir-37319	25	3	no	no	INTJ
asir-37319	25	4	.	.	NOUN
asir-37319	25	5	2	2	NUM
asir-37319	25	6	,	,	PUNCT
asir-37319	25	7	2024	2024	NUM
asir-37319	25	8	59	59	NUM
asir-37319	25	9	published	publish	VERB
asir-37319	25	10	by	by	ADP
asir-37319	25	11	scholink	scholink	PROPN
asir-37319	25	12	inc	inc	PROPN
asir-37319	25	13	.	.	PROPN
asir-37319	25	14			PROPN
asir-37319	26	1			PUNCT
asir-37319	26	2			NOUN
asir-37319	26	3			SYM
asir-37319	26	4			NOUN
asir-37319	27	1	a	a	ADJ
asir-37319	27	2	t	t	PROPN
asir-37319	27	3	a	a	DET
asir-37319	27	4	t	t	NOUN
asir-37319	27	5	t	t	NOUN
asir-37319	27	6	jerk	jerk	PROPN
asir-37319	27	7	t	t	PROPN
asir-37319	27	8	t	t	PROPN
asir-37319	27	9			PROPN
asir-37319	27	10			PROPN
asir-37319	27	11			PRON
asir-37319	27	12	(	(	PUNCT
asir-37319	27	13	1	1	NUM
asir-37319	27	14	)	)	PUNCT
asir-37319	27	15	where	where	SCONJ
asir-37319	27	16	,	,	PUNCT
asir-37319	27	17	jerk(t	jerk(t	NOUN
asir-37319	27	18	)	)	PUNCT
asir-37319	27	19	is	be	AUX
asir-37319	27	20	the	the	DET
asir-37319	27	21	acceleration	acceleration	NOUN
asir-37319	27	22	change	change	NOUN
asir-37319	27	23	rate	rate	NOUN
asir-37319	27	24	,	,	PUNCT
asir-37319	27	25	a(t	a(t	NOUN
asir-37319	27	26	)	)	PUNCT
asir-37319	28	1	is	be	AUX
asir-37319	28	2	the	the	DET
asir-37319	28	3	current	current	ADJ
asir-37319	28	4	acceleration	acceleration	NOUN
asir-37319	28	5	,	,	PUNCT
asir-37319	28	6	a(t-t	a(t-t	NOUN
asir-37319	28	7	)	)	PUNCT
asir-37319	28	8	is	be	AUX
asir-37319	28	9	the	the	DET
asir-37319	28	10	acceleration	acceleration	NOUN
asir-37319	28	11	of	of	ADP
asir-37319	28	12	the	the	DET
asir-37319	28	13	previous	previous	ADJ
asir-37319	28	14	moment，and	moment，and	NOUN
asir-37319	28	15	t	t	NOUN
asir-37319	28	16	is	be	AUX
asir-37319	28	17	the	the	DET
asir-37319	28	18	time	time	NOUN
asir-37319	28	19	interval	interval	NOUN
asir-37319	28	20	between	between	ADP
asir-37319	28	21	two	two	NUM
asir-37319	28	22	acceleration	acceleration	NOUN
asir-37319	28	23	signals	signal	NOUN
asir-37319	28	24	.	.	PUNCT
asir-37319	29	1	this	this	DET
asir-37319	29	2	study	study	NOUN
asir-37319	29	3	sets	set	VERB
asir-37319	29	4	up	up	ADP
asir-37319	29	5	a	a	DET
asir-37319	29	6	deceleration	deceleration	NOUN
asir-37319	29	7	change	change	NOUN
asir-37319	29	8	buffer	buffer	NOUN
asir-37319	29	9	at	at	ADP
asir-37319	29	10	the	the	DET
asir-37319	29	11	beginning	beginning	NOUN
asir-37319	29	12	and	and	CCONJ
asir-37319	29	13	the	the	DET
asir-37319	29	14	end	end	NOUN
asir-37319	29	15	stages	stage	NOUN
asir-37319	29	16	of	of	ADP
asir-37319	29	17	braking	brake	VERB
asir-37319	29	18	respectively	respectively	ADV
asir-37319	29	19	,	,	PUNCT
asir-37319	29	20	so	so	SCONJ
asir-37319	29	21	that	that	SCONJ
asir-37319	29	22	the	the	DET
asir-37319	29	23	absolute	absolute	ADJ
asir-37319	29	24	values	value	NOUN
asir-37319	29	25	of	of	ADP
asir-37319	29	26	jmax	jmax	NOUN
asir-37319	29	27	and	and	CCONJ
asir-37319	29	28	jmin	jmin	PROPN
asir-37319	29	29	are	be	AUX
asir-37319	29	30	equal	equal	ADJ
asir-37319	29	31	.	.	PUNCT
asir-37319	30	1	given	give	VERB
asir-37319	30	2	that	that	SCONJ
asir-37319	30	3	the	the	DET
asir-37319	30	4	buffer	buffer	NOUN
asir-37319	30	5	period	period	NOUN
asir-37319	30	6	in	in	ADP
asir-37319	30	7	the	the	DET
asir-37319	30	8	configuration	configuration	NOUN
asir-37319	30	9	above	above	ADV
asir-37319	30	10	is	be	AUX
asir-37319	30	11	t4	t4	ADJ
asir-37319	30	12	=	=	PUNCT
asir-37319	30	13	t6	t6	PROPN
asir-37319	30	14	,	,	PUNCT
asir-37319	30	15	the	the	DET
asir-37319	30	16	optimal	optimal	ADJ
asir-37319	30	17	vehicle	vehicle	NOUN
asir-37319	30	18	brake	brake	NOUN
asir-37319	30	19	deceleration	deceleration	NOUN
asir-37319	30	20	following	follow	VERB
asir-37319	30	21	the	the	DET
asir-37319	30	22	activation	activation	NOUN
asir-37319	30	23	of	of	ADP
asir-37319	30	24	the	the	DET
asir-37319	30	25	aeb	aeb	NOUN
asir-37319	30	26	-	-	PUNCT
asir-37319	30	27	p	p	NOUN
asir-37319	30	28	system	system	NOUN
asir-37319	30	29	is	be	AUX
asir-37319	30	30	:	:	PUNCT
asir-37319	30	31			NOUN
asir-37319	30	32			SYM
asir-37319	30	33			NOUN
asir-37319	30	34			SYM
asir-37319	30	35			NOUN
asir-37319	30	36			SYM
asir-37319	30	37			NOUN
asir-37319	30	38			SYM
asir-37319	30	39			NOUN
asir-37319	30	40			SYM
asir-37319	30	41			NOUN
asir-37319	30	42			PUNCT
asir-37319	30	43			NOUN
asir-37319	30	44			PROPN
asir-37319	30	45	3	3	NUM
asir-37319	30	46	min	min	NOUN
asir-37319	30	47	3	3	NUM
asir-37319	30	48	3	3	NUM
asir-37319	30	49	4	4	NUM
asir-37319	30	50	max	max	NOUN
asir-37319	30	51	4	4	NUM
asir-37319	30	52	5	5	NUM
asir-37319	30	53	max	max	PROPN
asir-37319	30	54	max	max	PROPN
asir-37319	30	55	5	5	NUM
asir-37319	30	56	5	5	NUM
asir-37319	30	57	6	6	NUM
asir-37319	30	58	0	0	NUM
asir-37319	30	59	0	0	NUM
asir-37319	30	60	,	,	PUNCT
asir-37319	30	61	,	,	PUNCT
asir-37319	30	62	,	,	PUNCT
asir-37319	30	63	,	,	PUNCT
asir-37319	30	64	des	des	PROPN
asir-37319	30	65	d	d	PROPN
asir-37319	30	66	d	d	PROPN
asir-37319	30	67	t	t	PROPN
asir-37319	30	68	t	t	PROPN
asir-37319	30	69	jerk	jerk	PROPN
asir-37319	31	1	t	t	PROPN
asir-37319	31	2	t	t	PROPN
asir-37319	32	1	t	t	PROPN
asir-37319	32	2	t	t	PROPN
asir-37319	32	3	t	t	PROPN
asir-37319	32	4	a	a	DET
asir-37319	32	5	t	t	PROPN
asir-37319	32	6	a	a	DET
asir-37319	32	7	t	t	NOUN
asir-37319	32	8	t	t	PROPN
asir-37319	32	9	t	t	PROPN
asir-37319	32	10	a	a	DET
asir-37319	32	11	jerk	jerk	PROPN
asir-37319	32	12	t	t	PROPN
asir-37319	32	13	t	t	PROPN
asir-37319	32	14	t	t	PROPN
asir-37319	32	15	t	t	PROPN
asir-37319	32	16	t	t	PROPN
asir-37319	32	17			PROPN
asir-37319	33	1			NUM
asir-37319	33	2			NOUN
asir-37319	33	3			PUNCT
asir-37319	33	4			PROPN
asir-37319	33	5			NUM
asir-37319	33	6			PUNCT
asir-37319	33	7			NUM
asir-37319	33	8			X
asir-37319	33	9			PROPN
asir-37319	33	10			PROPN
asir-37319	33	11	(	(	PUNCT
asir-37319	33	12	2	2	NUM
asir-37319	33	13	)	)	PUNCT
asir-37319	33	14	where	where	SCONJ
asir-37319	33	15	admax	admax	NOUN
asir-37319	33	16	denotes	denote	VERB
asir-37319	33	17	the	the	DET
asir-37319	33	18	maximum	maximum	ADJ
asir-37319	33	19	braking	brake	VERB
asir-37319	33	20	deceleration	deceleration	NOUN
asir-37319	33	21	,	,	PUNCT
asir-37319	33	22	t	t	PROPN
asir-37319	33	23	denotes	denote	VERB
asir-37319	33	24	the	the	DET
asir-37319	33	25	moment	moment	NOUN
asir-37319	33	26	.	.	PUNCT
asir-37319	34	1	the	the	DET
asir-37319	34	2	car	car	NOUN
asir-37319	34	3	and	and	CCONJ
asir-37319	34	4	pedestrian	pedestrian	NOUN
asir-37319	34	5	's	's	PART
asir-37319	34	6	longitudinal	longitudinal	ADJ
asir-37319	34	7	relative	relative	ADJ
asir-37319	34	8	velocities	velocity	NOUN
asir-37319	34	9	are	be	AUX
asir-37319	34	10	as	as	SCONJ
asir-37319	34	11	follows	follow	VERB
asir-37319	34	12	:	:	PUNCT
asir-37319	35	1			NOUN
asir-37319	35	2			SYM
asir-37319	35	3			NOUN
asir-37319	35	4			SYM
asir-37319	35	5			NOUN
asir-37319	36	1	2	2	ADP
asir-37319	36	2	1relv	1relv	NUM
asir-37319	36	3	t	t	NOUN
asir-37319	36	4	v	v	ADP
asir-37319	36	5	t	t	NOUN
asir-37319	36	6	v	v	NOUN
asir-37319	36	7	t	t	PROPN
asir-37319	36	8			PROPN
asir-37319	36	9	(	(	PUNCT
asir-37319	36	10	3	3	NUM
asir-37319	36	11	)	)	PUNCT
asir-37319	36	12	where	where	SCONJ
asir-37319	36	13	the	the	DET
asir-37319	36	14	vehicle	vehicle	NOUN
asir-37319	36	15	's	's	PART
asir-37319	36	16	velocity	velocity	NOUN
asir-37319	36	17	at	at	ADP
asir-37319	36	18	time	time	NOUN
asir-37319	36	19	t	t	PROPN
asir-37319	36	20	is	be	AUX
asir-37319	36	21	represented	represent	VERB
asir-37319	36	22	by	by	ADP
asir-37319	36	23	v2(t	v2(t	PROPN
asir-37319	36	24	)	)	PUNCT
asir-37319	36	25	,	,	PUNCT
asir-37319	36	26	and	and	CCONJ
asir-37319	36	27	the	the	DET
asir-37319	36	28	pedestrian	pedestrian	NOUN
asir-37319	36	29	's	's	PART
asir-37319	36	30	velocity	velocity	NOUN
asir-37319	36	31	at	at	ADP
asir-37319	36	32	time	time	NOUN
asir-37319	36	33	t	t	PROPN
asir-37319	36	34	is	be	AUX
asir-37319	36	35	represented	represent	VERB
asir-37319	36	36	by	by	ADP
asir-37319	36	37	v1(t	v1(t	NOUN
asir-37319	36	38	)	)	PUNCT
asir-37319	36	39	。	。	NOUN
asir-37319	37	1	the	the	DET
asir-37319	37	2	optimum	optimum	ADJ
asir-37319	37	3	safe	safe	ADJ
asir-37319	37	4	distance	distance	NOUN
asir-37319	37	5	threshold	threshold	NOUN
asir-37319	37	6	can	can	AUX
asir-37319	37	7	be	be	AUX
asir-37319	37	8	determined	determine	VERB
asir-37319	37	9	as	as	SCONJ
asir-37319	37	10	follows	follow	VERB
asir-37319	37	11	using	use	VERB
asir-37319	37	12	figure	figure	NOUN
asir-37319	37	13	1	1	NUM
asir-37319	37	14	and	and	CCONJ
asir-37319	38	1	the	the	DET
asir-37319	38	2	definition	definition	NOUN
asir-37319	38	3	given	give	VERB
asir-37319	38	4	above	above	ADV
asir-37319	38	5	:	:	PUNCT
asir-37319	38	6			NOUN
asir-37319	38	7			PROPN
asir-37319	38	8			NOUN
asir-37319	38	9			SYM
asir-37319	38	10			NOUN
asir-37319	38	11			PUNCT
asir-37319	38	12			NOUN
asir-37319	38	13			PROPN
asir-37319	38	14	6	6	NUM
asir-37319	38	15	3	3	NUM
asir-37319	38	16	2	2	NUM
asir-37319	38	17	1	1	NUM
asir-37319	38	18	3	3	NUM
asir-37319	38	19	2	2	NUM
asir-37319	38	20	1	1	NUM
asir-37319	38	21	0	0	NUM
asir-37319	38	22	2	2	NUM
asir-37319	38	23	1	1	NUM
asir-37319	38	24	0	0	NUM
asir-37319	38	25	t	t	NOUN
asir-37319	38	26	e	e	NOUN
asir-37319	38	27	t	t	NOUN
asir-37319	38	28	h	h	NOUN
asir-37319	39	1	d	d	X
asir-37319	39	2	v	v	NOUN
asir-37319	39	3	v	v	ADP
asir-37319	39	4	t	t	PROPN
asir-37319	39	5	v	v	NOUN
asir-37319	39	6	t	t	PROPN
asir-37319	39	7	v	v	NOUN
asir-37319	39	8	t	t	NOUN
asir-37319	39	9	dt	dt	X
asir-37319	40	1	d	d	X
asir-37319	40	2	v	v	PROPN
asir-37319	40	3	v	v	ADP
asir-37319	40	4	t	t	PROPN
asir-37319	41	1	d	d	NOUN
asir-37319	41	2			PROPN
asir-37319	41	3			PROPN
asir-37319	41	4			VERB
asir-37319	41	5			PROPN
asir-37319	41	6			PART
asir-37319	41	7			PROPN
asir-37319	41	8			PROPN
asir-37319	41	9			VERB
asir-37319	41	10			X
asir-37319	41	11	(	(	PUNCT
asir-37319	41	12	4	4	NUM
asir-37319	41	13	)	)	PUNCT
asir-37319	41	14	where	where	SCONJ
asir-37319	41	15	,	,	PUNCT
asir-37319	41	16	v2	v2	PROPN
asir-37319	41	17	and	and	CCONJ
asir-37319	41	18	v1	v1	NOUN
asir-37319	41	19	are	be	AUX
asir-37319	41	20	the	the	DET
asir-37319	41	21	speeds	speed	NOUN
asir-37319	41	22	of	of	ADP
asir-37319	41	23	vehicles	vehicle	NOUN
asir-37319	41	24	and	and	CCONJ
asir-37319	41	25	pedestrians	pedestrian	NOUN
asir-37319	41	26	before	before	ADP
asir-37319	41	27	emergency	emergency	NOUN
asir-37319	41	28	braking	braking	NOUN
asir-37319	41	29	,	,	PUNCT
asir-37319	41	30	respectively	respectively	ADV
asir-37319	41	31	,	,	PUNCT
asir-37319	41	32	th	th	X
asir-37319	41	33	is	be	AUX
asir-37319	41	34	the	the	DET
asir-37319	41	35	limit	limit	NOUN
asir-37319	41	36	braking	braking	NOUN
asir-37319	41	37	time	time	NOUN
asir-37319	41	38	threshold	threshold	NOUN
asir-37319	41	39	,	,	PUNCT
asir-37319	41	40	d0	d0	PROPN
asir-37319	41	41	indicates	indicate	VERB
asir-37319	41	42	the	the	DET
asir-37319	41	43	minimum	minimum	ADJ
asir-37319	41	44	safe	safe	ADJ
asir-37319	41	45	distance	distance	NOUN
asir-37319	41	46	.	.	PUNCT
asir-37319	42	1	a	a	DET
asir-37319	42	2	study	study	NOUN
asir-37319	42	3	suggests	suggest	VERB
asir-37319	42	4	that	that	SCONJ
asir-37319	42	5	the	the	DET
asir-37319	42	6	aeb	aeb	PROPN
asir-37319	42	7	-	-	PUNCT
asir-37319	42	8	p	p	NOUN
asir-37319	42	9	system	system	NOUN
asir-37319	42	10	should	should	AUX
asir-37319	42	11	n't	not	PART
asir-37319	42	12	brake	brake	VERB
asir-37319	42	13	when	when	SCONJ
asir-37319	42	14	the	the	DET
asir-37319	42	15	ttc	ttc	NOUN
asir-37319	42	16	is	be	AUX
asir-37319	42	17	more	more	ADJ
asir-37319	42	18	than	than	ADP
asir-37319	42	19	2s	2s	NUM
asir-37319	42	20	in	in	ADP
asir-37319	42	21	order	order	NOUN
asir-37319	42	22	to	to	PART
asir-37319	42	23	prevent	prevent	VERB
asir-37319	42	24	interference	interference	NOUN
asir-37319	42	25	with	with	ADP
asir-37319	42	26	the	the	DET
asir-37319	42	27	driver	driver	NOUN
asir-37319	42	28	's	's	PART
asir-37319	42	29	normal	normal	ADJ
asir-37319	42	30	driving	driving	NOUN
asir-37319	42	31	(	(	PUNCT
asir-37319	42	32	itoh	itoh	ADJ
asir-37319	42	33	,	,	PUNCT
asir-37319	42	34	inagaki	inagaki	ADJ
asir-37319	42	35	,	,	PUNCT
asir-37319	42	36	&	&	CCONJ
asir-37319	42	37	horikome	horikome	PROPN
asir-37319	42	38	,	,	PUNCT
asir-37319	42	39	2011	2011	NUM
asir-37319	42	40	)	)	PUNCT
asir-37319	42	41	.	.	PUNCT
asir-37319	43	1	consequently	consequently	ADV
asir-37319	43	2	,	,	PUNCT
asir-37319	43	3	this	this	DET
asir-37319	43	4	paper	paper	NOUN
asir-37319	43	5	's	's	PART
asir-37319	43	6	technique	technique	NOUN
asir-37319	43	7	specifies	specifie	NOUN
asir-37319	43	8	tttc	tttc	NOUN
asir-37319	43	9	=	=	SYM
asir-37319	43	10	2s	2s	NUM
asir-37319	43	11	.	.	PUNCT
asir-37319	44	1			NOUN
asir-37319	44	2			SYM
asir-37319	44	3			NOUN
asir-37319	44	4			PUNCT
asir-37319	44	5	2	2	NUM
asir-37319	44	6	1	1	NUM
asir-37319	44	7	0	0	NUM
asir-37319	44	8	2	2	NUM
asir-37319	44	9	1	1	NUM
asir-37319	44	10	0	0	NUM
asir-37319	44	11	h	h	NOUN
asir-37319	44	12	h	h	NOUN
asir-37319	44	13	ttc	ttc	PROPN
asir-37319	44	14	e	e	PROPN
asir-37319	44	15	ttc	ttc	PROPN
asir-37319	44	16	h	h	PROPN
asir-37319	44	17	ttc	ttc	PROPN
asir-37319	44	18	v	v	INTJ
asir-37319	44	19	v	v	ADP
asir-37319	44	20	t	t	PROPN
asir-37319	45	1	d	d	X
asir-37319	45	2	t	t	PROPN
asir-37319	45	3	t	t	PROPN
asir-37319	45	4	d	d	X
asir-37319	45	5	v	v	PROPN
asir-37319	45	6	v	v	ADP
asir-37319	45	7	t	t	PROPN
asir-37319	45	8	d	d	X
asir-37319	45	9	t	t	PROPN
asir-37319	45	10	t	t	PROPN
asir-37319	45	11			PROPN
asir-37319	45	12			ADV
asir-37319	45	13			NOUN
asir-37319	45	14			PROPN
asir-37319	45	15			NUM
asir-37319	45	16			NOUN
asir-37319	45	17			VERB
asir-37319	45	18			PROPN
asir-37319	45	19	(	(	PUNCT
asir-37319	45	20	5	5	NUM
asir-37319	45	21	)	)	PUNCT
asir-37319	45	22	2.2	2.2	NUM
asir-37319	45	23	aeb	aeb	NOUN
asir-37319	45	24	-	-	PUNCT
asir-37319	45	25	p	p	NOUN
asir-37319	45	26	early	early	ADJ
asir-37319	45	27	warning	warning	NOUN
asir-37319	45	28	system	system	NOUN
asir-37319	45	29	the	the	DET
asir-37319	45	30	warning	warning	NOUN
asir-37319	45	31	system	system	NOUN
asir-37319	45	32	is	be	AUX
asir-37319	45	33	separated	separate	VERB
asir-37319	45	34	into	into	ADP
asir-37319	45	35	three	three	NUM
asir-37319	45	36	levels	level	NOUN
asir-37319	45	37	to	to	PART
asir-37319	45	38	increase	increase	VERB
asir-37319	45	39	driving	drive	VERB
asir-37319	45	40	safety	safety	NOUN
asir-37319	45	41	and	and	CCONJ
asir-37319	45	42	guarantee	guarantee	VERB
asir-37319	45	43	that	that	SCONJ
asir-37319	45	44	the	the	DET
asir-37319	45	45	driver	driver	NOUN
asir-37319	45	46	has	have	VERB
asir-37319	45	47	enough	enough	ADJ
asir-37319	45	48	reaction	reaction	NOUN
asir-37319	45	49	time	time	NOUN
asir-37319	45	50	.	.	PUNCT
asir-37319	46	1	level	level	NOUN
asir-37319	46	2	1	1	NUM
asir-37319	46	3	indicates	indicate	VERB
asir-37319	46	4	that	that	SCONJ
asir-37319	46	5	the	the	DET
asir-37319	46	6	current	current	ADJ
asir-37319	46	7	driving	driving	NOUN
asir-37319	46	8	safety	safety	NOUN
asir-37319	46	9	,	,	PUNCT
asir-37319	46	10	the	the	DET
asir-37319	46	11	early	early	ADJ
asir-37319	46	12	warning	warning	NOUN
asir-37319	46	13	system	system	NOUN
asir-37319	46	14	sends	send	VERB
asir-37319	46	15	out	out	ADP
asir-37319	46	16	a	a	DET
asir-37319	46	17	signal	signal	ADJ
asir-37319	46	18	value	value	NOUN
asir-37319	46	19	of	of	ADP
asir-37319	46	20	0	0	NUM
asir-37319	46	21	(	(	PUNCT
asir-37319	46	22	dr	dr	PROPN
asir-37319	46	23	>	>	X
asir-37319	46	24	dwa	dwa	PROPN
asir-37319	46	25	)	)	PUNCT
asir-37319	46	26	.	.	PUNCT
asir-37319	47	1	level	level	NOUN
asir-37319	47	2	2	2	NUM
asir-37319	47	3	signals	signal	NOUN
asir-37319	47	4	that	that	SCONJ
asir-37319	47	5	there	there	PRON
asir-37319	47	6	is	be	VERB
asir-37319	47	7	a	a	DET
asir-37319	47	8	possible	possible	ADJ
asir-37319	47	9	collision	collision	NOUN
asir-37319	47	10	risk	risk	NOUN
asir-37319	47	11	due	due	ADP
asir-37319	47	12	to	to	ADP
asir-37319	47	13	the	the	DET
asir-37319	47	14	pedestrian	pedestrian	NOUN
asir-37319	47	15	in	in	ADP
asir-37319	47	16	front	front	NOUN
asir-37319	47	17	of	of	ADP
asir-37319	47	18	the	the	DET
asir-37319	47	19	vehicle	vehicle	NOUN
asir-37319	47	20	and	and	CCONJ
asir-37319	47	21	the	the	DET
asir-37319	47	22	driver	driver	NOUN
asir-37319	47	23	's	's	PART
asir-37319	47	24	present	present	ADJ
asir-37319	47	25	driving	driving	NOUN
asir-37319	47	26	condition	condition	NOUN
asir-37319	47	27	(	(	PUNCT
asir-37319	47	28	dwa	dwa	PROPN
asir-37319	47	29	≥	≥	PROPN
asir-37319	47	30	dr	dr	PROPN
asir-37319	47	31	≥	≥	PROPN
asir-37319	47	32	de	de	PROPN
asir-37319	47	33	)	)	PUNCT
asir-37319	47	34	.	.	PUNCT
asir-37319	48	1	the	the	DET
asir-37319	48	2	early	early	ADJ
asir-37319	48	3	warning	warning	NOUN
asir-37319	48	4	system	system	NOUN
asir-37319	48	5	sends	send	VERB
asir-37319	48	6	out	out	ADP
asir-37319	48	7	a	a	DET
asir-37319	48	8	signal	signal	ADJ
asir-37319	48	9	value	value	NOUN
asir-37319	48	10	of	of	ADP
asir-37319	48	11	1	1	NUM
asir-37319	48	12	,	,	PUNCT
asir-37319	48	13	and	and	CCONJ
asir-37319	48	14	the	the	DET
asir-37319	48	15	aeb	aeb	NOUN
asir-37319	48	16	-	-	PUNCT
asir-37319	48	17	p	p	NOUN
asir-37319	48	18	system	system	NOUN
asir-37319	48	19	reminds	remind	VERB
asir-37319	48	20	the	the	DET
asir-37319	48	21	driver	driver	NOUN
asir-37319	48	22	by	by	ADP
asir-37319	48	23	using	use	VERB
asir-37319	48	24	sound	sound	NOUN
asir-37319	48	25	and	and	CCONJ
asir-37319	48	26	image	image	NOUN
asir-37319	48	27	signals	signal	NOUN
asir-37319	48	28	.	.	PUNCT
asir-37319	49	1	level	level	NOUN
asir-37319	49	2	3	3	NUM
asir-37319	49	3	indicates	indicate	VERB
asir-37319	49	4	that	that	SCONJ
asir-37319	49	5	the	the	DET
asir-37319	49	6	vehicle	vehicle	NOUN
asir-37319	49	7	is	be	AUX
asir-37319	49	8	headed	head	VERB
asir-37319	49	9	for	for	ADP
asir-37319	49	10	a	a	DET
asir-37319	49	11	collision	collision	NOUN
asir-37319	49	12	with	with	ADP
asir-37319	49	13	the	the	DET
asir-37319	49	14	pedestrian	pedestrian	NOUN
asir-37319	49	15	in	in	ADP
asir-37319	49	16	front	front	NOUN
asir-37319	49	17	(	(	PUNCT
asir-37319	49	18	de	de	X
asir-37319	49	19	≥	≥	PROPN
asir-37319	49	20	dr	dr	PROPN
asir-37319	49	21	≥	≥	PROPN
asir-37319	49	22	0	0	NUM
asir-37319	49	23	)	)	PUNCT
asir-37319	49	24	,	,	PUNCT
asir-37319	49	25	the	the	DET
asir-37319	49	26	early	early	ADJ
asir-37319	49	27	warning	warning	NOUN
asir-37319	49	28	system	system	NOUN
asir-37319	49	29	will	will	AUX
asir-37319	49	30	send	send	VERB
asir-37319	49	31	out	out	ADP
asir-37319	49	32	a	a	DET
asir-37319	49	33	signal	signal	ADJ
asir-37319	49	34	value	value	NOUN
asir-37319	49	35	of	of	ADP
asir-37319	49	36	2	2	NUM
asir-37319	49	37	,	,	PUNCT
asir-37319	49	38	and	and	CCONJ
asir-37319	49	39	if	if	SCONJ
asir-37319	49	40	the	the	DET
asir-37319	49	41	driver	driver	NOUN
asir-37319	49	42	has	have	AUX
asir-37319	49	43	n't	not	PART
asir-37319	49	44	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	VERB
asir-37319	49	45	applied	apply	VERB
asir-37319	49	46	science	science	NOUN
asir-37319	49	47	and	and	CCONJ
asir-37319	49	48	innovative	innovative	ADJ
asir-37319	49	49	research	research	NOUN
asir-37319	49	50	vol	vol	NOUN
asir-37319	49	51	.	.	PROPN
asir-37319	49	52	8	8	NUM
asir-37319	49	53	,	,	PUNCT
asir-37319	49	54	no	no	INTJ
asir-37319	49	55	.	.	NOUN
asir-37319	49	56	2	2	NUM
asir-37319	49	57	,	,	PUNCT
asir-37319	49	58	2024	2024	NUM
asir-37319	49	59	60	60	NUM
asir-37319	49	60	published	publish	VERB
asir-37319	49	61	by	by	ADP
asir-37319	49	62	scholink	scholink	PROPN
asir-37319	49	63	inc	inc	PROPN
asir-37319	49	64	.	.	PROPN
asir-37319	49	65	engaged	engage	VERB
asir-37319	49	66	in	in	ADP
asir-37319	49	67	self	self	NOUN
asir-37319	49	68	-	-	PUNCT
asir-37319	49	69	braking	brake	VERB
asir-37319	49	70	or	or	CCONJ
asir-37319	49	71	applied	applied	ADJ
asir-37319	49	72	steering	steering	NOUN
asir-37319	49	73	to	to	PART
asir-37319	49	74	avoid	avoid	VERB
asir-37319	49	75	an	an	DET
asir-37319	49	76	obstacle	obstacle	NOUN
asir-37319	49	77	.	.	PUNCT
asir-37319	50	1	at	at	ADP
asir-37319	50	2	this	this	DET
asir-37319	50	3	time	time	NOUN
asir-37319	50	4	,	,	PUNCT
asir-37319	50	5	aeb	aeb	NOUN
asir-37319	50	6	-	-	PUNCT
asir-37319	50	7	p	p	NOUN
asir-37319	50	8	will	will	AUX
asir-37319	50	9	activate	activate	VERB
asir-37319	50	10	the	the	DET
asir-37319	50	11	brakes	brake	NOUN
asir-37319	50	12	to	to	PART
asir-37319	50	13	avoid	avoid	VERB
asir-37319	50	14	collision	collision	NOUN
asir-37319	50	15	.	.	PUNCT
asir-37319	51	1	figure	figure	NOUN
asir-37319	51	2	2	2	NUM
asir-37319	51	3	depicts	depict	VERB
asir-37319	51	4	the	the	DET
asir-37319	51	5	early	early	ADJ
asir-37319	51	6	warning	warning	NOUN
asir-37319	51	7	braking	brake	VERB
asir-37319	51	8	mode	mode	NOUN
asir-37319	51	9	.	.	PUNCT
asir-37319	52	1	figure	figure	NOUN
asir-37319	52	2	2	2	NUM
asir-37319	52	3	.	.	PUNCT
asir-37319	52	4	schematic	schematic	ADJ
asir-37319	52	5	diagram	diagram	NOUN
asir-37319	52	6	of	of	ADP
asir-37319	52	7	pre	pre	ADJ
asir-37319	52	8	-	-	ADJ
asir-37319	52	9	warning	warning	ADJ
asir-37319	52	10	braking	brake	VERB
asir-37319	52	11	mode	mode	NOUN
asir-37319	52	12	therefore	therefore	ADV
asir-37319	52	13	,	,	PUNCT
asir-37319	52	14	the	the	DET
asir-37319	52	15	hazard	hazard	NOUN
asir-37319	52	16	descent	descent	NOUN
asir-37319	52	17	distance	distance	NOUN
asir-37319	52	18	threshold	threshold	NOUN
asir-37319	52	19	so	so	SCONJ
asir-37319	52	20	as	as	SCONJ
asir-37319	52	21	follows	follow	VERB
asir-37319	52	22	:	:	PUNCT
asir-37319	52	23			PROPN
asir-37319	52	24	wa	wa	PROPN
asir-37319	53	1	e	e	NOUN
asir-37319	53	2	rel	rel	NOUN
asir-37319	53	3	wd	wd	PROPN
asir-37319	53	4	d	d	X
asir-37319	53	5	v	v	NOUN
asir-37319	53	6	t	t	PROPN
asir-37319	53	7	t	t	PRON
asir-37319	53	8			X
asir-37319	53	9	(	(	PUNCT
asir-37319	53	10	6	6	NUM
asir-37319	53	11	)	)	PUNCT
asir-37319	53	12	where	where	SCONJ
asir-37319	53	13	,	,	PUNCT
asir-37319	53	14	tw	tw	PROPN
asir-37319	53	15	is	be	AUX
asir-37319	53	16	the	the	DET
asir-37319	53	17	driver	driver	NOUN
asir-37319	53	18	reaction	reaction	NOUN
asir-37319	53	19	time	time	NOUN
asir-37319	53	20	.	.	PUNCT
asir-37319	54	1	statistically	statistically	ADV
asir-37319	54	2	tw	tw	PROPN
asir-37319	54	3	is	be	AUX
asir-37319	54	4	usually	usually	ADV
asir-37319	54	5	1.14s～1.38	1.14s～1.38	NUM
asir-37319	54	6	s	s	PART
asir-37319	54	7	(	(	PUNCT
asir-37319	54	8	coelingh	coelingh	PROPN
asir-37319	54	9	,	,	PUNCT
asir-37319	54	10	eidehall	eidehall	PROPN
asir-37319	54	11	,	,	PUNCT
asir-37319	54	12	&	&	CCONJ
asir-37319	54	13	bengtsson	bengtsson	PROPN
asir-37319	54	14	,	,	PUNCT
asir-37319	54	15	2010	2010	NUM
asir-37319	54	16	)	)	PUNCT
asir-37319	54	17	,	,	PUNCT
asir-37319	54	18	taking	take	VERB
asir-37319	54	19	the	the	DET
asir-37319	54	20	average	average	ADJ
asir-37319	54	21	value	value	NOUN
asir-37319	54	22	of	of	ADP
asir-37319	54	23	tw	tw	NOUN
asir-37319	54	24	=	=	SYM
asir-37319	54	25	1.25	1.25	NUM
asir-37319	54	26	s.	s.	PROPN
asir-37319	54	27	3	3	NUM
asir-37319	54	28	.	.	PUNCT
asir-37319	55	1	mpc	mpc	NOUN
asir-37319	55	2	-	-	PUNCT
asir-37319	55	3	based	base	VERB
asir-37319	55	4	aeb	aeb	NOUN
asir-37319	55	5	-	-	PUNCT
asir-37319	55	6	p	p	NOUN
asir-37319	55	7	upper	upper	ADJ
asir-37319	55	8	control	control	NOUN
asir-37319	55	9	system	system	NOUN
asir-37319	55	10	3.1	3.1	NUM
asir-37319	55	11	longitudinal	longitudinal	ADJ
asir-37319	55	12	dynamics	dynamic	NOUN
asir-37319	55	13	model	model	NOUN
asir-37319	55	14	human	human	ADJ
asir-37319	55	15	-	-	PUNCT
asir-37319	55	16	vehicle	vehicle	NOUN
asir-37319	55	17	longitudinal	longitudinal	ADJ
asir-37319	55	18	spacing	spacing	NOUN
asir-37319	55	19	,	,	PUNCT
asir-37319	55	20	vehicle	vehicle	NOUN
asir-37319	55	21	velocity	velocity	NOUN
asir-37319	55	22	,	,	PUNCT
asir-37319	55	23	human	human	ADJ
asir-37319	55	24	-	-	PUNCT
asir-37319	55	25	vehicle	vehicle	NOUN
asir-37319	55	26	longitudinal	longitudinal	ADJ
asir-37319	55	27	relative	relative	ADJ
asir-37319	55	28	velocity	velocity	NOUN
asir-37319	55	29	,	,	PUNCT
asir-37319	55	30	vehicle	vehicle	NOUN
asir-37319	55	31	acceleration	acceleration	NOUN
asir-37319	55	32	,	,	PUNCT
asir-37319	55	33	and	and	CCONJ
asir-37319	55	34	rate	rate	NOUN
asir-37319	55	35	of	of	ADP
asir-37319	55	36	change	change	NOUN
asir-37319	55	37	of	of	ADP
asir-37319	55	38	vehicle	vehicle	NOUN
asir-37319	55	39	acceleration	acceleration	NOUN
asir-37319	55	40	were	be	AUX
asir-37319	55	41	chosen	choose	VERB
asir-37319	55	42	as	as	ADP
asir-37319	55	43	state	state	NOUN
asir-37319	55	44	quantities	quantity	NOUN
asir-37319	55	45	of	of	ADP
asir-37319	55	46	the	the	DET
asir-37319	55	47	control	control	NOUN
asir-37319	55	48	system	system	NOUN
asir-37319	55	49	,	,	PUNCT
asir-37319	55	50	x(k)=[drel(k	x(k)=[drel(k	PROPN
asir-37319	55	51	)	)	PUNCT
asir-37319	55	52	,	,	PUNCT
asir-37319	55	53	v2(k	v2(k	PROPN
asir-37319	55	54	)	)	PUNCT
asir-37319	55	55	,	,	PUNCT
asir-37319	55	56	vrel(k	vrel(k	NOUN
asir-37319	55	57	)	)	PUNCT
asir-37319	55	58	,	,	PUNCT
asir-37319	55	59	a2(k	a2(k	NOUN
asir-37319	55	60	)	)	PUNCT
asir-37319	55	61	,	,	PUNCT
asir-37319	55	62	jerk(k)]t	jerk(k)]t	PROPN
asir-37319	55	63	,	,	PUNCT
asir-37319	55	64	by	by	ADP
asir-37319	55	65	analyzing	analyze	VERB
asir-37319	55	66	the	the	DET
asir-37319	55	67	human	human	ADJ
asir-37319	55	68	-	-	PUNCT
asir-37319	55	69	vehicle	vehicle	NOUN
asir-37319	55	70	kinematics	kinematic	NOUN
asir-37319	55	71	relationship	relationship	NOUN
asir-37319	55	72	.	.	PUNCT
asir-37319	56	1	the	the	DET
asir-37319	56	2	equation	equation	NOUN
asir-37319	56	3	of	of	ADP
asir-37319	56	4	state	state	NOUN
asir-37319	56	5	model	model	NOUN
asir-37319	56	6	for	for	ADP
asir-37319	56	7	longitudinal	longitudinal	ADJ
asir-37319	56	8	kinematics	kinematic	NOUN
asir-37319	56	9	is	be	AUX
asir-37319	56	10	constructed	construct	VERB
asir-37319	56	11	by	by	ADP
asir-37319	56	12	choosing	choose	VERB
asir-37319	56	13	y(k)=[drel(k	y(k)=[drel(k	PROPN
asir-37319	56	14	)	)	PUNCT
asir-37319	56	15	,	,	PUNCT
asir-37319	56	16	v2(k	v2(k	PROPN
asir-37319	56	17	)	)	PUNCT
asir-37319	56	18	,	,	PUNCT
asir-37319	56	19	a2(k)]t	a2(k)]t	VERB
asir-37319	56	20	as	as	ADP
asir-37319	56	21	the	the	DET
asir-37319	56	22	optimization	optimization	NOUN
asir-37319	56	23	target	target	NOUN
asir-37319	56	24	:	:	PUNCT
asir-37319	56	25			NOUN
asir-37319	56	26			SYM
asir-37319	56	27			NOUN
asir-37319	56	28			SYM
asir-37319	56	29			NOUN
asir-37319	56	30			SYM
asir-37319	56	31			NOUN
asir-37319	56	32			PUNCT
asir-37319	56	33			NOUN
asir-37319	56	34			PUNCT
asir-37319	56	35	1	1	NUM
asir-37319	57	1	d	d	NOUN
asir-37319	57	2	d	d	PROPN
asir-37319	57	3	d	d	X
asir-37319	57	4	k	k	X
asir-37319	57	5	k	k	PROPN
asir-37319	57	6	u	u	PROPN
asir-37319	57	7	k	k	PROPN
asir-37319	57	8	k	k	PROPN
asir-37319	57	9	k	k	PROPN
asir-37319	57	10			PROPN
asir-37319	57	11			PROPN
asir-37319	57	12			PROPN
asir-37319	57	13			PROPN
asir-37319	57	14			NOUN
asir-37319	57	15	x	x	X
asir-37319	57	16	a	a	DET
asir-37319	57	17	x	x	X
asir-37319	57	18	b	b	PROPN
asir-37319	57	19	y	y	NOUN
asir-37319	57	20	c	c	NOUN
asir-37319	57	21	x	x	X
asir-37319	57	22	(	(	PUNCT
asir-37319	57	23	7	7	NUM
asir-37319	57	24	)	)	PUNCT
asir-37319	57	25	where	where	SCONJ
asir-37319	57	26	,	,	PUNCT
asir-37319	57	27	21	21	NUM
asir-37319	57	28	1	1	NUM
asir-37319	57	29	0	0	NUM
asir-37319	57	30	0	0	NUM
asir-37319	57	31	2	2	NUM
asir-37319	57	32	0	0	NUM
asir-37319	57	33	1	1	NUM
asir-37319	57	34	0	0	NUM
asir-37319	57	35	0	0	NUM
asir-37319	57	36	0	0	NUM
asir-37319	57	37	0	0	NUM
asir-37319	57	38	1	1	NUM
asir-37319	57	39	0	0	NUM
asir-37319	57	40	0	0	NUM
asir-37319	57	41	0	0	NUM
asir-37319	57	42	0	0	NUM
asir-37319	57	43	1	1	NUM
asir-37319	57	44	0	0	NUM
asir-37319	57	45	1	1	NUM
asir-37319	57	46	0	0	NUM
asir-37319	57	47	0	0	NUM
asir-37319	57	48	0	0	NUM
asir-37319	57	49	0	0	NUM
asir-37319	57	50	s	s	PART
asir-37319	57	51	s	s	X
asir-37319	57	52	s	s	NOUN
asir-37319	57	53	s	s	X
asir-37319	57	54	d	d	X
asir-37319	57	55	s	s	PROPN
asir-37319	57	56	d	d	X
asir-37319	57	57	d	d	PROPN
asir-37319	57	58	t	t	PROPN
asir-37319	57	59	t	t	PROPN
asir-37319	57	60	t	t	PROPN
asir-37319	57	61	t	t	PROPN
asir-37319	57	62	t	t	PROPN
asir-37319	57	63			PROPN
asir-37319	57	64			NOUN
asir-37319	57	65			PROPN
asir-37319	57	66			X
asir-37319	57	67			PROPN
asir-37319	57	68			PROPN
asir-37319	57	69			PROPN
asir-37319	57	70			NOUN
asir-37319	57	71			NOUN
asir-37319	57	72			NOUN
asir-37319	57	73			NOUN
asir-37319	57	74			NOUN
asir-37319	57	75			NOUN
asir-37319	57	76			NOUN
asir-37319	57	77			NUM
asir-37319	57	78			NOUN
asir-37319	58	1			ADJ
asir-37319	58	2			PROPN
asir-37319	58	3			PROPN
asir-37319	58	4			NOUN
asir-37319	58	5			NOUN
asir-37319	58	6			NOUN
asir-37319	58	7			NOUN
asir-37319	58	8			PROPN
asir-37319	58	9			NOUN
asir-37319	58	10			VERB
asir-37319	58	11			PROPN
asir-37319	58	12	a	a	PRON
asir-37319	58	13	,	,	PUNCT
asir-37319	58	14	0	0	NUM
asir-37319	58	15	0	0	NUM
asir-37319	58	16	0	0	NUM
asir-37319	58	17	1	1	NUM
asir-37319	58	18	d	d	NOUN
asir-37319	58	19	s	s	PROPN
asir-37319	58	20	d	d	X
asir-37319	58	21	d	d	X
asir-37319	58	22	t	t	NOUN
asir-37319	58	23			NOUN
asir-37319	58	24			NOUN
asir-37319	58	25			PROPN
asir-37319	58	26			ADJ
asir-37319	58	27			NOUN
asir-37319	58	28			PROPN
asir-37319	58	29			NOUN
asir-37319	58	30			NOUN
asir-37319	58	31			NOUN
asir-37319	58	32			NOUN
asir-37319	58	33			NOUN
asir-37319	58	34			NOUN
asir-37319	58	35			NUM
asir-37319	58	36			NOUN
asir-37319	58	37			NOUN
asir-37319	58	38			NOUN
asir-37319	58	39			NOUN
asir-37319	58	40			NOUN
asir-37319	58	41			NOUN
asir-37319	58	42			NOUN
asir-37319	58	43			NOUN
asir-37319	58	44			NOUN
asir-37319	58	45			NOUN
asir-37319	58	46			VERB
asir-37319	58	47			PROPN
asir-37319	58	48	b	b	PROPN
asir-37319	58	49	,	,	PUNCT
asir-37319	58	50	1	1	NUM
asir-37319	58	51	0	0	NUM
asir-37319	58	52	0	0	NUM
asir-37319	58	53	0	0	NUM
asir-37319	58	54	0	0	NUM
asir-37319	58	55	0	0	NUM
asir-37319	58	56	1	1	NUM
asir-37319	58	57	0	0	NUM
asir-37319	58	58	0	0	NUM
asir-37319	58	59	0	0	NUM
asir-37319	58	60	0	0	NUM
asir-37319	58	61	0	0	NUM
asir-37319	58	62	0	0	NUM
asir-37319	58	63	1	1	NUM
asir-37319	58	64	0	0	NUM
asir-37319	58	65	d	d	NOUN
asir-37319	58	66			PROPN
asir-37319	58	67			NOUN
asir-37319	58	68			NOUN
asir-37319	58	69			NOUN
asir-37319	58	70			NUM
asir-37319	58	71			NOUN
asir-37319	58	72			NOUN
asir-37319	58	73			NOUN
asir-37319	58	74			PROPN
asir-37319	58	75			PROPN
asir-37319	58	76	c	c	PROPN
asir-37319	58	77	,	,	PUNCT
asir-37319	58	78	u(k	u(k	PROPN
asir-37319	58	79	)	)	PUNCT
asir-37319	58	80	is	be	AUX
asir-37319	58	81	the	the	DET
asir-37319	58	82	desired	desire	VERB
asir-37319	58	83	braking	braking	NOUN
asir-37319	58	84	deceleration	deceleration	NOUN
asir-37319	58	85	ades	ade	NOUN
asir-37319	58	86	,	,	PUNCT
asir-37319	58	87	andd	andd	ADJ
asir-37319	58	88	is	be	AUX
asir-37319	58	89	the	the	DET
asir-37319	58	90	1st	1st	ADJ
asir-37319	58	91	order	order	NOUN
asir-37319	58	92	inertial	inertial	NOUN
asir-37319	58	93	link	link	NOUN
asir-37319	58	94	time	time	NOUN
asir-37319	58	95	constant	constant	ADJ
asir-37319	58	96	describing	describe	VERB
asir-37319	58	97	the	the	DET
asir-37319	58	98	transfer	transfer	NOUN
asir-37319	58	99	characteristics	characteristic	NOUN
asir-37319	58	100	of	of	ADP
asir-37319	58	101	the	the	DET
asir-37319	58	102	desired	desire	VERB
asir-37319	58	103	acceleration	acceleration	NOUN
asir-37319	58	104	u(k	u(k	PROPN
asir-37319	58	105	)	)	PUNCT
asir-37319	58	106	and	and	CCONJ
asir-37319	58	107	the	the	DET
asir-37319	58	108	actual	actual	ADJ
asir-37319	58	109	acceleration	acceleration	NOUN
asir-37319	58	110	a2(k	a2(k	NOUN
asir-37319	58	111	)	)	PUNCT
asir-37319	58	112	of	of	ADP
asir-37319	58	113	the	the	DET
asir-37319	58	114	vehicle	vehicle	NOUN
asir-37319	58	115	,	,	PUNCT
asir-37319	58	116	ts	ts	PROPN
asir-37319	58	117	is	be	AUX
asir-37319	58	118	the	the	DET
asir-37319	58	119	system	system	NOUN
asir-37319	58	120	sampling	sample	VERB
asir-37319	58	121	time	time	NOUN
asir-37319	58	122	.	.	PUNCT
asir-37319	59	1	3.2	3.2	NUM
asir-37319	59	2	aeb	aeb	NOUN
asir-37319	59	3	-	-	PUNCT
asir-37319	59	4	p	p	NOUN
asir-37319	59	5	performance	performance	NOUN
asir-37319	59	6	requirements	requirement	NOUN
asir-37319	59	7	and	and	CCONJ
asir-37319	59	8	constraints	constraint	VERB
asir-37319	59	9	the	the	DET
asir-37319	59	10	safety	safety	NOUN
asir-37319	59	11	performance	performance	NOUN
asir-37319	59	12	of	of	ADP
asir-37319	59	13	the	the	DET
asir-37319	59	14	aeb	aeb	NOUN
asir-37319	59	15	-	-	PUNCT
asir-37319	59	16	p	p	NOUN
asir-37319	59	17	system	system	NOUN
asir-37319	59	18	,	,	PUNCT
asir-37319	59	19	which	which	PRON
asir-37319	59	20	is	be	AUX
asir-37319	59	21	its	its	PRON
asir-37319	59	22	fundamental	fundamental	ADJ
asir-37319	59	23	purpose	purpose	NOUN
asir-37319	59	24	,	,	PUNCT
asir-37319	59	25	must	must	AUX
asir-37319	59	26	be	be	AUX
asir-37319	59	27	the	the	DET
asir-37319	59	28	most	most	ADJ
asir-37319	59	29	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-37319	59	30	applied	apply	VERB
asir-37319	59	31	science	science	NOUN
asir-37319	59	32	and	and	CCONJ
asir-37319	59	33	innovative	innovative	ADJ
asir-37319	59	34	research	research	NOUN
asir-37319	59	35	vol	vol	NOUN
asir-37319	59	36	.	.	PROPN
asir-37319	60	1	8	8	NUM
asir-37319	60	2	,	,	PUNCT
asir-37319	60	3	no	no	INTJ
asir-37319	60	4	.	.	NOUN
asir-37319	60	5	2	2	NUM
asir-37319	60	6	,	,	PUNCT
asir-37319	60	7	2024	2024	NUM
asir-37319	60	8	61	61	NUM
asir-37319	60	9	published	publish	VERB
asir-37319	60	10	by	by	ADP
asir-37319	60	11	scholink	scholink	PROPN
asir-37319	60	12	inc	inc	PROPN
asir-37319	60	13	.	.	PROPN
asir-37319	60	14	important	important	ADJ
asir-37319	60	15	evaluation	evaluation	NOUN
asir-37319	60	16	index	index	NOUN
asir-37319	60	17	.	.	PUNCT
asir-37319	61	1	the	the	DET
asir-37319	61	2	limitations	limitation	NOUN
asir-37319	61	3	between	between	ADP
asir-37319	61	4	a	a	DET
asir-37319	61	5	human	human	NOUN
asir-37319	61	6	and	and	CCONJ
asir-37319	61	7	a	a	DET
asir-37319	61	8	vehicle	vehicle	NOUN
asir-37319	61	9	are	be	AUX
asir-37319	61	10	as	as	SCONJ
asir-37319	61	11	follows	follow	VERB
asir-37319	61	12	in	in	ADP
asir-37319	61	13	order	order	NOUN
asir-37319	61	14	to	to	PART
asir-37319	61	15	provide	provide	VERB
asir-37319	61	16	safety	safety	NOUN
asir-37319	61	17	and	and	CCONJ
asir-37319	61	18	consider	consider	VERB
asir-37319	61	19	driving	drive	VERB
asir-37319	61	20	comfort	comfort	NOUN
asir-37319	61	21	at	at	ADP
asir-37319	61	22	the	the	DET
asir-37319	61	23	same	same	ADJ
asir-37319	61	24	time	time	NOUN
asir-37319	61	25	:	:	PUNCT
asir-37319	61	26			NOUN
asir-37319	61	27			SYM
asir-37319	61	28			NOUN
asir-37319	61	29			SYM
asir-37319	61	30			NOUN
asir-37319	61	31			PROPN
asir-37319	61	32	0	0	NUM
asir-37319	62	1	max	max	PROPN
asir-37319	62	2	max	max	PROPN
asir-37319	62	3	min	min	PROPN
asir-37319	62	4	max	max	PROPN
asir-37319	62	5	min	min	PROPN
asir-37319	62	6	max	max	PROPN
asir-37319	62	7	rel	rel	PROPN
asir-37319	62	8	d	d	PROPN
asir-37319	62	9	d	d	PROPN
asir-37319	62	10	d	d	PROPN
asir-37319	62	11	a	a	PRON
asir-37319	62	12	a	a	DET
asir-37319	62	13	k	k	X
asir-37319	62	14	a	a	DET
asir-37319	62	15	jerk	jerk	NOUN
asir-37319	62	16	jerk	jerk	NOUN
asir-37319	62	17	k	k	PROPN
asir-37319	62	18	jerk	jerk	PROPN
asir-37319	62	19	u	u	PROPN
asir-37319	62	20	u	u	PROPN
asir-37319	62	21	k	k	PROPN
asir-37319	62	22	u	u	X
asir-37319	62	23			PROPN
asir-37319	62	24			NUM
asir-37319	62	25			NOUN
asir-37319	62	26			AUX
asir-37319	62	27			NUM
asir-37319	62	28			NOUN
asir-37319	62	29			NUM
asir-37319	62	30			NUM
asir-37319	62	31			NOUN
asir-37319	62	32			NUM
asir-37319	62	33	(	(	PUNCT
asir-37319	62	34	8)	8)	NUM
asir-37319	62	35	where	where	SCONJ
asir-37319	62	36	,	,	PUNCT
asir-37319	63	1	admax	admax	PROPN
asir-37319	63	2	and	and	CCONJ
asir-37319	63	3	amax	amax	PROPN
asir-37319	63	4	denote	denote	VERB
asir-37319	63	5	the	the	DET
asir-37319	63	6	minimum	minimum	ADJ
asir-37319	63	7	and	and	CCONJ
asir-37319	63	8	maximum	maximum	ADJ
asir-37319	63	9	values	value	NOUN
asir-37319	63	10	of	of	ADP
asir-37319	63	11	the	the	DET
asir-37319	63	12	acceleration	acceleration	NOUN
asir-37319	63	13	of	of	ADP
asir-37319	63	14	the	the	DET
asir-37319	63	15	vehicle	vehicle	NOUN
asir-37319	63	16	,	,	PUNCT
asir-37319	63	17	respectively	respectively	ADV
asir-37319	63	18	,	,	PUNCT
asir-37319	63	19	respectively	respectively	ADV
asir-37319	63	20	.	.	PUNCT
asir-37319	64	1	in	in	ADP
asir-37319	64	2	contrast	contrast	NOUN
asir-37319	64	3	to	to	ADP
asir-37319	64	4	aeb	aeb	PROPN
asir-37319	64	5	,	,	PUNCT
asir-37319	64	6	aeb	aeb	NOUN
asir-37319	64	7	-	-	PUNCT
asir-37319	64	8	p	p	NOUN
asir-37319	64	9	should	should	AUX
asir-37319	64	10	stop	stop	VERB
asir-37319	64	11	as	as	ADV
asir-37319	64	12	soon	soon	ADV
asir-37319	64	13	as	as	SCONJ
asir-37319	64	14	it	it	PRON
asir-37319	64	15	is	be	AUX
asir-37319	64	16	safe	safe	ADJ
asir-37319	64	17	to	to	PART
asir-37319	64	18	do	do	VERB
asir-37319	64	19	so	so	ADV
asir-37319	64	20	and	and	CCONJ
asir-37319	64	21	stop	stop	VERB
asir-37319	64	22	the	the	DET
asir-37319	64	23	car	car	NOUN
asir-37319	64	24	at	at	ADP
asir-37319	64	25	zero	zero	NUM
asir-37319	64	26	speed	speed	NOUN
asir-37319	64	27	to	to	PART
asir-37319	64	28	protect	protect	VERB
asir-37319	64	29	pedestrians	pedestrian	NOUN
asir-37319	64	30	.	.	PUNCT
asir-37319	65	1	the	the	DET
asir-37319	65	2	optimization	optimization	NOUN
asir-37319	65	3	objective	objective	NOUN
asir-37319	65	4	is	be	AUX
asir-37319	65	5	stated	state	VERB
asir-37319	65	6	below	below	ADP
asir-37319	65	7	:	:	PUNCT
asir-37319	65	8			NOUN
asir-37319	65	9			SYM
asir-37319	65	10			NOUN
asir-37319	65	11			PROPN
asir-37319	65	12	2	2	NUM
asir-37319	65	13	0	0	NUM
asir-37319	65	14	2	2	NUM
asir-37319	65	15	0	0	NUM
asir-37319	65	16	min	min	NOUN
asir-37319	65	17	rel	rel	NOUN
asir-37319	65	18	v	v	ADP
asir-37319	65	19	k	k	PROPN
asir-37319	65	20	d	d	PROPN
asir-37319	65	21	d	d	PROPN
asir-37319	65	22	a	a	DET
asir-37319	65	23	k	k	NOUN
asir-37319	65	24			NOUN
asir-37319	65	25			NOUN
asir-37319	66	1			ADJ
asir-37319	66	2			PROPN
asir-37319	66	3			PRON
asir-37319	66	4			NOUN
asir-37319	66	5	(	(	PUNCT
asir-37319	66	6	9	9	NUM
asir-37319	66	7	)	)	SYM
asir-37319	66	8	3.3	3.3	NUM
asir-37319	66	9	mpc	mpc	NOUN
asir-37319	66	10	controller	controller	NOUN
asir-37319	66	11	solving	solving	NOUN
asir-37319	66	12	according	accord	VERB
asir-37319	66	13	to	to	ADP
asir-37319	66	14	equation	equation	NOUN
asir-37319	66	15	(	(	PUNCT
asir-37319	66	16	7	7	NUM
asir-37319	66	17	)	)	PUNCT
asir-37319	66	18	,	,	PUNCT
asir-37319	66	19	the	the	DET
asir-37319	66	20	prediction	prediction	NOUN
asir-37319	66	21	equation	equation	NOUN
asir-37319	66	22	in	in	ADP
asir-37319	66	23	the	the	DET
asir-37319	66	24	prediction	prediction	NOUN
asir-37319	66	25	time	time	NOUN
asir-37319	66	26	domain	domain	NOUN
asir-37319	66	27	can	can	AUX
asir-37319	66	28	be	be	AUX
asir-37319	66	29	established	establish	VERB
asir-37319	66	30	,	,	PUNCT
asir-37319	66	31	defining	define	VERB
asir-37319	66	32	e(k	e(k	NOUN
asir-37319	66	33	)	)	PUNCT
asir-37319	66	34	as	as	ADP
asir-37319	66	35	the	the	DET
asir-37319	66	36	error	error	NOUN
asir-37319	66	37	between	between	ADP
asir-37319	66	38	the	the	DET
asir-37319	66	39	actual	actual	ADJ
asir-37319	66	40	state	state	NOUN
asir-37319	66	41	quantity	quantity	NOUN
asir-37319	66	42	and	and	CCONJ
asir-37319	66	43	the	the	DET
asir-37319	66	44	predicted	predict	VERB
asir-37319	66	45	value	value	NOUN
asir-37319	66	46	,	,	PUNCT
asir-37319	66	47	and	and	CCONJ
asir-37319	66	48	the	the	DET
asir-37319	66	49	following	follow	VERB
asir-37319	66	50	model	model	NOUN
asir-37319	66	51	can	can	AUX
asir-37319	66	52	be	be	AUX
asir-37319	66	53	established	establish	VERB
asir-37319	66	54	:	:	PUNCT
asir-37319	66	55			NOUN
asir-37319	66	56			SYM
asir-37319	66	57			NOUN
asir-37319	66	58			SYM
asir-37319	66	59			NOUN
asir-37319	66	60			SYM
asir-37319	66	61			NOUN
asir-37319	66	62			SYM
asir-37319	66	63			NOUN
asir-37319	66	64			PUNCT
asir-37319	66	65			NOUN
asir-37319	66	66			PUNCT
asir-37319	67	1	p	p	NOUN
asir-37319	68	1	p	p	X
asir-37319	68	2	p	p	X
asir-37319	68	3	p	p	PROPN
asir-37319	69	1	p	p	PROPN
asir-37319	69	2	p	p	PROPN
asir-37319	70	1	k	k	PROPN
asir-37319	70	2	k	k	PROPN
asir-37319	71	1	k	k	PROPN
asir-37319	71	2	k	k	PROPN
asir-37319	72	1	k	k	PROPN
asir-37319	72	2	k	k	PROPN
asir-37319	72	3			PROPN
asir-37319	72	4			PUNCT
asir-37319	72	5			VERB
asir-37319	72	6			NUM
asir-37319	72	7			NOUN
asir-37319	72	8			VERB
asir-37319	72	9			PROPN
asir-37319	72	10	x	x	X
asir-37319	72	11	a	a	DET
asir-37319	72	12	x	x	X
asir-37319	72	13	b	b	X
asir-37319	72	14	u	u	X
asir-37319	72	15	f	f	PROPN
asir-37319	72	16	e	e	X
asir-37319	72	17	y	y	PROPN
asir-37319	72	18	c	c	NOUN
asir-37319	72	19	x	x	SYM
asir-37319	73	1	d	d	PUNCT
asir-37319	73	2	u	u	X
asir-37319	73	3	h	h	X
asir-37319	73	4	e	e	X
asir-37319	73	5	(	(	PUNCT
asir-37319	73	6	10	10	NUM
asir-37319	73	7	)	)	PUNCT
asir-37319	73	8	where	where	SCONJ
asir-37319	73	9	,	,	PUNCT
asir-37319	73	10	x	x	X
asir-37319	73	11	is	be	AUX
asir-37319	73	12	the	the	DET
asir-37319	73	13	ensemble	ensemble	ADJ
asir-37319	73	14	of	of	ADP
asir-37319	73	15	predicted	predict	VERB
asir-37319	73	16	state	state	NOUN
asir-37319	73	17	variables	variable	NOUN
asir-37319	73	18	in	in	ADP
asir-37319	73	19	the	the	DET
asir-37319	73	20	prediction	prediction	NOUN
asir-37319	73	21	time	time	NOUN
asir-37319	73	22	domain	domain	NOUN
asir-37319	73	23	np	np	X
asir-37319	73	24	,	,	PUNCT
asir-37319	73	25	y	y	PROPN
asir-37319	73	26	is	be	AUX
asir-37319	73	27	the	the	DET
asir-37319	73	28	predicted	predict	VERB
asir-37319	73	29	output	output	NOUN
asir-37319	73	30	variables	variable	NOUN
asir-37319	73	31	in	in	ADP
asir-37319	73	32	the	the	DET
asir-37319	73	33	prediction	prediction	NOUN
asir-37319	73	34	time	time	NOUN
asir-37319	73	35	domain	domain	NOUN
asir-37319	73	36	np	np	NOUN
asir-37319	73	37	,	,	PUNCT
asir-37319	73	38	and	and	CCONJ
asir-37319	73	39	u(k	u(k	PROPN
asir-37319	73	40	)	)	PUNCT
asir-37319	73	41	is	be	AUX
asir-37319	73	42	the	the	DET
asir-37319	73	43	sequence	sequence	NOUN
asir-37319	73	44	of	of	ADP
asir-37319	73	45	expected	expect	VERB
asir-37319	73	46	acceleration	acceleration	NOUN
asir-37319	73	47	output	output	NOUN
asir-37319	73	48	variables	variable	NOUN
asir-37319	73	49	in	in	ADP
asir-37319	73	50	the	the	DET
asir-37319	73	51	control	control	NOUN
asir-37319	73	52	time	time	PROPN
asir-37319	73	53	domain	domain	PROPN
asir-37319	73	54	nc	nc	PROPN
asir-37319	73	55	,	,	PUNCT
asir-37319	73	56	which	which	PRON
asir-37319	73	57	are	be	AUX
asir-37319	73	58	involved	involve	VERB
asir-37319	73	59	in	in	ADP
asir-37319	73	60	the	the	DET
asir-37319	73	61	prediction	prediction	NOUN
asir-37319	73	62	model	model	NOUN
asir-37319	73	63	for	for	ADP
asir-37319	73	64	each	each	DET
asir-37319	73	65	prediction	prediction	NOUN
asir-37319	73	66	matrix	matrix	NOUN
asir-37319	73	67	ap	ap	PROPN
asir-37319	73	68	,	,	PUNCT
asir-37319	73	69	bp	bp	PROPN
asir-37319	73	70	,	,	PUNCT
asir-37319	73	71	fp	fp	PROPN
asir-37319	73	72	,	,	PUNCT
asir-37319	73	73	cp	cp	PROPN
asir-37319	73	74	,	,	PUNCT
asir-37319	73	75	dp	dp	PROPN
asir-37319	73	76	,	,	PUNCT
asir-37319	73	77	hp	hp	PROPN
asir-37319	73	78	.	.	PUNCT
asir-37319	74	1	the	the	DET
asir-37319	74	2	objective	objective	ADJ
asir-37319	74	3	function	function	NOUN
asir-37319	74	4	of	of	ADP
asir-37319	74	5	the	the	DET
asir-37319	74	6	integrated	integrated	ADJ
asir-37319	74	7	analytical	analytical	ADJ
asir-37319	74	8	design	design	NOUN
asir-37319	74	9	optimization	optimization	NOUN
asir-37319	74	10	for	for	ADP
asir-37319	74	11	the	the	DET
asir-37319	74	12	control	control	NOUN
asir-37319	74	13	performance	performance	NOUN
asir-37319	74	14	requirements	requirement	NOUN
asir-37319	74	15	of	of	ADP
asir-37319	74	16	the	the	DET
asir-37319	74	17	aeb	aeb	NOUN
asir-37319	74	18	-	-	PUNCT
asir-37319	74	19	p	p	NOUN
asir-37319	74	20	system	system	NOUN
asir-37319	74	21	is	be	AUX
asir-37319	74	22	defined	define	VERB
asir-37319	74	23	as	as	ADP
asir-37319	74	24	:	:	PUNCT
asir-37319	74	25			NOUN
asir-37319	74	26			PROPN
asir-37319	74	27			NOUN
asir-37319	74	28			SYM
asir-37319	74	29			NOUN
asir-37319	74	30			NOUN
asir-37319	74	31	2	2	NUM
asir-37319	74	32	2	2	NUM
asir-37319	74	33	2	2	NUM
asir-37319	74	34	1	1	NUM
asir-37319	74	35	1	1	NUM
asir-37319	74	36	p	p	NOUN
asir-37319	74	37	c	c	NOUN
asir-37319	74	38	n	n	CCONJ
asir-37319	74	39	n	n	NOUN
asir-37319	74	40	r	r	NOUN
asir-37319	75	1	i	i	PRON
asir-37319	75	2	i	i	PRON
asir-37319	76	1	j	j	PROPN
asir-37319	77	1	p	p	X
asir-37319	77	2	refk	refk	NOUN
asir-37319	78	1	i	i	NOUN
asir-37319	78	2	k	k	PROPN
asir-37319	79	1	k	k	PROPN
asir-37319	80	1	i	i	PRON
asir-37319	80	2	k	k	PROPN
asir-37319	81	1	u	u	VERB
asir-37319	81	2	k	k	PROPN
asir-37319	81	3	i	i	PRON
asir-37319	81	4			VERB
asir-37319	81	5			PRON
asir-37319	82	1			NUM
asir-37319	82	2			ADJ
asir-37319	82	3			ADJ
asir-37319	82	4			PROPN
asir-37319	82	5			PROPN
asir-37319	82	6			PUNCT
asir-37319	82	7			X
asir-37319	83	1			X
asir-37319	83	2	rq	rq	VERB
asir-37319	83	3	y	y	PROPN
asir-37319	83	4	y	y	PROPN
asir-37319	83	5	(	(	PUNCT
asir-37319	83	6	11	11	NUM
asir-37319	83	7	)	)	PUNCT
asir-37319	84	1	where	where	SCONJ
asir-37319	84	2	,	,	PUNCT
asir-37319	84	3	yp(k+i|k	yp(k+i|k	PROPN
asir-37319	84	4	)	)	PUNCT
asir-37319	84	5	is	be	AUX
asir-37319	84	6	the	the	DET
asir-37319	84	7	predicted	predict	VERB
asir-37319	84	8	value	value	NOUN
asir-37319	84	9	of	of	ADP
asir-37319	84	10	the	the	DET
asir-37319	84	11	system	system	NOUN
asir-37319	84	12	at	at	ADP
asir-37319	84	13	moment	moment	NOUN
asir-37319	84	14	k	k	PROPN
asir-37319	84	15	for	for	ADP
asir-37319	84	16	the	the	DET
asir-37319	84	17	control	control	NOUN
asir-37319	84	18	output	output	NOUN
asir-37319	84	19	quantity	quantity	NOUN
asir-37319	84	20	at	at	ADP
asir-37319	84	21	moment	moment	NOUN
asir-37319	84	22	k+i	k+i	NUM
asir-37319	84	23	,	,	PUNCT
asir-37319	84	24	yref(k+i|k	yref(k+i|k	ADJ
asir-37319	84	25	)	)	PUNCT
asir-37319	84	26	denotes	denote	VERB
asir-37319	84	27	the	the	DET
asir-37319	84	28	reference	reference	NOUN
asir-37319	84	29	value	value	NOUN
asir-37319	84	30	corresponding	correspond	VERB
asir-37319	84	31	to	to	ADP
asir-37319	84	32	the	the	DET
asir-37319	84	33	control	control	NOUN
asir-37319	84	34	output	output	NOUN
asir-37319	84	35	,	,	PUNCT
asir-37319	84	36	u(k+i	u(k+i	NUM
asir-37319	84	37	)	)	PUNCT
asir-37319	84	38	is	be	AUX
asir-37319	84	39	the	the	DET
asir-37319	84	40	control	control	NOUN
asir-37319	84	41	input	input	NOUN
asir-37319	84	42	at	at	ADP
asir-37319	84	43	moment	moment	NOUN
asir-37319	84	44	k+i	k+i	NUM
asir-37319	84	45	,	,	PUNCT
asir-37319	84	46	q	q	X
asir-37319	84	47	is	be	AUX
asir-37319	84	48	the	the	DET
asir-37319	84	49	matrix	matrix	NOUN
asir-37319	84	50	of	of	ADP
asir-37319	84	51	the	the	DET
asir-37319	84	52	output	output	NOUN
asir-37319	84	53	quantity	quantity	NOUN
asir-37319	84	54	weight	weight	NOUN
asir-37319	84	55	coefficients	coefficient	NOUN
asir-37319	84	56	,	,	PUNCT
asir-37319	84	57	r	r	NOUN
asir-37319	84	58	is	be	AUX
asir-37319	84	59	the	the	DET
asir-37319	84	60	incremental	incremental	ADJ
asir-37319	84	61	weight	weight	NOUN
asir-37319	84	62	matrix	matrix	NOUN
asir-37319	84	63	of	of	ADP
asir-37319	84	64	the	the	DET
asir-37319	84	65	control	control	NOUN
asir-37319	84	66	quantity	quantity	NOUN
asir-37319	84	67	,	,	PUNCT
asir-37319	84	68			PROPN
asir-37319	84	69	and	and	CCONJ
asir-37319	84	70			NOUN
asir-37319	84	71	are	be	AUX
asir-37319	84	72	the	the	DET
asir-37319	84	73	relaxation	relaxation	NOUN
asir-37319	84	74	factor	factor	NOUN
asir-37319	84	75	and	and	CCONJ
asir-37319	84	76	the	the	DET
asir-37319	84	77	corresponding	corresponding	ADJ
asir-37319	84	78	weight	weight	NOUN
asir-37319	84	79	coefficients	coefficient	NOUN
asir-37319	84	80	.	.	PUNCT
asir-37319	85	1	using	use	VERB
asir-37319	85	2	the	the	DET
asir-37319	85	3	quadprog	quadprog	NOUN
asir-37319	85	4	function	function	NOUN
asir-37319	85	5	of	of	ADP
asir-37319	85	6	the	the	DET
asir-37319	85	7	matlab	matlab	PROPN
asir-37319	85	8	optimization	optimization	NOUN
asir-37319	85	9	toolbox	toolbox	NOUN
asir-37319	85	10	,	,	PUNCT
asir-37319	85	11	we	we	PRON
asir-37319	85	12	convert	convert	VERB
asir-37319	85	13	equation	equation	NOUN
asir-37319	85	14	(	(	PUNCT
asir-37319	85	15	12	12	NUM
asir-37319	85	16	)	)	PUNCT
asir-37319	85	17	into	into	ADP
asir-37319	85	18	a	a	DET
asir-37319	85	19	typical	typical	ADJ
asir-37319	85	20	quadratic	quadratic	ADJ
asir-37319	85	21	programming	programming	NOUN
asir-37319	85	22	problem	problem	NOUN
asir-37319	85	23	and	and	CCONJ
asir-37319	85	24	solve	solve	VERB
asir-37319	85	25	it	it	PRON
asir-37319	85	26	.	.	PUNCT
asir-37319	86	1	the	the	DET
asir-37319	86	2	result	result	NOUN
asir-37319	86	3	is	be	AUX
asir-37319	86	4	a	a	DET
asir-37319	86	5	list	list	NOUN
asir-37319	86	6	of	of	ADP
asir-37319	86	7	optimal	optimal	ADJ
asir-37319	86	8	control	control	NOUN
asir-37319	86	9	quantities	quantity	NOUN
asir-37319	86	10	in	in	ADP
asir-37319	86	11	the	the	DET
asir-37319	86	12	control	control	NOUN
asir-37319	86	13	time	time	NOUN
asir-37319	86	14	domain	domain	NOUN
asir-37319	86	15	that	that	PRON
asir-37319	86	16	correspond	correspond	VERB
asir-37319	86	17	to	to	ADP
asir-37319	86	18	each	each	DET
asir-37319	86	19	sampling	sample	VERB
asir-37319	86	20	moment	moment	NOUN
asir-37319	86	21	:	:	PUNCT
asir-37319	86	22	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-37319	86	23	applied	apply	VERB
asir-37319	86	24	science	science	NOUN
asir-37319	86	25	and	and	CCONJ
asir-37319	86	26	innovative	innovative	ADJ
asir-37319	86	27	research	research	NOUN
asir-37319	86	28	vol	vol	NOUN
asir-37319	86	29	.	.	PROPN
asir-37319	87	1	8	8	NUM
asir-37319	87	2	,	,	PUNCT
asir-37319	87	3	no	no	INTJ
asir-37319	87	4	.	.	NOUN
asir-37319	87	5	2	2	NUM
asir-37319	87	6	,	,	PUNCT
asir-37319	87	7	2024	2024	NUM
asir-37319	87	8	62	62	NUM
asir-37319	87	9	published	publish	VERB
asir-37319	87	10	by	by	ADP
asir-37319	87	11	scholink	scholink	PROPN
asir-37319	87	12	inc	inc	PROPN
asir-37319	87	13	.	.	PROPN
asir-37319	87	14			PROPN
asir-37319	87	15			PUNCT
asir-37319	87	16			NOUN
asir-37319	87	17			SYM
asir-37319	87	18			NOUN
asir-37319	87	19			PUNCT
asir-37319	87	20			NOUN
asir-37319	88	1			PUNCT
asir-37319	88	2	*	*	PUNCT
asir-37319	88	3	*	*	PUNCT
asir-37319	89	1	*	*	PUNCT
asir-37319	89	2	*	*	PUNCT
asir-37319	89	3	,	,	PUNCT
asir-37319	89	4	1	1	NUM
asir-37319	89	5	,	,	PUNCT
asir-37319	89	6	1	1	NUM
asir-37319	89	7	t	t	NOUN
asir-37319	89	8	ck	ck	INTJ
asir-37319	89	9	u	u	NOUN
asir-37319	89	10	k	k	PROPN
asir-37319	89	11	u	u	X
asir-37319	89	12	k	k	PROPN
asir-37319	89	13	u	u	PROPN
asir-37319	89	14	k	k	PROPN
asir-37319	89	15	n	n	PROPN
asir-37319	89	16			PROPN
asir-37319	89	17			ADV
asir-37319	89	18			PUNCT
asir-37319	89	19			NOUN
asir-37319	89	20	u	u	PROPN
asir-37319	89	21	(	(	PUNCT
asir-37319	89	22	13	13	NUM
asir-37319	89	23	)	)	PUNCT
asir-37319	89	24	4	4	NUM
asir-37319	89	25	.	.	PUNCT
asir-37319	90	1	lower	low	ADJ
asir-37319	90	2	pid	pid	NOUN
asir-37319	90	3	control	control	NOUN
asir-37319	90	4	system	system	NOUN
asir-37319	90	5	and	and	CCONJ
asir-37319	90	6	vehicle	vehicle	NOUN
asir-37319	90	7	model	model	NOUN
asir-37319	90	8	4.1	4.1	NUM
asir-37319	90	9	lower	low	ADJ
asir-37319	90	10	controller	controller	NOUN
asir-37319	90	11	design	design	VERB
asir-37319	90	12	the	the	DET
asir-37319	90	13	main	main	ADJ
asir-37319	90	14	function	function	NOUN
asir-37319	90	15	of	of	ADP
asir-37319	90	16	the	the	DET
asir-37319	90	17	lower	low	ADJ
asir-37319	90	18	controller	controller	NOUN
asir-37319	90	19	of	of	ADP
asir-37319	90	20	the	the	DET
asir-37319	90	21	aeb	aeb	NOUN
asir-37319	90	22	-	-	PUNCT
asir-37319	90	23	p	p	NOUN
asir-37319	90	24	is	be	AUX
asir-37319	90	25	to	to	PART
asir-37319	90	26	control	control	VERB
asir-37319	90	27	and	and	CCONJ
asir-37319	90	28	execute	execute	VERB
asir-37319	90	29	the	the	DET
asir-37319	90	30	above	above	ADJ
asir-37319	90	31	vehicle	vehicle	NOUN
asir-37319	90	32	dynamics	dynamic	NOUN
asir-37319	90	33	model	model	NOUN
asir-37319	90	34	,	,	PUNCT
asir-37319	90	35	and	and	CCONJ
asir-37319	90	36	to	to	PART
asir-37319	90	37	perform	perform	VERB
asir-37319	90	38	real	real	ADJ
asir-37319	90	39	-	-	PUNCT
asir-37319	90	40	time	time	NOUN
asir-37319	90	41	control	control	NOUN
asir-37319	90	42	by	by	ADP
asir-37319	90	43	accepting	accept	VERB
asir-37319	90	44	the	the	DET
asir-37319	90	45	upper	upper	ADJ
asir-37319	90	46	control	control	NOUN
asir-37319	90	47	signal	signal	NOUN
asir-37319	90	48	and	and	CCONJ
asir-37319	90	49	converting	convert	VERB
asir-37319	90	50	the	the	DET
asir-37319	90	51	brake	brake	NOUN
asir-37319	90	52	pressure	pressure	NOUN
asir-37319	90	53	value	value	NOUN
asir-37319	90	54	.	.	PUNCT
asir-37319	91	1	due	due	ADP
asir-37319	91	2	to	to	ADP
asir-37319	91	3	the	the	DET
asir-37319	91	4	nonlinear	nonlinear	ADJ
asir-37319	91	5	characteristics	characteristic	NOUN
asir-37319	91	6	of	of	ADP
asir-37319	91	7	the	the	DET
asir-37319	91	8	longitudinal	longitudinal	ADJ
asir-37319	91	9	dynamics	dynamic	NOUN
asir-37319	91	10	of	of	ADP
asir-37319	91	11	the	the	DET
asir-37319	91	12	vehicle	vehicle	NOUN
asir-37319	91	13	,	,	PUNCT
asir-37319	91	14	there	there	PRON
asir-37319	91	15	is	be	VERB
asir-37319	91	16	an	an	DET
asir-37319	91	17	error	error	NOUN
asir-37319	91	18	between	between	ADP
asir-37319	91	19	the	the	DET
asir-37319	91	20	actual	actual	ADJ
asir-37319	91	21	acceleration	acceleration	NOUN
asir-37319	91	22	of	of	ADP
asir-37319	91	23	the	the	DET
asir-37319	91	24	vehicle	vehicle	NOUN
asir-37319	91	25	and	and	CCONJ
asir-37319	91	26	the	the	DET
asir-37319	91	27	desired	desire	VERB
asir-37319	91	28	value	value	NOUN
asir-37319	91	29	,	,	PUNCT
asir-37319	91	30	and	and	CCONJ
asir-37319	91	31	the	the	DET
asir-37319	91	32	acceleration	acceleration	NOUN
asir-37319	91	33	error	error	NOUN
asir-37319	91	34	is	be	AUX
asir-37319	91	35	controlled	control	VERB
asir-37319	91	36	by	by	ADP
asir-37319	91	37	using	use	VERB
asir-37319	91	38	the	the	DET
asir-37319	91	39	pid	pid	NOUN
asir-37319	91	40	control	control	NOUN
asir-37319	91	41	strategy	strategy	NOUN
asir-37319	91	42	,	,	PUNCT
asir-37319	91	43	which	which	PRON
asir-37319	91	44	takes	take	VERB
asir-37319	91	45	the	the	DET
asir-37319	91	46	difference	difference	NOUN
asir-37319	91	47	between	between	ADP
asir-37319	91	48	the	the	DET
asir-37319	91	49	desired	desire	VERB
asir-37319	91	50	state	state	NOUN
asir-37319	91	51	and	and	CCONJ
asir-37319	91	52	the	the	DET
asir-37319	91	53	actual	actual	ADJ
asir-37319	91	54	state	state	NOUN
asir-37319	91	55	output	output	NOUN
asir-37319	91	56	from	from	ADP
asir-37319	91	57	the	the	DET
asir-37319	91	58	upper	upper	ADJ
asir-37319	91	59	layer	layer	NOUN
asir-37319	91	60	mpc	mpc	NOUN
asir-37319	91	61	controller	controller	NOUN
asir-37319	91	62	as	as	ADP
asir-37319	91	63	the	the	DET
asir-37319	91	64	control	control	NOUN
asir-37319	91	65	error	error	NOUN
asir-37319	91	66	e(t	e(t	NOUN
asir-37319	91	67	)	)	PUNCT
asir-37319	91	68	,	,	PUNCT
asir-37319	92	1	as	as	SCONJ
asir-37319	92	2	:	:	PUNCT
asir-37319	92	3			NOUN
asir-37319	92	4			PROPN
asir-37319	92	5			NOUN
asir-37319	92	6			SYM
asir-37319	92	7			PROPN
asir-37319	92	8	2	2	NOUN
asir-37319	92	9	dese	dese	PROPN
asir-37319	92	10	t	t	PROPN
asir-37319	92	11	a	a	DET
asir-37319	92	12	t	t	PROPN
asir-37319	92	13	a	a	DET
asir-37319	92	14	t	t	PROPN
asir-37319	92	15			PROPN
asir-37319	92	16	(	(	PUNCT
asir-37319	92	17	14	14	NUM
asir-37319	92	18	)	)	PUNCT
asir-37319	92	19	where	where	SCONJ
asir-37319	92	20	,	,	PUNCT
asir-37319	92	21	a2(t	a2(t	PROPN
asir-37319	92	22	)	)	PUNCT
asir-37319	92	23	is	be	AUX
asir-37319	92	24	the	the	DET
asir-37319	92	25	actual	actual	ADJ
asir-37319	92	26	self	self	NOUN
asir-37319	92	27	-	-	PUNCT
asir-37319	92	28	vehicle	vehicle	NOUN
asir-37319	92	29	acceleration	acceleration	NOUN
asir-37319	92	30	,	,	PUNCT
asir-37319	92	31	and	and	CCONJ
asir-37319	92	32	ades(t	ades(t	PROPN
asir-37319	92	33	)	)	PUNCT
asir-37319	92	34	is	be	AUX
asir-37319	92	35	the	the	DET
asir-37319	92	36	desired	desire	VERB
asir-37319	92	37	acceleration	acceleration	NOUN
asir-37319	92	38	of	of	ADP
asir-37319	92	39	the	the	DET
asir-37319	92	40	self	self	NOUN
asir-37319	92	41	-	-	PUNCT
asir-37319	92	42	vehicle	vehicle	NOUN
asir-37319	92	43	.	.	PUNCT
asir-37319	93	1	the	the	DET
asir-37319	93	2	lower	low	ADJ
asir-37319	93	3	layer	layer	NOUN
asir-37319	93	4	control	control	NOUN
asir-37319	93	5	law	law	NOUN
asir-37319	93	6	is	be	AUX
asir-37319	93	7	expressed	express	VERB
asir-37319	93	8	as	as	ADP
asir-37319	93	9	:	:	PUNCT
asir-37319	93	10			NOUN
asir-37319	93	11			PROPN
asir-37319	93	12			NOUN
asir-37319	93	13			SYM
asir-37319	93	14			NOUN
asir-37319	93	15			SYM
asir-37319	93	16			NOUN
asir-37319	93	17			PUNCT
asir-37319	93	18	0	0	NUM
asir-37319	94	1	1	1	NUM
asir-37319	94	2	t	t	NOUN
asir-37319	94	3	b	b	X
asir-37319	94	4	p	p	X
asir-37319	94	5	d	d	X
asir-37319	94	6	i	i	PROPN
asir-37319	94	7	de	de	PROPN
asir-37319	94	8	t	t	PROPN
asir-37319	94	9	p	p	PROPN
asir-37319	94	10	t	t	PROPN
asir-37319	94	11	k	k	PROPN
asir-37319	94	12	e	e	PROPN
asir-37319	94	13	t	t	PROPN
asir-37319	94	14	e	e	PROPN
asir-37319	94	15	t	t	PROPN
asir-37319	94	16	dt	dt	X
asir-37319	94	17	t	t	PROPN
asir-37319	94	18	t	t	PROPN
asir-37319	94	19	dt	dt	X
asir-37319	95	1			PROPN
asir-37319	95	2			ADJ
asir-37319	95	3			PROPN
asir-37319	95	4			ADJ
asir-37319	95	5			PROPN
asir-37319	95	6			NOUN
asir-37319	95	7			NOUN
asir-37319	95	8			PROPN
asir-37319	95	9			X
asir-37319	95	10	(	(	PUNCT
asir-37319	95	11	15	15	NUM
asir-37319	95	12	)	)	PUNCT
asir-37319	95	13	where	where	SCONJ
asir-37319	95	14	,	,	PUNCT
asir-37319	95	15	kp	kp	PROPN
asir-37319	95	16	,	,	PUNCT
asir-37319	95	17	ti	ti	PROPN
asir-37319	95	18	and	and	CCONJ
asir-37319	95	19	td	td	NOUN
asir-37319	95	20	are	be	AUX
asir-37319	95	21	the	the	DET
asir-37319	95	22	proportional	proportional	ADJ
asir-37319	95	23	gain	gain	NOUN
asir-37319	95	24	,	,	PUNCT
asir-37319	95	25	integral	integral	ADJ
asir-37319	95	26	time	time	NOUN
asir-37319	95	27	constant	constant	ADJ
asir-37319	95	28	and	and	CCONJ
asir-37319	95	29	differential	differential	ADJ
asir-37319	95	30	time	time	NOUN
asir-37319	95	31	constant	constant	ADJ
asir-37319	95	32	of	of	ADP
asir-37319	95	33	the	the	DET
asir-37319	95	34	pid	pid	NOUN
asir-37319	95	35	controller	controller	NOUN
asir-37319	95	36	,	,	PUNCT
asir-37319	95	37	pb(t	pb(t	ADJ
asir-37319	95	38	)	)	PUNCT
asir-37319	95	39	is	be	AUX
asir-37319	95	40	the	the	DET
asir-37319	95	41	output	output	NOUN
asir-37319	95	42	braking	brake	VERB
asir-37319	95	43	pressure	pressure	NOUN
asir-37319	95	44	value	value	NOUN
asir-37319	95	45	.	.	PUNCT
asir-37319	96	1	the	the	DET
asir-37319	96	2	three	three	NUM
asir-37319	96	3	control	control	NOUN
asir-37319	96	4	parameters	parameter	NOUN
asir-37319	96	5	of	of	ADP
asir-37319	96	6	the	the	DET
asir-37319	96	7	pid	pid	NOUN
asir-37319	96	8	controller	controller	NOUN
asir-37319	96	9	are	be	AUX
asir-37319	96	10	set	set	VERB
asir-37319	96	11	as	as	ADP
asir-37319	96	12	:	:	PUNCT
asir-37319	96	13	kp	kp	PROPN
asir-37319	96	14	=	=	SYM
asir-37319	96	15	3	3	NUM
asir-37319	96	16	,	,	PUNCT
asir-37319	96	17	ti	ti	X
asir-37319	96	18	=	=	SYM
asir-37319	96	19	15	15	NUM
asir-37319	96	20	and	and	CCONJ
asir-37319	96	21	td	td	NOUN
asir-37319	96	22	=	=	NOUN
asir-37319	96	23	0.01	0.01	NUM
asir-37319	96	24	.	.	PUNCT
asir-37319	97	1	4.2	4.2	NUM
asir-37319	97	2	vehicle	vehicle	NOUN
asir-37319	97	3	modeling	modeling	NOUN
asir-37319	97	4	we	we	PRON
asir-37319	97	5	took	take	VERB
asir-37319	97	6	a	a	DET
asir-37319	97	7	certain	certain	ADJ
asir-37319	97	8	c	c	NOUN
asir-37319	97	9	-	-	PUNCT
asir-37319	97	10	class	class	NOUN
asir-37319	97	11	car	car	NOUN
asir-37319	97	12	as	as	ADP
asir-37319	97	13	the	the	DET
asir-37319	97	14	research	research	NOUN
asir-37319	97	15	object	object	NOUN
asir-37319	97	16	and	and	CCONJ
asir-37319	97	17	established	establish	VERB
asir-37319	97	18	an	an	DET
asir-37319	97	19	accurate	accurate	ADJ
asir-37319	97	20	vehicle	vehicle	NOUN
asir-37319	97	21	dynamics	dynamic	NOUN
asir-37319	97	22	model	model	NOUN
asir-37319	97	23	by	by	ADP
asir-37319	97	24	carsim	carsim	PROPN
asir-37319	97	25	software	software	PROPN
asir-37319	97	26	.	.	PUNCT
asir-37319	98	1	the	the	DET
asir-37319	98	2	main	main	ADJ
asir-37319	98	3	parameters	parameter	NOUN
asir-37319	98	4	of	of	ADP
asir-37319	98	5	the	the	DET
asir-37319	98	6	whole	whole	ADJ
asir-37319	98	7	vehicle	vehicle	NOUN
asir-37319	98	8	are	be	AUX
asir-37319	98	9	shown	show	VERB
asir-37319	98	10	in	in	ADP
asir-37319	98	11	table	table	NOUN
asir-37319	98	12	1	1	NUM
asir-37319	98	13	below	below	ADV
asir-37319	98	14	.	.	PUNCT
asir-37319	99	1	table	table	NOUN
asir-37319	99	2	1	1	NUM
asir-37319	99	3	.	.	PUNCT
asir-37319	99	4	main	main	ADJ
asir-37319	99	5	parameters	parameter	NOUN
asir-37319	99	6	of	of	ADP
asir-37319	99	7	the	the	DET
asir-37319	99	8	vehicle	vehicle	NOUN
asir-37319	99	9	parameter	parameter	PROPN
asir-37319	99	10	value	value	NOUN
asir-37319	99	11	unit	unit	NOUN
asir-37319	99	12	vehicle	vehicle	NOUN
asir-37319	99	13	curb	curb	VERB
asir-37319	99	14	quality	quality	NOUN
asir-37319	99	15	1270	1270	NUM
asir-37319	99	16	kg	kg	NOUN
asir-37319	99	17	engine	engine	NOUN
asir-37319	99	18	rated	rate	VERB
asir-37319	99	19	power	power	NOUN
asir-37319	99	20	125	125	NUM
asir-37319	99	21	kw	kw	NOUN
asir-37319	99	22	air	air	NOUN
asir-37319	99	23	resistance	resistance	NOUN
asir-37319	99	24	coefficient	coefficient	VERB
asir-37319	99	25	0.3	0.3	NUM
asir-37319	99	26	frontal	frontal	ADJ
asir-37319	99	27	area	area	NOUN
asir-37319	99	28	2.3	2.3	NUM
asir-37319	99	29	m2	m2	PROPN
asir-37319	99	30	rolling	rolling	ADJ
asir-37319	99	31	friction	friction	NOUN
asir-37319	99	32	coefficient	coefficient	NOUN
asir-37319	99	33	wheelbase	wheelbase	VERB
asir-37319	99	34	2.656	2.656	NUM
asir-37319	99	35	m	m	NOUN
asir-37319	99	36	the	the	DET
asir-37319	99	37	center	center	NOUN
asir-37319	99	38	of	of	ADP
asir-37319	99	39	gravity	gravity	NOUN
asir-37319	99	40	to	to	ADP
asir-37319	99	41	the	the	DET
asir-37319	99	42	center	center	NOUN
asir-37319	99	43	of	of	ADP
asir-37319	99	44	the	the	DET
asir-37319	99	45	front	front	ADJ
asir-37319	99	46	wheel	wheel	NOUN
asir-37319	99	47	1	1	NUM
asir-37319	99	48	.	.	X
asir-37319	99	49	615	615	NUM
asir-37319	99	50	m	m	VERB
asir-37319	99	51	rolling	rolling	ADJ
asir-37319	99	52	friction	friction	NOUN
asir-37319	99	53	coefficient	coefficient	NOUN
asir-37319	99	54	0.025	0.025	NUM
asir-37319	99	55	tire	tire	NOUN
asir-37319	99	56	rolling	roll	VERB
asir-37319	99	57	radius	radius	NOUN
asir-37319	99	58	0.345	0.345	NUM
asir-37319	99	59	m	m	NOUN
asir-37319	99	60	ratio	ratio	NOUN
asir-37319	99	61	of	of	ADP
asir-37319	99	62	braking	brake	VERB
asir-37319	99	63	torque	torque	NOUN
asir-37319	99	64	to	to	ADP
asir-37319	99	65	braking	brake	VERB
asir-37319	99	66	pressure	pressure	NOUN
asir-37319	99	67	at	at	ADP
asir-37319	99	68	the	the	DET
asir-37319	99	69	front	front	ADJ
asir-37319	99	70	wheels	wheel	NOUN
asir-37319	99	71	240	240	NUM
asir-37319	99	72	n·m	n·m	PROPN
asir-37319	99	73	/	/	SYM
asir-37319	99	74	mpa	mpa	PROPN
asir-37319	99	75	ratio	ratio	NOUN
asir-37319	99	76	of	of	ADP
asir-37319	99	77	braking	brake	VERB
asir-37319	99	78	torque	torque	NOUN
asir-37319	99	79	to	to	ADP
asir-37319	99	80	braking	brake	VERB
asir-37319	99	81	pressure	pressure	NOUN
asir-37319	99	82	at	at	ADP
asir-37319	99	83	the	the	DET
asir-37319	99	84	rear	rear	ADJ
asir-37319	99	85	wheels	wheel	NOUN
asir-37319	99	86	110	110	NUM
asir-37319	99	87	n·m	n·m	PROPN
asir-37319	99	88	/	/	SYM
asir-37319	99	89	mpa	mpa	PROPN
asir-37319	99	90	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-37319	99	91	applied	apply	VERB
asir-37319	99	92	science	science	NOUN
asir-37319	99	93	and	and	CCONJ
asir-37319	99	94	innovative	innovative	ADJ
asir-37319	99	95	research	research	NOUN
asir-37319	99	96	vol	vol	NOUN
asir-37319	99	97	.	.	PROPN
asir-37319	99	98	8	8	NUM
asir-37319	99	99	,	,	PUNCT
asir-37319	99	100	no	no	INTJ
asir-37319	99	101	.	.	NOUN
asir-37319	99	102	2	2	NUM
asir-37319	99	103	,	,	PUNCT
asir-37319	99	104	2024	2024	NUM
asir-37319	99	105	63	63	NUM
asir-37319	99	106	published	publish	VERB
asir-37319	99	107	by	by	ADP
asir-37319	99	108	scholink	scholink	PROPN
asir-37319	99	109	inc	inc	PROPN
asir-37319	99	110	.	.	PROPN
asir-37319	99	111	5	5	NUM
asir-37319	99	112	.	.	X
asir-37319	99	113	aeb	aeb	NOUN
asir-37319	99	114	-	-	PUNCT
asir-37319	99	115	p	p	NOUN
asir-37319	99	116	system	system	NOUN
asir-37319	99	117	validation	validation	NOUN
asir-37319	99	118	and	and	CCONJ
asir-37319	99	119	analysis	analysis	NOUN
asir-37319	99	120	in	in	ADP
asir-37319	99	121	order	order	NOUN
asir-37319	99	122	to	to	PART
asir-37319	99	123	verify	verify	VERB
asir-37319	99	124	the	the	DET
asir-37319	99	125	effectiveness	effectiveness	NOUN
asir-37319	99	126	of	of	ADP
asir-37319	99	127	the	the	DET
asir-37319	99	128	designed	design	VERB
asir-37319	99	129	aeb	aeb	NOUN
asir-37319	99	130	-	-	PUNCT
asir-37319	99	131	p	p	NOUN
asir-37319	99	132	control	control	NOUN
asir-37319	99	133	strategy	strategy	NOUN
asir-37319	100	1	,	,	PUNCT
asir-37319	100	2	this	this	DET
asir-37319	100	3	paper	paper	NOUN
asir-37319	100	4	refers	refer	VERB
asir-37319	100	5	to	to	ADP
asir-37319	100	6	the	the	DET
asir-37319	100	7	classic	classic	ADJ
asir-37319	100	8	aeb	aeb	NOUN
asir-37319	100	9	-	-	PUNCT
asir-37319	100	10	p	p	NOUN
asir-37319	100	11	test	test	NOUN
asir-37319	100	12	scenarios	scenario	NOUN
asir-37319	100	13	in	in	ADP
asir-37319	100	14	the	the	DET
asir-37319	100	15	china	china	PROPN
asir-37319	100	16	new	new	ADJ
asir-37319	100	17	car	car	NOUN
asir-37319	100	18	assessment	assessment	NOUN
asir-37319	100	19	program	program	NOUN
asir-37319	100	20	(	(	PUNCT
asir-37319	100	21	c	c	NOUN
asir-37319	100	22	-	-	PUNCT
asir-37319	100	23	ncap	ncap	NOUN
asir-37319	100	24	)	)	PUNCT
asir-37319	100	25	,	,	PUNCT
asir-37319	100	26	and	and	CCONJ
asir-37319	100	27	uses	use	VERB
asir-37319	100	28	the	the	DET
asir-37319	100	29	carsim	carsim	NOUN
asir-37319	100	30	software	software	NOUN
asir-37319	100	31	to	to	PART
asir-37319	100	32	establish	establish	VERB
asir-37319	100	33	the	the	DET
asir-37319	100	34	scenario	scenario	NOUN
asir-37319	100	35	in	in	ADP
asir-37319	100	36	which	which	PRON
asir-37319	100	37	the	the	DET
asir-37319	100	38	most	most	ADV
asir-37319	100	39	likely	likely	ADJ
asir-37319	100	40	human	human	ADJ
asir-37319	100	41	-	-	PUNCT
asir-37319	100	42	vehicle	vehicle	NOUN
asir-37319	100	43	collision	collision	NOUN
asir-37319	100	44	accidents	accident	NOUN
asir-37319	100	45	occur	occur	VERB
asir-37319	100	46	in	in	ADP
asir-37319	100	47	the	the	DET
asir-37319	100	48	car	car	NOUN
asir-37319	100	49	-	-	PUNCT
asir-37319	100	50	to	to	ADP
asir-37319	100	51	-	-	PUNCT
asir-37319	100	52	pedestrian	pedestrian	NOUN
asir-37319	100	53	longitudinal	longitudinal	ADJ
asir-37319	100	54	adult	adult	NOUN
asir-37319	100	55	(	(	PUNCT
asir-37319	100	56	cpla	cpla	NOUN
asir-37319	100	57	)	)	PUNCT
asir-37319	100	58	,	,	PUNCT
asir-37319	100	59	and	and	CCONJ
asir-37319	100	60	establishes	establish	VERB
asir-37319	100	61	the	the	DET
asir-37319	100	62	control	control	NOUN
asir-37319	100	63	strategy	strategy	NOUN
asir-37319	100	64	of	of	ADP
asir-37319	100	65	the	the	DET
asir-37319	100	66	present	present	ADJ
asir-37319	100	67	study	study	NOUN
asir-37319	100	68	,	,	PUNCT
asir-37319	100	69	the	the	DET
asir-37319	100	70	traditional	traditional	ADJ
asir-37319	100	71	control	control	NOUN
asir-37319	100	72	strategy	strategy	NOUN
asir-37319	100	73	,	,	PUNCT
asir-37319	100	74	and	and	CCONJ
asir-37319	100	75	the	the	DET
asir-37319	100	76	vehicle	vehicle	NOUN
asir-37319	100	77	control	control	PROPN
asir-37319	100	78	model	model	NOUN
asir-37319	100	79	in	in	ADP
asir-37319	100	80	simulink	simulink	PROPN
asir-37319	100	81	.	.	PUNCT
asir-37319	101	1	in	in	ADP
asir-37319	101	2	this	this	DET
asir-37319	101	3	paper	paper	NOUN
asir-37319	101	4	,	,	PUNCT
asir-37319	101	5	the	the	DET
asir-37319	101	6	hardware	hardware	NOUN
asir-37319	101	7	-	-	PUNCT
asir-37319	101	8	in	in	ADP
asir-37319	101	9	-	-	PUNCT
asir-37319	101	10	loop	loop	NOUN
asir-37319	101	11	(	(	PUNCT
asir-37319	101	12	hil	hil	NOUN
asir-37319	101	13	)	)	PUNCT
asir-37319	101	14	test	test	NOUN
asir-37319	101	15	is	be	AUX
asir-37319	101	16	used	use	VERB
asir-37319	101	17	to	to	PART
asir-37319	101	18	verify	verify	VERB
asir-37319	101	19	the	the	DET
asir-37319	101	20	simulation	simulation	NOUN
asir-37319	101	21	,	,	PUNCT
asir-37319	101	22	such	such	ADJ
asir-37319	101	23	as	as	ADP
asir-37319	101	24	figure	figure	NOUN
asir-37319	101	25	3	3	NUM
asir-37319	101	26	shows	show	VERB
asir-37319	101	27	the	the	DET
asir-37319	101	28	general	general	ADJ
asir-37319	101	29	scheme	scheme	NOUN
asir-37319	101	30	of	of	ADP
asir-37319	101	31	the	the	DET
asir-37319	101	32	test	test	NOUN
asir-37319	101	33	.	.	PUNCT
asir-37319	102	1	in	in	ADP
asir-37319	102	2	order	order	NOUN
asir-37319	102	3	to	to	PART
asir-37319	102	4	test	test	VERB
asir-37319	102	5	the	the	DET
asir-37319	102	6	performance	performance	NOUN
asir-37319	102	7	of	of	ADP
asir-37319	102	8	the	the	DET
asir-37319	102	9	designed	design	VERB
asir-37319	102	10	aeb	aeb	NOUN
asir-37319	102	11	-	-	PUNCT
asir-37319	102	12	p	p	NOUN
asir-37319	102	13	strategy	strategy	NOUN
asir-37319	102	14	(	(	PUNCT
asir-37319	102	15	strategy	strategy	NOUN
asir-37319	102	16	1	1	NUM
asir-37319	102	17	)	)	PUNCT
asir-37319	102	18	under	under	ADP
asir-37319	102	19	different	different	ADJ
asir-37319	102	20	working	work	VERB
asir-37319	102	21	conditions	condition	NOUN
asir-37319	102	22	,	,	PUNCT
asir-37319	102	23	there	there	PRON
asir-37319	102	24	are	be	VERB
asir-37319	102	25	five	five	NUM
asir-37319	102	26	sets	set	NOUN
asir-37319	102	27	of	of	ADP
asir-37319	102	28	test	test	NOUN
asir-37319	102	29	conditions	condition	NOUN
asir-37319	102	30	,	,	PUNCT
asir-37319	102	31	the	the	DET
asir-37319	102	32	test	test	NOUN
asir-37319	102	33	scenario	scenario	NOUN
asir-37319	102	34	is	be	AUX
asir-37319	102	35	cpla-50	cpla-50	PROPN
asir-37319	102	36	,	,	PUNCT
asir-37319	102	37	vehicle	vehicle	NOUN
asir-37319	102	38	speed	speed	NOUN
asir-37319	102	39	range	range	VERB
asir-37319	102	40	20	20	NUM
asir-37319	102	41	-	-	SYM
asir-37319	102	42	60	60	NUM
asir-37319	102	43	km	km	NOUN
asir-37319	102	44	/	/	SYM
asir-37319	102	45	h	h	NOUN
asir-37319	102	46	in	in	ADP
asir-37319	102	47	10	10	NUM
asir-37319	102	48	km	km	NOUN
asir-37319	102	49	/	/	SYM
asir-37319	102	50	h	h	NOUN
asir-37319	102	51	steps	step	NOUN
asir-37319	102	52	,	,	PUNCT
asir-37319	102	53	and	and	CCONJ
asir-37319	102	54	comparing	compare	VERB
asir-37319	102	55	it	it	PRON
asir-37319	102	56	with	with	ADP
asir-37319	102	57	the	the	DET
asir-37319	102	58	aeb	aeb	NOUN
asir-37319	102	59	-	-	PUNCT
asir-37319	102	60	p	p	NOUN
asir-37319	102	61	strategy	strategy	NOUN
asir-37319	102	62	(	(	PUNCT
asir-37319	102	63	strategy	strategy	NOUN
asir-37319	102	64	2	2	NUM
asir-37319	102	65	)	)	PUNCT
asir-37319	102	66	that	that	PRON
asir-37319	102	67	adopts	adopt	VERB
asir-37319	102	68	a	a	DET
asir-37319	102	69	fixed	fix	VERB
asir-37319	102	70	ttc	ttc	NOUN
asir-37319	102	71	threshold	threshold	NOUN
asir-37319	102	72	,	,	PUNCT
asir-37319	102	73	which	which	PRON
asir-37319	102	74	is	be	AUX
asir-37319	102	75	set	set	VERB
asir-37319	102	76	to	to	ADP
asir-37319	102	77	1.0	1.0	NUM
asir-37319	102	78	s	s	NOUN
asir-37319	102	79	,	,	PUNCT
asir-37319	102	80	and	and	CCONJ
asir-37319	102	81	the	the	DET
asir-37319	102	82	braking	brake	VERB
asir-37319	102	83	delay	delay	NOUN
asir-37319	102	84	time	time	NOUN
asir-37319	102	85	is	be	AUX
asir-37319	102	86	0.2	0.2	NUM
asir-37319	102	87	s.	s.	PROPN
asir-37319	102	88	the	the	DET
asir-37319	102	89	cpla-50	cpla-50	PROPN
asir-37319	102	90	means	mean	VERB
asir-37319	102	91	that	that	SCONJ
asir-37319	102	92	the	the	DET
asir-37319	102	93	vehicle	vehicle	NOUN
asir-37319	102	94	will	will	AUX
asir-37319	102	95	collide	collide	VERB
asir-37319	102	96	with	with	ADP
asir-37319	102	97	a	a	DET
asir-37319	102	98	pedestrian	pedestrian	NOUN
asir-37319	102	99	without	without	ADP
asir-37319	102	100	any	any	DET
asir-37319	102	101	braking	braking	NOUN
asir-37319	102	102	or	or	CCONJ
asir-37319	102	103	steering	steering	NOUN
asir-37319	102	104	being	be	AUX
asir-37319	102	105	applied	apply	VERB
asir-37319	102	106	and	and	CCONJ
asir-37319	102	107	the	the	DET
asir-37319	102	108	point	point	NOUN
asir-37319	102	109	of	of	ADP
asir-37319	102	110	collision	collision	NOUN
asir-37319	102	111	is	be	AUX
asir-37319	102	112	at	at	ADP
asir-37319	102	113	50	50	NUM
asir-37319	102	114	%	%	NOUN
asir-37319	102	115	of	of	ADP
asir-37319	102	116	the	the	DET
asir-37319	102	117	vehicle	vehicle	NOUN
asir-37319	102	118	width	width	NOUN
asir-37319	102	119	.	.	PUNCT
asir-37319	103	1	the	the	DET
asir-37319	103	2	pedestrian	pedestrian	NOUN
asir-37319	103	3	speed	speed	NOUN
asir-37319	103	4	in	in	ADP
asir-37319	103	5	the	the	DET
asir-37319	103	6	cpla	cpla	ADJ
asir-37319	103	7	scenario	scenario	NOUN
asir-37319	103	8	was	be	AUX
asir-37319	103	9	5	5	NUM
asir-37319	103	10	km	km	NOUN
asir-37319	103	11	/	/	SYM
asir-37319	103	12	h	h	NOUN
asir-37319	103	13	longitudinally	longitudinally	ADV
asir-37319	103	14	.	.	PUNCT
asir-37319	104	1	figure	figure	VERB
asir-37319	104	2	3	3	NUM
asir-37319	104	3	.	.	PUNCT
asir-37319	104	4	general	general	ADJ
asir-37319	104	5	scheme	scheme	NOUN
asir-37319	104	6	for	for	ADP
asir-37319	104	7	hardware	hardware	NOUN
asir-37319	104	8	-	-	PUNCT
asir-37319	104	9	in	in	ADP
asir-37319	104	10	-	-	PUNCT
asir-37319	104	11	loop	loop	NOUN
asir-37319	104	12	testing	testing	NOUN
asir-37319	104	13	when	when	SCONJ
asir-37319	104	14	the	the	DET
asir-37319	104	15	vehicle	vehicle	NOUN
asir-37319	104	16	speed	speed	NOUN
asir-37319	104	17	is	be	AUX
asir-37319	104	18	60	60	NUM
asir-37319	104	19	km	km	NOUN
asir-37319	104	20	/	/	SYM
asir-37319	104	21	h	h	NOUN
asir-37319	104	22	,	,	PUNCT
asir-37319	104	23	the	the	DET
asir-37319	104	24	braking	braking	NOUN
asir-37319	104	25	process	process	NOUN
asir-37319	104	26	of	of	ADP
asir-37319	104	27	cpla-50	cpla-50	ADJ
asir-37319	104	28	condition	condition	NOUN
asir-37319	104	29	is	be	AUX
asir-37319	104	30	shown	show	VERB
asir-37319	104	31	in	in	ADP
asir-37319	104	32	figure	figure	NOUN
asir-37319	104	33	4	4	NUM
asir-37319	104	34	.	.	PUNCT
asir-37319	105	1	in	in	ADP
asir-37319	105	2	figure	figure	NOUN
asir-37319	105	3	4	4	NUM
asir-37319	105	4	,	,	PUNCT
asir-37319	105	5	the	the	DET
asir-37319	105	6	aeb	aeb	NOUN
asir-37319	105	7	-	-	PUNCT
asir-37319	105	8	p	p	NOUN
asir-37319	105	9	control	control	NOUN
asir-37319	105	10	strategy	strategy	NOUN
asir-37319	105	11	in	in	ADP
asir-37319	105	12	this	this	DET
asir-37319	105	13	paper	paper	NOUN
asir-37319	105	14	triggers	trigger	VERB
asir-37319	105	15	the	the	DET
asir-37319	105	16	braking	braking	NOUN
asir-37319	105	17	strategy	strategy	NOUN
asir-37319	105	18	at	at	ADP
asir-37319	105	19	approximately	approximately	ADV
asir-37319	105	20	1.7	1.7	NUM
asir-37319	105	21	s	s	NOUN
asir-37319	105	22	,	,	PUNCT
asir-37319	105	23	and	and	CCONJ
asir-37319	105	24	the	the	DET
asir-37319	105	25	braking	brake	VERB
asir-37319	105	26	acceleration	acceleration	NOUN
asir-37319	105	27	reaches	reach	VERB
asir-37319	105	28	the	the	DET
asir-37319	105	29	maximum	maximum	NOUN
asir-37319	105	30	after	after	ADP
asir-37319	105	31	0.8	0.8	NUM
asir-37319	105	32	s.	s.	PROPN
asir-37319	105	33	the	the	DET
asir-37319	105	34	traditional	traditional	ADJ
asir-37319	105	35	aeb	aeb	NOUN
asir-37319	105	36	-	-	PUNCT
asir-37319	105	37	p	p	NOUN
asir-37319	105	38	control	control	NOUN
asir-37319	105	39	strategy	strategy	NOUN
asir-37319	105	40	triggers	trigger	VERB
asir-37319	105	41	the	the	DET
asir-37319	105	42	braking	brake	VERB
asir-37319	105	43	strategy	strategy	NOUN
asir-37319	105	44	at	at	ADP
asir-37319	105	45	about	about	ADP
asir-37319	105	46	2.3	2.3	NUM
asir-37319	105	47	s	s	NOUN
asir-37319	105	48	,	,	PUNCT
asir-37319	105	49	and	and	CCONJ
asir-37319	105	50	the	the	DET
asir-37319	105	51	braking	brake	VERB
asir-37319	105	52	acceleration	acceleration	NOUN
asir-37319	105	53	reaches	reach	VERB
asir-37319	105	54	the	the	DET
asir-37319	105	55	maximum	maximum	NOUN
asir-37319	105	56	after	after	ADP
asir-37319	105	57	0.1	0.1	NUM
asir-37319	105	58	s.	s.	PROPN
asir-37319	105	59	however	however	ADV
asir-37319	105	60	,	,	PUNCT
asir-37319	105	61	due	due	ADP
asir-37319	105	62	to	to	ADP
asir-37319	105	63	the	the	DET
asir-37319	105	64	late	late	ADJ
asir-37319	105	65	braking	brake	VERB
asir-37319	105	66	trigger	trigger	NOUN
asir-37319	105	67	timing	timing	NOUN
asir-37319	105	68	,	,	PUNCT
asir-37319	105	69	it	it	PRON
asir-37319	105	70	fails	fail	VERB
asir-37319	105	71	to	to	PART
asir-37319	105	72	avoid	avoid	VERB
asir-37319	105	73	the	the	DET
asir-37319	105	74	collision	collision	NOUN
asir-37319	105	75	with	with	ADP
asir-37319	105	76	the	the	DET
asir-37319	105	77	pedestrian	pedestrian	NOUN
asir-37319	105	78	in	in	ADP
asir-37319	105	79	front	front	NOUN
asir-37319	105	80	of	of	ADP
asir-37319	105	81	it	it	PRON
asir-37319	105	82	.	.	PUNCT
asir-37319	106	1	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-37319	106	2	applied	apply	VERB
asir-37319	106	3	science	science	NOUN
asir-37319	106	4	and	and	CCONJ
asir-37319	106	5	innovative	innovative	ADJ
asir-37319	106	6	research	research	NOUN
asir-37319	106	7	vol	vol	NOUN
asir-37319	106	8	.	.	PROPN
asir-37319	107	1	8	8	NUM
asir-37319	107	2	,	,	PUNCT
asir-37319	107	3	no	no	INTJ
asir-37319	107	4	.	.	NOUN
asir-37319	107	5	2	2	NUM
asir-37319	107	6	,	,	PUNCT
asir-37319	107	7	2024	2024	NUM
asir-37319	107	8	64	64	NUM
asir-37319	107	9	published	publish	VERB
asir-37319	107	10	by	by	ADP
asir-37319	107	11	scholink	scholink	PROPN
asir-37319	107	12	inc	inc	PROPN
asir-37319	107	13	.	.	PROPN
asir-37319	107	14	figure	figure	NOUN
asir-37319	107	15	4	4	NUM
asir-37319	107	16	.	.	PUNCT
asir-37319	107	17	cpla-50	cpla-50	ADJ
asir-37319	107	18	scene	scene	NOUN
asir-37319	107	19	braking	braking	NOUN
asir-37319	107	20	process	process	NOUN
asir-37319	107	21	the	the	DET
asir-37319	107	22	pedestrian	pedestrian	NOUN
asir-37319	107	23	speed	speed	NOUN
asir-37319	107	24	in	in	ADP
asir-37319	107	25	the	the	DET
asir-37319	107	26	cpla	cpla	ADJ
asir-37319	107	27	scenario	scenario	NOUN
asir-37319	107	28	was	be	AUX
asir-37319	107	29	5	5	NUM
asir-37319	107	30	km	km	NOUN
asir-37319	107	31	/	/	SYM
asir-37319	107	32	h	h	NOUN
asir-37319	107	33	longitudinally	longitudinally	ADV
asir-37319	107	34	,	,	PUNCT
asir-37319	107	35	and	and	CCONJ
asir-37319	107	36	the	the	DET
asir-37319	107	37	test	test	NOUN
asir-37319	107	38	vehicles	vehicle	NOUN
asir-37319	107	39	traveled	travel	VERB
asir-37319	107	40	uniformly	uniformly	ADV
asir-37319	107	41	forward	forward	ADV
asir-37319	107	42	at	at	ADP
asir-37319	107	43	different	different	ADJ
asir-37319	107	44	speeds	speed	NOUN
asir-37319	107	45	.	.	PUNCT
asir-37319	108	1	the	the	DET
asir-37319	108	2	specific	specific	ADJ
asir-37319	108	3	test	test	NOUN
asir-37319	108	4	results	result	NOUN
asir-37319	108	5	under	under	ADP
asir-37319	108	6	the	the	DET
asir-37319	108	7	cpla-50	cpla-50	ADJ
asir-37319	108	8	scenario	scenario	NOUN
asir-37319	108	9	are	be	AUX
asir-37319	108	10	shown	show	VERB
asir-37319	108	11	in	in	ADP
asir-37319	108	12	table	table	NOUN
asir-37319	108	13	2	2	NUM
asir-37319	108	14	below	below	ADV
asir-37319	108	15	.	.	PUNCT
asir-37319	109	1	combined	combine	VERB
asir-37319	109	2	with	with	ADP
asir-37319	109	3	table	table	NOUN
asir-37319	109	4	2	2	NUM
asir-37319	109	5	,	,	PUNCT
asir-37319	109	6	we	we	PRON
asir-37319	109	7	can	can	AUX
asir-37319	109	8	analyze	analyze	VERB
asir-37319	109	9	the	the	DET
asir-37319	109	10	test	test	NOUN
asir-37319	109	11	results	result	NOUN
asir-37319	109	12	:	:	PUNCT
asir-37319	109	13	under	under	ADP
asir-37319	109	14	the	the	DET
asir-37319	109	15	aeb	aeb	NOUN
asir-37319	109	16	-	-	PUNCT
asir-37319	109	17	p	p	NOUN
asir-37319	109	18	control	control	NOUN
asir-37319	109	19	strategy	strategy	NOUN
asir-37319	109	20	in	in	ADP
asir-37319	109	21	this	this	DET
asir-37319	109	22	paper	paper	NOUN
asir-37319	109	23	,	,	PUNCT
asir-37319	109	24	the	the	DET
asir-37319	109	25	maximum	maximum	ADJ
asir-37319	109	26	braking	braking	NOUN
asir-37319	109	27	acceleration	acceleration	NOUN
asir-37319	109	28	is	be	AUX
asir-37319	109	29	controlled	control	VERB
asir-37319	109	30	at	at	ADP
asir-37319	109	31	-6.18	-6.18	NUM
asir-37319	109	32	m·s-2	m·s-2	NOUN
asir-37319	109	33	~	~	PUNCT
asir-37319	109	34	-8.09	-8.09	NUM
asir-37319	109	35	m·s-2	m·s-2	NOUN
asir-37319	109	36	,	,	PUNCT
asir-37319	109	37	and	and	CCONJ
asir-37319	109	38	the	the	DET
asir-37319	109	39	minimum	minimum	ADJ
asir-37319	109	40	longitudinal	longitudinal	ADJ
asir-37319	109	41	distance	distance	NOUN
asir-37319	109	42	between	between	ADP
asir-37319	109	43	the	the	DET
asir-37319	109	44	vehicle	vehicle	NOUN
asir-37319	109	45	and	and	CCONJ
asir-37319	109	46	the	the	DET
asir-37319	109	47	pedestrian	pedestrian	NOUN
asir-37319	109	48	in	in	ADP
asir-37319	109	49	the	the	DET
asir-37319	109	50	successful	successful	ADJ
asir-37319	109	51	collision	collision	NOUN
asir-37319	109	52	avoidance	avoidance	NOUN
asir-37319	109	53	scenario	scenario	NOUN
asir-37319	109	54	is	be	AUX
asir-37319	109	55	maintained	maintain	VERB
asir-37319	109	56	at	at	ADP
asir-37319	109	57	2.58	2.58	NUM
asir-37319	109	58	m	m	NOUN
asir-37319	109	59	~	~	PUNCT
asir-37319	109	60	3.54	3.54	NUM
asir-37319	109	61	m	m	NOUN
asir-37319	109	62	,	,	PUNCT
asir-37319	109	63	which	which	PRON
asir-37319	109	64	is	be	AUX
asir-37319	109	65	capable	capable	ADJ
asir-37319	109	66	of	of	ADP
asir-37319	109	67	avoiding	avoid	VERB
asir-37319	109	68	some	some	DET
asir-37319	109	69	unnecessary	unnecessary	ADJ
asir-37319	109	70	injuries	injury	NOUN
asir-37319	109	71	.	.	PUNCT
asir-37319	110	1	under	under	ADP
asir-37319	110	2	the	the	DET
asir-37319	110	3	traditional	traditional	ADJ
asir-37319	110	4	control	control	NOUN
asir-37319	110	5	strategy	strategy	NOUN
asir-37319	110	6	,	,	PUNCT
asir-37319	110	7	the	the	DET
asir-37319	110	8	minimum	minimum	ADJ
asir-37319	110	9	longitudinal	longitudinal	ADJ
asir-37319	110	10	distance	distance	NOUN
asir-37319	110	11	between	between	ADP
asir-37319	110	12	the	the	DET
asir-37319	110	13	vehicle	vehicle	NOUN
asir-37319	110	14	and	and	CCONJ
asir-37319	110	15	the	the	DET
asir-37319	110	16	pedestrian	pedestrian	NOUN
asir-37319	110	17	in	in	ADP
asir-37319	110	18	the	the	DET
asir-37319	110	19	successful	successful	ADJ
asir-37319	110	20	collision	collision	NOUN
asir-37319	110	21	avoidance	avoidance	NOUN
asir-37319	110	22	situation	situation	NOUN
asir-37319	110	23	is	be	AUX
asir-37319	110	24	kept	keep	VERB
asir-37319	110	25	at	at	ADP
asir-37319	110	26	2.18	2.18	NUM
asir-37319	110	27	m	m	NOUN
asir-37319	110	28	~	~	PUNCT
asir-37319	110	29	5.13	5.13	NUM
asir-37319	110	30	m	m	NOUN
asir-37319	110	31	,	,	PUNCT
asir-37319	110	32	and	and	CCONJ
asir-37319	110	33	the	the	DET
asir-37319	110	34	maximum	maximum	ADJ
asir-37319	110	35	braking	brake	VERB
asir-37319	110	36	acceleration	acceleration	NOUN
asir-37319	110	37	range	range	NOUN
asir-37319	110	38	is	be	AUX
asir-37319	110	39	7.60	7.60	NUM
asir-37319	110	40	m·s-2	m·s-2	NOUN
asir-37319	110	41	~	~	PUNCT
asir-37319	110	42	7.75	7.75	NUM
asir-37319	110	43	m·s-2	m·s-2	NOUN
asir-37319	110	44	,	,	PUNCT
asir-37319	110	45	which	which	PRON
asir-37319	110	46	can	can	AUX
asir-37319	110	47	not	not	PART
asir-37319	110	48	avoid	avoid	VERB
asir-37319	110	49	the	the	DET
asir-37319	110	50	collision	collision	NOUN
asir-37319	110	51	when	when	SCONJ
asir-37319	110	52	the	the	DET
asir-37319	110	53	vehicle	vehicle	NOUN
asir-37319	110	54	travels	travel	VERB
asir-37319	110	55	at	at	ADP
asir-37319	110	56	a	a	DET
asir-37319	110	57	speed	speed	NOUN
asir-37319	110	58	of	of	ADP
asir-37319	110	59	more	more	ADJ
asir-37319	110	60	than	than	ADP
asir-37319	110	61	60	60	NUM
asir-37319	110	62	km	km	PROPN
asir-37319	110	63	/	/	SYM
asir-37319	110	64	h.	h.	NOUN
asir-37319	110	65	table	table	NOUN
asir-37319	110	66	2	2	NUM
asir-37319	110	67	.	.	PUNCT
asir-37319	110	68	simulation	simulation	NOUN
asir-37319	110	69	results	result	NOUN
asir-37319	110	70	of	of	ADP
asir-37319	110	71	cpla-50	cpla-50	ADJ
asir-37319	110	72	scene	scene	NOUN
asir-37319	110	73	speed	speed	NOUN
asir-37319	110	74	(	(	PUNCT
asir-37319	110	75	km·h-1	km·h-1	PROPN
asir-37319	110	76	)	)	PUNCT
asir-37319	110	77	minimum	minimum	NOUN
asir-37319	110	78	spacing	spacing	NOUN
asir-37319	110	79	during	during	ADP
asir-37319	110	80	braking	brake	VERB
asir-37319	110	81	dr	dr	PROPN
asir-37319	110	82	(	(	PUNCT
asir-37319	110	83	m	m	NOUN
asir-37319	110	84	)	)	PUNCT
asir-37319	110	85	relative	relative	ADJ
asir-37319	110	86	velocity	velocity	NOUN
asir-37319	110	87	of	of	ADP
asir-37319	110	88	collision	collision	NOUN
asir-37319	110	89	(	(	PUNCT
asir-37319	110	90	km·h-1	km·h-1	PROPN
asir-37319	110	91	)	)	PUNCT
asir-37319	110	92	admax	admax	NOUN
asir-37319	110	93	/m·s-2	/m·s-2	PUNCT
asir-37319	111	1	strategy	strategy	NOUN
asir-37319	111	2	1	1	NUM
asir-37319	111	3	strategy	strategy	NOUN
asir-37319	111	4	2	2	NUM
asir-37319	111	5	strategy	strategy	NOUN
asir-37319	111	6	1	1	NUM
asir-37319	111	7	strategy	strategy	NOUN
asir-37319	111	8	2	2	NUM
asir-37319	111	9	20	20	NUM
asir-37319	111	10	2.58	2.58	NUM
asir-37319	111	11	5.13	5.13	NUM
asir-37319	111	12	-6.18	-6.18	NUM
asir-37319	111	13	30	30	NUM
asir-37319	111	14	2.61	2.61	NUM
asir-37319	111	15	5.17	5.17	NUM
asir-37319	111	16	-6.53	-6.53	NUM
asir-37319	111	17	40	40	NUM
asir-37319	111	18	2.61	2.61	NUM
asir-37319	111	19	4.23	4.23	NUM
asir-37319	111	20	-7.17	-7.17	NOUN
asir-37319	111	21	50	50	NUM
asir-37319	111	22	2.86	2.86	NUM
asir-37319	111	23	2.18	2.18	NUM
asir-37319	111	24	-7.52	-7.52	NUM
asir-37319	111	25	60	60	NUM
asir-37319	111	26	3.54	3.54	NUM
asir-37319	111	27	12.34	12.34	NUM
asir-37319	111	28	-8.09	-8.09	NUM
asir-37319	111	29	6	6	NUM
asir-37319	111	30	.	.	PUNCT
asir-37319	111	31	conclusions	conclusion	NOUN
asir-37319	111	32	this	this	DET
asir-37319	111	33	work	work	NOUN
asir-37319	111	34	proposes	propose	VERB
asir-37319	111	35	an	an	DET
asir-37319	111	36	adaptive	adaptive	ADJ
asir-37319	111	37	aeb	aeb	NOUN
asir-37319	111	38	-	-	PUNCT
asir-37319	111	39	p	p	NOUN
asir-37319	111	40	system	system	NOUN
asir-37319	111	41	control	control	NOUN
asir-37319	111	42	algorithm	algorithm	NOUN
asir-37319	111	43	that	that	PRON
asir-37319	111	44	takes	take	VERB
asir-37319	111	45	ride	ride	NOUN
asir-37319	111	46	comfort	comfort	NOUN
asir-37319	111	47	and	and	CCONJ
asir-37319	111	48	driving	drive	VERB
asir-37319	111	49	safety	safety	NOUN
asir-37319	111	50	into	into	ADP
asir-37319	111	51	account	account	NOUN
asir-37319	111	52	during	during	ADP
asir-37319	111	53	the	the	DET
asir-37319	111	54	braking	braking	NOUN
asir-37319	111	55	phase	phase	NOUN
asir-37319	111	56	.	.	PUNCT
asir-37319	112	1	in	in	ADP
asir-37319	112	2	contrast	contrast	NOUN
asir-37319	112	3	to	to	ADP
asir-37319	112	4	the	the	DET
asir-37319	112	5	conventional	conventional	ADJ
asir-37319	112	6	fixed	fix	VERB
asir-37319	112	7	ttc	ttc	NOUN
asir-37319	112	8	threshold	threshold	NOUN
asir-37319	112	9	algorithm	algorithm	PROPN
asir-37319	112	10	,	,	PUNCT
asir-37319	112	11	the	the	DET
asir-37319	112	12	control	control	NOUN
asir-37319	112	13	algorithm	algorithm	PROPN
asir-37319	112	14	presented	present	VERB
asir-37319	112	15	in	in	ADP
asir-37319	112	16	this	this	DET
asir-37319	112	17	paper	paper	NOUN
asir-37319	112	18	performs	perform	VERB
asir-37319	112	19	better	well	ADV
asir-37319	112	20	overall	overall	ADV
asir-37319	112	21	.	.	PUNCT
asir-37319	113	1	it	it	PRON
asir-37319	113	2	not	not	PART
asir-37319	113	3	only	only	ADV
asir-37319	113	4	increases	increase	VERB
asir-37319	113	5	safety	safety	NOUN
asir-37319	113	6	but	but	CCONJ
asir-37319	113	7	also	also	ADV
asir-37319	113	8	modifies	modify	VERB
asir-37319	113	9	the	the	DET
asir-37319	113	10	braking	brake	VERB
asir-37319	113	11	deceleration	deceleration	NOUN
asir-37319	113	12	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-37319	113	13	applied	apply	VERB
asir-37319	113	14	science	science	NOUN
asir-37319	113	15	and	and	CCONJ
asir-37319	113	16	innovative	innovative	ADJ
asir-37319	113	17	research	research	NOUN
asir-37319	113	18	vol	vol	NOUN
asir-37319	113	19	.	.	PROPN
asir-37319	114	1	8	8	NUM
asir-37319	114	2	,	,	PUNCT
asir-37319	114	3	no	no	INTJ
asir-37319	114	4	.	.	NOUN
asir-37319	114	5	2	2	NUM
asir-37319	114	6	,	,	PUNCT
asir-37319	114	7	2024	2024	NUM
asir-37319	114	8	65	65	NUM
asir-37319	114	9	published	publish	VERB
asir-37319	114	10	by	by	ADP
asir-37319	114	11	scholink	scholink	PROPN
asir-37319	114	12	inc	inc	PROPN
asir-37319	114	13	.	.	PROPN
asir-37319	114	14	more	more	ADV
asir-37319	114	15	gradually	gradually	ADV
asir-37319	114	16	throughout	throughout	ADP
asir-37319	114	17	the	the	DET
asir-37319	114	18	braking	braking	NOUN
asir-37319	114	19	process	process	NOUN
asir-37319	114	20	.	.	PUNCT
asir-37319	115	1	this	this	DET
asir-37319	115	2	work	work	NOUN
asir-37319	115	3	presents	present	VERB
asir-37319	115	4	a	a	DET
asir-37319	115	5	strategy	strategy	NOUN
asir-37319	115	6	that	that	PRON
asir-37319	115	7	,	,	PUNCT
asir-37319	115	8	to	to	ADP
asir-37319	115	9	some	some	DET
asir-37319	115	10	extent	extent	NOUN
asir-37319	115	11	,	,	PUNCT
asir-37319	115	12	accounts	account	VERB
asir-37319	115	13	for	for	ADP
asir-37319	115	14	driving	drive	VERB
asir-37319	115	15	comfort	comfort	NOUN
asir-37319	115	16	while	while	SCONJ
asir-37319	115	17	avoiding	avoid	VERB
asir-37319	115	18	the	the	DET
asir-37319	115	19	discomfort	discomfort	NOUN
asir-37319	115	20	induced	induce	VERB
asir-37319	115	21	by	by	ADP
asir-37319	115	22	the	the	DET
asir-37319	115	23	abrupt	abrupt	ADJ
asir-37319	115	24	shift	shift	NOUN
asir-37319	115	25	in	in	ADP
asir-37319	115	26	braking	brake	VERB
asir-37319	115	27	deceleration	deceleration	NOUN
asir-37319	115	28	when	when	SCONJ
asir-37319	115	29	aeb	aeb	NOUN
asir-37319	115	30	-	-	PUNCT
asir-37319	115	31	p	p	NOUN
asir-37319	115	32	intervenes	intervene	VERB
asir-37319	115	33	and	and	CCONJ
asir-37319	115	34	withdraws	withdraw	NOUN
asir-37319	115	35	from	from	ADP
asir-37319	115	36	braking	brake	VERB
asir-37319	115	37	under	under	ADP
asir-37319	115	38	safety	safety	NOUN
asir-37319	115	39	conditions	condition	NOUN
asir-37319	115	40	.	.	PUNCT
asir-37319	116	1	when	when	SCONJ
asir-37319	116	2	compared	compare	VERB
asir-37319	116	3	to	to	ADP
asir-37319	116	4	the	the	DET
asir-37319	116	5	conventional	conventional	ADJ
asir-37319	116	6	control	control	NOUN
asir-37319	116	7	strategy	strategy	NOUN
asir-37319	116	8	,	,	PUNCT
asir-37319	116	9	this	this	DET
asir-37319	116	10	paper	paper	NOUN
asir-37319	116	11	's	's	PART
asir-37319	116	12	method	method	NOUN
asir-37319	116	13	can	can	AUX
asir-37319	116	14	help	help	VERB
asir-37319	116	15	the	the	DET
asir-37319	116	16	autonomous	autonomous	ADJ
asir-37319	116	17	vehicle	vehicle	NOUN
asir-37319	116	18	and	and	CCONJ
asir-37319	116	19	the	the	DET
asir-37319	116	20	pedestrian	pedestrian	NOUN
asir-37319	116	21	in	in	ADP
asir-37319	116	22	front	front	NOUN
asir-37319	116	23	of	of	ADP
asir-37319	116	24	it	it	PRON
asir-37319	116	25	maintain	maintain	VERB
asir-37319	116	26	a	a	DET
asir-37319	116	27	more	more	ADV
asir-37319	116	28	stable	stable	ADJ
asir-37319	116	29	minimum	minimum	ADJ
asir-37319	116	30	distance	distance	NOUN
asir-37319	116	31	,	,	PUNCT
asir-37319	116	32	and	and	CCONJ
asir-37319	116	33	its	its	PRON
asir-37319	116	34	robustness	robustness	NOUN
asir-37319	116	35	is	be	AUX
asir-37319	116	36	better	well	ADJ
asir-37319	116	37	,	,	PUNCT
asir-37319	116	38	in	in	ADP
asir-37319	116	39	the	the	DET
asir-37319	116	40	event	event	NOUN
asir-37319	116	41	that	that	PRON
asir-37319	116	42	both	both	CCONJ
asir-37319	116	43	the	the	DET
asir-37319	116	44	traditional	traditional	ADJ
asir-37319	116	45	method	method	NOUN
asir-37319	116	46	and	and	CCONJ
asir-37319	116	47	this	this	DET
asir-37319	116	48	one	one	NOUN
asir-37319	116	49	are	be	AUX
asir-37319	116	50	successful	successful	ADJ
asir-37319	116	51	in	in	ADP
asir-37319	116	52	preventing	prevent	VERB
asir-37319	116	53	collisions	collision	NOUN
asir-37319	116	54	.	.	PUNCT
asir-37319	117	1	the	the	DET
asir-37319	117	2	test	test	NOUN
asir-37319	117	3	scenarios	scenario	NOUN
asir-37319	117	4	in	in	ADP
asir-37319	117	5	this	this	DET
asir-37319	117	6	study	study	NOUN
asir-37319	117	7	only	only	ADV
asir-37319	117	8	take	take	VERB
asir-37319	117	9	into	into	ADP
asir-37319	117	10	account	account	NOUN
asir-37319	117	11	driving	drive	VERB
asir-37319	117	12	situations	situation	NOUN
asir-37319	117	13	on	on	ADP
asir-37319	117	14	flat	flat	ADJ
asir-37319	117	15	and	and	CCONJ
asir-37319	117	16	straight	straight	ADJ
asir-37319	117	17	roads	road	NOUN
asir-37319	117	18	.	.	PUNCT
asir-37319	118	1	these	these	DET
asir-37319	118	2	driving	drive	VERB
asir-37319	118	3	scenarios	scenario	NOUN
asir-37319	118	4	are	be	AUX
asir-37319	118	5	somewhat	somewhat	ADV
asir-37319	118	6	basic	basic	ADJ
asir-37319	118	7	,	,	PUNCT
asir-37319	118	8	and	and	CCONJ
asir-37319	118	9	the	the	DET
asir-37319	118	10	next	next	ADJ
asir-37319	118	11	stage	stage	NOUN
asir-37319	118	12	will	will	AUX
asir-37319	118	13	be	be	AUX
asir-37319	118	14	to	to	PART
asir-37319	118	15	think	think	VERB
asir-37319	118	16	about	about	ADP
asir-37319	118	17	building	build	VERB
asir-37319	118	18	the	the	DET
asir-37319	118	19	control	control	NOUN
asir-37319	118	20	algorithms	algorithm	NOUN
asir-37319	118	21	under	under	ADP
asir-37319	118	22	more	more	ADV
asir-37319	118	23	complicated	complicated	ADJ
asir-37319	118	24	test	test	NOUN
asir-37319	118	25	scenarios	scenario	NOUN
asir-37319	118	26	,	,	PUNCT
asir-37319	118	27	including	include	VERB
asir-37319	118	28	curves	curve	NOUN
asir-37319	118	29	.	.	PUNCT
asir-37319	119	1	funding	fund	VERB
asir-37319	119	2	this	this	DET
asir-37319	119	3	work	work	NOUN
asir-37319	119	4	was	be	AUX
asir-37319	119	5	supported	support	VERB
asir-37319	119	6	by	by	ADP
asir-37319	119	7	the	the	DET
asir-37319	119	8	national	national	ADJ
asir-37319	119	9	natural	natural	PROPN
asir-37319	119	10	science	science	PROPN
asir-37319	119	11	foundation	foundation	PROPN
asir-37319	119	12	of	of	ADP
asir-37319	119	13	china	china	PROPN
asir-37319	119	14	(	(	PUNCT
asir-37319	119	15	no	no	INTJ
asir-37319	119	16	.	.	NOUN
asir-37319	119	17	51605197	51605197	NUM
asir-37319	119	18	)	)	PUNCT
asir-37319	119	19	;	;	PUNCT
asir-37319	119	20	the	the	DET
asir-37319	119	21	key	key	ADJ
asir-37319	119	22	research	research	NOUN
asir-37319	119	23	and	and	CCONJ
asir-37319	119	24	development	development	NOUN
asir-37319	119	25	plan	plan	NOUN
asir-37319	119	26	of	of	ADP
asir-37319	119	27	zhenjiang	zhenjiang	PROPN
asir-37319	119	28	city	city	PROPN
asir-37319	119	29	(	(	PUNCT
asir-37319	119	30	no	no	INTJ
asir-37319	119	31	.	.	PUNCT
asir-37319	119	32	sh2019054	sh2019054	PROPN
asir-37319	119	33	)	)	PUNCT
asir-37319	119	34	.	.	PUNCT
asir-37319	120	1	references	reference	NOUN
asir-37319	120	2	bae	bae	PROPN
asir-37319	120	3	,	,	PUNCT
asir-37319	120	4	j.-j	j.-j	PROPN
asir-37319	120	5	.	.	PROPN
asir-37319	120	6	,	,	PUNCT
asir-37319	120	7	lee	lee	PROPN
asir-37319	120	8	,	,	PUNCT
asir-37319	120	9	m.-s	m.-s	PROPN
asir-37319	120	10	.	.	PROPN
asir-37319	120	11	,	,	PUNCT
asir-37319	120	12	&	&	CCONJ
asir-37319	120	13	kang	kang	PROPN
asir-37319	120	14	,	,	PUNCT
asir-37319	120	15	n.	n.	PROPN
asir-37319	120	16	(	(	PUNCT
asir-37319	120	17	2020	2020	NUM
asir-37319	120	18	)	)	PUNCT
asir-37319	120	19	.	.	PUNCT
asir-37319	121	1	partial	partial	ADJ
asir-37319	121	2	and	and	CCONJ
asir-37319	121	3	full	full	ADJ
asir-37319	121	4	braking	braking	NOUN
asir-37319	121	5	algorithm	algorithm	NOUN
asir-37319	121	6	according	accord	VERB
asir-37319	121	7	to	to	ADP
asir-37319	121	8	time	time	NOUN
asir-37319	121	9	-	-	PUNCT
asir-37319	121	10	to	to	ADP
asir-37319	121	11	-	-	PUNCT
asir-37319	121	12	collision	collision	VERB
asir-37319	121	13	for	for	ADP
asir-37319	121	14	both	both	DET
asir-37319	121	15	safety	safety	NOUN
asir-37319	121	16	and	and	CCONJ
asir-37319	121	17	ride	ride	VERB
asir-37319	121	18	comfort	comfort	NOUN
asir-37319	121	19	in	in	ADP
asir-37319	121	20	an	an	DET
asir-37319	121	21	autonomous	autonomous	ADJ
asir-37319	121	22	vehicle	vehicle	NOUN
asir-37319	121	23	.	.	PUNCT
asir-37319	122	1	int	int	NOUN
asir-37319	122	2	.	.	PUNCT
asir-37319	123	1	j.	j.	PROPN
asir-37319	123	2	automot	automot	PROPN
asir-37319	123	3	.	.	PUNCT
asir-37319	124	1	technol	technol	PROPN
asir-37319	124	2	.	.	PROPN
asir-37319	124	3	,	,	PUNCT
asir-37319	124	4	21(2	21(2	NUM
asir-37319	124	5	)	)	PUNCT
asir-37319	124	6	,	,	PUNCT
asir-37319	124	7	351	351	NUM
asir-37319	124	8	-	-	SYM
asir-37319	124	9	360	360	NUM
asir-37319	124	10	.	.	PUNCT
asir-37319	125	1	https://doi.org/10.1007/s12239-020-0033-8	https://doi.org/10.1007/s12239-020-0033-8	NOUN
asir-37319	125	2	coelingh	coelingh	PROPN
asir-37319	125	3	,	,	PUNCT
asir-37319	125	4	e.	e.	PROPN
asir-37319	125	5	,	,	PUNCT
asir-37319	125	6	eidehall	eidehall	PROPN
asir-37319	125	7	,	,	PUNCT
asir-37319	125	8	a.	a.	PROPN
asir-37319	125	9	,	,	PUNCT
asir-37319	125	10	&	&	CCONJ
asir-37319	125	11	bengtsson	bengtsson	PROPN
asir-37319	125	12	,	,	PUNCT
asir-37319	125	13	m.	m.	NOUN
asir-37319	125	14	(	(	PUNCT
asir-37319	125	15	2010	2010	NUM
asir-37319	125	16	)	)	PUNCT
asir-37319	125	17	.	.	PUNCT
asir-37319	126	1	collision	collision	NOUN
asir-37319	126	2	warning	warn	VERB
asir-37319	126	3	with	with	ADP
asir-37319	126	4	full	full	ADJ
asir-37319	126	5	auto	auto	NOUN
asir-37319	126	6	brake	brake	NOUN
asir-37319	126	7	and	and	CCONJ
asir-37319	126	8	pedestrian	pedestrian	NOUN
asir-37319	126	9	detection	detection	NOUN
asir-37319	126	10	a	a	DET
asir-37319	126	11	practical	practical	ADJ
asir-37319	126	12	example	example	NOUN
asir-37319	126	13	of	of	ADP
asir-37319	126	14	automatic	automatic	ADJ
asir-37319	126	15	emergency	emergency	NOUN
asir-37319	126	16	braking	braking	NOUN
asir-37319	126	17	.	.	PUNCT
asir-37319	127	1	in	in	ADP
asir-37319	127	2	13th	13th	ADJ
asir-37319	127	3	international	international	ADJ
asir-37319	127	4	ieee	ieee	NOUN
asir-37319	127	5	conference	conference	NOUN
asir-37319	127	6	on	on	ADP
asir-37319	127	7	intelligent	intelligent	ADJ
asir-37319	127	8	transportation	transportation	NOUN
asir-37319	127	9	systems	system	NOUN
asir-37319	127	10	,	,	PUNCT
asir-37319	127	11	pp	pp	ADP
asir-37319	127	12	.	.	PUNCT
asir-37319	128	1	155	155	NUM
asir-37319	128	2	-	-	SYM
asir-37319	128	3	160	160	NUM
asir-37319	128	4	.	.	PUNCT
asir-37319	129	1	https://doi.org/10.1109/itsc.2010.5625077	https://doi.org/10.1109/itsc.2010.5625077	PROPN
asir-37319	129	2	fildes	fildes	PROPN
asir-37319	129	3	,	,	PUNCT
asir-37319	129	4	b.	b.	PROPN
asir-37319	129	5	,	,	PUNCT
asir-37319	129	6	keall	keall	PROPN
asir-37319	129	7	,	,	PUNCT
asir-37319	129	8	m.	m.	NOUN
asir-37319	129	9	,	,	PUNCT
asir-37319	129	10	bos	bos	PROPN
asir-37319	129	11	,	,	PUNCT
asir-37319	129	12	n.	n.	NOUN
asir-37319	129	13	,	,	PUNCT
asir-37319	129	14	lie	lie	NOUN
asir-37319	129	15	,	,	PUNCT
asir-37319	129	16	a.	a.	NOUN
asir-37319	129	17	,	,	PUNCT
asir-37319	129	18	page	page	NOUN
asir-37319	129	19	,	,	PUNCT
asir-37319	129	20	y.	y.	PROPN
asir-37319	129	21	,	,	PUNCT
asir-37319	129	22	pastor	pastor	PROPN
asir-37319	129	23	,	,	PUNCT
asir-37319	129	24	c.	c.	PROPN
asir-37319	129	25	,	,	PUNCT
asir-37319	129	26	pennisi	pennisi	VERB
asir-37319	129	27	,	,	PUNCT
asir-37319	129	28	l.	l.	PROPN
asir-37319	129	29	,	,	PUNCT
asir-37319	129	30	rizzi	rizzi	PROPN
asir-37319	129	31	,	,	PUNCT
asir-37319	129	32	m.	m.	NOUN
asir-37319	129	33	,	,	PUNCT
asir-37319	129	34	thomas	thomas	PROPN
asir-37319	129	35	,	,	PUNCT
asir-37319	129	36	p.	p.	PROPN
asir-37319	129	37	,	,	PUNCT
asir-37319	129	38	&	&	CCONJ
asir-37319	129	39	tingvall	tingvall	PROPN
asir-37319	129	40	,	,	PUNCT
asir-37319	129	41	c.	c.	PROPN
asir-37319	129	42	(	(	PUNCT
asir-37319	129	43	2015	2015	NUM
asir-37319	129	44	)	)	PUNCT
asir-37319	129	45	.	.	PUNCT
asir-37319	130	1	effectiveness	effectiveness	NOUN
asir-37319	130	2	of	of	ADP
asir-37319	130	3	low	low	ADJ
asir-37319	130	4	speed	speed	NOUN
asir-37319	130	5	autonomous	autonomous	ADJ
asir-37319	130	6	emergency	emergency	NOUN
asir-37319	130	7	braking	braking	NOUN
asir-37319	130	8	in	in	ADP
asir-37319	130	9	real	real	ADJ
asir-37319	130	10	-	-	PUNCT
asir-37319	130	11	world	world	NOUN
asir-37319	130	12	rear	rear	ADJ
asir-37319	130	13	-	-	PUNCT
asir-37319	130	14	end	end	NOUN
asir-37319	130	15	crashes	crash	NOUN
asir-37319	130	16	.	.	PUNCT
asir-37319	131	1	accid	accid	PROPN
asir-37319	131	2	.	.	PUNCT
asir-37319	132	1	anal	anal	PROPN
asir-37319	132	2	.	.	PUNCT
asir-37319	133	1	prev	prev	PROPN
asir-37319	133	2	.	.	PROPN
asir-37319	133	3	,	,	PUNCT
asir-37319	133	4	81	81	NUM
asir-37319	133	5	,	,	PUNCT
asir-37319	133	6	24	24	NUM
asir-37319	133	7	-	-	SYM
asir-37319	133	8	29	29	NUM
asir-37319	133	9	.	.	PUNCT
asir-37319	134	1	https://doi.org/10.1016/j.aap.2015.03.029	https://doi.org/10.1016/j.aap.2015.03.029	PROPN
asir-37319	134	2	itoh	itoh	PROPN
asir-37319	134	3	,	,	PUNCT
asir-37319	134	4	m.	m.	NOUN
asir-37319	134	5	,	,	PUNCT
asir-37319	134	6	inagaki	inagaki	PROPN
asir-37319	134	7	,	,	PUNCT
asir-37319	134	8	t.	t.	PROPN
asir-37319	134	9	,	,	PUNCT
asir-37319	134	10	&	&	CCONJ
asir-37319	134	11	horikome	horikome	PROPN
asir-37319	134	12	,	,	PUNCT
asir-37319	134	13	t.	t.	PROPN
asir-37319	134	14	(	(	PUNCT
asir-37319	134	15	2011	2011	NUM
asir-37319	134	16	)	)	PUNCT
asir-37319	134	17	.	.	PUNCT
asir-37319	135	1	design	design	NOUN
asir-37319	135	2	and	and	CCONJ
asir-37319	135	3	evaluation	evaluation	NOUN
asir-37319	135	4	of	of	ADP
asir-37319	135	5	situation	situation	NOUN
asir-37319	135	6	-	-	PUNCT
asir-37319	135	7	adaptive	adaptive	ADJ
asir-37319	135	8	pedestrian	pedestrian	NOUN
asir-37319	135	9	-	-	PUNCT
asir-37319	135	10	vehicle	vehicle	NOUN
asir-37319	135	11	collision	collision	NOUN
asir-37319	135	12	avoidance	avoidance	NOUN
asir-37319	135	13	system	system	NOUN
asir-37319	135	14	.	.	PUNCT
asir-37319	136	1	in	in	ADP
asir-37319	136	2	2011	2011	NUM
asir-37319	136	3	ieee	ieee	NOUN
asir-37319	136	4	international	international	ADJ
asir-37319	136	5	conference	conference	NOUN
asir-37319	136	6	on	on	ADP
asir-37319	136	7	systems	system	NOUN
asir-37319	136	8	,	,	PUNCT
asir-37319	136	9	man	man	NOUN
asir-37319	136	10	,	,	PUNCT
asir-37319	136	11	and	and	CCONJ
asir-37319	136	12	cybernetics	cybernetic	NOUN
asir-37319	136	13	,	,	PUNCT
asir-37319	136	14	pp	pp	ADP
asir-37319	136	15	.	.	PUNCT
asir-37319	136	16	1063	1063	NUM
asir-37319	136	17	-	-	SYM
asir-37319	136	18	1068	1068	NUM
asir-37319	136	19	.	.	PUNCT
asir-37319	137	1	https://doi.org/10.1109/icsmc.2011.6083815	https://doi.org/10.1109/icsmc.2011.6083815	PROPN
asir-37319	137	2	tian	tian	PROPN
asir-37319	137	3	,	,	PUNCT
asir-37319	137	4	j.	j.	PROPN
asir-37319	137	5	,	,	PUNCT
asir-37319	137	6	zhang	zhang	PROPN
asir-37319	137	7	,	,	PUNCT
asir-37319	137	8	c.	c.	PROPN
asir-37319	137	9	,	,	PUNCT
asir-37319	137	10	&	&	CCONJ
asir-37319	137	11	wang	wang	PROPN
asir-37319	137	12	,	,	PUNCT
asir-37319	137	13	q.	q.	PROPN
asir-37319	137	14	(	(	PUNCT
asir-37319	137	15	2020	2020	NUM
asir-37319	137	16	)	)	PUNCT
asir-37319	137	17	.	.	PUNCT
asir-37319	138	1	analysis	analysis	NOUN
asir-37319	138	2	of	of	ADP
asir-37319	138	3	craniocerebral	craniocerebral	ADJ
asir-37319	138	4	injury	injury	NOUN
asir-37319	138	5	in	in	ADP
asir-37319	138	6	facial	facial	ADJ
asir-37319	138	7	collision	collision	NOUN
asir-37319	138	8	accidents	accident	NOUN
asir-37319	138	9	.	.	PUNCT
asir-37319	139	1	plos	plos	PROPN
asir-37319	139	2	one	one	NUM
asir-37319	139	3	,	,	PUNCT
asir-37319	139	4	15(10	15(10	NUM
asir-37319	139	5	)	)	PUNCT
asir-37319	139	6	,	,	PUNCT
asir-37319	139	7	e0240359	e0240359	INTJ
asir-37319	139	8	.	.	PUNCT
asir-37319	140	1	https://doi.org/10.1371/journal.pone.0240359	https://doi.org/10.1371/journal.pone.0240359	PROPN
asir-37319	140	2	world	world	PROPN
asir-37319	140	3	health	health	NOUN
asir-37319	140	4	organization	organization	NOUN
asir-37319	140	5	.	.	PUNCT
asir-37319	141	1	(	(	PUNCT
asir-37319	141	2	2018	2018	NUM
asir-37319	141	3	)	)	PUNCT
asir-37319	141	4	.	.	PUNCT
asir-37319	142	1	global	global	ADJ
asir-37319	142	2	status	status	NOUN
asir-37319	142	3	report	report	NOUN
asir-37319	142	4	on	on	ADP
asir-37319	142	5	road	road	NOUN
asir-37319	142	6	safety	safety	NOUN
asir-37319	142	7	2018	2018	NUM
asir-37319	142	8	:	:	PUNCT
asir-37319	142	9	summary	summary	NOUN
asir-37319	142	10	.	.	PUNCT
asir-37319	143	1	world	world	PROPN
asir-37319	143	2	health	health	PROPN
asir-37319	143	3	organization	organization	NOUN
asir-37319	143	4	,	,	PUNCT
asir-37319	143	5	2018	2018	NUM
asir-37319	143	6	.	.	PUNCT