id	sid	tid	token	lemma	pos
easat-6259	1	1	edelweiss	edelweiss	PROPN
easat-6259	1	2	applied	apply	VERB
easat-6259	1	3	science	science	NOUN
easat-6259	1	4	and	and	CCONJ
easat-6259	1	5	technology	technology	NOUN
easat-6259	1	6	issn	issn	PROPN
easat-6259	1	7	:	:	PUNCT
easat-6259	1	8	2576	2576	NUM
easat-6259	1	9	-	-	SYM
easat-6259	1	10	8484	8484	NUM
easat-6259	1	11	vol	vol	NOUN
easat-6259	1	12	.	.	PROPN
easat-6259	2	1	9	9	NUM
easat-6259	2	2	,	,	PUNCT
easat-6259	2	3	no	no	INTJ
easat-6259	2	4	.	.	NOUN
easat-6259	2	5	4	4	NUM
easat-6259	2	6	,	,	PUNCT
easat-6259	2	7	1300	1300	NUM
easat-6259	2	8	-	-	SYM
easat-6259	2	9	1331	1331	NUM
easat-6259	2	10	2025	2025	NUM
easat-6259	2	11	publisher	publisher	NOUN
easat-6259	2	12	:	:	PUNCT
easat-6259	2	13	learning	learn	VERB
easat-6259	2	14	gate	gate	NOUN
easat-6259	2	15	doi	doi	PROPN
easat-6259	2	16	:	:	PUNCT
easat-6259	2	17	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	2	18	©	©	PROPN
easat-6259	2	19	2025	2025	NUM
easat-6259	2	20	by	by	ADP
easat-6259	2	21	the	the	DET
easat-6259	2	22	authors	author	NOUN
easat-6259	2	23	;	;	PUNCT
easat-6259	2	24	licensee	licensee	PROPN
easat-6259	2	25	learning	learning	NOUN
easat-6259	2	26	gate	gate	NOUN
easat-6259	3	1	©	©	PROPN
easat-6259	3	2	2025	2025	NUM
easat-6259	3	3	by	by	ADP
easat-6259	3	4	the	the	DET
easat-6259	3	5	authors	author	NOUN
easat-6259	3	6	;	;	PUNCT
easat-6259	3	7	licensee	licensee	PROPN
easat-6259	3	8	learning	learning	NOUN
easat-6259	3	9	gate	gate	NOUN
easat-6259	3	10	history	history	NOUN
easat-6259	3	11	:	:	PUNCT
easat-6259	3	12	received	receive	VERB
easat-6259	3	13	:	:	PUNCT
easat-6259	3	14	12	12	NUM
easat-6259	3	15	february	february	NOUN
easat-6259	3	16	2025	2025	NUM
easat-6259	3	17	;	;	PUNCT
easat-6259	3	18	revised	revise	VERB
easat-6259	3	19	:	:	PUNCT
easat-6259	3	20	4	4	NUM
easat-6259	3	21	april	april	PROPN
easat-6259	3	22	2025	2025	NUM
easat-6259	3	23	;	;	PUNCT
easat-6259	3	24	accepted	accept	VERB
easat-6259	3	25	:	:	PUNCT
easat-6259	3	26	9	9	NUM
easat-6259	3	27	april	april	PROPN
easat-6259	3	28	2025	2025	NUM
easat-6259	3	29	;	;	PUNCT
easat-6259	3	30	published	publish	VERB
easat-6259	3	31	:	:	PUNCT
easat-6259	3	32	15	15	NUM
easat-6259	3	33	april	april	PROPN
easat-6259	3	34	2025	2025	NUM
easat-6259	3	35	*	*	PUNCT
easat-6259	3	36	correspondence	correspondence	NOUN
easat-6259	3	37	:	:	PUNCT
easat-6259	3	38	marvy.badr@bue.edu.eg	marvy.badr@bue.edu.eg	VERB
easat-6259	3	39	convolutional	convolutional	ADJ
easat-6259	3	40	neural	neural	ADJ
easat-6259	3	41	network	network	NOUN
easat-6259	3	42	-	-	PUNCT
easat-6259	3	43	based	base	VERB
easat-6259	3	44	approach	approach	NOUN
easat-6259	3	45	for	for	ADP
easat-6259	3	46	edge	edge	NOUN
easat-6259	3	47	detection	detection	NOUN
easat-6259	3	48	in	in	ADP
easat-6259	3	49	autonomous	autonomous	ADJ
easat-6259	3	50	driving	driving	NOUN
easat-6259	3	51	marvy	marvy	NOUN
easat-6259	3	52	badr	badr	PROPN
easat-6259	3	53	monir	monir	PROPN
easat-6259	3	54	mansour1	mansour1	PROPN
easat-6259	3	55	*	*	PROPN
easat-6259	3	56	,	,	PUNCT
easat-6259	3	57	ahmed	ahmed	PROPN
easat-6259	3	58	mohamed	mohamed	PROPN
easat-6259	3	59	mansour2	mansour2	PROPN
easat-6259	4	1	1,2department	1,2department	NUM
easat-6259	4	2	of	of	ADP
easat-6259	4	3	electrical	electrical	ADJ
easat-6259	4	4	engineering	engineering	NOUN
easat-6259	4	5	,	,	PUNCT
easat-6259	4	6	the	the	DET
easat-6259	4	7	british	british	PROPN
easat-6259	4	8	university	university	PROPN
easat-6259	4	9	in	in	ADP
easat-6259	4	10	egypt	egypt	PROPN
easat-6259	4	11	,	,	PUNCT
easat-6259	4	12	cairo	cairo	PROPN
easat-6259	4	13	,	,	PUNCT
easat-6259	4	14	egypt	egypt	PROPN
easat-6259	4	15	;	;	PUNCT
easat-6259	4	16	marvy.badr@bue.edu.eg	marvy.badr@bue.edu.eg	PROPN
easat-6259	4	17	(	(	PUNCT
easat-6259	4	18	m.b.m.m	m.b.m.m	PROPN
easat-6259	4	19	.	.	PUNCT
easat-6259	4	20	)	)	PUNCT
easat-6259	5	1	ahmed179019@bue.edu.eg	ahmed179019@bue.edu.eg	PROPN
easat-6259	5	2	(	(	PUNCT
easat-6259	5	3	a.m.m	a.m.m	NOUN
easat-6259	5	4	.	.	PUNCT
easat-6259	5	5	)	)	PUNCT
easat-6259	5	6	.	.	PUNCT
easat-6259	6	1	abstract	abstract	ADJ
easat-6259	6	2	:	:	PUNCT
easat-6259	6	3	autonomous	autonomous	ADJ
easat-6259	6	4	driving	driving	NOUN
easat-6259	6	5	systems	system	NOUN
easat-6259	6	6	(	(	PUNCT
easat-6259	6	7	adss	adss	PROPN
easat-6259	6	8	)	)	PUNCT
easat-6259	6	9	hold	hold	VERB
easat-6259	6	10	promise	promise	NOUN
easat-6259	6	11	for	for	ADP
easat-6259	6	12	enhancing	enhance	VERB
easat-6259	6	13	safety	safety	NOUN
easat-6259	6	14	and	and	CCONJ
easat-6259	6	15	efficiency	efficiency	NOUN
easat-6259	6	16	on	on	ADP
easat-6259	6	17	the	the	DET
easat-6259	6	18	roads	road	NOUN
easat-6259	6	19	;	;	PUNCT
easat-6259	6	20	yet	yet	CCONJ
easat-6259	6	21	,	,	PUNCT
easat-6259	6	22	concerns	concern	NOUN
easat-6259	6	23	persist	persist	VERB
easat-6259	6	24	due	due	ADP
easat-6259	6	25	to	to	ADP
easat-6259	6	26	rising	rise	VERB
easat-6259	6	27	fatalities	fatality	NOUN
easat-6259	6	28	involving	involve	VERB
easat-6259	6	29	vehicles	vehicle	NOUN
easat-6259	6	30	equipped	equip	VERB
easat-6259	6	31	with	with	ADP
easat-6259	6	32	adss	adss	PROPN
easat-6259	6	33	.	.	PUNCT
easat-6259	7	1	this	this	DET
easat-6259	7	2	research	research	NOUN
easat-6259	7	3	comprehensively	comprehensively	ADV
easat-6259	7	4	examines	examine	VERB
easat-6259	7	5	the	the	DET
easat-6259	7	6	technical	technical	ADJ
easat-6259	7	7	components	component	NOUN
easat-6259	7	8	of	of	ADP
easat-6259	7	9	adss	adss	PROPN
easat-6259	7	10	,	,	PUNCT
easat-6259	7	11	including	include	VERB
easat-6259	7	12	current	current	ADJ
easat-6259	7	13	challenges	challenge	NOUN
easat-6259	7	14	,	,	PUNCT
easat-6259	7	15	system	system	NOUN
easat-6259	7	16	designs	design	NOUN
easat-6259	7	17	,	,	PUNCT
easat-6259	7	18	evolving	evolve	VERB
easat-6259	7	19	techniques	technique	NOUN
easat-6259	7	20	,	,	PUNCT
easat-6259	7	21	and	and	CCONJ
easat-6259	7	22	critical	critical	ADJ
easat-6259	7	23	features	feature	NOUN
easat-6259	7	24	like	like	ADP
easat-6259	7	25	sensor	sensor	NOUN
easat-6259	7	26	technologies	technology	NOUN
easat-6259	7	27	such	such	ADJ
easat-6259	7	28	as	as	ADP
easat-6259	7	29	light	light	ADJ
easat-6259	7	30	detection	detection	NOUN
easat-6259	7	31	and	and	CCONJ
easat-6259	7	32	ranging	ranging	NOUN
easat-6259	7	33	(	(	PUNCT
easat-6259	7	34	lidar	lidar	NOUN
easat-6259	7	35	)	)	PUNCT
easat-6259	7	36	and	and	CCONJ
easat-6259	7	37	cameras	camera	NOUN
easat-6259	7	38	.	.	PUNCT
easat-6259	8	1	these	these	DET
easat-6259	8	2	sensors	sensor	NOUN
easat-6259	8	3	enable	enable	VERB
easat-6259	8	4	vehicles	vehicle	NOUN
easat-6259	8	5	to	to	PART
easat-6259	8	6	perceive	perceive	VERB
easat-6259	8	7	their	their	PRON
easat-6259	8	8	environment	environment	NOUN
easat-6259	8	9	accurately	accurately	ADV
easat-6259	8	10	,	,	PUNCT
easat-6259	8	11	facilitating	facilitate	VERB
easat-6259	8	12	tasks	task	NOUN
easat-6259	8	13	such	such	ADJ
easat-6259	8	14	as	as	ADP
easat-6259	8	15	navigation	navigation	NOUN
easat-6259	8	16	and	and	CCONJ
easat-6259	8	17	obstacle	obstacle	NOUN
easat-6259	8	18	avoidance	avoidance	NOUN
easat-6259	8	19	.	.	PUNCT
easat-6259	9	1	advanced	advanced	ADJ
easat-6259	9	2	edge	edge	NOUN
easat-6259	9	3	detection	detection	NOUN
easat-6259	9	4	strategies	strategy	NOUN
easat-6259	9	5	for	for	ADP
easat-6259	9	6	lane	lane	NOUN
easat-6259	9	7	detection	detection	NOUN
easat-6259	9	8	and	and	CCONJ
easat-6259	9	9	the	the	DET
easat-6259	9	10	usage	usage	NOUN
easat-6259	9	11	of	of	ADP
easat-6259	9	12	lane	lane	NOUN
easat-6259	9	13	keeping	keep	VERB
easat-6259	9	14	assist	assist	NOUN
easat-6259	9	15	(	(	PUNCT
easat-6259	9	16	lka	lka	PROPN
easat-6259	9	17	)	)	PUNCT
easat-6259	9	18	structures	structure	NOUN
easat-6259	9	19	are	be	AUX
easat-6259	9	20	crucial	crucial	ADJ
easat-6259	9	21	technologies	technology	NOUN
easat-6259	9	22	for	for	ADP
easat-6259	9	23	ads	ad	NOUN
easat-6259	9	24	.	.	PUNCT
easat-6259	10	1	hence	hence	ADV
easat-6259	10	2	,	,	PUNCT
easat-6259	10	3	in	in	ADP
easat-6259	10	4	this	this	DET
easat-6259	10	5	paper	paper	NOUN
easat-6259	10	6	,	,	PUNCT
easat-6259	10	7	we	we	PRON
easat-6259	10	8	implement	implement	VERB
easat-6259	10	9	a	a	DET
easat-6259	10	10	modified	modify	VERB
easat-6259	10	11	sobel	sobel	NOUN
easat-6259	10	12	edge	edge	NOUN
easat-6259	10	13	detection	detection	NOUN
easat-6259	10	14	algorithm	algorithm	NOUN
easat-6259	10	15	to	to	PART
easat-6259	10	16	improve	improve	VERB
easat-6259	10	17	its	its	PRON
easat-6259	10	18	performance	performance	NOUN
easat-6259	10	19	for	for	ADP
easat-6259	10	20	lane	lane	NOUN
easat-6259	10	21	detection	detection	NOUN
easat-6259	10	22	and	and	CCONJ
easat-6259	10	23	integrate	integrate	VERB
easat-6259	10	24	a	a	DET
easat-6259	10	25	cnn	cnn	PROPN
easat-6259	10	26	-	-	PUNCT
easat-6259	10	27	based	base	VERB
easat-6259	10	28	approach	approach	NOUN
easat-6259	10	29	into	into	ADP
easat-6259	10	30	our	our	PRON
easat-6259	10	31	system	system	NOUN
easat-6259	10	32	.	.	PUNCT
easat-6259	11	1	by	by	ADP
easat-6259	11	2	trying	try	VERB
easat-6259	11	3	various	various	ADJ
easat-6259	11	4	gaussian	gaussian	ADJ
easat-6259	11	5	filter	filter	NOUN
easat-6259	11	6	parameters	parameter	NOUN
easat-6259	11	7	,	,	PUNCT
easat-6259	11	8	we	we	PRON
easat-6259	11	9	develop	develop	VERB
easat-6259	11	10	an	an	DET
easat-6259	11	11	optimized	optimize	VERB
easat-6259	11	12	edge	edge	NOUN
easat-6259	11	13	detection	detection	NOUN
easat-6259	11	14	system	system	NOUN
easat-6259	11	15	that	that	PRON
easat-6259	11	16	performs	perform	VERB
easat-6259	11	17	well	well	ADV
easat-6259	11	18	in	in	ADP
easat-6259	11	19	different	different	ADJ
easat-6259	11	20	lighting	lighting	NOUN
easat-6259	11	21	and	and	CCONJ
easat-6259	11	22	weather	weather	NOUN
easat-6259	11	23	conditions	condition	NOUN
easat-6259	11	24	,	,	PUNCT
easat-6259	11	25	such	such	ADJ
easat-6259	11	26	as	as	ADP
easat-6259	11	27	low	low	ADJ
easat-6259	11	28	light	light	NOUN
easat-6259	11	29	or	or	CCONJ
easat-6259	11	30	rainy	rainy	ADJ
easat-6259	11	31	weather	weather	NOUN
easat-6259	11	32	.	.	PUNCT
easat-6259	12	1	in	in	ADP
easat-6259	12	2	our	our	PRON
easat-6259	12	3	work	work	NOUN
easat-6259	12	4	,	,	PUNCT
easat-6259	12	5	we	we	PRON
easat-6259	12	6	implement	implement	VERB
easat-6259	12	7	a	a	DET
easat-6259	12	8	convolutional	convolutional	ADJ
easat-6259	12	9	neural	neural	ADJ
easat-6259	12	10	network	network	NOUN
easat-6259	12	11	(	(	PUNCT
easat-6259	12	12	cnn	cnn	PROPN
easat-6259	12	13	)	)	PUNCT
easat-6259	12	14	for	for	ADP
easat-6259	12	15	edge	edge	NOUN
easat-6259	12	16	detection	detection	NOUN
easat-6259	12	17	and	and	CCONJ
easat-6259	12	18	train	train	VERB
easat-6259	12	19	it	it	PRON
easat-6259	12	20	using	use	VERB
easat-6259	12	21	a	a	DET
easat-6259	12	22	comprehensive	comprehensive	ADJ
easat-6259	12	23	dataset	dataset	NOUN
easat-6259	12	24	of	of	ADP
easat-6259	12	25	road	road	NOUN
easat-6259	12	26	images	image	NOUN
easat-6259	12	27	and	and	CCONJ
easat-6259	12	28	traffic	traffic	NOUN
easat-6259	12	29	scenes	scene	NOUN
easat-6259	12	30	.	.	PUNCT
easat-6259	13	1	the	the	DET
easat-6259	13	2	dataset	dataset	NOUN
easat-6259	13	3	includes	include	VERB
easat-6259	13	4	a	a	DET
easat-6259	13	5	diverse	diverse	ADJ
easat-6259	13	6	range	range	NOUN
easat-6259	13	7	of	of	ADP
easat-6259	13	8	conditions	condition	NOUN
easat-6259	13	9	,	,	PUNCT
easat-6259	13	10	such	such	ADJ
easat-6259	13	11	as	as	ADP
easat-6259	13	12	different	different	ADJ
easat-6259	13	13	lighting	lighting	NOUN
easat-6259	13	14	(	(	PUNCT
easat-6259	13	15	day	day	NOUN
easat-6259	13	16	and	and	CCONJ
easat-6259	13	17	night	night	NOUN
easat-6259	13	18	)	)	PUNCT
easat-6259	13	19	,	,	PUNCT
easat-6259	13	20	weather	weather	NOUN
easat-6259	13	21	(	(	PUNCT
easat-6259	13	22	clear	clear	ADJ
easat-6259	13	23	,	,	PUNCT
easat-6259	13	24	rainy	rainy	ADJ
easat-6259	13	25	,	,	PUNCT
easat-6259	13	26	foggy	foggy	ADJ
easat-6259	13	27	)	)	PUNCT
easat-6259	13	28	,	,	PUNCT
easat-6259	13	29	and	and	CCONJ
easat-6259	13	30	road	road	NOUN
easat-6259	13	31	types	type	NOUN
easat-6259	13	32	(	(	PUNCT
easat-6259	13	33	highways	highway	NOUN
easat-6259	13	34	,	,	PUNCT
easat-6259	13	35	urban	urban	ADJ
easat-6259	13	36	streets	street	NOUN
easat-6259	13	37	,	,	PUNCT
easat-6259	13	38	rural	rural	ADJ
easat-6259	13	39	roads	road	NOUN
easat-6259	13	40	)	)	PUNCT
easat-6259	13	41	.	.	PUNCT
easat-6259	14	1	this	this	DET
easat-6259	14	2	extensive	extensive	ADJ
easat-6259	14	3	dataset	dataset	NOUN
easat-6259	14	4	allows	allow	VERB
easat-6259	14	5	the	the	DET
easat-6259	14	6	cnn	cnn	PROPN
easat-6259	14	7	to	to	PART
easat-6259	14	8	learn	learn	VERB
easat-6259	14	9	features	feature	NOUN
easat-6259	14	10	robustly	robustly	ADV
easat-6259	14	11	and	and	CCONJ
easat-6259	14	12	generalize	generalize	VERB
easat-6259	14	13	well	well	ADV
easat-6259	14	14	across	across	ADP
easat-6259	14	15	various	various	ADJ
easat-6259	14	16	driving	drive	VERB
easat-6259	14	17	scenarios	scenario	NOUN
easat-6259	14	18	.	.	PUNCT
easat-6259	15	1	simulation	simulation	NOUN
easat-6259	15	2	and	and	CCONJ
easat-6259	15	3	results	result	NOUN
easat-6259	15	4	show	show	VERB
easat-6259	15	5	that	that	SCONJ
easat-6259	15	6	our	our	PRON
easat-6259	15	7	cnn	cnn	PROPN
easat-6259	15	8	-	-	PUNCT
easat-6259	15	9	based	base	VERB
easat-6259	15	10	approach	approach	NOUN
easat-6259	15	11	has	have	VERB
easat-6259	15	12	high	high	ADJ
easat-6259	15	13	performance	performance	NOUN
easat-6259	15	14	,	,	PUNCT
easat-6259	15	15	as	as	SCONJ
easat-6259	15	16	it	it	PRON
easat-6259	15	17	exhibits	exhibit	VERB
easat-6259	15	18	high	high	ADJ
easat-6259	15	19	accuracy	accuracy	NOUN
easat-6259	15	20	and	and	CCONJ
easat-6259	15	21	low	low	ADJ
easat-6259	15	22	processing	processing	NOUN
easat-6259	15	23	time	time	NOUN
easat-6259	15	24	needed	need	VERB
easat-6259	15	25	for	for	ADP
easat-6259	15	26	adss	adss	PROPN
easat-6259	15	27	.	.	PUNCT
easat-6259	16	1	keywords	keyword	NOUN
easat-6259	16	2	:	:	PUNCT
easat-6259	16	3	autonomous	autonomous	ADJ
easat-6259	16	4	driving	driving	NOUN
easat-6259	16	5	systems	system	NOUN
easat-6259	16	6	,	,	PUNCT
easat-6259	16	7	cnn	cnn	PROPN
easat-6259	16	8	,	,	PUNCT
easat-6259	16	9	edge	edge	NOUN
easat-6259	16	10	detection	detection	NOUN
easat-6259	16	11	,	,	PUNCT
easat-6259	16	12	lane	lane	NOUN
easat-6259	16	13	keeping	keeping	NOUN
easat-6259	16	14	assist	assist	NOUN
easat-6259	16	15	,	,	PUNCT
easat-6259	16	16	machine	machine	NOUN
easat-6259	16	17	learning	learning	NOUN
easat-6259	16	18	,	,	PUNCT
easat-6259	16	19	pid	pid	NOUN
easat-6259	16	20	controller	controller	NOUN
easat-6259	16	21	.	.	PUNCT
easat-6259	17	1	1	1	X
easat-6259	17	2	.	.	X
easat-6259	17	3	introduction	introduction	NOUN
easat-6259	17	4	automated	automate	VERB
easat-6259	17	5	or	or	CCONJ
easat-6259	17	6	autonomous	autonomous	ADJ
easat-6259	17	7	or	or	CCONJ
easat-6259	17	8	driving	driving	NOUN
easat-6259	17	9	systems	system	NOUN
easat-6259	17	10	(	(	PUNCT
easat-6259	17	11	adss	adss	PROPN
easat-6259	17	12	)	)	PUNCT
easat-6259	17	13	,	,	PUNCT
easat-6259	17	14	have	have	VERB
easat-6259	17	15	the	the	DET
easat-6259	17	16	potential	potential	NOUN
easat-6259	17	17	to	to	PART
easat-6259	17	18	make	make	VERB
easat-6259	17	19	driving	drive	VERB
easat-6259	17	20	secure	secure	ADJ
easat-6259	17	21	,	,	PUNCT
easat-6259	17	22	high	high	ADJ
easat-6259	17	23	-	-	PUNCT
easat-6259	17	24	quality	quality	NOUN
easat-6259	17	25	,	,	PUNCT
easat-6259	17	26	and	and	CCONJ
easat-6259	17	27	effective	effective	ADJ
easat-6259	17	28	.	.	PUNCT
easat-6259	18	1	on	on	ADP
easat-6259	18	2	the	the	DET
easat-6259	18	3	opposite	opposite	ADJ
easat-6259	18	4	hand	hand	NOUN
easat-6259	18	5	,	,	PUNCT
easat-6259	18	6	the	the	DET
easat-6259	18	7	quantity	quantity	NOUN
easat-6259	18	8	of	of	ADP
easat-6259	18	9	fatalities	fatality	NOUN
easat-6259	18	10	related	relate	VERB
easat-6259	18	11	to	to	ADP
easat-6259	18	12	automobiles	automobile	NOUN
easat-6259	18	13	with	with	ADP
easat-6259	18	14	adss	adss	PROPN
easat-6259	18	15	is	be	AUX
easat-6259	18	16	rising	rise	VERB
easat-6259	18	17	.	.	PUNCT
easat-6259	19	1	the	the	DET
easat-6259	19	2	requirement	requirement	NOUN
easat-6259	19	3	for	for	ADP
easat-6259	19	4	improvement	improvement	NOUN
easat-6259	19	5	in	in	ADP
easat-6259	19	6	ads	ad	NOUN
easat-6259	19	7	prevents	prevent	VERB
easat-6259	19	8	it	it	PRON
easat-6259	19	9	from	from	ADP
easat-6259	19	10	accomplishing	accomplish	VERB
easat-6259	19	11	its	its	PRON
easat-6259	19	12	complete	complete	ADJ
easat-6259	19	13	capability	capability	NOUN
easat-6259	19	14	.	.	PUNCT
easat-6259	20	1	the	the	DET
easat-6259	20	2	technical	technical	ADJ
easat-6259	20	3	components	component	NOUN
easat-6259	20	4	of	of	ADP
easat-6259	20	5	automated	automate	VERB
easat-6259	20	6	riding	riding	NOUN
easat-6259	20	7	are	be	AUX
easat-6259	20	8	thoroughly	thoroughly	ADV
easat-6259	20	9	tested	test	VERB
easat-6259	20	10	in	in	ADP
easat-6259	20	11	this	this	DET
easat-6259	20	12	research	research	NOUN
easat-6259	20	13	,	,	PUNCT
easat-6259	20	14	which	which	PRON
easat-6259	20	15	additionally	additionally	ADV
easat-6259	20	16	conducts	conduct	VERB
easat-6259	20	17	in	in	ADP
easat-6259	20	18	-	-	PUNCT
easat-6259	20	19	depth	depth	NOUN
easat-6259	20	20	survey	survey	NOUN
easat-6259	20	21	on	on	ADP
easat-6259	20	22	cutting	cut	VERB
easat-6259	20	23	-	-	PUNCT
easat-6259	20	24	edge	edge	NOUN
easat-6259	20	25	solutions	solution	NOUN
easat-6259	20	26	,	,	PUNCT
easat-6259	20	27	high	high	ADJ
easat-6259	20	28	-	-	PUNCT
easat-6259	20	29	level	level	NOUN
easat-6259	20	30	system	system	NOUN
easat-6259	20	31	designs	design	NOUN
easat-6259	20	32	,	,	PUNCT
easat-6259	20	33	growing	grow	VERB
easat-6259	20	34	techniques	technique	NOUN
easat-6259	20	35	,	,	PUNCT
easat-6259	20	36	and	and	CCONJ
easat-6259	20	37	vital	vital	ADJ
easat-6259	20	38	functions	function	NOUN
easat-6259	20	39	for	for	ADP
easat-6259	20	40	self	self	NOUN
easat-6259	20	41	-	-	PUNCT
easat-6259	20	42	driving	drive	VERB
easat-6259	20	43	cars	car	NOUN
easat-6259	20	44	or	or	CCONJ
easat-6259	20	45	autonomous	autonomous	ADJ
easat-6259	20	46	vehicles	vehicle	NOUN
easat-6259	20	47	(	(	PUNCT
easat-6259	20	48	avs	avs	PROPN
easat-6259	20	49	)	)	PUNCT
easat-6259	20	50	.	.	PUNCT
easat-6259	21	1	avs	avs	PROPN
easat-6259	21	2	make	make	VERB
easat-6259	21	3	use	use	NOUN
easat-6259	21	4	of	of	ADP
easat-6259	21	5	lots	lot	NOUN
easat-6259	21	6	of	of	ADP
easat-6259	21	7	technological	technological	ADJ
easat-6259	21	8	techniques	technique	NOUN
easat-6259	21	9	to	to	PART
easat-6259	21	10	examine	examine	VERB
easat-6259	21	11	the	the	DET
easat-6259	21	12	environment	environment	NOUN
easat-6259	21	13	using	use	VERB
easat-6259	21	14	sensors	sensor	NOUN
easat-6259	21	15	placed	place	VERB
easat-6259	21	16	all	all	ADV
easat-6259	21	17	around	around	ADP
easat-6259	21	18	the	the	DET
easat-6259	21	19	automobile	automobile	NOUN
easat-6259	21	20	.	.	PUNCT
easat-6259	22	1	this	this	PRON
easat-6259	22	2	consists	consist	VERB
easat-6259	22	3	of	of	ADP
easat-6259	22	4	sensors	sensor	NOUN
easat-6259	22	5	which	which	PRON
easat-6259	22	6	can	can	AUX
easat-6259	22	7	be	be	AUX
easat-6259	22	8	used	use	VERB
easat-6259	22	9	to	to	PART
easat-6259	22	10	sense	sense	VERB
easat-6259	22	11	the	the	DET
easat-6259	22	12	environment	environment	NOUN
easat-6259	22	13	successfully	successfully	ADV
easat-6259	22	14	and	and	CCONJ
easat-6259	22	15	absolutely	absolutely	ADV
easat-6259	22	16	,	,	PUNCT
easat-6259	22	17	such	such	ADJ
easat-6259	22	18	as	as	ADP
easat-6259	22	19	light	light	ADJ
easat-6259	22	20	detection	detection	NOUN
easat-6259	22	21	and	and	CCONJ
easat-6259	22	22	ranging	ranging	NOUN
easat-6259	22	23	(	(	PUNCT
easat-6259	22	24	lidar	lidar	NOUN
easat-6259	22	25	)	)	PUNCT
easat-6259	22	26	and	and	CCONJ
easat-6259	22	27	cameras	camera	NOUN
easat-6259	22	28	.	.	PUNCT
easat-6259	23	1	vision	vision	NOUN
easat-6259	23	2	in	in	ADP
easat-6259	23	3	self	self	NOUN
easat-6259	23	4	-	-	PUNCT
easat-6259	23	5	sustaining	sustain	VERB
easat-6259	23	6	automobiles	automobile	NOUN
easat-6259	23	7	is	be	AUX
easat-6259	23	8	performed	perform	VERB
easat-6259	23	9	with	with	ADP
easat-6259	23	10	the	the	DET
easat-6259	23	11	aid	aid	NOUN
easat-6259	23	12	of	of	ADP
easat-6259	23	13	a	a	DET
easat-6259	23	14	number	number	NOUN
easat-6259	23	15	of	of	ADP
easat-6259	23	16	technologies	technology	NOUN
easat-6259	23	17	,	,	PUNCT
easat-6259	23	18	which	which	PRON
easat-6259	23	19	includes	include	VERB
easat-6259	23	20	sensors	sensor	NOUN
easat-6259	23	21	.	.	PUNCT
easat-6259	24	1	the	the	DET
easat-6259	24	2	automobile	automobile	NOUN
easat-6259	24	3	recognizes	recognize	VERB
easat-6259	24	4	and	and	CCONJ
easat-6259	24	5	evaluates	evaluate	VERB
easat-6259	24	6	its	its	PRON
easat-6259	24	7	environment	environment	NOUN
easat-6259	24	8	,	,	PUNCT
easat-6259	24	9	such	such	ADJ
easat-6259	24	10	as	as	ADP
easat-6259	24	11	surrounding	surround	VERB
easat-6259	24	12	vehicles	vehicle	NOUN
easat-6259	24	13	and	and	CCONJ
easat-6259	24	14	limitations	limitation	NOUN
easat-6259	24	15	,	,	PUNCT
easat-6259	24	16	while	while	SCONJ
easat-6259	24	17	statistics	statistic	NOUN
easat-6259	24	18	is	be	AUX
easat-6259	24	19	accrued	accrue	VERB
easat-6259	24	20	.	.	PUNCT
easat-6259	25	1	based	base	VERB
easat-6259	25	2	on	on	ADP
easat-6259	25	3	these	these	DET
easat-6259	25	4	statistics	statistic	NOUN
easat-6259	25	5	,	,	PUNCT
easat-6259	25	6	it	it	PRON
easat-6259	25	7	then	then	ADV
easat-6259	25	8	takes	take	VERB
easat-6259	25	9	the	the	DET
easat-6259	25	10	proper	proper	ADJ
easat-6259	25	11	moves	move	NOUN
easat-6259	25	12	,	,	PUNCT
easat-6259	25	13	in	in	ADP
easat-6259	25	14	order	order	NOUN
easat-6259	25	15	to	to	PART
easat-6259	25	16	get	get	VERB
easat-6259	25	17	on	on	ADP
easat-6259	25	18	the	the	DET
easat-6259	25	19	meant	mean	VERB
easat-6259	25	20	destination	destination	NOUN
easat-6259	25	21	properly	properly	ADV
easat-6259	25	22	and	and	CCONJ
easat-6259	25	23	efficaciously	efficaciously	ADV
easat-6259	25	24	.	.	PUNCT
easat-6259	26	1	the	the	DET
easat-6259	26	2	process	process	NOUN
easat-6259	26	3	of	of	ADP
easat-6259	26	4	creating	create	VERB
easat-6259	26	5	appropriate	appropriate	ADJ
easat-6259	26	6	selections	selection	NOUN
easat-6259	26	7	is	be	AUX
easat-6259	26	8	based	base	VERB
easat-6259	26	9	totally	totally	ADV
easat-6259	26	10	on	on	ADP
easat-6259	26	11	statistics	statistic	NOUN
easat-6259	26	12	evaluation	evaluation	NOUN
easat-6259	26	13	that	that	PRON
easat-6259	26	14	is	be	AUX
easat-6259	26	15	called	call	VERB
easat-6259	26	16	planning	plan	VERB
easat-6259	26	17	.	.	PUNCT
easat-6259	27	1	determining	determine	VERB
easat-6259	27	2	the	the	DET
easat-6259	27	3	best	good	ADJ
easat-6259	27	4	route	route	NOUN
easat-6259	27	5	mansour	mansour	PROPN
easat-6259	27	6	and	and	CCONJ
easat-6259	27	7	said	say	VERB
easat-6259	27	8	[	[	X
easat-6259	27	9	1	1	X
easat-6259	27	10	]	]	X
easat-6259	27	11	the	the	DET
easat-6259	27	12	proper	proper	ADJ
easat-6259	27	13	speed	speed	NOUN
easat-6259	27	14	and	and	CCONJ
easat-6259	27	15	the	the	DET
easat-6259	27	16	encompassing	encompass	VERB
easat-6259	27	17	environment	environment	NOUN
easat-6259	27	18	are	be	AUX
easat-6259	27	19	all	all	PRON
easat-6259	27	20	part	part	NOUN
easat-6259	27	21	of	of	ADP
easat-6259	27	22	the	the	DET
easat-6259	27	23	planning	planning	NOUN
easat-6259	27	24	,	,	PUNCT
easat-6259	27	25	which	which	PRON
easat-6259	27	26	use	use	VERB
easat-6259	27	27	auxiliary	auxiliary	ADJ
easat-6259	27	28	systems	system	NOUN
easat-6259	27	29	like	like	ADP
easat-6259	27	30	gps	gps	PROPN
easat-6259	27	31	.	.	PUNCT
easat-6259	28	1	1301	1301	NUM
easat-6259	28	2	edelweiss	edelweiss	PROPN
easat-6259	28	3	applied	apply	VERB
easat-6259	28	4	science	science	NOUN
easat-6259	28	5	and	and	CCONJ
easat-6259	28	6	technology	technology	NOUN
easat-6259	28	7	issn	issn	PROPN
easat-6259	28	8	:	:	PUNCT
easat-6259	28	9	2576	2576	NUM
easat-6259	28	10	-	-	SYM
easat-6259	28	11	8484	8484	NUM
easat-6259	28	12	vol	vol	NOUN
easat-6259	28	13	.	.	PROPN
easat-6259	29	1	9	9	NUM
easat-6259	29	2	,	,	PUNCT
easat-6259	29	3	no	no	INTJ
easat-6259	29	4	.	.	NOUN
easat-6259	30	1	4	4	NUM
easat-6259	30	2	:	:	SYM
easat-6259	30	3	1300	1300	NUM
easat-6259	30	4	-	-	SYM
easat-6259	30	5	1331	1331	NUM
easat-6259	30	6	,	,	PUNCT
easat-6259	30	7	2025	2025	NUM
easat-6259	30	8	doi	doi	NOUN
easat-6259	30	9	:	:	PUNCT
easat-6259	30	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	30	11	©	©	PROPN
easat-6259	30	12	2025	2025	NUM
easat-6259	30	13	by	by	ADP
easat-6259	30	14	the	the	DET
easat-6259	30	15	authors	author	NOUN
easat-6259	30	16	;	;	PUNCT
easat-6259	30	17	licensee	licensee	PROPN
easat-6259	30	18	learning	learning	NOUN
easat-6259	30	19	gate	gate	NOUN
easat-6259	30	20	in	in	ADP
easat-6259	30	21	safety	safety	NOUN
easat-6259	30	22	systems	system	NOUN
easat-6259	30	23	,	,	PUNCT
easat-6259	30	24	sensors	sensor	NOUN
easat-6259	30	25	are	be	AUX
easat-6259	30	26	used	use	VERB
easat-6259	30	27	in	in	ADP
easat-6259	30	28	the	the	DET
easat-6259	30	29	vehicle	vehicle	NOUN
easat-6259	30	30	’s	’s	PART
easat-6259	30	31	localization	localization	NOUN
easat-6259	30	32	process	process	NOUN
easat-6259	30	33	.	.	PUNCT
easat-6259	31	1	to	to	PART
easat-6259	31	2	improve	improve	VERB
easat-6259	31	3	the	the	DET
easat-6259	31	4	localization	localization	NOUN
easat-6259	31	5	precision	precision	NOUN
easat-6259	31	6	and	and	CCONJ
easat-6259	31	7	help	help	VERB
easat-6259	31	8	the	the	DET
easat-6259	31	9	vehicle	vehicle	NOUN
easat-6259	31	10	decide	decide	VERB
easat-6259	31	11	its	its	PRON
easat-6259	31	12	position	position	NOUN
easat-6259	31	13	,	,	PUNCT
easat-6259	31	14	complex	complex	ADJ
easat-6259	31	15	algorithms	algorithm	NOUN
easat-6259	31	16	and	and	CCONJ
easat-6259	31	17	human	human	ADJ
easat-6259	31	18	-	-	PUNCT
easat-6259	31	19	device	device	NOUN
easat-6259	31	20	interface	interface	NOUN
easat-6259	31	21	are	be	AUX
easat-6259	31	22	adopted	adopt	VERB
easat-6259	31	23	.	.	PUNCT
easat-6259	32	1	therefore	therefore	ADV
easat-6259	32	2	,	,	PUNCT
easat-6259	32	3	sophisticated	sophisticated	ADJ
easat-6259	32	4	algorithms	algorithm	NOUN
easat-6259	32	5	are	be	AUX
easat-6259	32	6	essential	essential	ADJ
easat-6259	32	7	for	for	ADP
easat-6259	32	8	quickly	quickly	ADV
easat-6259	32	9	and	and	CCONJ
easat-6259	32	10	accurately	accurately	ADV
easat-6259	32	11	evaluating	evaluate	VERB
easat-6259	32	12	the	the	DET
easat-6259	32	13	vast	vast	ADJ
easat-6259	32	14	amount	amount	NOUN
easat-6259	32	15	of	of	ADP
easat-6259	32	16	data	datum	NOUN
easat-6259	32	17	collected	collect	VERB
easat-6259	32	18	from	from	ADP
easat-6259	32	19	sensors	sensor	NOUN
easat-6259	32	20	and	and	CCONJ
easat-6259	32	21	making	make	VERB
easat-6259	32	22	judgements	judgement	NOUN
easat-6259	32	23	accordingly	accordingly	ADV
easat-6259	32	24	.	.	PUNCT
easat-6259	33	1	this	this	PRON
easat-6259	33	2	guarantees	guarantee	VERB
easat-6259	33	3	prompt	prompt	ADJ
easat-6259	33	4	decision	decision	NOUN
easat-6259	33	5	-	-	PUNCT
easat-6259	33	6	making	making	NOUN
easat-6259	33	7	in	in	ADP
easat-6259	33	8	addition	addition	NOUN
easat-6259	33	9	to	to	ADP
easat-6259	33	10	safe	safe	ADJ
easat-6259	33	11	driving	driving	NOUN
easat-6259	33	12	for	for	ADP
easat-6259	33	13	the	the	DET
easat-6259	33	14	driver	driver	NOUN
easat-6259	33	15	and	and	CCONJ
easat-6259	33	16	passengers	passenger	NOUN
easat-6259	33	17	.	.	PUNCT
easat-6259	34	1	most	most	ADJ
easat-6259	34	2	adss	adss	PROPN
easat-6259	34	3	frequently	frequently	ADV
easat-6259	34	4	use	use	VERB
easat-6259	34	5	various	various	ADJ
easat-6259	34	6	sensors	sensor	NOUN
easat-6259	34	7	and	and	CCONJ
easat-6259	34	8	algorithms	algorithm	NOUN
easat-6259	34	9	to	to	PART
easat-6259	34	10	break	break	VERB
easat-6259	34	11	down	down	ADP
easat-6259	34	12	the	the	DET
easat-6259	34	13	complex	complex	ADJ
easat-6259	34	14	work	work	NOUN
easat-6259	34	15	of	of	ADP
easat-6259	34	16	automated	automate	VERB
easat-6259	34	17	driving	driving	NOUN
easat-6259	34	18	into	into	ADP
easat-6259	34	19	less	less	ADV
easat-6259	34	20	difficult	difficult	ADJ
easat-6259	34	21	processes	process	NOUN
easat-6259	34	22	.	.	PUNCT
easat-6259	35	1	society	society	NOUN
easat-6259	35	2	of	of	ADP
easat-6259	35	3	automotive	automotive	ADJ
easat-6259	35	4	engineers	engineer	NOUN
easat-6259	35	5	(	(	PUNCT
easat-6259	35	6	sae	sae	PROPN
easat-6259	35	7	)	)	PUNCT
easat-6259	35	8	defines	define	VERB
easat-6259	35	9	ads	ad	NOUN
easat-6259	35	10	as	as	ADP
easat-6259	35	11	hardware	hardware	NOUN
easat-6259	35	12	-	-	PUNCT
easat-6259	35	13	software	software	NOUN
easat-6259	35	14	program	program	NOUN
easat-6259	35	15	structures	structure	NOUN
easat-6259	35	16	which	which	PRON
easat-6259	35	17	is	be	AUX
easat-6259	35	18	capable	capable	ADJ
easat-6259	35	19	of	of	ADP
easat-6259	35	20	supporting	support	VERB
easat-6259	35	21	dynamic	dynamic	ADJ
easat-6259	35	22	riding	ride	VERB
easat-6259	35	23	obligations	obligation	NOUN
easat-6259	35	24	in	in	ADP
easat-6259	35	25	an	an	DET
easat-6259	35	26	environmentally	environmentally	ADV
easat-6259	35	27	friendly	friendly	ADJ
easat-6259	35	28	way	way	NOUN
easat-6259	35	29	.	.	PUNCT
easat-6259	36	1	the	the	DET
easat-6259	36	2	sae	sae	PROPN
easat-6259	36	3	categorizes	categorize	VERB
easat-6259	36	4	ads	ad	NOUN
easat-6259	36	5	capabilities	capability	NOUN
easat-6259	36	6	into	into	ADP
easat-6259	36	7	five	five	NUM
easat-6259	36	8	levels	level	NOUN
easat-6259	36	9	of	of	ADP
easat-6259	36	10	automation	automation	NOUN
easat-6259	36	11	,	,	PUNCT
easat-6259	36	12	from	from	ADP
easat-6259	36	13	basic	basic	ADJ
easat-6259	36	14	driver	driver	NOUN
easat-6259	36	15	assistance	assistance	NOUN
easat-6259	36	16	to	to	ADP
easat-6259	36	17	fully	fully	ADV
easat-6259	36	18	autonomous	autonomous	ADJ
easat-6259	36	19	operation	operation	NOUN
easat-6259	36	20	,	,	PUNCT
easat-6259	36	21	although	although	SCONJ
easat-6259	36	22	challenges	challenge	NOUN
easat-6259	36	23	remain	remain	VERB
easat-6259	36	24	in	in	ADP
easat-6259	36	25	achieving	achieve	VERB
easat-6259	36	26	higher	high	ADJ
easat-6259	36	27	levels	level	NOUN
easat-6259	36	28	of	of	ADP
easat-6259	36	29	automation	automation	NOUN
easat-6259	36	30	due	due	ADP
easat-6259	36	31	to	to	ADP
easat-6259	36	32	environmental	environmental	ADJ
easat-6259	36	33	uncertainties	uncertainty	NOUN
easat-6259	36	34	and	and	CCONJ
easat-6259	36	35	some	some	DET
easat-6259	36	36	human	human	ADJ
easat-6259	36	37	factors	factor	NOUN
easat-6259	36	38	.	.	PUNCT
easat-6259	37	1	level	level	NOUN
easat-6259	37	2	one	one	PRON
easat-6259	37	3	includes	include	VERB
easat-6259	37	4	the	the	DET
easat-6259	37	5	basic	basic	ADJ
easat-6259	37	6	driving	driving	NOUN
easat-6259	37	7	that	that	PRON
easat-6259	37	8	involves	involve	VERB
easat-6259	37	9	balance	balance	NOUN
easat-6259	37	10	manage	manage	NOUN
easat-6259	37	11	,	,	PUNCT
easat-6259	37	12	anti	anti	ADJ
easat-6259	37	13	-	-	ADJ
easat-6259	37	14	lock	lock	ADJ
easat-6259	37	15	braking	brake	VERB
easat-6259	37	16	systems	system	NOUN
easat-6259	37	17	,	,	PUNCT
easat-6259	37	18	and	and	CCONJ
easat-6259	37	19	adaptive	adaptive	ADJ
easat-6259	37	20	cruise	cruise	NOUN
easat-6259	37	21	manipulation	manipulation	NOUN
easat-6259	37	22	.	.	PUNCT
easat-6259	38	1	despite	despite	SCONJ
easat-6259	38	2	concerns	concern	NOUN
easat-6259	38	3	,	,	PUNCT
easat-6259	38	4	ongoing	ongoing	ADJ
easat-6259	38	5	technological	technological	ADJ
easat-6259	38	6	advancements	advancement	NOUN
easat-6259	38	7	aim	aim	VERB
easat-6259	38	8	to	to	PART
easat-6259	38	9	address	address	VERB
easat-6259	38	10	safety	safety	NOUN
easat-6259	38	11	issues	issue	NOUN
easat-6259	38	12	and	and	CCONJ
easat-6259	38	13	improve	improve	VERB
easat-6259	38	14	public	public	ADJ
easat-6259	38	15	confidence	confidence	NOUN
easat-6259	38	16	in	in	ADP
easat-6259	38	17	adss	adss	PROPN
easat-6259	38	18	,	,	PUNCT
easat-6259	38	19	such	such	ADJ
easat-6259	38	20	as	as	ADP
easat-6259	38	21	safety	safety	NOUN
easat-6259	38	22	standards	standard	NOUN
easat-6259	38	23	in	in	ADP
easat-6259	38	24	aviation	aviation	NOUN
easat-6259	38	25	automation	automation	NOUN
easat-6259	38	26	.	.	PUNCT
easat-6259	39	1	with	with	ADP
easat-6259	39	2	advanced	advanced	ADJ
easat-6259	39	3	technology	technology	NOUN
easat-6259	39	4	,	,	PUNCT
easat-6259	39	5	emergency	emergency	NOUN
easat-6259	39	6	braking	braking	NOUN
easat-6259	39	7	and	and	CCONJ
easat-6259	39	8	coincidence	coincidence	NOUN
easat-6259	39	9	avoidance	avoidance	NOUN
easat-6259	39	10	,	,	PUNCT
easat-6259	39	11	become	become	VERB
easat-6259	39	12	easier	easy	ADJ
easat-6259	39	13	.	.	PUNCT
easat-6259	40	1	level	level	NOUN
easat-6259	40	2	-	-	PUNCT
easat-6259	40	3	two	two	NUM
easat-6259	40	4	automation	automation	NOUN
easat-6259	40	5	is	be	AUX
easat-6259	40	6	now	now	ADV
easat-6259	40	7	a	a	DET
easat-6259	40	8	feasible	feasible	ADJ
easat-6259	40	9	due	due	ADJ
easat-6259	40	10	to	to	ADP
easat-6259	40	11	partial	partial	ADJ
easat-6259	40	12	automation	automation	NOUN
easat-6259	40	13	.	.	PUNCT
easat-6259	41	1	while	while	SCONJ
easat-6259	41	2	,	,	PUNCT
easat-6259	41	3	level	level	NOUN
easat-6259	41	4	three	three	NUM
easat-6259	41	5	introduces	introduce	NOUN
easat-6259	41	6	conditional	conditional	ADJ
easat-6259	41	7	automation	automation	NOUN
easat-6259	41	8	,	,	PUNCT
easat-6259	41	9	permitting	permit	VERB
easat-6259	41	10	drivers	driver	NOUN
easat-6259	41	11	to	to	PART
easat-6259	41	12	divert	divert	VERB
easat-6259	41	13	their	their	PRON
easat-6259	41	14	interest	interest	NOUN
easat-6259	41	15	from	from	ADP
easat-6259	41	16	using	use	VERB
easat-6259	41	17	regular	regular	ADJ
easat-6259	41	18	operations	operation	NOUN
easat-6259	41	19	.	.	PUNCT
easat-6259	42	1	yet	yet	ADV
easat-6259	42	2	,	,	PUNCT
easat-6259	42	3	they	they	PRON
easat-6259	42	4	should	should	AUX
easat-6259	42	5	respond	respond	VERB
easat-6259	42	6	to	to	ADP
easat-6259	42	7	emergency	emergency	NOUN
easat-6259	42	8	alerts	alert	NOUN
easat-6259	42	9	and	and	CCONJ
easat-6259	42	10	be	be	AUX
easat-6259	42	11	prepared	prepare	VERB
easat-6259	42	12	to	to	PART
easat-6259	42	13	renew	renew	VERB
easat-6259	42	14	manipulation	manipulation	NOUN
easat-6259	42	15	.	.	PUNCT
easat-6259	43	1	level	level	NOUN
easat-6259	43	2	three	three	NUM
easat-6259	43	3	automated	automate	VERB
easat-6259	43	4	systems	system	NOUN
easat-6259	43	5	perform	perform	VERB
easat-6259	43	6	inside	inside	ADP
easat-6259	43	7	particular	particular	ADJ
easat-6259	43	8	operational	operational	ADJ
easat-6259	43	9	layout	layout	NOUN
easat-6259	43	10	domain	domain	NOUN
easat-6259	43	11	names	name	NOUN
easat-6259	43	12	such	such	ADJ
easat-6259	43	13	as	as	ADP
easat-6259	43	14	highways	highway	NOUN
easat-6259	43	15	.	.	PUNCT
easat-6259	44	1	levels	level	NOUN
easat-6259	44	2	four	four	NUM
easat-6259	44	3	and	and	CCONJ
easat-6259	44	4	five	five	NUM
easat-6259	44	5	take	take	VERB
easat-6259	44	6	away	away	ADV
easat-6259	44	7	the	the	DET
easat-6259	44	8	need	need	NOUN
easat-6259	44	9	for	for	ADP
easat-6259	44	10	human	human	ADJ
easat-6259	44	11	attention	attention	NOUN
easat-6259	44	12	absolutely	absolutely	ADV
easat-6259	44	13	.	.	PUNCT
easat-6259	45	1	however	however	ADV
easat-6259	45	2	,	,	PUNCT
easat-6259	45	3	the	the	DET
easat-6259	45	4	fourth	fourth	ADJ
easat-6259	45	5	stage	stage	NOUN
easat-6259	45	6	of	of	ADP
easat-6259	45	7	self	self	NOUN
easat-6259	45	8	-	-	PUNCT
easat-6259	45	9	driving	driving	NOUN
easat-6259	45	10	involves	involve	VERB
easat-6259	45	11	the	the	DET
easat-6259	45	12	needed	need	VERB
easat-6259	45	13	infrastructure	infrastructure	NOUN
easat-6259	45	14	,	,	PUNCT
easat-6259	45	15	on	on	ADP
easat-6259	45	16	-	-	PUNCT
easat-6259	45	17	demand	demand	NOUN
easat-6259	45	18	operation	operation	NOUN
easat-6259	45	19	and	and	CCONJ
easat-6259	45	20	a	a	DET
easat-6259	45	21	separate	separate	ADJ
easat-6259	45	22	set	set	NOUN
easat-6259	45	23	of	of	ADP
easat-6259	45	24	maps	map	NOUN
easat-6259	45	25	in	in	ADP
easat-6259	45	26	case	case	NOUN
easat-6259	45	27	the	the	DET
easat-6259	45	28	vehicle	vehicle	NOUN
easat-6259	45	29	leaves	leave	VERB
easat-6259	45	30	its	its	PRON
easat-6259	45	31	assigned	assign	VERB
easat-6259	45	32	area	area	NOUN
easat-6259	45	33	.	.	PUNCT
easat-6259	46	1	additionally	additionally	ADV
easat-6259	46	2	,	,	PUNCT
easat-6259	46	3	the	the	DET
easat-6259	46	4	automobile	automobile	NOUN
easat-6259	46	5	is	be	AUX
easat-6259	46	6	capable	capable	ADJ
easat-6259	46	7	of	of	ADP
easat-6259	46	8	parking	park	VERB
easat-6259	46	9	itself	itself	PRON
easat-6259	46	10	[	[	X
easat-6259	46	11	2	2	NUM
easat-6259	46	12	]	]	PUNCT
easat-6259	46	13	.	.	PUNCT
easat-6259	47	1	in	in	ADP
easat-6259	47	2	the	the	DET
easat-6259	47	3	fifth	fifth	ADJ
easat-6259	47	4	stage	stage	NOUN
easat-6259	47	5	,	,	PUNCT
easat-6259	47	6	the	the	DET
easat-6259	47	7	vehicle	vehicle	NOUN
easat-6259	47	8	could	could	AUX
easat-6259	47	9	find	find	VERB
easat-6259	47	10	its	its	PRON
easat-6259	47	11	way	way	NOUN
easat-6259	47	12	in	in	ADP
easat-6259	47	13	any	any	DET
easat-6259	47	14	network	network	NOUN
easat-6259	47	15	and	and	CCONJ
easat-6259	47	16	in	in	ADP
easat-6259	47	17	any	any	DET
easat-6259	47	18	form	form	NOUN
easat-6259	47	19	of	of	ADP
easat-6259	47	20	climate	climate	NOUN
easat-6259	47	21	.	.	PUNCT
easat-6259	48	1	nevertheless	nevertheless	ADV
easat-6259	48	2	,	,	PUNCT
easat-6259	48	3	no	no	DET
easat-6259	48	4	car	car	NOUN
easat-6259	48	5	is	be	AUX
easat-6259	48	6	able	able	ADJ
easat-6259	48	7	to	to	PART
easat-6259	48	8	absolutely	absolutely	ADV
easat-6259	48	9	carry	carry	VERB
easat-6259	48	10	out	out	ADP
easat-6259	48	11	the	the	DET
easat-6259	48	12	self	self	NOUN
easat-6259	48	13	-	-	PUNCT
easat-6259	48	14	driving	drive	VERB
easat-6259	48	15	functioning	functioning	NOUN
easat-6259	48	16	of	of	ADP
easat-6259	48	17	the	the	DET
easat-6259	48	18	fourth	fourth	ADJ
easat-6259	48	19	and	and	CCONJ
easat-6259	48	20	fifth	fifth	ADJ
easat-6259	48	21	levels	level	NOUN
easat-6259	48	22	.	.	PUNCT
easat-6259	49	1	this	this	PRON
easat-6259	49	2	is	be	AUX
easat-6259	49	3	because	because	SCONJ
easat-6259	49	4	of	of	ADP
easat-6259	49	5	unexpected	unexpected	ADJ
easat-6259	49	6	environmental	environmental	ADJ
easat-6259	49	7	conditions	condition	NOUN
easat-6259	49	8	,	,	PUNCT
easat-6259	49	9	problems	problem	NOUN
easat-6259	49	10	introduced	introduce	VERB
easat-6259	49	11	by	by	ADP
easat-6259	49	12	human	human	ADJ
easat-6259	49	13	behaviour	behaviour	NOUN
easat-6259	49	14	.	.	PUNCT
easat-6259	50	1	most	most	ADJ
easat-6259	50	2	ongoing	ongoing	ADJ
easat-6259	50	3	studies	study	NOUN
easat-6259	50	4	aim	aim	VERB
easat-6259	50	5	to	to	PART
easat-6259	50	6	create	create	VERB
easat-6259	50	7	robust	robust	ADJ
easat-6259	50	8	self	self	NOUN
easat-6259	50	9	-	-	PUNCT
easat-6259	50	10	riding	ride	VERB
easat-6259	50	11	and	and	CCONJ
easat-6259	50	12	enhance	enhance	VERB
easat-6259	50	13	safety	safety	NOUN
easat-6259	50	14	protocols	protocol	NOUN
easat-6259	50	15	.	.	PUNCT
easat-6259	51	1	for	for	ADP
easat-6259	51	2	independent	independent	ADJ
easat-6259	51	3	riding	riding	NOUN
easat-6259	51	4	,	,	PUNCT
easat-6259	51	5	safety	safety	NOUN
easat-6259	51	6	structures	structure	NOUN
easat-6259	51	7	involve	involve	VERB
easat-6259	51	8	the	the	DET
easat-6259	51	9	protection	protection	NOUN
easat-6259	51	10	requirements	requirement	NOUN
easat-6259	51	11	of	of	ADP
easat-6259	51	12	automatic	automatic	ADJ
easat-6259	51	13	aviation	aviation	NOUN
easat-6259	51	14	,	,	PUNCT
easat-6259	51	15	where	where	SCONJ
easat-6259	51	16	they	they	PRON
easat-6259	51	17	incorporate	incorporate	VERB
easat-6259	51	18	design	design	NOUN
easat-6259	51	19	to	to	PART
easat-6259	51	20	lessen	lessen	VERB
easat-6259	51	21	hazards	hazard	NOUN
easat-6259	51	22	and	and	CCONJ
easat-6259	51	23	improve	improve	VERB
easat-6259	51	24	performance	performance	NOUN
easat-6259	51	25	and	and	CCONJ
easat-6259	51	26	safety	safety	NOUN
easat-6259	51	27	.	.	PUNCT
easat-6259	52	1	the	the	DET
easat-6259	52	2	creation	creation	NOUN
easat-6259	52	3	of	of	ADP
easat-6259	52	4	adss	adss	PROPN
easat-6259	52	5	represents	represent	VERB
easat-6259	52	6	a	a	DET
easat-6259	52	7	modern	modern	ADJ
easat-6259	52	8	-	-	PUNCT
easat-6259	52	9	day	day	NOUN
easat-6259	52	10	shift	shift	NOUN
easat-6259	52	11	in	in	ADP
easat-6259	52	12	the	the	DET
easat-6259	52	13	automobile	automobile	NOUN
easat-6259	52	14	-	-	PUNCT
easat-6259	52	15	driving	drive	VERB
easat-6259	52	16	era	era	NOUN
easat-6259	52	17	.	.	PUNCT
easat-6259	53	1	by	by	ADP
easat-6259	53	2	using	use	VERB
easat-6259	53	3	various	various	ADJ
easat-6259	53	4	sensors	sensor	NOUN
easat-6259	53	5	,	,	PUNCT
easat-6259	53	6	artificial	artificial	ADJ
easat-6259	53	7	intelligence	intelligence	NOUN
easat-6259	53	8	,	,	PUNCT
easat-6259	53	9	and	and	CCONJ
easat-6259	53	10	real	real	ADJ
easat-6259	53	11	-	-	PUNCT
easat-6259	53	12	time	time	NOUN
easat-6259	53	13	information	information	NOUN
easat-6259	53	14	processing	processing	NOUN
easat-6259	53	15	,	,	PUNCT
easat-6259	53	16	adss	adss	PROPN
easat-6259	53	17	are	be	AUX
easat-6259	53	18	designed	design	VERB
easat-6259	53	19	to	to	PART
easat-6259	53	20	run	run	VERB
easat-6259	53	21	on	on	ADP
easat-6259	53	22	their	their	PRON
easat-6259	53	23	own	own	ADJ
easat-6259	53	24	.	.	PUNCT
easat-6259	54	1	the	the	DET
easat-6259	54	2	integration	integration	NOUN
easat-6259	54	3	of	of	ADP
easat-6259	54	4	several	several	ADJ
easat-6259	54	5	sensing	sense	VERB
easat-6259	54	6	technologies	technology	NOUN
easat-6259	54	7	,	,	PUNCT
easat-6259	54	8	which	which	PRON
easat-6259	54	9	permit	permit	VERB
easat-6259	54	10	the	the	DET
easat-6259	54	11	vehicle	vehicle	NOUN
easat-6259	54	12	to	to	PART
easat-6259	54	13	precisely	precisely	ADV
easat-6259	54	14	sense	sense	VERB
easat-6259	54	15	its	its	PRON
easat-6259	54	16	environment	environment	NOUN
easat-6259	54	17	,	,	PUNCT
easat-6259	54	18	is	be	AUX
easat-6259	54	19	crucial	crucial	ADJ
easat-6259	54	20	to	to	ADP
easat-6259	54	21	the	the	DET
easat-6259	54	22	functioning	functioning	NOUN
easat-6259	54	23	of	of	ADP
easat-6259	54	24	adss	adss	PROPN
easat-6259	54	25	.	.	PUNCT
easat-6259	55	1	these	these	DET
easat-6259	55	2	technologies	technology	NOUN
easat-6259	55	3	include	include	VERB
easat-6259	55	4	cameras	camera	NOUN
easat-6259	55	5	,	,	PUNCT
easat-6259	55	6	radar	radar	NOUN
easat-6259	55	7	,	,	PUNCT
easat-6259	55	8	ultrasonic	ultrasonic	ADJ
easat-6259	55	9	sensors	sensor	NOUN
easat-6259	55	10	,	,	PUNCT
easat-6259	55	11	lidar	lidar	NOUN
easat-6259	55	12	,	,	PUNCT
easat-6259	55	13	and	and	CCONJ
easat-6259	55	14	others	other	NOUN
easat-6259	55	15	.	.	PUNCT
easat-6259	56	1	the	the	DET
easat-6259	56	2	potential	potential	NOUN
easat-6259	56	3	of	of	ADP
easat-6259	56	4	the	the	DET
easat-6259	56	5	system	system	NOUN
easat-6259	56	6	to	to	PART
easat-6259	56	7	discover	discover	VERB
easat-6259	56	8	and	and	CCONJ
easat-6259	56	9	examine	examine	VERB
easat-6259	56	10	its	its	PRON
easat-6259	56	11	surroundings	surrounding	NOUN
easat-6259	56	12	is	be	AUX
easat-6259	56	13	enhanced	enhance	VERB
easat-6259	56	14	through	through	ADP
easat-6259	56	15	statistics	statistic	NOUN
easat-6259	56	16	that	that	SCONJ
easat-6259	56	17	each	each	DET
easat-6259	56	18	sensor	sensor	NOUN
easat-6259	56	19	gives	give	VERB
easat-6259	56	20	,	,	PUNCT
easat-6259	56	21	for	for	ADP
easat-6259	56	22	example	example	NOUN
easat-6259	56	23	,	,	PUNCT
easat-6259	56	24	lidar	lidar	NOUN
easat-6259	56	25	makes	make	VERB
easat-6259	56	26	use	use	NOUN
easat-6259	56	27	of	of	ADP
easat-6259	56	28	laser	laser	NOUN
easat-6259	56	29	pulses	pulse	NOUN
easat-6259	56	30	to	to	PART
easat-6259	56	31	supply	supply	VERB
easat-6259	56	32	high	high	ADJ
easat-6259	56	33	-	-	PUNCT
easat-6259	56	34	precision	precision	NOUN
easat-6259	56	35	3	3	NUM
easat-6259	56	36	-	-	PUNCT
easat-6259	56	37	dimensional	dimensional	ADJ
easat-6259	56	38	maps	map	NOUN
easat-6259	56	39	of	of	ADP
easat-6259	56	40	the	the	DET
easat-6259	56	41	region	region	NOUN
easat-6259	56	42	across	across	ADP
easat-6259	56	43	the	the	DET
easat-6259	56	44	automobile	automobile	NOUN
easat-6259	56	45	.	.	PUNCT
easat-6259	57	1	this	this	DET
easat-6259	57	2	feature	feature	NOUN
easat-6259	57	3	is	be	AUX
easat-6259	57	4	crucial	crucial	ADJ
easat-6259	57	5	for	for	ADP
easat-6259	57	6	identifying	identify	VERB
easat-6259	57	7	specific	specific	ADJ
easat-6259	57	8	items	item	NOUN
easat-6259	57	9	and	and	CCONJ
easat-6259	57	10	mapping	map	VERB
easat-6259	57	11	the	the	DET
easat-6259	57	12	surroundings	surrounding	NOUN
easat-6259	57	13	,	,	PUNCT
easat-6259	57	14	which	which	PRON
easat-6259	57	15	permit	permit	VERB
easat-6259	57	16	the	the	DET
easat-6259	57	17	automobile	automobile	NOUN
easat-6259	57	18	to	to	PART
easat-6259	57	19	manoeuvre	manoeuvre	VERB
easat-6259	57	20	throughout	throughout	ADP
easat-6259	57	21	hard	hard	ADJ
easat-6259	57	22	environments	environment	NOUN
easat-6259	57	23	.	.	PUNCT
easat-6259	58	1	by	by	ADP
easat-6259	58	2	measuring	measure	VERB
easat-6259	58	3	the	the	DET
easat-6259	58	4	gap	gap	NOUN
easat-6259	58	5	and	and	CCONJ
easat-6259	58	6	velocity	velocity	NOUN
easat-6259	58	7	of	of	ADP
easat-6259	58	8	nearby	nearby	ADJ
easat-6259	58	9	items	item	NOUN
easat-6259	58	10	,	,	PUNCT
easat-6259	58	11	radar	radar	NOUN
easat-6259	58	12	sensors	sensor	NOUN
easat-6259	58	13	supplement	supplement	VERB
easat-6259	58	14	lidar	lidar	NOUN
easat-6259	58	15	.	.	PUNCT
easat-6259	59	1	this	this	PRON
easat-6259	59	2	is	be	AUX
easat-6259	59	3	specifically	specifically	ADV
easat-6259	59	4	beneficial	beneficial	ADJ
easat-6259	59	5	in	in	ADP
easat-6259	59	6	exclusive	exclusive	ADJ
easat-6259	59	7	climate	climate	NOUN
easat-6259	59	8	scenarios	scenario	NOUN
easat-6259	59	9	in	in	ADP
easat-6259	59	10	which	which	PRON
easat-6259	59	11	optical	optical	ADJ
easat-6259	59	12	sensors	sensor	NOUN
easat-6259	59	13	may	may	AUX
easat-6259	59	14	not	not	PART
easat-6259	59	15	function	function	VERB
easat-6259	59	16	appropriately	appropriately	ADV
easat-6259	59	17	.	.	PUNCT
easat-6259	60	1	ultrasonic	ultrasonic	ADJ
easat-6259	60	2	sensors	sensor	NOUN
easat-6259	60	3	assist	assist	VERB
easat-6259	60	4	in	in	ADP
easat-6259	60	5	parking	parking	NOUN
easat-6259	60	6	and	and	CCONJ
easat-6259	60	7	obstacle	obstacle	NOUN
easat-6259	60	8	avoidance	avoidance	NOUN
easat-6259	60	9	because	because	SCONJ
easat-6259	60	10	they	they	PRON
easat-6259	60	11	are	be	AUX
easat-6259	60	12	utilized	utilize	VERB
easat-6259	60	13	for	for	ADP
easat-6259	60	14	short	short	ADJ
easat-6259	60	15	-	-	PUNCT
easat-6259	60	16	range	range	NOUN
easat-6259	60	17	sensing	sensing	NOUN
easat-6259	60	18	.	.	PUNCT
easat-6259	61	1	in	in	ADP
easat-6259	61	2	order	order	NOUN
easat-6259	61	3	to	to	PART
easat-6259	61	4	detect	detect	VERB
easat-6259	61	5	lane	lane	NOUN
easat-6259	61	6	lines	line	NOUN
easat-6259	61	7	,	,	PUNCT
easat-6259	61	8	road	road	NOUN
easat-6259	61	9	signs	sign	NOUN
easat-6259	61	10	and	and	CCONJ
easat-6259	61	11	vehicle	vehicle	NOUN
easat-6259	61	12	cameras	camera	NOUN
easat-6259	61	13	provide	provide	VERB
easat-6259	61	14	a	a	DET
easat-6259	61	15	thorough	thorough	ADJ
easat-6259	61	16	picture	picture	NOUN
easat-6259	61	17	of	of	ADP
easat-6259	61	18	the	the	DET
easat-6259	61	19	environment	environment	NOUN
easat-6259	61	20	,	,	PUNCT
easat-6259	61	21	also	also	ADV
easat-6259	61	22	data	data	VERB
easat-6259	61	23	from	from	ADP
easat-6259	61	24	many	many	ADJ
easat-6259	61	25	sources	source	NOUN
easat-6259	61	26	are	be	AUX
easat-6259	61	27	combined	combine	VERB
easat-6259	61	28	using	use	VERB
easat-6259	61	29	sensor	sensor	NOUN
easat-6259	61	30	fusion	fusion	NOUN
easat-6259	61	31	algorithms	algorithm	NOUN
easat-6259	61	32	.	.	PUNCT
easat-6259	62	1	this	this	DET
easat-6259	62	2	integrated	integrate	VERB
easat-6259	62	3	approach	approach	NOUN
easat-6259	62	4	provides	provide	VERB
easat-6259	62	5	accurate	accurate	ADJ
easat-6259	62	6	and	and	CCONJ
easat-6259	62	7	reliable	reliable	ADJ
easat-6259	62	8	system	system	NOUN
easat-6259	62	9	’s	’s	PART
easat-6259	62	10	perception	perception	NOUN
easat-6259	62	11	.	.	PUNCT
easat-6259	63	1	computer	computer	NOUN
easat-6259	63	2	vision	vision	NOUN
easat-6259	63	3	and	and	CCONJ
easat-6259	63	4	machine	machine	NOUN
easat-6259	63	5	learning	learning	NOUN
easat-6259	63	6	(	(	PUNCT
easat-6259	63	7	ml	ml	NOUN
easat-6259	63	8	)	)	PUNCT
easat-6259	63	9	,	,	PUNCT
easat-6259	63	10	especially	especially	ADV
easat-6259	63	11	deep	deep	ADJ
easat-6259	63	12	learning	learning	NOUN
easat-6259	63	13	(	(	PUNCT
easat-6259	63	14	dl	dl	PROPN
easat-6259	63	15	)	)	PUNCT
easat-6259	63	16	,	,	PUNCT
easat-6259	63	17	have	have	AUX
easat-6259	63	18	become	become	VERB
easat-6259	63	19	increasingly	increasingly	ADV
easat-6259	63	20	important	important	ADJ
easat-6259	63	21	in	in	ADP
easat-6259	63	22	interpreting	interpret	VERB
easat-6259	63	23	the	the	DET
easat-6259	63	24	amounts	amount	NOUN
easat-6259	63	25	of	of	ADP
easat-6259	63	26	data	datum	NOUN
easat-6259	63	27	generated	generate	VERB
easat-6259	63	28	by	by	ADP
easat-6259	63	29	these	these	DET
easat-6259	63	30	sensors	sensor	NOUN
easat-6259	63	31	.	.	PUNCT
easat-6259	64	1	convolutional	convolutional	ADJ
easat-6259	64	2	neural	neural	ADJ
easat-6259	64	3	networks	network	NOUN
easat-6259	64	4	(	(	PUNCT
easat-6259	64	5	cnns	cnns	PROPN
easat-6259	64	6	)	)	PUNCT
easat-6259	64	7	are	be	AUX
easat-6259	64	8	widely	widely	ADV
easat-6259	64	9	used	use	VERB
easat-6259	64	10	for	for	ADP
easat-6259	64	11	their	their	PRON
easat-6259	64	12	visual	visual	ADJ
easat-6259	64	13	control	control	NOUN
easat-6259	64	14	capabilities	capability	NOUN
easat-6259	64	15	to	to	PART
easat-6259	64	16	process	process	VERB
easat-6259	64	17	information	information	NOUN
easat-6259	64	18	and	and	CCONJ
easat-6259	64	19	identify	identify	VERB
easat-6259	64	20	complex	complex	ADJ
easat-6259	64	21	patterns	pattern	NOUN
easat-6259	64	22	.	.	PUNCT
easat-6259	65	1	these	these	DET
easat-6259	65	2	networks	network	NOUN
easat-6259	65	3	are	be	AUX
easat-6259	65	4	trained	train	VERB
easat-6259	65	5	on	on	ADP
easat-6259	65	6	big	big	ADJ
easat-6259	65	7	data	datum	NOUN
easat-6259	65	8	to	to	PART
easat-6259	65	9	identify	identify	VERB
easat-6259	65	10	features	feature	NOUN
easat-6259	65	11	such	such	ADJ
easat-6259	65	12	as	as	ADP
easat-6259	65	13	road	road	NOUN
easat-6259	65	14	markings	marking	NOUN
easat-6259	65	15	,	,	PUNCT
easat-6259	65	16	curbs	curb	NOUN
easat-6259	65	17	and	and	CCONJ
easat-6259	65	18	obstacles	obstacle	NOUN
easat-6259	65	19	,	,	PUNCT
easat-6259	65	20	and	and	CCONJ
easat-6259	65	21	contribute	contribute	VERB
easat-6259	65	22	significantly	significantly	ADV
easat-6259	65	23	to	to	ADP
easat-6259	65	24	traffic	traffic	NOUN
easat-6259	65	25	situation	situation	NOUN
easat-6259	65	26	awareness	awareness	NOUN
easat-6259	65	27	.	.	PUNCT
easat-6259	66	1	once	once	SCONJ
easat-6259	66	2	the	the	DET
easat-6259	66	3	environment	environment	NOUN
easat-6259	66	4	is	be	AUX
easat-6259	66	5	sensed	sense	VERB
easat-6259	66	6	,	,	PUNCT
easat-6259	66	7	the	the	DET
easat-6259	66	8	ads	ad	NOUN
easat-6259	66	9	uses	use	VERB
easat-6259	66	10	sophisticated	sophisticated	ADJ
easat-6259	66	11	planning	planning	NOUN
easat-6259	66	12	algorithms	algorithm	NOUN
easat-6259	66	13	to	to	PART
easat-6259	66	14	predict	predict	VERB
easat-6259	66	15	the	the	DET
easat-6259	66	16	behaviour	behaviour	NOUN
easat-6259	66	17	of	of	ADP
easat-6259	66	18	the	the	DET
easat-6259	66	19	vehicle	vehicle	NOUN
easat-6259	66	20	.	.	PUNCT
easat-6259	67	1	this	this	DET
easat-6259	67	2	application	application	NOUN
easat-6259	67	3	involves	involve	VERB
easat-6259	67	4	path	path	NOUN
easat-6259	67	5	planning	planning	NOUN
easat-6259	67	6	,	,	PUNCT
easat-6259	67	7	which	which	PRON
easat-6259	67	8	includes	include	VERB
easat-6259	67	9	calculating	calculate	VERB
easat-6259	67	10	the	the	DET
easat-6259	67	11	optimal	optimal	ADJ
easat-6259	67	12	path	path	NOUN
easat-6259	67	13	,	,	PUNCT
easat-6259	67	14	and	and	CCONJ
easat-6259	67	15	speed	speed	NOUN
easat-6259	67	16	planning	planning	NOUN
easat-6259	67	17	,	,	PUNCT
easat-6259	67	18	which	which	PRON
easat-6259	67	19	predicts	predict	VERB
easat-6259	67	20	the	the	DET
easat-6259	67	21	vehicle	vehicle	NOUN
easat-6259	67	22	speed	speed	NOUN
easat-6259	67	23	and	and	CCONJ
easat-6259	67	24	1302	1302	NUM
easat-6259	67	25	edelweiss	edelweiss	PROPN
easat-6259	67	26	applied	apply	VERB
easat-6259	67	27	science	science	NOUN
easat-6259	67	28	and	and	CCONJ
easat-6259	67	29	technology	technology	NOUN
easat-6259	67	30	issn	issn	PROPN
easat-6259	67	31	:	:	PUNCT
easat-6259	67	32	2576	2576	NUM
easat-6259	67	33	-	-	SYM
easat-6259	67	34	8484	8484	NUM
easat-6259	67	35	vol	vol	NOUN
easat-6259	67	36	.	.	PROPN
easat-6259	68	1	9	9	NUM
easat-6259	68	2	,	,	PUNCT
easat-6259	68	3	no	no	INTJ
easat-6259	68	4	.	.	NOUN
easat-6259	69	1	4	4	NUM
easat-6259	69	2	:	:	SYM
easat-6259	69	3	1300	1300	NUM
easat-6259	69	4	-	-	SYM
easat-6259	69	5	1331	1331	NUM
easat-6259	69	6	,	,	PUNCT
easat-6259	69	7	2025	2025	NUM
easat-6259	69	8	doi	doi	NOUN
easat-6259	69	9	:	:	PUNCT
easat-6259	69	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	69	11	©	©	PROPN
easat-6259	69	12	2025	2025	NUM
easat-6259	69	13	by	by	ADP
easat-6259	69	14	the	the	DET
easat-6259	69	15	authors	author	NOUN
easat-6259	69	16	;	;	PUNCT
easat-6259	69	17	licensee	licensee	PROPN
easat-6259	69	18	learning	learn	VERB
easat-6259	69	19	gate	gate	NOUN
easat-6259	69	20	direction	direction	NOUN
easat-6259	69	21	.	.	PUNCT
easat-6259	70	1	this	this	DET
easat-6259	70	2	model	model	NOUN
easat-6259	70	3	should	should	AUX
easat-6259	70	4	account	account	VERB
easat-6259	70	5	for	for	ADP
easat-6259	70	6	dynamic	dynamic	ADJ
easat-6259	70	7	objects	object	NOUN
easat-6259	70	8	such	such	ADJ
easat-6259	70	9	as	as	ADP
easat-6259	70	10	moving	move	VERB
easat-6259	70	11	vehicles	vehicle	NOUN
easat-6259	70	12	,	,	PUNCT
easat-6259	70	13	pedestrians	pedestrian	NOUN
easat-6259	70	14	and	and	CCONJ
easat-6259	70	15	unexpected	unexpected	ADJ
easat-6259	70	16	obstacles	obstacle	NOUN
easat-6259	70	17	to	to	PART
easat-6259	70	18	ensure	ensure	VERB
easat-6259	70	19	safe	safe	ADJ
easat-6259	70	20	and	and	CCONJ
easat-6259	70	21	efficient	efficient	ADJ
easat-6259	70	22	travel	travel	NOUN
easat-6259	70	23	.	.	PUNCT
easat-6259	71	1	an	an	DET
easat-6259	71	2	important	important	ADJ
easat-6259	71	3	feature	feature	NOUN
easat-6259	71	4	of	of	ADP
easat-6259	71	5	adss	adss	PROPN
easat-6259	71	6	is	be	AUX
easat-6259	71	7	edge	edge	NOUN
easat-6259	71	8	detection	detection	NOUN
easat-6259	71	9	,	,	PUNCT
easat-6259	71	10	especially	especially	ADV
easat-6259	71	11	when	when	SCONJ
easat-6259	71	12	it	it	PRON
easat-6259	71	13	comes	come	VERB
easat-6259	71	14	to	to	ADP
easat-6259	71	15	lane	lane	NOUN
easat-6259	71	16	detection	detection	NOUN
easat-6259	71	17	,	,	PUNCT
easat-6259	71	18	obstacle	obstacle	NOUN
easat-6259	71	19	detection	detection	NOUN
easat-6259	71	20	,	,	PUNCT
easat-6259	71	21	and	and	CCONJ
easat-6259	71	22	scene	scene	NOUN
easat-6259	71	23	detection	detection	NOUN
easat-6259	71	24	.	.	PUNCT
easat-6259	72	1	traditional	traditional	ADJ
easat-6259	72	2	edge	edge	NOUN
easat-6259	72	3	detection	detection	NOUN
easat-6259	72	4	techniques	technique	NOUN
easat-6259	72	5	such	such	ADJ
easat-6259	72	6	as	as	ADP
easat-6259	72	7	sobel	sobel	NOUN
easat-6259	72	8	,	,	PUNCT
easat-6259	72	9	canny	canny	ADJ
easat-6259	72	10	,	,	PUNCT
easat-6259	72	11	and	and	CCONJ
easat-6259	72	12	laplacian	laplacian	ADJ
easat-6259	72	13	filters	filter	NOUN
easat-6259	72	14	have	have	AUX
easat-6259	72	15	been	be	AUX
easat-6259	72	16	widely	widely	ADV
easat-6259	72	17	used	use	VERB
easat-6259	72	18	for	for	ADP
easat-6259	72	19	ease	ease	NOUN
easat-6259	72	20	of	of	ADP
easat-6259	72	21	use	use	NOUN
easat-6259	72	22	.	.	PUNCT
easat-6259	73	1	computational	computational	ADJ
easat-6259	73	2	efforts	effort	NOUN
easat-6259	73	3	fail	fail	VERB
easat-6259	73	4	in	in	ADP
easat-6259	73	5	unpredictable	unpredictable	ADJ
easat-6259	73	6	and	and	CCONJ
easat-6259	73	7	complex	complex	ADJ
easat-6259	73	8	driving	driving	NOUN
easat-6259	73	9	situations	situation	NOUN
easat-6259	73	10	,	,	PUNCT
easat-6259	73	11	such	such	ADJ
easat-6259	73	12	as	as	ADP
easat-6259	73	13	changing	change	VERB
easat-6259	73	14	lighting	lighting	NOUN
easat-6259	73	15	,	,	PUNCT
easat-6259	73	16	bad	bad	ADJ
easat-6259	73	17	weather	weather	NOUN
easat-6259	73	18	and	and	CCONJ
easat-6259	73	19	difficult	difficult	ADJ
easat-6259	73	20	roads	road	NOUN
easat-6259	73	21	.	.	PUNCT
easat-6259	74	1	because	because	SCONJ
easat-6259	74	2	cnns	cnn	NOUN
easat-6259	74	3	can	can	AUX
easat-6259	74	4	learn	learn	VERB
easat-6259	74	5	hierarchical	hierarchical	ADJ
easat-6259	74	6	features	feature	NOUN
easat-6259	74	7	and	and	CCONJ
easat-6259	74	8	patterns	pattern	NOUN
easat-6259	74	9	from	from	ADP
easat-6259	74	10	large	large	ADJ
easat-6259	74	11	datasets	dataset	NOUN
easat-6259	74	12	,	,	PUNCT
easat-6259	74	13	they	they	PRON
easat-6259	74	14	offer	offer	VERB
easat-6259	74	15	great	great	ADJ
easat-6259	74	16	improvements	improvement	NOUN
easat-6259	74	17	in	in	ADP
easat-6259	74	18	many	many	ADJ
easat-6259	74	19	ways	way	NOUN
easat-6259	74	20	.	.	PUNCT
easat-6259	75	1	cnns	cnns	PROPN
easat-6259	75	2	are	be	AUX
easat-6259	75	3	well	well	ADV
easat-6259	75	4	-	-	PUNCT
easat-6259	75	5	suited	suit	VERB
easat-6259	75	6	for	for	ADP
easat-6259	75	7	complex	complex	ADJ
easat-6259	75	8	edge	edge	NOUN
easat-6259	75	9	detection	detection	NOUN
easat-6259	75	10	tasks	task	NOUN
easat-6259	75	11	because	because	SCONJ
easat-6259	75	12	they	they	PRON
easat-6259	75	13	can	can	AUX
easat-6259	75	14	learn	learn	VERB
easat-6259	75	15	and	and	CCONJ
easat-6259	75	16	extract	extract	VERB
easat-6259	75	17	features	feature	NOUN
easat-6259	75	18	from	from	ADP
easat-6259	75	19	unprocessed	unprocessed	ADJ
easat-6259	75	20	image	image	NOUN
easat-6259	75	21	.	.	PUNCT
easat-6259	76	1	the	the	DET
easat-6259	76	2	recall	recall	PROPN
easat-6259	76	3	metric	metric	PROPN
easat-6259	76	4	assesses	assess	VERB
easat-6259	76	5	the	the	DET
easat-6259	76	6	ability	ability	NOUN
easat-6259	76	7	of	of	ADP
easat-6259	76	8	the	the	DET
easat-6259	76	9	model	model	NOUN
easat-6259	76	10	to	to	PART
easat-6259	76	11	detect	detect	VERB
easat-6259	76	12	any	any	DET
easat-6259	76	13	significant	significant	ADJ
easat-6259	76	14	edges	edge	NOUN
easat-6259	76	15	,	,	PUNCT
easat-6259	76	16	while	while	SCONJ
easat-6259	76	17	the	the	DET
easat-6259	76	18	precision	precision	NOUN
easat-6259	76	19	metric	metric	ADJ
easat-6259	76	20	assesses	assess	VERB
easat-6259	76	21	the	the	DET
easat-6259	76	22	accuracy	accuracy	NOUN
easat-6259	76	23	of	of	ADP
easat-6259	76	24	those	those	DET
easat-6259	76	25	reported	report	VERB
easat-6259	76	26	edges	edge	NOUN
easat-6259	76	27	.	.	PUNCT
easat-6259	77	1	processing	processing	NOUN
easat-6259	77	2	speed	speed	NOUN
easat-6259	77	3	is	be	AUX
easat-6259	77	4	important	important	ADJ
easat-6259	77	5	for	for	ADP
easat-6259	77	6	real	real	ADJ
easat-6259	77	7	-	-	PUNCT
easat-6259	77	8	time	time	NOUN
easat-6259	77	9	applications	application	NOUN
easat-6259	77	10	because	because	SCONJ
easat-6259	77	11	adss	adss	PROPN
easat-6259	77	12	need	need	VERB
easat-6259	77	13	to	to	PART
easat-6259	77	14	detect	detect	VERB
easat-6259	77	15	edges	edge	NOUN
easat-6259	77	16	quickly	quickly	ADV
easat-6259	77	17	and	and	CCONJ
easat-6259	77	18	efficiently	efficiently	ADV
easat-6259	77	19	while	while	SCONJ
easat-6259	77	20	making	make	VERB
easat-6259	77	21	effective	effective	ADJ
easat-6259	77	22	decisions	decision	NOUN
easat-6259	77	23	compared	compare	VERB
easat-6259	77	24	to	to	ADP
easat-6259	77	25	traditional	traditional	ADJ
easat-6259	77	26	edge	edge	NOUN
easat-6259	77	27	detection	detection	NOUN
easat-6259	77	28	methods	method	NOUN
easat-6259	77	29	.	.	PUNCT
easat-6259	78	1	1.1	1.1	NUM
easat-6259	78	2	.	.	PUNCT
easat-6259	78	3	anticipated	anticipate	VERB
easat-6259	78	4	problems	problem	NOUN
easat-6259	78	5	self	self	NOUN
easat-6259	78	6	-	-	PUNCT
easat-6259	78	7	driving	driving	NOUN
easat-6259	78	8	aims	aim	NOUN
easat-6259	78	9	to	to	PART
easat-6259	78	10	provide	provide	VERB
easat-6259	78	11	more	more	ADJ
easat-6259	78	12	comfort	comfort	NOUN
easat-6259	78	13	and	and	CCONJ
easat-6259	78	14	convenient	convenient	ADJ
easat-6259	78	15	driving	driving	NOUN
easat-6259	78	16	experience	experience	NOUN
easat-6259	78	17	.	.	PUNCT
easat-6259	79	1	specifically	specifically	ADV
easat-6259	79	2	,	,	PUNCT
easat-6259	79	3	it	it	PRON
easat-6259	79	4	attempts	attempt	VERB
easat-6259	79	5	to	to	PART
easat-6259	79	6	reduce	reduce	VERB
easat-6259	79	7	traffic	traffic	NOUN
easat-6259	79	8	accidents	accident	NOUN
easat-6259	79	9	caused	cause	VERB
easat-6259	79	10	by	by	ADP
easat-6259	79	11	human	human	ADJ
easat-6259	79	12	negligence	negligence	NOUN
easat-6259	79	13	of	of	ADP
easat-6259	79	14	elements	element	NOUN
easat-6259	79	15	like	like	ADP
easat-6259	79	16	lane	lane	NOUN
easat-6259	79	17	changing	change	VERB
easat-6259	79	18	,	,	PUNCT
easat-6259	79	19	road	road	NOUN
easat-6259	79	20	dashing	dashing	ADJ
easat-6259	79	21	,	,	PUNCT
easat-6259	79	22	and	and	CCONJ
easat-6259	79	23	lack	lack	NOUN
easat-6259	79	24	of	of	ADP
easat-6259	79	25	recognition	recognition	NOUN
easat-6259	79	26	,	,	PUNCT
easat-6259	79	27	all	all	PRON
easat-6259	79	28	of	of	ADP
easat-6259	79	29	which	which	PRON
easat-6259	79	30	might	might	AUX
easat-6259	79	31	be	be	AUX
easat-6259	79	32	of	of	ADP
easat-6259	79	33	substantial	substantial	ADJ
easat-6259	79	34	concerns	concern	NOUN
easat-6259	79	35	.	.	PUNCT
easat-6259	80	1	research	research	NOUN
easat-6259	80	2	and	and	CCONJ
easat-6259	80	3	development	development	NOUN
easat-6259	80	4	of	of	ADP
easat-6259	80	5	ads	ad	NOUN
easat-6259	80	6	works	work	VERB
easat-6259	80	7	on	on	ADP
easat-6259	80	8	the	the	DET
easat-6259	80	9	enhancement	enhancement	NOUN
easat-6259	80	10	of	of	ADP
easat-6259	80	11	traffic	traffic	NOUN
easat-6259	80	12	flow	flow	NOUN
easat-6259	80	13	,	,	PUNCT
easat-6259	80	14	safety	safety	NOUN
easat-6259	80	15	within	within	ADP
easat-6259	80	16	roads	road	NOUN
easat-6259	80	17	,	,	PUNCT
easat-6259	80	18	and	and	CCONJ
easat-6259	80	19	reliable	reliable	ADJ
easat-6259	80	20	transportation	transportation	NOUN
easat-6259	80	21	options	option	NOUN
easat-6259	80	22	.	.	PUNCT
easat-6259	81	1	this	this	PRON
easat-6259	81	2	is	be	AUX
easat-6259	81	3	vital	vital	ADJ
easat-6259	81	4	since	since	SCONJ
easat-6259	81	5	accidents	accident	NOUN
easat-6259	81	6	,	,	PUNCT
easat-6259	81	7	mainly	mainly	ADV
easat-6259	81	8	due	due	ADP
easat-6259	81	9	to	to	ADP
easat-6259	81	10	human	human	ADJ
easat-6259	81	11	mistakes	mistake	NOUN
easat-6259	81	12	,	,	PUNCT
easat-6259	81	13	serve	serve	VERB
easat-6259	81	14	as	as	ADP
easat-6259	81	15	one	one	NUM
easat-6259	81	16	of	of	ADP
easat-6259	81	17	the	the	DET
easat-6259	81	18	main	main	ADJ
easat-6259	81	19	causes	cause	NOUN
easat-6259	81	20	of	of	ADP
easat-6259	81	21	injury	injury	NOUN
easat-6259	81	22	and	and	CCONJ
easat-6259	81	23	loss	loss	NOUN
easat-6259	81	24	of	of	ADP
easat-6259	81	25	lives	life	NOUN
easat-6259	81	26	across	across	ADP
easat-6259	81	27	the	the	DET
easat-6259	81	28	globe	globe	NOUN
easat-6259	81	29	.	.	PUNCT
easat-6259	82	1	adss	adss	PROPN
easat-6259	82	2	drastically	drastically	ADV
easat-6259	82	3	contribute	contribute	VERB
easat-6259	82	4	to	to	ADP
easat-6259	82	5	fewer	few	ADJ
easat-6259	82	6	injuries	injury	NOUN
easat-6259	82	7	by	by	ADP
easat-6259	82	8	reducing	reduce	VERB
easat-6259	82	9	human	human	ADJ
easat-6259	82	10	errors	error	NOUN
easat-6259	82	11	via	via	ADP
easat-6259	82	12	sensors	sensor	NOUN
easat-6259	82	13	usage	usage	NOUN
easat-6259	82	14	,	,	PUNCT
easat-6259	82	15	artificial	artificial	ADJ
easat-6259	82	16	intelligence	intelligence	NOUN
easat-6259	82	17	(	(	PUNCT
easat-6259	82	18	ai	ai	NOUN
easat-6259	82	19	)	)	PUNCT
easat-6259	82	20	,	,	PUNCT
easat-6259	82	21	and	and	CCONJ
easat-6259	82	22	ml	ml	ADP
easat-6259	82	23	algorithms	algorithm	NOUN
easat-6259	82	24	.	.	PUNCT
easat-6259	83	1	these	these	DET
easat-6259	83	2	systems	system	NOUN
easat-6259	83	3	make	make	VERB
easat-6259	83	4	real	real	ADJ
easat-6259	83	5	-	-	PUNCT
easat-6259	83	6	time	time	NOUN
easat-6259	83	7	selections	selection	NOUN
easat-6259	83	8	to	to	PART
easat-6259	83	9	enhance	enhance	VERB
easat-6259	83	10	driving	drive	VERB
easat-6259	83	11	protection	protection	NOUN
easat-6259	83	12	and	and	CCONJ
easat-6259	83	13	performance	performance	NOUN
easat-6259	83	14	.	.	PUNCT
easat-6259	84	1	essential	essential	ADJ
easat-6259	84	2	technology	technology	NOUN
easat-6259	84	3	inside	inside	ADP
easat-6259	84	4	adss	adss	PROPN
easat-6259	84	5	is	be	AUX
easat-6259	84	6	cnn	cnn	PROPN
easat-6259	84	7	,	,	PUNCT
easat-6259	84	8	which	which	PRON
easat-6259	84	9	processes	process	VERB
easat-6259	84	10	large	large	ADJ
easat-6259	84	11	amounts	amount	NOUN
easat-6259	84	12	of	of	ADP
easat-6259	84	13	visual	visual	ADJ
easat-6259	84	14	statistics	statistic	NOUN
easat-6259	84	15	from	from	ADP
easat-6259	84	16	cameras	camera	NOUN
easat-6259	84	17	and	and	CCONJ
easat-6259	84	18	sensors	sensor	NOUN
easat-6259	84	19	that	that	PRON
easat-6259	84	20	are	be	AUX
easat-6259	84	21	embedded	embed	VERB
easat-6259	84	22	on	on	ADP
easat-6259	84	23	self	self	NOUN
easat-6259	84	24	-	-	PUNCT
easat-6259	84	25	riding	ride	VERB
easat-6259	84	26	vehicles	vehicle	NOUN
easat-6259	84	27	.	.	PUNCT
easat-6259	85	1	cnns	cnns	PROPN
easat-6259	85	2	could	could	AUX
easat-6259	85	3	detect	detect	VERB
easat-6259	85	4	patterns	pattern	NOUN
easat-6259	85	5	,	,	PUNCT
easat-6259	85	6	such	such	ADJ
easat-6259	85	7	as	as	ADP
easat-6259	85	8	lane	lane	NOUN
easat-6259	85	9	markings	marking	NOUN
easat-6259	85	10	,	,	PUNCT
easat-6259	85	11	street	street	NOUN
easat-6259	85	12	signs	sign	NOUN
easat-6259	85	13	and	and	CCONJ
easat-6259	85	14	boundaries	boundary	NOUN
easat-6259	85	15	.	.	PUNCT
easat-6259	86	1	they	they	PRON
easat-6259	86	2	are	be	AUX
easat-6259	86	3	used	use	VERB
easat-6259	86	4	in	in	ADP
easat-6259	86	5	detecting	detect	VERB
easat-6259	86	6	lanes	lane	NOUN
easat-6259	86	7	successfully	successfully	ADV
easat-6259	86	8	for	for	SCONJ
easat-6259	86	9	the	the	DET
easat-6259	86	10	vehicle	vehicle	NOUN
easat-6259	86	11	to	to	PART
easat-6259	86	12	observe	observe	VERB
easat-6259	86	13	its	its	PRON
easat-6259	86	14	correct	correct	ADJ
easat-6259	86	15	lane	lane	NOUN
easat-6259	86	16	.	.	PUNCT
easat-6259	87	1	this	this	DET
easat-6259	87	2	functionality	functionality	NOUN
easat-6259	87	3	is	be	AUX
easat-6259	87	4	crucial	crucial	ADJ
easat-6259	87	5	for	for	SCONJ
easat-6259	87	6	self	self	NOUN
easat-6259	87	7	-	-	PUNCT
easat-6259	87	8	driving	drive	VERB
easat-6259	87	9	cars	car	NOUN
easat-6259	87	10	to	to	PART
easat-6259	87	11	function	function	VERB
easat-6259	87	12	in	in	ADP
easat-6259	87	13	various	various	ADJ
easat-6259	87	14	and	and	CCONJ
easat-6259	87	15	uncertain	uncertain	ADJ
easat-6259	87	16	environments	environment	NOUN
easat-6259	87	17	.	.	PUNCT
easat-6259	88	1	on	on	ADP
easat-6259	88	2	the	the	DET
easat-6259	88	3	other	other	ADJ
easat-6259	88	4	hand	hand	NOUN
easat-6259	88	5	,	,	PUNCT
easat-6259	88	6	the	the	DET
easat-6259	88	7	potential	potential	NOUN
easat-6259	88	8	of	of	ADP
easat-6259	88	9	avs	avs	PROPN
easat-6259	88	10	in	in	ADP
easat-6259	88	11	logistics	logistic	NOUN
easat-6259	88	12	are	be	AUX
easat-6259	88	13	expected	expect	VERB
easat-6259	88	14	to	to	PART
easat-6259	88	15	promote	promote	VERB
easat-6259	88	16	supply	supply	NOUN
easat-6259	88	17	chains	chain	NOUN
easat-6259	88	18	,	,	PUNCT
easat-6259	88	19	delivery	delivery	NOUN
easat-6259	88	20	times	time	NOUN
easat-6259	88	21	,	,	PUNCT
easat-6259	88	22	and	and	CCONJ
easat-6259	88	23	decrease	decrease	VERB
easat-6259	88	24	the	the	DET
easat-6259	88	25	overall	overall	ADJ
easat-6259	88	26	operational	operational	ADJ
easat-6259	88	27	costs	cost	NOUN
easat-6259	88	28	for	for	ADP
easat-6259	88	29	more	more	ADV
easat-6259	88	30	efficient	efficient	ADJ
easat-6259	88	31	and	and	CCONJ
easat-6259	88	32	sustainable	sustainable	ADJ
easat-6259	88	33	business	business	NOUN
easat-6259	88	34	practices	practice	NOUN
easat-6259	88	35	.	.	PUNCT
easat-6259	89	1	however	however	ADV
easat-6259	89	2	,	,	PUNCT
easat-6259	89	3	the	the	DET
easat-6259	89	4	development	development	NOUN
easat-6259	89	5	of	of	ADP
easat-6259	89	6	ads	ad	NOUN
easat-6259	89	7	is	be	AUX
easat-6259	89	8	complex	complex	ADJ
easat-6259	89	9	,	,	PUNCT
easat-6259	89	10	and	and	CCONJ
easat-6259	89	11	the	the	DET
easat-6259	89	12	uncertainty	uncertainty	NOUN
easat-6259	89	13	of	of	ADP
easat-6259	89	14	the	the	DET
easat-6259	89	15	real	real	ADJ
easat-6259	89	16	-	-	PUNCT
easat-6259	89	17	world	world	NOUN
easat-6259	89	18	environment	environment	NOUN
easat-6259	89	19	brings	bring	VERB
easat-6259	89	20	many	many	ADJ
easat-6259	89	21	challenges	challenge	NOUN
easat-6259	89	22	related	relate	VERB
easat-6259	89	23	to	to	ADP
easat-6259	89	24	reliability	reliability	NOUN
easat-6259	89	25	,	,	PUNCT
easat-6259	89	26	safety	safety	NOUN
easat-6259	89	27	,	,	PUNCT
easat-6259	89	28	ethical	ethical	ADJ
easat-6259	89	29	issues	issue	NOUN
easat-6259	89	30	,	,	PUNCT
easat-6259	89	31	legal	legal	ADJ
easat-6259	89	32	issues	issue	NOUN
easat-6259	89	33	,	,	PUNCT
easat-6259	89	34	and	and	CCONJ
easat-6259	89	35	public	public	ADJ
easat-6259	89	36	trust	trust	NOUN
easat-6259	89	37	.	.	PUNCT
easat-6259	90	1	ml	ml	NOUN
easat-6259	91	1	and	and	CCONJ
easat-6259	91	2	cnn	cnn	PROPN
easat-6259	91	3	play	play	VERB
easat-6259	91	4	a	a	DET
easat-6259	91	5	core	core	ADJ
easat-6259	91	6	role	role	NOUN
easat-6259	91	7	in	in	ADP
easat-6259	91	8	promoting	promote	VERB
easat-6259	91	9	the	the	DET
easat-6259	91	10	adoption	adoption	NOUN
easat-6259	91	11	of	of	ADP
easat-6259	91	12	ads	ad	NOUN
easat-6259	91	13	by	by	ADP
easat-6259	91	14	enhancing	enhance	VERB
easat-6259	91	15	the	the	DET
easat-6259	91	16	accuracy	accuracy	NOUN
easat-6259	91	17	,	,	PUNCT
easat-6259	91	18	reliability	reliability	NOUN
easat-6259	91	19	,	,	PUNCT
easat-6259	91	20	and	and	CCONJ
easat-6259	91	21	safety	safety	NOUN
easat-6259	91	22	of	of	ADP
easat-6259	91	23	ads	ad	NOUN
easat-6259	91	24	.	.	PUNCT
easat-6259	92	1	the	the	DET
easat-6259	92	2	essential	essential	ADJ
easat-6259	92	3	purpose	purpose	NOUN
easat-6259	92	4	of	of	ADP
easat-6259	92	5	our	our	PRON
easat-6259	92	6	research	research	NOUN
easat-6259	92	7	is	be	AUX
easat-6259	92	8	to	to	PART
easat-6259	92	9	improve	improve	VERB
easat-6259	92	10	ads	ad	NOUN
easat-6259	92	11	where	where	SCONJ
easat-6259	92	12	cnn	cnn	PROPN
easat-6259	92	13	and	and	CCONJ
easat-6259	92	14	ml	ml	NOUN
easat-6259	92	15	are	be	AUX
easat-6259	92	16	used	use	VERB
easat-6259	92	17	to	to	PART
easat-6259	92	18	design	design	VERB
easat-6259	92	19	accurate	accurate	ADJ
easat-6259	92	20	lane	lane	NOUN
easat-6259	92	21	recognition	recognition	NOUN
easat-6259	92	22	system	system	NOUN
easat-6259	92	23	.	.	PUNCT
easat-6259	93	1	our	our	PRON
easat-6259	93	2	target	target	NOUN
easat-6259	93	3	is	be	AUX
easat-6259	93	4	improving	improve	VERB
easat-6259	93	5	road	road	NOUN
easat-6259	93	6	safety	safety	NOUN
easat-6259	93	7	and	and	CCONJ
easat-6259	93	8	minimizing	minimize	VERB
easat-6259	93	9	mistakes	mistake	NOUN
easat-6259	93	10	of	of	ADP
easat-6259	93	11	drivers	driver	NOUN
easat-6259	93	12	that	that	PRON
easat-6259	93	13	may	may	AUX
easat-6259	93	14	cause	cause	VERB
easat-6259	93	15	deviations	deviation	NOUN
easat-6259	93	16	of	of	ADP
easat-6259	93	17	a	a	DET
easat-6259	93	18	vehicle	vehicle	NOUN
easat-6259	93	19	from	from	ADP
easat-6259	93	20	lane	lane	NOUN
easat-6259	93	21	and	and	CCONJ
easat-6259	93	22	hence	hence	ADV
easat-6259	93	23	reducing	reduce	VERB
easat-6259	93	24	traffic	traffic	NOUN
easat-6259	93	25	accidents	accident	NOUN
easat-6259	93	26	.	.	PUNCT
easat-6259	94	1	this	this	DET
easat-6259	94	2	work	work	NOUN
easat-6259	94	3	’s	’s	PART
easat-6259	94	4	goal	goal	NOUN
easat-6259	94	5	is	be	AUX
easat-6259	94	6	to	to	PART
easat-6259	94	7	utilize	utilize	VERB
easat-6259	94	8	cnn	cnn	PROPN
easat-6259	94	9	to	to	PART
easat-6259	94	10	solve	solve	VERB
easat-6259	94	11	the	the	DET
easat-6259	94	12	previous	previous	ADJ
easat-6259	94	13	problems	problem	NOUN
easat-6259	94	14	and	and	CCONJ
easat-6259	94	15	enhance	enhance	VERB
easat-6259	94	16	the	the	DET
easat-6259	94	17	traffic	traffic	NOUN
easat-6259	94	18	performance	performance	NOUN
easat-6259	94	19	.	.	PUNCT
easat-6259	95	1	additionally	additionally	ADV
easat-6259	95	2	,	,	PUNCT
easat-6259	95	3	this	this	DET
easat-6259	95	4	work	work	NOUN
easat-6259	95	5	is	be	AUX
easat-6259	95	6	aimed	aim	VERB
easat-6259	95	7	at	at	ADP
easat-6259	95	8	improving	improve	VERB
easat-6259	95	9	road	road	NOUN
easat-6259	95	10	networks	network	NOUN
easat-6259	95	11	while	while	SCONJ
easat-6259	95	12	increasing	increase	VERB
easat-6259	95	13	accessibility	accessibility	NOUN
easat-6259	95	14	for	for	ADP
easat-6259	95	15	people	people	NOUN
easat-6259	95	16	with	with	ADP
easat-6259	95	17	mobility	mobility	NOUN
easat-6259	95	18	limitations	limitation	NOUN
easat-6259	95	19	through	through	ADP
easat-6259	95	20	ml	ml	ADP
easat-6259	95	21	strategies	strategy	NOUN
easat-6259	95	22	for	for	ADP
easat-6259	95	23	better	well	ADJ
easat-6259	95	24	performance	performance	NOUN
easat-6259	95	25	in	in	ADP
easat-6259	95	26	different	different	ADJ
easat-6259	95	27	conditions	condition	NOUN
easat-6259	95	28	.	.	PUNCT
easat-6259	96	1	thus	thus	ADV
easat-6259	96	2	,	,	PUNCT
easat-6259	96	3	bringing	bring	VERB
easat-6259	96	4	about	about	ADP
easat-6259	96	5	solutions	solution	NOUN
easat-6259	96	6	related	relate	VERB
easat-6259	96	7	to	to	ADP
easat-6259	96	8	issues	issue	NOUN
easat-6259	96	9	of	of	ADP
easat-6259	96	10	accessibility	accessibility	NOUN
easat-6259	96	11	,	,	PUNCT
easat-6259	96	12	traffic	traffic	NOUN
easat-6259	96	13	congestion	congestion	NOUN
easat-6259	96	14	,	,	PUNCT
easat-6259	96	15	and	and	CCONJ
easat-6259	96	16	road	road	NOUN
easat-6259	96	17	safety	safety	NOUN
easat-6259	96	18	.	.	PUNCT
easat-6259	97	1	1.2	1.2	NUM
easat-6259	97	2	.	.	PUNCT
easat-6259	97	3	paper	paper	NOUN
easat-6259	97	4	objectives	objective	NOUN
easat-6259	97	5	and	and	CCONJ
easat-6259	97	6	contributions	contribution	NOUN
easat-6259	97	7	the	the	DET
easat-6259	97	8	primary	primary	ADJ
easat-6259	97	9	objective	objective	NOUN
easat-6259	97	10	of	of	ADP
easat-6259	97	11	this	this	DET
easat-6259	97	12	research	research	NOUN
easat-6259	97	13	on	on	ADP
easat-6259	97	14	autonomous	autonomous	ADJ
easat-6259	97	15	cars	car	NOUN
easat-6259	97	16	is	be	AUX
easat-6259	97	17	to	to	PART
easat-6259	97	18	explore	explore	VERB
easat-6259	97	19	and	and	CCONJ
easat-6259	97	20	create	create	VERB
easat-6259	97	21	a	a	DET
easat-6259	97	22	novel	novel	ADJ
easat-6259	97	23	way	way	NOUN
easat-6259	97	24	to	to	PART
easat-6259	97	25	improve	improve	VERB
easat-6259	97	26	the	the	DET
easat-6259	97	27	vehicles	vehicle	NOUN
easat-6259	97	28	'	'	PART
easat-6259	97	29	ability	ability	NOUN
easat-6259	97	30	to	to	PART
easat-6259	97	31	adapt	adapt	VERB
easat-6259	97	32	in	in	ADP
easat-6259	97	33	unforeseen	unforeseen	ADJ
easat-6259	97	34	situations	situation	NOUN
easat-6259	97	35	.	.	PUNCT
easat-6259	98	1	this	this	PRON
easat-6259	98	2	means	mean	VERB
easat-6259	98	3	concentrating	concentrate	VERB
easat-6259	98	4	on	on	ADP
easat-6259	98	5	reducing	reduce	VERB
easat-6259	98	6	obstacles	obstacle	NOUN
easat-6259	98	7	associated	associate	VERB
easat-6259	98	8	with	with	ADP
easat-6259	98	9	making	make	VERB
easat-6259	98	10	judgements	judgement	NOUN
easat-6259	98	11	in	in	ADP
easat-6259	98	12	real	real	ADJ
easat-6259	98	13	-	-	PUNCT
easat-6259	98	14	time	time	NOUN
easat-6259	98	15	,	,	PUNCT
easat-6259	98	16	maintaining	maintain	VERB
easat-6259	98	17	uninterrupted	uninterrupted	ADJ
easat-6259	98	18	communication	communication	NOUN
easat-6259	98	19	,	,	PUNCT
easat-6259	98	20	and	and	CCONJ
easat-6259	98	21	integrating	integrate	VERB
easat-6259	98	22	sensors	sensor	NOUN
easat-6259	98	23	to	to	PART
easat-6259	98	24	continuously	continuously	ADV
easat-6259	98	25	produce	produce	VERB
easat-6259	98	26	precise	precise	ADJ
easat-6259	98	27	data	datum	NOUN
easat-6259	98	28	for	for	ADP
easat-6259	98	29	correct	correct	ADJ
easat-6259	98	30	analysis	analysis	NOUN
easat-6259	98	31	prior	prior	ADV
easat-6259	98	32	to	to	ADP
easat-6259	98	33	making	make	VERB
easat-6259	98	34	decisions	decision	NOUN
easat-6259	98	35	.	.	PUNCT
easat-6259	99	1	in	in	ADP
easat-6259	99	2	addition	addition	NOUN
easat-6259	99	3	,	,	PUNCT
easat-6259	99	4	the	the	DET
easat-6259	99	5	research	research	NOUN
easat-6259	99	6	aims	aim	VERB
easat-6259	99	7	to	to	PART
easat-6259	99	8	solve	solve	VERB
easat-6259	99	9	human	human	ADJ
easat-6259	99	10	error	error	NOUN
easat-6259	99	11	problems	problem	NOUN
easat-6259	99	12	and	and	CCONJ
easat-6259	99	13	advance	advance	NOUN
easat-6259	99	14	ads	ad	NOUN
easat-6259	99	15	culture	culture	VERB
easat-6259	99	16	in	in	ADP
easat-6259	99	17	a	a	DET
easat-6259	99	18	safe	safe	ADJ
easat-6259	99	19	and	and	CCONJ
easat-6259	99	20	dependable	dependable	ADJ
easat-6259	99	21	manner	manner	NOUN
easat-6259	99	22	.	.	PUNCT
easat-6259	100	1	in	in	ADP
easat-6259	100	2	addition	addition	NOUN
easat-6259	100	3	,	,	PUNCT
easat-6259	100	4	by	by	ADP
easat-6259	100	5	identifying	identify	VERB
easat-6259	100	6	the	the	DET
easat-6259	100	7	best	good	ADJ
easat-6259	100	8	route	route	NOUN
easat-6259	100	9	,	,	PUNCT
easat-6259	100	10	this	this	DET
easat-6259	100	11	study	study	NOUN
easat-6259	100	12	seeks	seek	VERB
easat-6259	100	13	to	to	PART
easat-6259	100	14	investigate	investigate	VERB
easat-6259	100	15	other	other	ADJ
easat-6259	100	16	possible	possible	ADJ
easat-6259	100	17	social	social	ADJ
easat-6259	100	18	advantages	advantage	NOUN
easat-6259	100	19	that	that	PRON
easat-6259	100	20	could	could	AUX
easat-6259	100	21	enhance	enhance	VERB
easat-6259	100	22	both	both	DET
easat-6259	100	23	people	people	NOUN
easat-6259	100	24	and	and	CCONJ
easat-6259	100	25	vehicle	vehicle	NOUN
easat-6259	100	26	traffic	traffic	NOUN
easat-6259	100	27	safety	safety	NOUN
easat-6259	100	28	and	and	CCONJ
easat-6259	100	29	ease	ease	VERB
easat-6259	100	30	congestion	congestion	NOUN
easat-6259	100	31	.	.	PUNCT
easat-6259	101	1	serving	serve	VERB
easat-6259	101	2	people	people	NOUN
easat-6259	101	3	with	with	ADP
easat-6259	101	4	mobility	mobility	NOUN
easat-6259	101	5	impairments	impairment	NOUN
easat-6259	101	6	is	be	AUX
easat-6259	101	7	one	one	NUM
easat-6259	101	8	of	of	ADP
easat-6259	101	9	the	the	DET
easat-6259	101	10	main	main	ADJ
easat-6259	101	11	goals	goal	NOUN
easat-6259	101	12	in	in	ADP
easat-6259	101	13	the	the	DET
easat-6259	101	14	development	development	NOUN
easat-6259	101	15	of	of	ADP
easat-6259	101	16	ads	ad	NOUN
easat-6259	101	17	technology	technology	NOUN
easat-6259	101	18	.	.	PUNCT
easat-6259	102	1	this	this	PRON
easat-6259	102	2	plays	play	VERB
easat-6259	102	3	a	a	DET
easat-6259	102	4	1303	1303	NUM
easat-6259	102	5	edelweiss	edelweiss	PROPN
easat-6259	102	6	applied	apply	VERB
easat-6259	102	7	science	science	NOUN
easat-6259	102	8	and	and	CCONJ
easat-6259	102	9	technology	technology	NOUN
easat-6259	102	10	issn	issn	PROPN
easat-6259	102	11	:	:	PUNCT
easat-6259	102	12	2576	2576	NUM
easat-6259	102	13	-	-	SYM
easat-6259	102	14	8484	8484	NUM
easat-6259	102	15	vol	vol	NOUN
easat-6259	102	16	.	.	PROPN
easat-6259	103	1	9	9	NUM
easat-6259	103	2	,	,	PUNCT
easat-6259	103	3	no	no	INTJ
easat-6259	103	4	.	.	NOUN
easat-6259	104	1	4	4	NUM
easat-6259	104	2	:	:	SYM
easat-6259	104	3	1300	1300	NUM
easat-6259	104	4	-	-	SYM
easat-6259	104	5	1331	1331	NUM
easat-6259	104	6	,	,	PUNCT
easat-6259	104	7	2025	2025	NUM
easat-6259	104	8	doi	doi	NOUN
easat-6259	104	9	:	:	PUNCT
easat-6259	104	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	104	11	©	©	PROPN
easat-6259	104	12	2025	2025	NUM
easat-6259	104	13	by	by	ADP
easat-6259	104	14	the	the	DET
easat-6259	104	15	authors	author	NOUN
easat-6259	104	16	;	;	PUNCT
easat-6259	104	17	licensee	licensee	PROPN
easat-6259	104	18	learning	learning	NOUN
easat-6259	104	19	gate	gate	VERB
easat-6259	104	20	crucial	crucial	ADJ
easat-6259	104	21	role	role	NOUN
easat-6259	104	22	in	in	ADP
easat-6259	104	23	people	people	NOUN
easat-6259	104	24	’s	’s	PART
easat-6259	104	25	safety	safety	NOUN
easat-6259	104	26	and	and	CCONJ
easat-6259	104	27	facilitates	facilitate	VERB
easat-6259	104	28	their	their	PRON
easat-6259	104	29	transportation	transportation	NOUN
easat-6259	104	30	between	between	ADP
easat-6259	104	31	locations	location	NOUN
easat-6259	104	32	without	without	ADP
easat-6259	104	33	the	the	DET
easat-6259	104	34	difficulty	difficulty	NOUN
easat-6259	104	35	of	of	ADP
easat-6259	104	36	driving	drive	VERB
easat-6259	104	37	.	.	PUNCT
easat-6259	105	1	to	to	PART
easat-6259	105	2	accomplish	accomplish	VERB
easat-6259	105	3	these	these	DET
easat-6259	105	4	goals	goal	NOUN
easat-6259	105	5	,	,	PUNCT
easat-6259	105	6	a	a	DET
easat-6259	105	7	cnn	cnn	NOUN
easat-6259	105	8	is	be	AUX
easat-6259	105	9	employed	employ	VERB
easat-6259	105	10	for	for	ADP
easat-6259	105	11	autonomous	autonomous	ADJ
easat-6259	105	12	car	car	NOUN
easat-6259	105	13	edge	edge	NOUN
easat-6259	105	14	detection	detection	NOUN
easat-6259	105	15	in	in	ADP
easat-6259	105	16	this	this	DET
easat-6259	105	17	study	study	NOUN
easat-6259	105	18	.	.	PUNCT
easat-6259	106	1	one	one	NUM
easat-6259	106	2	of	of	ADP
easat-6259	106	3	the	the	DET
easat-6259	106	4	core	core	NOUN
easat-6259	106	5	tasks	task	NOUN
easat-6259	106	6	of	of	ADP
easat-6259	106	7	computer	computer	NOUN
easat-6259	106	8	vision	vision	NOUN
easat-6259	106	9	is	be	AUX
easat-6259	106	10	edge	edge	NOUN
easat-6259	106	11	detection	detection	NOUN
easat-6259	106	12	,	,	PUNCT
easat-6259	106	13	which	which	PRON
easat-6259	106	14	is	be	AUX
easat-6259	106	15	locating	locate	VERB
easat-6259	106	16	the	the	DET
easat-6259	106	17	borders	border	NOUN
easat-6259	106	18	of	of	ADP
easat-6259	106	19	images	image	NOUN
easat-6259	106	20	.	.	PUNCT
easat-6259	107	1	accurate	accurate	ADJ
easat-6259	107	2	edge	edge	NOUN
easat-6259	107	3	detection	detection	NOUN
easat-6259	107	4	is	be	AUX
easat-6259	107	5	essential	essential	ADJ
easat-6259	107	6	for	for	ADP
easat-6259	107	7	activities	activity	NOUN
easat-6259	107	8	like	like	ADP
easat-6259	107	9	lane	lane	NOUN
easat-6259	107	10	detection	detection	NOUN
easat-6259	107	11	,	,	PUNCT
easat-6259	107	12	obstacle	obstacle	NOUN
easat-6259	107	13	recognition	recognition	NOUN
easat-6259	107	14	,	,	PUNCT
easat-6259	107	15	and	and	CCONJ
easat-6259	107	16	general	general	ADJ
easat-6259	107	17	picture	picture	NOUN
easat-6259	107	18	interpretation	interpretation	NOUN
easat-6259	107	19	in	in	ADP
easat-6259	107	20	ads	ad	NOUN
easat-6259	107	21	.	.	PUNCT
easat-6259	108	1	by	by	ADP
easat-6259	108	2	using	use	VERB
easat-6259	108	3	cnns	cnn	NOUN
easat-6259	108	4	for	for	ADP
easat-6259	108	5	this	this	DET
easat-6259	108	6	purpose	purpose	NOUN
easat-6259	108	7	,	,	PUNCT
easat-6259	108	8	the	the	DET
easat-6259	108	9	vehicle	vehicle	NOUN
easat-6259	108	10	's	's	PART
easat-6259	108	11	capacity	capacity	NOUN
easat-6259	108	12	to	to	PART
easat-6259	108	13	make	make	VERB
easat-6259	108	14	deft	deft	ADJ
easat-6259	108	15	decisions	decision	NOUN
easat-6259	108	16	in	in	ADP
easat-6259	108	17	real	real	ADJ
easat-6259	108	18	-	-	PUNCT
easat-6259	108	19	time	time	NOUN
easat-6259	108	20	is	be	AUX
easat-6259	108	21	enhanced	enhance	VERB
easat-6259	108	22	by	by	ADP
easat-6259	108	23	utilizing	utilize	VERB
easat-6259	108	24	the	the	DET
easat-6259	108	25	capabilities	capability	NOUN
easat-6259	108	26	of	of	ADP
easat-6259	108	27	ml	ml	NOUN
easat-6259	108	28	to	to	PART
easat-6259	108	29	process	process	VERB
easat-6259	108	30	and	and	CCONJ
easat-6259	108	31	analyse	analyse	VERB
easat-6259	108	32	large	large	ADJ
easat-6259	108	33	volumes	volume	NOUN
easat-6259	108	34	of	of	ADP
easat-6259	108	35	visual	visual	ADJ
easat-6259	108	36	input	input	NOUN
easat-6259	108	37	.	.	PUNCT
easat-6259	109	1	because	because	SCONJ
easat-6259	109	2	driving	drive	VERB
easat-6259	109	3	situations	situation	NOUN
easat-6259	109	4	in	in	ADP
easat-6259	109	5	the	the	DET
easat-6259	109	6	real	real	ADJ
easat-6259	109	7	world	world	NOUN
easat-6259	109	8	are	be	AUX
easat-6259	109	9	unpredictable	unpredictable	ADJ
easat-6259	109	10	,	,	PUNCT
easat-6259	109	11	a	a	DET
easat-6259	109	12	system	system	NOUN
easat-6259	109	13	that	that	PRON
easat-6259	109	14	is	be	AUX
easat-6259	109	15	flexible	flexible	ADJ
easat-6259	109	16	enough	enough	ADV
easat-6259	109	17	to	to	PART
easat-6259	109	18	adjust	adjust	VERB
easat-6259	109	19	to	to	ADP
easat-6259	109	20	unexpected	unexpected	ADJ
easat-6259	109	21	occurrences	occurrence	NOUN
easat-6259	109	22	is	be	AUX
easat-6259	109	23	required	require	VERB
easat-6259	109	24	.	.	PUNCT
easat-6259	110	1	conventional	conventional	ADJ
easat-6259	110	2	rule	rule	NOUN
easat-6259	110	3	-	-	PUNCT
easat-6259	110	4	based	base	VERB
easat-6259	110	5	systems	system	NOUN
easat-6259	110	6	frequently	frequently	ADV
easat-6259	110	7	fall	fall	VERB
easat-6259	110	8	short	short	ADJ
easat-6259	110	9	in	in	ADP
easat-6259	110	10	taking	take	VERB
easat-6259	110	11	into	into	ADP
easat-6259	110	12	consideration	consideration	NOUN
easat-6259	110	13	the	the	DET
easat-6259	110	14	multitude	multitude	NOUN
easat-6259	110	15	of	of	ADP
easat-6259	110	16	variables	variable	NOUN
easat-6259	110	17	found	find	VERB
easat-6259	110	18	in	in	ADP
easat-6259	110	19	typical	typical	ADJ
easat-6259	110	20	driving	drive	VERB
easat-6259	110	21	situations	situation	NOUN
easat-6259	110	22	.	.	PUNCT
easat-6259	111	1	the	the	DET
easat-6259	111	2	goal	goal	NOUN
easat-6259	111	3	of	of	ADP
easat-6259	111	4	the	the	DET
easat-6259	111	5	research	research	NOUN
easat-6259	111	6	is	be	AUX
easat-6259	111	7	to	to	PART
easat-6259	111	8	enhance	enhance	VERB
easat-6259	111	9	the	the	DET
easat-6259	111	10	automobile	automobile	NOUN
easat-6259	111	11	’s	’s	PART
easat-6259	111	12	dynamic	dynamic	ADJ
easat-6259	111	13	version	version	NOUN
easat-6259	111	14	by	by	ADP
easat-6259	111	15	using	use	VERB
easat-6259	111	16	cnns	cnn	NOUN
easat-6259	111	17	because	because	SCONJ
easat-6259	111	18	cnns	cnn	NOUN
easat-6259	111	19	can	can	AUX
easat-6259	111	20	recognize	recognize	VERB
easat-6259	111	21	complicated	complicated	ADJ
easat-6259	111	22	styles	style	NOUN
easat-6259	111	23	in	in	ADP
easat-6259	111	24	visual	visual	ADJ
easat-6259	111	25	inputs	input	NOUN
easat-6259	111	26	.	.	PUNCT
easat-6259	112	1	higher	high	ADJ
easat-6259	112	2	level	level	NOUN
easat-6259	112	3	decision	decision	NOUN
easat-6259	112	4	-	-	PUNCT
easat-6259	112	5	making	make	VERB
easat-6259	112	6	algorithms	algorithm	NOUN
easat-6259	112	7	that	that	PRON
easat-6259	112	8	incorporate	incorporate	VERB
easat-6259	112	9	information	information	NOUN
easat-6259	112	10	from	from	ADP
easat-6259	112	11	other	other	ADJ
easat-6259	112	12	sensors	sensor	NOUN
easat-6259	112	13	like	like	ADP
easat-6259	112	14	gps	gps	PROPN
easat-6259	112	15	,	,	PUNCT
easat-6259	112	16	radar	radar	NOUN
easat-6259	112	17	,	,	PUNCT
easat-6259	112	18	and	and	CCONJ
easat-6259	112	19	lidar	lidar	NOUN
easat-6259	112	20	use	use	VERB
easat-6259	112	21	the	the	DET
easat-6259	112	22	cnn	cnn	PROPN
easat-6259	112	23	's	's	PART
easat-6259	112	24	edge	edge	NOUN
easat-6259	112	25	detection	detection	NOUN
easat-6259	112	26	outputs	output	NOUN
easat-6259	112	27	.	.	PUNCT
easat-6259	113	1	the	the	DET
easat-6259	113	2	integration	integration	NOUN
easat-6259	113	3	of	of	ADP
easat-6259	113	4	data	datum	NOUN
easat-6259	113	5	guarantees	guarantee	VERB
easat-6259	113	6	a	a	DET
easat-6259	113	7	comprehensive	comprehensive	ADJ
easat-6259	113	8	perspective	perspective	NOUN
easat-6259	113	9	of	of	ADP
easat-6259	113	10	the	the	DET
easat-6259	113	11	surroundings	surrounding	NOUN
easat-6259	113	12	,	,	PUNCT
easat-6259	113	13	augmenting	augment	VERB
easat-6259	113	14	the	the	DET
easat-6259	113	15	car	car	NOUN
easat-6259	113	16	's	's	PART
easat-6259	113	17	situational	situational	ADJ
easat-6259	113	18	awareness	awareness	NOUN
easat-6259	113	19	.	.	PUNCT
easat-6259	114	1	steady	steady	ADJ
easat-6259	114	2	communication	communication	NOUN
easat-6259	114	3	between	between	ADP
easat-6259	114	4	these	these	DET
easat-6259	114	5	components	component	NOUN
easat-6259	114	6	is	be	AUX
easat-6259	114	7	made	make	VERB
easat-6259	114	8	possible	possible	ADJ
easat-6259	114	9	by	by	ADP
easat-6259	114	10	a	a	DET
easat-6259	114	11	strong	strong	ADJ
easat-6259	114	12	architecture	architecture	NOUN
easat-6259	114	13	that	that	PRON
easat-6259	114	14	has	have	VERB
easat-6259	114	15	high	high	ADJ
easat-6259	114	16	reliability	reliability	NOUN
easat-6259	114	17	and	and	CCONJ
easat-6259	114	18	low	low	ADJ
easat-6259	114	19	latency	latency	NOUN
easat-6259	114	20	.	.	PUNCT
easat-6259	115	1	this	this	DET
easat-6259	115	2	architecture	architecture	NOUN
easat-6259	115	3	makes	make	VERB
easat-6259	115	4	sure	sure	ADJ
easat-6259	115	5	that	that	SCONJ
easat-6259	115	6	vital	vital	ADJ
easat-6259	115	7	data	datum	NOUN
easat-6259	115	8	is	be	AUX
easat-6259	115	9	processed	process	VERB
easat-6259	115	10	and	and	CCONJ
easat-6259	115	11	transferred	transfer	VERB
easat-6259	115	12	quickly	quickly	ADV
easat-6259	115	13	,	,	PUNCT
easat-6259	115	14	enabling	enable	VERB
easat-6259	115	15	the	the	DET
easat-6259	115	16	autonomous	autonomous	ADJ
easat-6259	115	17	system	system	NOUN
easat-6259	115	18	to	to	PART
easat-6259	115	19	keep	keep	VERB
easat-6259	115	20	a	a	DET
easat-6259	115	21	consistent	consistent	ADJ
easat-6259	115	22	awareness	awareness	NOUN
easat-6259	115	23	of	of	ADP
easat-6259	115	24	its	its	PRON
easat-6259	115	25	environment	environment	NOUN
easat-6259	115	26	and	and	CCONJ
easat-6259	115	27	make	make	VERB
easat-6259	115	28	correct	correct	ADJ
easat-6259	115	29	judgements	judgement	NOUN
easat-6259	115	30	in	in	ADP
easat-6259	115	31	the	the	DET
easat-6259	115	32	moment	moment	NOUN
easat-6259	115	33	.	.	PUNCT
easat-6259	116	1	the	the	DET
easat-6259	116	2	key	key	ADJ
easat-6259	116	3	contributions	contribution	NOUN
easat-6259	116	4	in	in	ADP
easat-6259	116	5	this	this	DET
easat-6259	116	6	research	research	NOUN
easat-6259	116	7	include	include	VERB
easat-6259	116	8	advanced	advanced	ADJ
easat-6259	116	9	edge	edge	NOUN
easat-6259	116	10	detection	detection	NOUN
easat-6259	116	11	strategies	strategy	NOUN
easat-6259	116	12	for	for	ADP
easat-6259	116	13	lane	lane	NOUN
easat-6259	116	14	detection	detection	NOUN
easat-6259	116	15	and	and	CCONJ
easat-6259	116	16	usage	usage	NOUN
easat-6259	116	17	of	of	ADP
easat-6259	116	18	lane	lane	NOUN
easat-6259	116	19	keeping	keep	VERB
easat-6259	116	20	assist	assist	NOUN
easat-6259	116	21	(	(	PUNCT
easat-6259	116	22	lka	lka	NOUN
easat-6259	116	23	)	)	PUNCT
easat-6259	116	24	structures	structure	NOUN
easat-6259	116	25	,	,	PUNCT
easat-6259	116	26	which	which	PRON
easat-6259	116	27	are	be	AUX
easat-6259	116	28	essential	essential	ADJ
easat-6259	116	29	technologies	technology	NOUN
easat-6259	116	30	for	for	ADP
easat-6259	116	31	self	self	NOUN
easat-6259	116	32	-	-	PUNCT
easat-6259	116	33	driving	driving	NOUN
easat-6259	116	34	.	.	PUNCT
easat-6259	117	1	this	this	DET
easat-6259	117	2	paper	paper	NOUN
easat-6259	117	3	’s	’s	PART
easat-6259	117	4	main	main	ADJ
easat-6259	117	5	contributions	contribution	NOUN
easat-6259	117	6	are	be	AUX
easat-6259	117	7	as	as	SCONJ
easat-6259	117	8	follows	follow	VERB
easat-6259	117	9	:	:	PUNCT
easat-6259	117	10	•	•	NUM
easat-6259	117	11	advanced	advanced	ADJ
easat-6259	117	12	edge	edge	NOUN
easat-6259	117	13	detection	detection	NOUN
easat-6259	117	14	implementation	implementation	NOUN
easat-6259	117	15	:	:	PUNCT
easat-6259	117	16	we	we	PRON
easat-6259	117	17	have	have	AUX
easat-6259	117	18	implemented	implement	VERB
easat-6259	117	19	and	and	CCONJ
easat-6259	117	20	modified	modify	VERB
easat-6259	117	21	the	the	DET
easat-6259	117	22	sobel	sobel	NOUN
easat-6259	117	23	edge	edge	PROPN
easat-6259	117	24	detection	detection	NOUN
easat-6259	117	25	algorithm	algorithm	NOUN
easat-6259	117	26	to	to	PART
easat-6259	117	27	improve	improve	VERB
easat-6259	117	28	its	its	PRON
easat-6259	117	29	performance	performance	NOUN
easat-6259	117	30	for	for	ADP
easat-6259	117	31	lane	lane	NOUN
easat-6259	117	32	detection	detection	NOUN
easat-6259	117	33	under	under	ADP
easat-6259	117	34	different	different	ADJ
easat-6259	117	35	lighting	lighting	NOUN
easat-6259	117	36	and	and	CCONJ
easat-6259	117	37	weather	weather	NOUN
easat-6259	117	38	conditions	condition	NOUN
easat-6259	117	39	.	.	PUNCT
easat-6259	118	1	through	through	ADP
easat-6259	118	2	trying	try	VERB
easat-6259	118	3	various	various	ADJ
easat-6259	118	4	gaussian	gaussian	ADJ
easat-6259	118	5	filter	filter	NOUN
easat-6259	118	6	parameters	parameter	NOUN
easat-6259	118	7	,	,	PUNCT
easat-6259	118	8	we	we	PRON
easat-6259	118	9	have	have	AUX
easat-6259	118	10	developed	develop	VERB
easat-6259	118	11	an	an	DET
easat-6259	118	12	optimized	optimize	VERB
easat-6259	118	13	edge	edge	NOUN
easat-6259	118	14	detection	detection	NOUN
easat-6259	118	15	system	system	NOUN
easat-6259	118	16	that	that	PRON
easat-6259	118	17	performs	perform	VERB
easat-6259	118	18	well	well	ADV
easat-6259	118	19	in	in	ADP
easat-6259	118	20	difficult	difficult	ADJ
easat-6259	118	21	conditions	condition	NOUN
easat-6259	118	22	such	such	ADJ
easat-6259	118	23	as	as	ADP
easat-6259	118	24	low	low	ADJ
easat-6259	118	25	light	light	NOUN
easat-6259	118	26	or	or	CCONJ
easat-6259	118	27	rainy	rainy	ADJ
easat-6259	118	28	weather	weather	NOUN
easat-6259	118	29	.	.	PUNCT
easat-6259	119	1	•	•	NUM
easat-6259	119	2	integration	integration	NOUN
easat-6259	119	3	of	of	ADP
easat-6259	119	4	ml	ml	NOUN
easat-6259	119	5	and	and	CCONJ
easat-6259	119	6	cnns	cnns	PROPN
easat-6259	119	7	:	:	PUNCT
easat-6259	119	8	the	the	DET
easat-6259	119	9	combination	combination	NOUN
easat-6259	119	10	of	of	ADP
easat-6259	119	11	cnns	cnn	NOUN
easat-6259	119	12	and	and	CCONJ
easat-6259	119	13	ml	ml	NOUN
easat-6259	119	14	methods	method	NOUN
easat-6259	119	15	for	for	ADP
easat-6259	119	16	path	path	NOUN
easat-6259	119	17	recognition	recognition	NOUN
easat-6259	119	18	is	be	AUX
easat-6259	119	19	an	an	DET
easat-6259	119	20	important	important	ADJ
easat-6259	119	21	fundamental	fundamental	ADJ
easat-6259	119	22	in	in	ADP
easat-6259	119	23	our	our	PRON
easat-6259	119	24	research	research	NOUN
easat-6259	119	25	.	.	PUNCT
easat-6259	120	1	by	by	ADP
easat-6259	120	2	building	build	VERB
easat-6259	120	3	and	and	CCONJ
easat-6259	120	4	training	train	VERB
easat-6259	120	5	a	a	DET
easat-6259	120	6	cnn	cnn	NOUN
easat-6259	120	7	to	to	PART
easat-6259	120	8	detect	detect	VERB
easat-6259	120	9	trails	trail	NOUN
easat-6259	120	10	in	in	ADP
easat-6259	120	11	images	image	NOUN
easat-6259	120	12	,	,	PUNCT
easat-6259	120	13	we	we	PRON
easat-6259	120	14	were	be	AUX
easat-6259	120	15	able	able	ADJ
easat-6259	120	16	to	to	PART
easat-6259	120	17	significantly	significantly	ADV
easat-6259	120	18	increase	increase	VERB
easat-6259	120	19	the	the	DET
easat-6259	120	20	accuracy	accuracy	NOUN
easat-6259	120	21	and	and	CCONJ
easat-6259	120	22	reliability	reliability	NOUN
easat-6259	120	23	of	of	ADP
easat-6259	120	24	trail	trail	NOUN
easat-6259	120	25	detection	detection	NOUN
easat-6259	120	26	methods	method	NOUN
easat-6259	120	27	.	.	PUNCT
easat-6259	121	1	our	our	PRON
easat-6259	121	2	system	system	NOUN
easat-6259	121	3	can	can	AUX
easat-6259	121	4	learn	learn	VERB
easat-6259	121	5	from	from	ADP
easat-6259	121	6	big	big	ADJ
easat-6259	121	7	data	datum	NOUN
easat-6259	121	8	and	and	CCONJ
easat-6259	121	9	adapt	adapt	VERB
easat-6259	121	10	to	to	ADP
easat-6259	121	11	different	different	ADJ
easat-6259	121	12	driving	driving	NOUN
easat-6259	121	13	situations	situation	NOUN
easat-6259	121	14	using	use	VERB
easat-6259	121	15	ml	ml	NOUN
easat-6259	121	16	techniques	technique	NOUN
easat-6259	121	17	.	.	PUNCT
easat-6259	122	1	•	•	NUM
easat-6259	122	2	enhanced	enhance	VERB
easat-6259	122	3	lka	lka	NOUN
easat-6259	122	4	systems	system	NOUN
easat-6259	122	5	:	:	PUNCT
easat-6259	122	6	we	we	PRON
easat-6259	122	7	improved	improve	VERB
easat-6259	122	8	the	the	DET
easat-6259	122	9	vehicle	vehicle	NOUN
easat-6259	122	10	’s	’s	PART
easat-6259	122	11	ability	ability	NOUN
easat-6259	122	12	to	to	PART
easat-6259	122	13	detect	detect	VERB
easat-6259	122	14	and	and	CCONJ
easat-6259	122	15	track	track	VERB
easat-6259	122	16	lanes	lane	NOUN
easat-6259	122	17	with	with	ADP
easat-6259	122	18	lka	lka	PROPN
easat-6259	122	19	systems	system	NOUN
easat-6259	122	20	by	by	ADP
easat-6259	122	21	adding	add	VERB
easat-6259	122	22	advanced	advanced	ADJ
easat-6259	122	23	cnn	cnn	PROPN
easat-6259	122	24	-	-	PUNCT
easat-6259	122	25	based	base	VERB
easat-6259	122	26	lane	lane	NOUN
easat-6259	122	27	detection	detection	NOUN
easat-6259	122	28	and	and	CCONJ
easat-6259	122	29	edge	edge	NOUN
easat-6259	122	30	detection	detection	NOUN
easat-6259	122	31	techniques	technique	NOUN
easat-6259	122	32	.	.	PUNCT
easat-6259	123	1	because	because	SCONJ
easat-6259	123	2	all	all	DET
easat-6259	123	3	the	the	DET
easat-6259	123	4	adss	adss	NOUN
easat-6259	123	5	in	in	ADP
easat-6259	123	6	this	this	DET
easat-6259	123	7	combination	combination	NOUN
easat-6259	123	8	are	be	AUX
easat-6259	123	9	more	more	ADV
easat-6259	123	10	reliable	reliable	ADJ
easat-6259	123	11	and	and	CCONJ
easat-6259	123	12	safer	safe	ADJ
easat-6259	123	13	,	,	PUNCT
easat-6259	123	14	the	the	DET
easat-6259	123	15	vehicle	vehicle	NOUN
easat-6259	123	16	can	can	AUX
easat-6259	123	17	set	set	VERB
easat-6259	123	18	its	its	PRON
easat-6259	123	19	course	course	NOUN
easat-6259	123	20	with	with	ADP
easat-6259	123	21	the	the	DET
easat-6259	123	22	same	same	ADJ
easat-6259	123	23	accuracy	accuracy	NOUN
easat-6259	123	24	.	.	PUNCT
easat-6259	124	1	•	•	NOUN
easat-6259	124	2	performance	performance	NOUN
easat-6259	124	3	gains	gain	NOUN
easat-6259	124	4	:	:	PUNCT
easat-6259	124	5	compared	compare	VERB
easat-6259	124	6	with	with	ADP
easat-6259	124	7	current	current	ADJ
easat-6259	124	8	methods	method	NOUN
easat-6259	124	9	,	,	PUNCT
easat-6259	124	10	the	the	DET
easat-6259	124	11	proposed	propose	VERB
easat-6259	124	12	methods	method	NOUN
easat-6259	124	13	show	show	VERB
easat-6259	124	14	a	a	DET
easat-6259	124	15	noticeable	noticeable	ADJ
easat-6259	124	16	increase	increase	NOUN
easat-6259	124	17	in	in	ADP
easat-6259	124	18	accuracy	accuracy	NOUN
easat-6259	124	19	and	and	CCONJ
easat-6259	124	20	flexibility	flexibility	NOUN
easat-6259	124	21	.	.	PUNCT
easat-6259	125	1	our	our	PRON
easat-6259	125	2	cnn	cnn	PROPN
easat-6259	125	3	-	-	PUNCT
easat-6259	125	4	based	base	VERB
easat-6259	125	5	path	path	NOUN
easat-6259	125	6	finding	finding	NOUN
easat-6259	125	7	method	method	NOUN
easat-6259	125	8	is	be	AUX
easat-6259	125	9	efficient	efficient	ADJ
easat-6259	125	10	and	and	CCONJ
easat-6259	125	11	effective	effective	ADJ
easat-6259	125	12	for	for	ADP
easat-6259	125	13	real	real	ADJ
easat-6259	125	14	-	-	PUNCT
easat-6259	125	15	time	time	NOUN
easat-6259	125	16	applications	application	NOUN
easat-6259	125	17	,	,	PUNCT
easat-6259	125	18	resulting	result	VERB
easat-6259	125	19	in	in	ADP
easat-6259	125	20	lower	low	ADJ
easat-6259	125	21	processing	processing	NOUN
easat-6259	125	22	time	time	NOUN
easat-6259	125	23	and	and	CCONJ
easat-6259	125	24	increase	increase	VERB
easat-6259	125	25	in	in	ADP
easat-6259	125	26	detection	detection	NOUN
easat-6259	125	27	accuracy	accuracy	NOUN
easat-6259	125	28	.	.	PUNCT
easat-6259	126	1	•	•	NUM
easat-6259	126	2	real	real	ADJ
easat-6259	126	3	-	-	PUNCT
easat-6259	126	4	world	world	NOUN
easat-6259	126	5	applicability	applicability	NOUN
easat-6259	126	6	:	:	PUNCT
easat-6259	126	7	we	we	PRON
easat-6259	126	8	evaluated	evaluate	VERB
easat-6259	126	9	our	our	PRON
easat-6259	126	10	strategies	strategy	NOUN
easat-6259	126	11	in	in	ADP
easat-6259	126	12	simulated	simulated	ADJ
easat-6259	126	13	situations	situation	NOUN
easat-6259	126	14	that	that	PRON
easat-6259	126	15	intently	intently	ADV
easat-6259	126	16	reflect	reflect	VERB
easat-6259	126	17	real	real	ADJ
easat-6259	126	18	-	-	PUNCT
easat-6259	126	19	world	world	NOUN
easat-6259	126	20	driving	driving	NOUN
easat-6259	126	21	situations	situation	NOUN
easat-6259	126	22	to	to	PART
easat-6259	126	23	compare	compare	VERB
easat-6259	126	24	their	their	PRON
easat-6259	126	25	applicability	applicability	NOUN
easat-6259	126	26	.	.	PUNCT
easat-6259	127	1	our	our	PRON
easat-6259	127	2	method	method	NOUN
easat-6259	127	3	tested	test	VERB
easat-6259	127	4	terrific	terrific	ADJ
easat-6259	127	5	upgrades	upgrade	NOUN
easat-6259	127	6	in	in	ADP
easat-6259	127	7	lane	lane	PROPN
easat-6259	127	8	recognition	recognition	PROPN
easat-6259	127	9	precision	precision	NOUN
easat-6259	127	10	in	in	ADP
easat-6259	127	11	inclement	inclement	NOUN
easat-6259	127	12	weather	weather	NOUN
easat-6259	127	13	and	and	CCONJ
easat-6259	127	14	at	at	ADP
easat-6259	127	15	night	night	NOUN
easat-6259	127	16	-	-	PUNCT
easat-6259	127	17	time	time	NOUN
easat-6259	127	18	,	,	PUNCT
easat-6259	127	19	demonstrating	demonstrate	VERB
easat-6259	127	20	its	its	PRON
easat-6259	127	21	usefulness	usefulness	NOUN
easat-6259	127	22	.	.	PUNCT
easat-6259	128	1	•	•	NUM
easat-6259	128	2	impact	impact	NOUN
easat-6259	128	3	on	on	ADP
easat-6259	128	4	technology	technology	NOUN
easat-6259	128	5	:	:	PUNCT
easat-6259	128	6	this	this	DET
easat-6259	128	7	study	study	NOUN
easat-6259	128	8	results	result	VERB
easat-6259	128	9	in	in	ADP
easat-6259	128	10	the	the	DET
easat-6259	128	11	creation	creation	NOUN
easat-6259	128	12	of	of	ADP
easat-6259	128	13	autonomous	autonomous	ADJ
easat-6259	128	14	motors	motor	NOUN
easat-6259	128	15	which	which	PRON
easat-6259	128	16	are	be	AUX
easat-6259	128	17	more	more	ADV
easat-6259	128	18	reliable	reliable	ADJ
easat-6259	128	19	and	and	CCONJ
easat-6259	128	20	effective	effective	ADJ
easat-6259	128	21	.	.	PUNCT
easat-6259	129	1	we	we	PRON
easat-6259	129	2	establish	establish	VERB
easat-6259	129	3	a	a	DET
easat-6259	129	4	basis	basis	NOUN
easat-6259	129	5	for	for	ADP
easat-6259	129	6	destiny	destiny	NOUN
easat-6259	129	7	studies	study	NOUN
easat-6259	129	8	and	and	CCONJ
easat-6259	129	9	industrial	industrial	ADJ
easat-6259	129	10	programs	program	NOUN
easat-6259	129	11	centred	centre	VERB
easat-6259	129	12	at	at	ADP
easat-6259	129	13	enhancing	enhance	VERB
easat-6259	129	14	the	the	DET
easat-6259	129	15	safety	safety	NOUN
easat-6259	129	16	and	and	CCONJ
easat-6259	129	17	effectiveness	effectiveness	NOUN
easat-6259	129	18	of	of	ADP
easat-6259	129	19	self	self	NOUN
easat-6259	129	20	-	-	PUNCT
easat-6259	129	21	driving	drive	VERB
easat-6259	129	22	technologies	technology	NOUN
easat-6259	129	23	by	by	ADP
easat-6259	129	24	improving	improve	VERB
easat-6259	129	25	edge	edge	NOUN
easat-6259	129	26	detection	detection	NOUN
easat-6259	129	27	and	and	CCONJ
easat-6259	129	28	adopting	adopt	VERB
easat-6259	129	29	cnns	cnn	NOUN
easat-6259	129	30	and	and	CCONJ
easat-6259	129	31	ml	ml	X
easat-6259	129	32	along	along	ADP
easat-6259	129	33	with	with	ADP
easat-6259	129	34	lka	lka	PROPN
easat-6259	129	35	structures	structure	NOUN
easat-6259	129	36	.	.	PUNCT
easat-6259	130	1	•	•	NUM
easat-6259	130	2	future	future	ADJ
easat-6259	130	3	research	research	NOUN
easat-6259	130	4	and	and	CCONJ
easat-6259	130	5	possible	possible	ADJ
easat-6259	130	6	directions	direction	NOUN
easat-6259	130	7	:	:	PUNCT
easat-6259	130	8	our	our	PRON
easat-6259	130	9	techniques	technique	NOUN
easat-6259	130	10	are	be	AUX
easat-6259	130	11	scalable	scalable	ADJ
easat-6259	130	12	and	and	CCONJ
easat-6259	130	13	versatile	versatile	ADJ
easat-6259	130	14	enough	enough	ADV
easat-6259	130	15	to	to	PART
easat-6259	130	16	be	be	AUX
easat-6259	130	17	applied	apply	VERB
easat-6259	130	18	to	to	ADP
easat-6259	130	19	other	other	ADJ
easat-6259	130	20	areas	area	NOUN
easat-6259	130	21	of	of	ADP
easat-6259	130	22	ads	ad	NOUN
easat-6259	130	23	,	,	PUNCT
easat-6259	130	24	like	like	ADP
easat-6259	130	25	obstacle	obstacle	NOUN
easat-6259	130	26	avoidance	avoidance	NOUN
easat-6259	130	27	and	and	CCONJ
easat-6259	130	28	pedestrian	pedestrian	NOUN
easat-6259	130	29	recognition	recognition	NOUN
easat-6259	130	30	.	.	PUNCT
easat-6259	131	1	by	by	ADP
easat-6259	131	2	further	further	ADJ
easat-6259	131	3	1304	1304	NUM
easat-6259	131	4	edelweiss	edelweiss	PROPN
easat-6259	131	5	applied	apply	VERB
easat-6259	131	6	science	science	NOUN
easat-6259	131	7	and	and	CCONJ
easat-6259	131	8	technology	technology	NOUN
easat-6259	131	9	issn	issn	PROPN
easat-6259	131	10	:	:	PUNCT
easat-6259	131	11	2576	2576	NUM
easat-6259	131	12	-	-	SYM
easat-6259	131	13	8484	8484	NUM
easat-6259	131	14	vol	vol	NOUN
easat-6259	131	15	.	.	PROPN
easat-6259	132	1	9	9	NUM
easat-6259	132	2	,	,	PUNCT
easat-6259	132	3	no	no	INTJ
easat-6259	132	4	.	.	NOUN
easat-6259	133	1	4	4	NUM
easat-6259	133	2	:	:	SYM
easat-6259	133	3	1300	1300	NUM
easat-6259	133	4	-	-	SYM
easat-6259	133	5	1331	1331	NUM
easat-6259	133	6	,	,	PUNCT
easat-6259	133	7	2025	2025	NUM
easat-6259	133	8	doi	doi	NOUN
easat-6259	133	9	:	:	PUNCT
easat-6259	133	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	133	11	©	©	PROPN
easat-6259	133	12	2025	2025	NUM
easat-6259	133	13	by	by	ADP
easat-6259	133	14	the	the	DET
easat-6259	133	15	authors	author	NOUN
easat-6259	133	16	;	;	PUNCT
easat-6259	133	17	licensee	licensee	PROPN
easat-6259	133	18	learning	learn	VERB
easat-6259	133	19	gate	gate	NOUN
easat-6259	133	20	combining	combine	VERB
easat-6259	133	21	ml	ml	NOUN
easat-6259	133	22	learning	learn	VERB
easat-6259	133	23	methods	method	NOUN
easat-6259	133	24	with	with	ADP
easat-6259	133	25	edge	edge	NOUN
easat-6259	133	26	detection	detection	NOUN
easat-6259	133	27	,	,	PUNCT
easat-6259	133	28	future	future	ADJ
easat-6259	133	29	research	research	NOUN
easat-6259	133	30	can	can	AUX
easat-6259	133	31	expand	expand	VERB
easat-6259	133	32	on	on	ADP
easat-6259	133	33	our	our	PRON
easat-6259	133	34	findings	finding	NOUN
easat-6259	133	35	and	and	CCONJ
easat-6259	133	36	improve	improve	VERB
easat-6259	133	37	performance	performance	NOUN
easat-6259	133	38	and	and	CCONJ
easat-6259	133	39	flexibility	flexibility	NOUN
easat-6259	133	40	under	under	ADP
easat-6259	133	41	a	a	DET
easat-6259	133	42	variety	variety	NOUN
easat-6259	133	43	of	of	ADP
easat-6259	133	44	driving	drive	VERB
easat-6259	133	45	scenarios	scenario	NOUN
easat-6259	133	46	.	.	PUNCT
easat-6259	134	1	•	•	NUM
easat-6259	134	2	social	social	ADJ
easat-6259	134	3	impact	impact	NOUN
easat-6259	134	4	assessment	assessment	NOUN
easat-6259	134	5	:	:	PUNCT
easat-6259	134	6	analysing	analyse	VERB
easat-6259	134	7	how	how	SCONJ
easat-6259	134	8	improved	improved	ADJ
easat-6259	134	9	ads	ad	NOUN
easat-6259	134	10	technologies	technology	NOUN
easat-6259	134	11	are	be	AUX
easat-6259	134	12	being	be	AUX
easat-6259	134	13	adopted	adopt	VERB
easat-6259	134	14	.	.	PUNCT
easat-6259	135	1	one	one	NUM
easat-6259	135	2	benefit	benefit	NOUN
easat-6259	135	3	of	of	ADP
easat-6259	135	4	these	these	DET
easat-6259	135	5	enhanced	enhance	VERB
easat-6259	135	6	automated	automate	VERB
easat-6259	135	7	technologies	technology	NOUN
easat-6259	135	8	is	be	AUX
easat-6259	135	9	a	a	DET
easat-6259	135	10	decrease	decrease	NOUN
easat-6259	135	11	in	in	ADP
easat-6259	135	12	traffic	traffic	NOUN
easat-6259	135	13	accidents	accident	NOUN
easat-6259	135	14	by	by	ADP
easat-6259	135	15	guaranteeing	guarantee	VERB
easat-6259	135	16	that	that	SCONJ
easat-6259	135	17	cars	car	NOUN
easat-6259	135	18	follow	follow	VERB
easat-6259	135	19	posted	post	VERB
easat-6259	135	20	speed	speed	NOUN
easat-6259	135	21	limits	limit	NOUN
easat-6259	135	22	and	and	CCONJ
easat-6259	135	23	reducing	reduce	VERB
easat-6259	135	24	traffic	traffic	NOUN
easat-6259	135	25	yielding	yield	VERB
easat-6259	135	26	to	to	ADP
easat-6259	135	27	less	less	ADV
easat-6259	135	28	congested	congested	ADJ
easat-6259	135	29	routes	route	NOUN
easat-6259	135	30	.	.	PUNCT
easat-6259	136	1	moreover	moreover	ADV
easat-6259	136	2	,	,	PUNCT
easat-6259	136	3	enhancing	enhance	VERB
easat-6259	136	4	the	the	DET
easat-6259	136	5	mobility	mobility	NOUN
easat-6259	136	6	of	of	ADP
easat-6259	136	7	people	people	NOUN
easat-6259	136	8	with	with	ADP
easat-6259	136	9	physical	physical	ADJ
easat-6259	136	10	limitations	limitation	NOUN
easat-6259	136	11	is	be	AUX
easat-6259	136	12	a	a	DET
easat-6259	136	13	major	major	ADJ
easat-6259	136	14	factor	factor	NOUN
easat-6259	136	15	.	.	PUNCT
easat-6259	137	1	all	all	DET
easat-6259	137	2	these	these	DET
easat-6259	137	3	advancements	advancement	NOUN
easat-6259	137	4	shorten	shorten	VERB
easat-6259	137	5	the	the	DET
easat-6259	137	6	learning	learning	NOUN
easat-6259	137	7	curve	curve	NOUN
easat-6259	137	8	,	,	PUNCT
easat-6259	137	9	boost	boost	VERB
easat-6259	137	10	the	the	DET
easat-6259	137	11	benefits	benefit	NOUN
easat-6259	137	12	of	of	ADP
easat-6259	137	13	ads	ad	NOUN
easat-6259	137	14	overall	overall	ADV
easat-6259	137	15	,	,	PUNCT
easat-6259	137	16	and	and	CCONJ
easat-6259	137	17	save	save	VERB
easat-6259	137	18	time	time	NOUN
easat-6259	137	19	.	.	PUNCT
easat-6259	138	1	ads	ad	NOUN
easat-6259	138	2	advances	advance	VERB
easat-6259	138	3	through	through	ADP
easat-6259	138	4	ongoing	ongoing	ADJ
easat-6259	138	5	research	research	NOUN
easat-6259	138	6	,	,	PUNCT
easat-6259	138	7	which	which	PRON
easat-6259	138	8	increases	increase	VERB
easat-6259	138	9	the	the	DET
easat-6259	138	10	adaptability	adaptability	NOUN
easat-6259	138	11	,	,	PUNCT
easat-6259	138	12	resilience	resilience	NOUN
easat-6259	138	13	,	,	PUNCT
easat-6259	138	14	and	and	CCONJ
easat-6259	138	15	capacity	capacity	NOUN
easat-6259	138	16	of	of	ADP
easat-6259	138	17	vehicle	vehicle	NOUN
easat-6259	138	18	systems	system	NOUN
easat-6259	138	19	to	to	PART
easat-6259	138	20	handle	handle	VERB
easat-6259	138	21	difficulties	difficulty	NOUN
easat-6259	138	22	in	in	ADP
easat-6259	138	23	unforeseen	unforeseen	ADJ
easat-6259	138	24	circumstances	circumstance	NOUN
easat-6259	138	25	.	.	PUNCT
easat-6259	139	1	this	this	DET
easat-6259	139	2	paper	paper	NOUN
easat-6259	139	3	constitutes	constitute	VERB
easat-6259	139	4	of	of	ADP
easat-6259	139	5	the	the	DET
easat-6259	139	6	following	follow	VERB
easat-6259	139	7	sections	section	NOUN
easat-6259	139	8	.	.	PUNCT
easat-6259	140	1	section	section	NOUN
easat-6259	140	2	2	2	NUM
easat-6259	140	3	provides	provide	VERB
easat-6259	140	4	a	a	DET
easat-6259	140	5	brief	brief	ADJ
easat-6259	140	6	background	background	NOUN
easat-6259	140	7	about	about	ADP
easat-6259	140	8	our	our	PRON
easat-6259	140	9	work	work	NOUN
easat-6259	140	10	.	.	PUNCT
easat-6259	141	1	then	then	ADV
easat-6259	141	2	,	,	PUNCT
easat-6259	141	3	section	section	NOUN
easat-6259	141	4	3	3	NUM
easat-6259	141	5	discusses	discuss	VERB
easat-6259	141	6	usage	usage	NOUN
easat-6259	141	7	of	of	ADP
easat-6259	141	8	computer	computer	NOUN
easat-6259	141	9	vision	vision	NOUN
easat-6259	141	10	and	and	CCONJ
easat-6259	141	11	ml	ml	X
easat-6259	141	12	for	for	ADP
easat-6259	141	13	avs	avs	PROPN
easat-6259	141	14	.	.	PUNCT
easat-6259	142	1	while	while	SCONJ
easat-6259	142	2	sections	section	NOUN
easat-6259	142	3	4	4	NUM
easat-6259	142	4	and	and	CCONJ
easat-6259	142	5	5	5	NUM
easat-6259	142	6	describe	describe	VERB
easat-6259	142	7	the	the	DET
easat-6259	142	8	state	state	NOUN
easat-6259	142	9	-	-	PUNCT
easat-6259	142	10	of	of	ADP
easat-6259	142	11	-	-	PUNCT
easat-6259	142	12	the	the	DET
easat-6259	142	13	-	-	PUNCT
easat-6259	142	14	art	art	NOUN
easat-6259	142	15	literature	literature	NOUN
easat-6259	142	16	and	and	CCONJ
easat-6259	142	17	the	the	DET
easat-6259	142	18	adopted	adopt	VERB
easat-6259	142	19	research	research	NOUN
easat-6259	142	20	methodology	methodology	NOUN
easat-6259	142	21	respectively	respectively	ADV
easat-6259	142	22	.	.	PUNCT
easat-6259	143	1	after	after	ADP
easat-6259	143	2	that	that	PRON
easat-6259	143	3	,	,	PUNCT
easat-6259	143	4	section	section	NOUN
easat-6259	143	5	6	6	NUM
easat-6259	143	6	explains	explain	VERB
easat-6259	143	7	the	the	DET
easat-6259	143	8	simulation	simulation	NOUN
easat-6259	143	9	carried	carry	VERB
easat-6259	143	10	out	out	ADP
easat-6259	143	11	in	in	ADP
easat-6259	143	12	our	our	PRON
easat-6259	143	13	work	work	NOUN
easat-6259	143	14	and	and	CCONJ
easat-6259	143	15	the	the	DET
easat-6259	143	16	obtained	obtain	VERB
easat-6259	143	17	results	result	NOUN
easat-6259	143	18	.	.	PUNCT
easat-6259	144	1	whereas	whereas	ADV
easat-6259	144	2	,	,	PUNCT
easat-6259	144	3	section	section	NOUN
easat-6259	144	4	7	7	NUM
easat-6259	144	5	compares	compare	VERB
easat-6259	144	6	our	our	PRON
easat-6259	144	7	work	work	NOUN
easat-6259	144	8	with	with	ADP
easat-6259	144	9	other	other	ADJ
easat-6259	144	10	existing	exist	VERB
easat-6259	144	11	approaches	approach	NOUN
easat-6259	144	12	.	.	PUNCT
easat-6259	145	1	finally	finally	ADV
easat-6259	145	2	,	,	PUNCT
easat-6259	145	3	we	we	PRON
easat-6259	145	4	conclude	conclude	VERB
easat-6259	145	5	this	this	DET
easat-6259	145	6	paper	paper	NOUN
easat-6259	145	7	and	and	CCONJ
easat-6259	145	8	provide	provide	VERB
easat-6259	145	9	some	some	DET
easat-6259	145	10	future	future	ADJ
easat-6259	145	11	insights	insight	NOUN
easat-6259	145	12	in	in	ADP
easat-6259	145	13	section	section	NOUN
easat-6259	145	14	8	8	NUM
easat-6259	145	15	.	.	NOUN
easat-6259	146	1	2	2	NUM
easat-6259	146	2	.	.	X
easat-6259	146	3	background	background	NOUN
easat-6259	146	4	2.1	2.1	NUM
easat-6259	146	5	.	.	PUNCT
easat-6259	147	1	system	system	NOUN
easat-6259	147	2	architecture	architecture	NOUN
easat-6259	147	3	the	the	DET
easat-6259	147	4	categorization	categorization	NOUN
easat-6259	147	5	of	of	ADP
easat-6259	147	6	ads	ad	NOUN
easat-6259	147	7	architectures	architecture	NOUN
easat-6259	147	8	is	be	AUX
easat-6259	147	9	illustrated	illustrate	VERB
easat-6259	147	10	in	in	ADP
easat-6259	147	11	figure	figure	NOUN
easat-6259	147	12	1	1	NUM
easat-6259	148	1	[	[	X
easat-6259	148	2	3	3	NUM
easat-6259	148	3	]	]	PUNCT
easat-6259	148	4	.	.	PUNCT
easat-6259	149	1	adss	adss	PROPN
easat-6259	149	2	are	be	AUX
easat-6259	149	3	formulated	formulate	VERB
easat-6259	149	4	in	in	ADP
easat-6259	149	5	either	either	CCONJ
easat-6259	149	6	standalone	standalone	ADJ
easat-6259	149	7	configurations	configuration	NOUN
easat-6259	149	8	,	,	PUNCT
easat-6259	149	9	functioning	function	VERB
easat-6259	149	10	exclusively	exclusively	ADV
easat-6259	149	11	for	for	ADP
easat-6259	149	12	the	the	DET
easat-6259	149	13	host	host	NOUN
easat-6259	149	14	vehicle	vehicle	NOUN
easat-6259	149	15	(	(	PUNCT
easat-6259	149	16	ego	ego	NOUN
easat-6259	149	17	-	-	PUNCT
easat-6259	149	18	only	only	ADJ
easat-6259	149	19	systems	system	NOUN
easat-6259	149	20	)	)	PUNCT
easat-6259	149	21	,	,	PUNCT
easat-6259	149	22	or	or	CCONJ
easat-6259	149	23	as	as	ADP
easat-6259	149	24	interconnected	interconnected	ADJ
easat-6259	149	25	multi	multi	ADJ
easat-6259	149	26	-	-	ADJ
easat-6259	149	27	agent	agent	ADJ
easat-6259	149	28	systems	system	NOUN
easat-6259	149	29	.	.	PUNCT
easat-6259	150	1	additionally	additionally	ADV
easat-6259	150	2	,	,	PUNCT
easat-6259	150	3	these	these	DET
easat-6259	150	4	design	design	NOUN
easat-6259	150	5	principles	principle	NOUN
easat-6259	150	6	are	be	AUX
easat-6259	150	7	implemented	implement	VERB
easat-6259	150	8	through	through	ADP
easat-6259	150	9	two	two	NUM
easat-6259	150	10	distinct	distinct	ADJ
easat-6259	150	11	approaches	approach	NOUN
easat-6259	150	12	:	:	PUNCT
easat-6259	150	13	modular	modular	ADJ
easat-6259	150	14	and	and	CCONJ
easat-6259	150	15	end	end	NOUN
easat-6259	150	16	-	-	PUNCT
easat-6259	150	17	to	to	ADP
easat-6259	150	18	-	-	PUNCT
easat-6259	150	19	end	end	NOUN
easat-6259	150	20	driving	driving	NOUN
easat-6259	150	21	approaches	approach	NOUN
easat-6259	150	22	.	.	PUNCT
easat-6259	151	1	figure	figure	NOUN
easat-6259	151	2	1	1	NUM
easat-6259	151	3	.	.	PUNCT
easat-6259	152	1	high	high	ADJ
easat-6259	152	2	-	-	PUNCT
easat-6259	152	3	level	level	NOUN
easat-6259	152	4	automated	automate	VERB
easat-6259	152	5	driving	driving	NOUN
easat-6259	152	6	system	system	NOUN
easat-6259	152	7	architectures	architecture	NOUN
easat-6259	152	8	.	.	PUNCT
easat-6259	153	1	2.1.1	2.1.1	X
easat-6259	153	2	.	.	X
easat-6259	153	3	ego	ego	NOUN
easat-6259	153	4	-	-	PUNCT
easat-6259	153	5	only	only	ADJ
easat-6259	153	6	system	system	NOUN
easat-6259	153	7	the	the	DET
easat-6259	153	8	execution	execution	NOUN
easat-6259	153	9	of	of	ADP
easat-6259	153	10	driving	driving	NOUN
easat-6259	153	11	's	's	PART
easat-6259	153	12	basic	basic	ADJ
easat-6259	153	13	functions	function	NOUN
easat-6259	153	14	is	be	AUX
easat-6259	153	15	essential	essential	ADJ
easat-6259	153	16	.	.	PUNCT
easat-6259	154	1	the	the	DET
easat-6259	154	2	vehicle	vehicle	NOUN
easat-6259	154	3	’s	’s	PART
easat-6259	154	4	automated	automate	VERB
easat-6259	154	5	driving	driving	NOUN
easat-6259	154	6	,	,	PUNCT
easat-6259	154	7	which	which	PRON
easat-6259	154	8	may	may	AUX
easat-6259	154	9	depend	depend	VERB
easat-6259	154	10	on	on	ADP
easat-6259	154	11	other	other	ADJ
easat-6259	154	12	cars	car	NOUN
easat-6259	154	13	and	and	CCONJ
easat-6259	154	14	infrastructural	infrastructural	ADJ
easat-6259	154	15	components	component	NOUN
easat-6259	154	16	,	,	PUNCT
easat-6259	154	17	is	be	AUX
easat-6259	154	18	one	one	NUM
easat-6259	154	19	of	of	ADP
easat-6259	154	20	the	the	DET
easat-6259	154	21	necessary	necessary	ADJ
easat-6259	154	22	functions	function	NOUN
easat-6259	154	23	.	.	PUNCT
easat-6259	155	1	but	but	CCONJ
easat-6259	155	2	strategy	strategy	NOUN
easat-6259	155	3	is	be	AUX
easat-6259	155	4	not	not	PART
easat-6259	155	5	the	the	DET
easat-6259	155	6	only	only	ADJ
easat-6259	155	7	thing	thing	NOUN
easat-6259	155	8	that	that	PRON
easat-6259	155	9	the	the	DET
easat-6259	155	10	ads	ad	NOUN
easat-6259	155	11	relies	rely	VERB
easat-6259	155	12	on	on	ADP
easat-6259	155	13	.	.	PUNCT
easat-6259	156	1	it	it	PRON
easat-6259	156	2	is	be	AUX
easat-6259	156	3	a	a	DET
easat-6259	156	4	networked	networked	ADJ
easat-6259	156	5	ads	ad	NOUN
easat-6259	156	6	,	,	PUNCT
easat-6259	156	7	and	and	CCONJ
easat-6259	156	8	most	most	ADJ
easat-6259	156	9	of	of	ADP
easat-6259	156	10	its	its	PRON
easat-6259	156	11	peers	peer	NOUN
easat-6259	156	12	use	use	VERB
easat-6259	156	13	the	the	DET
easat-6259	156	14	selfapproach	selfapproach	NOUN
easat-6259	156	15	.	.	PUNCT
easat-6259	157	1	this	this	PRON
easat-6259	157	2	is	be	AUX
easat-6259	157	3	mostly	mostly	ADV
easat-6259	157	4	because	because	SCONJ
easat-6259	157	5	of	of	ADP
easat-6259	157	6	how	how	SCONJ
easat-6259	157	7	adss	adss	PROPN
easat-6259	157	8	are	be	AUX
easat-6259	157	9	developed	develop	VERB
easat-6259	157	10	and	and	CCONJ
easat-6259	157	11	the	the	DET
easat-6259	157	12	extra	extra	ADJ
easat-6259	157	13	complexity	complexity	NOUN
easat-6259	157	14	that	that	PRON
easat-6259	157	15	comes	come	VERB
easat-6259	157	16	with	with	ADP
easat-6259	157	17	linked	link	VERB
easat-6259	157	18	systems	system	NOUN
easat-6259	157	19	[	[	X
easat-6259	157	20	4	4	NUM
easat-6259	157	21	]	]	PUNCT
easat-6259	157	22	.	.	PUNCT
easat-6259	158	1	1305	1305	NUM
easat-6259	158	2	edelweiss	edelweiss	PROPN
easat-6259	158	3	applied	apply	VERB
easat-6259	158	4	science	science	NOUN
easat-6259	158	5	and	and	CCONJ
easat-6259	158	6	technology	technology	NOUN
easat-6259	158	7	issn	issn	PROPN
easat-6259	158	8	:	:	PUNCT
easat-6259	158	9	2576	2576	NUM
easat-6259	158	10	-	-	SYM
easat-6259	158	11	8484	8484	NUM
easat-6259	158	12	vol	vol	NOUN
easat-6259	158	13	.	.	PROPN
easat-6259	159	1	9	9	NUM
easat-6259	159	2	,	,	PUNCT
easat-6259	159	3	no	no	INTJ
easat-6259	159	4	.	.	NOUN
easat-6259	160	1	4	4	NUM
easat-6259	160	2	:	:	SYM
easat-6259	160	3	1300	1300	NUM
easat-6259	160	4	-	-	SYM
easat-6259	160	5	1331	1331	NUM
easat-6259	160	6	,	,	PUNCT
easat-6259	160	7	2025	2025	NUM
easat-6259	160	8	doi	doi	NOUN
easat-6259	160	9	:	:	PUNCT
easat-6259	160	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	160	11	©	©	PROPN
easat-6259	160	12	2025	2025	NUM
easat-6259	160	13	by	by	ADP
easat-6259	160	14	the	the	DET
easat-6259	160	15	authors	author	NOUN
easat-6259	160	16	;	;	PUNCT
easat-6259	160	17	licensee	licensee	PROPN
easat-6259	160	18	learning	learn	VERB
easat-6259	160	19	gate	gate	PROPN
easat-6259	160	20	2.1.2	2.1.2	PROPN
easat-6259	160	21	.	.	PUNCT
easat-6259	160	22	modular	modular	ADJ
easat-6259	160	23	systems	system	NOUN
easat-6259	160	24	modular	modular	NOUN
easat-6259	160	25	systems	system	NOUN
easat-6259	160	26	comprise	comprise	VERB
easat-6259	160	27	a	a	DET
easat-6259	160	28	series	series	NOUN
easat-6259	160	29	of	of	ADP
easat-6259	160	30	independent	independent	ADJ
easat-6259	160	31	parts	part	NOUN
easat-6259	160	32	,	,	PUNCT
easat-6259	160	33	each	each	PRON
easat-6259	160	34	linking	link	VERB
easat-6259	160	35	actuator	actuator	NOUN
easat-6259	160	36	outputs	output	NOUN
easat-6259	160	37	to	to	ADP
easat-6259	160	38	sensory	sensory	ADJ
easat-6259	160	39	inputs	input	NOUN
easat-6259	160	40	.	.	PUNCT
easat-6259	161	1	perception	perception	NOUN
easat-6259	161	2	,	,	PUNCT
easat-6259	161	3	evaluation	evaluation	NOUN
easat-6259	161	4	,	,	PUNCT
easat-6259	161	5	planning	planning	NOUN
easat-6259	161	6	and	and	CCONJ
easat-6259	161	7	decision	decision	NOUN
easat-6259	161	8	-	-	PUNCT
easat-6259	161	9	making	making	NOUN
easat-6259	161	10	,	,	PUNCT
easat-6259	161	11	mapping	mapping	NOUN
easat-6259	161	12	and	and	CCONJ
easat-6259	161	13	localization	localization	NOUN
easat-6259	161	14	,	,	PUNCT
easat-6259	161	15	vehicle	vehicle	NOUN
easat-6259	161	16	control	control	NOUN
easat-6259	161	17	,	,	PUNCT
easat-6259	161	18	and	and	CCONJ
easat-6259	161	19	human	human	ADJ
easat-6259	161	20	-	-	PUNCT
easat-6259	161	21	machine	machine	NOUN
easat-6259	161	22	interface	interface	NOUN
easat-6259	161	23	form	form	NOUN
easat-6259	161	24	are	be	AUX
easat-6259	161	25	the	the	DET
easat-6259	161	26	core	core	NOUN
easat-6259	161	27	functionalities	functionality	NOUN
easat-6259	161	28	of	of	ADP
easat-6259	161	29	modular	modular	ADJ
easat-6259	161	30	ads	ad	NOUN
easat-6259	161	31	.	.	PUNCT
easat-6259	162	1	typical	typical	ADJ
easat-6259	162	2	modular	modular	ADJ
easat-6259	162	3	pipelines	pipeline	NOUN
easat-6259	162	4	start	start	VERB
easat-6259	162	5	with	with	ADP
easat-6259	162	6	raw	raw	ADJ
easat-6259	162	7	sensor	sensor	NOUN
easat-6259	162	8	data	datum	NOUN
easat-6259	162	9	fed	feed	VERB
easat-6259	162	10	into	into	ADP
easat-6259	162	11	the	the	DET
easat-6259	162	12	localization	localization	NOUN
easat-6259	162	13	and	and	CCONJ
easat-6259	162	14	object	object	VERB
easat-6259	162	15	detection	detection	NOUN
easat-6259	162	16	modules	module	NOUN
easat-6259	162	17	and	and	CCONJ
easat-6259	162	18	then	then	ADV
easat-6259	162	19	progress	progress	VERB
easat-6259	162	20	to	to	PART
easat-6259	162	21	scene	scene	VERB
easat-6259	162	22	prediction	prediction	NOUN
easat-6259	162	23	and	and	CCONJ
easat-6259	162	24	the	the	DET
easat-6259	162	25	decision	decision	NOUN
easat-6259	162	26	-	-	PUNCT
easat-6259	162	27	making	make	VERB
easat-6259	162	28	phases	phase	NOUN
easat-6259	162	29	.	.	PUNCT
easat-6259	163	1	separate	separate	ADJ
easat-6259	163	2	development	development	NOUN
easat-6259	163	3	is	be	AUX
easat-6259	163	4	enabled	enable	VERB
easat-6259	163	5	by	by	ADP
easat-6259	163	6	breaking	break	VERB
easat-6259	163	7	down	down	ADP
easat-6259	163	8	this	this	DET
easat-6259	163	9	complex	complex	ADJ
easat-6259	163	10	task	task	NOUN
easat-6259	163	11	of	of	ADP
easat-6259	163	12	automated	automate	VERB
easat-6259	163	13	driving	driving	NOUN
easat-6259	163	14	into	into	ADP
easat-6259	163	15	modules	module	NOUN
easat-6259	163	16	,	,	PUNCT
easat-6259	163	17	drawing	draw	VERB
easat-6259	163	18	on	on	ADP
easat-6259	163	19	existing	exist	VERB
easat-6259	163	20	knowledge	knowledge	NOUN
easat-6259	163	21	from	from	ADP
easat-6259	163	22	robotics	robotic	NOUN
easat-6259	163	23	,	,	PUNCT
easat-6259	163	24	computer	computer	NOUN
easat-6259	163	25	vision	vision	NOUN
easat-6259	163	26	,	,	PUNCT
easat-6259	163	27	and	and	CCONJ
easat-6259	163	28	vehicle	vehicle	NOUN
easat-6259	163	29	dynamics	dynamic	NOUN
easat-6259	163	30	.	.	PUNCT
easat-6259	164	1	the	the	DET
easat-6259	164	2	real	real	ADJ
easat-6259	164	3	benefits	benefit	NOUN
easat-6259	164	4	of	of	ADP
easat-6259	164	5	modular	modular	ADJ
easat-6259	164	6	systems	system	NOUN
easat-6259	164	7	are	be	AUX
easat-6259	164	8	related	relate	VERB
easat-6259	164	9	to	to	ADP
easat-6259	164	10	the	the	DET
easat-6259	164	11	transferable	transferable	ADJ
easat-6259	164	12	experience	experience	NOUN
easat-6259	164	13	in	in	ADP
easat-6259	164	14	which	which	PRON
easat-6259	164	15	algorithms	algorithm	NOUN
easat-6259	164	16	and	and	CCONJ
easat-6259	164	17	functions	function	NOUN
easat-6259	164	18	can	can	AUX
easat-6259	164	19	develop	develop	VERB
easat-6259	164	20	and	and	CCONJ
easat-6259	164	21	be	be	AUX
easat-6259	164	22	integrated	integrate	VERB
easat-6259	164	23	into	into	ADP
easat-6259	164	24	such	such	DET
easat-6259	164	25	a	a	DET
easat-6259	164	26	modular	modular	ADJ
easat-6259	164	27	framework	framework	NOUN
easat-6259	164	28	.	.	PUNCT
easat-6259	165	1	for	for	ADP
easat-6259	165	2	example	example	NOUN
easat-6259	165	3	,	,	PUNCT
easat-6259	165	4	safety	safety	NOUN
easat-6259	165	5	can	can	AUX
easat-6259	165	6	be	be	AUX
easat-6259	165	7	put	put	VERB
easat-6259	165	8	on	on	ADP
easat-6259	165	9	top	top	NOUN
easat-6259	165	10	of	of	ADP
easat-6259	165	11	an	an	DET
easat-6259	165	12	advanced	advanced	ADJ
easat-6259	165	13	planning	planning	NOUN
easat-6259	165	14	module	module	NOUN
easat-6259	165	15	to	to	PART
easat-6259	165	16	enforce	enforce	VERB
easat-6259	165	17	specific	specific	ADJ
easat-6259	165	18	emergency	emergency	NOUN
easat-6259	165	19	procedures	procedure	NOUN
easat-6259	165	20	without	without	ADP
easat-6259	165	21	modifying	modify	VERB
easat-6259	165	22	the	the	DET
easat-6259	165	23	architecture	architecture	NOUN
easat-6259	165	24	’s	’s	PART
easat-6259	165	25	internal	internal	ADJ
easat-6259	165	26	operations	operation	NOUN
easat-6259	165	27	,	,	PUNCT
easat-6259	165	28	which	which	PRON
easat-6259	165	29	facilitates	facilitate	VERB
easat-6259	165	30	the	the	DET
easat-6259	165	31	development	development	NOUN
easat-6259	165	32	of	of	ADP
easat-6259	165	33	redundant	redundant	ADJ
easat-6259	165	34	yet	yet	CCONJ
easat-6259	165	35	reliable	reliable	ADJ
easat-6259	165	36	architectures	architecture	NOUN
easat-6259	165	37	.	.	PUNCT
easat-6259	166	1	however	however	ADV
easat-6259	166	2	,	,	PUNCT
easat-6259	166	3	over	over	ADP
easat-6259	166	4	-	-	PUNCT
easat-6259	166	5	complexity	complexity	NOUN
easat-6259	166	6	and	and	CCONJ
easat-6259	166	7	the	the	DET
easat-6259	166	8	possibility	possibility	NOUN
easat-6259	166	9	of	of	ADP
easat-6259	166	10	error	error	NOUN
easat-6259	166	11	propagation	propagation	NOUN
easat-6259	166	12	are	be	AUX
easat-6259	166	13	significant	significant	ADJ
easat-6259	166	14	drawbacks	drawback	NOUN
easat-6259	166	15	of	of	ADP
easat-6259	166	16	modular	modular	ADJ
easat-6259	166	17	systems	system	NOUN
easat-6259	166	18	.	.	PUNCT
easat-6259	167	1	2.1.3	2.1.3	NUM
easat-6259	167	2	.	.	PUNCT
easat-6259	167	3	end	end	NOUN
easat-6259	167	4	-	-	PUNCT
easat-6259	167	5	to	to	ADP
easat-6259	167	6	-	-	PUNCT
easat-6259	167	7	end	end	NOUN
easat-6259	167	8	driving	drive	VERB
easat-6259	167	9	end	end	NOUN
easat-6259	167	10	-	-	PUNCT
easat-6259	167	11	to	to	ADP
easat-6259	167	12	-	-	PUNCT
easat-6259	167	13	end	end	NOUN
easat-6259	167	14	driving	driving	NOUN
easat-6259	167	15	is	be	AUX
easat-6259	167	16	directly	directly	ADV
easat-6259	167	17	derived	derive	VERB
easat-6259	167	18	from	from	ADP
easat-6259	167	19	the	the	DET
easat-6259	167	20	sensors	sensor	NOUN
easat-6259	167	21	and	and	CCONJ
easat-6259	167	22	detectors	detector	NOUN
easat-6259	167	23	through	through	ADP
easat-6259	167	24	drive	drive	ADJ
easat-6259	167	25	and	and	CCONJ
easat-6259	167	26	direct	direct	ADJ
easat-6259	167	27	perception	perception	NOUN
easat-6259	167	28	.	.	PUNCT
easat-6259	168	1	continuously	continuously	ADV
easat-6259	168	2	monitoring	monitor	VERB
easat-6259	168	3	the	the	DET
easat-6259	168	4	steering	steering	NOUN
easat-6259	168	5	wheel	wheel	NOUN
easat-6259	168	6	and	and	CCONJ
easat-6259	168	7	pedals	pedal	NOUN
easat-6259	168	8	are	be	AUX
easat-6259	168	9	required	require	VERB
easat-6259	168	10	,	,	PUNCT
easat-6259	168	11	with	with	ADP
easat-6259	168	12	an	an	DET
easat-6259	168	13	emphasis	emphasis	NOUN
easat-6259	168	14	on	on	ADP
easat-6259	168	15	accelerating	accelerate	VERB
easat-6259	168	16	the	the	DET
easat-6259	168	17	car	car	NOUN
easat-6259	168	18	and	and	CCONJ
easat-6259	168	19	slowing	slow	VERB
easat-6259	168	20	it	it	PRON
easat-6259	168	21	during	during	ADP
easat-6259	168	22	turns	turn	NOUN
easat-6259	168	23	,	,	PUNCT
easat-6259	168	24	managing	manage	VERB
easat-6259	168	25	turns	turn	NOUN
easat-6259	168	26	in	in	ADP
easat-6259	168	27	ego	ego	NOUN
easat-6259	168	28	-	-	PUNCT
easat-6259	168	29	motion	motion	NOUN
easat-6259	168	30	.	.	PUNCT
easat-6259	169	1	dl	dl	PROPN
easat-6259	169	2	and	and	CCONJ
easat-6259	169	3	ai	ai	VERB
easat-6259	169	4	are	be	AUX
easat-6259	169	5	essential	essential	ADJ
easat-6259	169	6	to	to	ADP
easat-6259	169	7	this	this	DET
easat-6259	169	8	form	form	NOUN
easat-6259	169	9	of	of	ADP
easat-6259	169	10	driving	drive	VERB
easat-6259	169	11	since	since	SCONJ
easat-6259	169	12	they	they	PRON
easat-6259	169	13	thwart	thwart	VERB
easat-6259	169	14	direct	direct	ADJ
easat-6259	169	15	monitoring	monitoring	NOUN
easat-6259	169	16	of	of	ADP
easat-6259	169	17	the	the	DET
easat-6259	169	18	vehicle	vehicle	NOUN
easat-6259	169	19	and	and	CCONJ
easat-6259	169	20	used	use	VERB
easat-6259	169	21	in	in	ADP
easat-6259	169	22	deep	deep	ADJ
easat-6259	169	23	reinforcement	reinforcement	NOUN
easat-6259	169	24	learning	learning	NOUN
easat-6259	169	25	(	(	PUNCT
easat-6259	169	26	rl	rl	NOUN
easat-6259	169	27	)	)	PUNCT
easat-6259	169	28	.	.	PUNCT
easat-6259	170	1	based	base	VERB
easat-6259	170	2	on	on	ADP
easat-6259	170	3	the	the	DET
easat-6259	170	4	requirements	requirement	NOUN
easat-6259	170	5	,	,	PUNCT
easat-6259	170	6	limitations	limitation	NOUN
easat-6259	170	7	,	,	PUNCT
easat-6259	170	8	and	and	CCONJ
easat-6259	170	9	mission	mission	NOUN
easat-6259	170	10	of	of	ADP
easat-6259	170	11	ads	ad	NOUN
easat-6259	170	12	,	,	PUNCT
easat-6259	170	13	all	all	DET
easat-6259	170	14	driving	drive	VERB
easat-6259	170	15	systems	system	NOUN
easat-6259	170	16	have	have	AUX
easat-6259	170	17	so	so	ADV
easat-6259	170	18	far	far	ADV
easat-6259	170	19	demonstrated	demonstrate	VERB
easat-6259	170	20	disadvantages	disadvantage	NOUN
easat-6259	170	21	alongside	alongside	ADP
easat-6259	170	22	the	the	DET
easat-6259	170	23	benefits	benefit	NOUN
easat-6259	170	24	[	[	X
easat-6259	170	25	5	5	NUM
easat-6259	170	26	]	]	PUNCT
easat-6259	170	27	.	.	PUNCT
easat-6259	171	1	2.2	2.2	NUM
easat-6259	171	2	.	.	PUNCT
easat-6259	171	3	ads	ad	NOUN
easat-6259	171	4	implementation	implementation	VERB
easat-6259	171	5	the	the	DET
easat-6259	171	6	integration	integration	NOUN
easat-6259	171	7	of	of	ADP
easat-6259	171	8	ads	ad	NOUN
easat-6259	171	9	through	through	ADP
easat-6259	171	10	modular	modular	ADJ
easat-6259	171	11	systems	system	NOUN
easat-6259	171	12	comprises	comprise	VERB
easat-6259	171	13	several	several	ADJ
easat-6259	171	14	essential	essential	ADJ
easat-6259	171	15	elements	element	NOUN
easat-6259	171	16	[	[	X
easat-6259	171	17	6	6	NUM
easat-6259	171	18	]	]	SYM
easat-6259	171	19	:	:	PUNCT
easat-6259	172	1	•	•	NUM
easat-6259	172	2	plans	plan	NOUN
easat-6259	172	3	for	for	ADP
easat-6259	172	4	sensors	sensor	NOUN
easat-6259	172	5	:	:	PUNCT
easat-6259	172	6	plans	plan	NOUN
easat-6259	172	7	for	for	ADP
easat-6259	172	8	sensors	sensor	NOUN
easat-6259	172	9	have	have	VERB
easat-6259	172	10	a	a	DET
easat-6259	172	11	unique	unique	ADJ
easat-6259	172	12	set	set	NOUN
easat-6259	172	13	of	of	ADP
easat-6259	172	14	advantages	advantage	NOUN
easat-6259	172	15	and	and	CCONJ
easat-6259	172	16	disadvantages	disadvantage	NOUN
easat-6259	172	17	.	.	PUNCT
easat-6259	173	1	the	the	DET
easat-6259	173	2	selection	selection	NOUN
easat-6259	173	3	of	of	ADP
easat-6259	173	4	sensor	sensor	NOUN
easat-6259	173	5	arrangement	arrangement	NOUN
easat-6259	173	6	is	be	AUX
easat-6259	173	7	contingent	contingent	ADJ
easat-6259	173	8	upon	upon	SCONJ
easat-6259	173	9	a	a	DET
easat-6259	173	10	number	number	NOUN
easat-6259	173	11	of	of	ADP
easat-6259	173	12	aspects	aspect	NOUN
easat-6259	173	13	related	relate	VERB
easat-6259	173	14	to	to	ADP
easat-6259	173	15	the	the	DET
easat-6259	173	16	capabilities	capability	NOUN
easat-6259	173	17	of	of	ADP
easat-6259	173	18	the	the	DET
easat-6259	173	19	vehicle	vehicle	NOUN
easat-6259	173	20	.	.	PUNCT
easat-6259	174	1	•	•	NUM
easat-6259	174	2	software	software	NOUN
easat-6259	174	3	architecture	architecture	NOUN
easat-6259	174	4	:	:	PUNCT
easat-6259	174	5	the	the	DET
easat-6259	174	6	software	software	NOUN
easat-6259	174	7	architecture	architecture	NOUN
easat-6259	174	8	of	of	ADP
easat-6259	174	9	an	an	DET
easat-6259	174	10	autonomous	autonomous	ADJ
easat-6259	174	11	vehicle	vehicle	NOUN
easat-6259	174	12	(	(	PUNCT
easat-6259	174	13	av	av	NOUN
easat-6259	174	14	)	)	PUNCT
easat-6259	174	15	plays	play	VERB
easat-6259	174	16	a	a	DET
easat-6259	174	17	critical	critical	ADJ
easat-6259	174	18	role	role	NOUN
easat-6259	174	19	in	in	ADP
easat-6259	174	20	enhancing	enhance	VERB
easat-6259	174	21	its	its	PRON
easat-6259	174	22	perception	perception	NOUN
easat-6259	174	23	and	and	CCONJ
easat-6259	174	24	planning	planning	NOUN
easat-6259	174	25	capabilities	capability	NOUN
easat-6259	174	26	,	,	PUNCT
easat-6259	174	27	often	often	ADV
easat-6259	174	28	improved	improve	VERB
easat-6259	174	29	through	through	ADP
easat-6259	174	30	simultaneous	simultaneous	ADJ
easat-6259	174	31	localization	localization	NOUN
easat-6259	174	32	and	and	CCONJ
easat-6259	174	33	mapping	mapping	NOUN
easat-6259	174	34	(	(	PUNCT
easat-6259	174	35	slam	slam	PROPN
easat-6259	174	36	)	)	PUNCT
easat-6259	174	37	.	.	PUNCT
easat-6259	175	1	•	•	NUM
easat-6259	175	2	data	datum	NOUN
easat-6259	175	3	acquisition	acquisition	NOUN
easat-6259	175	4	:	:	PUNCT
easat-6259	175	5	data	datum	NOUN
easat-6259	175	6	acquisition	acquisition	NOUN
easat-6259	175	7	is	be	AUX
easat-6259	175	8	a	a	DET
easat-6259	175	9	crucial	crucial	ADJ
easat-6259	175	10	aspect	aspect	NOUN
easat-6259	175	11	of	of	ADP
easat-6259	175	12	autonomous	autonomous	ADJ
easat-6259	175	13	systems	system	NOUN
easat-6259	175	14	,	,	PUNCT
easat-6259	175	15	with	with	ADP
easat-6259	175	16	data	datum	NOUN
easat-6259	175	17	collected	collect	VERB
easat-6259	175	18	from	from	ADP
easat-6259	175	19	various	various	ADJ
easat-6259	175	20	sensors	sensor	NOUN
easat-6259	175	21	utilized	utilize	VERB
easat-6259	175	22	for	for	ADP
easat-6259	175	23	environment	environment	NOUN
easat-6259	175	24	perception	perception	NOUN
easat-6259	175	25	and	and	CCONJ
easat-6259	175	26	decision	decision	NOUN
easat-6259	175	27	-	-	PUNCT
easat-6259	175	28	making	making	NOUN
easat-6259	175	29	.	.	PUNCT
easat-6259	176	1	•	•	NOUN
easat-6259	176	2	perception	perception	NOUN
easat-6259	176	3	algorithms	algorithm	NOUN
easat-6259	176	4	:	:	PUNCT
easat-6259	176	5	utilized	utilize	VERB
easat-6259	176	6	to	to	PART
easat-6259	176	7	process	process	VERB
easat-6259	176	8	data	datum	NOUN
easat-6259	176	9	obtained	obtain	VERB
easat-6259	176	10	from	from	ADP
easat-6259	176	11	sensors	sensor	NOUN
easat-6259	176	12	,	,	PUNCT
easat-6259	176	13	perception	perception	NOUN
easat-6259	176	14	algorithms	algorithm	NOUN
easat-6259	176	15	are	be	AUX
easat-6259	176	16	instrumental	instrumental	ADJ
easat-6259	176	17	in	in	ADP
easat-6259	176	18	comprehending	comprehend	VERB
easat-6259	176	19	the	the	DET
easat-6259	176	20	surrounding	surround	VERB
easat-6259	176	21	environment	environment	NOUN
easat-6259	176	22	.	.	PUNCT
easat-6259	177	1	•	•	NUM
easat-6259	177	2	vehicle	vehicle	NOUN
easat-6259	177	3	interfacing	interfacing	NOUN
easat-6259	177	4	:	:	PUNCT
easat-6259	177	5	this	this	PRON
easat-6259	177	6	involves	involve	VERB
easat-6259	177	7	the	the	DET
easat-6259	177	8	interaction	interaction	NOUN
easat-6259	177	9	between	between	ADP
easat-6259	177	10	the	the	DET
easat-6259	177	11	autonomous	autonomous	ADJ
easat-6259	177	12	system	system	NOUN
easat-6259	177	13	and	and	CCONJ
easat-6259	177	14	the	the	DET
easat-6259	177	15	hardware	hardware	NOUN
easat-6259	177	16	of	of	ADP
easat-6259	177	17	the	the	DET
easat-6259	177	18	vehicle	vehicle	NOUN
easat-6259	177	19	.	.	PUNCT
easat-6259	178	1	•	•	NUM
easat-6259	178	2	failsafe	failsafe	ADJ
easat-6259	178	3	and	and	CCONJ
easat-6259	178	4	fail	fail	ADV
easat-6259	178	5	-	-	PUNCT
easat-6259	178	6	operational	operational	ADJ
easat-6259	178	7	functionalities	functionality	NOUN
easat-6259	178	8	:	:	PUNCT
easat-6259	178	9	these	these	DET
easat-6259	178	10	functionalities	functionality	NOUN
easat-6259	178	11	are	be	AUX
easat-6259	178	12	integral	integral	ADJ
easat-6259	178	13	for	for	ADP
easat-6259	178	14	ensuring	ensure	VERB
easat-6259	178	15	the	the	DET
easat-6259	178	16	safety	safety	NOUN
easat-6259	178	17	of	of	ADP
easat-6259	178	18	the	the	DET
easat-6259	178	19	passengers	passenger	NOUN
easat-6259	178	20	and	and	CCONJ
easat-6259	178	21	reliability	reliability	NOUN
easat-6259	178	22	of	of	ADP
easat-6259	178	23	the	the	DET
easat-6259	178	24	ads	ad	NOUN
easat-6259	178	25	architecture	architecture	NOUN
easat-6259	178	26	.	.	PUNCT
easat-6259	179	1	•	•	NUM
easat-6259	179	2	dl	dl	PROPN
easat-6259	179	3	applications	application	NOUN
easat-6259	179	4	:	:	PUNCT
easat-6259	179	5	the	the	DET
easat-6259	179	6	growth	growth	NOUN
easat-6259	179	7	of	of	ADP
easat-6259	179	8	using	use	VERB
easat-6259	179	9	dl	dl	PROPN
easat-6259	179	10	applications	application	NOUN
easat-6259	179	11	in	in	AUX
easat-6259	179	12	develop	develop	VERB
easat-6259	179	13	ads	ad	NOUN
easat-6259	179	14	forms	form	VERB
easat-6259	179	15	the	the	DET
easat-6259	179	16	foundation	foundation	NOUN
easat-6259	179	17	for	for	ADP
easat-6259	179	18	scene	scene	NOUN
easat-6259	179	19	perception	perception	NOUN
easat-6259	179	20	,	,	PUNCT
easat-6259	179	21	path	path	NOUN
easat-6259	179	22	planning	planning	NOUN
easat-6259	179	23	,	,	PUNCT
easat-6259	179	24	and	and	CCONJ
easat-6259	179	25	algorithm	algorithm	NOUN
easat-6259	179	26	behaviour	behaviour	NOUN
easat-6259	179	27	regulation	regulation	NOUN
easat-6259	179	28	.	.	PUNCT
easat-6259	180	1	•	•	NUM
easat-6259	180	2	model	model	NOUN
easat-6259	180	3	based	base	VERB
easat-6259	180	4	safety	safety	NOUN
easat-6259	180	5	analysis	analysis	NOUN
easat-6259	180	6	(	(	PUNCT
easat-6259	180	7	mbsa	mbsa	NOUN
easat-6259	180	8	):	):	PUNCT
easat-6259	180	9	when	when	SCONJ
easat-6259	180	10	used	use	VERB
easat-6259	180	11	on	on	ADP
easat-6259	180	12	an	an	DET
easat-6259	180	13	advanced	advanced	ADJ
easat-6259	180	14	driver	driver	NOUN
easat-6259	180	15	assistance	assistance	NOUN
easat-6259	180	16	system	system	NOUN
easat-6259	180	17	(	(	PUNCT
easat-6259	180	18	adas	adas	PROPN
easat-6259	180	19	)	)	PUNCT
easat-6259	180	20	,	,	PUNCT
easat-6259	180	21	modular	modular	PROPN
easat-6259	180	22	numerical	numerical	PROPN
easat-6259	180	23	simulation	simulation	NOUN
easat-6259	180	24	is	be	AUX
easat-6259	180	25	utilized	utilize	VERB
easat-6259	180	26	.	.	PUNCT
easat-6259	181	1	•	•	NUM
easat-6259	181	2	system	system	NOUN
easat-6259	181	3	modularity	modularity	NOUN
easat-6259	181	4	:	:	PUNCT
easat-6259	181	5	it	it	PRON
easat-6259	181	6	enhances	enhance	VERB
easat-6259	181	7	fault	fault	NOUN
easat-6259	181	8	-	-	PUNCT
easat-6259	181	9	tolerant	tolerant	ADJ
easat-6259	181	10	characteristics	characteristic	NOUN
easat-6259	181	11	and	and	CCONJ
easat-6259	181	12	reduces	reduce	VERB
easat-6259	181	13	computational	computational	ADJ
easat-6259	181	14	complexity	complexity	NOUN
easat-6259	181	15	.	.	PUNCT
easat-6259	182	1	•	•	NUM
easat-6259	182	2	other	other	ADJ
easat-6259	182	3	components	component	NOUN
easat-6259	182	4	include	include	VERB
easat-6259	182	5	:	:	PUNCT
easat-6259	182	6	the	the	DET
easat-6259	182	7	sense	sense	NOUN
easat-6259	182	8	component	component	NOUN
easat-6259	182	9	,	,	PUNCT
easat-6259	182	10	which	which	PRON
easat-6259	182	11	lets	let	VERB
easat-6259	182	12	the	the	DET
easat-6259	182	13	av	av	PROPN
easat-6259	182	14	perceive	perceive	VERB
easat-6259	182	15	its	its	PRON
easat-6259	182	16	environment	environment	NOUN
easat-6259	182	17	;	;	PUNCT
easat-6259	182	18	the	the	DET
easat-6259	182	19	deciding	decide	VERB
easat-6259	182	20	component	component	NOUN
easat-6259	182	21	,	,	PUNCT
easat-6259	182	22	making	make	VERB
easat-6259	182	23	decisions	decision	NOUN
easat-6259	182	24	based	base	VERB
easat-6259	182	25	on	on	ADP
easat-6259	182	26	information	information	NOUN
easat-6259	182	27	gathered	gather	VERB
easat-6259	182	28	via	via	ADP
easat-6259	182	29	sensors	sensor	NOUN
easat-6259	182	30	;	;	PUNCT
easat-6259	182	31	and	and	CCONJ
easat-6259	182	32	act	act	NOUN
easat-6259	182	33	component	component	NOUN
easat-6259	182	34	,	,	PUNCT
easat-6259	182	35	acting	act	VERB
easat-6259	182	36	on	on	ADP
easat-6259	182	37	that	that	DET
easat-6259	182	38	decision	decision	NOUN
easat-6259	182	39	as	as	ADV
easat-6259	182	40	soon	soon	ADV
easat-6259	182	41	as	as	ADP
easat-6259	182	42	possible	possible	ADJ
easat-6259	182	43	.	.	PUNCT
easat-6259	183	1	1306	1306	NUM
easat-6259	183	2	edelweiss	edelweiss	PROPN
easat-6259	183	3	applied	apply	VERB
easat-6259	183	4	science	science	NOUN
easat-6259	183	5	and	and	CCONJ
easat-6259	183	6	technology	technology	NOUN
easat-6259	183	7	issn	issn	PROPN
easat-6259	183	8	:	:	PUNCT
easat-6259	183	9	2576	2576	NUM
easat-6259	183	10	-	-	SYM
easat-6259	183	11	8484	8484	NUM
easat-6259	183	12	vol	vol	NOUN
easat-6259	183	13	.	.	PROPN
easat-6259	184	1	9	9	NUM
easat-6259	184	2	,	,	PUNCT
easat-6259	184	3	no	no	INTJ
easat-6259	184	4	.	.	NOUN
easat-6259	185	1	4	4	NUM
easat-6259	185	2	:	:	SYM
easat-6259	185	3	1300	1300	NUM
easat-6259	185	4	-	-	SYM
easat-6259	185	5	1331	1331	NUM
easat-6259	185	6	,	,	PUNCT
easat-6259	185	7	2025	2025	NUM
easat-6259	185	8	doi	doi	NOUN
easat-6259	185	9	:	:	PUNCT
easat-6259	185	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	185	11	©	©	PROPN
easat-6259	185	12	2025	2025	NUM
easat-6259	185	13	by	by	ADP
easat-6259	185	14	the	the	DET
easat-6259	185	15	authors	author	NOUN
easat-6259	185	16	;	;	PUNCT
easat-6259	185	17	licensee	licensee	PROPN
easat-6259	185	18	learning	learning	NOUN
easat-6259	185	19	gate	gate	VERB
easat-6259	185	20	all	all	DET
easat-6259	185	21	the	the	DET
easat-6259	185	22	components	component	NOUN
easat-6259	185	23	mentioned	mention	VERB
easat-6259	185	24	above	above	ADV
easat-6259	185	25	should	should	AUX
easat-6259	185	26	be	be	AUX
easat-6259	185	27	correctly	correctly	ADV
easat-6259	185	28	implemented	implement	VERB
easat-6259	185	29	,	,	PUNCT
easat-6259	185	30	safely	safely	ADV
easat-6259	185	31	developed	develop	VERB
easat-6259	185	32	,	,	PUNCT
easat-6259	185	33	and	and	CCONJ
easat-6259	185	34	tested	test	VERB
easat-6259	185	35	to	to	ADP
easat-6259	185	36	a	a	DET
easat-6259	185	37	large	large	ADJ
easat-6259	185	38	extent	extent	NOUN
easat-6259	185	39	to	to	PART
easat-6259	185	40	guarantee	guarantee	VERB
easat-6259	185	41	the	the	DET
easat-6259	185	42	safety	safety	NOUN
easat-6259	185	43	of	of	ADP
easat-6259	185	44	the	the	DET
easat-6259	185	45	passengers	passenger	NOUN
easat-6259	185	46	and	and	CCONJ
easat-6259	185	47	the	the	DET
easat-6259	185	48	vehicle	vehicle	NOUN
easat-6259	185	49	's	's	PART
easat-6259	185	50	reliability	reliability	NOUN
easat-6259	185	51	.	.	PUNCT
easat-6259	186	1	in	in	ADP
easat-6259	186	2	a	a	DET
easat-6259	186	3	networked	networked	ADJ
easat-6259	186	4	adss	adss	NOUN
easat-6259	186	5	,	,	PUNCT
easat-6259	186	6	there	there	PRON
easat-6259	186	7	are	be	VERB
easat-6259	186	8	two	two	NUM
easat-6259	186	9	major	major	ADJ
easat-6259	186	10	issues	issue	NOUN
easat-6259	186	11	related	relate	VERB
easat-6259	186	12	to	to	ADP
easat-6259	186	13	:	:	PUNCT
easat-6259	187	1	•	•	NUM
easat-6259	187	2	requirements	requirement	NOUN
easat-6259	187	3	for	for	ADP
easat-6259	187	4	connectivity	connectivity	NOUN
easat-6259	187	5	:	:	PUNCT
easat-6259	187	6	in	in	ADP
easat-6259	187	7	order	order	NOUN
easat-6259	187	8	to	to	PART
easat-6259	187	9	fully	fully	ADV
easat-6259	187	10	utilize	utilize	VERB
easat-6259	187	11	their	their	PRON
easat-6259	187	12	potential	potential	ADJ
easat-6259	187	13	,	,	PUNCT
easat-6259	187	14	autonomous	autonomous	ADJ
easat-6259	187	15	cars	car	NOUN
easat-6259	187	16	need	need	VERB
easat-6259	187	17	to	to	PART
easat-6259	187	18	have	have	AUX
easat-6259	187	19	improved	improve	VERB
easat-6259	187	20	connectivity	connectivity	NOUN
easat-6259	187	21	.	.	PUNCT
easat-6259	188	1	high	high	ADJ
easat-6259	188	2	-	-	PUNCT
easat-6259	188	3	performance	performance	NOUN
easat-6259	188	4	clusters	cluster	NOUN
easat-6259	188	5	are	be	AUX
easat-6259	188	6	arranged	arrange	VERB
easat-6259	188	7	inside	inside	ADP
easat-6259	188	8	functional	functional	ADJ
easat-6259	188	9	domains	domain	NOUN
easat-6259	188	10	using	use	VERB
easat-6259	188	11	complex	complex	ADJ
easat-6259	188	12	,	,	PUNCT
easat-6259	188	13	real	real	ADJ
easat-6259	188	14	-	-	PUNCT
easat-6259	188	15	time	time	NOUN
easat-6259	188	16	architectures	architecture	NOUN
easat-6259	188	17	,	,	PUNCT
easat-6259	188	18	and	and	CCONJ
easat-6259	188	19	they	they	PRON
easat-6259	188	20	are	be	AUX
easat-6259	188	21	connected	connect	VERB
easat-6259	188	22	by	by	ADP
easat-6259	188	23	a	a	DET
easat-6259	188	24	central	central	ADJ
easat-6259	188	25	gateway	gateway	NOUN
easat-6259	188	26	as	as	ADP
easat-6259	188	27	part	part	NOUN
easat-6259	188	28	of	of	ADP
easat-6259	188	29	a	a	DET
easat-6259	188	30	high	high	ADJ
easat-6259	188	31	-	-	PUNCT
easat-6259	188	32	speed	speed	NOUN
easat-6259	188	33	data	datum	NOUN
easat-6259	188	34	backbone	backbone	NOUN
easat-6259	188	35	system	system	NOUN
easat-6259	188	36	.	.	PUNCT
easat-6259	189	1	high	high	ADJ
easat-6259	189	2	-	-	PUNCT
easat-6259	189	3	speed	speed	NOUN
easat-6259	189	4	data	datum	NOUN
easat-6259	189	5	will	will	AUX
easat-6259	189	6	be	be	AUX
easat-6259	189	7	more	more	ADV
easat-6259	189	8	and	and	CCONJ
easat-6259	189	9	more	more	ADV
easat-6259	189	10	needed	need	VERB
easat-6259	189	11	as	as	SCONJ
easat-6259	189	12	driverless	driverless	NOUN
easat-6259	189	13	cars	car	NOUN
easat-6259	189	14	integrate	integrate	VERB
easat-6259	189	15	complex	complex	ADJ
easat-6259	189	16	systems	system	NOUN
easat-6259	189	17	that	that	PRON
easat-6259	189	18	produce	produce	VERB
easat-6259	189	19	large	large	ADJ
easat-6259	189	20	amounts	amount	NOUN
easat-6259	189	21	of	of	ADP
easat-6259	189	22	data	datum	NOUN
easat-6259	189	23	.	.	PUNCT
easat-6259	190	1	•	•	NUM
easat-6259	190	2	cloud	cloud	NOUN
easat-6259	190	3	-	-	PUNCT
easat-6259	190	4	connected	connect	VERB
easat-6259	190	5	systems	system	NOUN
easat-6259	190	6	:	:	PUNCT
easat-6259	190	7	a	a	DET
easat-6259	190	8	cloud	cloud	NOUN
easat-6259	190	9	-	-	PUNCT
easat-6259	190	10	connected	connect	VERB
easat-6259	190	11	ads	ad	NOUN
easat-6259	190	12	takes	take	VERB
easat-6259	190	13	into	into	ADP
easat-6259	190	14	account	account	NOUN
easat-6259	190	15	aspects	aspect	NOUN
easat-6259	190	16	as	as	ADP
easat-6259	190	17	network	network	NOUN
easat-6259	190	18	delay	delay	NOUN
easat-6259	190	19	,	,	PUNCT
easat-6259	190	20	fault	fault	VERB
easat-6259	190	21	tolerance	tolerance	NOUN
easat-6259	190	22	,	,	PUNCT
easat-6259	190	23	and	and	CCONJ
easat-6259	190	24	network	network	NOUN
easat-6259	190	25	security	security	NOUN
easat-6259	190	26	,	,	PUNCT
easat-6259	190	27	ensuring	ensure	VERB
easat-6259	190	28	robust	robust	ADJ
easat-6259	190	29	and	and	CCONJ
easat-6259	190	30	secure	secure	ADJ
easat-6259	190	31	operation	operation	NOUN
easat-6259	190	32	[	[	X
easat-6259	190	33	7	7	NUM
easat-6259	190	34	,	,	PUNCT
easat-6259	190	35	8	8	NUM
easat-6259	190	36	]	]	PUNCT
easat-6259	190	37	.	.	PUNCT
easat-6259	191	1	•	•	ADJ
easat-6259	191	2	multidisciplinary	multidisciplinary	ADJ
easat-6259	191	3	approach	approach	NOUN
easat-6259	191	4	:	:	PUNCT
easat-6259	191	5	it	it	PRON
easat-6259	191	6	,	,	PUNCT
easat-6259	191	7	therefore	therefore	ADV
easat-6259	191	8	,	,	PUNCT
easat-6259	191	9	entails	entail	VERB
easat-6259	191	10	autonomous	autonomous	ADJ
easat-6259	191	11	and	and	CCONJ
easat-6259	191	12	networked	networked	ADJ
easat-6259	191	13	systems	system	NOUN
easat-6259	191	14	involving	involve	VERB
easat-6259	191	15	a	a	DET
easat-6259	191	16	multidisciplinary	multidisciplinary	ADJ
easat-6259	191	17	team	team	NOUN
easat-6259	191	18	consisting	consist	VERB
easat-6259	191	19	of	of	ADP
easat-6259	191	20	specialists	specialist	NOUN
easat-6259	191	21	in	in	ADP
easat-6259	191	22	various	various	ADJ
easat-6259	191	23	domains	domain	NOUN
easat-6259	191	24	related	relate	VERB
easat-6259	191	25	to	to	ADP
easat-6259	191	26	ml	ml	PART
easat-6259	191	27	,	,	PUNCT
easat-6259	191	28	ai	ai	VERB
easat-6259	191	29	,	,	PUNCT
easat-6259	191	30	information	information	NOUN
easat-6259	191	31	security	security	NOUN
easat-6259	191	32	,	,	PUNCT
easat-6259	191	33	study	study	NOUN
easat-6259	191	34	,	,	PUNCT
easat-6259	191	35	and	and	CCONJ
easat-6259	191	36	technology	technology	NOUN
easat-6259	191	37	development	development	NOUN
easat-6259	191	38	in	in	ADP
easat-6259	191	39	making	make	VERB
easat-6259	191	40	informed	informed	ADJ
easat-6259	191	41	decisions	decision	NOUN
easat-6259	191	42	.	.	PUNCT
easat-6259	192	1	it	it	PRON
easat-6259	192	2	will	will	AUX
easat-6259	192	3	also	also	ADV
easat-6259	192	4	comprise	comprise	VERB
easat-6259	192	5	policy	policy	NOUN
easat-6259	192	6	making	making	NOUN
easat-6259	192	7	and	and	CCONJ
easat-6259	192	8	innovation	innovation	NOUN
easat-6259	192	9	of	of	ADP
easat-6259	192	10	advanced	advanced	ADJ
easat-6259	192	11	sensing	sense	VERB
easat-6259	192	12	technologies	technology	NOUN
easat-6259	192	13	involving	involve	VERB
easat-6259	192	14	human	human	ADJ
easat-6259	192	15	aspects	aspect	NOUN
easat-6259	192	16	.	.	PUNCT
easat-6259	193	1	figure	figure	NOUN
easat-6259	193	2	2	2	NUM
easat-6259	193	3	.	.	PUNCT
easat-6259	193	4	levels	level	NOUN
easat-6259	193	5	of	of	ADP
easat-6259	193	6	ads	ad	NOUN
easat-6259	193	7	.	.	PUNCT
easat-6259	194	1	•	•	NUM
easat-6259	194	2	value	value	NOUN
easat-6259	194	3	creation	creation	NOUN
easat-6259	194	4	:	:	PUNCT
easat-6259	194	5	the	the	DET
easat-6259	194	6	advent	advent	NOUN
easat-6259	194	7	of	of	ADP
easat-6259	194	8	ads	ad	NOUN
easat-6259	194	9	holds	hold	VERB
easat-6259	194	10	the	the	DET
easat-6259	194	11	potential	potential	NOUN
easat-6259	194	12	for	for	ADP
easat-6259	194	13	significant	significant	ADJ
easat-6259	194	14	value	value	NOUN
easat-6259	194	15	creation	creation	NOUN
easat-6259	194	16	for	for	ADP
easat-6259	194	17	drivers	driver	NOUN
easat-6259	194	18	,	,	PUNCT
easat-6259	194	19	the	the	DET
easat-6259	194	20	automotive	automotive	ADJ
easat-6259	194	21	industry	industry	NOUN
easat-6259	194	22	,	,	PUNCT
easat-6259	194	23	and	and	CCONJ
easat-6259	194	24	society	society	NOUN
easat-6259	194	25	at	at	ADP
easat-6259	194	26	large	large	ADJ
easat-6259	194	27	.	.	PUNCT
easat-6259	195	1	it	it	PRON
easat-6259	195	2	has	have	VERB
easat-6259	195	3	the	the	DET
easat-6259	195	4	capacity	capacity	NOUN
easat-6259	195	5	to	to	PART
easat-6259	195	6	enhance	enhance	VERB
easat-6259	195	7	safety	safety	NOUN
easat-6259	195	8	,	,	PUNCT
easat-6259	195	9	convenience	convenience	NOUN
easat-6259	195	10	,	,	PUNCT
easat-6259	195	11	and	and	CCONJ
easat-6259	195	12	utilization	utilization	NOUN
easat-6259	195	13	of	of	ADP
easat-6259	195	14	time	time	NOUN
easat-6259	195	15	on	on	ADP
easat-6259	195	16	the	the	DET
easat-6259	195	17	road	road	NOUN
easat-6259	195	18	,	,	PUNCT
easat-6259	195	19	benefiting	benefit	VERB
easat-6259	195	20	various	various	ADJ
easat-6259	195	21	demographics	demographic	NOUN
easat-6259	195	22	,	,	PUNCT
easat-6259	195	23	including	include	VERB
easat-6259	195	24	elderly	elderly	ADJ
easat-6259	195	25	drivers	driver	NOUN
easat-6259	195	26	.	.	PUNCT
easat-6259	196	1	•	•	NUM
easat-6259	196	2	future	future	ADJ
easat-6259	196	3	prospects	prospect	NOUN
easat-6259	196	4	:	:	PUNCT
easat-6259	196	5	industry	industry	NOUN
easat-6259	196	6	leaders	leader	NOUN
easat-6259	196	7	need	need	VERB
easat-6259	196	8	to	to	PART
easat-6259	196	9	grasp	grasp	VERB
easat-6259	196	10	connection	connection	NOUN
easat-6259	196	11	in	in	ADP
easat-6259	196	12	order	order	NOUN
easat-6259	196	13	to	to	PART
easat-6259	196	14	provide	provide	VERB
easat-6259	196	15	the	the	DET
easat-6259	196	16	promised	promise	VERB
easat-6259	196	17	vehicle	vehicle	NOUN
easat-6259	196	18	-	-	PUNCT
easat-6259	196	19	to	to	ADP
easat-6259	196	20	-	-	PUNCT
easat-6259	196	21	everything	everything	PRON
easat-6259	196	22	(	(	PUNCT
easat-6259	196	23	v2x	v2x	NOUN
easat-6259	196	24	)	)	PUNCT
easat-6259	196	25	capabilities	capability	NOUN
easat-6259	196	26	of	of	ADP
easat-6259	196	27	completely	completely	ADV
easat-6259	196	28	ads	ad	NOUN
easat-6259	196	29	,	,	PUNCT
easat-6259	196	30	even	even	ADV
easat-6259	196	31	though	though	SCONJ
easat-6259	196	32	the	the	DET
easat-6259	196	33	future	future	NOUN
easat-6259	196	34	of	of	ADP
easat-6259	196	35	avs	avs	PROPN
easat-6259	196	36	is	be	AUX
easat-6259	196	37	still	still	ADV
easat-6259	196	38	unclear	unclear	ADJ
easat-6259	196	39	.	.	PUNCT
easat-6259	197	1	2.2.1	2.2.1	NUM
easat-6259	197	2	.	.	PUNCT
easat-6259	197	3	ads	ad	NOUN
easat-6259	197	4	simulation	simulation	NOUN
easat-6259	197	5	platform	platform	NOUN
easat-6259	197	6	datasets	dataset	NOUN
easat-6259	197	7	form	form	VERB
easat-6259	197	8	an	an	DET
easat-6259	197	9	essential	essential	ADJ
easat-6259	197	10	part	part	NOUN
easat-6259	197	11	of	of	ADP
easat-6259	197	12	ads	ad	NOUN
easat-6259	197	13	that	that	PRON
easat-6259	197	14	are	be	AUX
easat-6259	197	15	used	use	VERB
easat-6259	197	16	by	by	ADP
easat-6259	197	17	ads	ad	NOUN
easat-6259	197	18	algorithms	algorithm	NOUN
easat-6259	197	19	since	since	SCONJ
easat-6259	197	20	those	those	PRON
easat-6259	197	21	need	need	VERB
easat-6259	197	22	training	training	NOUN
easat-6259	197	23	and	and	CCONJ
easat-6259	197	24	testing	testing	NOUN
easat-6259	197	25	.	.	PUNCT
easat-6259	198	1	this	this	PRON
easat-6259	198	2	is	be	AUX
easat-6259	198	3	done	do	VERB
easat-6259	198	4	by	by	ADP
easat-6259	198	5	passing	pass	VERB
easat-6259	198	6	through	through	ADP
easat-6259	198	7	sensory	sensory	ADJ
easat-6259	198	8	data	datum	NOUN
easat-6259	198	9	in	in	ADP
easat-6259	198	10	various	various	ADJ
easat-6259	198	11	algorithms	algorithm	NOUN
easat-6259	198	12	,	,	PUNCT
easat-6259	198	13	all	all	PRON
easat-6259	198	14	having	have	VERB
easat-6259	198	15	an	an	DET
easat-6259	198	16	intended	intended	ADJ
easat-6259	198	17	goal	goal	NOUN
easat-6259	198	18	that	that	PRON
easat-6259	198	19	is	be	AUX
easat-6259	198	20	often	often	ADV
easat-6259	198	21	measured	measure	VERB
easat-6259	198	22	on	on	ADP
easat-6259	198	23	annotated	annotate	VERB
easat-6259	198	24	datasets	dataset	NOUN
easat-6259	198	25	.	.	PUNCT
easat-6259	199	1	primary	primary	ADJ
easat-6259	199	2	building	building	NOUN
easat-6259	199	3	blocks	block	NOUN
easat-6259	199	4	,	,	PUNCT
easat-6259	199	5	such	such	ADJ
easat-6259	199	6	as	as	ADP
easat-6259	199	7	object	object	NOUN
easat-6259	199	8	detection	detection	NOUN
easat-6259	199	9	and	and	CCONJ
easat-6259	199	10	tracking	tracking	NOUN
easat-6259	199	11	,	,	PUNCT
easat-6259	199	12	are	be	AUX
easat-6259	199	13	standard	standard	ADJ
easat-6259	199	14	,	,	PUNCT
easat-6259	199	15	while	while	SCONJ
easat-6259	199	16	other	other	ADJ
easat-6259	199	17	fields	field	NOUN
easat-6259	199	18	like	like	ADP
easat-6259	199	19	computer	computer	NOUN
easat-6259	199	20	vision	vision	NOUN
easat-6259	199	21	have	have	AUX
easat-6259	199	22	dedicated	dedicate	VERB
easat-6259	199	23	annotated	annotate	VERB
easat-6259	199	24	datasets	dataset	NOUN
easat-6259	199	25	aiding	aid	VERB
easat-6259	199	26	development	development	NOUN
easat-6259	199	27	[	[	X
easat-6259	199	28	6	6	NUM
easat-6259	199	29	]	]	PUNCT
easat-6259	199	30	.	.	PUNCT
easat-6259	200	1	the	the	DET
easat-6259	200	2	early	early	ADJ
easat-6259	200	3	instances	instance	NOUN
easat-6259	200	4	,	,	PUNCT
easat-6259	200	5	such	such	ADJ
easat-6259	200	6	as	as	ADP
easat-6259	200	7	the	the	DET
easat-6259	200	8	[	[	X
easat-6259	200	9	pascal	pascal	ADJ
easat-6259	200	10	voc	voc	NOUN
easat-6259	200	11	]	]	PUNCT
easat-6259	200	12	dataset	dataset	NOUN
easat-6259	200	13	and	and	CCONJ
easat-6259	200	14	[	[	X
easat-6259	200	15	kitti	kitti	PROPN
easat-6259	200	16	]	]	X
easat-6259	200	17	vision	vision	NOUN
easat-6259	200	18	benchmark	benchmark	NOUN
easat-6259	200	19	,	,	PUNCT
easat-6259	200	20	were	be	AUX
easat-6259	200	21	followed	follow	VERB
easat-6259	200	22	by	by	ADP
easat-6259	200	23	more	more	ADJ
easat-6259	200	24	representative	representative	ADJ
easat-6259	200	25	datasets	dataset	NOUN
easat-6259	200	26	,	,	PUNCT
easat-6259	200	27	of	of	ADP
easat-6259	200	28	which	which	PRON
easat-6259	200	29	[	[	X
easat-6259	200	30	kitti	kitti	X
easat-6259	200	31	]	]	X
easat-6259	200	32	still	still	ADV
easat-6259	200	33	provides	provide	VERB
easat-6259	200	34	a	a	DET
easat-6259	200	35	better	well	ADJ
easat-6259	200	36	reflection	reflection	NOUN
easat-6259	200	37	of	of	ADP
easat-6259	200	38	driving	drive	VERB
easat-6259	200	39	scenarios	scenario	NOUN
easat-6259	200	40	.	.	PUNCT
easat-6259	201	1	while	while	SCONJ
easat-6259	201	2	imagenet	imagenet	PROPN
easat-6259	201	3	and	and	CCONJ
easat-6259	201	4	coco	coco	PROPN
easat-6259	201	5	are	be	AUX
easat-6259	201	6	suitable	suitable	ADJ
easat-6259	201	7	for	for	ADP
easat-6259	201	8	training	training	NOUN
easat-6259	201	9	,	,	PUNCT
easat-6259	201	10	they	they	PRON
easat-6259	201	11	miss	miss	VERB
easat-6259	201	12	context	context	NOUN
easat-6259	201	13	in	in	ADP
easat-6259	201	14	their	their	PRON
easat-6259	201	15	image	image	NOUN
easat-6259	201	16	labels	label	NOUN
easat-6259	201	17	to	to	PART
easat-6259	201	18	be	be	AUX
easat-6259	201	19	representative	representative	ADJ
easat-6259	201	20	for	for	ADP
easat-6259	201	21	testing	testing	NOUN
easat-6259	201	22	ads	ad	NOUN
easat-6259	201	23	.	.	PUNCT
easat-6259	202	1	other	other	ADJ
easat-6259	202	2	notables	notable	NOUN
easat-6259	202	3	include	include	VERB
easat-6259	202	4	uc	uc	PROPN
easat-6259	202	5	berkeley	berkeley	PROPN
easat-6259	202	6	deep	deep	ADJ
easat-6259	202	7	drive	drive	NOUN
easat-6259	202	8	,	,	PUNCT
easat-6259	202	9	oxford	oxford	PROPN
easat-6259	202	10	robot	robot	NOUN
easat-6259	202	11	car	car	NOUN
easat-6259	202	12	,	,	PUNCT
easat-6259	202	13	cityscapes	cityscape	NOUN
easat-6259	202	14	,	,	PUNCT
easat-6259	202	15	toronto	toronto	PROPN
easat-6259	202	16	city	city	NOUN
easat-6259	202	17	,	,	PUNCT
easat-6259	202	18	nuscenes	nuscene	NOUN
easat-6259	202	19	,	,	PUNCT
easat-6259	202	20	comma.ai	comma.ai	PROPN
easat-6259	202	21	,	,	PUNCT
easat-6259	202	22	ddd17	ddd17	NOUN
easat-6259	202	23	,	,	PUNCT
easat-6259	202	24	livi	livi	NOUN
easat-6259	202	25	-	-	PUNCT
easat-6259	202	26	set	set	NOUN
easat-6259	202	27	,	,	PUNCT
easat-6259	202	28	and	and	CCONJ
easat-6259	202	29	common	common	ADJ
easat-6259	202	30	road	road	NOUN
easat-6259	202	31	.	.	PUNCT
easat-6259	203	1	each	each	DET
easat-6259	203	2	dataset	dataset	NOUN
easat-6259	203	3	has	have	VERB
easat-6259	203	4	its	its	PRON
easat-6259	203	5	strengths	strength	NOUN
easat-6259	203	6	,	,	PUNCT
easat-6259	203	7	and	and	CCONJ
easat-6259	203	8	thus	thus	ADV
easat-6259	203	9	,	,	PUNCT
easat-6259	203	10	some	some	PRON
easat-6259	203	11	give	give	VERB
easat-6259	203	12	sensor	sensor	NOUN
easat-6259	203	13	information	information	NOUN
easat-6259	203	14	like	like	ADP
easat-6259	203	15	lidar	lidar	NOUN
easat-6259	203	16	,	,	PUNCT
easat-6259	203	17	gps	gps	PROPN
easat-6259	203	18	,	,	PUNCT
easat-6259	203	19	and	and	CCONJ
easat-6259	203	20	image	image	NOUN
easat-6259	203	21	sensors	sensor	NOUN
easat-6259	203	22	.	.	PUNCT
easat-6259	204	1	shrp2	shrp2	PROPN
easat-6259	204	2	,	,	PUNCT
easat-6259	204	3	100	100	NUM
easat-6259	204	4	-	-	PUNCT
easat-6259	204	5	car	car	NOUN
easat-6259	204	6	study	study	NOUN
easat-6259	204	7	,	,	PUNCT
easat-6259	204	8	euro	euro	NOUN
easat-6259	204	9	-	-	PUNCT
easat-6259	204	10	fot	fot	NOUN
easat-6259	204	11	,	,	PUNCT
easat-6259	204	12	and	and	CCONJ
easat-6259	204	13	nu	nu	ADJ
easat-6259	204	14	-	-	PUNCT
easat-6259	204	15	drive	drive	NOUN
easat-6259	204	16	are	be	AUX
easat-6259	204	17	some	some	DET
easat-6259	204	18	examples	example	NOUN
easat-6259	204	19	of	of	ADP
easat-6259	204	20	naturalistic	naturalistic	ADJ
easat-6259	204	21	driving	driving	NOUN
easat-6259	204	22	datasets	dataset	NOUN
easat-6259	204	23	for	for	ADP
easat-6259	204	24	driver	driver	NOUN
easat-6259	204	25	behaviour	behaviour	NOUN
easat-6259	204	26	knowledge	knowledge	NOUN
easat-6259	204	27	.	.	PUNCT
easat-6259	205	1	1307	1307	NUM
easat-6259	205	2	edelweiss	edelweiss	PROPN
easat-6259	205	3	applied	apply	VERB
easat-6259	205	4	science	science	NOUN
easat-6259	205	5	and	and	CCONJ
easat-6259	205	6	technology	technology	NOUN
easat-6259	205	7	issn	issn	PROPN
easat-6259	205	8	:	:	PUNCT
easat-6259	205	9	2576	2576	NUM
easat-6259	205	10	-	-	SYM
easat-6259	205	11	8484	8484	NUM
easat-6259	205	12	vol	vol	NOUN
easat-6259	205	13	.	.	PROPN
easat-6259	206	1	9	9	NUM
easat-6259	206	2	,	,	PUNCT
easat-6259	206	3	no	no	INTJ
easat-6259	206	4	.	.	NOUN
easat-6259	207	1	4	4	NUM
easat-6259	207	2	:	:	SYM
easat-6259	207	3	1300	1300	NUM
easat-6259	207	4	-	-	SYM
easat-6259	207	5	1331	1331	NUM
easat-6259	207	6	,	,	PUNCT
easat-6259	207	7	2025	2025	NUM
easat-6259	207	8	doi	doi	NOUN
easat-6259	207	9	:	:	PUNCT
easat-6259	207	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	207	11	©	©	PROPN
easat-6259	207	12	2025	2025	NUM
easat-6259	207	13	by	by	ADP
easat-6259	207	14	the	the	DET
easat-6259	207	15	authors	author	NOUN
easat-6259	207	16	;	;	PUNCT
easat-6259	207	17	licensee	licensee	PROPN
easat-6259	207	18	learning	learn	VERB
easat-6259	207	19	gate	gate	VERB
easat-6259	207	20	open	open	ADJ
easat-6259	207	21	-	-	PUNCT
easat-6259	207	22	source	source	NOUN
easat-6259	207	23	frameworks	framework	NOUN
easat-6259	207	24	can	can	AUX
easat-6259	207	25	bridge	bridge	VERB
easat-6259	207	26	business	business	NOUN
easat-6259	207	27	and	and	CCONJ
easat-6259	207	28	research	research	NOUN
easat-6259	207	29	entities	entity	NOUN
easat-6259	207	30	in	in	ADP
easat-6259	207	31	immensely	immensely	ADV
easat-6259	207	32	boosting	boost	VERB
easat-6259	207	33	the	the	DET
easat-6259	207	34	development	development	NOUN
easat-6259	207	35	of	of	ADP
easat-6259	207	36	adss	adss	PROPN
easat-6259	207	37	.	.	PUNCT
easat-6259	208	1	some	some	DET
easat-6259	208	2	notable	notable	ADJ
easat-6259	208	3	open	open	ADJ
easat-6259	208	4	-	-	PUNCT
easat-6259	208	5	sourced	source	VERB
easat-6259	208	6	frameworks	framework	NOUN
easat-6259	208	7	are	be	AUX
easat-6259	208	8	effective	effective	ADJ
easat-6259	208	9	in	in	ADP
easat-6259	208	10	implementing	implement	VERB
easat-6259	208	11	ads	ad	NOUN
easat-6259	208	12	platforms	platform	NOUN
easat-6259	208	13	in	in	ADP
easat-6259	208	14	real	real	ADJ
easat-6259	208	15	-	-	PUNCT
easat-6259	208	16	world	world	NOUN
easat-6259	208	17	scenarios	scenario	NOUN
easat-6259	208	18	,	,	PUNCT
easat-6259	208	19	promoting	promote	VERB
easat-6259	208	20	democratization	democratization	NOUN
easat-6259	208	21	in	in	ADP
easat-6259	208	22	the	the	DET
easat-6259	208	23	development	development	NOUN
easat-6259	208	24	,	,	PUNCT
easat-6259	208	25	are	be	AUX
easat-6259	208	26	autoware	autoware	ADJ
easat-6259	208	27	,	,	PUNCT
easat-6259	208	28	apollo	apollo	PROPN
easat-6259	208	29	,	,	PUNCT
easat-6259	208	30	nvidia	nvidia	PROPN
easat-6259	208	31	drive	drive	NOUN
easat-6259	208	32	works	work	NOUN
easat-6259	208	33	,	,	PUNCT
easat-6259	208	34	and	and	CCONJ
easat-6259	208	35	open	open	ADJ
easat-6259	208	36	pilot	pilot	NOUN
easat-6259	208	37	.	.	PUNCT
easat-6259	209	1	in	in	ADP
easat-6259	209	2	ads	ad	NOUN
easat-6259	209	3	simulation	simulation	NOUN
easat-6259	209	4	,	,	PUNCT
easat-6259	209	5	car	car	NOUN
easat-6259	209	6	instrumentation	instrumentation	NOUN
easat-6259	209	7	is	be	AUX
easat-6259	209	8	replaced	replace	VERB
easat-6259	209	9	with	with	ADP
easat-6259	209	10	expensive	expensive	ADJ
easat-6259	209	11	experiments	experiment	NOUN
easat-6259	209	12	that	that	PRON
easat-6259	209	13	overcome	overcome	VERB
easat-6259	209	14	some	some	DET
easat-6259	209	15	constraints	constraint	NOUN
easat-6259	209	16	needed	need	VERB
easat-6259	209	17	for	for	ADP
easat-6259	209	18	road	road	NOUN
easat-6259	209	19	testing	testing	NOUN
easat-6259	209	20	.	.	PUNCT
easat-6259	210	1	simulation	simulation	NOUN
easat-6259	210	2	frameworks	framework	NOUN
easat-6259	210	3	like	like	ADP
easat-6259	210	4	carla	carla	PROPN
easat-6259	210	5	focused	focus	VERB
easat-6259	210	6	on	on	ADP
easat-6259	210	7	urban	urban	ADJ
easat-6259	210	8	driving	driving	NOUN
easat-6259	211	1	[	[	X
easat-6259	211	2	9	9	NUM
easat-6259	211	3	]	]	PUNCT
easat-6259	211	4	;	;	PUNCT
easat-6259	211	5	torcs	torcs	PROPN
easat-6259	211	6	,	,	PUNCT
easat-6259	211	7	racecourse	racecourse	NOUN
easat-6259	211	8	simulation	simulation	NOUN
easat-6259	211	9	;	;	PUNCT
easat-6259	211	10	or	or	CCONJ
easat-6259	211	11	gazebo	gazebo	NOUN
easat-6259	211	12	,	,	PUNCT
easat-6259	211	13	oriented	orient	VERB
easat-6259	211	14	to	to	ADP
easat-6259	211	15	robotics	robotic	NOUN
easat-6259	211	16	,	,	PUNCT
easat-6259	211	17	serve	serve	VERB
easat-6259	211	18	as	as	ADP
easat-6259	211	19	a	a	DET
easat-6259	211	20	base	base	NOUN
easat-6259	211	21	where	where	SCONJ
easat-6259	211	22	algorithms	algorithm	NOUN
easat-6259	211	23	can	can	AUX
easat-6259	211	24	be	be	AUX
easat-6259	211	25	tested	test	VERB
easat-6259	211	26	before	before	SCONJ
easat-6259	211	27	modules	module	NOUN
easat-6259	211	28	are	be	AUX
easat-6259	211	29	applied	apply	VERB
easat-6259	211	30	onto	onto	ADP
easat-6259	211	31	the	the	DET
easat-6259	211	32	road	road	NOUN
easat-6259	211	33	.	.	PUNCT
easat-6259	212	1	it	it	PRON
easat-6259	212	2	will	will	AUX
easat-6259	212	3	,	,	PUNCT
easat-6259	212	4	moreover	moreover	ADV
easat-6259	212	5	,	,	PUNCT
easat-6259	212	6	be	be	AUX
easat-6259	212	7	easy	easy	ADJ
easat-6259	212	8	to	to	PART
easat-6259	212	9	replicate	replicate	VERB
easat-6259	212	10	dangerous	dangerous	ADJ
easat-6259	212	11	situations	situation	NOUN
easat-6259	212	12	like	like	ADP
easat-6259	212	13	collisions	collision	NOUN
easat-6259	212	14	with	with	ADP
easat-6259	212	15	pedestrians	pedestrian	NOUN
easat-6259	212	16	and	and	CCONJ
easat-6259	212	17	investigate	investigate	VERB
easat-6259	212	18	them	they	PRON
easat-6259	212	19	.	.	PUNCT
easat-6259	213	1	2.2.2	2.2.2	X
easat-6259	213	2	.	.	X
easat-6259	213	3	ads	ad	NOUN
easat-6259	213	4	levels	level	VERB
easat-6259	213	5	several	several	ADJ
easat-6259	213	6	organizations	organization	NOUN
easat-6259	213	7	,	,	PUNCT
easat-6259	213	8	including	include	VERB
easat-6259	213	9	german	german	ADJ
easat-6259	213	10	association	association	NOUN
easat-6259	213	11	of	of	ADP
easat-6259	213	12	automotive	automotive	ADJ
easat-6259	213	13	industry	industry	NOUN
easat-6259	213	14	(	(	PUNCT
easat-6259	213	15	vda	vda	PROPN
easat-6259	213	16	)	)	PUNCT
easat-6259	213	17	and	and	CCONJ
easat-6259	213	18	society	society	NOUN
easat-6259	213	19	of	of	ADP
easat-6259	213	20	automotive	automotive	ADJ
easat-6259	213	21	engineers	engineer	NOUN
easat-6259	213	22	(	(	PUNCT
easat-6259	213	23	sae	sae	PROPN
easat-6259	213	24	)	)	PUNCT
easat-6259	213	25	,	,	PUNCT
easat-6259	213	26	have	have	AUX
easat-6259	213	27	categorized	categorize	VERB
easat-6259	213	28	ads	ad	NOUN
easat-6259	213	29	into	into	ADP
easat-6259	213	30	distinct	distinct	ADJ
easat-6259	213	31	stages	stage	NOUN
easat-6259	213	32	.	.	PUNCT
easat-6259	214	1	there	there	PRON
easat-6259	214	2	are	be	VERB
easat-6259	214	3	five	five	NUM
easat-6259	214	4	levels	level	NOUN
easat-6259	214	5	of	of	ADP
easat-6259	214	6	automation	automation	NOUN
easat-6259	214	7	shown	show	VERB
easat-6259	214	8	in	in	ADP
easat-6259	214	9	figure	figure	NOUN
easat-6259	214	10	2	2	NUM
easat-6259	215	1	[	[	X
easat-6259	215	2	10	10	NUM
easat-6259	215	3	]	]	NOUN
easat-6259	215	4	:	:	PUNCT
easat-6259	215	5	level	level	NOUN
easat-6259	215	6	0	0	PUNCT
easat-6259	216	1	(	(	PUNCT
easat-6259	216	2	no	no	DET
easat-6259	216	3	automation	automation	NOUN
easat-6259	216	4	)	)	PUNCT
easat-6259	216	5	to	to	PART
easat-6259	216	6	level	level	VERB
easat-6259	216	7	5	5	NUM
easat-6259	216	8	(	(	PUNCT
easat-6259	216	9	complete	complete	ADJ
easat-6259	216	10	automation	automation	NOUN
easat-6259	216	11	)	)	PUNCT
easat-6259	216	12	.	.	PUNCT
easat-6259	217	1	the	the	DET
easat-6259	217	2	car	car	NOUN
easat-6259	217	3	has	have	VERB
easat-6259	217	4	no	no	DET
easat-6259	217	5	automatic	automatic	ADJ
easat-6259	217	6	features	feature	NOUN
easat-6259	217	7	at	at	ADP
easat-6259	217	8	level	level	NOUN
easat-6259	217	9	0	0	NUM
easat-6259	217	10	.	.	PUNCT
easat-6259	218	1	automatic	automatic	ADJ
easat-6259	218	2	braking	braking	NOUN
easat-6259	218	3	and	and	CCONJ
easat-6259	218	4	other	other	ADJ
easat-6259	218	5	driver	driver	NOUN
easat-6259	218	6	assistance	assistance	NOUN
easat-6259	218	7	features	feature	NOUN
easat-6259	218	8	are	be	AUX
easat-6259	218	9	introduced	introduce	VERB
easat-6259	218	10	at	at	ADP
easat-6259	218	11	level	level	NOUN
easat-6259	218	12	1	1	NUM
easat-6259	218	13	.	.	PUNCT
easat-6259	219	1	the	the	DET
easat-6259	219	2	car	car	NOUN
easat-6259	219	3	can	can	AUX
easat-6259	219	4	accelerate	accelerate	VERB
easat-6259	219	5	and	and	CCONJ
easat-6259	219	6	brake	brake	VERB
easat-6259	219	7	at	at	ADP
easat-6259	219	8	level	level	NOUN
easat-6259	219	9	2	2	NUM
easat-6259	219	10	,	,	PUNCT
easat-6259	219	11	but	but	CCONJ
easat-6259	219	12	the	the	DET
easat-6259	219	13	driver	driver	NOUN
easat-6259	219	14	has	have	VERB
easat-6259	219	15	to	to	PART
easat-6259	219	16	stay	stay	VERB
easat-6259	219	17	alert	alert	ADJ
easat-6259	219	18	and	and	CCONJ
easat-6259	219	19	prepared	prepare	VERB
easat-6259	219	20	to	to	PART
easat-6259	219	21	take	take	VERB
easat-6259	219	22	over	over	ADP
easat-6259	219	23	at	at	ADP
easat-6259	219	24	any	any	DET
easat-6259	219	25	time	time	NOUN
easat-6259	219	26	.	.	PUNCT
easat-6259	220	1	under	under	ADP
easat-6259	220	2	some	some	DET
easat-6259	220	3	circumstances	circumstance	NOUN
easat-6259	220	4	,	,	PUNCT
easat-6259	220	5	level	level	NOUN
easat-6259	220	6	3	3	NUM
easat-6259	220	7	cars	car	NOUN
easat-6259	220	8	can	can	AUX
easat-6259	220	9	function	function	VERB
easat-6259	220	10	independently	independently	ADV
easat-6259	220	11	,	,	PUNCT
easat-6259	220	12	allowing	allow	VERB
easat-6259	220	13	the	the	DET
easat-6259	220	14	driver	driver	NOUN
easat-6259	220	15	a	a	DET
easat-6259	220	16	little	little	ADJ
easat-6259	220	17	window	window	NOUN
easat-6259	220	18	of	of	ADP
easat-6259	220	19	time	time	NOUN
easat-6259	220	20	to	to	PART
easat-6259	220	21	take	take	VERB
easat-6259	220	22	back	back	ADV
easat-6259	220	23	control	control	NOUN
easat-6259	220	24	if	if	SCONJ
easat-6259	220	25	needed	need	VERB
easat-6259	220	26	.	.	PUNCT
easat-6259	221	1	the	the	DET
easat-6259	221	2	high	high	ADJ
easat-6259	221	3	levels	level	NOUN
easat-6259	221	4	of	of	ADP
easat-6259	221	5	automation	automation	NOUN
easat-6259	221	6	are	be	AUX
easat-6259	221	7	possible	possible	ADJ
easat-6259	221	8	with	with	ADP
easat-6259	221	9	level	level	NOUN
easat-6259	221	10	4	4	NUM
easat-6259	221	11	,	,	PUNCT
easat-6259	221	12	allowing	allow	VERB
easat-6259	221	13	the	the	DET
easat-6259	221	14	car	car	NOUN
easat-6259	221	15	to	to	PART
easat-6259	221	16	operate	operate	VERB
easat-6259	221	17	autonomously	autonomously	ADV
easat-6259	221	18	in	in	ADP
easat-6259	221	19	many	many	ADJ
easat-6259	221	20	driving	drive	VERB
easat-6259	221	21	situations	situation	NOUN
easat-6259	221	22	.	.	PUNCT
easat-6259	222	1	at	at	ADP
easat-6259	222	2	level	level	NOUN
easat-6259	222	3	5	5	NUM
easat-6259	222	4	,	,	PUNCT
easat-6259	222	5	the	the	DET
easat-6259	222	6	car	car	NOUN
easat-6259	222	7	is	be	AUX
easat-6259	222	8	fully	fully	ADV
easat-6259	222	9	automated	automate	VERB
easat-6259	222	10	,	,	PUNCT
easat-6259	222	11	able	able	ADJ
easat-6259	222	12	to	to	PART
easat-6259	222	13	handle	handle	VERB
easat-6259	222	14	every	every	DET
easat-6259	222	15	part	part	NOUN
easat-6259	222	16	of	of	ADP
easat-6259	222	17	driving	drive	VERB
easat-6259	222	18	under	under	ADP
easat-6259	222	19	any	any	DET
easat-6259	222	20	conditions	condition	NOUN
easat-6259	222	21	.	.	PUNCT
easat-6259	223	1	commercially	commercially	ADV
easat-6259	223	2	available	available	ADJ
easat-6259	223	3	avs	avs	PROPN
easat-6259	223	4	have	have	AUX
easat-6259	223	5	not	not	PART
easat-6259	223	6	yet	yet	ADV
easat-6259	223	7	achieved	achieve	VERB
easat-6259	223	8	automation	automation	NOUN
easat-6259	223	9	levels	level	NOUN
easat-6259	223	10	higher	high	ADJ
easat-6259	223	11	than	than	ADP
easat-6259	223	12	level	level	NOUN
easat-6259	223	13	2	2	NUM
easat-6259	223	14	or	or	CCONJ
easat-6259	223	15	level	level	NOUN
easat-6259	223	16	3	3	NUM
easat-6259	223	17	.	.	PUNCT
easat-6259	223	18	leading	lead	VERB
easat-6259	223	19	the	the	DET
easat-6259	223	20	charge	charge	NOUN
easat-6259	223	21	in	in	ADP
easat-6259	223	22	the	the	DET
easat-6259	223	23	development	development	NOUN
easat-6259	223	24	and	and	CCONJ
easat-6259	223	25	testing	testing	NOUN
easat-6259	223	26	of	of	ADP
easat-6259	223	27	avs	avs	PROPN
easat-6259	223	28	,	,	PUNCT
easat-6259	223	29	automakers	automaker	NOUN
easat-6259	223	30	tesla	tesla	PROPN
easat-6259	223	31	,	,	PUNCT
easat-6259	223	32	have	have	AUX
easat-6259	223	33	been	be	AUX
easat-6259	223	34	approved	approve	VERB
easat-6259	223	35	by	by	ADP
easat-6259	223	36	regulatory	regulatory	ADJ
easat-6259	223	37	organizations	organization	NOUN
easat-6259	223	38	in	in	ADP
easat-6259	223	39	a	a	DET
easat-6259	223	40	number	number	NOUN
easat-6259	223	41	of	of	ADP
easat-6259	223	42	locations	location	NOUN
easat-6259	223	43	,	,	PUNCT
easat-6259	223	44	including	include	VERB
easat-6259	223	45	nevada	nevada	PROPN
easat-6259	223	46	in	in	ADP
easat-6259	223	47	the	the	DET
easat-6259	223	48	united	united	PROPN
easat-6259	223	49	states	states	PROPN
easat-6259	223	50	and	and	CCONJ
easat-6259	223	51	several	several	ADJ
easat-6259	223	52	european	european	ADJ
easat-6259	223	53	nations	nation	NOUN
easat-6259	223	54	,	,	PUNCT
easat-6259	223	55	subject	subject	ADJ
easat-6259	223	56	to	to	ADP
easat-6259	223	57	certain	certain	ADJ
easat-6259	223	58	restrictions	restriction	NOUN
easat-6259	223	59	.	.	PUNCT
easat-6259	224	1	modern	modern	ADJ
easat-6259	224	2	developments	development	NOUN
easat-6259	224	3	in	in	ADP
easat-6259	224	4	avs	avs	PROPN
easat-6259	224	5	have	have	VERB
easat-6259	224	6	their	their	PRON
easat-6259	224	7	roots	root	NOUN
easat-6259	224	8	in	in	ADP
easat-6259	224	9	the	the	DET
easat-6259	224	10	early	early	ADJ
easat-6259	224	11	experimental	experimental	ADJ
easat-6259	224	12	models	model	NOUN
easat-6259	224	13	,	,	PUNCT
easat-6259	224	14	including	include	VERB
easat-6259	224	15	those	those	PRON
easat-6259	224	16	created	create	VERB
easat-6259	224	17	by	by	ADP
easat-6259	224	18	carnegie	carnegie	PROPN
easat-6259	224	19	mellon	mellon	PROPN
easat-6259	224	20	university	university	PROPN
easat-6259	224	21	in	in	ADP
easat-6259	224	22	the	the	DET
easat-6259	224	23	1990s	1990s	NUM
easat-6259	224	24	.	.	PUNCT
easat-6259	225	1	autonomous	autonomous	ADJ
easat-6259	225	2	taxis	taxi	NOUN
easat-6259	225	3	are	be	AUX
easat-6259	225	4	being	be	AUX
easat-6259	225	5	developed	develop	VERB
easat-6259	225	6	and	and	CCONJ
easat-6259	225	7	tested	test	VERB
easat-6259	225	8	by	by	ADP
easat-6259	225	9	ride	ride	NOUN
easat-6259	225	10	-	-	PUNCT
easat-6259	225	11	sharing	share	VERB
easat-6259	225	12	services	service	NOUN
easat-6259	225	13	such	such	ADJ
easat-6259	225	14	as	as	ADP
easat-6259	225	15	uber	uber	ADJ
easat-6259	225	16	and	and	CCONJ
easat-6259	225	17	lyft	lyft	NOUN
easat-6259	225	18	.	.	PUNCT
easat-6259	226	1	singapore	singapore	PROPN
easat-6259	226	2	concluded	conclude	VERB
easat-6259	226	3	an	an	DET
easat-6259	226	4	autonomous	autonomous	ADJ
easat-6259	226	5	taxi	taxi	NOUN
easat-6259	226	6	test	test	NOUN
easat-6259	226	7	in	in	ADP
easat-6259	226	8	2018	2018	NUM
easat-6259	226	9	[	[	X
easat-6259	226	10	11	11	NUM
easat-6259	226	11	]	]	PUNCT
easat-6259	226	12	.	.	PUNCT
easat-6259	227	1	numerous	numerous	ADJ
easat-6259	227	2	safety	safety	NOUN
easat-6259	227	3	advantages	advantage	NOUN
easat-6259	227	4	could	could	AUX
easat-6259	227	5	result	result	VERB
easat-6259	227	6	from	from	ADP
easat-6259	227	7	autonomous	autonomous	ADJ
easat-6259	227	8	cars	car	NOUN
easat-6259	227	9	,	,	PUNCT
easat-6259	227	10	major	major	ADJ
easat-6259	227	11	among	among	ADP
easat-6259	227	12	them	they	PRON
easat-6259	227	13	the	the	DET
easat-6259	227	14	prevention	prevention	NOUN
easat-6259	227	15	of	of	ADP
easat-6259	227	16	accidents	accident	NOUN
easat-6259	227	17	guo	guo	PROPN
easat-6259	227	18	,	,	PUNCT
easat-6259	227	19	et	et	PROPN
easat-6259	227	20	al	al	PROPN
easat-6259	227	21	.	.	PUNCT
easat-6259	228	1	[	[	X
easat-6259	228	2	12	12	NUM
easat-6259	228	3	]	]	PUNCT
easat-6259	228	4	and	and	CCONJ
easat-6259	228	5	death	death	NOUN
easat-6259	228	6	caused	cause	VERB
easat-6259	228	7	by	by	ADP
easat-6259	228	8	human	human	ADJ
easat-6259	228	9	error	error	NOUN
easat-6259	228	10	—	—	PUNCT
easat-6259	228	11	human	human	ADJ
easat-6259	228	12	error	error	NOUN
easat-6259	228	13	accounts	account	VERB
easat-6259	228	14	for	for	ADP
easat-6259	228	15	90–95	90–95	NUM
easat-6259	228	16	%	%	NOUN
easat-6259	228	17	of	of	ADP
easat-6259	228	18	all	all	DET
easat-6259	228	19	car	car	NOUN
easat-6259	228	20	accidents	accident	NOUN
easat-6259	228	21	.	.	PUNCT
easat-6259	229	1	2.3	2.3	NUM
easat-6259	229	2	.	.	PUNCT
easat-6259	230	1	current	current	ADJ
easat-6259	230	2	situation	situation	NOUN
easat-6259	230	3	the	the	DET
easat-6259	230	4	integration	integration	NOUN
easat-6259	230	5	of	of	ADP
easat-6259	230	6	data	datum	NOUN
easat-6259	230	7	from	from	ADP
easat-6259	230	8	several	several	ADJ
easat-6259	230	9	sensors	sensor	NOUN
easat-6259	230	10	,	,	PUNCT
easat-6259	230	11	including	include	VERB
easat-6259	230	12	radar	radar	NOUN
easat-6259	230	13	,	,	PUNCT
easat-6259	230	14	lidar	lidar	NOUN
easat-6259	230	15	,	,	PUNCT
easat-6259	230	16	and	and	CCONJ
easat-6259	230	17	cameras	camera	NOUN
easat-6259	230	18	,	,	PUNCT
easat-6259	230	19	enables	enable	VERB
easat-6259	230	20	sensor	sensor	NOUN
easat-6259	230	21	fusion	fusion	NOUN
easat-6259	230	22	techniques	technique	NOUN
easat-6259	230	23	to	to	PART
easat-6259	230	24	create	create	VERB
easat-6259	230	25	a	a	DET
easat-6259	230	26	full	full	ADJ
easat-6259	230	27	picture	picture	NOUN
easat-6259	230	28	of	of	ADP
easat-6259	230	29	the	the	DET
easat-6259	230	30	environment	environment	NOUN
easat-6259	230	31	around	around	ADP
easat-6259	230	32	the	the	DET
easat-6259	230	33	vehicle	vehicle	NOUN
easat-6259	230	34	.	.	PUNCT
easat-6259	231	1	this	this	DET
easat-6259	231	2	integration	integration	NOUN
easat-6259	231	3	makes	make	VERB
easat-6259	231	4	driving	drive	VERB
easat-6259	231	5	in	in	ADP
easat-6259	231	6	difficult	difficult	ADJ
easat-6259	231	7	situations	situation	NOUN
easat-6259	231	8	less	less	ADV
easat-6259	231	9	likely	likely	ADJ
easat-6259	231	10	to	to	PART
easat-6259	231	11	go	go	VERB
easat-6259	231	12	incorrect	incorrect	ADJ
easat-6259	231	13	and	and	CCONJ
easat-6259	231	14	increases	increase	VERB
easat-6259	231	15	overall	overall	ADJ
easat-6259	231	16	dependability	dependability	NOUN
easat-6259	231	17	.	.	PUNCT
easat-6259	232	1	but	but	CCONJ
easat-6259	232	2	since	since	SCONJ
easat-6259	232	3	avs	avs	PROPN
easat-6259	232	4	produce	produce	VERB
easat-6259	232	5	enormous	enormous	ADJ
easat-6259	232	6	amounts	amount	NOUN
easat-6259	232	7	of	of	ADP
easat-6259	232	8	data	datum	NOUN
easat-6259	232	9	that	that	PRON
easat-6259	232	10	could	could	AUX
easat-6259	232	11	be	be	AUX
easat-6259	232	12	hacked	hack	VERB
easat-6259	232	13	and	and	CCONJ
easat-6259	232	14	misused	misuse	VERB
easat-6259	232	15	,	,	PUNCT
easat-6259	232	16	data	datum	NOUN
easat-6259	232	17	security	security	NOUN
easat-6259	232	18	is	be	AUX
easat-6259	232	19	still	still	ADV
easat-6259	232	20	a	a	DET
easat-6259	232	21	major	major	ADJ
easat-6259	232	22	issue	issue	NOUN
easat-6259	232	23	.	.	PUNCT
easat-6259	233	1	the	the	DET
easat-6259	233	2	development	development	NOUN
easat-6259	233	3	and	and	CCONJ
easat-6259	233	4	implementation	implementation	NOUN
easat-6259	233	5	of	of	ADP
easat-6259	233	6	avs	avs	PROPN
easat-6259	233	7	should	should	AUX
easat-6259	233	8	carefully	carefully	ADV
easat-6259	233	9	examine	examine	VERB
easat-6259	233	10	ethical	ethical	ADJ
easat-6259	233	11	,	,	PUNCT
easat-6259	233	12	legal	legal	ADJ
easat-6259	233	13	,	,	PUNCT
easat-6259	233	14	and	and	CCONJ
easat-6259	233	15	technological	technological	ADJ
easat-6259	233	16	difficulties	difficulty	NOUN
easat-6259	233	17	,	,	PUNCT
easat-6259	233	18	even	even	ADV
easat-6259	233	19	though	though	SCONJ
easat-6259	233	20	they	they	PRON
easat-6259	233	21	hold	hold	VERB
easat-6259	233	22	great	great	ADJ
easat-6259	233	23	promise	promise	NOUN
easat-6259	233	24	for	for	ADP
easat-6259	233	25	enhancing	enhance	VERB
easat-6259	233	26	road	road	NOUN
easat-6259	233	27	safety	safety	NOUN
easat-6259	233	28	and	and	CCONJ
easat-6259	233	29	efficiency	efficiency	NOUN
easat-6259	233	30	[	[	X
easat-6259	233	31	13	13	NUM
easat-6259	233	32	,	,	PUNCT
easat-6259	233	33	14	14	NUM
easat-6259	233	34	]	]	PUNCT
easat-6259	233	35	.	.	PUNCT
easat-6259	234	1	it	it	PRON
easat-6259	234	2	is	be	AUX
easat-6259	234	3	important	important	ADJ
easat-6259	234	4	to	to	PART
easat-6259	234	5	assure	assure	VERB
easat-6259	234	6	the	the	DET
easat-6259	234	7	reliability	reliability	NOUN
easat-6259	234	8	and	and	CCONJ
easat-6259	234	9	security	security	NOUN
easat-6259	234	10	of	of	ADP
easat-6259	234	11	avs	avs	PROPN
easat-6259	234	12	.	.	PUNCT
easat-6259	235	1	for	for	ADP
easat-6259	235	2	example	example	NOUN
easat-6259	235	3	,	,	PUNCT
easat-6259	235	4	predictive	predictive	ADJ
easat-6259	235	5	analytics	analytic	NOUN
easat-6259	235	6	can	can	AUX
easat-6259	235	7	detect	detect	VERB
easat-6259	235	8	irregularities	irregularity	NOUN
easat-6259	235	9	in	in	ADP
easat-6259	235	10	sensor	sensor	NOUN
easat-6259	235	11	data	datum	NOUN
easat-6259	235	12	and	and	CCONJ
easat-6259	235	13	predict	predict	VERB
easat-6259	235	14	traffic	traffic	NOUN
easat-6259	235	15	patterns	pattern	NOUN
easat-6259	235	16	,	,	PUNCT
easat-6259	235	17	enabling	enable	VERB
easat-6259	235	18	avs	avs	NOUN
easat-6259	235	19	to	to	PART
easat-6259	235	20	develop	develop	VERB
easat-6259	235	21	countermeasures	countermeasure	NOUN
easat-6259	235	22	to	to	PART
easat-6259	235	23	prevent	prevent	VERB
easat-6259	235	24	collisions	collision	NOUN
easat-6259	235	25	.	.	PUNCT
easat-6259	236	1	furthermore	furthermore	ADV
easat-6259	236	2	,	,	PUNCT
easat-6259	236	3	ai	ai	AUX
easat-6259	236	4	systems	system	NOUN
easat-6259	236	5	assure	assure	VERB
easat-6259	236	6	that	that	SCONJ
easat-6259	236	7	if	if	SCONJ
easat-6259	236	8	a	a	DET
easat-6259	236	9	system	system	NOUN
easat-6259	236	10	fails	fail	VERB
easat-6259	236	11	,	,	PUNCT
easat-6259	236	12	others	other	NOUN
easat-6259	236	13	can	can	AUX
easat-6259	236	14	compensate	compensate	VERB
easat-6259	236	15	,	,	PUNCT
easat-6259	236	16	maintaining	maintain	VERB
easat-6259	236	17	overall	overall	ADJ
easat-6259	236	18	vehicle	vehicle	NOUN
easat-6259	236	19	safety	safety	NOUN
easat-6259	236	20	.	.	PUNCT
easat-6259	237	1	for	for	SCONJ
easat-6259	237	2	av	av	PROPN
easat-6259	237	3	technology	technology	NOUN
easat-6259	237	4	to	to	PART
easat-6259	237	5	advance	advance	VERB
easat-6259	237	6	and	and	CCONJ
easat-6259	237	7	be	be	AUX
easat-6259	237	8	implemented	implement	VERB
easat-6259	237	9	safely	safely	ADV
easat-6259	237	10	and	and	CCONJ
easat-6259	237	11	effectively	effectively	ADV
easat-6259	237	12	,	,	PUNCT
easat-6259	237	13	it	it	PRON
easat-6259	237	14	is	be	AUX
easat-6259	237	15	imperative	imperative	ADJ
easat-6259	237	16	that	that	SCONJ
easat-6259	237	17	ml	ml	ADP
easat-6259	237	18	,	,	PUNCT
easat-6259	237	19	computer	computer	NOUN
easat-6259	237	20	vision	vision	NOUN
easat-6259	237	21	,	,	PUNCT
easat-6259	237	22	and	and	CCONJ
easat-6259	237	23	sensor	sensor	NOUN
easat-6259	237	24	fusion	fusion	NOUN
easat-6259	237	25	techniques	technique	NOUN
easat-6259	237	26	be	be	AUX
easat-6259	237	27	integrated	integrate	VERB
easat-6259	237	28	[	[	X
easat-6259	237	29	15	15	NUM
easat-6259	237	30	]	]	PUNCT
easat-6259	237	31	.	.	PUNCT
easat-6259	238	1	due	due	ADP
easat-6259	238	2	to	to	ADP
easat-6259	238	3	developments	development	NOUN
easat-6259	238	4	in	in	ADP
easat-6259	238	5	ml	ml	ADP
easat-6259	238	6	,	,	PUNCT
easat-6259	238	7	avs	avs	PROPN
easat-6259	238	8	can	can	AUX
easat-6259	238	9	now	now	ADV
easat-6259	238	10	identify	identify	VERB
easat-6259	238	11	trends	trend	NOUN
easat-6259	238	12	and	and	CCONJ
easat-6259	238	13	make	make	VERB
easat-6259	238	14	judgements	judgement	NOUN
easat-6259	238	15	in	in	ADP
easat-6259	238	16	real	real	ADJ
easat-6259	238	17	-	-	PUNCT
easat-6259	238	18	time	time	NOUN
easat-6259	238	19	by	by	ADP
easat-6259	238	20	utilizing	utilize	VERB
easat-6259	238	21	up	up	ADP
easat-6259	238	22	-	-	PUNCT
easat-6259	238	23	to	to	ADP
easat-6259	238	24	-	-	PUNCT
easat-6259	238	25	date	date	NOUN
easat-6259	238	26	data	datum	NOUN
easat-6259	238	27	.	.	PUNCT
easat-6259	239	1	cnns	cnns	PROPN
easat-6259	239	2	and	and	CCONJ
easat-6259	239	3	other	other	ADJ
easat-6259	239	4	dl	dl	PROPN
easat-6259	239	5	methods	method	NOUN
easat-6259	239	6	enable	enable	VERB
easat-6259	239	7	avs	avs	PROPN
easat-6259	239	8	to	to	PART
easat-6259	239	9	quickly	quickly	ADV
easat-6259	239	10	adjust	adjust	VERB
easat-6259	239	11	to	to	ADP
easat-6259	239	12	new	new	ADJ
easat-6259	239	13	conditions	condition	NOUN
easat-6259	239	14	by	by	ADP
easat-6259	239	15	learning	learn	VERB
easat-6259	239	16	from	from	ADP
easat-6259	239	17	historical	historical	ADJ
easat-6259	239	18	data	datum	NOUN
easat-6259	239	19	[	[	X
easat-6259	239	20	16	16	NUM
easat-6259	239	21	]	]	PUNCT
easat-6259	239	22	.	.	PUNCT
easat-6259	240	1	comparably	comparably	ADV
easat-6259	240	2	,	,	PUNCT
easat-6259	240	3	computer	computer	NOUN
easat-6259	240	4	vision	vision	NOUN
easat-6259	240	5	technologies	technology	NOUN
easat-6259	240	6	are	be	AUX
easat-6259	240	7	essential	essential	ADJ
easat-6259	240	8	to	to	PART
easat-6259	240	9	avs	avs	VERB
easat-6259	240	10	’	'	PUNCT
easat-6259	240	11	ability	ability	NOUN
easat-6259	240	12	to	to	PART
easat-6259	240	13	"	"	PUNCT
easat-6259	240	14	see	see	VERB
easat-6259	240	15	"	"	PUNCT
easat-6259	240	16	and	and	CCONJ
easat-6259	240	17	comprehend	comprehend	VERB
easat-6259	240	18	their	their	PRON
easat-6259	240	19	surroundings	surrounding	NOUN
easat-6259	240	20	more	more	ADV
easat-6259	240	21	fully	fully	ADV
easat-6259	240	22	.	.	PUNCT
easat-6259	241	1	these	these	DET
easat-6259	241	2	systems	system	NOUN
easat-6259	241	3	analyse	analyse	NOUN
easat-6259	241	4	photos	photo	NOUN
easat-6259	241	5	and	and	CCONJ
easat-6259	241	6	videos	video	NOUN
easat-6259	241	7	taken	take	VERB
easat-6259	241	8	by	by	ADP
easat-6259	241	9	the	the	DET
easat-6259	241	10	car	car	NOUN
easat-6259	241	11	's	's	PART
easat-6259	241	12	cameras	camera	NOUN
easat-6259	241	13	to	to	PART
easat-6259	241	14	recognize	recognize	VERB
easat-6259	241	15	traffic	traffic	NOUN
easat-6259	241	16	signs	sign	NOUN
easat-6259	241	17	,	,	PUNCT
easat-6259	241	18	people	people	NOUN
easat-6259	241	19	,	,	PUNCT
easat-6259	241	20	barriers	barrier	NOUN
easat-6259	241	21	,	,	PUNCT
easat-6259	241	22	and	and	CCONJ
easat-6259	241	23	other	other	ADJ
easat-6259	241	24	important	important	ADJ
easat-6259	241	25	factors	factor	NOUN
easat-6259	241	26	that	that	PRON
easat-6259	241	27	influence	influence	VERB
easat-6259	241	28	driving	drive	VERB
easat-6259	241	29	decisions	decision	NOUN
easat-6259	241	30	.	.	PUNCT
easat-6259	242	1	1308	1308	NUM
easat-6259	242	2	edelweiss	edelweiss	PROPN
easat-6259	242	3	applied	apply	VERB
easat-6259	242	4	science	science	NOUN
easat-6259	242	5	and	and	CCONJ
easat-6259	242	6	technology	technology	NOUN
easat-6259	242	7	issn	issn	PROPN
easat-6259	242	8	:	:	PUNCT
easat-6259	242	9	2576	2576	NUM
easat-6259	242	10	-	-	SYM
easat-6259	242	11	8484	8484	NUM
easat-6259	242	12	vol	vol	NOUN
easat-6259	242	13	.	.	PROPN
easat-6259	243	1	9	9	NUM
easat-6259	243	2	,	,	PUNCT
easat-6259	243	3	no	no	INTJ
easat-6259	243	4	.	.	NOUN
easat-6259	244	1	4	4	NUM
easat-6259	244	2	:	:	SYM
easat-6259	244	3	1300	1300	NUM
easat-6259	244	4	-	-	SYM
easat-6259	244	5	1331	1331	NUM
easat-6259	244	6	,	,	PUNCT
easat-6259	244	7	2025	2025	NUM
easat-6259	244	8	doi	doi	NOUN
easat-6259	244	9	:	:	PUNCT
easat-6259	244	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	244	11	©	©	PROPN
easat-6259	244	12	2025	2025	NUM
easat-6259	244	13	by	by	ADP
easat-6259	244	14	the	the	DET
easat-6259	244	15	authors	author	NOUN
easat-6259	244	16	;	;	PUNCT
easat-6259	244	17	licensee	licensee	PROPN
easat-6259	244	18	learning	learning	NOUN
easat-6259	244	19	gate	gate	NOUN
easat-6259	244	20	3	3	NUM
easat-6259	244	21	.	.	PUNCT
easat-6259	244	22	methodologies	methodology	NOUN
easat-6259	244	23	for	for	ADP
easat-6259	244	24	avs	avs	PROPN
easat-6259	244	25	advancements	advancement	NOUN
easat-6259	244	26	in	in	ADP
easat-6259	244	27	computer	computer	NOUN
easat-6259	244	28	vision	vision	NOUN
easat-6259	244	29	is	be	AUX
easat-6259	244	30	essential	essential	ADJ
easat-6259	244	31	to	to	ADP
easat-6259	244	32	the	the	DET
easat-6259	244	33	development	development	NOUN
easat-6259	244	34	of	of	ADP
easat-6259	244	35	adss	adss	PROPN
easat-6259	244	36	.	.	PUNCT
easat-6259	245	1	cnns	cnns	PROPN
easat-6259	245	2	,	,	PUNCT
easat-6259	245	3	in	in	ADP
easat-6259	245	4	particular	particular	ADJ
easat-6259	245	5	,	,	PUNCT
easat-6259	245	6	are	be	AUX
easat-6259	245	7	essential	essential	ADJ
easat-6259	245	8	to	to	PART
easat-6259	245	9	ml	ml	NOUN
easat-6259	245	10	because	because	SCONJ
easat-6259	245	11	they	they	PRON
easat-6259	245	12	enable	enable	VERB
easat-6259	245	13	the	the	DET
easat-6259	245	14	recognition	recognition	NOUN
easat-6259	245	15	and	and	CCONJ
easat-6259	245	16	interpretation	interpretation	NOUN
easat-6259	245	17	of	of	ADP
easat-6259	245	18	visual	visual	ADJ
easat-6259	245	19	data	datum	NOUN
easat-6259	245	20	from	from	ADP
easat-6259	245	21	the	the	DET
easat-6259	245	22	environment	environment	NOUN
easat-6259	245	23	around	around	ADP
easat-6259	245	24	the	the	DET
easat-6259	245	25	vehicle	vehicle	NOUN
easat-6259	245	26	.	.	PUNCT
easat-6259	246	1	to	to	PART
easat-6259	246	2	reliably	reliably	ADV
easat-6259	246	3	identify	identify	VERB
easat-6259	246	4	lane	lane	NOUN
easat-6259	246	5	markings	marking	NOUN
easat-6259	246	6	,	,	PUNCT
easat-6259	246	7	traffic	traffic	NOUN
easat-6259	246	8	signs	sign	NOUN
easat-6259	246	9	,	,	PUNCT
easat-6259	246	10	pedestrians	pedestrian	NOUN
easat-6259	246	11	,	,	PUNCT
easat-6259	246	12	and	and	CCONJ
easat-6259	246	13	other	other	ADJ
easat-6259	246	14	impediments	impediment	NOUN
easat-6259	246	15	,	,	PUNCT
easat-6259	246	16	cnns	cnn	NOUN
easat-6259	246	17	are	be	AUX
easat-6259	246	18	trained	train	VERB
easat-6259	246	19	on	on	ADP
easat-6259	246	20	big	big	ADJ
easat-6259	246	21	datasets	dataset	NOUN
easat-6259	246	22	.	.	PUNCT
easat-6259	247	1	furthermore	furthermore	ADV
easat-6259	247	2	,	,	PUNCT
easat-6259	247	3	the	the	DET
easat-6259	247	4	vehicle	vehicle	NOUN
easat-6259	247	5	’s	’s	PART
easat-6259	247	6	capacity	capacity	NOUN
easat-6259	247	7	to	to	PART
easat-6259	247	8	identify	identify	VERB
easat-6259	247	9	lane	lane	NOUN
easat-6259	247	10	edges	edge	NOUN
easat-6259	247	11	and	and	CCONJ
easat-6259	247	12	other	other	ADJ
easat-6259	247	13	essential	essential	ADJ
easat-6259	247	14	features	feature	NOUN
easat-6259	247	15	is	be	AUX
easat-6259	247	16	improved	improve	VERB
easat-6259	247	17	by	by	ADP
easat-6259	247	18	the	the	DET
easat-6259	247	19	application	application	NOUN
easat-6259	247	20	of	of	ADP
easat-6259	247	21	edge	edge	NOUN
easat-6259	247	22	detection	detection	NOUN
easat-6259	247	23	techniques	technique	NOUN
easat-6259	247	24	like	like	ADP
easat-6259	247	25	the	the	DET
easat-6259	247	26	sobel	sobel	NOUN
easat-6259	247	27	operator	operator	NOUN
easat-6259	247	28	.	.	PUNCT
easat-6259	248	1	gaussian	gaussian	ADJ
easat-6259	248	2	filtering	filtering	NOUN
easat-6259	248	3	ensures	ensure	VERB
easat-6259	248	4	robustness	robustness	NOUN
easat-6259	248	5	in	in	ADP
easat-6259	248	6	diverse	diverse	ADJ
easat-6259	248	7	contexts	context	NOUN
easat-6259	248	8	by	by	ADP
easat-6259	248	9	significantly	significantly	ADV
easat-6259	248	10	enhancing	enhance	VERB
easat-6259	248	11	edge	edge	NOUN
easat-6259	248	12	detection	detection	NOUN
easat-6259	248	13	efficiency	efficiency	NOUN
easat-6259	248	14	across	across	ADP
easat-6259	248	15	a	a	DET
easat-6259	248	16	range	range	NOUN
easat-6259	248	17	of	of	ADP
easat-6259	248	18	situations	situation	NOUN
easat-6259	248	19	.	.	PUNCT
easat-6259	249	1	figure	figure	NOUN
easat-6259	249	2	3	3	NUM
easat-6259	249	3	.	.	PUNCT
easat-6259	250	1	choosing	choose	VERB
easat-6259	250	2	the	the	DET
easat-6259	250	3	suitable	suitable	ADJ
easat-6259	250	4	trajectory	trajectory	NOUN
easat-6259	250	5	.	.	PUNCT
easat-6259	251	1	path	path	NOUN
easat-6259	251	2	prediction	prediction	NOUN
easat-6259	251	3	and	and	CCONJ
easat-6259	251	4	ml	ml	NOUN
easat-6259	251	5	techniques	technique	NOUN
easat-6259	251	6	have	have	AUX
easat-6259	251	7	made	make	VERB
easat-6259	251	8	significant	significant	ADJ
easat-6259	251	9	progress	progress	NOUN
easat-6259	251	10	in	in	ADP
easat-6259	251	11	the	the	DET
easat-6259	251	12	field	field	NOUN
easat-6259	251	13	of	of	ADP
easat-6259	251	14	avs	avs	PROPN
easat-6259	251	15	.	.	PUNCT
easat-6259	252	1	with	with	ADP
easat-6259	252	2	a	a	DET
easat-6259	252	3	particular	particular	ADJ
easat-6259	252	4	focus	focus	NOUN
easat-6259	252	5	on	on	ADP
easat-6259	252	6	these	these	DET
easat-6259	252	7	technologies	technology	NOUN
easat-6259	252	8	usage	usage	NOUN
easat-6259	252	9	in	in	ADP
easat-6259	252	10	avs	avs	PROPN
easat-6259	252	11	,	,	PUNCT
easat-6259	252	12	this	this	DET
easat-6259	252	13	study	study	NOUN
easat-6259	252	14	identifies	identify	VERB
easat-6259	252	15	important	important	ADJ
easat-6259	252	16	themes	theme	NOUN
easat-6259	252	17	and	and	CCONJ
easat-6259	252	18	current	current	ADJ
easat-6259	252	19	advancements	advancement	NOUN
easat-6259	252	20	in	in	ADP
easat-6259	252	21	research	research	NOUN
easat-6259	252	22	.	.	PUNCT
easat-6259	253	1	3.1	3.1	NUM
easat-6259	253	2	.	.	PUNCT
easat-6259	253	3	path	path	NOUN
easat-6259	253	4	prediction	prediction	NOUN
easat-6259	253	5	ml	ml	AUX
easat-6259	253	6	plays	play	VERB
easat-6259	253	7	an	an	DET
easat-6259	253	8	important	important	ADJ
easat-6259	253	9	role	role	NOUN
easat-6259	253	10	in	in	ADP
easat-6259	253	11	improving	improve	VERB
easat-6259	253	12	avs	avs	NOUN
easat-6259	253	13	prediction	prediction	NOUN
easat-6259	253	14	as	as	SCONJ
easat-6259	253	15	traditional	traditional	ADJ
easat-6259	253	16	methods	method	NOUN
easat-6259	253	17	have	have	AUX
easat-6259	253	18	been	be	AUX
easat-6259	253	19	significantly	significantly	ADV
easat-6259	253	20	enhanced	enhance	VERB
easat-6259	253	21	by	by	ADP
easat-6259	253	22	ml	ml	NOUN
easat-6259	253	23	techniques	technique	NOUN
easat-6259	253	24	.	.	PUNCT
easat-6259	254	1	especially	especially	ADV
easat-6259	254	2	dl	dl	NOUN
easat-6259	254	3	-	-	PUNCT
easat-6259	254	4	based	base	VERB
easat-6259	254	5	techniques	technique	NOUN
easat-6259	254	6	,	,	PUNCT
easat-6259	254	7	which	which	PRON
easat-6259	254	8	make	make	VERB
easat-6259	254	9	use	use	NOUN
easat-6259	254	10	of	of	ADP
easat-6259	254	11	enormous	enormous	ADJ
easat-6259	254	12	datasets	dataset	NOUN
easat-6259	254	13	and	and	CCONJ
easat-6259	254	14	complex	complex	ADJ
easat-6259	254	15	algorithms	algorithm	NOUN
easat-6259	254	16	,	,	PUNCT
easat-6259	254	17	have	have	AUX
easat-6259	254	18	demonstrated	demonstrate	VERB
easat-6259	254	19	impressive	impressive	ADJ
easat-6259	254	20	performance	performance	NOUN
easat-6259	254	21	in	in	ADP
easat-6259	254	22	forecasting	forecasting	NOUN
easat-6259	254	23	vehicle	vehicle	NOUN
easat-6259	254	24	paths	path	NOUN
easat-6259	254	25	.	.	PUNCT
easat-6259	255	1	for	for	ADP
easat-6259	255	2	example	example	NOUN
easat-6259	255	3	,	,	PUNCT
easat-6259	255	4	some	some	DET
easat-6259	255	5	studies	study	NOUN
easat-6259	255	6	offer	offer	VERB
easat-6259	255	7	an	an	DET
easat-6259	255	8	overview	overview	NOUN
easat-6259	255	9	of	of	ADP
easat-6259	255	10	motion	motion	NOUN
easat-6259	255	11	prediction	prediction	NOUN
easat-6259	255	12	and	and	CCONJ
easat-6259	255	13	risk	risk	NOUN
easat-6259	255	14	assessment	assessment	NOUN
easat-6259	255	15	methods	method	NOUN
easat-6259	255	16	utilized	utilize	VERB
easat-6259	255	17	for	for	ADP
easat-6259	255	18	avs	avs	PROPN
easat-6259	255	19	.	.	PUNCT
easat-6259	256	1	dl	dl	PROPN
easat-6259	256	2	-	-	PUNCT
easat-6259	256	3	based	base	VERB
easat-6259	256	4	car	car	NOUN
easat-6259	256	5	behaviour	behaviour	NOUN
easat-6259	256	6	prediction	prediction	NOUN
easat-6259	256	7	has	have	AUX
easat-6259	256	8	become	become	VERB
easat-6259	256	9	more	more	ADV
easat-6259	256	10	popular	popular	ADJ
easat-6259	256	11	in	in	ADP
easat-6259	256	12	the	the	DET
easat-6259	256	13	last	last	ADJ
easat-6259	256	14	several	several	ADJ
easat-6259	256	15	years	year	NOUN
easat-6259	256	16	.	.	PUNCT
easat-6259	257	1	these	these	DET
easat-6259	257	2	methods	method	NOUN
easat-6259	257	3	improve	improve	VERB
easat-6259	257	4	vehicle	vehicle	NOUN
easat-6259	257	5	behaviour	behaviour	NOUN
easat-6259	257	6	analysis	analysis	NOUN
easat-6259	257	7	.	.	PUNCT
easat-6259	258	1	recurrent	recurrent	ADJ
easat-6259	258	2	neural	neural	ADJ
easat-6259	258	3	networks	network	NOUN
easat-6259	258	4	(	(	PUNCT
easat-6259	258	5	rnns	rnns	PROPN
easat-6259	258	6	)	)	PUNCT
easat-6259	258	7	and	and	CCONJ
easat-6259	258	8	long	long	ADJ
easat-6259	258	9	short	short	ADJ
easat-6259	258	10	-	-	PUNCT
easat-6259	258	11	term	term	NOUN
easat-6259	258	12	memory	memory	NOUN
easat-6259	258	13	(	(	PUNCT
easat-6259	258	14	lstm	lstm	NOUN
easat-6259	258	15	)	)	PUNCT
easat-6259	258	16	networks	network	NOUN
easat-6259	258	17	are	be	AUX
easat-6259	258	18	examples	example	NOUN
easat-6259	258	19	of	of	ADP
easat-6259	258	20	sequential	sequential	ADJ
easat-6259	258	21	models	model	NOUN
easat-6259	258	22	that	that	PRON
easat-6259	258	23	have	have	AUX
easat-6259	258	24	been	be	AUX
easat-6259	258	25	used	use	VERB
easat-6259	258	26	extensively	extensively	ADV
easat-6259	258	27	to	to	PART
easat-6259	258	28	capture	capture	VERB
easat-6259	258	29	temporal	temporal	ADJ
easat-6259	258	30	dependencies	dependency	NOUN
easat-6259	258	31	in	in	ADP
easat-6259	258	32	trajectory	trajectory	NOUN
easat-6259	258	33	data	data	PROPN
easat-6259	258	34	.	.	PUNCT
easat-6259	259	1	time	time	NOUN
easat-6259	259	2	-	-	PUNCT
easat-6259	259	3	series	series	NOUN
easat-6259	259	4	data	datum	NOUN
easat-6259	259	5	processing	processing	NOUN
easat-6259	259	6	,	,	PUNCT
easat-6259	259	7	which	which	PRON
easat-6259	259	8	is	be	AUX
easat-6259	259	9	essential	essential	ADJ
easat-6259	259	10	for	for	ADP
easat-6259	259	11	precise	precise	ADJ
easat-6259	259	12	trajectory	trajectory	NOUN
easat-6259	259	13	prediction	prediction	NOUN
easat-6259	259	14	in	in	ADP
easat-6259	259	15	dynamic	dynamic	ADJ
easat-6259	259	16	driving	driving	NOUN
easat-6259	259	17	settings	setting	NOUN
easat-6259	259	18	,	,	PUNCT
easat-6259	259	19	is	be	AUX
easat-6259	259	20	a	a	DET
easat-6259	259	21	specialty	specialty	NOUN
easat-6259	259	22	of	of	ADP
easat-6259	259	23	these	these	DET
easat-6259	259	24	models	model	NOUN
easat-6259	259	25	[	[	X
easat-6259	259	26	17	17	NUM
easat-6259	259	27	]	]	PUNCT
easat-6259	259	28	.	.	PUNCT
easat-6259	260	1	1309	1309	NUM
easat-6259	260	2	edelweiss	edelweiss	PROPN
easat-6259	260	3	applied	apply	VERB
easat-6259	260	4	science	science	NOUN
easat-6259	260	5	and	and	CCONJ
easat-6259	260	6	technology	technology	NOUN
easat-6259	260	7	issn	issn	PROPN
easat-6259	260	8	:	:	PUNCT
easat-6259	260	9	2576	2576	NUM
easat-6259	260	10	-	-	SYM
easat-6259	260	11	8484	8484	NUM
easat-6259	260	12	vol	vol	NOUN
easat-6259	260	13	.	.	PROPN
easat-6259	261	1	9	9	NUM
easat-6259	261	2	,	,	PUNCT
easat-6259	261	3	no	no	INTJ
easat-6259	261	4	.	.	NOUN
easat-6259	262	1	4	4	NUM
easat-6259	262	2	:	:	SYM
easat-6259	262	3	1300	1300	NUM
easat-6259	262	4	-	-	SYM
easat-6259	262	5	1331	1331	NUM
easat-6259	262	6	,	,	PUNCT
easat-6259	262	7	2025	2025	NUM
easat-6259	262	8	doi	doi	NOUN
easat-6259	262	9	:	:	PUNCT
easat-6259	262	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	262	11	©	©	PROPN
easat-6259	262	12	2025	2025	NUM
easat-6259	262	13	by	by	ADP
easat-6259	262	14	the	the	DET
easat-6259	262	15	authors	author	NOUN
easat-6259	262	16	;	;	PUNCT
easat-6259	262	17	licensee	licensee	PROPN
easat-6259	262	18	learning	learning	NOUN
easat-6259	262	19	gate	gate	NOUN
easat-6259	262	20	3.2	3.2	NUM
easat-6259	262	21	.	.	PUNCT
easat-6259	263	1	trajectory	trajectory	NOUN
easat-6259	263	2	prediction	prediction	NOUN
easat-6259	263	3	trajectory	trajectory	NOUN
easat-6259	263	4	prediction	prediction	NOUN
easat-6259	263	5	is	be	AUX
easat-6259	263	6	the	the	DET
easat-6259	263	7	process	process	NOUN
easat-6259	263	8	of	of	ADP
easat-6259	263	9	projecting	project	VERB
easat-6259	263	10	moving	move	VERB
easat-6259	263	11	objects	object	NOUN
easat-6259	263	12	'	'	PART
easat-6259	263	13	future	future	ADJ
easat-6259	263	14	positions	position	NOUN
easat-6259	263	15	from	from	ADP
easat-6259	263	16	their	their	PRON
easat-6259	263	17	historical	historical	ADJ
easat-6259	263	18	and	and	CCONJ
easat-6259	263	19	current	current	ADJ
easat-6259	263	20	conditions	condition	NOUN
easat-6259	263	21	as	as	SCONJ
easat-6259	263	22	shown	show	VERB
easat-6259	263	23	in	in	ADP
easat-6259	263	24	figure	figure	NOUN
easat-6259	263	25	3	3	NUM
easat-6259	263	26	[	[	X
easat-6259	263	27	18	18	NUM
easat-6259	263	28	]	]	PUNCT
easat-6259	263	29	.	.	PUNCT
easat-6259	264	1	this	this	PRON
easat-6259	264	2	can	can	AUX
easat-6259	264	3	be	be	AUX
easat-6259	264	4	achieved	achieve	VERB
easat-6259	264	5	by	by	ADP
easat-6259	264	6	several	several	ADJ
easat-6259	264	7	methods	method	NOUN
easat-6259	264	8	,	,	PUNCT
easat-6259	264	9	such	such	ADJ
easat-6259	264	10	as	as	ADP
easat-6259	264	11	dl	dl	PROPN
easat-6259	264	12	techniques	technique	NOUN
easat-6259	264	13	,	,	PUNCT
easat-6259	264	14	statistical	statistical	ADJ
easat-6259	264	15	models	model	NOUN
easat-6259	264	16	,	,	PUNCT
easat-6259	264	17	and	and	CCONJ
easat-6259	264	18	physics	physics	NOUN
easat-6259	264	19	-	-	PUNCT
easat-6259	264	20	based	base	VERB
easat-6259	264	21	models	model	NOUN
easat-6259	264	22	.	.	PUNCT
easat-6259	265	1	while	while	SCONJ
easat-6259	265	2	probabilistic	probabilistic	ADJ
easat-6259	265	3	models	model	NOUN
easat-6259	265	4	,	,	PUNCT
easat-6259	265	5	such	such	ADJ
easat-6259	265	6	as	as	ADP
easat-6259	265	7	gaussian	gaussian	ADJ
easat-6259	265	8	processes	process	NOUN
easat-6259	265	9	and	and	CCONJ
easat-6259	265	10	hidden	hide	VERB
easat-6259	265	11	markov	markov	NOUN
easat-6259	265	12	models	model	NOUN
easat-6259	265	13	,	,	PUNCT
easat-6259	265	14	incorporate	incorporate	VERB
easat-6259	265	15	uncertainty	uncertainty	NOUN
easat-6259	265	16	into	into	ADP
easat-6259	265	17	their	their	PRON
easat-6259	265	18	predictions	prediction	NOUN
easat-6259	265	19	,	,	PUNCT
easat-6259	265	20	physicsbased	physicsbase	VERB
easat-6259	265	21	models	model	NOUN
easat-6259	265	22	use	use	VERB
easat-6259	265	23	laws	law	NOUN
easat-6259	265	24	of	of	ADP
easat-6259	265	25	motion	motion	NOUN
easat-6259	265	26	to	to	PART
easat-6259	265	27	forecast	forecast	VERB
easat-6259	265	28	future	future	ADJ
easat-6259	265	29	positions	position	NOUN
easat-6259	265	30	.	.	PUNCT
easat-6259	266	1	these	these	DET
easat-6259	266	2	predictions	prediction	NOUN
easat-6259	266	3	are	be	AUX
easat-6259	266	4	further	far	ADV
easat-6259	266	5	refined	refine	VERB
easat-6259	266	6	by	by	ADP
easat-6259	266	7	dl	dl	PROPN
easat-6259	266	8	techniques	technique	NOUN
easat-6259	266	9	via	via	ADP
easat-6259	266	10	use	use	NOUN
easat-6259	266	11	of	of	ADP
easat-6259	266	12	neural	neural	ADJ
easat-6259	266	13	networks	network	NOUN
easat-6259	266	14	to	to	PART
easat-6259	266	15	learn	learn	VERB
easat-6259	266	16	from	from	ADP
easat-6259	266	17	vast	vast	ADJ
easat-6259	266	18	datasets	dataset	NOUN
easat-6259	266	19	.	.	PUNCT
easat-6259	267	1	cnns	cnns	PROPN
easat-6259	267	2	have	have	AUX
easat-6259	267	3	successfully	successfully	ADV
easat-6259	267	4	improved	improve	VERB
easat-6259	267	5	trajectory	trajectory	NOUN
easat-6259	267	6	prediction	prediction	NOUN
easat-6259	267	7	and	and	CCONJ
easat-6259	267	8	also	also	ADV
easat-6259	267	9	have	have	AUX
easat-6259	267	10	dramatically	dramatically	ADV
easat-6259	267	11	changed	change	VERB
easat-6259	267	12	the	the	DET
easat-6259	267	13	field	field	NOUN
easat-6259	267	14	of	of	ADP
easat-6259	267	15	computer	computer	NOUN
easat-6259	267	16	vision	vision	NOUN
easat-6259	267	17	.	.	PUNCT
easat-6259	268	1	they	they	PRON
easat-6259	268	2	work	work	VERB
easat-6259	268	3	effectively	effectively	ADV
easat-6259	268	4	on	on	ADP
easat-6259	268	5	jobs	job	NOUN
easat-6259	268	6	involving	involve	VERB
easat-6259	268	7	spatial	spatial	ADJ
easat-6259	268	8	data	datum	NOUN
easat-6259	268	9	,	,	PUNCT
easat-6259	268	10	such	such	ADJ
easat-6259	268	11	pictures	picture	NOUN
easat-6259	268	12	and	and	CCONJ
easat-6259	268	13	videos	video	NOUN
easat-6259	268	14	.	.	PUNCT
easat-6259	269	1	cnns	cnns	PROPN
easat-6259	269	2	are	be	AUX
easat-6259	269	3	used	use	VERB
easat-6259	269	4	to	to	PART
easat-6259	269	5	analyse	analyse	VERB
easat-6259	269	6	complex	complex	ADJ
easat-6259	269	7	images	image	NOUN
easat-6259	269	8	and	and	CCONJ
easat-6259	269	9	predict	predict	VERB
easat-6259	269	10	the	the	DET
easat-6259	269	11	future	future	ADJ
easat-6259	269	12	paths	path	NOUN
easat-6259	269	13	of	of	ADP
easat-6259	269	14	objects	object	NOUN
easat-6259	269	15	inside	inside	ADP
easat-6259	269	16	those	those	DET
easat-6259	269	17	scenes	scene	NOUN
easat-6259	269	18	by	by	ADP
easat-6259	269	19	utilizing	utilize	VERB
easat-6259	269	20	their	their	PRON
easat-6259	269	21	capacity	capacity	NOUN
easat-6259	269	22	to	to	PART
easat-6259	269	23	automatically	automatically	ADV
easat-6259	269	24	detect	detect	VERB
easat-6259	269	25	and	and	CCONJ
easat-6259	269	26	learn	learn	VERB
easat-6259	269	27	spatial	spatial	ADJ
easat-6259	269	28	hierarchies	hierarchy	NOUN
easat-6259	269	29	from	from	ADP
easat-6259	269	30	raw	raw	ADJ
easat-6259	269	31	pixel	pixel	PROPN
easat-6259	269	32	data	datum	NOUN
easat-6259	269	33	.	.	PUNCT
easat-6259	270	1	furthermore	furthermore	ADV
easat-6259	270	2	,	,	PUNCT
easat-6259	270	3	predicting	predict	VERB
easat-6259	270	4	human	human	ADJ
easat-6259	270	5	movements	movement	NOUN
easat-6259	270	6	and	and	CCONJ
easat-6259	270	7	interactions	interaction	NOUN
easat-6259	270	8	with	with	ADP
easat-6259	270	9	vehicles	vehicle	NOUN
easat-6259	270	10	is	be	AUX
easat-6259	270	11	one	one	NUM
easat-6259	270	12	prominent	prominent	ADJ
easat-6259	270	13	use	use	NOUN
easat-6259	270	14	of	of	ADP
easat-6259	270	15	cnns	cnn	NOUN
easat-6259	270	16	in	in	ADP
easat-6259	270	17	avs	avs	PROPN
easat-6259	270	18	.	.	PUNCT
easat-6259	271	1	in	in	ADP
easat-6259	271	2	order	order	NOUN
easat-6259	271	3	to	to	PART
easat-6259	271	4	forecast	forecast	VERB
easat-6259	271	5	pedestrian	pedestrian	NOUN
easat-6259	271	6	trajectories	trajectory	NOUN
easat-6259	271	7	in	in	ADP
easat-6259	271	8	urban	urban	ADJ
easat-6259	271	9	contexts	context	NOUN
easat-6259	271	10	,	,	PUNCT
easat-6259	271	11	for	for	ADP
easat-6259	271	12	instance	instance	NOUN
easat-6259	271	13	,	,	PUNCT
easat-6259	271	14	some	some	DET
easat-6259	271	15	works	work	NOUN
easat-6259	271	16	suggested	suggest	VERB
easat-6259	271	17	a	a	DET
easat-6259	271	18	cnn	cnn	PROPN
easat-6259	271	19	-	-	PUNCT
easat-6259	271	20	based	base	VERB
easat-6259	271	21	framework	framework	NOUN
easat-6259	271	22	that	that	PRON
easat-6259	271	23	examines	examine	VERB
easat-6259	271	24	the	the	DET
easat-6259	271	25	spatial	spatial	ADJ
easat-6259	271	26	interactions	interaction	NOUN
easat-6259	271	27	between	between	ADP
easat-6259	271	28	pedestrians	pedestrian	NOUN
easat-6259	271	29	and	and	CCONJ
easat-6259	271	30	cars	car	NOUN
easat-6259	271	31	.	.	PUNCT
easat-6259	272	1	figure	figure	VERB
easat-6259	272	2	4	4	NUM
easat-6259	272	3	.	.	PUNCT
easat-6259	272	4	cnn	cnn	PROPN
easat-6259	272	5	architecture	architecture	NOUN
easat-6259	272	6	framework	framework	NOUN
easat-6259	272	7	.	.	PUNCT
easat-6259	273	1	this	this	DET
easat-6259	273	2	method	method	NOUN
easat-6259	273	3	makes	make	VERB
easat-6259	273	4	use	use	NOUN
easat-6259	273	5	of	of	ADP
easat-6259	273	6	the	the	DET
easat-6259	273	7	convolutional	convolutional	ADJ
easat-6259	273	8	layers	layer	NOUN
easat-6259	273	9	to	to	PART
easat-6259	273	10	extract	extract	VERB
easat-6259	273	11	high	high	ADJ
easat-6259	273	12	-	-	PUNCT
easat-6259	273	13	level	level	NOUN
easat-6259	273	14	features	feature	NOUN
easat-6259	273	15	from	from	ADP
easat-6259	273	16	image	image	NOUN
easat-6259	273	17	data	datum	NOUN
easat-6259	273	18	,	,	PUNCT
easat-6259	273	19	enabling	enable	VERB
easat-6259	273	20	the	the	DET
easat-6259	273	21	model	model	NOUN
easat-6259	273	22	to	to	PART
easat-6259	273	23	understand	understand	VERB
easat-6259	273	24	intricate	intricate	ADJ
easat-6259	273	25	details	detail	NOUN
easat-6259	273	26	of	of	ADP
easat-6259	273	27	pedestrian	pedestrian	NOUN
easat-6259	273	28	behaviour	behaviour	NOUN
easat-6259	273	29	and	and	CCONJ
easat-6259	273	30	make	make	VERB
easat-6259	273	31	accurate	accurate	ADJ
easat-6259	273	32	predictions	prediction	NOUN
easat-6259	273	33	.	.	PUNCT
easat-6259	274	1	different	different	ADJ
easat-6259	274	2	traffic	traffic	NOUN
easat-6259	274	3	participants	participant	NOUN
easat-6259	274	4	'	'	PART
easat-6259	274	5	interactions	interaction	NOUN
easat-6259	274	6	and	and	CCONJ
easat-6259	274	7	geographical	geographical	ADJ
easat-6259	274	8	linkages	linkage	NOUN
easat-6259	274	9	are	be	AUX
easat-6259	274	10	captured	capture	VERB
easat-6259	274	11	using	use	VERB
easat-6259	274	12	cnns	cnn	NOUN
easat-6259	274	13	and	and	CCONJ
easat-6259	274	14	graph	graph	VERB
easat-6259	274	15	neural	neural	ADJ
easat-6259	274	16	networks	network	NOUN
easat-6259	274	17	(	(	PUNCT
easat-6259	274	18	gnns	gnns	NOUN
easat-6259	274	19	)	)	PUNCT
easat-6259	274	20	.	.	PUNCT
easat-6259	275	1	these	these	DET
easat-6259	275	2	techniques	technique	NOUN
easat-6259	275	3	work	work	VERB
easat-6259	275	4	especially	especially	ADV
easat-6259	275	5	well	well	ADV
easat-6259	275	6	in	in	ADP
easat-6259	275	7	urban	urban	ADJ
easat-6259	275	8	settings	setting	NOUN
easat-6259	275	9	because	because	SCONJ
easat-6259	275	10	there	there	PRON
easat-6259	275	11	are	be	VERB
easat-6259	275	12	a	a	DET
easat-6259	275	13	lot	lot	NOUN
easat-6259	275	14	of	of	ADP
easat-6259	275	15	moving	move	VERB
easat-6259	275	16	parts	part	NOUN
easat-6259	275	17	and	and	CCONJ
easat-6259	275	18	intricate	intricate	ADJ
easat-6259	275	19	interactions	interaction	NOUN
easat-6259	275	20	between	between	ADP
easat-6259	275	21	cars	car	NOUN
easat-6259	275	22	,	,	PUNCT
easat-6259	275	23	customers	customer	NOUN
easat-6259	275	24	,	,	PUNCT
easat-6259	275	25	and	and	CCONJ
easat-6259	275	26	other	other	ADJ
easat-6259	275	27	objects	object	NOUN
easat-6259	275	28	.	.	PUNCT
easat-6259	276	1	3.3	3.3	NUM
easat-6259	276	2	.	.	PUNCT
easat-6259	276	3	object	object	NOUN
easat-6259	276	4	detection	detection	NOUN
easat-6259	276	5	and	and	CCONJ
easat-6259	276	6	scene	scene	NOUN
easat-6259	276	7	perception	perception	NOUN
easat-6259	276	8	developments	development	NOUN
easat-6259	276	9	in	in	ADP
easat-6259	276	10	dl	dl	PROPN
easat-6259	276	11	,	,	PUNCT
easat-6259	276	12	ml	ml	ADP
easat-6259	276	13	,	,	PUNCT
easat-6259	276	14	and	and	CCONJ
easat-6259	276	15	ai	ai	AUX
easat-6259	276	16	have	have	AUX
easat-6259	276	17	played	play	VERB
easat-6259	276	18	a	a	DET
easat-6259	276	19	major	major	ADJ
easat-6259	276	20	role	role	NOUN
easat-6259	276	21	in	in	ADP
easat-6259	276	22	the	the	DET
easat-6259	276	23	development	development	NOUN
easat-6259	276	24	of	of	ADP
easat-6259	276	25	avs	avs	PROPN
easat-6259	276	26	.	.	PUNCT
easat-6259	277	1	object	object	NOUN
easat-6259	277	2	detection	detection	NOUN
easat-6259	277	3	is	be	AUX
easat-6259	277	4	a	a	DET
easat-6259	277	5	vital	vital	ADJ
easat-6259	277	6	component	component	NOUN
easat-6259	277	7	of	of	ADP
easat-6259	277	8	av	av	PROPN
easat-6259	277	9	technology	technology	NOUN
easat-6259	277	10	that	that	PRON
easat-6259	277	11	helps	help	VERB
easat-6259	277	12	the	the	DET
easat-6259	277	13	car	car	NOUN
easat-6259	277	14	recognize	recognize	VERB
easat-6259	277	15	its	its	PRON
easat-6259	277	16	surroundings	surrounding	NOUN
easat-6259	277	17	.	.	PUNCT
easat-6259	278	1	the	the	DET
easat-6259	278	2	capacity	capacity	NOUN
easat-6259	278	3	of	of	ADP
easat-6259	278	4	cnns	cnn	NOUN
easat-6259	278	5	to	to	PART
easat-6259	278	6	learn	learn	VERB
easat-6259	278	7	and	and	CCONJ
easat-6259	278	8	extract	extract	VERB
easat-6259	278	9	hierarchical	hierarchical	ADJ
easat-6259	278	10	features	feature	NOUN
easat-6259	278	11	from	from	ADP
easat-6259	278	12	visual	visual	ADJ
easat-6259	278	13	data	datum	NOUN
easat-6259	278	14	has	have	AUX
easat-6259	278	15	made	make	VERB
easat-6259	278	16	them	they	PRON
easat-6259	278	17	an	an	DET
easat-6259	278	18	essential	essential	ADJ
easat-6259	278	19	component	component	NOUN
easat-6259	278	20	for	for	ADP
easat-6259	278	21	this	this	DET
easat-6259	278	22	goal	goal	NOUN
easat-6259	278	23	.	.	PUNCT
easat-6259	279	1	avs	avs	PROPN
easat-6259	279	2	need	need	AUX
easat-6259	279	3	object	object	NOUN
easat-6259	279	4	detection	detection	NOUN
easat-6259	279	5	in	in	ADP
easat-6259	279	6	order	order	NOUN
easat-6259	279	7	to	to	PART
easat-6259	279	8	identify	identify	VERB
easat-6259	279	9	and	and	CCONJ
easat-6259	279	10	locate	locate	VERB
easat-6259	279	11	different	different	ADJ
easat-6259	279	12	items	item	NOUN
easat-6259	279	13	in	in	ADP
easat-6259	279	14	their	their	PRON
easat-6259	279	15	environment	environment	NOUN
easat-6259	279	16	.	.	PUNCT
easat-6259	280	1	three	three	NUM
easat-6259	280	2	stages	stage	NOUN
easat-6259	280	3	make	make	VERB
easat-6259	280	4	up	up	ADP
easat-6259	280	5	the	the	DET
easat-6259	280	6	procedure	procedure	NOUN
easat-6259	280	7	in	in	ADP
easat-6259	280	8	general	general	ADJ
easat-6259	280	9	:	:	PUNCT
easat-6259	280	10	feature	feature	NOUN
easat-6259	280	11	extraction	extraction	NOUN
easat-6259	280	12	,	,	PUNCT
easat-6259	280	13	region	region	NOUN
easat-6259	280	14	proposal	proposal	NOUN
easat-6259	280	15	,	,	PUNCT
easat-6259	280	16	and	and	CCONJ
easat-6259	280	17	classification	classification	NOUN
easat-6259	280	18	.	.	PUNCT
easat-6259	281	1	1310	1310	NUM
easat-6259	281	2	edelweiss	edelweiss	PROPN
easat-6259	281	3	applied	apply	VERB
easat-6259	281	4	science	science	NOUN
easat-6259	281	5	and	and	CCONJ
easat-6259	281	6	technology	technology	NOUN
easat-6259	281	7	issn	issn	PROPN
easat-6259	281	8	:	:	PUNCT
easat-6259	281	9	2576	2576	NUM
easat-6259	281	10	-	-	SYM
easat-6259	281	11	8484	8484	NUM
easat-6259	281	12	vol	vol	NOUN
easat-6259	281	13	.	.	PROPN
easat-6259	282	1	9	9	NUM
easat-6259	282	2	,	,	PUNCT
easat-6259	282	3	no	no	INTJ
easat-6259	282	4	.	.	NOUN
easat-6259	283	1	4	4	NUM
easat-6259	283	2	:	:	SYM
easat-6259	283	3	1300	1300	NUM
easat-6259	283	4	-	-	SYM
easat-6259	283	5	1331	1331	NUM
easat-6259	283	6	,	,	PUNCT
easat-6259	283	7	2025	2025	NUM
easat-6259	283	8	doi	doi	NOUN
easat-6259	283	9	:	:	PUNCT
easat-6259	283	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	283	11	©	©	PROPN
easat-6259	283	12	2025	2025	NUM
easat-6259	283	13	by	by	ADP
easat-6259	283	14	the	the	DET
easat-6259	283	15	authors	author	NOUN
easat-6259	283	16	;	;	PUNCT
easat-6259	283	17	licensee	licensee	PROPN
easat-6259	283	18	learning	learn	VERB
easat-6259	283	19	gate	gate	NOUN
easat-6259	283	20	3.3.1	3.3.1	PROPN
easat-6259	283	21	.	.	PUNCT
easat-6259	283	22	region	region	NOUN
easat-6259	283	23	proposal	proposal	NOUN
easat-6259	283	24	/	/	SYM
easat-6259	283	25	region	region	NOUN
easat-6259	283	26	selection	selection	NOUN
easat-6259	283	27	to	to	PART
easat-6259	283	28	scan	scan	VERB
easat-6259	283	29	the	the	DET
easat-6259	283	30	full	full	ADJ
easat-6259	283	31	image	image	NOUN
easat-6259	283	32	at	at	ADP
easat-6259	283	33	several	several	ADJ
easat-6259	283	34	scales	scale	NOUN
easat-6259	283	35	,	,	PUNCT
easat-6259	283	36	region	region	NOUN
easat-6259	283	37	proposal	proposal	NOUN
easat-6259	283	38	methods	method	NOUN
easat-6259	283	39	such	such	ADJ
easat-6259	283	40	as	as	ADP
easat-6259	283	41	window	window	NOUN
easat-6259	283	42	sliding	slide	VERB
easat-6259	283	43	were	be	AUX
easat-6259	283	44	initially	initially	ADV
easat-6259	283	45	used	use	VERB
easat-6259	283	46	.	.	PUNCT
easat-6259	284	1	unfortunately	unfortunately	ADV
easat-6259	284	2	,	,	PUNCT
easat-6259	284	3	this	this	DET
easat-6259	284	4	approach	approach	NOUN
easat-6259	284	5	requires	require	VERB
easat-6259	284	6	a	a	DET
easat-6259	284	7	lot	lot	NOUN
easat-6259	284	8	of	of	ADP
easat-6259	284	9	processing	processing	NOUN
easat-6259	284	10	power	power	NOUN
easat-6259	284	11	and	and	CCONJ
easat-6259	284	12	so	so	ADV
easat-6259	284	13	is	be	AUX
easat-6259	284	14	not	not	PART
easat-6259	284	15	appropriate	appropriate	ADJ
easat-6259	284	16	for	for	ADP
easat-6259	284	17	real	real	ADJ
easat-6259	284	18	-	-	PUNCT
easat-6259	284	19	time	time	NOUN
easat-6259	284	20	use	use	NOUN
easat-6259	284	21	in	in	ADP
easat-6259	284	22	avs	avs	PROPN
easat-6259	284	23	.	.	PUNCT
easat-6259	285	1	by	by	ADP
easat-6259	285	2	directly	directly	ADV
easat-6259	285	3	producing	produce	VERB
easat-6259	285	4	region	region	NOUN
easat-6259	285	5	proposals	proposal	NOUN
easat-6259	285	6	from	from	ADP
easat-6259	285	7	the	the	DET
easat-6259	285	8	convolutional	convolutional	ADJ
easat-6259	285	9	feature	feature	NOUN
easat-6259	285	10	maps	map	NOUN
easat-6259	285	11	,	,	PUNCT
easat-6259	285	12	contemporary	contemporary	ADJ
easat-6259	285	13	methods	method	NOUN
easat-6259	285	14	like	like	ADP
easat-6259	285	15	region	region	NOUN
easat-6259	285	16	proposal	proposal	NOUN
easat-6259	285	17	networks	network	NOUN
easat-6259	285	18	(	(	PUNCT
easat-6259	285	19	rpn	rpn	PROPN
easat-6259	285	20	)	)	PUNCT
easat-6259	285	21	,	,	PUNCT
easat-6259	285	22	which	which	PRON
easat-6259	285	23	are	be	AUX
easat-6259	285	24	used	use	VERB
easat-6259	285	25	in	in	ADP
easat-6259	285	26	faster	fast	ADJ
easat-6259	285	27	region	region	NOUN
easat-6259	285	28	-	-	PUNCT
easat-6259	285	29	based	base	VERB
easat-6259	285	30	cnn	cnn	PROPN
easat-6259	285	31	(	(	PUNCT
easat-6259	285	32	r	r	PROPN
easat-6259	285	33	-	-	PUNCT
easat-6259	285	34	cnn	cnn	PROPN
easat-6259	285	35	)	)	PUNCT
easat-6259	285	36	,	,	PUNCT
easat-6259	285	37	have	have	AUX
easat-6259	285	38	increased	increase	VERB
easat-6259	285	39	efficiency	efficiency	NOUN
easat-6259	285	40	.	.	PUNCT
easat-6259	286	1	conventional	conventional	ADJ
easat-6259	286	2	techniques	technique	NOUN
easat-6259	286	3	for	for	ADP
easat-6259	286	4	feature	feature	NOUN
easat-6259	286	5	extraction	extraction	NOUN
easat-6259	286	6	such	such	ADJ
easat-6259	286	7	as	as	ADP
easat-6259	286	8	the	the	DET
easat-6259	286	9	haar	haar	NOUN
easat-6259	286	10	-	-	PUNCT
easat-6259	286	11	transform	transform	NOUN
easat-6259	286	12	and	and	CCONJ
easat-6259	286	13	histograms	histogram	NOUN
easat-6259	286	14	of	of	ADP
easat-6259	286	15	oriented	orient	VERB
easat-6259	286	16	gradients	gradient	NOUN
easat-6259	286	17	have	have	AUX
easat-6259	286	18	become	become	VERB
easat-6259	286	19	popular	popular	ADJ
easat-6259	286	20	but	but	CCONJ
easat-6259	286	21	not	not	PART
easat-6259	286	22	very	very	ADV
easat-6259	286	23	resilient	resilient	ADJ
easat-6259	286	24	to	to	ADP
easat-6259	286	25	changing	change	VERB
easat-6259	286	26	environmental	environmental	ADJ
easat-6259	286	27	conditions	condition	NOUN
easat-6259	286	28	.	.	PUNCT
easat-6259	287	1	by	by	ADP
easat-6259	287	2	deriving	derive	VERB
easat-6259	287	3	spatial	spatial	ADJ
easat-6259	287	4	hierarchies	hierarchy	NOUN
easat-6259	287	5	of	of	ADP
easat-6259	287	6	features	feature	NOUN
easat-6259	287	7	from	from	ADP
easat-6259	287	8	raw	raw	ADJ
easat-6259	287	9	pixel	pixel	PROPN
easat-6259	287	10	data	data	PROPN
easat-6259	287	11	,	,	PUNCT
easat-6259	287	12	cnn	cnn	PROPN
easat-6259	287	13	algorithms	algorithm	NOUN
easat-6259	287	14	have	have	AUX
easat-6259	287	15	transformed	transform	VERB
easat-6259	287	16	feature	feature	NOUN
easat-6259	287	17	extraction	extraction	NOUN
easat-6259	287	18	and	and	CCONJ
easat-6259	287	19	increased	increase	VERB
easat-6259	287	20	adaptability	adaptability	NOUN
easat-6259	287	21	to	to	ADP
easat-6259	287	22	the	the	DET
easat-6259	287	23	dynamic	dynamic	ADJ
easat-6259	287	24	situations	situation	NOUN
easat-6259	287	25	that	that	PRON
easat-6259	287	26	avs	avs	VERB
easat-6259	287	27	encounter	encounter	NOUN
easat-6259	287	28	[	[	X
easat-6259	287	29	19	19	NUM
easat-6259	287	30	]	]	PUNCT
easat-6259	287	31	.	.	PUNCT
easat-6259	288	1	3.3.2	3.3.2	X
easat-6259	288	2	.	.	X
easat-6259	288	3	classification	classification	NOUN
easat-6259	288	4	ml	ml	NOUN
easat-6259	288	5	methods	method	NOUN
easat-6259	288	6	are	be	AUX
easat-6259	288	7	used	use	VERB
easat-6259	288	8	to	to	PART
easat-6259	288	9	classify	classify	VERB
easat-6259	288	10	things	thing	NOUN
easat-6259	288	11	after	after	SCONJ
easat-6259	288	12	features	feature	NOUN
easat-6259	288	13	have	have	AUX
easat-6259	288	14	been	be	AUX
easat-6259	288	15	extracted	extract	VERB
easat-6259	288	16	.	.	PUNCT
easat-6259	289	1	prior	prior	ADV
easat-6259	289	2	to	to	ADP
easat-6259	289	3	the	the	DET
easat-6259	289	4	development	development	NOUN
easat-6259	289	5	of	of	ADP
easat-6259	289	6	dl	dl	PROPN
easat-6259	289	7	,	,	PUNCT
easat-6259	289	8	methods	method	NOUN
easat-6259	289	9	like	like	ADP
easat-6259	289	10	support	support	NOUN
easat-6259	289	11	vector	vector	NOUN
easat-6259	289	12	machines	machine	NOUN
easat-6259	289	13	(	(	PUNCT
easat-6259	289	14	svm	svm	PROPN
easat-6259	289	15	)	)	PUNCT
easat-6259	289	16	and	and	CCONJ
easat-6259	289	17	the	the	DET
easat-6259	289	18	deformable	deformable	ADJ
easat-6259	289	19	parts	part	NOUN
easat-6259	289	20	model	model	NOUN
easat-6259	289	21	(	(	PUNCT
easat-6259	289	22	dpm	dpm	PROPN
easat-6259	289	23	)	)	PUNCT
easat-6259	289	24	were	be	AUX
easat-6259	289	25	frequently	frequently	ADV
easat-6259	289	26	employed	employ	VERB
easat-6259	289	27	.	.	PUNCT
easat-6259	290	1	these	these	DET
easat-6259	290	2	days	day	NOUN
easat-6259	290	3	,	,	PUNCT
easat-6259	290	4	cnn	cnn	PROPN
easat-6259	290	5	-	-	PUNCT
easat-6259	290	6	based	base	VERB
easat-6259	290	7	models	model	NOUN
easat-6259	290	8	are	be	AUX
easat-6259	290	9	more	more	ADV
easat-6259	290	10	popular	popular	ADJ
easat-6259	290	11	because	because	SCONJ
easat-6259	290	12	of	of	ADP
easat-6259	290	13	their	their	PRON
easat-6259	290	14	better	well	ADJ
easat-6259	290	15	performance	performance	NOUN
easat-6259	290	16	and	and	CCONJ
easat-6259	290	17	ability	ability	NOUN
easat-6259	290	18	to	to	PART
easat-6259	290	19	learn	learn	VERB
easat-6259	290	20	from	from	ADP
easat-6259	290	21	start	start	NOUN
easat-6259	290	22	to	to	ADP
easat-6259	290	23	finish	finish	NOUN
easat-6259	290	24	.	.	PUNCT
easat-6259	291	1	3.3.3	3.3.3	X
easat-6259	291	2	.	.	X
easat-6259	291	3	object	object	NOUN
easat-6259	291	4	detection	detection	NOUN
easat-6259	291	5	in	in	ADP
easat-6259	291	6	computer	computer	NOUN
easat-6259	291	7	vision	vision	NOUN
easat-6259	291	8	,	,	PUNCT
easat-6259	291	9	cnns	cnn	NOUN
easat-6259	291	10	have	have	AUX
easat-6259	291	11	proven	prove	VERB
easat-6259	291	12	essential	essential	ADJ
easat-6259	291	13	,	,	PUNCT
easat-6259	291	14	especially	especially	ADV
easat-6259	291	15	for	for	ADP
easat-6259	291	16	object	object	NOUN
easat-6259	291	17	recognition	recognition	NOUN
easat-6259	291	18	in	in	ADP
easat-6259	291	19	avs	avs	PROPN
easat-6259	291	20	and	and	CCONJ
easat-6259	291	21	image	image	NOUN
easat-6259	291	22	categorization	categorization	NOUN
easat-6259	291	23	.	.	PUNCT
easat-6259	292	1	multiple	multiple	ADJ
easat-6259	292	2	layers	layer	NOUN
easat-6259	292	3	make	make	VERB
easat-6259	292	4	up	up	ADP
easat-6259	292	5	cnns	cnn	NOUN
easat-6259	292	6	as	as	SCONJ
easat-6259	292	7	shown	show	VERB
easat-6259	292	8	in	in	ADP
easat-6259	292	9	figure	figure	NOUN
easat-6259	292	10	4	4	NUM
easat-6259	292	11	ammar	ammar	PROPN
easat-6259	292	12	,	,	PUNCT
easat-6259	292	13	et	et	PROPN
easat-6259	292	14	al	al	PROPN
easat-6259	292	15	.	.	PUNCT
easat-6259	293	1	[	[	X
easat-6259	293	2	20	20	NUM
easat-6259	293	3	]	]	PUNCT
easat-6259	293	4	which	which	PRON
easat-6259	293	5	perform	perform	VERB
easat-6259	293	6	feature	feature	NOUN
easat-6259	293	7	extraction	extraction	NOUN
easat-6259	293	8	by	by	ADP
easat-6259	293	9	using	use	VERB
easat-6259	293	10	supervised	supervised	ADJ
easat-6259	293	11	learning	learning	NOUN
easat-6259	293	12	to	to	PART
easat-6259	293	13	acquire	acquire	VERB
easat-6259	293	14	increasingly	increasingly	ADV
easat-6259	293	15	complicated	complicated	ADJ
easat-6259	293	16	features	feature	NOUN
easat-6259	293	17	.	.	PUNCT
easat-6259	294	1	advanced	advanced	PROPN
easat-6259	294	2	cnn	cnn	PROPN
easat-6259	294	3	architectures	architecture	NOUN
easat-6259	294	4	,	,	PUNCT
easat-6259	294	5	including	include	VERB
easat-6259	294	6	very	very	ADV
easat-6259	294	7	deep	deep	ADJ
easat-6259	294	8	cnn	cnn	NOUN
easat-6259	294	9	(	(	PUNCT
easat-6259	294	10	vggnet	vggnet	PROPN
easat-6259	294	11	)	)	PUNCT
easat-6259	294	12	,	,	PUNCT
easat-6259	294	13	dense	dense	ADJ
easat-6259	294	14	cnn	cnn	PROPN
easat-6259	294	15	(	(	PUNCT
easat-6259	294	16	densenet	densenet	NOUN
easat-6259	294	17	)	)	PUNCT
easat-6259	294	18	,	,	PUNCT
easat-6259	294	19	and	and	CCONJ
easat-6259	294	20	residual	residual	ADJ
easat-6259	294	21	cnn	cnn	PROPN
easat-6259	294	22	(	(	PUNCT
easat-6259	294	23	resnet	resnet	NOUN
easat-6259	294	24	)	)	PUNCT
easat-6259	294	25	,	,	PUNCT
easat-6259	294	26	have	have	AUX
easat-6259	294	27	been	be	AUX
easat-6259	294	28	used	use	VERB
easat-6259	294	29	to	to	PART
easat-6259	294	30	improve	improve	VERB
easat-6259	294	31	accuracy	accuracy	NOUN
easat-6259	294	32	of	of	ADP
easat-6259	294	33	object	object	NOUN
easat-6259	294	34	detection	detection	NOUN
easat-6259	294	35	in	in	ADP
easat-6259	294	36	avs	avs	PROPN
easat-6259	294	37	.	.	PUNCT
easat-6259	295	1	well	well	ADV
easat-6259	295	2	-	-	PUNCT
easat-6259	295	3	known	know	VERB
easat-6259	295	4	dl	dl	NOUN
easat-6259	295	5	models	model	NOUN
easat-6259	295	6	for	for	ADP
easat-6259	295	7	real	real	ADJ
easat-6259	295	8	-	-	PUNCT
easat-6259	295	9	time	time	NOUN
easat-6259	295	10	object	object	NOUN
easat-6259	295	11	identification	identification	NOUN
easat-6259	295	12	include	include	VERB
easat-6259	295	13	you	you	PRON
easat-6259	295	14	only	only	ADV
easat-6259	295	15	look	look	VERB
easat-6259	295	16	once	once	ADV
easat-6259	295	17	(	(	PUNCT
easat-6259	295	18	yolo	yolo	ADJ
easat-6259	295	19	)	)	PUNCT
easat-6259	295	20	and	and	CCONJ
easat-6259	295	21	single	single	ADJ
easat-6259	295	22	shot	shot	NOUN
easat-6259	295	23	multibox	multibox	PROPN
easat-6259	295	24	detection	detection	NOUN
easat-6259	295	25	(	(	PUNCT
easat-6259	295	26	ssd	ssd	NOUN
easat-6259	295	27	)	)	PUNCT
easat-6259	295	28	.	.	PUNCT
easat-6259	296	1	by	by	ADP
easat-6259	296	2	adding	add	VERB
easat-6259	296	3	more	more	ADV
easat-6259	296	4	convolutional	convolutional	ADJ
easat-6259	296	5	layers	layer	NOUN
easat-6259	296	6	to	to	ADP
easat-6259	296	7	intermediate	intermediate	ADJ
easat-6259	296	8	layers	layer	NOUN
easat-6259	296	9	of	of	ADP
easat-6259	296	10	a	a	DET
easat-6259	296	11	pre	pre	ADJ
easat-6259	296	12	-	-	ADJ
easat-6259	296	13	trained	train	VERB
easat-6259	296	14	network	network	NOUN
easat-6259	296	15	,	,	PUNCT
easat-6259	296	16	ssd	ssd	NOUN
easat-6259	296	17	efficiently	efficiently	ADV
easat-6259	296	18	addresses	address	VERB
easat-6259	296	19	the	the	DET
easat-6259	296	20	issue	issue	NOUN
easat-6259	296	21	of	of	ADP
easat-6259	296	22	scale	scale	NOUN
easat-6259	296	23	fluctuations	fluctuation	NOUN
easat-6259	296	24	and	and	CCONJ
easat-6259	296	25	combines	combine	VERB
easat-6259	296	26	object	object	NOUN
easat-6259	296	27	detection	detection	NOUN
easat-6259	296	28	tasks	task	NOUN
easat-6259	296	29	into	into	ADP
easat-6259	296	30	a	a	DET
easat-6259	296	31	single	single	ADJ
easat-6259	296	32	network	network	NOUN
easat-6259	296	33	.	.	PUNCT
easat-6259	297	1	to	to	PART
easat-6259	297	2	achieve	achieve	VERB
easat-6259	297	3	a	a	DET
easat-6259	297	4	balance	balance	NOUN
easat-6259	297	5	between	between	ADP
easat-6259	297	6	speed	speed	NOUN
easat-6259	297	7	and	and	CCONJ
easat-6259	297	8	accuracy	accuracy	NOUN
easat-6259	297	9	,	,	PUNCT
easat-6259	297	10	yolo	yolo	PROPN
easat-6259	297	11	splits	split	VERB
easat-6259	297	12	the	the	DET
easat-6259	297	13	image	image	NOUN
easat-6259	297	14	into	into	ADP
easat-6259	297	15	a	a	DET
easat-6259	297	16	grid	grid	NOUN
easat-6259	297	17	and	and	CCONJ
easat-6259	297	18	forecasts	forecast	NOUN
easat-6259	297	19	bounding	bound	VERB
easat-6259	297	20	boxes	box	NOUN
easat-6259	297	21	and	and	CCONJ
easat-6259	297	22	class	class	NOUN
easat-6259	297	23	probabilities	probability	NOUN
easat-6259	297	24	for	for	ADP
easat-6259	297	25	each	each	DET
easat-6259	297	26	grid	grid	NOUN
easat-6259	297	27	cell	cell	NOUN
easat-6259	297	28	.	.	PUNCT
easat-6259	298	1	lstm	lstm	PROPN
easat-6259	298	2	networks	network	NOUN
easat-6259	298	3	are	be	AUX
easat-6259	298	4	one	one	NUM
easat-6259	298	5	type	type	NOUN
easat-6259	298	6	of	of	ADP
easat-6259	298	7	rnn	rnn	NOUN
easat-6259	298	8	that	that	PRON
easat-6259	298	9	has	have	AUX
easat-6259	298	10	been	be	AUX
easat-6259	298	11	used	use	VERB
easat-6259	298	12	for	for	ADP
easat-6259	298	13	sequence	sequence	NOUN
easat-6259	298	14	prediction	prediction	NOUN
easat-6259	298	15	tasks	task	NOUN
easat-6259	298	16	like	like	ADP
easat-6259	298	17	visual	visual	ADJ
easat-6259	298	18	tracking	tracking	NOUN
easat-6259	298	19	in	in	ADP
easat-6259	298	20	avs	avs	PROPN
easat-6259	298	21	.	.	PUNCT
easat-6259	299	1	by	by	ADP
easat-6259	299	2	preserving	preserve	VERB
easat-6259	299	3	a	a	DET
easat-6259	299	4	recollection	recollection	NOUN
easat-6259	299	5	of	of	ADP
easat-6259	299	6	prior	prior	ADJ
easat-6259	299	7	time	time	NOUN
easat-6259	299	8	steps	step	NOUN
easat-6259	299	9	,	,	PUNCT
easat-6259	299	10	these	these	DET
easat-6259	299	11	models	model	NOUN
easat-6259	299	12	are	be	AUX
easat-6259	299	13	able	able	ADJ
easat-6259	299	14	to	to	PART
easat-6259	299	15	capture	capture	VERB
easat-6259	299	16	temporal	temporal	ADJ
easat-6259	299	17	relationships	relationship	NOUN
easat-6259	299	18	,	,	PUNCT
easat-6259	299	19	which	which	PRON
easat-6259	299	20	is	be	AUX
easat-6259	299	21	essential	essential	ADJ
easat-6259	299	22	for	for	ADP
easat-6259	299	23	forecasting	forecast	VERB
easat-6259	299	24	the	the	DET
easat-6259	299	25	trajectory	trajectory	NOUN
easat-6259	299	26	of	of	ADP
easat-6259	299	27	moving	move	VERB
easat-6259	299	28	objects	object	NOUN
easat-6259	299	29	[	[	X
easat-6259	299	30	21	21	NUM
easat-6259	299	31	]	]	PUNCT
easat-6259	299	32	.	.	PUNCT
easat-6259	300	1	other	other	ADJ
easat-6259	300	2	dl	dl	PROPN
easat-6259	300	3	architectures	architecture	NOUN
easat-6259	300	4	found	find	VERB
easat-6259	300	5	in	in	ADP
easat-6259	300	6	avs	avs	PROPN
easat-6259	300	7	are	be	AUX
easat-6259	300	8	deep	deep	ADJ
easat-6259	300	9	belief	belief	NOUN
easat-6259	300	10	networks	network	NOUN
easat-6259	300	11	(	(	PUNCT
easat-6259	300	12	dbns	dbns	PROPN
easat-6259	300	13	)	)	PUNCT
easat-6259	300	14	and	and	CCONJ
easat-6259	300	15	stacked	stack	VERB
easat-6259	300	16	auto	auto	NOUN
easat-6259	300	17	encoders	encoder	NOUN
easat-6259	300	18	(	(	PUNCT
easat-6259	300	19	saes	saes	PROPN
easat-6259	300	20	)	)	PUNCT
easat-6259	300	21	.	.	PUNCT
easat-6259	301	1	dbns	dbns	PROPN
easat-6259	301	2	are	be	AUX
easat-6259	301	3	made	make	VERB
easat-6259	301	4	up	up	ADP
easat-6259	301	5	of	of	ADP
easat-6259	301	6	several	several	ADJ
easat-6259	301	7	layers	layer	NOUN
easat-6259	301	8	with	with	ADP
easat-6259	301	9	latent	latent	NOUN
easat-6259	301	10	,	,	PUNCT
easat-6259	301	11	stochastic	stochastic	ADJ
easat-6259	301	12	variables	variable	NOUN
easat-6259	301	13	that	that	PRON
easat-6259	301	14	are	be	AUX
easat-6259	301	15	greedily	greedily	ADV
easat-6259	301	16	learned	learn	VERB
easat-6259	301	17	layer	layer	NOUN
easat-6259	301	18	by	by	ADP
easat-6259	301	19	layer	layer	NOUN
easat-6259	301	20	.	.	PUNCT
easat-6259	302	1	although	although	SCONJ
easat-6259	302	2	they	they	PRON
easat-6259	302	3	are	be	AUX
easat-6259	302	4	less	less	ADV
easat-6259	302	5	popular	popular	ADJ
easat-6259	302	6	than	than	ADP
easat-6259	302	7	cnns	cnn	NOUN
easat-6259	302	8	for	for	ADP
easat-6259	302	9	object	object	NOUN
easat-6259	302	10	detection	detection	NOUN
easat-6259	302	11	,	,	PUNCT
easat-6259	302	12	they	they	PRON
easat-6259	302	13	are	be	AUX
easat-6259	302	14	efficient	efficient	ADJ
easat-6259	302	15	at	at	ADP
easat-6259	302	16	learning	learn	VERB
easat-6259	302	17	high	high	ADJ
easat-6259	302	18	-	-	PUNCT
easat-6259	302	19	dimensional	dimensional	ADJ
easat-6259	302	20	representations	representation	NOUN
easat-6259	302	21	.	.	PUNCT
easat-6259	303	1	the	the	DET
easat-6259	303	2	ability	ability	NOUN
easat-6259	303	3	of	of	ADP
easat-6259	303	4	saes	saes	PROPN
easat-6259	303	5	,	,	PUNCT
easat-6259	303	6	on	on	ADP
easat-6259	303	7	the	the	DET
easat-6259	303	8	other	other	ADJ
easat-6259	303	9	hand	hand	NOUN
easat-6259	303	10	,	,	PUNCT
easat-6259	303	11	to	to	PART
easat-6259	303	12	encode	encode	VERB
easat-6259	303	13	input	input	NOUN
easat-6259	303	14	data	datum	NOUN
easat-6259	303	15	into	into	ADP
easat-6259	303	16	a	a	DET
easat-6259	303	17	lower	lower	ADV
easat-6259	303	18	-	-	PUNCT
easat-6259	303	19	dimensional	dimensional	ADJ
easat-6259	303	20	representation	representation	NOUN
easat-6259	303	21	through	through	ADP
easat-6259	303	22	unsupervised	unsupervised	ADJ
easat-6259	303	23	learning	learning	NOUN
easat-6259	303	24	makes	make	VERB
easat-6259	303	25	them	they	PRON
easat-6259	303	26	useful	useful	ADJ
easat-6259	303	27	for	for	ADP
easat-6259	303	28	feature	feature	NOUN
easat-6259	303	29	extraction	extraction	NOUN
easat-6259	303	30	in	in	ADP
easat-6259	303	31	av	av	PROPN
easat-6259	303	32	vision	vision	PROPN
easat-6259	303	33	systems	system	NOUN
easat-6259	303	34	.	.	PUNCT
easat-6259	304	1	however	however	ADV
easat-6259	304	2	,	,	PUNCT
easat-6259	304	3	unsupervised	unsupervised	ADJ
easat-6259	304	4	learning	learning	NOUN
easat-6259	304	5	and	and	CCONJ
easat-6259	304	6	saes	sae	NOUN
easat-6259	304	7	are	be	AUX
easat-6259	304	8	out	out	ADP
easat-6259	304	9	of	of	ADP
easat-6259	304	10	scope	scope	NOUN
easat-6259	304	11	of	of	ADP
easat-6259	304	12	this	this	DET
easat-6259	304	13	paper	paper	NOUN
easat-6259	304	14	.	.	PUNCT
easat-6259	305	1	4	4	X
easat-6259	305	2	.	.	X
easat-6259	305	3	literature	literature	NOUN
easat-6259	305	4	review	review	VERB
easat-6259	305	5	4.1	4.1	NUM
easat-6259	305	6	.	.	PUNCT
easat-6259	306	1	existing	exist	VERB
easat-6259	306	2	methodologies	methodology	NOUN
easat-6259	306	3	the	the	DET
easat-6259	306	4	existing	exist	VERB
easat-6259	306	5	methodologies	methodology	NOUN
easat-6259	306	6	include	include	VERB
easat-6259	306	7	avoidance	avoidance	NOUN
easat-6259	306	8	of	of	ADP
easat-6259	306	9	occlusions	occlusion	NOUN
easat-6259	306	10	,	,	PUNCT
easat-6259	306	11	changes	change	NOUN
easat-6259	306	12	in	in	ADP
easat-6259	306	13	light	light	NOUN
easat-6259	306	14	,	,	PUNCT
easat-6259	306	15	and	and	CCONJ
easat-6259	306	16	adverse	adverse	ADJ
easat-6259	306	17	weather	weather	NOUN
easat-6259	306	18	conditions	condition	NOUN
easat-6259	306	19	.	.	PUNCT
easat-6259	307	1	dl	dl	PROPN
easat-6259	307	2	models	model	NOUN
easat-6259	307	3	will	will	AUX
easat-6259	307	4	also	also	ADV
easat-6259	307	5	need	need	VERB
easat-6259	307	6	continued	continued	ADJ
easat-6259	307	7	improvement	improvement	NOUN
easat-6259	307	8	and	and	CCONJ
easat-6259	307	9	integration	integration	NOUN
easat-6259	307	10	with	with	ADP
easat-6259	307	11	multimodal	multimodal	ADJ
easat-6259	307	12	sensor	sensor	NOUN
easat-6259	307	13	data	datum	NOUN
easat-6259	307	14	to	to	PART
easat-6259	307	15	produce	produce	VERB
easat-6259	307	16	human	human	ADJ
easat-6259	307	17	perception	perception	NOUN
easat-6259	307	18	and	and	CCONJ
easat-6259	307	19	cognition	cognition	NOUN
easat-6259	307	20	capabilities	capability	NOUN
easat-6259	307	21	in	in	ADP
easat-6259	307	22	an	an	DET
easat-6259	307	23	av	av	NOUN
easat-6259	307	24	.	.	PUNCT
easat-6259	308	1	some	some	PRON
easat-6259	308	2	of	of	ADP
easat-6259	308	3	these	these	DET
easat-6259	308	4	methodologies	methodology	NOUN
easat-6259	308	5	are	be	AUX
easat-6259	308	6	discussed	discuss	VERB
easat-6259	308	7	below	below	ADV
easat-6259	308	8	as	as	SCONJ
easat-6259	308	9	follows	follow	VERB
easat-6259	308	10	:	:	PUNCT
easat-6259	308	11	•	•	NOUN
easat-6259	308	12	occlusions	occlusion	NOUN
easat-6259	308	13	and	and	CCONJ
easat-6259	308	14	partial	partial	ADJ
easat-6259	308	15	visibility	visibility	NOUN
easat-6259	308	16	:	:	PUNCT
easat-6259	308	17	occlusions	occlusion	NOUN
easat-6259	308	18	,	,	PUNCT
easat-6259	308	19	where	where	SCONJ
easat-6259	308	20	an	an	DET
easat-6259	308	21	object	object	NOUN
easat-6259	308	22	is	be	AUX
easat-6259	308	23	partially	partially	ADV
easat-6259	308	24	or	or	CCONJ
easat-6259	308	25	fully	fully	ADV
easat-6259	308	26	hidden	hide	VERB
easat-6259	308	27	by	by	ADP
easat-6259	308	28	another	another	DET
easat-6259	308	29	object	object	NOUN
easat-6259	308	30	,	,	PUNCT
easat-6259	308	31	is	be	AUX
easat-6259	308	32	one	one	NUM
easat-6259	308	33	of	of	ADP
easat-6259	308	34	the	the	DET
easat-6259	308	35	biggest	big	ADJ
easat-6259	308	36	problems	problem	NOUN
easat-6259	308	37	with	with	ADP
easat-6259	308	38	object	object	NOUN
easat-6259	308	39	detection	detection	NOUN
easat-6259	308	40	for	for	ADP
easat-6259	308	41	avs	avs	PROPN
easat-6259	308	42	.	.	PUNCT
easat-6259	309	1	to	to	PART
easat-6259	309	2	make	make	VERB
easat-6259	309	3	them	they	PRON
easat-6259	309	4	more	more	ADV
easat-6259	309	5	secure	secure	ADJ
easat-6259	309	6	,	,	PUNCT
easat-6259	309	7	cnns	cnn	NOUN
easat-6259	309	8	need	need	VERB
easat-6259	309	9	to	to	PART
easat-6259	309	10	be	be	AUX
easat-6259	309	11	trained	train	VERB
easat-6259	309	12	on	on	ADP
easat-6259	309	13	datasets	dataset	NOUN
easat-6259	309	14	that	that	PRON
easat-6259	309	15	have	have	AUX
easat-6259	309	16	occluded	occlude	VERB
easat-6259	309	17	objects	object	NOUN
easat-6259	309	18	.	.	PUNCT
easat-6259	310	1	bad	bad	ADJ
easat-6259	310	2	weather	weather	NOUN
easat-6259	310	3	,	,	PUNCT
easat-6259	310	4	such	such	ADJ
easat-6259	310	5	as	as	ADP
easat-6259	310	6	snow	snow	NOUN
easat-6259	310	7	,	,	PUNCT
easat-6259	310	8	fog	fog	NOUN
easat-6259	310	9	and	and	CCONJ
easat-6259	310	10	rain	rain	NOUN
easat-6259	310	11	can	can	AUX
easat-6259	310	12	disable	disable	VERB
easat-6259	310	13	av	av	PROPN
easat-6259	310	14	sensors	sensor	NOUN
easat-6259	310	15	and	and	CCONJ
easat-6259	310	16	the	the	DET
easat-6259	310	17	dl	dl	PROPN
easat-6259	310	18	models	model	NOUN
easat-6259	310	19	that	that	PRON
easat-6259	310	20	come	come	VERB
easat-6259	310	21	with	with	ADP
easat-6259	310	22	them	they	PRON
easat-6259	310	23	.	.	PUNCT
easat-6259	311	1	using	use	VERB
easat-6259	311	2	sensor	sensor	NOUN
easat-6259	311	3	1311	1311	NUM
easat-6259	311	4	edelweiss	edelweiss	PROPN
easat-6259	311	5	applied	apply	VERB
easat-6259	311	6	science	science	NOUN
easat-6259	311	7	and	and	CCONJ
easat-6259	311	8	technology	technology	NOUN
easat-6259	311	9	issn	issn	PROPN
easat-6259	311	10	:	:	PUNCT
easat-6259	311	11	2576	2576	NUM
easat-6259	311	12	-	-	SYM
easat-6259	311	13	8484	8484	NUM
easat-6259	311	14	vol	vol	NOUN
easat-6259	311	15	.	.	PROPN
easat-6259	312	1	9	9	NUM
easat-6259	312	2	,	,	PUNCT
easat-6259	312	3	no	no	INTJ
easat-6259	312	4	.	.	NOUN
easat-6259	313	1	4	4	NUM
easat-6259	313	2	:	:	SYM
easat-6259	313	3	1300	1300	NUM
easat-6259	313	4	-	-	SYM
easat-6259	313	5	1331	1331	NUM
easat-6259	313	6	,	,	PUNCT
easat-6259	313	7	2025	2025	NUM
easat-6259	313	8	doi	doi	NOUN
easat-6259	313	9	:	:	PUNCT
easat-6259	313	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	313	11	©	©	PROPN
easat-6259	313	12	2025	2025	NUM
easat-6259	313	13	by	by	ADP
easat-6259	313	14	the	the	DET
easat-6259	313	15	authors	author	NOUN
easat-6259	313	16	;	;	PUNCT
easat-6259	313	17	licensee	licensee	NOUN
easat-6259	313	18	learning	learning	NOUN
easat-6259	313	19	gate	gate	NOUN
easat-6259	313	20	fusion	fusion	NOUN
easat-6259	313	21	methods	method	NOUN
easat-6259	313	22	which	which	PRON
easat-6259	313	23	combines	combine	VERB
easat-6259	313	24	data	datum	NOUN
easat-6259	313	25	from	from	ADP
easat-6259	313	26	lidar	lidar	NOUN
easat-6259	313	27	,	,	PUNCT
easat-6259	313	28	radar	radar	NOUN
easat-6259	313	29	and	and	CCONJ
easat-6259	313	30	cameras	camera	NOUN
easat-6259	313	31	can	can	AUX
easat-6259	313	32	help	help	VERB
easat-6259	313	33	develop	develop	VERB
easat-6259	313	34	a	a	DET
easat-6259	313	35	more	more	ADV
easat-6259	313	36	robust	robust	ADJ
easat-6259	313	37	perception	perception	NOUN
easat-6259	313	38	system	system	NOUN
easat-6259	313	39	[	[	X
easat-6259	313	40	22	22	NUM
easat-6259	313	41	]	]	PUNCT
easat-6259	313	42	.	.	PUNCT
easat-6259	314	1	future	future	ADJ
easat-6259	314	2	research	research	NOUN
easat-6259	314	3	should	should	AUX
easat-6259	314	4	focus	focus	VERB
easat-6259	314	5	on	on	ADP
easat-6259	314	6	making	make	VERB
easat-6259	314	7	the	the	DET
easat-6259	314	8	dl	dl	PROPN
easat-6259	314	9	models	model	NOUN
easat-6259	314	10	more	more	ADV
easat-6259	314	11	robust	robust	ADJ
easat-6259	314	12	and	and	CCONJ
easat-6259	314	13	generalizable	generalizable	ADJ
easat-6259	314	14	to	to	ADP
easat-6259	314	15	different	different	ADJ
easat-6259	314	16	driving	drive	VERB
easat-6259	314	17	scenarios	scenario	NOUN
easat-6259	314	18	.	.	PUNCT
easat-6259	315	1	transfer	transfer	NOUN
easat-6259	315	2	learning	learning	NOUN
easat-6259	315	3	has	have	AUX
easat-6259	315	4	shown	show	VERB
easat-6259	315	5	to	to	PART
easat-6259	315	6	improve	improve	VERB
easat-6259	315	7	object	object	NOUN
easat-6259	315	8	detection	detection	NOUN
easat-6259	315	9	by	by	ADP
easat-6259	315	10	fine	fine	ADJ
easat-6259	315	11	tuning	tune	VERB
easat-6259	315	12	pre	pre	ADJ
easat-6259	315	13	-	-	ADJ
easat-6259	315	14	trained	train	VERB
easat-6259	315	15	models	model	NOUN
easat-6259	315	16	on	on	ADP
easat-6259	315	17	avs	avs	PROPN
easat-6259	315	18	datasets	dataset	NOUN
easat-6259	315	19	.	.	PUNCT
easat-6259	316	1	•	•	NUM
easat-6259	316	2	introducing	introduce	VERB
easat-6259	316	3	ai	ai	NOUN
easat-6259	316	4	and	and	CCONJ
easat-6259	316	5	ml	ml	PROPN
easat-6259	316	6	for	for	ADP
easat-6259	316	7	avs	avs	PROPN
easat-6259	316	8	:	:	PUNCT
easat-6259	316	9	the	the	DET
easat-6259	316	10	most	most	ADV
easat-6259	316	11	significant	significant	ADJ
easat-6259	316	12	transformation	transformation	NOUN
easat-6259	316	13	of	of	ADP
easat-6259	316	14	present	present	ADJ
easat-6259	316	15	transport	transport	NOUN
easat-6259	316	16	systems	system	NOUN
easat-6259	316	17	is	be	AUX
easat-6259	316	18	the	the	DET
easat-6259	316	19	adoption	adoption	NOUN
easat-6259	316	20	of	of	ADP
easat-6259	316	21	ai	ai	NOUN
easat-6259	316	22	and	and	CCONJ
easat-6259	316	23	ml	ml	X
easat-6259	316	24	in	in	ADP
easat-6259	316	25	different	different	ADJ
easat-6259	316	26	forms	form	NOUN
easat-6259	316	27	of	of	ADP
easat-6259	316	28	avs	avs	PROPN
easat-6259	316	29	.	.	PUNCT
easat-6259	317	1	it	it	PRON
easat-6259	317	2	is	be	AUX
easat-6259	317	3	remarkable	remarkable	ADJ
easat-6259	317	4	when	when	SCONJ
easat-6259	317	5	discussing	discuss	VERB
easat-6259	317	6	avs	avs	NOUN
easat-6259	317	7	that	that	SCONJ
easat-6259	317	8	ml	ml	VERB
easat-6259	317	9	in	in	ADP
easat-6259	317	10	general	general	ADJ
easat-6259	317	11	and	and	CCONJ
easat-6259	317	12	dl	dl	PROPN
easat-6259	317	13	techniques	technique	NOUN
easat-6259	317	14	specifically	specifically	ADV
easat-6259	317	15	have	have	AUX
easat-6259	317	16	turned	turn	VERB
easat-6259	317	17	out	out	ADP
easat-6259	317	18	to	to	PART
easat-6259	317	19	be	be	AUX
easat-6259	317	20	critical	critical	ADJ
easat-6259	317	21	to	to	ADP
easat-6259	317	22	the	the	DET
easat-6259	317	23	formation	formation	NOUN
easat-6259	317	24	and	and	CCONJ
easat-6259	317	25	activity	activity	NOUN
easat-6259	317	26	of	of	ADP
easat-6259	317	27	avs	avs	PROPN
easat-6259	317	28	.	.	PUNCT
easat-6259	318	1	the	the	DET
easat-6259	318	2	purpose	purpose	NOUN
easat-6259	318	3	of	of	ADP
easat-6259	318	4	these	these	DET
easat-6259	318	5	technologies	technology	NOUN
easat-6259	318	6	will	will	AUX
easat-6259	318	7	focus	focus	VERB
easat-6259	318	8	on	on	ADP
easat-6259	318	9	the	the	DET
easat-6259	318	10	role	role	NOUN
easat-6259	318	11	and	and	CCONJ
easat-6259	318	12	the	the	DET
easat-6259	318	13	importance	importance	NOUN
easat-6259	318	14	of	of	ADP
easat-6259	318	15	the	the	DET
easat-6259	318	16	technologies	technology	NOUN
easat-6259	318	17	,	,	PUNCT
easat-6259	318	18	the	the	DET
easat-6259	318	19	challenges	challenge	NOUN
easat-6259	318	20	,	,	PUNCT
easat-6259	318	21	and	and	CCONJ
easat-6259	318	22	the	the	DET
easat-6259	318	23	opportunities	opportunity	NOUN
easat-6259	318	24	that	that	PRON
easat-6259	318	25	exist	exist	VERB
easat-6259	318	26	in	in	ADP
easat-6259	318	27	the	the	DET
easat-6259	318	28	ads	ad	NOUN
easat-6259	318	29	field	field	NOUN
easat-6259	318	30	.	.	PUNCT
easat-6259	319	1	since	since	SCONJ
easat-6259	319	2	the	the	DET
easat-6259	319	3	fundamental	fundamental	ADJ
easat-6259	319	4	concept	concept	NOUN
easat-6259	319	5	of	of	ADP
easat-6259	319	6	avs	avs	PROPN
easat-6259	319	7	is	be	AUX
easat-6259	319	8	based	base	VERB
easat-6259	319	9	on	on	ADP
easat-6259	319	10	the	the	DET
easat-6259	319	11	vehicle	vehicle	NOUN
easat-6259	319	12	’s	’s	PART
easat-6259	319	13	capability	capability	NOUN
easat-6259	319	14	to	to	PART
easat-6259	319	15	drive	drive	VERB
easat-6259	319	16	the	the	DET
easat-6259	319	17	car	car	NOUN
easat-6259	319	18	and	and	CCONJ
easat-6259	319	19	sense	sense	VERB
easat-6259	319	20	the	the	DET
easat-6259	319	21	environment	environment	NOUN
easat-6259	319	22	,	,	PUNCT
easat-6259	319	23	these	these	DET
easat-6259	319	24	technologies	technology	NOUN
easat-6259	319	25	enhance	enhance	VERB
easat-6259	319	26	the	the	DET
easat-6259	319	27	efficiency	efficiency	NOUN
easat-6259	319	28	and	and	CCONJ
easat-6259	319	29	safety	safety	NOUN
easat-6259	319	30	of	of	ADP
easat-6259	319	31	the	the	DET
easat-6259	319	32	car	car	NOUN
easat-6259	320	1	[	[	X
easat-6259	320	2	23	23	NUM
easat-6259	320	3	]	]	PUNCT
easat-6259	320	4	.	.	PUNCT
easat-6259	321	1	perception	perception	NOUN
easat-6259	321	2	and	and	CCONJ
easat-6259	321	3	awareness	awareness	NOUN
easat-6259	321	4	of	of	ADP
easat-6259	321	5	the	the	DET
easat-6259	321	6	environment	environment	NOUN
easat-6259	321	7	:	:	PUNCT
easat-6259	321	8	these	these	PRON
easat-6259	321	9	are	be	AUX
easat-6259	321	10	among	among	ADP
easat-6259	321	11	the	the	DET
easat-6259	321	12	most	most	ADV
easat-6259	321	13	paramount	paramount	ADJ
easat-6259	321	14	functions	function	NOUN
easat-6259	321	15	utilized	utilize	VERB
easat-6259	321	16	by	by	ADP
easat-6259	321	17	the	the	DET
easat-6259	321	18	avs	avs	NOUN
easat-6259	321	19	in	in	ADP
easat-6259	321	20	that	that	SCONJ
easat-6259	321	21	it	it	PRON
easat-6259	321	22	puts	put	VERB
easat-6259	321	23	them	they	PRON
easat-6259	321	24	in	in	ADP
easat-6259	321	25	a	a	DET
easat-6259	321	26	position	position	NOUN
easat-6259	321	27	to	to	PART
easat-6259	321	28	understand	understand	VERB
easat-6259	321	29	as	as	ADV
easat-6259	321	30	well	well	ADV
easat-6259	321	31	as	as	ADP
easat-6259	321	32	comprehend	comprehend	ADJ
easat-6259	321	33	features	feature	NOUN
easat-6259	321	34	of	of	ADP
easat-6259	321	35	the	the	DET
easat-6259	321	36	environment	environment	NOUN
easat-6259	321	37	they	they	PRON
easat-6259	321	38	are	be	AUX
easat-6259	321	39	surrounded	surround	VERB
easat-6259	321	40	by	by	ADP
easat-6259	321	41	.	.	PUNCT
easat-6259	322	1	that	that	PRON
easat-6259	322	2	involves	involve	VERB
easat-6259	322	3	usage	usage	NOUN
easat-6259	322	4	of	of	ADP
easat-6259	322	5	devices	device	NOUN
easat-6259	322	6	such	such	ADJ
easat-6259	322	7	as	as	ADP
easat-6259	322	8	lidar	lidar	NOUN
easat-6259	322	9	sensors	sensor	NOUN
easat-6259	322	10	,	,	PUNCT
easat-6259	322	11	radar	radar	NOUN
easat-6259	322	12	sensors	sensor	NOUN
easat-6259	322	13	,	,	PUNCT
easat-6259	322	14	and	and	CCONJ
easat-6259	322	15	cameras	camera	NOUN
easat-6259	322	16	that	that	PRON
easat-6259	322	17	capture	capture	VERB
easat-6259	322	18	objects	object	NOUN
easat-6259	322	19	and	and	CCONJ
easat-6259	322	20	data	datum	NOUN
easat-6259	322	21	,	,	PUNCT
easat-6259	322	22	data	datum	NOUN
easat-6259	322	23	which	which	PRON
easat-6259	322	24	undergoes	undergo	VERB
easat-6259	322	25	filtering	filter	VERB
easat-6259	322	26	by	by	ADP
easat-6259	322	27	ai	ai	PROPN
easat-6259	322	28	algorithms	algorithm	NOUN
easat-6259	322	29	.	.	PUNCT
easat-6259	323	1	here	here	ADV
easat-6259	323	2	,	,	PUNCT
easat-6259	323	3	the	the	DET
easat-6259	323	4	importance	importance	NOUN
easat-6259	323	5	of	of	ADP
easat-6259	323	6	cnns	cnns	PROPN
easat-6259	323	7	means	mean	VERB
easat-6259	323	8	clear	clear	ADJ
easat-6259	323	9	shape	shape	NOUN
easat-6259	323	10	and	and	CCONJ
easat-6259	323	11	does	do	VERB
easat-6259	323	12	good	good	ADJ
easat-6259	323	13	work	work	NOUN
easat-6259	323	14	in	in	ADP
easat-6259	323	15	such	such	ADJ
easat-6259	323	16	aspects	aspect	NOUN
easat-6259	323	17	as	as	ADP
easat-6259	323	18	item	item	NOUN
easat-6259	323	19	identification	identification	NOUN
easat-6259	323	20	and	and	CCONJ
easat-6259	323	21	detection	detection	NOUN
easat-6259	323	22	.	.	PUNCT
easat-6259	324	1	in	in	ADP
easat-6259	324	2	images	image	NOUN
easat-6259	324	3	and	and	CCONJ
easat-6259	324	4	videos	video	NOUN
easat-6259	324	5	analysis	analysis	NOUN
easat-6259	324	6	,	,	PUNCT
easat-6259	324	7	cnns	cnns	PROPN
easat-6259	324	8	are	be	AUX
easat-6259	324	9	helpful	helpful	ADJ
easat-6259	324	10	;	;	PUNCT
easat-6259	324	11	they	they	PRON
easat-6259	324	12	could	could	AUX
easat-6259	324	13	be	be	AUX
easat-6259	324	14	applied	apply	VERB
easat-6259	324	15	to	to	ADP
easat-6259	324	16	such	such	ADJ
easat-6259	324	17	activities	activity	NOUN
easat-6259	324	18	as	as	ADP
easat-6259	324	19	recognizing	recognize	VERB
easat-6259	324	20	traffic	traffic	NOUN
easat-6259	324	21	signs	sign	NOUN
easat-6259	324	22	which	which	PRON
easat-6259	324	23	have	have	VERB
easat-6259	324	24	different	different	ADJ
easat-6259	324	25	features	feature	NOUN
easat-6259	324	26	of	of	ADP
easat-6259	324	27	a	a	DET
easat-6259	324	28	different	different	ADJ
easat-6259	324	29	nature	nature	NOUN
easat-6259	324	30	and	and	CCONJ
easat-6259	324	31	lay	lie	VERB
easat-6259	324	32	lines	line	NOUN
easat-6259	324	33	on	on	ADP
easat-6259	324	34	the	the	DET
easat-6259	324	35	road	road	NOUN
easat-6259	324	36	,	,	PUNCT
easat-6259	324	37	and	and	CCONJ
easat-6259	324	38	analysing	analyse	VERB
easat-6259	324	39	other	other	ADJ
easat-6259	324	40	moving	move	VERB
easat-6259	324	41	objects	object	NOUN
easat-6259	324	42	in	in	ADP
easat-6259	324	43	the	the	DET
easat-6259	324	44	traffic	traffic	NOUN
easat-6259	324	45	.	.	PUNCT
easat-6259	325	1	figure	figure	NOUN
easat-6259	325	2	5	5	NUM
easat-6259	325	3	.	.	NOUN
easat-6259	325	4	path	path	NOUN
easat-6259	325	5	planning	planning	NOUN
easat-6259	325	6	and	and	CCONJ
easat-6259	325	7	decision	decision	NOUN
easat-6259	325	8	making	making	NOUN
easat-6259	325	9	.	.	PUNCT
easat-6259	326	1	figure	figure	VERB
easat-6259	326	2	6	6	NUM
easat-6259	326	3	.	.	PUNCT
easat-6259	327	1	mapping	mapping	NOUN
easat-6259	327	2	and	and	CCONJ
easat-6259	327	3	localization	localization	NOUN
easat-6259	327	4	.	.	PUNCT
easat-6259	328	1	1312	1312	NUM
easat-6259	328	2	edelweiss	edelweiss	PROPN
easat-6259	328	3	applied	apply	VERB
easat-6259	328	4	science	science	NOUN
easat-6259	328	5	and	and	CCONJ
easat-6259	328	6	technology	technology	NOUN
easat-6259	328	7	issn	issn	PROPN
easat-6259	328	8	:	:	PUNCT
easat-6259	328	9	2576	2576	NUM
easat-6259	328	10	-	-	SYM
easat-6259	328	11	8484	8484	NUM
easat-6259	328	12	vol	vol	NOUN
easat-6259	328	13	.	.	PROPN
easat-6259	329	1	9	9	NUM
easat-6259	329	2	,	,	PUNCT
easat-6259	329	3	no	no	INTJ
easat-6259	329	4	.	.	NOUN
easat-6259	330	1	4	4	NUM
easat-6259	330	2	:	:	SYM
easat-6259	330	3	1300	1300	NUM
easat-6259	330	4	-	-	SYM
easat-6259	330	5	1331	1331	NUM
easat-6259	330	6	,	,	PUNCT
easat-6259	330	7	2025	2025	NUM
easat-6259	330	8	doi	doi	NOUN
easat-6259	330	9	:	:	PUNCT
easat-6259	330	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	330	11	©	©	PROPN
easat-6259	330	12	2025	2025	NUM
easat-6259	330	13	by	by	ADP
easat-6259	330	14	the	the	DET
easat-6259	330	15	authors	author	NOUN
easat-6259	330	16	;	;	PUNCT
easat-6259	330	17	licensee	licensee	PROPN
easat-6259	330	18	learning	learn	VERB
easat-6259	330	19	gate	gate	PROPN
easat-6259	330	20	environmental	environmental	ADJ
easat-6259	330	21	perception	perception	NOUN
easat-6259	330	22	in	in	ADP
easat-6259	330	23	the	the	DET
easat-6259	330	24	identified	identify	VERB
easat-6259	330	25	domain	domain	NOUN
easat-6259	330	26	of	of	ADP
easat-6259	330	27	avs	avs	PROPN
easat-6259	330	28	consists	consist	VERB
easat-6259	330	29	of	of	ADP
easat-6259	330	30	object	object	NOUN
easat-6259	330	31	recognition	recognition	NOUN
easat-6259	330	32	of	of	ADP
easat-6259	330	33	pedestrians	pedestrian	NOUN
easat-6259	330	34	and	and	CCONJ
easat-6259	330	35	understanding	understanding	NOUN
easat-6259	330	36	of	of	ADP
easat-6259	330	37	intricate	intricate	ADJ
easat-6259	330	38	traffic	traffic	NOUN
easat-6259	330	39	scenarios	scenario	NOUN
easat-6259	330	40	.	.	PUNCT
easat-6259	331	1	other	other	ADJ
easat-6259	331	2	more	more	ADV
easat-6259	331	3	advanced	advanced	ADJ
easat-6259	331	4	structures	structure	NOUN
easat-6259	331	5	of	of	ADP
easat-6259	331	6	dl	dl	PROPN
easat-6259	331	7	used	use	VERB
easat-6259	331	8	in	in	ADP
easat-6259	331	9	the	the	DET
easat-6259	331	10	modelling	modelling	NOUN
easat-6259	331	11	of	of	ADP
easat-6259	331	12	the	the	DET
easat-6259	331	13	real	real	ADJ
easat-6259	331	14	world	world	NOUN
easat-6259	331	15	include	include	VERB
easat-6259	331	16	rnns	rnn	NOUN
easat-6259	331	17	that	that	PRON
easat-6259	331	18	are	be	AUX
easat-6259	331	19	used	use	VERB
easat-6259	331	20	in	in	ADP
easat-6259	331	21	the	the	DET
easat-6259	331	22	simulation	simulation	NOUN
easat-6259	331	23	,	,	PUNCT
easat-6259	331	24	and	and	CCONJ
easat-6259	331	25	generative	generative	ADJ
easat-6259	331	26	adversarial	adversarial	ADJ
easat-6259	331	27	networks	network	NOUN
easat-6259	331	28	(	(	PUNCT
easat-6259	331	29	gans	gan	NOUN
easat-6259	331	30	)	)	PUNCT
easat-6259	331	31	that	that	PRON
easat-6259	331	32	are	be	AUX
easat-6259	331	33	used	use	VERB
easat-6259	331	34	in	in	ADP
easat-6259	331	35	the	the	DET
easat-6259	331	36	prediction	prediction	NOUN
easat-6259	331	37	of	of	ADP
easat-6259	331	38	movements	movement	NOUN
easat-6259	331	39	by	by	ADP
easat-6259	331	40	the	the	DET
easat-6259	331	41	walker	walker	NOUN
easat-6259	331	42	that	that	PRON
easat-6259	331	43	challenge	challenge	VERB
easat-6259	331	44	the	the	DET
easat-6259	331	45	av	av	PROPN
easat-6259	331	46	systems	system	NOUN
easat-6259	331	47	as	as	ADV
easat-6259	331	48	well	well	ADV
easat-6259	331	49	as	as	ADP
easat-6259	331	50	the	the	DET
easat-6259	331	51	generation	generation	NOUN
easat-6259	331	52	of	of	ADP
easat-6259	331	53	possible	possible	ADJ
easat-6259	331	54	scenarios	scenario	NOUN
easat-6259	331	55	in	in	ADP
easat-6259	331	56	a	a	DET
easat-6259	331	57	real	real	ADJ
easat-6259	331	58	-	-	PUNCT
easat-6259	331	59	world	world	NOUN
easat-6259	331	60	environment	environment	NOUN
easat-6259	331	61	.	.	PUNCT
easat-6259	332	1	•	•	NUM
easat-6259	332	2	path	path	NOUN
easat-6259	332	3	planning	planning	NOUN
easat-6259	332	4	and	and	CCONJ
easat-6259	332	5	decision	decision	NOUN
easat-6259	332	6	-	-	PUNCT
easat-6259	332	7	making	making	NOUN
easat-6259	332	8	:	:	PUNCT
easat-6259	332	9	avs	avs	PROPN
easat-6259	332	10	benefit	benefit	NOUN
easat-6259	332	11	greatly	greatly	ADV
easat-6259	332	12	from	from	ADP
easat-6259	332	13	ai	ai	NOUN
easat-6259	332	14	in	in	ADP
easat-6259	332	15	another	another	DET
easat-6259	332	16	important	important	ADJ
easat-6259	332	17	area	area	NOUN
easat-6259	332	18	.	.	PUNCT
easat-6259	333	1	the	the	DET
easat-6259	333	2	terms	term	NOUN
easat-6259	333	3	decision	decision	NOUN
easat-6259	333	4	-	-	PUNCT
easat-6259	333	5	making	making	NOUN
easat-6259	333	6	,	,	PUNCT
easat-6259	333	7	organizing	organize	VERB
easat-6259	333	8	,	,	PUNCT
easat-6259	333	9	commanding	command	VERB
easat-6259	333	10	and	and	CCONJ
easat-6259	333	11	coordinating	coordinating	NOUN
easat-6259	333	12	are	be	AUX
easat-6259	333	13	used	use	VERB
easat-6259	333	14	in	in	ADP
easat-6259	333	15	a	a	DET
easat-6259	333	16	significant	significant	ADJ
easat-6259	333	17	manner	manner	NOUN
easat-6259	333	18	when	when	SCONJ
easat-6259	333	19	it	it	PRON
easat-6259	333	20	comes	come	VERB
easat-6259	333	21	to	to	ADP
easat-6259	333	22	human	human	ADJ
easat-6259	333	23	resource	resource	NOUN
easat-6259	333	24	management	management	NOUN
easat-6259	333	25	.	.	PUNCT
easat-6259	334	1	av	av	NOUN
easat-6259	334	2	driving	drive	VERB
easat-6259	334	3	decisions	decision	NOUN
easat-6259	334	4	that	that	PRON
easat-6259	334	5	allow	allow	VERB
easat-6259	334	6	for	for	ADP
easat-6259	334	7	decision	decision	NOUN
easat-6259	334	8	-	-	PUNCT
easat-6259	334	9	making	making	NOUN
easat-6259	334	10	in	in	ADP
easat-6259	334	11	real	real	ADJ
easat-6259	334	12	-	-	PUNCT
easat-6259	334	13	time	time	NOUN
easat-6259	334	14	and	and	CCONJ
easat-6259	334	15	the	the	DET
easat-6259	334	16	provision	provision	NOUN
easat-6259	334	17	of	of	ADP
easat-6259	334	18	judgments	judgment	NOUN
easat-6259	334	19	needed	need	VERB
easat-6259	334	20	for	for	ADP
easat-6259	334	21	safe	safe	ADJ
easat-6259	334	22	operation	operation	NOUN
easat-6259	334	23	depend	depend	VERB
easat-6259	334	24	on	on	ADP
easat-6259	334	25	ml	ml	NOUN
easat-6259	334	26	as	as	SCONJ
easat-6259	334	27	depicted	depict	VERB
easat-6259	334	28	in	in	ADP
easat-6259	334	29	figure	figure	NOUN
easat-6259	334	30	5	5	NUM
easat-6259	335	1	[	[	X
easat-6259	335	2	24	24	NUM
easat-6259	335	3	]	]	PUNCT
easat-6259	335	4	.	.	PUNCT
easat-6259	336	1	•	•	NUM
easat-6259	336	2	local	local	ADJ
easat-6259	336	3	path	path	NOUN
easat-6259	336	4	planning	planning	NOUN
easat-6259	336	5	:	:	PUNCT
easat-6259	336	6	it	it	PRON
easat-6259	336	7	determines	determine	VERB
easat-6259	336	8	the	the	DET
easat-6259	336	9	best	good	ADJ
easat-6259	336	10	motion	motion	NOUN
easat-6259	336	11	of	of	ADP
easat-6259	336	12	the	the	DET
easat-6259	336	13	car	car	NOUN
easat-6259	336	14	and	and	CCONJ
easat-6259	336	15	its	its	PRON
easat-6259	336	16	path	path	NOUN
easat-6259	336	17	to	to	PART
easat-6259	336	18	go	go	VERB
easat-6259	336	19	through	through	ADV
easat-6259	336	20	.	.	PUNCT
easat-6259	337	1	ai	ai	AUX
easat-6259	337	2	techniques	technique	NOUN
easat-6259	337	3	are	be	AUX
easat-6259	337	4	usually	usually	ADV
easat-6259	337	5	used	use	VERB
easat-6259	337	6	in	in	ADP
easat-6259	337	7	solving	solve	VERB
easat-6259	337	8	such	such	ADJ
easat-6259	337	9	problems	problem	NOUN
easat-6259	337	10	using	use	VERB
easat-6259	337	11	rapidly	rapidly	ADV
easat-6259	337	12	exploring	explore	VERB
easat-6259	337	13	random	random	ADJ
easat-6259	337	14	trees	tree	NOUN
easat-6259	337	15	and	and	CCONJ
easat-6259	337	16	a	a	DET
easat-6259	337	17	*	*	ADJ
easat-6259	337	18	search	search	NOUN
easat-6259	337	19	.	.	PUNCT
easat-6259	338	1	these	these	DET
easat-6259	338	2	algorithms	algorithm	NOUN
easat-6259	338	3	aid	aid	NOUN
easat-6259	338	4	in	in	ADP
easat-6259	338	5	the	the	DET
easat-6259	338	6	generation	generation	NOUN
easat-6259	338	7	of	of	ADP
easat-6259	338	8	available	available	ADJ
easat-6259	338	9	paths	path	NOUN
easat-6259	338	10	that	that	PRON
easat-6259	338	11	ensures	ensure	VERB
easat-6259	338	12	an	an	DET
easat-6259	338	13	entity	entity	NOUN
easat-6259	338	14	goes	go	VERB
easat-6259	338	15	through	through	ADP
easat-6259	338	16	without	without	ADP
easat-6259	338	17	hindrances	hindrance	NOUN
easat-6259	338	18	or	or	CCONJ
easat-6259	338	19	barriers	barrier	NOUN
easat-6259	338	20	.	.	PUNCT
easat-6259	339	1	in	in	ADP
easat-6259	339	2	parallel	parallel	NOUN
easat-6259	339	3	,	,	PUNCT
easat-6259	339	4	some	some	DET
easat-6259	339	5	methods	method	NOUN
easat-6259	339	6	of	of	ADP
easat-6259	339	7	sensor	sensor	NOUN
easat-6259	339	8	fusion	fusion	NOUN
easat-6259	339	9	provide	provide	VERB
easat-6259	339	10	the	the	DET
easat-6259	339	11	construction	construction	NOUN
easat-6259	339	12	of	of	ADP
easat-6259	339	13	information	information	NOUN
easat-6259	339	14	from	from	ADP
easat-6259	339	15	different	different	ADJ
easat-6259	339	16	sensors	sensor	NOUN
easat-6259	339	17	,	,	PUNCT
easat-6259	339	18	improving	improve	VERB
easat-6259	339	19	the	the	DET
easat-6259	339	20	reliability	reliability	NOUN
easat-6259	339	21	and	and	CCONJ
easat-6259	339	22	accuracy	accuracy	NOUN
easat-6259	339	23	of	of	ADP
easat-6259	339	24	the	the	DET
easat-6259	339	25	route	route	NOUN
easat-6259	339	26	.	.	PUNCT
easat-6259	340	1	•	•	NOUN
easat-6259	340	2	mapping	mapping	NOUN
easat-6259	340	3	and	and	CCONJ
easat-6259	340	4	localization	localization	NOUN
easat-6259	340	5	:	:	PUNCT
easat-6259	340	6	accurate	accurate	ADJ
easat-6259	340	7	mapping	mapping	NOUN
easat-6259	340	8	and	and	CCONJ
easat-6259	340	9	local	local	ADJ
easat-6259	340	10	navigation	navigation	NOUN
easat-6259	340	11	of	of	ADP
easat-6259	340	12	avs	avs	PROPN
easat-6259	340	13	,	,	PUNCT
easat-6259	340	14	depicted	depict	VERB
easat-6259	340	15	in	in	ADP
easat-6259	340	16	figure	figure	NOUN
easat-6259	340	17	6	6	NUM
easat-6259	340	18	,	,	PUNCT
easat-6259	340	19	are	be	AUX
easat-6259	340	20	essential	essential	ADJ
easat-6259	340	21	.	.	PUNCT
easat-6259	341	1	high	high	ADJ
easat-6259	341	2	-	-	PUNCT
easat-6259	341	3	definition	definition	NOUN
easat-6259	341	4	maps	map	NOUN
easat-6259	341	5	blended	blend	VERB
easat-6259	341	6	with	with	ADP
easat-6259	341	7	ai	ai	PROPN
easat-6259	341	8	algorithms	algorithms	PROPN
easat-6259	341	9	permit	permit	NOUN
easat-6259	341	10	avs	avs	PROPN
easat-6259	341	11	to	to	PART
easat-6259	341	12	recognize	recognize	VERB
easat-6259	341	13	their	their	PRON
easat-6259	341	14	environment	environment	NOUN
easat-6259	341	15	with	with	ADP
easat-6259	341	16	high	high	ADJ
easat-6259	341	17	precision	precision	NOUN
easat-6259	341	18	,	,	PUNCT
easat-6259	341	19	facilitating	facilitate	VERB
easat-6259	341	20	higher	high	ADJ
easat-6259	341	21	navigation	navigation	NOUN
easat-6259	341	22	and	and	CCONJ
easat-6259	341	23	obstacle	obstacle	NOUN
easat-6259	341	24	avoidance	avoidance	NOUN
easat-6259	341	25	[	[	X
easat-6259	341	26	14	14	NUM
easat-6259	341	27	]	]	PUNCT
easat-6259	341	28	.	.	PUNCT
easat-6259	342	1	ml	ml	PROPN
easat-6259	342	2	models	model	NOUN
easat-6259	342	3	use	use	VERB
easat-6259	342	4	ai	ai	ADJ
easat-6259	342	5	-	-	PUNCT
easat-6259	342	6	powered	power	VERB
easat-6259	342	7	techniques	technique	NOUN
easat-6259	342	8	such	such	ADJ
easat-6259	342	9	as	as	ADP
easat-6259	342	10	slam	slam	NOUN
easat-6259	342	11	to	to	PART
easat-6259	342	12	create	create	VERB
easat-6259	342	13	and	and	CCONJ
easat-6259	342	14	update	update	VERB
easat-6259	342	15	maps	map	NOUN
easat-6259	342	16	in	in	ADP
easat-6259	342	17	real	real	ADJ
easat-6259	342	18	-	-	PUNCT
easat-6259	342	19	time	time	NOUN
easat-6259	342	20	by	by	ADP
easat-6259	342	21	tracking	track	VERB
easat-6259	342	22	vehicle	vehicle	NOUN
easat-6259	342	23	conditions	condition	NOUN
easat-6259	342	24	within	within	ADP
easat-6259	342	25	these	these	DET
easat-6259	342	26	maps	map	NOUN
easat-6259	342	27	.	.	PUNCT
easat-6259	343	1	4.2	4.2	NUM
easat-6259	343	2	.	.	PUNCT
easat-6259	344	1	current	current	ADJ
easat-6259	344	2	technologies	technology	NOUN
easat-6259	344	3	one	one	NUM
easat-6259	344	4	essential	essential	ADJ
easat-6259	344	5	element	element	NOUN
easat-6259	344	6	of	of	ADP
easat-6259	344	7	ads	ad	NOUN
easat-6259	344	8	is	be	AUX
easat-6259	344	9	lka	lka	NOUN
easat-6259	344	10	systems	system	NOUN
easat-6259	344	11	,	,	PUNCT
easat-6259	344	12	which	which	PRON
easat-6259	344	13	work	work	VERB
easat-6259	344	14	to	to	PART
easat-6259	344	15	improve	improve	VERB
easat-6259	344	16	road	road	NOUN
easat-6259	344	17	safety	safety	NOUN
easat-6259	344	18	by	by	ADP
easat-6259	344	19	reducing	reduce	VERB
easat-6259	344	20	accidental	accidental	ADJ
easat-6259	344	21	lane	lane	NOUN
easat-6259	344	22	departures	departure	NOUN
easat-6259	344	23	.	.	PUNCT
easat-6259	345	1	a	a	DET
easat-6259	345	2	comprehensive	comprehensive	ADJ
easat-6259	345	3	overview	overview	NOUN
easat-6259	345	4	of	of	ADP
easat-6259	345	5	ads	ad	NOUN
easat-6259	345	6	is	be	AUX
easat-6259	345	7	given	give	VERB
easat-6259	345	8	in	in	ADP
easat-6259	345	9	yurtsever	yurtsever	NOUN
easat-6259	345	10	,	,	PUNCT
easat-6259	345	11	et	et	PROPN
easat-6259	345	12	al	al	PROPN
easat-6259	345	13	.	.	PUNCT
easat-6259	346	1	[	[	X
easat-6259	346	2	3	3	X
easat-6259	346	3	]	]	PUNCT
easat-6259	346	4	which	which	PRON
easat-6259	346	5	emphasized	emphasize	VERB
easat-6259	346	6	the	the	DET
easat-6259	346	7	need	need	NOUN
easat-6259	346	8	for	for	ADP
easat-6259	346	9	reliability	reliability	NOUN
easat-6259	346	10	and	and	CCONJ
easat-6259	346	11	the	the	DET
easat-6259	346	12	possible	possible	ADJ
easat-6259	346	13	social	social	ADJ
easat-6259	346	14	effects	effect	NOUN
easat-6259	346	15	of	of	ADP
easat-6259	346	16	wide	wide	ADJ
easat-6259	346	17	adoption	adoption	NOUN
easat-6259	346	18	.	.	PUNCT
easat-6259	347	1	the	the	DET
easat-6259	347	2	development	development	NOUN
easat-6259	347	3	of	of	ADP
easat-6259	347	4	ads	ad	NOUN
easat-6259	347	5	technology	technology	NOUN
easat-6259	347	6	,	,	PUNCT
easat-6259	347	7	system	system	NOUN
easat-6259	347	8	architectures	architecture	NOUN
easat-6259	347	9	,	,	PUNCT
easat-6259	347	10	hardware	hardware	NOUN
easat-6259	347	11	,	,	PUNCT
easat-6259	347	12	sensors	sensor	NOUN
easat-6259	347	13	,	,	PUNCT
easat-6259	347	14	and	and	CCONJ
easat-6259	347	15	the	the	DET
easat-6259	347	16	challenges	challenge	NOUN
easat-6259	347	17	of	of	ADP
easat-6259	347	18	driving	drive	VERB
easat-6259	347	19	automation	automation	NOUN
easat-6259	347	20	are	be	AUX
easat-6259	347	21	discussed	discuss	VERB
easat-6259	347	22	as	as	SCONJ
easat-6259	347	23	follows	follow	VERB
easat-6259	347	24	:	:	PUNCT
easat-6259	347	25	•	•	NUM
easat-6259	347	26	perception	perception	NOUN
easat-6259	347	27	and	and	CCONJ
easat-6259	347	28	sensor	sensor	NOUN
easat-6259	347	29	fusion	fusion	NOUN
easat-6259	347	30	:	:	PUNCT
easat-6259	347	31	investigate	investigate	VERB
easat-6259	347	32	how	how	SCONJ
easat-6259	347	33	perception	perception	NOUN
easat-6259	347	34	tasks	task	NOUN
easat-6259	347	35	in	in	ADP
easat-6259	347	36	ads	ad	NOUN
easat-6259	347	37	can	can	AUX
easat-6259	347	38	benefit	benefit	VERB
easat-6259	347	39	from	from	ADP
easat-6259	347	40	the	the	DET
easat-6259	347	41	combination	combination	NOUN
easat-6259	347	42	of	of	ADP
easat-6259	347	43	lidar	lidar	NOUN
easat-6259	347	44	and	and	CCONJ
easat-6259	347	45	video	video	NOUN
easat-6259	347	46	data	datum	NOUN
easat-6259	347	47	.	.	PUNCT
easat-6259	348	1	though	though	SCONJ
easat-6259	348	2	multi	multi	ADJ
easat-6259	348	3	-	-	ADJ
easat-6259	348	4	modal	modal	ADJ
easat-6259	348	5	sensor	sensor	NOUN
easat-6259	348	6	fusion	fusion	NOUN
easat-6259	348	7	is	be	AUX
easat-6259	348	8	their	their	PRON
easat-6259	348	9	main	main	ADJ
easat-6259	348	10	focus	focus	NOUN
easat-6259	348	11	,	,	PUNCT
easat-6259	348	12	the	the	DET
easat-6259	348	13	concepts	concept	NOUN
easat-6259	348	14	also	also	ADV
easat-6259	348	15	apply	apply	VERB
easat-6259	348	16	to	to	ADP
easat-6259	348	17	lkas	lkas	ADJ
easat-6259	348	18	,	,	PUNCT
easat-6259	348	19	which	which	PRON
easat-6259	348	20	use	use	VERB
easat-6259	348	21	camera	camera	NOUN
easat-6259	348	22	data	datum	NOUN
easat-6259	348	23	for	for	ADP
easat-6259	348	24	lane	lane	NOUN
easat-6259	348	25	detection	detection	NOUN
easat-6259	348	26	.	.	PUNCT
easat-6259	349	1	although	although	SCONJ
easat-6259	349	2	there	there	PRON
easat-6259	349	3	is	be	VERB
easat-6259	349	4	a	a	DET
easat-6259	349	5	crucial	crucial	ADJ
easat-6259	349	6	need	need	NOUN
easat-6259	349	7	of	of	ADP
easat-6259	349	8	multi	multi	ADJ
easat-6259	349	9	-	-	ADJ
easat-6259	349	10	modal	modal	ADJ
easat-6259	349	11	integration	integration	NOUN
easat-6259	349	12	,	,	PUNCT
easat-6259	349	13	camera	camera	NOUN
easat-6259	349	14	-	-	PUNCT
easat-6259	349	15	based	base	VERB
easat-6259	349	16	perception	perception	NOUN
easat-6259	349	17	is	be	AUX
easat-6259	349	18	prioritized	prioritize	VERB
easat-6259	349	19	in	in	ADP
easat-6259	349	20	the	the	DET
easat-6259	349	21	context	context	NOUN
easat-6259	349	22	of	of	ADP
easat-6259	349	23	lkas	lkas	ADV
easat-6259	349	24	to	to	PART
easat-6259	349	25	reliably	reliably	ADV
easat-6259	349	26	recognize	recognize	VERB
easat-6259	349	27	lane	lane	NOUN
easat-6259	349	28	markers	marker	NOUN
easat-6259	349	29	.	.	PUNCT
easat-6259	350	1	•	•	NUM
easat-6259	350	2	3d	3d	NUM
easat-6259	350	3	object	object	NOUN
easat-6259	350	4	detection	detection	NOUN
easat-6259	350	5	and	and	CCONJ
easat-6259	350	6	semantic	semantic	ADJ
easat-6259	350	7	segmentation	segmentation	NOUN
easat-6259	350	8	:	:	PUNCT
easat-6259	350	9	concentrate	concentrate	VERB
easat-6259	350	10	on	on	ADP
easat-6259	350	11	3d	3d	NOUN
easat-6259	350	12	detection	detection	NOUN
easat-6259	350	13	in	in	ADP
easat-6259	350	14	ads	ad	NOUN
easat-6259	350	15	,	,	PUNCT
easat-6259	350	16	emphasizing	emphasize	VERB
easat-6259	350	17	its	its	PRON
easat-6259	350	18	use	use	NOUN
easat-6259	350	19	in	in	ADP
easat-6259	350	20	path	path	NOUN
easat-6259	350	21	planning	planning	NOUN
easat-6259	350	22	,	,	PUNCT
easat-6259	350	23	collision	collision	NOUN
easat-6259	350	24	avoidance	avoidance	NOUN
easat-6259	350	25	,	,	PUNCT
easat-6259	350	26	and	and	CCONJ
easat-6259	350	27	motion	motion	NOUN
easat-6259	350	28	prediction	prediction	NOUN
easat-6259	350	29	.	.	PUNCT
easat-6259	351	1	accurate	accurate	ADJ
easat-6259	351	2	lane	lane	PROPN
easat-6259	351	3	detection	detection	NOUN
easat-6259	351	4	is	be	AUX
easat-6259	351	5	the	the	DET
easat-6259	351	6	main	main	ADJ
easat-6259	351	7	priority	priority	NOUN
easat-6259	351	8	for	for	ADP
easat-6259	351	9	lkas	lkas	ADJ
easat-6259	351	10	,	,	PUNCT
easat-6259	351	11	even	even	ADV
easat-6259	351	12	though	though	SCONJ
easat-6259	351	13	3d	3d	NUM
easat-6259	351	14	detection	detection	NOUN
easat-6259	351	15	is	be	AUX
easat-6259	351	16	essential	essential	ADJ
easat-6259	351	17	for	for	ADP
easat-6259	351	18	overall	overall	ADJ
easat-6259	351	19	vehicle	vehicle	NOUN
easat-6259	351	20	safety	safety	NOUN
easat-6259	351	21	.	.	PUNCT
easat-6259	352	1	camera	camera	NOUN
easat-6259	352	2	-	-	PUNCT
easat-6259	352	3	based	base	VERB
easat-6259	352	4	image	image	NOUN
easat-6259	352	5	-	-	PUNCT
easat-6259	352	6	based	base	VERB
easat-6259	352	7	techniques	technique	NOUN
easat-6259	352	8	are	be	AUX
easat-6259	352	9	crucial	crucial	ADJ
easat-6259	352	10	for	for	ADP
easat-6259	352	11	lane	lane	NOUN
easat-6259	352	12	recognition	recognition	NOUN
easat-6259	352	13	boundaries	boundary	NOUN
easat-6259	352	14	and	and	CCONJ
easat-6259	352	15	other	other	ADJ
easat-6259	352	16	road	road	NOUN
easat-6259	352	17	features	feature	NOUN
easat-6259	352	18	.	.	PUNCT
easat-6259	353	1	there	there	PRON
easat-6259	353	2	are	be	VERB
easat-6259	353	3	challenges	challenge	NOUN
easat-6259	353	4	in	in	ADP
easat-6259	353	5	aligning	align	VERB
easat-6259	353	6	semantic	semantic	ADJ
easat-6259	353	7	information	information	NOUN
easat-6259	353	8	across	across	ADP
easat-6259	353	9	different	different	ADJ
easat-6259	353	10	modalities	modality	NOUN
easat-6259	353	11	needed	need	VERB
easat-6259	353	12	when	when	SCONJ
easat-6259	353	13	integrating	integrate	VERB
easat-6259	353	14	camera	camera	NOUN
easat-6259	353	15	data	datum	NOUN
easat-6259	353	16	with	with	ADP
easat-6259	353	17	other	other	ADJ
easat-6259	353	18	sensor	sensor	NOUN
easat-6259	353	19	inputs	input	NOUN
easat-6259	353	20	.	.	PUNCT
easat-6259	354	1	•	•	NUM
easat-6259	354	2	lka	lka	NOUN
easat-6259	354	3	using	use	VERB
easat-6259	354	4	pid	pid	NOUN
easat-6259	354	5	controller	controller	NOUN
easat-6259	354	6	and	and	CCONJ
easat-6259	354	7	pid	pid	NOUN
easat-6259	354	8	management	management	NOUN
easat-6259	354	9	:	:	PUNCT
easat-6259	354	10	in	in	ADP
easat-6259	354	11	lkas	lkas	ADJ
easat-6259	354	12	,	,	PUNCT
easat-6259	354	13	a	a	DET
easat-6259	354	14	proportional	proportional	ADJ
easat-6259	354	15	-	-	PUNCT
easat-6259	354	16	integral	integral	ADJ
easat-6259	354	17	-	-	PUNCT
easat-6259	354	18	derivative	derivative	ADJ
easat-6259	354	19	(	(	PUNCT
easat-6259	354	20	pid	pid	NOUN
easat-6259	354	21	)	)	PUNCT
easat-6259	354	22	controller	controller	NOUN
easat-6259	354	23	is	be	AUX
easat-6259	354	24	usually	usually	ADV
easat-6259	354	25	used	use	VERB
easat-6259	354	26	to	to	PART
easat-6259	354	27	keep	keep	VERB
easat-6259	354	28	the	the	DET
easat-6259	354	29	vehicle	vehicle	NOUN
easat-6259	354	30	on	on	ADP
easat-6259	354	31	a	a	DET
easat-6259	354	32	specified	specified	ADJ
easat-6259	354	33	path	path	NOUN
easat-6259	354	34	.	.	PUNCT
easat-6259	355	1	the	the	DET
easat-6259	355	2	pid	pid	NOUN
easat-6259	355	3	controller	controller	NOUN
easat-6259	355	4	adjusts	adjust	VERB
easat-6259	355	5	the	the	DET
easat-6259	355	6	steering	steering	NOUN
easat-6259	355	7	angle	angle	NOUN
easat-6259	355	8	based	base	VERB
easat-6259	355	9	on	on	ADP
easat-6259	355	10	the	the	DET
easat-6259	355	11	difference	difference	NOUN
easat-6259	355	12	between	between	ADP
easat-6259	355	13	current	current	ADJ
easat-6259	355	14	vehicle	vehicle	NOUN
easat-6259	355	15	position	position	NOUN
easat-6259	355	16	and	and	CCONJ
easat-6259	355	17	desired	desire	VERB
easat-6259	355	18	navigation	navigation	NOUN
easat-6259	355	19	position	position	NOUN
easat-6259	355	20	.	.	PUNCT
easat-6259	356	1	this	this	DET
easat-6259	356	2	approach	approach	NOUN
easat-6259	356	3	keeps	keep	VERB
easat-6259	356	4	the	the	DET
easat-6259	356	5	car	car	NOUN
easat-6259	356	6	on	on	ADP
easat-6259	356	7	track	track	NOUN
easat-6259	356	8	and	and	CCONJ
easat-6259	356	9	provides	provide	VERB
easat-6259	356	10	smooth	smooth	ADJ
easat-6259	356	11	,	,	PUNCT
easat-6259	356	12	fluid	fluid	ADJ
easat-6259	356	13	handling	handling	NOUN
easat-6259	356	14	.	.	PUNCT
easat-6259	357	1	pid	pid	NOUN
easat-6259	357	2	controller	controller	NOUN
easat-6259	357	3	is	be	AUX
easat-6259	357	4	a	a	DET
easat-6259	357	5	highly	highly	ADV
easat-6259	357	6	desirable	desirable	ADJ
easat-6259	357	7	product	product	NOUN
easat-6259	357	8	for	for	ADP
easat-6259	357	9	lkas	lkas	ADJ
easat-6259	357	10	due	due	ADP
easat-6259	357	11	to	to	ADP
easat-6259	357	12	its	its	PRON
easat-6259	357	13	efficiency	efficiency	NOUN
easat-6259	357	14	and	and	CCONJ
easat-6259	357	15	simplicity	simplicity	NOUN
easat-6259	357	16	.	.	PUNCT
easat-6259	358	1	•	•	NUM
easat-6259	358	2	adaptability	adaptability	NOUN
easat-6259	358	3	and	and	CCONJ
easat-6259	358	4	performance	performance	NOUN
easat-6259	358	5	:	:	PUNCT
easat-6259	358	6	pid	pid	NOUN
easat-6259	358	7	controllers	controller	NOUN
easat-6259	358	8	work	work	VERB
easat-6259	358	9	well	well	ADV
easat-6259	358	10	in	in	ADP
easat-6259	358	11	straightforward	straightforward	ADJ
easat-6259	358	12	,	,	PUNCT
easat-6259	358	13	predictable	predictable	ADJ
easat-6259	358	14	driving	driving	NOUN
easat-6259	358	15	situations	situation	NOUN
easat-6259	358	16	,	,	PUNCT
easat-6259	358	17	but	but	CCONJ
easat-6259	358	18	they	they	PRON
easat-6259	358	19	are	be	AUX
easat-6259	358	20	not	not	PART
easat-6259	358	21	as	as	ADV
easat-6259	358	22	good	good	ADJ
easat-6259	358	23	in	in	ADP
easat-6259	358	24	more	more	ADJ
easat-6259	358	25	dynamic	dynamic	ADJ
easat-6259	358	26	ones	one	NOUN
easat-6259	358	27	.	.	PUNCT
easat-6259	359	1	they	they	PRON
easat-6259	359	2	might	might	AUX
easat-6259	359	3	be	be	AUX
easat-6259	359	4	sensitive	sensitive	ADJ
easat-6259	359	5	to	to	ADP
easat-6259	359	6	noise	noise	NOUN
easat-6259	359	7	and	and	CCONJ
easat-6259	359	8	disturbances	disturbance	NOUN
easat-6259	359	9	and	and	CCONJ
easat-6259	359	10	need	need	VERB
easat-6259	359	11	to	to	PART
easat-6259	359	12	be	be	AUX
easat-6259	359	13	precisely	precisely	ADV
easat-6259	359	14	tuned	tune	VERB
easat-6259	359	15	to	to	PART
easat-6259	359	16	accommodate	accommodate	VERB
easat-6259	359	17	different	different	ADJ
easat-6259	359	18	road	road	NOUN
easat-6259	359	19	conditions	condition	NOUN
easat-6259	359	20	.	.	PUNCT
easat-6259	360	1	pid	pid	NOUN
easat-6259	360	2	controllers	controller	NOUN
easat-6259	360	3	are	be	AUX
easat-6259	360	4	resilient	resilient	ADJ
easat-6259	360	5	when	when	SCONJ
easat-6259	360	6	correctly	correctly	ADV
easat-6259	360	7	adjusted	adjust	VERB
easat-6259	360	8	,	,	PUNCT
easat-6259	360	9	despite	despite	SCONJ
easat-6259	360	10	these	these	DET
easat-6259	360	11	drawbacks	drawback	NOUN
easat-6259	360	12	,	,	PUNCT
easat-6259	360	13	making	make	VERB
easat-6259	360	14	them	they	PRON
easat-6259	360	15	appropriate	appropriate	ADJ
easat-6259	360	16	for	for	ADP
easat-6259	360	17	many	many	ADJ
easat-6259	360	18	lkas	lkas	ADJ
easat-6259	360	19	applications	application	NOUN
easat-6259	360	20	.	.	PUNCT
easat-6259	361	1	1313	1313	NUM
easat-6259	361	2	edelweiss	edelweiss	PROPN
easat-6259	361	3	applied	apply	VERB
easat-6259	361	4	science	science	NOUN
easat-6259	361	5	and	and	CCONJ
easat-6259	361	6	technology	technology	NOUN
easat-6259	361	7	issn	issn	PROPN
easat-6259	361	8	:	:	PUNCT
easat-6259	361	9	2576	2576	NUM
easat-6259	361	10	-	-	SYM
easat-6259	361	11	8484	8484	NUM
easat-6259	361	12	vol	vol	NOUN
easat-6259	361	13	.	.	PROPN
easat-6259	362	1	9	9	NUM
easat-6259	362	2	,	,	PUNCT
easat-6259	362	3	no	no	INTJ
easat-6259	362	4	.	.	NOUN
easat-6259	363	1	4	4	NUM
easat-6259	363	2	:	:	SYM
easat-6259	363	3	1300	1300	NUM
easat-6259	363	4	-	-	SYM
easat-6259	363	5	1331	1331	NUM
easat-6259	363	6	,	,	PUNCT
easat-6259	363	7	2025	2025	NUM
easat-6259	363	8	doi	doi	NOUN
easat-6259	363	9	:	:	PUNCT
easat-6259	363	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	363	11	©	©	PROPN
easat-6259	363	12	2025	2025	NUM
easat-6259	363	13	by	by	ADP
easat-6259	363	14	the	the	DET
easat-6259	363	15	authors	author	NOUN
easat-6259	363	16	;	;	PUNCT
easat-6259	363	17	licensee	licensee	PROPN
easat-6259	363	18	learning	learning	NOUN
easat-6259	363	19	gate	gate	PROPN
easat-6259	363	20	•	•	PROPN
easat-6259	363	21	cnn	cnn	PROPN
easat-6259	363	22	for	for	ADP
easat-6259	363	23	lkas	lkas	ADJ
easat-6259	363	24	:	:	PUNCT
easat-6259	363	25	cnn	cnn	PROPN
easat-6259	363	26	functions	function	NOUN
easat-6259	363	27	in	in	ADP
easat-6259	363	28	lane	lane	NOUN
easat-6259	363	29	detection	detection	NOUN
easat-6259	363	30	:	:	PUNCT
easat-6259	363	31	cnns	cnn	NOUN
easat-6259	363	32	are	be	AUX
easat-6259	363	33	needed	need	VERB
easat-6259	363	34	for	for	ADP
easat-6259	363	35	the	the	DET
easat-6259	363	36	purpose	purpose	NOUN
easat-6259	363	37	of	of	ADP
easat-6259	363	38	processing	processing	NOUN
easat-6259	363	39	and	and	CCONJ
easat-6259	363	40	evaluating	evaluate	VERB
easat-6259	363	41	images	image	NOUN
easat-6259	363	42	from	from	ADP
easat-6259	363	43	cameras	camera	NOUN
easat-6259	363	44	in	in	ADP
easat-6259	363	45	lkas	lkas	ADJ
easat-6259	363	46	.	.	PUNCT
easat-6259	364	1	also	also	ADV
easat-6259	364	2	,	,	PUNCT
easat-6259	364	3	they	they	PRON
easat-6259	364	4	are	be	AUX
easat-6259	364	5	trained	train	VERB
easat-6259	364	6	on	on	ADP
easat-6259	364	7	large	large	ADJ
easat-6259	364	8	datasets	dataset	NOUN
easat-6259	364	9	to	to	PART
easat-6259	364	10	identify	identify	VERB
easat-6259	364	11	patterns	pattern	NOUN
easat-6259	364	12	and	and	CCONJ
easat-6259	364	13	features	feature	NOUN
easat-6259	364	14	such	such	ADJ
easat-6259	364	15	as	as	ADP
easat-6259	364	16	road	road	NOUN
easat-6259	364	17	markings	marking	NOUN
easat-6259	364	18	,	,	PUNCT
easat-6259	364	19	road	road	NOUN
easat-6259	364	20	signs	sign	NOUN
easat-6259	364	21	and	and	CCONJ
easat-6259	364	22	obstacles	obstacle	NOUN
easat-6259	364	23	.	.	PUNCT
easat-6259	365	1	this	this	PRON
easat-6259	365	2	assures	assure	VERB
easat-6259	365	3	that	that	SCONJ
easat-6259	365	4	the	the	DET
easat-6259	365	5	vehicle	vehicle	NOUN
easat-6259	365	6	will	will	AUX
easat-6259	365	7	remain	remain	VERB
easat-6259	365	8	on	on	ADP
easat-6259	365	9	the	the	DET
easat-6259	365	10	intended	intend	VERB
easat-6259	365	11	course	course	NOUN
easat-6259	365	12	by	by	ADP
easat-6259	365	13	providing	provide	VERB
easat-6259	365	14	accurate	accurate	ADJ
easat-6259	365	15	road	road	NOUN
easat-6259	365	16	visibility	visibility	NOUN
easat-6259	365	17	.	.	PUNCT
easat-6259	366	1	cnns	cnns	PROPN
easat-6259	366	2	provide	provide	VERB
easat-6259	366	3	a	a	DET
easat-6259	366	4	reliable	reliable	ADJ
easat-6259	366	5	classification	classification	NOUN
easat-6259	366	6	and	and	CCONJ
easat-6259	366	7	extraction	extraction	NOUN
easat-6259	366	8	method	method	NOUN
easat-6259	366	9	,	,	PUNCT
easat-6259	366	10	so	so	ADV
easat-6259	366	11	increasing	increase	VERB
easat-6259	366	12	the	the	DET
easat-6259	366	13	reliability	reliability	NOUN
easat-6259	366	14	of	of	ADP
easat-6259	366	15	lkas	lkas	ADJ
easat-6259	366	16	.	.	PUNCT
easat-6259	367	1	•	•	NUM
easat-6259	367	2	edge	edge	NOUN
easat-6259	367	3	detection	detection	NOUN
easat-6259	367	4	and	and	CCONJ
easat-6259	367	5	feature	feature	NOUN
easat-6259	367	6	extraction	extraction	NOUN
easat-6259	367	7	:	:	PUNCT
easat-6259	367	8	edge	edge	NOUN
easat-6259	367	9	detection	detection	NOUN
easat-6259	367	10	techniques	technique	NOUN
easat-6259	367	11	—	—	PUNCT
easat-6259	367	12	such	such	ADJ
easat-6259	367	13	as	as	ADP
easat-6259	367	14	the	the	DET
easat-6259	367	15	sobel	sobel	NOUN
easat-6259	367	16	operator	operator	NOUN
easat-6259	367	17	—	—	PUNCT
easat-6259	367	18	are	be	AUX
easat-6259	367	19	widely	widely	ADV
easat-6259	367	20	used	use	VERB
easat-6259	367	21	in	in	ADP
easat-6259	367	22	cnn	cnn	PROPN
easat-6259	367	23	to	to	PART
easat-6259	367	24	improve	improve	VERB
easat-6259	367	25	the	the	DET
easat-6259	367	26	ability	ability	NOUN
easat-6259	367	27	of	of	ADP
easat-6259	367	28	a	a	DET
easat-6259	367	29	vehicle	vehicle	NOUN
easat-6259	367	30	to	to	PART
easat-6259	367	31	detect	detect	VERB
easat-6259	367	32	road	road	NOUN
easat-6259	367	33	edges	edge	NOUN
easat-6259	367	34	.	.	PUNCT
easat-6259	368	1	these	these	DET
easat-6259	368	2	techniques	technique	NOUN
easat-6259	368	3	enhance	enhance	VERB
easat-6259	368	4	the	the	DET
easat-6259	368	5	robustness	robustness	NOUN
easat-6259	368	6	and	and	CCONJ
easat-6259	368	7	recognition	recognition	NOUN
easat-6259	368	8	of	of	ADP
easat-6259	368	9	cnns	cnn	NOUN
easat-6259	368	10	under	under	ADP
easat-6259	368	11	different	different	ADJ
easat-6259	368	12	conditions	condition	NOUN
easat-6259	368	13	.	.	PUNCT
easat-6259	369	1	by	by	ADP
easat-6259	369	2	improving	improve	VERB
easat-6259	369	3	the	the	DET
easat-6259	369	4	capture	capture	NOUN
easat-6259	369	5	of	of	ADP
easat-6259	369	6	objects	object	NOUN
easat-6259	369	7	from	from	ADP
easat-6259	369	8	camera	camera	NOUN
easat-6259	369	9	images	image	NOUN
easat-6259	369	10	,	,	PUNCT
easat-6259	369	11	edge	edge	NOUN
easat-6259	369	12	detection	detection	NOUN
easat-6259	369	13	helps	help	VERB
easat-6259	369	14	cnn	cnn	PROPN
easat-6259	369	15	detect	detect	VERB
easat-6259	369	16	lane	lane	NOUN
easat-6259	369	17	boundaries	boundary	NOUN
easat-6259	369	18	more	more	ADV
easat-6259	369	19	accurately	accurately	ADV
easat-6259	369	20	,	,	PUNCT
easat-6259	369	21	contributing	contribute	VERB
easat-6259	369	22	to	to	ADP
easat-6259	369	23	the	the	DET
easat-6259	369	24	overall	overall	ADJ
easat-6259	369	25	effectiveness	effectiveness	NOUN
easat-6259	369	26	of	of	ADP
easat-6259	369	27	lkas	lkas	ADJ
easat-6259	370	1	[	[	X
easat-6259	370	2	25	25	NUM
easat-6259	370	3	]	]	PUNCT
easat-6259	370	4	.	.	PUNCT
easat-6259	371	1	•	•	NUM
easat-6259	371	2	cnn	cnn	PROPN
easat-6259	371	3	and	and	CCONJ
easat-6259	371	4	pid	pid	NOUN
easat-6259	371	5	controller	controller	NOUN
easat-6259	371	6	:	:	PUNCT
easat-6259	371	7	can	can	AUX
easat-6259	371	8	be	be	AUX
easat-6259	371	9	integrated	integrate	VERB
easat-6259	371	10	to	to	PART
easat-6259	371	11	take	take	VERB
easat-6259	371	12	benefit	benefit	NOUN
easat-6259	371	13	of	of	ADP
easat-6259	371	14	the	the	DET
easat-6259	371	15	advantages	advantage	NOUN
easat-6259	371	16	of	of	ADP
easat-6259	371	17	both	both	DET
easat-6259	371	18	systems	system	NOUN
easat-6259	371	19	.	.	PUNCT
easat-6259	372	1	pid	pid	NOUN
easat-6259	372	2	controllers	controller	NOUN
easat-6259	372	3	provide	provide	VERB
easat-6259	372	4	quick	quick	ADJ
easat-6259	372	5	and	and	CCONJ
easat-6259	372	6	smooth	smooth	ADJ
easat-6259	372	7	steering	steering	NOUN
easat-6259	372	8	modifications	modification	NOUN
easat-6259	372	9	,	,	PUNCT
easat-6259	372	10	while	while	SCONJ
easat-6259	372	11	cnns	cnn	NOUN
easat-6259	372	12	enable	enable	VERB
easat-6259	372	13	reliable	reliable	ADJ
easat-6259	372	14	and	and	CCONJ
easat-6259	372	15	accurate	accurate	ADJ
easat-6259	372	16	lane	lane	NOUN
easat-6259	372	17	detection	detection	NOUN
easat-6259	372	18	.	.	PUNCT
easat-6259	373	1	because	because	SCONJ
easat-6259	373	2	of	of	ADP
easat-6259	373	3	this	this	DET
easat-6259	373	4	integration	integration	NOUN
easat-6259	373	5	,	,	PUNCT
easat-6259	373	6	lkas	lkas	X
easat-6259	373	7	are	be	AUX
easat-6259	373	8	guaranteed	guarantee	VERB
easat-6259	373	9	to	to	PART
easat-6259	373	10	function	function	VERB
easat-6259	373	11	well	well	ADV
easat-6259	373	12	in	in	ADP
easat-6259	373	13	a	a	DET
easat-6259	373	14	variety	variety	NOUN
easat-6259	373	15	of	of	ADP
easat-6259	373	16	driving	drive	VERB
easat-6259	373	17	scenarios	scenario	NOUN
easat-6259	373	18	,	,	PUNCT
easat-6259	373	19	so	so	ADV
easat-6259	373	20	maintaining	maintain	VERB
easat-6259	373	21	lane	lane	NOUN
easat-6259	373	22	position	position	NOUN
easat-6259	373	23	correctly	correctly	ADV
easat-6259	373	24	and	and	CCONJ
easat-6259	373	25	consistently	consistently	ADV
easat-6259	373	26	.	.	PUNCT
easat-6259	374	1	a	a	DET
easat-6259	374	2	complete	complete	ADJ
easat-6259	374	3	lka	lka	NOUN
easat-6259	374	4	solution	solution	NOUN
easat-6259	374	5	is	be	AUX
easat-6259	374	6	produced	produce	VERB
easat-6259	374	7	by	by	ADP
easat-6259	374	8	combining	combine	VERB
easat-6259	374	9	cnns	cnn	NOUN
easat-6259	374	10	for	for	ADP
easat-6259	374	11	perception	perception	NOUN
easat-6259	374	12	along	along	ADP
easat-6259	374	13	with	with	ADP
easat-6259	374	14	pid	pid	NOUN
easat-6259	374	15	controllers	controller	NOUN
easat-6259	374	16	.	.	PUNCT
easat-6259	375	1	4.3	4.3	NUM
easat-6259	375	2	.	.	PUNCT
easat-6259	376	1	state	state	NOUN
easat-6259	376	2	-	-	PUNCT
easat-6259	376	3	of	of	ADP
easat-6259	376	4	-	-	PUNCT
easat-6259	376	5	the	the	DET
easat-6259	376	6	-	-	PUNCT
easat-6259	376	7	art	art	NOUN
easat-6259	376	8	approaches	approach	VERB
easat-6259	376	9	the	the	DET
easat-6259	376	10	authors	author	NOUN
easat-6259	376	11	in	in	ADP
easat-6259	376	12	mao	mao	PROPN
easat-6259	376	13	,	,	PUNCT
easat-6259	376	14	et	et	PROPN
easat-6259	376	15	al	al	PROPN
easat-6259	376	16	.	.	PUNCT
easat-6259	377	1	[	[	X
easat-6259	377	2	26	26	NUM
easat-6259	377	3	]	]	PUNCT
easat-6259	377	4	provided	provide	VERB
easat-6259	377	5	an	an	DET
easat-6259	377	6	extended	extended	ADJ
easat-6259	377	7	technical	technical	ADJ
easat-6259	377	8	background	background	NOUN
easat-6259	377	9	on	on	ADP
easat-6259	377	10	adss	adss	PROPN
easat-6259	377	11	challenges	challenge	NOUN
easat-6259	377	12	and	and	CCONJ
easat-6259	377	13	promises	promise	NOUN
easat-6259	377	14	.	.	PUNCT
easat-6259	378	1	they	they	PRON
easat-6259	378	2	elaborated	elaborate	VERB
easat-6259	378	3	on	on	ADP
easat-6259	378	4	the	the	DET
easat-6259	378	5	robustness	robustness	NOUN
easat-6259	378	6	demanded	demand	VERB
easat-6259	378	7	by	by	ADP
easat-6259	378	8	ads	ad	NOUN
easat-6259	378	9	and	and	CCONJ
easat-6259	378	10	the	the	DET
easat-6259	378	11	possible	possible	ADJ
easat-6259	378	12	societal	societal	ADJ
easat-6259	378	13	impact	impact	NOUN
easat-6259	378	14	in	in	ADP
easat-6259	378	15	case	case	NOUN
easat-6259	378	16	a	a	DET
easat-6259	378	17	massive	massive	ADJ
easat-6259	378	18	number	number	NOUN
easat-6259	378	19	of	of	ADP
easat-6259	378	20	vehicles	vehicle	NOUN
easat-6259	378	21	exist	exist	VERB
easat-6259	378	22	.	.	PUNCT
easat-6259	379	1	in	in	ADP
easat-6259	379	2	their	their	PRON
easat-6259	379	3	research	research	NOUN
easat-6259	379	4	,	,	PUNCT
easat-6259	379	5	they	they	PRON
easat-6259	379	6	mentioned	mention	VERB
easat-6259	379	7	the	the	DET
easat-6259	379	8	historical	historical	ADJ
easat-6259	379	9	backdrop	backdrop	NOUN
easat-6259	379	10	of	of	ADP
easat-6259	379	11	automated	automate	VERB
easat-6259	379	12	driving	driving	NOUN
easat-6259	379	13	,	,	PUNCT
easat-6259	379	14	covering	cover	VERB
easat-6259	379	15	important	important	ADJ
easat-6259	379	16	works	work	NOUN
easat-6259	379	17	that	that	PRON
easat-6259	379	18	have	have	AUX
easat-6259	379	19	been	be	AUX
easat-6259	379	20	ongoing	ongoing	ADJ
easat-6259	379	21	for	for	ADP
easat-6259	379	22	decades	decade	NOUN
easat-6259	379	23	and	and	CCONJ
easat-6259	379	24	shaped	shape	VERB
easat-6259	379	25	today	today	NOUN
easat-6259	379	26	's	's	PART
easat-6259	379	27	state	state	NOUN
easat-6259	379	28	-	-	PUNCT
easat-6259	379	29	of	of	ADP
easat-6259	379	30	-	-	PUNCT
easat-6259	379	31	the	the	DET
easat-6259	379	32	-	-	PUNCT
easat-6259	379	33	art	art	NOUN
easat-6259	379	34	ads	ad	NOUN
easat-6259	379	35	technology	technology	NOUN
easat-6259	379	36	.	.	PUNCT
easat-6259	380	1	the	the	DET
easat-6259	380	2	paper	paper	NOUN
easat-6259	380	3	presented	present	VERB
easat-6259	380	4	system	system	NOUN
easat-6259	380	5	architectures	architecture	NOUN
easat-6259	380	6	,	,	PUNCT
easat-6259	380	7	hardware	hardware	NOUN
easat-6259	380	8	,	,	PUNCT
easat-6259	380	9	and	and	CCONJ
easat-6259	380	10	sensors	sensor	NOUN
easat-6259	380	11	and	and	CCONJ
easat-6259	380	12	discussed	discuss	VERB
easat-6259	380	13	driving	driving	NOUN
easat-6259	380	14	automation	automation	NOUN
easat-6259	380	15	complexity	complexity	NOUN
easat-6259	380	16	.	.	PUNCT
easat-6259	381	1	it	it	PRON
easat-6259	381	2	further	far	ADV
easat-6259	381	3	described	describe	VERB
easat-6259	381	4	various	various	ADJ
easat-6259	381	5	components	component	NOUN
easat-6259	381	6	and	and	CCONJ
easat-6259	381	7	how	how	SCONJ
easat-6259	381	8	adss	adss	PROPN
easat-6259	381	9	are	be	AUX
easat-6259	381	10	designed	design	VERB
easat-6259	381	11	.	.	PUNCT
easat-6259	382	1	some	some	DET
easat-6259	382	2	problems	problem	NOUN
easat-6259	382	3	were	be	AUX
easat-6259	382	4	discussed	discuss	VERB
easat-6259	382	5	that	that	PRON
easat-6259	382	6	arise	arise	VERB
easat-6259	382	7	from	from	ADP
easat-6259	382	8	dark	dark	ADJ
easat-6259	382	9	scenes	scene	NOUN
easat-6259	382	10	,	,	PUNCT
easat-6259	382	11	objects	object	VERB
easat-6259	382	12	that	that	PRON
easat-6259	382	13	look	look	VERB
easat-6259	382	14	different	different	ADJ
easat-6259	382	15	,	,	PUNCT
easat-6259	382	16	also	also	ADV
easat-6259	382	17	how	how	SCONJ
easat-6259	382	18	methods	method	NOUN
easat-6259	382	19	of	of	ADP
easat-6259	382	20	3d	3d	NUM
easat-6259	382	21	object	object	NOUN
easat-6259	382	22	recognition	recognition	NOUN
easat-6259	382	23	were	be	AUX
easat-6259	382	24	mentioned	mention	VERB
easat-6259	382	25	as	as	ADP
easat-6259	382	26	a	a	DET
easat-6259	382	27	solution	solution	NOUN
easat-6259	382	28	to	to	ADP
easat-6259	382	29	these	these	DET
easat-6259	382	30	problems	problem	NOUN
easat-6259	382	31	.	.	PUNCT
easat-6259	383	1	the	the	DET
easat-6259	383	2	paper	paper	NOUN
easat-6259	383	3	discussed	discuss	VERB
easat-6259	383	4	perceptual	perceptual	ADJ
easat-6259	383	5	tasks	task	NOUN
easat-6259	383	6	in	in	ADP
easat-6259	383	7	ads	ad	NOUN
easat-6259	383	8	,	,	PUNCT
easat-6259	383	9	mainly	mainly	ADV
easat-6259	383	10	3d	3d	NUM
easat-6259	383	11	object	object	NOUN
easat-6259	383	12	detection	detection	NOUN
easat-6259	383	13	and	and	CCONJ
easat-6259	383	14	semantic	semantic	ADJ
easat-6259	383	15	segmentation	segmentation	NOUN
easat-6259	383	16	related	relate	VERB
easat-6259	383	17	to	to	ADP
easat-6259	383	18	image	image	NOUN
easat-6259	383	19	-	-	PUNCT
easat-6259	383	20	based	base	VERB
easat-6259	383	21	object	object	NOUN
easat-6259	383	22	detection	detection	NOUN
easat-6259	383	23	.	.	PUNCT
easat-6259	384	1	they	they	PRON
easat-6259	384	2	described	describe	VERB
easat-6259	384	3	the	the	DET
easat-6259	384	4	development	development	NOUN
easat-6259	384	5	of	of	ADP
easat-6259	384	6	perception	perception	NOUN
easat-6259	384	7	algorithms	algorithm	NOUN
easat-6259	384	8	such	such	ADJ
easat-6259	384	9	as	as	ADP
easat-6259	384	10	camerabased	camerabase	VERB
easat-6259	384	11	perception	perception	NOUN
easat-6259	384	12	,	,	PUNCT
easat-6259	384	13	and	and	CCONJ
easat-6259	384	14	event	event	NOUN
easat-6259	384	15	camera	camera	NOUN
easat-6259	384	16	-	-	PUNCT
easat-6259	384	17	based	base	VERB
easat-6259	384	18	vision	vision	NOUN
easat-6259	384	19	.	.	PUNCT
easat-6259	385	1	furthermore	furthermore	ADV
easat-6259	385	2	,	,	PUNCT
easat-6259	385	3	perception	perception	NOUN
easat-6259	385	4	-	-	PUNCT
easat-6259	385	5	related	relate	VERB
easat-6259	385	6	issues	issue	NOUN
easat-6259	385	7	like	like	ADP
easat-6259	385	8	lighting	lighting	NOUN
easat-6259	385	9	change	change	NOUN
easat-6259	385	10	and	and	CCONJ
easat-6259	385	11	development	development	NOUN
easat-6259	385	12	in	in	ADP
easat-6259	385	13	3d	3d	PROPN
easat-6259	385	14	were	be	AUX
easat-6259	385	15	presented	present	VERB
easat-6259	385	16	.	.	PUNCT
easat-6259	386	1	the	the	DET
easat-6259	386	2	survey	survey	NOUN
easat-6259	386	3	in	in	ADP
easat-6259	386	4	huang	huang	PROPN
easat-6259	386	5	,	,	PUNCT
easat-6259	386	6	et	et	PROPN
easat-6259	386	7	al	al	PROPN
easat-6259	386	8	.	.	PUNCT
easat-6259	387	1	[	[	X
easat-6259	387	2	27	27	NUM
easat-6259	387	3	]	]	PUNCT
easat-6259	387	4	examined	examine	VERB
easat-6259	387	5	lidar	lidar	NOUN
easat-6259	387	6	and	and	CCONJ
easat-6259	387	7	video	video	NOUN
easat-6259	387	8	data	datum	NOUN
easat-6259	387	9	perception	perception	NOUN
easat-6259	387	10	tasks	task	NOUN
easat-6259	387	11	in	in	ADP
easat-6259	387	12	ads	ad	NOUN
easat-6259	387	13	.	.	PUNCT
easat-6259	388	1	the	the	DET
easat-6259	388	2	approach	approach	NOUN
easat-6259	388	3	catered	cater	VERB
easat-6259	388	4	to	to	ADP
easat-6259	388	5	problems	problem	NOUN
easat-6259	388	6	resulting	result	VERB
easat-6259	388	7	from	from	ADP
easat-6259	388	8	noisy	noisy	ADJ
easat-6259	388	9	raw	raw	ADJ
easat-6259	388	10	data	datum	NOUN
easat-6259	388	11	,	,	PUNCT
easat-6259	388	12	underutilized	underutilized	ADJ
easat-6259	388	13	information	information	NOUN
easat-6259	388	14	,	,	PUNCT
easat-6259	388	15	and	and	CCONJ
easat-6259	388	16	mismatch	mismatch	NOUN
easat-6259	388	17	of	of	ADP
easat-6259	388	18	multi	multi	ADJ
easat-6259	388	19	-	-	ADJ
easat-6259	388	20	modal	modal	ADJ
easat-6259	388	21	sensor	sensor	NOUN
easat-6259	388	22	data	datum	NOUN
easat-6259	388	23	.	.	PUNCT
easat-6259	389	1	in	in	ADP
easat-6259	389	2	huang	huang	PROPN
easat-6259	389	3	,	,	PUNCT
easat-6259	389	4	et	et	PROPN
easat-6259	389	5	al	al	PROPN
easat-6259	389	6	.	.	PUNCT
easat-6259	390	1	[	[	X
easat-6259	390	2	27	27	NUM
easat-6259	390	3	]	]	PUNCT
easat-6259	390	4	the	the	DET
easat-6259	390	5	fusion	fusion	NOUN
easat-6259	390	6	techniques	technique	NOUN
easat-6259	390	7	were	be	AUX
easat-6259	390	8	categorized	categorize	VERB
easat-6259	390	9	into	into	ADP
easat-6259	390	10	two	two	NUM
easat-6259	390	11	significant	significant	ADJ
easat-6259	390	12	categories	category	NOUN
easat-6259	390	13	which	which	PRON
easat-6259	390	14	are	be	AUX
easat-6259	390	15	weak	weak	ADJ
easat-6259	390	16	and	and	CCONJ
easat-6259	390	17	strong	strong	ADJ
easat-6259	390	18	fusion	fusion	NOUN
easat-6259	390	19	,	,	PUNCT
easat-6259	390	20	each	each	PRON
easat-6259	390	21	further	far	ADV
easat-6259	390	22	divided	divide	VERB
easat-6259	390	23	into	into	ADP
easat-6259	390	24	four	four	NUM
easat-6259	390	25	smaller	small	ADJ
easat-6259	390	26	groups	group	NOUN
easat-6259	390	27	.	.	PUNCT
easat-6259	391	1	also	also	ADV
easat-6259	391	2	,	,	PUNCT
easat-6259	391	3	the	the	DET
easat-6259	391	4	research	research	NOUN
easat-6259	391	5	provided	provide	VERB
easat-6259	391	6	an	an	DET
easat-6259	391	7	in	in	ADP
easat-6259	391	8	-	-	PUNCT
easat-6259	391	9	depth	depth	NOUN
easat-6259	391	10	review	review	NOUN
easat-6259	391	11	of	of	ADP
easat-6259	391	12	more	more	ADJ
easat-6259	391	13	than	than	ADP
easat-6259	391	14	fifty	fifty	NUM
easat-6259	391	15	relevant	relevant	ADJ
easat-6259	391	16	studies	study	NOUN
easat-6259	391	17	,	,	PUNCT
easat-6259	391	18	and	and	CCONJ
easat-6259	391	19	classified	classify	VERB
easat-6259	391	20	them	they	PRON
easat-6259	391	21	by	by	ADP
easat-6259	391	22	fusion	fusion	NOUN
easat-6259	391	23	stages	stage	NOUN
easat-6259	391	24	then	then	ADV
easat-6259	391	25	reviewed	review	VERB
easat-6259	391	26	them	they	PRON
easat-6259	391	27	against	against	ADP
easat-6259	391	28	open	open	ADJ
easat-6259	391	29	issues	issue	NOUN
easat-6259	391	30	and	and	CCONJ
easat-6259	391	31	future	future	ADJ
easat-6259	391	32	research	research	NOUN
easat-6259	391	33	directions	direction	NOUN
easat-6259	391	34	.	.	PUNCT
easat-6259	392	1	the	the	DET
easat-6259	392	2	study	study	NOUN
easat-6259	392	3	noted	note	VERB
easat-6259	392	4	the	the	DET
easat-6259	392	5	limitation	limitation	NOUN
easat-6259	392	6	of	of	ADP
easat-6259	392	7	single	single	ADJ
easat-6259	392	8	-	-	PUNCT
easat-6259	392	9	modal	modal	NOUN
easat-6259	392	10	data	datum	NOUN
easat-6259	392	11	;	;	PUNCT
easat-6259	392	12	and	and	CCONJ
easat-6259	392	13	how	how	SCONJ
easat-6259	392	14	lidar	lidar	NOUN
easat-6259	392	15	technology	technology	NOUN
easat-6259	392	16	and	and	CCONJ
easat-6259	392	17	camera	camera	NOUN
easat-6259	392	18	data	datum	NOUN
easat-6259	392	19	complement	complement	VERB
easat-6259	392	20	each	each	DET
easat-6259	392	21	other	other	ADJ
easat-6259	392	22	in	in	ADP
easat-6259	392	23	a	a	DET
easat-6259	392	24	way	way	NOUN
easat-6259	392	25	that	that	PRON
easat-6259	392	26	results	result	VERB
easat-6259	392	27	in	in	ADP
easat-6259	392	28	multi	multi	ADJ
easat-6259	392	29	-	-	ADJ
easat-6259	392	30	modal	modal	ADJ
easat-6259	392	31	integration	integration	NOUN
easat-6259	392	32	;	;	PUNCT
easat-6259	392	33	highlighted	highlight	VERB
easat-6259	392	34	perception	perception	NOUN
easat-6259	392	35	tasks	task	NOUN
easat-6259	392	36	in	in	ADP
easat-6259	392	37	ads	ad	NOUN
easat-6259	392	38	.	.	PUNCT
easat-6259	393	1	they	they	PRON
easat-6259	393	2	authors	author	NOUN
easat-6259	393	3	in	in	ADP
easat-6259	393	4	huang	huang	PROPN
easat-6259	393	5	,	,	PUNCT
easat-6259	393	6	et	et	PROPN
easat-6259	393	7	al	al	PROPN
easat-6259	393	8	.	.	PUNCT
easat-6259	394	1	[	[	X
easat-6259	394	2	27	27	NUM
easat-6259	394	3	]	]	PUNCT
easat-6259	394	4	also	also	ADV
easat-6259	394	5	included	include	VERB
easat-6259	394	6	some	some	DET
easat-6259	394	7	popular	popular	ADJ
easat-6259	394	8	open	open	ADJ
easat-6259	394	9	test	test	NOUN
easat-6259	394	10	datasets	dataset	NOUN
easat-6259	394	11	for	for	ADP
easat-6259	394	12	ads	ad	NOUN
easat-6259	394	13	perception	perception	NOUN
easat-6259	394	14	tasks	task	NOUN
easat-6259	394	15	such	such	ADJ
easat-6259	394	16	as	as	ADP
easat-6259	394	17	waymo	waymo	NOUN
easat-6259	394	18	,	,	PUNCT
easat-6259	394	19	kitti	kitti	PROPN
easat-6259	394	20	,	,	PUNCT
easat-6259	394	21	and	and	CCONJ
easat-6259	394	22	nuscenes	nuscene	NOUN
easat-6259	394	23	.	.	PUNCT
easat-6259	395	1	they	they	PRON
easat-6259	395	2	gave	give	VERB
easat-6259	395	3	representations	representation	NOUN
easat-6259	395	4	of	of	ADP
easat-6259	395	5	lidar	lidar	NOUN
easat-6259	395	6	and	and	CCONJ
easat-6259	395	7	image	image	NOUN
easat-6259	395	8	data	datum	NOUN
easat-6259	395	9	.	.	PUNCT
easat-6259	396	1	pointbased	pointbase	VERB
easat-6259	396	2	,	,	PUNCT
easat-6259	396	3	voxel	voxel	PROPN
easat-6259	396	4	-	-	PUNCT
easat-6259	396	5	based	base	VERB
easat-6259	396	6	,	,	PUNCT
easat-6259	396	7	and	and	CCONJ
easat-6259	396	8	2d	2d	NUM
easat-6259	396	9	mapping	mapping	NOUN
easat-6259	396	10	-	-	PUNCT
easat-6259	396	11	based	base	VERB
easat-6259	396	12	point	point	NOUN
easat-6259	396	13	cloud	cloud	NOUN
easat-6259	396	14	representations	representation	NOUN
easat-6259	396	15	were	be	AUX
easat-6259	396	16	presented	present	VERB
easat-6259	396	17	alongside	alongside	ADP
easat-6259	396	18	fusion	fusion	NOUN
easat-6259	396	19	methodologies	methodology	NOUN
easat-6259	396	20	,	,	PUNCT
easat-6259	396	21	such	such	ADJ
easat-6259	396	22	as	as	ADP
easat-6259	396	23	early	early	ADJ
easat-6259	396	24	-	-	PUNCT
easat-6259	396	25	fusion	fusion	NOUN
easat-6259	396	26	,	,	PUNCT
easat-6259	396	27	deep	deep	ADJ
easat-6259	396	28	-	-	PUNCT
easat-6259	396	29	fusion	fusion	NOUN
easat-6259	396	30	,	,	PUNCT
easat-6259	396	31	late	late	ADJ
easat-6259	396	32	-	-	PUNCT
easat-6259	396	33	fusion	fusion	NOUN
easat-6259	396	34	,	,	PUNCT
easat-6259	396	35	and	and	CCONJ
easat-6259	396	36	asymmetry	asymmetry	NOUN
easat-6259	396	37	-	-	PUNCT
easat-6259	396	38	fusion	fusion	NOUN
easat-6259	396	39	.	.	PUNCT
easat-6259	397	1	experimental	experimental	ADJ
easat-6259	397	2	results	result	NOUN
easat-6259	397	3	on	on	ADP
easat-6259	397	4	the	the	DET
easat-6259	397	5	kitti	kitti	PROPN
easat-6259	397	6	test	test	NOUN
easat-6259	397	7	dataset	dataset	VERB
easat-6259	397	8	for	for	ADP
easat-6259	397	9	bird	bird	NOUN
easat-6259	397	10	’s	’s	PART
easat-6259	397	11	eye	eye	NOUN
easat-6259	397	12	view	view	NOUN
easat-6259	397	13	(	(	PUNCT
easat-6259	397	14	bev	bev	PROPN
easat-6259	397	15	)	)	PUNCT
easat-6259	397	16	and	and	CCONJ
easat-6259	397	17	3d	3d	NUM
easat-6259	397	18	object	object	NOUN
easat-6259	397	19	detection	detection	NOUN
easat-6259	397	20	tasks	task	NOUN
easat-6259	397	21	were	be	AUX
easat-6259	397	22	discussed	discuss	VERB
easat-6259	397	23	and	and	CCONJ
easat-6259	397	24	performance	performance	NOUN
easat-6259	397	25	of	of	ADP
easat-6259	397	26	various	various	ADJ
easat-6259	397	27	fusion	fusion	NOUN
easat-6259	397	28	methods	method	NOUN
easat-6259	397	29	were	be	AUX
easat-6259	397	30	compared	compare	VERB
easat-6259	397	31	too	too	ADV
easat-6259	397	32	.	.	PUNCT
easat-6259	398	1	in	in	ADP
easat-6259	398	2	caesar	caesar	PROPN
easat-6259	398	3	[	[	X
easat-6259	398	4	28	28	NUM
easat-6259	398	5	]	]	PUNCT
easat-6259	398	6	the	the	DET
easat-6259	398	7	authors	author	NOUN
easat-6259	398	8	presented	present	VERB
easat-6259	398	9	nuscenes	nuscene	NOUN
easat-6259	398	10	dataset	dataset	VERB
easat-6259	398	11	as	as	ADP
easat-6259	398	12	the	the	DET
easat-6259	398	13	first	first	ADJ
easat-6259	398	14	holistic	holistic	ADJ
easat-6259	398	15	dataset	dataset	NOUN
easat-6259	398	16	of	of	ADP
easat-6259	398	17	all	all	DET
easat-6259	398	18	car	car	NOUN
easat-6259	398	19	sensors	sensor	NOUN
easat-6259	398	20	,	,	PUNCT
easat-6259	398	21	including	include	VERB
easat-6259	398	22	camera	camera	NOUN
easat-6259	398	23	,	,	PUNCT
easat-6259	398	24	radar	radar	NOUN
easat-6259	398	25	,	,	PUNCT
easat-6259	398	26	and	and	CCONJ
easat-6259	398	27	lidar	lidar	NOUN
easat-6259	398	28	,	,	PUNCT
easat-6259	398	29	and	and	CCONJ
easat-6259	398	30	contains	contain	VERB
easat-6259	398	31	one	one	NUM
easat-6259	398	32	thousand	thousand	NUM
easat-6259	398	33	scenes	scene	NOUN
easat-6259	398	34	of	of	ADP
easat-6259	398	35	twenty	twenty	NUM
easat-6259	398	36	seconds	second	NOUN
easat-6259	398	37	each	each	PRON
easat-6259	398	38	.	.	PUNCT
easat-6259	399	1	each	each	DET
easat-6259	399	2	dataset	dataset	NOUN
easat-6259	399	3	has	have	VERB
easat-6259	399	4	annotations	annotation	NOUN
easat-6259	399	5	for	for	ADP
easat-6259	399	6	3d	3d	NUM
easat-6259	399	7	bounding	bounding	NOUN
easat-6259	399	8	boxes	box	NOUN
easat-6259	399	9	for	for	ADP
easat-6259	399	10	twenty	twenty	NUM
easat-6259	399	11	-	-	PUNCT
easat-6259	399	12	three	three	NUM
easat-6259	399	13	classes	class	NOUN
easat-6259	399	14	and	and	CCONJ
easat-6259	399	15	eight	eight	NUM
easat-6259	399	16	attributes	attribute	NOUN
easat-6259	399	17	with	with	ADP
easat-6259	399	18	precise	precise	ADJ
easat-6259	399	19	metrics	metric	NOUN
easat-6259	399	20	introduced	introduce	VERB
easat-6259	399	21	for	for	ADP
easat-6259	399	22	3d	3d	NUM
easat-6259	399	23	tracking	tracking	NOUN
easat-6259	399	24	and	and	CCONJ
easat-6259	399	25	detection	detection	NOUN
easat-6259	399	26	.	.	PUNCT
easat-6259	400	1	they	they	PRON
easat-6259	400	2	pointed	point	VERB
easat-6259	400	3	out	out	ADP
easat-6259	400	4	the	the	DET
easat-6259	400	5	importance	importance	NOUN
easat-6259	400	6	of	of	ADP
easat-6259	400	7	multimodal	multimodal	NOUN
easat-6259	400	8	datasets	dataset	NOUN
easat-6259	400	9	by	by	ADP
easat-6259	400	10	citing	cite	VERB
easat-6259	400	11	the	the	DET
easat-6259	400	12	fact	fact	NOUN
easat-6259	400	13	that	that	SCONJ
easat-6259	400	14	no	no	DET
easat-6259	400	15	single	single	ADJ
easat-6259	400	16	sensor	sensor	NOUN
easat-6259	400	17	type	type	NOUN
easat-6259	400	18	is	be	AUX
easat-6259	400	19	sufficient	sufficient	ADJ
easat-6259	400	20	,	,	PUNCT
easat-6259	400	21	and	and	CCONJ
easat-6259	400	22	they	they	PRON
easat-6259	400	23	are	be	AUX
easat-6259	400	24	complementarity	complementarity	NOUN
easat-6259	400	25	.	.	PUNCT
easat-6259	401	1	the	the	DET
easat-6259	401	2	study	study	NOUN
easat-6259	401	3	investigated	investigate	VERB
easat-6259	401	4	the	the	DET
easat-6259	401	5	difficulties	difficulty	NOUN
easat-6259	401	6	in	in	ADP
easat-6259	401	7	the	the	DET
easat-6259	401	8	construction	construction	NOUN
easat-6259	401	9	of	of	ADP
easat-6259	401	10	perception	perception	NOUN
easat-6259	401	11	systems	system	NOUN
easat-6259	401	12	1314	1314	NUM
easat-6259	401	13	edelweiss	edelweiss	PROPN
easat-6259	401	14	applied	apply	VERB
easat-6259	401	15	science	science	NOUN
easat-6259	401	16	and	and	CCONJ
easat-6259	401	17	technology	technology	NOUN
easat-6259	401	18	issn	issn	PROPN
easat-6259	401	19	:	:	PUNCT
easat-6259	401	20	2576	2576	NUM
easat-6259	401	21	-	-	SYM
easat-6259	401	22	8484	8484	NUM
easat-6259	401	23	vol	vol	NOUN
easat-6259	401	24	.	.	PROPN
easat-6259	402	1	9	9	NUM
easat-6259	402	2	,	,	PUNCT
easat-6259	402	3	no	no	INTJ
easat-6259	402	4	.	.	NOUN
easat-6259	403	1	4	4	NUM
easat-6259	403	2	:	:	SYM
easat-6259	403	3	1300	1300	NUM
easat-6259	403	4	-	-	SYM
easat-6259	403	5	1331	1331	NUM
easat-6259	403	6	,	,	PUNCT
easat-6259	403	7	2025	2025	NUM
easat-6259	403	8	doi	doi	NOUN
easat-6259	403	9	:	:	PUNCT
easat-6259	403	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	403	11	©	©	PROPN
easat-6259	403	12	2025	2025	NUM
easat-6259	403	13	by	by	ADP
easat-6259	403	14	the	the	DET
easat-6259	403	15	authors	author	NOUN
easat-6259	403	16	;	;	PUNCT
easat-6259	403	17	licensee	licensee	PROPN
easat-6259	403	18	learning	learning	NOUN
easat-6259	403	19	gate	gate	NOUN
easat-6259	403	20	regarding	regard	VERB
easat-6259	403	21	ads	ad	NOUN
easat-6259	403	22	and	and	CCONJ
easat-6259	403	23	provided	provide	VERB
easat-6259	403	24	emphasis	emphasis	NOUN
easat-6259	403	25	on	on	ADP
easat-6259	403	26	the	the	DET
easat-6259	403	27	need	need	NOUN
easat-6259	403	28	for	for	ADP
easat-6259	403	29	benchmark	benchmark	ADJ
easat-6259	403	30	datasets	dataset	NOUN
easat-6259	403	31	for	for	ADP
easat-6259	403	32	training	training	NOUN
easat-6259	403	33	and	and	CCONJ
easat-6259	403	34	evaluation	evaluation	NOUN
easat-6259	403	35	of	of	ADP
easat-6259	403	36	ml	ml	NOUN
easat-6259	403	37	methods	method	NOUN
easat-6259	403	38	.	.	PUNCT
easat-6259	404	1	also	also	ADV
easat-6259	404	2	,	,	PUNCT
easat-6259	404	3	the	the	DET
easat-6259	404	4	presented	present	VERB
easat-6259	404	5	nuscenes	nuscene	NOUN
easat-6259	404	6	dataset	dataset	VERB
easat-6259	404	7	,	,	PUNCT
easat-6259	404	8	which	which	PRON
easat-6259	404	9	is	be	AUX
easat-6259	404	10	large	large	ADJ
easat-6259	404	11	in	in	ADP
easat-6259	404	12	terms	term	NOUN
easat-6259	404	13	of	of	ADP
easat-6259	404	14	size	size	NOUN
easat-6259	404	15	and	and	CCONJ
easat-6259	404	16	complexity	complexity	NOUN
easat-6259	404	17	,	,	PUNCT
easat-6259	404	18	provides	provide	VERB
easat-6259	404	19	a	a	DET
easat-6259	404	20	baseline	baseline	NOUN
easat-6259	404	21	for	for	ADP
easat-6259	404	22	object	object	NOUN
easat-6259	404	23	detection	detection	NOUN
easat-6259	404	24	and	and	CCONJ
easat-6259	404	25	tracking	tracking	NOUN
easat-6259	404	26	and	and	CCONJ
easat-6259	404	27	illustrates	illustrate	VERB
easat-6259	404	28	lidar	lidar	NOUN
easat-6259	404	29	and	and	CCONJ
easat-6259	404	30	image	image	NOUN
easat-6259	404	31	-	-	PUNCT
easat-6259	404	32	based	base	VERB
easat-6259	404	33	methods	method	NOUN
easat-6259	404	34	.	.	PUNCT
easat-6259	405	1	in	in	ADP
easat-6259	405	2	caesar	caesar	PROPN
easat-6259	405	3	[	[	X
easat-6259	405	4	28	28	NUM
easat-6259	405	5	]	]	X
easat-6259	405	6	a	a	DET
easat-6259	405	7	discussion	discussion	NOUN
easat-6259	405	8	of	of	ADP
easat-6259	405	9	the	the	DET
easat-6259	405	10	role	role	NOUN
easat-6259	405	11	of	of	ADP
easat-6259	405	12	pre	pre	ADJ
easat-6259	405	13	-	-	ADJ
easat-6259	405	14	training	training	NOUN
easat-6259	405	15	and	and	CCONJ
easat-6259	405	16	multiple	multiple	ADJ
easat-6259	405	17	lidar	lidar	NOUN
easat-6259	405	18	is	be	AUX
easat-6259	405	19	given	give	VERB
easat-6259	405	20	along	along	ADP
easat-6259	405	21	with	with	ADP
easat-6259	405	22	the	the	DET
easat-6259	405	23	detection	detection	NOUN
easat-6259	405	24	performance	performance	NOUN
easat-6259	405	25	.	.	PUNCT
easat-6259	406	1	the	the	DET
easat-6259	406	2	paper	paper	NOUN
easat-6259	406	3	mentioned	mention	VERB
easat-6259	406	4	how	how	SCONJ
easat-6259	406	5	vital	vital	ADJ
easat-6259	406	6	the	the	DET
easat-6259	406	7	matching	matching	NOUN
easat-6259	406	8	function	function	NOUN
easat-6259	406	9	could	could	AUX
easat-6259	406	10	be	be	AUX
easat-6259	406	11	in	in	ADP
easat-6259	406	12	impacting	impact	VERB
easat-6259	406	13	the	the	DET
easat-6259	406	14	ranking	ranking	NOUN
easat-6259	406	15	results	result	NOUN
easat-6259	406	16	of	of	ADP
easat-6259	406	17	the	the	DET
easat-6259	406	18	detection	detection	NOUN
easat-6259	406	19	methods	method	NOUN
easat-6259	406	20	.	.	PUNCT
easat-6259	407	1	the	the	DET
easat-6259	407	2	experimental	experimental	ADJ
easat-6259	407	3	results	result	NOUN
easat-6259	407	4	of	of	ADP
easat-6259	407	5	the	the	DET
easat-6259	407	6	detection	detection	NOUN
easat-6259	407	7	and	and	CCONJ
easat-6259	407	8	tracking	tracking	NOUN
easat-6259	407	9	works	work	NOUN
easat-6259	407	10	were	be	AUX
easat-6259	407	11	reported	report	VERB
easat-6259	407	12	to	to	PART
easat-6259	407	13	evaluate	evaluate	VERB
easat-6259	407	14	the	the	DET
easat-6259	407	15	performance	performance	NOUN
easat-6259	407	16	of	of	ADP
easat-6259	407	17	lidar	lidar	NOUN
easat-6259	407	18	-	-	PUNCT
easat-6259	407	19	based	base	VERB
easat-6259	407	20	versus	versus	ADP
easat-6259	407	21	image	image	NOUN
easat-6259	407	22	-	-	PUNCT
easat-6259	407	23	based	base	VERB
easat-6259	407	24	detectors	detector	NOUN
easat-6259	407	25	.	.	PUNCT
easat-6259	408	1	for	for	SCONJ
easat-6259	408	2	the	the	DET
easat-6259	408	3	nuscenes	nuscene	NOUN
easat-6259	408	4	dataset	dataset	VERB
easat-6259	408	5	,	,	PUNCT
easat-6259	408	6	it	it	PRON
easat-6259	408	7	has	have	AUX
easat-6259	408	8	already	already	ADV
easat-6259	408	9	garnered	garner	VERB
easat-6259	408	10	much	much	ADJ
easat-6259	408	11	attention	attention	NOUN
easat-6259	408	12	in	in	ADP
easat-6259	408	13	the	the	DET
easat-6259	408	14	community	community	NOUN
easat-6259	408	15	of	of	ADP
easat-6259	408	16	avs	avs	PROPN
easat-6259	408	17	and	and	CCONJ
easat-6259	408	18	has	have	AUX
easat-6259	408	19	been	be	AUX
easat-6259	408	20	applied	apply	VERB
easat-6259	408	21	in	in	ADP
easat-6259	408	22	various	various	ADJ
easat-6259	408	23	research	research	NOUN
easat-6259	408	24	.	.	PUNCT
easat-6259	409	1	whereas	whereas	SCONJ
easat-6259	409	2	in	in	ADP
easat-6259	409	3	ren	ren	PROPN
easat-6259	409	4	and	and	CCONJ
easat-6259	409	5	yin	yin	PROPN
easat-6259	409	6	[	[	X
easat-6259	409	7	29	29	NUM
easat-6259	409	8	]	]	PUNCT
easat-6259	409	9	authors	author	NOUN
easat-6259	409	10	contributed	contribute	VERB
easat-6259	409	11	a	a	DET
easat-6259	409	12	comprehensive	comprehensive	ADJ
easat-6259	409	13	review	review	NOUN
easat-6259	409	14	restricting	restrict	VERB
easat-6259	409	15	3d	3d	NUM
easat-6259	409	16	detection	detection	NOUN
easat-6259	409	17	into	into	ADP
easat-6259	409	18	the	the	DET
easat-6259	409	19	true	true	ADJ
easat-6259	409	20	scope	scope	NOUN
easat-6259	409	21	of	of	ADP
easat-6259	409	22	adss	adss	PROPN
easat-6259	409	23	,	,	PUNCT
easat-6259	409	24	which	which	PRON
easat-6259	409	25	form	form	VERB
easat-6259	409	26	a	a	DET
easat-6259	409	27	vital	vital	ADJ
easat-6259	409	28	module	module	NOUN
easat-6259	409	29	for	for	ADP
easat-6259	409	30	collision	collision	NOUN
easat-6259	409	31	avoidance	avoidance	NOUN
easat-6259	409	32	,	,	PUNCT
easat-6259	409	33	motion	motion	NOUN
easat-6259	409	34	prediction	prediction	NOUN
easat-6259	409	35	,	,	PUNCT
easat-6259	409	36	and	and	CCONJ
easat-6259	409	37	path	path	NOUN
easat-6259	409	38	planning	planning	NOUN
easat-6259	409	39	.	.	PUNCT
easat-6259	410	1	they	they	PRON
easat-6259	410	2	identified	identify	VERB
easat-6259	410	3	some	some	PRON
easat-6259	410	4	of	of	ADP
easat-6259	410	5	the	the	DET
easat-6259	410	6	significant	significant	ADJ
easat-6259	410	7	3d	3d	NUM
easat-6259	410	8	object	object	NOUN
easat-6259	410	9	detection	detection	NOUN
easat-6259	410	10	challenges	challenge	NOUN
easat-6259	410	11	,	,	PUNCT
easat-6259	410	12	including	include	VERB
easat-6259	410	13	recovering	recover	VERB
easat-6259	410	14	depth	depth	NOUN
easat-6259	410	15	from	from	ADP
easat-6259	410	16	images	image	NOUN
easat-6259	410	17	,	,	PUNCT
easat-6259	410	18	learning	learn	VERB
easat-6259	410	19	from	from	ADP
easat-6259	410	20	partial	partial	ADJ
easat-6259	410	21	occlusions	occlusion	NOUN
easat-6259	410	22	in	in	ADP
easat-6259	410	23	point	point	NOUN
easat-6259	410	24	clouds	cloud	NOUN
easat-6259	410	25	,	,	PUNCT
easat-6259	410	26	or	or	CCONJ
easat-6259	410	27	aligning	align	VERB
easat-6259	410	28	semantic	semantic	ADJ
easat-6259	410	29	information	information	NOUN
easat-6259	410	30	across	across	ADP
easat-6259	410	31	modalities	modality	NOUN
easat-6259	410	32	.	.	PUNCT
easat-6259	411	1	in	in	ADP
easat-6259	411	2	ren	ren	PROPN
easat-6259	411	3	and	and	CCONJ
easat-6259	411	4	yin	yin	PROPN
easat-6259	411	5	[	[	X
easat-6259	411	6	29	29	NUM
easat-6259	411	7	]	]	PUNCT
easat-6259	411	8	authors	author	NOUN
easat-6259	411	9	presented	present	VERB
easat-6259	411	10	point	point	VERB
easat-6259	411	11	cloud	cloud	NOUN
easat-6259	411	12	-	-	PUNCT
easat-6259	411	13	based	base	VERB
easat-6259	411	14	methods	method	NOUN
easat-6259	411	15	that	that	PRON
easat-6259	411	16	mostly	mostly	ADV
easat-6259	411	17	rely	rely	VERB
easat-6259	411	18	on	on	ADP
easat-6259	411	19	lidar	lidar	NOUN
easat-6259	411	20	sensor	sensor	NOUN
easat-6259	411	21	data	datum	NOUN
easat-6259	411	22	and	and	CCONJ
easat-6259	411	23	exhibits	exhibit	VERB
easat-6259	411	24	higher	high	ADJ
easat-6259	411	25	accuracy	accuracy	NOUN
easat-6259	411	26	and	and	CCONJ
easat-6259	411	27	lower	low	ADJ
easat-6259	411	28	latency	latency	NOUN
easat-6259	411	29	compared	compare	VERB
easat-6259	411	30	to	to	ADP
easat-6259	411	31	imagebased	imagebase	VERB
easat-6259	411	32	methods	method	NOUN
easat-6259	411	33	.	.	PUNCT
easat-6259	412	1	to	to	PART
easat-6259	412	2	deal	deal	VERB
easat-6259	412	3	with	with	ADP
easat-6259	412	4	the	the	DET
easat-6259	412	5	challenges	challenge	NOUN
easat-6259	412	6	of	of	ADP
easat-6259	412	7	representation	representation	NOUN
easat-6259	412	8	and	and	CCONJ
easat-6259	412	9	processing	processing	NOUN
easat-6259	412	10	of	of	ADP
easat-6259	412	11	sparse	sparse	ADJ
easat-6259	412	12	,	,	PUNCT
easat-6259	412	13	irregular	irregular	ADJ
easat-6259	412	14	,	,	PUNCT
easat-6259	412	15	and	and	CCONJ
easat-6259	412	16	unordered	unordered	ADJ
easat-6259	412	17	point	point	NOUN
easat-6259	412	18	clouds	cloud	NOUN
easat-6259	412	19	,	,	PUNCT
easat-6259	412	20	they	they	PRON
easat-6259	412	21	applied	apply	VERB
easat-6259	412	22	voxel	voxel	PROPN
easat-6259	412	23	-	-	PUNCT
easat-6259	412	24	based	base	VERB
easat-6259	412	25	and	and	CCONJ
easat-6259	412	26	point	point	NOUN
easat-6259	412	27	-	-	PUNCT
easat-6259	412	28	based	base	VERB
easat-6259	412	29	methods	method	NOUN
easat-6259	412	30	.	.	PUNCT
easat-6259	413	1	they	they	PRON
easat-6259	413	2	also	also	ADV
easat-6259	413	3	explored	explore	VERB
easat-6259	413	4	a	a	DET
easat-6259	413	5	pointvoxel	pointvoxel	NOUN
easat-6259	413	6	-	-	PUNCT
easat-6259	413	7	based	base	VERB
easat-6259	413	8	method	method	NOUN
easat-6259	413	9	that	that	PRON
easat-6259	413	10	embodies	embody	VERB
easat-6259	413	11	both	both	CCONJ
easat-6259	413	12	voxel	voxel	PROPN
easat-6259	413	13	and	and	CCONJ
easat-6259	413	14	point	point	NOUN
easat-6259	413	15	-	-	PUNCT
easat-6259	413	16	based	base	VERB
easat-6259	413	17	methods	method	NOUN
easat-6259	413	18	.	.	PUNCT
easat-6259	414	1	the	the	DET
easat-6259	414	2	research	research	NOUN
easat-6259	414	3	studied	study	VERB
easat-6259	414	4	multimodal	multimodal	NOUN
easat-6259	414	5	fusion	fusion	NOUN
easat-6259	414	6	-	-	PUNCT
easat-6259	414	7	based	base	VERB
easat-6259	414	8	approach	approach	NOUN
easat-6259	414	9	to	to	PART
easat-6259	414	10	exploit	exploit	VERB
easat-6259	414	11	the	the	DET
easat-6259	414	12	complementarity	complementarity	NOUN
easat-6259	414	13	in	in	ADP
easat-6259	414	14	different	different	ADJ
easat-6259	414	15	modalities	modality	NOUN
easat-6259	414	16	like	like	ADP
easat-6259	414	17	images	image	NOUN
easat-6259	414	18	and	and	CCONJ
easat-6259	414	19	point	point	NOUN
easat-6259	414	20	clouds	cloud	NOUN
easat-6259	414	21	.	.	PUNCT
easat-6259	415	1	fusion	fusion	NOUN
easat-6259	415	2	methods	method	NOUN
easat-6259	415	3	with	with	ADP
easat-6259	415	4	sequential	sequential	ADJ
easat-6259	415	5	and	and	CCONJ
easat-6259	415	6	parallel	parallel	ADJ
easat-6259	415	7	approaches	approach	NOUN
easat-6259	415	8	were	be	AUX
easat-6259	415	9	considered	consider	VERB
easat-6259	415	10	in	in	ADP
easat-6259	415	11	the	the	DET
easat-6259	415	12	work	work	NOUN
easat-6259	415	13	concerning	concern	VERB
easat-6259	415	14	sub	sub	ADJ
easat-6259	415	15	-	-	ADJ
easat-6259	415	16	fashion	fashion	ADJ
easat-6259	415	17	sequential	sequential	ADJ
easat-6259	415	18	data	datum	NOUN
easat-6259	415	19	flow	flow	NOUN
easat-6259	415	20	and	and	CCONJ
easat-6259	415	21	parallel	parallel	ADJ
easat-6259	415	22	data	datum	NOUN
easat-6259	415	23	flow	flow	NOUN
easat-6259	415	24	sets	set	NOUN
easat-6259	415	25	of	of	ADP
easat-6259	415	26	the	the	DET
easat-6259	415	27	modalities	modality	NOUN
easat-6259	415	28	as	as	SCONJ
easat-6259	415	29	they	they	PRON
easat-6259	415	30	pass	pass	VERB
easat-6259	415	31	through	through	ADP
easat-6259	415	32	networks	network	NOUN
easat-6259	415	33	.	.	PUNCT
easat-6259	416	1	on	on	ADP
easat-6259	416	2	the	the	DET
easat-6259	416	3	one	one	NUM
easat-6259	416	4	hand	hand	NOUN
easat-6259	416	5	,	,	PUNCT
easat-6259	416	6	the	the	DET
easat-6259	416	7	study	study	NOUN
easat-6259	416	8	indicated	indicate	VERB
easat-6259	416	9	that	that	SCONJ
easat-6259	416	10	point	point	NOUN
easat-6259	416	11	cloud	cloud	NOUN
easat-6259	416	12	-	-	PUNCT
easat-6259	416	13	based	base	VERB
easat-6259	416	14	methods	method	NOUN
easat-6259	416	15	are	be	AUX
easat-6259	416	16	more	more	ADV
easat-6259	416	17	accurate	accurate	ADJ
easat-6259	416	18	thanks	thank	NOUN
easat-6259	416	19	to	to	PART
easat-6259	416	20	lidar	lidar	VERB
easat-6259	416	21	sensor	sensor	NOUN
easat-6259	416	22	data	datum	NOUN
easat-6259	416	23	.	.	PUNCT
easat-6259	417	1	on	on	ADP
easat-6259	417	2	the	the	DET
easat-6259	417	3	other	other	ADJ
easat-6259	417	4	hand	hand	NOUN
easat-6259	417	5	,	,	PUNCT
easat-6259	417	6	they	they	PRON
easat-6259	417	7	are	be	AUX
easat-6259	417	8	challenged	challenge	VERB
easat-6259	417	9	by	by	ADP
easat-6259	417	10	sparse	sparse	ADJ
easat-6259	417	11	,	,	PUNCT
easat-6259	417	12	irregular	irregular	ADJ
easat-6259	417	13	,	,	PUNCT
easat-6259	417	14	unordered	unordered	ADJ
easat-6259	417	15	point	point	NOUN
easat-6259	417	16	clouds	cloud	NOUN
easat-6259	417	17	in	in	ADP
easat-6259	417	18	processing	processing	NOUN
easat-6259	417	19	.	.	PUNCT
easat-6259	418	1	in	in	ADP
easat-6259	418	2	contrast	contrast	NOUN
easat-6259	418	3	,	,	PUNCT
easat-6259	418	4	image	image	NOUN
easat-6259	418	5	-	-	PUNCT
easat-6259	418	6	based	base	VERB
easat-6259	418	7	methods	method	NOUN
easat-6259	418	8	operate	operate	VERB
easat-6259	418	9	based	base	VERB
easat-6259	418	10	on	on	ADP
easat-6259	418	11	visual	visual	ADJ
easat-6259	418	12	information	information	NOUN
easat-6259	418	13	from	from	ADP
easat-6259	418	14	cameras	camera	NOUN
easat-6259	418	15	;	;	PUNCT
easat-6259	418	16	they	they	PRON
easat-6259	418	17	are	be	AUX
easat-6259	418	18	cheap	cheap	ADJ
easat-6259	418	19	and	and	CCONJ
easat-6259	418	20	interpretable	interpretable	ADJ
easat-6259	418	21	but	but	CCONJ
easat-6259	418	22	lack	lack	NOUN
easat-6259	418	23	depth	depth	NOUN
easat-6259	418	24	information	information	NOUN
easat-6259	418	25	.	.	PUNCT
easat-6259	419	1	the	the	DET
easat-6259	419	2	paper	paper	NOUN
easat-6259	419	3	enumerated	enumerate	VERB
easat-6259	419	4	the	the	DET
easat-6259	419	5	strengths	strength	NOUN
easat-6259	419	6	and	and	CCONJ
easat-6259	419	7	limitations	limitation	NOUN
easat-6259	419	8	of	of	ADP
easat-6259	419	9	each	each	DET
easat-6259	419	10	technique	technique	NOUN
easat-6259	419	11	but	but	CCONJ
easat-6259	419	12	illustrated	illustrate	VERB
easat-6259	419	13	how	how	SCONJ
easat-6259	419	14	they	they	PRON
easat-6259	419	15	could	could	AUX
easat-6259	419	16	work	work	VERB
easat-6259	419	17	together	together	ADV
easat-6259	419	18	effectively	effectively	ADV
easat-6259	419	19	to	to	PART
easat-6259	419	20	attain	attain	VERB
easat-6259	419	21	3d	3d	NUM
easat-6259	419	22	object	object	NOUN
easat-6259	419	23	detection	detection	NOUN
easat-6259	419	24	for	for	ADP
easat-6259	419	25	ads	ad	NOUN
easat-6259	419	26	.	.	PUNCT
easat-6259	420	1	besides	besides	SCONJ
easat-6259	420	2	that	that	PRON
easat-6259	420	3	,	,	PUNCT
easat-6259	420	4	the	the	DET
easat-6259	420	5	work	work	NOUN
easat-6259	420	6	in	in	ADP
easat-6259	420	7	cui	cui	PROPN
easat-6259	420	8	,	,	PUNCT
easat-6259	420	9	et	et	PROPN
easat-6259	420	10	al	al	PROPN
easat-6259	420	11	.	.	PUNCT
easat-6259	421	1	[	[	X
easat-6259	421	2	30	30	NUM
easat-6259	421	3	]	]	PUNCT
easat-6259	421	4	presented	present	VERB
easat-6259	421	5	an	an	DET
easat-6259	421	6	analysis	analysis	NOUN
easat-6259	421	7	of	of	ADP
easat-6259	421	8	using	use	VERB
easat-6259	421	9	dl	dl	PROPN
easat-6259	421	10	techniques	technique	NOUN
easat-6259	421	11	for	for	ADP
easat-6259	421	12	cameralidar	cameralidar	NOUN
easat-6259	421	13	fusion	fusion	NOUN
easat-6259	421	14	and	and	CCONJ
easat-6259	421	15	image	image	NOUN
easat-6259	421	16	and	and	CCONJ
easat-6259	421	17	point	point	NOUN
easat-6259	421	18	cloud	cloud	NOUN
easat-6259	421	19	data	datum	NOUN
easat-6259	421	20	fusion	fusion	NOUN
easat-6259	421	21	in	in	ADP
easat-6259	421	22	ads	ad	NOUN
easat-6259	421	23	.	.	PUNCT
easat-6259	422	1	the	the	DET
easat-6259	422	2	authors	author	NOUN
easat-6259	422	3	provided	provide	VERB
easat-6259	422	4	a	a	DET
easat-6259	422	5	full	full	ADJ
easat-6259	422	6	review	review	NOUN
easat-6259	422	7	of	of	ADP
easat-6259	422	8	techniques	technique	NOUN
easat-6259	422	9	ranges	range	VERB
easat-6259	422	10	from	from	ADP
easat-6259	422	11	depth	depth	NOUN
easat-6259	422	12	completion	completion	NOUN
easat-6259	422	13	to	to	PART
easat-6259	422	14	object	object	VERB
easat-6259	422	15	detection	detection	NOUN
easat-6259	422	16	,	,	PUNCT
easat-6259	422	17	semantic	semantic	ADJ
easat-6259	422	18	segmentation	segmentation	NOUN
easat-6259	422	19	,	,	PUNCT
easat-6259	422	20	and	and	CCONJ
easat-6259	422	21	tracking	tracking	NOUN
easat-6259	422	22	.	.	PUNCT
easat-6259	423	1	they	they	PRON
easat-6259	423	2	tackled	tackle	VERB
easat-6259	423	3	the	the	DET
easat-6259	423	4	trends	trend	NOUN
easat-6259	423	5	in	in	ADP
easat-6259	423	6	fusion	fusion	NOUN
easat-6259	423	7	methodologies	methodology	NOUN
easat-6259	423	8	:	:	PUNCT
easat-6259	423	9	from	from	ADP
easat-6259	423	10	2d	2d	NUM
easat-6259	423	11	to	to	ADP
easat-6259	423	12	3d	3d	NUM
easat-6259	423	13	,	,	PUNCT
easat-6259	423	14	from	from	ADP
easat-6259	423	15	single	single	ADJ
easat-6259	423	16	-	-	PUNCT
easat-6259	423	17	task	task	NOUN
easat-6259	423	18	to	to	ADP
easat-6259	423	19	multi	multi	NOUN
easat-6259	423	20	-	-	NOUN
easat-6259	423	21	tasks	task	NOUN
easat-6259	423	22	,	,	PUNCT
easat-6259	423	23	and	and	CCONJ
easat-6259	423	24	from	from	ADP
easat-6259	423	25	signal	signal	NOUN
easat-6259	423	26	-	-	PUNCT
easat-6259	423	27	level	level	NOUN
easat-6259	423	28	to	to	ADP
easat-6259	423	29	multi	multi	ADJ
easat-6259	423	30	-	-	ADJ
easat-6259	423	31	level	level	ADJ
easat-6259	423	32	fusion	fusion	NOUN
easat-6259	423	33	.	.	PUNCT
easat-6259	424	1	the	the	DET
easat-6259	424	2	research	research	NOUN
easat-6259	424	3	highlighted	highlight	VERB
easat-6259	424	4	the	the	DET
easat-6259	424	5	current	current	ADJ
easat-6259	424	6	fusion	fusion	NOUN
easat-6259	424	7	pipeline	pipeline	NOUN
easat-6259	424	8	needs	need	VERB
easat-6259	424	9	to	to	PART
easat-6259	424	10	improve	improve	VERB
easat-6259	424	11	feature	feature	NOUN
easat-6259	424	12	representation	representation	NOUN
easat-6259	424	13	,	,	PUNCT
easat-6259	424	14	integrate	integrate	VERB
easat-6259	424	15	geometric	geometric	ADJ
easat-6259	424	16	constraints	constraint	NOUN
easat-6259	424	17	,	,	PUNCT
easat-6259	424	18	and	and	CCONJ
easat-6259	424	19	leverage	leverage	VERB
easat-6259	424	20	temporal	temporal	ADJ
easat-6259	424	21	context	context	NOUN
easat-6259	424	22	.	.	PUNCT
easat-6259	425	1	in	in	ADP
easat-6259	425	2	the	the	DET
easat-6259	425	3	context	context	NOUN
easat-6259	425	4	of	of	ADP
easat-6259	425	5	2d/3d	2d/3d	NUM
easat-6259	425	6	semantic	semantic	ADJ
easat-6259	425	7	segmentation	segmentation	NOUN
easat-6259	425	8	,	,	PUNCT
easat-6259	425	9	they	they	PRON
easat-6259	425	10	described	describe	VERB
easat-6259	425	11	all	all	DET
easat-6259	425	12	the	the	DET
easat-6259	425	13	significant	significant	ADJ
easat-6259	425	14	methods	method	NOUN
easat-6259	425	15	to	to	PART
easat-6259	425	16	fuse	fuse	VERB
easat-6259	425	17	image	image	NOUN
easat-6259	425	18	and	and	CCONJ
easat-6259	425	19	point	point	NOUN
easat-6259	425	20	cloud	cloud	NOUN
easat-6259	425	21	data	datum	NOUN
easat-6259	425	22	under	under	ADP
easat-6259	425	23	feature	feature	NOUN
easat-6259	425	24	-	-	PUNCT
easat-6259	425	25	level	level	NOUN
easat-6259	425	26	and	and	CCONJ
easat-6259	425	27	result	result	NOUN
easat-6259	425	28	-	-	PUNCT
easat-6259	425	29	level	level	NOUN
easat-6259	425	30	fusion	fusion	NOUN
easat-6259	425	31	.	.	PUNCT
easat-6259	426	1	the	the	DET
easat-6259	426	2	feature	feature	NOUN
easat-6259	426	3	-	-	PUNCT
easat-6259	426	4	level	level	NOUN
easat-6259	426	5	fusion	fusion	NOUN
easat-6259	426	6	is	be	AUX
easat-6259	426	7	when	when	SCONJ
easat-6259	426	8	combining	combine	VERB
easat-6259	426	9	point	point	NOUN
easat-6259	426	10	cloud	cloud	NOUN
easat-6259	426	11	and	and	CCONJ
easat-6259	426	12	picture	picture	NOUN
easat-6259	426	13	features	feature	NOUN
easat-6259	426	14	at	at	ADP
easat-6259	426	15	the	the	DET
easat-6259	426	16	feature	feature	NOUN
easat-6259	426	17	level	level	NOUN
easat-6259	426	18	.	.	PUNCT
easat-6259	427	1	techniques	technique	NOUN
easat-6259	427	2	,	,	PUNCT
easat-6259	427	3	such	such	ADJ
easat-6259	427	4	as	as	ADP
easat-6259	427	5	multi	multi	ADJ
easat-6259	427	6	-	-	ADJ
easat-6259	427	7	stage	stage	ADJ
easat-6259	427	8	feature	feature	NOUN
easat-6259	427	9	-	-	PUNCT
easat-6259	427	10	level	level	NOUN
easat-6259	427	11	fusion	fusion	NOUN
easat-6259	427	12	and	and	CCONJ
easat-6259	427	13	nasnet	nasnet	NOUN
easat-6259	427	14	-	-	PUNCT
easat-6259	427	15	based	base	VERB
easat-6259	427	16	auto	auto	NOUN
easat-6259	427	17	-	-	PUNCT
easat-6259	427	18	encoder	encoder	NOUN
easat-6259	427	19	networks	network	NOUN
easat-6259	427	20	,	,	PUNCT
easat-6259	427	21	are	be	AUX
easat-6259	427	22	applied	apply	VERB
easat-6259	427	23	for	for	ADP
easat-6259	427	24	2d	2d	NUM
easat-6259	427	25	semantic	semantic	ADJ
easat-6259	427	26	segmentation	segmentation	NOUN
easat-6259	427	27	.	.	PUNCT
easat-6259	428	1	for	for	ADP
easat-6259	428	2	3d	3d	NUM
easat-6259	428	3	semantic	semantic	ADJ
easat-6259	428	4	segmentation	segmentation	NOUN
easat-6259	428	5	,	,	PUNCT
easat-6259	428	6	methods	method	NOUN
easat-6259	428	7	like	like	ADP
easat-6259	428	8	3dmv	3dmv	NUM
easat-6259	428	9	or	or	CCONJ
easat-6259	428	10	upf	upf	NOUN
easat-6259	428	11	use	use	VERB
easat-6259	428	12	both	both	DET
easat-6259	428	13	point	point	NOUN
easat-6259	428	14	cloud	cloud	NOUN
easat-6259	428	15	and	and	CCONJ
easat-6259	428	16	multi	multi	ADJ
easat-6259	428	17	-	-	ADJ
easat-6259	428	18	view	view	ADJ
easat-6259	428	19	image	image	NOUN
easat-6259	428	20	data	datum	NOUN
easat-6259	428	21	and	and	CCONJ
easat-6259	428	22	combine	combine	VERB
easat-6259	428	23	them	they	PRON
easat-6259	428	24	after	after	ADP
easat-6259	428	25	estimation	estimation	NOUN
easat-6259	428	26	of	of	ADP
easat-6259	428	27	semantic	semantic	ADJ
easat-6259	428	28	labels	label	NOUN
easat-6259	428	29	per	per	ADP
easat-6259	428	30	pixel	pixel	NOUN
easat-6259	428	31	or	or	CCONJ
easat-6259	428	32	voxel	voxel	PROPN
easat-6259	428	33	.	.	PUNCT
easat-6259	429	1	result	result	NOUN
easat-6259	429	2	-	-	PUNCT
easat-6259	429	3	level	level	NOUN
easat-6259	429	4	fusion	fusion	NOUN
easat-6259	429	5	involves	involve	VERB
easat-6259	429	6	data	data	NOUN
easat-6259	429	7	aggregation	aggregation	NOUN
easat-6259	429	8	at	at	ADP
easat-6259	429	9	the	the	DET
easat-6259	429	10	result	result	NOUN
easat-6259	429	11	-	-	PUNCT
easat-6259	429	12	level	level	NOUN
easat-6259	429	13	and	and	CCONJ
easat-6259	429	14	often	often	ADV
easat-6259	429	15	helps	help	VERB
easat-6259	429	16	leverage	leverage	VERB
easat-6259	429	17	off	off	ADP
easat-6259	429	18	-	-	PUNCT
easat-6259	429	19	the	the	DET
easat-6259	429	20	-	-	PUNCT
easat-6259	429	21	shelf	shelf	NOUN
easat-6259	429	22	2d	2d	NOUN
easat-6259	429	23	object	object	NOUN
easat-6259	429	24	detectors	detector	NOUN
easat-6259	429	25	to	to	PART
easat-6259	429	26	narrow	narrow	VERB
easat-6259	429	27	the	the	DET
easat-6259	429	28	3d	3d	NUM
easat-6259	429	29	object	object	NOUN
easat-6259	429	30	detector	detector	NOUN
easat-6259	429	31	's	's	PART
easat-6259	429	32	region	region	NOUN
easat-6259	429	33	of	of	ADP
easat-6259	429	34	interest	interest	NOUN
easat-6259	429	35	.	.	PUNCT
easat-6259	430	1	thus	thus	ADV
easat-6259	430	2	,	,	PUNCT
easat-6259	430	3	it	it	PRON
easat-6259	430	4	reduces	reduce	VERB
easat-6259	430	5	computations	computation	NOUN
easat-6259	430	6	by	by	ADP
easat-6259	430	7	processing	process	VERB
easat-6259	430	8	fewer	few	ADJ
easat-6259	430	9	regions	region	NOUN
easat-6259	430	10	of	of	ADP
easat-6259	430	11	interest	interest	NOUN
easat-6259	430	12	.	.	PUNCT
easat-6259	431	1	some	some	DET
easat-6259	431	2	examples	example	NOUN
easat-6259	431	3	are	be	AUX
easat-6259	431	4	the	the	DET
easat-6259	431	5	frustum	frustum	NOUN
easat-6259	431	6	-	-	PUNCT
easat-6259	431	7	based	base	VERB
easat-6259	431	8	techniques	technique	NOUN
easat-6259	431	9	such	such	ADJ
easat-6259	431	10	as	as	ADP
easat-6259	431	11	f	f	NOUN
easat-6259	431	12	-	-	PUNCT
easat-6259	431	13	point	point	NOUN
easat-6259	431	14	nets	net	NOUN
easat-6259	431	15	,	,	PUNCT
easat-6259	431	16	roar	roar	NOUN
easat-6259	431	17	nets	net	NOUN
easat-6259	431	18	,	,	PUNCT
easat-6259	431	19	lidar	lidar	NOUN
easat-6259	431	20	stereo	stereo	NOUN
easat-6259	431	21	nets	net	NOUN
easat-6259	431	22	,	,	PUNCT
easat-6259	431	23	etc	etc	X
easat-6259	431	24	.	.	X
easat-6259	432	1	these	these	DET
easat-6259	432	2	algorithms	algorithm	NOUN
easat-6259	432	3	project	project	VERB
easat-6259	432	4	2d	2d	NUM
easat-6259	432	5	bounding	bounding	NOUN
easat-6259	432	6	boxes	box	NOUN
easat-6259	432	7	into	into	ADP
easat-6259	432	8	a	a	DET
easat-6259	432	9	3d	3d	NUM
easat-6259	432	10	space	space	NOUN
easat-6259	432	11	for	for	ADP
easat-6259	432	12	3d	3d	NUM
easat-6259	432	13	object	object	NOUN
easat-6259	432	14	detection	detection	NOUN
easat-6259	432	15	.	.	PUNCT
easat-6259	433	1	finally	finally	ADV
easat-6259	433	2	,	,	PUNCT
easat-6259	433	3	avs	avs	PROPN
easat-6259	433	4	can	can	AUX
easat-6259	433	5	be	be	AUX
easat-6259	433	6	a	a	DET
easat-6259	433	7	fascinating	fascinating	ADJ
easat-6259	433	8	development	development	NOUN
easat-6259	433	9	,	,	PUNCT
easat-6259	433	10	which	which	PRON
easat-6259	433	11	could	could	AUX
easat-6259	433	12	significantly	significantly	ADV
easat-6259	433	13	reduce	reduce	VERB
easat-6259	433	14	traffic	traffic	NOUN
easat-6259	433	15	accidents	accident	NOUN
easat-6259	433	16	and	and	CCONJ
easat-6259	433	17	fatalities	fatality	NOUN
easat-6259	433	18	;	;	PUNCT
easat-6259	433	19	these	these	PRON
easat-6259	433	20	are	be	AUX
easat-6259	433	21	caused	cause	VERB
easat-6259	433	22	mainly	mainly	ADV
easat-6259	433	23	by	by	ADP
easat-6259	433	24	human	human	ADJ
easat-6259	433	25	error	error	NOUN
easat-6259	433	26	—	—	PUNCT
easat-6259	433	27	speeding	speeding	NOUN
easat-6259	433	28	,	,	PUNCT
easat-6259	433	29	intoxicated	intoxicated	ADJ
easat-6259	433	30	driving	driving	NOUN
easat-6259	433	31	,	,	PUNCT
easat-6259	433	32	and	and	CCONJ
easat-6259	433	33	distracted	distracted	ADJ
easat-6259	433	34	driving	drive	VERB
easat-6259	433	35	[	[	X
easat-6259	433	36	31	31	NUM
easat-6259	433	37	]	]	PUNCT
easat-6259	433	38	.	.	PUNCT
easat-6259	434	1	at	at	ADP
easat-6259	434	2	the	the	DET
easat-6259	434	3	very	very	ADJ
easat-6259	434	4	time	time	NOUN
easat-6259	434	5	,	,	PUNCT
easat-6259	434	6	there	there	PRON
easat-6259	434	7	exist	exist	VERB
easat-6259	434	8	many	many	ADJ
easat-6259	434	9	technological	technological	ADJ
easat-6259	434	10	,	,	PUNCT
easat-6259	434	11	legal	legal	ADJ
easat-6259	434	12	,	,	PUNCT
easat-6259	434	13	and	and	CCONJ
easat-6259	434	14	ethical	ethical	ADJ
easat-6259	434	15	challenges	challenge	NOUN
easat-6259	434	16	that	that	PRON
easat-6259	434	17	affect	affect	VERB
easat-6259	434	18	avs	avs	NOUN
easat-6259	434	19	and	and	CCONJ
easat-6259	434	20	their	their	PRON
easat-6259	434	21	comprehensive	comprehensive	ADJ
easat-6259	434	22	implementation	implementation	NOUN
easat-6259	434	23	.	.	PUNCT
easat-6259	435	1	1315	1315	NUM
easat-6259	435	2	edelweiss	edelweiss	PROPN
easat-6259	435	3	applied	apply	VERB
easat-6259	435	4	science	science	NOUN
easat-6259	435	5	and	and	CCONJ
easat-6259	435	6	technology	technology	NOUN
easat-6259	435	7	issn	issn	PROPN
easat-6259	435	8	:	:	PUNCT
easat-6259	435	9	2576	2576	NUM
easat-6259	435	10	-	-	SYM
easat-6259	435	11	8484	8484	NUM
easat-6259	435	12	vol	vol	NOUN
easat-6259	435	13	.	.	PROPN
easat-6259	436	1	9	9	NUM
easat-6259	436	2	,	,	PUNCT
easat-6259	436	3	no	no	INTJ
easat-6259	436	4	.	.	NOUN
easat-6259	437	1	4	4	NUM
easat-6259	437	2	:	:	SYM
easat-6259	437	3	1300	1300	NUM
easat-6259	437	4	-	-	SYM
easat-6259	437	5	1331	1331	NUM
easat-6259	437	6	,	,	PUNCT
easat-6259	437	7	2025	2025	NUM
easat-6259	437	8	doi	doi	NOUN
easat-6259	437	9	:	:	PUNCT
easat-6259	437	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	437	11	©	©	PROPN
easat-6259	437	12	2025	2025	NUM
easat-6259	437	13	by	by	ADP
easat-6259	437	14	the	the	DET
easat-6259	437	15	authors	author	NOUN
easat-6259	437	16	;	;	PUNCT
easat-6259	437	17	licensee	licensee	PROPN
easat-6259	437	18	learning	learning	NOUN
easat-6259	437	19	gate	gate	NOUN
easat-6259	437	20	5	5	NUM
easat-6259	437	21	.	.	PUNCT
easat-6259	437	22	proposed	propose	VERB
easat-6259	437	23	system	system	NOUN
easat-6259	437	24	the	the	DET
easat-6259	437	25	technology	technology	NOUN
easat-6259	437	26	for	for	ADP
easat-6259	437	27	ads	ad	NOUN
easat-6259	437	28	has	have	AUX
easat-6259	437	29	been	be	AUX
easat-6259	437	30	advanced	advance	VERB
easat-6259	437	31	because	because	SCONJ
easat-6259	437	32	of	of	ADP
easat-6259	437	33	the	the	DET
easat-6259	437	34	integration	integration	NOUN
easat-6259	437	35	of	of	ADP
easat-6259	437	36	ml	ml	NOUN
easat-6259	437	37	techniques	technique	NOUN
easat-6259	437	38	,	,	PUNCT
easat-6259	437	39	with	with	ADP
easat-6259	437	40	a	a	DET
easat-6259	437	41	special	special	ADJ
easat-6259	437	42	mention	mention	NOUN
easat-6259	437	43	of	of	ADP
easat-6259	437	44	cnn	cnn	PROPN
easat-6259	437	45	.	.	PUNCT
easat-6259	438	1	this	this	DET
easat-6259	438	2	research	research	NOUN
easat-6259	438	3	implements	implement	VERB
easat-6259	438	4	edge	edge	NOUN
easat-6259	438	5	detection	detection	NOUN
easat-6259	438	6	and	and	CCONJ
easat-6259	438	7	lka	lka	NOUN
easat-6259	438	8	using	use	VERB
easat-6259	438	9	cnn	cnn	PROPN
easat-6259	438	10	with	with	ADP
easat-6259	438	11	datasets	dataset	NOUN
easat-6259	438	12	[	[	X
easat-6259	438	13	32	32	NUM
easat-6259	438	14	]	]	PUNCT
easat-6259	438	15	.	.	PUNCT
easat-6259	439	1	our	our	PRON
easat-6259	439	2	goal	goal	NOUN
easat-6259	439	3	is	be	AUX
easat-6259	439	4	to	to	PART
easat-6259	439	5	improve	improve	VERB
easat-6259	439	6	perception	perception	NOUN
easat-6259	439	7	and	and	CCONJ
easat-6259	439	8	control	control	NOUN
easat-6259	439	9	systems	system	NOUN
easat-6259	439	10	in	in	ADP
easat-6259	439	11	the	the	DET
easat-6259	439	12	avs	avs	NOUN
easat-6259	439	13	for	for	ADP
easat-6259	439	14	safer	safe	ADJ
easat-6259	439	15	and	and	CCONJ
easat-6259	439	16	more	more	ADV
easat-6259	439	17	efficient	efficient	ADJ
easat-6259	439	18	movement	movement	NOUN
easat-6259	439	19	.	.	PUNCT
easat-6259	440	1	this	this	DET
easat-6259	440	2	section	section	NOUN
easat-6259	440	3	focuses	focus	VERB
easat-6259	440	4	on	on	ADP
easat-6259	440	5	the	the	DET
easat-6259	440	6	techniques	technique	NOUN
easat-6259	440	7	and	and	CCONJ
easat-6259	440	8	tools	tool	NOUN
easat-6259	440	9	used	use	VERB
easat-6259	440	10	in	in	ADP
easat-6259	440	11	our	our	PRON
easat-6259	440	12	work	work	NOUN
easat-6259	440	13	,	,	PUNCT
easat-6259	440	14	such	such	ADJ
easat-6259	440	15	as	as	ADP
easat-6259	440	16	matlab	matlab	PROPN
easat-6259	440	17	and	and	CCONJ
easat-6259	440	18	simulink	simulink	PROPN
easat-6259	440	19	.	.	PUNCT
easat-6259	441	1	5.1	5.1	NUM
easat-6259	441	2	.	.	PUNCT
easat-6259	442	1	data	datum	NOUN
easat-6259	442	2	acquisition	acquisition	NOUN
easat-6259	442	3	developing	develop	VERB
easat-6259	442	4	efficient	efficient	ADJ
easat-6259	442	5	cnns	cnn	NOUN
easat-6259	442	6	for	for	ADP
easat-6259	442	7	edge	edge	NOUN
easat-6259	442	8	detection	detection	NOUN
easat-6259	442	9	in	in	ADP
easat-6259	442	10	avs	avs	NOUN
easat-6259	442	11	using	use	VERB
easat-6259	442	12	structures	structure	NOUN
easat-6259	442	13	starts	start	VERB
easat-6259	442	14	with	with	ADP
easat-6259	442	15	records	record	NOUN
easat-6259	442	16	accumulation	accumulation	NOUN
easat-6259	442	17	that	that	PRON
easat-6259	442	18	impacts	impact	VERB
easat-6259	442	19	the	the	DET
easat-6259	442	20	performance	performance	NOUN
easat-6259	442	21	and	and	CCONJ
easat-6259	442	22	generalization	generalization	NOUN
easat-6259	442	23	capabilities	capability	NOUN
easat-6259	442	24	of	of	ADP
easat-6259	442	25	the	the	DET
easat-6259	442	26	trained	train	VERB
easat-6259	442	27	models	model	NOUN
easat-6259	442	28	.	.	PUNCT
easat-6259	443	1	the	the	DET
easat-6259	443	2	essential	essential	ADJ
easat-6259	443	3	factors	factor	NOUN
easat-6259	443	4	of	of	ADP
easat-6259	443	5	information	information	NOUN
easat-6259	443	6	gathering	gathering	NOUN
easat-6259	443	7	are	be	AUX
easat-6259	443	8	described	describe	VERB
easat-6259	443	9	below	below	ADP
easat-6259	443	10	:	:	PUNCT
easat-6259	443	11	•	•	NUM
easat-6259	443	12	kaggle	kaggle	PROPN
easat-6259	443	13	dataset	dataset	NOUN
easat-6259	443	14	:	:	PUNCT
easat-6259	443	15	dataset	dataset	VERB
easat-6259	443	16	from	from	ADP
easat-6259	443	17	kaggle	kaggle	VERB
easat-6259	443	18	available	available	ADJ
easat-6259	443	19	at	at	ADP
easat-6259	443	20	“	"	PUNCT
easat-6259	443	21	https://www.kaggle.com/datasets/alincijov/self-driving-cars	https://www.kaggle.com/datasets/alincijov/self-driving-car	NOUN
easat-6259	443	22	”	"	PUNCT
easat-6259	443	23	is	be	AUX
easat-6259	443	24	used	use	VERB
easat-6259	443	25	for	for	ADP
easat-6259	443	26	this	this	DET
easat-6259	443	27	work	work	NOUN
easat-6259	443	28	due	due	ADP
easat-6259	443	29	to	to	ADP
easat-6259	443	30	its	its	PRON
easat-6259	443	31	accessibility	accessibility	NOUN
easat-6259	443	32	and	and	CCONJ
easat-6259	443	33	comprehensiveness	comprehensiveness	NOUN
easat-6259	443	34	.	.	PUNCT
easat-6259	444	1	this	this	DET
easat-6259	444	2	dataset	dataset	NOUN
easat-6259	444	3	contains	contain	VERB
easat-6259	444	4	labelled	label	VERB
easat-6259	444	5	images	image	NOUN
easat-6259	444	6	that	that	PRON
easat-6259	444	7	capture	capture	VERB
easat-6259	444	8	information	information	NOUN
easat-6259	444	9	about	about	ADP
easat-6259	444	10	the	the	DET
easat-6259	444	11	driving	drive	VERB
easat-6259	444	12	environment	environment	NOUN
easat-6259	444	13	.	.	PUNCT
easat-6259	445	1	•	•	NUM
easat-6259	445	2	image	image	NOUN
easat-6259	445	3	information	information	NOUN
easat-6259	445	4	:	:	PUNCT
easat-6259	445	5	high	high	ADJ
easat-6259	445	6	-	-	PUNCT
easat-6259	445	7	quality	quality	NOUN
easat-6259	445	8	images	image	NOUN
easat-6259	445	9	are	be	AUX
easat-6259	445	10	essential	essential	ADJ
easat-6259	445	11	to	to	PART
easat-6259	445	12	capture	capture	VERB
easat-6259	445	13	details	detail	NOUN
easat-6259	445	14	in	in	ADP
easat-6259	445	15	the	the	DET
easat-6259	445	16	environment	environment	NOUN
easat-6259	445	17	.	.	PUNCT
easat-6259	446	1	the	the	DET
easat-6259	446	2	dataset	dataset	NOUN
easat-6259	446	3	we	we	PRON
easat-6259	446	4	used	use	VERB
easat-6259	446	5	provides	provide	VERB
easat-6259	446	6	a	a	DET
easat-6259	446	7	range	range	NOUN
easat-6259	446	8	of	of	ADP
easat-6259	446	9	driving	drive	VERB
easat-6259	446	10	profiles	profile	NOUN
easat-6259	446	11	,	,	PUNCT
easat-6259	446	12	ensuring	ensure	VERB
easat-6259	446	13	that	that	SCONJ
easat-6259	446	14	the	the	DET
easat-6259	446	15	cnn	cnn	PROPN
easat-6259	446	16	models	model	NOUN
easat-6259	446	17	are	be	AUX
easat-6259	446	18	trained	train	VERB
easat-6259	446	19	on	on	ADP
easat-6259	446	20	different	different	ADJ
easat-6259	446	21	datasets	dataset	NOUN
easat-6259	446	22	.	.	PUNCT
easat-6259	447	1	•	•	NUM
easat-6259	447	2	labelled	label	VERB
easat-6259	447	3	data	datum	NOUN
easat-6259	447	4	:	:	PUNCT
easat-6259	447	5	the	the	DET
easat-6259	447	6	adopted	adopt	VERB
easat-6259	447	7	dataset	dataset	NOUN
easat-6259	447	8	comes	come	VERB
easat-6259	447	9	with	with	ADP
easat-6259	447	10	descriptions	description	NOUN
easat-6259	447	11	that	that	PRON
easat-6259	447	12	label	label	NOUN
easat-6259	447	13	features	feature	NOUN
easat-6259	447	14	which	which	PRON
easat-6259	447	15	is	be	AUX
easat-6259	447	16	important	important	ADJ
easat-6259	447	17	for	for	ADP
easat-6259	447	18	supervised	supervised	ADJ
easat-6259	447	19	learning	learning	NOUN
easat-6259	447	20	.	.	PUNCT
easat-6259	448	1	labels	label	NOUN
easat-6259	448	2	include	include	VERB
easat-6259	448	3	numbers	number	NOUN
easat-6259	448	4	from	from	ADP
easat-6259	448	5	1	1	NUM
easat-6259	448	6	to	to	ADP
easat-6259	448	7	5	5	NUM
easat-6259	448	8	that	that	PRON
easat-6259	448	9	correspond	correspond	VERB
easat-6259	448	10	to	to	ADP
easat-6259	448	11	'	'	PUNCT
easat-6259	448	12	car	car	NOUN
easat-6259	448	13	'	'	PUNCT
easat-6259	448	14	,	,	PUNCT
easat-6259	448	15	'	'	PUNCT
easat-6259	448	16	truck	truck	NOUN
easat-6259	448	17	'	'	PUNCT
easat-6259	448	18	,	,	PUNCT
easat-6259	448	19	'	'	PUNCT
easat-6259	448	20	pedestrian	pedestrian	NOUN
easat-6259	448	21	'	'	PUNCT
easat-6259	448	22	,	,	PUNCT
easat-6259	448	23	'	'	PUNCT
easat-6259	448	24	bicyclist	bicyclist	NOUN
easat-6259	448	25	'	'	PUNCT
easat-6259	448	26	,	,	PUNCT
easat-6259	448	27	and	and	CCONJ
easat-6259	448	28	'	'	PUNCT
easat-6259	448	29	light	light	NOUN
easat-6259	448	30	'	'	PUNCT
easat-6259	448	31	respectively	respectively	ADV
easat-6259	448	32	.	.	PUNCT
easat-6259	449	1	5.2	5.2	NUM
easat-6259	449	2	.	.	PUNCT
easat-6259	450	1	data	datum	NOUN
easat-6259	450	2	collection	collection	NOUN
easat-6259	450	3	the	the	DET
easat-6259	450	4	use	use	NOUN
easat-6259	450	5	of	of	ADP
easat-6259	450	6	cnn	cnn	PROPN
easat-6259	450	7	for	for	ADP
easat-6259	450	8	edge	edge	NOUN
easat-6259	450	9	detection	detection	NOUN
easat-6259	450	10	present	present	VERB
easat-6259	450	11	several	several	ADJ
easat-6259	450	12	challenges	challenge	NOUN
easat-6259	450	13	,	,	PUNCT
easat-6259	450	14	such	such	ADJ
easat-6259	450	15	as	as	ADP
easat-6259	450	16	optimizing	optimize	VERB
easat-6259	450	17	the	the	DET
easat-6259	450	18	training	training	NOUN
easat-6259	450	19	data	datum	NOUN
easat-6259	450	20	.	.	PUNCT
easat-6259	451	1	for	for	SCONJ
easat-6259	451	2	the	the	DET
easat-6259	451	3	training	training	NOUN
easat-6259	451	4	to	to	PART
easat-6259	451	5	be	be	AUX
easat-6259	451	6	effective	effective	ADJ
easat-6259	451	7	,	,	PUNCT
easat-6259	451	8	it	it	PRON
easat-6259	451	9	is	be	AUX
easat-6259	451	10	important	important	ADJ
easat-6259	451	11	to	to	PART
easat-6259	451	12	ensure	ensure	VERB
easat-6259	451	13	a	a	DET
easat-6259	451	14	consistent	consistent	ADJ
easat-6259	451	15	and	and	CCONJ
easat-6259	451	16	diverse	diverse	ADJ
easat-6259	451	17	set	set	NOUN
easat-6259	451	18	of	of	ADP
easat-6259	451	19	data	datum	NOUN
easat-6259	451	20	.	.	PUNCT
easat-6259	452	1	to	to	PART
easat-6259	452	2	overcome	overcome	VERB
easat-6259	452	3	this	this	PRON
easat-6259	452	4	,	,	PUNCT
easat-6259	452	5	we	we	PRON
easat-6259	452	6	use	use	VERB
easat-6259	452	7	rotation	rotation	NOUN
easat-6259	452	8	and	and	CCONJ
easat-6259	452	9	inversion	inversion	NOUN
easat-6259	452	10	methods	method	NOUN
easat-6259	452	11	for	for	ADP
easat-6259	452	12	data	datum	NOUN
easat-6259	452	13	.	.	PUNCT
easat-6259	453	1	one	one	NUM
easat-6259	453	2	other	other	ADJ
easat-6259	453	3	major	major	ADJ
easat-6259	453	4	challenge	challenge	NOUN
easat-6259	453	5	is	be	AUX
easat-6259	453	6	managing	manage	VERB
easat-6259	453	7	the	the	DET
easat-6259	453	8	quality	quality	NOUN
easat-6259	453	9	of	of	ADP
easat-6259	453	10	the	the	DET
easat-6259	453	11	training	training	NOUN
easat-6259	453	12	data	datum	NOUN
easat-6259	453	13	.	.	PUNCT
easat-6259	454	1	ensuring	ensure	VERB
easat-6259	454	2	that	that	SCONJ
easat-6259	454	3	the	the	DET
easat-6259	454	4	dataset	dataset	NOUN
easat-6259	454	5	is	be	AUX
easat-6259	454	6	diverse	diverse	ADJ
easat-6259	454	7	and	and	CCONJ
easat-6259	454	8	accurately	accurately	ADV
easat-6259	454	9	labelled	label	VERB
easat-6259	454	10	is	be	AUX
easat-6259	454	11	essential	essential	ADJ
easat-6259	454	12	for	for	ADP
easat-6259	454	13	effective	effective	ADJ
easat-6259	454	14	training	training	NOUN
easat-6259	454	15	.	.	PUNCT
easat-6259	455	1	we	we	PRON
easat-6259	455	2	address	address	VERB
easat-6259	455	3	this	this	PRON
easat-6259	455	4	by	by	ADP
easat-6259	455	5	using	use	VERB
easat-6259	455	6	data	datum	NOUN
easat-6259	455	7	augmentation	augmentation	NOUN
easat-6259	455	8	techniques	technique	NOUN
easat-6259	455	9	,	,	PUNCT
easat-6259	455	10	such	such	ADJ
easat-6259	455	11	as	as	ADP
easat-6259	455	12	flipping	flip	VERB
easat-6259	455	13	,	,	PUNCT
easat-6259	455	14	rotating	rotating	NOUN
easat-6259	455	15	,	,	PUNCT
easat-6259	455	16	and	and	CCONJ
easat-6259	455	17	adding	add	VERB
easat-6259	455	18	noise	noise	NOUN
easat-6259	455	19	to	to	ADP
easat-6259	455	20	the	the	DET
easat-6259	455	21	images	image	NOUN
easat-6259	455	22	,	,	PUNCT
easat-6259	455	23	to	to	PART
easat-6259	455	24	create	create	VERB
easat-6259	455	25	a	a	DET
easat-6259	455	26	more	more	ADV
easat-6259	455	27	robust	robust	ADJ
easat-6259	455	28	and	and	CCONJ
easat-6259	455	29	varied	varied	ADJ
easat-6259	455	30	training	training	NOUN
easat-6259	455	31	set	set	NOUN
easat-6259	455	32	.	.	PUNCT
easat-6259	456	1	the	the	DET
easat-6259	456	2	main	main	ADJ
easat-6259	456	3	techniques	technique	NOUN
easat-6259	456	4	used	use	VERB
easat-6259	456	5	for	for	ADP
easat-6259	456	6	data	data	NOUN
easat-6259	456	7	collection	collection	NOUN
easat-6259	456	8	include	include	VERB
easat-6259	456	9	the	the	DET
easat-6259	456	10	following	follow	VERB
easat-6259	456	11	:	:	PUNCT
easat-6259	456	12	•	•	ADP
easat-6259	456	13	sensor	sensor	NOUN
easat-6259	456	14	integration	integration	NOUN
easat-6259	456	15	:	:	PUNCT
easat-6259	456	16	this	this	PRON
easat-6259	456	17	relies	rely	VERB
easat-6259	456	18	on	on	ADP
easat-6259	456	19	picture	picture	NOUN
easat-6259	456	20	statistics	statistic	NOUN
easat-6259	456	21	collected	collect	VERB
easat-6259	456	22	from	from	ADP
easat-6259	456	23	various	various	ADJ
easat-6259	456	24	riding	ride	VERB
easat-6259	456	25	scenarios	scenario	NOUN
easat-6259	456	26	.	.	PUNCT
easat-6259	457	1	the	the	DET
easat-6259	457	2	sensors	sensor	NOUN
easat-6259	457	3	involved	involve	VERB
easat-6259	457	4	encompass	encompass	NOUN
easat-6259	457	5	cameras	camera	NOUN
easat-6259	457	6	that	that	PRON
easat-6259	457	7	retrieve	retrieve	VERB
easat-6259	457	8	information	information	NOUN
easat-6259	457	9	contained	contain	VERB
easat-6259	457	10	within	within	ADP
easat-6259	457	11	the	the	DET
easat-6259	457	12	forms	form	NOUN
easat-6259	457	13	of	of	ADP
easat-6259	457	14	photos	photo	NOUN
easat-6259	457	15	.	.	PUNCT
easat-6259	458	1	large	large	ADJ
easat-6259	458	2	pixel	pixel	PROPN
easat-6259	458	3	applications	application	NOUN
easat-6259	458	4	are	be	AUX
easat-6259	458	5	required	require	VERB
easat-6259	458	6	for	for	ADP
easat-6259	458	7	intending	intend	VERB
easat-6259	458	8	excellent	excellent	ADJ
easat-6259	458	9	edges	edge	NOUN
easat-6259	458	10	as	as	ADV
easat-6259	458	11	well	well	ADV
easat-6259	458	12	as	as	ADP
easat-6259	458	13	information	information	NOUN
easat-6259	458	14	within	within	ADP
easat-6259	458	15	the	the	DET
easat-6259	458	16	environment	environment	NOUN
easat-6259	458	17	.	.	PUNCT
easat-6259	459	1	•	•	ADJ
easat-6259	459	2	manual	manual	ADJ
easat-6259	459	3	annotation	annotation	NOUN
easat-6259	459	4	:	:	PUNCT
easat-6259	459	5	the	the	DET
easat-6259	459	6	edges	edge	NOUN
easat-6259	459	7	and	and	CCONJ
easat-6259	459	8	functions	function	NOUN
easat-6259	459	9	contained	contain	VERB
easat-6259	459	10	in	in	ADP
easat-6259	459	11	the	the	DET
easat-6259	459	12	compound	compound	NOUN
easat-6259	459	13	of	of	ADP
easat-6259	459	14	pixels	pixel	NOUN
easat-6259	459	15	are	be	AUX
easat-6259	459	16	labelled	label	VERB
easat-6259	459	17	by	by	ADP
easat-6259	459	18	human	human	ADJ
easat-6259	459	19	annotators	annotator	NOUN
easat-6259	459	20	.	.	PUNCT
easat-6259	460	1	this	this	DET
easat-6259	460	2	procedure	procedure	NOUN
easat-6259	460	3	minimizes	minimize	VERB
easat-6259	460	4	possible	possible	ADJ
easat-6259	460	5	errors	error	NOUN
easat-6259	460	6	that	that	PRON
easat-6259	460	7	may	may	AUX
easat-6259	460	8	occur	occur	VERB
easat-6259	460	9	during	during	ADP
easat-6259	460	10	extraction	extraction	NOUN
easat-6259	460	11	of	of	ADP
easat-6259	460	12	features	feature	NOUN
easat-6259	460	13	for	for	ADP
easat-6259	460	14	side	side	NOUN
easat-6259	460	15	detection	detection	NOUN
easat-6259	460	16	and	and	CCONJ
easat-6259	460	17	is	be	AUX
easat-6259	460	18	critical	critical	ADJ
easat-6259	460	19	step	step	NOUN
easat-6259	460	20	in	in	ADP
easat-6259	460	21	training	training	NOUN
easat-6259	460	22	of	of	ADP
easat-6259	460	23	cnn	cnn	PROPN
easat-6259	460	24	models	model	NOUN
easat-6259	460	25	.	.	PUNCT
easat-6259	461	1	•	•	NUM
easat-6259	461	2	data	datum	NOUN
easat-6259	461	3	pre	pre	ADJ
easat-6259	461	4	-	-	NOUN
easat-6259	461	5	processing	processing	ADJ
easat-6259	461	6	:	:	PUNCT
easat-6259	461	7	pre	pre	ADJ
easat-6259	461	8	-	-	ADJ
easat-6259	461	9	processing	processing	NOUN
easat-6259	461	10	of	of	ADP
easat-6259	461	11	the	the	DET
easat-6259	461	12	raw	raw	ADJ
easat-6259	461	13	data	data	NOUN
easat-6259	461	14	involves	involve	VERB
easat-6259	461	15	cleaning	cleaning	NOUN
easat-6259	461	16	,	,	PUNCT
easat-6259	461	17	normalization	normalization	NOUN
easat-6259	461	18	and	and	CCONJ
easat-6259	461	19	transformation	transformation	NOUN
easat-6259	461	20	to	to	PART
easat-6259	461	21	enhance	enhance	VERB
easat-6259	461	22	its	its	PRON
easat-6259	461	23	performance	performance	NOUN
easat-6259	461	24	in	in	ADP
easat-6259	461	25	the	the	DET
easat-6259	461	26	models	model	NOUN
easat-6259	461	27	in	in	ADP
easat-6259	461	28	the	the	DET
easat-6259	461	29	train	train	NOUN
easat-6259	461	30	of	of	ADP
easat-6259	461	31	cnn	cnn	PROPN
easat-6259	461	32	.	.	PUNCT
easat-6259	462	1	this	this	PRON
easat-6259	462	2	involves	involve	VERB
easat-6259	462	3	initial	initial	ADJ
easat-6259	462	4	data	datum	NOUN
easat-6259	462	5	cleaning	cleaning	NOUN
easat-6259	462	6	,	,	PUNCT
easat-6259	462	7	normalization	normalization	NOUN
easat-6259	462	8	,	,	PUNCT
easat-6259	462	9	feature	feature	NOUN
easat-6259	462	10	augmentation	augmentation	NOUN
easat-6259	462	11	followed	follow	VERB
easat-6259	462	12	by	by	ADP
easat-6259	462	13	dataset	dataset	NOUN
easat-6259	462	14	partitioning	partitioning	NOUN
easat-6259	462	15	into	into	ADP
easat-6259	462	16	training	training	NOUN
easat-6259	462	17	,	,	PUNCT
easat-6259	462	18	validation	validation	NOUN
easat-6259	462	19	and	and	CCONJ
easat-6259	462	20	test	test	NOUN
easat-6259	462	21	sets	set	NOUN
easat-6259	462	22	.	.	PUNCT
easat-6259	463	1	•	•	NUM
easat-6259	463	2	data	datum	NOUN
easat-6259	463	3	cleaning	cleaning	NOUN
easat-6259	463	4	:	:	PUNCT
easat-6259	463	5	the	the	DET
easat-6259	463	6	process	process	NOUN
easat-6259	463	7	involves	involve	VERB
easat-6259	463	8	removing	remove	VERB
easat-6259	463	9	incorrect	incorrect	ADJ
easat-6259	463	10	files	file	NOUN
easat-6259	463	11	,	,	PUNCT
easat-6259	463	12	filling	fill	VERB
easat-6259	463	13	in	in	ADP
easat-6259	463	14	incorrect	incorrect	ADJ
easat-6259	463	15	labels	label	NOUN
easat-6259	463	16	,	,	PUNCT
easat-6259	463	17	and	and	CCONJ
easat-6259	463	18	ensuring	ensure	VERB
easat-6259	463	19	all	all	DET
easat-6259	463	20	data	datum	NOUN
easat-6259	463	21	points	point	NOUN
easat-6259	463	22	are	be	AUX
easat-6259	463	23	correctly	correctly	ADV
easat-6259	463	24	annotated	annotate	VERB
easat-6259	463	25	.	.	PUNCT
easat-6259	464	1	this	this	DET
easat-6259	464	2	step	step	NOUN
easat-6259	464	3	is	be	AUX
easat-6259	464	4	essential	essential	ADJ
easat-6259	464	5	to	to	PART
easat-6259	464	6	maintain	maintain	VERB
easat-6259	464	7	the	the	DET
easat-6259	464	8	integrity	integrity	NOUN
easat-6259	464	9	of	of	ADP
easat-6259	464	10	the	the	DET
easat-6259	464	11	dataset	dataset	NOUN
easat-6259	464	12	.	.	PUNCT
easat-6259	465	1	•	•	NUM
easat-6259	465	2	normalization	normalization	NOUN
easat-6259	465	3	:	:	PUNCT
easat-6259	465	4	normalizing	normalize	VERB
easat-6259	465	5	the	the	DET
easat-6259	465	6	image	image	NOUN
easat-6259	465	7	data	datum	NOUN
easat-6259	465	8	to	to	ADP
easat-6259	465	9	a	a	DET
easat-6259	465	10	consistent	consistent	ADJ
easat-6259	465	11	range	range	NOUN
easat-6259	465	12	of	of	ADP
easat-6259	465	13	pixels	pixel	NOUN
easat-6259	465	14	’	'	PUNCT
easat-6259	465	15	values	value	NOUN
easat-6259	465	16	(	(	PUNCT
easat-6259	465	17	typically	typically	ADV
easat-6259	465	18	between	between	ADP
easat-6259	465	19	[	[	X
easat-6259	465	20	0	0	NUM
easat-6259	465	21	,	,	PUNCT
easat-6259	465	22	1	1	NUM
easat-6259	465	23	]	]	PUNCT
easat-6259	465	24	or	or	CCONJ
easat-6259	465	25	[	[	X
easat-6259	465	26	-1	-1	X
easat-6259	465	27	,	,	PUNCT
easat-6259	465	28	1	1	NUM
easat-6259	465	29	]	]	PUNCT
easat-6259	465	30	)	)	PUNCT
easat-6259	465	31	helps	help	VERB
easat-6259	465	32	accelerate	accelerate	VERB
easat-6259	465	33	the	the	DET
easat-6259	465	34	training	training	NOUN
easat-6259	465	35	resolution	resolution	NOUN
easat-6259	465	36	for	for	ADP
easat-6259	465	37	cnn	cnn	PROPN
easat-6259	465	38	and	and	CCONJ
easat-6259	465	39	improves	improve	VERB
easat-6259	465	40	model	model	NOUN
easat-6259	465	41	performance	performance	NOUN
easat-6259	465	42	by	by	ADP
easat-6259	465	43	ensuring	ensure	VERB
easat-6259	465	44	uniform	uniform	ADJ
easat-6259	465	45	input	input	NOUN
easat-6259	465	46	to	to	ADP
easat-6259	465	47	the	the	DET
easat-6259	465	48	networked	networked	ADJ
easat-6259	465	49	cnn	cnn	PROPN
easat-6259	465	50	.	.	PUNCT
easat-6259	466	1	https://www.kaggle.com/datasets/alincijov/self-driving-cars	https://www.kaggle.com/datasets/alincijov/self-driving-car	VERB
easat-6259	466	2	1316	1316	NUM
easat-6259	466	3	edelweiss	edelweiss	PROPN
easat-6259	466	4	applied	apply	VERB
easat-6259	466	5	science	science	NOUN
easat-6259	466	6	and	and	CCONJ
easat-6259	466	7	technology	technology	NOUN
easat-6259	466	8	issn	issn	PROPN
easat-6259	466	9	:	:	PUNCT
easat-6259	466	10	2576	2576	NUM
easat-6259	466	11	-	-	SYM
easat-6259	466	12	8484	8484	NUM
easat-6259	466	13	vol	vol	NOUN
easat-6259	466	14	.	.	PROPN
easat-6259	467	1	9	9	NUM
easat-6259	467	2	,	,	PUNCT
easat-6259	467	3	no	no	INTJ
easat-6259	467	4	.	.	NOUN
easat-6259	468	1	4	4	NUM
easat-6259	468	2	:	:	SYM
easat-6259	468	3	1300	1300	NUM
easat-6259	468	4	-	-	SYM
easat-6259	468	5	1331	1331	NUM
easat-6259	468	6	,	,	PUNCT
easat-6259	468	7	2025	2025	NUM
easat-6259	468	8	doi	doi	NOUN
easat-6259	468	9	:	:	PUNCT
easat-6259	468	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	468	11	©	©	PROPN
easat-6259	468	12	2025	2025	NUM
easat-6259	468	13	by	by	ADP
easat-6259	468	14	the	the	DET
easat-6259	468	15	authors	author	NOUN
easat-6259	468	16	;	;	PUNCT
easat-6259	468	17	licensee	licensee	PROPN
easat-6259	468	18	learning	learning	NOUN
easat-6259	468	19	gate	gate	VERB
easat-6259	468	20	•	•	NOUN
easat-6259	468	21	data	datum	NOUN
easat-6259	468	22	augmentation	augmentation	NOUN
easat-6259	468	23	:	:	PUNCT
easat-6259	468	24	this	this	PRON
easat-6259	468	25	includes	include	VERB
easat-6259	468	26	rotation	rotation	NOUN
easat-6259	468	27	,	,	PUNCT
easat-6259	468	28	scaling	scaling	NOUN
easat-6259	468	29	,	,	PUNCT
easat-6259	468	30	translation	translation	NOUN
easat-6259	468	31	,	,	PUNCT
easat-6259	468	32	and	and	CCONJ
easat-6259	468	33	flipping	flipping	NOUN
easat-6259	468	34	.	.	PUNCT
easat-6259	469	1	these	these	PRON
easat-6259	469	2	are	be	AUX
easat-6259	469	3	techniques	technique	NOUN
easat-6259	469	4	in	in	ADP
easat-6259	469	5	data	datum	NOUN
easat-6259	469	6	pre	pre	ADJ
easat-6259	469	7	-	-	NOUN
easat-6259	469	8	processing	processing	NOUN
easat-6259	469	9	that	that	PRON
easat-6259	469	10	help	help	VERB
easat-6259	469	11	and	and	CCONJ
easat-6259	469	12	improve	improve	VERB
easat-6259	469	13	the	the	DET
easat-6259	469	14	diversity	diversity	NOUN
easat-6259	469	15	of	of	ADP
easat-6259	469	16	the	the	DET
easat-6259	469	17	training	training	NOUN
easat-6259	469	18	dataset	dataset	NOUN
easat-6259	469	19	in	in	ADP
easat-6259	469	20	cnn	cnn	PROPN
easat-6259	469	21	trained	train	VERB
easat-6259	469	22	model	model	NOUN
easat-6259	469	23	.	.	PUNCT
easat-6259	470	1	data	datum	NOUN
easat-6259	470	2	augmentation	augmentation	NOUN
easat-6259	470	3	improves	improve	VERB
easat-6259	470	4	model	model	NOUN
easat-6259	470	5	generalizability	generalizability	NOUN
easat-6259	470	6	by	by	ADP
easat-6259	470	7	exposing	expose	VERB
easat-6259	470	8	it	it	PRON
easat-6259	470	9	to	to	ADP
easat-6259	470	10	a	a	DET
easat-6259	470	11	broader	broad	ADJ
easat-6259	470	12	range	range	NOUN
easat-6259	470	13	of	of	ADP
easat-6259	470	14	environments	environment	NOUN
easat-6259	470	15	.	.	PUNCT
easat-6259	471	1	•	•	NUM
easat-6259	471	2	edge	edge	NOUN
easat-6259	471	3	detection	detection	NOUN
easat-6259	471	4	:	:	PUNCT
easat-6259	471	5	it	it	PRON
easat-6259	471	6	is	be	AUX
easat-6259	471	7	an	an	DET
easat-6259	471	8	important	important	ADJ
easat-6259	471	9	step	step	NOUN
easat-6259	471	10	in	in	ADP
easat-6259	471	11	self	self	NOUN
easat-6259	471	12	-	-	PUNCT
easat-6259	471	13	driving	drive	VERB
easat-6259	471	14	cars	car	NOUN
easat-6259	471	15	in	in	ADP
easat-6259	471	16	analysing	analyse	VERB
easat-6259	471	17	the	the	DET
easat-6259	471	18	vehicle	vehicle	NOUN
easat-6259	471	19	's	's	PART
easat-6259	471	20	environment	environment	NOUN
easat-6259	471	21	since	since	SCONJ
easat-6259	471	22	it	it	PRON
easat-6259	471	23	identifies	identify	VERB
easat-6259	471	24	lane	lane	PROPN
easat-6259	471	25	detection	detection	PROPN
easat-6259	471	26	,	,	PUNCT
easat-6259	471	27	road	road	NOUN
easat-6259	471	28	limits	limit	NOUN
easat-6259	471	29	,	,	PUNCT
easat-6259	471	30	and	and	CCONJ
easat-6259	471	31	other	other	ADJ
easat-6259	471	32	vital	vital	ADJ
easat-6259	471	33	elements	element	NOUN
easat-6259	471	34	.	.	PUNCT
easat-6259	472	1	one	one	NUM
easat-6259	472	2	of	of	ADP
easat-6259	472	3	the	the	DET
easat-6259	472	4	techniques	technique	NOUN
easat-6259	472	5	used	use	VERB
easat-6259	472	6	is	be	AUX
easat-6259	472	7	the	the	DET
easat-6259	472	8	sobel	sobel	NOUN
easat-6259	472	9	operator	operator	NOUN
easat-6259	472	10	for	for	ADP
easat-6259	472	11	edge	edge	NOUN
easat-6259	472	12	detection	detection	NOUN
easat-6259	472	13	due	due	ADP
easat-6259	472	14	to	to	ADP
easat-6259	472	15	its	its	PRON
easat-6259	472	16	efficiency	efficiency	NOUN
easat-6259	472	17	and	and	CCONJ
easat-6259	472	18	effectiveness	effectiveness	NOUN
easat-6259	472	19	.	.	PUNCT
easat-6259	473	1	•	•	NUM
easat-6259	473	2	sobel	sobel	PROPN
easat-6259	473	3	operators	operators	PROPN
easat-6259	473	4	:	:	PUNCT
easat-6259	473	5	the	the	DET
easat-6259	473	6	sobel	sobel	NOUN
easat-6259	473	7	operator	operator	NOUN
easat-6259	473	8	computes	compute	VERB
easat-6259	473	9	the	the	DET
easat-6259	473	10	gradient	gradient	NOUN
easat-6259	473	11	of	of	ADP
easat-6259	473	12	image	image	NOUN
easat-6259	473	13	intensity	intensity	NOUN
easat-6259	473	14	at	at	ADP
easat-6259	473	15	each	each	DET
easat-6259	473	16	pixel	pixel	NOUN
easat-6259	473	17	,	,	PUNCT
easat-6259	473	18	highlighting	highlight	VERB
easat-6259	473	19	areas	area	NOUN
easat-6259	473	20	with	with	ADP
easat-6259	473	21	high	high	ADJ
easat-6259	473	22	spatial	spatial	ADJ
easat-6259	473	23	frequency	frequency	NOUN
easat-6259	473	24	that	that	PRON
easat-6259	473	25	correspond	correspond	VERB
easat-6259	473	26	to	to	ADP
easat-6259	473	27	edges	edge	NOUN
easat-6259	473	28	.	.	PUNCT
easat-6259	474	1	it	it	PRON
easat-6259	474	2	employs	employ	VERB
easat-6259	474	3	two	two	NUM
easat-6259	474	4	3x3	3x3	NUM
easat-6259	474	5	convolution	convolution	NOUN
easat-6259	474	6	kernels	kernel	NOUN
easat-6259	474	7	to	to	PART
easat-6259	474	8	compute	compute	VERB
easat-6259	474	9	the	the	DET
easat-6259	474	10	gradient	gradient	NOUN
easat-6259	474	11	in	in	ADP
easat-6259	474	12	the	the	DET
easat-6259	474	13	x	x	NOUN
easat-6259	474	14	and	and	CCONJ
easat-6259	474	15	y	y	PROPN
easat-6259	474	16	directions	direction	NOUN
easat-6259	474	17	.	.	PUNCT
easat-6259	475	1	this	this	PRON
easat-6259	475	2	is	be	AUX
easat-6259	475	3	implemented	implement	VERB
easat-6259	475	4	using	use	VERB
easat-6259	475	5	matlab	matlab	PROPN
easat-6259	475	6	by	by	ADP
easat-6259	475	7	employing	employ	VERB
easat-6259	475	8	the	the	DET
easat-6259	475	9	sobel	sobel	NOUN
easat-6259	475	10	filter	filter	NOUN
easat-6259	475	11	to	to	PART
easat-6259	475	12	detect	detect	VERB
easat-6259	475	13	edges	edge	NOUN
easat-6259	475	14	in	in	ADP
easat-6259	475	15	grayscale	grayscale	NOUN
easat-6259	475	16	images	image	NOUN
easat-6259	475	17	.	.	PUNCT
easat-6259	476	1	the	the	DET
easat-6259	476	2	resulting	result	VERB
easat-6259	476	3	gradient	gradient	ADJ
easat-6259	476	4	magnitude	magnitude	NOUN
easat-6259	476	5	image	image	NOUN
easat-6259	476	6	detects	detect	VERB
easat-6259	476	7	the	the	DET
easat-6259	476	8	edges	edge	NOUN
easat-6259	476	9	for	for	ADP
easat-6259	476	10	the	the	DET
easat-6259	476	11	vehicle	vehicle	NOUN
easat-6259	476	12	,	,	PUNCT
easat-6259	476	13	and	and	CCONJ
easat-6259	476	14	is	be	AUX
easat-6259	476	15	utilized	utilize	VERB
easat-6259	476	16	as	as	ADP
easat-6259	476	17	input	input	NOUN
easat-6259	476	18	for	for	ADP
easat-6259	476	19	additional	additional	ADJ
easat-6259	476	20	processing	processing	NOUN
easat-6259	476	21	in	in	ADP
easat-6259	476	22	lane	lane	NOUN
easat-6259	476	23	detection	detection	NOUN
easat-6259	476	24	and	and	CCONJ
easat-6259	476	25	lka	lka	PROPN
easat-6259	476	26	.	.	PUNCT
easat-6259	476	27	figure	figure	NOUN
easat-6259	476	28	7	7	NUM
easat-6259	476	29	.	.	PUNCT
easat-6259	477	1	pid	pid	NOUN
easat-6259	477	2	controller	controller	NOUN
easat-6259	477	3	architecture	architecture	NOUN
easat-6259	477	4	.	.	PUNCT
easat-6259	478	1	•	•	NUM
easat-6259	478	2	gradient	gradient	ADJ
easat-6259	478	3	calculation	calculation	NOUN
easat-6259	478	4	:	:	PUNCT
easat-6259	478	5	by	by	ADP
easat-6259	478	6	convolving	convolve	VERB
easat-6259	478	7	the	the	DET
easat-6259	478	8	image	image	NOUN
easat-6259	478	9	using	use	VERB
easat-6259	478	10	sobel	sobel	NOUN
easat-6259	478	11	kernels	kernels	PROPN
easat-6259	478	12	,	,	PUNCT
easat-6259	478	13	the	the	DET
easat-6259	478	14	gradient	gradient	NOUN
easat-6259	478	15	in	in	ADP
easat-6259	478	16	the	the	DET
easat-6259	478	17	x	x	NOUN
easat-6259	478	18	and	and	CCONJ
easat-6259	478	19	y	y	PROPN
easat-6259	478	20	directions	direction	NOUN
easat-6259	478	21	is	be	AUX
easat-6259	478	22	determined	determine	VERB
easat-6259	478	23	to	to	PART
easat-6259	478	24	highlight	highlight	VERB
easat-6259	478	25	the	the	DET
easat-6259	478	26	image	image	NOUN
easat-6259	478	27	's	's	PART
easat-6259	478	28	edges	edge	NOUN
easat-6259	478	29	.	.	PUNCT
easat-6259	479	1	edge	edge	NOUN
easat-6259	479	2	detection	detection	NOUN
easat-6259	479	3	using	use	VERB
easat-6259	479	4	the	the	DET
easat-6259	479	5	sobel	sobel	NOUN
easat-6259	479	6	operator	operator	NOUN
easat-6259	479	7	is	be	AUX
easat-6259	479	8	essential	essential	ADJ
easat-6259	479	9	for	for	ADP
easat-6259	479	10	lane	lane	NOUN
easat-6259	479	11	detection	detection	NOUN
easat-6259	479	12	and	and	CCONJ
easat-6259	479	13	object	object	VERB
easat-6259	479	14	recognition	recognition	NOUN
easat-6259	479	15	as	as	SCONJ
easat-6259	479	16	it	it	PRON
easat-6259	479	17	gives	give	VERB
easat-6259	479	18	a	a	DET
easat-6259	479	19	clear	clear	ADJ
easat-6259	479	20	representation	representation	NOUN
easat-6259	479	21	of	of	ADP
easat-6259	479	22	the	the	DET
easat-6259	479	23	structural	structural	ADJ
easat-6259	479	24	characteristics	characteristic	NOUN
easat-6259	479	25	in	in	ADP
easat-6259	479	26	the	the	DET
easat-6259	479	27	picture	picture	NOUN
easat-6259	479	28	,	,	PUNCT
easat-6259	479	29	allowing	allow	VERB
easat-6259	479	30	the	the	DET
easat-6259	479	31	autonomous	autonomous	ADJ
easat-6259	479	32	system	system	NOUN
easat-6259	479	33	to	to	PART
easat-6259	479	34	accurately	accurately	ADV
easat-6259	479	35	recognize	recognize	VERB
easat-6259	479	36	lane	lane	NOUN
easat-6259	479	37	boundaries	boundary	NOUN
easat-6259	479	38	and	and	CCONJ
easat-6259	479	39	obstructions	obstruction	NOUN
easat-6259	479	40	.	.	PUNCT
easat-6259	480	1	•	•	NUM
easat-6259	480	2	lane	lane	PROPN
easat-6259	480	3	detection	detection	NOUN
easat-6259	480	4	:	:	PUNCT
easat-6259	480	5	it	it	PRON
easat-6259	480	6	uses	use	VERB
easat-6259	480	7	the	the	DET
easat-6259	480	8	hough	hough	PROPN
easat-6259	480	9	transform	transform	VERB
easat-6259	480	10	and	and	CCONJ
easat-6259	480	11	edge	edge	NOUN
easat-6259	480	12	detected	detect	VERB
easat-6259	480	13	in	in	ADP
easat-6259	480	14	the	the	DET
easat-6259	480	15	road	road	NOUN
easat-6259	480	16	that	that	PRON
easat-6259	480	17	av	av	PRON
easat-6259	480	18	moving	move	VERB
easat-6259	480	19	on	on	ADP
easat-6259	480	20	it	it	PRON
easat-6259	480	21	to	to	PART
easat-6259	480	22	determine	determine	VERB
easat-6259	480	23	the	the	DET
easat-6259	480	24	actual	actual	ADJ
easat-6259	480	25	lane	lane	NOUN
easat-6259	480	26	markings	marking	NOUN
easat-6259	480	27	.	.	PUNCT
easat-6259	481	1	this	this	DET
easat-6259	481	2	step	step	NOUN
easat-6259	481	3	is	be	AUX
easat-6259	481	4	critical	critical	ADJ
easat-6259	481	5	for	for	ADP
easat-6259	481	6	preserving	preserve	VERB
easat-6259	481	7	the	the	DET
easat-6259	481	8	vehicle	vehicle	NOUN
easat-6259	481	9	's	's	PART
easat-6259	481	10	place	place	NOUN
easat-6259	481	11	within	within	ADP
easat-6259	481	12	the	the	DET
easat-6259	481	13	lane	lane	NOUN
easat-6259	481	14	which	which	PRON
easat-6259	481	15	assists	assist	VERB
easat-6259	481	16	the	the	DET
easat-6259	481	17	lka	lka	NOUN
easat-6259	481	18	feature	feature	NOUN
easat-6259	481	19	.	.	PUNCT
easat-6259	482	1	•	•	NUM
easat-6259	482	2	hough	hough	PROPN
easat-6259	482	3	transform	transform	PROPN
easat-6259	482	4	:	:	PUNCT
easat-6259	482	5	the	the	DET
easat-6259	482	6	hough	hough	PROPN
easat-6259	482	7	transform	transform	NOUN
easat-6259	482	8	is	be	AUX
easat-6259	482	9	used	use	VERB
easat-6259	482	10	to	to	PART
easat-6259	482	11	identify	identify	VERB
easat-6259	482	12	straight	straight	ADJ
easat-6259	482	13	lines	line	NOUN
easat-6259	482	14	in	in	ADP
easat-6259	482	15	the	the	DET
easat-6259	482	16	edge	edge	NOUN
easat-6259	482	17	detected	detect	VERB
easat-6259	482	18	for	for	ADP
easat-6259	482	19	the	the	DET
easat-6259	482	20	road	road	NOUN
easat-6259	482	21	.	.	PUNCT
easat-6259	483	1	it	it	PRON
easat-6259	483	2	operates	operate	VERB
easat-6259	483	3	by	by	ADP
easat-6259	483	4	mapping	map	VERB
easat-6259	483	5	points	point	NOUN
easat-6259	483	6	in	in	ADP
easat-6259	483	7	the	the	DET
easat-6259	483	8	image	image	NOUN
easat-6259	483	9	space	space	NOUN
easat-6259	483	10	to	to	ADP
easat-6259	483	11	the	the	DET
easat-6259	483	12	hough	hough	PROPN
easat-6259	483	13	space	space	NOUN
easat-6259	483	14	and	and	CCONJ
easat-6259	483	15	identifying	identify	VERB
easat-6259	483	16	lines	line	NOUN
easat-6259	483	17	based	base	VERB
easat-6259	483	18	on	on	ADP
easat-6259	483	19	parameter	parameter	NOUN
easat-6259	483	20	values	value	NOUN
easat-6259	483	21	even	even	ADV
easat-6259	483	22	in	in	ADP
easat-6259	483	23	the	the	DET
easat-6259	483	24	presence	presence	NOUN
easat-6259	483	25	of	of	ADP
easat-6259	483	26	noise	noise	NOUN
easat-6259	483	27	.	.	PUNCT
easat-6259	484	1	peaks	peak	NOUN
easat-6259	484	2	in	in	ADP
easat-6259	484	3	the	the	DET
easat-6259	484	4	hough	hough	PROPN
easat-6259	484	5	space	space	NOUN
easat-6259	484	6	represent	represent	VERB
easat-6259	484	7	potential	potential	ADJ
easat-6259	484	8	lines	line	NOUN
easat-6259	484	9	in	in	ADP
easat-6259	484	10	the	the	DET
easat-6259	484	11	image	image	NOUN
easat-6259	484	12	.	.	PUNCT
easat-6259	485	1	the	the	DET
easat-6259	485	2	hough	hough	PROPN
easat-6259	485	3	transform	transform	NOUN
easat-6259	485	4	is	be	AUX
easat-6259	485	5	noise	noise	NOUN
easat-6259	485	6	-	-	PUNCT
easat-6259	485	7	resistant	resistant	ADJ
easat-6259	485	8	and	and	CCONJ
easat-6259	485	9	can	can	AUX
easat-6259	485	10	detect	detect	VERB
easat-6259	485	11	lines	line	NOUN
easat-6259	485	12	in	in	ADP
easat-6259	485	13	a	a	DET
easat-6259	485	14	variety	variety	NOUN
easat-6259	485	15	of	of	ADP
easat-6259	485	16	different	different	ADJ
easat-6259	485	17	scenarios	scenario	NOUN
easat-6259	485	18	,	,	PUNCT
easat-6259	485	19	making	make	VERB
easat-6259	485	20	it	it	PRON
easat-6259	485	21	excellent	excellent	ADJ
easat-6259	485	22	for	for	ADP
easat-6259	485	23	identifying	identify	VERB
easat-6259	485	24	lane	lane	NOUN
easat-6259	485	25	markers	marker	NOUN
easat-6259	485	26	on	on	ADP
easat-6259	485	27	road	road	NOUN
easat-6259	485	28	.	.	PUNCT
easat-6259	486	1	this	this	PRON
easat-6259	486	2	is	be	AUX
easat-6259	486	3	critical	critical	ADJ
easat-6259	486	4	for	for	ADP
easat-6259	486	5	dependable	dependable	ADJ
easat-6259	486	6	lane	lane	NOUN
easat-6259	486	7	keeping	keeping	NOUN
easat-6259	486	8	,	,	PUNCT
easat-6259	486	9	especially	especially	ADV
easat-6259	486	10	in	in	ADP
easat-6259	486	11	adverse	adverse	ADJ
easat-6259	486	12	conditions	condition	NOUN
easat-6259	486	13	.	.	PUNCT
easat-6259	487	1	1317	1317	NUM
easat-6259	487	2	edelweiss	edelweiss	PROPN
easat-6259	487	3	applied	apply	VERB
easat-6259	487	4	science	science	NOUN
easat-6259	487	5	and	and	CCONJ
easat-6259	487	6	technology	technology	NOUN
easat-6259	487	7	issn	issn	PROPN
easat-6259	487	8	:	:	PUNCT
easat-6259	487	9	2576	2576	NUM
easat-6259	487	10	-	-	SYM
easat-6259	487	11	8484	8484	NUM
easat-6259	487	12	vol	vol	NOUN
easat-6259	487	13	.	.	PROPN
easat-6259	488	1	9	9	NUM
easat-6259	488	2	,	,	PUNCT
easat-6259	488	3	no	no	INTJ
easat-6259	488	4	.	.	NOUN
easat-6259	489	1	4	4	NUM
easat-6259	489	2	:	:	SYM
easat-6259	489	3	1300	1300	NUM
easat-6259	489	4	-	-	SYM
easat-6259	489	5	1331	1331	NUM
easat-6259	489	6	,	,	PUNCT
easat-6259	489	7	2025	2025	NUM
easat-6259	489	8	doi	doi	NOUN
easat-6259	489	9	:	:	PUNCT
easat-6259	489	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	489	11	©	©	PROPN
easat-6259	489	12	2025	2025	NUM
easat-6259	489	13	by	by	ADP
easat-6259	489	14	the	the	DET
easat-6259	489	15	authors	author	NOUN
easat-6259	489	16	;	;	PUNCT
easat-6259	489	17	licensee	licensee	PROPN
easat-6259	489	18	learning	learning	NOUN
easat-6259	489	19	gate	gate	VERB
easat-6259	489	20	5.3	5.3	NUM
easat-6259	489	21	.	.	PUNCT
easat-6259	490	1	pid	pid	NOUN
easat-6259	490	2	control	control	VERB
easat-6259	490	3	the	the	DET
easat-6259	490	4	pid	pid	NOUN
easat-6259	490	5	control	control	NOUN
easat-6259	490	6	is	be	AUX
easat-6259	490	7	a	a	DET
easat-6259	490	8	fundamental	fundamental	ADJ
easat-6259	490	9	control	control	NOUN
easat-6259	490	10	technique	technique	NOUN
easat-6259	490	11	that	that	PRON
easat-6259	490	12	is	be	AUX
easat-6259	490	13	used	use	VERB
easat-6259	490	14	in	in	ADP
easat-6259	490	15	a	a	DET
easat-6259	490	16	multiple	multiple	ADJ
easat-6259	490	17	and	and	CCONJ
easat-6259	490	18	different	different	ADJ
easat-6259	490	19	technologies	technology	NOUN
easat-6259	490	20	for	for	ADP
easat-6259	490	21	ads	ad	NOUN
easat-6259	490	22	which	which	PRON
easat-6259	490	23	include	include	VERB
easat-6259	490	24	lka	lka	NOUN
easat-6259	490	25	in	in	ADP
easat-6259	490	26	avs	avs	PROPN
easat-6259	490	27	.	.	PUNCT
easat-6259	491	1	it	it	PRON
easat-6259	491	2	is	be	AUX
easat-6259	491	3	supposed	suppose	VERB
easat-6259	491	4	to	to	PART
easat-6259	491	5	keep	keep	VERB
easat-6259	491	6	the	the	DET
easat-6259	491	7	car	car	NOUN
easat-6259	491	8	in	in	ADP
easat-6259	491	9	its	its	PRON
easat-6259	491	10	lane	lane	NOUN
easat-6259	491	11	by	by	ADP
easat-6259	491	12	constantly	constantly	ADV
easat-6259	491	13	modifying	modify	VERB
easat-6259	491	14	the	the	DET
easat-6259	491	15	steering	steering	NOUN
easat-6259	491	16	depending	depend	VERB
easat-6259	491	17	on	on	ADP
easat-6259	491	18	feedback	feedback	NOUN
easat-6259	491	19	from	from	ADP
easat-6259	491	20	the	the	DET
easat-6259	491	21	identified	identify	VERB
easat-6259	491	22	lane	lane	NOUN
easat-6259	491	23	boundaries	boundary	NOUN
easat-6259	491	24	on	on	ADP
easat-6259	491	25	the	the	DET
easat-6259	491	26	road	road	NOUN
easat-6259	491	27	.	.	PUNCT
easat-6259	492	1	the	the	DET
easat-6259	492	2	pid	pid	NOUN
easat-6259	492	3	controller	controller	NOUN
easat-6259	492	4	,	,	PUNCT
easat-6259	492	5	shown	show	VERB
easat-6259	492	6	in	in	ADP
easat-6259	492	7	figure	figure	NOUN
easat-6259	492	8	7	7	NUM
easat-6259	492	9	bhookya	bhookya	NOUN
easat-6259	492	10	,	,	PUNCT
easat-6259	492	11	et	et	PROPN
easat-6259	492	12	al	al	PROPN
easat-6259	492	13	.	.	PUNCT
easat-6259	493	1	[	[	X
easat-6259	493	2	33	33	NUM
easat-6259	493	3	]	]	PUNCT
easat-6259	493	4	calculates	calculate	VERB
easat-6259	493	5	the	the	DET
easat-6259	493	6	steering	steering	NOUN
easat-6259	493	7	angle	angle	NOUN
easat-6259	493	8	by	by	ADP
easat-6259	493	9	taking	take	VERB
easat-6259	493	10	the	the	DET
easat-6259	493	11	angles	angle	NOUN
easat-6259	493	12	into	into	ADP
easat-6259	493	13	account	account	NOUN
easat-6259	493	14	,	,	PUNCT
easat-6259	493	15	and	and	CCONJ
easat-6259	493	16	the	the	DET
easat-6259	493	17	difference	difference	NOUN
easat-6259	493	18	between	between	ADP
easat-6259	493	19	the	the	DET
easat-6259	493	20	vehicle	vehicle	NOUN
easat-6259	493	21	's	's	PART
easat-6259	493	22	present	present	ADJ
easat-6259	493	23	and	and	CCONJ
easat-6259	493	24	desired	desire	VERB
easat-6259	493	25	positions	position	NOUN
easat-6259	493	26	(	(	PUNCT
easat-6259	493	27	the	the	DET
easat-6259	493	28	lane	lane	PROPN
easat-6259	493	29	centre	centre	PROPN
easat-6259	493	30	)	)	PUNCT
easat-6259	493	31	for	for	ADP
easat-6259	493	32	the	the	DET
easat-6259	493	33	av	av	PROPN
easat-6259	493	34	.	.	PUNCT
easat-6259	494	1	this	this	DET
easat-6259	494	2	control	control	NOUN
easat-6259	494	3	mechanism	mechanism	NOUN
easat-6259	494	4	enables	enable	VERB
easat-6259	494	5	smooth	smooth	ADJ
easat-6259	494	6	and	and	CCONJ
easat-6259	494	7	responsive	responsive	ADJ
easat-6259	494	8	steering	steering	NOUN
easat-6259	494	9	adjustments	adjustment	NOUN
easat-6259	494	10	for	for	ADP
easat-6259	494	11	vehicle	vehicle	NOUN
easat-6259	494	12	,	,	PUNCT
easat-6259	494	13	which	which	PRON
easat-6259	494	14	improves	improve	VERB
easat-6259	494	15	the	the	DET
easat-6259	494	16	vehicle	vehicle	NOUN
easat-6259	494	17	's	's	PART
easat-6259	494	18	ability	ability	NOUN
easat-6259	494	19	to	to	PART
easat-6259	494	20	remain	remain	VERB
easat-6259	494	21	centred	centred	ADJ
easat-6259	494	22	in	in	ADP
easat-6259	494	23	its	its	PRON
easat-6259	494	24	lane	lane	NOUN
easat-6259	494	25	boundaries	boundary	NOUN
easat-6259	494	26	in	in	ADP
easat-6259	494	27	the	the	DET
easat-6259	494	28	road	road	NOUN
easat-6259	494	29	.	.	PUNCT
easat-6259	495	1	below	below	ADV
easat-6259	495	2	is	be	AUX
easat-6259	495	3	an	an	DET
easat-6259	495	4	explanation	explanation	NOUN
easat-6259	495	5	of	of	ADP
easat-6259	495	6	the	the	DET
easat-6259	495	7	role	role	NOUN
easat-6259	495	8	of	of	ADP
easat-6259	495	9	pid	pid	NOUN
easat-6259	495	10	control	control	NOUN
easat-6259	495	11	in	in	ADP
easat-6259	495	12	lka	lka	PROPN
easat-6259	495	13	that	that	PRON
easat-6259	495	14	is	be	AUX
easat-6259	495	15	one	one	NUM
easat-6259	495	16	of	of	ADP
easat-6259	495	17	the	the	DET
easat-6259	495	18	most	most	ADV
easat-6259	495	19	important	important	ADJ
easat-6259	495	20	technologies	technology	NOUN
easat-6259	495	21	in	in	ADP
easat-6259	495	22	ads	ad	NOUN
easat-6259	495	23	[	[	X
easat-6259	495	24	34	34	NUM
easat-6259	495	25	]	]	X
easat-6259	495	26	:	:	PUNCT
easat-6259	495	27	5.4	5.4	NUM
easat-6259	495	28	.	.	PUNCT
easat-6259	495	29	proportional	proportional	ADJ
easat-6259	495	30	(	(	PUNCT
easat-6259	495	31	p	p	NOUN
easat-6259	495	32	)	)	PUNCT
easat-6259	495	33	control	control	NOUN
easat-6259	495	34	•	•	ADP
easat-6259	495	35	the	the	DET
easat-6259	495	36	proportional	proportional	ADJ
easat-6259	495	37	term	term	NOUN
easat-6259	495	38	generates	generate	VERB
easat-6259	495	39	an	an	DET
easat-6259	495	40	output	output	NOUN
easat-6259	495	41	according	accord	VERB
easat-6259	495	42	to	to	ADP
easat-6259	495	43	the	the	DET
easat-6259	495	44	present	present	ADJ
easat-6259	495	45	error	error	NOUN
easat-6259	495	46	value	value	NOUN
easat-6259	495	47	.	.	PUNCT
easat-6259	496	1	it	it	PRON
easat-6259	496	2	computes	compute	VERB
easat-6259	496	3	an	an	DET
easat-6259	496	4	ideal	ideal	ADJ
easat-6259	496	5	steering	steering	NOUN
easat-6259	496	6	angle	angle	NOUN
easat-6259	496	7	based	base	VERB
easat-6259	496	8	on	on	ADP
easat-6259	496	9	the	the	DET
easat-6259	496	10	vehicle	vehicle	NOUN
easat-6259	496	11	's	's	PART
easat-6259	496	12	deviation	deviation	NOUN
easat-6259	496	13	from	from	ADP
easat-6259	496	14	the	the	DET
easat-6259	496	15	lane	lane	NOUN
easat-6259	496	16	centre	centre	NOUN
easat-6259	496	17	.	.	PUNCT
easat-6259	497	1	•	•	NUM
easat-6259	497	2	the	the	DET
easat-6259	497	3	integral	integral	ADJ
easat-6259	497	4	term	term	NOUN
easat-6259	497	5	is	be	AUX
easat-6259	497	6	the	the	DET
easat-6259	497	7	accumulation	accumulation	NOUN
easat-6259	497	8	of	of	ADP
easat-6259	497	9	past	past	ADJ
easat-6259	497	10	errors	error	NOUN
easat-6259	497	11	.	.	PUNCT
easat-6259	498	1	•	•	NUM
easat-6259	498	2	all	all	DET
easat-6259	498	3	the	the	DET
easat-6259	498	4	errors	error	NOUN
easat-6259	498	5	are	be	AUX
easat-6259	498	6	summed	sum	VERB
easat-6259	498	7	up	up	ADP
easat-6259	498	8	from	from	ADP
easat-6259	498	9	the	the	DET
easat-6259	498	10	previous	previous	ADJ
easat-6259	498	11	step	step	NOUN
easat-6259	498	12	over	over	ADP
easat-6259	498	13	time	time	NOUN
easat-6259	498	14	which	which	PRON
easat-6259	498	15	produces	produce	VERB
easat-6259	498	16	a	a	DET
easat-6259	498	17	corrective	corrective	ADJ
easat-6259	498	18	action	action	NOUN
easat-6259	498	19	that	that	PRON
easat-6259	498	20	accounts	account	VERB
easat-6259	498	21	for	for	ADP
easat-6259	498	22	the	the	DET
easat-6259	498	23	cumulative	cumulative	ADJ
easat-6259	498	24	error	error	NOUN
easat-6259	498	25	.	.	PUNCT
easat-6259	499	1	•	•	NOUN
easat-6259	499	2	this	this	PRON
easat-6259	499	3	helps	help	VERB
easat-6259	499	4	to	to	PART
easat-6259	499	5	eliminate	eliminate	VERB
easat-6259	499	6	steady	steady	ADJ
easat-6259	499	7	-	-	PUNCT
easat-6259	499	8	state	state	NOUN
easat-6259	499	9	errors	error	NOUN
easat-6259	499	10	that	that	SCONJ
easat-6259	499	11	proportional	proportional	ADJ
easat-6259	499	12	controller	controller	NOUN
easat-6259	499	13	alone	alone	ADV
easat-6259	499	14	can	can	AUX
easat-6259	499	15	not	not	PART
easat-6259	499	16	handle	handle	VERB
easat-6259	499	17	.	.	PUNCT
easat-6259	500	1	5.5	5.5	NUM
easat-6259	500	2	.	.	PUNCT
easat-6259	501	1	derivative	derivative	ADJ
easat-6259	501	2	(	(	PUNCT
easat-6259	501	3	d	d	NOUN
easat-6259	501	4	)	)	PUNCT
easat-6259	501	5	control	control	NOUN
easat-6259	501	6	•	•	ADP
easat-6259	502	1	the	the	DET
easat-6259	502	2	derivative	derivative	ADJ
easat-6259	502	3	term	term	NOUN
easat-6259	502	4	predicts	predict	VERB
easat-6259	502	5	future	future	ADJ
easat-6259	502	6	error	error	NOUN
easat-6259	502	7	from	from	ADP
easat-6259	502	8	the	the	DET
easat-6259	502	9	steering	steering	NOUN
easat-6259	502	10	based	base	VERB
easat-6259	502	11	on	on	ADP
easat-6259	502	12	its	its	PRON
easat-6259	502	13	rate	rate	NOUN
easat-6259	502	14	of	of	ADP
easat-6259	502	15	change	change	NOUN
easat-6259	502	16	.	.	PUNCT
easat-6259	503	1	•	•	INTJ
easat-6259	503	2	it	it	PRON
easat-6259	503	3	produces	produce	VERB
easat-6259	503	4	a	a	DET
easat-6259	503	5	corrective	corrective	ADJ
easat-6259	503	6	action	action	NOUN
easat-6259	503	7	proportional	proportional	NOUN
easat-6259	503	8	to	to	ADP
easat-6259	503	9	the	the	DET
easat-6259	503	10	rate	rate	NOUN
easat-6259	503	11	of	of	ADP
easat-6259	503	12	change	change	NOUN
easat-6259	503	13	of	of	ADP
easat-6259	503	14	the	the	DET
easat-6259	503	15	error	error	NOUN
easat-6259	503	16	,	,	PUNCT
easat-6259	503	17	helping	help	VERB
easat-6259	503	18	to	to	ADP
easat-6259	503	19	damping	damp	VERB
easat-6259	503	20	oscillations	oscillation	NOUN
easat-6259	503	21	and	and	CCONJ
easat-6259	503	22	improving	improve	VERB
easat-6259	503	23	stability	stability	NOUN
easat-6259	503	24	.	.	PUNCT
easat-6259	504	1	the	the	DET
easat-6259	504	2	total	total	ADJ
easat-6259	504	3	pid	pid	NOUN
easat-6259	504	4	control	control	NOUN
easat-6259	504	5	output	output	NOUN
easat-6259	504	6	is	be	AUX
easat-6259	504	7	a	a	DET
easat-6259	504	8	sum	sum	NOUN
easat-6259	504	9	of	of	ADP
easat-6259	504	10	proportional	proportional	ADJ
easat-6259	504	11	,	,	PUNCT
easat-6259	504	12	integral	integral	ADJ
easat-6259	504	13	,	,	PUNCT
easat-6259	504	14	and	and	CCONJ
easat-6259	504	15	derivative	derivative	ADJ
easat-6259	504	16	values	value	NOUN
easat-6259	504	17	.	.	PUNCT
easat-6259	505	1	the	the	DET
easat-6259	505	2	pid	pid	NOUN
easat-6259	505	3	controller	controller	NOUN
easat-6259	505	4	calculates	calculate	VERB
easat-6259	505	5	the	the	DET
easat-6259	505	6	steering	steering	NOUN
easat-6259	505	7	angle	angle	NOUN
easat-6259	505	8	by	by	ADP
easat-6259	505	9	adding	add	VERB
easat-6259	505	10	these	these	DET
easat-6259	505	11	three	three	NUM
easat-6259	505	12	components	component	NOUN
easat-6259	505	13	.	.	PUNCT
easat-6259	506	1	5.5.1	5.5.1	X
easat-6259	506	2	.	.	PUNCT
easat-6259	507	1	role	role	NOUN
easat-6259	507	2	of	of	ADP
easat-6259	507	3	pid	pid	NOUN
easat-6259	507	4	control	control	NOUN
easat-6259	507	5	in	in	ADP
easat-6259	507	6	lka	lka	PROPN
easat-6259	507	7	•	•	NUM
easat-6259	507	8	error	error	NOUN
easat-6259	507	9	calculation	calculation	NOUN
easat-6259	507	10	:	:	PUNCT
easat-6259	507	11	the	the	DET
easat-6259	507	12	first	first	ADJ
easat-6259	507	13	step	step	NOUN
easat-6259	507	14	is	be	AUX
easat-6259	507	15	to	to	PART
easat-6259	507	16	measure	measure	VERB
easat-6259	507	17	the	the	DET
easat-6259	507	18	error	error	NOUN
easat-6259	507	19	of	of	ADP
easat-6259	507	20	line	line	NOUN
easat-6259	507	21	,	,	PUNCT
easat-6259	507	22	which	which	PRON
easat-6259	507	23	is	be	AUX
easat-6259	507	24	the	the	DET
easat-6259	507	25	difference	difference	NOUN
easat-6259	507	26	between	between	ADP
easat-6259	507	27	the	the	DET
easat-6259	507	28	av	av	PROPN
easat-6259	507	29	’s	’s	PART
easat-6259	507	30	current	current	ADJ
easat-6259	507	31	position	position	NOUN
easat-6259	507	32	and	and	CCONJ
easat-6259	507	33	the	the	DET
easat-6259	507	34	centre	centre	NOUN
easat-6259	507	35	of	of	ADP
easat-6259	507	36	the	the	DET
easat-6259	507	37	lane	lane	NOUN
easat-6259	507	38	.	.	PUNCT
easat-6259	508	1	this	this	DET
easat-6259	508	2	error	error	NOUN
easat-6259	508	3	serves	serve	VERB
easat-6259	508	4	as	as	ADP
easat-6259	508	5	the	the	DET
easat-6259	508	6	input	input	NOUN
easat-6259	508	7	to	to	ADP
easat-6259	508	8	the	the	DET
easat-6259	508	9	pid	pid	NOUN
easat-6259	508	10	controller	controller	NOUN
easat-6259	508	11	.	.	PUNCT
easat-6259	509	1	•	•	NUM
easat-6259	509	2	proportional	proportional	ADJ
easat-6259	509	3	action	action	NOUN
easat-6259	509	4	:	:	PUNCT
easat-6259	509	5	the	the	DET
easat-6259	509	6	proportional	proportional	ADJ
easat-6259	509	7	term	term	NOUN
easat-6259	509	8	makes	make	VERB
easat-6259	509	9	correction	correction	NOUN
easat-6259	509	10	based	base	VERB
easat-6259	509	11	on	on	ADP
easat-6259	509	12	current	current	ADJ
easat-6259	509	13	errors	error	NOUN
easat-6259	509	14	that	that	PRON
easat-6259	509	15	come	come	VERB
easat-6259	509	16	from	from	ADP
easat-6259	509	17	the	the	DET
easat-6259	509	18	first	first	ADJ
easat-6259	509	19	step	step	NOUN
easat-6259	509	20	.	.	PUNCT
easat-6259	510	1	if	if	SCONJ
easat-6259	510	2	the	the	DET
easat-6259	510	3	car	car	NOUN
easat-6259	510	4	is	be	AUX
easat-6259	510	5	far	far	ADV
easat-6259	510	6	from	from	ADP
easat-6259	510	7	the	the	DET
easat-6259	510	8	lane	lane	NOUN
easat-6259	510	9	centre	centre	NOUN
easat-6259	510	10	of	of	ADP
easat-6259	510	11	the	the	DET
easat-6259	510	12	line	line	NOUN
easat-6259	510	13	,	,	PUNCT
easat-6259	510	14	the	the	DET
easat-6259	510	15	proportional	proportional	ADJ
easat-6259	510	16	action	action	NOUN
easat-6259	510	17	causes	cause	VERB
easat-6259	510	18	a	a	DET
easat-6259	510	19	higher	high	ADJ
easat-6259	510	20	corrective	corrective	ADJ
easat-6259	510	21	steering	steering	NOUN
easat-6259	510	22	angle	angle	NOUN
easat-6259	510	23	to	to	PART
easat-6259	510	24	bring	bring	VERB
easat-6259	510	25	the	the	DET
easat-6259	510	26	car	car	NOUN
easat-6259	510	27	back	back	ADV
easat-6259	510	28	to	to	ADP
easat-6259	510	29	the	the	DET
easat-6259	510	30	centre	centre	NOUN
easat-6259	510	31	.	.	PUNCT
easat-6259	511	1	•	•	NUM
easat-6259	511	2	integral	integral	ADJ
easat-6259	511	3	action	action	NOUN
easat-6259	511	4	:	:	PUNCT
easat-6259	511	5	the	the	DET
easat-6259	511	6	integral	integral	ADJ
easat-6259	511	7	term	term	NOUN
easat-6259	511	8	accumulates	accumulate	VERB
easat-6259	511	9	error	error	NOUN
easat-6259	511	10	over	over	ADP
easat-6259	511	11	time	time	NOUN
easat-6259	511	12	.	.	PUNCT
easat-6259	512	1	if	if	SCONJ
easat-6259	512	2	the	the	DET
easat-6259	512	3	av	av	PROPN
easat-6259	512	4	has	have	AUX
easat-6259	512	5	been	be	AUX
easat-6259	512	6	repeatedly	repeatedly	ADV
easat-6259	512	7	offcentre	offcentre	VERB
easat-6259	512	8	,	,	PUNCT
easat-6259	512	9	the	the	DET
easat-6259	512	10	integral	integral	ADJ
easat-6259	512	11	action	action	NOUN
easat-6259	512	12	changes	change	VERB
easat-6259	512	13	the	the	DET
easat-6259	512	14	steering	steering	NOUN
easat-6259	512	15	to	to	PART
easat-6259	512	16	fix	fix	VERB
easat-6259	512	17	the	the	DET
easat-6259	512	18	accumulated	accumulate	VERB
easat-6259	512	19	error	error	NOUN
easat-6259	512	20	and	and	CCONJ
easat-6259	512	21	return	return	VERB
easat-6259	512	22	the	the	DET
easat-6259	512	23	vehicle	vehicle	NOUN
easat-6259	512	24	to	to	ADP
easat-6259	512	25	the	the	DET
easat-6259	512	26	lane	lane	NOUN
easat-6259	512	27	centre	centre	NOUN
easat-6259	512	28	.	.	PUNCT
easat-6259	513	1	•	•	NUM
easat-6259	513	2	derivative	derivative	ADJ
easat-6259	513	3	action	action	NOUN
easat-6259	513	4	:	:	PUNCT
easat-6259	513	5	the	the	DET
easat-6259	513	6	derived	derived	ADJ
easat-6259	513	7	term	term	NOUN
easat-6259	513	8	predicts	predict	VERB
easat-6259	513	9	the	the	DET
easat-6259	513	10	future	future	ADJ
easat-6259	513	11	trend	trend	NOUN
easat-6259	513	12	of	of	ADP
easat-6259	513	13	errors	error	NOUN
easat-6259	513	14	caused	cause	VERB
easat-6259	513	15	by	by	ADP
easat-6259	513	16	the	the	DET
easat-6259	513	17	vehicle	vehicle	NOUN
easat-6259	513	18	by	by	ADP
easat-6259	513	19	measuring	measure	VERB
easat-6259	513	20	the	the	DET
easat-6259	513	21	rate	rate	NOUN
easat-6259	513	22	of	of	ADP
easat-6259	513	23	change	change	NOUN
easat-6259	513	24	.	.	PUNCT
easat-6259	514	1	when	when	SCONJ
easat-6259	514	2	the	the	DET
easat-6259	514	3	vehicle	vehicle	NOUN
easat-6259	514	4	is	be	AUX
easat-6259	514	5	accelerating	accelerate	VERB
easat-6259	514	6	off	off	ADP
easat-6259	514	7	centre	centre	NOUN
easat-6259	514	8	,	,	PUNCT
easat-6259	514	9	the	the	DET
easat-6259	514	10	resultant	resultant	NOUN
easat-6259	514	11	action	action	NOUN
easat-6259	514	12	creates	create	VERB
easat-6259	514	13	a	a	DET
easat-6259	514	14	damping	damp	VERB
easat-6259	514	15	effect	effect	NOUN
easat-6259	514	16	,	,	PUNCT
easat-6259	514	17	reducing	reduce	VERB
easat-6259	514	18	corrective	corrective	ADJ
easat-6259	514	19	action	action	NOUN
easat-6259	514	20	to	to	PART
easat-6259	514	21	prevent	prevent	VERB
easat-6259	514	22	overthrow	overthrow	NOUN
easat-6259	514	23	and	and	CCONJ
easat-6259	514	24	vibration	vibration	NOUN
easat-6259	514	25	.	.	PUNCT
easat-6259	515	1	•	•	NUM
easat-6259	515	2	control	control	NOUN
easat-6259	515	3	output	output	NOUN
easat-6259	515	4	:	:	PUNCT
easat-6259	515	5	the	the	DET
easat-6259	515	6	pid	pid	NOUN
easat-6259	515	7	controller	controller	NOUN
easat-6259	515	8	sums	sum	VERB
easat-6259	515	9	the	the	DET
easat-6259	515	10	outputs	output	NOUN
easat-6259	515	11	of	of	ADP
easat-6259	515	12	the	the	DET
easat-6259	515	13	proportional	proportional	ADJ
easat-6259	515	14	,	,	PUNCT
easat-6259	515	15	integral	integral	ADJ
easat-6259	515	16	,	,	PUNCT
easat-6259	515	17	and	and	CCONJ
easat-6259	515	18	derivative	derivative	ADJ
easat-6259	515	19	actions	action	NOUN
easat-6259	515	20	to	to	PART
easat-6259	515	21	compute	compute	VERB
easat-6259	515	22	the	the	DET
easat-6259	515	23	final	final	ADJ
easat-6259	515	24	steering	steering	NOUN
easat-6259	515	25	angle	angle	NOUN
easat-6259	515	26	.	.	PUNCT
easat-6259	516	1	this	this	DET
easat-6259	516	2	steering	steering	NOUN
easat-6259	516	3	angle	angle	NOUN
easat-6259	516	4	is	be	AUX
easat-6259	516	5	then	then	ADV
easat-6259	516	6	applied	apply	VERB
easat-6259	516	7	to	to	ADP
easat-6259	516	8	the	the	DET
easat-6259	516	9	av	av	PROPN
easat-6259	516	10	’s	’s	NOUN
easat-6259	516	11	steering	steering	NOUN
easat-6259	516	12	system	system	NOUN
easat-6259	516	13	to	to	PART
easat-6259	516	14	adjust	adjust	VERB
easat-6259	516	15	its	its	PRON
easat-6259	516	16	direction	direction	NOUN
easat-6259	516	17	between	between	ADP
easat-6259	516	18	lanes	lane	NOUN
easat-6259	516	19	to	to	PART
easat-6259	516	20	make	make	VERB
easat-6259	516	21	lka	lka	NOUN
easat-6259	516	22	for	for	ADP
easat-6259	516	23	ads	ad	NOUN
easat-6259	516	24	.	.	PUNCT
easat-6259	517	1	5.5.2	5.5.2	NUM
easat-6259	517	2	.	.	PUNCT
easat-6259	517	3	importance	importance	NOUN
easat-6259	517	4	of	of	ADP
easat-6259	517	5	pid	pid	NOUN
easat-6259	517	6	control	control	NOUN
easat-6259	517	7	in	in	ADP
easat-6259	517	8	lka	lka	PROPN
easat-6259	517	9	the	the	DET
easat-6259	517	10	pid	pid	NOUN
easat-6259	517	11	control	control	NOUN
easat-6259	517	12	provides	provide	VERB
easat-6259	517	13	smooth	smooth	ADJ
easat-6259	517	14	and	and	CCONJ
easat-6259	517	15	rapid	rapid	ADJ
easat-6259	517	16	steering	steering	NOUN
easat-6259	517	17	adjustments	adjustment	NOUN
easat-6259	517	18	,	,	PUNCT
easat-6259	517	19	which	which	PRON
easat-6259	517	20	are	be	AUX
easat-6259	517	21	critical	critical	ADJ
easat-6259	517	22	for	for	ADP
easat-6259	517	23	keeping	keep	VERB
easat-6259	517	24	the	the	DET
easat-6259	517	25	car	car	NOUN
easat-6259	517	26	in	in	ADP
easat-6259	517	27	the	the	DET
easat-6259	517	28	lane	lane	NOUN
easat-6259	517	29	.	.	PUNCT
easat-6259	518	1	this	this	PRON
easat-6259	518	2	ensures	ensure	VERB
easat-6259	518	3	a	a	DET
easat-6259	518	4	safe	safe	ADJ
easat-6259	518	5	and	and	CCONJ
easat-6259	518	6	comfortable	comfortable	ADJ
easat-6259	518	7	driving	driving	NOUN
easat-6259	518	8	experience	experience	NOUN
easat-6259	518	9	by	by	ADP
easat-6259	518	10	reducing	reduce	VERB
easat-6259	518	11	the	the	DET
easat-6259	518	12	likelihood	likelihood	NOUN
easat-6259	518	13	of	of	ADP
easat-6259	518	14	lane	lane	NOUN
easat-6259	518	15	deviation	deviation	NOUN
easat-6259	518	16	and	and	CCONJ
easat-6259	518	17	collisions	collision	NOUN
easat-6259	518	18	.	.	PUNCT
easat-6259	519	1	the	the	DET
easat-6259	519	2	pid	pid	NOUN
easat-6259	519	3	controller	controller	NOUN
easat-6259	519	4	continuously	continuously	ADV
easat-6259	519	5	reacts	react	VERB
easat-6259	519	6	to	to	PART
easat-6259	519	7	changes	change	NOUN
easat-6259	519	8	in	in	ADP
easat-6259	519	9	the	the	DET
easat-6259	519	10	vehicle	vehicle	NOUN
easat-6259	519	11	's	's	PART
easat-6259	519	12	position	position	NOUN
easat-6259	519	13	and	and	CCONJ
easat-6259	519	14	1318	1318	NUM
easat-6259	519	15	edelweiss	edelweiss	PROPN
easat-6259	519	16	applied	apply	VERB
easat-6259	519	17	science	science	NOUN
easat-6259	519	18	and	and	CCONJ
easat-6259	519	19	technology	technology	NOUN
easat-6259	519	20	issn	issn	PROPN
easat-6259	519	21	:	:	PUNCT
easat-6259	519	22	2576	2576	NUM
easat-6259	519	23	-	-	SYM
easat-6259	519	24	8484	8484	NUM
easat-6259	519	25	vol	vol	NOUN
easat-6259	519	26	.	.	PROPN
easat-6259	520	1	9	9	NUM
easat-6259	520	2	,	,	PUNCT
easat-6259	520	3	no	no	INTJ
easat-6259	520	4	.	.	NOUN
easat-6259	521	1	4	4	NUM
easat-6259	521	2	:	:	SYM
easat-6259	521	3	1300	1300	NUM
easat-6259	521	4	-	-	SYM
easat-6259	521	5	1331	1331	NUM
easat-6259	521	6	,	,	PUNCT
easat-6259	521	7	2025	2025	NUM
easat-6259	521	8	doi	doi	NOUN
easat-6259	521	9	:	:	PUNCT
easat-6259	521	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	521	11	©	©	PROPN
easat-6259	521	12	2025	2025	NUM
easat-6259	521	13	by	by	ADP
easat-6259	521	14	the	the	DET
easat-6259	521	15	authors	author	NOUN
easat-6259	521	16	;	;	PUNCT
easat-6259	521	17	licensee	licensee	PROPN
easat-6259	521	18	learning	learning	NOUN
easat-6259	521	19	gate	gate	VERB
easat-6259	521	20	the	the	DET
easat-6259	521	21	road	road	NOUN
easat-6259	521	22	environment	environment	NOUN
easat-6259	521	23	to	to	PART
easat-6259	521	24	help	help	VERB
easat-6259	521	25	the	the	DET
easat-6259	521	26	av	av	PROPN
easat-6259	521	27	to	to	PART
easat-6259	521	28	be	be	AUX
easat-6259	521	29	between	between	ADP
easat-6259	521	30	the	the	DET
easat-6259	521	31	two	two	NUM
easat-6259	521	32	lines	line	NOUN
easat-6259	521	33	of	of	ADP
easat-6259	521	34	the	the	DET
easat-6259	521	35	lka	lka	NOUN
easat-6259	521	36	,	,	PUNCT
easat-6259	521	37	allowing	allow	VERB
easat-6259	521	38	for	for	ADP
easat-6259	521	39	accurate	accurate	ADJ
easat-6259	521	40	control	control	NOUN
easat-6259	521	41	of	of	ADP
easat-6259	521	42	the	the	DET
easat-6259	521	43	vehicle	vehicle	NOUN
easat-6259	521	44	’s	’s	PART
easat-6259	521	45	trajectory	trajectory	NOUN
easat-6259	521	46	.	.	PUNCT
easat-6259	522	1	5.6	5.6	NUM
easat-6259	522	2	.	.	X
easat-6259	522	3	cnn	cnn	PROPN
easat-6259	522	4	for	for	ADP
easat-6259	522	5	lka	lka	NOUN
easat-6259	522	6	in	in	ADP
easat-6259	522	7	the	the	DET
easat-6259	522	8	era	era	NOUN
easat-6259	522	9	of	of	ADP
easat-6259	522	10	ai	ai	PROPN
easat-6259	522	11	and	and	CCONJ
easat-6259	522	12	dl	dl	PROPN
easat-6259	522	13	,	,	PUNCT
easat-6259	522	14	avs	avs	PROPN
easat-6259	522	15	have	have	AUX
easat-6259	522	16	become	become	VERB
easat-6259	522	17	a	a	DET
easat-6259	522	18	focal	focal	ADJ
easat-6259	522	19	point	point	NOUN
easat-6259	522	20	of	of	ADP
easat-6259	522	21	research	research	NOUN
easat-6259	522	22	and	and	CCONJ
easat-6259	522	23	development	development	NOUN
easat-6259	522	24	.	.	PUNCT
easat-6259	523	1	the	the	DET
easat-6259	523	2	primary	primary	ADJ
easat-6259	523	3	goal	goal	NOUN
easat-6259	523	4	of	of	ADP
easat-6259	523	5	these	these	DET
easat-6259	523	6	efforts	effort	NOUN
easat-6259	523	7	is	be	AUX
easat-6259	523	8	to	to	PART
easat-6259	523	9	enable	enable	VERB
easat-6259	523	10	avs	avs	PROPN
easat-6259	523	11	to	to	PART
easat-6259	523	12	make	make	VERB
easat-6259	523	13	decisions	decision	NOUN
easat-6259	523	14	for	for	ADP
easat-6259	523	15	hazard	hazard	NOUN
easat-6259	523	16	avoidance	avoidance	NOUN
easat-6259	523	17	.	.	PUNCT
easat-6259	524	1	one	one	NUM
easat-6259	524	2	of	of	ADP
easat-6259	524	3	the	the	DET
easat-6259	524	4	most	most	ADV
easat-6259	524	5	critical	critical	ADJ
easat-6259	524	6	approaches	approach	NOUN
easat-6259	524	7	in	in	ADP
easat-6259	524	8	training	training	NOUN
easat-6259	524	9	avs	avs	NOUN
easat-6259	524	10	is	be	AUX
easat-6259	524	11	the	the	DET
easat-6259	524	12	use	use	NOUN
easat-6259	524	13	of	of	ADP
easat-6259	524	14	dl	dl	PROPN
easat-6259	524	15	and	and	CCONJ
easat-6259	524	16	cnns	cnn	VERB
easat-6259	524	17	[	[	X
easat-6259	524	18	35	35	NUM
easat-6259	524	19	]	]	PUNCT
easat-6259	524	20	.	.	PUNCT
easat-6259	525	1	these	these	DET
easat-6259	525	2	techniques	technique	NOUN
easat-6259	525	3	play	play	VERB
easat-6259	525	4	a	a	DET
easat-6259	525	5	crucial	crucial	ADJ
easat-6259	525	6	role	role	NOUN
easat-6259	525	7	in	in	ADP
easat-6259	525	8	ensuring	ensure	VERB
easat-6259	525	9	that	that	SCONJ
easat-6259	525	10	avs	avs	PROPN
easat-6259	525	11	can	can	AUX
easat-6259	525	12	accurately	accurately	ADV
easat-6259	525	13	stay	stay	VERB
easat-6259	525	14	in	in	ADP
easat-6259	525	15	their	their	PRON
easat-6259	525	16	lanes	lane	NOUN
easat-6259	525	17	on	on	ADP
easat-6259	525	18	public	public	ADJ
easat-6259	525	19	roads	road	NOUN
easat-6259	525	20	by	by	ADP
easat-6259	525	21	fully	fully	ADV
easat-6259	525	22	perceiving	perceive	VERB
easat-6259	525	23	the	the	DET
easat-6259	525	24	surrounding	surround	VERB
easat-6259	525	25	environment	environment	NOUN
easat-6259	525	26	and	and	CCONJ
easat-6259	525	27	identifying	identify	VERB
easat-6259	525	28	the	the	DET
easat-6259	525	29	lanes	lane	NOUN
easat-6259	525	30	around	around	ADP
easat-6259	525	31	the	the	DET
easat-6259	525	32	vehicle	vehicle	NOUN
easat-6259	525	33	.	.	PUNCT
easat-6259	526	1	the	the	DET
easat-6259	526	2	cnn	cnn	PROPN
easat-6259	526	3	architecture	architecture	NOUN
easat-6259	526	4	use	use	NOUN
easat-6259	526	5	has	have	VERB
easat-6259	526	6	a	a	DET
easat-6259	526	7	couple	couple	NOUN
easat-6259	526	8	of	of	ADP
easat-6259	526	9	convolutional	convolutional	ADJ
easat-6259	526	10	layers	layer	NOUN
easat-6259	526	11	,	,	PUNCT
easat-6259	526	12	each	each	PRON
easat-6259	526	13	is	be	AUX
easat-6259	526	14	intended	intend	VERB
easat-6259	526	15	to	to	PART
easat-6259	526	16	extract	extract	VERB
easat-6259	526	17	numerous	numerous	ADJ
easat-6259	526	18	feature	feature	NOUN
easat-6259	526	19	levels	level	NOUN
easat-6259	526	20	from	from	ADP
easat-6259	526	21	the	the	DET
easat-6259	526	22	enter	enter	ADJ
easat-6259	526	23	images	image	NOUN
easat-6259	526	24	.	.	PUNCT
easat-6259	527	1	the	the	DET
easat-6259	527	2	series	series	NOUN
easat-6259	527	3	layers	layer	NOUN
easat-6259	527	4	that	that	PRON
easat-6259	527	5	come	come	VERB
easat-6259	527	6	after	after	ADP
easat-6259	527	7	these	these	DET
easat-6259	527	8	decrease	decrease	NOUN
easat-6259	527	9	the	the	DET
easat-6259	527	10	spatial	spatial	ADJ
easat-6259	527	11	dimensions	dimension	NOUN
easat-6259	527	12	of	of	ADP
easat-6259	527	13	the	the	DET
easat-6259	527	14	information	information	NOUN
easat-6259	527	15	while	while	SCONJ
easat-6259	527	16	preserving	preserve	VERB
easat-6259	527	17	the	the	DET
easat-6259	527	18	necessary	necessary	ADJ
easat-6259	527	19	facts	fact	NOUN
easat-6259	527	20	to	to	PART
easat-6259	527	21	make	make	VERB
easat-6259	527	22	the	the	DET
easat-6259	527	23	community	community	NOUN
easat-6259	527	24	more	more	ADV
easat-6259	527	25	computationally	computationally	ADV
easat-6259	527	26	powerful	powerful	ADJ
easat-6259	527	27	.	.	PUNCT
easat-6259	528	1	to	to	PART
easat-6259	528	2	guarantee	guarantee	VERB
easat-6259	528	3	robustness	robustness	NOUN
easat-6259	528	4	and	and	CCONJ
easat-6259	528	5	generalizability	generalizability	NOUN
easat-6259	528	6	,	,	PUNCT
easat-6259	528	7	the	the	DET
easat-6259	528	8	community	community	NOUN
easat-6259	528	9	is	be	AUX
easat-6259	528	10	trained	train	VERB
easat-6259	528	11	on	on	ADP
easat-6259	528	12	an	an	DET
easat-6259	528	13	extensive	extensive	ADJ
easat-6259	528	14	dataset	dataset	NOUN
easat-6259	528	15	of	of	ADP
easat-6259	528	16	road	road	NOUN
easat-6259	528	17	images	image	NOUN
easat-6259	528	18	,	,	PUNCT
easat-6259	528	19	encompassing	encompass	VERB
easat-6259	528	20	a	a	DET
easat-6259	528	21	variety	variety	NOUN
easat-6259	528	22	of	of	ADP
easat-6259	528	23	driving	drive	VERB
easat-6259	528	24	conditions	condition	NOUN
easat-6259	528	25	.	.	PUNCT
easat-6259	529	1	through	through	ADP
easat-6259	529	2	this	this	DET
easat-6259	529	3	training	training	NOUN
easat-6259	529	4	technique	technique	NOUN
easat-6259	529	5	,	,	PUNCT
easat-6259	529	6	the	the	DET
easat-6259	529	7	community	community	NOUN
easat-6259	529	8	's	's	PART
easat-6259	529	9	weights	weight	NOUN
easat-6259	529	10	are	be	AUX
easat-6259	529	11	modified	modify	VERB
easat-6259	529	12	to	to	PART
easat-6259	529	13	reduce	reduce	VERB
easat-6259	529	14	detection	detection	NOUN
easat-6259	529	15	errors	error	NOUN
easat-6259	529	16	and	and	CCONJ
easat-6259	529	17	enhance	enhance	VERB
easat-6259	529	18	the	the	DET
easat-6259	529	19	precision	precision	NOUN
easat-6259	529	20	of	of	ADP
easat-6259	529	21	lane	lane	NOUN
easat-6259	529	22	detection	detection	NOUN
easat-6259	529	23	so	so	ADV
easat-6259	529	24	facilitating	facilitate	VERB
easat-6259	529	25	decision	decision	NOUN
easat-6259	529	26	-	-	PUNCT
easat-6259	529	27	making	making	NOUN
easat-6259	529	28	in	in	ADP
easat-6259	529	29	real	real	ADJ
easat-6259	529	30	-	-	PUNCT
easat-6259	529	31	time	time	NOUN
easat-6259	529	32	based	base	VERB
easat-6259	529	33	on	on	ADP
easat-6259	529	34	sensory	sensory	ADJ
easat-6259	529	35	inputs	input	NOUN
easat-6259	529	36	.	.	PUNCT
easat-6259	530	1	so	so	ADV
easat-6259	530	2	,	,	PUNCT
easat-6259	530	3	cnns	cnn	NOUN
easat-6259	530	4	can	can	AUX
easat-6259	530	5	give	give	VERB
easat-6259	530	6	correct	correct	ADJ
easat-6259	530	7	and	and	CCONJ
easat-6259	530	8	timely	timely	ADJ
easat-6259	530	9	information	information	NOUN
easat-6259	530	10	about	about	ADP
easat-6259	530	11	the	the	DET
easat-6259	530	12	surroundings	surrounding	NOUN
easat-6259	530	13	across	across	ADP
easat-6259	530	14	the	the	DET
easat-6259	530	15	car	car	NOUN
easat-6259	530	16	.	.	PUNCT
easat-6259	531	1	the	the	DET
easat-6259	531	2	structure	structure	NOUN
easat-6259	531	3	of	of	ADP
easat-6259	531	4	our	our	PRON
easat-6259	531	5	proposed	propose	VERB
easat-6259	531	6	cnn	cnn	PROPN
easat-6259	531	7	model	model	NOUN
easat-6259	531	8	consists	consist	VERB
easat-6259	531	9	of	of	ADP
easat-6259	531	10	several	several	ADJ
easat-6259	531	11	convolutional	convolutional	ADJ
easat-6259	531	12	layers	layer	NOUN
easat-6259	531	13	,	,	PUNCT
easat-6259	531	14	each	each	PRON
easat-6259	531	15	followed	follow	VERB
easat-6259	531	16	by	by	ADP
easat-6259	531	17	activation	activation	NOUN
easat-6259	531	18	functions	function	NOUN
easat-6259	531	19	and	and	CCONJ
easat-6259	531	20	pooling	pool	VERB
easat-6259	531	21	layers	layer	NOUN
easat-6259	531	22	.	.	PUNCT
easat-6259	532	1	the	the	DET
easat-6259	532	2	initial	initial	ADJ
easat-6259	532	3	layers	layer	NOUN
easat-6259	532	4	focused	focus	VERB
easat-6259	532	5	on	on	ADP
easat-6259	532	6	identifying	identify	VERB
easat-6259	532	7	low	low	ADJ
easat-6259	532	8	-	-	PUNCT
easat-6259	532	9	level	level	NOUN
easat-6259	532	10	features	feature	NOUN
easat-6259	532	11	,	,	PUNCT
easat-6259	532	12	such	such	ADJ
easat-6259	532	13	as	as	ADP
easat-6259	532	14	beach	beach	NOUN
easat-6259	532	15	textures	texture	NOUN
easat-6259	532	16	,	,	PUNCT
easat-6259	532	17	while	while	SCONJ
easat-6259	532	18	the	the	DET
easat-6259	532	19	deeper	deep	ADJ
easat-6259	532	20	layers	layer	NOUN
easat-6259	532	21	had	have	VERB
easat-6259	532	22	more	more	ADJ
easat-6259	532	23	complex	complex	ADJ
easat-6259	532	24	shapes	shape	NOUN
easat-6259	532	25	,	,	PUNCT
easat-6259	532	26	including	include	VERB
easat-6259	532	27	road	road	NOUN
easat-6259	532	28	markings	marking	NOUN
easat-6259	532	29	,	,	PUNCT
easat-6259	532	30	road	road	NOUN
easat-6259	532	31	boundaries	boundary	NOUN
easat-6259	532	32	and	and	CCONJ
easat-6259	532	33	obstacles	obstacle	NOUN
easat-6259	532	34	.	.	PUNCT
easat-6259	533	1	the	the	DET
easat-6259	533	2	final	final	ADJ
easat-6259	533	3	cnn	cnn	PROPN
easat-6259	533	4	layers	layer	NOUN
easat-6259	533	5	are	be	AUX
easat-6259	533	6	designed	design	VERB
easat-6259	533	7	accordingly	accordingly	ADV
easat-6259	533	8	to	to	PART
easat-6259	533	9	provide	provide	VERB
easat-6259	533	10	an	an	DET
easat-6259	533	11	accurate	accurate	ADJ
easat-6259	533	12	coastal	coastal	ADJ
easat-6259	533	13	map	map	NOUN
easat-6259	533	14	,	,	PUNCT
easat-6259	533	15	which	which	PRON
easat-6259	533	16	highlight	highlight	VERB
easat-6259	533	17	critical	critical	ADJ
easat-6259	533	18	areas	area	NOUN
easat-6259	533	19	of	of	ADP
easat-6259	533	20	need	need	NOUN
easat-6259	533	21	for	for	ADP
easat-6259	533	22	safe	safe	ADJ
easat-6259	533	23	navigation	navigation	NOUN
easat-6259	533	24	.	.	PUNCT
easat-6259	534	1	our	our	PRON
easat-6259	534	2	proposed	propose	VERB
easat-6259	534	3	system	system	NOUN
easat-6259	534	4	utilizes	utilize	VERB
easat-6259	534	5	a	a	DET
easat-6259	534	6	camera	camera	NOUN
easat-6259	534	7	to	to	PART
easat-6259	534	8	capture	capture	VERB
easat-6259	534	9	the	the	DET
easat-6259	534	10	area	area	NOUN
easat-6259	534	11	around	around	ADP
easat-6259	534	12	the	the	DET
easat-6259	534	13	vehicle	vehicle	NOUN
easat-6259	534	14	and	and	CCONJ
easat-6259	534	15	examines	examine	VERB
easat-6259	534	16	the	the	DET
easat-6259	534	17	perception	perception	NOUN
easat-6259	534	18	plans	plan	NOUN
easat-6259	534	19	.	.	PUNCT
easat-6259	535	1	this	this	DET
easat-6259	535	2	approach	approach	NOUN
easat-6259	535	3	is	be	AUX
easat-6259	535	4	embodied	embody	VERB
easat-6259	535	5	in	in	ADP
easat-6259	535	6	the	the	DET
easat-6259	535	7	lka	lka	NOUN
easat-6259	535	8	system	system	NOUN
easat-6259	535	9	.	.	PUNCT
easat-6259	536	1	the	the	DET
easat-6259	536	2	primary	primary	ADJ
easat-6259	536	3	function	function	NOUN
easat-6259	536	4	of	of	ADP
easat-6259	536	5	lka	lka	PROPN
easat-6259	536	6	is	be	AUX
easat-6259	536	7	to	to	PART
easat-6259	536	8	ensure	ensure	VERB
easat-6259	536	9	that	that	SCONJ
easat-6259	536	10	the	the	DET
easat-6259	536	11	vehicle	vehicle	NOUN
easat-6259	536	12	maintains	maintain	VERB
easat-6259	536	13	its	its	PRON
easat-6259	536	14	lane	lane	NOUN
easat-6259	536	15	.	.	PUNCT
easat-6259	537	1	by	by	ADP
easat-6259	537	2	leveraging	leverage	VERB
easat-6259	537	3	advanced	advanced	ADJ
easat-6259	537	4	perception	perception	NOUN
easat-6259	537	5	technologies	technology	NOUN
easat-6259	537	6	,	,	PUNCT
easat-6259	537	7	the	the	DET
easat-6259	537	8	vehicle	vehicle	NOUN
easat-6259	537	9	can	can	AUX
easat-6259	537	10	detect	detect	VERB
easat-6259	537	11	and	and	CCONJ
easat-6259	537	12	follow	follow	VERB
easat-6259	537	13	lane	lane	NOUN
easat-6259	537	14	markings	marking	NOUN
easat-6259	537	15	,	,	PUNCT
easat-6259	537	16	thus	thus	ADV
easat-6259	537	17	maintaining	maintain	VERB
easat-6259	537	18	its	its	PRON
easat-6259	537	19	path	path	NOUN
easat-6259	537	20	and	and	CCONJ
easat-6259	537	21	avoiding	avoid	VERB
easat-6259	537	22	unintended	unintended	ADJ
easat-6259	537	23	lane	lane	NOUN
easat-6259	537	24	departures	departure	NOUN
easat-6259	537	25	.	.	PUNCT
easat-6259	538	1	as	as	ADP
easat-6259	538	2	the	the	DET
easat-6259	538	3	depth	depth	NOUN
easat-6259	538	4	of	of	ADP
easat-6259	538	5	a	a	DET
easat-6259	538	6	cnn	cnn	PROPN
easat-6259	538	7	increases	increase	NOUN
easat-6259	538	8	,	,	PUNCT
easat-6259	538	9	elaborated	elaborate	VERB
easat-6259	538	10	in	in	ADP
easat-6259	538	11	this	this	DET
easat-6259	538	12	structure	structure	NOUN
easat-6259	538	13	,	,	PUNCT
easat-6259	538	14	it	it	PRON
easat-6259	538	15	gains	gain	VERB
easat-6259	538	16	the	the	DET
easat-6259	538	17	capacity	capacity	NOUN
easat-6259	538	18	of	of	ADP
easat-6259	538	19	learning	learn	VERB
easat-6259	538	20	many	many	ADJ
easat-6259	538	21	features	feature	NOUN
easat-6259	538	22	and	and	CCONJ
easat-6259	538	23	patterns	pattern	NOUN
easat-6259	538	24	of	of	ADP
easat-6259	538	25	different	different	ADJ
easat-6259	538	26	levels	level	NOUN
easat-6259	538	27	of	of	ADP
easat-6259	538	28	hierarchy	hierarchy	NOUN
easat-6259	538	29	.	.	PUNCT
easat-6259	539	1	in	in	ADP
easat-6259	539	2	the	the	DET
easat-6259	539	3	first	first	ADJ
easat-6259	539	4	layers	layer	NOUN
easat-6259	539	5	,	,	PUNCT
easat-6259	539	6	the	the	DET
easat-6259	539	7	structure	structure	NOUN
easat-6259	539	8	finds	find	VERB
easat-6259	539	9	pragmatic	pragmatic	ADJ
easat-6259	539	10	primitive	primitive	ADJ
easat-6259	539	11	geometries	geometry	NOUN
easat-6259	539	12	within	within	ADP
easat-6259	539	13	a	a	DET
easat-6259	539	14	picture	picture	NOUN
easat-6259	539	15	including	include	VERB
easat-6259	539	16	edges	edge	NOUN
easat-6259	539	17	,	,	PUNCT
easat-6259	539	18	possible	possible	ADJ
easat-6259	539	19	simple	simple	ADJ
easat-6259	539	20	textures	texture	NOUN
easat-6259	539	21	and	and	CCONJ
easat-6259	539	22	the	the	DET
easat-6259	539	23	like	like	ADJ
easat-6259	539	24	.	.	PUNCT
easat-6259	540	1	as	as	SCONJ
easat-6259	540	2	this	this	DET
easat-6259	540	3	data	data	NOUN
easat-6259	540	4	enters	enter	VERB
easat-6259	540	5	the	the	DET
easat-6259	540	6	deeper	deep	ADJ
easat-6259	540	7	layers	layer	NOUN
easat-6259	540	8	of	of	ADP
easat-6259	540	9	the	the	DET
easat-6259	540	10	network	network	NOUN
easat-6259	540	11	,	,	PUNCT
easat-6259	540	12	it	it	PRON
easat-6259	540	13	starts	start	VERB
easat-6259	540	14	to	to	PART
easat-6259	540	15	recognize	recognize	VERB
easat-6259	540	16	increasingly	increasingly	ADV
easat-6259	540	17	higher	high	ADJ
easat-6259	540	18	levels	level	NOUN
easat-6259	540	19	of	of	ADP
easat-6259	540	20	patterns	pattern	NOUN
easat-6259	540	21	such	such	ADJ
easat-6259	540	22	as	as	ADP
easat-6259	540	23	shapes	shape	NOUN
easat-6259	540	24	and	and	CCONJ
easat-6259	540	25	forms	form	NOUN
easat-6259	540	26	of	of	ADP
easat-6259	540	27	objects	object	NOUN
easat-6259	540	28	encountered	encounter	VERB
easat-6259	540	29	.	.	PUNCT
easat-6259	541	1	for	for	ADP
easat-6259	541	2	instance	instance	NOUN
easat-6259	541	3	,	,	PUNCT
easat-6259	541	4	the	the	DET
easat-6259	541	5	initial	initial	ADJ
easat-6259	541	6	layers	layer	NOUN
easat-6259	541	7	might	might	AUX
easat-6259	541	8	identify	identify	VERB
easat-6259	541	9	the	the	DET
easat-6259	541	10	edges	edge	NOUN
easat-6259	541	11	of	of	ADP
easat-6259	541	12	objects	object	NOUN
easat-6259	541	13	,	,	PUNCT
easat-6259	541	14	while	while	SCONJ
easat-6259	541	15	later	later	ADJ
easat-6259	541	16	layers	layer	NOUN
easat-6259	541	17	might	might	AUX
easat-6259	541	18	see	see	VERB
easat-6259	541	19	further	further	ADJ
easat-6259	541	20	details	detail	NOUN
easat-6259	541	21	such	such	ADJ
easat-6259	541	22	as	as	ADP
easat-6259	541	23	the	the	DET
easat-6259	541	24	leaves	leave	NOUN
easat-6259	541	25	that	that	PRON
easat-6259	541	26	compose	compose	VERB
easat-6259	541	27	the	the	DET
easat-6259	541	28	trees	tree	NOUN
easat-6259	541	29	or	or	CCONJ
easat-6259	541	30	the	the	DET
easat-6259	541	31	individual	individual	ADJ
easat-6259	541	32	elements	element	NOUN
easat-6259	541	33	of	of	ADP
easat-6259	541	34	a	a	DET
easat-6259	541	35	car	car	NOUN
easat-6259	541	36	’s	’s	PART
easat-6259	541	37	tires	tire	NOUN
easat-6259	541	38	.	.	PUNCT
easat-6259	542	1	this	this	DET
easat-6259	542	2	hierarchical	hierarchical	ADJ
easat-6259	542	3	feature	feature	NOUN
easat-6259	542	4	extraction	extraction	NOUN
easat-6259	542	5	makes	make	VERB
easat-6259	542	6	cnns	cnn	NOUN
easat-6259	542	7	well	well	ADV
easat-6259	542	8	suited	suit	VERB
easat-6259	542	9	for	for	ADP
easat-6259	542	10	application	application	NOUN
easat-6259	542	11	in	in	ADP
easat-6259	542	12	autonomy	autonomy	NOUN
easat-6259	542	13	of	of	ADP
easat-6259	542	14	vehicles	vehicle	NOUN
easat-6259	542	15	,	,	PUNCT
easat-6259	542	16	especially	especially	ADV
easat-6259	542	17	avs	avs	PROPN
easat-6259	542	18	because	because	SCONJ
easat-6259	542	19	a	a	DET
easat-6259	542	20	vehicle	vehicle	NOUN
easat-6259	542	21	has	have	VERB
easat-6259	542	22	to	to	PART
easat-6259	542	23	understand	understand	VERB
easat-6259	542	24	the	the	DET
easat-6259	542	25	environment	environment	NOUN
easat-6259	542	26	as	as	SCONJ
easat-6259	542	27	it	it	PRON
easat-6259	542	28	tries	try	VERB
easat-6259	542	29	to	to	PART
easat-6259	542	30	interpret	interpret	VERB
easat-6259	542	31	what	what	PRON
easat-6259	542	32	it	it	PRON
easat-6259	542	33	sees	see	VERB
easat-6259	542	34	.	.	PUNCT
easat-6259	543	1	by	by	ADP
easat-6259	543	2	capturing	capture	VERB
easat-6259	543	3	and	and	CCONJ
easat-6259	543	4	processing	process	VERB
easat-6259	543	5	such	such	ADJ
easat-6259	543	6	segregated	segregated	ADJ
easat-6259	543	7	information	information	NOUN
easat-6259	543	8	,	,	PUNCT
easat-6259	543	9	cnns	cnn	NOUN
easat-6259	543	10	enable	enable	VERB
easat-6259	543	11	featured	feature	VERB
easat-6259	543	12	recognition	recognition	NOUN
easat-6259	543	13	and	and	CCONJ
easat-6259	543	14	perception	perception	NOUN
easat-6259	543	15	of	of	ADP
easat-6259	543	16	the	the	DET
easat-6259	543	17	environment	environment	NOUN
easat-6259	543	18	by	by	ADP
easat-6259	543	19	the	the	DET
easat-6259	543	20	avs	avs	NOUN
easat-6259	543	21	,	,	PUNCT
easat-6259	543	22	proper	proper	ADJ
easat-6259	543	23	identification	identification	NOUN
easat-6259	543	24	of	of	ADP
easat-6259	543	25	objects	object	NOUN
easat-6259	543	26	within	within	ADP
easat-6259	543	27	this	this	DET
easat-6259	543	28	environment	environment	NOUN
easat-6259	543	29	as	as	ADV
easat-6259	543	30	well	well	ADV
easat-6259	543	31	as	as	ADP
easat-6259	543	32	balanced	balanced	ADJ
easat-6259	543	33	and	and	CCONJ
easat-6259	543	34	informed	inform	VERB
easat-6259	543	35	driving	driving	NOUN
easat-6259	543	36	decisions	decision	NOUN
easat-6259	543	37	within	within	ADP
easat-6259	543	38	this	this	DET
easat-6259	543	39	environment	environment	NOUN
easat-6259	543	40	.	.	PUNCT
easat-6259	544	1	this	this	DET
easat-6259	544	2	capability	capability	NOUN
easat-6259	544	3	makes	make	VERB
easat-6259	544	4	cnns	cnn	VERB
easat-6259	544	5	a	a	DET
easat-6259	544	6	preferred	preferred	ADJ
easat-6259	544	7	algorithm	algorithm	NOUN
easat-6259	544	8	in	in	ADP
easat-6259	544	9	the	the	DET
easat-6259	544	10	creation	creation	NOUN
easat-6259	544	11	of	of	ADP
easat-6259	544	12	av	av	PROPN
easat-6259	544	13	inventions	invention	NOUN
easat-6259	544	14	since	since	SCONJ
easat-6259	544	15	most	most	ADJ
easat-6259	544	16	organizations	organization	NOUN
easat-6259	544	17	would	would	AUX
easat-6259	544	18	prefer	prefer	VERB
easat-6259	544	19	to	to	PART
easat-6259	544	20	deal	deal	VERB
easat-6259	544	21	with	with	ADP
easat-6259	544	22	a	a	DET
easat-6259	544	23	reliable	reliable	ADJ
easat-6259	544	24	and	and	CCONJ
easat-6259	544	25	dependable	dependable	ADJ
easat-6259	544	26	algorithm	algorithm	NOUN
easat-6259	544	27	[	[	X
easat-6259	544	28	36	36	NUM
easat-6259	544	29	]	]	PUNCT
easat-6259	544	30	.	.	PUNCT
easat-6259	545	1	5.7	5.7	NUM
easat-6259	545	2	.	.	X
easat-6259	545	3	cnn	cnn	PROPN
easat-6259	545	4	for	for	ADP
easat-6259	545	5	edge	edge	NOUN
easat-6259	545	6	detection	detection	NOUN
easat-6259	545	7	the	the	DET
easat-6259	545	8	cnn	cnn	PROPN
easat-6259	545	9	layers	layer	NOUN
easat-6259	545	10	are	be	AUX
easat-6259	545	11	built	build	VERB
easat-6259	545	12	on	on	ADP
easat-6259	545	13	the	the	DET
easat-6259	545	14	convolutional	convolutional	ADJ
easat-6259	545	15	layer	layer	NOUN
easat-6259	545	16	,	,	PUNCT
easat-6259	545	17	which	which	PRON
easat-6259	545	18	scans	scan	VERB
easat-6259	545	19	the	the	DET
easat-6259	545	20	input	input	NOUN
easat-6259	545	21	image	image	NOUN
easat-6259	545	22	and	and	CCONJ
easat-6259	545	23	generates	generate	VERB
easat-6259	545	24	feature	feature	NOUN
easat-6259	545	25	maps	map	NOUN
easat-6259	545	26	using	use	VERB
easat-6259	545	27	convolutional	convolutional	ADJ
easat-6259	545	28	filters	filter	NOUN
easat-6259	545	29	(	(	PUNCT
easat-6259	545	30	kernels	kernel	NOUN
easat-6259	545	31	)	)	PUNCT
easat-6259	546	1	[	[	X
easat-6259	546	2	37	37	NUM
easat-6259	546	3	]	]	PUNCT
easat-6259	546	4	.	.	PUNCT
easat-6259	547	1	the	the	DET
easat-6259	547	2	community	community	NOUN
easat-6259	547	3	’s	’s	PART
easat-6259	547	4	capability	capability	NOUN
easat-6259	547	5	to	to	PART
easat-6259	547	6	precisely	precisely	ADV
easat-6259	547	7	perceive	perceive	ADJ
easat-6259	547	8	edges	edge	NOUN
easat-6259	547	9	below	below	ADP
easat-6259	547	10	a	a	DET
easat-6259	547	11	range	range	NOUN
easat-6259	547	12	of	of	ADP
easat-6259	547	13	situations	situation	NOUN
easat-6259	547	14	,	,	PUNCT
easat-6259	547	15	which	which	PRON
easat-6259	547	16	includes	include	VERB
easat-6259	547	17	various	various	ADJ
easat-6259	547	18	lighting	lighting	NOUN
easat-6259	547	19	,	,	PUNCT
easat-6259	547	20	climate	climate	NOUN
easat-6259	547	21	,	,	PUNCT
easat-6259	547	22	and	and	CCONJ
easat-6259	547	23	sorts	sort	NOUN
easat-6259	547	24	of	of	ADP
easat-6259	547	25	roads	road	NOUN
easat-6259	547	26	,	,	PUNCT
easat-6259	547	27	ensures	ensure	VERB
easat-6259	547	28	that	that	SCONJ
easat-6259	547	29	self	self	NOUN
easat-6259	547	30	-	-	PUNCT
easat-6259	547	31	driving	driving	NOUN
easat-6259	547	32	can	can	AUX
easat-6259	547	33	depend	depend	VERB
easat-6259	547	34	upon	upon	SCONJ
easat-6259	547	35	correct	correct	ADJ
easat-6259	547	36	records	record	NOUN
easat-6259	547	37	and	and	CCONJ
easat-6259	547	38	selections	selection	NOUN
easat-6259	547	39	.	.	PUNCT
easat-6259	548	1	below	below	ADV
easat-6259	548	2	is	be	AUX
easat-6259	548	3	an	an	DET
easat-6259	548	4	explanation	explanation	NOUN
easat-6259	548	5	of	of	ADP
easat-6259	548	6	how	how	SCONJ
easat-6259	548	7	this	this	DET
easat-6259	548	8	process	process	NOUN
easat-6259	548	9	works	work	VERB
easat-6259	548	10	:	:	PUNCT
easat-6259	548	11	•	•	NUM
easat-6259	548	12	convolution	convolution	NOUN
easat-6259	548	13	operation	operation	NOUN
easat-6259	548	14	:	:	PUNCT
easat-6259	548	15	a	a	DET
easat-6259	548	16	convolutional	convolutional	ADJ
easat-6259	548	17	filter	filter	NOUN
easat-6259	548	18	(	(	PUNCT
easat-6259	548	19	a	a	DET
easat-6259	548	20	small	small	ADJ
easat-6259	548	21	weight	weight	NOUN
easat-6259	548	22	matrix	matrix	NOUN
easat-6259	548	23	)	)	PUNCT
easat-6259	548	24	is	be	AUX
easat-6259	548	25	applied	apply	VERB
easat-6259	548	26	to	to	ADP
easat-6259	548	27	the	the	DET
easat-6259	548	28	input	input	NOUN
easat-6259	548	29	image	image	NOUN
easat-6259	548	30	.	.	PUNCT
easat-6259	549	1	at	at	ADP
easat-6259	549	2	each	each	DET
easat-6259	549	3	point	point	NOUN
easat-6259	549	4	,	,	PUNCT
easat-6259	549	5	the	the	DET
easat-6259	549	6	filter	filter	NOUN
easat-6259	549	7	conducts	conduct	VERB
easat-6259	549	8	element	element	ADJ
easat-6259	549	9	-	-	ADJ
easat-6259	549	10	wise	wise	ADJ
easat-6259	549	11	multiplication	multiplication	NOUN
easat-6259	549	12	and	and	CCONJ
easat-6259	549	13	adds	add	VERB
easat-6259	549	14	the	the	DET
easat-6259	549	15	results	result	NOUN
easat-6259	549	16	,	,	PUNCT
easat-6259	549	17	producing	produce	VERB
easat-6259	549	18	a	a	DET
easat-6259	549	19	single	single	ADJ
easat-6259	549	20	value	value	NOUN
easat-6259	549	21	in	in	ADP
easat-6259	549	22	the	the	DET
easat-6259	549	23	output	output	NOUN
easat-6259	549	24	feature	feature	NOUN
easat-6259	549	25	map	map	NOUN
easat-6259	549	26	.	.	PUNCT
easat-6259	550	1	this	this	DET
easat-6259	550	2	operation	operation	NOUN
easat-6259	550	3	is	be	AUX
easat-6259	550	4	repeated	repeat	VERB
easat-6259	550	5	for	for	ADP
easat-6259	550	6	full	full	ADJ
easat-6259	550	7	image	image	NOUN
easat-6259	550	8	.	.	PUNCT
easat-6259	551	1	1319	1319	NUM
easat-6259	551	2	edelweiss	edelweiss	PROPN
easat-6259	551	3	applied	apply	VERB
easat-6259	551	4	science	science	NOUN
easat-6259	551	5	and	and	CCONJ
easat-6259	551	6	technology	technology	NOUN
easat-6259	551	7	issn	issn	PROPN
easat-6259	551	8	:	:	PUNCT
easat-6259	551	9	2576	2576	NUM
easat-6259	551	10	-	-	SYM
easat-6259	551	11	8484	8484	NUM
easat-6259	551	12	vol	vol	NOUN
easat-6259	551	13	.	.	PROPN
easat-6259	552	1	9	9	NUM
easat-6259	552	2	,	,	PUNCT
easat-6259	552	3	no	no	INTJ
easat-6259	552	4	.	.	NOUN
easat-6259	553	1	4	4	NUM
easat-6259	553	2	:	:	SYM
easat-6259	553	3	1300	1300	NUM
easat-6259	553	4	-	-	SYM
easat-6259	553	5	1331	1331	NUM
easat-6259	553	6	,	,	PUNCT
easat-6259	553	7	2025	2025	NUM
easat-6259	553	8	doi	doi	NOUN
easat-6259	553	9	:	:	PUNCT
easat-6259	553	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	553	11	©	©	PROPN
easat-6259	553	12	2025	2025	NUM
easat-6259	553	13	by	by	ADP
easat-6259	553	14	the	the	DET
easat-6259	553	15	authors	author	NOUN
easat-6259	553	16	;	;	PUNCT
easat-6259	553	17	licensee	licensee	PROPN
easat-6259	553	18	learning	learning	NOUN
easat-6259	553	19	gate	gate	NOUN
easat-6259	553	20	•	•	NOUN
easat-6259	553	21	edge	edge	NOUN
easat-6259	553	22	detection	detection	NOUN
easat-6259	553	23	filters	filter	NOUN
easat-6259	553	24	:	:	PUNCT
easat-6259	553	25	filters	filter	NOUN
easat-6259	553	26	are	be	AUX
easat-6259	553	27	intended	intend	VERB
easat-6259	553	28	to	to	PART
easat-6259	553	29	respond	respond	VERB
easat-6259	553	30	aggressively	aggressively	ADV
easat-6259	553	31	to	to	ADP
easat-6259	553	32	regions	region	NOUN
easat-6259	553	33	with	with	ADP
easat-6259	553	34	a	a	DET
easat-6259	553	35	high	high	ADJ
easat-6259	553	36	intensity	intensity	NOUN
easat-6259	553	37	contrast	contrast	NOUN
easat-6259	553	38	,	,	PUNCT
easat-6259	553	39	such	such	ADJ
easat-6259	553	40	as	as	ADP
easat-6259	553	41	edges	edge	NOUN
easat-6259	553	42	.	.	PUNCT
easat-6259	554	1	examples	example	NOUN
easat-6259	554	2	of	of	ADP
easat-6259	554	3	such	such	ADJ
easat-6259	554	4	filters	filter	NOUN
easat-6259	554	5	include	include	VERB
easat-6259	554	6	the	the	DET
easat-6259	554	7	sobel	sobel	PROPN
easat-6259	554	8	filter	filter	NOUN
easat-6259	554	9	.	.	PUNCT
easat-6259	555	1	•	•	NUM
easat-6259	555	2	figure	figure	NOUN
easat-6259	555	3	8	8	NUM
easat-6259	555	4	.	.	PUNCT
easat-6259	556	1	bird	bird	PROPN
easat-6259	556	2	’s	’s	PART
easat-6259	556	3	eye	eye	NOUN
easat-6259	556	4	view	view	NOUN
easat-6259	556	5	for	for	ADP
easat-6259	556	6	ads	ad	NOUN
easat-6259	556	7	.	.	PUNCT
easat-6259	557	1	•	•	NUM
easat-6259	557	2	activation	activation	NOUN
easat-6259	557	3	functions	function	NOUN
easat-6259	557	4	:	:	PUNCT
easat-6259	557	5	after	after	ADP
easat-6259	557	6	the	the	DET
easat-6259	557	7	convolution	convolution	NOUN
easat-6259	557	8	process	process	NOUN
easat-6259	557	9	,	,	PUNCT
easat-6259	557	10	the	the	DET
easat-6259	557	11	result	result	NOUN
easat-6259	557	12	is	be	AUX
easat-6259	557	13	sent	send	VERB
easat-6259	557	14	through	through	ADP
easat-6259	557	15	an	an	DET
easat-6259	557	16	activation	activation	NOUN
easat-6259	557	17	function	function	NOUN
easat-6259	557	18	,	,	PUNCT
easat-6259	557	19	often	often	ADV
easat-6259	557	20	known	know	VERB
easat-6259	557	21	as	as	ADP
easat-6259	557	22	the	the	DET
easat-6259	557	23	rectified	rectified	ADJ
easat-6259	557	24	linear	linear	NOUN
easat-6259	557	25	unit	unit	NOUN
easat-6259	557	26	,	,	PUNCT
easat-6259	557	27	introducing	introduce	VERB
easat-6259	557	28	nonlinearity	nonlinearity	NOUN
easat-6259	557	29	into	into	ADP
easat-6259	557	30	model	model	NOUN
easat-6259	557	31	.	.	PUNCT
easat-6259	558	1	•	•	NOUN
easat-6259	558	2	activation	activation	NOUN
easat-6259	558	3	:	:	PUNCT
easat-6259	558	4	this	this	PRON
easat-6259	558	5	converts	convert	VERB
easat-6259	558	6	all	all	DET
easat-6259	558	7	negative	negative	ADJ
easat-6259	558	8	values	value	NOUN
easat-6259	558	9	in	in	ADP
easat-6259	558	10	the	the	DET
easat-6259	558	11	feature	feature	NOUN
easat-6259	558	12	map	map	NOUN
easat-6259	558	13	to	to	ADP
easat-6259	558	14	zero	zero	NUM
easat-6259	558	15	,	,	PUNCT
easat-6259	558	16	allowing	allow	VERB
easat-6259	558	17	the	the	DET
easat-6259	558	18	model	model	NOUN
easat-6259	558	19	to	to	PART
easat-6259	558	20	learn	learn	VERB
easat-6259	558	21	complicated	complicated	ADJ
easat-6259	558	22	patterns	pattern	NOUN
easat-6259	558	23	and	and	CCONJ
easat-6259	558	24	features	feature	NOUN
easat-6259	558	25	by	by	ADP
easat-6259	558	26	stacking	stack	VERB
easat-6259	558	27	many	many	ADJ
easat-6259	558	28	layers	layer	NOUN
easat-6259	558	29	.	.	PUNCT
easat-6259	559	1	•	•	NOUN
easat-6259	559	2	pooling	pool	VERB
easat-6259	559	3	layers	layer	NOUN
easat-6259	559	4	:	:	PUNCT
easat-6259	559	5	these	these	PRON
easat-6259	559	6	minimize	minimize	VERB
easat-6259	559	7	the	the	DET
easat-6259	559	8	spatial	spatial	ADJ
easat-6259	559	9	dimensions	dimension	NOUN
easat-6259	559	10	of	of	ADP
easat-6259	559	11	feature	feature	NOUN
easat-6259	559	12	maps	map	NOUN
easat-6259	559	13	while	while	SCONJ
easat-6259	559	14	keeping	keep	VERB
easat-6259	559	15	the	the	DET
easat-6259	559	16	most	most	ADV
easat-6259	559	17	critical	critical	ADJ
easat-6259	559	18	data	datum	NOUN
easat-6259	559	19	.	.	PUNCT
easat-6259	560	1	this	this	DET
easat-6259	560	2	method	method	NOUN
easat-6259	560	3	is	be	AUX
easat-6259	560	4	known	know	VERB
easat-6259	560	5	as	as	ADP
easat-6259	560	6	down	down	ADV
easat-6259	560	7	sampling	sample	VERB
easat-6259	560	8	or	or	CCONJ
easat-6259	560	9	subsampling	subsample	VERB
easat-6259	560	10	.	.	PUNCT
easat-6259	561	1	•	•	NUM
easat-6259	561	2	max	max	PROPN
easat-6259	561	3	pooling	pooling	NOUN
easat-6259	561	4	:	:	PUNCT
easat-6259	561	5	it	it	PRON
easat-6259	561	6	is	be	AUX
easat-6259	561	7	the	the	DET
easat-6259	561	8	most	most	ADV
easat-6259	561	9	frequent	frequent	ADJ
easat-6259	561	10	method	method	NOUN
easat-6259	561	11	that	that	PRON
easat-6259	561	12	extracts	extract	VERB
easat-6259	561	13	the	the	DET
easat-6259	561	14	maximum	maximum	ADJ
easat-6259	561	15	value	value	NOUN
easat-6259	561	16	from	from	ADP
easat-6259	561	17	each	each	DET
easat-6259	561	18	region	region	NOUN
easat-6259	561	19	of	of	ADP
easat-6259	561	20	the	the	DET
easat-6259	561	21	feature	feature	NOUN
easat-6259	561	22	map	map	NOUN
easat-6259	561	23	,	,	PUNCT
easat-6259	561	24	highlighting	highlight	VERB
easat-6259	561	25	the	the	DET
easat-6259	561	26	most	most	ADV
easat-6259	561	27	important	important	ADJ
easat-6259	561	28	qualities	quality	NOUN
easat-6259	561	29	(	(	PUNCT
easat-6259	561	30	such	such	ADJ
easat-6259	561	31	as	as	ADP
easat-6259	561	32	edges	edge	NOUN
easat-6259	561	33	)	)	PUNCT
easat-6259	561	34	while	while	SCONJ
easat-6259	561	35	reducing	reduce	VERB
easat-6259	561	36	computational	computational	ADJ
easat-6259	561	37	complexity	complexity	NOUN
easat-6259	561	38	.	.	PUNCT
easat-6259	562	1	•	•	NUM
easat-6259	562	2	hierarchical	hierarchical	ADJ
easat-6259	562	3	feature	feature	NOUN
easat-6259	562	4	learning	learning	NOUN
easat-6259	562	5	:	:	PUNCT
easat-6259	562	6	as	as	SCONJ
easat-6259	562	7	the	the	DET
easat-6259	562	8	image	image	NOUN
easat-6259	562	9	moves	move	VERB
easat-6259	562	10	through	through	ADP
easat-6259	562	11	many	many	ADJ
easat-6259	562	12	convolutional	convolutional	ADJ
easat-6259	562	13	and	and	CCONJ
easat-6259	562	14	pooling	pool	VERB
easat-6259	562	15	layers	layer	NOUN
easat-6259	562	16	,	,	PUNCT
easat-6259	562	17	the	the	DET
easat-6259	562	18	cnn	cnn	PROPN
easat-6259	562	19	learns	learn	VERB
easat-6259	562	20	hierarchical	hierarchical	ADJ
easat-6259	562	21	characteristics	characteristic	NOUN
easat-6259	562	22	.	.	PUNCT
easat-6259	563	1	•	•	NUM
easat-6259	563	2	early	early	ADJ
easat-6259	563	3	layers	layer	NOUN
easat-6259	563	4	:	:	PUNCT
easat-6259	563	5	these	these	DET
easat-6259	563	6	layers	layer	NOUN
easat-6259	563	7	usually	usually	ADV
easat-6259	563	8	detect	detect	VERB
easat-6259	563	9	low	low	ADJ
easat-6259	563	10	-	-	PUNCT
easat-6259	563	11	level	level	NOUN
easat-6259	563	12	features	feature	NOUN
easat-6259	563	13	like	like	ADP
easat-6259	563	14	edges	edge	NOUN
easat-6259	563	15	,	,	PUNCT
easat-6259	563	16	lines	line	NOUN
easat-6259	563	17	,	,	PUNCT
easat-6259	563	18	and	and	CCONJ
easat-6259	563	19	corners	corner	NOUN
easat-6259	563	20	.	.	PUNCT
easat-6259	564	1	intermediate	intermediate	ADJ
easat-6259	564	2	layers	layer	NOUN
easat-6259	564	3	integrate	integrate	VERB
easat-6259	564	4	the	the	DET
easat-6259	564	5	low	low	ADJ
easat-6259	564	6	-	-	PUNCT
easat-6259	564	7	level	level	NOUN
easat-6259	564	8	information	information	NOUN
easat-6259	564	9	to	to	PART
easat-6259	564	10	recognize	recognize	VERB
easat-6259	564	11	more	more	ADJ
easat-6259	564	12	complex	complex	ADJ
easat-6259	564	13	patterns	pattern	NOUN
easat-6259	564	14	and	and	CCONJ
easat-6259	564	15	forms	form	NOUN
easat-6259	564	16	.	.	PUNCT
easat-6259	565	1	•	•	NUM
easat-6259	565	2	deeper	deep	ADJ
easat-6259	565	3	layers	layer	NOUN
easat-6259	565	4	:	:	PUNCT
easat-6259	565	5	they	they	PRON
easat-6259	565	6	identify	identify	VERB
easat-6259	565	7	high	high	ADJ
easat-6259	565	8	-	-	PUNCT
easat-6259	565	9	level	level	NOUN
easat-6259	565	10	,	,	PUNCT
easat-6259	565	11	abstract	abstract	ADJ
easat-6259	565	12	features	feature	VERB
easat-6259	565	13	such	such	ADJ
easat-6259	565	14	as	as	ADP
easat-6259	565	15	individual	individual	ADJ
easat-6259	565	16	things	thing	NOUN
easat-6259	565	17	or	or	CCONJ
easat-6259	565	18	sections	section	NOUN
easat-6259	565	19	of	of	ADP
easat-6259	565	20	objects	object	NOUN
easat-6259	565	21	.	.	PUNCT
easat-6259	566	1	6	6	NUM
easat-6259	566	2	.	.	X
easat-6259	566	3	simulation	simulation	NOUN
easat-6259	566	4	and	and	CCONJ
easat-6259	566	5	results	result	NOUN
easat-6259	566	6	using	use	VERB
easat-6259	566	7	modern	modern	ADJ
easat-6259	566	8	hardware	hardware	NOUN
easat-6259	566	9	accelerators	accelerator	NOUN
easat-6259	566	10	,	,	PUNCT
easat-6259	566	11	inclusive	inclusive	ADJ
easat-6259	566	12	of	of	ADP
easat-6259	566	13	graphics	graphic	NOUN
easat-6259	566	14	processing	processing	NOUN
easat-6259	566	15	units	unit	NOUN
easat-6259	566	16	(	(	PUNCT
easat-6259	566	17	gpus	gpus	PROPN
easat-6259	566	18	)	)	PUNCT
easat-6259	566	19	,	,	PUNCT
easat-6259	566	20	which	which	PRON
easat-6259	566	21	dramatically	dramatically	ADV
easat-6259	566	22	speed	speed	VERB
easat-6259	566	23	up	up	ADP
easat-6259	566	24	the	the	DET
easat-6259	566	25	computation	computation	NOUN
easat-6259	566	26	,	,	PUNCT
easat-6259	566	27	will	will	AUX
easat-6259	566	28	increase	increase	VERB
easat-6259	566	29	the	the	DET
easat-6259	566	30	cnn	cnn	PROPN
easat-6259	566	31	’s	’s	PART
easat-6259	566	32	capacity	capacity	NOUN
easat-6259	566	33	for	for	ADP
easat-6259	566	34	real	real	ADJ
easat-6259	566	35	-	-	PUNCT
easat-6259	566	36	time	time	NOUN
easat-6259	566	37	processing	processing	NOUN
easat-6259	566	38	.	.	PUNCT
easat-6259	567	1	as	as	ADP
easat-6259	567	2	a	a	DET
easat-6259	567	3	result	result	NOUN
easat-6259	567	4	,	,	PUNCT
easat-6259	567	5	the	the	DET
easat-6259	567	6	automobile	automobile	NOUN
easat-6259	567	7	can	can	AUX
easat-6259	567	8	react	react	VERB
easat-6259	567	9	fast	fast	ADV
easat-6259	567	10	to	to	ADP
easat-6259	567	11	dynamic	dynamic	ADJ
easat-6259	567	12	adjustments	adjustment	NOUN
easat-6259	567	13	consisting	consist	VERB
easat-6259	567	14	of	of	ADP
easat-6259	567	15	cnns	cnn	NOUN
easat-6259	567	16	with	with	ADP
easat-6259	567	17	additional	additional	ADJ
easat-6259	567	18	computational	computational	ADJ
easat-6259	567	19	and	and	CCONJ
easat-6259	567	20	sensory	sensory	ADJ
easat-6259	567	21	.	.	PUNCT
easat-6259	568	1	in	in	ADP
easat-6259	568	2	our	our	PRON
easat-6259	568	3	work	work	NOUN
easat-6259	568	4	,	,	PUNCT
easat-6259	568	5	training	train	VERB
easat-6259	568	6	deep	deep	ADJ
easat-6259	568	7	cnns	cnn	NOUN
easat-6259	568	8	required	require	VERB
easat-6259	568	9	significant	significant	ADJ
easat-6259	568	10	processing	processing	NOUN
easat-6259	568	11	power	power	NOUN
easat-6259	568	12	and	and	CCONJ
easat-6259	568	13	1320	1320	NUM
easat-6259	568	14	edelweiss	edelweiss	PROPN
easat-6259	568	15	applied	apply	VERB
easat-6259	568	16	science	science	NOUN
easat-6259	568	17	and	and	CCONJ
easat-6259	568	18	technology	technology	NOUN
easat-6259	568	19	issn	issn	PROPN
easat-6259	568	20	:	:	PUNCT
easat-6259	568	21	2576	2576	NUM
easat-6259	568	22	-	-	SYM
easat-6259	568	23	8484	8484	NUM
easat-6259	568	24	vol	vol	NOUN
easat-6259	568	25	.	.	PROPN
easat-6259	569	1	9	9	NUM
easat-6259	569	2	,	,	PUNCT
easat-6259	569	3	no	no	INTJ
easat-6259	569	4	.	.	NOUN
easat-6259	570	1	4	4	NUM
easat-6259	570	2	:	:	SYM
easat-6259	570	3	1300	1300	NUM
easat-6259	570	4	-	-	SYM
easat-6259	570	5	1331	1331	NUM
easat-6259	570	6	,	,	PUNCT
easat-6259	570	7	2025	2025	NUM
easat-6259	570	8	doi	doi	NOUN
easat-6259	570	9	:	:	PUNCT
easat-6259	570	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	570	11	©	©	PROPN
easat-6259	570	12	2025	2025	NUM
easat-6259	570	13	by	by	ADP
easat-6259	570	14	the	the	DET
easat-6259	570	15	authors	author	NOUN
easat-6259	570	16	;	;	PUNCT
easat-6259	570	17	licensee	licensee	PROPN
easat-6259	570	18	learning	learn	VERB
easat-6259	570	19	gate	gate	NOUN
easat-6259	570	20	memory	memory	NOUN
easat-6259	570	21	.	.	PUNCT
easat-6259	571	1	to	to	PART
easat-6259	571	2	overcome	overcome	VERB
easat-6259	571	3	this	this	PRON
easat-6259	571	4	,	,	PUNCT
easat-6259	571	5	we	we	PRON
easat-6259	571	6	utilized	utilize	VERB
easat-6259	571	7	cloud	cloud	NOUN
easat-6259	571	8	-	-	PUNCT
easat-6259	571	9	based	base	VERB
easat-6259	571	10	gpu	gpu	NOUN
easat-6259	571	11	resources	resource	NOUN
easat-6259	571	12	,	,	PUNCT
easat-6259	571	13	which	which	PRON
easat-6259	571	14	provided	provide	VERB
easat-6259	571	15	the	the	DET
easat-6259	571	16	necessary	necessary	ADJ
easat-6259	571	17	computational	computational	ADJ
easat-6259	571	18	capabilities	capability	NOUN
easat-6259	571	19	.	.	PUNCT
easat-6259	572	1	6.1	6.1	NUM
easat-6259	572	2	.	.	PUNCT
easat-6259	573	1	bird	bird	NOUN
easat-6259	573	2	’s	’s	PART
easat-6259	573	3	eye	eye	NOUN
easat-6259	573	4	view	view	VERB
easat-6259	573	5	the	the	DET
easat-6259	573	6	bird	bird	NOUN
easat-6259	573	7	’s	’s	PART
easat-6259	573	8	eye	eye	NOUN
easat-6259	573	9	view	view	NOUN
easat-6259	573	10	shown	show	VERB
easat-6259	573	11	in	in	ADP
easat-6259	573	12	figure	figure	NOUN
easat-6259	573	13	8	8	NUM
easat-6259	573	14	,	,	PUNCT
easat-6259	573	15	also	also	ADV
easat-6259	573	16	known	know	VERB
easat-6259	573	17	as	as	ADP
easat-6259	573	18	top	top	ADJ
easat-6259	573	19	-	-	PUNCT
easat-6259	573	20	down	down	ADP
easat-6259	573	21	view	view	NOUN
easat-6259	573	22	,	,	PUNCT
easat-6259	573	23	is	be	AUX
easat-6259	573	24	an	an	DET
easat-6259	573	25	important	important	ADJ
easat-6259	573	26	perspective	perspective	NOUN
easat-6259	573	27	in	in	ADP
easat-6259	573	28	ads	ad	NOUN
easat-6259	573	29	.	.	PUNCT
easat-6259	574	1	it	it	PRON
easat-6259	574	2	transforms	transform	VERB
easat-6259	574	3	road	road	NOUN
easat-6259	574	4	layout	layout	NOUN
easat-6259	574	5	into	into	ADP
easat-6259	574	6	a	a	DET
easat-6259	574	7	bird	bird	NOUN
easat-6259	574	8	’s	’s	PART
easat-6259	574	9	eye	eye	NOUN
easat-6259	574	10	view	view	NOUN
easat-6259	574	11	,	,	PUNCT
easat-6259	574	12	and	and	CCONJ
easat-6259	574	13	then	then	ADV
easat-6259	574	14	detects	detect	VERB
easat-6259	574	15	the	the	DET
easat-6259	574	16	edges	edge	NOUN
easat-6259	574	17	of	of	ADP
easat-6259	574	18	the	the	DET
easat-6259	574	19	road	road	NOUN
easat-6259	574	20	within	within	ADP
easat-6259	574	21	that	that	DET
easat-6259	574	22	transformed	transform	VERB
easat-6259	574	23	image	image	NOUN
easat-6259	574	24	using	use	VERB
easat-6259	574	25	the	the	DET
easat-6259	574	26	sobel	sobel	NOUN
easat-6259	574	27	edge	edge	NOUN
easat-6259	574	28	detection	detection	NOUN
easat-6259	574	29	method	method	NOUN
easat-6259	574	30	and	and	CCONJ
easat-6259	574	31	hough	hough	NOUN
easat-6259	574	32	transform	transform	NOUN
easat-6259	574	33	.	.	PUNCT
easat-6259	575	1	we	we	PRON
easat-6259	575	2	provide	provide	VERB
easat-6259	575	3	the	the	DET
easat-6259	575	4	bird	bird	NOUN
easat-6259	575	5	’s	’s	PART
easat-6259	575	6	eye	eye	NOUN
easat-6259	575	7	view	view	NOUN
easat-6259	575	8	code	code	NOUN
easat-6259	575	9	we	we	PRON
easat-6259	575	10	used	use	VERB
easat-6259	575	11	in	in	ADP
easat-6259	575	12	figure	figure	NOUN
easat-6259	575	13	a1	a1	NOUN
easat-6259	575	14	.	.	PUNCT
easat-6259	576	1	the	the	DET
easat-6259	576	2	bird’s	bird’s	PROPN
easat-6259	576	3	-	-	PUNCT
easat-6259	576	4	eye	eye	NOUN
easat-6259	576	5	view	view	NOUN
easat-6259	576	6	is	be	AUX
easat-6259	576	7	crucial	crucial	ADJ
easat-6259	576	8	for	for	ADP
easat-6259	576	9	ads	ad	NOUN
easat-6259	576	10	applications	application	NOUN
easat-6259	576	11	where	where	SCONJ
easat-6259	576	12	understanding	understand	VERB
easat-6259	576	13	the	the	DET
easat-6259	576	14	road	road	NOUN
easat-6259	576	15	layout	layout	NOUN
easat-6259	576	16	from	from	ADP
easat-6259	576	17	an	an	DET
easat-6259	576	18	overhead	overhead	ADJ
easat-6259	576	19	perspective	perspective	NOUN
easat-6259	576	20	is	be	AUX
easat-6259	576	21	important	important	ADJ
easat-6259	576	22	for	for	ADP
easat-6259	576	23	navigation	navigation	NOUN
easat-6259	576	24	and	and	CCONJ
easat-6259	576	25	lka	lka	NOUN
easat-6259	576	26	.	.	PUNCT
easat-6259	577	1	the	the	DET
easat-6259	577	2	importance	importance	NOUN
easat-6259	577	3	of	of	ADP
easat-6259	577	4	bird	bird	NOUN
easat-6259	577	5	’s	’s	PART
easat-6259	577	6	eye	eye	NOUN
easat-6259	577	7	view	view	NOUN
easat-6259	577	8	in	in	ADP
easat-6259	577	9	ads	ad	NOUN
easat-6259	577	10	is	be	AUX
easat-6259	577	11	due	due	ADJ
easat-6259	577	12	to	to	ADP
easat-6259	577	13	the	the	DET
easat-6259	577	14	following	follow	VERB
easat-6259	577	15	reasons	reason	NOUN
easat-6259	577	16	:	:	PUNCT
easat-6259	577	17	figure	figure	NOUN
easat-6259	577	18	9	9	NUM
easat-6259	577	19	.	.	PUNCT
easat-6259	578	1	different	different	ADJ
easat-6259	578	2	types	type	NOUN
easat-6259	578	3	of	of	ADP
easat-6259	578	4	filters	filter	NOUN
easat-6259	578	5	.	.	PUNCT
easat-6259	579	1	•	•	NUM
easat-6259	579	2	enhanced	enhance	VERB
easat-6259	579	3	spatial	spatial	ADJ
easat-6259	579	4	awareness	awareness	NOUN
easat-6259	579	5	:	:	PUNCT
easat-6259	579	6	offers	offer	VERB
easat-6259	579	7	a	a	DET
easat-6259	579	8	complete	complete	ADJ
easat-6259	579	9	and	and	CCONJ
easat-6259	579	10	clear	clear	ADJ
easat-6259	579	11	view	view	NOUN
easat-6259	579	12	of	of	ADP
easat-6259	579	13	the	the	DET
easat-6259	579	14	vehicle	vehicle	NOUN
easat-6259	579	15	's	's	PART
easat-6259	579	16	surrounds	surround	NOUN
easat-6259	579	17	,	,	PUNCT
easat-6259	579	18	which	which	PRON
easat-6259	579	19	is	be	AUX
easat-6259	579	20	essential	essential	ADJ
easat-6259	579	21	for	for	ADP
easat-6259	579	22	navigation	navigation	NOUN
easat-6259	579	23	and	and	CCONJ
easat-6259	579	24	avoiding	avoid	VERB
easat-6259	579	25	obstructions	obstruction	NOUN
easat-6259	579	26	.	.	PUNCT
easat-6259	580	1	1321	1321	NUM
easat-6259	580	2	edelweiss	edelweiss	PROPN
easat-6259	580	3	applied	apply	VERB
easat-6259	580	4	science	science	NOUN
easat-6259	580	5	and	and	CCONJ
easat-6259	580	6	technology	technology	NOUN
easat-6259	580	7	issn	issn	PROPN
easat-6259	580	8	:	:	PUNCT
easat-6259	580	9	2576	2576	NUM
easat-6259	580	10	-	-	SYM
easat-6259	580	11	8484	8484	NUM
easat-6259	580	12	vol	vol	NOUN
easat-6259	580	13	.	.	PROPN
easat-6259	581	1	9	9	NUM
easat-6259	581	2	,	,	PUNCT
easat-6259	581	3	no	no	INTJ
easat-6259	581	4	.	.	NOUN
easat-6259	582	1	4	4	NUM
easat-6259	582	2	:	:	SYM
easat-6259	582	3	1300	1300	NUM
easat-6259	582	4	-	-	SYM
easat-6259	582	5	1331	1331	NUM
easat-6259	582	6	,	,	PUNCT
easat-6259	582	7	2025	2025	NUM
easat-6259	582	8	doi	doi	NOUN
easat-6259	582	9	:	:	PUNCT
easat-6259	582	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	582	11	©	©	PROPN
easat-6259	582	12	2025	2025	NUM
easat-6259	582	13	by	by	ADP
easat-6259	582	14	the	the	DET
easat-6259	582	15	authors	author	NOUN
easat-6259	582	16	;	;	PUNCT
easat-6259	582	17	licensee	licensee	PROPN
easat-6259	582	18	learning	learning	NOUN
easat-6259	582	19	gate	gate	VERB
easat-6259	582	20	•	•	ADP
easat-6259	582	21	accurate	accurate	ADJ
easat-6259	582	22	lane	lane	NOUN
easat-6259	582	23	detection	detection	NOUN
easat-6259	582	24	:	:	PUNCT
easat-6259	582	25	assists	assist	VERB
easat-6259	582	26	in	in	ADP
easat-6259	582	27	accurately	accurately	ADV
easat-6259	582	28	identifying	identify	VERB
easat-6259	582	29	lane	lane	NOUN
easat-6259	582	30	lines	line	NOUN
easat-6259	582	31	and	and	CCONJ
easat-6259	582	32	keeping	keep	VERB
easat-6259	582	33	the	the	DET
easat-6259	582	34	car	car	NOUN
easat-6259	582	35	in	in	ADP
easat-6259	582	36	its	its	PRON
easat-6259	582	37	lane	lane	NOUN
easat-6259	582	38	.	.	PUNCT
easat-6259	583	1	•	•	NUM
easat-6259	583	2	improved	improve	VERB
easat-6259	583	3	path	path	NOUN
easat-6259	583	4	planning	planning	NOUN
easat-6259	583	5	:	:	PUNCT
easat-6259	583	6	helps	help	VERB
easat-6259	583	7	to	to	PART
easat-6259	583	8	design	design	VERB
easat-6259	583	9	paths	path	NOUN
easat-6259	583	10	around	around	ADP
easat-6259	583	11	obstacles	obstacle	NOUN
easat-6259	583	12	with	with	ADP
easat-6259	583	13	high	high	ADJ
easat-6259	583	14	precision	precision	NOUN
easat-6259	583	15	,	,	PUNCT
easat-6259	583	16	resulting	result	VERB
easat-6259	583	17	in	in	ADP
easat-6259	583	18	smoother	smooth	ADJ
easat-6259	583	19	and	and	CCONJ
easat-6259	583	20	safer	safe	ADJ
easat-6259	583	21	travel	travel	NOUN
easat-6259	583	22	.	.	PUNCT
easat-6259	584	1	•	•	NUM
easat-6259	584	2	integration	integration	NOUN
easat-6259	584	3	of	of	ADP
easat-6259	584	4	cnns	cnns	PROPN
easat-6259	584	5	:	:	PUNCT
easat-6259	584	6	the	the	DET
easat-6259	584	7	bird’s	bird’s	PROPN
easat-6259	584	8	-	-	PUNCT
easat-6259	584	9	eye	eye	NOUN
easat-6259	584	10	view	view	NOUN
easat-6259	584	11	gives	give	VERB
easat-6259	584	12	valuable	valuable	ADJ
easat-6259	584	13	data	datum	NOUN
easat-6259	584	14	for	for	ADP
easat-6259	584	15	cnn	cnn	PROPN
easat-6259	584	16	training	training	NOUN
easat-6259	584	17	,	,	PUNCT
easat-6259	584	18	so	so	ADV
easat-6259	584	19	enhancing	enhance	VERB
easat-6259	584	20	its	its	PRON
easat-6259	584	21	capacity	capacity	NOUN
easat-6259	584	22	to	to	PART
easat-6259	584	23	detect	detect	VERB
easat-6259	584	24	features	feature	NOUN
easat-6259	584	25	and	and	CCONJ
easat-6259	584	26	make	make	VERB
easat-6259	584	27	top	top	ADJ
easat-6259	584	28	-	-	PUNCT
easat-6259	584	29	down	down	ADP
easat-6259	584	30	choices	choice	NOUN
easat-6259	584	31	.	.	PUNCT
easat-6259	585	1	6.2	6.2	NUM
easat-6259	585	2	.	.	PUNCT
easat-6259	586	1	dataset	dataset	NOUN
easat-6259	586	2	filtering	filter	VERB
easat-6259	586	3	the	the	DET
easat-6259	586	4	filtering	filtering	NOUN
easat-6259	586	5	for	for	ADP
easat-6259	586	6	dataset	dataset	NOUN
easat-6259	586	7	or	or	CCONJ
easat-6259	586	8	road	road	NOUN
easat-6259	586	9	makes	make	VERB
easat-6259	586	10	various	various	ADJ
easat-6259	586	11	edge	edge	NOUN
easat-6259	586	12	detection	detection	NOUN
easat-6259	586	13	filters	filter	NOUN
easat-6259	586	14	as	as	SCONJ
easat-6259	586	15	shown	show	VERB
easat-6259	586	16	in	in	ADP
easat-6259	586	17	figure	figure	NOUN
easat-6259	586	18	9	9	NUM
easat-6259	586	19	,	,	PUNCT
easat-6259	586	20	each	each	PRON
easat-6259	586	21	of	of	ADP
easat-6259	586	22	which	which	PRON
easat-6259	586	23	contributes	contribute	VERB
easat-6259	586	24	to	to	ADP
easat-6259	586	25	the	the	DET
easat-6259	586	26	enhancement	enhancement	NOUN
easat-6259	586	27	of	of	ADP
easat-6259	586	28	image	image	NOUN
easat-6259	586	29	features	feature	NOUN
easat-6259	586	30	in	in	ADP
easat-6259	586	31	its	its	PRON
easat-6259	586	32	own	own	ADJ
easat-6259	586	33	distinctive	distinctive	ADJ
easat-6259	586	34	way	way	NOUN
easat-6259	586	35	.	.	PUNCT
easat-6259	587	1	these	these	DET
easat-6259	587	2	improvements	improvement	NOUN
easat-6259	587	3	are	be	AUX
easat-6259	587	4	crucial	crucial	ADJ
easat-6259	587	5	for	for	ADP
easat-6259	587	6	cnns	cnn	NOUN
easat-6259	587	7	because	because	SCONJ
easat-6259	587	8	they	they	PRON
easat-6259	587	9	establish	establish	VERB
easat-6259	587	10	an	an	DET
easat-6259	587	11	effective	effective	ADJ
easat-6259	587	12	basis	basis	NOUN
easat-6259	587	13	for	for	ADP
easat-6259	587	14	hierarchical	hierarchical	ADJ
easat-6259	587	15	feature	feature	NOUN
easat-6259	587	16	extraction	extraction	NOUN
easat-6259	587	17	and	and	CCONJ
easat-6259	587	18	improve	improve	VERB
easat-6259	587	19	image	image	NOUN
easat-6259	587	20	processing	processing	NOUN
easat-6259	587	21	accuracy	accuracy	NOUN
easat-6259	587	22	.	.	PUNCT
easat-6259	588	1	integrating	integrate	VERB
easat-6259	588	2	edge	edge	NOUN
easat-6259	588	3	detection	detection	NOUN
easat-6259	588	4	with	with	ADP
easat-6259	588	5	cnns	cnns	PROPN
easat-6259	588	6	improves	improve	VERB
easat-6259	588	7	training	training	NOUN
easat-6259	588	8	efficiency	efficiency	NOUN
easat-6259	588	9	,	,	PUNCT
easat-6259	588	10	feature	feature	NOUN
easat-6259	588	11	relevance	relevance	NOUN
easat-6259	588	12	,	,	PUNCT
easat-6259	588	13	and	and	CCONJ
easat-6259	588	14	overall	overall	ADJ
easat-6259	588	15	performance	performance	NOUN
easat-6259	588	16	in	in	ADP
easat-6259	588	17	real	real	ADJ
easat-6259	588	18	-	-	PUNCT
easat-6259	588	19	world	world	NOUN
easat-6259	588	20	applications	application	NOUN
easat-6259	588	21	,	,	PUNCT
easat-6259	588	22	making	make	VERB
easat-6259	588	23	it	it	PRON
easat-6259	588	24	critical	critical	ADJ
easat-6259	588	25	pre	pre	ADJ
easat-6259	588	26	-	-	ADJ
easat-6259	588	27	processing	processing	ADJ
easat-6259	588	28	step	step	NOUN
easat-6259	588	29	in	in	ADP
easat-6259	588	30	ads	ad	NOUN
easat-6259	588	31	and	and	CCONJ
easat-6259	588	32	other	other	ADJ
easat-6259	588	33	computer	computer	NOUN
easat-6259	588	34	vision	vision	NOUN
easat-6259	588	35	tasks	task	NOUN
easat-6259	588	36	.	.	PUNCT
easat-6259	589	1	6.2.1	6.2.1	X
easat-6259	589	2	.	.	PUNCT
easat-6259	590	1	applying	apply	VERB
easat-6259	590	2	filters	filter	NOUN
easat-6259	590	3	the	the	DET
easat-6259	590	4	code	code	NOUN
easat-6259	590	5	in	in	ADP
easat-6259	590	6	figure	figure	NOUN
easat-6259	590	7	a2	a2	PROPN
easat-6259	590	8	reads	read	VERB
easat-6259	590	9	an	an	DET
easat-6259	590	10	image	image	NOUN
easat-6259	590	11	from	from	ADP
easat-6259	590	12	dataset	dataset	NOUN
easat-6259	590	13	and	and	CCONJ
easat-6259	590	14	displays	display	VERB
easat-6259	590	15	it	it	PRON
easat-6259	590	16	with	with	ADP
easat-6259	590	17	the	the	DET
easat-6259	590	18	title	title	NOUN
easat-6259	590	19	“	"	PUNCT
easat-6259	590	20	original	original	ADJ
easat-6259	590	21	image	image	NOUN
easat-6259	590	22	”	"	PUNCT
easat-6259	590	23	to	to	PART
easat-6259	590	24	detect	detect	VERB
easat-6259	590	25	.	.	PUNCT
easat-6259	591	1	then	then	ADV
easat-6259	591	2	,	,	PUNCT
easat-6259	591	3	the	the	DET
easat-6259	591	4	image	image	NOUN
easat-6259	591	5	is	be	AUX
easat-6259	591	6	converted	convert	VERB
easat-6259	591	7	to	to	ADP
easat-6259	591	8	grayscale	grayscale	NOUN
easat-6259	591	9	,	,	PUNCT
easat-6259	591	10	which	which	PRON
easat-6259	591	11	is	be	AUX
easat-6259	591	12	a	a	DET
easat-6259	591	13	necessary	necessary	ADJ
easat-6259	591	14	step	step	NOUN
easat-6259	591	15	for	for	ADP
easat-6259	591	16	many	many	ADJ
easat-6259	591	17	edge	edge	NOUN
easat-6259	591	18	detection	detection	NOUN
easat-6259	591	19	algorithms	algorithm	NOUN
easat-6259	591	20	.	.	PUNCT
easat-6259	592	1	after	after	ADP
easat-6259	592	2	that	that	PRON
easat-6259	592	3	,	,	PUNCT
easat-6259	592	4	the	the	DET
easat-6259	592	5	following	follow	VERB
easat-6259	592	6	filters	filter	NOUN
easat-6259	592	7	are	be	AUX
easat-6259	592	8	applied	apply	VERB
easat-6259	592	9	:	:	PUNCT
easat-6259	592	10	•	•	NUM
easat-6259	592	11	sobel	sobel	NOUN
easat-6259	592	12	filter	filter	NOUN
easat-6259	592	13	:	:	PUNCT
easat-6259	592	14	it	it	PRON
easat-6259	592	15	is	be	AUX
easat-6259	592	16	applied	apply	VERB
easat-6259	592	17	to	to	PART
easat-6259	592	18	detect	detect	VERB
easat-6259	592	19	edges	edge	NOUN
easat-6259	592	20	by	by	ADP
easat-6259	592	21	emphasizing	emphasize	VERB
easat-6259	592	22	regions	region	NOUN
easat-6259	592	23	of	of	ADP
easat-6259	592	24	high	high	ADJ
easat-6259	592	25	spatial	spatial	ADJ
easat-6259	592	26	gradient	gradient	NOUN
easat-6259	592	27	.	.	PUNCT
easat-6259	593	1	•	•	NUM
easat-6259	593	2	prewitt	prewitt	PROPN
easat-6259	593	3	filter	filter	NOUN
easat-6259	593	4	:	:	PUNCT
easat-6259	593	5	it	it	PRON
easat-6259	593	6	is	be	AUX
easat-6259	593	7	another	another	DET
easat-6259	593	8	edge	edge	NOUN
easat-6259	593	9	detection	detection	NOUN
easat-6259	593	10	filter	filter	NOUN
easat-6259	593	11	that	that	PRON
easat-6259	593	12	highlights	highlight	NOUN
easat-6259	593	13	edge	edge	VERB
easat-6259	593	14	by	by	ADP
easat-6259	593	15	detecting	detect	VERB
easat-6259	593	16	horizontal	horizontal	ADJ
easat-6259	593	17	and	and	CCONJ
easat-6259	593	18	vertical	vertical	ADJ
easat-6259	593	19	gradients	gradient	NOUN
easat-6259	593	20	.	.	PUNCT
easat-6259	594	1	•	•	NUM
easat-6259	594	2	roberts	roberts	PROPN
easat-6259	594	3	filter	filter	NOUN
easat-6259	594	4	:	:	PUNCT
easat-6259	594	5	it	it	PRON
easat-6259	594	6	is	be	AUX
easat-6259	594	7	used	use	VERB
easat-6259	594	8	for	for	ADP
easat-6259	594	9	edge	edge	NOUN
easat-6259	594	10	detection	detection	NOUN
easat-6259	594	11	by	by	ADP
easat-6259	594	12	calculating	calculate	VERB
easat-6259	594	13	the	the	DET
easat-6259	594	14	gradient	gradient	NOUN
easat-6259	594	15	of	of	ADP
easat-6259	594	16	the	the	DET
easat-6259	594	17	image	image	NOUN
easat-6259	594	18	intensity	intensity	NOUN
easat-6259	594	19	at	at	ADP
easat-6259	594	20	each	each	DET
easat-6259	594	21	pixel	pixel	NOUN
easat-6259	594	22	.	.	PUNCT
easat-6259	595	1	•	•	NUM
easat-6259	595	2	canny	canny	ADJ
easat-6259	595	3	filter	filter	NOUN
easat-6259	595	4	:	:	PUNCT
easat-6259	595	5	it	it	PRON
easat-6259	595	6	is	be	AUX
easat-6259	595	7	a	a	DET
easat-6259	595	8	multi	multi	ADJ
easat-6259	595	9	-	-	ADJ
easat-6259	595	10	stage	stage	ADJ
easat-6259	595	11	edge	edge	NOUN
easat-6259	595	12	detector	detector	NOUN
easat-6259	595	13	that	that	PRON
easat-6259	595	14	is	be	AUX
easat-6259	595	15	popular	popular	ADJ
easat-6259	595	16	due	due	ADP
easat-6259	595	17	to	to	ADP
easat-6259	595	18	its	its	PRON
easat-6259	595	19	reliability	reliability	NOUN
easat-6259	595	20	and	and	CCONJ
easat-6259	595	21	precision	precision	NOUN
easat-6259	595	22	in	in	ADP
easat-6259	595	23	detecting	detect	VERB
easat-6259	595	24	edges	edge	NOUN
easat-6259	595	25	.	.	PUNCT
easat-6259	596	1	6.2.2	6.2.2	X
easat-6259	596	2	.	.	PUNCT
easat-6259	597	1	importance	importance	NOUN
easat-6259	597	2	of	of	ADP
easat-6259	597	3	filters	filter	NOUN
easat-6259	597	4	in	in	ADP
easat-6259	597	5	edge	edge	NOUN
easat-6259	597	6	detection	detection	NOUN
easat-6259	597	7	•	•	NOUN
easat-6259	597	8	sobel	sobel	NOUN
easat-6259	597	9	filter	filter	NOUN
easat-6259	597	10	:	:	PUNCT
easat-6259	597	11	it	it	PRON
easat-6259	597	12	detects	detect	VERB
easat-6259	597	13	changes	change	NOUN
easat-6259	597	14	in	in	ADP
easat-6259	597	15	intensity	intensity	NOUN
easat-6259	597	16	,	,	PUNCT
easat-6259	597	17	which	which	PRON
easat-6259	597	18	makes	make	VERB
easat-6259	597	19	it	it	PRON
easat-6259	597	20	useful	useful	ADJ
easat-6259	597	21	for	for	ADP
easat-6259	597	22	emphasizing	emphasize	VERB
easat-6259	597	23	edges	edge	NOUN
easat-6259	597	24	.	.	PUNCT
easat-6259	598	1	the	the	DET
easat-6259	598	2	sobel	sobel	PROPN
easat-6259	598	3	filter	filter	NOUN
easat-6259	598	4	exhibits	exhibit	VERB
easat-6259	598	5	directional	directional	ADJ
easat-6259	598	6	sensitivity	sensitivity	NOUN
easat-6259	598	7	,	,	PUNCT
easat-6259	598	8	that	that	ADV
easat-6259	598	9	is	is	ADV
easat-6259	598	10	,	,	PUNCT
easat-6259	598	11	it	it	PRON
easat-6259	598	12	is	be	AUX
easat-6259	598	13	sensitive	sensitive	ADJ
easat-6259	598	14	to	to	ADP
easat-6259	598	15	both	both	CCONJ
easat-6259	598	16	horizontal	horizontal	ADJ
easat-6259	598	17	and	and	CCONJ
easat-6259	598	18	vertical	vertical	ADJ
easat-6259	598	19	edges	edge	NOUN
easat-6259	598	20	,	,	PUNCT
easat-6259	598	21	yielding	yield	VERB
easat-6259	598	22	a	a	DET
easat-6259	598	23	comprehensive	comprehensive	ADJ
easat-6259	598	24	edge	edge	NOUN
easat-6259	598	25	map	map	NOUN
easat-6259	598	26	.	.	PUNCT
easat-6259	599	1	•	•	NUM
easat-6259	599	2	prewitt	prewitt	PROPN
easat-6259	599	3	filter	filter	NOUN
easat-6259	599	4	:	:	PUNCT
easat-6259	599	5	it	it	PRON
easat-6259	599	6	performs	perform	VERB
easat-6259	599	7	simple	simple	ADJ
easat-6259	599	8	gradient	gradient	ADJ
easat-6259	599	9	calculation	calculation	NOUN
easat-6259	599	10	.	.	PUNCT
easat-6259	600	1	the	the	DET
easat-6259	600	2	prewitt	prewitt	PROPN
easat-6259	600	3	filter	filter	NOUN
easat-6259	600	4	is	be	AUX
easat-6259	600	5	simple	simple	ADJ
easat-6259	600	6	and	and	CCONJ
easat-6259	600	7	effective	effective	ADJ
easat-6259	600	8	for	for	ADP
easat-6259	600	9	detecting	detect	VERB
easat-6259	600	10	edges	edge	NOUN
easat-6259	600	11	,	,	PUNCT
easat-6259	600	12	particularly	particularly	ADV
easat-6259	600	13	in	in	ADP
easat-6259	600	14	images	image	NOUN
easat-6259	600	15	with	with	ADP
easat-6259	600	16	significant	significant	ADJ
easat-6259	600	17	intensity	intensity	NOUN
easat-6259	600	18	shifts	shift	NOUN
easat-6259	600	19	.	.	PUNCT
easat-6259	601	1	prewitt	prewitt	PROPN
easat-6259	601	2	filters	filter	NOUN
easat-6259	601	3	are	be	AUX
easat-6259	601	4	computationally	computationally	ADV
easat-6259	601	5	efficient	efficient	ADJ
easat-6259	601	6	,	,	PUNCT
easat-6259	601	7	which	which	PRON
easat-6259	601	8	makes	make	VERB
easat-6259	601	9	them	they	PRON
easat-6259	601	10	ideal	ideal	ADJ
easat-6259	601	11	for	for	ADP
easat-6259	601	12	real	real	ADJ
easat-6259	601	13	-	-	PUNCT
easat-6259	601	14	time	time	NOUN
easat-6259	601	15	applications	application	NOUN
easat-6259	601	16	.	.	PUNCT
easat-6259	602	1	•	•	NUM
easat-6259	602	2	roberts	roberts	PROPN
easat-6259	602	3	filter	filter	NOUN
easat-6259	602	4	:	:	PUNCT
easat-6259	602	5	it	it	PRON
easat-6259	602	6	has	have	VERB
easat-6259	602	7	high	high	ADJ
easat-6259	602	8	precision	precision	NOUN
easat-6259	602	9	.	.	PUNCT
easat-6259	603	1	roberts	roberts	PROPN
easat-6259	603	2	filters	filter	VERB
easat-6259	603	3	detect	detect	VERB
easat-6259	603	4	edges	edge	NOUN
easat-6259	603	5	with	with	ADP
easat-6259	603	6	great	great	ADJ
easat-6259	603	7	precision	precision	NOUN
easat-6259	603	8	,	,	PUNCT
easat-6259	603	9	particularly	particularly	ADV
easat-6259	603	10	small	small	ADJ
easat-6259	603	11	details	detail	NOUN
easat-6259	603	12	,	,	PUNCT
easat-6259	603	13	making	make	VERB
easat-6259	603	14	them	they	PRON
easat-6259	603	15	ideal	ideal	ADJ
easat-6259	603	16	for	for	ADP
easat-6259	603	17	detailed	detailed	ADJ
easat-6259	603	18	image	image	NOUN
easat-6259	603	19	analysis	analysis	NOUN
easat-6259	603	20	.	.	PUNCT
easat-6259	604	1	they	they	PRON
easat-6259	604	2	are	be	AUX
easat-6259	604	3	more	more	ADV
easat-6259	604	4	susceptible	susceptible	ADJ
easat-6259	604	5	to	to	ADP
easat-6259	604	6	noise	noise	NOUN
easat-6259	604	7	,	,	PUNCT
easat-6259	604	8	which	which	PRON
easat-6259	604	9	can	can	AUX
easat-6259	604	10	be	be	AUX
easat-6259	604	11	reduced	reduce	VERB
easat-6259	604	12	using	use	VERB
easat-6259	604	13	pre	pre	ADJ
easat-6259	604	14	-	-	ADJ
easat-6259	604	15	processing	processing	ADJ
easat-6259	604	16	processes	process	NOUN
easat-6259	604	17	.	.	PUNCT
easat-6259	605	1	•	•	NUM
easat-6259	605	2	canny	canny	ADJ
easat-6259	605	3	filter	filter	NOUN
easat-6259	605	4	:	:	PUNCT
easat-6259	605	5	it	it	PRON
easat-6259	605	6	provides	provide	VERB
easat-6259	605	7	multi	multi	ADJ
easat-6259	605	8	-	-	ADJ
easat-6259	605	9	stage	stage	ADJ
easat-6259	605	10	detection	detection	NOUN
easat-6259	605	11	that	that	PRON
easat-6259	605	12	incorporates	incorporate	VERB
easat-6259	605	13	noise	noise	NOUN
easat-6259	605	14	reduction	reduction	NOUN
easat-6259	605	15	,	,	PUNCT
easat-6259	605	16	gradient	gradient	ADJ
easat-6259	605	17	calculation	calculation	NOUN
easat-6259	605	18	,	,	PUNCT
easat-6259	605	19	non	non	ADJ
easat-6259	605	20	-	-	ADJ
easat-6259	605	21	maximum	maximum	ADJ
easat-6259	605	22	suppression	suppression	NOUN
easat-6259	605	23	,	,	PUNCT
easat-6259	605	24	side	side	NOUN
easat-6259	605	25	monitoring	monitoring	NOUN
easat-6259	605	26	and	and	CCONJ
easat-6259	605	27	hysteresis	hysteresis	NOUN
easat-6259	605	28	usage	usage	NOUN
easat-6259	605	29	,	,	PUNCT
easat-6259	605	30	resulting	result	VERB
easat-6259	605	31	in	in	ADP
easat-6259	605	32	remarkable	remarkable	ADJ
easat-6259	605	33	aspect	aspect	NOUN
easat-6259	605	34	detection	detection	NOUN
easat-6259	605	35	.	.	PUNCT
easat-6259	606	1	its	its	PRON
easat-6259	606	2	strength	strength	NOUN
easat-6259	606	3	is	be	AUX
easat-6259	606	4	that	that	SCONJ
easat-6259	606	5	it	it	PRON
easat-6259	606	6	withstands	withstand	VERB
easat-6259	606	7	noises	noise	NOUN
easat-6259	606	8	and	and	CCONJ
easat-6259	606	9	changing	change	VERB
easat-6259	606	10	illumination	illumination	NOUN
easat-6259	606	11	situations	situation	NOUN
easat-6259	606	12	,	,	PUNCT
easat-6259	606	13	making	make	VERB
easat-6259	606	14	it	it	PRON
easat-6259	606	15	best	good	ADJ
easat-6259	606	16	for	for	ADP
easat-6259	606	17	difficult	difficult	ADJ
easat-6259	606	18	picture	picture	NOUN
easat-6259	606	19	evaluation	evaluation	NOUN
easat-6259	606	20	jobs	job	NOUN
easat-6259	606	21	.	.	PUNCT
easat-6259	607	1	6.3	6.3	NUM
easat-6259	607	2	.	.	PUNCT
easat-6259	608	1	lka	lka	PROPN
easat-6259	608	2	simulation	simulation	PROPN
easat-6259	608	3	with	with	ADP
easat-6259	608	4	control	control	NOUN
easat-6259	608	5	the	the	DET
easat-6259	608	6	lane	lane	NOUN
easat-6259	608	7	keeping	keep	VERB
easat-6259	608	8	code	code	NOUN
easat-6259	608	9	is	be	AUX
easat-6259	608	10	intended	intend	VERB
easat-6259	608	11	to	to	PART
easat-6259	608	12	do	do	VERB
easat-6259	608	13	lane	lane	NOUN
easat-6259	608	14	detection	detection	NOUN
easat-6259	608	15	and	and	CCONJ
easat-6259	608	16	then	then	ADV
easat-6259	608	17	help	help	VERB
easat-6259	608	18	in	in	ADP
easat-6259	608	19	lka	lka	NOUN
easat-6259	608	20	for	for	ADP
easat-6259	608	21	avs	avs	PROPN
easat-6259	608	22	via	via	ADP
easat-6259	608	23	edge	edge	NOUN
easat-6259	608	24	detection	detection	NOUN
easat-6259	608	25	and	and	CCONJ
easat-6259	608	26	the	the	DET
easat-6259	608	27	hough	hough	PROPN
easat-6259	608	28	transform	transform	NOUN
easat-6259	608	29	.	.	PUNCT
easat-6259	609	1	this	this	DET
easat-6259	609	2	code	code	NOUN
easat-6259	609	3	uses	use	VERB
easat-6259	609	4	an	an	DET
easat-6259	609	5	image	image	NOUN
easat-6259	609	6	to	to	PART
easat-6259	609	7	recognize	recognize	VERB
easat-6259	609	8	lanes	lane	NOUN
easat-6259	609	9	and	and	CCONJ
easat-6259	609	10	calculate	calculate	VERB
easat-6259	609	11	the	the	DET
easat-6259	609	12	necessary	necessary	ADJ
easat-6259	609	13	steering	steering	NOUN
easat-6259	609	14	angle	angle	NOUN
easat-6259	609	15	.	.	PUNCT
easat-6259	610	1	the	the	DET
easat-6259	610	2	major	major	ADJ
easat-6259	610	3	control	control	NOUN
easat-6259	610	4	mechanism	mechanism	NOUN
easat-6259	610	5	proposed	propose	VERB
easat-6259	610	6	for	for	ADP
easat-6259	610	7	future	future	ADJ
easat-6259	610	8	iterations	iteration	NOUN
easat-6259	610	9	is	be	AUX
easat-6259	610	10	varying	vary	VERB
easat-6259	610	11	the	the	DET
easat-6259	610	12	steering	steering	NOUN
easat-6259	610	13	angle	angle	NOUN
easat-6259	610	14	based	base	VERB
easat-6259	610	15	on	on	ADP
easat-6259	610	16	the	the	DET
easat-6259	610	17	vehicle	vehicle	NOUN
easat-6259	610	18	's	's	PART
easat-6259	610	19	position	position	NOUN
easat-6259	610	20	relative	relative	ADJ
easat-6259	610	21	to	to	ADP
easat-6259	610	22	the	the	DET
easat-6259	610	23	detected	detect	VERB
easat-6259	610	24	lane	lane	NOUN
easat-6259	610	25	.	.	PUNCT
easat-6259	611	1	the	the	DET
easat-6259	611	2	lka	lka	PROPN
easat-6259	611	3	code	code	PROPN
easat-6259	611	4	outlines	outline	VERB
easat-6259	611	5	a	a	DET
easat-6259	611	6	1322	1322	NUM
easat-6259	611	7	edelweiss	edelweiss	PROPN
easat-6259	611	8	applied	apply	VERB
easat-6259	611	9	science	science	NOUN
easat-6259	611	10	and	and	CCONJ
easat-6259	611	11	technology	technology	NOUN
easat-6259	611	12	issn	issn	PROPN
easat-6259	611	13	:	:	PUNCT
easat-6259	611	14	2576	2576	NUM
easat-6259	611	15	-	-	SYM
easat-6259	611	16	8484	8484	NUM
easat-6259	611	17	vol	vol	NOUN
easat-6259	611	18	.	.	PROPN
easat-6259	612	1	9	9	NUM
easat-6259	612	2	,	,	PUNCT
easat-6259	612	3	no	no	INTJ
easat-6259	612	4	.	.	NOUN
easat-6259	613	1	4	4	NUM
easat-6259	613	2	:	:	SYM
easat-6259	613	3	1300	1300	NUM
easat-6259	613	4	-	-	SYM
easat-6259	613	5	1331	1331	NUM
easat-6259	613	6	,	,	PUNCT
easat-6259	613	7	2025	2025	NUM
easat-6259	613	8	doi	doi	NOUN
easat-6259	613	9	:	:	PUNCT
easat-6259	613	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	613	11	©	©	PROPN
easat-6259	613	12	2025	2025	NUM
easat-6259	613	13	by	by	ADP
easat-6259	613	14	the	the	DET
easat-6259	613	15	authors	author	NOUN
easat-6259	613	16	;	;	PUNCT
easat-6259	613	17	licensee	licensee	PROPN
easat-6259	613	18	learning	learn	VERB
easat-6259	613	19	gate	gate	NOUN
easat-6259	613	20	method	method	NOUN
easat-6259	613	21	for	for	ADP
easat-6259	613	22	detecting	detect	VERB
easat-6259	613	23	lane	lane	NOUN
easat-6259	613	24	boundaries	boundary	NOUN
easat-6259	613	25	using	use	VERB
easat-6259	613	26	edge	edge	NOUN
easat-6259	613	27	detection	detection	NOUN
easat-6259	613	28	and	and	CCONJ
easat-6259	613	29	the	the	DET
easat-6259	613	30	hough	hough	PROPN
easat-6259	613	31	transform	transform	NOUN
easat-6259	613	32	,	,	PUNCT
easat-6259	613	33	which	which	PRON
easat-6259	613	34	is	be	AUX
easat-6259	613	35	crucial	crucial	ADJ
easat-6259	613	36	for	for	ADP
easat-6259	613	37	developing	develop	VERB
easat-6259	613	38	an	an	DET
easat-6259	613	39	lka	lka	NOUN
easat-6259	613	40	system	system	NOUN
easat-6259	613	41	.	.	PUNCT
easat-6259	614	1	the	the	DET
easat-6259	614	2	av	av	PROPN
easat-6259	614	3	detects	detect	VERB
easat-6259	614	4	the	the	DET
easat-6259	614	5	lines	line	NOUN
easat-6259	614	6	and	and	CCONJ
easat-6259	614	7	edges	edge	NOUN
easat-6259	614	8	and	and	CCONJ
easat-6259	614	9	moves	move	NOUN
easat-6259	614	10	between	between	ADP
easat-6259	614	11	the	the	DET
easat-6259	614	12	detected	detect	VERB
easat-6259	614	13	edges	edge	NOUN
easat-6259	614	14	(	(	PUNCT
easat-6259	614	15	line	line	NOUN
easat-6259	614	16	boundaries	boundary	NOUN
easat-6259	614	17	)	)	PUNCT
easat-6259	614	18	.	.	PUNCT
easat-6259	615	1	the	the	DET
easat-6259	615	2	pid	pid	NOUN
easat-6259	615	3	control	control	NOUN
easat-6259	615	4	is	be	AUX
easat-6259	615	5	an	an	DET
easat-6259	615	6	essential	essential	ADJ
easat-6259	615	7	method	method	NOUN
easat-6259	615	8	in	in	ADP
easat-6259	615	9	ads	ad	NOUN
easat-6259	615	10	,	,	PUNCT
easat-6259	615	11	including	include	VERB
easat-6259	615	12	lka	lka	NOUN
easat-6259	615	13	,	,	PUNCT
easat-6259	615	14	which	which	PRON
easat-6259	615	15	involves	involve	VERB
easat-6259	615	16	continuously	continuously	ADV
easat-6259	615	17	modifying	modify	VERB
easat-6259	615	18	the	the	DET
easat-6259	615	19	steering	steering	NOUN
easat-6259	615	20	based	base	VERB
easat-6259	615	21	on	on	ADP
easat-6259	615	22	feedback	feedback	NOUN
easat-6259	615	23	from	from	ADP
easat-6259	615	24	recognized	recognize	VERB
easat-6259	615	25	lane	lane	NOUN
easat-6259	615	26	boundaries	boundary	NOUN
easat-6259	615	27	.	.	PUNCT
easat-6259	616	1	it	it	PRON
easat-6259	616	2	determines	determine	VERB
easat-6259	616	3	the	the	DET
easat-6259	616	4	steering	steering	NOUN
easat-6259	616	5	angle	angle	NOUN
easat-6259	616	6	for	for	ADP
easat-6259	616	7	the	the	DET
easat-6259	616	8	vehicle	vehicle	NOUN
easat-6259	616	9	by	by	ADP
easat-6259	616	10	taking	take	VERB
easat-6259	616	11	into	into	ADP
easat-6259	616	12	consideration	consideration	NOUN
easat-6259	616	13	the	the	DET
easat-6259	616	14	difference	difference	NOUN
easat-6259	616	15	between	between	ADP
easat-6259	616	16	the	the	DET
easat-6259	616	17	vehicle	vehicle	NOUN
easat-6259	616	18	's	's	PART
easat-6259	616	19	current	current	ADJ
easat-6259	616	20	and	and	CCONJ
easat-6259	616	21	ideal	ideal	ADJ
easat-6259	616	22	locations	location	NOUN
easat-6259	616	23	,	,	PUNCT
easat-6259	616	24	ensuring	ensure	VERB
easat-6259	616	25	that	that	SCONJ
easat-6259	616	26	the	the	DET
easat-6259	616	27	car	car	NOUN
easat-6259	616	28	stays	stay	VERB
easat-6259	616	29	centred	centre	VERB
easat-6259	616	30	in	in	ADP
easat-6259	616	31	its	its	PRON
easat-6259	616	32	lane	lane	NOUN
easat-6259	616	33	as	as	SCONJ
easat-6259	616	34	demonstrated	demonstrate	VERB
easat-6259	616	35	in	in	ADP
easat-6259	616	36	figure	figure	NOUN
easat-6259	616	37	10	10	NUM
easat-6259	616	38	.	.	PUNCT
easat-6259	617	1	this	this	DET
easat-6259	617	2	mechanism	mechanism	NOUN
easat-6259	617	3	delivers	deliver	VERB
easat-6259	617	4	smooth	smooth	ADJ
easat-6259	617	5	and	and	CCONJ
easat-6259	617	6	rapid	rapid	ADJ
easat-6259	617	7	steering	steering	NOUN
easat-6259	617	8	changes	change	NOUN
easat-6259	617	9	,	,	PUNCT
easat-6259	617	10	which	which	PRON
easat-6259	617	11	improves	improve	VERB
easat-6259	617	12	the	the	DET
easat-6259	617	13	vehicle	vehicle	NOUN
easat-6259	617	14	’s	’s	PART
easat-6259	617	15	lane	lane	NOUN
easat-6259	617	16	-	-	PUNCT
easat-6259	617	17	keeping	keep	VERB
easat-6259	617	18	performance	performance	NOUN
easat-6259	617	19	.	.	PUNCT
easat-6259	618	1	6.4	6.4	NUM
easat-6259	618	2	.	.	PUNCT
easat-6259	618	3	lane	lane	NOUN
easat-6259	618	4	detection	detection	NOUN
easat-6259	618	5	the	the	DET
easat-6259	618	6	matlab	matlab	PROPN
easat-6259	618	7	code	code	NOUN
easat-6259	618	8	we	we	PRON
easat-6259	618	9	used	use	VERB
easat-6259	618	10	is	be	AUX
easat-6259	618	11	intended	intend	VERB
easat-6259	618	12	to	to	PART
easat-6259	618	13	train	train	VERB
easat-6259	618	14	cnn	cnn	PROPN
easat-6259	618	15	which	which	PRON
easat-6259	618	16	requires	require	VERB
easat-6259	618	17	lane	lane	NOUN
easat-6259	618	18	recognition	recognition	NOUN
easat-6259	618	19	for	for	ADP
easat-6259	618	20	av	av	PROPN
easat-6259	618	21	systems	system	NOUN
easat-6259	618	22	.	.	PUNCT
easat-6259	619	1	this	this	DET
easat-6259	619	2	method	method	NOUN
easat-6259	619	3	begins	begin	VERB
easat-6259	619	4	by	by	ADP
easat-6259	619	5	defining	define	VERB
easat-6259	619	6	the	the	DET
easat-6259	619	7	access	access	NOUN
easat-6259	619	8	methods	method	NOUN
easat-6259	619	9	to	to	ADP
easat-6259	619	10	the	the	DET
easat-6259	619	11	dataset	dataset	NOUN
easat-6259	619	12	and	and	CCONJ
easat-6259	619	13	model	model	NOUN
easat-6259	619	14	.	.	PUNCT
easat-6259	620	1	then	then	ADV
easat-6259	620	2	,	,	PUNCT
easat-6259	620	3	the	the	DET
easat-6259	620	4	code	code	NOUN
easat-6259	620	5	loads	load	VERB
easat-6259	620	6	and	and	CCONJ
easat-6259	620	7	pre	pre	NOUN
easat-6259	620	8	-	-	NOUN
easat-6259	620	9	processes	process	VERB
easat-6259	620	10	the	the	DET
easat-6259	620	11	dataset	dataset	NOUN
easat-6259	620	12	,	,	PUNCT
easat-6259	620	13	splitting	split	VERB
easat-6259	620	14	it	it	PRON
easat-6259	620	15	into	into	ADP
easat-6259	620	16	training	training	NOUN
easat-6259	620	17	and	and	CCONJ
easat-6259	620	18	validation	validation	NOUN
easat-6259	620	19	sets	set	NOUN
easat-6259	620	20	.	.	PUNCT
easat-6259	621	1	the	the	DET
easat-6259	621	2	cnn	cnn	PROPN
easat-6259	621	3	is	be	AUX
easat-6259	621	4	trained	train	VERB
easat-6259	621	5	on	on	ADP
easat-6259	621	6	a	a	DET
easat-6259	621	7	dataset	dataset	NOUN
easat-6259	621	8	of	of	ADP
easat-6259	621	9	lane	lane	NOUN
easat-6259	621	10	images	image	NOUN
easat-6259	621	11	,	,	PUNCT
easat-6259	621	12	and	and	CCONJ
easat-6259	621	13	its	its	PRON
easat-6259	621	14	validation	validation	NOUN
easat-6259	621	15	accuracy	accuracy	NOUN
easat-6259	621	16	demonstrates	demonstrate	VERB
easat-6259	621	17	the	the	DET
easat-6259	621	18	model	model	NOUN
easat-6259	621	19	's	's	PART
easat-6259	621	20	ability	ability	NOUN
easat-6259	621	21	to	to	PART
easat-6259	621	22	accurately	accurately	ADV
easat-6259	621	23	identify	identify	VERB
easat-6259	621	24	lane	lane	NOUN
easat-6259	621	25	boundaries	boundary	NOUN
easat-6259	621	26	.	.	PUNCT
easat-6259	622	1	our	our	PRON
easat-6259	622	2	results	result	NOUN
easat-6259	622	3	,	,	PUNCT
easat-6259	622	4	given	give	VERB
easat-6259	622	5	in	in	ADP
easat-6259	622	6	figure	figure	NOUN
easat-6259	622	7	11	11	NUM
easat-6259	622	8	,	,	PUNCT
easat-6259	622	9	show	show	VERB
easat-6259	622	10	that	that	SCONJ
easat-6259	622	11	the	the	DET
easat-6259	622	12	trained	train	VERB
easat-6259	622	13	network	network	NOUN
easat-6259	622	14	can	can	AUX
easat-6259	622	15	effectively	effectively	ADV
easat-6259	622	16	detect	detect	VERB
easat-6259	622	17	lanes	lane	NOUN
easat-6259	622	18	in	in	ADP
easat-6259	622	19	a	a	DET
easat-6259	622	20	variety	variety	NOUN
easat-6259	622	21	of	of	ADP
easat-6259	622	22	driving	drive	VERB
easat-6259	622	23	scenarios	scenario	NOUN
easat-6259	622	24	,	,	PUNCT
easat-6259	622	25	yielding	yield	VERB
easat-6259	622	26	an	an	DET
easat-6259	622	27	improved	improved	ADJ
easat-6259	622	28	lane	lane	NOUN
easat-6259	622	29	-	-	PUNCT
easat-6259	622	30	keeping	keep	VERB
easat-6259	622	31	performance	performance	NOUN
easat-6259	622	32	in	in	ADP
easat-6259	622	33	avs	avs	PROPN
easat-6259	622	34	.	.	PUNCT
easat-6259	623	1	accuracy	accuracy	NOUN
easat-6259	623	2	and	and	CCONJ
easat-6259	623	3	processing	processing	NOUN
easat-6259	623	4	time	time	NOUN
easat-6259	623	5	are	be	AUX
easat-6259	623	6	the	the	DET
easat-6259	623	7	performance	performance	NOUN
easat-6259	623	8	parameters	parameter	NOUN
easat-6259	623	9	we	we	PRON
easat-6259	623	10	used	use	VERB
easat-6259	623	11	to	to	PART
easat-6259	623	12	evaluate	evaluate	VERB
easat-6259	623	13	our	our	PRON
easat-6259	623	14	cnn	cnn	PROPN
easat-6259	623	15	model	model	NOUN
easat-6259	624	1	[	[	X
easat-6259	624	2	38	38	NUM
easat-6259	624	3	]	]	PUNCT
easat-6259	624	4	.	.	PUNCT
easat-6259	625	1	the	the	DET
easat-6259	625	2	model	model	NOUN
easat-6259	625	3	’s	’s	PART
easat-6259	625	4	accuracy	accuracy	NOUN
easat-6259	625	5	on	on	ADP
easat-6259	625	6	the	the	DET
easat-6259	625	7	validation	validation	NOUN
easat-6259	625	8	set	set	NOUN
easat-6259	625	9	shows	show	VERB
easat-6259	625	10	its	its	PRON
easat-6259	625	11	high	high	ADJ
easat-6259	625	12	accuracy	accuracy	NOUN
easat-6259	625	13	of	of	ADP
easat-6259	625	14	100	100	NUM
easat-6259	625	15	%	%	NOUN
easat-6259	625	16	as	as	SCONJ
easat-6259	625	17	given	give	VERB
easat-6259	625	18	in	in	ADP
easat-6259	625	19	figure	figure	NOUN
easat-6259	625	20	11	11	NUM
easat-6259	625	21	.	.	PUNCT
easat-6259	626	1	finally	finally	ADV
easat-6259	626	2	,	,	PUNCT
easat-6259	626	3	the	the	DET
easat-6259	626	4	trained	train	VERB
easat-6259	626	5	model	model	NOUN
easat-6259	626	6	is	be	AUX
easat-6259	626	7	successfully	successfully	ADV
easat-6259	626	8	stored	store	VERB
easat-6259	626	9	and	and	CCONJ
easat-6259	626	10	prepared	prepare	VERB
easat-6259	626	11	for	for	ADP
easat-6259	626	12	deployment	deployment	NOUN
easat-6259	626	13	in	in	ADP
easat-6259	626	14	lane	lane	NOUN
easat-6259	626	15	detection	detection	NOUN
easat-6259	626	16	applications	application	NOUN
easat-6259	626	17	.	.	PUNCT
easat-6259	627	1	1323	1323	NUM
easat-6259	627	2	edelweiss	edelweiss	PROPN
easat-6259	627	3	applied	apply	VERB
easat-6259	627	4	science	science	NOUN
easat-6259	627	5	and	and	CCONJ
easat-6259	627	6	technology	technology	NOUN
easat-6259	627	7	issn	issn	PROPN
easat-6259	627	8	:	:	PUNCT
easat-6259	627	9	2576	2576	NUM
easat-6259	627	10	-	-	SYM
easat-6259	627	11	8484	8484	NUM
easat-6259	627	12	vol	vol	NOUN
easat-6259	627	13	.	.	PROPN
easat-6259	628	1	9	9	NUM
easat-6259	628	2	,	,	PUNCT
easat-6259	628	3	no	no	INTJ
easat-6259	628	4	.	.	NOUN
easat-6259	629	1	4	4	NUM
easat-6259	629	2	:	:	SYM
easat-6259	629	3	1300	1300	NUM
easat-6259	629	4	-	-	SYM
easat-6259	629	5	1331	1331	NUM
easat-6259	629	6	,	,	PUNCT
easat-6259	629	7	2025	2025	NUM
easat-6259	629	8	doi	doi	NOUN
easat-6259	629	9	:	:	PUNCT
easat-6259	629	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	629	11	©	©	PROPN
easat-6259	629	12	2025	2025	NUM
easat-6259	629	13	by	by	ADP
easat-6259	629	14	the	the	DET
easat-6259	629	15	authors	author	NOUN
easat-6259	629	16	;	;	PUNCT
easat-6259	629	17	licensee	licensee	PROPN
easat-6259	629	18	learning	learn	VERB
easat-6259	629	19	gate	gate	NOUN
easat-6259	629	20	figure	figure	NOUN
easat-6259	629	21	10	10	NUM
easat-6259	629	22	a	a	PRON
easat-6259	629	23	,	,	PUNCT
easat-6259	629	24	b.	b.	PROPN
easat-6259	629	25	lka	lka	PROPN
easat-6259	629	26	simulation	simulation	PROPN
easat-6259	629	27	with	with	ADP
easat-6259	629	28	control	control	NOUN
easat-6259	629	29	.	.	PUNCT
easat-6259	630	1	1324	1324	NUM
easat-6259	630	2	edelweiss	edelweiss	PROPN
easat-6259	630	3	applied	apply	VERB
easat-6259	630	4	science	science	NOUN
easat-6259	630	5	and	and	CCONJ
easat-6259	630	6	technology	technology	NOUN
easat-6259	630	7	issn	issn	PROPN
easat-6259	630	8	:	:	PUNCT
easat-6259	630	9	2576	2576	NUM
easat-6259	630	10	-	-	SYM
easat-6259	630	11	8484	8484	NUM
easat-6259	630	12	vol	vol	NOUN
easat-6259	630	13	.	.	PROPN
easat-6259	631	1	9	9	NUM
easat-6259	631	2	,	,	PUNCT
easat-6259	631	3	no	no	INTJ
easat-6259	631	4	.	.	NOUN
easat-6259	632	1	4	4	NUM
easat-6259	632	2	:	:	SYM
easat-6259	632	3	1300	1300	NUM
easat-6259	632	4	-	-	SYM
easat-6259	632	5	1331	1331	NUM
easat-6259	632	6	,	,	PUNCT
easat-6259	632	7	2025	2025	NUM
easat-6259	632	8	doi	doi	NOUN
easat-6259	632	9	:	:	PUNCT
easat-6259	632	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	632	11	©	©	PROPN
easat-6259	632	12	2025	2025	NUM
easat-6259	632	13	by	by	ADP
easat-6259	632	14	the	the	DET
easat-6259	632	15	authors	author	NOUN
easat-6259	632	16	;	;	PUNCT
easat-6259	632	17	licensee	licensee	PROPN
easat-6259	632	18	learning	learn	VERB
easat-6259	632	19	gate	gate	PROPN
easat-6259	632	20	figure	figure	NOUN
easat-6259	632	21	11	11	NUM
easat-6259	632	22	.	.	PUNCT
easat-6259	633	1	cnn	cnn	PROPN
easat-6259	633	2	train	train	PROPN
easat-6259	633	3	model	model	NOUN
easat-6259	633	4	results	result	NOUN
easat-6259	633	5	.	.	PUNCT
easat-6259	634	1	6.5	6.5	NUM
easat-6259	634	2	.	.	PUNCT
easat-6259	635	1	insights	insight	NOUN
easat-6259	635	2	for	for	ADP
easat-6259	635	3	achieved	achieve	VERB
easat-6259	635	4	results	result	NOUN
easat-6259	635	5	autonomous	autonomous	ADJ
easat-6259	635	6	car	car	NOUN
easat-6259	635	7	accidents	accident	NOUN
easat-6259	635	8	have	have	AUX
easat-6259	635	9	occurred	occur	VERB
easat-6259	635	10	,	,	PUNCT
easat-6259	635	11	garnering	garner	VERB
easat-6259	635	12	a	a	DET
easat-6259	635	13	lot	lot	NOUN
easat-6259	635	14	of	of	ADP
easat-6259	635	15	attention	attention	NOUN
easat-6259	635	16	from	from	ADP
easat-6259	635	17	the	the	DET
easat-6259	635	18	media	medium	NOUN
easat-6259	635	19	.	.	PUNCT
easat-6259	636	1	famous	famous	ADJ
easat-6259	636	2	events	event	NOUN
easat-6259	636	3	include	include	VERB
easat-6259	636	4	an	an	DET
easat-6259	636	5	uber	uber	ADJ
easat-6259	636	6	crash	crash	NOUN
easat-6259	636	7	in	in	ADP
easat-6259	636	8	arizona	arizona	PROPN
easat-6259	636	9	in	in	ADP
easat-6259	636	10	2018	2018	NUM
easat-6259	636	11	that	that	PRON
easat-6259	636	12	claimed	claim	VERB
easat-6259	636	13	the	the	DET
easat-6259	636	14	life	life	NOUN
easat-6259	636	15	of	of	ADP
easat-6259	636	16	a	a	DET
easat-6259	636	17	pedestrian	pedestrian	NOUN
easat-6259	636	18	,	,	PUNCT
easat-6259	636	19	and	and	CCONJ
easat-6259	636	20	a	a	DET
easat-6259	636	21	tesla	tesla	PROPN
easat-6259	636	22	accident	accident	NOUN
easat-6259	636	23	back	back	ADV
easat-6259	636	24	in	in	ADP
easat-6259	636	25	2016	2016	NUM
easat-6259	636	26	that	that	PRON
easat-6259	636	27	killed	kill	VERB
easat-6259	636	28	the	the	DET
easat-6259	636	29	driver	driver	NOUN
easat-6259	636	30	because	because	SCONJ
easat-6259	636	31	the	the	DET
easat-6259	636	32	car	car	NOUN
easat-6259	636	33	failed	fail	VERB
easat-6259	636	34	to	to	PART
easat-6259	636	35	detect	detect	VERB
easat-6259	636	36	a	a	DET
easat-6259	636	37	truck	truck	NOUN
easat-6259	636	38	.	.	PUNCT
easat-6259	637	1	these	these	DET
easat-6259	637	2	incidents	incident	NOUN
easat-6259	637	3	highlight	highlight	VERB
easat-6259	637	4	the	the	DET
easat-6259	637	5	necessity	necessity	NOUN
easat-6259	637	6	of	of	ADP
easat-6259	637	7	explicit	explicit	ADJ
easat-6259	637	8	guidelines	guideline	NOUN
easat-6259	637	9	for	for	ADP
easat-6259	637	10	users	user	NOUN
easat-6259	637	11	of	of	ADP
easat-6259	637	12	avs	avs	PROPN
easat-6259	637	13	as	as	ADV
easat-6259	637	14	well	well	ADV
easat-6259	637	15	as	as	ADP
easat-6259	637	16	the	the	DET
easat-6259	637	17	enhancement	enhancement	NOUN
easat-6259	637	18	of	of	ADP
easat-6259	637	19	emergency	emergency	NOUN
easat-6259	637	20	protocols	protocol	NOUN
easat-6259	637	21	and	and	CCONJ
easat-6259	637	22	sensory	sensory	ADJ
easat-6259	637	23	apparatus	apparatus	NOUN
easat-6259	637	24	.	.	PUNCT
easat-6259	638	1	thus	thus	ADV
easat-6259	638	2	,	,	PUNCT
easat-6259	638	3	the	the	DET
easat-6259	638	4	need	need	NOUN
easat-6259	638	5	for	for	ADP
easat-6259	638	6	100	100	NUM
easat-6259	638	7	%	%	NOUN
easat-6259	638	8	accuracy	accuracy	NOUN
easat-6259	638	9	is	be	AUX
easat-6259	638	10	vital	vital	ADJ
easat-6259	638	11	to	to	PART
easat-6259	638	12	avoid	avoid	VERB
easat-6259	638	13	such	such	ADJ
easat-6259	638	14	accidents	accident	NOUN
easat-6259	638	15	.	.	PUNCT
easat-6259	639	1	since	since	SCONJ
easat-6259	639	2	our	our	PRON
easat-6259	639	3	proposed	propose	VERB
easat-6259	639	4	system	system	NOUN
easat-6259	639	5	yields	yield	VERB
easat-6259	639	6	an	an	DET
easat-6259	639	7	accuracy	accuracy	NOUN
easat-6259	639	8	of	of	ADP
easat-6259	639	9	100	100	NUM
easat-6259	639	10	%	%	NOUN
easat-6259	639	11	,	,	PUNCT
easat-6259	639	12	so	so	CCONJ
easat-6259	639	13	it	it	PRON
easat-6259	639	14	promotes	promote	VERB
easat-6259	639	15	the	the	DET
easat-6259	639	16	wide	wide	ADJ
easat-6259	639	17	adoption	adoption	NOUN
easat-6259	639	18	of	of	ADP
easat-6259	639	19	safe	safe	ADJ
easat-6259	639	20	avs	avs	NOUN
easat-6259	639	21	in	in	ADP
easat-6259	639	22	real	real	ADJ
easat-6259	639	23	-	-	PUNCT
easat-6259	639	24	life	life	NOUN
easat-6259	639	25	environments	environment	NOUN
easat-6259	639	26	.	.	PUNCT
easat-6259	640	1	7	7	X
easat-6259	640	2	.	.	X
easat-6259	640	3	comparison	comparison	NOUN
easat-6259	640	4	with	with	ADP
easat-6259	640	5	state	state	NOUN
easat-6259	640	6	-	-	PUNCT
easat-6259	640	7	of	of	ADP
easat-6259	640	8	-	-	PUNCT
easat-6259	640	9	the	the	DET
easat-6259	640	10	-	-	PUNCT
easat-6259	640	11	art	art	NOUN
easat-6259	640	12	approaches	approach	NOUN
easat-6259	640	13	7.1	7.1	NUM
easat-6259	640	14	.	.	PUNCT
easat-6259	641	1	comparison	comparison	NOUN
easat-6259	641	2	of	of	ADP
easat-6259	641	3	cnn	cnn	PROPN
easat-6259	641	4	with	with	ADP
easat-6259	641	5	pid	pid	NOUN
easat-6259	641	6	controller	controller	NOUN
easat-6259	641	7	versus	versus	ADP
easat-6259	641	8	rnn	rnn	VERB
easat-6259	641	9	with	with	ADP
easat-6259	641	10	lstm	lstm	NOUN
easat-6259	641	11	cells	cell	NOUN
easat-6259	641	12	for	for	ADP
easat-6259	641	13	lka	lka	PROPN
easat-6259	641	14	•	•	ADP
easat-6259	641	15	cnn	cnn	PROPN
easat-6259	641	16	with	with	ADP
easat-6259	641	17	pid	pid	NOUN
easat-6259	641	18	controller	controller	NOUN
easat-6259	641	19	–	–	PUNCT
easat-6259	641	20	proposed	propose	VERB
easat-6259	641	21	approach	approach	NOUN
easat-6259	641	22	:	:	PUNCT
easat-6259	641	23	cnns	cnn	NOUN
easat-6259	641	24	are	be	AUX
easat-6259	641	25	used	use	VERB
easat-6259	641	26	to	to	PART
easat-6259	641	27	process	process	VERB
easat-6259	641	28	and	and	CCONJ
easat-6259	641	29	analyse	analyse	PROPN
easat-6259	641	30	visual	visual	ADJ
easat-6259	641	31	features	feature	NOUN
easat-6259	641	32	from	from	ADP
easat-6259	641	33	cameras	camera	NOUN
easat-6259	641	34	and	and	CCONJ
easat-6259	641	35	sensors	sensor	NOUN
easat-6259	641	36	.	.	PUNCT
easat-6259	642	1	they	they	PRON
easat-6259	642	2	can	can	AUX
easat-6259	642	3	recognize	recognize	VERB
easat-6259	642	4	patterns	pattern	NOUN
easat-6259	642	5	and	and	CCONJ
easat-6259	642	6	attributes	attribute	NOUN
easat-6259	642	7	,	,	PUNCT
easat-6259	642	8	including	include	VERB
easat-6259	642	9	lane	lane	NOUN
easat-6259	642	10	markings	marking	NOUN
easat-6259	642	11	,	,	PUNCT
easat-6259	642	12	road	road	NOUN
easat-6259	642	13	signs	sign	NOUN
easat-6259	642	14	,	,	PUNCT
easat-6259	642	15	and	and	CCONJ
easat-6259	642	16	obstacles	obstacle	NOUN
easat-6259	642	17	.	.	PUNCT
easat-6259	643	1	cnn	cnn	PROPN
easat-6259	643	2	analyses	analyse	VERB
easat-6259	643	3	visual	visual	ADJ
easat-6259	643	4	data	datum	NOUN
easat-6259	643	5	to	to	PART
easat-6259	643	6	identify	identify	VERB
easat-6259	643	7	lane	lane	NOUN
easat-6259	643	8	borders	border	NOUN
easat-6259	643	9	and	and	CCONJ
easat-6259	643	10	other	other	ADJ
easat-6259	643	11	pertinent	pertinent	ADJ
easat-6259	643	12	elements	element	NOUN
easat-6259	643	13	.	.	PUNCT
easat-6259	644	1	also	also	ADV
easat-6259	644	2	,	,	PUNCT
easat-6259	644	3	they	they	PRON
easat-6259	644	4	can	can	AUX
easat-6259	644	5	learn	learn	VERB
easat-6259	644	6	from	from	ADP
easat-6259	644	7	big	big	ADJ
easat-6259	644	8	data	datum	NOUN
easat-6259	644	9	and	and	CCONJ
easat-6259	644	10	handle	handle	VERB
easat-6259	644	11	driving	drive	VERB
easat-6259	644	12	situations	situation	NOUN
easat-6259	644	13	.	.	PUNCT
easat-6259	645	1	while	while	SCONJ
easat-6259	645	2	,	,	PUNCT
easat-6259	645	3	pid	pid	PROPN
easat-6259	645	4	1325	1325	NUM
easat-6259	645	5	edelweiss	edelweiss	PROPN
easat-6259	645	6	applied	apply	VERB
easat-6259	645	7	science	science	NOUN
easat-6259	645	8	and	and	CCONJ
easat-6259	645	9	technology	technology	NOUN
easat-6259	645	10	issn	issn	PROPN
easat-6259	645	11	:	:	PUNCT
easat-6259	645	12	2576	2576	NUM
easat-6259	645	13	-	-	SYM
easat-6259	645	14	8484	8484	NUM
easat-6259	645	15	vol	vol	NOUN
easat-6259	645	16	.	.	PROPN
easat-6259	646	1	9	9	NUM
easat-6259	646	2	,	,	PUNCT
easat-6259	646	3	no	no	INTJ
easat-6259	646	4	.	.	NOUN
easat-6259	647	1	4	4	NUM
easat-6259	647	2	:	:	SYM
easat-6259	647	3	1300	1300	NUM
easat-6259	647	4	-	-	SYM
easat-6259	647	5	1331	1331	NUM
easat-6259	647	6	,	,	PUNCT
easat-6259	647	7	2025	2025	NUM
easat-6259	647	8	doi	doi	NOUN
easat-6259	647	9	:	:	PUNCT
easat-6259	647	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	647	11	©	©	PROPN
easat-6259	647	12	2025	2025	NUM
easat-6259	647	13	by	by	ADP
easat-6259	647	14	the	the	DET
easat-6259	647	15	authors	author	NOUN
easat-6259	647	16	;	;	PUNCT
easat-6259	647	17	licensee	licensee	PROPN
easat-6259	647	18	learning	learning	PROPN
easat-6259	647	19	gate	gate	PROPN
easat-6259	647	20	controllers	controller	NOUN
easat-6259	647	21	exhibit	exhibit	VERB
easat-6259	647	22	low	low	ADJ
easat-6259	647	23	voltage	voltage	NOUN
easat-6259	647	24	,	,	PUNCT
easat-6259	647	25	respond	respond	VERB
easat-6259	647	26	to	to	ADP
easat-6259	647	27	immediate	immediate	ADJ
easat-6259	647	28	errors	error	NOUN
easat-6259	647	29	,	,	PUNCT
easat-6259	647	30	and	and	CCONJ
easat-6259	647	31	can	can	AUX
easat-6259	647	32	struggle	struggle	VERB
easat-6259	647	33	with	with	ADP
easat-6259	647	34	dynamic	dynamic	ADJ
easat-6259	647	35	and	and	CCONJ
easat-6259	647	36	unpredictable	unpredictable	ADJ
easat-6259	647	37	systems	system	NOUN
easat-6259	647	38	.	.	PUNCT
easat-6259	648	1	figure	figure	NOUN
easat-6259	648	2	12	12	NUM
easat-6259	648	3	.	.	PUNCT
easat-6259	649	1	lstm	lstm	NOUN
easat-6259	649	2	-	-	PUNCT
easat-6259	649	3	based	base	VERB
easat-6259	649	4	rnn	rnn	NOUN
easat-6259	649	5	for	for	ADP
easat-6259	649	6	lka	lka	PROPN
easat-6259	649	7	.	.	PUNCT
easat-6259	650	1	figure	figure	NOUN
easat-6259	650	2	13	13	NUM
easat-6259	650	3	.	.	PUNCT
easat-6259	651	1	mpc	mpc	NOUN
easat-6259	651	2	controller	controller	NOUN
easat-6259	651	3	.	.	PUNCT
easat-6259	652	1	also	also	ADV
easat-6259	652	2	,	,	PUNCT
easat-6259	652	3	they	they	PRON
easat-6259	652	4	adjust	adjust	VERB
easat-6259	652	5	the	the	DET
easat-6259	652	6	steering	steering	NOUN
easat-6259	652	7	angle	angle	NOUN
easat-6259	652	8	based	base	VERB
easat-6259	652	9	on	on	ADP
easat-6259	652	10	the	the	DET
easat-6259	652	11	cnn	cnn	PROPN
easat-6259	652	12	output	output	NOUN
easat-6259	652	13	,	,	PUNCT
easat-6259	652	14	attempting	attempt	VERB
easat-6259	652	15	to	to	PART
easat-6259	652	16	minimize	minimize	VERB
easat-6259	652	17	the	the	DET
easat-6259	652	18	error	error	NOUN
easat-6259	652	19	between	between	ADP
easat-6259	652	20	the	the	DET
easat-6259	652	21	current	current	ADJ
easat-6259	652	22	and	and	CCONJ
easat-6259	652	23	intended	intended	ADJ
easat-6259	652	24	positions	position	NOUN
easat-6259	652	25	to	to	PART
easat-6259	652	26	make	make	VERB
easat-6259	652	27	vehicle	vehicle	NOUN
easat-6259	652	28	in	in	ADP
easat-6259	652	29	the	the	DET
easat-6259	652	30	centre	centre	NOUN
easat-6259	652	31	between	between	ADP
easat-6259	652	32	lanes	lane	NOUN
easat-6259	652	33	.	.	PUNCT
easat-6259	653	1	they	they	PRON
easat-6259	653	2	adjust	adjust	VERB
easat-6259	653	3	the	the	DET
easat-6259	653	4	1326	1326	NUM
easat-6259	653	5	edelweiss	edelweiss	PROPN
easat-6259	653	6	applied	apply	VERB
easat-6259	653	7	science	science	NOUN
easat-6259	653	8	and	and	CCONJ
easat-6259	653	9	technology	technology	NOUN
easat-6259	653	10	issn	issn	PROPN
easat-6259	653	11	:	:	PUNCT
easat-6259	653	12	2576	2576	NUM
easat-6259	653	13	-	-	SYM
easat-6259	653	14	8484	8484	NUM
easat-6259	653	15	vol	vol	NOUN
easat-6259	653	16	.	.	PROPN
easat-6259	654	1	9	9	NUM
easat-6259	654	2	,	,	PUNCT
easat-6259	654	3	no	no	INTJ
easat-6259	654	4	.	.	NOUN
easat-6259	655	1	4	4	NUM
easat-6259	655	2	:	:	SYM
easat-6259	655	3	1300	1300	NUM
easat-6259	655	4	-	-	SYM
easat-6259	655	5	1331	1331	NUM
easat-6259	655	6	,	,	PUNCT
easat-6259	655	7	2025	2025	NUM
easat-6259	655	8	doi	doi	NOUN
easat-6259	655	9	:	:	PUNCT
easat-6259	655	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	655	11	©	©	PROPN
easat-6259	655	12	2025	2025	NUM
easat-6259	655	13	by	by	ADP
easat-6259	655	14	the	the	DET
easat-6259	655	15	authors	author	NOUN
easat-6259	655	16	;	;	PUNCT
easat-6259	655	17	licensee	licensee	PROPN
easat-6259	655	18	learning	learn	VERB
easat-6259	655	19	gate	gate	PROPN
easat-6259	655	20	steering	steering	NOUN
easat-6259	655	21	wheel	wheel	NOUN
easat-6259	655	22	based	base	VERB
easat-6259	655	23	on	on	ADP
easat-6259	655	24	the	the	DET
easat-6259	655	25	difference	difference	NOUN
easat-6259	655	26	between	between	ADP
easat-6259	655	27	the	the	DET
easat-6259	655	28	current	current	ADJ
easat-6259	655	29	position	position	NOUN
easat-6259	655	30	of	of	ADP
easat-6259	655	31	the	the	DET
easat-6259	655	32	vehicle	vehicle	NOUN
easat-6259	655	33	and	and	CCONJ
easat-6259	655	34	the	the	DET
easat-6259	655	35	centre	centre	NOUN
easat-6259	655	36	of	of	ADP
easat-6259	655	37	the	the	DET
easat-6259	655	38	desired	desire	VERB
easat-6259	655	39	path	path	NOUN
easat-6259	655	40	.	.	PUNCT
easat-6259	656	1	pids	pid	NOUN
easat-6259	656	2	use	use	VERB
easat-6259	656	3	matching	matching	NOUN
easat-6259	656	4	,	,	PUNCT
easat-6259	656	5	coupling	coupling	NOUN
easat-6259	656	6	,	,	PUNCT
easat-6259	656	7	and	and	CCONJ
easat-6259	656	8	derivatives	derivative	NOUN
easat-6259	656	9	to	to	PART
easat-6259	656	10	make	make	VERB
easat-6259	656	11	correct	correct	ADJ
easat-6259	656	12	actions	action	NOUN
easat-6259	656	13	.	.	PUNCT
easat-6259	657	1	•	•	NUM
easat-6259	657	2	rnn	rnn	VERB
easat-6259	657	3	with	with	ADP
easat-6259	657	4	lstm	lstm	NOUN
easat-6259	657	5	cells	cell	NOUN
easat-6259	657	6	–	–	PUNCT
easat-6259	657	7	alternative	alternative	ADJ
easat-6259	657	8	approach	approach	NOUN
easat-6259	657	9	:	:	PUNCT
easat-6259	657	10	rnn	rnn	AUX
easat-6259	657	11	use	use	VERB
easat-6259	657	12	lstm	lstm	NOUN
easat-6259	657	13	cells	cell	NOUN
easat-6259	657	14	to	to	PART
easat-6259	657	15	compute	compute	VERB
easat-6259	657	16	road	road	NOUN
easat-6259	657	17	markings	marking	NOUN
easat-6259	657	18	and	and	CCONJ
easat-6259	657	19	interactions	interaction	NOUN
easat-6259	657	20	with	with	ADP
easat-6259	657	21	other	other	ADJ
easat-6259	657	22	vehicles	vehicle	NOUN
easat-6259	657	23	.	.	PUNCT
easat-6259	658	1	this	this	DET
easat-6259	658	2	method	method	NOUN
easat-6259	658	3	uses	use	VERB
easat-6259	658	4	a	a	DET
easat-6259	658	5	sequence	sequence	NOUN
easat-6259	658	6	of	of	ADP
easat-6259	658	7	inputs	input	NOUN
easat-6259	658	8	and	and	CCONJ
easat-6259	658	9	previous	previous	ADJ
easat-6259	658	10	states	state	NOUN
easat-6259	658	11	to	to	PART
easat-6259	658	12	accurately	accurately	ADV
easat-6259	658	13	determine	determine	VERB
easat-6259	658	14	the	the	DET
easat-6259	658	15	inputs	input	NOUN
easat-6259	658	16	to	to	ADP
easat-6259	658	17	the	the	DET
easat-6259	658	18	steering	steering	NOUN
easat-6259	658	19	wheel	wheel	NOUN
easat-6259	658	20	as	as	SCONJ
easat-6259	658	21	given	give	VERB
easat-6259	658	22	in	in	ADP
easat-6259	658	23	figure	figure	NOUN
easat-6259	658	24	12	12	NUM
easat-6259	659	1	[	[	X
easat-6259	659	2	39	39	NUM
easat-6259	659	3	]	]	PUNCT
easat-6259	659	4	.	.	PUNCT
easat-6259	660	1	it	it	PRON
easat-6259	660	2	uses	use	VERB
easat-6259	660	3	memory	memory	NOUN
easat-6259	660	4	capacity	capacity	NOUN
easat-6259	660	5	to	to	PART
easat-6259	660	6	account	account	VERB
easat-6259	660	7	for	for	ADP
easat-6259	660	8	past	past	ADJ
easat-6259	660	9	states	state	NOUN
easat-6259	660	10	and	and	CCONJ
easat-6259	660	11	sequences	sequence	NOUN
easat-6259	660	12	of	of	ADP
easat-6259	660	13	inputs	input	NOUN
easat-6259	660	14	,	,	PUNCT
easat-6259	660	15	resulting	result	VERB
easat-6259	660	16	in	in	ADP
easat-6259	660	17	highly	highly	ADV
easat-6259	660	18	contextual	contextual	ADJ
easat-6259	660	19	predictions	prediction	NOUN
easat-6259	660	20	of	of	ADP
easat-6259	660	21	steering	steer	VERB
easat-6259	660	22	object	object	NOUN
easat-6259	660	23	inputs	input	NOUN
easat-6259	660	24	.	.	PUNCT
easat-6259	661	1	also	also	ADV
easat-6259	661	2	,	,	PUNCT
easat-6259	661	3	it	it	PRON
easat-6259	661	4	is	be	AUX
easat-6259	661	5	highly	highly	ADV
easat-6259	661	6	adaptive	adaptive	ADJ
easat-6259	661	7	since	since	SCONJ
easat-6259	661	8	it	it	PRON
easat-6259	661	9	takes	take	VERB
easat-6259	661	10	into	into	ADP
easat-6259	661	11	consideration	consideration	NOUN
easat-6259	661	12	temporal	temporal	ADJ
easat-6259	661	13	dependencies	dependency	NOUN
easat-6259	661	14	and	and	CCONJ
easat-6259	661	15	input	input	NOUN
easat-6259	661	16	sequences	sequence	NOUN
easat-6259	661	17	,	,	PUNCT
easat-6259	661	18	making	make	VERB
easat-6259	661	19	it	it	PRON
easat-6259	661	20	more	more	ADV
easat-6259	661	21	capable	capable	ADJ
easat-6259	661	22	of	of	ADP
easat-6259	661	23	handling	handle	VERB
easat-6259	661	24	dynamic	dynamic	ADJ
easat-6259	661	25	and	and	CCONJ
easat-6259	661	26	unpredictable	unpredictable	ADJ
easat-6259	661	27	situations	situation	NOUN
easat-6259	661	28	.	.	PUNCT
easat-6259	662	1	7.1.1	7.1.1	X
easat-6259	662	2	.	.	X
easat-6259	662	3	implementation	implementation	NOUN
easat-6259	662	4	complexity	complexity	NOUN
easat-6259	662	5	•	•	PROPN
easat-6259	662	6	cnn	cnn	PROPN
easat-6259	662	7	with	with	ADP
easat-6259	662	8	pid	pid	NOUN
easat-6259	662	9	controller	controller	NOUN
easat-6259	662	10	:	:	PUNCT
easat-6259	662	11	this	this	PRON
easat-6259	662	12	offers	offer	VERB
easat-6259	662	13	moderate	moderate	ADJ
easat-6259	662	14	complexity	complexity	NOUN
easat-6259	662	15	.	.	PUNCT
easat-6259	663	1	the	the	DET
easat-6259	663	2	cnn	cnn	PROPN
easat-6259	663	3	needs	need	VERB
easat-6259	663	4	training	training	NOUN
easat-6259	663	5	,	,	PUNCT
easat-6259	663	6	but	but	CCONJ
easat-6259	663	7	the	the	DET
easat-6259	663	8	pid	pid	NOUN
easat-6259	663	9	controller	controller	NOUN
easat-6259	663	10	is	be	AUX
easat-6259	663	11	simple	simple	ADJ
easat-6259	663	12	to	to	PART
easat-6259	663	13	build	build	VERB
easat-6259	663	14	and	and	CCONJ
easat-6259	663	15	tune	tune	NOUN
easat-6259	663	16	.	.	PUNCT
easat-6259	664	1	also	also	ADV
easat-6259	664	2	,	,	PUNCT
easat-6259	664	3	the	the	DET
easat-6259	664	4	cnn	cnn	PROPN
easat-6259	664	5	processes	process	VERB
easat-6259	664	6	the	the	DET
easat-6259	664	7	images	image	NOUN
easat-6259	664	8	,	,	PUNCT
easat-6259	664	9	and	and	CCONJ
easat-6259	664	10	the	the	DET
easat-6259	664	11	pid	pid	NOUN
easat-6259	664	12	controller	controller	NOUN
easat-6259	664	13	instantly	instantly	ADV
easat-6259	664	14	adjusts	adjust	VERB
easat-6259	664	15	the	the	DET
easat-6259	664	16	steering	steering	NOUN
easat-6259	664	17	wheel	wheel	NOUN
easat-6259	664	18	angle	angle	NOUN
easat-6259	664	19	according	accord	VERB
easat-6259	664	20	to	to	ADP
easat-6259	664	21	the	the	DET
easat-6259	664	22	results	result	NOUN
easat-6259	664	23	.	.	PUNCT
easat-6259	665	1	overall	overall	ADJ
easat-6259	665	2	,	,	PUNCT
easat-6259	665	3	good	good	ADJ
easat-6259	665	4	realtime	realtime	NOUN
easat-6259	665	5	performance	performance	NOUN
easat-6259	665	6	.	.	PUNCT
easat-6259	666	1	•	•	NOUN
easat-6259	666	2	rnn	rnn	VERB
easat-6259	666	3	using	use	VERB
easat-6259	666	4	lstm	lstm	ADJ
easat-6259	666	5	cells	cell	NOUN
easat-6259	666	6	:	:	PUNCT
easat-6259	666	7	this	this	PRON
easat-6259	666	8	offers	offer	VERB
easat-6259	666	9	high	high	ADJ
easat-6259	666	10	complexity	complexity	NOUN
easat-6259	666	11	.	.	PUNCT
easat-6259	667	1	to	to	PART
easat-6259	667	2	address	address	VERB
easat-6259	667	3	temporal	temporal	ADJ
easat-6259	667	4	dependence	dependence	NOUN
easat-6259	667	5	,	,	PUNCT
easat-6259	667	6	significant	significant	ADJ
easat-6259	667	7	training	training	NOUN
easat-6259	667	8	on	on	ADP
easat-6259	667	9	data	datum	NOUN
easat-6259	667	10	sequences	sequence	NOUN
easat-6259	667	11	is	be	AUX
easat-6259	667	12	required	require	VERB
easat-6259	667	13	,	,	PUNCT
easat-6259	667	14	as	as	ADV
easat-6259	667	15	well	well	ADV
easat-6259	667	16	as	as	ADP
easat-6259	667	17	more	more	ADJ
easat-6259	667	18	complex	complex	ADJ
easat-6259	667	19	architecture	architecture	NOUN
easat-6259	667	20	.	.	PUNCT
easat-6259	668	1	real	real	ADJ
easat-6259	668	2	-	-	PUNCT
easat-6259	668	3	time	time	NOUN
easat-6259	668	4	performance	performance	NOUN
easat-6259	668	5	can	can	AUX
easat-6259	668	6	be	be	AUX
easat-6259	668	7	difficult	difficult	ADJ
easat-6259	668	8	to	to	PART
easat-6259	668	9	achieve	achieve	VERB
easat-6259	668	10	due	due	ADJ
easat-6259	668	11	to	to	ADP
easat-6259	668	12	the	the	DET
easat-6259	668	13	computational	computational	ADJ
easat-6259	668	14	requirements	requirement	NOUN
easat-6259	668	15	of	of	ADP
easat-6259	668	16	processing	processing	NOUN
easat-6259	668	17	input	input	NOUN
easat-6259	668	18	sequences	sequence	NOUN
easat-6259	668	19	and	and	CCONJ
easat-6259	668	20	predicting	predict	VERB
easat-6259	668	21	future	future	ADJ
easat-6259	668	22	states	state	NOUN
easat-6259	668	23	.	.	PUNCT
easat-6259	669	1	7.2	7.2	NUM
easat-6259	669	2	.	.	PUNCT
easat-6259	669	3	comparison	comparison	NOUN
easat-6259	669	4	of	of	ADP
easat-6259	669	5	model	model	NOUN
easat-6259	669	6	predictive	predictive	ADJ
easat-6259	669	7	control	control	NOUN
easat-6259	669	8	versus	versus	ADP
easat-6259	669	9	pid	pid	NOUN
easat-6259	669	10	control	control	NOUN
easat-6259	669	11	for	for	ADP
easat-6259	669	12	lka	lka	PROPN
easat-6259	669	13	•	•	ADP
easat-6259	669	14	model	model	NOUN
easat-6259	669	15	predictive	predictive	PROPN
easat-6259	669	16	control	control	PROPN
easat-6259	669	17	(	(	PUNCT
easat-6259	669	18	mpc	mpc	NOUN
easat-6259	669	19	):	):	PUNCT
easat-6259	669	20	the	the	DET
easat-6259	669	21	adaptive	adaptive	ADJ
easat-6259	669	22	mpc	mpc	NOUN
easat-6259	669	23	predicts	predict	VERB
easat-6259	669	24	future	future	ADJ
easat-6259	669	25	vehicle	vehicle	NOUN
easat-6259	669	26	states	state	NOUN
easat-6259	669	27	and	and	CCONJ
easat-6259	669	28	optimizes	optimize	VERB
easat-6259	669	29	steering	steering	NOUN
easat-6259	669	30	angle	angle	NOUN
easat-6259	669	31	accordingly	accordingly	ADV
easat-6259	669	32	as	as	SCONJ
easat-6259	669	33	illustrated	illustrate	VERB
easat-6259	669	34	in	in	ADP
easat-6259	669	35	figure	figure	NOUN
easat-6259	669	36	13	13	NUM
easat-6259	670	1	[	[	X
easat-6259	670	2	40	40	NUM
easat-6259	670	3	]	]	PUNCT
easat-6259	670	4	.	.	PUNCT
easat-6259	671	1	the	the	DET
easat-6259	671	2	mpc	mpc	NOUN
easat-6259	671	3	model	model	NOUN
easat-6259	671	4	can	can	AUX
easat-6259	671	5	modify	modify	VERB
easat-6259	671	6	the	the	DET
easat-6259	671	7	steering	steering	NOUN
easat-6259	671	8	depending	depend	VERB
easat-6259	671	9	on	on	ADP
easat-6259	671	10	the	the	DET
easat-6259	671	11	road	road	NOUN
easat-6259	671	12	curvature	curvature	NOUN
easat-6259	671	13	prediction	prediction	NOUN
easat-6259	671	14	and	and	CCONJ
easat-6259	671	15	present	present	ADJ
easat-6259	671	16	vehicle	vehicle	NOUN
easat-6259	671	17	dynamics	dynamic	NOUN
easat-6259	671	18	.	.	PUNCT
easat-6259	672	1	•	•	NUM
easat-6259	672	2	pid	pid	NOUN
easat-6259	672	3	controllers	controller	NOUN
easat-6259	672	4	:	:	PUNCT
easat-6259	672	5	they	they	PRON
easat-6259	672	6	cause	cause	VERB
easat-6259	672	7	changes	change	NOUN
easat-6259	672	8	in	in	ADP
easat-6259	672	9	the	the	DET
easat-6259	672	10	steering	steering	NOUN
easat-6259	672	11	angle	angle	NOUN
easat-6259	672	12	according	accord	VERB
easat-6259	672	13	to	to	ADP
easat-6259	672	14	the	the	DET
easat-6259	672	15	amount	amount	NOUN
easat-6259	672	16	of	of	ADP
easat-6259	672	17	deviation	deviation	NOUN
easat-6259	672	18	of	of	ADP
easat-6259	672	19	the	the	DET
easat-6259	672	20	vehicle	vehicle	NOUN
easat-6259	672	21	's	's	PART
easat-6259	672	22	position	position	NOUN
easat-6259	672	23	from	from	ADP
easat-6259	672	24	the	the	DET
easat-6259	672	25	target	target	NOUN
easat-6259	672	26	position	position	NOUN
easat-6259	672	27	using	use	VERB
easat-6259	672	28	the	the	DET
easat-6259	672	29	three	three	NUM
easat-6259	672	30	main	main	ADJ
easat-6259	672	31	terms	term	NOUN
easat-6259	672	32	:	:	PUNCT
easat-6259	672	33	proportional	proportional	ADJ
easat-6259	672	34	,	,	PUNCT
easat-6259	672	35	integral	integral	ADJ
easat-6259	672	36	,	,	PUNCT
easat-6259	672	37	and	and	CCONJ
easat-6259	672	38	derivative	derivative	NOUN
easat-6259	672	39	that	that	PRON
easat-6259	672	40	are	be	AUX
easat-6259	672	41	discussed	discuss	VERB
easat-6259	672	42	earlier	early	ADV
easat-6259	672	43	.	.	PUNCT
easat-6259	673	1	comparison	comparison	NOUN
easat-6259	673	2	between	between	ADP
easat-6259	673	3	mpc	mpc	PROPN
easat-6259	673	4	and	and	CCONJ
easat-6259	673	5	pid	pid	NOUN
easat-6259	673	6	controllers	controller	NOUN
easat-6259	673	7	is	be	AUX
easat-6259	673	8	given	give	VERB
easat-6259	673	9	in	in	ADP
easat-6259	673	10	table	table	NOUN
easat-6259	673	11	1	1	NUM
easat-6259	673	12	.	.	PUNCT
easat-6259	673	13	table	table	NOUN
easat-6259	673	14	1	1	NUM
easat-6259	673	15	.	.	PUNCT
easat-6259	673	16	comparison	comparison	NOUN
easat-6259	673	17	between	between	ADP
easat-6259	673	18	mpc	mpc	PROPN
easat-6259	673	19	and	and	CCONJ
easat-6259	673	20	pid	pid	NOUN
easat-6259	673	21	control	control	NOUN
easat-6259	673	22	for	for	ADP
easat-6259	673	23	lka	lka	PROPN
easat-6259	673	24	.	.	PUNCT
easat-6259	674	1	8	8	NUM
easat-6259	674	2	.	.	X
easat-6259	674	3	conclusion	conclusion	NOUN
easat-6259	674	4	and	and	CCONJ
easat-6259	674	5	future	future	ADJ
easat-6259	674	6	directions	direction	NOUN
easat-6259	674	7	our	our	PRON
easat-6259	674	8	paper	paper	NOUN
easat-6259	674	9	showed	show	VERB
easat-6259	674	10	the	the	DET
easat-6259	674	11	importance	importance	NOUN
easat-6259	674	12	of	of	ADP
easat-6259	674	13	combining	combine	VERB
easat-6259	674	14	the	the	DET
easat-6259	674	15	pid	pid	NOUN
easat-6259	674	16	controllers	controller	NOUN
easat-6259	674	17	with	with	ADP
easat-6259	674	18	cnns	cnn	NOUN
easat-6259	674	19	to	to	PART
easat-6259	674	20	improve	improve	VERB
easat-6259	674	21	lka	lka	NOUN
easat-6259	674	22	system	system	NOUN
easat-6259	674	23	in	in	ADP
easat-6259	674	24	autonomous	autonomous	ADJ
easat-6259	674	25	cars	car	NOUN
easat-6259	674	26	.	.	PUNCT
easat-6259	675	1	it	it	PRON
easat-6259	675	2	is	be	AUX
easat-6259	675	3	clear	clear	ADJ
easat-6259	675	4	that	that	SCONJ
easat-6259	675	5	controlling	control	VERB
easat-6259	675	6	the	the	DET
easat-6259	675	7	lane	lane	NOUN
easat-6259	675	8	and	and	CCONJ
easat-6259	675	9	reducing	reduce	VERB
easat-6259	675	10	the	the	DET
easat-6259	675	11	chances	chance	NOUN
easat-6259	675	12	of	of	ADP
easat-6259	675	13	accidents	accident	NOUN
easat-6259	675	14	due	due	ADP
easat-6259	675	15	to	to	ADP
easat-6259	675	16	wrong	wrong	ADJ
easat-6259	675	17	lane	lane	NOUN
easat-6259	675	18	changes	change	NOUN
easat-6259	675	19	depends	depend	VERB
easat-6259	675	20	highly	highly	ADV
easat-6259	675	21	on	on	ADP
easat-6259	675	22	accurate	accurate	ADJ
easat-6259	675	23	lane	lane	NOUN
easat-6259	675	24	detection	detection	NOUN
easat-6259	675	25	.	.	PUNCT
easat-6259	676	1	cnns	cnns	PROPN
easat-6259	676	2	are	be	AUX
easat-6259	676	3	very	very	ADV
easat-6259	676	4	good	good	ADJ
easat-6259	676	5	at	at	ADP
easat-6259	676	6	processing	process	VERB
easat-6259	676	7	visual	visual	ADJ
easat-6259	676	8	input	input	NOUN
easat-6259	676	9	from	from	ADP
easat-6259	676	10	cameras	camera	NOUN
easat-6259	676	11	mounted	mount	VERB
easat-6259	676	12	on	on	ADP
easat-6259	676	13	vehicles	vehicle	NOUN
easat-6259	676	14	,	,	PUNCT
easat-6259	676	15	so	so	SCONJ
easat-6259	676	16	we	we	PRON
easat-6259	676	17	can	can	AUX
easat-6259	676	18	extract	extract	VERB
easat-6259	676	19	complex	complex	ADJ
easat-6259	676	20	hierarchical	hierarchical	ADJ
easat-6259	676	21	1327	1327	NUM
easat-6259	676	22	edelweiss	edelweiss	PROPN
easat-6259	676	23	applied	apply	VERB
easat-6259	676	24	science	science	NOUN
easat-6259	676	25	and	and	CCONJ
easat-6259	676	26	technology	technology	NOUN
easat-6259	676	27	issn	issn	PROPN
easat-6259	676	28	:	:	PUNCT
easat-6259	676	29	2576	2576	NUM
easat-6259	676	30	-	-	SYM
easat-6259	676	31	8484	8484	NUM
easat-6259	676	32	vol	vol	NOUN
easat-6259	676	33	.	.	PROPN
easat-6259	677	1	9	9	NUM
easat-6259	677	2	,	,	PUNCT
easat-6259	677	3	no	no	INTJ
easat-6259	677	4	.	.	NOUN
easat-6259	678	1	4	4	NUM
easat-6259	678	2	:	:	SYM
easat-6259	678	3	1300	1300	NUM
easat-6259	678	4	-	-	SYM
easat-6259	678	5	1331	1331	NUM
easat-6259	678	6	,	,	PUNCT
easat-6259	678	7	2025	2025	NUM
easat-6259	678	8	doi	doi	NOUN
easat-6259	678	9	:	:	PUNCT
easat-6259	678	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	678	11	©	©	PROPN
easat-6259	678	12	2025	2025	NUM
easat-6259	678	13	by	by	ADP
easat-6259	678	14	the	the	DET
easat-6259	678	15	authors	author	NOUN
easat-6259	678	16	;	;	PUNCT
easat-6259	678	17	licensee	licensee	PROPN
easat-6259	678	18	learning	learn	VERB
easat-6259	678	19	gate	gate	PROPN
easat-6259	678	20	features	feature	NOUN
easat-6259	678	21	to	to	PART
easat-6259	678	22	recognize	recognize	VERB
easat-6259	678	23	lane	lane	NOUN
easat-6259	678	24	markers	marker	NOUN
easat-6259	678	25	.	.	PUNCT
easat-6259	679	1	this	this	PRON
easat-6259	679	2	ensures	ensure	VERB
easat-6259	679	3	lka	lka	PROPN
easat-6259	679	4	can	can	AUX
easat-6259	679	5	detect	detect	VERB
easat-6259	679	6	lanes	lane	NOUN
easat-6259	679	7	in	in	ADP
easat-6259	679	8	all	all	DET
easat-6259	679	9	kind	kind	NOUN
easat-6259	679	10	of	of	ADV
easat-6259	679	11	driving	drive	VERB
easat-6259	679	12	scenarios	scenario	NOUN
easat-6259	679	13	,	,	PUNCT
easat-6259	679	14	including	include	VERB
easat-6259	679	15	low	low	ADJ
easat-6259	679	16	light	light	ADJ
easat-6259	679	17	and	and	CCONJ
easat-6259	679	18	bad	bad	ADJ
easat-6259	679	19	weather	weather	NOUN
easat-6259	679	20	.	.	PUNCT
easat-6259	680	1	this	this	PRON
easat-6259	680	2	makes	make	VERB
easat-6259	680	3	adss	adss	PROPN
easat-6259	680	4	more	more	ADV
easat-6259	680	5	reliable	reliable	ADJ
easat-6259	680	6	and	and	CCONJ
easat-6259	680	7	safe	safe	ADJ
easat-6259	680	8	,	,	PUNCT
easat-6259	680	9	so	so	CCONJ
easat-6259	680	10	our	our	PRON
easat-6259	680	11	work	work	NOUN
easat-6259	680	12	helps	help	VERB
easat-6259	680	13	to	to	PART
easat-6259	680	14	advance	advance	VERB
easat-6259	680	15	adss	adss	PROPN
easat-6259	680	16	through	through	ADP
easat-6259	680	17	the	the	DET
easat-6259	680	18	usage	usage	NOUN
easat-6259	680	19	of	of	ADP
easat-6259	680	20	most	most	ADV
easat-6259	680	21	advanced	advanced	ADJ
easat-6259	680	22	technologies	technology	NOUN
easat-6259	680	23	,	,	PUNCT
easat-6259	680	24	leading	lead	VERB
easat-6259	680	25	to	to	ADP
easat-6259	680	26	a	a	DET
easat-6259	680	27	better	well	ADJ
easat-6259	680	28	future	future	ADJ
easat-6259	680	29	transportation	transportation	NOUN
easat-6259	680	30	.	.	PUNCT
easat-6259	681	1	pid	pid	NOUN
easat-6259	681	2	controllers	controller	NOUN
easat-6259	681	3	are	be	AUX
easat-6259	681	4	the	the	DET
easat-6259	681	5	control	control	NOUN
easat-6259	681	6	part	part	NOUN
easat-6259	681	7	of	of	ADP
easat-6259	681	8	lka	lka	PROPN
easat-6259	681	9	systems	system	NOUN
easat-6259	681	10	,	,	PUNCT
easat-6259	681	11	they	they	PRON
easat-6259	681	12	enhance	enhance	VERB
easat-6259	681	13	cnns	cnns	ADJ
easat-6259	681	14	perceptual	perceptual	ADJ
easat-6259	681	15	ability	ability	NOUN
easat-6259	681	16	by	by	ADP
easat-6259	681	17	providing	provide	VERB
easat-6259	681	18	strong	strong	ADJ
easat-6259	681	19	steering	steering	NOUN
easat-6259	681	20	correction	correction	NOUN
easat-6259	681	21	based	base	VERB
easat-6259	681	22	on	on	ADP
easat-6259	681	23	real	real	ADJ
easat-6259	681	24	-	-	PUNCT
easat-6259	681	25	time	time	NOUN
easat-6259	681	26	feedback	feedback	NOUN
easat-6259	681	27	from	from	ADP
easat-6259	681	28	the	the	DET
easat-6259	681	29	detected	detect	VERB
easat-6259	681	30	lane	lane	NOUN
easat-6259	681	31	boundaries	boundary	NOUN
easat-6259	681	32	.	.	PUNCT
easat-6259	682	1	the	the	DET
easat-6259	682	2	vehicle	vehicle	NOUN
easat-6259	682	3	position	position	NOUN
easat-6259	682	4	in	in	ADP
easat-6259	682	5	the	the	DET
easat-6259	682	6	lane	lane	NOUN
easat-6259	682	7	is	be	AUX
easat-6259	682	8	maintained	maintain	VERB
easat-6259	682	9	by	by	ADP
easat-6259	682	10	this	this	DET
easat-6259	682	11	control	control	NOUN
easat-6259	682	12	system	system	NOUN
easat-6259	682	13	to	to	PART
easat-6259	682	14	provide	provide	VERB
easat-6259	682	15	responsive	responsive	ADJ
easat-6259	682	16	and	and	CCONJ
easat-6259	682	17	smooth	smooth	ADJ
easat-6259	682	18	steering	steering	NOUN
easat-6259	682	19	correction	correction	NOUN
easat-6259	682	20	so	so	SCONJ
easat-6259	682	21	the	the	DET
easat-6259	682	22	car	car	NOUN
easat-6259	682	23	can	can	AUX
easat-6259	682	24	be	be	AUX
easat-6259	682	25	centred	centre	VERB
easat-6259	682	26	.	.	PUNCT
easat-6259	683	1	pid	pid	NOUN
easat-6259	683	2	controllers	controller	NOUN
easat-6259	683	3	are	be	AUX
easat-6259	683	4	good	good	ADJ
easat-6259	683	5	for	for	ADP
easat-6259	683	6	lka	lka	PROPN
easat-6259	683	7	systems	system	NOUN
easat-6259	683	8	because	because	SCONJ
easat-6259	683	9	they	they	PRON
easat-6259	683	10	are	be	AUX
easat-6259	683	11	simple	simple	ADJ
easat-6259	683	12	and	and	CCONJ
easat-6259	683	13	efficient	efficient	ADJ
easat-6259	683	14	.	.	PUNCT
easat-6259	684	1	they	they	PRON
easat-6259	684	2	can	can	AUX
easat-6259	684	3	adjust	adjust	VERB
easat-6259	684	4	the	the	DET
easat-6259	684	5	steering	steering	NOUN
easat-6259	684	6	angle	angle	NOUN
easat-6259	684	7	to	to	PART
easat-6259	684	8	correct	correct	VERB
easat-6259	684	9	any	any	DET
easat-6259	684	10	error	error	NOUN
easat-6259	684	11	from	from	ADP
easat-6259	684	12	the	the	DET
easat-6259	684	13	original	original	ADJ
easat-6259	684	14	direction	direction	NOUN
easat-6259	684	15	,	,	PUNCT
easat-6259	684	16	so	so	SCONJ
easat-6259	684	17	that	that	SCONJ
easat-6259	684	18	driving	driving	NOUN
easat-6259	684	19	can	can	AUX
easat-6259	684	20	be	be	AUX
easat-6259	684	21	safe	safe	ADJ
easat-6259	684	22	and	and	CCONJ
easat-6259	684	23	beneficial	beneficial	ADJ
easat-6259	684	24	.	.	PUNCT
easat-6259	685	1	the	the	DET
easat-6259	685	2	combination	combination	NOUN
easat-6259	685	3	of	of	ADP
easat-6259	685	4	cnn	cnn	PROPN
easat-6259	685	5	with	with	ADP
easat-6259	685	6	pid	pid	NOUN
easat-6259	685	7	controller	controller	NOUN
easat-6259	685	8	provides	provide	VERB
easat-6259	685	9	a	a	DET
easat-6259	685	10	robust	robust	ADJ
easat-6259	685	11	lka	lka	NOUN
easat-6259	685	12	system	system	NOUN
easat-6259	685	13	with	with	ADP
easat-6259	685	14	full	full	ADJ
easat-6259	685	15	potential	potential	NOUN
easat-6259	685	16	.	.	PUNCT
easat-6259	686	1	on	on	ADP
easat-6259	686	2	one	one	NUM
easat-6259	686	3	side	side	NOUN
easat-6259	686	4	,	,	PUNCT
easat-6259	686	5	cnns	cnn	NOUN
easat-6259	686	6	supply	supply	VERB
easat-6259	686	7	the	the	DET
easat-6259	686	8	perceptual	perceptual	ADJ
easat-6259	686	9	competencies	competency	NOUN
easat-6259	686	10	for	for	ADP
easat-6259	686	11	line	line	NOUN
easat-6259	686	12	detection	detection	NOUN
easat-6259	686	13	;	;	PUNCT
easat-6259	686	14	on	on	ADP
easat-6259	686	15	the	the	DET
easat-6259	686	16	other	other	ADJ
easat-6259	686	17	side	side	NOUN
easat-6259	686	18	,	,	PUNCT
easat-6259	686	19	pid	pid	NOUN
easat-6259	686	20	controllers	controller	NOUN
easat-6259	686	21	ensure	ensure	VERB
easat-6259	686	22	precision	precision	NOUN
easat-6259	686	23	and	and	CCONJ
easat-6259	686	24	responsiveness	responsiveness	NOUN
easat-6259	686	25	in	in	ADP
easat-6259	686	26	steering	steering	NOUN
easat-6259	686	27	adjustment	adjustment	NOUN
easat-6259	686	28	.	.	PUNCT
easat-6259	687	1	in	in	ADP
easat-6259	687	2	this	this	DET
easat-6259	687	3	manner	manner	NOUN
easat-6259	687	4	,	,	PUNCT
easat-6259	687	5	lka	lka	PROPN
easat-6259	687	6	systems	system	NOUN
easat-6259	687	7	are	be	AUX
easat-6259	687	8	able	able	ADJ
easat-6259	687	9	to	to	PART
easat-6259	687	10	maintain	maintain	VERB
easat-6259	687	11	rigorous	rigorous	ADJ
easat-6259	687	12	discipline	discipline	NOUN
easat-6259	687	13	within	within	ADP
easat-6259	687	14	lanes	lane	NOUN
easat-6259	687	15	against	against	ADP
easat-6259	687	16	the	the	DET
easat-6259	687	17	unpredictable	unpredictable	ADJ
easat-6259	687	18	dynamic	dynamic	ADJ
easat-6259	687	19	conditions	condition	NOUN
easat-6259	687	20	of	of	ADP
easat-6259	687	21	driving	drive	VERB
easat-6259	687	22	.	.	PUNCT
easat-6259	688	1	besides	besides	SCONJ
easat-6259	688	2	improving	improve	VERB
easat-6259	688	3	lka	lka	NOUN
easat-6259	688	4	systems	system	NOUN
easat-6259	688	5	’	'	PUNCT
easat-6259	688	6	performance	performance	NOUN
easat-6259	688	7	,	,	PUNCT
easat-6259	688	8	cnn	cnn	PROPN
easat-6259	688	9	-	-	PUNCT
easat-6259	688	10	based	base	VERB
easat-6259	688	11	perception	perception	NOUN
easat-6259	688	12	and	and	CCONJ
easat-6259	688	13	pid	pid	NOUN
easat-6259	688	14	-	-	PUNCT
easat-6259	688	15	based	base	VERB
easat-6259	688	16	control	control	NOUN
easat-6259	688	17	improve	improve	VERB
easat-6259	688	18	the	the	DET
easat-6259	688	19	overall	overall	ADJ
easat-6259	688	20	safety	safety	NOUN
easat-6259	688	21	and	and	CCONJ
easat-6259	688	22	reliability	reliability	NOUN
easat-6259	688	23	of	of	ADP
easat-6259	688	24	ads	ad	NOUN
easat-6259	688	25	technologies	technology	NOUN
easat-6259	688	26	.	.	PUNCT
easat-6259	689	1	our	our	PRON
easat-6259	689	2	simulation	simulation	NOUN
easat-6259	689	3	and	and	CCONJ
easat-6259	689	4	results	result	NOUN
easat-6259	689	5	obtained	obtain	VERB
easat-6259	689	6	point	point	NOUN
easat-6259	689	7	out	out	ADP
easat-6259	689	8	that	that	SCONJ
easat-6259	689	9	our	our	PRON
easat-6259	689	10	cnn	cnn	PROPN
easat-6259	689	11	-	-	PUNCT
easat-6259	689	12	based	base	VERB
easat-6259	689	13	approach	approach	NOUN
easat-6259	689	14	yields	yield	VERB
easat-6259	689	15	high	high	ADJ
easat-6259	689	16	accuracy	accuracy	NOUN
easat-6259	689	17	and	and	CCONJ
easat-6259	689	18	low	low	ADJ
easat-6259	689	19	processing	processing	NOUN
easat-6259	689	20	time	time	NOUN
easat-6259	689	21	that	that	PRON
easat-6259	689	22	are	be	AUX
easat-6259	689	23	needed	need	VERB
easat-6259	689	24	for	for	ADP
easat-6259	689	25	real	real	ADJ
easat-6259	689	26	-	-	PUNCT
easat-6259	689	27	time	time	NOUN
easat-6259	689	28	situations	situation	NOUN
easat-6259	689	29	.	.	PUNCT
easat-6259	690	1	several	several	ADJ
easat-6259	690	2	critical	critical	ADJ
easat-6259	690	3	paths	path	NOUN
easat-6259	690	4	will	will	AUX
easat-6259	690	5	dominate	dominate	VERB
easat-6259	690	6	future	future	ADJ
easat-6259	690	7	research	research	NOUN
easat-6259	690	8	in	in	ADP
easat-6259	690	9	this	this	DET
easat-6259	690	10	area	area	NOUN
easat-6259	690	11	,	,	PUNCT
easat-6259	690	12	all	all	PRON
easat-6259	690	13	of	of	ADP
easat-6259	690	14	which	which	PRON
easat-6259	690	15	can	can	AUX
easat-6259	690	16	improve	improve	VERB
easat-6259	690	17	the	the	DET
easat-6259	690	18	potential	potential	NOUN
easat-6259	690	19	of	of	ADP
easat-6259	690	20	lka	lka	PROPN
easat-6259	690	21	systems	system	NOUN
easat-6259	690	22	for	for	ADP
easat-6259	690	23	real	real	ADJ
easat-6259	690	24	-	-	PUNCT
easat-6259	690	25	world	world	NOUN
easat-6259	690	26	deployment	deployment	NOUN
easat-6259	690	27	.	.	PUNCT
easat-6259	691	1	future	future	ADJ
easat-6259	691	2	work	work	NOUN
easat-6259	691	3	could	could	AUX
easat-6259	691	4	go	go	VERB
easat-6259	691	5	in	in	ADP
easat-6259	691	6	the	the	DET
easat-6259	691	7	following	following	ADJ
easat-6259	691	8	directions	direction	NOUN
easat-6259	691	9	that	that	PRON
easat-6259	691	10	span	span	VERB
easat-6259	691	11	around	around	ADV
easat-6259	691	12	improving	improve	VERB
easat-6259	691	13	performance	performance	NOUN
easat-6259	691	14	and	and	CCONJ
easat-6259	691	15	security	security	NOUN
easat-6259	691	16	of	of	ADP
easat-6259	691	17	model	model	NOUN
easat-6259	691	18	:	:	PUNCT
easat-6259	691	19	•	•	NUM
easat-6259	691	20	more	more	ADV
easat-6259	691	21	complex	complex	ADJ
easat-6259	691	22	cnn	cnn	PROPN
easat-6259	691	23	architectures	architecture	NOUN
easat-6259	691	24	:	:	PUNCT
easat-6259	691	25	this	this	PRON
easat-6259	691	26	is	be	AUX
easat-6259	691	27	needed	need	VERB
easat-6259	691	28	to	to	PART
easat-6259	691	29	examine	examine	VERB
easat-6259	691	30	advanced	advanced	PROPN
easat-6259	691	31	cnn	cnn	PROPN
easat-6259	691	32	architectures	architecture	NOUN
easat-6259	691	33	and	and	CCONJ
easat-6259	691	34	methods	method	NOUN
easat-6259	691	35	to	to	PART
easat-6259	691	36	improve	improve	VERB
easat-6259	691	37	the	the	DET
easat-6259	691	38	robustness	robustness	NOUN
easat-6259	691	39	of	of	ADP
easat-6259	691	40	lane	lane	NOUN
easat-6259	691	41	detection	detection	NOUN
easat-6259	691	42	and	and	CCONJ
easat-6259	691	43	other	other	ADJ
easat-6259	691	44	perceptual	perceptual	ADJ
easat-6259	691	45	tasks	task	NOUN
easat-6259	691	46	.	.	PUNCT
easat-6259	692	1	•	•	NUM
easat-6259	692	2	hybrid	hybrid	NOUN
easat-6259	692	3	models	model	NOUN
easat-6259	692	4	:	:	PUNCT
easat-6259	692	5	cnns	cnn	NOUN
easat-6259	692	6	could	could	AUX
easat-6259	692	7	be	be	AUX
easat-6259	692	8	combined	combine	VERB
easat-6259	692	9	with	with	ADP
easat-6259	692	10	other	other	ADJ
easat-6259	692	11	ml	ml	NOUN
easat-6259	692	12	models	model	NOUN
easat-6259	692	13	,	,	PUNCT
easat-6259	692	14	such	such	ADJ
easat-6259	692	15	as	as	ADP
easat-6259	692	16	lstm	lstm	ADJ
easat-6259	692	17	networks	network	NOUN
easat-6259	692	18	or	or	CCONJ
easat-6259	692	19	rnns	rnn	NOUN
easat-6259	692	20	,	,	PUNCT
easat-6259	692	21	to	to	PART
easat-6259	692	22	capture	capture	VERB
easat-6259	692	23	temporal	temporal	ADJ
easat-6259	692	24	relationships	relationship	NOUN
easat-6259	692	25	in	in	ADP
easat-6259	692	26	driving	drive	VERB
easat-6259	692	27	data	datum	NOUN
easat-6259	692	28	.	.	PUNCT
easat-6259	693	1	this	this	PRON
easat-6259	693	2	would	would	AUX
easat-6259	693	3	visibly	visibly	ADV
easat-6259	693	4	improve	improve	VERB
easat-6259	693	5	the	the	DET
easat-6259	693	6	system	system	NOUN
easat-6259	693	7	adaptability	adaptability	NOUN
easat-6259	693	8	.	.	PUNCT
easat-6259	694	1	•	•	NUM
easat-6259	694	2	additional	additional	ADJ
easat-6259	694	3	sensors	sensor	NOUN
easat-6259	694	4	:	:	PUNCT
easat-6259	694	5	multi	multi	ADJ
easat-6259	694	6	-	-	ADJ
easat-6259	694	7	modal	modal	ADJ
easat-6259	694	8	sensor	sensor	NOUN
easat-6259	694	9	fusion	fusion	NOUN
easat-6259	694	10	could	could	AUX
easat-6259	694	11	be	be	AUX
easat-6259	694	12	used	use	VERB
easat-6259	694	13	to	to	PART
easat-6259	694	14	utilize	utilize	VERB
easat-6259	694	15	information	information	NOUN
easat-6259	694	16	from	from	ADP
easat-6259	694	17	other	other	ADJ
easat-6259	694	18	sensors	sensor	NOUN
easat-6259	694	19	,	,	PUNCT
easat-6259	694	20	such	such	ADJ
easat-6259	694	21	lidar	lidar	NOUN
easat-6259	694	22	,	,	PUNCT
easat-6259	694	23	radar	radar	NOUN
easat-6259	694	24	,	,	PUNCT
easat-6259	694	25	and	and	CCONJ
easat-6259	694	26	ultrasonic	ultrasonic	ADJ
easat-6259	694	27	sensors	sensor	NOUN
easat-6259	694	28	,	,	PUNCT
easat-6259	694	29	in	in	ADP
easat-6259	694	30	order	order	NOUN
easat-6259	694	31	to	to	PART
easat-6259	694	32	improve	improve	VERB
easat-6259	694	33	dependability	dependability	NOUN
easat-6259	694	34	of	of	ADP
easat-6259	694	35	the	the	DET
easat-6259	694	36	perception	perception	NOUN
easat-6259	694	37	system	system	NOUN
easat-6259	694	38	,	,	PUNCT
easat-6259	694	39	especially	especially	ADV
easat-6259	694	40	in	in	ADP
easat-6259	694	41	difficult	difficult	ADJ
easat-6259	694	42	situations	situation	NOUN
easat-6259	694	43	like	like	ADP
easat-6259	694	44	dimly	dimly	ADV
easat-6259	694	45	lit	light	VERB
easat-6259	694	46	areas	area	NOUN
easat-6259	694	47	or	or	CCONJ
easat-6259	694	48	unfavourable	unfavourable	ADJ
easat-6259	694	49	weather	weather	NOUN
easat-6259	694	50	.	.	PUNCT
easat-6259	695	1	•	•	NUM
easat-6259	695	2	sensor	sensor	NOUN
easat-6259	695	3	calibration	calibration	NOUN
easat-6259	695	4	and	and	CCONJ
easat-6259	695	5	synchronization	synchronization	NOUN
easat-6259	695	6	:	:	PUNCT
easat-6259	695	7	in	in	ADP
easat-6259	695	8	order	order	NOUN
easat-6259	695	9	to	to	PART
easat-6259	695	10	ensure	ensure	VERB
easat-6259	695	11	accurate	accurate	ADJ
easat-6259	695	12	data	datum	NOUN
easat-6259	695	13	fusion	fusion	NOUN
easat-6259	695	14	and	and	CCONJ
easat-6259	695	15	enhance	enhance	VERB
easat-6259	695	16	overall	overall	ADJ
easat-6259	695	17	system	system	NOUN
easat-6259	695	18	performance	performance	NOUN
easat-6259	695	19	,	,	PUNCT
easat-6259	695	20	techniques	technique	NOUN
easat-6259	695	21	for	for	ADP
easat-6259	695	22	the	the	DET
easat-6259	695	23	exact	exact	ADJ
easat-6259	695	24	calibration	calibration	NOUN
easat-6259	695	25	and	and	CCONJ
easat-6259	695	26	synchronization	synchronization	NOUN
easat-6259	695	27	of	of	ADP
easat-6259	695	28	many	many	ADJ
easat-6259	695	29	sensors	sensor	NOUN
easat-6259	695	30	could	could	AUX
easat-6259	695	31	be	be	AUX
easat-6259	695	32	developed	develop	VERB
easat-6259	695	33	.	.	PUNCT
easat-6259	696	1	•	•	NUM
easat-6259	696	2	optimized	optimize	VERB
easat-6259	696	3	algorithms	algorithm	NOUN
easat-6259	696	4	:	:	PUNCT
easat-6259	696	5	this	this	PRON
easat-6259	696	6	is	be	AUX
easat-6259	696	7	required	require	VERB
easat-6259	696	8	to	to	PART
easat-6259	696	9	ensure	ensure	VERB
easat-6259	696	10	that	that	SCONJ
easat-6259	696	11	the	the	DET
easat-6259	696	12	system	system	NOUN
easat-6259	696	13	can	can	AUX
easat-6259	696	14	run	run	VERB
easat-6259	696	15	effectively	effectively	ADV
easat-6259	696	16	on	on	ADP
easat-6259	696	17	embedded	embed	VERB
easat-6259	696	18	hardware	hardware	NOUN
easat-6259	696	19	with	with	ADP
easat-6259	696	20	limited	limited	ADJ
easat-6259	696	21	resources	resource	NOUN
easat-6259	696	22	,	,	PUNCT
easat-6259	696	23	so	so	ADV
easat-6259	696	24	focusing	focus	VERB
easat-6259	696	25	on	on	ADP
easat-6259	696	26	optimizing	optimize	VERB
easat-6259	696	27	the	the	DET
easat-6259	696	28	models	model	NOUN
easat-6259	696	29	and	and	CCONJ
easat-6259	696	30	algorithms	algorithm	NOUN
easat-6259	696	31	would	would	AUX
easat-6259	696	32	lower	lower	VERB
easat-6259	696	33	computational	computational	ADJ
easat-6259	696	34	complexity	complexity	NOUN
easat-6259	696	35	and	and	CCONJ
easat-6259	696	36	increase	increase	VERB
easat-6259	696	37	real	real	ADJ
easat-6259	696	38	-	-	PUNCT
easat-6259	696	39	time	time	NOUN
easat-6259	696	40	performance	performance	NOUN
easat-6259	696	41	.	.	PUNCT
easat-6259	697	1	•	•	NUM
easat-6259	697	2	hardware	hardware	NOUN
easat-6259	697	3	acceleration	acceleration	NOUN
easat-6259	697	4	:	:	PUNCT
easat-6259	697	5	examining	examine	VERB
easat-6259	697	6	how	how	SCONJ
easat-6259	697	7	processing	processing	NOUN
easat-6259	697	8	activities	activity	NOUN
easat-6259	697	9	,	,	PUNCT
easat-6259	697	10	involving	involve	VERB
easat-6259	697	11	perception	perception	NOUN
easat-6259	697	12	and	and	CCONJ
easat-6259	697	13	control	control	NOUN
easat-6259	697	14	,	,	PUNCT
easat-6259	697	15	can	can	AUX
easat-6259	697	16	be	be	AUX
easat-6259	697	17	accelerated	accelerate	VERB
easat-6259	697	18	by	by	ADP
easat-6259	697	19	using	use	VERB
easat-6259	697	20	hardware	hardware	NOUN
easat-6259	697	21	accelerators	accelerator	NOUN
easat-6259	697	22	.	.	PUNCT
easat-6259	698	1	•	•	NUM
easat-6259	698	2	robustness	robustness	NOUN
easat-6259	698	3	in	in	ADP
easat-6259	698	4	response	response	NOUN
easat-6259	698	5	to	to	ADP
easat-6259	698	6	environmental	environmental	ADJ
easat-6259	698	7	changes	change	NOUN
easat-6259	698	8	:	:	PUNCT
easat-6259	698	9	studying	study	VERB
easat-6259	698	10	domain	domain	NOUN
easat-6259	698	11	adaptation	adaptation	NOUN
easat-6259	698	12	strategies	strategy	NOUN
easat-6259	698	13	that	that	PRON
easat-6259	698	14	improve	improve	VERB
easat-6259	698	15	the	the	DET
easat-6259	698	16	system	system	NOUN
easat-6259	698	17	’s	’s	PART
easat-6259	698	18	resistance	resistance	NOUN
easat-6259	698	19	to	to	ADP
easat-6259	698	20	changes	change	NOUN
easat-6259	698	21	in	in	ADP
easat-6259	698	22	the	the	DET
easat-6259	698	23	weather	weather	NOUN
easat-6259	698	24	,	,	PUNCT
easat-6259	698	25	lighting	lighting	NOUN
easat-6259	698	26	,	,	PUNCT
easat-6259	698	27	and	and	CCONJ
easat-6259	698	28	road	road	NOUN
easat-6259	698	29	conditions	condition	NOUN
easat-6259	698	30	is	be	AUX
easat-6259	698	31	crucial	crucial	ADJ
easat-6259	698	32	to	to	PART
easat-6259	698	33	develop	develop	VERB
easat-6259	698	34	a	a	DET
easat-6259	698	35	more	more	ADV
easat-6259	698	36	effective	effective	ADJ
easat-6259	698	37	model	model	NOUN
easat-6259	698	38	that	that	PRON
easat-6259	698	39	generalizes	generalize	VERB
easat-6259	698	40	to	to	ADP
easat-6259	698	41	a	a	DET
easat-6259	698	42	variety	variety	NOUN
easat-6259	698	43	of	of	ADP
easat-6259	698	44	situations	situation	NOUN
easat-6259	698	45	.	.	PUNCT
easat-6259	699	1	•	•	NOUN
easat-6259	699	2	driver	driver	NOUN
easat-6259	699	3	monitoring	monitoring	NOUN
easat-6259	699	4	systems	system	NOUN
easat-6259	699	5	for	for	ADP
easat-6259	699	6	human	human	ADJ
easat-6259	699	7	-	-	PUNCT
easat-6259	699	8	machine	machine	NOUN
easat-6259	699	9	interaction	interaction	NOUN
easat-6259	699	10	:	:	PUNCT
easat-6259	699	11	these	these	PRON
easat-6259	699	12	could	could	AUX
easat-6259	699	13	be	be	AUX
easat-6259	699	14	integrated	integrate	VERB
easat-6259	699	15	to	to	PART
easat-6259	699	16	enable	enable	VERB
easat-6259	699	17	a	a	DET
easat-6259	699	18	safe	safe	ADJ
easat-6259	699	19	transition	transition	NOUN
easat-6259	699	20	between	between	ADP
easat-6259	699	21	autonomous	autonomous	ADJ
easat-6259	699	22	and	and	CCONJ
easat-6259	699	23	manual	manual	ADJ
easat-6259	699	24	driving	driving	NOUN
easat-6259	699	25	modes	mode	NOUN
easat-6259	699	26	,	,	PUNCT
easat-6259	699	27	especially	especially	ADV
easat-6259	699	28	when	when	SCONJ
easat-6259	699	29	the	the	DET
easat-6259	699	30	autonomous	autonomous	ADJ
easat-6259	699	31	system	system	NOUN
easat-6259	699	32	is	be	AUX
easat-6259	699	33	having	have	VERB
easat-6259	699	34	problems	problem	NOUN
easat-6259	699	35	.	.	PUNCT
easat-6259	700	1	•	•	NUM
easat-6259	700	2	user	user	NOUN
easat-6259	700	3	interface	interface	NOUN
easat-6259	700	4	design	design	NOUN
easat-6259	700	5	:	:	PUNCT
easat-6259	700	6	to	to	PART
easat-6259	700	7	ensure	ensure	VERB
easat-6259	700	8	a	a	DET
easat-6259	700	9	smooth	smooth	ADJ
easat-6259	700	10	connection	connection	NOUN
easat-6259	700	11	between	between	ADP
easat-6259	700	12	the	the	DET
easat-6259	700	13	driver	driver	NOUN
easat-6259	700	14	and	and	CCONJ
easat-6259	700	15	the	the	DET
easat-6259	700	16	autonomous	autonomous	ADJ
easat-6259	700	17	system	system	NOUN
easat-6259	700	18	,	,	PUNCT
easat-6259	700	19	the	the	DET
easat-6259	700	20	user	user	NOUN
easat-6259	700	21	interface	interface	NOUN
easat-6259	700	22	design	design	NOUN
easat-6259	700	23	needs	need	VERB
easat-6259	700	24	to	to	PART
easat-6259	700	25	be	be	AUX
easat-6259	700	26	robust	robust	ADJ
easat-6259	700	27	to	to	PART
easat-6259	700	28	give	give	VERB
easat-6259	700	29	the	the	DET
easat-6259	700	30	driver	driver	NOUN
easat-6259	700	31	clear	clear	ADJ
easat-6259	700	32	and	and	CCONJ
easat-6259	700	33	intuitive	intuitive	ADJ
easat-6259	700	34	feedback	feedback	NOUN
easat-6259	700	35	.	.	PUNCT
easat-6259	701	1	•	•	NUM
easat-6259	701	2	adversary	adversary	NOUN
easat-6259	701	3	training	training	NOUN
easat-6259	701	4	:	:	PUNCT
easat-6259	701	5	use	use	VERB
easat-6259	701	6	these	these	DET
easat-6259	701	7	techniques	technique	NOUN
easat-6259	701	8	to	to	PART
easat-6259	701	9	strengthen	strengthen	VERB
easat-6259	701	10	the	the	DET
easat-6259	701	11	system	system	NOUN
easat-6259	701	12	’s	’s	PART
easat-6259	701	13	defences	defence	NOUN
easat-6259	701	14	against	against	ADP
easat-6259	701	15	possible	possible	ADJ
easat-6259	701	16	adversarial	adversarial	ADJ
easat-6259	701	17	attacks	attack	NOUN
easat-6259	701	18	and	and	CCONJ
easat-6259	701	19	guarantee	guarantee	VERB
easat-6259	701	20	dependable	dependable	ADJ
easat-6259	701	21	performance	performance	NOUN
easat-6259	701	22	in	in	ADP
easat-6259	701	23	real	real	ADJ
easat-6259	701	24	-	-	PUNCT
easat-6259	701	25	life	life	NOUN
easat-6259	701	26	situations	situation	NOUN
easat-6259	701	27	.	.	PUNCT
easat-6259	702	1	1328	1328	NUM
easat-6259	702	2	edelweiss	edelweiss	PROPN
easat-6259	702	3	applied	apply	VERB
easat-6259	702	4	science	science	NOUN
easat-6259	702	5	and	and	CCONJ
easat-6259	702	6	technology	technology	NOUN
easat-6259	702	7	issn	issn	PROPN
easat-6259	702	8	:	:	PUNCT
easat-6259	702	9	2576	2576	NUM
easat-6259	702	10	-	-	SYM
easat-6259	702	11	8484	8484	NUM
easat-6259	702	12	vol	vol	NOUN
easat-6259	702	13	.	.	PROPN
easat-6259	703	1	9	9	NUM
easat-6259	703	2	,	,	PUNCT
easat-6259	703	3	no	no	INTJ
easat-6259	703	4	.	.	NOUN
easat-6259	704	1	4	4	NUM
easat-6259	704	2	:	:	SYM
easat-6259	704	3	1300	1300	NUM
easat-6259	704	4	-	-	SYM
easat-6259	704	5	1331	1331	NUM
easat-6259	704	6	,	,	PUNCT
easat-6259	704	7	2025	2025	NUM
easat-6259	704	8	doi	doi	NOUN
easat-6259	704	9	:	:	PUNCT
easat-6259	704	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	704	11	©	©	PROPN
easat-6259	704	12	2025	2025	NUM
easat-6259	704	13	by	by	ADP
easat-6259	704	14	the	the	DET
easat-6259	704	15	authors	author	NOUN
easat-6259	704	16	;	;	PUNCT
easat-6259	704	17	licensee	licensee	PROPN
easat-6259	704	18	learning	learning	NOUN
easat-6259	704	19	gate	gate	VERB
easat-6259	704	20	•	•	ADJ
easat-6259	704	21	regulatory	regulatory	ADJ
easat-6259	704	22	aspects	aspect	NOUN
easat-6259	704	23	:	:	PUNCT
easat-6259	704	24	in	in	ADP
easat-6259	704	25	order	order	NOUN
easat-6259	704	26	to	to	PART
easat-6259	704	27	facilitate	facilitate	VERB
easat-6259	704	28	the	the	DET
easat-6259	704	29	deployment	deployment	NOUN
easat-6259	704	30	of	of	ADP
easat-6259	704	31	the	the	DET
easat-6259	704	32	created	create	VERB
easat-6259	704	33	ads	ad	NOUN
easat-6259	704	34	in	in	ADP
easat-6259	704	35	real	real	ADJ
easat-6259	704	36	-	-	PUNCT
easat-6259	704	37	world	world	NOUN
easat-6259	704	38	scenarios	scenario	NOUN
easat-6259	704	39	,	,	PUNCT
easat-6259	704	40	work	work	NOUN
easat-6259	704	41	with	with	ADP
easat-6259	704	42	regulatory	regulatory	ADJ
easat-6259	704	43	bodies	body	NOUN
easat-6259	704	44	to	to	PART
easat-6259	704	45	ensure	ensure	VERB
easat-6259	704	46	that	that	SCONJ
easat-6259	704	47	it	it	PRON
easat-6259	704	48	satisfies	satisfy	VERB
easat-6259	704	49	with	with	ADP
easat-6259	704	50	current	current	ADJ
easat-6259	704	51	laws	law	NOUN
easat-6259	704	52	and	and	CCONJ
easat-6259	704	53	regulations	regulation	NOUN
easat-6259	704	54	.	.	PUNCT
easat-6259	705	1	•	•	NUM
easat-6259	705	2	ethical	ethical	ADJ
easat-6259	705	3	frameworks	framework	NOUN
easat-6259	705	4	:	:	PUNCT
easat-6259	705	5	creating	create	VERB
easat-6259	705	6	and	and	CCONJ
easat-6259	705	7	putting	put	VERB
easat-6259	705	8	into	into	ADP
easat-6259	705	9	effect	effect	NOUN
easat-6259	705	10	strong	strong	ADJ
easat-6259	705	11	ethical	ethical	ADJ
easat-6259	705	12	frameworks	framework	NOUN
easat-6259	705	13	and	and	CCONJ
easat-6259	705	14	rules	rule	NOUN
easat-6259	705	15	to	to	PART
easat-6259	705	16	address	address	VERB
easat-6259	705	17	ethical	ethical	ADJ
easat-6259	705	18	issues	issue	NOUN
easat-6259	705	19	related	relate	VERB
easat-6259	705	20	to	to	ADP
easat-6259	705	21	ads	ad	NOUN
easat-6259	705	22	is	be	AUX
easat-6259	705	23	vital	vital	ADJ
easat-6259	705	24	,	,	PUNCT
easat-6259	705	25	including	include	VERB
easat-6259	705	26	areas	area	NOUN
easat-6259	705	27	as	as	ADP
easat-6259	705	28	data	data	NOUN
easat-6259	705	29	privacy	privacy	NOUN
easat-6259	705	30	and	and	CCONJ
easat-6259	705	31	decision	decision	NOUN
easat-6259	705	32	-	-	PUNCT
easat-6259	705	33	making	making	NOUN
easat-6259	705	34	in	in	ADP
easat-6259	705	35	dangerous	dangerous	ADJ
easat-6259	705	36	situations	situation	NOUN
easat-6259	705	37	.	.	PUNCT
easat-6259	706	1	transparency	transparency	NOUN
easat-6259	706	2	:	:	PUNCT
easat-6259	706	3	the	the	DET
easat-6259	706	4	authors	author	NOUN
easat-6259	706	5	confirm	confirm	VERB
easat-6259	706	6	that	that	SCONJ
easat-6259	706	7	the	the	DET
easat-6259	706	8	manuscript	manuscript	NOUN
easat-6259	706	9	is	be	AUX
easat-6259	706	10	an	an	DET
easat-6259	706	11	honest	honest	ADJ
easat-6259	706	12	,	,	PUNCT
easat-6259	706	13	accurate	accurate	ADJ
easat-6259	706	14	,	,	PUNCT
easat-6259	706	15	and	and	CCONJ
easat-6259	706	16	transparent	transparent	ADJ
easat-6259	706	17	account	account	NOUN
easat-6259	706	18	of	of	ADP
easat-6259	706	19	the	the	DET
easat-6259	706	20	study	study	NOUN
easat-6259	706	21	;	;	PUNCT
easat-6259	706	22	that	that	SCONJ
easat-6259	706	23	no	no	DET
easat-6259	706	24	vital	vital	ADJ
easat-6259	706	25	features	feature	NOUN
easat-6259	706	26	of	of	ADP
easat-6259	706	27	the	the	DET
easat-6259	706	28	study	study	NOUN
easat-6259	706	29	have	have	AUX
easat-6259	706	30	been	be	AUX
easat-6259	706	31	omitted	omit	VERB
easat-6259	706	32	;	;	PUNCT
easat-6259	706	33	and	and	CCONJ
easat-6259	706	34	that	that	SCONJ
easat-6259	706	35	any	any	DET
easat-6259	706	36	discrepancies	discrepancy	NOUN
easat-6259	706	37	from	from	ADP
easat-6259	706	38	the	the	DET
easat-6259	706	39	study	study	NOUN
easat-6259	706	40	as	as	SCONJ
easat-6259	706	41	planned	plan	VERB
easat-6259	706	42	have	have	AUX
easat-6259	706	43	been	be	AUX
easat-6259	706	44	explained	explain	VERB
easat-6259	706	45	.	.	PUNCT
easat-6259	707	1	this	this	DET
easat-6259	707	2	study	study	NOUN
easat-6259	707	3	followed	follow	VERB
easat-6259	707	4	all	all	DET
easat-6259	707	5	ethical	ethical	ADJ
easat-6259	707	6	practices	practice	NOUN
easat-6259	707	7	during	during	ADP
easat-6259	707	8	writing	writing	NOUN
easat-6259	707	9	.	.	PUNCT
easat-6259	708	1	acknowledgements	acknowledgement	NOUN
easat-6259	708	2	:	:	PUNCT
easat-6259	708	3	the	the	DET
easat-6259	708	4	authors	author	NOUN
easat-6259	708	5	would	would	AUX
easat-6259	708	6	like	like	VERB
easat-6259	708	7	to	to	PART
easat-6259	708	8	thank	thank	VERB
easat-6259	708	9	all	all	DET
easat-6259	708	10	reviewers	reviewer	NOUN
easat-6259	708	11	of	of	ADP
easat-6259	708	12	this	this	DET
easat-6259	708	13	paper	paper	NOUN
easat-6259	708	14	for	for	ADP
easat-6259	708	15	their	their	PRON
easat-6259	708	16	efforts	effort	NOUN
easat-6259	708	17	and	and	CCONJ
easat-6259	708	18	dedication	dedication	NOUN
easat-6259	708	19	in	in	ADP
easat-6259	708	20	reviewing	review	VERB
easat-6259	708	21	this	this	DET
easat-6259	708	22	work	work	NOUN
easat-6259	708	23	.	.	PUNCT
easat-6259	709	1	all	all	DET
easat-6259	709	2	their	their	PRON
easat-6259	709	3	valuable	valuable	ADJ
easat-6259	709	4	comments	comment	NOUN
easat-6259	709	5	are	be	AUX
easat-6259	709	6	added	add	VERB
easat-6259	709	7	value	value	NOUN
easat-6259	709	8	to	to	ADP
easat-6259	709	9	our	our	PRON
easat-6259	709	10	work	work	NOUN
easat-6259	709	11	.	.	PUNCT
easat-6259	710	1	copyright	copyright	NOUN
easat-6259	710	2	:	:	PUNCT
easat-6259	710	3	©	©	PROPN
easat-6259	710	4	2025	2025	NUM
easat-6259	710	5	by	by	ADP
easat-6259	710	6	the	the	DET
easat-6259	710	7	authors	author	NOUN
easat-6259	710	8	.	.	PUNCT
easat-6259	711	1	this	this	DET
easat-6259	711	2	open	open	ADJ
easat-6259	711	3	-	-	PUNCT
easat-6259	711	4	access	access	NOUN
easat-6259	711	5	article	article	NOUN
easat-6259	711	6	is	be	AUX
easat-6259	711	7	distributed	distribute	VERB
easat-6259	711	8	under	under	ADP
easat-6259	711	9	the	the	DET
easat-6259	711	10	terms	term	NOUN
easat-6259	711	11	and	and	CCONJ
easat-6259	711	12	conditions	condition	NOUN
easat-6259	711	13	of	of	ADP
easat-6259	711	14	the	the	DET
easat-6259	711	15	creative	creative	ADJ
easat-6259	711	16	commons	common	NOUN
easat-6259	711	17	attribution	attribution	NOUN
easat-6259	711	18	(	(	PUNCT
easat-6259	711	19	cc	cc	NOUN
easat-6259	711	20	by	by	ADP
easat-6259	711	21	)	)	PUNCT
easat-6259	711	22	license	license	NOUN
easat-6259	711	23	(	(	PUNCT
easat-6259	711	24	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
easat-6259	711	25	)	)	PUNCT
easat-6259	711	26	.	.	PUNCT
easat-6259	712	1	references	reference	NOUN
easat-6259	712	2	[	[	X
easat-6259	712	3	1	1	NUM
easat-6259	712	4	]	]	PUNCT
easat-6259	712	5	m.	m.	PROPN
easat-6259	712	6	b.	b.	PROPN
easat-6259	712	7	m.	m.	PROPN
easat-6259	712	8	mansour	mansour	PROPN
easat-6259	712	9	and	and	CCONJ
easat-6259	712	10	a.	a.	PROPN
easat-6259	712	11	said	say	VERB
easat-6259	712	12	,	,	PUNCT
easat-6259	712	13	"	"	PUNCT
easat-6259	712	14	multimodal	multimodal	ADJ
easat-6259	712	15	routing	routing	NOUN
easat-6259	712	16	for	for	ADP
easat-6259	712	17	connecting	connect	VERB
easat-6259	712	18	people	people	NOUN
easat-6259	712	19	and	and	CCONJ
easat-6259	712	20	events	event	NOUN
easat-6259	712	21	in	in	ADP
easat-6259	712	22	sustainable	sustainable	ADJ
easat-6259	712	23	intelligent	intelligent	ADJ
easat-6259	712	24	systems	system	NOUN
easat-6259	712	25	.	.	PUNCT
easat-6259	712	26	"	"	PUNCT
easat-6259	713	1	singapore	singapore	PROPN
easat-6259	713	2	:	:	PUNCT
easat-6259	713	3	springer	springer	PROPN
easat-6259	713	4	singapore	singapore	PROPN
easat-6259	713	5	,	,	PUNCT
easat-6259	713	6	2021	2021	NUM
easat-6259	713	7	,	,	PUNCT
easat-6259	713	8	pp	pp	ADJ
easat-6259	713	9	.	.	PUNCT
easat-6259	714	1	267	267	NUM
easat-6259	714	2	-	-	SYM
easat-6259	714	3	282	282	NUM
easat-6259	714	4	.	.	PUNCT
easat-6259	715	1	[	[	X
easat-6259	715	2	2	2	NUM
easat-6259	715	3	]	]	PUNCT
easat-6259	715	4	m.	m.	PROPN
easat-6259	715	5	b.	b.	PROPN
easat-6259	715	6	m.	m.	PROPN
easat-6259	715	7	mansour	mansour	PROPN
easat-6259	715	8	,	,	PUNCT
easat-6259	715	9	a.	a.	PROPN
easat-6259	715	10	said	say	VERB
easat-6259	715	11	,	,	PUNCT
easat-6259	715	12	n.	n.	PROPN
easat-6259	715	13	e.	e.	PROPN
easat-6259	715	14	ahmed	ahmed	PROPN
easat-6259	715	15	,	,	PUNCT
easat-6259	715	16	and	and	CCONJ
easat-6259	715	17	s.	s.	PROPN
easat-6259	715	18	sallam	sallam	PROPN
easat-6259	715	19	,	,	PUNCT
easat-6259	715	20	"	"	PUNCT
easat-6259	715	21	autonomous	autonomous	ADJ
easat-6259	715	22	parallel	parallel	ADJ
easat-6259	715	23	car	car	NOUN
easat-6259	715	24	parking	parking	NOUN
easat-6259	715	25	,	,	PUNCT
easat-6259	715	26	"	"	PUNCT
easat-6259	715	27	presented	present	VERB
easat-6259	715	28	at	at	ADP
easat-6259	715	29	the	the	DET
easat-6259	715	30	ieee	ieee	PROPN
easat-6259	715	31	fourth	fourth	PROPN
easat-6259	715	32	world	world	PROPN
easat-6259	715	33	conference	conference	NOUN
easat-6259	715	34	on	on	ADP
easat-6259	715	35	smart	smart	ADJ
easat-6259	715	36	trends	trend	NOUN
easat-6259	715	37	in	in	ADP
easat-6259	715	38	systems	system	NOUN
easat-6259	715	39	,	,	PUNCT
easat-6259	715	40	security	security	NOUN
easat-6259	715	41	and	and	CCONJ
easat-6259	715	42	sustainability	sustainability	NOUN
easat-6259	715	43	(	(	PUNCT
easat-6259	715	44	worlds4	worlds4	PROPN
easat-6259	715	45	)	)	PUNCT
easat-6259	715	46	,	,	PUNCT
easat-6259	715	47	pp	pp	PROPN
easat-6259	715	48	.	.	PUNCT
easat-6259	716	1	392	392	NUM
easat-6259	716	2	-	-	SYM
easat-6259	716	3	397	397	NUM
easat-6259	716	4	,	,	PUNCT
easat-6259	716	5	2020	2020	NUM
easat-6259	716	6	.	.	PUNCT
easat-6259	717	1	[	[	X
easat-6259	717	2	3	3	X
easat-6259	717	3	]	]	X
easat-6259	717	4	e.	e.	PROPN
easat-6259	717	5	yurtsever	yurtsever	PROPN
easat-6259	717	6	,	,	PUNCT
easat-6259	717	7	j.	j.	PROPN
easat-6259	717	8	lambert	lambert	PROPN
easat-6259	717	9	,	,	PUNCT
easat-6259	717	10	a.	a.	NOUN
easat-6259	717	11	carballo	carballo	PROPN
easat-6259	717	12	,	,	PUNCT
easat-6259	717	13	and	and	CCONJ
easat-6259	717	14	k.	k.	PROPN
easat-6259	717	15	takeda	takeda	PROPN
easat-6259	717	16	,	,	PUNCT
easat-6259	717	17	"	"	PUNCT
easat-6259	717	18	a	a	DET
easat-6259	717	19	survey	survey	NOUN
easat-6259	717	20	of	of	ADP
easat-6259	717	21	autonomous	autonomous	ADJ
easat-6259	717	22	driving	driving	NOUN
easat-6259	717	23	:	:	PUNCT
easat-6259	717	24	common	common	ADJ
easat-6259	717	25	practices	practice	NOUN
easat-6259	717	26	and	and	CCONJ
easat-6259	717	27	emerging	emerge	VERB
easat-6259	717	28	technologies	technology	NOUN
easat-6259	717	29	,	,	PUNCT
easat-6259	717	30	"	"	PUNCT
easat-6259	717	31	ieee	ieee	NOUN
easat-6259	717	32	access	access	NOUN
easat-6259	717	33	,	,	PUNCT
easat-6259	717	34	vol	vol	NOUN
easat-6259	717	35	.	.	PROPN
easat-6259	717	36	8	8	NUM
easat-6259	717	37	,	,	PUNCT
easat-6259	717	38	pp	pp	ADJ
easat-6259	717	39	.	.	PUNCT
easat-6259	718	1	58443	58443	NUM
easat-6259	718	2	-	-	SYM
easat-6259	718	3	58469	58469	NUM
easat-6259	718	4	,	,	PUNCT
easat-6259	718	5	2020	2020	NUM
easat-6259	718	6	.	.	PUNCT
easat-6259	719	1	[	[	X
easat-6259	719	2	4	4	NUM
easat-6259	719	3	]	]	X
easat-6259	719	4	f.	f.	PROPN
easat-6259	719	5	han	han	PROPN
easat-6259	719	6	,	,	PUNCT
easat-6259	719	7	d.	d.	PROPN
easat-6259	719	8	li	li	PROPN
easat-6259	719	9	,	,	PUNCT
easat-6259	719	10	and	and	CCONJ
easat-6259	719	11	q.	q.	PROPN
easat-6259	719	12	hao	hao	PROPN
easat-6259	719	13	,	,	PUNCT
easat-6259	719	14	"	"	PUNCT
easat-6259	719	15	autonomous	autonomous	ADJ
easat-6259	719	16	driving	driving	NOUN
easat-6259	719	17	framework	framework	NOUN
easat-6259	719	18	for	for	ADP
easat-6259	719	19	bus	bus	NOUN
easat-6259	719	20	transit	transit	NOUN
easat-6259	719	21	systems	system	NOUN
easat-6259	719	22	towards	towards	ADP
easat-6259	719	23	operation	operation	NOUN
easat-6259	719	24	safety	safety	NOUN
easat-6259	719	25	and	and	CCONJ
easat-6259	719	26	robustness	robustness	NOUN
easat-6259	719	27	,	,	PUNCT
easat-6259	719	28	"	"	PUNCT
easat-6259	719	29	presented	present	VERB
easat-6259	719	30	at	at	ADP
easat-6259	719	31	the	the	DET
easat-6259	719	32	in	in	ADP
easat-6259	719	33	ieee	ieee	NOUN
easat-6259	719	34	intelligent	intelligent	ADJ
easat-6259	719	35	transportation	transportation	NOUN
easat-6259	719	36	systems	system	NOUN
easat-6259	719	37	conference	conference	NOUN
easat-6259	719	38	(	(	PUNCT
easat-6259	719	39	itsc	itsc	PROPN
easat-6259	719	40	)	)	PUNCT
easat-6259	719	41	,	,	PUNCT
easat-6259	719	42	pp	pp	ADP
easat-6259	719	43	.	.	PUNCT
easat-6259	720	1	2778	2778	NUM
easat-6259	720	2	-	-	SYM
easat-6259	720	3	2784	2784	NUM
easat-6259	720	4	,	,	PUNCT
easat-6259	720	5	2019	2019	NUM
easat-6259	720	6	.	.	PUNCT
easat-6259	721	1	[	[	X
easat-6259	721	2	5	5	X
easat-6259	721	3	]	]	PUNCT
easat-6259	721	4	k.	k.	PROPN
easat-6259	721	5	geng	geng	PROPN
easat-6259	721	6	and	and	CCONJ
easat-6259	721	7	s.	s.	PROPN
easat-6259	721	8	liu	liu	PROPN
easat-6259	721	9	,	,	PUNCT
easat-6259	721	10	"	"	PUNCT
easat-6259	721	11	robust	robust	ADJ
easat-6259	721	12	path	path	NOUN
easat-6259	721	13	tracking	tracking	NOUN
easat-6259	721	14	control	control	NOUN
easat-6259	721	15	for	for	ADP
easat-6259	721	16	autonomous	autonomous	ADJ
easat-6259	721	17	vehicle	vehicle	NOUN
easat-6259	721	18	based	base	VERB
easat-6259	721	19	on	on	ADP
easat-6259	721	20	a	a	DET
easat-6259	721	21	novel	novel	ADJ
easat-6259	721	22	fault	fault	NOUN
easat-6259	721	23	tolerant	tolerant	ADJ
easat-6259	721	24	adaptive	adaptive	ADJ
easat-6259	721	25	model	model	NOUN
easat-6259	721	26	predictive	predictive	PROPN
easat-6259	721	27	control	control	PROPN
easat-6259	721	28	algorithm	algorithm	NOUN
easat-6259	721	29	,	,	PUNCT
easat-6259	721	30	"	"	PUNCT
easat-6259	721	31	applied	apply	VERB
easat-6259	721	32	sciences	science	NOUN
easat-6259	721	33	,	,	PUNCT
easat-6259	721	34	vol	vol	NOUN
easat-6259	721	35	.	.	PROPN
easat-6259	721	36	10	10	NUM
easat-6259	721	37	,	,	PUNCT
easat-6259	721	38	no	no	INTJ
easat-6259	721	39	.	.	NOUN
easat-6259	721	40	18	18	NUM
easat-6259	721	41	,	,	PUNCT
easat-6259	721	42	p.	p.	NOUN
easat-6259	721	43	6249	6249	NUM
easat-6259	721	44	,	,	PUNCT
easat-6259	721	45	2020	2020	NUM
easat-6259	721	46	.	.	PUNCT
easat-6259	722	1	[	[	X
easat-6259	722	2	6	6	NUM
easat-6259	722	3	]	]	PUNCT
easat-6259	722	4	l.	l.	PROPN
easat-6259	722	5	liu	liu	PROPN
easat-6259	722	6	et	et	PROPN
easat-6259	722	7	al	al	PROPN
easat-6259	722	8	.	.	PROPN
easat-6259	722	9	,	,	PUNCT
easat-6259	722	10	"	"	PUNCT
easat-6259	722	11	computing	compute	VERB
easat-6259	722	12	systems	system	NOUN
easat-6259	722	13	for	for	ADP
easat-6259	722	14	autonomous	autonomous	ADJ
easat-6259	722	15	driving	driving	NOUN
easat-6259	722	16	:	:	PUNCT
easat-6259	722	17	state	state	NOUN
easat-6259	722	18	of	of	ADP
easat-6259	722	19	the	the	DET
easat-6259	722	20	art	art	NOUN
easat-6259	722	21	and	and	CCONJ
easat-6259	722	22	challenges	challenge	NOUN
easat-6259	722	23	,	,	PUNCT
easat-6259	722	24	"	"	PUNCT
easat-6259	722	25	ieee	ieee	NOUN
easat-6259	722	26	internet	internet	NOUN
easat-6259	722	27	of	of	ADP
easat-6259	722	28	things	thing	NOUN
easat-6259	722	29	journal	journal	NOUN
easat-6259	722	30	,	,	PUNCT
easat-6259	722	31	vol	vol	NOUN
easat-6259	722	32	.	.	PROPN
easat-6259	722	33	8	8	NUM
easat-6259	722	34	,	,	PUNCT
easat-6259	722	35	no	no	INTJ
easat-6259	722	36	.	.	NOUN
easat-6259	722	37	8	8	NUM
easat-6259	722	38	,	,	PUNCT
easat-6259	722	39	pp	pp	ADJ
easat-6259	722	40	.	.	PUNCT
easat-6259	723	1	6469	6469	NUM
easat-6259	723	2	-	-	SYM
easat-6259	723	3	6486	6486	NUM
easat-6259	723	4	,	,	PUNCT
easat-6259	723	5	2020	2020	NUM
easat-6259	723	6	.	.	PUNCT
easat-6259	724	1	[	[	X
easat-6259	724	2	7	7	X
easat-6259	724	3	]	]	X
easat-6259	724	4	m.	m.	PROPN
easat-6259	724	5	b.	b.	PROPN
easat-6259	724	6	m.	m.	PROPN
easat-6259	724	7	mansour	mansour	PROPN
easat-6259	724	8	,	,	PUNCT
easat-6259	724	9	"	"	PUNCT
easat-6259	724	10	scpp	scpp	ADJ
easat-6259	724	11	:	:	PUNCT
easat-6259	724	12	secure	secure	VERB
easat-6259	724	13	credential	credential	ADJ
easat-6259	724	14	provisioning	provisioning	NOUN
easat-6259	724	15	protocol	protocol	NOUN
easat-6259	724	16	for	for	ADP
easat-6259	724	17	cellular	cellular	ADJ
easat-6259	724	18	vehicles	vehicle	NOUN
easat-6259	724	19	,	,	PUNCT
easat-6259	724	20	"	"	PUNCT
easat-6259	724	21	presented	present	VERB
easat-6259	724	22	at	at	ADP
easat-6259	724	23	the	the	DET
easat-6259	724	24	ieee	ieee	NOUN
easat-6259	724	25	international	international	ADJ
easat-6259	724	26	symposium	symposium	NOUN
easat-6259	724	27	on	on	ADP
easat-6259	724	28	systems	system	NOUN
easat-6259	724	29	engineering	engineering	NOUN
easat-6259	724	30	(	(	PUNCT
easat-6259	724	31	isse	isse	PROPN
easat-6259	724	32	)	)	PUNCT
easat-6259	724	33	,	,	PUNCT
easat-6259	724	34	pp	pp	PROPN
easat-6259	724	35	.	.	PUNCT
easat-6259	725	1	1	1	NUM
easat-6259	725	2	-	-	SYM
easat-6259	725	3	8	8	NUM
easat-6259	725	4	,	,	PUNCT
easat-6259	725	5	2019	2019	NUM
easat-6259	725	6	.	.	PUNCT
easat-6259	726	1	[	[	X
easat-6259	726	2	8	8	NUM
easat-6259	726	3	]	]	PUNCT
easat-6259	726	4	m.	m.	PROPN
easat-6259	726	5	b.	b.	PROPN
easat-6259	726	6	mansour	mansour	PROPN
easat-6259	726	7	,	,	PUNCT
easat-6259	726	8	c.	c.	PROPN
easat-6259	726	9	salama	salama	PROPN
easat-6259	726	10	,	,	PUNCT
easat-6259	726	11	h.	h.	PROPN
easat-6259	726	12	k.	k.	PROPN
easat-6259	726	13	mohamed	mohamed	PROPN
easat-6259	726	14	,	,	PUNCT
easat-6259	726	15	and	and	CCONJ
easat-6259	726	16	s.	s.	PROPN
easat-6259	726	17	a.	a.	PROPN
easat-6259	726	18	hammad	hammad	PROPN
easat-6259	726	19	,	,	PUNCT
easat-6259	726	20	"	"	PUNCT
easat-6259	726	21	carcloud	carcloud	ADJ
easat-6259	726	22	:	:	PUNCT
easat-6259	726	23	a	a	DET
easat-6259	726	24	secure	secure	ADJ
easat-6259	726	25	architecture	architecture	NOUN
easat-6259	726	26	for	for	ADP
easat-6259	726	27	vehicular	vehicular	ADJ
easat-6259	726	28	cloud	cloud	NOUN
easat-6259	726	29	computing	computing	NOUN
easat-6259	726	30	,	,	PUNCT
easat-6259	726	31	"	"	PUNCT
easat-6259	726	32	presented	present	VERB
easat-6259	726	33	at	at	ADP
easat-6259	726	34	the	the	DET
easat-6259	726	35	14th	14th	ADJ
easat-6259	726	36	embedded	embed	VERB
easat-6259	726	37	security	security	NOUN
easat-6259	726	38	in	in	ADP
easat-6259	726	39	cars	car	NOUN
easat-6259	726	40	europe	europe	PROPN
easat-6259	726	41	conference	conference	PROPN
easat-6259	726	42	,	,	PUNCT
easat-6259	726	43	escar	escar	NOUN
easat-6259	726	44	,	,	PUNCT
easat-6259	726	45	germany	germany	PROPN
easat-6259	726	46	,	,	PUNCT
easat-6259	726	47	2016	2016	NUM
easat-6259	726	48	.	.	PUNCT
easat-6259	727	1	[	[	X
easat-6259	727	2	9	9	NUM
easat-6259	727	3	]	]	PUNCT
easat-6259	727	4	a.	a.	NOUN
easat-6259	727	5	dosovitskiy	dosovitskiy	NOUN
easat-6259	727	6	,	,	PUNCT
easat-6259	727	7	"	"	PUNCT
easat-6259	727	8	carla	carla	PROPN
easat-6259	727	9	:	:	PUNCT
easat-6259	727	10	an	an	DET
easat-6259	727	11	open	open	ADJ
easat-6259	727	12	urban	urban	ADJ
easat-6259	727	13	driving	drive	VERB
easat-6259	727	14	simulator	simulator	NOUN
easat-6259	727	15	,	,	PUNCT
easat-6259	727	16	"	"	PUNCT
easat-6259	727	17	in	in	ADP
easat-6259	727	18	proc	proc	NOUN
easat-6259	727	19	.	.	PUNCT
easat-6259	727	20	of	of	ADP
easat-6259	727	21	the	the	DET
easat-6259	727	22	1st	1st	ADJ
easat-6259	727	23	annual	annual	ADJ
easat-6259	727	24	conference	conference	NOUN
easat-6259	727	25	on	on	ADP
easat-6259	727	26	robot	robot	NOUN
easat-6259	727	27	learning	learning	NOUN
easat-6259	727	28	(	(	PUNCT
easat-6259	727	29	corl	corl	PROPN
easat-6259	727	30	)	)	PUNCT
easat-6259	727	31	,	,	PUNCT
easat-6259	727	32	2017	2017	NUM
easat-6259	727	33	.	.	PUNCT
easat-6259	728	1	[	[	X
easat-6259	728	2	10	10	NUM
easat-6259	728	3	]	]	X
easat-6259	728	4	c.	c.	PROPN
easat-6259	728	5	luetge	luetge	PROPN
easat-6259	728	6	,	,	PUNCT
easat-6259	728	7	"	"	PUNCT
easat-6259	728	8	the	the	DET
easat-6259	728	9	german	german	ADJ
easat-6259	728	10	ethics	ethic	NOUN
easat-6259	728	11	code	code	NOUN
easat-6259	728	12	for	for	ADP
easat-6259	728	13	automated	automate	VERB
easat-6259	728	14	and	and	CCONJ
easat-6259	728	15	connected	connected	ADJ
easat-6259	728	16	driving	driving	NOUN
easat-6259	728	17	,	,	PUNCT
easat-6259	728	18	"	"	PUNCT
easat-6259	728	19	philosophy	philosophy	NOUN
easat-6259	728	20	&	&	CCONJ
easat-6259	728	21	technology	technology	NOUN
easat-6259	728	22	,	,	PUNCT
easat-6259	728	23	vol	vol	NOUN
easat-6259	728	24	.	.	PROPN
easat-6259	728	25	30	30	NUM
easat-6259	728	26	,	,	PUNCT
easat-6259	728	27	pp	pp	ADJ
easat-6259	728	28	.	.	PUNCT
easat-6259	729	1	547558	547558	NUM
easat-6259	729	2	,	,	PUNCT
easat-6259	729	3	2017	2017	NUM
easat-6259	729	4	.	.	PUNCT
easat-6259	730	1	[	[	X
easat-6259	730	2	11	11	NUM
easat-6259	730	3	]	]	X
easat-6259	730	4	f.	f.	PROPN
easat-6259	730	5	golbabaei	golbabaei	PROPN
easat-6259	730	6	,	,	PUNCT
easat-6259	730	7	t.	t.	NOUN
easat-6259	730	8	yigitcanlar	yigitcanlar	ADJ
easat-6259	730	9	,	,	PUNCT
easat-6259	730	10	and	and	CCONJ
easat-6259	730	11	j.	j.	PROPN
easat-6259	730	12	bunker	bunker	PROPN
easat-6259	730	13	,	,	PUNCT
easat-6259	730	14	"	"	PUNCT
easat-6259	730	15	the	the	DET
easat-6259	730	16	role	role	NOUN
easat-6259	730	17	of	of	ADP
easat-6259	730	18	shared	share	VERB
easat-6259	730	19	autonomous	autonomous	ADJ
easat-6259	730	20	vehicle	vehicle	NOUN
easat-6259	730	21	systems	system	NOUN
easat-6259	730	22	in	in	ADP
easat-6259	730	23	delivering	deliver	VERB
easat-6259	730	24	smart	smart	ADJ
easat-6259	730	25	urban	urban	ADJ
easat-6259	730	26	mobility	mobility	NOUN
easat-6259	730	27	:	:	PUNCT
easat-6259	730	28	a	a	DET
easat-6259	730	29	systematic	systematic	ADJ
easat-6259	730	30	review	review	NOUN
easat-6259	730	31	of	of	ADP
easat-6259	730	32	the	the	DET
easat-6259	730	33	literature	literature	NOUN
easat-6259	730	34	,	,	PUNCT
easat-6259	730	35	"	"	PUNCT
easat-6259	730	36	international	international	ADJ
easat-6259	730	37	journal	journal	NOUN
easat-6259	730	38	of	of	ADP
easat-6259	730	39	sustainable	sustainable	ADJ
easat-6259	730	40	transportation	transportation	NOUN
easat-6259	730	41	,	,	PUNCT
easat-6259	730	42	vol	vol	NOUN
easat-6259	730	43	.	.	PROPN
easat-6259	730	44	15	15	NUM
easat-6259	730	45	,	,	PUNCT
easat-6259	730	46	no	no	INTJ
easat-6259	730	47	.	.	NOUN
easat-6259	730	48	10	10	NUM
easat-6259	730	49	,	,	PUNCT
easat-6259	730	50	pp	pp	ADJ
easat-6259	730	51	.	.	PUNCT
easat-6259	731	1	731	731	NUM
easat-6259	731	2	-	-	SYM
easat-6259	731	3	748	748	NUM
easat-6259	731	4	,	,	PUNCT
easat-6259	731	5	2021	2021	NUM
easat-6259	731	6	.	.	PUNCT
easat-6259	731	7	https://doi.org/10.1080/15568318.2020.1798571	https://doi.org/10.1080/15568318.2020.1798571	PROPN
easat-6259	732	1	[	[	X
easat-6259	732	2	12	12	NUM
easat-6259	732	3	]	]	PUNCT
easat-6259	732	4	j.	j.	PROPN
easat-6259	732	5	guo	guo	PROPN
easat-6259	732	6	,	,	PUNCT
easat-6259	732	7	j.	j.	PROPN
easat-6259	732	8	wang	wang	PROPN
easat-6259	732	9	,	,	PUNCT
easat-6259	732	10	y.	y.	PROPN
easat-6259	732	11	luo	luo	PROPN
easat-6259	732	12	,	,	PUNCT
easat-6259	732	13	and	and	CCONJ
easat-6259	732	14	k.	k.	PROPN
easat-6259	732	15	li	li	PROPN
easat-6259	732	16	,	,	PUNCT
easat-6259	732	17	"	"	PUNCT
easat-6259	732	18	robust	robust	ADJ
easat-6259	732	19	lateral	lateral	ADJ
easat-6259	732	20	control	control	NOUN
easat-6259	732	21	of	of	ADP
easat-6259	732	22	autonomous	autonomous	ADJ
easat-6259	732	23	four	four	NUM
easat-6259	732	24	-	-	PUNCT
easat-6259	732	25	wheel	wheel	NOUN
easat-6259	732	26	independent	independent	ADJ
easat-6259	732	27	drive	drive	ADJ
easat-6259	732	28	electric	electric	ADJ
easat-6259	732	29	vehicles	vehicle	NOUN
easat-6259	732	30	considering	consider	VERB
easat-6259	732	31	the	the	DET
easat-6259	732	32	roll	roll	NOUN
easat-6259	732	33	effects	effect	NOUN
easat-6259	732	34	and	and	CCONJ
easat-6259	732	35	actuator	actuator	NOUN
easat-6259	732	36	faults	fault	NOUN
easat-6259	732	37	,	,	PUNCT
easat-6259	732	38	"	"	PUNCT
easat-6259	732	39	mechanical	mechanical	ADJ
easat-6259	732	40	systems	system	NOUN
easat-6259	732	41	and	and	CCONJ
easat-6259	732	42	signal	signal	NOUN
easat-6259	732	43	processing	processing	NOUN
easat-6259	732	44	,	,	PUNCT
easat-6259	732	45	vol	vol	NOUN
easat-6259	732	46	.	.	PUNCT
easat-6259	732	47	143	143	NUM
easat-6259	732	48	,	,	PUNCT
easat-6259	732	49	p.	p.	NOUN
easat-6259	732	50	106773	106773	NUM
easat-6259	732	51	,	,	PUNCT
easat-6259	732	52	2020	2020	NUM
easat-6259	732	53	.	.	PUNCT
easat-6259	733	1	[	[	X
easat-6259	733	2	13	13	NUM
easat-6259	733	3	]	]	PUNCT
easat-6259	733	4	m.	m.	NOUN
easat-6259	733	5	ryan	ryan	PROPN
easat-6259	733	6	,	,	PUNCT
easat-6259	733	7	"	"	PUNCT
easat-6259	733	8	the	the	DET
easat-6259	733	9	future	future	NOUN
easat-6259	733	10	of	of	ADP
easat-6259	733	11	transportation	transportation	NOUN
easat-6259	733	12	:	:	PUNCT
easat-6259	733	13	ethical	ethical	ADJ
easat-6259	733	14	,	,	PUNCT
easat-6259	733	15	legal	legal	ADJ
easat-6259	733	16	,	,	PUNCT
easat-6259	733	17	social	social	ADJ
easat-6259	733	18	and	and	CCONJ
easat-6259	733	19	economic	economic	ADJ
easat-6259	733	20	impacts	impact	NOUN
easat-6259	733	21	of	of	ADP
easat-6259	733	22	self	self	NOUN
easat-6259	733	23	-	-	PUNCT
easat-6259	733	24	driving	drive	VERB
easat-6259	733	25	vehicles	vehicle	NOUN
easat-6259	733	26	in	in	ADP
easat-6259	733	27	the	the	DET
easat-6259	733	28	year	year	NOUN
easat-6259	733	29	2025	2025	NUM
easat-6259	733	30	,	,	PUNCT
easat-6259	733	31	"	"	PUNCT
easat-6259	733	32	science	science	NOUN
easat-6259	733	33	and	and	CCONJ
easat-6259	733	34	engineering	engineering	NOUN
easat-6259	733	35	ethics	ethic	NOUN
easat-6259	733	36	,	,	PUNCT
easat-6259	733	37	vol	vol	NOUN
easat-6259	733	38	.	.	PROPN
easat-6259	733	39	26	26	NUM
easat-6259	733	40	,	,	PUNCT
easat-6259	733	41	no	no	INTJ
easat-6259	733	42	.	.	NOUN
easat-6259	733	43	3	3	NUM
easat-6259	733	44	,	,	PUNCT
easat-6259	733	45	pp	pp	ADJ
easat-6259	733	46	.	.	PUNCT
easat-6259	733	47	1185	1185	NUM
easat-6259	733	48	-	-	SYM
easat-6259	733	49	1208	1208	NUM
easat-6259	733	50	,	,	PUNCT
easat-6259	733	51	2020	2020	NUM
easat-6259	733	52	.	.	PUNCT
easat-6259	734	1	[	[	X
easat-6259	734	2	14	14	NUM
easat-6259	734	3	]	]	X
easat-6259	734	4	d.	d.	PROPN
easat-6259	734	5	gruyer	gruyer	PROPN
easat-6259	734	6	,	,	PUNCT
easat-6259	734	7	v.	v.	ADP
easat-6259	734	8	magnier	magnier	PROPN
easat-6259	734	9	,	,	PUNCT
easat-6259	734	10	k.	k.	PROPN
easat-6259	734	11	hamdi	hamdi	PROPN
easat-6259	734	12	,	,	PUNCT
easat-6259	734	13	l.	l.	PROPN
easat-6259	734	14	claussmann	claussmann	PROPN
easat-6259	734	15	,	,	PUNCT
easat-6259	734	16	o.	o.	PROPN
easat-6259	734	17	orfila	orfila	PROPN
easat-6259	734	18	,	,	PUNCT
easat-6259	734	19	and	and	CCONJ
easat-6259	734	20	a.	a.	NOUN
easat-6259	734	21	rakotonirainy	rakotonirainy	PROPN
easat-6259	734	22	,	,	PUNCT
easat-6259	734	23	"	"	PUNCT
easat-6259	734	24	perception	perception	NOUN
easat-6259	734	25	,	,	PUNCT
easat-6259	734	26	information	information	NOUN
easat-6259	734	27	processing	processing	NOUN
easat-6259	734	28	and	and	CCONJ
easat-6259	734	29	modeling	modeling	NOUN
easat-6259	734	30	:	:	PUNCT
easat-6259	734	31	critical	critical	ADJ
easat-6259	734	32	stages	stage	NOUN
easat-6259	734	33	for	for	ADP
easat-6259	734	34	autonomous	autonomous	ADJ
easat-6259	734	35	driving	driving	NOUN
easat-6259	734	36	applications	application	NOUN
easat-6259	734	37	,	,	PUNCT
easat-6259	734	38	"	"	PUNCT
easat-6259	734	39	annual	annual	ADJ
easat-6259	734	40	reviews	review	NOUN
easat-6259	734	41	in	in	ADP
easat-6259	734	42	control	control	NOUN
easat-6259	734	43	,	,	PUNCT
easat-6259	734	44	vol	vol	NOUN
easat-6259	734	45	.	.	PROPN
easat-6259	734	46	44	44	NUM
easat-6259	734	47	,	,	PUNCT
easat-6259	734	48	pp	pp	ADJ
easat-6259	734	49	.	.	PUNCT
easat-6259	734	50	323	323	NUM
easat-6259	734	51	-	-	SYM
easat-6259	734	52	341	341	NUM
easat-6259	734	53	,	,	PUNCT
easat-6259	734	54	2017	2017	NUM
easat-6259	734	55	.	.	PUNCT
easat-6259	735	1	https://doi.org/10.1016/j.arcontrol.2017.09.012	https://doi.org/10.1016/j.arcontrol.2017.09.012	NOUN
easat-6259	736	1	[	[	X
easat-6259	736	2	15	15	NUM
easat-6259	736	3	]	]	X
easat-6259	736	4	m.	m.	NOUN
easat-6259	736	5	heimberger	heimberger	NOUN
easat-6259	736	6	,	,	PUNCT
easat-6259	736	7	j.	j.	PROPN
easat-6259	736	8	horgan	horgan	PROPN
easat-6259	736	9	,	,	PUNCT
easat-6259	736	10	c.	c.	PROPN
easat-6259	736	11	hughes	hughes	PROPN
easat-6259	736	12	,	,	PUNCT
easat-6259	736	13	j.	j.	PROPN
easat-6259	736	14	mcdonald	mcdonald	PROPN
easat-6259	736	15	,	,	PUNCT
easat-6259	736	16	and	and	CCONJ
easat-6259	736	17	s.	s.	PROPN
easat-6259	736	18	yogamani	yogamani	PROPN
easat-6259	736	19	,	,	PUNCT
easat-6259	736	20	"	"	PUNCT
easat-6259	736	21	computer	computer	NOUN
easat-6259	736	22	vision	vision	NOUN
easat-6259	736	23	in	in	ADP
easat-6259	736	24	automated	automate	VERB
easat-6259	736	25	parking	parking	NOUN
easat-6259	736	26	systems	system	NOUN
easat-6259	736	27	:	:	PUNCT
easat-6259	736	28	design	design	NOUN
easat-6259	736	29	,	,	PUNCT
easat-6259	736	30	implementation	implementation	NOUN
easat-6259	736	31	and	and	CCONJ
easat-6259	736	32	challenges	challenge	NOUN
easat-6259	736	33	,	,	PUNCT
easat-6259	736	34	"	"	PUNCT
easat-6259	736	35	image	image	NOUN
easat-6259	736	36	and	and	CCONJ
easat-6259	736	37	vision	vision	NOUN
easat-6259	736	38	computing	computing	NOUN
easat-6259	736	39	,	,	PUNCT
easat-6259	736	40	vol	vol	NOUN
easat-6259	736	41	.	.	PROPN
easat-6259	736	42	68	68	NUM
easat-6259	736	43	,	,	PUNCT
easat-6259	736	44	pp	pp	ADJ
easat-6259	736	45	.	.	PUNCT
easat-6259	737	1	88	88	NUM
easat-6259	737	2	-	-	SYM
easat-6259	737	3	101	101	NUM
easat-6259	737	4	,	,	PUNCT
easat-6259	737	5	2017	2017	NUM
easat-6259	737	6	.	.	PUNCT
easat-6259	738	1	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
easat-6259	738	2	https://doi.org/10.1080/15568318.2020.1798571	https://doi.org/10.1080/15568318.2020.1798571	PROPN
easat-6259	739	1	https://doi.org/10.1016/j.arcontrol.2017.09.012	https://doi.org/10.1016/j.arcontrol.2017.09.012	PROPN
easat-6259	739	2	1329	1329	NUM
easat-6259	739	3	edelweiss	edelweiss	PROPN
easat-6259	739	4	applied	apply	VERB
easat-6259	739	5	science	science	NOUN
easat-6259	739	6	and	and	CCONJ
easat-6259	739	7	technology	technology	NOUN
easat-6259	739	8	issn	issn	PROPN
easat-6259	739	9	:	:	PUNCT
easat-6259	739	10	2576	2576	NUM
easat-6259	739	11	-	-	SYM
easat-6259	739	12	8484	8484	NUM
easat-6259	739	13	vol	vol	NOUN
easat-6259	739	14	.	.	PROPN
easat-6259	740	1	9	9	NUM
easat-6259	740	2	,	,	PUNCT
easat-6259	740	3	no	no	INTJ
easat-6259	740	4	.	.	NOUN
easat-6259	741	1	4	4	NUM
easat-6259	741	2	:	:	SYM
easat-6259	741	3	1300	1300	NUM
easat-6259	741	4	-	-	SYM
easat-6259	741	5	1331	1331	NUM
easat-6259	741	6	,	,	PUNCT
easat-6259	741	7	2025	2025	NUM
easat-6259	741	8	doi	doi	NOUN
easat-6259	741	9	:	:	PUNCT
easat-6259	741	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	741	11	©	©	PROPN
easat-6259	741	12	2025	2025	NUM
easat-6259	741	13	by	by	ADP
easat-6259	741	14	the	the	DET
easat-6259	741	15	authors	author	NOUN
easat-6259	741	16	;	;	PUNCT
easat-6259	741	17	licensee	licensee	PROPN
easat-6259	741	18	learning	learning	NOUN
easat-6259	741	19	gate	gate	NOUN
easat-6259	742	1	[	[	X
easat-6259	742	2	16	16	NUM
easat-6259	742	3	]	]	X
easat-6259	742	4	d.	d.	PROPN
easat-6259	742	5	bhatt	bhatt	PROPN
easat-6259	742	6	et	et	PROPN
easat-6259	742	7	al	al	PROPN
easat-6259	742	8	.	.	PROPN
easat-6259	742	9	,	,	PUNCT
easat-6259	742	10	"	"	PUNCT
easat-6259	742	11	cnn	cnn	PROPN
easat-6259	742	12	variants	variant	NOUN
easat-6259	742	13	for	for	ADP
easat-6259	742	14	computer	computer	NOUN
easat-6259	742	15	vision	vision	NOUN
easat-6259	742	16	:	:	PUNCT
easat-6259	742	17	history	history	NOUN
easat-6259	742	18	,	,	PUNCT
easat-6259	742	19	architecture	architecture	NOUN
easat-6259	742	20	,	,	PUNCT
easat-6259	742	21	application	application	NOUN
easat-6259	742	22	,	,	PUNCT
easat-6259	742	23	challenges	challenge	NOUN
easat-6259	742	24	and	and	CCONJ
easat-6259	742	25	future	future	ADJ
easat-6259	742	26	scope	scope	NOUN
easat-6259	742	27	,	,	PUNCT
easat-6259	742	28	"	"	PUNCT
easat-6259	742	29	electronics	electronic	NOUN
easat-6259	742	30	,	,	PUNCT
easat-6259	742	31	vol	vol	NOUN
easat-6259	742	32	.	.	PROPN
easat-6259	742	33	10	10	NUM
easat-6259	742	34	,	,	PUNCT
easat-6259	742	35	no	no	INTJ
easat-6259	742	36	.	.	NOUN
easat-6259	742	37	20	20	NUM
easat-6259	742	38	,	,	PUNCT
easat-6259	742	39	p.	p.	NOUN
easat-6259	742	40	2470	2470	NUM
easat-6259	742	41	,	,	PUNCT
easat-6259	742	42	2021	2021	NUM
easat-6259	742	43	.	.	PUNCT
easat-6259	743	1	[	[	X
easat-6259	743	2	17	17	NUM
easat-6259	743	3	]	]	PUNCT
easat-6259	743	4	j.	j.	PROPN
easat-6259	743	5	li	li	PROPN
easat-6259	743	6	,	,	PUNCT
easat-6259	743	7	w.	w.	PROPN
easat-6259	743	8	zhan	zhan	PROPN
easat-6259	743	9	,	,	PUNCT
easat-6259	743	10	y.	y.	PROPN
easat-6259	743	11	hu	hu	PROPN
easat-6259	743	12	,	,	PUNCT
easat-6259	743	13	and	and	CCONJ
easat-6259	743	14	m.	m.	NOUN
easat-6259	743	15	tomizuka	tomizuka	PROPN
easat-6259	743	16	,	,	PUNCT
easat-6259	743	17	"	"	PUNCT
easat-6259	743	18	generic	generic	ADJ
easat-6259	743	19	tracking	tracking	NOUN
easat-6259	743	20	and	and	CCONJ
easat-6259	743	21	probabilistic	probabilistic	ADJ
easat-6259	743	22	prediction	prediction	NOUN
easat-6259	743	23	framework	framework	NOUN
easat-6259	743	24	and	and	CCONJ
easat-6259	743	25	its	its	PRON
easat-6259	743	26	application	application	NOUN
easat-6259	743	27	in	in	ADP
easat-6259	743	28	autonomous	autonomous	ADJ
easat-6259	743	29	driving	driving	NOUN
easat-6259	743	30	,	,	PUNCT
easat-6259	743	31	"	"	PUNCT
easat-6259	743	32	ieee	ieee	NOUN
easat-6259	743	33	transactions	transaction	NOUN
easat-6259	743	34	on	on	ADP
easat-6259	743	35	intelligent	intelligent	ADJ
easat-6259	743	36	transportation	transportation	NOUN
easat-6259	743	37	systems	system	NOUN
easat-6259	743	38	,	,	PUNCT
easat-6259	743	39	vol	vol	NOUN
easat-6259	743	40	.	.	PROPN
easat-6259	743	41	21	21	NUM
easat-6259	743	42	,	,	PUNCT
easat-6259	743	43	no	no	INTJ
easat-6259	743	44	.	.	NOUN
easat-6259	743	45	9	9	NUM
easat-6259	743	46	,	,	PUNCT
easat-6259	743	47	pp	pp	ADJ
easat-6259	743	48	.	.	PUNCT
easat-6259	743	49	36343649	36343649	NUM
easat-6259	743	50	,	,	PUNCT
easat-6259	743	51	2019	2019	NUM
easat-6259	743	52	.	.	PUNCT
easat-6259	744	1	[	[	X
easat-6259	744	2	18	18	NUM
easat-6259	744	3	]	]	PUNCT
easat-6259	744	4	m.	m.	NOUN
easat-6259	744	5	geisslinger	geisslinger	NOUN
easat-6259	744	6	,	,	PUNCT
easat-6259	744	7	f.	f.	PROPN
easat-6259	744	8	poszler	poszler	PROPN
easat-6259	744	9	,	,	PUNCT
easat-6259	744	10	and	and	CCONJ
easat-6259	744	11	m.	m.	NOUN
easat-6259	744	12	lienkamp	lienkamp	PROPN
easat-6259	744	13	,	,	PUNCT
easat-6259	744	14	"	"	PUNCT
easat-6259	744	15	an	an	DET
easat-6259	744	16	ethical	ethical	ADJ
easat-6259	744	17	trajectory	trajectory	NOUN
easat-6259	744	18	planning	planning	NOUN
easat-6259	744	19	algorithm	algorithm	NOUN
easat-6259	744	20	for	for	ADP
easat-6259	744	21	autonomous	autonomous	ADJ
easat-6259	744	22	vehicles	vehicle	NOUN
easat-6259	744	23	,	,	PUNCT
easat-6259	744	24	"	"	PUNCT
easat-6259	744	25	nature	nature	NOUN
easat-6259	744	26	machine	machine	NOUN
easat-6259	744	27	intelligence	intelligence	NOUN
easat-6259	744	28	,	,	PUNCT
easat-6259	744	29	vol	vol	NOUN
easat-6259	744	30	.	.	PROPN
easat-6259	744	31	5	5	NUM
easat-6259	744	32	,	,	PUNCT
easat-6259	744	33	no	no	INTJ
easat-6259	744	34	.	.	NOUN
easat-6259	744	35	2	2	NUM
easat-6259	744	36	,	,	PUNCT
easat-6259	744	37	pp	pp	ADJ
easat-6259	744	38	.	.	PUNCT
easat-6259	744	39	137	137	NUM
easat-6259	744	40	-	-	SYM
easat-6259	744	41	144	144	NUM
easat-6259	744	42	,	,	PUNCT
easat-6259	744	43	2023	2023	NUM
easat-6259	744	44	.	.	PUNCT
easat-6259	745	1	[	[	X
easat-6259	745	2	19	19	NUM
easat-6259	745	3	]	]	PUNCT
easat-6259	745	4	m.	m.	PROPN
easat-6259	745	5	r.	r.	PROPN
easat-6259	745	6	bachute	bachute	PROPN
easat-6259	745	7	and	and	CCONJ
easat-6259	745	8	j.	j.	PROPN
easat-6259	745	9	m.	m.	PROPN
easat-6259	745	10	subhedar	subhedar	PROPN
easat-6259	745	11	,	,	PUNCT
easat-6259	745	12	"	"	PUNCT
easat-6259	745	13	autonomous	autonomous	ADJ
easat-6259	745	14	driving	driving	NOUN
easat-6259	745	15	architectures	architecture	NOUN
easat-6259	745	16	:	:	PUNCT
easat-6259	745	17	insights	insight	NOUN
easat-6259	745	18	of	of	ADP
easat-6259	745	19	machine	machine	NOUN
easat-6259	745	20	learning	learning	NOUN
easat-6259	745	21	and	and	CCONJ
easat-6259	745	22	deep	deep	ADJ
easat-6259	745	23	learning	learning	NOUN
easat-6259	745	24	algorithms	algorithm	NOUN
easat-6259	745	25	,	,	PUNCT
easat-6259	745	26	"	"	PUNCT
easat-6259	745	27	machine	machine	NOUN
easat-6259	745	28	learning	learn	VERB
easat-6259	745	29	with	with	ADP
easat-6259	745	30	applications	application	NOUN
easat-6259	745	31	,	,	PUNCT
easat-6259	745	32	vol	vol	NOUN
easat-6259	745	33	.	.	PROPN
easat-6259	745	34	6	6	NUM
easat-6259	745	35	,	,	PUNCT
easat-6259	745	36	p.	p.	NOUN
easat-6259	745	37	100164	100164	NUM
easat-6259	745	38	,	,	PUNCT
easat-6259	745	39	2021	2021	NUM
easat-6259	745	40	.	.	PUNCT
easat-6259	746	1	[	[	X
easat-6259	746	2	20	20	NUM
easat-6259	746	3	]	]	PUNCT
easat-6259	746	4	a.	a.	NOUN
easat-6259	746	5	ammar	ammar	PROPN
easat-6259	746	6	,	,	PUNCT
easat-6259	746	7	a.	a.	PROPN
easat-6259	746	8	koubaa	koubaa	PROPN
easat-6259	746	9	,	,	PUNCT
easat-6259	746	10	m.	m.	PROPN
easat-6259	746	11	ahmed	ahmed	PROPN
easat-6259	746	12	,	,	PUNCT
easat-6259	746	13	a.	a.	NOUN
easat-6259	746	14	saad	saad	PROPN
easat-6259	746	15	,	,	PUNCT
easat-6259	746	16	and	and	CCONJ
easat-6259	746	17	b.	b.	PROPN
easat-6259	746	18	benjdira	benjdira	PROPN
easat-6259	746	19	,	,	PUNCT
easat-6259	746	20	"	"	PUNCT
easat-6259	746	21	aerial	aerial	ADJ
easat-6259	746	22	images	image	NOUN
easat-6259	746	23	processing	process	VERB
easat-6259	746	24	for	for	ADP
easat-6259	746	25	car	car	NOUN
easat-6259	746	26	detection	detection	NOUN
easat-6259	746	27	using	use	VERB
easat-6259	746	28	convolutional	convolutional	ADJ
easat-6259	746	29	neural	neural	ADJ
easat-6259	746	30	networks	network	NOUN
easat-6259	746	31	:	:	PUNCT
easat-6259	746	32	comparison	comparison	NOUN
easat-6259	746	33	between	between	ADP
easat-6259	746	34	faster	fast	ADJ
easat-6259	746	35	r	r	NOUN
easat-6259	746	36	-	-	PUNCT
easat-6259	746	37	cnn	cnn	PROPN
easat-6259	746	38	and	and	CCONJ
easat-6259	746	39	yolov3	yolov3	PROPN
easat-6259	746	40	,	,	PUNCT
easat-6259	746	41	"	"	PUNCT
easat-6259	746	42	arxiv	arxiv	PROPN
easat-6259	746	43	preprint	preprint	VERB
easat-6259	746	44	arxiv:1910.07234	arxiv:1910.07234	NOUN
easat-6259	746	45	,	,	PUNCT
easat-6259	746	46	2019	2019	NUM
easat-6259	746	47	.	.	PUNCT
easat-6259	747	1	[	[	X
easat-6259	747	2	21	21	NUM
easat-6259	747	3	]	]	PUNCT
easat-6259	747	4	s.	s.	PROPN
easat-6259	747	5	liang	liang	PROPN
easat-6259	747	6	et	et	PROPN
easat-6259	747	7	al	al	PROPN
easat-6259	747	8	.	.	PROPN
easat-6259	747	9	,	,	PUNCT
easat-6259	747	10	"	"	PUNCT
easat-6259	747	11	edge	edge	VERB
easat-6259	747	12	yolo	yolo	NOUN
easat-6259	747	13	:	:	PUNCT
easat-6259	747	14	real	real	ADJ
easat-6259	747	15	-	-	PUNCT
easat-6259	747	16	time	time	NOUN
easat-6259	747	17	intelligent	intelligent	ADJ
easat-6259	747	18	object	object	NOUN
easat-6259	747	19	detection	detection	NOUN
easat-6259	747	20	system	system	NOUN
easat-6259	747	21	based	base	VERB
easat-6259	747	22	on	on	ADP
easat-6259	747	23	edge	edge	NOUN
easat-6259	747	24	-	-	PUNCT
easat-6259	747	25	cloud	cloud	NOUN
easat-6259	747	26	cooperation	cooperation	NOUN
easat-6259	747	27	in	in	ADP
easat-6259	747	28	autonomous	autonomous	ADJ
easat-6259	747	29	vehicles	vehicle	NOUN
easat-6259	747	30	,	,	PUNCT
easat-6259	747	31	"	"	PUNCT
easat-6259	747	32	ieee	ieee	NOUN
easat-6259	747	33	transactions	transaction	NOUN
easat-6259	747	34	on	on	ADP
easat-6259	747	35	intelligent	intelligent	ADJ
easat-6259	747	36	transportation	transportation	NOUN
easat-6259	747	37	systems	system	NOUN
easat-6259	747	38	,	,	PUNCT
easat-6259	747	39	vol	vol	NOUN
easat-6259	747	40	.	.	PROPN
easat-6259	748	1	23	23	NUM
easat-6259	748	2	,	,	PUNCT
easat-6259	748	3	no	no	INTJ
easat-6259	748	4	.	.	NOUN
easat-6259	748	5	12	12	NUM
easat-6259	748	6	,	,	PUNCT
easat-6259	748	7	pp	pp	ADJ
easat-6259	748	8	.	.	PUNCT
easat-6259	748	9	25345	25345	NUM
easat-6259	748	10	-	-	SYM
easat-6259	748	11	25360	25360	NUM
easat-6259	748	12	,	,	PUNCT
easat-6259	748	13	2022	2022	NUM
easat-6259	748	14	.	.	PUNCT
easat-6259	749	1	[	[	X
easat-6259	749	2	22	22	NUM
easat-6259	749	3	]	]	X
easat-6259	749	4	y.	y.	PROPN
easat-6259	749	5	zhang	zhang	PROPN
easat-6259	749	6	,	,	PUNCT
easat-6259	749	7	a.	a.	NOUN
easat-6259	749	8	carballo	carballo	PROPN
easat-6259	749	9	,	,	PUNCT
easat-6259	749	10	h.	h.	PROPN
easat-6259	749	11	yang	yang	PROPN
easat-6259	749	12	,	,	PUNCT
easat-6259	749	13	and	and	CCONJ
easat-6259	749	14	k.	k.	PROPN
easat-6259	749	15	takeda	takeda	PROPN
easat-6259	749	16	,	,	PUNCT
easat-6259	749	17	"	"	PUNCT
easat-6259	749	18	perception	perception	NOUN
easat-6259	749	19	and	and	CCONJ
easat-6259	749	20	sensing	sense	VERB
easat-6259	749	21	for	for	ADP
easat-6259	749	22	autonomous	autonomous	ADJ
easat-6259	749	23	vehicles	vehicle	NOUN
easat-6259	749	24	under	under	ADP
easat-6259	749	25	adverse	adverse	ADJ
easat-6259	749	26	weather	weather	NOUN
easat-6259	749	27	conditions	condition	NOUN
easat-6259	749	28	:	:	PUNCT
easat-6259	749	29	a	a	DET
easat-6259	749	30	survey	survey	NOUN
easat-6259	749	31	,	,	PUNCT
easat-6259	749	32	"	"	PUNCT
easat-6259	749	33	isprs	isprs	NOUN
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easat-6259	749	35	of	of	ADP
easat-6259	749	36	photogrammetry	photogrammetry	NOUN
easat-6259	749	37	and	and	CCONJ
easat-6259	749	38	remote	remote	ADJ
easat-6259	749	39	sensing	sensing	NOUN
easat-6259	749	40	,	,	PUNCT
easat-6259	749	41	vol	vol	NOUN
easat-6259	749	42	.	.	PROPN
easat-6259	749	43	196	196	NUM
easat-6259	749	44	,	,	PUNCT
easat-6259	749	45	pp	pp	ADJ
easat-6259	749	46	.	.	PUNCT
easat-6259	750	1	146	146	NUM
easat-6259	750	2	-	-	SYM
easat-6259	750	3	177	177	NUM
easat-6259	750	4	,	,	PUNCT
easat-6259	750	5	2023	2023	NUM
easat-6259	750	6	.	.	PUNCT
easat-6259	751	1	[	[	X
easat-6259	751	2	23	23	NUM
easat-6259	751	3	]	]	X
easat-6259	751	4	y.	y.	PROPN
easat-6259	751	5	ma	ma	PROPN
easat-6259	751	6	,	,	PUNCT
easat-6259	751	7	z.	z.	PROPN
easat-6259	751	8	wang	wang	PROPN
easat-6259	751	9	,	,	PUNCT
easat-6259	751	10	h.	h.	PROPN
easat-6259	751	11	yang	yang	PROPN
easat-6259	751	12	,	,	PUNCT
easat-6259	751	13	and	and	CCONJ
easat-6259	751	14	l.	l.	PROPN
easat-6259	751	15	yang	yang	PROPN
easat-6259	751	16	,	,	PUNCT
easat-6259	751	17	"	"	PUNCT
easat-6259	751	18	artificial	artificial	ADJ
easat-6259	751	19	intelligence	intelligence	NOUN
easat-6259	751	20	applications	application	NOUN
easat-6259	751	21	in	in	ADP
easat-6259	751	22	the	the	DET
easat-6259	751	23	development	development	NOUN
easat-6259	751	24	of	of	ADP
easat-6259	751	25	autonomous	autonomous	ADJ
easat-6259	751	26	vehicles	vehicle	NOUN
easat-6259	751	27	:	:	PUNCT
easat-6259	751	28	a	a	DET
easat-6259	751	29	survey	survey	NOUN
easat-6259	751	30	,	,	PUNCT
easat-6259	751	31	"	"	PUNCT
easat-6259	751	32	ieee	ieee	NOUN
easat-6259	751	33	/	/	SYM
easat-6259	751	34	caa	caa	PROPN
easat-6259	751	35	journal	journal	PROPN
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easat-6259	751	37	automatica	automatica	PROPN
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easat-6259	751	39	,	,	PUNCT
easat-6259	751	40	vol	vol	NOUN
easat-6259	751	41	.	.	PROPN
easat-6259	751	42	7	7	NUM
easat-6259	751	43	,	,	PUNCT
easat-6259	751	44	no	no	INTJ
easat-6259	751	45	.	.	NOUN
easat-6259	751	46	2	2	NUM
easat-6259	751	47	,	,	PUNCT
easat-6259	751	48	pp	pp	ADJ
easat-6259	751	49	.	.	PUNCT
easat-6259	752	1	315	315	NUM
easat-6259	752	2	-	-	SYM
easat-6259	752	3	329	329	NUM
easat-6259	752	4	,	,	PUNCT
easat-6259	752	5	2020	2020	NUM
easat-6259	752	6	.	.	PUNCT
easat-6259	753	1	[	[	X
easat-6259	753	2	24	24	NUM
easat-6259	753	3	]	]	PUNCT
easat-6259	753	4	p.	p.	PROPN
easat-6259	753	5	wang	wang	PROPN
easat-6259	753	6	,	,	PUNCT
easat-6259	753	7	s.	s.	PROPN
easat-6259	753	8	gao	gao	PROPN
easat-6259	753	9	,	,	PUNCT
easat-6259	753	10	l.	l.	PROPN
easat-6259	753	11	li	li	PROPN
easat-6259	753	12	,	,	PUNCT
easat-6259	753	13	b.	b.	PROPN
easat-6259	753	14	sun	sun	PROPN
easat-6259	753	15	,	,	PUNCT
easat-6259	753	16	and	and	CCONJ
easat-6259	753	17	s.	s.	PROPN
easat-6259	753	18	cheng	cheng	PROPN
easat-6259	753	19	,	,	PUNCT
easat-6259	753	20	"	"	PUNCT
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easat-6259	753	22	avoidance	avoidance	NOUN
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easat-6259	753	27	autonomous	autonomous	ADJ
easat-6259	753	28	driving	driving	NOUN
easat-6259	753	29	vehicles	vehicle	NOUN
easat-6259	753	30	based	base	VERB
easat-6259	753	31	on	on	ADP
easat-6259	753	32	an	an	DET
easat-6259	753	33	improved	improved	ADJ
easat-6259	753	34	artificial	artificial	ADJ
easat-6259	753	35	potential	potential	ADJ
easat-6259	753	36	field	field	NOUN
easat-6259	753	37	algorithm	algorithm	NOUN
easat-6259	753	38	,	,	PUNCT
easat-6259	753	39	"	"	PUNCT
easat-6259	753	40	energies	energy	NOUN
easat-6259	753	41	,	,	PUNCT
easat-6259	753	42	vol	vol	NOUN
easat-6259	753	43	.	.	PROPN
easat-6259	753	44	12	12	NUM
easat-6259	753	45	,	,	PUNCT
easat-6259	753	46	no	no	INTJ
easat-6259	753	47	.	.	NOUN
easat-6259	753	48	12	12	NUM
easat-6259	753	49	,	,	PUNCT
easat-6259	753	50	p.	p.	NOUN
easat-6259	753	51	2342	2342	NUM
easat-6259	753	52	,	,	PUNCT
easat-6259	753	53	2019	2019	NUM
easat-6259	753	54	.	.	PUNCT
easat-6259	754	1	https://doi.org/10.3390/en12122342	https://doi.org/10.3390/en12122342	PRON
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easat-6259	755	2	25	25	NUM
easat-6259	755	3	]	]	PUNCT
easat-6259	755	4	s.	s.	PROPN
easat-6259	755	5	rani	rani	PROPN
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easat-6259	755	10	and	and	CCONJ
easat-6259	755	11	s.	s.	PROPN
easat-6259	755	12	kumar	kumar	PROPN
easat-6259	755	13	,	,	PUNCT
easat-6259	755	14	"	"	PUNCT
easat-6259	755	15	object	object	NOUN
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easat-6259	755	22	edge	edge	NOUN
easat-6259	755	23	detection	detection	NOUN
easat-6259	755	24	and	and	CCONJ
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easat-6259	755	26	rcnn	rcnn	NOUN
easat-6259	755	27	,	,	PUNCT
easat-6259	755	28	"	"	PUNCT
easat-6259	755	29	multimedia	multimedia	NOUN
easat-6259	755	30	tools	tool	NOUN
easat-6259	755	31	and	and	CCONJ
easat-6259	755	32	applications	application	NOUN
easat-6259	755	33	,	,	PUNCT
easat-6259	755	34	vol	vol	NOUN
easat-6259	755	35	.	.	PROPN
easat-6259	755	36	81	81	NUM
easat-6259	755	37	,	,	PUNCT
easat-6259	755	38	no	no	INTJ
easat-6259	755	39	.	.	NOUN
easat-6259	755	40	29	29	NUM
easat-6259	755	41	,	,	PUNCT
easat-6259	755	42	pp	pp	ADJ
easat-6259	755	43	.	.	PUNCT
easat-6259	755	44	42183	42183	NUM
easat-6259	755	45	-	-	SYM
easat-6259	755	46	42207	42207	NUM
easat-6259	755	47	,	,	PUNCT
easat-6259	755	48	2022	2022	NUM
easat-6259	755	49	.	.	PUNCT
easat-6259	756	1	[	[	X
easat-6259	756	2	26	26	NUM
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easat-6259	756	4	j.	j.	PROPN
easat-6259	756	5	mao	mao	PROPN
easat-6259	756	6	,	,	PUNCT
easat-6259	756	7	s.	s.	PROPN
easat-6259	756	8	shi	shi	PROPN
easat-6259	756	9	,	,	PUNCT
easat-6259	756	10	x.	x.	PROPN
easat-6259	756	11	wang	wang	PROPN
easat-6259	756	12	,	,	PUNCT
easat-6259	756	13	and	and	CCONJ
easat-6259	756	14	h.	h.	PROPN
easat-6259	756	15	li	li	PROPN
easat-6259	756	16	,	,	PUNCT
easat-6259	756	17	"	"	PUNCT
easat-6259	756	18	3d	3d	NUM
easat-6259	756	19	object	object	NOUN
easat-6259	756	20	detection	detection	NOUN
easat-6259	756	21	for	for	ADP
easat-6259	756	22	autonomous	autonomous	ADJ
easat-6259	756	23	driving	driving	NOUN
easat-6259	756	24	:	:	PUNCT
easat-6259	756	25	a	a	DET
easat-6259	756	26	comprehensive	comprehensive	ADJ
easat-6259	756	27	survey	survey	NOUN
easat-6259	756	28	,	,	PUNCT
easat-6259	756	29	"	"	PUNCT
easat-6259	756	30	international	international	ADJ
easat-6259	756	31	journal	journal	NOUN
easat-6259	756	32	of	of	ADP
easat-6259	756	33	computer	computer	NOUN
easat-6259	756	34	vision	vision	NOUN
easat-6259	756	35	,	,	PUNCT
easat-6259	756	36	vol	vol	NOUN
easat-6259	756	37	.	.	PROPN
easat-6259	756	38	131	131	NUM
easat-6259	756	39	,	,	PUNCT
easat-6259	756	40	no	no	INTJ
easat-6259	756	41	.	.	NOUN
easat-6259	756	42	8	8	NUM
easat-6259	756	43	,	,	PUNCT
easat-6259	756	44	pp	pp	ADJ
easat-6259	756	45	.	.	PUNCT
easat-6259	757	1	1909	1909	NUM
easat-6259	757	2	-	-	SYM
easat-6259	757	3	1963	1963	NUM
easat-6259	757	4	,	,	PUNCT
easat-6259	757	5	2023	2023	NUM
easat-6259	757	6	.	.	PUNCT
easat-6259	758	1	[	[	X
easat-6259	758	2	27	27	NUM
easat-6259	758	3	]	]	X
easat-6259	758	4	k.	k.	PROPN
easat-6259	758	5	huang	huang	PROPN
easat-6259	758	6	,	,	PUNCT
easat-6259	758	7	b.	b.	PROPN
easat-6259	758	8	shi	shi	PROPN
easat-6259	758	9	,	,	PUNCT
easat-6259	758	10	x.	x.	PROPN
easat-6259	758	11	li	li	PROPN
easat-6259	758	12	,	,	PUNCT
easat-6259	758	13	x.	x.	PROPN
easat-6259	758	14	li	li	PROPN
easat-6259	758	15	,	,	PUNCT
easat-6259	758	16	s.	s.	PROPN
easat-6259	758	17	huang	huang	PROPN
easat-6259	758	18	,	,	PUNCT
easat-6259	758	19	and	and	CCONJ
easat-6259	758	20	y.	y.	PROPN
easat-6259	758	21	li	li	PROPN
easat-6259	758	22	,	,	PUNCT
easat-6259	758	23	"	"	PUNCT
easat-6259	758	24	multi	multi	ADJ
easat-6259	758	25	-	-	ADJ
easat-6259	758	26	modal	modal	ADJ
easat-6259	758	27	sensor	sensor	NOUN
easat-6259	758	28	fusion	fusion	NOUN
easat-6259	758	29	for	for	ADP
easat-6259	758	30	auto	auto	NOUN
easat-6259	758	31	driving	driving	NOUN
easat-6259	758	32	perception	perception	NOUN
easat-6259	758	33	:	:	PUNCT
easat-6259	758	34	a	a	DET
easat-6259	758	35	survey	survey	NOUN
easat-6259	758	36	,	,	PUNCT
easat-6259	758	37	"	"	PUNCT
easat-6259	758	38	arxiv	arxiv	PROPN
easat-6259	758	39	preprint	preprint	NOUN
easat-6259	758	40	arxiv:2202.02703	arxiv:2202.02703	NOUN
easat-6259	758	41	,	,	PUNCT
easat-6259	758	42	2022	2022	NUM
easat-6259	758	43	.	.	PUNCT
easat-6259	759	1	[	[	X
easat-6259	759	2	28	28	NUM
easat-6259	759	3	]	]	X
easat-6259	759	4	h.	h.	PROPN
easat-6259	759	5	caesar	caesar	PROPN
easat-6259	759	6	,	,	PUNCT
easat-6259	759	7	"	"	PUNCT
easat-6259	759	8	nuscenes	nuscene	NOUN
easat-6259	759	9	:	:	PUNCT
easat-6259	759	10	a	a	DET
easat-6259	759	11	multimodal	multimodal	NOUN
easat-6259	759	12	dataset	dataset	NOUN
easat-6259	759	13	for	for	ADP
easat-6259	759	14	autonomous	autonomous	ADJ
easat-6259	759	15	driving	driving	NOUN
easat-6259	759	16	,	,	PUNCT
easat-6259	759	17	"	"	PUNCT
easat-6259	759	18	in	in	ADP
easat-6259	759	19	proc	proc	NOUN
easat-6259	759	20	.	.	PUNCT
easat-6259	759	21	of	of	ADP
easat-6259	759	22	the	the	DET
easat-6259	759	23	ieee	ieee	NOUN
easat-6259	759	24	/	/	SYM
easat-6259	759	25	cvf	cvf	NOUN
easat-6259	759	26	conference	conference	NOUN
easat-6259	759	27	on	on	ADP
easat-6259	759	28	computer	computer	NOUN
easat-6259	759	29	vision	vision	NOUN
easat-6259	759	30	and	and	CCONJ
easat-6259	759	31	pattern	pattern	NOUN
easat-6259	759	32	recognition	recognition	NOUN
easat-6259	759	33	(	(	PUNCT
easat-6259	759	34	cvpr	cvpr	NOUN
easat-6259	759	35	)	)	PUNCT
easat-6259	759	36	,	,	PUNCT
easat-6259	759	37	2020,pp.11621	2020,pp.11621	NUM
easat-6259	759	38	-	-	SYM
easat-6259	759	39	11631	11631	NUM
easat-6259	759	40	,	,	PUNCT
easat-6259	759	41	2020	2020	NUM
easat-6259	759	42	.	.	PUNCT
easat-6259	760	1	[	[	X
easat-6259	760	2	29	29	NUM
easat-6259	760	3	]	]	X
easat-6259	760	4	b.	b.	PROPN
easat-6259	760	5	ren	ren	PROPN
easat-6259	760	6	and	and	CCONJ
easat-6259	760	7	j.	j.	PROPN
easat-6259	760	8	yin	yin	PROPN
easat-6259	760	9	,	,	PUNCT
easat-6259	760	10	"	"	PUNCT
easat-6259	760	11	sdvrf	sdvrf	NOUN
easat-6259	760	12	:	:	PUNCT
easat-6259	760	13	sparse	sparse	VERB
easat-6259	760	14	-	-	PUNCT
easat-6259	760	15	to	to	ADP
easat-6259	760	16	-	-	PUNCT
easat-6259	760	17	dense	dense	ADJ
easat-6259	760	18	voxel	voxel	PROPN
easat-6259	760	19	region	region	NOUN
easat-6259	760	20	fusion	fusion	NOUN
easat-6259	760	21	for	for	ADP
easat-6259	760	22	multi	multi	ADJ
easat-6259	760	23	-	-	ADJ
easat-6259	760	24	modal	modal	ADJ
easat-6259	760	25	3d	3d	NUM
easat-6259	760	26	object	object	NOUN
easat-6259	760	27	detection	detection	NOUN
easat-6259	760	28	,	,	PUNCT
easat-6259	760	29	"	"	PUNCT
easat-6259	760	30	presented	present	VERB
easat-6259	760	31	at	at	ADP
easat-6259	760	32	the	the	DET
easat-6259	760	33	in	in	ADP
easat-6259	760	34	2024	2024	NUM
easat-6259	760	35	ieee	ieee	NOUN
easat-6259	760	36	international	international	ADJ
easat-6259	760	37	conference	conference	NOUN
easat-6259	760	38	on	on	ADP
easat-6259	760	39	robotics	robotic	NOUN
easat-6259	760	40	and	and	CCONJ
easat-6259	760	41	biomimetics	biomimetic	NOUN
easat-6259	760	42	(	(	PUNCT
easat-6259	760	43	robio	robio	NOUN
easat-6259	760	44	)	)	PUNCT
easat-6259	760	45	(	(	PUNCT
easat-6259	760	46	pp	pp	X
easat-6259	760	47	.	.	PUNCT
easat-6259	761	1	1856	1856	NUM
easat-6259	761	2	-	-	SYM
easat-6259	761	3	1861	1861	NUM
easat-6259	761	4	)	)	PUNCT
easat-6259	761	5	.	.	PUNCT
easat-6259	762	1	ieee	ieee	NOUN
easat-6259	762	2	,	,	PUNCT
easat-6259	762	3	2024	2024	NUM
easat-6259	762	4	.	.	PUNCT
easat-6259	763	1	[	[	X
easat-6259	763	2	30	30	NUM
easat-6259	763	3	]	]	X
easat-6259	763	4	y.	y.	PROPN
easat-6259	763	5	cui	cui	PROPN
easat-6259	763	6	et	et	PROPN
easat-6259	763	7	al	al	PROPN
easat-6259	763	8	.	.	PROPN
easat-6259	763	9	,	,	PUNCT
easat-6259	763	10	"	"	PUNCT
easat-6259	763	11	deep	deep	ADJ
easat-6259	763	12	learning	learning	NOUN
easat-6259	763	13	for	for	ADP
easat-6259	763	14	image	image	NOUN
easat-6259	763	15	and	and	CCONJ
easat-6259	763	16	point	point	VERB
easat-6259	763	17	cloud	cloud	ADJ
easat-6259	763	18	fusion	fusion	NOUN
easat-6259	763	19	in	in	ADP
easat-6259	763	20	autonomous	autonomous	ADJ
easat-6259	763	21	driving	driving	NOUN
easat-6259	763	22	:	:	PUNCT
easat-6259	763	23	a	a	DET
easat-6259	763	24	review	review	NOUN
easat-6259	763	25	,	,	PUNCT
easat-6259	763	26	"	"	PUNCT
easat-6259	763	27	ieee	ieee	NOUN
easat-6259	763	28	transactions	transaction	NOUN
easat-6259	763	29	on	on	ADP
easat-6259	763	30	intelligent	intelligent	ADJ
easat-6259	763	31	transportation	transportation	NOUN
easat-6259	763	32	systems	system	NOUN
easat-6259	763	33	,	,	PUNCT
easat-6259	763	34	vol	vol	NOUN
easat-6259	763	35	.	.	PROPN
easat-6259	763	36	23	23	NUM
easat-6259	763	37	,	,	PUNCT
easat-6259	763	38	no	no	INTJ
easat-6259	763	39	.	.	NOUN
easat-6259	763	40	2	2	NUM
easat-6259	763	41	,	,	PUNCT
easat-6259	763	42	pp	pp	ADJ
easat-6259	763	43	.	.	PUNCT
easat-6259	764	1	722	722	NUM
easat-6259	764	2	-	-	SYM
easat-6259	764	3	739	739	NUM
easat-6259	764	4	,	,	PUNCT
easat-6259	764	5	2021	2021	NUM
easat-6259	764	6	.	.	PUNCT
easat-6259	765	1	[	[	X
easat-6259	765	2	31	31	NUM
easat-6259	765	3	]	]	PUNCT
easat-6259	765	4	j.	j.	PROPN
easat-6259	765	5	wang	wang	PROPN
easat-6259	765	6	,	,	PUNCT
easat-6259	765	7	l.	l.	PROPN
easat-6259	765	8	zhang	zhang	PROPN
easat-6259	765	9	,	,	PUNCT
easat-6259	765	10	y.	y.	PROPN
easat-6259	765	11	huang	huang	PROPN
easat-6259	765	12	,	,	PUNCT
easat-6259	765	13	and	and	CCONJ
easat-6259	765	14	j.	j.	PROPN
easat-6259	765	15	zhao	zhao	PROPN
easat-6259	765	16	,	,	PUNCT
easat-6259	765	17	"	"	PUNCT
easat-6259	765	18	safety	safety	NOUN
easat-6259	765	19	of	of	ADP
easat-6259	765	20	autonomous	autonomous	ADJ
easat-6259	765	21	vehicles	vehicle	NOUN
easat-6259	765	22	,	,	PUNCT
easat-6259	765	23	"	"	PUNCT
easat-6259	765	24	journal	journal	NOUN
easat-6259	765	25	of	of	ADP
easat-6259	765	26	advanced	advanced	ADJ
easat-6259	765	27	transportation	transportation	NOUN
easat-6259	765	28	,	,	PUNCT
easat-6259	765	29	vol	vol	NOUN
easat-6259	765	30	.	.	PUNCT
easat-6259	765	31	2020	2020	NUM
easat-6259	765	32	,	,	PUNCT
easat-6259	765	33	no	no	INTJ
easat-6259	765	34	.	.	NOUN
easat-6259	765	35	1	1	NUM
easat-6259	765	36	,	,	PUNCT
easat-6259	765	37	p.	p.	NOUN
easat-6259	765	38	8867757	8867757	NUM
easat-6259	765	39	,	,	PUNCT
easat-6259	765	40	2020	2020	NUM
easat-6259	765	41	.	.	PUNCT
easat-6259	766	1	[	[	X
easat-6259	766	2	32	32	NUM
easat-6259	766	3	]	]	PUNCT
easat-6259	766	4	i.-c	i.-c	PROPN
easat-6259	766	5	.	.	PUNCT
easat-6259	767	1	sang	sing	VERB
easat-6259	767	2	and	and	CCONJ
easat-6259	767	3	w.	w.	PROPN
easat-6259	767	4	r.	r.	PROPN
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easat-6259	767	6	,	,	PUNCT
easat-6259	767	7	"	"	PUNCT
easat-6259	767	8	improved	improved	ADJ
easat-6259	767	9	generalizability	generalizability	NOUN
easat-6259	767	10	of	of	ADP
easat-6259	767	11	cnn	cnn	PROPN
easat-6259	767	12	based	base	VERB
easat-6259	767	13	lane	lane	NOUN
easat-6259	767	14	detection	detection	NOUN
easat-6259	767	15	in	in	ADP
easat-6259	767	16	challenging	challenge	VERB
easat-6259	767	17	weather	weather	NOUN
easat-6259	767	18	using	use	VERB
easat-6259	767	19	adaptive	adaptive	ADJ
easat-6259	767	20	preprocessing	preprocessing	NOUN
easat-6259	767	21	parameter	parameter	NOUN
easat-6259	767	22	tuning	tuning	NOUN
easat-6259	767	23	,	,	PUNCT
easat-6259	767	24	"	"	PUNCT
easat-6259	767	25	expert	expert	NOUN
easat-6259	767	26	systems	system	NOUN
easat-6259	767	27	with	with	ADP
easat-6259	767	28	applications	application	NOUN
easat-6259	767	29	,	,	PUNCT
easat-6259	767	30	vol	vol	NOUN
easat-6259	767	31	.	.	PROPN
easat-6259	767	32	275	275	NUM
easat-6259	767	33	,	,	PUNCT
easat-6259	767	34	p.	p.	NOUN
easat-6259	767	35	127055	127055	NUM
easat-6259	767	36	,	,	PUNCT
easat-6259	767	37	2025	2025	NUM
easat-6259	767	38	.	.	PUNCT
easat-6259	768	1	[	[	X
easat-6259	768	2	33	33	NUM
easat-6259	768	3	]	]	PUNCT
easat-6259	768	4	j.	j.	PROPN
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easat-6259	768	8	v.	v.	PROPN
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easat-6259	768	10	,	,	PUNCT
easat-6259	768	11	j.	j.	PROPN
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easat-6259	768	14	,	,	PUNCT
easat-6259	768	15	and	and	CCONJ
easat-6259	768	16	a.	a.	PROPN
easat-6259	768	17	s.	s.	PROPN
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easat-6259	768	20	"	"	PUNCT
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easat-6259	768	22	of	of	ADP
easat-6259	768	23	pid	pid	NOUN
easat-6259	768	24	controller	controller	NOUN
easat-6259	768	25	for	for	ADP
easat-6259	768	26	liquid	liquid	ADJ
easat-6259	768	27	level	level	NOUN
easat-6259	768	28	system	system	NOUN
easat-6259	768	29	using	use	VERB
easat-6259	768	30	mgwo	mgwo	NOUN
easat-6259	768	31	and	and	CCONJ
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easat-6259	768	33	of	of	ADP
easat-6259	768	34	iot	iot	ADJ
easat-6259	768	35	application	application	NOUN
easat-6259	768	36	,	,	PUNCT
easat-6259	768	37	"	"	PUNCT
easat-6259	768	38	journal	journal	NOUN
easat-6259	768	39	of	of	ADP
easat-6259	768	40	industrial	industrial	ADJ
easat-6259	768	41	information	information	NOUN
easat-6259	768	42	integration	integration	NOUN
easat-6259	768	43	,	,	PUNCT
easat-6259	768	44	vol	vol	NOUN
easat-6259	768	45	.	.	PROPN
easat-6259	768	46	28	28	NUM
easat-6259	768	47	,	,	PUNCT
easat-6259	768	48	p.	p.	NOUN
easat-6259	768	49	100368	100368	NUM
easat-6259	768	50	,	,	PUNCT
easat-6259	768	51	2022	2022	NUM
easat-6259	768	52	.	.	PUNCT
easat-6259	769	1	[	[	X
easat-6259	769	2	34	34	NUM
easat-6259	769	3	]	]	X
easat-6259	769	4	s.	s.	PROPN
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easat-6259	769	6	,	,	PUNCT
easat-6259	769	7	p.	p.	PROPN
easat-6259	769	8	e.	e.	PROPN
easat-6259	769	9	pfeffer	pfeffer	PROPN
easat-6259	769	10	,	,	PUNCT
easat-6259	769	11	and	and	CCONJ
easat-6259	769	12	j.	j.	PROPN
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easat-6259	769	14	,	,	PUNCT
easat-6259	769	15	"	"	PUNCT
easat-6259	769	16	state	state	NOUN
easat-6259	769	17	of	of	ADP
easat-6259	769	18	the	the	DET
easat-6259	769	19	art	art	NOUN
easat-6259	769	20	:	:	PUNCT
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easat-6259	769	22	research	research	NOUN
easat-6259	769	23	in	in	ADP
easat-6259	769	24	assessment	assessment	NOUN
easat-6259	769	25	methods	method	NOUN
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easat-6259	769	27	lane	lane	NOUN
easat-6259	769	28	keeping	keep	VERB
easat-6259	769	29	assistance	assistance	NOUN
easat-6259	769	30	systems	system	NOUN
easat-6259	769	31	,	,	PUNCT
easat-6259	769	32	"	"	PUNCT
easat-6259	769	33	ieee	ieee	NOUN
easat-6259	769	34	transactions	transaction	NOUN
easat-6259	769	35	on	on	ADP
easat-6259	769	36	intelligent	intelligent	ADJ
easat-6259	769	37	vehicles	vehicle	NOUN
easat-6259	769	38	,	,	PUNCT
easat-6259	769	39	2023	2023	NUM
easat-6259	769	40	.	.	PUNCT
easat-6259	770	1	[	[	X
easat-6259	770	2	35	35	NUM
easat-6259	770	3	]	]	X
easat-6259	770	4	f.	f.	PROPN
easat-6259	770	5	e.	e.	PROPN
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easat-6259	770	7	,	,	PUNCT
easat-6259	770	8	a.	a.	NOUN
easat-6259	770	9	m.	m.	PROPN
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easat-6259	770	11	,	,	PUNCT
easat-6259	770	12	t.	t.	PROPN
easat-6259	770	13	f.	f.	PROPN
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easat-6259	770	15	,	,	PUNCT
easat-6259	770	16	j.	j.	PROPN
easat-6259	770	17	d.	d.	PROPN
easat-6259	770	18	s.	s.	PROPN
easat-6259	770	19	pinto	pinto	PROPN
easat-6259	770	20	,	,	PUNCT
easat-6259	770	21	i.	i.	PROPN
easat-6259	770	22	s.	s.	PROPN
easat-6259	770	23	rampasso	rampasso	PROPN
easat-6259	770	24	,	,	PUNCT
easat-6259	770	25	and	and	CCONJ
easat-6259	770	26	r.	r.	PROPN
easat-6259	770	27	anholon	anholon	PROPN
easat-6259	770	28	,	,	PUNCT
easat-6259	770	29	"	"	PUNCT
easat-6259	770	30	deep	deep	ADJ
easat-6259	770	31	learning	learning	NOUN
easat-6259	770	32	and	and	CCONJ
easat-6259	770	33	autonomous	autonomous	ADJ
easat-6259	770	34	vehicles	vehicle	NOUN
easat-6259	770	35	:	:	PUNCT
easat-6259	770	36	strategic	strategic	ADJ
easat-6259	770	37	themes	theme	NOUN
easat-6259	770	38	,	,	PUNCT
easat-6259	770	39	applications	application	NOUN
easat-6259	770	40	,	,	PUNCT
easat-6259	770	41	and	and	CCONJ
easat-6259	770	42	research	research	NOUN
easat-6259	770	43	agenda	agenda	NOUN
easat-6259	770	44	using	use	VERB
easat-6259	770	45	scimat	scimat	ADJ
easat-6259	770	46	and	and	CCONJ
easat-6259	770	47	content	content	ADJ
easat-6259	770	48	-	-	ADJ
easat-6259	770	49	centric	centric	ADJ
easat-6259	770	50	analysis	analysis	NOUN
easat-6259	770	51	,	,	PUNCT
easat-6259	770	52	a	a	DET
easat-6259	770	53	systematic	systematic	ADJ
easat-6259	770	54	review	review	NOUN
easat-6259	770	55	,	,	PUNCT
easat-6259	770	56	"	"	PUNCT
easat-6259	770	57	machine	machine	NOUN
easat-6259	770	58	learning	learning	NOUN
easat-6259	770	59	and	and	CCONJ
easat-6259	770	60	knowledge	knowledge	NOUN
easat-6259	770	61	extraction	extraction	NOUN
easat-6259	770	62	,	,	PUNCT
easat-6259	770	63	vol	vol	NOUN
easat-6259	770	64	.	.	PROPN
easat-6259	770	65	5	5	NUM
easat-6259	770	66	,	,	PUNCT
easat-6259	770	67	no	no	INTJ
easat-6259	770	68	.	.	NOUN
easat-6259	770	69	3	3	NUM
easat-6259	770	70	,	,	PUNCT
easat-6259	770	71	pp	pp	ADJ
easat-6259	770	72	.	.	PUNCT
easat-6259	771	1	763	763	NUM
easat-6259	771	2	-	-	SYM
easat-6259	771	3	781	781	NUM
easat-6259	771	4	,	,	PUNCT
easat-6259	771	5	2023	2023	NUM
easat-6259	771	6	.	.	PUNCT
easat-6259	772	1	[	[	X
easat-6259	772	2	36	36	NUM
easat-6259	772	3	]	]	X
easat-6259	772	4	n.	n.	PROPN
easat-6259	772	5	u.	u.	PROPN
easat-6259	772	6	a.	a.	PROPN
easat-6259	772	7	tahir	tahir	PROPN
easat-6259	772	8	,	,	PUNCT
easat-6259	772	9	z.	z.	PROPN
easat-6259	772	10	zhang	zhang	PROPN
easat-6259	772	11	,	,	PUNCT
easat-6259	772	12	m.	m.	PROPN
easat-6259	772	13	asim	asim	PROPN
easat-6259	772	14	,	,	PUNCT
easat-6259	772	15	j.	j.	PROPN
easat-6259	772	16	chen	chen	PROPN
easat-6259	772	17	,	,	PUNCT
easat-6259	772	18	and	and	CCONJ
easat-6259	772	19	m.	m.	NOUN
easat-6259	772	20	elaffendi	elaffendi	NOUN
easat-6259	772	21	,	,	PUNCT
easat-6259	772	22	"	"	PUNCT
easat-6259	772	23	object	object	NOUN
easat-6259	772	24	detection	detection	NOUN
easat-6259	772	25	in	in	ADP
easat-6259	772	26	autonomous	autonomous	ADJ
easat-6259	772	27	vehicles	vehicle	NOUN
easat-6259	772	28	under	under	ADP
easat-6259	772	29	adverse	adverse	ADJ
easat-6259	772	30	weather	weather	NOUN
easat-6259	772	31	:	:	PUNCT
easat-6259	772	32	a	a	DET
easat-6259	772	33	review	review	NOUN
easat-6259	772	34	of	of	ADP
easat-6259	772	35	traditional	traditional	ADJ
easat-6259	772	36	and	and	CCONJ
easat-6259	772	37	deep	deep	ADJ
easat-6259	772	38	learning	learning	NOUN
easat-6259	772	39	approaches	approach	NOUN
easat-6259	772	40	,	,	PUNCT
easat-6259	772	41	"	"	PUNCT
easat-6259	772	42	algorithms	algorithm	NOUN
easat-6259	772	43	,	,	PUNCT
easat-6259	772	44	vol	vol	NOUN
easat-6259	772	45	.	.	PROPN
easat-6259	772	46	17	17	NUM
easat-6259	772	47	,	,	PUNCT
easat-6259	772	48	no	no	INTJ
easat-6259	772	49	.	.	NOUN
easat-6259	772	50	3	3	NUM
easat-6259	772	51	,	,	PUNCT
easat-6259	772	52	p.	p.	NOUN
easat-6259	772	53	103	103	NUM
easat-6259	772	54	,	,	PUNCT
easat-6259	772	55	2024	2024	NUM
easat-6259	772	56	.	.	PUNCT
easat-6259	773	1	[	[	X
easat-6259	773	2	37	37	NUM
easat-6259	773	3	]	]	PUNCT
easat-6259	773	4	m.	m.	PROPN
easat-6259	773	5	r.	r.	PROPN
easat-6259	773	6	islam	islam	PROPN
easat-6259	773	7	,	,	PUNCT
easat-6259	773	8	t.	t.	PROPN
easat-6259	773	9	a.	a.	NOUN
easat-6259	773	10	siddique	siddique	PROPN
easat-6259	773	11	,	,	PUNCT
easat-6259	773	12	m.	m.	NOUN
easat-6259	773	13	i.	i.	PROPN
easat-6259	773	14	h.	h.	PROPN
easat-6259	773	15	sakib	sakib	PROPN
easat-6259	773	16	,	,	PUNCT
easat-6259	773	17	and	and	CCONJ
easat-6259	773	18	s.	s.	PROPN
easat-6259	773	19	hossain	hossain	PROPN
easat-6259	773	20	,	,	PUNCT
easat-6259	773	21	"	"	PUNCT
easat-6259	773	22	a	a	DET
easat-6259	773	23	convolutional	convolutional	ADJ
easat-6259	773	24	neural	neural	ADJ
easat-6259	773	25	network	network	NOUN
easat-6259	773	26	for	for	ADP
easat-6259	773	27	end	end	NOUN
easat-6259	773	28	to	to	PART
easat-6259	773	29	end	end	VERB
easat-6259	773	30	structural	structural	ADJ
easat-6259	773	31	prediction	prediction	NOUN
easat-6259	773	32	and	and	CCONJ
easat-6259	773	33	lane	lane	NOUN
easat-6259	773	34	detection	detection	NOUN
easat-6259	773	35	for	for	ADP
easat-6259	773	36	autonomous	autonomous	ADJ
easat-6259	773	37	vehicle	vehicle	NOUN
easat-6259	773	38	,	,	PUNCT
easat-6259	773	39	"	"	PUNCT
easat-6259	773	40	presented	present	VERB
easat-6259	773	41	at	at	ADP
easat-6259	773	42	the	the	DET
easat-6259	773	43	in	in	ADP
easat-6259	773	44	5th	5th	ADJ
easat-6259	773	45	international	international	ADJ
easat-6259	773	46	conference	conference	NOUN
easat-6259	773	47	on	on	ADP
easat-6259	773	48	electrical	electrical	ADJ
easat-6259	773	49	engineering	engineering	NOUN
easat-6259	773	50	and	and	CCONJ
easat-6259	773	51	information	information	NOUN
easat-6259	773	52	communication	communication	NOUN
easat-6259	773	53	technology	technology	NOUN
easat-6259	773	54	(	(	PUNCT
easat-6259	773	55	iceeict	iceeict	PROPN
easat-6259	773	56	)	)	PUNCT
easat-6259	773	57	(	(	PUNCT
easat-6259	773	58	pp	pp	X
easat-6259	773	59	.	.	PUNCT
easat-6259	774	1	1	1	NUM
easat-6259	774	2	-	-	SYM
easat-6259	774	3	6	6	NUM
easat-6259	774	4	)	)	PUNCT
easat-6259	774	5	,	,	PUNCT
easat-6259	774	6	2021	2021	NUM
easat-6259	774	7	.	.	PUNCT
easat-6259	775	1	[	[	X
easat-6259	775	2	38	38	NUM
easat-6259	775	3	]	]	PUNCT
easat-6259	775	4	s.	s.	PROPN
easat-6259	775	5	grigorescu	grigorescu	PROPN
easat-6259	775	6	,	,	PUNCT
easat-6259	775	7	b.	b.	PROPN
easat-6259	775	8	trasnea	trasnea	PROPN
easat-6259	775	9	,	,	PUNCT
easat-6259	775	10	t.	t.	PROPN
easat-6259	775	11	cocias	cocias	PROPN
easat-6259	775	12	,	,	PUNCT
easat-6259	775	13	and	and	CCONJ
easat-6259	775	14	g.	g.	PROPN
easat-6259	775	15	macesanu	macesanu	PROPN
easat-6259	775	16	,	,	PUNCT
easat-6259	775	17	"	"	PUNCT
easat-6259	775	18	a	a	DET
easat-6259	775	19	survey	survey	NOUN
easat-6259	775	20	of	of	ADP
easat-6259	775	21	deep	deep	ADJ
easat-6259	775	22	learning	learning	NOUN
easat-6259	775	23	techniques	technique	NOUN
easat-6259	775	24	for	for	ADP
easat-6259	775	25	autonomous	autonomous	ADJ
easat-6259	775	26	driving	driving	NOUN
easat-6259	775	27	,	,	PUNCT
easat-6259	775	28	"	"	PUNCT
easat-6259	775	29	journal	journal	NOUN
easat-6259	775	30	of	of	ADP
easat-6259	775	31	field	field	NOUN
easat-6259	775	32	robotics	robotic	NOUN
easat-6259	775	33	,	,	PUNCT
easat-6259	775	34	vol	vol	NOUN
easat-6259	775	35	.	.	PROPN
easat-6259	775	36	37	37	NUM
easat-6259	775	37	,	,	PUNCT
easat-6259	775	38	no	no	INTJ
easat-6259	775	39	.	.	NOUN
easat-6259	775	40	3	3	NUM
easat-6259	775	41	,	,	PUNCT
easat-6259	775	42	pp	pp	ADJ
easat-6259	775	43	.	.	PUNCT
easat-6259	775	44	362	362	NUM
easat-6259	775	45	-	-	SYM
easat-6259	775	46	386	386	NUM
easat-6259	775	47	,	,	PUNCT
easat-6259	775	48	2020	2020	NUM
easat-6259	775	49	.	.	PUNCT
easat-6259	776	1	https://doi.org/10.1002/rob.21918	https://doi.org/10.1002/rob.21918	VERB
easat-6259	776	2	[	[	X
easat-6259	776	3	39	39	NUM
easat-6259	776	4	]	]	PUNCT
easat-6259	776	5	y.	y.	PROPN
easat-6259	776	6	jeong	jeong	PROPN
easat-6259	776	7	,	,	PUNCT
easat-6259	776	8	"	"	PUNCT
easat-6259	776	9	interactive	interactive	ADJ
easat-6259	776	10	lane	lane	NOUN
easat-6259	776	11	keeping	keep	VERB
easat-6259	776	12	system	system	NOUN
easat-6259	776	13	for	for	ADP
easat-6259	776	14	autonomous	autonomous	ADJ
easat-6259	776	15	vehicles	vehicle	NOUN
easat-6259	776	16	using	use	VERB
easat-6259	776	17	lstm	lstm	NOUN
easat-6259	776	18	-	-	PUNCT
easat-6259	776	19	rnn	rnn	NOUN
easat-6259	776	20	considering	consider	VERB
easat-6259	776	21	driving	drive	VERB
easat-6259	776	22	environments	environment	NOUN
easat-6259	776	23	,	,	PUNCT
easat-6259	776	24	"	"	PUNCT
easat-6259	776	25	sensors	sensor	NOUN
easat-6259	776	26	,	,	PUNCT
easat-6259	776	27	vol	vol	NOUN
easat-6259	776	28	.	.	PROPN
easat-6259	777	1	22	22	NUM
easat-6259	777	2	,	,	PUNCT
easat-6259	777	3	no	no	INTJ
easat-6259	777	4	.	.	NOUN
easat-6259	777	5	24	24	NUM
easat-6259	777	6	,	,	PUNCT
easat-6259	777	7	p.	p.	NOUN
easat-6259	777	8	9889	9889	NUM
easat-6259	777	9	,	,	PUNCT
easat-6259	777	10	2022	2022	NUM
easat-6259	777	11	.	.	PUNCT
easat-6259	778	1	https://doi.org/10.3390/s22249889	https://doi.org/10.3390/s22249889	VERB
easat-6259	779	1	[	[	X
easat-6259	779	2	40	40	NUM
easat-6259	779	3	]	]	PUNCT
easat-6259	779	4	w.	w.	PROPN
easat-6259	779	5	cao	cao	PROPN
easat-6259	779	6	,	,	PUNCT
easat-6259	779	7	c.	c.	PROPN
easat-6259	779	8	liu	liu	PROPN
easat-6259	779	9	,	,	PUNCT
easat-6259	779	10	z.	z.	PROPN
easat-6259	779	11	liu	liu	PROPN
easat-6259	779	12	,	,	PUNCT
easat-6259	779	13	and	and	CCONJ
easat-6259	779	14	z.	z.	PROPN
easat-6259	779	15	wei	wei	PROPN
easat-6259	779	16	,	,	PUNCT
easat-6259	779	17	"	"	PUNCT
easat-6259	779	18	integrated	integrate	VERB
easat-6259	779	19	lka	lka	NOUN
easat-6259	779	20	and	and	CCONJ
easat-6259	779	21	dyc	dyc	VERB
easat-6259	779	22	control	control	NOUN
easat-6259	779	23	of	of	ADP
easat-6259	779	24	four	four	NUM
easat-6259	779	25	-	-	PUNCT
easat-6259	779	26	wheel	wheel	NOUN
easat-6259	779	27	-	-	PUNCT
easat-6259	779	28	independent	independent	ADJ
easat-6259	779	29	-	-	PUNCT
easat-6259	779	30	drive	drive	ADJ
easat-6259	779	31	electric	electric	ADJ
easat-6259	779	32	vehicles	vehicle	NOUN
easat-6259	779	33	with	with	ADP
easat-6259	779	34	a	a	DET
easat-6259	779	35	central	central	ADJ
easat-6259	779	36	-	-	PUNCT
easat-6259	779	37	zonal	zonal	ADJ
easat-6259	779	38	electronic	electronic	ADJ
easat-6259	779	39	and	and	CCONJ
easat-6259	779	40	electrical	electrical	ADJ
easat-6259	779	41	architecture	architecture	NOUN
easat-6259	779	42	,	,	PUNCT
easat-6259	779	43	"	"	PUNCT
easat-6259	779	44	ieee	ieee	NOUN
easat-6259	779	45	transactions	transaction	NOUN
easat-6259	779	46	on	on	ADP
easat-6259	779	47	vehicular	vehicular	ADJ
easat-6259	779	48	technology	technology	NOUN
easat-6259	779	49	,	,	PUNCT
easat-6259	779	50	2024	2024	NUM
easat-6259	779	51	.	.	PUNCT
easat-6259	780	1	https://doi.org/10.3390/en12122342	https://doi.org/10.3390/en12122342	DET
easat-6259	780	2	https://doi.org/10.1002/rob.21918	https://doi.org/10.1002/rob.21918	PROPN
easat-6259	780	3	https://doi.org/10.3390/s22249889	https://doi.org/10.3390/s22249889	PROPN
easat-6259	780	4	1330	1330	NUM
easat-6259	780	5	edelweiss	edelweiss	PROPN
easat-6259	780	6	applied	apply	VERB
easat-6259	780	7	science	science	NOUN
easat-6259	780	8	and	and	CCONJ
easat-6259	780	9	technology	technology	NOUN
easat-6259	780	10	issn	issn	PROPN
easat-6259	780	11	:	:	PUNCT
easat-6259	780	12	2576	2576	NUM
easat-6259	780	13	-	-	SYM
easat-6259	780	14	8484	8484	NUM
easat-6259	780	15	vol	vol	NOUN
easat-6259	780	16	.	.	PROPN
easat-6259	781	1	9	9	NUM
easat-6259	781	2	,	,	PUNCT
easat-6259	781	3	no	no	INTJ
easat-6259	781	4	.	.	NOUN
easat-6259	782	1	4	4	NUM
easat-6259	782	2	:	:	SYM
easat-6259	782	3	1300	1300	NUM
easat-6259	782	4	-	-	SYM
easat-6259	782	5	1331	1331	NUM
easat-6259	782	6	,	,	PUNCT
easat-6259	782	7	2025	2025	NUM
easat-6259	782	8	doi	doi	NOUN
easat-6259	782	9	:	:	PUNCT
easat-6259	782	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	782	11	©	©	PROPN
easat-6259	782	12	2025	2025	NUM
easat-6259	782	13	by	by	ADP
easat-6259	782	14	the	the	DET
easat-6259	782	15	authors	author	NOUN
easat-6259	782	16	;	;	PUNCT
easat-6259	782	17	licensee	licensee	PROPN
easat-6259	782	18	learning	learn	VERB
easat-6259	782	19	gate	gate	NOUN
easat-6259	782	20	appendices	appendix	NOUN
easat-6259	782	21	appendix	appendix	VERB
easat-6259	782	22	a	a	DET
easat-6259	782	23	figure	figure	NOUN
easat-6259	782	24	a1	a1	NOUN
easat-6259	782	25	.	.	PUNCT
easat-6259	782	26	bird	bird	PROPN
easat-6259	782	27	’s	’s	PART
easat-6259	782	28	eye	eye	NOUN
easat-6259	782	29	view	view	NOUN
easat-6259	782	30	code	code	NOUN
easat-6259	782	31	.	.	PUNCT
easat-6259	783	1	1331	1331	NUM
easat-6259	783	2	edelweiss	edelweiss	PROPN
easat-6259	783	3	applied	apply	VERB
easat-6259	783	4	science	science	NOUN
easat-6259	783	5	and	and	CCONJ
easat-6259	783	6	technology	technology	NOUN
easat-6259	783	7	issn	issn	PROPN
easat-6259	783	8	:	:	PUNCT
easat-6259	783	9	2576	2576	NUM
easat-6259	783	10	-	-	SYM
easat-6259	783	11	8484	8484	NUM
easat-6259	783	12	vol	vol	NOUN
easat-6259	783	13	.	.	PROPN
easat-6259	784	1	9	9	NUM
easat-6259	784	2	,	,	PUNCT
easat-6259	784	3	no	no	INTJ
easat-6259	784	4	.	.	NOUN
easat-6259	785	1	4	4	NUM
easat-6259	785	2	:	:	SYM
easat-6259	785	3	1300	1300	NUM
easat-6259	785	4	-	-	SYM
easat-6259	785	5	1331	1331	NUM
easat-6259	785	6	,	,	PUNCT
easat-6259	785	7	2025	2025	NUM
easat-6259	785	8	doi	doi	NOUN
easat-6259	785	9	:	:	PUNCT
easat-6259	785	10	10.55214/25768484.v9i4.6259	10.55214/25768484.v9i4.6259	NUM
easat-6259	785	11	©	©	PROPN
easat-6259	785	12	2025	2025	NUM
easat-6259	785	13	by	by	ADP
easat-6259	785	14	the	the	DET
easat-6259	785	15	authors	author	NOUN
easat-6259	785	16	;	;	PUNCT
easat-6259	785	17	licensee	licensee	PROPN
easat-6259	785	18	learning	learn	VERB
easat-6259	785	19	gate	gate	PROPN
easat-6259	785	20	figure	figure	NOUN
easat-6259	785	21	a2	a2	PROPN
easat-6259	785	22	.	.	PUNCT
easat-6259	785	23	code	code	PROPN
easat-6259	785	24	for	for	ADP
easat-6259	785	25	filters	filter	NOUN
easat-6259	785	26	using	use	VERB
easat-6259	785	27	in	in	ADP
easat-6259	785	28	ads	ad	NOUN
easat-6259	785	29	.	.	PUNCT