id	sid	tid	token	lemma	pos
fumecheng-13629	1	1	13629	13629	NUM
fumecheng-13629	1	2	facta	facta	PROPN
fumecheng-13629	1	3	universitatis	universitatis	PROPN
fumecheng-13629	1	4	series	series	NOUN
fumecheng-13629	1	5	:	:	PUNCT
fumecheng-13629	1	6	mechanical	mechanical	ADJ
fumecheng-13629	1	7	engineering	engineering	NOUN
fumecheng-13629	1	8	https://doi.org/10.22190	https://doi.org/10.22190	ADJ
fumecheng-13629	1	9	fume250508031x	fume250508031x	NOUN
fumecheng-13629	1	10	©	©	PROPN
fumecheng-13629	1	11	2025	2025	NUM
fumecheng-13629	1	12	by	by	ADP
fumecheng-13629	1	13	university	university	PROPN
fumecheng-13629	1	14	of	of	ADP
fumecheng-13629	1	15	niš	niš	PROPN
fumecheng-13629	1	16	,	,	PUNCT
fumecheng-13629	1	17	serbia	serbia	PROPN
fumecheng-13629	1	18	|	|	ADV
fumecheng-13629	1	19	creative	creative	ADJ
fumecheng-13629	1	20	commons	common	NOUN
fumecheng-13629	1	21	license	license	NOUN
fumecheng-13629	1	22	:	:	PUNCT
fumecheng-13629	1	23	cc	cc	VERB
fumecheng-13629	1	24	by	by	ADP
fumecheng-13629	1	25	-	-	PUNCT
fumecheng-13629	1	26	nc	nc	VERB
fumecheng-13629	1	27	-	-	PUNCT
fumecheng-13629	1	28	nd	nd	ADV
fumecheng-13629	1	29	original	original	ADJ
fumecheng-13629	1	30	scientific	scientific	ADJ
fumecheng-13629	1	31	paper	paper	NUM
fumecheng-13629	1	32	scenario	scenario	NOUN
fumecheng-13629	1	33	-	-	PUNCT
fumecheng-13629	1	34	level	level	NOUN
fumecheng-13629	1	35	hierarchical	hierarchical	ADJ
fumecheng-13629	1	36	energy	energy	NOUN
fumecheng-13629	1	37	management	management	NOUN
fumecheng-13629	1	38	control	control	NOUN
fumecheng-13629	1	39	strategy	strategy	NOUN
fumecheng-13629	1	40	for	for	ADP
fumecheng-13629	1	41	hybrid	hybrid	ADJ
fumecheng-13629	1	42	electric	electric	ADJ
fumecheng-13629	1	43	vehicle	vehicle	NOUN
fumecheng-13629	1	44	feng	feng	PROPN
fumecheng-13629	1	45	xiao1	xiao1	PROPN
fumecheng-13629	1	46	,	,	PUNCT
fumecheng-13629	1	47	ruiqiang	ruiqiang	PROPN
fumecheng-13629	1	48	zhang1	zhang1	PROPN
fumecheng-13629	1	49	,	,	PUNCT
fumecheng-13629	1	50	chunyang	chunyang	PROPN
fumecheng-13629	1	51	qi1,2	qi1,2	NOUN
fumecheng-13629	2	1	1college	1college	NUM
fumecheng-13629	2	2	of	of	ADP
fumecheng-13629	2	3	automotive	automotive	ADJ
fumecheng-13629	2	4	engineering	engineering	NOUN
fumecheng-13629	2	5	,	,	PUNCT
fumecheng-13629	2	6	jilin	jilin	PROPN
fumecheng-13629	2	7	university	university	PROPN
fumecheng-13629	2	8	,	,	PUNCT
fumecheng-13629	2	9	china	china	PROPN
fumecheng-13629	2	10	2state	2state	NUM
fumecheng-13629	2	11	key	key	ADJ
fumecheng-13629	2	12	laboratory	laboratory	NOUN
fumecheng-13629	2	13	of	of	ADP
fumecheng-13629	2	14	advanced	advanced	ADJ
fumecheng-13629	2	15	design	design	NOUN
fumecheng-13629	2	16	and	and	CCONJ
fumecheng-13629	2	17	manufacturing	manufacturing	NOUN
fumecheng-13629	2	18	technology	technology	NOUN
fumecheng-13629	2	19	for	for	ADP
fumecheng-13629	2	20	vehicle	vehicle	NOUN
fumecheng-13629	2	21	,	,	PUNCT
fumecheng-13629	2	22	hunan	hunan	PROPN
fumecheng-13629	2	23	university	university	PROPN
fumecheng-13629	2	24	,	,	PUNCT
fumecheng-13629	2	25	china	china	PROPN
fumecheng-13629	2	26	abstract	abstract	NOUN
fumecheng-13629	2	27	.	.	PUNCT
fumecheng-13629	3	1	to	to	PART
fumecheng-13629	3	2	address	address	VERB
fumecheng-13629	3	3	the	the	DET
fumecheng-13629	3	4	challenge	challenge	NOUN
fumecheng-13629	3	5	that	that	PRON
fumecheng-13629	3	6	single	single	ADJ
fumecheng-13629	3	7	-	-	PUNCT
fumecheng-13629	3	8	scenario	scenario	NOUN
fumecheng-13629	3	9	solutions	solution	NOUN
fumecheng-13629	3	10	often	often	ADV
fumecheng-13629	3	11	fail	fail	VERB
fumecheng-13629	3	12	to	to	PART
fumecheng-13629	3	13	adequately	adequately	ADV
fumecheng-13629	3	14	handle	handle	VERB
fumecheng-13629	3	15	the	the	DET
fumecheng-13629	3	16	complex	complex	ADJ
fumecheng-13629	3	17	and	and	CCONJ
fumecheng-13629	3	18	dynamic	dynamic	ADJ
fumecheng-13629	3	19	mixed	mixed	ADJ
fumecheng-13629	3	20	environments	environment	NOUN
fumecheng-13629	3	21	that	that	PRON
fumecheng-13629	3	22	drivers	driver	NOUN
fumecheng-13629	3	23	regularly	regularly	ADV
fumecheng-13629	3	24	navigate	navigate	VERB
fumecheng-13629	3	25	,	,	PUNCT
fumecheng-13629	3	26	this	this	DET
fumecheng-13629	3	27	study	study	NOUN
fumecheng-13629	3	28	aims	aim	VERB
fumecheng-13629	3	29	to	to	PART
fumecheng-13629	3	30	leverage	leverage	VERB
fumecheng-13629	3	31	learning	learning	NOUN
fumecheng-13629	3	32	-	-	PUNCT
fumecheng-13629	3	33	based	base	VERB
fumecheng-13629	3	34	algorithms	algorithm	NOUN
fumecheng-13629	3	35	to	to	PART
fumecheng-13629	3	36	design	design	VERB
fumecheng-13629	3	37	energy	energy	NOUN
fumecheng-13629	3	38	management	management	NOUN
fumecheng-13629	3	39	control	control	NOUN
fumecheng-13629	3	40	strategies	strategy	NOUN
fumecheng-13629	3	41	tailored	tailor	VERB
fumecheng-13629	3	42	to	to	ADP
fumecheng-13629	3	43	the	the	DET
fumecheng-13629	3	44	unique	unique	ADJ
fumecheng-13629	3	45	characteristics	characteristic	NOUN
fumecheng-13629	3	46	of	of	ADP
fumecheng-13629	3	47	different	different	ADJ
fumecheng-13629	3	48	driving	driving	NOUN
fumecheng-13629	3	49	scenarios	scenario	NOUN
fumecheng-13629	3	50	.	.	PUNCT
fumecheng-13629	4	1	the	the	DET
fumecheng-13629	4	2	goal	goal	NOUN
fumecheng-13629	4	3	is	be	AUX
fumecheng-13629	4	4	to	to	PART
fumecheng-13629	4	5	achieve	achieve	VERB
fumecheng-13629	4	6	precise	precise	ADJ
fumecheng-13629	4	7	matching	matching	NOUN
fumecheng-13629	4	8	and	and	CCONJ
fumecheng-13629	4	9	efficient	efficient	ADJ
fumecheng-13629	4	10	execution	execution	NOUN
fumecheng-13629	4	11	of	of	ADP
fumecheng-13629	4	12	the	the	DET
fumecheng-13629	4	13	driving	drive	VERB
fumecheng-13629	4	14	strategies	strategy	NOUN
fumecheng-13629	4	15	.	.	PUNCT
fumecheng-13629	5	1	the	the	DET
fumecheng-13629	5	2	main	main	ADJ
fumecheng-13629	5	3	research	research	NOUN
fumecheng-13629	5	4	focus	focus	NOUN
fumecheng-13629	5	5	of	of	ADP
fumecheng-13629	5	6	this	this	DET
fumecheng-13629	5	7	study	study	NOUN
fumecheng-13629	5	8	is	be	AUX
fumecheng-13629	5	9	developing	develop	VERB
fumecheng-13629	5	10	a	a	DET
fumecheng-13629	5	11	scene	scene	NOUN
fumecheng-13629	5	12	-	-	PUNCT
fumecheng-13629	5	13	level	level	NOUN
fumecheng-13629	5	14	hierarchical	hierarchical	ADJ
fumecheng-13629	5	15	energy	energy	NOUN
fumecheng-13629	5	16	management	management	NOUN
fumecheng-13629	5	17	control	control	NOUN
fumecheng-13629	5	18	strategy	strategy	NOUN
fumecheng-13629	5	19	(	(	PUNCT
fumecheng-13629	5	20	shems	shem	NOUN
fumecheng-13629	5	21	)	)	PUNCT
fumecheng-13629	5	22	framework	framework	NOUN
fumecheng-13629	5	23	for	for	ADP
fumecheng-13629	5	24	hybrid	hybrid	ADJ
fumecheng-13629	5	25	electric	electric	ADJ
fumecheng-13629	5	26	vehicles	vehicle	NOUN
fumecheng-13629	5	27	in	in	ADP
fumecheng-13629	5	28	mixed	mixed	ADJ
fumecheng-13629	5	29	driving	driving	NOUN
fumecheng-13629	5	30	environments	environment	NOUN
fumecheng-13629	5	31	.	.	PUNCT
fumecheng-13629	6	1	in	in	ADP
fumecheng-13629	6	2	the	the	DET
fumecheng-13629	6	3	car	car	NOUN
fumecheng-13629	6	4	-	-	PUNCT
fumecheng-13629	6	5	following	follow	VERB
fumecheng-13629	6	6	scenario	scenario	NOUN
fumecheng-13629	6	7	,	,	PUNCT
fumecheng-13629	6	8	to	to	PART
fumecheng-13629	6	9	address	address	VERB
fumecheng-13629	6	10	the	the	DET
fumecheng-13629	6	11	challenges	challenge	NOUN
fumecheng-13629	6	12	of	of	ADP
fumecheng-13629	6	13	reward	reward	NOUN
fumecheng-13629	6	14	function	function	NOUN
fumecheng-13629	6	15	design	design	NOUN
fumecheng-13629	6	16	and	and	CCONJ
fumecheng-13629	6	17	the	the	DET
fumecheng-13629	6	18	impact	impact	NOUN
fumecheng-13629	6	19	of	of	ADP
fumecheng-13629	6	20	environment	environment	NOUN
fumecheng-13629	6	21	and	and	CCONJ
fumecheng-13629	6	22	driver	driver	NOUN
fumecheng-13629	6	23	habits	habit	NOUN
fumecheng-13629	6	24	,	,	PUNCT
fumecheng-13629	6	25	an	an	DET
fumecheng-13629	6	26	adaptive	adaptive	ADJ
fumecheng-13629	6	27	strategy	strategy	NOUN
fumecheng-13629	6	28	learning	learn	VERB
fumecheng-13629	6	29	strategy	strategy	NOUN
fumecheng-13629	6	30	with	with	ADP
fumecheng-13629	6	31	imitation	imitation	NOUN
fumecheng-13629	6	32	learning	learning	NOUN
fumecheng-13629	6	33	is	be	AUX
fumecheng-13629	6	34	proposed	propose	VERB
fumecheng-13629	6	35	.	.	PUNCT
fumecheng-13629	7	1	to	to	PART
fumecheng-13629	7	2	overcome	overcome	VERB
fumecheng-13629	7	3	issues	issue	NOUN
fumecheng-13629	7	4	of	of	ADP
fumecheng-13629	7	5	suboptimal	suboptimal	ADJ
fumecheng-13629	7	6	expert	expert	ADJ
fumecheng-13629	7	7	knowledge	knowledge	NOUN
fumecheng-13629	7	8	and	and	CCONJ
fumecheng-13629	7	9	the	the	DET
fumecheng-13629	7	10	curse	curse	NOUN
fumecheng-13629	7	11	of	of	ADP
fumecheng-13629	7	12	dimensionality	dimensionality	NOUN
fumecheng-13629	7	13	,	,	PUNCT
fumecheng-13629	7	14	optimization	optimization	NOUN
fumecheng-13629	7	15	factors	factor	NOUN
fumecheng-13629	7	16	are	be	AUX
fumecheng-13629	7	17	added	add	VERB
fumecheng-13629	7	18	.	.	PUNCT
fumecheng-13629	8	1	for	for	ADP
fumecheng-13629	8	2	the	the	DET
fumecheng-13629	8	3	intersection	intersection	NOUN
fumecheng-13629	8	4	scenario	scenario	NOUN
fumecheng-13629	8	5	,	,	PUNCT
fumecheng-13629	8	6	aiming	aim	VERB
fumecheng-13629	8	7	at	at	ADP
fumecheng-13629	8	8	the	the	DET
fumecheng-13629	8	9	challenge	challenge	NOUN
fumecheng-13629	8	10	of	of	ADP
fumecheng-13629	8	11	reward	reward	NOUN
fumecheng-13629	8	12	sparsity	sparsity	NOUN
fumecheng-13629	8	13	caused	cause	VERB
fumecheng-13629	8	14	by	by	ADP
fumecheng-13629	8	15	the	the	DET
fumecheng-13629	8	16	scarcity	scarcity	NOUN
fumecheng-13629	8	17	of	of	ADP
fumecheng-13629	8	18	traffic	traffic	NOUN
fumecheng-13629	8	19	signals	signal	NOUN
fumecheng-13629	8	20	and	and	CCONJ
fumecheng-13629	8	21	safety	safety	NOUN
fumecheng-13629	8	22	incentives	incentive	NOUN
fumecheng-13629	8	23	,	,	PUNCT
fumecheng-13629	8	24	an	an	DET
fumecheng-13629	8	25	additional	additional	ADJ
fumecheng-13629	8	26	reward	reward	NOUN
fumecheng-13629	8	27	mechanism	mechanism	NOUN
fumecheng-13629	8	28	is	be	AUX
fumecheng-13629	8	29	innovatively	innovatively	ADV
fumecheng-13629	8	30	proposed	propose	VERB
fumecheng-13629	8	31	to	to	PART
fumecheng-13629	8	32	enrich	enrich	VERB
fumecheng-13629	8	33	the	the	DET
fumecheng-13629	8	34	reward	reward	NOUN
fumecheng-13629	8	35	function	function	NOUN
fumecheng-13629	8	36	.	.	PUNCT
fumecheng-13629	9	1	the	the	DET
fumecheng-13629	9	2	experimental	experimental	ADJ
fumecheng-13629	9	3	results	result	NOUN
fumecheng-13629	9	4	demonstrate	demonstrate	VERB
fumecheng-13629	9	5	that	that	SCONJ
fumecheng-13629	9	6	the	the	DET
fumecheng-13629	9	7	shems	shem	NOUN
fumecheng-13629	9	8	significantly	significantly	ADV
fumecheng-13629	9	9	reduces	reduce	VERB
fumecheng-13629	9	10	fuel	fuel	NOUN
fumecheng-13629	9	11	consumption	consumption	NOUN
fumecheng-13629	9	12	.	.	PUNCT
fumecheng-13629	10	1	specifically	specifically	ADV
fumecheng-13629	10	2	,	,	PUNCT
fumecheng-13629	10	3	the	the	DET
fumecheng-13629	10	4	ppo	ppo	PROPN
fumecheng-13629	10	5	,	,	PUNCT
fumecheng-13629	10	6	a2c	a2c	PROPN
fumecheng-13629	10	7	,	,	PUNCT
fumecheng-13629	10	8	a3c	a3c	NUM
fumecheng-13629	10	9	,	,	PUNCT
fumecheng-13629	10	10	and	and	CCONJ
fumecheng-13629	10	11	dqn	dqn	ADV
fumecheng-13629	10	12	-	-	PUNCT
fumecheng-13629	10	13	based	base	VERB
fumecheng-13629	10	14	strategies	strategy	NOUN
fumecheng-13629	10	15	achieved	achieve	VERB
fumecheng-13629	10	16	7.52	7.52	NUM
fumecheng-13629	10	17	%	%	NOUN
fumecheng-13629	10	18	,	,	PUNCT
fumecheng-13629	10	19	5.29	5.29	NUM
fumecheng-13629	10	20	%	%	NOUN
fumecheng-13629	10	21	,	,	PUNCT
fumecheng-13629	10	22	9.6	9.6	NUM
fumecheng-13629	10	23	%	%	NOUN
fumecheng-13629	10	24	,	,	PUNCT
fumecheng-13629	10	25	and	and	CCONJ
fumecheng-13629	10	26	5.93	5.93	NUM
fumecheng-13629	10	27	%	%	NOUN
fumecheng-13629	10	28	reductions	reduction	NOUN
fumecheng-13629	10	29	,	,	PUNCT
fumecheng-13629	10	30	respectively	respectively	ADV
fumecheng-13629	10	31	.	.	PUNCT
fumecheng-13629	11	1	taking	take	VERB
fumecheng-13629	11	2	the	the	DET
fumecheng-13629	11	3	dqn	dqn	ADJ
fumecheng-13629	11	4	algorithm	algorithm	NOUN
fumecheng-13629	11	5	as	as	ADP
fumecheng-13629	11	6	an	an	DET
fumecheng-13629	11	7	example	example	NOUN
fumecheng-13629	11	8	,	,	PUNCT
fumecheng-13629	11	9	the	the	DET
fumecheng-13629	11	10	emissions	emission	NOUN
fumecheng-13629	11	11	of	of	ADP
fumecheng-13629	11	12	harmful	harmful	ADJ
fumecheng-13629	11	13	gases	gas	NOUN
fumecheng-13629	11	14	co	co	NOUN
fumecheng-13629	11	15	,	,	PUNCT
fumecheng-13629	11	16	hc	hc	PROPN
fumecheng-13629	11	17	,	,	PUNCT
fumecheng-13629	11	18	pm	pm	NOUN
fumecheng-13629	11	19	and	and	CCONJ
fumecheng-13629	11	20	nox	nox	NOUN
fumecheng-13629	11	21	are	be	AUX
fumecheng-13629	11	22	reduced	reduce	VERB
fumecheng-13629	11	23	by	by	ADP
fumecheng-13629	11	24	18.3	18.3	NUM
fumecheng-13629	11	25	%	%	NOUN
fumecheng-13629	11	26	,	,	PUNCT
fumecheng-13629	11	27	14.23	14.23	NUM
fumecheng-13629	11	28	%	%	NOUN
fumecheng-13629	11	29	,	,	PUNCT
fumecheng-13629	11	30	16.94	16.94	NUM
fumecheng-13629	11	31	%	%	NOUN
fumecheng-13629	11	32	,	,	PUNCT
fumecheng-13629	11	33	and	and	CCONJ
fumecheng-13629	11	34	20.9	20.9	NUM
fumecheng-13629	11	35	%	%	NOUN
fumecheng-13629	11	36	,	,	PUNCT
fumecheng-13629	11	37	respectively	respectively	ADV
fumecheng-13629	11	38	,	,	PUNCT
fumecheng-13629	11	39	after	after	ADP
fumecheng-13629	11	40	layering	layering	NOUN
fumecheng-13629	11	41	.	.	PUNCT
fumecheng-13629	12	1	key	key	ADJ
fumecheng-13629	12	2	words	word	NOUN
fumecheng-13629	12	3	:	:	PUNCT
fumecheng-13629	12	4	hybrid	hybrid	ADJ
fumecheng-13629	12	5	electric	electric	ADJ
fumecheng-13629	12	6	vehicle	vehicle	NOUN
fumecheng-13629	12	7	,	,	PUNCT
fumecheng-13629	12	8	mixed	mixed	ADJ
fumecheng-13629	12	9	scenarios	scenario	NOUN
fumecheng-13629	12	10	,	,	PUNCT
fumecheng-13629	12	11	intersection	intersection	NOUN
fumecheng-13629	12	12	scenarios	scenario	NOUN
fumecheng-13629	12	13	,	,	PUNCT
fumecheng-13629	12	14	reinforcement	reinforcement	NOUN
fumecheng-13629	12	15	learning	learning	NOUN
fumecheng-13629	12	16	received	receive	VERB
fumecheng-13629	12	17	:	:	PUNCT
fumecheng-13629	12	18	may	may	AUX
fumecheng-13629	12	19	08	08	NUM
fumecheng-13629	12	20	,	,	PUNCT
fumecheng-13629	12	21	2025	2025	NUM
fumecheng-13629	12	22	/	/	SYM
fumecheng-13629	12	23	accepted	accept	VERB
fumecheng-13629	12	24	september	september	PROPN
fumecheng-13629	12	25	29	29	NUM
fumecheng-13629	12	26	,	,	PUNCT
fumecheng-13629	12	27	2025	2025	NUM
fumecheng-13629	12	28	corresponding	correspond	VERB
fumecheng-13629	12	29	author	author	NOUN
fumecheng-13629	12	30	:	:	PUNCT
fumecheng-13629	12	31	chunyang	chunyang	PROPN
fumecheng-13629	12	32	qi	qi	PROPN
fumecheng-13629	12	33	national	national	PROPN
fumecheng-13629	12	34	key	key	ADJ
fumecheng-13629	12	35	laboratory	laboratory	NOUN
fumecheng-13629	12	36	of	of	ADP
fumecheng-13629	12	37	automotive	automotive	ADJ
fumecheng-13629	12	38	chassis	chassis	NOUN
fumecheng-13629	12	39	integration	integration	NOUN
fumecheng-13629	12	40	and	and	CCONJ
fumecheng-13629	12	41	bionics	bionic	NOUN
fumecheng-13629	12	42	,	,	PUNCT
fumecheng-13629	12	43	jilin	jilin	PROPN
fumecheng-13629	12	44	university	university	PROPN
fumecheng-13629	12	45	,	,	PUNCT
fumecheng-13629	12	46	changchun	changchun	PROPN
fumecheng-13629	12	47	130025	130025	NUM
fumecheng-13629	12	48	,	,	PUNCT
fumecheng-13629	12	49	china	china	PROPN
fumecheng-13629	12	50	e	e	PROPN
fumecheng-13629	12	51	-	-	NOUN
fumecheng-13629	12	52	mail	mail	NOUN
fumecheng-13629	12	53	:	:	PUNCT
fumecheng-13629	12	54	qichunyang@jlu.edu.cn	qichunyang@jlu.edu.cn	PROPN
fumecheng-13629	12	55	2	2	PROPN
fumecheng-13629	12	56	f.	f.	PROPN
fumecheng-13629	12	57	xiao	xiao	PROPN
fumecheng-13629	12	58	,	,	PUNCT
fumecheng-13629	12	59	r.	r.	PROPN
fumecheng-13629	12	60	zhang	zhang	PROPN
fumecheng-13629	12	61	,	,	PUNCT
fumecheng-13629	12	62	c.	c.	PROPN
fumecheng-13629	12	63	qi	qi	PROPN
fumecheng-13629	12	64	1	1	NUM
fumecheng-13629	12	65	.	.	PUNCT
fumecheng-13629	12	66	introduction	introduction	NOUN
fumecheng-13629	12	67	among	among	ADP
fumecheng-13629	12	68	various	various	ADJ
fumecheng-13629	12	69	factors	factor	NOUN
fumecheng-13629	12	70	influencing	influence	VERB
fumecheng-13629	12	71	vehicle	vehicle	NOUN
fumecheng-13629	12	72	energy	energy	NOUN
fumecheng-13629	12	73	consumption	consumption	NOUN
fumecheng-13629	12	74	,	,	PUNCT
fumecheng-13629	12	75	the	the	DET
fumecheng-13629	12	76	driving	drive	VERB
fumecheng-13629	12	77	behavior	behavior	NOUN
fumecheng-13629	12	78	patterns	pattern	NOUN
fumecheng-13629	12	79	of	of	ADP
fumecheng-13629	12	80	drivers	driver	NOUN
fumecheng-13629	12	81	have	have	AUX
fumecheng-13629	12	82	been	be	AUX
fumecheng-13629	12	83	widely	widely	ADV
fumecheng-13629	12	84	recognized	recognize	VERB
fumecheng-13629	12	85	to	to	PART
fumecheng-13629	12	86	have	have	VERB
fumecheng-13629	12	87	a	a	DET
fumecheng-13629	12	88	significant	significant	ADJ
fumecheng-13629	12	89	impact	impact	NOUN
fumecheng-13629	12	90	of	of	ADP
fumecheng-13629	12	91	up	up	ADP
fumecheng-13629	12	92	to	to	PART
fumecheng-13629	12	93	30	30	NUM
fumecheng-13629	12	94	%	%	NOUN
fumecheng-13629	12	95	on	on	ADP
fumecheng-13629	12	96	the	the	DET
fumecheng-13629	12	97	fuel	fuel	NOUN
fumecheng-13629	12	98	economy	economy	NOUN
fumecheng-13629	12	99	of	of	ADP
fumecheng-13629	12	100	vehicles	vehicle	NOUN
fumecheng-13629	12	101	[	[	X
fumecheng-13629	12	102	1	1	NUM
fumecheng-13629	12	103	-	-	SYM
fumecheng-13629	12	104	3	3	NUM
fumecheng-13629	12	105	]	]	PUNCT
fumecheng-13629	12	106	.	.	PUNCT
fumecheng-13629	13	1	further	further	ADJ
fumecheng-13629	13	2	in	in	ADP
fumecheng-13629	13	3	-	-	PUNCT
fumecheng-13629	13	4	depth	depth	NOUN
fumecheng-13629	13	5	research	research	NOUN
fumecheng-13629	13	6	by	by	ADP
fumecheng-13629	13	7	the	the	DET
fumecheng-13629	13	8	national	national	ADJ
fumecheng-13629	13	9	renewable	renewable	ADJ
fumecheng-13629	13	10	energy	energy	NOUN
fumecheng-13629	13	11	laboratory	laboratory	NOUN
fumecheng-13629	13	12	in	in	ADP
fumecheng-13629	13	13	the	the	DET
fumecheng-13629	13	14	united	united	PROPN
fumecheng-13629	13	15	states	states	PROPN
fumecheng-13629	13	16	has	have	AUX
fumecheng-13629	13	17	further	far	ADV
fumecheng-13629	13	18	consolidated	consolidate	VERB
fumecheng-13629	13	19	this	this	DET
fumecheng-13629	13	20	finding	finding	NOUN
fumecheng-13629	13	21	,	,	PUNCT
fumecheng-13629	13	22	revealing	reveal	VERB
fumecheng-13629	13	23	that	that	SCONJ
fumecheng-13629	13	24	the	the	DET
fumecheng-13629	13	25	implementation	implementation	NOUN
fumecheng-13629	13	26	of	of	ADP
fumecheng-13629	13	27	reasonable	reasonable	ADJ
fumecheng-13629	13	28	and	and	CCONJ
fumecheng-13629	13	29	efficient	efficient	ADJ
fumecheng-13629	13	30	driving	driving	NOUN
fumecheng-13629	13	31	behavior	behavior	NOUN
fumecheng-13629	13	32	strategies	strategy	NOUN
fumecheng-13629	13	33	can	can	AUX
fumecheng-13629	13	34	achieve	achieve	VERB
fumecheng-13629	13	35	a	a	DET
fumecheng-13629	13	36	significant	significant	ADJ
fumecheng-13629	13	37	effect	effect	NOUN
fumecheng-13629	13	38	of	of	ADP
fumecheng-13629	13	39	around	around	ADP
fumecheng-13629	13	40	a	a	DET
fumecheng-13629	13	41	20	20	NUM
fumecheng-13629	13	42	%	%	NOUN
fumecheng-13629	13	43	reduction	reduction	NOUN
fumecheng-13629	13	44	in	in	ADP
fumecheng-13629	13	45	fuel	fuel	NOUN
fumecheng-13629	13	46	consumption	consumption	NOUN
fumecheng-13629	14	1	[	[	X
fumecheng-13629	14	2	4	4	NUM
fumecheng-13629	14	3	,	,	PUNCT
fumecheng-13629	14	4	5].when	5].when	NUM
fumecheng-13629	14	5	addressing	address	VERB
fumecheng-13629	14	6	the	the	DET
fumecheng-13629	14	7	energy	energy	NOUN
fumecheng-13629	14	8	management	management	NOUN
fumecheng-13629	14	9	control	control	NOUN
fumecheng-13629	14	10	strategy	strategy	NOUN
fumecheng-13629	14	11	problem	problem	NOUN
fumecheng-13629	14	12	in	in	ADP
fumecheng-13629	14	13	the	the	DET
fumecheng-13629	14	14	intersection	intersection	NOUN
fumecheng-13629	14	15	scenario	scenario	NOUN
fumecheng-13629	14	16	,	,	PUNCT
fumecheng-13629	14	17	yu	yu	PROPN
fumecheng-13629	14	18	et	et	PROPN
fumecheng-13629	14	19	al	al	PROPN
fumecheng-13629	14	20	.	.	PUNCT
fumecheng-13629	15	1	[	[	X
fumecheng-13629	15	2	6	6	NUM
fumecheng-13629	15	3	]	]	PUNCT
fumecheng-13629	15	4	utilized	utilize	VERB
fumecheng-13629	15	5	car	car	NOUN
fumecheng-13629	15	6	-	-	PUNCT
fumecheng-13629	15	7	following	follow	VERB
fumecheng-13629	15	8	models	model	NOUN
fumecheng-13629	15	9	and	and	CCONJ
fumecheng-13629	15	10	real	real	ADJ
fumecheng-13629	15	11	-	-	PUNCT
fumecheng-13629	15	12	time	time	NOUN
fumecheng-13629	15	13	optimal	optimal	ADJ
fumecheng-13629	15	14	control	control	NOUN
fumecheng-13629	15	15	to	to	PART
fumecheng-13629	15	16	optimize	optimize	VERB
fumecheng-13629	15	17	the	the	DET
fumecheng-13629	15	18	trajectories	trajectory	NOUN
fumecheng-13629	15	19	of	of	ADP
fumecheng-13629	15	20	connected	connected	ADJ
fumecheng-13629	15	21	and	and	CCONJ
fumecheng-13629	15	22	automated	automate	VERB
fumecheng-13629	15	23	vehicles	vehicle	NOUN
fumecheng-13629	15	24	(	(	PUNCT
fumecheng-13629	15	25	cavs	cavs	PROPN
fumecheng-13629	15	26	)	)	PUNCT
fumecheng-13629	15	27	,	,	PUNCT
fumecheng-13629	15	28	thereby	thereby	ADV
fumecheng-13629	15	29	minimizing	minimize	VERB
fumecheng-13629	15	30	the	the	DET
fumecheng-13629	15	31	total	total	ADJ
fumecheng-13629	15	32	fuel	fuel	NOUN
fumecheng-13629	15	33	consumption	consumption	NOUN
fumecheng-13629	15	34	of	of	ADP
fumecheng-13629	15	35	each	each	DET
fumecheng-13629	15	36	cav	cav	NOUN
fumecheng-13629	15	37	during	during	ADP
fumecheng-13629	15	38	the	the	DET
fumecheng-13629	15	39	current	current	ADJ
fumecheng-13629	15	40	control	control	NOUN
fumecheng-13629	15	41	period	period	NOUN
fumecheng-13629	15	42	.	.	PUNCT
fumecheng-13629	16	1	the	the	DET
fumecheng-13629	16	2	fuel	fuel	NOUN
fumecheng-13629	16	3	economy	economy	NOUN
fumecheng-13629	16	4	of	of	ADP
fumecheng-13629	16	5	hybrid	hybrid	ADJ
fumecheng-13629	16	6	electric	electric	ADJ
fumecheng-13629	16	7	vehicles	vehicle	NOUN
fumecheng-13629	16	8	is	be	AUX
fumecheng-13629	16	9	closely	closely	ADV
fumecheng-13629	16	10	related	relate	VERB
fumecheng-13629	16	11	to	to	ADP
fumecheng-13629	16	12	the	the	DET
fumecheng-13629	16	13	vehicle	vehicle	NOUN
fumecheng-13629	16	14	's	's	PART
fumecheng-13629	16	15	speed	speed	NOUN
fumecheng-13629	16	16	distribution	distribution	NOUN
fumecheng-13629	16	17	,	,	PUNCT
fumecheng-13629	16	18	which	which	PRON
fumecheng-13629	16	19	directly	directly	ADV
fumecheng-13629	16	20	affects	affect	VERB
fumecheng-13629	16	21	the	the	DET
fumecheng-13629	16	22	required	require	VERB
fumecheng-13629	16	23	total	total	ADJ
fumecheng-13629	16	24	energy	energy	NOUN
fumecheng-13629	16	25	consumption	consumption	NOUN
fumecheng-13629	16	26	[	[	X
fumecheng-13629	16	27	7	7	NUM
fumecheng-13629	16	28	]	]	PUNCT
fumecheng-13629	16	29	.	.	PUNCT
fumecheng-13629	17	1	the	the	DET
fumecheng-13629	17	2	latest	late	ADJ
fumecheng-13629	17	3	research	research	NOUN
fumecheng-13629	17	4	surveys	survey	NOUN
fumecheng-13629	17	5	have	have	AUX
fumecheng-13629	17	6	shown	show	VERB
fumecheng-13629	17	7	that	that	SCONJ
fumecheng-13629	17	8	by	by	ADP
fumecheng-13629	17	9	combining	combine	VERB
fumecheng-13629	17	10	energy	energy	NOUN
fumecheng-13629	17	11	management	management	NOUN
fumecheng-13629	17	12	control	control	NOUN
fumecheng-13629	17	13	techniques	technique	NOUN
fumecheng-13629	17	14	and	and	CCONJ
fumecheng-13629	17	15	speed	speed	NOUN
fumecheng-13629	17	16	planning	planning	NOUN
fumecheng-13629	17	17	,	,	PUNCT
fumecheng-13629	17	18	energy	energy	NOUN
fumecheng-13629	17	19	consumption	consumption	NOUN
fumecheng-13629	17	20	can	can	AUX
fumecheng-13629	17	21	be	be	AUX
fumecheng-13629	17	22	effectively	effectively	ADV
fumecheng-13629	17	23	reduced	reduce	VERB
fumecheng-13629	17	24	,	,	PUNCT
fumecheng-13629	17	25	achieving	achieve	VERB
fumecheng-13629	17	26	a	a	DET
fumecheng-13629	17	27	15	15	NUM
fumecheng-13629	17	28	%	%	NOUN
fumecheng-13629	17	29	energy	energy	NOUN
fumecheng-13629	17	30	-	-	PUNCT
fumecheng-13629	17	31	saving	save	VERB
fumecheng-13629	17	32	effect	effect	NOUN
fumecheng-13629	17	33	[	[	X
fumecheng-13629	17	34	8	8	NUM
fumecheng-13629	17	35	]	]	PUNCT
fumecheng-13629	17	36	.	.	PUNCT
fumecheng-13629	18	1	it	it	PRON
fumecheng-13629	18	2	not	not	PART
fumecheng-13629	18	3	only	only	ADV
fumecheng-13629	18	4	helps	helps	AUX
fumecheng-13629	18	5	enhance	enhance	VERB
fumecheng-13629	18	6	the	the	DET
fumecheng-13629	18	7	market	market	NOUN
fumecheng-13629	18	8	attractiveness	attractiveness	NOUN
fumecheng-13629	18	9	of	of	ADP
fumecheng-13629	18	10	products	product	NOUN
fumecheng-13629	18	11	,	,	PUNCT
fumecheng-13629	18	12	but	but	CCONJ
fumecheng-13629	18	13	also	also	ADV
fumecheng-13629	18	14	can	can	AUX
fumecheng-13629	18	15	bring	bring	VERB
fumecheng-13629	18	16	more	more	ADV
fumecheng-13629	18	17	substantial	substantial	ADJ
fumecheng-13629	18	18	economic	economic	ADJ
fumecheng-13629	18	19	benefits	benefit	NOUN
fumecheng-13629	18	20	[	[	X
fumecheng-13629	18	21	9	9	NUM
fumecheng-13629	18	22	]	]	PUNCT
fumecheng-13629	18	23	.	.	PUNCT
fumecheng-13629	19	1	hu	hu	PROPN
fumecheng-13629	19	2	et	et	PROPN
fumecheng-13629	19	3	al	al	PROPN
fumecheng-13629	19	4	.	.	PUNCT
fumecheng-13629	20	1	[	[	X
fumecheng-13629	20	2	10	10	NUM
fumecheng-13629	20	3	]	]	PUNCT
fumecheng-13629	20	4	developed	develop	VERB
fumecheng-13629	20	5	an	an	DET
fumecheng-13629	20	6	integrated	integrate	VERB
fumecheng-13629	20	7	optimal	optimal	ADJ
fumecheng-13629	20	8	controller	controller	NOUN
fumecheng-13629	20	9	for	for	ADP
fumecheng-13629	20	10	hybrid	hybrid	ADJ
fumecheng-13629	20	11	electric	electric	ADJ
fumecheng-13629	20	12	vehicles	vehicle	NOUN
fumecheng-13629	20	13	equipped	equip	VERB
fumecheng-13629	20	14	with	with	ADP
fumecheng-13629	20	15	vehicle	vehicle	NOUN
fumecheng-13629	20	16	-	-	PUNCT
fumecheng-13629	20	17	infrastructure	infrastructure	NOUN
fumecheng-13629	20	18	communication	communication	NOUN
fumecheng-13629	20	19	,	,	PUNCT
fumecheng-13629	20	20	which	which	PRON
fumecheng-13629	20	21	achieved	achieve	VERB
fumecheng-13629	20	22	up	up	ADP
fumecheng-13629	20	23	to	to	PART
fumecheng-13629	20	24	16.9	16.9	NUM
fumecheng-13629	20	25	%	%	NOUN
fumecheng-13629	20	26	improvement	improvement	NOUN
fumecheng-13629	20	27	in	in	ADP
fumecheng-13629	20	28	fuel	fuel	NOUN
fumecheng-13629	20	29	efficiency	efficiency	NOUN
fumecheng-13629	20	30	on	on	ADP
fumecheng-13629	20	31	rolling	roll	VERB
fumecheng-13629	20	32	terrain	terrain	NOUN
fumecheng-13629	20	33	.	.	PUNCT
fumecheng-13629	21	1	liu	liu	PROPN
fumecheng-13629	21	2	et	et	PROPN
fumecheng-13629	21	3	al	al	PROPN
fumecheng-13629	21	4	.	.	PUNCT
fumecheng-13629	22	1	[	[	X
fumecheng-13629	22	2	11	11	NUM
fumecheng-13629	22	3	]	]	PUNCT
fumecheng-13629	22	4	employed	employ	VERB
fumecheng-13629	22	5	a	a	DET
fumecheng-13629	22	6	combination	combination	NOUN
fumecheng-13629	22	7	weighting	weighting	NOUN
fumecheng-13629	22	8	method	method	NOUN
fumecheng-13629	22	9	and	and	CCONJ
fumecheng-13629	22	10	k	k	NOUN
fumecheng-13629	22	11	-	-	PUNCT
fumecheng-13629	22	12	means	means	NOUN
fumecheng-13629	22	13	clustering	cluster	VERB
fumecheng-13629	22	14	to	to	PART
fumecheng-13629	22	15	develop	develop	VERB
fumecheng-13629	22	16	an	an	DET
fumecheng-13629	22	17	ecodriving	ecodriving	NOUN
fumecheng-13629	22	18	evaluation	evaluation	NOUN
fumecheng-13629	22	19	model	model	NOUN
fumecheng-13629	22	20	based	base	VERB
fumecheng-13629	22	21	on	on	ADP
fumecheng-13629	22	22	multi	multi	ADJ
fumecheng-13629	22	23	-	-	ADJ
fumecheng-13629	22	24	source	source	NOUN
fumecheng-13629	22	25	data	datum	NOUN
fumecheng-13629	22	26	.	.	PUNCT
fumecheng-13629	23	1	in	in	ADP
fumecheng-13629	23	2	this	this	DET
fumecheng-13629	23	3	case	case	NOUN
fumecheng-13629	23	4	,	,	PUNCT
fumecheng-13629	23	5	calculating	calculate	VERB
fumecheng-13629	23	6	the	the	DET
fumecheng-13629	23	7	reference	reference	NOUN
fumecheng-13629	23	8	speed	speed	NOUN
fumecheng-13629	23	9	curve	curve	NOUN
fumecheng-13629	23	10	to	to	PART
fumecheng-13629	23	11	avoid	avoid	VERB
fumecheng-13629	23	12	idling	idle	VERB
fumecheng-13629	23	13	before	before	SCONJ
fumecheng-13629	23	14	the	the	DET
fumecheng-13629	23	15	intersection	intersection	NOUN
fumecheng-13629	23	16	can	can	AUX
fumecheng-13629	23	17	ensure	ensure	VERB
fumecheng-13629	23	18	relatively	relatively	ADV
fumecheng-13629	23	19	good	good	ADJ
fumecheng-13629	23	20	energy	energy	NOUN
fumecheng-13629	23	21	-	-	PUNCT
fumecheng-13629	23	22	saving	save	VERB
fumecheng-13629	23	23	performance	performance	NOUN
fumecheng-13629	23	24	[	[	X
fumecheng-13629	23	25	12	12	NUM
fumecheng-13629	23	26	]	]	PUNCT
fumecheng-13629	23	27	.	.	PUNCT
fumecheng-13629	24	1	in	in	ADP
fumecheng-13629	24	2	recent	recent	ADJ
fumecheng-13629	24	3	years	year	NOUN
fumecheng-13629	24	4	,	,	PUNCT
fumecheng-13629	24	5	with	with	ADP
fumecheng-13629	24	6	the	the	DET
fumecheng-13629	24	7	rapid	rapid	ADJ
fumecheng-13629	24	8	development	development	NOUN
fumecheng-13629	24	9	of	of	ADP
fumecheng-13629	24	10	artificial	artificial	ADJ
fumecheng-13629	24	11	intelligence	intelligence	NOUN
fumecheng-13629	24	12	technology	technology	NOUN
fumecheng-13629	24	13	,	,	PUNCT
fumecheng-13629	24	14	many	many	ADJ
fumecheng-13629	24	15	studies	study	NOUN
fumecheng-13629	24	16	have	have	AUX
fumecheng-13629	24	17	introduced	introduce	VERB
fumecheng-13629	24	18	learning	learning	NOUN
fumecheng-13629	24	19	-	-	PUNCT
fumecheng-13629	24	20	based	base	VERB
fumecheng-13629	24	21	methods	method	NOUN
fumecheng-13629	24	22	into	into	ADP
fumecheng-13629	24	23	the	the	DET
fumecheng-13629	24	24	energy	energy	NOUN
fumecheng-13629	24	25	management	management	NOUN
fumecheng-13629	24	26	control	control	NOUN
fumecheng-13629	24	27	strategy	strategy	NOUN
fumecheng-13629	24	28	problem	problem	NOUN
fumecheng-13629	24	29	,	,	PUNCT
fumecheng-13629	24	30	which	which	PRON
fumecheng-13629	24	31	have	have	AUX
fumecheng-13629	24	32	also	also	ADV
fumecheng-13629	24	33	demonstrated	demonstrate	VERB
fumecheng-13629	24	34	the	the	DET
fumecheng-13629	24	35	strong	strong	ADJ
fumecheng-13629	24	36	adaptability	adaptability	NOUN
fumecheng-13629	24	37	and	and	CCONJ
fumecheng-13629	24	38	nonlinear	nonlinear	ADJ
fumecheng-13629	24	39	system	system	NOUN
fumecheng-13629	24	40	optimization	optimization	NOUN
fumecheng-13629	24	41	capabilities	capability	NOUN
fumecheng-13629	24	42	of	of	ADP
fumecheng-13629	24	43	learning	learning	NOUN
fumecheng-13629	24	44	-	-	PUNCT
fumecheng-13629	24	45	based	base	VERB
fumecheng-13629	24	46	methods	method	NOUN
fumecheng-13629	24	47	[	[	PUNCT
fumecheng-13629	24	48	13	13	NUM
fumecheng-13629	24	49	-	-	SYM
fumecheng-13629	24	50	16	16	NUM
fumecheng-13629	24	51	]	]	PUNCT
fumecheng-13629	24	52	.	.	PUNCT
fumecheng-13629	25	1	yeom	yeom	PROPN
fumecheng-13629	25	2	et	et	PROPN
fumecheng-13629	25	3	al	al	PROPN
fumecheng-13629	25	4	.	.	PUNCT
fumecheng-13629	26	1	[	[	X
fumecheng-13629	26	2	17	17	NUM
fumecheng-13629	26	3	]	]	PUNCT
fumecheng-13629	26	4	cleverly	cleverly	ADV
fumecheng-13629	26	5	integrated	integrate	VERB
fumecheng-13629	26	6	deep	deep	ADJ
fumecheng-13629	26	7	reinforcement	reinforcement	NOUN
fumecheng-13629	26	8	learning	learning	NOUN
fumecheng-13629	26	9	and	and	CCONJ
fumecheng-13629	26	10	model	model	NOUN
fumecheng-13629	26	11	predictive	predictive	PROPN
fumecheng-13629	26	12	control	control	NOUN
fumecheng-13629	26	13	techniques	technique	NOUN
fumecheng-13629	26	14	,	,	PUNCT
fumecheng-13629	26	15	significantly	significantly	ADV
fumecheng-13629	26	16	improving	improve	VERB
fumecheng-13629	26	17	the	the	DET
fumecheng-13629	26	18	energy	energy	NOUN
fumecheng-13629	26	19	efficiency	efficiency	NOUN
fumecheng-13629	26	20	and	and	CCONJ
fumecheng-13629	26	21	economics	economic	NOUN
fumecheng-13629	26	22	of	of	ADP
fumecheng-13629	26	23	electric	electric	ADJ
fumecheng-13629	26	24	vehicles	vehicle	NOUN
fumecheng-13629	26	25	.	.	PUNCT
fumecheng-13629	27	1	this	this	DET
fumecheng-13629	27	2	innovative	innovative	ADJ
fumecheng-13629	27	3	hybrid	hybrid	NOUN
fumecheng-13629	27	4	approach	approach	NOUN
fumecheng-13629	27	5	,	,	PUNCT
fumecheng-13629	27	6	particularly	particularly	ADV
fumecheng-13629	27	7	the	the	DET
fumecheng-13629	27	8	precise	precise	ADJ
fumecheng-13629	27	9	optimization	optimization	NOUN
fumecheng-13629	27	10	of	of	ADP
fumecheng-13629	27	11	the	the	DET
fumecheng-13629	27	12	speed	speed	NOUN
fumecheng-13629	27	13	control	control	NOUN
fumecheng-13629	27	14	strategy	strategy	NOUN
fumecheng-13629	27	15	for	for	ADP
fumecheng-13629	27	16	electric	electric	ADJ
fumecheng-13629	27	17	vehicles	vehicle	NOUN
fumecheng-13629	27	18	through	through	ADP
fumecheng-13629	27	19	the	the	DET
fumecheng-13629	27	20	model	model	NOUN
fumecheng-13629	27	21	predictive	predictive	PROPN
fumecheng-13629	27	22	control	control	PROPN
fumecheng-13629	27	23	algorithm	algorithm	NOUN
fumecheng-13629	27	24	,	,	PUNCT
fumecheng-13629	27	25	not	not	PART
fumecheng-13629	27	26	only	only	ADV
fumecheng-13629	27	27	brings	bring	VERB
fumecheng-13629	27	28	technological	technological	ADJ
fumecheng-13629	27	29	innovation	innovation	NOUN
fumecheng-13629	27	30	to	to	ADP
fumecheng-13629	27	31	the	the	DET
fumecheng-13629	27	32	current	current	ADJ
fumecheng-13629	27	33	electric	electric	ADJ
fumecheng-13629	27	34	vehicle	vehicle	NOUN
fumecheng-13629	27	35	field	field	NOUN
fumecheng-13629	27	36	,	,	PUNCT
fumecheng-13629	27	37	but	but	CCONJ
fumecheng-13629	27	38	also	also	ADV
fumecheng-13629	27	39	provides	provide	VERB
fumecheng-13629	27	40	valuable	valuable	ADJ
fumecheng-13629	27	41	theoretical	theoretical	ADJ
fumecheng-13629	27	42	guidance	guidance	NOUN
fumecheng-13629	27	43	and	and	CCONJ
fumecheng-13629	27	44	practical	practical	ADJ
fumecheng-13629	27	45	examples	example	NOUN
fumecheng-13629	27	46	for	for	ADP
fumecheng-13629	27	47	the	the	DET
fumecheng-13629	27	48	future	future	ADJ
fumecheng-13629	27	49	planning	planning	NOUN
fumecheng-13629	27	50	of	of	ADP
fumecheng-13629	27	51	autonomous	autonomous	ADJ
fumecheng-13629	27	52	.	.	PUNCT
fumecheng-13629	28	1	addressing	address	VERB
fumecheng-13629	28	2	the	the	DET
fumecheng-13629	28	3	dual	dual	ADJ
fumecheng-13629	28	4	objective	objective	NOUN
fumecheng-13629	28	5	of	of	ADP
fumecheng-13629	28	6	reducing	reduce	VERB
fumecheng-13629	28	7	fuel	fuel	NOUN
fumecheng-13629	28	8	consumption	consumption	NOUN
fumecheng-13629	28	9	during	during	ADP
fumecheng-13629	28	10	the	the	DET
fumecheng-13629	28	11	driving	driving	NOUN
fumecheng-13629	28	12	process	process	NOUN
fumecheng-13629	28	13	and	and	CCONJ
fumecheng-13629	28	14	simultaneously	simultaneously	ADV
fumecheng-13629	28	15	enhancing	enhance	VERB
fumecheng-13629	28	16	driving	driving	NOUN
fumecheng-13629	28	17	comfort	comfort	NOUN
fumecheng-13629	28	18	.	.	PUNCT
fumecheng-13629	29	1	he	he	PRON
fumecheng-13629	29	2	et	et	PROPN
fumecheng-13629	29	3	al	al	PROPN
fumecheng-13629	29	4	.	.	PUNCT
fumecheng-13629	30	1	[	[	X
fumecheng-13629	30	2	18	18	NUM
fumecheng-13629	30	3	]	]	PUNCT
fumecheng-13629	30	4	developed	develop	VERB
fumecheng-13629	30	5	a	a	DET
fumecheng-13629	30	6	multi	multi	ADJ
fumecheng-13629	30	7	-	-	ADJ
fumecheng-13629	30	8	objective	objective	ADJ
fumecheng-13629	30	9	intelligent	intelligent	ADJ
fumecheng-13629	30	10	eco	eco	NOUN
fumecheng-13629	30	11	-	-	PUNCT
fumecheng-13629	30	12	driving	drive	VERB
fumecheng-13629	30	13	strategy	strategy	NOUN
fumecheng-13629	30	14	for	for	ADP
fumecheng-13629	30	15	plug	plug	VERB
fumecheng-13629	30	16	-	-	PUNCT
fumecheng-13629	30	17	in	in	ADP
fumecheng-13629	30	18	hybrid	hybrid	ADJ
fumecheng-13629	30	19	electric	electric	ADJ
fumecheng-13629	30	20	vehicles	vehicle	NOUN
fumecheng-13629	30	21	based	base	VERB
fumecheng-13629	30	22	on	on	ADP
fumecheng-13629	30	23	a	a	DET
fumecheng-13629	30	24	multi	multi	ADJ
fumecheng-13629	30	25	-	-	ADJ
fumecheng-13629	30	26	head	head	ADJ
fumecheng-13629	30	27	deep	deep	ADJ
fumecheng-13629	30	28	q	q	NOUN
fumecheng-13629	30	29	-	-	PUNCT
fumecheng-13629	30	30	network	network	NOUN
fumecheng-13629	30	31	deep	deep	ADJ
fumecheng-13629	30	32	reinforcement	reinforcement	NOUN
fumecheng-13629	30	33	learning	learning	NOUN
fumecheng-13629	30	34	approach	approach	NOUN
fumecheng-13629	30	35	,	,	PUNCT
fumecheng-13629	30	36	which	which	PRON
fumecheng-13629	30	37	achieves	achieve	VERB
fumecheng-13629	30	38	energy	energy	NOUN
fumecheng-13629	30	39	consumption	consumption	NOUN
fumecheng-13629	30	40	optimization	optimization	NOUN
fumecheng-13629	30	41	while	while	SCONJ
fumecheng-13629	30	42	ensuring	ensure	VERB
fumecheng-13629	30	43	autonomous	autonomous	ADJ
fumecheng-13629	30	44	driving	driving	NOUN
fumecheng-13629	30	45	safety	safety	NOUN
fumecheng-13629	30	46	.	.	PUNCT
fumecheng-13629	31	1	ozatay	ozatay	VERB
fumecheng-13629	31	2	et	et	PROPN
fumecheng-13629	31	3	al	al	PROPN
fumecheng-13629	31	4	.	.	PUNCT
fumecheng-13629	32	1	[	[	X
fumecheng-13629	32	2	19	19	NUM
fumecheng-13629	32	3	]	]	PUNCT
fumecheng-13629	32	4	proposed	propose	VERB
fumecheng-13629	32	5	a	a	DET
fumecheng-13629	32	6	simplified	simplified	ADJ
fumecheng-13629	32	7	reinforcement	reinforcement	NOUN
fumecheng-13629	32	8	learning	learning	NOUN
fumecheng-13629	32	9	method	method	NOUN
fumecheng-13629	32	10	,	,	PUNCT
fumecheng-13629	32	11	which	which	PRON
fumecheng-13629	32	12	learns	learn	VERB
fumecheng-13629	32	13	the	the	DET
fumecheng-13629	32	14	trends	trend	NOUN
fumecheng-13629	32	15	and	and	CCONJ
fumecheng-13629	32	16	characteristics	characteristic	NOUN
fumecheng-13629	32	17	of	of	ADP
fumecheng-13629	32	18	the	the	DET
fumecheng-13629	32	19	driver	driver	NOUN
fumecheng-13629	32	20	's	's	PART
fumecheng-13629	32	21	reference	reference	NOUN
fumecheng-13629	32	22	speed	speed	NOUN
fumecheng-13629	32	23	online	online	ADV
fumecheng-13629	32	24	and	and	CCONJ
fumecheng-13629	32	25	dynamically	dynamically	ADV
fumecheng-13629	32	26	adjusts	adjust	VERB
fumecheng-13629	32	27	the	the	DET
fumecheng-13629	32	28	speed	speed	NOUN
fumecheng-13629	32	29	limit	limit	NOUN
fumecheng-13629	32	30	to	to	PART
fumecheng-13629	32	31	increase	increase	VERB
fumecheng-13629	32	32	the	the	DET
fumecheng-13629	32	33	driver	driver	NOUN
fumecheng-13629	32	34	's	's	PART
fumecheng-13629	32	35	likelihood	likelihood	NOUN
fumecheng-13629	32	36	of	of	ADP
fumecheng-13629	32	37	following	follow	VERB
fumecheng-13629	32	38	the	the	DET
fumecheng-13629	32	39	reference	reference	NOUN
fumecheng-13629	32	40	speed	speed	NOUN
fumecheng-13629	32	41	.	.	PUNCT
fumecheng-13629	33	1	in	in	ADP
fumecheng-13629	33	2	the	the	DET
fumecheng-13629	33	3	frontier	frontier	NOUN
fumecheng-13629	33	4	field	field	NOUN
fumecheng-13629	33	5	of	of	ADP
fumecheng-13629	33	6	exploring	explore	VERB
fumecheng-13629	33	7	hierarchical	hierarchical	ADJ
fumecheng-13629	33	8	energy	energy	NOUN
fumecheng-13629	33	9	management	management	NOUN
fumecheng-13629	33	10	control	control	NOUN
fumecheng-13629	33	11	strategies	strategy	NOUN
fumecheng-13629	33	12	,	,	PUNCT
fumecheng-13629	33	13	wang	wang	PROPN
fumecheng-13629	33	14	et	et	PROPN
fumecheng-13629	33	15	al	al	PROPN
fumecheng-13629	33	16	.	.	PUNCT
fumecheng-13629	34	1	[	[	X
fumecheng-13629	34	2	20	20	NUM
fumecheng-13629	34	3	]	]	PUNCT
fumecheng-13629	34	4	took	take	VERB
fumecheng-13629	34	5	an	an	DET
fumecheng-13629	34	6	important	important	ADJ
fumecheng-13629	34	7	step	step	NOUN
fumecheng-13629	34	8	forward	forward	ADV
fumecheng-13629	34	9	by	by	ADP
fumecheng-13629	34	10	carefully	carefully	ADV
fumecheng-13629	34	11	conceiving	conceive	VERB
fumecheng-13629	34	12	and	and	CCONJ
fumecheng-13629	34	13	designing	design	VERB
fumecheng-13629	34	14	an	an	DET
fumecheng-13629	34	15	online	online	ADJ
fumecheng-13629	34	16	control	control	NOUN
fumecheng-13629	34	17	strategy	strategy	NOUN
fumecheng-13629	34	18	for	for	ADP
fumecheng-13629	34	19	hybrid	hybrid	ADJ
fumecheng-13629	34	20	electric	electric	ADJ
fumecheng-13629	34	21	vehicles	vehicle	NOUN
fumecheng-13629	34	22	.	.	PUNCT
fumecheng-13629	35	1	shems	shem	NOUN
fumecheng-13629	35	2	aims	aim	VERB
fumecheng-13629	35	3	to	to	PART
fumecheng-13629	35	4	comprehensively	comprehensively	ADV
fumecheng-13629	35	5	improve	improve	VERB
fumecheng-13629	35	6	fuel	fuel	NOUN
fumecheng-13629	35	7	economy	economy	NOUN
fumecheng-13629	35	8	,	,	PUNCT
fumecheng-13629	35	9	significantly	significantly	ADV
fumecheng-13629	35	10	reduce	reduce	VERB
fumecheng-13629	35	11	exhaust	exhaust	NOUN
fumecheng-13629	35	12	emissions	emission	NOUN
fumecheng-13629	35	13	,	,	PUNCT
fumecheng-13629	35	14	and	and	CCONJ
fumecheng-13629	35	15	simultaneously	simultaneously	ADV
fumecheng-13629	35	16	ensure	ensure	VERB
fumecheng-13629	35	17	a	a	DET
fumecheng-13629	35	18	high	high	ADJ
fumecheng-13629	35	19	standard	standard	NOUN
fumecheng-13629	35	20	of	of	ADP
fumecheng-13629	35	21	driving	drive	VERB
fumecheng-13629	35	22	safety	safety	NOUN
fumecheng-13629	35	23	.	.	PUNCT
fumecheng-13629	36	1	at	at	ADP
fumecheng-13629	36	2	the	the	DET
fumecheng-13629	36	3	low	low	ADJ
fumecheng-13629	36	4	-	-	PUNCT
fumecheng-13629	36	5	level	level	NOUN
fumecheng-13629	36	6	execution	execution	NOUN
fumecheng-13629	36	7	layer	layer	NOUN
fumecheng-13629	36	8	of	of	ADP
fumecheng-13629	36	9	the	the	DET
fumecheng-13629	36	10	strategy	strategy	NOUN
fumecheng-13629	36	11	,	,	PUNCT
fumecheng-13629	36	12	the	the	DET
fumecheng-13629	36	13	focus	focus	NOUN
fumecheng-13629	36	14	scenario	scenario	NOUN
fumecheng-13629	36	15	-	-	PUNCT
fumecheng-13629	36	16	level	level	NOUN
fumecheng-13629	36	17	hierarchical	hierarchical	ADJ
fumecheng-13629	36	18	energy	energy	NOUN
fumecheng-13629	36	19	management	management	NOUN
fumecheng-13629	36	20	control	control	NOUN
fumecheng-13629	36	21	strategy	strategy	NOUN
fumecheng-13629	36	22	for	for	ADP
fumecheng-13629	36	23	hybrid	hybrid	ADJ
fumecheng-13629	36	24	electric	electric	ADJ
fumecheng-13629	36	25	vehicle	vehicle	NOUN
fumecheng-13629	36	26	3	3	NUM
fumecheng-13629	36	27	is	be	AUX
fumecheng-13629	36	28	on	on	ADP
fumecheng-13629	36	29	the	the	DET
fumecheng-13629	36	30	optimization	optimization	NOUN
fumecheng-13629	36	31	of	of	ADP
fumecheng-13629	36	32	power	power	NOUN
fumecheng-13629	36	33	allocation	allocation	NOUN
fumecheng-13629	36	34	between	between	ADP
fumecheng-13629	36	35	the	the	DET
fumecheng-13629	36	36	internal	internal	ADJ
fumecheng-13629	36	37	combustion	combustion	NOUN
fumecheng-13629	36	38	engine	engine	NOUN
fumecheng-13629	36	39	and	and	CCONJ
fumecheng-13629	36	40	the	the	DET
fumecheng-13629	36	41	battery	battery	NOUN
fumecheng-13629	36	42	module	module	NOUN
fumecheng-13629	36	43	,	,	PUNCT
fumecheng-13629	36	44	ensuring	ensure	VERB
fumecheng-13629	36	45	the	the	DET
fumecheng-13629	36	46	rationality	rationality	NOUN
fumecheng-13629	36	47	and	and	CCONJ
fumecheng-13629	36	48	efficiency	efficiency	NOUN
fumecheng-13629	36	49	of	of	ADP
fumecheng-13629	36	50	energy	energy	NOUN
fumecheng-13629	36	51	flow	flow	NOUN
fumecheng-13629	36	52	through	through	ADP
fumecheng-13629	36	53	precise	precise	ADJ
fumecheng-13629	36	54	control	control	NOUN
fumecheng-13629	36	55	.	.	PUNCT
fumecheng-13629	37	1	at	at	ADP
fumecheng-13629	37	2	the	the	DET
fumecheng-13629	37	3	high	high	ADJ
fumecheng-13629	37	4	-	-	PUNCT
fumecheng-13629	37	5	level	level	NOUN
fumecheng-13629	37	6	decision	decision	NOUN
fumecheng-13629	37	7	-	-	PUNCT
fumecheng-13629	37	8	making	make	VERB
fumecheng-13629	37	9	layer	layer	NOUN
fumecheng-13629	37	10	,	,	PUNCT
fumecheng-13629	37	11	the	the	DET
fumecheng-13629	37	12	intelligent	intelligent	ADJ
fumecheng-13629	37	13	system	system	NOUN
fumecheng-13629	37	14	is	be	AUX
fumecheng-13629	37	15	fully	fully	ADV
fumecheng-13629	37	16	responsible	responsible	ADJ
fumecheng-13629	37	17	for	for	ADP
fumecheng-13629	37	18	the	the	DET
fumecheng-13629	37	19	accurate	accurate	ADJ
fumecheng-13629	37	20	control	control	NOUN
fumecheng-13629	37	21	and	and	CCONJ
fumecheng-13629	37	22	optimization	optimization	NOUN
fumecheng-13629	37	23	of	of	ADP
fumecheng-13629	37	24	the	the	DET
fumecheng-13629	37	25	vehicle	vehicle	NOUN
fumecheng-13629	37	26	's	's	PART
fumecheng-13629	37	27	speed	speed	NOUN
fumecheng-13629	37	28	.	.	PUNCT
fumecheng-13629	38	1	guo	guo	PROPN
fumecheng-13629	38	2	et	et	PROPN
fumecheng-13629	38	3	al	al	PROPN
fumecheng-13629	38	4	.	.	PUNCT
fumecheng-13629	39	1	[	[	X
fumecheng-13629	39	2	21	21	NUM
fumecheng-13629	39	3	]	]	PUNCT
fumecheng-13629	39	4	combined	combined	ADJ
fumecheng-13629	39	5	energy	energy	NOUN
fumecheng-13629	39	6	management	management	NOUN
fumecheng-13629	39	7	control	control	NOUN
fumecheng-13629	39	8	strategies	strategy	NOUN
fumecheng-13629	39	9	with	with	ADP
fumecheng-13629	39	10	reinforcement	reinforcement	NOUN
fumecheng-13629	39	11	learning	learning	NOUN
fumecheng-13629	39	12	algorithms	algorithm	NOUN
fumecheng-13629	39	13	,	,	PUNCT
fumecheng-13629	39	14	proposing	propose	VERB
fumecheng-13629	39	15	a	a	DET
fumecheng-13629	39	16	hierarchical	hierarchical	ADJ
fumecheng-13629	39	17	control	control	NOUN
fumecheng-13629	39	18	framework	framework	NOUN
fumecheng-13629	39	19	-	-	PUNCT
fumecheng-13629	39	20	based	base	VERB
fumecheng-13629	39	21	efficient	efficient	ADJ
fumecheng-13629	39	22	and	and	CCONJ
fumecheng-13629	39	23	coordinated	coordinated	ADJ
fumecheng-13629	39	24	optimization	optimization	NOUN
fumecheng-13629	39	25	strategy	strategy	NOUN
fumecheng-13629	39	26	for	for	ADP
fumecheng-13629	39	27	autonomous	autonomous	ADJ
fumecheng-13629	39	28	hybrid	hybrid	ADJ
fumecheng-13629	39	29	power	power	NOUN
fumecheng-13629	39	30	tracked	track	VERB
fumecheng-13629	39	31	vehicles	vehicle	NOUN
fumecheng-13629	39	32	,	,	PUNCT
fumecheng-13629	39	33	which	which	PRON
fumecheng-13629	39	34	achieved	achieve	VERB
fumecheng-13629	39	35	simultaneous	simultaneous	ADJ
fumecheng-13629	39	36	optimization	optimization	NOUN
fumecheng-13629	39	37	of	of	ADP
fumecheng-13629	39	38	precise	precise	ADJ
fumecheng-13629	39	39	path	path	NOUN
fumecheng-13629	39	40	tracking	tracking	NOUN
fumecheng-13629	39	41	and	and	CCONJ
fumecheng-13629	39	42	energy	energy	NOUN
fumecheng-13629	39	43	management	management	NOUN
fumecheng-13629	39	44	.	.	PUNCT
fumecheng-13629	40	1	aiming	aim	VERB
fumecheng-13629	40	2	at	at	ADP
fumecheng-13629	40	3	safety	safety	NOUN
fumecheng-13629	40	4	and	and	CCONJ
fumecheng-13629	40	5	comfort	comfort	NOUN
fumecheng-13629	40	6	,	,	PUNCT
fumecheng-13629	40	7	liu	liu	PROPN
fumecheng-13629	40	8	et	et	PROPN
fumecheng-13629	40	9	al	al	PROPN
fumecheng-13629	40	10	.	.	PROPN
fumecheng-13629	40	11	designed	design	VERB
fumecheng-13629	40	12	an	an	DET
fumecheng-13629	40	13	algorithm	algorithm	NOUN
fumecheng-13629	40	14	with	with	ADP
fumecheng-13629	40	15	a	a	DET
fumecheng-13629	40	16	two	two	NUM
fumecheng-13629	40	17	-	-	PUNCT
fumecheng-13629	40	18	layer	layer	NOUN
fumecheng-13629	40	19	structure	structure	NOUN
fumecheng-13629	40	20	.	.	PUNCT
fumecheng-13629	41	1	the	the	DET
fumecheng-13629	41	2	upper	upper	ADJ
fumecheng-13629	41	3	-	-	PUNCT
fumecheng-13629	41	4	level	level	NOUN
fumecheng-13629	41	5	controller	controller	NOUN
fumecheng-13629	41	6	uses	use	VERB
fumecheng-13629	41	7	a	a	DET
fumecheng-13629	41	8	grey	grey	ADJ
fumecheng-13629	41	9	neural	neural	ADJ
fumecheng-13629	41	10	network	network	NOUN
fumecheng-13629	41	11	to	to	PART
fumecheng-13629	41	12	predict	predict	VERB
fumecheng-13629	41	13	the	the	DET
fumecheng-13629	41	14	future	future	ADJ
fumecheng-13629	41	15	speed	speed	NOUN
fumecheng-13629	41	16	trend	trend	NOUN
fumecheng-13629	41	17	of	of	ADP
fumecheng-13629	41	18	the	the	DET
fumecheng-13629	41	19	lead	lead	ADJ
fumecheng-13629	41	20	vehicle	vehicle	NOUN
fumecheng-13629	41	21	,	,	PUNCT
fumecheng-13629	41	22	while	while	SCONJ
fumecheng-13629	41	23	the	the	DET
fumecheng-13629	41	24	lower	low	ADJ
fumecheng-13629	41	25	-	-	PUNCT
fumecheng-13629	41	26	level	level	NOUN
fumecheng-13629	41	27	adopts	adopt	VERB
fumecheng-13629	41	28	an	an	DET
fumecheng-13629	41	29	adaptive	adaptive	ADJ
fumecheng-13629	41	30	equivalent	equivalent	ADJ
fumecheng-13629	41	31	consumption	consumption	NOUN
fumecheng-13629	41	32	minimization	minimization	NOUN
fumecheng-13629	41	33	strategy	strategy	NOUN
fumecheng-13629	41	34	to	to	PART
fumecheng-13629	41	35	implement	implement	VERB
fumecheng-13629	41	36	the	the	DET
fumecheng-13629	41	37	hierarchical	hierarchical	ADJ
fumecheng-13629	41	38	energy	energy	NOUN
fumecheng-13629	41	39	management	management	NOUN
fumecheng-13629	41	40	control	control	NOUN
fumecheng-13629	41	41	strategy	strategy	NOUN
fumecheng-13629	42	1	[	[	X
fumecheng-13629	42	2	22	22	NUM
fumecheng-13629	42	3	]	]	PUNCT
fumecheng-13629	42	4	.	.	PUNCT
fumecheng-13629	43	1	peng	peng	PROPN
fumecheng-13629	43	2	et	et	PROPN
fumecheng-13629	43	3	al	al	PROPN
fumecheng-13629	43	4	.	.	PUNCT
fumecheng-13629	44	1	[	[	X
fumecheng-13629	44	2	23	23	NUM
fumecheng-13629	44	3	]	]	PUNCT
fumecheng-13629	44	4	proposed	propose	VERB
fumecheng-13629	44	5	a	a	DET
fumecheng-13629	44	6	multilane	multilane	ADJ
fumecheng-13629	44	7	hierarchical	hierarchical	ADJ
fumecheng-13629	44	8	optimization	optimization	NOUN
fumecheng-13629	44	9	algorithm	algorithm	NOUN
fumecheng-13629	44	10	based	base	VERB
fumecheng-13629	44	11	on	on	ADP
fumecheng-13629	44	12	a	a	DET
fumecheng-13629	44	13	predictive	predictive	ADJ
fumecheng-13629	44	14	control	control	NOUN
fumecheng-13629	44	15	framework	framework	NOUN
fumecheng-13629	44	16	,	,	PUNCT
fumecheng-13629	44	17	which	which	PRON
fumecheng-13629	44	18	plans	plan	VERB
fumecheng-13629	44	19	the	the	DET
fumecheng-13629	44	20	optimal	optimal	ADJ
fumecheng-13629	44	21	speed	speed	NOUN
fumecheng-13629	44	22	and	and	CCONJ
fumecheng-13629	44	23	lane	lane	NOUN
fumecheng-13629	44	24	-	-	PUNCT
fumecheng-13629	44	25	changing	change	VERB
fumecheng-13629	44	26	behavior	behavior	NOUN
fumecheng-13629	44	27	by	by	ADP
fumecheng-13629	44	28	considering	consider	VERB
fumecheng-13629	44	29	the	the	DET
fumecheng-13629	44	30	vehicle	vehicle	NOUN
fumecheng-13629	44	31	's	's	PART
fumecheng-13629	44	32	power	power	NOUN
fumecheng-13629	44	33	demand	demand	NOUN
fumecheng-13629	44	34	,	,	PUNCT
fumecheng-13629	44	35	driving	drive	VERB
fumecheng-13629	44	36	comfort	comfort	NOUN
fumecheng-13629	44	37	,	,	PUNCT
fumecheng-13629	44	38	and	and	CCONJ
fumecheng-13629	44	39	safety	safety	NOUN
fumecheng-13629	44	40	at	at	ADP
fumecheng-13629	44	41	the	the	DET
fumecheng-13629	44	42	upper	upper	ADJ
fumecheng-13629	44	43	level	level	NOUN
fumecheng-13629	44	44	.	.	PUNCT
fumecheng-13629	45	1	at	at	ADP
fumecheng-13629	45	2	the	the	DET
fumecheng-13629	45	3	lower	low	ADJ
fumecheng-13629	45	4	level	level	NOUN
fumecheng-13629	45	5	,	,	PUNCT
fumecheng-13629	45	6	dynamic	dynamic	ADJ
fumecheng-13629	45	7	programming	programming	NOUN
fumecheng-13629	45	8	is	be	AUX
fumecheng-13629	45	9	used	use	VERB
fumecheng-13629	45	10	to	to	PART
fumecheng-13629	45	11	design	design	VERB
fumecheng-13629	45	12	the	the	DET
fumecheng-13629	45	13	energy	energy	NOUN
fumecheng-13629	45	14	management	management	NOUN
fumecheng-13629	45	15	by	by	ADP
fumecheng-13629	45	16	tracking	track	VERB
fumecheng-13629	45	17	the	the	DET
fumecheng-13629	45	18	optimal	optimal	ADJ
fumecheng-13629	45	19	speed	speed	NOUN
fumecheng-13629	45	20	.	.	PUNCT
fumecheng-13629	46	1	li	li	PROPN
fumecheng-13629	46	2	et	et	PROPN
fumecheng-13629	46	3	al	al	PROPN
fumecheng-13629	46	4	.	.	PUNCT
fumecheng-13629	47	1	[	[	X
fumecheng-13629	47	2	24	24	NUM
fumecheng-13629	47	3	]	]	PUNCT
fumecheng-13629	47	4	studied	study	VERB
fumecheng-13629	47	5	a	a	DET
fumecheng-13629	47	6	data	data	NOUN
fumecheng-13629	47	7	-	-	PUNCT
fumecheng-13629	47	8	driven	drive	VERB
fumecheng-13629	47	9	optimal	optimal	ADJ
fumecheng-13629	47	10	energy	energy	NOUN
fumecheng-13629	47	11	management	management	NOUN
fumecheng-13629	47	12	control	control	NOUN
fumecheng-13629	47	13	strategy	strategy	NOUN
fumecheng-13629	47	14	for	for	ADP
fumecheng-13629	47	15	plug	plug	VERB
fumecheng-13629	47	16	-	-	PUNCT
fumecheng-13629	47	17	in	in	ADP
fumecheng-13629	47	18	hybrid	hybrid	ADJ
fumecheng-13629	47	19	electric	electric	ADJ
fumecheng-13629	47	20	vehicles	vehicle	NOUN
fumecheng-13629	47	21	,	,	PUNCT
fumecheng-13629	47	22	which	which	PRON
fumecheng-13629	47	23	has	have	VERB
fumecheng-13629	47	24	good	good	ADJ
fumecheng-13629	47	25	performance	performance	NOUN
fumecheng-13629	47	26	and	and	CCONJ
fumecheng-13629	47	27	computational	computational	ADJ
fumecheng-13629	47	28	efficiency	efficiency	NOUN
fumecheng-13629	47	29	in	in	ADP
fumecheng-13629	47	30	speed	speed	NOUN
fumecheng-13629	47	31	planning	planning	NOUN
fumecheng-13629	47	32	and	and	CCONJ
fumecheng-13629	47	33	energy	energy	NOUN
fumecheng-13629	47	34	management	management	NOUN
fumecheng-13629	47	35	.	.	PUNCT
fumecheng-13629	48	1	this	this	DET
fumecheng-13629	48	2	algorithm	algorithm	NOUN
fumecheng-13629	48	3	also	also	ADV
fumecheng-13629	48	4	has	have	VERB
fumecheng-13629	48	5	a	a	DET
fumecheng-13629	48	6	hierarchical	hierarchical	ADJ
fumecheng-13629	48	7	structure	structure	NOUN
fumecheng-13629	48	8	and	and	CCONJ
fumecheng-13629	48	9	introduces	introduce	VERB
fumecheng-13629	48	10	two	two	NUM
fumecheng-13629	48	11	data	datum	NOUN
fumecheng-13629	48	12	-	-	PUNCT
fumecheng-13629	48	13	driven	drive	VERB
fumecheng-13629	48	14	algorithms	algorithm	NOUN
fumecheng-13629	48	15	based	base	VERB
fumecheng-13629	48	16	on	on	ADP
fumecheng-13629	48	17	high	high	ADJ
fumecheng-13629	48	18	-	-	PUNCT
fumecheng-13629	48	19	fidelity	fidelity	NOUN
fumecheng-13629	48	20	neural	neural	ADJ
fumecheng-13629	48	21	networks	network	NOUN
fumecheng-13629	48	22	as	as	ADP
fumecheng-13629	48	23	the	the	DET
fumecheng-13629	48	24	evaluation	evaluation	NOUN
fumecheng-13629	48	25	model	model	NOUN
fumecheng-13629	48	26	and	and	CCONJ
fumecheng-13629	48	27	system	system	NOUN
fumecheng-13629	48	28	model	model	NOUN
fumecheng-13629	48	29	for	for	ADP
fumecheng-13629	48	30	speed	speed	NOUN
fumecheng-13629	48	31	optimization	optimization	NOUN
fumecheng-13629	48	32	,	,	PUNCT
fumecheng-13629	48	33	reducing	reduce	VERB
fumecheng-13629	48	34	the	the	DET
fumecheng-13629	48	35	requirement	requirement	NOUN
fumecheng-13629	48	36	for	for	ADP
fumecheng-13629	48	37	complex	complex	ADJ
fumecheng-13629	48	38	powertrain	powertrain	NOUN
fumecheng-13629	48	39	system	system	NOUN
fumecheng-13629	48	40	models	model	NOUN
fumecheng-13629	48	41	.	.	PUNCT
fumecheng-13629	49	1	although	although	SCONJ
fumecheng-13629	49	2	there	there	PRON
fumecheng-13629	49	3	has	have	AUX
fumecheng-13629	49	4	been	be	AUX
fumecheng-13629	49	5	extensive	extensive	ADJ
fumecheng-13629	49	6	research	research	NOUN
fumecheng-13629	49	7	on	on	ADP
fumecheng-13629	49	8	energy	energy	NOUN
fumecheng-13629	49	9	management	management	NOUN
fumecheng-13629	49	10	control	control	NOUN
fumecheng-13629	49	11	and	and	CCONJ
fumecheng-13629	49	12	driving	driving	NOUN
fumecheng-13629	49	13	style	style	NOUN
fumecheng-13629	49	14	,	,	PUNCT
fumecheng-13629	49	15	in	in	ADP
fumecheng-13629	49	16	the	the	DET
fumecheng-13629	49	17	context	context	NOUN
fumecheng-13629	49	18	speed	speed	NOUN
fumecheng-13629	49	19	optimization	optimization	NOUN
fumecheng-13629	49	20	for	for	ADP
fumecheng-13629	49	21	long	long	ADJ
fumecheng-13629	49	22	-	-	PUNCT
fumecheng-13629	49	23	distance	distance	NOUN
fumecheng-13629	49	24	urban	urban	ADJ
fumecheng-13629	49	25	roads	road	NOUN
fumecheng-13629	49	26	,	,	PUNCT
fumecheng-13629	49	27	are	be	AUX
fumecheng-13629	49	28	relatively	relatively	ADV
fumecheng-13629	49	29	limited	limited	ADJ
fumecheng-13629	49	30	[	[	PUNCT
fumecheng-13629	49	31	25	25	NUM
fumecheng-13629	49	32	-	-	SYM
fumecheng-13629	49	33	27	27	NUM
fumecheng-13629	49	34	]	]	PUNCT
fumecheng-13629	49	35	.	.	PUNCT
fumecheng-13629	50	1	chen	chen	PROPN
fumecheng-13629	50	2	et	et	PROPN
fumecheng-13629	50	3	al	al	PROPN
fumecheng-13629	50	4	.	.	PROPN
fumecheng-13629	50	5	proposed	propose	VERB
fumecheng-13629	50	6	an	an	DET
fumecheng-13629	50	7	assistance	assistance	NOUN
fumecheng-13629	50	8	system	system	NOUN
fumecheng-13629	50	9	that	that	PRON
fumecheng-13629	50	10	uses	use	VERB
fumecheng-13629	50	11	a	a	DET
fumecheng-13629	50	12	model	model	ADJ
fumecheng-13629	50	13	predictive	predictive	ADJ
fumecheng-13629	50	14	control	control	NOUN
fumecheng-13629	50	15	design	design	NOUN
fumecheng-13629	50	16	to	to	PART
fumecheng-13629	50	17	create	create	VERB
fumecheng-13629	50	18	a	a	DET
fumecheng-13629	50	19	simplified	simplified	ADJ
fumecheng-13629	50	20	powertrain	powertrain	NOUN
fumecheng-13629	50	21	model	model	NOUN
fumecheng-13629	50	22	-	-	PUNCT
fumecheng-13629	50	23	based	base	VERB
fumecheng-13629	50	24	advisor	advisor	NOUN
fumecheng-13629	50	25	system	system	NOUN
fumecheng-13629	50	26	,	,	PUNCT
fumecheng-13629	50	27	which	which	PRON
fumecheng-13629	50	28	not	not	PART
fumecheng-13629	50	29	only	only	ADV
fumecheng-13629	50	30	provides	provide	VERB
fumecheng-13629	50	31	speed	speed	NOUN
fumecheng-13629	50	32	profiles	profile	NOUN
fumecheng-13629	50	33	but	but	CCONJ
fumecheng-13629	50	34	also	also	ADV
fumecheng-13629	50	35	real	real	ADJ
fumecheng-13629	50	36	-	-	PUNCT
fumecheng-13629	50	37	time	time	NOUN
fumecheng-13629	50	38	recommendations	recommendation	NOUN
fumecheng-13629	50	39	for	for	ADP
fumecheng-13629	50	40	advanced	advanced	ADJ
fumecheng-13629	50	41	driving	driving	NOUN
fumecheng-13629	50	42	modes	mode	NOUN
fumecheng-13629	50	43	such	such	ADJ
fumecheng-13629	50	44	as	as	ADP
fumecheng-13629	50	45	cruising	cruise	VERB
fumecheng-13629	50	46	and	and	CCONJ
fumecheng-13629	50	47	coasting	coast	VERB
fumecheng-13629	50	48	[	[	X
fumecheng-13629	50	49	28	28	NUM
fumecheng-13629	50	50	]	]	PUNCT
fumecheng-13629	50	51	.	.	PUNCT
fumecheng-13629	51	1	considering	consider	VERB
fumecheng-13629	51	2	the	the	DET
fumecheng-13629	51	3	diversity	diversity	NOUN
fumecheng-13629	51	4	of	of	ADP
fumecheng-13629	51	5	driver	driver	NOUN
fumecheng-13629	51	6	behavior	behavior	NOUN
fumecheng-13629	51	7	,	,	PUNCT
fumecheng-13629	51	8	ma	ma	PROPN
fumecheng-13629	51	9	et	et	PROPN
fumecheng-13629	51	10	al	al	PROPN
fumecheng-13629	51	11	.	.	PROPN
fumecheng-13629	51	12	proposed	propose	VERB
fumecheng-13629	51	13	a	a	DET
fumecheng-13629	51	14	novel	novel	ADJ
fumecheng-13629	51	15	fuel	fuel	NOUN
fumecheng-13629	51	16	-	-	PUNCT
fumecheng-13629	51	17	efficient	efficient	ADJ
fumecheng-13629	51	18	driving	driving	NOUN
fumecheng-13629	51	19	strategy	strategy	NOUN
fumecheng-13629	51	20	and	and	CCONJ
fumecheng-13629	51	21	investigated	investigate	VERB
fumecheng-13629	51	22	its	its	PRON
fumecheng-13629	51	23	impact	impact	NOUN
fumecheng-13629	51	24	on	on	ADP
fumecheng-13629	51	25	the	the	DET
fumecheng-13629	51	26	fuel	fuel	NOUN
fumecheng-13629	51	27	efficiency	efficiency	NOUN
fumecheng-13629	51	28	of	of	ADP
fumecheng-13629	51	29	a	a	DET
fumecheng-13629	51	30	human	human	NOUN
fumecheng-13629	51	31	-	-	PUNCT
fumecheng-13629	51	32	driven	drive	VERB
fumecheng-13629	51	33	vehicle	vehicle	NOUN
fumecheng-13629	51	34	fleet	fleet	NOUN
fumecheng-13629	51	35	.	.	PUNCT
fumecheng-13629	52	1	in	in	ADP
fumecheng-13629	52	2	mixed	mixed	ADJ
fumecheng-13629	52	3	traffic	traffic	NOUN
fumecheng-13629	52	4	,	,	PUNCT
fumecheng-13629	52	5	where	where	SCONJ
fumecheng-13629	52	6	multiple	multiple	ADJ
fumecheng-13629	52	7	vehicles	vehicle	NOUN
fumecheng-13629	52	8	share	share	VERB
fumecheng-13629	52	9	the	the	DET
fumecheng-13629	52	10	road	road	NOUN
fumecheng-13629	52	11	,	,	PUNCT
fumecheng-13629	52	12	the	the	DET
fumecheng-13629	52	13	strategy	strategy	NOUN
fumecheng-13629	52	14	of	of	ADP
fumecheng-13629	52	15	the	the	DET
fumecheng-13629	52	16	vehicles	vehicle	NOUN
fumecheng-13629	52	17	is	be	AUX
fumecheng-13629	52	18	realized	realize	VERB
fumecheng-13629	52	19	through	through	ADP
fumecheng-13629	52	20	vehicle	vehicle	NOUN
fumecheng-13629	52	21	connectivity	connectivity	NOUN
fumecheng-13629	52	22	and	and	CCONJ
fumecheng-13629	52	23	longitudinal	longitudinal	ADJ
fumecheng-13629	52	24	dynamic	dynamic	ADJ
fumecheng-13629	52	25	control	control	NOUN
fumecheng-13629	52	26	,	,	PUNCT
fumecheng-13629	52	27	thereby	thereby	ADV
fumecheng-13629	52	28	significantly	significantly	ADV
fumecheng-13629	52	29	reducing	reduce	VERB
fumecheng-13629	52	30	the	the	DET
fumecheng-13629	52	31	vehicle	vehicle	NOUN
fumecheng-13629	52	32	's	's	PART
fumecheng-13629	52	33	fuel	fuel	NOUN
fumecheng-13629	52	34	consumption	consumption	NOUN
fumecheng-13629	52	35	by	by	ADP
fumecheng-13629	52	36	avoiding	avoid	VERB
fumecheng-13629	52	37	unnecessary	unnecessary	ADJ
fumecheng-13629	52	38	braking	braking	NOUN
fumecheng-13629	52	39	and	and	CCONJ
fumecheng-13629	52	40	acceleration	acceleration	NOUN
fumecheng-13629	52	41	operations	operation	NOUN
fumecheng-13629	52	42	[	[	X
fumecheng-13629	52	43	29	29	NUM
fumecheng-13629	52	44	]	]	PUNCT
fumecheng-13629	52	45	.	.	PUNCT
fumecheng-13629	53	1	from	from	ADP
fumecheng-13629	53	2	the	the	DET
fumecheng-13629	53	3	current	current	ADJ
fumecheng-13629	53	4	research	research	NOUN
fumecheng-13629	53	5	on	on	ADP
fumecheng-13629	53	6	energy	energy	NOUN
fumecheng-13629	53	7	management	management	NOUN
fumecheng-13629	53	8	control	control	NOUN
fumecheng-13629	53	9	strategies	strategy	NOUN
fumecheng-13629	53	10	,	,	PUNCT
fumecheng-13629	53	11	a	a	DET
fumecheng-13629	53	12	significant	significant	ADJ
fumecheng-13629	53	13	trend	trend	NOUN
fumecheng-13629	53	14	is	be	AUX
fumecheng-13629	53	15	that	that	SCONJ
fumecheng-13629	53	16	a	a	DET
fumecheng-13629	53	17	large	large	ADJ
fumecheng-13629	53	18	number	number	NOUN
fumecheng-13629	53	19	of	of	ADP
fumecheng-13629	53	20	studies	study	NOUN
fumecheng-13629	53	21	have	have	AUX
fumecheng-13629	53	22	focused	focus	VERB
fumecheng-13629	53	23	on	on	ADP
fumecheng-13629	53	24	optimization	optimization	NOUN
fumecheng-13629	53	25	strategies	strategy	NOUN
fumecheng-13629	53	26	for	for	ADP
fumecheng-13629	53	27	specific	specific	ADJ
fumecheng-13629	53	28	scenarios	scenario	NOUN
fumecheng-13629	53	29	,	,	PUNCT
fumecheng-13629	53	30	such	such	ADJ
fumecheng-13629	53	31	as	as	ADP
fumecheng-13629	53	32	intersection	intersection	NOUN
fumecheng-13629	53	33	management	management	NOUN
fumecheng-13629	53	34	and	and	CCONJ
fumecheng-13629	53	35	energy	energy	NOUN
fumecheng-13629	53	36	management	management	NOUN
fumecheng-13629	53	37	control	control	NOUN
fumecheng-13629	53	38	strategies	strategy	NOUN
fumecheng-13629	53	39	for	for	ADP
fumecheng-13629	53	40	highways	highway	NOUN
fumecheng-13629	53	41	[	[	X
fumecheng-13629	53	42	30	30	NUM
fumecheng-13629	53	43	-	-	SYM
fumecheng-13629	53	44	32	32	NUM
fumecheng-13629	53	45	]	]	PUNCT
fumecheng-13629	53	46	.	.	PUNCT
fumecheng-13629	54	1	however	however	ADV
fumecheng-13629	54	2	,	,	PUNCT
fumecheng-13629	54	3	drivers	driver	NOUN
fumecheng-13629	54	4	'	'	PART
fumecheng-13629	54	5	daily	daily	ADJ
fumecheng-13629	54	6	commutes	commute	NOUN
fumecheng-13629	54	7	often	often	ADV
fumecheng-13629	54	8	traverse	traverse	VERB
fumecheng-13629	54	9	through	through	ADP
fumecheng-13629	54	10	complex	complex	ADJ
fumecheng-13629	54	11	and	and	CCONJ
fumecheng-13629	54	12	ever	ever	ADV
fumecheng-13629	54	13	-	-	PUNCT
fumecheng-13629	54	14	changing	change	VERB
fumecheng-13629	54	15	mixed	mixed	ADJ
fumecheng-13629	54	16	scenarios	scenario	NOUN
fumecheng-13629	54	17	,	,	PUNCT
fumecheng-13629	54	18	and	and	CCONJ
fumecheng-13629	54	19	solutions	solution	NOUN
fumecheng-13629	54	20	for	for	ADP
fumecheng-13629	54	21	a	a	DET
fumecheng-13629	54	22	single	single	ADJ
fumecheng-13629	54	23	scenario	scenario	NOUN
fumecheng-13629	54	24	may	may	AUX
fumecheng-13629	54	25	prove	prove	VERB
fumecheng-13629	54	26	inadequate	inadequate	ADJ
fumecheng-13629	54	27	in	in	ADP
fumecheng-13629	54	28	addressing	address	VERB
fumecheng-13629	54	29	comprehensive	comprehensive	ADJ
fumecheng-13629	54	30	road	road	NOUN
fumecheng-13629	54	31	conditions	condition	NOUN
fumecheng-13629	54	32	,	,	PUNCT
fumecheng-13629	54	33	thus	thus	ADV
fumecheng-13629	54	34	failing	fail	VERB
fumecheng-13629	54	35	to	to	PART
fumecheng-13629	54	36	ensure	ensure	VERB
fumecheng-13629	54	37	the	the	DET
fumecheng-13629	54	38	optimality	optimality	NOUN
fumecheng-13629	54	39	and	and	CCONJ
fumecheng-13629	54	40	adaptability	adaptability	NOUN
fumecheng-13629	54	41	of	of	ADP
fumecheng-13629	54	42	the	the	DET
fumecheng-13629	54	43	strategies	strategy	NOUN
fumecheng-13629	54	44	.	.	PUNCT
fumecheng-13629	55	1	therefore	therefore	ADV
fumecheng-13629	55	2	,	,	PUNCT
fumecheng-13629	55	3	in	in	ADP
fumecheng-13629	55	4	the	the	DET
fumecheng-13629	55	5	construction	construction	NOUN
fumecheng-13629	55	6	of	of	ADP
fumecheng-13629	55	7	intelligent	intelligent	ADJ
fumecheng-13629	55	8	transportation	transportation	NOUN
fumecheng-13629	55	9	systems	system	NOUN
fumecheng-13629	55	10	,	,	PUNCT
fumecheng-13629	55	11	the	the	DET
fumecheng-13629	55	12	development	development	NOUN
fumecheng-13629	55	13	of	of	ADP
fumecheng-13629	55	14	an	an	DET
fumecheng-13629	55	15	algorithm	algorithm	NOUN
fumecheng-13629	55	16	that	that	PRON
fumecheng-13629	55	17	can	can	AUX
fumecheng-13629	55	18	flexibly	flexibly	ADV
fumecheng-13629	55	19	cope	cope	VERB
fumecheng-13629	55	20	with	with	ADP
fumecheng-13629	55	21	mixed	mixed	ADJ
fumecheng-13629	55	22	driving	driving	NOUN
fumecheng-13629	55	23	scenarios	scenario	NOUN
fumecheng-13629	55	24	has	have	AUX
fumecheng-13629	55	25	become	become	VERB
fumecheng-13629	55	26	increasingly	increasingly	ADV
fumecheng-13629	55	27	urgent	urgent	ADJ
fumecheng-13629	55	28	and	and	CCONJ
fumecheng-13629	55	29	important	important	ADJ
fumecheng-13629	55	30	.	.	PUNCT
fumecheng-13629	56	1	this	this	DET
fumecheng-13629	56	2	paper	paper	NOUN
fumecheng-13629	56	3	addresses	address	VERB
fumecheng-13629	56	4	this	this	DET
fumecheng-13629	56	5	challenge	challenge	NOUN
fumecheng-13629	56	6	by	by	ADP
fumecheng-13629	56	7	delving	delve	VERB
fumecheng-13629	56	8	into	into	ADP
fumecheng-13629	56	9	the	the	DET
fumecheng-13629	56	10	energy	energy	NOUN
fumecheng-13629	56	11	management	management	NOUN
fumecheng-13629	56	12	control	control	NOUN
fumecheng-13629	56	13	strategy	strategy	NOUN
fumecheng-13629	56	14	for	for	ADP
fumecheng-13629	56	15	hybrid	hybrid	ADJ
fumecheng-13629	56	16	electric	electric	ADJ
fumecheng-13629	56	17	vehicles	vehicle	NOUN
fumecheng-13629	56	18	in	in	ADP
fumecheng-13629	56	19	mixed	mixed	ADJ
fumecheng-13629	56	20	scenarios	scenario	NOUN
fumecheng-13629	56	21	,	,	PUNCT
fumecheng-13629	56	22	and	and	CCONJ
fumecheng-13629	56	23	innovatively	innovatively	ADV
fumecheng-13629	56	24	proposing	propose	VERB
fumecheng-13629	56	25	shems	shem	NOUN
fumecheng-13629	56	26	.	.	PUNCT
fumecheng-13629	57	1	the	the	DET
fumecheng-13629	57	2	core	core	NOUN
fumecheng-13629	57	3	of	of	ADP
fumecheng-13629	57	4	this	this	DET
fumecheng-13629	57	5	method	method	NOUN
fumecheng-13629	57	6	lies	lie	VERB
fumecheng-13629	57	7	in	in	ADP
fumecheng-13629	57	8	the	the	DET
fumecheng-13629	57	9	customization	customization	NOUN
fumecheng-13629	57	10	of	of	ADP
fumecheng-13629	57	11	energy	energy	NOUN
fumecheng-13629	57	12	management	management	NOUN
fumecheng-13629	57	13	control	control	NOUN
fumecheng-13629	57	14	strategies	strategy	NOUN
fumecheng-13629	57	15	according	accord	VERB
fumecheng-13629	57	16	to	to	ADP
fumecheng-13629	57	17	the	the	DET
fumecheng-13629	57	18	characteristics	characteristic	NOUN
fumecheng-13629	57	19	of	of	ADP
fumecheng-13629	57	20	different	different	ADJ
fumecheng-13629	57	21	driving	driving	NOUN
fumecheng-13629	57	22	scenarios	scenario	NOUN
fumecheng-13629	57	23	,	,	PUNCT
fumecheng-13629	57	24	thereby	thereby	ADV
fumecheng-13629	57	25	achieving	achieve	VERB
fumecheng-13629	57	26	precise	precise	ADJ
fumecheng-13629	57	27	matching	matching	NOUN
fumecheng-13629	57	28	and	and	CCONJ
fumecheng-13629	57	29	efficient	efficient	ADJ
fumecheng-13629	57	30	execution	execution	NOUN
fumecheng-13629	57	31	of	of	ADP
fumecheng-13629	57	32	the	the	DET
fumecheng-13629	57	33	strategies	strategy	NOUN
fumecheng-13629	57	34	.	.	PUNCT
fumecheng-13629	58	1	4	4	NUM
fumecheng-13629	58	2	f.	f.	PROPN
fumecheng-13629	58	3	xiao	xiao	PROPN
fumecheng-13629	58	4	,	,	PUNCT
fumecheng-13629	58	5	r.	r.	PROPN
fumecheng-13629	58	6	zhang	zhang	PROPN
fumecheng-13629	58	7	,	,	PUNCT
fumecheng-13629	58	8	c.	c.	PROPN
fumecheng-13629	58	9	qi	qi	PROPN
fumecheng-13629	58	10	the	the	DET
fumecheng-13629	58	11	specific	specific	ADJ
fumecheng-13629	58	12	contributions	contribution	NOUN
fumecheng-13629	58	13	of	of	ADP
fumecheng-13629	58	14	this	this	DET
fumecheng-13629	58	15	paper	paper	NOUN
fumecheng-13629	58	16	are	be	AUX
fumecheng-13629	58	17	as	as	SCONJ
fumecheng-13629	58	18	follows	follow	VERB
fumecheng-13629	58	19	:	:	PUNCT
fumecheng-13629	58	20	1	1	X
fumecheng-13629	58	21	.	.	X
fumecheng-13629	58	22	facing	face	VERB
fumecheng-13629	58	23	the	the	DET
fumecheng-13629	58	24	actual	actual	ADJ
fumecheng-13629	58	25	situation	situation	NOUN
fumecheng-13629	58	26	of	of	ADP
fumecheng-13629	58	27	hybrid	hybrid	ADJ
fumecheng-13629	58	28	electric	electric	ADJ
fumecheng-13629	58	29	vehicles	vehicle	NOUN
fumecheng-13629	58	30	driving	drive	VERB
fumecheng-13629	58	31	in	in	ADP
fumecheng-13629	58	32	mixed	mixed	ADJ
fumecheng-13629	58	33	scenarios	scenario	NOUN
fumecheng-13629	58	34	,	,	PUNCT
fumecheng-13629	58	35	shed	shed	VERB
fumecheng-13629	58	36	framework	framework	NOUN
fumecheng-13629	58	37	for	for	ADP
fumecheng-13629	58	38	mixed	mixed	ADJ
fumecheng-13629	58	39	scenarios	scenario	NOUN
fumecheng-13629	58	40	has	have	AUX
fumecheng-13629	58	41	been	be	AUX
fumecheng-13629	58	42	constructed	construct	VERB
fumecheng-13629	58	43	.	.	PUNCT
fumecheng-13629	59	1	2	2	X
fumecheng-13629	59	2	.	.	X
fumecheng-13629	59	3	regarding	regard	VERB
fumecheng-13629	59	4	the	the	DET
fumecheng-13629	59	5	challenge	challenge	NOUN
fumecheng-13629	59	6	of	of	ADP
fumecheng-13629	59	7	reward	reward	NOUN
fumecheng-13629	59	8	function	function	NOUN
fumecheng-13629	59	9	design	design	NOUN
fumecheng-13629	59	10	,	,	PUNCT
fumecheng-13629	59	11	in	in	ADP
fumecheng-13629	59	12	the	the	DET
fumecheng-13629	59	13	car	car	NOUN
fumecheng-13629	59	14	-	-	PUNCT
fumecheng-13629	59	15	following	follow	VERB
fumecheng-13629	59	16	scenario	scenario	NOUN
fumecheng-13629	59	17	,	,	PUNCT
fumecheng-13629	59	18	an	an	DET
fumecheng-13629	59	19	adaptive	adaptive	ADJ
fumecheng-13629	59	20	policy	policy	NOUN
fumecheng-13629	59	21	learning	learning	NOUN
fumecheng-13629	59	22	strategy	strategy	NOUN
fumecheng-13629	59	23	based	base	VERB
fumecheng-13629	59	24	on	on	ADP
fumecheng-13629	59	25	imitation	imitation	NOUN
fumecheng-13629	59	26	learning	learning	NOUN
fumecheng-13629	59	27	and	and	CCONJ
fumecheng-13629	59	28	a	a	DET
fumecheng-13629	59	29	vehicle	vehicle	NOUN
fumecheng-13629	59	30	car	car	NOUN
fumecheng-13629	59	31	-	-	PUNCT
fumecheng-13629	59	32	following	follow	VERB
fumecheng-13629	59	33	strategy	strategy	NOUN
fumecheng-13629	59	34	incorporating	incorporate	VERB
fumecheng-13629	59	35	driving	driving	NOUN
fumecheng-13629	59	36	style	style	NOUN
fumecheng-13629	59	37	are	be	AUX
fumecheng-13629	59	38	proposed	propose	VERB
fumecheng-13629	59	39	.	.	PUNCT
fumecheng-13629	60	1	considering	consider	VERB
fumecheng-13629	60	2	the	the	DET
fumecheng-13629	60	3	challenges	challenge	NOUN
fumecheng-13629	60	4	of	of	ADP
fumecheng-13629	60	5	nonoptimality	nonoptimality	NOUN
fumecheng-13629	60	6	of	of	ADP
fumecheng-13629	60	7	expert	expert	ADJ
fumecheng-13629	60	8	knowledge	knowledge	NOUN
fumecheng-13629	60	9	and	and	CCONJ
fumecheng-13629	60	10	high	high	ADJ
fumecheng-13629	60	11	-	-	PUNCT
fumecheng-13629	60	12	dimensional	dimensional	ADJ
fumecheng-13629	60	13	features	feature	NOUN
fumecheng-13629	60	14	,	,	PUNCT
fumecheng-13629	60	15	an	an	DET
fumecheng-13629	60	16	optimization	optimization	NOUN
fumecheng-13629	60	17	factor	factor	NOUN
fumecheng-13629	60	18	addition	addition	NOUN
fumecheng-13629	60	19	strategy	strategy	NOUN
fumecheng-13629	60	20	is	be	AUX
fumecheng-13629	60	21	also	also	ADV
fumecheng-13629	60	22	proposed	propose	VERB
fumecheng-13629	60	23	.	.	PUNCT
fumecheng-13629	61	1	3.to	3.to	NUM
fumecheng-13629	61	2	address	address	VERB
fumecheng-13629	61	3	the	the	DET
fumecheng-13629	61	4	sparsity	sparsity	NOUN
fumecheng-13629	61	5	of	of	ADP
fumecheng-13629	61	6	the	the	DET
fumecheng-13629	61	7	reward	reward	NOUN
fumecheng-13629	61	8	function	function	NOUN
fumecheng-13629	61	9	in	in	ADP
fumecheng-13629	61	10	the	the	DET
fumecheng-13629	61	11	intersection	intersection	NOUN
fumecheng-13629	61	12	scenario	scenario	NOUN
fumecheng-13629	61	13	,	,	PUNCT
fumecheng-13629	61	14	a	a	DET
fumecheng-13629	61	15	method	method	NOUN
fumecheng-13629	61	16	of	of	ADP
fumecheng-13629	61	17	adding	add	VERB
fumecheng-13629	61	18	supplementary	supplementary	ADJ
fumecheng-13629	61	19	rewards	reward	NOUN
fumecheng-13629	61	20	to	to	PART
fumecheng-13629	61	21	compensate	compensate	VERB
fumecheng-13629	61	22	for	for	ADP
fumecheng-13629	61	23	the	the	DET
fumecheng-13629	61	24	sparse	sparse	ADJ
fumecheng-13629	61	25	reward	reward	NOUN
fumecheng-13629	61	26	function	function	NOUN
fumecheng-13629	61	27	and	and	CCONJ
fumecheng-13629	61	28	a	a	DET
fumecheng-13629	61	29	state	state	NOUN
fumecheng-13629	61	30	prediction	prediction	NOUN
fumecheng-13629	61	31	calibration	calibration	NOUN
fumecheng-13629	61	32	method	method	NOUN
fumecheng-13629	61	33	are	be	AUX
fumecheng-13629	61	34	proposed	propose	VERB
fumecheng-13629	61	35	to	to	PART
fumecheng-13629	61	36	solve	solve	VERB
fumecheng-13629	61	37	the	the	DET
fumecheng-13629	61	38	problems	problem	NOUN
fumecheng-13629	61	39	of	of	ADP
fumecheng-13629	61	40	sparse	sparse	ADJ
fumecheng-13629	61	41	reward	reward	NOUN
fumecheng-13629	61	42	functions	function	NOUN
fumecheng-13629	61	43	and	and	CCONJ
fumecheng-13629	61	44	the	the	DET
fumecheng-13629	61	45	uncertainty	uncertainty	NOUN
fumecheng-13629	61	46	of	of	ADP
fumecheng-13629	61	47	the	the	DET
fumecheng-13629	61	48	traffic	traffic	NOUN
fumecheng-13629	61	49	scenario	scenario	NOUN
fumecheng-13629	61	50	and	and	CCONJ
fumecheng-13629	61	51	the	the	DET
fumecheng-13629	61	52	learning	learn	VERB
fumecheng-13629	61	53	environment	environment	NOUN
fumecheng-13629	61	54	of	of	ADP
fumecheng-13629	61	55	the	the	DET
fumecheng-13629	61	56	intelligent	intelligent	ADJ
fumecheng-13629	61	57	agent	agent	NOUN
fumecheng-13629	61	58	.	.	PUNCT
fumecheng-13629	62	1	the	the	DET
fumecheng-13629	62	2	remaining	remain	VERB
fumecheng-13629	62	3	parts	part	NOUN
fumecheng-13629	62	4	of	of	ADP
fumecheng-13629	62	5	the	the	DET
fumecheng-13629	62	6	paper	paper	NOUN
fumecheng-13629	62	7	are	be	AUX
fumecheng-13629	62	8	as	as	SCONJ
fumecheng-13629	62	9	follows	follow	VERB
fumecheng-13629	62	10	:	:	PUNCT
fumecheng-13629	62	11	section	section	NOUN
fumecheng-13629	62	12	2	2	NUM
fumecheng-13629	62	13	is	be	AUX
fumecheng-13629	62	14	the	the	DET
fumecheng-13629	62	15	problem	problem	NOUN
fumecheng-13629	62	16	description	description	NOUN
fumecheng-13629	62	17	,	,	PUNCT
fumecheng-13629	62	18	which	which	PRON
fumecheng-13629	62	19	includes	include	VERB
fumecheng-13629	62	20	the	the	DET
fumecheng-13629	62	21	modeling	modeling	NOUN
fumecheng-13629	62	22	of	of	ADP
fumecheng-13629	62	23	hybrid	hybrid	ADJ
fumecheng-13629	62	24	electric	electric	ADJ
fumecheng-13629	62	25	vehicles	vehicle	NOUN
fumecheng-13629	62	26	.	.	PUNCT
fumecheng-13629	63	1	section	section	NOUN
fumecheng-13629	63	2	3	3	NUM
fumecheng-13629	63	3	addresses	address	NOUN
fumecheng-13629	63	4	the	the	DET
fumecheng-13629	63	5	influence	influence	NOUN
fumecheng-13629	63	6	of	of	ADP
fumecheng-13629	63	7	the	the	DET
fumecheng-13629	63	8	traffic	traffic	NOUN
fumecheng-13629	63	9	environment	environment	NOUN
fumecheng-13629	63	10	and	and	CCONJ
fumecheng-13629	63	11	driver	driver	NOUN
fumecheng-13629	63	12	habits	habit	NOUN
fumecheng-13629	63	13	on	on	ADP
fumecheng-13629	63	14	the	the	DET
fumecheng-13629	63	15	driving	driving	NOUN
fumecheng-13629	63	16	strategy	strategy	NOUN
fumecheng-13629	63	17	,	,	PUNCT
fumecheng-13629	63	18	and	and	CCONJ
fumecheng-13629	63	19	proposes	propose	VERB
fumecheng-13629	63	20	an	an	DET
fumecheng-13629	63	21	adaptive	adaptive	ADJ
fumecheng-13629	63	22	policy	policy	NOUN
fumecheng-13629	63	23	learning	learning	NOUN
fumecheng-13629	63	24	method	method	NOUN
fumecheng-13629	63	25	based	base	VERB
fumecheng-13629	63	26	on	on	ADP
fumecheng-13629	63	27	imitation	imitation	NOUN
fumecheng-13629	63	28	learning	learning	NOUN
fumecheng-13629	63	29	and	and	CCONJ
fumecheng-13629	63	30	a	a	DET
fumecheng-13629	63	31	vehicle	vehicle	NOUN
fumecheng-13629	63	32	car	car	NOUN
fumecheng-13629	63	33	-	-	PUNCT
fumecheng-13629	63	34	following	follow	VERB
fumecheng-13629	63	35	strategy	strategy	NOUN
fumecheng-13629	63	36	incorporating	incorporate	VERB
fumecheng-13629	63	37	driving	driving	NOUN
fumecheng-13629	63	38	style	style	NOUN
fumecheng-13629	63	39	.	.	PUNCT
fumecheng-13629	64	1	section	section	NOUN
fumecheng-13629	64	2	4	4	NUM
fumecheng-13629	64	3	discusses	discuss	VERB
fumecheng-13629	64	4	the	the	DET
fumecheng-13629	64	5	energy	energy	NOUN
fumecheng-13629	64	6	management	management	NOUN
fumecheng-13629	64	7	control	control	NOUN
fumecheng-13629	64	8	strategy	strategy	NOUN
fumecheng-13629	64	9	in	in	ADP
fumecheng-13629	64	10	the	the	DET
fumecheng-13629	64	11	intersection	intersection	NOUN
fumecheng-13629	64	12	scenario	scenario	NOUN
fumecheng-13629	64	13	.	.	PUNCT
fumecheng-13629	65	1	section	section	NOUN
fumecheng-13629	65	2	5	5	NUM
fumecheng-13629	65	3	verifies	verifie	NOUN
fumecheng-13629	65	4	the	the	DET
fumecheng-13629	65	5	algorithm	algorithm	NOUN
fumecheng-13629	65	6	advantages	advantage	NOUN
fumecheng-13629	65	7	from	from	ADP
fumecheng-13629	65	8	both	both	PRON
fumecheng-13629	65	9	simulation	simulation	NOUN
fumecheng-13629	65	10	and	and	CCONJ
fumecheng-13629	65	11	hardware	hardware	NOUN
fumecheng-13629	65	12	-	-	PUNCT
fumecheng-13629	65	13	in	in	ADP
fumecheng-13629	65	14	-	-	PUNCT
fumecheng-13629	65	15	the	the	DET
fumecheng-13629	65	16	-	-	PUNCT
fumecheng-13629	65	17	loop	loop	NOUN
fumecheng-13629	65	18	experiments	experiment	NOUN
fumecheng-13629	65	19	.	.	PUNCT
fumecheng-13629	66	1	section	section	NOUN
fumecheng-13629	66	2	6	6	NUM
fumecheng-13629	66	3	summarizes	summarize	NOUN
fumecheng-13629	66	4	the	the	DET
fumecheng-13629	66	5	entire	entire	ADJ
fumecheng-13629	66	6	paper	paper	NOUN
fumecheng-13629	66	7	and	and	CCONJ
fumecheng-13629	66	8	looks	look	VERB
fumecheng-13629	66	9	ahead	ahead	ADV
fumecheng-13629	66	10	to	to	ADP
fumecheng-13629	66	11	the	the	DET
fumecheng-13629	66	12	future	future	NOUN
fumecheng-13629	66	13	.	.	PUNCT
fumecheng-13629	67	1	2	2	X
fumecheng-13629	67	2	.	.	X
fumecheng-13629	67	3	problem	problem	NOUN
fumecheng-13629	67	4	description	description	NOUN
fumecheng-13629	67	5	2.1	2.1	NUM
fumecheng-13629	67	6	hev	hev	NOUN
fumecheng-13629	67	7	modeling	model	VERB
fumecheng-13629	67	8	the	the	DET
fumecheng-13629	67	9	research	research	NOUN
fumecheng-13629	67	10	focuses	focus	VERB
fumecheng-13629	67	11	on	on	ADP
fumecheng-13629	67	12	a	a	DET
fumecheng-13629	67	13	parallel	parallel	ADJ
fumecheng-13629	67	14	hev	hev	NOUN
fumecheng-13629	67	15	with	with	ADP
fumecheng-13629	67	16	a	a	DET
fumecheng-13629	67	17	p2	p2	NOUN
fumecheng-13629	67	18	configuration	configuration	NOUN
fumecheng-13629	67	19	,	,	PUNCT
fumecheng-13629	67	20	as	as	SCONJ
fumecheng-13629	67	21	depicted	depict	VERB
fumecheng-13629	67	22	in	in	ADP
fumecheng-13629	67	23	fig.1	fig.1	PROPN
fumecheng-13629	67	24	.	.	PUNCT
fumecheng-13629	68	1	the	the	DET
fumecheng-13629	68	2	p2	p2	PROPN
fumecheng-13629	68	3	hev	hev	PROPN
fumecheng-13629	68	4	model	model	NOUN
fumecheng-13629	68	5	offered	offer	VERB
fumecheng-13629	68	6	by	by	ADP
fumecheng-13629	68	7	the	the	DET
fumecheng-13629	68	8	matlab	matlab	PROPN
fumecheng-13629	68	9	/	/	SYM
fumecheng-13629	68	10	simulink	simulink	PROPN
fumecheng-13629	68	11	2020b	2020b	NOUN
fumecheng-13629	68	12	community	community	NOUN
fumecheng-13629	68	13	is	be	AUX
fumecheng-13629	68	14	utilized	utilize	VERB
fumecheng-13629	68	15	and	and	CCONJ
fumecheng-13629	68	16	modified	modify	VERB
fumecheng-13629	68	17	in	in	ADP
fumecheng-13629	68	18	the	the	DET
fumecheng-13629	68	19	control	control	NOUN
fumecheng-13629	68	20	component	component	NOUN
fumecheng-13629	68	21	to	to	PART
fumecheng-13629	68	22	enhance	enhance	VERB
fumecheng-13629	68	23	simulation	simulation	NOUN
fumecheng-13629	68	24	precision	precision	NOUN
fumecheng-13629	68	25	and	and	CCONJ
fumecheng-13629	68	26	repeatability	repeatability	NOUN
fumecheng-13629	68	27	.	.	PUNCT
fumecheng-13629	69	1	table	table	NOUN
fumecheng-13629	69	2	1	1	NUM
fumecheng-13629	69	3	contains	contain	VERB
fumecheng-13629	69	4	detailed	detailed	ADJ
fumecheng-13629	69	5	information	information	NOUN
fumecheng-13629	69	6	about	about	ADP
fumecheng-13629	69	7	the	the	DET
fumecheng-13629	69	8	model	model	NOUN
fumecheng-13629	69	9	parameters	parameter	NOUN
fumecheng-13629	69	10	.	.	PUNCT
fumecheng-13629	70	1	table	table	NOUN
fumecheng-13629	70	2	1	1	NUM
fumecheng-13629	70	3	other	other	ADJ
fumecheng-13629	70	4	parameters	parameter	NOUN
fumecheng-13629	70	5	of	of	ADP
fumecheng-13629	70	6	the	the	DET
fumecheng-13629	70	7	vehicle	vehicle	NOUN
fumecheng-13629	70	8	symbol	symbol	NOUN
fumecheng-13629	70	9	parameter	parameter	NOUN
fumecheng-13629	70	10	values	value	NOUN
fumecheng-13629	70	11	engine	engine	NOUN
fumecheng-13629	70	12	maximum	maximum	ADJ
fumecheng-13629	70	13	power	power	NOUN
fumecheng-13629	70	14	92	92	NUM
fumecheng-13629	70	15	kw	kw	INTJ
fumecheng-13629	70	16	maximum	maximum	ADJ
fumecheng-13629	70	17	torque	torque	NOUN
fumecheng-13629	70	18	175	175	NUM
fumecheng-13629	70	19	nm	nm	PRON
fumecheng-13629	70	20	maximum	maximum	ADJ
fumecheng-13629	70	21	speed	speed	NOUN
fumecheng-13629	70	22	6500	6500	NUM
fumecheng-13629	70	23	rpm	rpm	NOUN
fumecheng-13629	70	24	motor	motor	NOUN
fumecheng-13629	70	25	maximum	maximum	PROPN
fumecheng-13629	70	26	power	power	NOUN
fumecheng-13629	70	27	30	30	NUM
fumecheng-13629	70	28	kw	kw	NOUN
fumecheng-13629	70	29	maximum	maximum	ADJ
fumecheng-13629	70	30	torque	torque	NOUN
fumecheng-13629	70	31	200	200	NUM
fumecheng-13629	70	32	nm	nm	DET
fumecheng-13629	70	33	maximum	maximum	ADJ
fumecheng-13629	70	34	speed	speed	NOUN
fumecheng-13629	70	35	6000	6000	NUM
fumecheng-13629	70	36	rpm	rpm	NOUN
fumecheng-13629	70	37	battery	battery	NOUN
fumecheng-13629	70	38	capacity	capacity	NOUN
fumecheng-13629	70	39	5.3	5.3	NUM
fumecheng-13629	70	40	ah	ah	INTJ
fumecheng-13629	70	41	voltage	voltage	VERB
fumecheng-13629	70	42	266.5	266.5	NUM
fumecheng-13629	70	43	v	v	ADP
fumecheng-13629	70	44	scenario	scenario	NOUN
fumecheng-13629	70	45	-	-	PUNCT
fumecheng-13629	70	46	level	level	NOUN
fumecheng-13629	70	47	hierarchical	hierarchical	ADJ
fumecheng-13629	70	48	energy	energy	NOUN
fumecheng-13629	70	49	management	management	NOUN
fumecheng-13629	70	50	control	control	NOUN
fumecheng-13629	70	51	strategy	strategy	NOUN
fumecheng-13629	70	52	for	for	ADP
fumecheng-13629	70	53	hybrid	hybrid	ADJ
fumecheng-13629	70	54	electric	electric	ADJ
fumecheng-13629	70	55	vehicle	vehicle	NOUN
fumecheng-13629	70	56	5	5	NUM
fumecheng-13629	70	57	gear	gear	NOUN
fumecheng-13629	70	58	box	box	NOUN
fumecheng-13629	70	59	torque	torque	NOUN
fumecheng-13629	70	60	coupler	coupler	PROPN
fumecheng-13629	70	61	engine	engine	NOUN
fumecheng-13629	70	62	motor	motor	NOUN
fumecheng-13629	70	63	controller	controller	NOUN
fumecheng-13629	70	64	battery	battery	NOUN
fumecheng-13629	70	65	charge	charge	NOUN
fumecheng-13629	70	66	differential	differential	NOUN
fumecheng-13629	70	67	drive	drive	NOUN
fumecheng-13629	70	68	charge	charge	NOUN
fumecheng-13629	70	69	fig	fig	NOUN
fumecheng-13629	70	70	.	.	PUNCT
fumecheng-13629	71	1	1	1	NUM
fumecheng-13629	71	2	vehicle	vehicle	NOUN
fumecheng-13629	71	3	transmission	transmission	NOUN
fumecheng-13629	71	4	configuration	configuration	NOUN
fumecheng-13629	71	5	2.1.1	2.1.1	NUM
fumecheng-13629	71	6	vehicle	vehicle	NOUN
fumecheng-13629	71	7	dynamics	dynamic	NOUN
fumecheng-13629	71	8	modeling	model	VERB
fumecheng-13629	71	9	the	the	DET
fumecheng-13629	71	10	longitudinal	longitudinal	ADJ
fumecheng-13629	71	11	force	force	NOUN
fumecheng-13629	71	12	balance	balance	NOUN
fumecheng-13629	71	13	equation	equation	NOUN
fumecheng-13629	71	14	of	of	ADP
fumecheng-13629	71	15	the	the	DET
fumecheng-13629	71	16	vehicle	vehicle	NOUN
fumecheng-13629	71	17	is	be	AUX
fumecheng-13629	71	18	shown	show	VERB
fumecheng-13629	71	19	in	in	ADP
fumecheng-13629	71	20	eq	eq	ADP
fumecheng-13629	71	21	.	.	PUNCT
fumecheng-13629	72	1	(	(	PUNCT
fumecheng-13629	72	2	1	1	NUM
fumecheng-13629	72	3	)	)	PUNCT
fumecheng-13629	72	4	.	.	PUNCT
fumecheng-13629	73	1	the	the	DET
fumecheng-13629	73	2	equation	equation	NOUN
fumecheng-13629	73	3	is	be	AUX
fumecheng-13629	73	4	divided	divide	VERB
fumecheng-13629	73	5	into	into	ADP
fumecheng-13629	73	6	four	four	NUM
fumecheng-13629	73	7	parts	part	NOUN
fumecheng-13629	73	8	:	:	PUNCT
fumecheng-13629	73	9	rolling	roll	VERB
fumecheng-13629	73	10	resistance	resistance	NOUN
fumecheng-13629	73	11	ff	ff	NOUN
fumecheng-13629	73	12	,	,	PUNCT
fumecheng-13629	73	13	aerodynamic	aerodynamic	ADJ
fumecheng-13629	73	14	drag	drag	NOUN
fumecheng-13629	73	15	fw	fw	NOUN
fumecheng-13629	73	16	,	,	PUNCT
fumecheng-13629	73	17	slope	slope	NOUN
fumecheng-13629	73	18	resistance	resistance	NOUN
fumecheng-13629	73	19	fi	fi	NOUN
fumecheng-13629	73	20	,	,	PUNCT
fumecheng-13629	73	21	and	and	CCONJ
fumecheng-13629	73	22	inertial	inertial	ADJ
fumecheng-13629	73	23	force	force	NOUN
fumecheng-13629	73	24	fa	fa	PROPN
fumecheng-13629	73	25	.	.	PUNCT
fumecheng-13629	73	26	{	{	PUNCT
fumecheng-13629	74	1	𝐹	𝐹	NOUN
fumecheng-13629	74	2	=	=	PUNCT
fumecheng-13629	75	1	𝐹𝑓	𝐹𝑓	PROPN
fumecheng-13629	75	2	+	+	PUNCT
fumecheng-13629	76	1	𝐹𝑤	𝐹𝑤	PROPN
fumecheng-13629	76	2	+	+	CCONJ
fumecheng-13629	76	3	𝐹𝑖	𝐹𝑖	PROPN
fumecheng-13629	76	4	+	+	CCONJ
fumecheng-13629	76	5	𝐹𝑎	𝐹𝑎	PROPN
fumecheng-13629	76	6	𝐹𝑓	𝐹𝑓	PROPN
fumecheng-13629	76	7	=	=	SYM
fumecheng-13629	76	8	𝑊𝑓	𝑊𝑓	PROPN
fumecheng-13629	76	9	=	=	SYM
fumecheng-13629	76	10	𝐺	𝐺	PROPN
fumecheng-13629	77	1	⋅	⋅	PROPN
fumecheng-13629	77	2	𝑓	𝑓	PROPN
fumecheng-13629	77	3	𝐹𝑤	𝐹𝑤	NOUN
fumecheng-13629	77	4	=	=	SYM
fumecheng-13629	77	5	1	1	NUM
fumecheng-13629	77	6	2	2	NUM
fumecheng-13629	77	7	𝜌	𝜌	ADP
fumecheng-13629	77	8	⋅	⋅	PROPN
fumecheng-13629	77	9	𝐴𝑓	𝐴𝑓	PROPN
fumecheng-13629	77	10	⋅	⋅	ADJ
fumecheng-13629	77	11	𝐶𝐷	𝐶𝐷	PROPN
fumecheng-13629	77	12	⋅	⋅	PROPN
fumecheng-13629	77	13	𝑣	𝑣	PRON
fumecheng-13629	77	14	2	2	NUM
fumecheng-13629	77	15	𝐹𝑖	𝐹𝑖	PROPN
fumecheng-13629	77	16	=	=	NOUN
fumecheng-13629	77	17	𝐺	𝐺	PROPN
fumecheng-13629	77	18	⋅	⋅	PROPN
fumecheng-13629	77	19	𝑖	𝑖	SYM
fumecheng-13629	77	20	𝐹𝑎	𝐹𝑎	PROPN
fumecheng-13629	77	21	=	=	SYM
fumecheng-13629	77	22	𝛿	𝛿	ADJ
fumecheng-13629	77	23	⋅	⋅	PROPN
fumecheng-13629	77	24	𝑚	𝑚	PROPN
fumecheng-13629	77	25	⋅	⋅	PROPN
fumecheng-13629	77	26	𝑎	𝑎	X
fumecheng-13629	77	27	(	(	PUNCT
fumecheng-13629	77	28	1	1	NUM
fumecheng-13629	77	29	)	)	PUNCT
fumecheng-13629	77	30	where	where	SCONJ
fumecheng-13629	77	31	g	g	PROPN
fumecheng-13629	77	32	represents	represent	VERB
fumecheng-13629	77	33	the	the	DET
fumecheng-13629	77	34	vehicle	vehicle	NOUN
fumecheng-13629	77	35	weight	weight	NOUN
fumecheng-13629	77	36	,	,	PUNCT
fumecheng-13629	77	37	f	f	PROPN
fumecheng-13629	77	38	is	be	AUX
fumecheng-13629	77	39	the	the	DET
fumecheng-13629	77	40	rolling	rolling	ADJ
fumecheng-13629	77	41	coefficient	coefficient	NOUN
fumecheng-13629	77	42	,	,	PUNCT
fumecheng-13629	77	43	ρ	ρ	PROPN
fumecheng-13629	77	44	indicates	indicate	VERB
fumecheng-13629	77	45	the	the	DET
fumecheng-13629	77	46	air	air	NOUN
fumecheng-13629	77	47	density	density	NOUN
fumecheng-13629	77	48	,	,	PUNCT
fumecheng-13629	77	49	af	af	PROPN
fumecheng-13629	77	50	represents	represent	VERB
fumecheng-13629	77	51	the	the	DET
fumecheng-13629	77	52	frontal	frontal	ADJ
fumecheng-13629	77	53	area	area	NOUN
fumecheng-13629	77	54	of	of	ADP
fumecheng-13629	77	55	the	the	DET
fumecheng-13629	77	56	vehicle	vehicle	NOUN
fumecheng-13629	77	57	,	,	PUNCT
fumecheng-13629	77	58	cd	cd	PROPN
fumecheng-13629	77	59	donates	donate	VERB
fumecheng-13629	77	60	the	the	DET
fumecheng-13629	77	61	drag	drag	NOUN
fumecheng-13629	77	62	coefficient	coefficient	NOUN
fumecheng-13629	77	63	,	,	PUNCT
fumecheng-13629	77	64	i	i	PRON
fumecheng-13629	77	65	is	be	AUX
fumecheng-13629	77	66	the	the	DET
fumecheng-13629	77	67	slope	slope	NOUN
fumecheng-13629	77	68	angle	angle	NOUN
fumecheng-13629	77	69	,	,	PUNCT
fumecheng-13629	77	70	δ	δ	PROPN
fumecheng-13629	77	71	means	mean	VERB
fumecheng-13629	77	72	the	the	DET
fumecheng-13629	77	73	rotational	rotational	ADJ
fumecheng-13629	77	74	mass	mass	NOUN
fumecheng-13629	77	75	conversion	conversion	NOUN
fumecheng-13629	77	76	factor	factor	NOUN
fumecheng-13629	77	77	,	,	PUNCT
fumecheng-13629	77	78	and	and	CCONJ
fumecheng-13629	77	79	a	a	PRON
fumecheng-13629	77	80	indicates	indicate	VERB
fumecheng-13629	77	81	the	the	DET
fumecheng-13629	77	82	longitudinal	longitudinal	ADJ
fumecheng-13629	77	83	acceleration	acceleration	NOUN
fumecheng-13629	77	84	of	of	ADP
fumecheng-13629	77	85	the	the	DET
fumecheng-13629	77	86	vehicle	vehicle	NOUN
fumecheng-13629	77	87	.	.	PUNCT
fumecheng-13629	78	1	the	the	DET
fumecheng-13629	78	2	power	power	NOUN
fumecheng-13629	78	3	of	of	ADP
fumecheng-13629	78	4	the	the	DET
fumecheng-13629	78	5	hybrid	hybrid	ADJ
fumecheng-13629	78	6	electric	electric	ADJ
fumecheng-13629	78	7	vehicle	vehicle	NOUN
fumecheng-13629	78	8	is	be	AUX
fumecheng-13629	78	9	provided	provide	VERB
fumecheng-13629	78	10	by	by	ADP
fumecheng-13629	78	11	the	the	DET
fumecheng-13629	78	12	engine	engine	NOUN
fumecheng-13629	78	13	and	and	CCONJ
fumecheng-13629	78	14	the	the	DET
fumecheng-13629	78	15	electric	electric	ADJ
fumecheng-13629	78	16	motor	motor	NOUN
fumecheng-13629	78	17	,	,	PUNCT
fumecheng-13629	78	18	which	which	PRON
fumecheng-13629	78	19	can	can	AUX
fumecheng-13629	78	20	be	be	AUX
fumecheng-13629	78	21	calculated	calculate	VERB
fumecheng-13629	78	22	as	as	ADP
fumecheng-13629	78	23	:	:	PUNCT
fumecheng-13629	78	24	𝑃dem	𝑃dem	PROPN
fumecheng-13629	78	25	=	=	PUNCT
fumecheng-13629	78	26	(	(	PUNCT
fumecheng-13629	78	27	𝑃𝑒𝑛	𝑃𝑒𝑛	VERB
fumecheng-13629	78	28	+	+	CCONJ
fumecheng-13629	78	29	𝑃𝑏𝑎𝑡	𝑃𝑏𝑎𝑡	PROPN
fumecheng-13629	78	30	⋅	⋅	PROPN
fumecheng-13629	78	31	𝜂𝑚)𝜂𝑇	𝜂𝑚)𝜂𝑇	PROPN
fumecheng-13629	78	32	(	(	PUNCT
fumecheng-13629	78	33	2	2	NUM
fumecheng-13629	78	34	)	)	PUNCT
fumecheng-13629	78	35	where	where	SCONJ
fumecheng-13629	78	36	pen	pen	NOUN
fumecheng-13629	78	37	represents	represent	VERB
fumecheng-13629	78	38	the	the	DET
fumecheng-13629	78	39	engine	engine	NOUN
fumecheng-13629	78	40	power	power	NOUN
fumecheng-13629	78	41	,	,	PUNCT
fumecheng-13629	78	42	pbat	pbat	PROPN
fumecheng-13629	78	43	is	be	AUX
fumecheng-13629	78	44	the	the	DET
fumecheng-13629	78	45	battery	battery	NOUN
fumecheng-13629	78	46	power	power	NOUN
fumecheng-13629	78	47	,	,	PUNCT
fumecheng-13629	78	48	𝜂𝑚	𝜂𝑚	PART
fumecheng-13629	78	49	donates	donate	VERB
fumecheng-13629	78	50	the	the	DET
fumecheng-13629	78	51	electric	electric	ADJ
fumecheng-13629	78	52	motor	motor	NOUN
fumecheng-13629	78	53	efficiency	efficiency	NOUN
fumecheng-13629	78	54	,	,	PUNCT
fumecheng-13629	78	55	and	and	CCONJ
fumecheng-13629	78	56	𝜂𝑇	𝜂𝑇	NOUN
fumecheng-13629	78	57	indicates	indicate	VERB
fumecheng-13629	78	58	the	the	DET
fumecheng-13629	78	59	transmission	transmission	NOUN
fumecheng-13629	78	60	efficiency	efficiency	NOUN
fumecheng-13629	78	61	.	.	PUNCT
fumecheng-13629	79	1	2.1.2	2.1.2	NUM
fumecheng-13629	79	2	hev	hev	NOUN
fumecheng-13629	79	3	components	component	NOUN
fumecheng-13629	79	4	modeling	model	VERB
fumecheng-13629	79	5	the	the	DET
fumecheng-13629	79	6	engine	engine	NOUN
fumecheng-13629	79	7	modeling	modeling	NOUN
fumecheng-13629	79	8	adopts	adopt	VERB
fumecheng-13629	79	9	a	a	DET
fumecheng-13629	79	10	static	static	ADJ
fumecheng-13629	79	11	map	map	NOUN
fumecheng-13629	79	12	approach	approach	NOUN
fumecheng-13629	79	13	.	.	PUNCT
fumecheng-13629	80	1	based	base	VERB
fumecheng-13629	80	2	on	on	ADP
fumecheng-13629	80	3	the	the	DET
fumecheng-13629	80	4	engine	engine	NOUN
fumecheng-13629	80	5	's	's	PART
fumecheng-13629	80	6	speed	speed	NOUN
fumecheng-13629	80	7	and	and	CCONJ
fumecheng-13629	80	8	torque	torque	NOUN
fumecheng-13629	80	9	parameters	parameter	NOUN
fumecheng-13629	80	10	,	,	PUNCT
fumecheng-13629	80	11	the	the	DET
fumecheng-13629	80	12	corresponding	corresponding	ADJ
fumecheng-13629	80	13	fuel	fuel	NOUN
fumecheng-13629	80	14	consumption	consumption	NOUN
fumecheng-13629	80	15	at	at	ADP
fumecheng-13629	80	16	that	that	DET
fumecheng-13629	80	17	speed	speed	NOUN
fumecheng-13629	80	18	and	and	CCONJ
fumecheng-13629	80	19	torque	torque	NOUN
fumecheng-13629	80	20	can	can	AUX
fumecheng-13629	80	21	be	be	AUX
fumecheng-13629	80	22	directly	directly	ADV
fumecheng-13629	80	23	obtained	obtain	VERB
fumecheng-13629	80	24	from	from	ADP
fumecheng-13629	80	25	the	the	DET
fumecheng-13629	80	26	map	map	NOUN
fumecheng-13629	80	27	chart	chart	NOUN
fumecheng-13629	80	28	.	.	PUNCT
fumecheng-13629	81	1	in	in	ADP
fumecheng-13629	81	2	this	this	DET
fumecheng-13629	81	3	paper	paper	NOUN
fumecheng-13629	81	4	,	,	PUNCT
fumecheng-13629	81	5	the	the	DET
fumecheng-13629	81	6	transient	transient	ADJ
fumecheng-13629	81	7	response	response	NOUN
fumecheng-13629	81	8	can	can	AUX
fumecheng-13629	81	9	be	be	AUX
fumecheng-13629	81	10	neglected	neglect	VERB
fumecheng-13629	81	11	,	,	PUNCT
fumecheng-13629	81	12	and	and	CCONJ
fumecheng-13629	81	13	the	the	DET
fumecheng-13629	81	14	specific	specific	ADJ
fumecheng-13629	81	15	formula	formula	NOUN
fumecheng-13629	81	16	is	be	AUX
fumecheng-13629	81	17	:	:	PUNCT
fumecheng-13629	81	18	6	6	NUM
fumecheng-13629	81	19	f.	f.	PROPN
fumecheng-13629	81	20	xiao	xiao	PROPN
fumecheng-13629	81	21	,	,	PUNCT
fumecheng-13629	81	22	r.	r.	PROPN
fumecheng-13629	81	23	zhang	zhang	PROPN
fumecheng-13629	81	24	,	,	PUNCT
fumecheng-13629	81	25	c.	c.	PROPN
fumecheng-13629	81	26	qi	qi	PROPN
fumecheng-13629	81	27	𝑚𝑓𝑢𝑒𝑙	𝑚𝑓𝑢𝑒𝑙	NOUN
fumecheng-13629	81	28	=	=	SYM
fumecheng-13629	81	29	∫	∫	PROPN
fumecheng-13629	81	30	�	�	PROPN
fumecheng-13629	81	31	̇	̇	PROPN
fumecheng-13629	81	32	�	�	PROPN
fumecheng-13629	81	33	𝑓𝑢𝑒𝑙(𝑇𝑒𝑛𝑔𝑖𝑛𝑒	𝑓𝑢𝑒𝑙(𝑇𝑒𝑛𝑔𝑖𝑛𝑒	PROPN
fumecheng-13629	81	34	,	,	PUNCT
fumecheng-13629	81	35	𝜔𝑒𝑛𝑔𝑖𝑛𝑒	𝜔𝑒𝑛𝑔𝑖𝑛𝑒	ADJ
fumecheng-13629	81	36	)	)	PUNCT
fumecheng-13629	81	37	𝑡	𝑡	PROPN
fumecheng-13629	81	38	0	0	NUM
fumecheng-13629	81	39	𝑑𝑡	𝑑𝑡	ADP
fumecheng-13629	81	40	(	(	PUNCT
fumecheng-13629	81	41	3	3	NUM
fumecheng-13629	81	42	)	)	PUNCT
fumecheng-13629	81	43	where	where	SCONJ
fumecheng-13629	81	44	mfuel	mfuel	PROPN
fumecheng-13629	81	45	and	and	CCONJ
fumecheng-13629	81	46	�	�	PROPN
fumecheng-13629	81	47	̇	̇	PROPN
fumecheng-13629	81	48	�	�	PROPN
fumecheng-13629	81	49	𝑓𝑢𝑒𝑙	𝑓𝑢𝑒𝑙	NOUN
fumecheng-13629	81	50	represent	represent	VERB
fumecheng-13629	81	51	the	the	DET
fumecheng-13629	81	52	fuel	fuel	NOUN
fumecheng-13629	81	53	consumption	consumption	NOUN
fumecheng-13629	81	54	and	and	CCONJ
fumecheng-13629	81	55	the	the	DET
fumecheng-13629	81	56	fuel	fuel	NOUN
fumecheng-13629	81	57	consumption	consumption	NOUN
fumecheng-13629	81	58	rate	rate	NOUN
fumecheng-13629	81	59	,	,	PUNCT
fumecheng-13629	81	60	respectively	respectively	ADV
fumecheng-13629	81	61	,	,	PUNCT
fumecheng-13629	81	62	and	and	CCONJ
fumecheng-13629	81	63	𝜔𝑒𝑛𝑔𝑖𝑛𝑒	𝜔𝑒𝑛𝑔𝑖𝑛𝑒	NOUN
fumecheng-13629	81	64	is	be	AUX
fumecheng-13629	81	65	the	the	DET
fumecheng-13629	81	66	engine	engine	NOUN
fumecheng-13629	81	67	speed	speed	NOUN
fumecheng-13629	81	68	.	.	PUNCT
fumecheng-13629	82	1	the	the	DET
fumecheng-13629	82	2	harmful	harmful	ADJ
fumecheng-13629	82	3	gas	gas	NOUN
fumecheng-13629	82	4	emissions	emission	NOUN
fumecheng-13629	82	5	from	from	ADP
fumecheng-13629	82	6	the	the	DET
fumecheng-13629	82	7	engine	engine	NOUN
fumecheng-13629	82	8	are	be	AUX
fumecheng-13629	82	9	modeled	model	VERB
fumecheng-13629	82	10	with	with	ADP
fumecheng-13629	82	11	the	the	DET
fumecheng-13629	82	12	rsm	rsm	PROPN
fumecheng-13629	82	13	model	model	NOUN
fumecheng-13629	82	14	.	.	PUNCT
fumecheng-13629	83	1	the	the	DET
fumecheng-13629	83	2	electric	electric	ADJ
fumecheng-13629	83	3	motor	motor	NOUN
fumecheng-13629	83	4	has	have	VERB
fumecheng-13629	83	5	two	two	NUM
fumecheng-13629	83	6	operating	operate	VERB
fumecheng-13629	83	7	modes	mode	NOUN
fumecheng-13629	83	8	:	:	PUNCT
fumecheng-13629	83	9	motor	motor	NOUN
fumecheng-13629	83	10	drive	drive	NOUN
fumecheng-13629	83	11	mode	mode	NOUN
fumecheng-13629	83	12	and	and	CCONJ
fumecheng-13629	83	13	regenerative	regenerative	ADJ
fumecheng-13629	83	14	braking	braking	NOUN
fumecheng-13629	83	15	mode	mode	NOUN
fumecheng-13629	83	16	,	,	PUNCT
fumecheng-13629	83	17	which	which	PRON
fumecheng-13629	83	18	functions	function	NOUN
fumecheng-13629	83	19	as	as	ADP
fumecheng-13629	83	20	a	a	DET
fumecheng-13629	83	21	traction	traction	NOUN
fumecheng-13629	83	22	motor	motor	NOUN
fumecheng-13629	83	23	and	and	CCONJ
fumecheng-13629	83	24	a	a	DET
fumecheng-13629	83	25	generator	generator	NOUN
fumecheng-13629	83	26	,	,	PUNCT
fumecheng-13629	83	27	respectively	respectively	ADV
fumecheng-13629	83	28	.	.	PUNCT
fumecheng-13629	84	1	the	the	DET
fumecheng-13629	84	2	power	power	NOUN
fumecheng-13629	84	3	output	output	NOUN
fumecheng-13629	84	4	is	be	AUX
fumecheng-13629	84	5	represented	represent	VERB
fumecheng-13629	84	6	as	as	ADP
fumecheng-13629	84	7	:	:	PUNCT
fumecheng-13629	84	8	𝑃𝑚𝑜𝑡𝑜𝑟	𝑃𝑚𝑜𝑡𝑜𝑟	NOUN
fumecheng-13629	84	9	=	=	PUNCT
fumecheng-13629	84	10	{	{	PUNCT
fumecheng-13629	84	11	𝑇𝑚𝑜𝑡𝑜𝑟𝜔𝑚𝑜𝑡𝑜𝑟	𝑇𝑚𝑜𝑡𝑜𝑟𝜔𝑚𝑜𝑡𝑜𝑟	PROPN
fumecheng-13629	84	12	𝜂𝑚𝑜𝑡𝑜𝑟	𝜂𝑚𝑜𝑡𝑜𝑟	NOUN
fumecheng-13629	84	13	,	,	PUNCT
fumecheng-13629	84	14	𝑇𝑚𝑜𝑡𝑜𝑟	𝑇𝑚𝑜𝑡𝑜𝑟	PROPN
fumecheng-13629	84	15	≥	≥	NOUN
fumecheng-13629	84	16	0	0	NUM
fumecheng-13629	84	17	𝑇𝑚𝑜𝑡𝑜𝑟𝜔𝑚𝑜𝑡𝑜𝑟𝜂𝑚𝑜𝑡𝑜𝑟	𝑇𝑚𝑜𝑡𝑜𝑟𝜔𝑚𝑜𝑡𝑜𝑟𝜂𝑚𝑜𝑡𝑜𝑟	PROPN
fumecheng-13629	84	18	,	,	PUNCT
fumecheng-13629	84	19	𝑇𝑚𝑜𝑡𝑜𝑟	𝑇𝑚𝑜𝑡𝑜𝑟	PROPN
fumecheng-13629	84	20	<	<	X
fumecheng-13629	84	21	0	0	PUNCT
fumecheng-13629	84	22	(	(	PUNCT
fumecheng-13629	84	23	4	4	NUM
fumecheng-13629	84	24	)	)	PUNCT
fumecheng-13629	84	25	where	where	SCONJ
fumecheng-13629	84	26	pmotor	pmotor	NOUN
fumecheng-13629	84	27	,	,	PUNCT
fumecheng-13629	84	28	ωmotor	ωmotor	NOUN
fumecheng-13629	84	29	,	,	PUNCT
fumecheng-13629	84	30	and	and	CCONJ
fumecheng-13629	84	31	ηmotor	ηmotor	NOUN
fumecheng-13629	84	32	indicate	indicate	VERB
fumecheng-13629	84	33	the	the	DET
fumecheng-13629	84	34	electric	electric	ADJ
fumecheng-13629	84	35	motor	motor	NOUN
fumecheng-13629	84	36	output	output	NOUN
fumecheng-13629	84	37	power	power	NOUN
fumecheng-13629	84	38	,	,	PUNCT
fumecheng-13629	84	39	output	output	NOUN
fumecheng-13629	84	40	speed	speed	NOUN
fumecheng-13629	84	41	,	,	PUNCT
fumecheng-13629	84	42	and	and	CCONJ
fumecheng-13629	84	43	efficiency	efficiency	NOUN
fumecheng-13629	84	44	,	,	PUNCT
fumecheng-13629	84	45	respectively	respectively	ADV
fumecheng-13629	84	46	.	.	PUNCT
fumecheng-13629	85	1	the	the	DET
fumecheng-13629	85	2	rate	rate	NOUN
fumecheng-13629	85	3	of	of	ADP
fumecheng-13629	85	4	change	change	NOUN
fumecheng-13629	85	5	of	of	ADP
fumecheng-13629	85	6	the	the	DET
fumecheng-13629	85	7	state	state	NOUN
fumecheng-13629	85	8	of	of	ADP
fumecheng-13629	85	9	charge	charge	NOUN
fumecheng-13629	85	10	(	(	PUNCT
fumecheng-13629	85	11	soc	soc	NOUN
fumecheng-13629	85	12	)	)	PUNCT
fumecheng-13629	85	13	is	be	AUX
fumecheng-13629	85	14	given	give	VERB
fumecheng-13629	85	15	by	by	ADP
fumecheng-13629	85	16	:	:	PUNCT
fumecheng-13629	85	17	𝑑𝑆𝑂𝐶	𝑑𝑆𝑂𝐶	X
fumecheng-13629	85	18	=	=	SYM
fumecheng-13629	85	19	𝐼𝑏𝑎𝑡𝑡𝑒𝑟𝑦(𝑡	𝐼𝑏𝑎𝑡𝑡𝑒𝑟𝑦(𝑡	ADJ
fumecheng-13629	85	20	)	)	PUNCT
fumecheng-13629	85	21	𝑄𝑏𝑎𝑡𝑡𝑒𝑟𝑦	𝑄𝑏𝑎𝑡𝑡𝑒𝑟𝑦	PROPN
fumecheng-13629	85	22	=	=	PUNCT
fumecheng-13629	86	1	−	−	PROPN
fumecheng-13629	86	2	𝐸𝑜𝑐−√𝐸𝑜𝑐	𝐸𝑜𝑐−√𝐸𝑜𝑐	ADP
fumecheng-13629	86	3	2	2	NUM
fumecheng-13629	86	4	−4𝑅𝑏𝑎𝑡𝑡𝑒𝑟𝑦𝑃𝑏𝑎𝑡𝑡𝑒𝑟𝑦	−4𝑅𝑏𝑎𝑡𝑡𝑒𝑟𝑦𝑃𝑏𝑎𝑡𝑡𝑒𝑟𝑦	NUM
fumecheng-13629	86	5	2𝑅𝑏𝑎𝑡𝑡𝑒𝑟𝑦𝑄𝑏𝑎𝑡𝑡𝑒𝑟𝑦	2𝑅𝑏𝑎𝑡𝑡𝑒𝑟𝑦𝑄𝑏𝑎𝑡𝑡𝑒𝑟𝑦	PROPN
fumecheng-13629	86	6	(	(	PUNCT
fumecheng-13629	86	7	5	5	NUM
fumecheng-13629	86	8	)	)	PUNCT
fumecheng-13629	86	9	where	where	SCONJ
fumecheng-13629	86	10	pbattery	pbattery	NOUN
fumecheng-13629	86	11	represents	represent	VERB
fumecheng-13629	86	12	the	the	DET
fumecheng-13629	86	13	battery	battery	NOUN
fumecheng-13629	86	14	charge	charge	NOUN
fumecheng-13629	86	15	and	and	CCONJ
fumecheng-13629	86	16	qbattery	qbattery	NOUN
fumecheng-13629	86	17	is	be	AUX
fumecheng-13629	86	18	the	the	DET
fumecheng-13629	86	19	total	total	ADJ
fumecheng-13629	86	20	battery	battery	NOUN
fumecheng-13629	86	21	capacity	capacity	NOUN
fumecheng-13629	86	22	.	.	PUNCT
fumecheng-13629	87	1	2.1.3	2.1.3	NUM
fumecheng-13629	87	2	driver	driver	NOUN
fumecheng-13629	87	3	modeling	model	VERB
fumecheng-13629	87	4	the	the	DET
fumecheng-13629	87	5	forward	forward	ADJ
fumecheng-13629	87	6	simulation	simulation	NOUN
fumecheng-13629	87	7	modeling	modeling	NOUN
fumecheng-13629	87	8	approach	approach	NOUN
fumecheng-13629	87	9	is	be	AUX
fumecheng-13629	87	10	applied	apply	VERB
fumecheng-13629	87	11	,	,	PUNCT
fumecheng-13629	87	12	which	which	PRON
fumecheng-13629	87	13	requires	require	VERB
fumecheng-13629	87	14	the	the	DET
fumecheng-13629	87	15	establishment	establishment	NOUN
fumecheng-13629	87	16	of	of	ADP
fumecheng-13629	87	17	a	a	DET
fumecheng-13629	87	18	driver	driver	NOUN
fumecheng-13629	87	19	model	model	NOUN
fumecheng-13629	87	20	to	to	PART
fumecheng-13629	87	21	obtain	obtain	VERB
fumecheng-13629	87	22	the	the	DET
fumecheng-13629	87	23	acceleration	acceleration	NOUN
fumecheng-13629	87	24	and	and	CCONJ
fumecheng-13629	87	25	braking	braking	NOUN
fumecheng-13629	87	26	signals	signal	NOUN
fumecheng-13629	87	27	.	.	PUNCT
fumecheng-13629	88	1	the	the	DET
fumecheng-13629	88	2	driver	driver	NOUN
fumecheng-13629	88	3	model	model	NOUN
fumecheng-13629	88	4	is	be	AUX
fumecheng-13629	88	5	constructed	construct	VERB
fumecheng-13629	88	6	based	base	VERB
fumecheng-13629	88	7	on	on	ADP
fumecheng-13629	88	8	pid	pid	PROPN
fumecheng-13629	88	9	control	control	NOUN
fumecheng-13629	88	10	,	,	PUNCT
fumecheng-13629	88	11	by	by	ADP
fumecheng-13629	88	12	adjusting	adjust	VERB
fumecheng-13629	88	13	the	the	DET
fumecheng-13629	88	14	pid	pid	NOUN
fumecheng-13629	88	15	parameters	parameter	NOUN
fumecheng-13629	88	16	to	to	PART
fumecheng-13629	88	17	calculate	calculate	VERB
fumecheng-13629	88	18	the	the	DET
fumecheng-13629	88	19	pedal	pedal	NOUN
fumecheng-13629	88	20	opening	opening	NOUN
fumecheng-13629	88	21	based	base	VERB
fumecheng-13629	88	22	on	on	ADP
fumecheng-13629	88	23	the	the	DET
fumecheng-13629	88	24	target	target	NOUN
fumecheng-13629	88	25	vehicle	vehicle	NOUN
fumecheng-13629	88	26	speed	speed	NOUN
fumecheng-13629	88	27	and	and	CCONJ
fumecheng-13629	88	28	the	the	DET
fumecheng-13629	88	29	actual	actual	ADJ
fumecheng-13629	88	30	vehicle	vehicle	NOUN
fumecheng-13629	88	31	speed	speed	NOUN
fumecheng-13629	88	32	,	,	PUNCT
fumecheng-13629	88	33	as	as	SCONJ
fumecheng-13629	88	34	shown	show	VERB
fumecheng-13629	88	35	in	in	ADP
fumecheng-13629	88	36	eq	eq	ADP
fumecheng-13629	88	37	.	.	PUNCT
fumecheng-13629	89	1	(	(	PUNCT
fumecheng-13629	89	2	6	6	NUM
fumecheng-13629	89	3	):	):	PUNCT
fumecheng-13629	89	4	{	{	PUNCT
fumecheng-13629	89	5	𝛷𝑟𝑒𝑞	𝛷𝑟𝑒𝑞	PROPN
fumecheng-13629	89	6	=	=	PUNCT
fumecheng-13629	90	1	𝐾𝑝	𝐾𝑝	ADJ
fumecheng-13629	90	2	∙	∙	PROPN
fumecheng-13629	90	3	𝑒(𝑡	𝑒(𝑡	PROPN
fumecheng-13629	90	4	)	)	PUNCT
fumecheng-13629	91	1	+	+	CCONJ
fumecheng-13629	92	1	𝐾𝑖	𝐾𝑖	PROPN
fumecheng-13629	92	2	∙	∙	PROPN
fumecheng-13629	92	3	∫	∫	NOUN
fumecheng-13629	92	4	𝑒(𝑡)𝑑𝑡	𝑒(𝑡)𝑑𝑡	NUM
fumecheng-13629	92	5	+	+	SYM
fumecheng-13629	92	6	𝐾𝑑	𝐾𝑑	PROPN
fumecheng-13629	92	7	𝑑𝑒(𝑡	𝑑𝑒(𝑡	NOUN
fumecheng-13629	92	8	)	)	PUNCT
fumecheng-13629	92	9	𝑑𝑡	𝑑𝑡	ADP
fumecheng-13629	92	10	𝑒(𝑡	𝑒(𝑡	PROPN
fumecheng-13629	92	11	)	)	PUNCT
fumecheng-13629	93	1	=	=	SYM
fumecheng-13629	93	2	𝑣𝑇𝑎𝑟	𝑣𝑇𝑎𝑟	PROPN
fumecheng-13629	93	3	−	−	PROPN
fumecheng-13629	93	4	𝑣	𝑣	X
fumecheng-13629	93	5	(	(	PUNCT
fumecheng-13629	93	6	6	6	NUM
fumecheng-13629	93	7	)	)	PUNCT
fumecheng-13629	93	8	where	where	SCONJ
fumecheng-13629	93	9	,	,	PUNCT
fumecheng-13629	93	10	e	e	PRON
fumecheng-13629	93	11	represents	represent	VERB
fumecheng-13629	93	12	the	the	DET
fumecheng-13629	93	13	deviation	deviation	NOUN
fumecheng-13629	93	14	between	between	ADP
fumecheng-13629	93	15	the	the	DET
fumecheng-13629	93	16	target	target	NOUN
fumecheng-13629	93	17	vehicle	vehicle	NOUN
fumecheng-13629	93	18	speed	speed	NOUN
fumecheng-13629	93	19	and	and	CCONJ
fumecheng-13629	93	20	the	the	DET
fumecheng-13629	93	21	actual	actual	ADJ
fumecheng-13629	93	22	vehicle	vehicle	NOUN
fumecheng-13629	93	23	speed	speed	NOUN
fumecheng-13629	93	24	,	,	PUNCT
fumecheng-13629	93	25	and	and	CCONJ
fumecheng-13629	93	26	kp	kp	PROPN
fumecheng-13629	93	27	,	,	PUNCT
fumecheng-13629	93	28	ki	ki	PROPN
fumecheng-13629	93	29	,	,	PUNCT
fumecheng-13629	93	30	and	and	CCONJ
fumecheng-13629	93	31	kd	kd	PROPN
fumecheng-13629	93	32	mean	mean	VERB
fumecheng-13629	93	33	the	the	DET
fumecheng-13629	93	34	parameters	parameter	NOUN
fumecheng-13629	93	35	of	of	ADP
fumecheng-13629	93	36	the	the	DET
fumecheng-13629	93	37	pid	pid	NOUN
fumecheng-13629	93	38	controller	controller	NOUN
fumecheng-13629	93	39	,	,	PUNCT
fumecheng-13629	93	40	respectively	respectively	ADV
fumecheng-13629	93	41	.	.	PUNCT
fumecheng-13629	94	1	2.2	2.2	NUM
fumecheng-13629	94	2	strategy	strategy	NOUN
fumecheng-13629	94	3	assumptions	assumption	NOUN
fumecheng-13629	94	4	and	and	CCONJ
fumecheng-13629	94	5	scenario	scenario	NOUN
fumecheng-13629	94	6	classification	classification	NOUN
fumecheng-13629	94	7	to	to	PART
fumecheng-13629	94	8	make	make	VERB
fumecheng-13629	94	9	the	the	DET
fumecheng-13629	94	10	problem	problem	NOUN
fumecheng-13629	94	11	more	more	ADV
fumecheng-13629	94	12	specific	specific	ADJ
fumecheng-13629	94	13	and	and	CCONJ
fumecheng-13629	94	14	complete	complete	VERB
fumecheng-13629	94	15	the	the	DET
fumecheng-13629	94	16	task	task	NOUN
fumecheng-13629	94	17	better	well	ADV
fumecheng-13629	94	18	,	,	PUNCT
fumecheng-13629	94	19	the	the	DET
fumecheng-13629	94	20	following	follow	VERB
fumecheng-13629	94	21	assumptions	assumption	NOUN
fumecheng-13629	94	22	are	be	AUX
fumecheng-13629	94	23	made	make	VERB
fumecheng-13629	94	24	:	:	PUNCT
fumecheng-13629	94	25	(	(	PUNCT
fumecheng-13629	94	26	1	1	X
fumecheng-13629	94	27	)	)	PUNCT
fumecheng-13629	94	28	the	the	DET
fumecheng-13629	94	29	connected	connected	ADJ
fumecheng-13629	94	30	and	and	CCONJ
fumecheng-13629	94	31	automated	automate	VERB
fumecheng-13629	94	32	vehicle	vehicle	NOUN
fumecheng-13629	94	33	(	(	PUNCT
fumecheng-13629	94	34	cav	cav	NOUN
fumecheng-13629	94	35	)	)	PUNCT
fumecheng-13629	94	36	can	can	AUX
fumecheng-13629	94	37	communicate	communicate	VERB
fumecheng-13629	94	38	in	in	ADP
fumecheng-13629	94	39	real	real	ADJ
fumecheng-13629	94	40	-	-	PUNCT
fumecheng-13629	94	41	time	time	NOUN
fumecheng-13629	94	42	with	with	ADP
fumecheng-13629	94	43	the	the	DET
fumecheng-13629	94	44	infrastructure	infrastructure	NOUN
fumecheng-13629	94	45	on	on	ADP
fumecheng-13629	94	46	the	the	DET
fumecheng-13629	94	47	roadside	roadside	NOUN
fumecheng-13629	94	48	during	during	ADP
fumecheng-13629	94	49	driving	driving	NOUN
fumecheng-13629	94	50	,	,	PUNCT
fumecheng-13629	94	51	and	and	CCONJ
fumecheng-13629	94	52	the	the	DET
fumecheng-13629	94	53	vehicle	vehicle	NOUN
fumecheng-13629	94	54	can	can	AUX
fumecheng-13629	94	55	obtain	obtain	VERB
fumecheng-13629	94	56	traffic	traffic	NOUN
fumecheng-13629	94	57	information	information	NOUN
fumecheng-13629	94	58	,	,	PUNCT
fumecheng-13629	94	59	location	location	NOUN
fumecheng-13629	94	60	information	information	NOUN
fumecheng-13629	94	61	,	,	PUNCT
fumecheng-13629	94	62	and	and	CCONJ
fumecheng-13629	94	63	signal	signal	VERB
fumecheng-13629	94	64	light	light	ADJ
fumecheng-13629	94	65	information	information	NOUN
fumecheng-13629	94	66	at	at	ADP
fumecheng-13629	94	67	intersections	intersection	NOUN
fumecheng-13629	94	68	through	through	ADP
fumecheng-13629	94	69	communication	communication	NOUN
fumecheng-13629	94	70	technology	technology	NOUN
fumecheng-13629	94	71	.	.	PUNCT
fumecheng-13629	95	1	(	(	PUNCT
fumecheng-13629	95	2	2	2	X
fumecheng-13629	95	3	)	)	PUNCT
fumecheng-13629	95	4	traffic	traffic	NOUN
fumecheng-13629	95	5	violations	violation	NOUN
fumecheng-13629	95	6	by	by	ADP
fumecheng-13629	95	7	pedestrians	pedestrian	NOUN
fumecheng-13629	95	8	and	and	CCONJ
fumecheng-13629	95	9	interference	interference	NOUN
fumecheng-13629	95	10	from	from	ADP
fumecheng-13629	95	11	non	non	ADJ
fumecheng-13629	95	12	-	-	ADJ
fumecheng-13629	95	13	motorized	motorized	ADJ
fumecheng-13629	95	14	vehicles	vehicle	NOUN
fumecheng-13629	95	15	are	be	AUX
fumecheng-13629	95	16	not	not	PART
fumecheng-13629	95	17	considered	consider	VERB
fumecheng-13629	95	18	.	.	PUNCT
fumecheng-13629	96	1	(	(	PUNCT
fumecheng-13629	96	2	3	3	X
fumecheng-13629	96	3	)	)	PUNCT
fumecheng-13629	96	4	the	the	DET
fumecheng-13629	96	5	state	state	NOUN
fumecheng-13629	96	6	of	of	ADP
fumecheng-13629	96	7	the	the	DET
fumecheng-13629	96	8	yellow	yellow	ADJ
fumecheng-13629	96	9	light	light	NOUN
fumecheng-13629	96	10	is	be	AUX
fumecheng-13629	96	11	not	not	PART
fumecheng-13629	96	12	considered	consider	VERB
fumecheng-13629	96	13	.	.	PUNCT
fumecheng-13629	97	1	in	in	ADP
fumecheng-13629	97	2	the	the	DET
fumecheng-13629	97	3	smart	smart	ADJ
fumecheng-13629	97	4	connected	connected	ADJ
fumecheng-13629	97	5	traffic	traffic	NOUN
fumecheng-13629	97	6	environment	environment	NOUN
fumecheng-13629	97	7	,	,	PUNCT
fumecheng-13629	97	8	the	the	DET
fumecheng-13629	97	9	traffic	traffic	NOUN
fumecheng-13629	97	10	lights	light	NOUN
fumecheng-13629	97	11	at	at	ADP
fumecheng-13629	97	12	the	the	DET
fumecheng-13629	97	13	intersection	intersection	NOUN
fumecheng-13629	97	14	have	have	VERB
fumecheng-13629	97	15	the	the	DET
fumecheng-13629	97	16	ability	ability	NOUN
fumecheng-13629	97	17	to	to	PART
fumecheng-13629	97	18	communicate	communicate	VERB
fumecheng-13629	97	19	with	with	ADP
fumecheng-13629	97	20	the	the	DET
fumecheng-13629	97	21	vehicles	vehicle	NOUN
fumecheng-13629	97	22	,	,	PUNCT
fumecheng-13629	97	23	and	and	CCONJ
fumecheng-13629	97	24	the	the	DET
fumecheng-13629	97	25	communication	communication	NOUN
fumecheng-13629	97	26	range	range	NOUN
fumecheng-13629	97	27	threshold	threshold	NOUN
fumecheng-13629	97	28	between	between	ADP
fumecheng-13629	97	29	the	the	DET
fumecheng-13629	97	30	signal	signal	ADJ
fumecheng-13629	97	31	light	light	NOUN
fumecheng-13629	97	32	and	and	CCONJ
fumecheng-13629	97	33	the	the	DET
fumecheng-13629	97	34	vehicle	vehicle	NOUN
fumecheng-13629	97	35	can	can	AUX
fumecheng-13629	97	36	be	be	AUX
fumecheng-13629	97	37	represented	represent	VERB
fumecheng-13629	97	38	as	as	ADP
fumecheng-13629	97	39	rc	rc	PROPN
fumecheng-13629	97	40	.	.	PUNCT
fumecheng-13629	98	1	when	when	SCONJ
fumecheng-13629	98	2	the	the	DET
fumecheng-13629	98	3	distance	distance	NOUN
fumecheng-13629	98	4	is	be	AUX
fumecheng-13629	98	5	less	less	ADJ
fumecheng-13629	98	6	scenario	scenario	NOUN
fumecheng-13629	98	7	-	-	PUNCT
fumecheng-13629	98	8	level	level	NOUN
fumecheng-13629	98	9	hierarchical	hierarchical	ADJ
fumecheng-13629	98	10	energy	energy	NOUN
fumecheng-13629	98	11	management	management	NOUN
fumecheng-13629	98	12	control	control	NOUN
fumecheng-13629	98	13	strategy	strategy	NOUN
fumecheng-13629	98	14	for	for	ADP
fumecheng-13629	98	15	hybrid	hybrid	ADJ
fumecheng-13629	98	16	electric	electric	ADJ
fumecheng-13629	98	17	vehicle	vehicle	NOUN
fumecheng-13629	98	18	7	7	NUM
fumecheng-13629	98	19	than	than	ADP
fumecheng-13629	98	20	rc	rc	PROPN
fumecheng-13629	98	21	,	,	PUNCT
fumecheng-13629	98	22	the	the	DET
fumecheng-13629	98	23	signal	signal	ADJ
fumecheng-13629	98	24	light	light	NOUN
fumecheng-13629	98	25	needs	need	VERB
fumecheng-13629	98	26	to	to	PART
fumecheng-13629	98	27	provide	provide	VERB
fumecheng-13629	98	28	timing	timing	NOUN
fumecheng-13629	98	29	information	information	NOUN
fumecheng-13629	98	30	,	,	PUNCT
fumecheng-13629	98	31	and	and	CCONJ
fumecheng-13629	98	32	the	the	DET
fumecheng-13629	98	33	strategy	strategy	NOUN
fumecheng-13629	98	34	at	at	ADP
fumecheng-13629	98	35	the	the	DET
fumecheng-13629	98	36	intersection	intersection	NOUN
fumecheng-13629	98	37	is	be	AUX
fumecheng-13629	98	38	triggered	trigger	VERB
fumecheng-13629	98	39	.	.	PUNCT
fumecheng-13629	99	1	when	when	SCONJ
fumecheng-13629	99	2	the	the	DET
fumecheng-13629	99	3	distance	distance	NOUN
fumecheng-13629	99	4	is	be	AUX
fumecheng-13629	99	5	greater	great	ADJ
fumecheng-13629	99	6	than	than	ADP
fumecheng-13629	99	7	rc	rc	PROPN
fumecheng-13629	99	8	,	,	PUNCT
fumecheng-13629	99	9	the	the	DET
fumecheng-13629	99	10	strategy	strategy	NOUN
fumecheng-13629	99	11	at	at	ADP
fumecheng-13629	99	12	the	the	DET
fumecheng-13629	99	13	intersection	intersection	NOUN
fumecheng-13629	99	14	is	be	AUX
fumecheng-13629	99	15	not	not	PART
fumecheng-13629	99	16	needed	need	VERB
fumecheng-13629	99	17	,	,	PUNCT
fumecheng-13629	99	18	and	and	CCONJ
fumecheng-13629	99	19	the	the	DET
fumecheng-13629	99	20	vehicle	vehicle	NOUN
fumecheng-13629	99	21	drives	drive	VERB
fumecheng-13629	99	22	under	under	ADP
fumecheng-13629	99	23	its	its	PRON
fumecheng-13629	99	24	own	own	ADJ
fumecheng-13629	99	25	car	car	NOUN
fumecheng-13629	99	26	-	-	PUNCT
fumecheng-13629	99	27	following	follow	VERB
fumecheng-13629	99	28	behavior	behavior	NOUN
fumecheng-13629	99	29	.	.	PUNCT
fumecheng-13629	100	1	when	when	SCONJ
fumecheng-13629	100	2	there	there	PRON
fumecheng-13629	100	3	is	be	VERB
fumecheng-13629	100	4	no	no	DET
fumecheng-13629	100	5	leading	lead	VERB
fumecheng-13629	100	6	vehicle	vehicle	NOUN
fumecheng-13629	100	7	and	and	CCONJ
fumecheng-13629	100	8	no	no	DET
fumecheng-13629	100	9	intersection	intersection	NOUN
fumecheng-13629	100	10	ahead	ahead	ADV
fumecheng-13629	100	11	,	,	PUNCT
fumecheng-13629	100	12	the	the	DET
fumecheng-13629	100	13	vehicle	vehicle	NOUN
fumecheng-13629	100	14	is	be	AUX
fumecheng-13629	100	15	in	in	ADP
fumecheng-13629	100	16	a	a	DET
fumecheng-13629	100	17	free	free	ADJ
fumecheng-13629	100	18	-	-	PUNCT
fumecheng-13629	100	19	driving	drive	VERB
fumecheng-13629	100	20	state	state	NOUN
fumecheng-13629	100	21	.	.	PUNCT
fumecheng-13629	101	1	in	in	ADP
fumecheng-13629	101	2	summary	summary	NOUN
fumecheng-13629	101	3	,	,	PUNCT
fumecheng-13629	101	4	the	the	DET
fumecheng-13629	101	5	scenario	scenario	NOUN
fumecheng-13629	101	6	classification	classification	NOUN
fumecheng-13629	101	7	strategy	strategy	NOUN
fumecheng-13629	101	8	of	of	ADP
fumecheng-13629	101	9	this	this	DET
fumecheng-13629	101	10	paper	paper	NOUN
fumecheng-13629	101	11	is	be	AUX
fumecheng-13629	101	12	as	as	SCONJ
fumecheng-13629	101	13	follows	follow	VERB
fumecheng-13629	101	14	:	:	PUNCT
fumecheng-13629	101	15	{	{	PUNCT
fumecheng-13629	101	16	𝐸𝑐𝑜	𝐸𝑐𝑜	ADJ
fumecheng-13629	101	17	−	−	NOUN
fumecheng-13629	102	1	𝑑𝑟𝑖𝑣𝑖𝑛𝑔	𝑑𝑟𝑖𝑣𝑖𝑛𝑔	ADJ
fumecheng-13629	102	2	𝑠𝑡𝑟𝑎𝑡𝑒𝑔𝑦	𝑠𝑡𝑟𝑎𝑡𝑒𝑔𝑦	PROPN
fumecheng-13629	102	3	𝑓𝑜𝑟	𝑓𝑜𝑟	ADV
fumecheng-13629	102	4	𝑖𝑛𝑡𝑒𝑟𝑠𝑒𝑐𝑡𝑖𝑜𝑛	𝑖𝑛𝑡𝑒𝑟𝑠𝑒𝑐𝑡𝑖𝑜𝑛	PROPN
fumecheng-13629	102	5	𝑠𝑐𝑒𝑛𝑒𝑠	𝑠𝑐𝑒𝑛𝑒𝑠	PROPN
fumecheng-13629	102	6	:	:	PUNCT
fumecheng-13629	102	7	𝑅	𝑅	NOUN
fumecheng-13629	102	8	<	<	X
fumecheng-13629	102	9	𝑅𝑐	𝑅𝑐	PROPN
fumecheng-13629	102	10	𝐸𝑐𝑜	𝐸𝑐𝑜	ADJ
fumecheng-13629	102	11	−	−	NOUN
fumecheng-13629	102	12	𝑑𝑟𝑖𝑣𝑖𝑛𝑔	𝑑𝑟𝑖𝑣𝑖𝑛𝑔	ADJ
fumecheng-13629	102	13	𝑠𝑡𝑟𝑎𝑡𝑒𝑔𝑦	𝑠𝑡𝑟𝑎𝑡𝑒𝑔𝑦	NOUN
fumecheng-13629	102	14	𝑓𝑜𝑟	𝑓𝑜𝑟	ADV
fumecheng-13629	102	15	𝑡𝑦𝑝𝑖𝑐𝑎𝑙	𝑡𝑦𝑝𝑖𝑐𝑎𝑙	NOUN
fumecheng-13629	102	16	𝑠𝑐𝑒𝑛𝑒𝑠	𝑠𝑐𝑒𝑛𝑒𝑠	VERB
fumecheng-13629	102	17	:	:	PUNCT
fumecheng-13629	102	18	𝑅	𝑅	NOUN
fumecheng-13629	102	19	≥	≥	NOUN
fumecheng-13629	103	1	𝑅𝑐	𝑅𝑐	PROPN
fumecheng-13629	103	2	𝐸𝑐𝑜	𝐸𝑐𝑜	ADJ
fumecheng-13629	103	3	−	−	NOUN
fumecheng-13629	103	4	𝑑𝑟𝑖𝑣𝑖𝑛𝑔	𝑑𝑟𝑖𝑣𝑖𝑛𝑔	ADJ
fumecheng-13629	103	5	𝑠𝑡𝑟𝑎𝑡𝑒𝑔𝑦	𝑠𝑡𝑟𝑎𝑡𝑒𝑔𝑦	NOUN
fumecheng-13629	103	6	𝑓𝑜𝑟	𝑓𝑜𝑟	ADV
fumecheng-13629	103	7	𝑓𝑟𝑒𝑒	𝑓𝑟𝑒𝑒	PROPN
fumecheng-13629	103	8	−	−	PROPN
fumecheng-13629	103	9	𝑑𝑟𝑖𝑣𝑖𝑛𝑔	𝑑𝑟𝑖𝑣𝑖𝑛𝑔	ADJ
fumecheng-13629	103	10	𝑠𝑐𝑒𝑛𝑒𝑠	𝑠𝑐𝑒𝑛𝑒𝑠	NOUN
fumecheng-13629	103	11	:	:	PUNCT
fumecheng-13629	103	12	𝑛𝑜	𝑛𝑜	NOUN
fumecheng-13629	103	13	𝑙𝑒𝑎𝑑𝑖𝑛𝑔	𝑙𝑒𝑎𝑑𝑖𝑛𝑔	NOUN
fumecheng-13629	103	14	𝑣𝑒ℎ𝑖𝑐𝑙𝑒	𝑣𝑒ℎ𝑖𝑐𝑙𝑒	PROPN
fumecheng-13629	103	15	𝑜𝑟	𝑜𝑟	AUX
fumecheng-13629	103	16	𝑛𝑜	𝑛𝑜	ADP
fumecheng-13629	103	17	𝑖𝑛𝑡𝑒𝑟𝑠𝑒𝑐𝑡𝑖𝑜𝑛	𝑖𝑛𝑡𝑒𝑟𝑠𝑒𝑐𝑡𝑖𝑜𝑛	ADJ
fumecheng-13629	103	18	𝑎ℎ𝑒𝑎𝑑	𝑎ℎ𝑒𝑎𝑑	NOUN
fumecheng-13629	103	19	(	(	PUNCT
fumecheng-13629	103	20	7	7	NUM
fumecheng-13629	103	21	)	)	PUNCT
fumecheng-13629	103	22	2.3	2.3	NUM
fumecheng-13629	103	23	shed	shed	VERB
fumecheng-13629	103	24	modeling	modeling	NOUN
fumecheng-13629	103	25	under	under	ADP
fumecheng-13629	103	26	reinforcement	reinforcement	NOUN
fumecheng-13629	103	27	learning	learning	NOUN
fumecheng-13629	103	28	in	in	ADP
fumecheng-13629	103	29	the	the	DET
fumecheng-13629	103	30	free	free	ADJ
fumecheng-13629	103	31	-	-	PUNCT
fumecheng-13629	103	32	driving	drive	VERB
fumecheng-13629	103	33	scenario	scenario	NOUN
fumecheng-13629	103	34	,	,	PUNCT
fumecheng-13629	103	35	the	the	DET
fumecheng-13629	103	36	following	follow	VERB
fumecheng-13629	103	37	vehicle	vehicle	NOUN
fumecheng-13629	103	38	's	's	PART
fumecheng-13629	103	39	speed	speed	NOUN
fumecheng-13629	103	40	should	should	AUX
fumecheng-13629	103	41	not	not	PART
fumecheng-13629	103	42	exceed	exceed	VERB
fumecheng-13629	103	43	the	the	DET
fumecheng-13629	103	44	maximum	maximum	ADJ
fumecheng-13629	103	45	speed	speed	NOUN
fumecheng-13629	103	46	limit	limit	NOUN
fumecheng-13629	103	47	of	of	ADP
fumecheng-13629	103	48	the	the	DET
fumecheng-13629	103	49	lane	lane	NOUN
fumecheng-13629	103	50	the	the	DET
fumecheng-13629	103	51	leading	lead	VERB
fumecheng-13629	103	52	vehicle	vehicle	NOUN
fumecheng-13629	103	53	is	be	AUX
fumecheng-13629	103	54	in	in	ADP
fumecheng-13629	103	55	,	,	PUNCT
fumecheng-13629	103	56	nor	nor	CCONJ
fumecheng-13629	103	57	should	should	AUX
fumecheng-13629	103	58	it	it	PRON
fumecheng-13629	103	59	exceed	exceed	VERB
fumecheng-13629	103	60	the	the	DET
fumecheng-13629	103	61	maximum	maximum	ADJ
fumecheng-13629	103	62	constraint	constraint	NOUN
fumecheng-13629	103	63	speed	speed	NOUN
fumecheng-13629	103	64	of	of	ADP
fumecheng-13629	103	65	the	the	DET
fumecheng-13629	103	66	vehicle	vehicle	NOUN
fumecheng-13629	103	67	.	.	PUNCT
fumecheng-13629	104	1	once	once	SCONJ
fumecheng-13629	104	2	the	the	DET
fumecheng-13629	104	3	following	follow	VERB
fumecheng-13629	104	4	vehicle	vehicle	NOUN
fumecheng-13629	104	5	accelerates	accelerate	VERB
fumecheng-13629	104	6	to	to	ADP
fumecheng-13629	104	7	the	the	DET
fumecheng-13629	104	8	maximum	maximum	ADJ
fumecheng-13629	104	9	permitted	permit	VERB
fumecheng-13629	104	10	speed	speed	NOUN
fumecheng-13629	104	11	,	,	PUNCT
fumecheng-13629	104	12	it	it	PRON
fumecheng-13629	104	13	should	should	AUX
fumecheng-13629	104	14	enter	enter	VERB
fumecheng-13629	104	15	a	a	DET
fumecheng-13629	104	16	stable	stable	ADJ
fumecheng-13629	104	17	speed	speed	NOUN
fumecheng-13629	104	18	control	control	NOUN
fumecheng-13629	104	19	mode	mode	NOUN
fumecheng-13629	104	20	and	and	CCONJ
fumecheng-13629	104	21	maintain	maintain	VERB
fumecheng-13629	104	22	that	that	SCONJ
fumecheng-13629	104	23	speed	speed	NOUN
fumecheng-13629	104	24	until	until	SCONJ
fumecheng-13629	104	25	a	a	DET
fumecheng-13629	104	26	different	different	ADJ
fumecheng-13629	104	27	traffic	traffic	NOUN
fumecheng-13629	104	28	situation	situation	NOUN
fumecheng-13629	104	29	is	be	AUX
fumecheng-13629	104	30	encountered	encounter	VERB
fumecheng-13629	104	31	.	.	PUNCT
fumecheng-13629	105	1	the	the	DET
fumecheng-13629	105	2	speed	speed	NOUN
fumecheng-13629	105	3	limit	limit	NOUN
fumecheng-13629	105	4	is	be	AUX
fumecheng-13629	105	5	given	give	VERB
fumecheng-13629	105	6	by	by	ADP
fumecheng-13629	105	7	:	:	PUNCT
fumecheng-13629	105	8	𝐹𝐹𝑟𝑒𝑒	𝐹𝐹𝑟𝑒𝑒	PROPN
fumecheng-13629	105	9	=	=	SYM
fumecheng-13629	105	10	𝑣𝑙𝑖𝑚(𝑘	𝑣𝑙𝑖𝑚(𝑘	PROPN
fumecheng-13629	105	11	)	)	PUNCT
fumecheng-13629	105	12	−	−	PROPN
fumecheng-13629	105	13	𝑣(𝑘	𝑣(𝑘	PROPN
fumecheng-13629	105	14	)	)	PUNCT
fumecheng-13629	105	15	(	(	PUNCT
fumecheng-13629	105	16	8)	8)	NUM
fumecheng-13629	105	17	𝑣𝑙𝑖𝑚(𝑘	𝑣𝑙𝑖𝑚(𝑘	NOUN
fumecheng-13629	105	18	)	)	PUNCT
fumecheng-13629	105	19	=	=	SYM
fumecheng-13629	105	20	𝑚𝑖𝑛(𝑣𝑙𝑎𝑛𝑒	𝑚𝑖𝑛(𝑣𝑙𝑎𝑛𝑒	NOUN
fumecheng-13629	105	21	,	,	PUNCT
fumecheng-13629	105	22	𝑣𝑚𝑎𝑥	𝑣𝑚𝑎𝑥	NOUN
fumecheng-13629	105	23	)	)	PUNCT
fumecheng-13629	105	24	(	(	PUNCT
fumecheng-13629	105	25	9	9	X
fumecheng-13629	105	26	)	)	PUNCT
fumecheng-13629	105	27	the	the	DET
fumecheng-13629	105	28	value	value	NOUN
fumecheng-13629	105	29	of	of	ADP
fumecheng-13629	105	30	vlim(k	vlim(k	NOUN
fumecheng-13629	105	31	)	)	PUNCT
fumecheng-13629	105	32	is	be	AUX
fumecheng-13629	105	33	selected	select	VERB
fumecheng-13629	105	34	as	as	ADP
fumecheng-13629	105	35	the	the	DET
fumecheng-13629	105	36	smaller	small	ADJ
fumecheng-13629	105	37	of	of	ADP
fumecheng-13629	105	38	the	the	DET
fumecheng-13629	105	39	two	two	NUM
fumecheng-13629	105	40	speeds	speed	NOUN
fumecheng-13629	105	41	,	,	PUNCT
fumecheng-13629	105	42	which	which	PRON
fumecheng-13629	105	43	are	be	AUX
fumecheng-13629	105	44	the	the	DET
fumecheng-13629	105	45	lane	lane	NOUN
fumecheng-13629	105	46	speed	speed	NOUN
fumecheng-13629	105	47	limit	limit	NOUN
fumecheng-13629	105	48	vlane	vlane	NOUN
fumecheng-13629	105	49	and	and	CCONJ
fumecheng-13629	105	50	the	the	DET
fumecheng-13629	105	51	maximum	maximum	ADJ
fumecheng-13629	105	52	allowed	allow	VERB
fumecheng-13629	105	53	speed	speed	NOUN
fumecheng-13629	105	54	of	of	ADP
fumecheng-13629	105	55	the	the	DET
fumecheng-13629	105	56	following	follow	VERB
fumecheng-13629	105	57	vehicle	vehicle	NOUN
fumecheng-13629	105	58	vmax	vmax	PROPN
fumecheng-13629	105	59	,	,	PUNCT
fumecheng-13629	105	60	over	over	ADP
fumecheng-13629	105	61	the	the	DET
fumecheng-13629	105	62	time	time	NOUN
fumecheng-13629	105	63	step	step	NOUN
fumecheng-13629	105	64	k.	k.	PROPN
fumecheng-13629	106	1	the	the	DET
fumecheng-13629	106	2	reward	reward	NOUN
fumecheng-13629	106	3	function	function	NOUN
fumecheng-13629	106	4	for	for	ADP
fumecheng-13629	106	5	the	the	DET
fumecheng-13629	106	6	strategy	strategy	NOUN
fumecheng-13629	106	7	in	in	ADP
fumecheng-13629	106	8	the	the	DET
fumecheng-13629	106	9	free	free	ADJ
fumecheng-13629	106	10	-	-	PUNCT
fumecheng-13629	106	11	driving	drive	VERB
fumecheng-13629	106	12	scenario	scenario	NOUN
fumecheng-13629	106	13	is	be	AUX
fumecheng-13629	106	14	as	as	SCONJ
fumecheng-13629	106	15	follows	follow	VERB
fumecheng-13629	106	16	:	:	PUNCT
fumecheng-13629	106	17	𝑅𝑓𝑟𝑒𝑒𝑑𝑜𝑚	𝑅𝑓𝑟𝑒𝑒𝑑𝑜𝑚	PROPN
fumecheng-13629	106	18	=	=	SYM
fumecheng-13629	106	19	𝛼1𝐹𝑢𝑒𝑙	𝛼1𝐹𝑢𝑒𝑙	X
fumecheng-13629	106	20	+	+	NUM
fumecheng-13629	106	21	𝛼2𝑆𝑒𝑐𝑢𝑟𝑖𝑡𝑦	𝛼2𝑆𝑒𝑐𝑢𝑟𝑖𝑡𝑦	PROPN
fumecheng-13629	106	22	+	+	CCONJ
fumecheng-13629	106	23	𝛼3𝐸𝑚𝑖𝑠𝑠𝑖𝑜𝑛	𝛼3𝐸𝑚𝑖𝑠𝑠𝑖𝑜𝑛	PROPN
fumecheng-13629	106	24	(	(	PUNCT
fumecheng-13629	106	25	10	10	NUM
fumecheng-13629	106	26	)	)	PUNCT
fumecheng-13629	106	27	if	if	SCONJ
fumecheng-13629	106	28	ffree	ffree	ADJ
fumecheng-13629	106	29	is	be	AUX
fumecheng-13629	106	30	negative	negative	ADJ
fumecheng-13629	106	31	,	,	PUNCT
fumecheng-13629	106	32	the	the	DET
fumecheng-13629	106	33	reinforcement	reinforcement	NOUN
fumecheng-13629	106	34	learning	learn	VERB
fumecheng-13629	106	35	reward	reward	NOUN
fumecheng-13629	106	36	function	function	NOUN
fumecheng-13629	106	37	is	be	AUX
fumecheng-13629	106	38	directly	directly	ADV
fumecheng-13629	106	39	set	set	VERB
fumecheng-13629	106	40	to	to	PART
fumecheng-13629	106	41	-1	-1	VERB
fumecheng-13629	106	42	to	to	PART
fumecheng-13629	106	43	receive	receive	VERB
fumecheng-13629	106	44	a	a	DET
fumecheng-13629	106	45	negative	negative	ADJ
fumecheng-13629	106	46	reward	reward	NOUN
fumecheng-13629	106	47	.	.	PUNCT
fumecheng-13629	107	1	security	security	NOUN
fumecheng-13629	107	2	represents	represent	VERB
fumecheng-13629	107	3	the	the	DET
fumecheng-13629	107	4	condition	condition	NOUN
fumecheng-13629	107	5	where	where	SCONJ
fumecheng-13629	107	6	there	there	PRON
fumecheng-13629	107	7	is	be	VERB
fumecheng-13629	107	8	no	no	DET
fumecheng-13629	107	9	collision	collision	NOUN
fumecheng-13629	107	10	with	with	ADP
fumecheng-13629	107	11	other	other	ADJ
fumecheng-13629	107	12	traffic	traffic	NOUN
fumecheng-13629	107	13	environments	environment	NOUN
fumecheng-13629	107	14	.	.	PUNCT
fumecheng-13629	108	1	the	the	DET
fumecheng-13629	108	2	reinforcement	reinforcement	NOUN
fumecheng-13629	108	3	learning	learn	VERB
fumecheng-13629	108	4	state	state	NOUN
fumecheng-13629	108	5	vector	vector	NOUN
fumecheng-13629	108	6	is	be	AUX
fumecheng-13629	108	7	:	:	PUNCT
fumecheng-13629	108	8	𝑆𝑡_𝑓𝑟𝑒𝑒𝑑𝑜𝑚	𝑆𝑡_𝑓𝑟𝑒𝑒𝑑𝑜𝑚	PROPN
fumecheng-13629	108	9	=	=	PUNCT
fumecheng-13629	109	1	[	[	X
fumecheng-13629	109	2	𝑉𝑒𝑔𝑜	𝑉𝑒𝑔𝑜	PROPN
fumecheng-13629	109	3	,	,	PUNCT
fumecheng-13629	109	4	𝐷𝑒𝑔𝑜	𝐷𝑒𝑔𝑜	PROPN
fumecheng-13629	109	5	,	,	PUNCT
fumecheng-13629	109	6	𝑖	𝑖	SYM
fumecheng-13629	109	7	,	,	PUNCT
fumecheng-13629	109	8	𝑆𝑂𝐶	𝑆𝑂𝐶	PROPN
fumecheng-13629	109	9	,	,	PUNCT
fumecheng-13629	109	10	𝐷𝑉2𝑆	𝐷𝑉2𝑆	PROPN
fumecheng-13629	109	11	]	]	X
fumecheng-13629	109	12	𝑇	𝑇	PROPN
fumecheng-13629	109	13	(	(	PUNCT
fumecheng-13629	109	14	11	11	NUM
fumecheng-13629	109	15	)	)	PUNCT
fumecheng-13629	109	16	where	where	SCONJ
fumecheng-13629	109	17	vego	vego	NOUN
fumecheng-13629	109	18	indicates	indicate	VERB
fumecheng-13629	109	19	the	the	DET
fumecheng-13629	109	20	reference	reference	NOUN
fumecheng-13629	109	21	vehicle	vehicle	NOUN
fumecheng-13629	109	22	speed	speed	NOUN
fumecheng-13629	109	23	,	,	PUNCT
fumecheng-13629	109	24	dego	dego	PROPN
fumecheng-13629	109	25	represents	represent	VERB
fumecheng-13629	109	26	the	the	DET
fumecheng-13629	109	27	distance	distance	NOUN
fumecheng-13629	109	28	to	to	ADP
fumecheng-13629	109	29	the	the	DET
fumecheng-13629	109	30	leading	lead	VERB
fumecheng-13629	109	31	vehicle	vehicle	NOUN
fumecheng-13629	109	32	,	,	PUNCT
fumecheng-13629	109	33	i	i	PRON
fumecheng-13629	109	34	means	mean	VERB
fumecheng-13629	109	35	the	the	DET
fumecheng-13629	109	36	road	road	NOUN
fumecheng-13629	109	37	slope	slope	NOUN
fumecheng-13629	109	38	,	,	PUNCT
fumecheng-13629	109	39	soc	soc	NOUN
fumecheng-13629	109	40	donates	donate	VERB
fumecheng-13629	109	41	the	the	DET
fumecheng-13629	109	42	state	state	NOUN
fumecheng-13629	109	43	of	of	ADP
fumecheng-13629	109	44	charge	charge	NOUN
fumecheng-13629	109	45	of	of	ADP
fumecheng-13629	109	46	the	the	DET
fumecheng-13629	109	47	battery	battery	NOUN
fumecheng-13629	109	48	,	,	PUNCT
fumecheng-13629	109	49	and	and	CCONJ
fumecheng-13629	109	50	dv2s	dv2s	NOUN
fumecheng-13629	109	51	is	be	AUX
fumecheng-13629	109	52	the	the	DET
fumecheng-13629	109	53	distance	distance	NOUN
fumecheng-13629	109	54	to	to	ADP
fumecheng-13629	109	55	the	the	DET
fumecheng-13629	109	56	destination	destination	NOUN
fumecheng-13629	109	57	.	.	PUNCT
fumecheng-13629	110	1	under	under	ADP
fumecheng-13629	110	2	the	the	DET
fumecheng-13629	110	3	typical	typical	ADJ
fumecheng-13629	110	4	scenario	scenario	NOUN
fumecheng-13629	110	5	condition	condition	NOUN
fumecheng-13629	110	6	,	,	PUNCT
fumecheng-13629	110	7	the	the	DET
fumecheng-13629	110	8	car	car	NOUN
fumecheng-13629	110	9	-	-	PUNCT
fumecheng-13629	110	10	following	follow	VERB
fumecheng-13629	110	11	model	model	NOUN
fumecheng-13629	110	12	algorithm	algorithm	NOUN
fumecheng-13629	110	13	can	can	AUX
fumecheng-13629	110	14	integrate	integrate	VERB
fumecheng-13629	110	15	environmental	environmental	ADJ
fumecheng-13629	110	16	characteristics	characteristic	NOUN
fumecheng-13629	110	17	and	and	CCONJ
fumecheng-13629	110	18	driver	driver	NOUN
fumecheng-13629	110	19	behavior	behavior	NOUN
fumecheng-13629	110	20	characteristics	characteristic	NOUN
fumecheng-13629	110	21	while	while	SCONJ
fumecheng-13629	110	22	ensuring	ensure	VERB
fumecheng-13629	110	23	safety	safety	NOUN
fumecheng-13629	110	24	.	.	PUNCT
fumecheng-13629	111	1	by	by	ADP
fumecheng-13629	111	2	incorporating	incorporate	VERB
fumecheng-13629	111	3	energy	energy	NOUN
fumecheng-13629	111	4	management	management	NOUN
fumecheng-13629	111	5	and	and	CCONJ
fumecheng-13629	111	6	pollutant	pollutant	ADJ
fumecheng-13629	111	7	emissions	emission	NOUN
fumecheng-13629	111	8	,	,	PUNCT
fumecheng-13629	111	9	the	the	DET
fumecheng-13629	111	10	following	follow	VERB
fumecheng-13629	111	11	reward	reward	NOUN
fumecheng-13629	111	12	function	function	NOUN
fumecheng-13629	111	13	is	be	AUX
fumecheng-13629	111	14	obtained	obtain	VERB
fumecheng-13629	111	15	:	:	PUNCT
fumecheng-13629	111	16	𝑅𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	𝑅𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	PROPN
fumecheng-13629	111	17	=	=	SYM
fumecheng-13629	111	18	𝑅𝑓𝑟𝑒𝑒𝑑𝑜𝑚	𝑅𝑓𝑟𝑒𝑒𝑑𝑜𝑚	PROPN
fumecheng-13629	111	19	+	+	NUM
fumecheng-13629	111	20	𝐹𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	𝐹𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	PROPN
fumecheng-13629	111	21	(	(	PUNCT
fumecheng-13629	111	22	12	12	NUM
fumecheng-13629	111	23	)	)	PUNCT
fumecheng-13629	111	24	the	the	DET
fumecheng-13629	111	25	reinforcement	reinforcement	NOUN
fumecheng-13629	111	26	learning	learn	VERB
fumecheng-13629	111	27	state	state	NOUN
fumecheng-13629	111	28	vector	vector	NOUN
fumecheng-13629	111	29	is	be	AUX
fumecheng-13629	111	30	:	:	PUNCT
fumecheng-13629	111	31	𝑆𝑡_𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	𝑆𝑡_𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	ADP
fumecheng-13629	111	32	=	=	PUNCT
fumecheng-13629	112	1	[	[	X
fumecheng-13629	112	2	𝑉𝑒𝑔𝑜	𝑉𝑒𝑔𝑜	PROPN
fumecheng-13629	112	3	,	,	PUNCT
fumecheng-13629	112	4	𝐷𝑒𝑔𝑜	𝐷𝑒𝑔𝑜	PROPN
fumecheng-13629	112	5	,	,	PUNCT
fumecheng-13629	112	6	𝑉𝑝𝑟𝑒	𝑉𝑝𝑟𝑒	PROPN
fumecheng-13629	112	7	,	,	PUNCT
fumecheng-13629	112	8	𝑎𝑝𝑟𝑒	𝑎𝑝𝑟𝑒	NOUN
fumecheng-13629	112	9	,	,	PUNCT
fumecheng-13629	112	10	𝐷ℎ	𝐷ℎ	PROPN
fumecheng-13629	112	11	,	,	PUNCT
fumecheng-13629	112	12	𝑖	𝑖	PROPN
fumecheng-13629	112	13	,	,	PUNCT
fumecheng-13629	112	14	𝑆𝑂𝐶	𝑆𝑂𝐶	PROPN
fumecheng-13629	112	15	,	,	PUNCT
fumecheng-13629	112	16	𝐷𝑉2𝑆	𝐷𝑉2𝑆	PROPN
fumecheng-13629	112	17	]	]	X
fumecheng-13629	112	18	𝑇	𝑇	PROPN
fumecheng-13629	112	19	(	(	PUNCT
fumecheng-13629	112	20	13	13	NUM
fumecheng-13629	112	21	)	)	PUNCT
fumecheng-13629	112	22	8	8	NUM
fumecheng-13629	112	23	f.	f.	PROPN
fumecheng-13629	112	24	xiao	xiao	PROPN
fumecheng-13629	112	25	,	,	PUNCT
fumecheng-13629	112	26	r.	r.	PROPN
fumecheng-13629	112	27	zhang	zhang	PROPN
fumecheng-13629	112	28	,	,	PUNCT
fumecheng-13629	112	29	c.	c.	PROPN
fumecheng-13629	112	30	qi	qi	PROPN
fumecheng-13629	112	31	where	where	SCONJ
fumecheng-13629	112	32	,	,	PUNCT
fumecheng-13629	112	33	vpre	vpre	ADV
fumecheng-13629	112	34	represents	represent	VERB
fumecheng-13629	112	35	the	the	DET
fumecheng-13629	112	36	speed	speed	NOUN
fumecheng-13629	112	37	of	of	ADP
fumecheng-13629	112	38	the	the	DET
fumecheng-13629	112	39	leading	lead	VERB
fumecheng-13629	112	40	vehicle	vehicle	NOUN
fumecheng-13629	112	41	,	,	PUNCT
fumecheng-13629	112	42	apre	apre	PROPN
fumecheng-13629	112	43	indicates	indicate	VERB
fumecheng-13629	112	44	the	the	DET
fumecheng-13629	112	45	acceleration	acceleration	NOUN
fumecheng-13629	112	46	of	of	ADP
fumecheng-13629	112	47	the	the	DET
fumecheng-13629	112	48	leading	lead	VERB
fumecheng-13629	112	49	vehicle	vehicle	NOUN
fumecheng-13629	112	50	,	,	PUNCT
fumecheng-13629	112	51	dh	dh	NOUN
fumecheng-13629	112	52	means	mean	VERB
fumecheng-13629	112	53	the	the	DET
fumecheng-13629	112	54	distance	distance	NOUN
fumecheng-13629	112	55	to	to	ADP
fumecheng-13629	112	56	the	the	DET
fumecheng-13629	112	57	leading	lead	VERB
fumecheng-13629	112	58	vehicle	vehicle	NOUN
fumecheng-13629	112	59	.	.	PUNCT
fumecheng-13629	113	1	in	in	ADP
fumecheng-13629	113	2	the	the	DET
fumecheng-13629	113	3	intersection	intersection	NOUN
fumecheng-13629	113	4	scenario	scenario	NOUN
fumecheng-13629	113	5	,	,	PUNCT
fumecheng-13629	113	6	the	the	DET
fumecheng-13629	113	7	optimization	optimization	NOUN
fumecheng-13629	113	8	function	function	NOUN
fumecheng-13629	113	9	is	be	AUX
fumecheng-13629	113	10	composed	compose	VERB
fumecheng-13629	113	11	of	of	ADP
fumecheng-13629	113	12	objectives	objective	NOUN
fumecheng-13629	113	13	for	for	ADP
fumecheng-13629	113	14	safety	safety	NOUN
fumecheng-13629	113	15	,	,	PUNCT
fumecheng-13629	113	16	energy	energy	NOUN
fumecheng-13629	113	17	management	management	NOUN
fumecheng-13629	113	18	,	,	PUNCT
fumecheng-13629	113	19	and	and	CCONJ
fumecheng-13629	113	20	harmful	harmful	ADJ
fumecheng-13629	113	21	substance	substance	NOUN
fumecheng-13629	113	22	emission	emission	NOUN
fumecheng-13629	113	23	reduction	reduction	NOUN
fumecheng-13629	113	24	.	.	PUNCT
fumecheng-13629	114	1	the	the	DET
fumecheng-13629	114	2	reinforcement	reinforcement	NOUN
fumecheng-13629	114	3	learning	learn	VERB
fumecheng-13629	114	4	reward	reward	NOUN
fumecheng-13629	114	5	function	function	NOUN
fumecheng-13629	114	6	is	be	AUX
fumecheng-13629	114	7	as	as	SCONJ
fumecheng-13629	114	8	follows	follow	VERB
fumecheng-13629	114	9	:	:	PUNCT
fumecheng-13629	115	1	𝑅𝑠𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	𝑅𝑠𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	PROPN
fumecheng-13629	115	2	=	=	PUNCT
fumecheng-13629	115	3	𝛽1𝐹𝑢𝑒𝑙	𝛽1𝐹𝑢𝑒𝑙	ADP
fumecheng-13629	115	4	+	+	ADJ
fumecheng-13629	115	5	𝛽2𝑆𝑒𝑐𝑢𝑟𝑖𝑡𝑦	𝛽2𝑆𝑒𝑐𝑢𝑟𝑖𝑡𝑦	ADJ
fumecheng-13629	115	6	+	+	CCONJ
fumecheng-13629	115	7	𝛽3𝐸𝑚𝑖𝑠𝑠𝑖𝑜𝑛+𝛽4𝑇𝑟𝑎𝑓𝑓𝑖𝑐𝑙𝑖𝑔ℎ𝑡	𝛽3𝐸𝑚𝑖𝑠𝑠𝑖𝑜𝑛+𝛽4𝑇𝑟𝑎𝑓𝑓𝑖𝑐𝑙𝑖𝑔ℎ𝑡	NOUN
fumecheng-13629	115	8	+	+	CCONJ
fumecheng-13629	115	9	𝐹(𝑠𝑡	𝐹(𝑠𝑡	NOUN
fumecheng-13629	115	10	,	,	PUNCT
fumecheng-13629	115	11	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	115	12	)	)	PUNCT
fumecheng-13629	115	13	(	(	PUNCT
fumecheng-13629	115	14	14	14	NUM
fumecheng-13629	115	15	)	)	PUNCT
fumecheng-13629	115	16	the	the	DET
fumecheng-13629	115	17	reinforcement	reinforcement	NOUN
fumecheng-13629	115	18	learning	learn	VERB
fumecheng-13629	115	19	state	state	NOUN
fumecheng-13629	115	20	vector	vector	NOUN
fumecheng-13629	115	21	is	be	AUX
fumecheng-13629	115	22	:	:	PUNCT
fumecheng-13629	115	23	𝑆𝑡	𝑆𝑡	PROPN
fumecheng-13629	115	24	=	=	PUNCT
fumecheng-13629	115	25	[	[	PUNCT
fumecheng-13629	115	26	𝑉𝑒𝑔𝑜	𝑉𝑒𝑔𝑜	PROPN
fumecheng-13629	115	27	,	,	PUNCT
fumecheng-13629	115	28	𝐷𝑒𝑔𝑜	𝐷𝑒𝑔𝑜	PROPN
fumecheng-13629	115	29	,	,	PUNCT
fumecheng-13629	115	30	𝑉𝑝𝑟𝑒	𝑉𝑝𝑟𝑒	PROPN
fumecheng-13629	115	31	,	,	PUNCT
fumecheng-13629	115	32	𝑎𝑝𝑟𝑒	𝑎𝑝𝑟𝑒	NOUN
fumecheng-13629	115	33	,	,	PUNCT
fumecheng-13629	115	34	𝐷ℎ	𝐷ℎ	PROPN
fumecheng-13629	115	35	,	,	PUNCT
fumecheng-13629	115	36	𝑖	𝑖	PROPN
fumecheng-13629	115	37	,	,	PUNCT
fumecheng-13629	115	38	𝑆𝑂𝐶	𝑆𝑂𝐶	PROPN
fumecheng-13629	115	39	,	,	PUNCT
fumecheng-13629	115	40	𝐷𝑉2𝑆	𝐷𝑉2𝑆	PROPN
fumecheng-13629	115	41	,	,	PUNCT
fumecheng-13629	115	42	𝑡𝑟_𝑟𝑒𝑚	𝑡𝑟_𝑟𝑒𝑚	PROPN
fumecheng-13629	115	43	,	,	PUNCT
fumecheng-13629	115	44	𝑡𝑔_𝑟𝑒𝑚	𝑡𝑔_𝑟𝑒𝑚	PROPN
fumecheng-13629	115	45	,	,	PUNCT
fumecheng-13629	115	46	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	PROPN
fumecheng-13629	115	47	,	,	PUNCT
fumecheng-13629	115	48	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	PROPN
fumecheng-13629	115	49	]	]	PUNCT
fumecheng-13629	115	50	𝑇	𝑇	PROPN
fumecheng-13629	115	51	(	(	PUNCT
fumecheng-13629	115	52	15	15	NUM
fumecheng-13629	115	53	)	)	PUNCT
fumecheng-13629	115	54	that	that	PRON
fumecheng-13629	115	55	is	be	AUX
fumecheng-13629	115	56	the	the	DET
fumecheng-13629	115	57	hierarchical	hierarchical	ADJ
fumecheng-13629	115	58	scenario	scenario	NOUN
fumecheng-13629	115	59	structure	structure	NOUN
fumecheng-13629	115	60	for	for	ADP
fumecheng-13629	115	61	the	the	DET
fumecheng-13629	115	62	shed	shed	ADJ
fumecheng-13629	115	63	algorithm	algorithm	NOUN
fumecheng-13629	115	64	.	.	PUNCT
fumecheng-13629	116	1	the	the	DET
fumecheng-13629	116	2	flow	flow	NOUN
fumecheng-13629	116	3	chart	chart	NOUN
fumecheng-13629	116	4	of	of	ADP
fumecheng-13629	116	5	the	the	DET
fumecheng-13629	116	6	algorithm	algorithm	NOUN
fumecheng-13629	116	7	is	be	AUX
fumecheng-13629	116	8	shown	show	VERB
fumecheng-13629	116	9	in	in	ADP
fumecheng-13629	116	10	fig	fig	NOUN
fumecheng-13629	116	11	.	.	PUNCT
fumecheng-13629	117	1	2	2	X
fumecheng-13629	117	2	.	.	X
fumecheng-13629	117	3	the	the	DET
fumecheng-13629	117	4	energy	energy	NOUN
fumecheng-13629	117	5	management	management	NOUN
fumecheng-13629	117	6	control	control	NOUN
fumecheng-13629	117	7	strategies	strategy	NOUN
fumecheng-13629	117	8	can	can	AUX
fumecheng-13629	117	9	be	be	AUX
fumecheng-13629	117	10	divided	divide	VERB
fumecheng-13629	117	11	into	into	ADP
fumecheng-13629	117	12	three	three	NUM
fumecheng-13629	117	13	typical	typical	ADJ
fumecheng-13629	117	14	scenarios	scenario	NOUN
fumecheng-13629	117	15	:	:	PUNCT
fumecheng-13629	117	16	free	free	ADJ
fumecheng-13629	117	17	-	-	PUNCT
fumecheng-13629	117	18	driving	drive	VERB
fumecheng-13629	117	19	,	,	PUNCT
fumecheng-13629	117	20	car	car	NOUN
fumecheng-13629	117	21	-	-	PUNCT
fumecheng-13629	117	22	following	following	NOUN
fumecheng-13629	117	23	,	,	PUNCT
fumecheng-13629	117	24	and	and	CCONJ
fumecheng-13629	117	25	intersection	intersection	NOUN
fumecheng-13629	117	26	.	.	PUNCT
fumecheng-13629	118	1	in	in	ADP
fumecheng-13629	118	2	the	the	DET
fumecheng-13629	118	3	free	free	ADJ
fumecheng-13629	118	4	-	-	PUNCT
fumecheng-13629	118	5	driving	drive	VERB
fumecheng-13629	118	6	scenario	scenario	NOUN
fumecheng-13629	118	7	,	,	PUNCT
fumecheng-13629	118	8	the	the	DET
fumecheng-13629	118	9	factors	factor	NOUN
fumecheng-13629	118	10	affecting	affect	VERB
fumecheng-13629	118	11	consist	consist	NOUN
fumecheng-13629	118	12	of	of	ADP
fumecheng-13629	118	13	fuel	fuel	NOUN
fumecheng-13629	118	14	consumption	consumption	NOUN
fumecheng-13629	118	15	,	,	PUNCT
fumecheng-13629	118	16	driving	drive	VERB
fumecheng-13629	118	17	safety	safety	NOUN
fumecheng-13629	118	18	,	,	PUNCT
fumecheng-13629	118	19	and	and	CCONJ
fumecheng-13629	118	20	emissions	emission	NOUN
fumecheng-13629	118	21	.	.	PUNCT
fumecheng-13629	119	1	the	the	DET
fumecheng-13629	119	2	reward	reward	NOUN
fumecheng-13629	119	3	function	function	NOUN
fumecheng-13629	119	4	only	only	ADV
fumecheng-13629	119	5	considers	consider	VERB
fumecheng-13629	119	6	these	these	DET
fumecheng-13629	119	7	three	three	NUM
fumecheng-13629	119	8	factors	factor	NOUN
fumecheng-13629	119	9	.	.	PUNCT
fumecheng-13629	120	1	for	for	ADP
fumecheng-13629	120	2	the	the	DET
fumecheng-13629	120	3	typical	typical	ADJ
fumecheng-13629	120	4	car	car	NOUN
fumecheng-13629	120	5	-	-	PUNCT
fumecheng-13629	120	6	following	follow	VERB
fumecheng-13629	120	7	scenario	scenario	NOUN
fumecheng-13629	120	8	,	,	PUNCT
fumecheng-13629	120	9	the	the	DET
fumecheng-13629	120	10	strategy	strategy	NOUN
fumecheng-13629	120	11	is	be	AUX
fumecheng-13629	120	12	built	build	VERB
fumecheng-13629	120	13	upon	upon	SCONJ
fumecheng-13629	120	14	the	the	DET
fumecheng-13629	120	15	free	free	ADJ
fumecheng-13629	120	16	-	-	PUNCT
fumecheng-13629	120	17	driving	drive	VERB
fumecheng-13629	120	18	case	case	NOUN
fumecheng-13629	120	19	,	,	PUNCT
fumecheng-13629	120	20	with	with	ADP
fumecheng-13629	120	21	additional	additional	ADJ
fumecheng-13629	120	22	factors	factor	NOUN
fumecheng-13629	120	23	such	such	ADJ
fumecheng-13629	120	24	as	as	ADP
fumecheng-13629	120	25	the	the	DET
fumecheng-13629	120	26	adaptive	adaptive	ADJ
fumecheng-13629	120	27	factor	factor	NOUN
fumecheng-13629	120	28	,	,	PUNCT
fumecheng-13629	120	29	mutual	mutual	ADJ
fumecheng-13629	120	30	information	information	NOUN
fumecheng-13629	120	31	,	,	PUNCT
fumecheng-13629	120	32	high	high	ADJ
fumecheng-13629	120	33	-	-	PUNCT
fumecheng-13629	120	34	dimensional	dimensional	ADJ
fumecheng-13629	120	35	features	feature	NOUN
fumecheng-13629	120	36	,	,	PUNCT
fumecheng-13629	120	37	and	and	CCONJ
fumecheng-13629	120	38	driver	driver	NOUN
fumecheng-13629	120	39	's	's	PART
fumecheng-13629	120	40	style	style	NOUN
fumecheng-13629	120	41	.	.	PUNCT
fumecheng-13629	121	1	the	the	DET
fumecheng-13629	121	2	corresponding	corresponding	ADJ
fumecheng-13629	121	3	reinforcement	reinforcement	NOUN
fumecheng-13629	121	4	learning	learn	VERB
fumecheng-13629	121	5	state	state	NOUN
fumecheng-13629	121	6	vector	vector	NOUN
fumecheng-13629	121	7	is	be	AUX
fumecheng-13629	121	8	expanded	expand	VERB
fumecheng-13629	121	9	accordingly	accordingly	ADV
fumecheng-13629	121	10	.	.	PUNCT
fumecheng-13629	122	1	under	under	ADP
fumecheng-13629	122	2	the	the	DET
fumecheng-13629	122	3	intersection	intersection	NOUN
fumecheng-13629	122	4	scenario	scenario	NOUN
fumecheng-13629	122	5	,	,	PUNCT
fumecheng-13629	122	6	the	the	DET
fumecheng-13629	122	7	strategy	strategy	NOUN
fumecheng-13629	122	8	extends	extend	VERB
fumecheng-13629	122	9	the	the	DET
fumecheng-13629	122	10	freedriving	freedriving	NOUN
fumecheng-13629	122	11	case	case	NOUN
fumecheng-13629	122	12	by	by	ADP
fumecheng-13629	122	13	incorporating	incorporate	VERB
fumecheng-13629	122	14	an	an	DET
fumecheng-13629	122	15	additional	additional	ADJ
fumecheng-13629	122	16	reward	reward	NOUN
fumecheng-13629	122	17	that	that	PRON
fumecheng-13629	122	18	combines	combine	VERB
fumecheng-13629	122	19	self	self	NOUN
fumecheng-13629	122	20	-	-	PUNCT
fumecheng-13629	122	21	supervised	supervise	VERB
fumecheng-13629	122	22	internal	internal	ADJ
fumecheng-13629	122	23	reward	reward	NOUN
fumecheng-13629	122	24	functions	function	NOUN
fumecheng-13629	122	25	,	,	PUNCT
fumecheng-13629	122	26	calibration	calibration	NOUN
fumecheng-13629	122	27	formulas	formula	NOUN
fumecheng-13629	122	28	,	,	PUNCT
fumecheng-13629	122	29	and	and	CCONJ
fumecheng-13629	122	30	traffic	traffic	NOUN
fumecheng-13629	122	31	signal	signal	NOUN
fumecheng-13629	122	32	status	status	NOUN
fumecheng-13629	122	33	.	.	PUNCT
fumecheng-13629	123	1	the	the	DET
fumecheng-13629	123	2	reinforcement	reinforcement	NOUN
fumecheng-13629	123	3	learning	learn	VERB
fumecheng-13629	123	4	state	state	NOUN
fumecheng-13629	123	5	vector	vector	NOUN
fumecheng-13629	123	6	is	be	AUX
fumecheng-13629	123	7	further	far	ADV
fumecheng-13629	123	8	expanded	expand	VERB
fumecheng-13629	123	9	to	to	PART
fumecheng-13629	123	10	capture	capture	VERB
fumecheng-13629	123	11	these	these	DET
fumecheng-13629	123	12	intersection	intersection	NOUN
fumecheng-13629	123	13	-	-	PUNCT
fumecheng-13629	123	14	specific	specific	ADJ
fumecheng-13629	123	15	elements	element	NOUN
fumecheng-13629	123	16	.	.	PUNCT
fumecheng-13629	124	1	3	3	X
fumecheng-13629	124	2	.	.	X
fumecheng-13629	124	3	adaptive	adaptive	ADJ
fumecheng-13629	124	4	vehicle	vehicle	NOUN
fumecheng-13629	124	5	following	follow	VERB
fumecheng-13629	124	6	strategy	strategy	NOUN
fumecheng-13629	124	7	based	base	VERB
fumecheng-13629	124	8	on	on	ADP
fumecheng-13629	124	9	imitation	imitation	NOUN
fumecheng-13629	124	10	learning	learn	VERB
fumecheng-13629	124	11	the	the	DET
fumecheng-13629	124	12	adaptive	adaptive	ADJ
fumecheng-13629	124	13	strategy	strategy	NOUN
fumecheng-13629	124	14	learning	learn	VERB
fumecheng-13629	124	15	approach	approach	NOUN
fumecheng-13629	124	16	that	that	PRON
fumecheng-13629	124	17	combines	combine	VERB
fumecheng-13629	124	18	imitation	imitation	NOUN
fumecheng-13629	124	19	learning	learning	NOUN
fumecheng-13629	124	20	,	,	PUNCT
fumecheng-13629	124	21	as	as	ADV
fumecheng-13629	124	22	well	well	ADV
fumecheng-13629	124	23	as	as	ADP
fumecheng-13629	124	24	an	an	DET
fumecheng-13629	124	25	imitation	imitation	NOUN
fumecheng-13629	124	26	learning	learn	VERB
fumecheng-13629	124	27	strategy	strategy	NOUN
fumecheng-13629	124	28	that	that	PRON
fumecheng-13629	124	29	incorporates	incorporate	VERB
fumecheng-13629	124	30	the	the	DET
fumecheng-13629	124	31	driver	driver	NOUN
fumecheng-13629	124	32	's	's	PART
fumecheng-13629	124	33	style	style	NOUN
fumecheng-13629	124	34	are	be	AUX
fumecheng-13629	124	35	proposed	propose	VERB
fumecheng-13629	124	36	.	.	PUNCT
fumecheng-13629	125	1	the	the	DET
fumecheng-13629	125	2	factors	factor	NOUN
fumecheng-13629	125	3	influencing	influence	VERB
fumecheng-13629	125	4	vehicle	vehicle	NOUN
fumecheng-13629	125	5	car	car	NOUN
fumecheng-13629	125	6	-	-	PUNCT
fumecheng-13629	125	7	following	following	NOUN
fumecheng-13629	125	8	can	can	AUX
fumecheng-13629	125	9	be	be	AUX
fumecheng-13629	125	10	broadly	broadly	ADV
fumecheng-13629	125	11	categorized	categorize	VERB
fumecheng-13629	125	12	into	into	ADP
fumecheng-13629	125	13	two	two	NUM
fumecheng-13629	125	14	aspects	aspect	NOUN
fumecheng-13629	125	15	:	:	PUNCT
fumecheng-13629	125	16	the	the	DET
fumecheng-13629	125	17	impact	impact	NOUN
fumecheng-13629	125	18	of	of	ADP
fumecheng-13629	125	19	the	the	DET
fumecheng-13629	125	20	environment	environment	NOUN
fumecheng-13629	125	21	itself	itself	PRON
fumecheng-13629	125	22	on	on	ADP
fumecheng-13629	125	23	the	the	DET
fumecheng-13629	125	24	driver	driver	NOUN
fumecheng-13629	125	25	's	's	PART
fumecheng-13629	125	26	behavior	behavior	NOUN
fumecheng-13629	125	27	and	and	CCONJ
fumecheng-13629	125	28	the	the	DET
fumecheng-13629	125	29	inherent	inherent	ADJ
fumecheng-13629	125	30	influence	influence	NOUN
fumecheng-13629	125	31	of	of	ADP
fumecheng-13629	125	32	the	the	DET
fumecheng-13629	125	33	individual	individual	ADJ
fumecheng-13629	125	34	driver	driver	NOUN
fumecheng-13629	125	35	's	's	PART
fumecheng-13629	125	36	behavioral	behavioral	ADJ
fumecheng-13629	125	37	habits	habit	NOUN
fumecheng-13629	125	38	on	on	ADP
fumecheng-13629	125	39	the	the	DET
fumecheng-13629	125	40	car	car	NOUN
fumecheng-13629	125	41	-	-	PUNCT
fumecheng-13629	125	42	following	follow	VERB
fumecheng-13629	125	43	strategy	strategy	NOUN
fumecheng-13629	125	44	.	.	PUNCT
fumecheng-13629	126	1	3.1	3.1	NUM
fumecheng-13629	126	2	environmental	environmental	ADJ
fumecheng-13629	126	3	factors	factor	NOUN
fumecheng-13629	126	4	influencing	influence	VERB
fumecheng-13629	126	5	driver	driver	NOUN
fumecheng-13629	126	6	behavior	behavior	NOUN
fumecheng-13629	126	7	:	:	PUNCT
fumecheng-13629	126	8	adaptive	adaptive	ADJ
fumecheng-13629	126	9	strategy	strategy	NOUN
fumecheng-13629	126	10	learning	learn	VERB
fumecheng-13629	126	11	for	for	ADP
fumecheng-13629	126	12	complex	complex	ADJ
fumecheng-13629	126	13	and	and	CCONJ
fumecheng-13629	126	14	ambiguous	ambiguous	ADJ
fumecheng-13629	126	15	environments	environment	NOUN
fumecheng-13629	126	16	,	,	PUNCT
fumecheng-13629	126	17	imitation	imitation	NOUN
fumecheng-13629	126	18	learning	learning	NOUN
fumecheng-13629	126	19	strategies	strategy	NOUN
fumecheng-13629	126	20	,	,	PUNCT
fumecheng-13629	126	21	which	which	PRON
fumecheng-13629	126	22	overcome	overcome	VERB
fumecheng-13629	126	23	the	the	DET
fumecheng-13629	126	24	obstacle	obstacle	NOUN
fumecheng-13629	126	25	of	of	ADP
fumecheng-13629	126	26	manually	manually	ADV
fumecheng-13629	126	27	specifying	specify	VERB
fumecheng-13629	126	28	an	an	DET
fumecheng-13629	126	29	appropriate	appropriate	ADJ
fumecheng-13629	126	30	reward	reward	NOUN
fumecheng-13629	126	31	function	function	NOUN
fumecheng-13629	126	32	,	,	PUNCT
fumecheng-13629	126	33	have	have	VERB
fumecheng-13629	126	34	the	the	DET
fumecheng-13629	126	35	potential	potential	NOUN
fumecheng-13629	126	36	to	to	PART
fumecheng-13629	126	37	outperform	outperform	VERB
fumecheng-13629	126	38	reinforcement	reinforcement	NOUN
fumecheng-13629	126	39	learning	learning	NOUN
fumecheng-13629	126	40	strategies	strategy	NOUN
fumecheng-13629	126	41	[	[	X
fumecheng-13629	126	42	33	33	NUM
fumecheng-13629	126	43	-	-	SYM
fumecheng-13629	126	44	35	35	NUM
fumecheng-13629	126	45	]	]	PUNCT
fumecheng-13629	126	46	.	.	PUNCT
fumecheng-13629	127	1	in	in	ADP
fumecheng-13629	127	2	real	real	ADJ
fumecheng-13629	127	3	-	-	PUNCT
fumecheng-13629	127	4	world	world	NOUN
fumecheng-13629	127	5	tasks	task	NOUN
fumecheng-13629	127	6	,	,	PUNCT
fumecheng-13629	127	7	drivers	driver	NOUN
fumecheng-13629	127	8	may	may	AUX
fumecheng-13629	127	9	exhibit	exhibit	VERB
fumecheng-13629	127	10	multi	multi	ADJ
fumecheng-13629	127	11	-	-	ADJ
fumecheng-13629	127	12	intent	intent	ADJ
fumecheng-13629	127	13	behavior	behavior	NOUN
fumecheng-13629	127	14	when	when	SCONJ
fumecheng-13629	127	15	following	follow	VERB
fumecheng-13629	127	16	a	a	DET
fumecheng-13629	127	17	lead	lead	ADJ
fumecheng-13629	127	18	vehicle	vehicle	NOUN
fumecheng-13629	127	19	,	,	PUNCT
fumecheng-13629	127	20	and	and	CCONJ
fumecheng-13629	127	21	different	different	ADJ
fumecheng-13629	127	22	drivers	driver	NOUN
fumecheng-13629	127	23	have	have	VERB
fumecheng-13629	127	24	varying	vary	VERB
fumecheng-13629	127	25	driving	driving	NOUN
fumecheng-13629	127	26	habits	habit	NOUN
fumecheng-13629	128	1	[	[	X
fumecheng-13629	128	2	36,37	36,37	X
fumecheng-13629	128	3	]	]	PUNCT
fumecheng-13629	128	4	.	.	PUNCT
fumecheng-13629	129	1	these	these	DET
fumecheng-13629	129	2	diverse	diverse	ADJ
fumecheng-13629	129	3	driving	driving	NOUN
fumecheng-13629	129	4	habits	habit	NOUN
fumecheng-13629	129	5	make	make	VERB
fumecheng-13629	129	6	it	it	PRON
fumecheng-13629	129	7	challenging	challenge	VERB
fumecheng-13629	129	8	to	to	PART
fumecheng-13629	129	9	select	select	VERB
fumecheng-13629	129	10	a	a	DET
fumecheng-13629	129	11	suitable	suitable	ADJ
fumecheng-13629	129	12	reward	reward	NOUN
fumecheng-13629	129	13	function	function	NOUN
fumecheng-13629	129	14	.	.	PUNCT
fumecheng-13629	130	1	the	the	DET
fumecheng-13629	130	2	car	car	NOUN
fumecheng-13629	130	3	-	-	PUNCT
fumecheng-13629	130	4	following	follow	VERB
fumecheng-13629	130	5	model	model	NOUN
fumecheng-13629	130	6	with	with	ADP
fumecheng-13629	130	7	adaptive	adaptive	ADJ
fumecheng-13629	130	8	scenario	scenario	NOUN
fumecheng-13629	130	9	-	-	PUNCT
fumecheng-13629	130	10	level	level	NOUN
fumecheng-13629	130	11	hierarchical	hierarchical	ADJ
fumecheng-13629	130	12	energy	energy	NOUN
fumecheng-13629	130	13	management	management	NOUN
fumecheng-13629	130	14	control	control	NOUN
fumecheng-13629	130	15	strategy	strategy	NOUN
fumecheng-13629	130	16	for	for	ADP
fumecheng-13629	130	17	hybrid	hybrid	ADJ
fumecheng-13629	130	18	electric	electric	ADJ
fumecheng-13629	130	19	vehicle	vehicle	NOUN
fumecheng-13629	130	20	9	9	NUM
fumecheng-13629	130	21	fig	fig	NOUN
fumecheng-13629	130	22	.	.	PUNCT
fumecheng-13629	131	1	2	2	NUM
fumecheng-13629	131	2	scene	scene	NOUN
fumecheng-13629	131	3	-	-	PUNCT
fumecheng-13629	131	4	level	level	NOUN
fumecheng-13629	131	5	hierarchical	hierarchical	ADJ
fumecheng-13629	131	6	energy	energy	NOUN
fumecheng-13629	131	7	management	management	NOUN
fumecheng-13629	131	8	control	control	NOUN
fumecheng-13629	131	9	strategy	strategy	NOUN
fumecheng-13629	131	10	factor	factor	NOUN
fumecheng-13629	131	11	that	that	PRON
fumecheng-13629	131	12	addresses	address	VERB
fumecheng-13629	131	13	the	the	DET
fumecheng-13629	131	14	inherent	inherent	ADJ
fumecheng-13629	131	15	phenomenon	phenomenon	NOUN
fumecheng-13629	131	16	of	of	ADP
fumecheng-13629	131	17	environmental	environmental	ADJ
fumecheng-13629	131	18	influences	influence	NOUN
fumecheng-13629	131	19	on	on	ADP
fumecheng-13629	131	20	driver	driver	NOUN
fumecheng-13629	131	21	behavior	behavior	NOUN
fumecheng-13629	131	22	is	be	AUX
fumecheng-13629	131	23	introduced	introduce	VERB
fumecheng-13629	131	24	in	in	ADP
fumecheng-13629	131	25	this	this	DET
fumecheng-13629	131	26	section	section	NOUN
fumecheng-13629	131	27	.	.	PUNCT
fumecheng-13629	132	1	the	the	DET
fumecheng-13629	132	2	main	main	ADJ
fumecheng-13629	132	3	idea	idea	NOUN
fumecheng-13629	132	4	is	be	AUX
fumecheng-13629	132	5	to	to	PART
fumecheng-13629	132	6	construct	construct	VERB
fumecheng-13629	132	7	an	an	DET
fumecheng-13629	132	8	adaptive	adaptive	ADJ
fumecheng-13629	132	9	gan	gan	NOUN
fumecheng-13629	132	10	framework	framework	NOUN
fumecheng-13629	132	11	based	base	VERB
fumecheng-13629	132	12	on	on	ADP
fumecheng-13629	132	13	the	the	DET
fumecheng-13629	132	14	principles	principle	NOUN
fumecheng-13629	132	15	of	of	ADP
fumecheng-13629	132	16	gan	gan	PROPN
fumecheng-13629	132	17	,	,	PUNCT
fumecheng-13629	132	18	which	which	PRON
fumecheng-13629	132	19	trains	train	VERB
fumecheng-13629	132	20	the	the	DET
fumecheng-13629	132	21	car	car	NOUN
fumecheng-13629	132	22	-	-	PUNCT
fumecheng-13629	132	23	following	follow	VERB
fumecheng-13629	132	24	policy	policy	NOUN
fumecheng-13629	132	25	directly	directly	ADV
fumecheng-13629	132	26	without	without	ADP
fumecheng-13629	132	27	estimating	estimate	VERB
fumecheng-13629	132	28	the	the	DET
fumecheng-13629	132	29	reward	reward	NOUN
fumecheng-13629	132	30	function	function	NOUN
fumecheng-13629	132	31	.	.	PUNCT
fumecheng-13629	133	1	as	as	SCONJ
fumecheng-13629	133	2	is	be	AUX
fumecheng-13629	133	3	shown	show	VERB
fumecheng-13629	133	4	in	in	ADP
fumecheng-13629	133	5	eq	eq	ADP
fumecheng-13629	133	6	.	.	PUNCT
fumecheng-13629	134	1	(	(	PUNCT
fumecheng-13629	134	2	16	16	NUM
fumecheng-13629	134	3	):	):	PUNCT
fumecheng-13629	134	4	10	10	NUM
fumecheng-13629	134	5	f.	f.	PROPN
fumecheng-13629	134	6	xiao	xiao	PROPN
fumecheng-13629	134	7	,	,	PUNCT
fumecheng-13629	134	8	r.	r.	PROPN
fumecheng-13629	134	9	zhang	zhang	PROPN
fumecheng-13629	134	10	,	,	PUNCT
fumecheng-13629	134	11	c.	c.	PROPN
fumecheng-13629	134	12	qi	qi	PROPN
fumecheng-13629	134	13	𝑚𝑖𝑛	𝑚𝑖𝑛	PROPN
fumecheng-13629	134	14	𝜋	𝜋	NOUN
fumecheng-13629	134	15	  	  	SPACE
fumecheng-13629	135	1	𝑚𝑎𝑥	𝑚𝑎𝑥	ADV
fumecheng-13629	135	2	𝐷∈(0,1)𝑠×𝐴	𝐷∈(0,1)𝑠×𝐴	NOUN
fumecheng-13629	135	3	 	 	SPACE
fumecheng-13629	135	4	𝔼𝜋[𝑙𝑜𝑔	𝔼𝜋[𝑙𝑜𝑔	NOUN
fumecheng-13629	135	5	𝐷(𝑠	𝐷(𝑠	NOUN
fumecheng-13629	135	6	,	,	PUNCT
fumecheng-13629	135	7	𝑎	𝑎	NOUN
fumecheng-13629	135	8	)	)	PUNCT
fumecheng-13629	135	9	]	]	PUNCT
fumecheng-13629	136	1	+	+	CCONJ
fumecheng-13629	136	2	𝔼𝜋𝐸[𝑙𝑜𝑔(1	𝔼𝜋𝐸[𝑙𝑜𝑔(1	PRON
fumecheng-13629	136	3	−	−	X
fumecheng-13629	136	4	𝐷(𝑠	𝐷(𝑠	NOUN
fumecheng-13629	136	5	,	,	PUNCT
fumecheng-13629	136	6	𝑎	𝑎	NOUN
fumecheng-13629	136	7	)	)	PUNCT
fumecheng-13629	136	8	)	)	PUNCT
fumecheng-13629	136	9	]	]	PUNCT
fumecheng-13629	137	1	−	−	PROPN
fumecheng-13629	137	2	𝜆𝐻(𝜋	𝜆𝐻(𝜋	SYM
fumecheng-13629	137	3	)	)	PUNCT
fumecheng-13629	137	4	(	(	PUNCT
fumecheng-13629	137	5	16	16	NUM
fumecheng-13629	137	6	)	)	PUNCT
fumecheng-13629	137	7	where	where	SCONJ
fumecheng-13629	137	8	,	,	PUNCT
fumecheng-13629	137	9	𝜋𝐸	𝜋𝐸	NOUN
fumecheng-13629	137	10	represents	represent	VERB
fumecheng-13629	137	11	the	the	DET
fumecheng-13629	137	12	expert	expert	NOUN
fumecheng-13629	137	13	policy，𝜋	policy，𝜋	NOUN
fumecheng-13629	137	14	indicates	indicate	VERB
fumecheng-13629	137	15	the	the	DET
fumecheng-13629	137	16	policy	policy	NOUN
fumecheng-13629	137	17	that	that	PRON
fumecheng-13629	137	18	needs	need	VERB
fumecheng-13629	137	19	to	to	PART
fumecheng-13629	137	20	be	be	AUX
fumecheng-13629	137	21	learned	learn	VERB
fumecheng-13629	137	22	,	,	PUNCT
fumecheng-13629	137	23	d	d	PRON
fumecheng-13629	137	24	serves	serve	VERB
fumecheng-13629	137	25	as	as	ADP
fumecheng-13629	137	26	the	the	DET
fumecheng-13629	137	27	discriminator	discriminator	NOUN
fumecheng-13629	137	28	,	,	PUNCT
fumecheng-13629	137	29	and	and	CCONJ
fumecheng-13629	137	30	𝐻(𝜋	𝐻(𝜋	PROPN
fumecheng-13629	137	31	)	)	PUNCT
fumecheng-13629	137	32	means	mean	VERB
fumecheng-13629	137	33	the	the	DET
fumecheng-13629	137	34	causal	causal	PROPN
fumecheng-13629	137	35	entropy	entropy	NOUN
fumecheng-13629	137	36	,	,	PUNCT
fumecheng-13629	137	37	which	which	PRON
fumecheng-13629	137	38	is	be	AUX
fumecheng-13629	137	39	shown	show	VERB
fumecheng-13629	137	40	in	in	ADP
fumecheng-13629	137	41	eq	eq	ADP
fumecheng-13629	137	42	.	.	PUNCT
fumecheng-13629	138	1	(	(	PUNCT
fumecheng-13629	138	2	17	17	NUM
fumecheng-13629	138	3	):	):	PUNCT
fumecheng-13629	138	4	𝐻(𝜋	𝐻(𝜋	PROPN
fumecheng-13629	138	5	)	)	PUNCT
fumecheng-13629	138	6	≜	≜	NOUN
fumecheng-13629	138	7	𝐸𝜋[−	𝐸𝜋[−	VERB
fumecheng-13629	138	8	𝑙𝑜𝑔	𝑙𝑜𝑔	ADP
fumecheng-13629	138	9	𝜋	𝜋	NOUN
fumecheng-13629	138	10	(	(	PUNCT
fumecheng-13629	138	11	𝛼	𝛼	PROPN
fumecheng-13629	138	12	∣	∣	PROPN
fumecheng-13629	138	13	𝑠	𝑠	PROPN
fumecheng-13629	138	14	)	)	PUNCT
fumecheng-13629	138	15	]	]	PUNCT
fumecheng-13629	138	16	(	(	PUNCT
fumecheng-13629	138	17	17	17	NUM
fumecheng-13629	138	18	)	)	PUNCT
fumecheng-13629	138	19	despite	despite	SCONJ
fumecheng-13629	138	20	the	the	DET
fumecheng-13629	138	21	adaptive	adaptive	ADJ
fumecheng-13629	138	22	policy	policy	NOUN
fumecheng-13629	138	23	is	be	AUX
fumecheng-13629	138	24	model	model	NOUN
fumecheng-13629	138	25	-	-	PUNCT
fumecheng-13629	138	26	free	free	ADJ
fumecheng-13629	138	27	,	,	PUNCT
fumecheng-13629	138	28	it	it	PRON
fumecheng-13629	138	29	still	still	ADV
fumecheng-13629	138	30	requires	require	VERB
fumecheng-13629	138	31	interacting	interact	VERB
fumecheng-13629	138	32	with	with	ADP
fumecheng-13629	138	33	the	the	DET
fumecheng-13629	138	34	environment	environment	NOUN
fumecheng-13629	138	35	during	during	ADP
fumecheng-13629	138	36	training	training	NOUN
fumecheng-13629	138	37	.	.	PUNCT
fumecheng-13629	139	1	due	due	ADP
fumecheng-13629	139	2	to	to	ADP
fumecheng-13629	139	3	the	the	DET
fumecheng-13629	139	4	presence	presence	NOUN
fumecheng-13629	139	5	of	of	ADP
fumecheng-13629	139	6	stochastic	stochastic	ADJ
fumecheng-13629	139	7	factors	factor	NOUN
fumecheng-13629	139	8	,	,	PUNCT
fumecheng-13629	139	9	the	the	DET
fumecheng-13629	139	10	resulting	result	VERB
fumecheng-13629	139	11	trajectories	trajectory	NOUN
fumecheng-13629	139	12	can	can	AUX
fumecheng-13629	139	13	exhibit	exhibit	VERB
fumecheng-13629	139	14	significant	significant	ADJ
fumecheng-13629	139	15	variations	variation	NOUN
fumecheng-13629	139	16	across	across	ADP
fumecheng-13629	139	17	different	different	ADJ
fumecheng-13629	139	18	individuals	individual	NOUN
fumecheng-13629	139	19	.	.	PUNCT
fumecheng-13629	140	1	even	even	ADV
fumecheng-13629	140	2	the	the	DET
fumecheng-13629	140	3	same	same	ADJ
fumecheng-13629	140	4	individual	individual	NOUN
fumecheng-13629	140	5	may	may	AUX
fumecheng-13629	140	6	make	make	VERB
fumecheng-13629	140	7	different	different	ADJ
fumecheng-13629	140	8	decisions	decision	NOUN
fumecheng-13629	140	9	when	when	SCONJ
fumecheng-13629	140	10	facing	face	VERB
fumecheng-13629	140	11	the	the	DET
fumecheng-13629	140	12	same	same	ADJ
fumecheng-13629	140	13	situation	situation	NOUN
fumecheng-13629	140	14	,	,	PUNCT
fumecheng-13629	140	15	leading	lead	VERB
fumecheng-13629	140	16	to	to	ADP
fumecheng-13629	140	17	the	the	DET
fumecheng-13629	140	18	generation	generation	NOUN
fumecheng-13629	140	19	of	of	ADP
fumecheng-13629	140	20	multiple	multiple	ADJ
fumecheng-13629	140	21	distinct	distinct	ADJ
fumecheng-13629	140	22	policies	policy	NOUN
fumecheng-13629	140	23	.	.	PUNCT
fumecheng-13629	141	1	in	in	ADP
fumecheng-13629	141	2	this	this	DET
fumecheng-13629	141	3	scenario	scenario	NOUN
fumecheng-13629	141	4	,	,	PUNCT
fumecheng-13629	141	5	a	a	DET
fumecheng-13629	141	6	set	set	NOUN
fumecheng-13629	141	7	of	of	ADP
fumecheng-13629	141	8	expert	expert	NOUN
fumecheng-13629	141	9	policies	policy	NOUN
fumecheng-13629	141	10	:	:	PUNCT
fumecheng-13629	141	11	𝜋𝐸	𝜋𝐸	NOUN
fumecheng-13629	141	12	=	=	SYM
fumecheng-13629	141	13	{	{	PUNCT
fumecheng-13629	141	14	𝜋𝐸	𝜋𝐸	NOUN
fumecheng-13629	141	15	0	0	NUM
fumecheng-13629	141	16	,	,	PUNCT
fumecheng-13629	141	17	𝜋𝐸	𝜋𝐸	NOUN
fumecheng-13629	141	18	1	1	NUM
fumecheng-13629	141	19	,	,	PUNCT
fumecheng-13629	141	20	…	…	PUNCT
fumecheng-13629	141	21	}	}	PUNCT
fumecheng-13629	141	22	and	and	CCONJ
fumecheng-13629	141	23	the	the	DET
fumecheng-13629	141	24	process	process	NOUN
fumecheng-13629	141	25	of	of	ADP
fumecheng-13629	141	26	generating	generate	VERB
fumecheng-13629	141	27	expert	expert	NOUN
fumecheng-13629	141	28	trajectories	trajectory	NOUN
fumecheng-13629	141	29	:	:	PUNCT
fumecheng-13629	141	30	𝑠0	𝑠0	VERB
fumecheng-13629	141	31	∼	∼	NOUN
fumecheng-13629	141	32	𝜌0𝑐	𝜌0𝑐	PUNCT
fumecheng-13629	141	33	∼	∼	NOUN
fumecheng-13629	141	34	𝑝(𝑐	𝑝(𝑐	PROPN
fumecheng-13629	141	35	)	)	PUNCT
fumecheng-13629	141	36	,	,	PUNCT
fumecheng-13629	141	37	𝜋	𝜋	NOUN
fumecheng-13629	141	38	∼	∼	NOUN
fumecheng-13629	141	39	𝑝(𝜋	𝑝(𝜋	PROPN
fumecheng-13629	141	40	∣	∣	ADJ
fumecheng-13629	141	41	𝑐)0𝑎𝑡	𝑐)0𝑎𝑡	NOUN
fumecheng-13629	141	42	∼	∼	NOUN
fumecheng-13629	141	43	𝜋(𝑎𝑡	𝜋(𝑎𝑡	PROPN
fumecheng-13629	141	44	∣	∣	PROPN
fumecheng-13629	141	45	𝑠𝑡	𝑠𝑡	PROPN
fumecheng-13629	141	46	)	)	PUNCT
fumecheng-13629	141	47	,	,	PUNCT
fumecheng-13629	141	48	𝑠𝑡+1	𝑠𝑡+1	CCONJ
fumecheng-13629	141	49	∼	∼	NOUN
fumecheng-13629	141	50	𝑃(𝑠𝑡+1	𝑃(𝑠𝑡+1	NOUN
fumecheng-13629	141	51	∣	∣	ADJ
fumecheng-13629	141	52	𝑎𝑡	𝑎𝑡	ADP
fumecheng-13629	141	53	,	,	PUNCT
fumecheng-13629	141	54	𝑠𝑡	𝑠𝑡	PROPN
fumecheng-13629	141	55	)	)	PUNCT
fumecheng-13629	141	56	are	be	AUX
fumecheng-13629	141	57	defined	define	VERB
fumecheng-13629	141	58	,	,	PUNCT
fumecheng-13629	141	59	where	where	SCONJ
fumecheng-13629	141	60	the	the	DET
fumecheng-13629	141	61	adaptive	adaptive	ADJ
fumecheng-13629	141	62	variable	variable	NOUN
fumecheng-13629	141	63	𝑐	𝑐	PROPN
fumecheng-13629	141	64	with	with	ADP
fumecheng-13629	141	65	a	a	DET
fumecheng-13629	141	66	prior	prior	ADJ
fumecheng-13629	141	67	probability	probability	NOUN
fumecheng-13629	141	68	distribution	distribution	NOUN
fumecheng-13629	141	69	𝑝(𝑐	𝑝(𝑐	PROPN
fumecheng-13629	141	70	)	)	PUNCT
fumecheng-13629	141	71	are	be	AUX
fumecheng-13629	141	72	also	also	ADV
fumecheng-13629	141	73	introduced	introduce	VERB
fumecheng-13629	141	74	.	.	PUNCT
fumecheng-13629	142	1	the	the	DET
fumecheng-13629	142	2	goal	goal	NOUN
fumecheng-13629	142	3	of	of	ADP
fumecheng-13629	142	4	the	the	DET
fumecheng-13629	142	5	algorithm	algorithm	NOUN
fumecheng-13629	142	6	is	be	AUX
fumecheng-13629	142	7	to	to	PART
fumecheng-13629	142	8	recover	recover	VERB
fumecheng-13629	142	9	the	the	DET
fumecheng-13629	142	10	policy	policy	NOUN
fumecheng-13629	142	11	𝜋(𝑎	𝜋(𝑎	PROPN
fumecheng-13629	142	12	∣	∣	VERB
fumecheng-13629	142	13	𝑠	𝑠	PROPN
fumecheng-13629	142	14	,	,	PUNCT
fumecheng-13629	142	15	𝑐	𝑐	NOUN
fumecheng-13629	142	16	)	)	PUNCT
fumecheng-13629	142	17	,	,	PUNCT
fumecheng-13629	142	18	under	under	ADP
fumecheng-13629	142	19	the	the	DET
fumecheng-13629	142	20	adaptive	adaptive	ADJ
fumecheng-13629	142	21	variable	variable	NOUN
fumecheng-13629	142	22	𝑐.	𝑐.	NOUN
fumecheng-13629	142	23	to	to	PART
fumecheng-13629	142	24	ensure	ensure	VERB
fumecheng-13629	142	25	a	a	DET
fumecheng-13629	142	26	tighter	tight	ADJ
fumecheng-13629	142	27	coupling	coupling	NOUN
fumecheng-13629	142	28	between	between	ADP
fumecheng-13629	142	29	the	the	DET
fumecheng-13629	142	30	adaptive	adaptive	ADJ
fumecheng-13629	142	31	factor	factor	NOUN
fumecheng-13629	142	32	and	and	CCONJ
fumecheng-13629	142	33	the	the	DET
fumecheng-13629	142	34	policy	policy	NOUN
fumecheng-13629	142	35	,	,	PUNCT
fumecheng-13629	142	36	and	and	CCONJ
fumecheng-13629	142	37	to	to	PART
fumecheng-13629	142	38	increase	increase	VERB
fumecheng-13629	142	39	their	their	PRON
fumecheng-13629	142	40	correlation	correlation	NOUN
fumecheng-13629	142	41	,	,	PUNCT
fumecheng-13629	142	42	we	we	PRON
fumecheng-13629	142	43	incorporate	incorporate	VERB
fumecheng-13629	142	44	mutual	mutual	ADJ
fumecheng-13629	142	45	information	information	NOUN
fumecheng-13629	142	46	into	into	ADP
fumecheng-13629	142	47	the	the	DET
fumecheng-13629	142	48	optimization	optimization	NOUN
fumecheng-13629	142	49	function	function	NOUN
fumecheng-13629	142	50	.	.	PUNCT
fumecheng-13629	143	1	𝐼(𝑐	𝐼(𝑐	PRON
fumecheng-13629	143	2	;	;	PUNCT
fumecheng-13629	143	3	𝜏	𝜏	X
fumecheng-13629	143	4	)	)	PUNCT
fumecheng-13629	143	5	=	=	SYM
fumecheng-13629	143	6	𝐻(𝑐	𝐻(𝑐	NOUN
fumecheng-13629	143	7	)	)	PUNCT
fumecheng-13629	143	8	−	−	PROPN
fumecheng-13629	143	9	𝐻	𝐻	PROPN
fumecheng-13629	143	10	(	(	PUNCT
fumecheng-13629	143	11	𝑐	𝑐	PROPN
fumecheng-13629	143	12	∣	∣	PROPN
fumecheng-13629	143	13	𝜏	𝜏	NOUN
fumecheng-13629	143	14	)	)	PUNCT
fumecheng-13629	143	15	=	=	PUNCT
fumecheng-13629	143	16	𝐻(𝑐	𝐻(𝑐	NUM
fumecheng-13629	143	17	)	)	PUNCT
fumecheng-13629	143	18	+	+	NUM
fumecheng-13629	143	19	∫	∫	PROPN
fumecheng-13629	143	20	  	  	SPACE
fumecheng-13629	143	21	𝑐	𝑐	PROPN
fumecheng-13629	143	22	 	 	SPACE
fumecheng-13629	143	23	∫	∫	PROPN
fumecheng-13629	143	24	  	  	SPACE
fumecheng-13629	143	25	𝜏	𝜏	PROPN
fumecheng-13629	143	26	 	 	SPACE
fumecheng-13629	143	27	𝑝(𝑐	𝑝(𝑐	PROPN
fumecheng-13629	143	28	,	,	PUNCT
fumecheng-13629	143	29	𝜏	𝜏	NOUN
fumecheng-13629	143	30	)	)	PUNCT
fumecheng-13629	143	31	𝑙𝑜𝑔	𝑙𝑜𝑔	NOUN
fumecheng-13629	143	32	𝑝(𝑐	𝑝(𝑐	PROPN
fumecheng-13629	143	33	,	,	PUNCT
fumecheng-13629	143	34	𝜏	𝜏	NOUN
fumecheng-13629	143	35	)	)	PUNCT
fumecheng-13629	143	36	𝑑𝑐𝑑𝜏	𝑑𝑐𝑑𝜏	NOUN
fumecheng-13629	143	37	=	=	NOUN
fumecheng-13629	143	38	𝐻(𝑐	𝐻(𝑐	NUM
fumecheng-13629	143	39	)	)	PUNCT
fumecheng-13629	143	40	+	+	NUM
fumecheng-13629	143	41	∫	∫	PROPN
fumecheng-13629	143	42	  	  	SPACE
fumecheng-13629	143	43	𝑐	𝑐	PROPN
fumecheng-13629	143	44	 	 	SPACE
fumecheng-13629	143	45	∫	∫	PROPN
fumecheng-13629	143	46	  	  	SPACE
fumecheng-13629	143	47	𝜏	𝜏	PROPN
fumecheng-13629	143	48	 	 	SPACE
fumecheng-13629	143	49	𝑝(𝑐	𝑝(𝑐	PROPN
fumecheng-13629	143	50	)	)	PUNCT
fumecheng-13629	143	51	(	(	PUNCT
fumecheng-13629	143	52	𝜏	𝜏	PROPN
fumecheng-13629	143	53	∣	∣	PROPN
fumecheng-13629	143	54	𝑐	𝑐	NOUN
fumecheng-13629	143	55	)	)	PUNCT
fumecheng-13629	143	56	𝑙𝑜𝑔	𝑙𝑜𝑔	PROPN
fumecheng-13629	143	57	𝑝	𝑝	PROPN
fumecheng-13629	143	58	(	(	PUNCT
fumecheng-13629	143	59	𝑐	𝑐	PROPN
fumecheng-13629	143	60	∣	∣	PROPN
fumecheng-13629	143	61	𝜏	𝜏	NOUN
fumecheng-13629	143	62	)	)	PUNCT
fumecheng-13629	143	63	𝑑𝑐𝑑𝜏	𝑑𝑐𝑑𝜏	NOUN
fumecheng-13629	143	64	=	=	NOUN
fumecheng-13629	143	65	𝐻(𝑐	𝐻(𝑐	NUM
fumecheng-13629	143	66	)	)	PUNCT
fumecheng-13629	144	1	+	+	CCONJ
fumecheng-13629	144	2	𝔼𝑐∼𝑝(𝑐),𝑎∼𝜋	𝔼𝑐∼𝑝(𝑐),𝑎∼𝜋	NOUN
fumecheng-13629	144	3	(	(	PUNCT
fumecheng-13629	144	4	⋅∣∣𝑠	⋅∣∣𝑠	PROPN
fumecheng-13629	144	5	,	,	PUNCT
fumecheng-13629	144	6	𝑐	𝑐	NOUN
fumecheng-13629	144	7	)	)	PUNCT
fumecheng-13629	145	1	[	[	X
fumecheng-13629	145	2	𝑙𝑜𝑔	𝑙𝑜𝑔	NOUN
fumecheng-13629	145	3	𝑝(𝑐|𝜏	𝑝(𝑐|𝜏	PROPN
fumecheng-13629	145	4	)	)	PUNCT
fumecheng-13629	146	1	]	]	PUNCT
fumecheng-13629	146	2	]	]	X
fumecheng-13629	146	3	(	(	PUNCT
fumecheng-13629	146	4	18	18	NUM
fumecheng-13629	146	5	)	)	PUNCT
fumecheng-13629	146	6	incorporating	incorporate	VERB
fumecheng-13629	146	7	the	the	DET
fumecheng-13629	146	8	adaptive	adaptive	ADJ
fumecheng-13629	146	9	factor	factor	NOUN
fumecheng-13629	146	10	into	into	ADP
fumecheng-13629	146	11	the	the	DET
fumecheng-13629	146	12	optimization	optimization	NOUN
fumecheng-13629	146	13	objective	objective	ADJ
fumecheng-13629	146	14	function	function	NOUN
fumecheng-13629	146	15	,	,	PUNCT
fumecheng-13629	146	16	the	the	DET
fumecheng-13629	146	17	equation	equation	NOUN
fumecheng-13629	146	18	can	can	AUX
fumecheng-13629	146	19	be	be	AUX
fumecheng-13629	146	20	formulated	formulate	VERB
fumecheng-13629	146	21	as	as	ADP
fumecheng-13629	146	22	:	:	PUNCT
fumecheng-13629	146	23	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
fumecheng-13629	146	24	𝜃−𝜓	𝜃−𝜓	PROPN
fumecheng-13629	146	25	 	 	SPACE
fumecheng-13629	146	26	𝑚𝑎𝑥	𝑚𝑎𝑥	ADJ
fumecheng-13629	146	27	𝜔	𝜔	NOUN
fumecheng-13629	146	28	 	 	SPACE
fumecheng-13629	146	29	𝔼𝜋𝜃[𝑙𝑜𝑔	𝔼𝜋𝜃[𝑙𝑜𝑔	NOUN
fumecheng-13629	146	30	𝐷𝜔(𝑠	𝐷𝜔(𝑠	ADJ
fumecheng-13629	146	31	,	,	PUNCT
fumecheng-13629	146	32	𝑎	𝑎	NOUN
fumecheng-13629	146	33	)	)	PUNCT
fumecheng-13629	146	34	]	]	PUNCT
fumecheng-13629	147	1	+	+	CCONJ
fumecheng-13629	147	2	𝔼𝜋𝐸[𝑙𝑜𝑔(1	𝔼𝜋𝐸[𝑙𝑜𝑔(1	X
fumecheng-13629	147	3	−	−	X
fumecheng-13629	147	4	𝐷𝜔(𝑠	𝐷𝜔(𝑠	NOUN
fumecheng-13629	147	5	,	,	PUNCT
fumecheng-13629	147	6	𝑎	𝑎	NOUN
fumecheng-13629	147	7	)	)	PUNCT
fumecheng-13629	147	8	)	)	PUNCT
fumecheng-13629	147	9	]	]	PUNCT
fumecheng-13629	148	1	−	−	PROPN
fumecheng-13629	148	2	𝜆1𝐼(𝑐	𝜆1𝐼(𝑐	X
fumecheng-13629	148	3	;	;	PUNCT
fumecheng-13629	148	4	𝜏	𝜏	X
fumecheng-13629	148	5	)	)	PUNCT
fumecheng-13629	148	6	−	−	PROPN
fumecheng-13629	148	7	𝜆2𝐻(𝜋𝜃	𝜆2𝐻(𝜋𝜃	NUM
fumecheng-13629	148	8	)	)	PUNCT
fumecheng-13629	148	9	(	(	PUNCT
fumecheng-13629	148	10	19	19	NUM
fumecheng-13629	148	11	)	)	PUNCT
fumecheng-13629	148	12	given	give	VERB
fumecheng-13629	148	13	the	the	DET
fumecheng-13629	148	14	difficulty	difficulty	NOUN
fumecheng-13629	148	15	of	of	ADP
fumecheng-13629	148	16	computing	compute	VERB
fumecheng-13629	148	17	the	the	DET
fumecheng-13629	148	18	posterior	posterior	ADJ
fumecheng-13629	148	19	probability	probability	NOUN
fumecheng-13629	148	20	p(c|τ	p(c|τ	PROPN
fumecheng-13629	148	21	)	)	PUNCT
fumecheng-13629	148	22	during	during	ADP
fumecheng-13629	148	23	the	the	DET
fumecheng-13629	148	24	optimization	optimization	NOUN
fumecheng-13629	148	25	process	process	NOUN
fumecheng-13629	148	26	,	,	PUNCT
fumecheng-13629	148	27	the	the	DET
fumecheng-13629	148	28	q	q	NOUN
fumecheng-13629	148	29	-	-	PUNCT
fumecheng-13629	148	30	value	value	NOUN
fumecheng-13629	148	31	is	be	AUX
fumecheng-13629	148	32	applied	apply	VERB
fumecheng-13629	148	33	directly	directly	ADV
fumecheng-13629	148	34	as	as	ADP
fumecheng-13629	148	35	a	a	DET
fumecheng-13629	148	36	replacement	replacement	NOUN
fumecheng-13629	148	37	,	,	PUNCT
fumecheng-13629	148	38	as	as	SCONJ
fumecheng-13629	148	39	shown	show	VERB
fumecheng-13629	148	40	in	in	ADP
fumecheng-13629	148	41	the	the	DET
fumecheng-13629	148	42	following	follow	VERB
fumecheng-13629	148	43	equation	equation	NOUN
fumecheng-13629	148	44	:	:	PUNCT
fumecheng-13629	148	45	𝐿1(𝜋	𝐿1(𝜋	NUM
fumecheng-13629	148	46	,	,	PUNCT
fumecheng-13629	148	47	𝑄	𝑄	PROPN
fumecheng-13629	148	48	)	)	PUNCT
fumecheng-13629	148	49	≤	≤	NOUN
fumecheng-13629	148	50	𝐼(𝑐	𝐼(𝑐	NOUN
fumecheng-13629	148	51	;	;	PUNCT
fumecheng-13629	148	52	𝜏	𝜏	X
fumecheng-13629	148	53	)	)	PUNCT
fumecheng-13629	148	54	(	(	PUNCT
fumecheng-13629	148	55	20	20	NUM
fumecheng-13629	148	56	)	)	PUNCT
fumecheng-13629	148	57	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
fumecheng-13629	148	58	𝜃−𝜓	𝜃−𝜓	PROPN
fumecheng-13629	148	59	 	 	SPACE
fumecheng-13629	148	60	𝑚𝑎𝑥	𝑚𝑎𝑥	ADJ
fumecheng-13629	148	61	𝜔	𝜔	NOUN
fumecheng-13629	148	62	 	 	SPACE
fumecheng-13629	148	63	𝔼𝜋𝜃[𝑙𝑜𝑔	𝔼𝜋𝜃[𝑙𝑜𝑔	NOUN
fumecheng-13629	148	64	𝐷𝜔(𝑠	𝐷𝜔(𝑠	ADJ
fumecheng-13629	148	65	,	,	PUNCT
fumecheng-13629	148	66	𝑎	𝑎	NOUN
fumecheng-13629	148	67	)	)	PUNCT
fumecheng-13629	148	68	]	]	PUNCT
fumecheng-13629	149	1	+	+	CCONJ
fumecheng-13629	149	2	𝔼𝜋𝐸[𝑙𝑜𝑔(1	𝔼𝜋𝐸[𝑙𝑜𝑔(1	X
fumecheng-13629	149	3	−	−	X
fumecheng-13629	149	4	𝐷𝜔(𝑠	𝐷𝜔(𝑠	NOUN
fumecheng-13629	149	5	,	,	PUNCT
fumecheng-13629	149	6	𝑎	𝑎	NOUN
fumecheng-13629	149	7	)	)	PUNCT
fumecheng-13629	149	8	)	)	PUNCT
fumecheng-13629	149	9	]	]	PUNCT
fumecheng-13629	150	1	−	−	PROPN
fumecheng-13629	150	2	𝜆1𝐿1(𝜋	𝜆1𝐿1(𝜋	SYM
fumecheng-13629	150	3	,	,	PUNCT
fumecheng-13629	150	4	𝑄	𝑄	PROPN
fumecheng-13629	150	5	)	)	PUNCT
fumecheng-13629	150	6	−	−	PROPN
fumecheng-13629	150	7	𝜆2𝐻(𝜋𝜃	𝜆2𝐻(𝜋𝜃	NUM
fumecheng-13629	150	8	)	)	PUNCT
fumecheng-13629	150	9	(	(	PUNCT
fumecheng-13629	150	10	21	21	NUM
fumecheng-13629	150	11	)	)	PUNCT
fumecheng-13629	150	12	3.2	3.2	NUM
fumecheng-13629	150	13	surpassing	surpass	VERB
fumecheng-13629	150	14	expert	expert	NOUN
fumecheng-13629	150	15	-	-	PUNCT
fumecheng-13629	150	16	level	level	NOUN
fumecheng-13629	150	17	performance	performance	NOUN
fumecheng-13629	150	18	and	and	CCONJ
fumecheng-13629	150	19	learning	learn	VERB
fumecheng-13629	150	20	high	high	ADJ
fumecheng-13629	150	21	-	-	PUNCT
fumecheng-13629	150	22	dimensional	dimensional	ADJ
fumecheng-13629	150	23	features	feature	NOUN
fumecheng-13629	150	24	in	in	ADP
fumecheng-13629	150	25	the	the	DET
fumecheng-13629	150	26	car	car	NOUN
fumecheng-13629	150	27	-	-	PUNCT
fumecheng-13629	150	28	following	follow	VERB
fumecheng-13629	150	29	task	task	NOUN
fumecheng-13629	150	30	,	,	PUNCT
fumecheng-13629	150	31	the	the	DET
fumecheng-13629	150	32	limitations	limitation	NOUN
fumecheng-13629	150	33	of	of	ADP
fumecheng-13629	150	34	the	the	DET
fumecheng-13629	150	35	expert	expert	NOUN
fumecheng-13629	150	36	trajectories	trajectory	NOUN
fumecheng-13629	150	37	input	input	VERB
fumecheng-13629	150	38	to	to	ADP
fumecheng-13629	150	39	the	the	DET
fumecheng-13629	150	40	network	network	NOUN
fumecheng-13629	150	41	can	can	AUX
fumecheng-13629	150	42	lead	lead	VERB
fumecheng-13629	150	43	to	to	ADP
fumecheng-13629	150	44	the	the	DET
fumecheng-13629	150	45	situation	situation	NOUN
fumecheng-13629	150	46	where	where	SCONJ
fumecheng-13629	150	47	the	the	DET
fumecheng-13629	150	48	error	error	NOUN
fumecheng-13629	150	49	of	of	ADP
fumecheng-13629	150	50	the	the	DET
fumecheng-13629	150	51	learned	learn	VERB
fumecheng-13629	150	52	policy	policy	NOUN
fumecheng-13629	150	53	exceeds	exceed	VERB
fumecheng-13629	150	54	that	that	PRON
fumecheng-13629	150	55	of	of	ADP
fumecheng-13629	150	56	the	the	DET
fumecheng-13629	150	57	expert	expert	NOUN
fumecheng-13629	150	58	policy	policy	NOUN
fumecheng-13629	150	59	.	.	PUNCT
fumecheng-13629	151	1	for	for	ADP
fumecheng-13629	151	2	the	the	DET
fumecheng-13629	151	3	car	car	NOUN
fumecheng-13629	151	4	-	-	PUNCT
fumecheng-13629	151	5	following	follow	VERB
fumecheng-13629	151	6	task	task	NOUN
fumecheng-13629	151	7	,	,	PUNCT
fumecheng-13629	151	8	it	it	PRON
fumecheng-13629	151	9	is	be	AUX
fumecheng-13629	151	10	difficult	difficult	ADJ
fumecheng-13629	151	11	to	to	PART
fumecheng-13629	151	12	define	define	VERB
fumecheng-13629	151	13	a	a	DET
fumecheng-13629	151	14	suitable	suitable	ADJ
fumecheng-13629	151	15	reward	reward	NOUN
fumecheng-13629	151	16	function	function	NOUN
fumecheng-13629	151	17	.	.	PUNCT
fumecheng-13629	152	1	from	from	ADP
fumecheng-13629	152	2	the	the	DET
fumecheng-13629	152	3	perspective	perspective	NOUN
fumecheng-13629	152	4	of	of	ADP
fumecheng-13629	152	5	the	the	DET
fumecheng-13629	152	6	policy	policy	NOUN
fumecheng-13629	152	7	,	,	PUNCT
fumecheng-13629	152	8	the	the	DET
fumecheng-13629	152	9	problem	problem	NOUN
fumecheng-13629	152	10	becomes	become	VERB
fumecheng-13629	152	11	relatively	relatively	ADV
fumecheng-13629	152	12	more	more	ADV
fumecheng-13629	152	13	straightforward	straightforward	ADJ
fumecheng-13629	152	14	.	.	PUNCT
fumecheng-13629	153	1	the	the	DET
fumecheng-13629	153	2	car	car	NOUN
fumecheng-13629	153	3	-	-	PUNCT
fumecheng-13629	153	4	following	follow	VERB
fumecheng-13629	153	5	task	task	NOUN
fumecheng-13629	153	6	model	model	NOUN
fumecheng-13629	153	7	from	from	ADP
fumecheng-13629	153	8	the	the	DET
fumecheng-13629	153	9	policy	policy	NOUN
fumecheng-13629	153	10	standpoint	standpoint	NOUN
fumecheng-13629	153	11	is	be	AUX
fumecheng-13629	153	12	shown	show	VERB
fumecheng-13629	153	13	in	in	ADP
fumecheng-13629	153	14	eq	eq	ADP
fumecheng-13629	153	15	.	.	PUNCT
fumecheng-13629	154	1	(	(	PUNCT
fumecheng-13629	154	2	22	22	NUM
fumecheng-13629	154	3	):	):	PUNCT
fumecheng-13629	154	4	scenario	scenario	NOUN
fumecheng-13629	154	5	-	-	PUNCT
fumecheng-13629	154	6	level	level	NOUN
fumecheng-13629	154	7	hierarchical	hierarchical	ADJ
fumecheng-13629	154	8	energy	energy	NOUN
fumecheng-13629	154	9	management	management	NOUN
fumecheng-13629	154	10	control	control	NOUN
fumecheng-13629	154	11	strategy	strategy	NOUN
fumecheng-13629	154	12	for	for	ADP
fumecheng-13629	154	13	hybrid	hybrid	ADJ
fumecheng-13629	154	14	electric	electric	ADJ
fumecheng-13629	154	15	vehicle	vehicle	NOUN
fumecheng-13629	154	16	11	11	NUM
fumecheng-13629	154	17	𝜂(𝜋𝜃	𝜂(𝜋𝜃	PROPN
fumecheng-13629	154	18	)	)	PUNCT
fumecheng-13629	154	19	=	=	SYM
fumecheng-13629	154	20	𝔼𝑠~𝜀𝐴[𝑟(𝑠	𝔼𝑠~𝜀𝐴[𝑟(𝑠	ADJ
fumecheng-13629	154	21	)	)	PUNCT
fumecheng-13629	154	22	]	]	PUNCT
fumecheng-13629	155	1	(	(	PUNCT
fumecheng-13629	155	2	22	22	NUM
fumecheng-13629	155	3	)	)	PUNCT
fumecheng-13629	155	4	the	the	DET
fumecheng-13629	155	5	objective	objective	ADJ
fumecheng-13629	155	6	optimization	optimization	NOUN
fumecheng-13629	155	7	function	function	NOUN
fumecheng-13629	155	8	can	can	AUX
fumecheng-13629	155	9	be	be	AUX
fumecheng-13629	155	10	transformed	transform	VERB
fumecheng-13629	155	11	as	as	SCONJ
fumecheng-13629	155	12	follows	follow	VERB
fumecheng-13629	155	13	:	:	PUNCT
fumecheng-13629	155	14	𝑚𝑖𝑛	𝑚𝑖𝑛	PROPN
fumecheng-13629	155	15	𝜃−𝜓	𝜃−𝜓	PROPN
fumecheng-13629	155	16	 	 	SPACE
fumecheng-13629	155	17	𝑚𝑎𝑥	𝑚𝑎𝑥	ADJ
fumecheng-13629	155	18	𝜔	𝜔	NOUN
fumecheng-13629	155	19	 	 	SPACE
fumecheng-13629	155	20	𝔼𝜋𝜃[𝑙𝑜𝑔	𝔼𝜋𝜃[𝑙𝑜𝑔	NOUN
fumecheng-13629	155	21	𝐷𝜔(𝑠	𝐷𝜔(𝑠	ADJ
fumecheng-13629	155	22	,	,	PUNCT
fumecheng-13629	155	23	𝑎	𝑎	NOUN
fumecheng-13629	155	24	)	)	PUNCT
fumecheng-13629	155	25	]	]	PUNCT
fumecheng-13629	156	1	+	+	CCONJ
fumecheng-13629	156	2	𝔼𝜋𝐸[𝑙𝑜𝑔(1	𝔼𝜋𝐸[𝑙𝑜𝑔(1	X
fumecheng-13629	156	3	−	−	X
fumecheng-13629	156	4	𝐷𝜔(𝑠	𝐷𝜔(𝑠	NOUN
fumecheng-13629	156	5	,	,	PUNCT
fumecheng-13629	156	6	𝑎	𝑎	NOUN
fumecheng-13629	156	7	)	)	PUNCT
fumecheng-13629	156	8	)	)	PUNCT
fumecheng-13629	156	9	]	]	PUNCT
fumecheng-13629	157	1	−𝜆𝜃𝜂(𝜋𝜃	−𝜆𝜃𝜂(𝜋𝜃	NOUN
fumecheng-13629	157	2	)	)	PUNCT
fumecheng-13629	157	3	−	−	PROPN
fumecheng-13629	158	1	𝜆1𝐿1(𝜋𝜃	𝜆1𝐿1(𝜋𝜃	PROPN
fumecheng-13629	158	2	,	,	PUNCT
fumecheng-13629	158	3	𝑄𝜓	𝑄𝜓	PROPN
fumecheng-13629	158	4	)	)	PUNCT
fumecheng-13629	158	5	−	−	PROPN
fumecheng-13629	158	6	𝜆2𝐻(𝜋𝜃	𝜆2𝐻(𝜋𝜃	NUM
fumecheng-13629	158	7	)	)	PUNCT
fumecheng-13629	158	8	(	(	PUNCT
fumecheng-13629	158	9	23	23	NUM
fumecheng-13629	158	10	)	)	PUNCT
fumecheng-13629	158	11	where	where	SCONJ
fumecheng-13629	158	12	𝜆	𝜆	NOUN
fumecheng-13629	158	13	represents	represent	VERB
fumecheng-13629	158	14	a	a	DET
fumecheng-13629	158	15	hyper	hyper	NOUN
fumecheng-13629	158	16	-	-	NOUN
fumecheng-13629	158	17	parameter	parameter	NOUN
fumecheng-13629	158	18	.	.	PUNCT
fumecheng-13629	159	1	the	the	DET
fumecheng-13629	159	2	reinforcement	reinforcement	NOUN
fumecheng-13629	159	3	function	function	NOUN
fumecheng-13629	159	4	for	for	ADP
fumecheng-13629	159	5	policy	policy	NOUN
fumecheng-13629	159	6	optimization	optimization	NOUN
fumecheng-13629	159	7	consists	consist	VERB
fumecheng-13629	159	8	of	of	ADP
fumecheng-13629	159	9	two	two	NUM
fumecheng-13629	159	10	components	component	NOUN
fumecheng-13629	159	11	:	:	PUNCT
fumecheng-13629	159	12	the	the	DET
fumecheng-13629	159	13	surrogate	surrogate	ADJ
fumecheng-13629	159	14	reward	reward	NOUN
fumecheng-13629	159	15	and	and	CCONJ
fumecheng-13629	159	16	the	the	DET
fumecheng-13629	159	17	discriminator	discriminator	NOUN
fumecheng-13629	159	18	,	,	PUNCT
fumecheng-13629	159	19	which	which	PRON
fumecheng-13629	159	20	aims	aim	VERB
fumecheng-13629	159	21	to	to	PART
fumecheng-13629	159	22	mimic	mimic	VERB
fumecheng-13629	159	23	the	the	DET
fumecheng-13629	159	24	expert	expert	NOUN
fumecheng-13629	159	25	.	.	PUNCT
fumecheng-13629	160	1	this	this	DET
fumecheng-13629	160	2	approach	approach	NOUN
fumecheng-13629	160	3	allows	allow	VERB
fumecheng-13629	160	4	to	to	PART
fumecheng-13629	160	5	overcome	overcome	VERB
fumecheng-13629	160	6	the	the	DET
fumecheng-13629	160	7	limitation	limitation	NOUN
fumecheng-13629	160	8	of	of	ADP
fumecheng-13629	160	9	imitation	imitation	NOUN
fumecheng-13629	160	10	learning	learning	NOUN
fumecheng-13629	160	11	.	.	PUNCT
fumecheng-13629	161	1	to	to	PART
fumecheng-13629	161	2	effectively	effectively	ADV
fumecheng-13629	161	3	learn	learn	VERB
fumecheng-13629	161	4	strategies	strategy	NOUN
fumecheng-13629	161	5	for	for	ADP
fumecheng-13629	161	6	high	high	ADJ
fumecheng-13629	161	7	-	-	PUNCT
fumecheng-13629	161	8	dimensional	dimensional	ADJ
fumecheng-13629	161	9	inputs	input	NOUN
fumecheng-13629	161	10	,	,	PUNCT
fumecheng-13629	161	11	the	the	DET
fumecheng-13629	161	12	original	original	ADJ
fumecheng-13629	161	13	gail	gail	NOUN
fumecheng-13629	161	14	framework	framework	NOUN
fumecheng-13629	161	15	has	have	AUX
fumecheng-13629	161	16	been	be	AUX
fumecheng-13629	161	17	improved	improve	VERB
fumecheng-13629	161	18	as	as	SCONJ
fumecheng-13629	161	19	shown	show	VERB
fumecheng-13629	161	20	in	in	ADP
fumecheng-13629	161	21	eq	eq	ADP
fumecheng-13629	161	22	.	.	PUNCT
fumecheng-13629	162	1	(	(	PUNCT
fumecheng-13629	162	2	24	24	NUM
fumecheng-13629	162	3	)	)	PUNCT
fumecheng-13629	162	4	.	.	PUNCT
fumecheng-13629	163	1	to	to	PART
fumecheng-13629	163	2	address	address	VERB
fumecheng-13629	163	3	traditional	traditional	ADJ
fumecheng-13629	163	4	gan	gan	PROPN
fumecheng-13629	163	5	networks	network	NOUN
fumecheng-13629	163	6	suffer	suffer	VERB
fumecheng-13629	163	7	from	from	ADP
fumecheng-13629	163	8	issues	issue	NOUN
fumecheng-13629	163	9	such	such	ADJ
fumecheng-13629	163	10	as	as	ADP
fumecheng-13629	163	11	gradient	gradient	ADJ
fumecheng-13629	163	12	vanishing	vanishing	NOUN
fumecheng-13629	163	13	and	and	CCONJ
fumecheng-13629	163	14	mode	mode	NOUN
fumecheng-13629	163	15	collapse	collapse	NOUN
fumecheng-13629	163	16	,	,	PUNCT
fumecheng-13629	163	17	the	the	DET
fumecheng-13629	163	18	objective	objective	ADJ
fumecheng-13629	163	19	function	function	NOUN
fumecheng-13629	163	20	has	have	AUX
fumecheng-13629	163	21	been	be	AUX
fumecheng-13629	163	22	further	far	ADV
fumecheng-13629	163	23	enhanced	enhance	VERB
fumecheng-13629	163	24	by	by	ADP
fumecheng-13629	163	25	incorporating	incorporate	VERB
fumecheng-13629	163	26	wasserstein	wasserstein	NOUN
fumecheng-13629	163	27	gan	gan	PROPN
fumecheng-13629	163	28	techniques	technique	NOUN
fumecheng-13629	163	29	,	,	PUNCT
fumecheng-13629	163	30	as	as	SCONJ
fumecheng-13629	163	31	follows	follow	VERB
fumecheng-13629	163	32	:	:	PUNCT
fumecheng-13629	163	33	𝑅𝐹	𝑅𝐹	PROPN
fumecheng-13629	163	34	=	=	PROPN
fumecheng-13629	163	35	&	&	CCONJ
fumecheng-13629	163	36	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
fumecheng-13629	163	37	𝜃−𝜓	𝜃−𝜓	PROPN
fumecheng-13629	163	38	 	 	SPACE
fumecheng-13629	163	39	𝑚𝑎𝑥	𝑚𝑎𝑥	ADV
fumecheng-13629	163	40	𝜔	𝜔	ADP
fumecheng-13629	163	41	 	 	SPACE
fumecheng-13629	163	42	𝔼𝜋𝜃[𝐷𝜔(𝑠	𝔼𝜋𝜃[𝐷𝜔(𝑠	NUM
fumecheng-13629	163	43	,	,	PUNCT
fumecheng-13629	163	44	𝑎	𝑎	NOUN
fumecheng-13629	163	45	)	)	PUNCT
fumecheng-13629	163	46	]	]	PUNCT
fumecheng-13629	163	47	−	−	PROPN
fumecheng-13629	163	48	𝔼𝜋𝐸[𝐷𝜔(𝑠	𝔼𝜋𝐸[𝐷𝜔(𝑠	NOUN
fumecheng-13629	163	49	,	,	PUNCT
fumecheng-13629	163	50	𝑎	𝑎	NOUN
fumecheng-13629	163	51	)	)	PUNCT
fumecheng-13629	163	52	]	]	PUNCT
fumecheng-13629	164	1	−𝜆𝜃𝜂(𝜋𝜃	−𝜆𝜃𝜂(𝜋𝜃	NOUN
fumecheng-13629	164	2	)	)	PUNCT
fumecheng-13629	164	3	−	−	PROPN
fumecheng-13629	165	1	𝜆1𝐿1(𝜋𝜃	𝜆1𝐿1(𝜋𝜃	PROPN
fumecheng-13629	165	2	,	,	PUNCT
fumecheng-13629	165	3	𝑄𝜓	𝑄𝜓	PROPN
fumecheng-13629	165	4	)	)	PUNCT
fumecheng-13629	165	5	−	−	PROPN
fumecheng-13629	165	6	𝜆2𝐻(𝜋𝜃	𝜆2𝐻(𝜋𝜃	NUM
fumecheng-13629	165	7	)	)	PUNCT
fumecheng-13629	165	8	(	(	PUNCT
fumecheng-13629	165	9	24	24	NUM
fumecheng-13629	165	10	)	)	PUNCT
fumecheng-13629	165	11	where	where	SCONJ
fumecheng-13629	165	12	the	the	DET
fumecheng-13629	165	13	discriminator	discriminator	NOUN
fumecheng-13629	165	14	network	network	NOUN
fumecheng-13629	165	15	𝐷𝜔	𝐷𝜔	PROPN
fumecheng-13629	165	16	and	and	CCONJ
fumecheng-13629	165	17	the	the	DET
fumecheng-13629	165	18	posterior	posterior	ADJ
fumecheng-13629	165	19	approximation	approximation	NOUN
fumecheng-13629	165	20	network	network	NOUN
fumecheng-13629	165	21	are	be	AUX
fumecheng-13629	165	22	treated	treat	VERB
fumecheng-13629	165	23	as	as	ADP
fumecheng-13629	165	24	separate	separate	ADJ
fumecheng-13629	165	25	networks	network	NOUN
fumecheng-13629	165	26	.	.	PUNCT
fumecheng-13629	166	1	3.3	3.3	NUM
fumecheng-13629	166	2	optimizing	optimize	VERB
fumecheng-13629	166	3	car	car	NOUN
fumecheng-13629	166	4	-	-	PUNCT
fumecheng-13629	166	5	following	follow	VERB
fumecheng-13629	166	6	model	model	NOUN
fumecheng-13629	166	7	by	by	ADP
fumecheng-13629	166	8	integrating	integrate	VERB
fumecheng-13629	166	9	driver	driver	NOUN
fumecheng-13629	166	10	's	's	PART
fumecheng-13629	166	11	driving	drive	VERB
fumecheng-13629	166	12	style	style	NOUN
fumecheng-13629	166	13	during	during	ADP
fumecheng-13629	166	14	vehicle	vehicle	NOUN
fumecheng-13629	166	15	operation	operation	NOUN
fumecheng-13629	166	16	,	,	PUNCT
fumecheng-13629	166	17	it	it	PRON
fumecheng-13629	166	18	is	be	AUX
fumecheng-13629	166	19	important	important	ADJ
fumecheng-13629	166	20	to	to	PART
fumecheng-13629	166	21	consider	consider	VERB
fumecheng-13629	166	22	not	not	PART
fumecheng-13629	166	23	only	only	ADV
fumecheng-13629	166	24	the	the	DET
fumecheng-13629	166	25	impact	impact	NOUN
fumecheng-13629	166	26	of	of	ADP
fumecheng-13629	166	27	the	the	DET
fumecheng-13629	166	28	driving	drive	VERB
fumecheng-13629	166	29	environment	environment	NOUN
fumecheng-13629	166	30	on	on	ADP
fumecheng-13629	166	31	the	the	DET
fumecheng-13629	166	32	model	model	NOUN
fumecheng-13629	166	33	,	,	PUNCT
fumecheng-13629	166	34	but	but	CCONJ
fumecheng-13629	166	35	also	also	ADV
fumecheng-13629	166	36	the	the	DET
fumecheng-13629	166	37	need	need	NOUN
fumecheng-13629	166	38	to	to	PART
fumecheng-13629	166	39	satisfy	satisfy	VERB
fumecheng-13629	166	40	the	the	DET
fumecheng-13629	166	41	driver	driver	NOUN
fumecheng-13629	166	42	's	's	PART
fumecheng-13629	166	43	comfort	comfort	NOUN
fumecheng-13629	166	44	and	and	CCONJ
fumecheng-13629	166	45	safety	safety	NOUN
fumecheng-13629	166	46	in	in	ADP
fumecheng-13629	166	47	the	the	DET
fumecheng-13629	166	48	car	car	NOUN
fumecheng-13629	166	49	-	-	PUNCT
fumecheng-13629	166	50	following	follow	VERB
fumecheng-13629	166	51	task	task	NOUN
fumecheng-13629	166	52	.	.	PUNCT
fumecheng-13629	167	1	in	in	ADP
fumecheng-13629	167	2	this	this	DET
fumecheng-13629	167	3	section	section	NOUN
fumecheng-13629	167	4	,	,	PUNCT
fumecheng-13629	167	5	the	the	DET
fumecheng-13629	167	6	essential	essential	ADJ
fumecheng-13629	167	7	characteristics	characteristic	NOUN
fumecheng-13629	167	8	of	of	ADP
fumecheng-13629	167	9	driving	drive	VERB
fumecheng-13629	167	10	behavior	behavior	NOUN
fumecheng-13629	167	11	is	be	AUX
fumecheng-13629	167	12	explored	explore	VERB
fumecheng-13629	167	13	under	under	ADP
fumecheng-13629	167	14	different	different	ADJ
fumecheng-13629	167	15	driving	driving	NOUN
fumecheng-13629	167	16	modes	mode	NOUN
fumecheng-13629	167	17	,	,	PUNCT
fumecheng-13629	167	18	taking	take	VERB
fumecheng-13629	167	19	into	into	ADP
fumecheng-13629	167	20	account	account	NOUN
fumecheng-13629	167	21	the	the	DET
fumecheng-13629	167	22	vehicle	vehicle	NOUN
fumecheng-13629	167	23	's	's	PART
fumecheng-13629	167	24	own	own	ADJ
fumecheng-13629	167	25	dynamics	dynamic	NOUN
fumecheng-13629	167	26	.	.	PUNCT
fumecheng-13629	168	1	the	the	DET
fumecheng-13629	168	2	optimization	optimization	NOUN
fumecheng-13629	168	3	strategy	strategy	NOUN
fumecheng-13629	168	4	also	also	ADV
fumecheng-13629	168	5	incorporates	incorporate	VERB
fumecheng-13629	168	6	the	the	DET
fumecheng-13629	168	7	driver	driver	NOUN
fumecheng-13629	168	8	's	's	PART
fumecheng-13629	168	9	stylistic	stylistic	ADJ
fumecheng-13629	168	10	characteristics	characteristic	NOUN
fumecheng-13629	168	11	in	in	ADP
fumecheng-13629	168	12	the	the	DET
fumecheng-13629	168	13	carfollowing	carfollowing	NOUN
fumecheng-13629	168	14	task	task	NOUN
fumecheng-13629	168	15	.	.	PUNCT
fumecheng-13629	169	1	the	the	DET
fumecheng-13629	169	2	driver	driver	NOUN
fumecheng-13629	169	3	is	be	AUX
fumecheng-13629	169	4	the	the	DET
fumecheng-13629	169	5	core	core	NOUN
fumecheng-13629	169	6	of	of	ADP
fumecheng-13629	169	7	the	the	DET
fumecheng-13629	169	8	vehicle	vehicle	NOUN
fumecheng-13629	169	9	-	-	PUNCT
fumecheng-13629	169	10	road	road	NOUN
fumecheng-13629	169	11	-	-	PUNCT
fumecheng-13629	169	12	traffic	traffic	NOUN
fumecheng-13629	169	13	system	system	NOUN
fumecheng-13629	169	14	.	.	PUNCT
fumecheng-13629	170	1	although	although	SCONJ
fumecheng-13629	170	2	the	the	DET
fumecheng-13629	170	3	carfollowing	carfollowe	VERB
fumecheng-13629	170	4	behavior	behavior	NOUN
fumecheng-13629	170	5	describes	describe	VERB
fumecheng-13629	170	6	the	the	DET
fumecheng-13629	170	7	relationship	relationship	NOUN
fumecheng-13629	170	8	between	between	ADP
fumecheng-13629	170	9	the	the	DET
fumecheng-13629	170	10	lead	lead	NOUN
fumecheng-13629	170	11	and	and	CCONJ
fumecheng-13629	170	12	the	the	DET
fumecheng-13629	170	13	following	follow	VERB
fumecheng-13629	170	14	vehicles	vehicle	NOUN
fumecheng-13629	170	15	,	,	PUNCT
fumecheng-13629	170	16	its	its	PRON
fumecheng-13629	170	17	essence	essence	NOUN
fumecheng-13629	170	18	is	be	AUX
fumecheng-13629	170	19	a	a	DET
fumecheng-13629	170	20	description	description	NOUN
fumecheng-13629	170	21	of	of	ADP
fumecheng-13629	170	22	the	the	DET
fumecheng-13629	170	23	driver	driver	NOUN
fumecheng-13629	170	24	's	's	PART
fumecheng-13629	170	25	behavior	behavior	NOUN
fumecheng-13629	170	26	in	in	ADP
fumecheng-13629	170	27	a	a	DET
fumecheng-13629	170	28	given	give	VERB
fumecheng-13629	170	29	traffic	traffic	NOUN
fumecheng-13629	170	30	environment	environment	NOUN
fumecheng-13629	170	31	.	.	PUNCT
fumecheng-13629	171	1	3.3.1	3.3.1	NUM
fumecheng-13629	171	2	driver	driver	NOUN
fumecheng-13629	171	3	style	style	NOUN
fumecheng-13629	171	4	clustering	cluster	VERB
fumecheng-13629	171	5	analysis	analysis	NOUN
fumecheng-13629	171	6	to	to	PART
fumecheng-13629	171	7	establish	establish	VERB
fumecheng-13629	171	8	a	a	DET
fumecheng-13629	171	9	personalized	personalized	ADJ
fumecheng-13629	171	10	car	car	NOUN
fumecheng-13629	171	11	-	-	PUNCT
fumecheng-13629	171	12	following	follow	VERB
fumecheng-13629	171	13	model	model	NOUN
fumecheng-13629	171	14	,	,	PUNCT
fumecheng-13629	171	15	the	the	DET
fumecheng-13629	171	16	driving	drive	VERB
fumecheng-13629	171	17	data	datum	NOUN
fumecheng-13629	171	18	that	that	PRON
fumecheng-13629	171	19	can	can	AUX
fumecheng-13629	171	20	reflect	reflect	VERB
fumecheng-13629	171	21	the	the	DET
fumecheng-13629	171	22	driver	driver	NOUN
fumecheng-13629	171	23	's	's	PART
fumecheng-13629	171	24	style	style	NOUN
fumecheng-13629	171	25	should	should	AUX
fumecheng-13629	171	26	be	be	AUX
fumecheng-13629	171	27	classified	classify	VERB
fumecheng-13629	171	28	based	base	VERB
fumecheng-13629	171	29	on	on	ADP
fumecheng-13629	171	30	different	different	ADJ
fumecheng-13629	171	31	driving	driving	NOUN
fumecheng-13629	171	32	styles	style	NOUN
fumecheng-13629	171	33	.	.	PUNCT
fumecheng-13629	172	1	combining	combine	VERB
fumecheng-13629	172	2	the	the	DET
fumecheng-13629	172	3	intervehicle	intervehicle	NOUN
fumecheng-13629	172	4	distance	distance	NOUN
fumecheng-13629	172	5	and	and	CCONJ
fumecheng-13629	172	6	the	the	DET
fumecheng-13629	172	7	velocity	velocity	NOUN
fumecheng-13629	172	8	of	of	ADP
fumecheng-13629	172	9	the	the	DET
fumecheng-13629	172	10	lead	lead	ADJ
fumecheng-13629	172	11	vehicle	vehicle	NOUN
fumecheng-13629	172	12	,	,	PUNCT
fumecheng-13629	172	13	the	the	DET
fumecheng-13629	172	14	time	time	NOUN
fumecheng-13629	172	15	-	-	PUNCT
fumecheng-13629	172	16	to	to	ADP
fumecheng-13629	172	17	-	-	PUNCT
fumecheng-13629	172	18	collision	collision	NOUN
fumecheng-13629	172	19	inverse	inverse	NOUN
fumecheng-13629	172	20	(	(	PUNCT
fumecheng-13629	172	21	ttci	ttci	NOUN
fumecheng-13629	172	22	)	)	PUNCT
fumecheng-13629	172	23	is	be	AUX
fumecheng-13629	172	24	defined	define	VERB
fumecheng-13629	172	25	as	as	SCONJ
fumecheng-13629	172	26	follows	follow	VERB
fumecheng-13629	172	27	:	:	PUNCT
fumecheng-13629	172	28	𝑇𝑇𝐶𝐼	𝑇𝑇𝐶𝐼	PROPN
fumecheng-13629	172	29	=	=	SYM
fumecheng-13629	172	30	∆𝑣	∆𝑣	PROPN
fumecheng-13629	172	31	𝑑	𝑑	PROPN
fumecheng-13629	172	32	(	(	PUNCT
fumecheng-13629	172	33	25	25	NUM
fumecheng-13629	172	34	)	)	PUNCT
fumecheng-13629	172	35	where	where	SCONJ
fumecheng-13629	172	36	,	,	PUNCT
fumecheng-13629	172	37	∆𝑣	∆𝑣	PROPN
fumecheng-13629	172	38	represents	represent	VERB
fumecheng-13629	172	39	the	the	DET
fumecheng-13629	172	40	difference	difference	NOUN
fumecheng-13629	172	41	in	in	ADP
fumecheng-13629	172	42	velocity	velocity	NOUN
fumecheng-13629	172	43	between	between	ADP
fumecheng-13629	172	44	the	the	DET
fumecheng-13629	172	45	following	follow	VERB
fumecheng-13629	172	46	vehicle	vehicle	NOUN
fumecheng-13629	172	47	and	and	CCONJ
fumecheng-13629	172	48	the	the	DET
fumecheng-13629	172	49	lead	lead	ADJ
fumecheng-13629	172	50	vehicle	vehicle	NOUN
fumecheng-13629	172	51	,	,	PUNCT
fumecheng-13629	172	52	and	and	CCONJ
fumecheng-13629	172	53	d	d	X
fumecheng-13629	172	54	donates	donate	VERB
fumecheng-13629	172	55	the	the	DET
fumecheng-13629	172	56	distance	distance	NOUN
fumecheng-13629	172	57	between	between	ADP
fumecheng-13629	172	58	the	the	DET
fumecheng-13629	172	59	vehicles	vehicle	NOUN
fumecheng-13629	172	60	.	.	PUNCT
fumecheng-13629	173	1	in	in	ADP
fumecheng-13629	173	2	summary	summary	NOUN
fumecheng-13629	173	3	,	,	PUNCT
fumecheng-13629	173	4	the	the	DET
fumecheng-13629	173	5	behavior	behavior	NOUN
fumecheng-13629	173	6	features	feature	VERB
fumecheng-13629	173	7	consist	consist	VERB
fumecheng-13629	173	8	of	of	ADP
fumecheng-13629	173	9	the	the	DET
fumecheng-13629	173	10	time	time	NOUN
fumecheng-13629	173	11	-	-	PUNCT
fumecheng-13629	173	12	to	to	ADP
fumecheng-13629	173	13	-	-	PUNCT
fumecheng-13629	173	14	collision	collision	NOUN
fumecheng-13629	173	15	(	(	PUNCT
fumecheng-13629	173	16	ttc	ttc	NOUN
fumecheng-13629	173	17	)	)	PUNCT
fumecheng-13629	173	18	,	,	PUNCT
fumecheng-13629	173	19	time	time	NOUN
fumecheng-13629	173	20	headway	headway	NOUN
fumecheng-13629	173	21	,	,	PUNCT
fumecheng-13629	173	22	and	and	CCONJ
fumecheng-13629	173	23	the	the	DET
fumecheng-13629	173	24	absolute	absolute	ADJ
fumecheng-13629	173	25	values	value	NOUN
fumecheng-13629	173	26	of	of	ADP
fumecheng-13629	173	27	acceleration	acceleration	NOUN
fumecheng-13629	173	28	and	and	CCONJ
fumecheng-13629	173	29	deceleration	deceleration	NOUN
fumecheng-13629	173	30	indirectly	indirectly	ADV
fumecheng-13629	173	31	reflect	reflect	VERB
fumecheng-13629	173	32	the	the	DET
fumecheng-13629	173	33	driver	driver	NOUN
fumecheng-13629	173	34	's	's	PART
fumecheng-13629	173	35	style	style	NOUN
fumecheng-13629	173	36	.	.	PUNCT
fumecheng-13629	174	1	the	the	DET
fumecheng-13629	174	2	driver	driver	NOUN
fumecheng-13629	174	3	's	's	PART
fumecheng-13629	174	4	style	style	NOUN
fumecheng-13629	174	5	can	can	AUX
fumecheng-13629	174	6	be	be	AUX
fumecheng-13629	174	7	broadly	broadly	ADV
fumecheng-13629	174	8	categorized	categorize	VERB
fumecheng-13629	174	9	into	into	ADP
fumecheng-13629	174	10	two	two	NUM
fumecheng-13629	174	11	main	main	ADJ
fumecheng-13629	174	12	groups	group	NOUN
fumecheng-13629	174	13	:	:	PUNCT
fumecheng-13629	174	14	conservative	conservative	ADJ
fumecheng-13629	174	15	and	and	CCONJ
fumecheng-13629	174	16	aggressive	aggressive	ADJ
fumecheng-13629	174	17	.	.	PUNCT
fumecheng-13629	175	1	the	the	DET
fumecheng-13629	175	2	k	k	NOUN
fumecheng-13629	175	3	-	-	PUNCT
fumecheng-13629	175	4	means	mean	VERB
fumecheng-13629	175	5	clustering	cluster	VERB
fumecheng-13629	175	6	strategy	strategy	NOUN
fumecheng-13629	175	7	[	[	X
fumecheng-13629	175	8	38	38	NUM
fumecheng-13629	175	9	]	]	PUNCT
fumecheng-13629	175	10	can	can	AUX
fumecheng-13629	175	11	be	be	AUX
fumecheng-13629	175	12	used	use	VERB
fumecheng-13629	175	13	to	to	PART
fumecheng-13629	175	14	cluster	cluster	VERB
fumecheng-13629	175	15	the	the	DET
fumecheng-13629	175	16	driving	drive	VERB
fumecheng-13629	175	17	data	datum	NOUN
fumecheng-13629	175	18	into	into	ADP
fumecheng-13629	175	19	these	these	DET
fumecheng-13629	175	20	two	two	NUM
fumecheng-13629	175	21	driving	drive	VERB
fumecheng-13629	175	22	style	style	NOUN
fumecheng-13629	175	23	categories	category	NOUN
fumecheng-13629	175	24	.	.	PUNCT
fumecheng-13629	176	1	12	12	NUM
fumecheng-13629	176	2	f.	f.	PROPN
fumecheng-13629	176	3	xiao	xiao	PROPN
fumecheng-13629	176	4	,	,	PUNCT
fumecheng-13629	176	5	r.	r.	PROPN
fumecheng-13629	176	6	zhang	zhang	PROPN
fumecheng-13629	176	7	,	,	PUNCT
fumecheng-13629	176	8	c.	c.	PROPN
fumecheng-13629	176	9	qi	qi	PROPN
fumecheng-13629	176	10	3.3.2	3.3.2	NUM
fumecheng-13629	176	11	integrated	integrate	VERB
fumecheng-13629	176	12	car	car	NOUN
fumecheng-13629	176	13	-	-	PUNCT
fumecheng-13629	176	14	following	follow	VERB
fumecheng-13629	176	15	strategy	strategy	NOUN
fumecheng-13629	176	16	considering	consider	VERB
fumecheng-13629	176	17	driver	driver	NOUN
fumecheng-13629	176	18	style	style	NOUN
fumecheng-13629	176	19	features	feature	NOUN
fumecheng-13629	176	20	given	give	VERB
fumecheng-13629	176	21	that	that	SCONJ
fumecheng-13629	176	22	individuals	individual	NOUN
fumecheng-13629	176	23	have	have	AUX
fumecheng-13629	176	24	different	different	ADJ
fumecheng-13629	176	25	perceptions	perception	NOUN
fumecheng-13629	176	26	of	of	ADP
fumecheng-13629	176	27	comfort	comfort	NOUN
fumecheng-13629	176	28	,	,	PUNCT
fumecheng-13629	176	29	studying	study	VERB
fumecheng-13629	176	30	the	the	DET
fumecheng-13629	176	31	car	car	NOUN
fumecheng-13629	176	32	-	-	PUNCT
fumecheng-13629	176	33	following	follow	VERB
fumecheng-13629	176	34	model	model	NOUN
fumecheng-13629	176	35	alone	alone	ADV
fumecheng-13629	176	36	is	be	AUX
fumecheng-13629	176	37	clearly	clearly	ADV
fumecheng-13629	176	38	insufficient	insufficient	ADJ
fumecheng-13629	176	39	.	.	PUNCT
fumecheng-13629	177	1	in	in	ADP
fumecheng-13629	177	2	this	this	DET
fumecheng-13629	177	3	section	section	NOUN
fumecheng-13629	177	4	,	,	PUNCT
fumecheng-13629	177	5	integrating	integrate	VERB
fumecheng-13629	177	6	the	the	DET
fumecheng-13629	177	7	driver	driver	NOUN
fumecheng-13629	177	8	's	's	PART
fumecheng-13629	177	9	style	style	NOUN
fumecheng-13629	177	10	into	into	ADP
fumecheng-13629	177	11	the	the	DET
fumecheng-13629	177	12	carfollowing	carfollowing	NOUN
fumecheng-13629	177	13	strategy	strategy	NOUN
fumecheng-13629	177	14	is	be	AUX
fumecheng-13629	177	15	introduced	introduce	VERB
fumecheng-13629	177	16	,	,	PUNCT
fumecheng-13629	177	17	which	which	PRON
fumecheng-13629	177	18	enables	enable	VERB
fumecheng-13629	177	19	the	the	DET
fumecheng-13629	177	20	car	car	NOUN
fumecheng-13629	177	21	-	-	PUNCT
fumecheng-13629	177	22	following	follow	VERB
fumecheng-13629	177	23	model	model	NOUN
fumecheng-13629	177	24	to	to	PART
fumecheng-13629	177	25	have	have	VERB
fumecheng-13629	177	26	personalized	personalized	ADJ
fumecheng-13629	177	27	characteristics	characteristic	NOUN
fumecheng-13629	177	28	,	,	PUNCT
fumecheng-13629	177	29	improving	improve	VERB
fumecheng-13629	177	30	the	the	DET
fumecheng-13629	177	31	overall	overall	ADJ
fumecheng-13629	177	32	car	car	NOUN
fumecheng-13629	177	33	-	-	PUNCT
fumecheng-13629	177	34	following	follow	VERB
fumecheng-13629	177	35	task	task	NOUN
fumecheng-13629	177	36	.	.	PUNCT
fumecheng-13629	178	1	this	this	DET
fumecheng-13629	178	2	strategy	strategy	NOUN
fumecheng-13629	178	3	can	can	AUX
fumecheng-13629	178	4	effectively	effectively	ADV
fumecheng-13629	178	5	solve	solve	VERB
fumecheng-13629	178	6	the	the	DET
fumecheng-13629	178	7	multi	multi	ADJ
fumecheng-13629	178	8	-	-	ADJ
fumecheng-13629	178	9	objective	objective	ADJ
fumecheng-13629	178	10	optimization	optimization	NOUN
fumecheng-13629	178	11	problem	problem	NOUN
fumecheng-13629	178	12	in	in	ADP
fumecheng-13629	178	13	the	the	DET
fumecheng-13629	178	14	car	car	NOUN
fumecheng-13629	178	15	-	-	PUNCT
fumecheng-13629	178	16	following	follow	VERB
fumecheng-13629	178	17	task	task	NOUN
fumecheng-13629	178	18	.	.	PUNCT
fumecheng-13629	179	1	drivers	driver	NOUN
fumecheng-13629	179	2	with	with	ADP
fumecheng-13629	179	3	the	the	DET
fumecheng-13629	179	4	same	same	ADJ
fumecheng-13629	179	5	style	style	NOUN
fumecheng-13629	179	6	tend	tend	VERB
fumecheng-13629	179	7	to	to	PART
fumecheng-13629	179	8	maintain	maintain	VERB
fumecheng-13629	179	9	similar	similar	ADJ
fumecheng-13629	179	10	time	time	NOUN
fumecheng-13629	179	11	head	head	NOUN
fumecheng-13629	179	12	-	-	PUNCT
fumecheng-13629	179	13	ways	way	NOUN
fumecheng-13629	179	14	in	in	ADP
fumecheng-13629	179	15	typical	typical	ADJ
fumecheng-13629	179	16	carfollowing	carfollowing	ADJ
fumecheng-13629	179	17	scenarios	scenario	NOUN
fumecheng-13629	179	18	,	,	PUNCT
fumecheng-13629	179	19	but	but	CCONJ
fumecheng-13629	179	20	drivers	driver	NOUN
fumecheng-13629	179	21	with	with	ADP
fumecheng-13629	179	22	different	different	ADJ
fumecheng-13629	179	23	styles	style	NOUN
fumecheng-13629	179	24	can	can	AUX
fumecheng-13629	179	25	have	have	VERB
fumecheng-13629	179	26	significant	significant	ADJ
fumecheng-13629	179	27	differences	difference	NOUN
fumecheng-13629	179	28	in	in	ADP
fumecheng-13629	179	29	time	time	NOUN
fumecheng-13629	179	30	headway	headway	NOUN
fumecheng-13629	179	31	.	.	PUNCT
fumecheng-13629	180	1	the	the	DET
fumecheng-13629	180	2	formula	formula	NOUN
fumecheng-13629	180	3	for	for	ADP
fumecheng-13629	180	4	the	the	DET
fumecheng-13629	180	5	inter	inter	ADJ
fumecheng-13629	180	6	-	-	NOUN
fumecheng-13629	180	7	vehicle	vehicle	NOUN
fumecheng-13629	180	8	distance	distance	NOUN
fumecheng-13629	180	9	can	can	AUX
fumecheng-13629	180	10	be	be	AUX
fumecheng-13629	180	11	expressed	express	VERB
fumecheng-13629	180	12	as	as	ADP
fumecheng-13629	180	13	:	:	PUNCT
fumecheng-13629	180	14	∆𝑑𝑑𝑒𝑠	∆𝑑𝑑𝑒𝑠	ADV
fumecheng-13629	180	15	=	=	PUNCT
fumecheng-13629	180	16	𝑣𝑓𝑡ℎ	𝑣𝑓𝑡ℎ	X
fumecheng-13629	180	17	+	+	CCONJ
fumecheng-13629	180	18	𝑑0	𝑑0	NOUN
fumecheng-13629	180	19	(	(	PUNCT
fumecheng-13629	180	20	26	26	NUM
fumecheng-13629	180	21	)	)	PUNCT
fumecheng-13629	180	22	where	where	SCONJ
fumecheng-13629	180	23	vf	vf	PROPN
fumecheng-13629	180	24	is	be	AUX
fumecheng-13629	180	25	the	the	DET
fumecheng-13629	180	26	traveling	travel	VERB
fumecheng-13629	180	27	speed	speed	NOUN
fumecheng-13629	180	28	of	of	ADP
fumecheng-13629	180	29	the	the	DET
fumecheng-13629	180	30	following	follow	VERB
fumecheng-13629	180	31	vehicle	vehicle	NOUN
fumecheng-13629	180	32	,	,	PUNCT
fumecheng-13629	180	33	th	th	X
fumecheng-13629	180	34	represents	represent	VERB
fumecheng-13629	180	35	the	the	DET
fumecheng-13629	180	36	progression	progression	NOUN
fumecheng-13629	180	37	of	of	ADP
fumecheng-13629	180	38	time	time	NOUN
fumecheng-13629	180	39	,	,	PUNCT
fumecheng-13629	180	40	and	and	CCONJ
fumecheng-13629	180	41	d0	d0	NOUN
fumecheng-13629	180	42	means	mean	VERB
fumecheng-13629	180	43	the	the	DET
fumecheng-13629	180	44	safe	safe	ADJ
fumecheng-13629	180	45	distance	distance	NOUN
fumecheng-13629	180	46	when	when	SCONJ
fumecheng-13629	180	47	the	the	DET
fumecheng-13629	180	48	vehicle	vehicle	NOUN
fumecheng-13629	180	49	is	be	AUX
fumecheng-13629	180	50	traveling	travel	VERB
fumecheng-13629	180	51	at	at	ADP
fumecheng-13629	180	52	very	very	ADV
fumecheng-13629	180	53	low	low	ADJ
fumecheng-13629	180	54	speeds	speed	NOUN
fumecheng-13629	180	55	.	.	PUNCT
fumecheng-13629	181	1	the	the	DET
fumecheng-13629	181	2	goal	goal	NOUN
fumecheng-13629	181	3	of	of	ADP
fumecheng-13629	181	4	vehicle	vehicle	NOUN
fumecheng-13629	181	5	car	car	NOUN
fumecheng-13629	181	6	-	-	PUNCT
fumecheng-13629	181	7	following	following	NOUN
fumecheng-13629	181	8	is	be	AUX
fumecheng-13629	181	9	for	for	SCONJ
fumecheng-13629	181	10	the	the	DET
fumecheng-13629	181	11	driver	driver	NOUN
fumecheng-13629	181	12	to	to	PART
fumecheng-13629	181	13	adjust	adjust	VERB
fumecheng-13629	181	14	the	the	DET
fumecheng-13629	181	15	vehicle	vehicle	NOUN
fumecheng-13629	181	16	's	's	PART
fumecheng-13629	181	17	speed	speed	NOUN
fumecheng-13629	181	18	to	to	PART
fumecheng-13629	181	19	match	match	VERB
fumecheng-13629	181	20	the	the	DET
fumecheng-13629	181	21	speed	speed	NOUN
fumecheng-13629	181	22	of	of	ADP
fumecheng-13629	181	23	the	the	DET
fumecheng-13629	181	24	lead	lead	ADJ
fumecheng-13629	181	25	vehicle	vehicle	NOUN
fumecheng-13629	181	26	,	,	PUNCT
fumecheng-13629	181	27	and	and	CCONJ
fumecheng-13629	181	28	maintain	maintain	VERB
fumecheng-13629	181	29	the	the	DET
fumecheng-13629	181	30	inter	inter	ADJ
fumecheng-13629	181	31	-	-	NOUN
fumecheng-13629	181	32	vehicle	vehicle	NOUN
fumecheng-13629	181	33	distance	distance	NOUN
fumecheng-13629	181	34	around	around	ADP
fumecheng-13629	181	35	the	the	DET
fumecheng-13629	181	36	desired	desire	VERB
fumecheng-13629	181	37	value	value	NOUN
fumecheng-13629	181	38	.	.	PUNCT
fumecheng-13629	182	1	inter	inter	ADJ
fumecheng-13629	182	2	-	-	NOUN
fumecheng-13629	182	3	vehicle	vehicle	NOUN
fumecheng-13629	182	4	distance	distance	NOUN
fumecheng-13629	182	5	error	error	NOUN
fumecheng-13629	182	6	∆𝑑𝑒𝑟𝑟(𝑘	∆𝑑𝑒𝑟𝑟(𝑘	NOUN
fumecheng-13629	182	7	)	)	PUNCT
fumecheng-13629	182	8	is	be	AUX
fumecheng-13629	182	9	defined	define	VERB
fumecheng-13629	182	10	as	as	ADP
fumecheng-13629	182	11	:	:	PUNCT
fumecheng-13629	182	12	∆𝑑𝑒𝑟𝑟(𝑘	∆𝑑𝑒𝑟𝑟(𝑘	X
fumecheng-13629	182	13	)	)	PUNCT
fumecheng-13629	182	14	=	=	SYM
fumecheng-13629	183	1	∆𝑑	∆𝑑	PROPN
fumecheng-13629	183	2	−	−	PROPN
fumecheng-13629	183	3	∆𝑑𝑑𝑒𝑠	∆𝑑𝑑𝑒𝑠	NUM
fumecheng-13629	183	4	(	(	PUNCT
fumecheng-13629	183	5	27	27	NUM
fumecheng-13629	183	6	)	)	PUNCT
fumecheng-13629	183	7	where	where	SCONJ
fumecheng-13629	183	8	∆𝑑𝑒𝑟𝑟(𝑘	∆𝑑𝑒𝑟𝑟(𝑘	NOUN
fumecheng-13629	183	9	)	)	PUNCT
fumecheng-13629	183	10	→	→	SYM
fumecheng-13629	183	11	0	0	NUM
fumecheng-13629	183	12	,	,	PUNCT
fumecheng-13629	183	13	∆𝑣(𝑘	∆𝑣(𝑘	PROPN
fumecheng-13629	183	14	)	)	PUNCT
fumecheng-13629	183	15	→	→	SYM
fumecheng-13629	183	16	0	0	NUM
fumecheng-13629	183	17	.	.	PUNCT
fumecheng-13629	184	1	to	to	PART
fumecheng-13629	184	2	provide	provide	VERB
fumecheng-13629	184	3	comfort	comfort	NOUN
fumecheng-13629	184	4	to	to	ADP
fumecheng-13629	184	5	passengers	passenger	NOUN
fumecheng-13629	184	6	during	during	ADP
fumecheng-13629	184	7	car	car	NOUN
fumecheng-13629	184	8	-	-	PUNCT
fumecheng-13629	184	9	following	following	NOUN
fumecheng-13629	184	10	,	,	PUNCT
fumecheng-13629	184	11	the	the	DET
fumecheng-13629	184	12	absolute	absolute	ADJ
fumecheng-13629	184	13	values	value	NOUN
fumecheng-13629	184	14	of	of	ADP
fumecheng-13629	184	15	both	both	DET
fumecheng-13629	184	16	acceleration	acceleration	NOUN
fumecheng-13629	184	17	and	and	CCONJ
fumecheng-13629	184	18	jerk	jerk	NOUN
fumecheng-13629	184	19	should	should	AUX
fumecheng-13629	184	20	also	also	ADV
fumecheng-13629	184	21	be	be	AUX
fumecheng-13629	184	22	minimized	minimize	VERB
fumecheng-13629	184	23	as	as	ADV
fumecheng-13629	184	24	much	much	ADV
fumecheng-13629	184	25	as	as	ADP
fumecheng-13629	184	26	possible	possible	ADJ
fumecheng-13629	184	27	.	.	PUNCT
fumecheng-13629	185	1	jk	jk	PROPN
fumecheng-13629	185	2	,	,	PUNCT
fumecheng-13629	185	3	which	which	PRON
fumecheng-13629	185	4	represents	represent	VERB
fumecheng-13629	185	5	the	the	DET
fumecheng-13629	185	6	rate	rate	NOUN
fumecheng-13629	185	7	of	of	ADP
fumecheng-13629	185	8	change	change	NOUN
fumecheng-13629	185	9	of	of	ADP
fumecheng-13629	185	10	acceleration	acceleration	NOUN
fumecheng-13629	185	11	is	be	AUX
fumecheng-13629	185	12	defined	define	VERB
fumecheng-13629	185	13	as	as	ADP
fumecheng-13629	185	14	:	:	PUNCT
fumecheng-13629	185	15	𝑗(𝑘	𝑗(𝑘	NUM
fumecheng-13629	185	16	)	)	PUNCT
fumecheng-13629	186	1	=	=	SYM
fumecheng-13629	186	2	𝑎(𝑘)−𝑎(𝑘−1	𝑎(𝑘)−𝑎(𝑘−1	PROPN
fumecheng-13629	186	3	)	)	PUNCT
fumecheng-13629	186	4	∆𝑡	∆𝑡	PROPN
fumecheng-13629	186	5	(	(	PUNCT
fumecheng-13629	186	6	28	28	NUM
fumecheng-13629	186	7	)	)	PUNCT
fumecheng-13629	186	8	where	where	SCONJ
fumecheng-13629	186	9	|𝑎(𝑘)|	|𝑎(𝑘)|	ADJ
fumecheng-13629	186	10	→	→	SYM
fumecheng-13629	186	11	0	0	NUM
fumecheng-13629	186	12	,	,	PUNCT
fumecheng-13629	186	13	|𝑗(𝑘)|	|𝑗(𝑘)|	PROPN
fumecheng-13629	186	14	→	→	SYM
fumecheng-13629	186	15	0	0	NUM
fumecheng-13629	186	16	.	.	PUNCT
fumecheng-13629	187	1	when	when	SCONJ
fumecheng-13629	187	2	solving	solve	VERB
fumecheng-13629	187	3	the	the	DET
fumecheng-13629	187	4	optimization	optimization	NOUN
fumecheng-13629	187	5	problem	problem	NOUN
fumecheng-13629	187	6	,	,	PUNCT
fumecheng-13629	187	7	certain	certain	ADJ
fumecheng-13629	187	8	constraints	constraint	NOUN
fumecheng-13629	187	9	must	must	AUX
fumecheng-13629	187	10	be	be	AUX
fumecheng-13629	187	11	satisfied	satisfied	ADJ
fumecheng-13629	187	12	.	.	PUNCT
fumecheng-13629	188	1	to	to	PART
fumecheng-13629	188	2	avoid	avoid	VERB
fumecheng-13629	188	3	colliding	collide	VERB
fumecheng-13629	188	4	with	with	ADP
fumecheng-13629	188	5	the	the	DET
fumecheng-13629	188	6	lead	lead	ADJ
fumecheng-13629	188	7	vehicle	vehicle	NOUN
fumecheng-13629	188	8	,	,	PUNCT
fumecheng-13629	188	9	the	the	DET
fumecheng-13629	188	10	inter	inter	ADJ
fumecheng-13629	188	11	-	-	NOUN
fumecheng-13629	188	12	vehicle	vehicle	NOUN
fumecheng-13629	188	13	distance	distance	NOUN
fumecheng-13629	188	14	must	must	AUX
fumecheng-13629	188	15	satisfy	satisfy	VERB
fumecheng-13629	188	16	the	the	DET
fumecheng-13629	188	17	minimum	minimum	ADJ
fumecheng-13629	188	18	distance	distance	NOUN
fumecheng-13629	188	19	constraint	constraint	NOUN
fumecheng-13629	188	20	.	.	PUNCT
fumecheng-13629	189	1	ensuring	ensure	VERB
fumecheng-13629	189	2	the	the	DET
fumecheng-13629	189	3	following	follow	VERB
fumecheng-13629	189	4	vehicle	vehicle	NOUN
fumecheng-13629	189	5	remains	remain	VERB
fumecheng-13629	189	6	in	in	ADP
fumecheng-13629	189	7	the	the	DET
fumecheng-13629	189	8	car	car	NOUN
fumecheng-13629	189	9	-	-	PUNCT
fumecheng-13629	189	10	following	follow	VERB
fumecheng-13629	189	11	scenario	scenario	NOUN
fumecheng-13629	189	12	,	,	PUNCT
fumecheng-13629	189	13	this	this	DET
fumecheng-13629	189	14	distance	distance	NOUN
fumecheng-13629	189	15	should	should	AUX
fumecheng-13629	189	16	be	be	AUX
fumecheng-13629	189	17	less	less	ADJ
fumecheng-13629	189	18	than	than	ADP
fumecheng-13629	189	19	the	the	DET
fumecheng-13629	189	20	maximum	maximum	ADJ
fumecheng-13629	189	21	car	car	NOUN
fumecheng-13629	189	22	-	-	PUNCT
fumecheng-13629	189	23	following	follow	VERB
fumecheng-13629	189	24	distance	distance	NOUN
fumecheng-13629	189	25	.	.	PUNCT
fumecheng-13629	190	1	the	the	DET
fumecheng-13629	190	2	minimum	minimum	ADJ
fumecheng-13629	190	3	and	and	CCONJ
fumecheng-13629	190	4	maximum	maximum	ADJ
fumecheng-13629	190	5	values	value	NOUN
fumecheng-13629	190	6	of	of	ADP
fumecheng-13629	190	7	velocity	velocity	NOUN
fumecheng-13629	190	8	,	,	PUNCT
fumecheng-13629	190	9	acceleration	acceleration	NOUN
fumecheng-13629	190	10	,	,	PUNCT
fumecheng-13629	190	11	and	and	CCONJ
fumecheng-13629	190	12	jerk	jerk	NOUN
fumecheng-13629	190	13	must	must	AUX
fumecheng-13629	190	14	also	also	ADV
fumecheng-13629	190	15	be	be	AUX
fumecheng-13629	190	16	constrained	constrain	VERB
fumecheng-13629	190	17	.	.	PUNCT
fumecheng-13629	191	1	model	model	NOUN
fumecheng-13629	191	2	predictive	predictive	PROPN
fumecheng-13629	191	3	control	control	NOUN
fumecheng-13629	191	4	can	can	AUX
fumecheng-13629	191	5	handle	handle	VERB
fumecheng-13629	191	6	multi	multi	ADJ
fumecheng-13629	191	7	-	-	ADJ
fumecheng-13629	191	8	variable	variable	ADJ
fumecheng-13629	191	9	and	and	CCONJ
fumecheng-13629	191	10	constrained	constrained	ADJ
fumecheng-13629	191	11	problems	problem	NOUN
fumecheng-13629	191	12	,	,	PUNCT
fumecheng-13629	191	13	making	make	VERB
fumecheng-13629	191	14	it	it	PRON
fumecheng-13629	191	15	suitable	suitable	ADJ
fumecheng-13629	191	16	for	for	ADP
fumecheng-13629	191	17	incorporating	incorporate	VERB
fumecheng-13629	191	18	the	the	DET
fumecheng-13629	191	19	car	car	NOUN
fumecheng-13629	191	20	-	-	PUNCT
fumecheng-13629	191	21	following	follow	VERB
fumecheng-13629	191	22	model	model	NOUN
fumecheng-13629	191	23	within	within	ADP
fumecheng-13629	191	24	an	an	DET
fumecheng-13629	191	25	mpc	mpc	NOUN
fumecheng-13629	191	26	framework	framework	NOUN
fumecheng-13629	191	27	.	.	PUNCT
fumecheng-13629	192	1	based	base	VERB
fumecheng-13629	192	2	on	on	ADP
fumecheng-13629	192	3	the	the	DET
fumecheng-13629	192	4	principles	principle	NOUN
fumecheng-13629	192	5	of	of	ADP
fumecheng-13629	192	6	mpc	mpc	PROPN
fumecheng-13629	192	7	,	,	PUNCT
fumecheng-13629	192	8	the	the	DET
fumecheng-13629	192	9	cost	cost	NOUN
fumecheng-13629	192	10	function	function	NOUN
fumecheng-13629	192	11	can	can	AUX
fumecheng-13629	192	12	be	be	AUX
fumecheng-13629	192	13	defined	define	VERB
fumecheng-13629	192	14	as	as	ADP
fumecheng-13629	192	15	:	:	PUNCT
fumecheng-13629	192	16	𝐽(𝜉(𝑘	𝐽(𝜉(𝑘	NUM
fumecheng-13629	192	17	)	)	PUNCT
fumecheng-13629	192	18	,	,	PUNCT
fumecheng-13629	192	19	𝑢(𝑘	𝑢(𝑘	PROPN
fumecheng-13629	192	20	−	−	PROPN
fumecheng-13629	192	21	1	1	NUM
fumecheng-13629	192	22	)	)	PUNCT
fumecheng-13629	192	23	,	,	PUNCT
fumecheng-13629	192	24	𝛥𝑢(𝑘	𝛥𝑢(𝑘	NOUN
fumecheng-13629	192	25	)	)	PUNCT
fumecheng-13629	192	26	)	)	PUNCT
fumecheng-13629	193	1	=	=	PROPN
fumecheng-13629	193	2	&	&	CCONJ
fumecheng-13629	193	3	∑	∑	PROPN
fumecheng-13629	193	4	∥∥𝜂	∥∥𝜂	PROPN
fumecheng-13629	193	5	(	(	PUNCT
fumecheng-13629	193	6	𝑘	𝑘	PROPN
fumecheng-13629	193	7	+	+	PROPN
fumecheng-13629	193	8	𝑖	𝑖	PROPN
fumecheng-13629	193	9	∣	∣	PROPN
fumecheng-13629	193	10	𝑘	𝑘	NOUN
fumecheng-13629	193	11	)	)	PUNCT
fumecheng-13629	193	12	−	−	PROPN
fumecheng-13629	193	13	𝜂ref	𝜂ref	NOUN
fumecheng-13629	193	14	(	(	PUNCT
fumecheng-13629	193	15	𝑘	𝑘	PROPN
fumecheng-13629	193	16	+	+	NOUN
fumecheng-13629	193	17	𝑖	𝑖	PROPN
fumecheng-13629	193	18	∣	∣	PROPN
fumecheng-13629	193	19	𝑘	𝑘	NOUN
fumecheng-13629	193	20	)	)	PUNCT
fumecheng-13629	193	21	∥∥𝑄	∥∥𝑄	X
fumecheng-13629	193	22	2𝑁𝑃	2𝑁𝑃	NUM
fumecheng-13629	193	23	𝑖=1	𝑖=1	PUNCT
fumecheng-13629	194	1	+	+	ADJ
fumecheng-13629	194	2	∑	∑	PROPN
fumecheng-13629	194	3	∥	∥	ADJ
fumecheng-13629	194	4	𝛥𝑢	𝛥𝑢	PROPN
fumecheng-13629	194	5	(	(	PUNCT
fumecheng-13629	194	6	𝑘	𝑘	PROPN
fumecheng-13629	194	7	+	+	NOUN
fumecheng-13629	194	8	𝑖	𝑖	PROPN
fumecheng-13629	194	9	∣	∣	PROPN
fumecheng-13629	194	10	𝑘	𝑘	NOUN
fumecheng-13629	194	11	)	)	PUNCT
fumecheng-13629	194	12	∥𝑅	∥𝑅	VERB
fumecheng-13629	195	1	2𝑁𝑐−1	2𝑁𝑐−1	PROPN
fumecheng-13629	195	2	𝑖=1	𝑖=1	PROPN
fumecheng-13629	195	3	(	(	PUNCT
fumecheng-13629	195	4	29	29	NUM
fumecheng-13629	195	5	)	)	PUNCT
fumecheng-13629	195	6	where	where	SCONJ
fumecheng-13629	195	7	𝜼𝐫𝐞𝐟(𝑘	𝜼𝐫𝐞𝐟(𝑘	NOUN
fumecheng-13629	195	8	+	+	CCONJ
fumecheng-13629	195	9	𝑖	𝑖	PROPN
fumecheng-13629	195	10	∣	∣	PROPN
fumecheng-13629	195	11	𝑘	𝑘	NOUN
fumecheng-13629	195	12	)	)	PUNCT
fumecheng-13629	195	13	represents	represent	VERB
fumecheng-13629	195	14	the	the	DET
fumecheng-13629	195	15	reference	reference	NOUN
fumecheng-13629	195	16	vector	vector	NOUN
fumecheng-13629	195	17	,	,	PUNCT
fumecheng-13629	195	18	and	and	CCONJ
fumecheng-13629	195	19	q	q	NOUN
fumecheng-13629	195	20	and	and	CCONJ
fumecheng-13629	195	21	r	r	NOUN
fumecheng-13629	195	22	are	be	AUX
fumecheng-13629	195	23	the	the	DET
fumecheng-13629	195	24	weighted	weight	VERB
fumecheng-13629	195	25	matrices	matrix	NOUN
fumecheng-13629	195	26	for	for	ADP
fumecheng-13629	195	27	the	the	DET
fumecheng-13629	195	28	control	control	NOUN
fumecheng-13629	195	29	and	and	CCONJ
fumecheng-13629	195	30	target	target	NOUN
fumecheng-13629	195	31	variables	variable	NOUN
fumecheng-13629	195	32	,	,	PUNCT
fumecheng-13629	195	33	respectively	respectively	ADV
fumecheng-13629	195	34	,	,	PUNCT
fumecheng-13629	195	35	where	where	SCONJ
fumecheng-13629	195	36	r	r	NOUN
fumecheng-13629	195	37	is	be	AUX
fumecheng-13629	195	38	a	a	DET
fumecheng-13629	195	39	one	one	NUM
fumecheng-13629	195	40	-	-	PUNCT
fumecheng-13629	195	41	dimensional	dimensional	ADJ
fumecheng-13629	195	42	vector	vector	NOUN
fumecheng-13629	195	43	with	with	ADP
fumecheng-13629	195	44	a	a	DET
fumecheng-13629	195	45	value	value	NOUN
fumecheng-13629	195	46	of	of	ADP
fumecheng-13629	195	47	10	10	NUM
fumecheng-13629	195	48	,	,	PUNCT
fumecheng-13629	195	49	and	and	CCONJ
fumecheng-13629	195	50	q	q	NOUN
fumecheng-13629	195	51	is	be	AUX
fumecheng-13629	195	52	a	a	DET
fumecheng-13629	195	53	fourth	fourth	ADJ
fumecheng-13629	195	54	-	-	PUNCT
fumecheng-13629	195	55	order	order	NOUN
fumecheng-13629	195	56	square	square	ADJ
fumecheng-13629	195	57	matrix	matrix	NOUN
fumecheng-13629	195	58	,	,	PUNCT
fumecheng-13629	195	59	respectively	respectively	ADV
fumecheng-13629	195	60	,	,	PUNCT
fumecheng-13629	195	61	which	which	PRON
fumecheng-13629	195	62	,	,	PUNCT
fumecheng-13629	195	63	in	in	ADP
fumecheng-13629	195	64	the	the	DET
fumecheng-13629	195	65	car	car	NOUN
fumecheng-13629	195	66	-	-	PUNCT
fumecheng-13629	195	67	following	follow	VERB
fumecheng-13629	195	68	task	task	NOUN
fumecheng-13629	195	69	,	,	PUNCT
fumecheng-13629	195	70	can	can	AUX
fumecheng-13629	195	71	be	be	AUX
fumecheng-13629	195	72	defined	define	VERB
fumecheng-13629	195	73	as	as	ADP
fumecheng-13629	195	74	follows	follow	VERB
fumecheng-13629	195	75	:	:	PUNCT
fumecheng-13629	195	76	𝜂𝑟𝑒𝑓	𝜂𝑟𝑒𝑓	NOUN
fumecheng-13629	195	77	(	(	PUNCT
fumecheng-13629	195	78	𝑘	𝑘	PROPN
fumecheng-13629	195	79	+	+	PROPN
fumecheng-13629	195	80	𝑖	𝑖	PROPN
fumecheng-13629	195	81	∣	∣	PROPN
fumecheng-13629	195	82	𝑘	𝑘	NOUN
fumecheng-13629	195	83	)	)	PUNCT
fumecheng-13629	196	1	=	=	PUNCT
fumecheng-13629	197	1	[	[	X
fumecheng-13629	197	2	𝛥𝑑𝑑𝑒𝑠	𝛥𝑑𝑑𝑒𝑠	PROPN
fumecheng-13629	197	3	(	(	PUNCT
fumecheng-13629	197	4	𝑘	𝑘	PROPN
fumecheng-13629	197	5	+	+	PROPN
fumecheng-13629	197	6	𝑖	𝑖	PROPN
fumecheng-13629	197	7	∣	∣	PROPN
fumecheng-13629	197	8	𝑘	𝑘	NOUN
fumecheng-13629	197	9	)	)	PUNCT
fumecheng-13629	197	10	0	0	NUM
fumecheng-13629	197	11	0	0	NUM
fumecheng-13629	197	12	0]𝑇	0]𝑇	PROPN
fumecheng-13629	197	13	𝛥𝑢	𝛥𝑢	PROPN
fumecheng-13629	197	14	(	(	PUNCT
fumecheng-13629	197	15	𝑘	𝑘	PROPN
fumecheng-13629	197	16	+	+	NOUN
fumecheng-13629	197	17	𝑖	𝑖	PROPN
fumecheng-13629	197	18	∣	∣	PROPN
fumecheng-13629	197	19	𝑘	𝑘	NOUN
fumecheng-13629	197	20	)	)	PUNCT
fumecheng-13629	197	21	=	=	SYM
fumecheng-13629	197	22	𝑗	𝑗	PROPN
fumecheng-13629	197	23	(	(	PUNCT
fumecheng-13629	197	24	𝑘	𝑘	PROPN
fumecheng-13629	197	25	+	+	PROPN
fumecheng-13629	197	26	𝑖	𝑖	PROPN
fumecheng-13629	197	27	∣	∣	PROPN
fumecheng-13629	197	28	𝑘	𝑘	NOUN
fumecheng-13629	197	29	)	)	PUNCT
fumecheng-13629	197	30	𝛥𝑡	𝛥𝑡	PROPN
fumecheng-13629	197	31	(	(	PUNCT
fumecheng-13629	197	32	30	30	NUM
fumecheng-13629	197	33	)	)	PUNCT
fumecheng-13629	197	34	scenario	scenario	NOUN
fumecheng-13629	197	35	-	-	PUNCT
fumecheng-13629	197	36	level	level	NOUN
fumecheng-13629	197	37	hierarchical	hierarchical	ADJ
fumecheng-13629	197	38	energy	energy	NOUN
fumecheng-13629	197	39	management	management	NOUN
fumecheng-13629	197	40	control	control	NOUN
fumecheng-13629	197	41	strategy	strategy	NOUN
fumecheng-13629	197	42	for	for	ADP
fumecheng-13629	197	43	hybrid	hybrid	ADJ
fumecheng-13629	197	44	electric	electric	ADJ
fumecheng-13629	197	45	vehicle	vehicle	NOUN
fumecheng-13629	197	46	13	13	NUM
fumecheng-13629	197	47	the	the	DET
fumecheng-13629	197	48	optimization	optimization	NOUN
fumecheng-13629	197	49	objective	objective	NOUN
fumecheng-13629	197	50	and	and	CCONJ
fumecheng-13629	197	51	the	the	DET
fumecheng-13629	197	52	constraints	constraint	NOUN
fumecheng-13629	197	53	for	for	ADP
fumecheng-13629	197	54	the	the	DET
fumecheng-13629	197	55	model	model	NOUN
fumecheng-13629	197	56	predictive	predictive	PROPN
fumecheng-13629	197	57	control	control	NOUN
fumecheng-13629	197	58	are	be	AUX
fumecheng-13629	197	59	defined	define	VERB
fumecheng-13629	197	60	as	as	ADP
fumecheng-13629	197	61	:	:	PUNCT
fumecheng-13629	197	62	𝑠.	𝑠.	PROPN
fumecheng-13629	197	63	𝑡.	𝑡.	NOUN
fumecheng-13629	197	64	{	{	PUNCT
fumecheng-13629	197	65	𝑑0	𝑑0	NOUN
fumecheng-13629	197	66	≤	≤	NUM
fumecheng-13629	197	67	𝛥𝑑(𝑘	𝛥𝑑(𝑘	NUM
fumecheng-13629	197	68	)	)	PUNCT
fumecheng-13629	197	69	≤	≤	NOUN
fumecheng-13629	197	70	𝑑𝑚𝑎𝑥	𝑑𝑚𝑎𝑥	NOUN
fumecheng-13629	197	71	,	,	PUNCT
fumecheng-13629	197	72	𝑣𝑚𝑖𝑛	𝑣𝑚𝑖𝑛	NOUN
fumecheng-13629	197	73	≤	≤	ADJ
fumecheng-13629	197	74	𝑣(𝑘	𝑣(𝑘	PROPN
fumecheng-13629	197	75	)	)	PUNCT
fumecheng-13629	197	76	≤	≤	NUM
fumecheng-13629	197	77	𝑣𝑚𝑎𝑥	𝑣𝑚𝑎𝑥	NOUN
fumecheng-13629	197	78	𝑎𝑚𝑖𝑛	𝑎𝑚𝑖𝑛	NOUN
fumecheng-13629	197	79	≤	≤	PROPN
fumecheng-13629	197	80	𝑎(𝑘	𝑎(𝑘	VERB
fumecheng-13629	197	81	)	)	PUNCT
fumecheng-13629	197	82	≤	≤	NUM
fumecheng-13629	197	83	𝑎𝑚𝑎𝑥	𝑎𝑚𝑎𝑥	NOUN
fumecheng-13629	197	84	𝑗𝑚𝑖𝑛	𝑗𝑚𝑖𝑛	NOUN
fumecheng-13629	197	85	≤	≤	NUM
fumecheng-13629	197	86	𝑗(𝑘	𝑗(𝑘	NUM
fumecheng-13629	197	87	)	)	PUNCT
fumecheng-13629	197	88	≤	≤	NUM
fumecheng-13629	198	1	𝑗𝑚𝑎𝑥	𝑗𝑚𝑎𝑥	PROPN
fumecheng-13629	198	2	(	(	PUNCT
fumecheng-13629	198	3	31	31	NUM
fumecheng-13629	198	4	)	)	PUNCT
fumecheng-13629	198	5	considering	consider	VERB
fumecheng-13629	198	6	driving	drive	VERB
fumecheng-13629	198	7	styles	style	NOUN
fumecheng-13629	198	8	,	,	PUNCT
fumecheng-13629	198	9	the	the	DET
fumecheng-13629	198	10	aggressive	aggressive	ADJ
fumecheng-13629	198	11	strategy	strategy	NOUN
fumecheng-13629	198	12	should	should	AUX
fumecheng-13629	198	13	have	have	VERB
fumecheng-13629	198	14	safety	safety	NOUN
fumecheng-13629	198	15	and	and	CCONJ
fumecheng-13629	198	16	comfort	comfort	NOUN
fumecheng-13629	198	17	,	,	PUNCT
fumecheng-13629	198	18	while	while	SCONJ
fumecheng-13629	198	19	the	the	DET
fumecheng-13629	198	20	conservative	conservative	ADJ
fumecheng-13629	198	21	driving	driving	NOUN
fumecheng-13629	198	22	strategy	strategy	NOUN
fumecheng-13629	198	23	should	should	AUX
fumecheng-13629	198	24	have	have	VERB
fumecheng-13629	198	25	higher	high	ADJ
fumecheng-13629	198	26	safety	safety	NOUN
fumecheng-13629	198	27	and	and	CCONJ
fumecheng-13629	198	28	comfort	comfort	NOUN
fumecheng-13629	198	29	.	.	PUNCT
fumecheng-13629	199	1	the	the	DET
fumecheng-13629	199	2	final	final	ADJ
fumecheng-13629	199	3	cost	cost	NOUN
fumecheng-13629	199	4	function	function	NOUN
fumecheng-13629	199	5	is	be	AUX
fumecheng-13629	199	6	defined	define	VERB
fumecheng-13629	199	7	as	as	ADP
fumecheng-13629	199	8	:	:	PUNCT
fumecheng-13629	199	9	𝐹𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	𝐹𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	NOUN
fumecheng-13629	199	10	=	=	SYM
fumecheng-13629	199	11	𝑚𝑖𝑛	𝑚𝑖𝑛	PROPN
fumecheng-13629	199	12	𝜃−𝜓	𝜃−𝜓	PROPN
fumecheng-13629	199	13	 	 	SPACE
fumecheng-13629	199	14	𝑚𝑎𝑥	𝑚𝑎𝑥	ADJ
fumecheng-13629	199	15	𝜔	𝜔	NOUN
fumecheng-13629	199	16	 	 	SPACE
fumecheng-13629	199	17	𝔼𝜋𝜃[𝑙𝑜𝑔	𝔼𝜋𝜃[𝑙𝑜𝑔	NOUN
fumecheng-13629	199	18	𝐷𝜔(𝑠	𝐷𝜔(𝑠	ADJ
fumecheng-13629	199	19	,	,	PUNCT
fumecheng-13629	199	20	𝑎	𝑎	NOUN
fumecheng-13629	199	21	)	)	PUNCT
fumecheng-13629	199	22	]	]	PUNCT
fumecheng-13629	199	23	−	−	PROPN
fumecheng-13629	199	24	𝔼𝜋𝐸[𝐷𝜔(𝑠	𝔼𝜋𝐸[𝐷𝜔(𝑠	NOUN
fumecheng-13629	199	25	,	,	PUNCT
fumecheng-13629	199	26	𝑎	𝑎	NOUN
fumecheng-13629	199	27	)	)	PUNCT
fumecheng-13629	199	28	]	]	PUNCT
fumecheng-13629	200	1	−	−	PROPN
fumecheng-13629	200	2	𝜆0𝜂(𝜋𝜃	𝜆0𝜂(𝜋𝜃	SYM
fumecheng-13629	200	3	)	)	PUNCT
fumecheng-13629	200	4	−𝜆𝐼𝐿𝐼(𝜋𝜃	−𝜆𝐼𝐿𝐼(𝜋𝜃	PROPN
fumecheng-13629	200	5	,	,	PUNCT
fumecheng-13629	200	6	𝑄𝜗	𝑄𝜗	PROPN
fumecheng-13629	200	7	)	)	PUNCT
fumecheng-13629	200	8	−	−	PROPN
fumecheng-13629	200	9	𝜆2𝐻(𝜋𝜃	𝜆2𝐻(𝜋𝜃	SYM
fumecheng-13629	200	10	)	)	PUNCT
fumecheng-13629	201	1	−	−	PROPN
fumecheng-13629	201	2	𝜆3𝐽(𝜉(𝑘	𝜆3𝐽(𝜉(𝑘	NUM
fumecheng-13629	201	3	)	)	PUNCT
fumecheng-13629	201	4	,	,	PUNCT
fumecheng-13629	201	5	𝑢(𝑘	𝑢(𝑘	PROPN
fumecheng-13629	201	6	−	−	PROPN
fumecheng-13629	201	7	1	1	NUM
fumecheng-13629	201	8	)	)	PUNCT
fumecheng-13629	201	9	,	,	PUNCT
fumecheng-13629	201	10	𝛥𝑢(𝑘	𝛥𝑢(𝑘	NOUN
fumecheng-13629	201	11	)	)	PUNCT
fumecheng-13629	201	12	)	)	PUNCT
fumecheng-13629	202	1	(	(	PUNCT
fumecheng-13629	202	2	32	32	NUM
fumecheng-13629	202	3	)	)	SYM
fumecheng-13629	202	4	4	4	NUM
fumecheng-13629	202	5	.	.	X
fumecheng-13629	202	6	reinforcement	reinforcement	NOUN
fumecheng-13629	202	7	learning	learning	NOUN
fumecheng-13629	202	8	optimization	optimization	NOUN
fumecheng-13629	202	9	of	of	ADP
fumecheng-13629	202	10	energy	energy	NOUN
fumecheng-13629	202	11	management	management	NOUN
fumecheng-13629	202	12	control	control	NOUN
fumecheng-13629	202	13	strategies	strategy	NOUN
fumecheng-13629	202	14	in	in	ADP
fumecheng-13629	202	15	intersection	intersection	NOUN
fumecheng-13629	202	16	scenarios	scenario	NOUN
fumecheng-13629	202	17	the	the	DET
fumecheng-13629	202	18	factors	factor	NOUN
fumecheng-13629	202	19	affecting	affect	VERB
fumecheng-13629	202	20	the	the	DET
fumecheng-13629	202	21	driving	drive	VERB
fumecheng-13629	202	22	control	control	NOUN
fumecheng-13629	202	23	strategy	strategy	NOUN
fumecheng-13629	202	24	at	at	ADP
fumecheng-13629	202	25	intersections	intersection	NOUN
fumecheng-13629	202	26	can	can	AUX
fumecheng-13629	202	27	be	be	AUX
fumecheng-13629	202	28	divided	divide	VERB
fumecheng-13629	202	29	into	into	ADP
fumecheng-13629	202	30	two	two	NUM
fumecheng-13629	202	31	main	main	ADJ
fumecheng-13629	202	32	aspects	aspect	NOUN
fumecheng-13629	202	33	.	.	PUNCT
fumecheng-13629	203	1	the	the	DET
fumecheng-13629	203	2	first	first	ADJ
fumecheng-13629	203	3	is	be	AUX
fumecheng-13629	203	4	the	the	DET
fumecheng-13629	203	5	impact	impact	NOUN
fumecheng-13629	203	6	of	of	ADP
fumecheng-13629	203	7	sparse	sparse	ADJ
fumecheng-13629	203	8	reward	reward	NOUN
fumecheng-13629	203	9	functions	function	NOUN
fumecheng-13629	203	10	on	on	ADP
fumecheng-13629	203	11	the	the	DET
fumecheng-13629	203	12	driving	drive	VERB
fumecheng-13629	203	13	control	control	NOUN
fumecheng-13629	203	14	strategy	strategy	NOUN
fumecheng-13629	203	15	,	,	PUNCT
fumecheng-13629	203	16	and	and	CCONJ
fumecheng-13629	203	17	the	the	DET
fumecheng-13629	203	18	second	second	NOUN
fumecheng-13629	203	19	is	be	AUX
fumecheng-13629	203	20	the	the	DET
fumecheng-13629	203	21	impact	impact	NOUN
fumecheng-13629	203	22	of	of	ADP
fumecheng-13629	203	23	the	the	DET
fumecheng-13629	203	24	complexity	complexity	NOUN
fumecheng-13629	203	25	and	and	CCONJ
fumecheng-13629	203	26	uncertainty	uncertainty	NOUN
fumecheng-13629	203	27	of	of	ADP
fumecheng-13629	203	28	intersections	intersection	NOUN
fumecheng-13629	203	29	on	on	ADP
fumecheng-13629	203	30	the	the	DET
fumecheng-13629	203	31	driving	drive	VERB
fumecheng-13629	203	32	control	control	NOUN
fumecheng-13629	203	33	strategy	strategy	NOUN
fumecheng-13629	203	34	.	.	PUNCT
fumecheng-13629	204	1	to	to	PART
fumecheng-13629	204	2	address	address	VERB
fumecheng-13629	204	3	these	these	DET
fumecheng-13629	204	4	issues	issue	NOUN
fumecheng-13629	204	5	,	,	PUNCT
fumecheng-13629	204	6	two	two	NUM
fumecheng-13629	204	7	approaches	approach	NOUN
fumecheng-13629	204	8	:	:	PUNCT
fumecheng-13629	204	9	self	self	NOUN
fumecheng-13629	204	10	-	-	PUNCT
fumecheng-13629	204	11	supervised	supervise	VERB
fumecheng-13629	204	12	additional	additional	ADJ
fumecheng-13629	204	13	reward	reward	NOUN
fumecheng-13629	204	14	function	function	NOUN
fumecheng-13629	204	15	and	and	CCONJ
fumecheng-13629	204	16	calibration	calibration	NOUN
fumecheng-13629	204	17	equation	equation	NOUN
fumecheng-13629	204	18	for	for	ADP
fumecheng-13629	204	19	adjusting	adjust	VERB
fumecheng-13629	204	20	the	the	DET
fumecheng-13629	204	21	training	training	NOUN
fumecheng-13629	204	22	direction	direction	NOUN
fumecheng-13629	204	23	are	be	AUX
fumecheng-13629	204	24	proposed	propose	VERB
fumecheng-13629	204	25	.	.	PUNCT
fumecheng-13629	205	1	4.1	4.1	NUM
fumecheng-13629	205	2	reconstruction	reconstruction	NOUN
fumecheng-13629	205	3	of	of	ADP
fumecheng-13629	205	4	the	the	DET
fumecheng-13629	205	5	safety	safety	NOUN
fumecheng-13629	205	6	reward	reward	NOUN
fumecheng-13629	205	7	function	function	NOUN
fumecheng-13629	205	8	during	during	ADP
fumecheng-13629	205	9	the	the	DET
fumecheng-13629	205	10	actual	actual	ADJ
fumecheng-13629	205	11	training	training	NOUN
fumecheng-13629	205	12	process	process	NOUN
fumecheng-13629	205	13	,	,	PUNCT
fumecheng-13629	205	14	the	the	DET
fumecheng-13629	205	15	safety	safety	NOUN
fumecheng-13629	205	16	reward	reward	NOUN
fumecheng-13629	205	17	function	function	NOUN
fumecheng-13629	205	18	often	often	ADV
fumecheng-13629	205	19	suffers	suffer	VERB
fumecheng-13629	205	20	from	from	ADP
fumecheng-13629	205	21	sparsity	sparsity	NOUN
fumecheng-13629	205	22	,	,	PUNCT
fumecheng-13629	205	23	which	which	PRON
fumecheng-13629	205	24	is	be	AUX
fumecheng-13629	205	25	detrimental	detrimental	ADJ
fumecheng-13629	205	26	to	to	ADP
fumecheng-13629	205	27	the	the	DET
fumecheng-13629	205	28	learning	learning	NOUN
fumecheng-13629	205	29	of	of	ADP
fumecheng-13629	205	30	the	the	DET
fumecheng-13629	205	31	intelligent	intelligent	ADJ
fumecheng-13629	205	32	agent	agent	NOUN
fumecheng-13629	205	33	.	.	PUNCT
fumecheng-13629	206	1	given	give	VERB
fumecheng-13629	206	2	the	the	DET
fumecheng-13629	206	3	above	above	ADJ
fumecheng-13629	206	4	issues	issue	NOUN
fumecheng-13629	206	5	,	,	PUNCT
fumecheng-13629	206	6	it	it	PRON
fumecheng-13629	206	7	is	be	AUX
fumecheng-13629	206	8	crucial	crucial	ADJ
fumecheng-13629	206	9	to	to	PART
fumecheng-13629	206	10	redesign	redesign	VERB
fumecheng-13629	206	11	the	the	DET
fumecheng-13629	206	12	safety	safety	NOUN
fumecheng-13629	206	13	reward	reward	NOUN
fumecheng-13629	206	14	function	function	VERB
fumecheng-13629	206	15	considering	consider	VERB
fumecheng-13629	206	16	the	the	DET
fumecheng-13629	206	17	potential	potential	ADJ
fumecheng-13629	206	18	impact	impact	NOUN
fumecheng-13629	206	19	of	of	ADP
fumecheng-13629	206	20	the	the	DET
fumecheng-13629	206	21	current	current	ADJ
fumecheng-13629	206	22	behavior	behavior	NOUN
fumecheng-13629	206	23	on	on	ADP
fumecheng-13629	206	24	future	future	ADJ
fumecheng-13629	206	25	states	state	NOUN
fumecheng-13629	206	26	.	.	PUNCT
fumecheng-13629	207	1	in	in	ADP
fumecheng-13629	207	2	the	the	DET
fumecheng-13629	207	3	context	context	NOUN
fumecheng-13629	207	4	of	of	ADP
fumecheng-13629	207	5	intelligent	intelligent	ADJ
fumecheng-13629	207	6	and	and	CCONJ
fumecheng-13629	207	7	connected	connected	ADJ
fumecheng-13629	207	8	vehicles	vehicle	NOUN
fumecheng-13629	207	9	,	,	PUNCT
fumecheng-13629	207	10	the	the	DET
fumecheng-13629	207	11	vehicle	vehicle	NOUN
fumecheng-13629	207	12	itself	itself	PRON
fumecheng-13629	207	13	can	can	AUX
fumecheng-13629	207	14	receive	receive	VERB
fumecheng-13629	207	15	information	information	NOUN
fumecheng-13629	207	16	about	about	ADP
fumecheng-13629	207	17	the	the	DET
fumecheng-13629	207	18	phase	phase	NOUN
fumecheng-13629	207	19	and	and	CCONJ
fumecheng-13629	207	20	distance	distance	NOUN
fumecheng-13629	207	21	of	of	ADP
fumecheng-13629	207	22	the	the	DET
fumecheng-13629	207	23	next	next	ADJ
fumecheng-13629	207	24	traffic	traffic	NOUN
fumecheng-13629	207	25	light	light	NOUN
fumecheng-13629	207	26	.	.	PUNCT
fumecheng-13629	208	1	drivers	driver	NOUN
fumecheng-13629	208	2	generally	generally	ADV
fumecheng-13629	208	3	expect	expect	VERB
fumecheng-13629	208	4	the	the	DET
fumecheng-13629	208	5	next	next	ADJ
fumecheng-13629	208	6	traffic	traffic	NOUN
fumecheng-13629	208	7	light	light	NOUN
fumecheng-13629	208	8	to	to	PART
fumecheng-13629	208	9	be	be	AUX
fumecheng-13629	208	10	green	green	ADJ
fumecheng-13629	208	11	,	,	PUNCT
fumecheng-13629	208	12	allowing	allow	VERB
fumecheng-13629	208	13	them	they	PRON
fumecheng-13629	208	14	to	to	PART
fumecheng-13629	208	15	quickly	quickly	ADV
fumecheng-13629	208	16	pass	pass	VERB
fumecheng-13629	208	17	through	through	ADP
fumecheng-13629	208	18	the	the	DET
fumecheng-13629	208	19	intersection	intersection	NOUN
fumecheng-13629	208	20	.	.	PUNCT
fumecheng-13629	209	1	based	base	VERB
fumecheng-13629	209	2	on	on	ADP
fumecheng-13629	209	3	the	the	DET
fumecheng-13629	209	4	remaining	remain	VERB
fumecheng-13629	209	5	time	time	NOUN
fumecheng-13629	209	6	of	of	ADP
fumecheng-13629	209	7	the	the	DET
fumecheng-13629	209	8	red	red	ADJ
fumecheng-13629	209	9	light	light	NOUN
fumecheng-13629	209	10	and	and	CCONJ
fumecheng-13629	209	11	the	the	DET
fumecheng-13629	209	12	duration	duration	NOUN
fumecheng-13629	209	13	of	of	ADP
fumecheng-13629	209	14	the	the	DET
fumecheng-13629	209	15	green	green	ADJ
fumecheng-13629	209	16	light	light	NOUN
fumecheng-13629	209	17	,	,	PUNCT
fumecheng-13629	209	18	the	the	DET
fumecheng-13629	209	19	speed	speed	NOUN
fumecheng-13629	209	20	boundaries	boundary	NOUN
fumecheng-13629	209	21	at	at	ADP
fumecheng-13629	209	22	the	the	DET
fumecheng-13629	209	23	intersection	intersection	NOUN
fumecheng-13629	209	24	can	can	AUX
fumecheng-13629	209	25	be	be	AUX
fumecheng-13629	209	26	determined	determine	VERB
fumecheng-13629	209	27	as	as	ADP
fumecheng-13629	209	28	:	:	PUNCT
fumecheng-13629	209	29	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	PROPN
fumecheng-13629	209	30	=	=	SYM
fumecheng-13629	209	31	𝑚𝑖𝑛	𝑚𝑖𝑛	PROPN
fumecheng-13629	209	32	{	{	PUNCT
fumecheng-13629	209	33	𝑉𝑙𝑖𝑚𝑖𝑡	𝑉𝑙𝑖𝑚𝑖𝑡	PROPN
fumecheng-13629	209	34	,	,	PUNCT
fumecheng-13629	209	35	𝐷𝑉2𝑆	𝐷𝑉2𝑆	PROPN
fumecheng-13629	209	36	÷	÷	PUNCT
fumecheng-13629	210	1	[	[	X
fumecheng-13629	210	2	𝑡𝑟_𝑟𝑒𝑚	𝑡𝑟_𝑟𝑒𝑚	NOUN
fumecheng-13629	210	3	+	+	NUM
fumecheng-13629	210	4	𝑘(𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	𝑘(𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	X
fumecheng-13629	210	5	+	+	CCONJ
fumecheng-13629	210	6	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	NUM
fumecheng-13629	210	7	)	)	PUNCT
fumecheng-13629	210	8	]	]	PUNCT
fumecheng-13629	210	9	}	}	PUNCT
fumecheng-13629	210	10	(	(	PUNCT
fumecheng-13629	210	11	33	33	NUM
fumecheng-13629	210	12	)	)	PUNCT
fumecheng-13629	210	13	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	PROPN
fumecheng-13629	210	14	=	=	SYM
fumecheng-13629	210	15	𝐷𝑉2𝑆	𝐷𝑉2𝑆	PROPN
fumecheng-13629	210	16	÷	÷	PUNCT
fumecheng-13629	211	1	[	[	X
fumecheng-13629	211	2	𝑡𝑟_𝑟𝑒𝑚	𝑡𝑟_𝑟𝑒𝑚	PROPN
fumecheng-13629	211	3	+	+	NUM
fumecheng-13629	211	4	𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	PROPN
fumecheng-13629	211	5	+	+	CCONJ
fumecheng-13629	211	6	𝑘(𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	𝑘(𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	NOUN
fumecheng-13629	211	7	+	+	CCONJ
fumecheng-13629	211	8	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	NOUN
fumecheng-13629	211	9	)	)	PUNCT
fumecheng-13629	211	10	]	]	PUNCT
fumecheng-13629	211	11	(	(	PUNCT
fumecheng-13629	211	12	34	34	NUM
fumecheng-13629	211	13	)	)	PUNCT
fumecheng-13629	211	14	where	where	SCONJ
fumecheng-13629	211	15	,	,	PUNCT
fumecheng-13629	211	16	vlimit	vlimit	NOUN
fumecheng-13629	211	17	represents	represent	VERB
fumecheng-13629	211	18	the	the	DET
fumecheng-13629	211	19	speed	speed	NOUN
fumecheng-13629	211	20	limit	limit	NOUN
fumecheng-13629	211	21	of	of	ADP
fumecheng-13629	211	22	the	the	DET
fumecheng-13629	211	23	road	road	NOUN
fumecheng-13629	211	24	.	.	PUNCT
fumecheng-13629	212	1	dv2s	dv2	NOUN
fumecheng-13629	212	2	indicates	indicate	VERB
fumecheng-13629	212	3	the	the	DET
fumecheng-13629	212	4	distance	distance	NOUN
fumecheng-13629	212	5	to	to	ADP
fumecheng-13629	212	6	the	the	DET
fumecheng-13629	212	7	stop	stop	NOUN
fumecheng-13629	212	8	line	line	NOUN
fumecheng-13629	212	9	at	at	ADP
fumecheng-13629	212	10	the	the	DET
fumecheng-13629	212	11	intersection	intersection	NOUN
fumecheng-13629	212	12	.	.	PUNCT
fumecheng-13629	213	1	tr_cycle	tr_cycle	PROPN
fumecheng-13629	213	2	shows	show	VERB
fumecheng-13629	213	3	the	the	DET
fumecheng-13629	213	4	remaining	remain	VERB
fumecheng-13629	213	5	red	red	ADJ
fumecheng-13629	213	6	light	light	ADJ
fumecheng-13629	213	7	time	time	NOUN
fumecheng-13629	213	8	.	.	PUNCT
fumecheng-13629	214	1	tg_cycle	tg_cycle	PROPN
fumecheng-13629	214	2	means	mean	VERB
fumecheng-13629	214	3	the	the	DET
fumecheng-13629	214	4	duration	duration	NOUN
fumecheng-13629	214	5	of	of	ADP
fumecheng-13629	214	6	the	the	DET
fumecheng-13629	214	7	green	green	ADJ
fumecheng-13629	214	8	light	light	NOUN
fumecheng-13629	214	9	.	.	PUNCT
fumecheng-13629	215	1	tr_rem	tr_rem	PROPN
fumecheng-13629	215	2	is	be	AUX
fumecheng-13629	215	3	the	the	DET
fumecheng-13629	215	4	duration	duration	NOUN
fumecheng-13629	215	5	of	of	ADP
fumecheng-13629	215	6	the	the	DET
fumecheng-13629	215	7	red	red	ADJ
fumecheng-13629	215	8	light	light	NOUN
fumecheng-13629	215	9	.	.	PUNCT
fumecheng-13629	216	1	𝑘	𝑘	PRON
fumecheng-13629	216	2	=	=	NOUN
fumecheng-13629	216	3	0,1,2	0,1,2	NUM
fumecheng-13629	216	4	…	…	PUNCT
fumecheng-13629	216	5	,	,	PUNCT
fumecheng-13629	216	6	∞	∞	PRON
fumecheng-13629	216	7	represents	represent	VERB
fumecheng-13629	216	8	the	the	DET
fumecheng-13629	216	9	delay	delay	NOUN
fumecheng-13629	216	10	period	period	NOUN
fumecheng-13629	216	11	.	.	PUNCT
fumecheng-13629	217	1	when	when	SCONJ
fumecheng-13629	217	2	the	the	DET
fumecheng-13629	217	3	vehicle	vehicle	NOUN
fumecheng-13629	217	4	can	can	AUX
fumecheng-13629	217	5	pass	pass	VERB
fumecheng-13629	217	6	through	through	ADP
fumecheng-13629	217	7	the	the	DET
fumecheng-13629	217	8	next	next	ADJ
fumecheng-13629	217	9	red	red	ADJ
fumecheng-13629	217	10	-	-	PUNCT
fumecheng-13629	217	11	green	green	ADJ
fumecheng-13629	217	12	light	light	NOUN
fumecheng-13629	217	13	during	during	ADP
fumecheng-13629	217	14	the	the	DET
fumecheng-13629	217	15	green	green	ADJ
fumecheng-13629	217	16	light	light	ADJ
fumecheng-13629	217	17	time	time	PROPN
fumecheng-13629	217	18	tw	tw	PROPN
fumecheng-13629	217	19	,	,	PUNCT
fumecheng-13629	217	20	k	k	PROPN
fumecheng-13629	217	21	=	=	PUNCT
fumecheng-13629	217	22	0	0	X
fumecheng-13629	217	23	.	.	PUNCT
fumecheng-13629	218	1	if	if	SCONJ
fumecheng-13629	218	2	the	the	DET
fumecheng-13629	218	3	lower	low	ADJ
fumecheng-13629	218	4	bound	bind	VERB
fumecheng-13629	218	5	of	of	ADP
fumecheng-13629	218	6	the	the	DET
fumecheng-13629	218	7	green	green	ADJ
fumecheng-13629	218	8	light	light	NOUN
fumecheng-13629	218	9	speed	speed	NOUN
fumecheng-13629	218	10	boundary	boundary	ADJ
fumecheng-13629	218	11	exceeds	exceed	VERB
fumecheng-13629	218	12	the	the	DET
fumecheng-13629	218	13	road	road	NOUN
fumecheng-13629	218	14	speed	speed	NOUN
fumecheng-13629	218	15	limit	limit	NOUN
fumecheng-13629	218	16	,	,	PUNCT
fumecheng-13629	218	17	it	it	PRON
fumecheng-13629	218	18	means	mean	VERB
fumecheng-13629	218	19	the	the	DET
fumecheng-13629	218	20	vehicle	vehicle	NOUN
fumecheng-13629	218	21	can	can	AUX
fumecheng-13629	218	22	not	not	PART
fumecheng-13629	218	23	pass	pass	VERB
fumecheng-13629	218	24	through	through	ADP
fumecheng-13629	218	25	the	the	DET
fumecheng-13629	218	26	next	next	ADJ
fumecheng-13629	218	27	red	red	ADJ
fumecheng-13629	218	28	-	-	PUNCT
fumecheng-13629	218	29	green	green	ADJ
fumecheng-13629	218	30	light	light	NOUN
fumecheng-13629	218	31	.	.	PUNCT
fumecheng-13629	219	1	in	in	ADP
fumecheng-13629	219	2	this	this	DET
fumecheng-13629	219	3	case	case	NOUN
fumecheng-13629	219	4	,	,	PUNCT
fumecheng-13629	219	5	we	we	PRON
fumecheng-13629	219	6	can	can	AUX
fumecheng-13629	219	7	adjust	adjust	VERB
fumecheng-13629	219	8	the	the	DET
fumecheng-13629	219	9	delay	delay	NOUN
fumecheng-13629	219	10	period	period	NOUN
fumecheng-13629	219	11	𝑘	𝑘	X
fumecheng-13629	219	12	to	to	PART
fumecheng-13629	219	13	select	select	VERB
fumecheng-13629	219	14	a	a	DET
fumecheng-13629	219	15	suitable	suitable	ADJ
fumecheng-13629	219	16	green	green	ADJ
fumecheng-13629	219	17	light	light	NOUN
fumecheng-13629	219	18	.	.	PUNCT
fumecheng-13629	220	1	14	14	NUM
fumecheng-13629	220	2	f.	f.	PROPN
fumecheng-13629	220	3	xiao	xiao	PROPN
fumecheng-13629	220	4	,	,	PUNCT
fumecheng-13629	220	5	r.	r.	PROPN
fumecheng-13629	220	6	zhang	zhang	PROPN
fumecheng-13629	220	7	,	,	PUNCT
fumecheng-13629	220	8	c.	c.	PROPN
fumecheng-13629	220	9	qi	qi	PROPN
fumecheng-13629	220	10	similarly	similarly	ADV
fumecheng-13629	220	11	,	,	PUNCT
fumecheng-13629	220	12	when	when	SCONJ
fumecheng-13629	220	13	the	the	DET
fumecheng-13629	220	14	traffic	traffic	NOUN
fumecheng-13629	220	15	light	light	NOUN
fumecheng-13629	220	16	is	be	AUX
fumecheng-13629	220	17	green	green	ADJ
fumecheng-13629	220	18	,	,	PUNCT
fumecheng-13629	220	19	the	the	DET
fumecheng-13629	220	20	speed	speed	NOUN
fumecheng-13629	220	21	boundary	boundary	NOUN
fumecheng-13629	220	22	can	can	AUX
fumecheng-13629	220	23	be	be	AUX
fumecheng-13629	220	24	derived	derive	VERB
fumecheng-13629	220	25	as	as	ADP
fumecheng-13629	220	26	:	:	PUNCT
fumecheng-13629	220	27	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	PROPN
fumecheng-13629	220	28	=	=	SYM
fumecheng-13629	220	29	{	{	PUNCT
fumecheng-13629	220	30	𝑉𝑙𝑖𝑚𝑖𝑡	𝑉𝑙𝑖𝑚𝑖𝑡	PROPN
fumecheng-13629	220	31	,	,	PUNCT
fumecheng-13629	220	32	𝑘	𝑘	X
fumecheng-13629	220	33	=	=	SYM
fumecheng-13629	220	34	0	0	NUM
fumecheng-13629	220	35	𝑚𝑖𝑛	𝑚𝑖𝑛	NOUN
fumecheng-13629	220	36	{	{	PUNCT
fumecheng-13629	220	37	𝑉𝑙𝑖𝑚𝑖𝑡	𝑉𝑙𝑖𝑚𝑖𝑡	PROPN
fumecheng-13629	220	38	,	,	PUNCT
fumecheng-13629	220	39	𝐷𝑉2𝑆	𝐷𝑉2𝑆	PROPN
fumecheng-13629	220	40	÷	÷	PUNCT
fumecheng-13629	221	1	[	[	X
fumecheng-13629	221	2	𝑡𝑔_𝑟𝑒𝑚	𝑡𝑔_𝑟𝑒𝑚	X
fumecheng-13629	221	3	+	+	PUNCT
fumecheng-13629	221	4	(	(	PUNCT
fumecheng-13629	221	5	𝑘	𝑘	PRON
fumecheng-13629	221	6	−	−	PROPN
fumecheng-13629	221	7	1)(𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	1)(𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	PROPN
fumecheng-13629	221	8	+	+	CCONJ
fumecheng-13629	221	9	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	NOUN
fumecheng-13629	221	10	)	)	PUNCT
fumecheng-13629	221	11	+	+	CCONJ
fumecheng-13629	221	12	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	X
fumecheng-13629	221	13	]	]	X
fumecheng-13629	221	14	}	}	PUNCT
fumecheng-13629	221	15	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	PROPN
fumecheng-13629	221	16	{	{	PUNCT
fumecheng-13629	221	17	𝑘	𝑘	NOUN
fumecheng-13629	221	18	=	=	NOUN
fumecheng-13629	221	19	0	0	PUNCT
fumecheng-13629	221	20	𝑘	𝑘	NOUN
fumecheng-13629	221	21	=	=	NOUN
fumecheng-13629	221	22	0,1,2	0,1,2	NUM
fumecheng-13629	221	23	…	…	PUNCT
fumecheng-13629	221	24	,	,	PUNCT
fumecheng-13629	221	25	∞	∞	PROPN
fumecheng-13629	221	26	(	(	PUNCT
fumecheng-13629	221	27	35	35	NUM
fumecheng-13629	221	28	)	)	PUNCT
fumecheng-13629	221	29	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	PROPN
fumecheng-13629	221	30	=	=	SYM
fumecheng-13629	221	31	𝐷𝑉2𝑆	𝐷𝑉2𝑆	PROPN
fumecheng-13629	221	32	÷	÷	NOUN
fumecheng-13629	222	1	[	[	X
fumecheng-13629	222	2	𝑡𝑔_𝑟𝑒𝑚	𝑡𝑔_𝑟𝑒𝑚	X
fumecheng-13629	222	3	+	+	NUM
fumecheng-13629	222	4	𝑘(𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	𝑘(𝑡𝑔_𝑐𝑦𝑐𝑙𝑒	X
fumecheng-13629	222	5	+	+	CCONJ
fumecheng-13629	222	6	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	𝑡𝑟_𝑐𝑦𝑐𝑙𝑒	NUM
fumecheng-13629	222	7	)	)	PUNCT
fumecheng-13629	222	8	]	]	PUNCT
fumecheng-13629	222	9	where	where	SCONJ
fumecheng-13629	222	10	,	,	PUNCT
fumecheng-13629	222	11	tg_rem	tg_rem	PROPN
fumecheng-13629	222	12	is	be	AUX
fumecheng-13629	222	13	the	the	DET
fumecheng-13629	222	14	remaining	remain	VERB
fumecheng-13629	222	15	green	green	ADJ
fumecheng-13629	222	16	light	light	ADJ
fumecheng-13629	222	17	time	time	NOUN
fumecheng-13629	222	18	.	.	PUNCT
fumecheng-13629	223	1	if	if	SCONJ
fumecheng-13629	223	2	the	the	DET
fumecheng-13629	223	3	ego	ego	ADJ
fumecheng-13629	223	4	vehicle	vehicle	NOUN
fumecheng-13629	223	5	's	's	PART
fumecheng-13629	223	6	speed	speed	NOUN
fumecheng-13629	223	7	exceeds	exceed	VERB
fumecheng-13629	223	8	the	the	DET
fumecheng-13629	223	9	speed	speed	NOUN
fumecheng-13629	223	10	boundaries	boundary	NOUN
fumecheng-13629	223	11	,	,	PUNCT
fumecheng-13629	223	12	there	there	PRON
fumecheng-13629	223	13	is	be	VERB
fumecheng-13629	223	14	a	a	DET
fumecheng-13629	223	15	risk	risk	NOUN
fumecheng-13629	223	16	of	of	ADP
fumecheng-13629	223	17	running	run	VERB
fumecheng-13629	223	18	the	the	DET
fumecheng-13629	223	19	red	red	ADJ
fumecheng-13629	223	20	light	light	NOUN
fumecheng-13629	223	21	.	.	PUNCT
fumecheng-13629	224	1	the	the	DET
fumecheng-13629	224	2	traffic	traffic	NOUN
fumecheng-13629	224	3	light	light	NOUN
fumecheng-13629	224	4	reward	reward	NOUN
fumecheng-13629	224	5	function	function	NOUN
fumecheng-13629	224	6	can	can	AUX
fumecheng-13629	224	7	be	be	AUX
fumecheng-13629	224	8	represented	represent	VERB
fumecheng-13629	224	9	as	as	ADP
fumecheng-13629	224	10	a	a	DET
fumecheng-13629	224	11	piece	piece	NOUN
fumecheng-13629	224	12	-	-	PUNCT
fumecheng-13629	224	13	wise	wise	ADJ
fumecheng-13629	224	14	function	function	NOUN
fumecheng-13629	224	15	:	:	PUNCT
fumecheng-13629	224	16	𝑟𝑙𝑖𝑔ℎ𝑡	𝑟𝑙𝑖𝑔ℎ𝑡	PROPN
fumecheng-13629	224	17	=	=	SYM
fumecheng-13629	224	18	{	{	PUNCT
fumecheng-13629	224	19	𝛽1	𝛽1	NOUN
fumecheng-13629	224	20	+	+	CCONJ
fumecheng-13629	224	21	𝑙𝑛(𝑣(𝑛	𝑙𝑛(𝑣(𝑛	ADJ
fumecheng-13629	224	22	)	)	PUNCT
fumecheng-13629	224	23	−	−	ADP
fumecheng-13629	224	24	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	PROPN
fumecheng-13629	224	25	)	)	PUNCT
fumecheng-13629	224	26	2	2	NUM
fumecheng-13629	224	27	,	,	PUNCT
fumecheng-13629	224	28	if	if	SCONJ
fumecheng-13629	224	29	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	PROPN
fumecheng-13629	224	30	<	<	X
fumecheng-13629	224	31	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	224	32	)	)	PUNCT
fumecheng-13629	224	33	and	and	CCONJ
fumecheng-13629	224	34	𝛽1	𝛽1	NOUN
fumecheng-13629	224	35	<	<	X
fumecheng-13629	224	36	(	(	PUNCT
fumecheng-13629	224	37	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	224	38	)	)	PUNCT
fumecheng-13629	224	39	−	−	PUNCT
fumecheng-13629	225	1	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	ADJ
fumecheng-13629	225	2	)	)	PUNCT
fumecheng-13629	225	3	2	2	NUM
fumecheng-13629	225	4	(	(	PUNCT
fumecheng-13629	225	5	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	225	6	)	)	PUNCT
fumecheng-13629	225	7	−	−	PUNCT
fumecheng-13629	226	1	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	ADJ
fumecheng-13629	226	2	)	)	PUNCT
fumecheng-13629	226	3	2	2	NUM
fumecheng-13629	226	4	,	,	PUNCT
fumecheng-13629	226	5	if	if	SCONJ
fumecheng-13629	226	6	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	PROPN
fumecheng-13629	226	7	<	<	X
fumecheng-13629	226	8	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	226	9	)	)	PUNCT
fumecheng-13629	226	10	and	and	CCONJ
fumecheng-13629	226	11	(	(	PUNCT
fumecheng-13629	226	12	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	226	13	)	)	PUNCT
fumecheng-13629	226	14	−	−	PUNCT
fumecheng-13629	227	1	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	ADJ
fumecheng-13629	227	2	)	)	PUNCT
fumecheng-13629	227	3	2	2	NUM
fumecheng-13629	227	4	≤	≤	NOUN
fumecheng-13629	227	5	𝛽1	𝛽1	NOUN
fumecheng-13629	227	6	0	0	NUM
fumecheng-13629	227	7	,	,	PUNCT
fumecheng-13629	227	8	if	if	SCONJ
fumecheng-13629	227	9	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	PROPN
fumecheng-13629	227	10	≤	≤	PROPN
fumecheng-13629	227	11	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	227	12	)	)	PUNCT
fumecheng-13629	227	13	≤	≤	PUNCT
fumecheng-13629	227	14	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑎𝑥	PROPN
fumecheng-13629	227	15	(	(	PUNCT
fumecheng-13629	227	16	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	227	17	)	)	PUNCT
fumecheng-13629	227	18	−	−	PROPN
fumecheng-13629	228	1	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	NOUN
fumecheng-13629	228	2	)	)	PUNCT
fumecheng-13629	228	3	2	2	NUM
fumecheng-13629	228	4	,	,	PUNCT
fumecheng-13629	228	5	if	if	SCONJ
fumecheng-13629	228	6	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	228	7	)	)	PUNCT
fumecheng-13629	229	1	<	<	X
fumecheng-13629	229	2	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	PROPN
fumecheng-13629	229	3	and	and	CCONJ
fumecheng-13629	229	4	(	(	PUNCT
fumecheng-13629	229	5	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	229	6	)	)	PUNCT
fumecheng-13629	229	7	−	−	PROPN
fumecheng-13629	230	1	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	NOUN
fumecheng-13629	230	2	)	)	PUNCT
fumecheng-13629	230	3	2	2	NUM
fumecheng-13629	230	4	≤	≤	NOUN
fumecheng-13629	230	5	𝛽2	𝛽2	PROPN
fumecheng-13629	230	6	𝛽2	𝛽2	NOUN
fumecheng-13629	230	7	+	+	CCONJ
fumecheng-13629	230	8	𝑙𝑛(𝑣(𝑛	𝑙𝑛(𝑣(𝑛	ADJ
fumecheng-13629	230	9	)	)	PUNCT
fumecheng-13629	230	10	−	−	PROPN
fumecheng-13629	230	11	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	PROPN
fumecheng-13629	230	12	)	)	PUNCT
fumecheng-13629	230	13	2	2	NUM
fumecheng-13629	230	14	,	,	PUNCT
fumecheng-13629	230	15	if	if	SCONJ
fumecheng-13629	230	16	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	230	17	)	)	PUNCT
fumecheng-13629	230	18	<	<	X
fumecheng-13629	230	19	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	PROPN
fumecheng-13629	230	20	and	and	CCONJ
fumecheng-13629	230	21	𝛽2	𝛽2	PROPN
fumecheng-13629	230	22	<	<	X
fumecheng-13629	230	23	(	(	PUNCT
fumecheng-13629	230	24	𝑣(𝑛	𝑣(𝑛	PROPN
fumecheng-13629	230	25	)	)	PUNCT
fumecheng-13629	230	26	−	−	PROPN
fumecheng-13629	230	27	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	𝑉𝑙𝑖𝑔ℎ𝑡_𝑚𝑖𝑛	NOUN
fumecheng-13629	230	28	)	)	PUNCT
fumecheng-13629	230	29	2	2	NUM
fumecheng-13629	230	30	(	(	PUNCT
fumecheng-13629	230	31	36	36	NUM
fumecheng-13629	230	32	)	)	PUNCT
fumecheng-13629	230	33	where	where	SCONJ
fumecheng-13629	230	34	,	,	PUNCT
fumecheng-13629	230	35	𝛽1	𝛽1	NOUN
fumecheng-13629	230	36	and	and	CCONJ
fumecheng-13629	230	37	𝛽2	𝛽2	NOUN
fumecheng-13629	230	38	represent	represent	VERB
fumecheng-13629	230	39	the	the	DET
fumecheng-13629	230	40	boundary	boundary	ADJ
fumecheng-13629	230	41	points	point	NOUN
fumecheng-13629	230	42	of	of	ADP
fumecheng-13629	230	43	the	the	DET
fumecheng-13629	230	44	green	green	ADJ
fumecheng-13629	230	45	light	light	NOUN
fumecheng-13629	230	46	speed	speed	NOUN
fumecheng-13629	230	47	boundary	boundary	NOUN
fumecheng-13629	230	48	,	,	PUNCT
fumecheng-13629	230	49	respectively	respectively	ADV
fumecheng-13629	230	50	.	.	PUNCT
fumecheng-13629	231	1	when	when	SCONJ
fumecheng-13629	231	2	the	the	DET
fumecheng-13629	231	3	vehicle	vehicle	NOUN
fumecheng-13629	231	4	speed	speed	NOUN
fumecheng-13629	231	5	exceeds	exceed	VERB
fumecheng-13629	231	6	the	the	DET
fumecheng-13629	231	7	green	green	ADJ
fumecheng-13629	231	8	light	light	ADJ
fumecheng-13629	231	9	speed	speed	NOUN
fumecheng-13629	231	10	boundary	boundary	NOUN
fumecheng-13629	231	11	,	,	PUNCT
fumecheng-13629	231	12	we	we	PRON
fumecheng-13629	231	13	can	can	AUX
fumecheng-13629	231	14	calculate	calculate	VERB
fumecheng-13629	231	15	a	a	DET
fumecheng-13629	231	16	negative	negative	ADJ
fumecheng-13629	231	17	reward	reward	NOUN
fumecheng-13629	231	18	based	base	VERB
fumecheng-13629	231	19	on	on	ADP
fumecheng-13629	231	20	the	the	DET
fumecheng-13629	231	21	proposed	propose	VERB
fumecheng-13629	231	22	traffic	traffic	NOUN
fumecheng-13629	231	23	light	light	NOUN
fumecheng-13629	231	24	reward	reward	NOUN
fumecheng-13629	231	25	function	function	NOUN
fumecheng-13629	231	26	,	,	PUNCT
fumecheng-13629	231	27	rather	rather	ADV
fumecheng-13629	231	28	than	than	ADP
fumecheng-13629	231	29	only	only	ADV
fumecheng-13629	231	30	calculating	calculate	VERB
fumecheng-13629	231	31	a	a	DET
fumecheng-13629	231	32	sparse	sparse	ADJ
fumecheng-13629	231	33	reward	reward	NOUN
fumecheng-13629	231	34	when	when	SCONJ
fumecheng-13629	231	35	the	the	DET
fumecheng-13629	231	36	vehicle	vehicle	NOUN
fumecheng-13629	231	37	runs	run	VERB
fumecheng-13629	231	38	the	the	DET
fumecheng-13629	231	39	red	red	ADJ
fumecheng-13629	231	40	light	light	NOUN
fumecheng-13629	231	41	.	.	PUNCT
fumecheng-13629	232	1	4.2	4.2	NUM
fumecheng-13629	232	2	design	design	NOUN
fumecheng-13629	232	3	of	of	ADP
fumecheng-13629	232	4	additional	additional	ADJ
fumecheng-13629	232	5	reward	reward	NOUN
fumecheng-13629	232	6	functions	function	NOUN
fumecheng-13629	232	7	the	the	DET
fumecheng-13629	232	8	reward	reward	NOUN
fumecheng-13629	232	9	function	function	NOUN
fumecheng-13629	232	10	is	be	AUX
fumecheng-13629	232	11	the	the	DET
fumecheng-13629	232	12	guiding	guide	VERB
fumecheng-13629	232	13	direction	direction	NOUN
fumecheng-13629	232	14	for	for	ADP
fumecheng-13629	232	15	the	the	DET
fumecheng-13629	232	16	entire	entire	ADJ
fumecheng-13629	232	17	task	task	NOUN
fumecheng-13629	232	18	,	,	PUNCT
fumecheng-13629	232	19	determining	determine	VERB
fumecheng-13629	232	20	the	the	DET
fumecheng-13629	232	21	objectives	objective	NOUN
fumecheng-13629	232	22	the	the	DET
fumecheng-13629	232	23	agent	agent	NOUN
fumecheng-13629	232	24	needs	need	VERB
fumecheng-13629	232	25	to	to	PART
fumecheng-13629	232	26	achieve	achieve	VERB
fumecheng-13629	232	27	.	.	PUNCT
fumecheng-13629	233	1	the	the	DET
fumecheng-13629	233	2	reward	reward	NOUN
fumecheng-13629	233	3	function	function	NOUN
fumecheng-13629	233	4	can	can	AUX
fumecheng-13629	233	5	be	be	AUX
fumecheng-13629	233	6	simply	simply	ADV
fumecheng-13629	233	7	designed	design	VERB
fumecheng-13629	233	8	as	as	ADP
fumecheng-13629	233	9	a	a	DET
fumecheng-13629	233	10	combination	combination	NOUN
fumecheng-13629	233	11	of	of	ADP
fumecheng-13629	233	12	fuel	fuel	NOUN
fumecheng-13629	233	13	consumption	consumption	NOUN
fumecheng-13629	233	14	,	,	PUNCT
fumecheng-13629	233	15	safety	safety	NOUN
fumecheng-13629	233	16	,	,	PUNCT
fumecheng-13629	233	17	and	and	CCONJ
fumecheng-13629	233	18	pollution	pollution	NOUN
fumecheng-13629	233	19	emissions	emission	NOUN
fumecheng-13629	233	20	.	.	PUNCT
fumecheng-13629	234	1	additional	additional	ADJ
fumecheng-13629	234	2	reward	reward	NOUN
fumecheng-13629	234	3	functions	function	NOUN
fumecheng-13629	234	4	to	to	PART
fumecheng-13629	234	5	train	train	VERB
fumecheng-13629	234	6	the	the	DET
fumecheng-13629	234	7	neural	neural	ADJ
fumecheng-13629	234	8	network	network	NOUN
fumecheng-13629	234	9	are	be	AUX
fumecheng-13629	234	10	designed	design	VERB
fumecheng-13629	234	11	innovatively	innovatively	ADV
fumecheng-13629	234	12	,	,	PUNCT
fumecheng-13629	234	13	guiding	guide	VERB
fumecheng-13629	234	14	the	the	DET
fumecheng-13629	234	15	vehicle	vehicle	NOUN
fumecheng-13629	234	16	's	's	PART
fumecheng-13629	234	17	actions	action	NOUN
fumecheng-13629	234	18	and	and	CCONJ
fumecheng-13629	234	19	enabling	enable	VERB
fumecheng-13629	234	20	the	the	DET
fumecheng-13629	234	21	hybrid	hybrid	ADJ
fumecheng-13629	234	22	-	-	PUNCT
fumecheng-13629	234	23	electric	electric	ADJ
fumecheng-13629	234	24	vehicle	vehicle	NOUN
fumecheng-13629	234	25	agent	agent	NOUN
fumecheng-13629	234	26	to	to	PART
fumecheng-13629	234	27	have	have	VERB
fumecheng-13629	234	28	the	the	DET
fumecheng-13629	234	29	capability	capability	NOUN
fumecheng-13629	234	30	of	of	ADP
fumecheng-13629	234	31	selfexploration	selfexploration	NOUN
fumecheng-13629	234	32	,	,	PUNCT
fumecheng-13629	234	33	while	while	SCONJ
fumecheng-13629	234	34	preventing	prevent	VERB
fumecheng-13629	234	35	actions	action	NOUN
fumecheng-13629	234	36	that	that	SCONJ
fumecheng-13629	234	37	the	the	DET
fumecheng-13629	234	38	agent	agent	NOUN
fumecheng-13629	234	39	may	may	AUX
fumecheng-13629	234	40	regret	regret	VERB
fumecheng-13629	234	41	later	later	ADV
fumecheng-13629	234	42	.	.	PUNCT
fumecheng-13629	235	1	the	the	DET
fumecheng-13629	235	2	general	general	ADJ
fumecheng-13629	235	3	approach	approach	NOUN
fumecheng-13629	235	4	to	to	ADP
fumecheng-13629	235	5	improving	improve	VERB
fumecheng-13629	235	6	the	the	DET
fumecheng-13629	235	7	reward	reward	NOUN
fumecheng-13629	235	8	function	function	NOUN
fumecheng-13629	235	9	is	be	AUX
fumecheng-13629	235	10	:	:	PUNCT
fumecheng-13629	235	11	𝑟′(𝑠𝑡	𝑟′(𝑠𝑡	PROPN
fumecheng-13629	235	12	,	,	PUNCT
fumecheng-13629	235	13	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	235	14	)	)	PUNCT
fumecheng-13629	235	15	=	=	SYM
fumecheng-13629	235	16	𝑟(𝑠𝑡	𝑟(𝑠𝑡	NOUN
fumecheng-13629	235	17	,	,	PUNCT
fumecheng-13629	235	18	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	235	19	)	)	PUNCT
fumecheng-13629	236	1	+	+	NUM
fumecheng-13629	236	2	𝐹(𝑠𝑡	𝐹(𝑠𝑡	NOUN
fumecheng-13629	236	3	,	,	PUNCT
fumecheng-13629	236	4	𝑎𝑡	𝑎𝑡	X
fumecheng-13629	236	5	)	)	PUNCT
fumecheng-13629	236	6	(	(	PUNCT
fumecheng-13629	236	7	37	37	NUM
fumecheng-13629	236	8	)	)	PUNCT
fumecheng-13629	236	9	where	where	SCONJ
fumecheng-13629	236	10	,	,	PUNCT
fumecheng-13629	236	11	f(st	f(st	PROPN
fumecheng-13629	236	12	,	,	PUNCT
fumecheng-13629	236	13	at	at	ADP
fumecheng-13629	236	14	)	)	PUNCT
fumecheng-13629	236	15	represents	represent	VERB
fumecheng-13629	236	16	additional	additional	ADJ
fumecheng-13629	236	17	reward	reward	NOUN
fumecheng-13629	236	18	.	.	PUNCT
fumecheng-13629	237	1	𝑟(𝑠𝑡	𝑟(𝑠𝑡	NOUN
fumecheng-13629	237	2	,	,	PUNCT
fumecheng-13629	237	3	𝑎𝑡	𝑎𝑡	INTJ
fumecheng-13629	237	4	)	)	PUNCT
fumecheng-13629	237	5	=	=	SYM
fumecheng-13629	237	6	𝛽1𝑟𝐹𝑢𝑒𝑙	𝛽1𝑟𝐹𝑢𝑒𝑙	NOUN
fumecheng-13629	237	7	+	+	CCONJ
fumecheng-13629	237	8	𝛽2𝑟𝑆𝑒𝑐𝑢𝑟𝑖𝑡𝑦	𝛽2𝑟𝑆𝑒𝑐𝑢𝑟𝑖𝑡𝑦	NOUN
fumecheng-13629	237	9	+	+	SYM
fumecheng-13629	237	10	𝛽3𝑟𝐸𝑚𝑖𝑠𝑠𝑖𝑜𝑛	𝛽3𝑟𝐸𝑚𝑖𝑠𝑠𝑖𝑜𝑛	NOUN
fumecheng-13629	237	11	is	be	AUX
fumecheng-13629	237	12	basic	basic	ADJ
fumecheng-13629	237	13	reward	reward	NOUN
fumecheng-13629	237	14	function	function	NOUN
fumecheng-13629	237	15	.	.	PUNCT
fumecheng-13629	238	1	the	the	DET
fumecheng-13629	238	2	recursive	recursive	ADJ
fumecheng-13629	238	3	equation	equation	NOUN
fumecheng-13629	238	4	for	for	ADP
fumecheng-13629	238	5	the	the	DET
fumecheng-13629	238	6	expected	expect	VERB
fumecheng-13629	238	7	cumulative	cumulative	ADJ
fumecheng-13629	238	8	reward	reward	NOUN
fumecheng-13629	238	9	of	of	ADP
fumecheng-13629	238	10	the	the	DET
fumecheng-13629	238	11	revised	revise	VERB
fumecheng-13629	238	12	reward	reward	NOUN
fumecheng-13629	238	13	function	function	NOUN
fumecheng-13629	238	14	can	can	AUX
fumecheng-13629	238	15	be	be	AUX
fumecheng-13629	238	16	expressed	express	VERB
fumecheng-13629	238	17	as	as	ADP
fumecheng-13629	238	18	:	:	PUNCT
fumecheng-13629	238	19	𝑄𝑛𝑒𝑤	𝑄𝑛𝑒𝑤	PROPN
fumecheng-13629	238	20	𝑧	𝑧	PROPN
fumecheng-13629	238	21	(	(	PUNCT
fumecheng-13629	238	22	𝑠𝑡	𝑠𝑡	INTJ
fumecheng-13629	238	23	,	,	PUNCT
fumecheng-13629	238	24	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	238	25	)	)	PUNCT
fumecheng-13629	238	26	=	=	SYM
fumecheng-13629	239	1	𝑟	𝑟	NOUN
fumecheng-13629	239	2	′(𝑠𝑡	′(𝑠𝑡	NOUN
fumecheng-13629	239	3	,	,	PUNCT
fumecheng-13629	239	4	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	239	5	)	)	PUNCT
fumecheng-13629	239	6	+	+	NUM
fumecheng-13629	239	7	𝛾𝐸𝑟𝑡,𝑠𝑡,1	𝛾𝐸𝑟𝑡,𝑠𝑡,1	NOUN
fumecheng-13629	239	8	−	−	NOUN
fumecheng-13629	239	9	𝐸[𝑄𝑛𝑒𝑤	𝐸[𝑄𝑛𝑒𝑤	NOUN
fumecheng-13629	239	10	𝑧	𝑧	X
fumecheng-13629	239	11	(	(	PUNCT
fumecheng-13629	239	12	𝑠𝑡+1	𝑠𝑡+1	NOUN
fumecheng-13629	239	13	,	,	PUNCT
fumecheng-13629	239	14	𝑎𝑡+1	𝑎𝑡+1	NOUN
fumecheng-13629	239	15	)	)	PUNCT
fumecheng-13629	239	16	]	]	PUNCT
fumecheng-13629	239	17	(	(	PUNCT
fumecheng-13629	239	18	38	38	NUM
fumecheng-13629	239	19	)	)	PUNCT
fumecheng-13629	239	20	according	accord	VERB
fumecheng-13629	239	21	to	to	ADP
fumecheng-13629	239	22	eq	eq	PROPN
fumecheng-13629	239	23	.	.	PUNCT
fumecheng-13629	239	24	(	(	PUNCT
fumecheng-13629	239	25	38	38	NUM
fumecheng-13629	239	26	)	)	PUNCT
fumecheng-13629	239	27	,	,	PUNCT
fumecheng-13629	239	28	after	after	ADP
fumecheng-13629	239	29	modifying	modify	VERB
fumecheng-13629	239	30	the	the	DET
fumecheng-13629	239	31	reward	reward	NOUN
fumecheng-13629	239	32	function	function	NOUN
fumecheng-13629	239	33	,	,	PUNCT
fumecheng-13629	239	34	the	the	DET
fumecheng-13629	239	35	new	new	ADJ
fumecheng-13629	239	36	q	q	NOUN
fumecheng-13629	239	37	-	-	PUNCT
fumecheng-13629	239	38	value	value	NOUN
fumecheng-13629	239	39	of	of	ADP
fumecheng-13629	239	40	the	the	DET
fumecheng-13629	239	41	markov	markov	NOUN
fumecheng-13629	239	42	decision	decision	NOUN
fumecheng-13629	239	43	process	process	NOUN
fumecheng-13629	239	44	can	can	AUX
fumecheng-13629	239	45	be	be	AUX
fumecheng-13629	239	46	derived	derive	VERB
fumecheng-13629	239	47	as	as	ADP
fumecheng-13629	239	48	:	:	PUNCT
fumecheng-13629	239	49	𝑄𝑛𝑒𝑤	𝑄𝑛𝑒𝑤	PROPN
fumecheng-13629	239	50	𝜋	𝜋	PROPN
fumecheng-13629	239	51	(	(	PUNCT
fumecheng-13629	239	52	𝑠𝑡	𝑠𝑡	PROPN
fumecheng-13629	239	53	,	,	PUNCT
fumecheng-13629	239	54	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	239	55	)	)	PUNCT
fumecheng-13629	239	56	=	=	NOUN
fumecheng-13629	240	1	𝔼𝑟𝑖≥𝑡,𝑠𝑖>𝑡~𝐸	𝔼𝑟𝑖≥𝑡,𝑠𝑖>𝑡~𝐸	NOUN
fumecheng-13629	241	1	[	[	X
fumecheng-13629	241	2	∑	∑	PROPN
fumecheng-13629	241	3	𝛾𝑖−𝑡𝑇	𝛾𝑖−𝑡𝑇	ADJ
fumecheng-13629	241	4	𝑖=𝑡	𝑖=𝑡	PUNCT
fumecheng-13629	241	5	𝑟𝑖	𝑟𝑖	VERB
fumecheng-13629	241	6	′	′	NUM
fumecheng-13629	241	7	(	(	PUNCT
fumecheng-13629	241	8	𝑠𝑖	𝑠𝑖	NOUN
fumecheng-13629	241	9	,	,	PUNCT
fumecheng-13629	241	10	𝑎𝑖	𝑎𝑖	PROPN
fumecheng-13629	241	11	)	)	PUNCT
fumecheng-13629	241	12	]	]	PUNCT
fumecheng-13629	242	1	=	=	SYM
fumecheng-13629	242	2	𝔼𝑟𝑖≥𝑡,𝑠𝑖>𝑡~𝐸[∑	𝔼𝑟𝑖≥𝑡,𝑠𝑖>𝑡~𝐸[∑	NUM
fumecheng-13629	242	3	𝛾𝑖−𝑡𝑇	𝛾𝑖−𝑡𝑇	PROPN
fumecheng-13629	242	4	𝑖=𝑡	𝑖=𝑡	PUNCT
fumecheng-13629	242	5	(	(	PUNCT
fumecheng-13629	242	6	𝑟(𝑠𝑡	𝑟(𝑠𝑡	NOUN
fumecheng-13629	242	7	,	,	PUNCT
fumecheng-13629	242	8	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	242	9	)	)	PUNCT
fumecheng-13629	243	1	+	+	NUM
fumecheng-13629	243	2	𝐹(𝑠𝑡	𝐹(𝑠𝑡	NOUN
fumecheng-13629	243	3	,	,	PUNCT
fumecheng-13629	243	4	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	243	5	)	)	PUNCT
fumecheng-13629	243	6	)	)	PUNCT
fumecheng-13629	243	7	]	]	PUNCT
fumecheng-13629	244	1	=	=	PUNCT
fumecheng-13629	244	2	𝑄𝜋(𝑠𝑡	𝑄𝜋(𝑠𝑡	NOUN
fumecheng-13629	244	3	,	,	PUNCT
fumecheng-13629	244	4	𝑎𝑡	𝑎𝑡	X
fumecheng-13629	244	5	)	)	PUNCT
fumecheng-13629	244	6	+	+	CCONJ
fumecheng-13629	244	7	𝔼𝑟𝑖≥𝑡,𝑠𝑖>𝑡~𝐸[∑	𝔼𝑟𝑖≥𝑡,𝑠𝑖>𝑡~𝐸[∑	NUM
fumecheng-13629	244	8	𝛾𝑖−𝑡𝑇	𝛾𝑖−𝑡𝑇	ADJ
fumecheng-13629	244	9	𝑖=𝑡	𝑖=𝑡	PUNCT
fumecheng-13629	244	10	𝐹(𝑠𝑡	𝐹(𝑠𝑡	NOUN
fumecheng-13629	244	11	,	,	PUNCT
fumecheng-13629	244	12	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	244	13	)	)	PUNCT
fumecheng-13629	244	14	]	]	PUNCT
fumecheng-13629	244	15	(	(	PUNCT
fumecheng-13629	244	16	39	39	NUM
fumecheng-13629	244	17	)	)	PUNCT
fumecheng-13629	244	18	scenario	scenario	NOUN
fumecheng-13629	244	19	-	-	PUNCT
fumecheng-13629	244	20	level	level	NOUN
fumecheng-13629	244	21	hierarchical	hierarchical	ADJ
fumecheng-13629	244	22	energy	energy	NOUN
fumecheng-13629	244	23	management	management	NOUN
fumecheng-13629	244	24	control	control	NOUN
fumecheng-13629	244	25	strategy	strategy	NOUN
fumecheng-13629	244	26	for	for	ADP
fumecheng-13629	244	27	hybrid	hybrid	ADJ
fumecheng-13629	244	28	electric	electric	ADJ
fumecheng-13629	244	29	vehicle	vehicle	NOUN
fumecheng-13629	244	30	15	15	NUM
fumecheng-13629	244	31	as	as	SCONJ
fumecheng-13629	244	32	discussed	discuss	VERB
fumecheng-13629	244	33	,	,	PUNCT
fumecheng-13629	244	34	a	a	DET
fumecheng-13629	244	35	self	self	NOUN
fumecheng-13629	244	36	-	-	PUNCT
fumecheng-13629	244	37	supervised	supervise	VERB
fumecheng-13629	244	38	strategy	strategy	NOUN
fumecheng-13629	244	39	to	to	PART
fumecheng-13629	244	40	compute	compute	VERB
fumecheng-13629	244	41	the	the	DET
fumecheng-13629	244	42	additional	additional	ADJ
fumecheng-13629	244	43	rewards	reward	NOUN
fumecheng-13629	244	44	is	be	AUX
fumecheng-13629	244	45	designed	design	VERB
fumecheng-13629	244	46	,	,	PUNCT
fumecheng-13629	244	47	allowing	allow	VERB
fumecheng-13629	244	48	the	the	DET
fumecheng-13629	244	49	agent	agent	NOUN
fumecheng-13629	244	50	to	to	ADP
fumecheng-13629	244	51	self	self	NOUN
fumecheng-13629	244	52	-	-	PUNCT
fumecheng-13629	244	53	explore	explore	NOUN
fumecheng-13629	244	54	and	and	CCONJ
fumecheng-13629	244	55	complete	complete	VERB
fumecheng-13629	244	56	the	the	DET
fumecheng-13629	244	57	ecological	ecological	ADJ
fumecheng-13629	244	58	tasks	task	NOUN
fumecheng-13629	244	59	at	at	ADP
fumecheng-13629	244	60	intersections	intersection	NOUN
fumecheng-13629	244	61	.	.	PUNCT
fumecheng-13629	245	1	selfsupervised	selfsupervise	VERB
fumecheng-13629	245	2	learning	learning	NOUN
fumecheng-13629	245	3	can	can	AUX
fumecheng-13629	245	4	be	be	AUX
fumecheng-13629	245	5	viewed	view	VERB
fumecheng-13629	245	6	as	as	ADP
fumecheng-13629	245	7	a	a	DET
fumecheng-13629	245	8	subset	subset	NOUN
fumecheng-13629	245	9	of	of	ADP
fumecheng-13629	245	10	unsupervised	unsupervised	ADJ
fumecheng-13629	245	11	learning	learning	NOUN
fumecheng-13629	245	12	,	,	PUNCT
fumecheng-13629	245	13	where	where	SCONJ
fumecheng-13629	245	14	the	the	DET
fumecheng-13629	245	15	agent	agent	NOUN
fumecheng-13629	245	16	learns	learn	VERB
fumecheng-13629	245	17	from	from	ADP
fumecheng-13629	245	18	the	the	DET
fumecheng-13629	245	19	inherent	inherent	ADJ
fumecheng-13629	245	20	relationships	relationship	NOUN
fumecheng-13629	245	21	in	in	ADP
fumecheng-13629	245	22	the	the	DET
fumecheng-13629	245	23	data	datum	NOUN
fumecheng-13629	245	24	without	without	ADP
fumecheng-13629	245	25	the	the	DET
fumecheng-13629	245	26	need	need	NOUN
fumecheng-13629	245	27	for	for	ADP
fumecheng-13629	245	28	extensive	extensive	ADJ
fumecheng-13629	245	29	labeled	label	VERB
fumecheng-13629	245	30	datasets	dataset	NOUN
fumecheng-13629	245	31	.	.	PUNCT
fumecheng-13629	246	1	in	in	ADP
fumecheng-13629	246	2	the	the	DET
fumecheng-13629	246	3	shems	shem	NOUN
fumecheng-13629	246	4	,	,	PUNCT
fumecheng-13629	246	5	the	the	DET
fumecheng-13629	246	6	rewards	reward	NOUN
fumecheng-13629	246	7	need	need	VERB
fumecheng-13629	246	8	to	to	PART
fumecheng-13629	246	9	be	be	AUX
fumecheng-13629	246	10	constructed	construct	VERB
fumecheng-13629	246	11	through	through	ADP
fumecheng-13629	246	12	the	the	DET
fumecheng-13629	246	13	automatic	automatic	ADJ
fumecheng-13629	246	14	generation	generation	NOUN
fumecheng-13629	246	15	of	of	ADP
fumecheng-13629	246	16	pseudo	pseudo	NOUN
fumecheng-13629	246	17	-	-	NOUN
fumecheng-13629	246	18	labels	label	NOUN
fumecheng-13629	246	19	.	.	PUNCT
fumecheng-13629	247	1	specifically	specifically	ADV
fumecheng-13629	247	2	,	,	PUNCT
fumecheng-13629	247	3	the	the	DET
fumecheng-13629	247	4	agent	agent	NOUN
fumecheng-13629	247	5	predicts	predict	VERB
fumecheng-13629	247	6	the	the	DET
fumecheng-13629	247	7	next	next	ADJ
fumecheng-13629	247	8	state	state	NOUN
fumecheng-13629	247	9	based	base	VERB
fumecheng-13629	247	10	on	on	ADP
fumecheng-13629	247	11	the	the	DET
fumecheng-13629	247	12	current	current	ADJ
fumecheng-13629	247	13	state	state	NOUN
fumecheng-13629	247	14	and	and	CCONJ
fumecheng-13629	247	15	action	action	NOUN
fumecheng-13629	247	16	,	,	PUNCT
fumecheng-13629	247	17	and	and	CCONJ
fumecheng-13629	247	18	combines	combine	VERB
fumecheng-13629	247	19	the	the	DET
fumecheng-13629	247	20	predicted	predict	VERB
fumecheng-13629	247	21	state	state	NOUN
fumecheng-13629	247	22	with	with	ADP
fumecheng-13629	247	23	the	the	DET
fumecheng-13629	247	24	current	current	ADJ
fumecheng-13629	247	25	state	state	NOUN
fumecheng-13629	247	26	to	to	PART
fumecheng-13629	247	27	construct	construct	VERB
fumecheng-13629	247	28	the	the	DET
fumecheng-13629	247	29	𝐿𝑜𝑠𝑠	𝐿𝑜𝑠𝑠	PROPN
fumecheng-13629	247	30	function	function	NOUN
fumecheng-13629	247	31	.	.	PUNCT
fumecheng-13629	248	1	the	the	DET
fumecheng-13629	248	2	addition	addition	NOUN
fumecheng-13629	248	3	of	of	ADP
fumecheng-13629	248	4	the	the	DET
fumecheng-13629	248	5	self	self	NOUN
fumecheng-13629	248	6	-	-	PUNCT
fumecheng-13629	248	7	supervised	supervise	VERB
fumecheng-13629	248	8	module	module	NOUN
fumecheng-13629	248	9	gives	give	VERB
fumecheng-13629	248	10	the	the	DET
fumecheng-13629	248	11	model	model	NOUN
fumecheng-13629	248	12	a	a	DET
fumecheng-13629	248	13	certain	certain	ADJ
fumecheng-13629	248	14	level	level	NOUN
fumecheng-13629	248	15	of	of	ADP
fumecheng-13629	248	16	generalization	generalization	NOUN
fumecheng-13629	248	17	capability	capability	NOUN
fumecheng-13629	248	18	.	.	PUNCT
fumecheng-13629	249	1	the	the	DET
fumecheng-13629	249	2	self	self	NOUN
fumecheng-13629	249	3	-	-	PUNCT
fumecheng-13629	249	4	supervised	supervise	VERB
fumecheng-13629	249	5	internal	internal	ADJ
fumecheng-13629	249	6	reward	reward	NOUN
fumecheng-13629	249	7	functions	function	NOUN
fumecheng-13629	249	8	are	be	AUX
fumecheng-13629	249	9	shown	show	VERB
fumecheng-13629	249	10	in	in	ADP
fumecheng-13629	249	11	eq	eq	ADP
fumecheng-13629	249	12	.	.	PUNCT
fumecheng-13629	250	1	(	(	PUNCT
fumecheng-13629	250	2	40	40	NUM
fumecheng-13629	250	3	)	)	PUNCT
fumecheng-13629	250	4	and	and	CCONJ
fumecheng-13629	250	5	eq	eq	NOUN
fumecheng-13629	250	6	.	.	PUNCT
fumecheng-13629	251	1	(	(	PUNCT
fumecheng-13629	251	2	41	41	NUM
fumecheng-13629	251	3	)	)	PUNCT
fumecheng-13629	251	4	,	,	PUNCT
fumecheng-13629	251	5	where	where	SCONJ
fumecheng-13629	251	6	the	the	DET
fumecheng-13629	251	7	model	model	NOUN
fumecheng-13629	251	8	refers	refer	VERB
fumecheng-13629	251	9	to	to	ADP
fumecheng-13629	251	10	a	a	DET
fumecheng-13629	251	11	generic	generic	ADJ
fumecheng-13629	251	12	deep	deep	ADJ
fumecheng-13629	251	13	learning	learning	NOUN
fumecheng-13629	251	14	prediction	prediction	NOUN
fumecheng-13629	251	15	model	model	NOUN
fumecheng-13629	251	16	:	:	PUNCT
fumecheng-13629	251	17	𝑆𝑡+1	𝑆𝑡+1	NOUN
fumecheng-13629	251	18	∗	∗	NOUN
fumecheng-13629	251	19	=	=	SYM
fumecheng-13629	251	20	𝑀𝑜𝑑𝑒𝑙(𝑠𝑡	𝑀𝑜𝑑𝑒𝑙(𝑠𝑡	NOUN
fumecheng-13629	251	21	,	,	PUNCT
fumecheng-13629	251	22	𝑎𝑡	𝑎𝑡	PROPN
fumecheng-13629	251	23	)	)	PUNCT
fumecheng-13629	251	24	(	(	PUNCT
fumecheng-13629	251	25	40	40	NUM
fumecheng-13629	251	26	)	)	PUNCT
fumecheng-13629	251	27	𝐹(𝑠𝑡	𝐹(𝑠𝑡	NOUN
fumecheng-13629	251	28	,	,	PUNCT
fumecheng-13629	251	29	𝑎𝑡	𝑎𝑡	X
fumecheng-13629	251	30	)	)	PUNCT
fumecheng-13629	251	31	=	=	SYM
fumecheng-13629	251	32	𝑙𝑜𝑠𝑠(𝑆𝑡+1	𝑙𝑜𝑠𝑠(𝑆𝑡+1	NOUN
fumecheng-13629	251	33	,	,	PUNCT
fumecheng-13629	251	34	𝑆𝑡+1	𝑆𝑡+1	NOUN
fumecheng-13629	251	35	∗	∗	NOUN
fumecheng-13629	251	36	)	)	PUNCT
fumecheng-13629	251	37	(	(	PUNCT
fumecheng-13629	251	38	41	41	NUM
fumecheng-13629	251	39	)	)	PUNCT
fumecheng-13629	251	40	the	the	DET
fumecheng-13629	251	41	essence	essence	NOUN
fumecheng-13629	251	42	of	of	ADP
fumecheng-13629	251	43	reinforcement	reinforcement	NOUN
fumecheng-13629	251	44	learning	learning	NOUN
fumecheng-13629	251	45	lies	lie	VERB
fumecheng-13629	251	46	in	in	ADP
fumecheng-13629	251	47	the	the	DET
fumecheng-13629	251	48	ability	ability	NOUN
fumecheng-13629	251	49	to	to	PART
fumecheng-13629	251	50	predict	predict	VERB
fumecheng-13629	251	51	the	the	DET
fumecheng-13629	251	52	next	next	ADJ
fumecheng-13629	251	53	action	action	NOUN
fumecheng-13629	251	54	based	base	VERB
fumecheng-13629	251	55	on	on	ADP
fumecheng-13629	251	56	the	the	DET
fumecheng-13629	251	57	current	current	ADJ
fumecheng-13629	251	58	state	state	NOUN
fumecheng-13629	251	59	.	.	PUNCT
fumecheng-13629	252	1	by	by	ADP
fumecheng-13629	252	2	executing	execute	VERB
fumecheng-13629	252	3	the	the	DET
fumecheng-13629	252	4	action	action	NOUN
fumecheng-13629	252	5	for	for	ADP
fumecheng-13629	252	6	the	the	DET
fumecheng-13629	252	7	next	next	ADJ
fumecheng-13629	252	8	time	time	NOUN
fumecheng-13629	252	9	step	step	NOUN
fumecheng-13629	252	10	,	,	PUNCT
fumecheng-13629	252	11	the	the	DET
fumecheng-13629	252	12	agent	agent	NOUN
fumecheng-13629	252	13	obtains	obtain	VERB
fumecheng-13629	252	14	the	the	DET
fumecheng-13629	252	15	state	state	NOUN
fumecheng-13629	252	16	for	for	ADP
fumecheng-13629	252	17	the	the	DET
fumecheng-13629	252	18	following	following	ADJ
fumecheng-13629	252	19	time	time	NOUN
fumecheng-13629	252	20	step	step	NOUN
fumecheng-13629	252	21	.	.	PUNCT
fumecheng-13629	253	1	the	the	DET
fumecheng-13629	253	2	uncertainty	uncertainty	NOUN
fumecheng-13629	253	3	in	in	ADP
fumecheng-13629	253	4	the	the	DET
fumecheng-13629	253	5	environment	environment	NOUN
fumecheng-13629	253	6	will	will	AUX
fumecheng-13629	253	7	directly	directly	ADV
fumecheng-13629	253	8	impact	impact	VERB
fumecheng-13629	253	9	the	the	DET
fumecheng-13629	253	10	agent	agent	NOUN
fumecheng-13629	253	11	's	's	PART
fumecheng-13629	253	12	choice	choice	NOUN
fumecheng-13629	253	13	of	of	ADP
fumecheng-13629	253	14	actions	action	NOUN
fumecheng-13629	253	15	,	,	PUNCT
fumecheng-13629	253	16	and	and	CCONJ
fumecheng-13629	253	17	the	the	DET
fumecheng-13629	253	18	agent	agent	NOUN
fumecheng-13629	253	19	's	's	PART
fumecheng-13629	253	20	actions	action	NOUN
fumecheng-13629	253	21	will	will	AUX
fumecheng-13629	253	22	also	also	ADV
fumecheng-13629	253	23	directly	directly	ADV
fumecheng-13629	253	24	influence	influence	VERB
fumecheng-13629	253	25	the	the	DET
fumecheng-13629	253	26	state	state	NOUN
fumecheng-13629	253	27	vector	vector	NOUN
fumecheng-13629	253	28	.	.	PUNCT
fumecheng-13629	254	1	the	the	DET
fumecheng-13629	254	2	key	key	NOUN
fumecheng-13629	254	3	to	to	ADP
fumecheng-13629	254	4	maintaining	maintain	VERB
fumecheng-13629	254	5	a	a	DET
fumecheng-13629	254	6	stable	stable	ADJ
fumecheng-13629	254	7	state	state	NOUN
fumecheng-13629	254	8	is	be	AUX
fumecheng-13629	254	9	the	the	DET
fumecheng-13629	254	10	accuracy	accuracy	NOUN
fumecheng-13629	254	11	of	of	ADP
fumecheng-13629	254	12	the	the	DET
fumecheng-13629	254	13	action	action	NOUN
fumecheng-13629	254	14	values	value	NOUN
fumecheng-13629	254	15	.	.	PUNCT
fumecheng-13629	255	1	the	the	DET
fumecheng-13629	255	2	accuracy	accuracy	NOUN
fumecheng-13629	255	3	of	of	ADP
fumecheng-13629	255	4	the	the	DET
fumecheng-13629	255	5	action	action	NOUN
fumecheng-13629	255	6	values	value	NOUN
fumecheng-13629	255	7	is	be	AUX
fumecheng-13629	255	8	regarded	regard	VERB
fumecheng-13629	255	9	as	as	ADP
fumecheng-13629	255	10	a	a	DET
fumecheng-13629	255	11	factor	factor	NOUN
fumecheng-13629	255	12	in	in	ADP
fumecheng-13629	255	13	the	the	DET
fumecheng-13629	255	14	calibration	calibration	NOUN
fumecheng-13629	255	15	formula	formula	NOUN
fumecheng-13629	255	16	:	:	PUNCT
fumecheng-13629	255	17	𝑟𝑐𝑎𝑙𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛	𝑟𝑐𝑎𝑙𝑖𝑏𝑟𝑎𝑡𝑖𝑜𝑛	NOUN
fumecheng-13629	255	18	=	=	SYM
fumecheng-13629	256	1	𝑅𝑀𝑆𝐸(𝑎𝑡+1	𝑅𝑀𝑆𝐸(𝑎𝑡+1	NOUN
fumecheng-13629	256	2	,	,	PUNCT
fumecheng-13629	256	3	𝑎𝑡+1	𝑎𝑡+1	NOUN
fumecheng-13629	256	4	∗	∗	NOUN
fumecheng-13629	256	5	)	)	PUNCT
fumecheng-13629	256	6	(	(	PUNCT
fumecheng-13629	256	7	42	42	NUM
fumecheng-13629	256	8	)	)	PUNCT
fumecheng-13629	256	9	where	where	SCONJ
fumecheng-13629	256	10	𝑎𝑡+1	𝑎𝑡+1	NOUN
fumecheng-13629	256	11	∗	∗	NOUN
fumecheng-13629	256	12	,	,	PUNCT
fumecheng-13629	256	13	which	which	PRON
fumecheng-13629	256	14	represents	represent	VERB
fumecheng-13629	256	15	the	the	DET
fumecheng-13629	256	16	action	action	NOUN
fumecheng-13629	256	17	for	for	ADP
fumecheng-13629	256	18	the	the	DET
fumecheng-13629	256	19	next	next	ADJ
fumecheng-13629	256	20	time	time	NOUN
fumecheng-13629	256	21	step	step	NOUN
fumecheng-13629	256	22	,	,	PUNCT
fumecheng-13629	256	23	can	can	AUX
fumecheng-13629	256	24	be	be	AUX
fumecheng-13629	256	25	calculated	calculate	VERB
fumecheng-13629	256	26	by	by	ADP
fumecheng-13629	256	27	the	the	DET
fumecheng-13629	256	28	formula	formula	NOUN
fumecheng-13629	256	29	𝑎𝑡+1	𝑎𝑡+1	NOUN
fumecheng-13629	256	30	∗	∗	NOUN
fumecheng-13629	256	31	=	=	PUNCT
fumecheng-13629	256	32	model2(𝑎𝑡	model2(𝑎𝑡	PROPN
fumecheng-13629	256	33	,	,	PUNCT
fumecheng-13629	256	34	𝑠𝑡	𝑠𝑡	PROPN
fumecheng-13629	256	35	)	)	PUNCT
fumecheng-13629	256	36	.	.	PUNCT
fumecheng-13629	257	1	a	a	PRON
fumecheng-13629	257	2	represents	represent	VERB
fumecheng-13629	257	3	the	the	DET
fumecheng-13629	257	4	true	true	ADJ
fumecheng-13629	257	5	action	action	NOUN
fumecheng-13629	257	6	values	value	NOUN
fumecheng-13629	257	7	.	.	PUNCT
fumecheng-13629	258	1	by	by	ADP
fumecheng-13629	258	2	integrating	integrate	VERB
fumecheng-13629	258	3	the	the	DET
fumecheng-13629	258	4	reinforcement	reinforcement	NOUN
fumecheng-13629	258	5	learning	learn	VERB
fumecheng-13629	258	6	calibration	calibration	NOUN
fumecheng-13629	258	7	and	and	CCONJ
fumecheng-13629	258	8	the	the	DET
fumecheng-13629	258	9	additional	additional	ADJ
fumecheng-13629	258	10	rewards	reward	NOUN
fumecheng-13629	258	11	generated	generate	VERB
fumecheng-13629	258	12	through	through	ADP
fumecheng-13629	258	13	selfsupervision	selfsupervision	NOUN
fumecheng-13629	258	14	,	,	PUNCT
fumecheng-13629	258	15	a	a	DET
fumecheng-13629	258	16	new	new	ADJ
fumecheng-13629	258	17	additional	additional	ADJ
fumecheng-13629	258	18	reward	reward	NOUN
fumecheng-13629	258	19	function	function	NOUN
fumecheng-13629	258	20	is	be	AUX
fumecheng-13629	258	21	updated	update	VERB
fumecheng-13629	258	22	as	as	ADP
fumecheng-13629	258	23	eq	eq	ADP
fumecheng-13629	258	24	.	.	PUNCT
fumecheng-13629	259	1	(	(	PUNCT
fumecheng-13629	259	2	43	43	NUM
fumecheng-13629	259	3	):	):	PUNCT
fumecheng-13629	259	4	𝐹(𝑠𝑡	𝐹(𝑠𝑡	NOUN
fumecheng-13629	259	5	,	,	PUNCT
fumecheng-13629	259	6	𝑎𝑡	𝑎𝑡	X
fumecheng-13629	259	7	)	)	PUNCT
fumecheng-13629	259	8	=	=	SYM
fumecheng-13629	259	9	𝑙𝑜𝑠𝑠(𝑆𝑡+1	𝑙𝑜𝑠𝑠(𝑆𝑡+1	NOUN
fumecheng-13629	259	10	,	,	PUNCT
fumecheng-13629	259	11	𝑆𝑡+1	𝑆𝑡+1	NOUN
fumecheng-13629	259	12	∗	∗	NOUN
fumecheng-13629	259	13	)	)	PUNCT
fumecheng-13629	260	1	𝑅𝑀𝑆𝐸(𝑎𝑡+1	𝑅𝑀𝑆𝐸(𝑎𝑡+1	NOUN
fumecheng-13629	260	2	,	,	PUNCT
fumecheng-13629	260	3	𝑎𝑡+1	𝑎𝑡+1	NOUN
fumecheng-13629	260	4	∗	∗	NOUN
fumecheng-13629	260	5	)	)	PUNCT
fumecheng-13629	261	1	⁄	⁄	PROPN
fumecheng-13629	261	2	(	(	PUNCT
fumecheng-13629	261	3	43	43	NUM
fumecheng-13629	261	4	)	)	PUNCT
fumecheng-13629	261	5	the	the	DET
fumecheng-13629	261	6	final	final	ADJ
fumecheng-13629	261	7	reward	reward	NOUN
fumecheng-13629	261	8	function	function	NOUN
fumecheng-13629	261	9	for	for	ADP
fumecheng-13629	261	10	the	the	DET
fumecheng-13629	261	11	self	self	NOUN
fumecheng-13629	261	12	-	-	PUNCT
fumecheng-13629	261	13	supervised	supervise	VERB
fumecheng-13629	261	14	reinforcement	reinforcement	NOUN
fumecheng-13629	261	15	learning	learning	NOUN
fumecheng-13629	261	16	calibration	calibration	NOUN
fumecheng-13629	261	17	method	method	NOUN
fumecheng-13629	261	18	is	be	AUX
fumecheng-13629	261	19	shown	show	VERB
fumecheng-13629	261	20	in	in	ADP
fumecheng-13629	261	21	eq	eq	ADP
fumecheng-13629	261	22	.	.	PUNCT
fumecheng-13629	262	1	(	(	PUNCT
fumecheng-13629	262	2	44	44	NUM
fumecheng-13629	262	3	):	):	PUNCT
fumecheng-13629	262	4	𝑅𝑠𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	𝑅𝑠𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔	PROPN
fumecheng-13629	262	5	=	=	PUNCT
fumecheng-13629	262	6	𝛽1𝐹𝑢𝑒𝑙	𝛽1𝐹𝑢𝑒𝑙	ADP
fumecheng-13629	262	7	+	+	ADJ
fumecheng-13629	262	8	𝛽2𝑆𝑒𝑐𝑢𝑟𝑖𝑡𝑦	𝛽2𝑆𝑒𝑐𝑢𝑟𝑖𝑡𝑦	ADJ
fumecheng-13629	262	9	+	+	CCONJ
fumecheng-13629	262	10	𝛽3𝐸𝑚𝑖𝑠𝑠𝑖𝑜𝑛	𝛽3𝐸𝑚𝑖𝑠𝑠𝑖𝑜𝑛	PROPN
fumecheng-13629	262	11	+	+	CCONJ
fumecheng-13629	262	12	𝛽4𝑇𝑟𝑎𝑓𝑓𝑖𝑐𝑙𝑖𝑔ℎ𝑡	𝛽4𝑇𝑟𝑎𝑓𝑓𝑖𝑐𝑙𝑖𝑔ℎ𝑡	PROPN
fumecheng-13629	262	13	+	+	NUM
fumecheng-13629	262	14	𝐹(𝑠𝑡	𝐹(𝑠𝑡	NOUN
fumecheng-13629	262	15	,	,	PUNCT
fumecheng-13629	262	16	𝑎𝑡	𝑎𝑡	X
fumecheng-13629	262	17	)	)	PUNCT
fumecheng-13629	262	18	(	(	PUNCT
fumecheng-13629	262	19	44	44	NUM
fumecheng-13629	262	20	)	)	PUNCT
fumecheng-13629	262	21	5	5	NUM
fumecheng-13629	262	22	.	.	PUNCT
fumecheng-13629	263	1	experimental	experimental	ADJ
fumecheng-13629	263	2	results	result	NOUN
fumecheng-13629	263	3	5.1	5.1	NUM
fumecheng-13629	263	4	results	result	NOUN
fumecheng-13629	263	5	of	of	ADP
fumecheng-13629	263	6	the	the	DET
fumecheng-13629	263	7	car	car	NOUN
fumecheng-13629	263	8	-	-	PUNCT
fumecheng-13629	263	9	following	follow	VERB
fumecheng-13629	263	10	experiment	experiment	NOUN
fumecheng-13629	263	11	5.1.1	5.1.1	NUM
fumecheng-13629	263	12	data	datum	NOUN
fumecheng-13629	263	13	process	process	NOUN
fumecheng-13629	263	14	in	in	ADP
fumecheng-13629	263	15	this	this	DET
fumecheng-13629	263	16	study	study	NOUN
fumecheng-13629	263	17	,	,	PUNCT
fumecheng-13629	263	18	the	the	DET
fumecheng-13629	263	19	car	car	NOUN
fumecheng-13629	263	20	-	-	PUNCT
fumecheng-13629	263	21	following	follow	VERB
fumecheng-13629	263	22	model	model	NOUN
fumecheng-13629	263	23	training	training	NOUN
fumecheng-13629	263	24	utilized	utilize	VERB
fumecheng-13629	263	25	the	the	DET
fumecheng-13629	263	26	high	high	ADJ
fumecheng-13629	263	27	-	-	PUNCT
fumecheng-13629	263	28	resolution	resolution	NOUN
fumecheng-13629	263	29	waymo	waymo	NOUN
fumecheng-13629	263	30	open	open	ADJ
fumecheng-13629	263	31	dataset	dataset	NOUN
fumecheng-13629	263	32	[	[	X
fumecheng-13629	263	33	39	39	NUM
fumecheng-13629	263	34	]	]	PUNCT
fumecheng-13629	263	35	.	.	PUNCT
fumecheng-13629	264	1	given	give	VERB
fumecheng-13629	264	2	the	the	DET
fumecheng-13629	264	3	measurement	measurement	NOUN
fumecheng-13629	264	4	errors	error	NOUN
fumecheng-13629	264	5	of	of	ADP
fumecheng-13629	264	6	the	the	DET
fumecheng-13629	264	7	equipment	equipment	NOUN
fumecheng-13629	264	8	,	,	PUNCT
fumecheng-13629	264	9	which	which	PRON
fumecheng-13629	264	10	may	may	AUX
fumecheng-13629	264	11	have	have	VERB
fumecheng-13629	264	12	a	a	DET
fumecheng-13629	264	13	significant	significant	ADJ
fumecheng-13629	264	14	impact	impact	NOUN
fumecheng-13629	264	15	on	on	ADP
fumecheng-13629	264	16	the	the	DET
fumecheng-13629	264	17	analysis	analysis	NOUN
fumecheng-13629	264	18	of	of	ADP
fumecheng-13629	264	19	trajectory	trajectory	NOUN
fumecheng-13629	264	20	data	datum	NOUN
fumecheng-13629	264	21	,	,	PUNCT
fumecheng-13629	264	22	it	it	PRON
fumecheng-13629	264	23	is	be	AUX
fumecheng-13629	264	24	necessary	necessary	ADJ
fumecheng-13629	264	25	to	to	PART
fumecheng-13629	264	26	establish	establish	VERB
fumecheng-13629	264	27	an	an	DET
fumecheng-13629	264	28	appropriate	appropriate	ADJ
fumecheng-13629	264	29	noise	noise	NOUN
fumecheng-13629	264	30	filtering	filter	VERB
fumecheng-13629	264	31	mechanism	mechanism	NOUN
fumecheng-13629	264	32	in	in	ADP
fumecheng-13629	264	33	the	the	DET
fumecheng-13629	264	34	numerical	numerical	ADJ
fumecheng-13629	264	35	calculation	calculation	NOUN
fumecheng-13629	264	36	process	process	NOUN
fumecheng-13629	264	37	.	.	PUNCT
fumecheng-13629	265	1	we	we	PRON
fumecheng-13629	265	2	opted	opt	VERB
fumecheng-13629	265	3	to	to	PART
fumecheng-13629	265	4	apply	apply	VERB
fumecheng-13629	265	5	the	the	DET
fumecheng-13629	265	6	widely16	widely16	PROPN
fumecheng-13629	265	7	f.	f.	PROPN
fumecheng-13629	265	8	xiao	xiao	PROPN
fumecheng-13629	265	9	,	,	PUNCT
fumecheng-13629	265	10	r.	r.	PROPN
fumecheng-13629	265	11	zhang	zhang	PROPN
fumecheng-13629	265	12	,	,	PUNCT
fumecheng-13629	265	13	c.	c.	PROPN
fumecheng-13629	265	14	qi	qi	PROPN
fumecheng-13629	265	15	used	use	VERB
fumecheng-13629	265	16	savitzky	savitzky	NOUN
fumecheng-13629	265	17	-	-	PUNCT
fumecheng-13629	265	18	golay	golay	NOUN
fumecheng-13629	265	19	filter	filter	NOUN
fumecheng-13629	265	20	[	[	PUNCT
fumecheng-13629	265	21	40	40	NUM
fumecheng-13629	265	22	]	]	PUNCT
fumecheng-13629	265	23	,	,	PUNCT
fumecheng-13629	265	24	which	which	PRON
fumecheng-13629	265	25	calculates	calculate	VERB
fumecheng-13629	265	26	the	the	DET
fumecheng-13629	265	27	smoothed	smooth	VERB
fumecheng-13629	265	28	data	datum	NOUN
fumecheng-13629	265	29	by	by	ADP
fumecheng-13629	265	30	employing	employ	VERB
fumecheng-13629	265	31	polynomial	polynomial	ADJ
fumecheng-13629	265	32	fitting	fitting	ADJ
fumecheng-13629	265	33	and	and	CCONJ
fumecheng-13629	265	34	interpolation	interpolation	NOUN
fumecheng-13629	265	35	methods	method	NOUN
fumecheng-13629	265	36	to	to	PART
fumecheng-13629	265	37	address	address	VERB
fumecheng-13629	265	38	this	this	DET
fumecheng-13629	265	39	issue	issue	NOUN
fumecheng-13629	265	40	.	.	PUNCT
fumecheng-13629	266	1	as	as	ADP
fumecheng-13629	266	2	expresses	express	NOUN
fumecheng-13629	266	3	in	in	ADP
fumecheng-13629	266	4	eq	eq	ADP
fumecheng-13629	266	5	.	.	PUNCT
fumecheng-13629	267	1	(	(	PUNCT
fumecheng-13629	267	2	45	45	NUM
fumecheng-13629	267	3	):	):	PUNCT
fumecheng-13629	267	4	𝑔𝑖	𝑔𝑖	NOUN
fumecheng-13629	267	5	=	=	PUNCT
fumecheng-13629	267	6	∑	∑	PUNCT
fumecheng-13629	267	7	𝑐𝑛𝑓𝑖+𝑛	𝑐𝑛𝑓𝑖+𝑛	PUNCT
fumecheng-13629	267	8	𝑛𝑅	𝑛𝑅	ADJ
fumecheng-13629	267	9	𝑛=−𝑛𝐿	𝑛=−𝑛𝐿	ADP
fumecheng-13629	267	10	(	(	PUNCT
fumecheng-13629	267	11	45	45	NUM
fumecheng-13629	267	12	)	)	PUNCT
fumecheng-13629	267	13	where	where	SCONJ
fumecheng-13629	267	14	,	,	PUNCT
fumecheng-13629	267	15	fi+n	fi+n	PROPN
fumecheng-13629	267	16	represents	represent	VERB
fumecheng-13629	267	17	the	the	DET
fumecheng-13629	267	18	smoothed	smooth	VERB
fumecheng-13629	267	19	signal	signal	NOUN
fumecheng-13629	267	20	,	,	PUNCT
fumecheng-13629	267	21	nl	nl	PROPN
fumecheng-13629	267	22	denotes	denote	VERB
fumecheng-13629	267	23	the	the	DET
fumecheng-13629	267	24	number	number	NOUN
fumecheng-13629	267	25	of	of	ADP
fumecheng-13629	267	26	data	datum	NOUN
fumecheng-13629	267	27	points	point	NOUN
fumecheng-13629	267	28	to	to	ADP
fumecheng-13629	267	29	the	the	DET
fumecheng-13629	267	30	left	left	NOUN
fumecheng-13629	267	31	of	of	ADP
fumecheng-13629	267	32	the	the	DET
fumecheng-13629	267	33	current	current	ADJ
fumecheng-13629	267	34	data	datum	NOUN
fumecheng-13629	267	35	point	point	NOUN
fumecheng-13629	267	36	,	,	PUNCT
fumecheng-13629	267	37	nr	nr	PRON
fumecheng-13629	267	38	indicates	indicate	VERB
fumecheng-13629	267	39	the	the	DET
fumecheng-13629	267	40	number	number	NOUN
fumecheng-13629	267	41	of	of	ADP
fumecheng-13629	267	42	data	datum	NOUN
fumecheng-13629	267	43	points	point	NOUN
fumecheng-13629	267	44	to	to	ADP
fumecheng-13629	267	45	the	the	DET
fumecheng-13629	267	46	right	right	NOUN
fumecheng-13629	267	47	of	of	ADP
fumecheng-13629	267	48	the	the	DET
fumecheng-13629	267	49	current	current	ADJ
fumecheng-13629	267	50	data	datum	NOUN
fumecheng-13629	267	51	point	point	NOUN
fumecheng-13629	267	52	,	,	PUNCT
fumecheng-13629	267	53	and	and	CCONJ
fumecheng-13629	267	54	cn	cn	PROPN
fumecheng-13629	267	55	means	mean	VERB
fumecheng-13629	267	56	the	the	DET
fumecheng-13629	267	57	weight	weight	NOUN
fumecheng-13629	267	58	values	value	NOUN
fumecheng-13629	267	59	.	.	PUNCT
fumecheng-13629	268	1	the	the	DET
fumecheng-13629	268	2	specific	specific	ADJ
fumecheng-13629	268	3	data	data	NOUN
fumecheng-13629	268	4	processing	processing	NOUN
fumecheng-13629	268	5	approach	approach	NOUN
fumecheng-13629	268	6	involves	involve	VERB
fumecheng-13629	268	7	using	use	VERB
fumecheng-13629	268	8	a	a	DET
fumecheng-13629	268	9	second	second	ADJ
fumecheng-13629	268	10	-	-	PUNCT
fumecheng-13629	268	11	order	order	NOUN
fumecheng-13629	268	12	savitzky	savitzky	NOUN
fumecheng-13629	268	13	-	-	PUNCT
fumecheng-13629	268	14	golay	golay	NOUN
fumecheng-13629	268	15	filter	filter	NOUN
fumecheng-13629	268	16	to	to	PART
fumecheng-13629	268	17	filter	filter	VERB
fumecheng-13629	268	18	each	each	DET
fumecheng-13629	268	19	speed	speed	NOUN
fumecheng-13629	268	20	data	data	NOUN
fumecheng-13629	268	21	point	point	NOUN
fumecheng-13629	268	22	.	.	PUNCT
fumecheng-13629	269	1	the	the	DET
fumecheng-13629	269	2	acceleration	acceleration	NOUN
fumecheng-13629	269	3	and	and	CCONJ
fumecheng-13629	269	4	deceleration	deceleration	NOUN
fumecheng-13629	269	5	are	be	AUX
fumecheng-13629	269	6	calculated	calculate	VERB
fumecheng-13629	269	7	based	base	VERB
fumecheng-13629	269	8	on	on	ADP
fumecheng-13629	269	9	the	the	DET
fumecheng-13629	269	10	filtered	filter	VERB
fumecheng-13629	269	11	speed	speed	NOUN
fumecheng-13629	269	12	data	datum	NOUN
fumecheng-13629	269	13	.	.	PUNCT
fumecheng-13629	270	1	further	far	ADV
fumecheng-13629	270	2	,	,	PUNCT
fumecheng-13629	270	3	an	an	DET
fumecheng-13629	270	4	additional	additional	ADJ
fumecheng-13629	270	5	smoothing	smoothing	NOUN
fumecheng-13629	270	6	method	method	NOUN
fumecheng-13629	270	7	is	be	AUX
fumecheng-13629	270	8	employed	employ	VERB
fumecheng-13629	270	9	to	to	PART
fumecheng-13629	270	10	eliminate	eliminate	VERB
fumecheng-13629	270	11	any	any	DET
fumecheng-13629	270	12	residual	residual	ADJ
fumecheng-13629	270	13	noise	noise	NOUN
fumecheng-13629	270	14	.	.	PUNCT
fumecheng-13629	271	1	5.1.2	5.1.2	NUM
fumecheng-13629	271	2	results	result	NOUN
fumecheng-13629	271	3	of	of	ADP
fumecheng-13629	271	4	the	the	DET
fumecheng-13629	271	5	simulation	simulation	NOUN
fumecheng-13629	271	6	experiments	experiment	NOUN
fumecheng-13629	271	7	to	to	PART
fumecheng-13629	271	8	verify	verify	VERB
fumecheng-13629	271	9	the	the	DET
fumecheng-13629	271	10	accuracy	accuracy	NOUN
fumecheng-13629	271	11	and	and	CCONJ
fumecheng-13629	271	12	reasonableness	reasonableness	NOUN
fumecheng-13629	271	13	of	of	ADP
fumecheng-13629	271	14	the	the	DET
fumecheng-13629	271	15	car	car	NOUN
fumecheng-13629	271	16	-	-	PUNCT
fumecheng-13629	271	17	following	follow	VERB
fumecheng-13629	271	18	results	result	NOUN
fumecheng-13629	271	19	,	,	PUNCT
fumecheng-13629	271	20	an	an	DET
fumecheng-13629	271	21	analysis	analysis	NOUN
fumecheng-13629	271	22	of	of	ADP
fumecheng-13629	271	23	the	the	DET
fumecheng-13629	271	24	simulation	simulation	NOUN
fumecheng-13629	271	25	outcomes	outcome	NOUN
fumecheng-13629	271	26	is	be	AUX
fumecheng-13629	271	27	conducted	conduct	VERB
fumecheng-13629	271	28	.	.	PUNCT
fumecheng-13629	272	1	80	80	NUM
fumecheng-13629	272	2	%	%	NOUN
fumecheng-13629	272	3	of	of	ADP
fumecheng-13629	272	4	the	the	DET
fumecheng-13629	272	5	waymo	waymo	ADJ
fumecheng-13629	272	6	data	datum	NOUN
fumecheng-13629	272	7	is	be	AUX
fumecheng-13629	272	8	selected	select	VERB
fumecheng-13629	272	9	as	as	ADP
fumecheng-13629	272	10	the	the	DET
fumecheng-13629	272	11	training	training	NOUN
fumecheng-13629	272	12	set	set	VERB
fumecheng-13629	272	13	to	to	PART
fumecheng-13629	272	14	train	train	VERB
fumecheng-13629	272	15	the	the	DET
fumecheng-13629	272	16	model	model	NOUN
fumecheng-13629	272	17	,	,	PUNCT
fumecheng-13629	272	18	and	and	CCONJ
fumecheng-13629	272	19	the	the	DET
fumecheng-13629	272	20	remaining	remain	VERB
fumecheng-13629	272	21	20	20	NUM
fumecheng-13629	272	22	%	%	NOUN
fumecheng-13629	272	23	of	of	ADP
fumecheng-13629	272	24	the	the	DET
fumecheng-13629	272	25	data	datum	NOUN
fumecheng-13629	272	26	is	be	AUX
fumecheng-13629	272	27	designed	design	VERB
fumecheng-13629	272	28	for	for	ADP
fumecheng-13629	272	29	testing	testing	NOUN
fumecheng-13629	272	30	.	.	PUNCT
fumecheng-13629	273	1	the	the	DET
fumecheng-13629	273	2	training	training	NOUN
fumecheng-13629	273	3	parameters	parameter	NOUN
fumecheng-13629	273	4	are	be	AUX
fumecheng-13629	273	5	shown	show	VERB
fumecheng-13629	273	6	in	in	ADP
fumecheng-13629	273	7	table	table	NOUN
fumecheng-13629	273	8	2	2	NUM
fumecheng-13629	273	9	.	.	PUNCT
fumecheng-13629	273	10	table	table	NOUN
fumecheng-13629	273	11	2	2	NUM
fumecheng-13629	273	12	car	car	NOUN
fumecheng-13629	273	13	-	-	PUNCT
fumecheng-13629	273	14	following	follow	VERB
fumecheng-13629	273	15	model	model	NOUN
fumecheng-13629	273	16	training	training	NOUN
fumecheng-13629	273	17	parameters	parameter	NOUN
fumecheng-13629	273	18	parameters	parameter	NOUN
fumecheng-13629	273	19	value	value	NOUN
fumecheng-13629	273	20	learning	learn	VERB
fumecheng-13629	273	21	rate	rate	NOUN
fumecheng-13629	273	22	0.001	0.001	NUM
fumecheng-13629	273	23	discount	discount	NOUN
fumecheng-13629	273	24	factor	factor	NOUN
fumecheng-13629	273	25	0.99	0.99	NUM
fumecheng-13629	273	26	training	training	NOUN
fumecheng-13629	273	27	episodes	episode	NOUN
fumecheng-13629	273	28	400	400	NUM
fumecheng-13629	273	29	analysis	analysis	NOUN
fumecheng-13629	273	30	of	of	ADP
fumecheng-13629	273	31	the	the	DET
fumecheng-13629	273	32	time	time	NOUN
fumecheng-13629	273	33	-	-	PUNCT
fumecheng-13629	273	34	speed	speed	NOUN
fumecheng-13629	273	35	and	and	CCONJ
fumecheng-13629	273	36	time	time	NOUN
fumecheng-13629	273	37	-	-	PUNCT
fumecheng-13629	273	38	distance	distance	NOUN
fumecheng-13629	273	39	curves	curve	NOUN
fumecheng-13629	273	40	presented	present	VERB
fumecheng-13629	273	41	in	in	ADP
fumecheng-13629	273	42	fig	fig	NOUN
fumecheng-13629	273	43	.	.	PUNCT
fumecheng-13629	274	1	3	3	NUM
fumecheng-13629	274	2	,	,	PUNCT
fumecheng-13629	274	3	depicting	depict	VERB
fumecheng-13629	274	4	three	three	NUM
fumecheng-13629	274	5	distinct	distinct	ADJ
fumecheng-13629	274	6	operating	operating	NOUN
fumecheng-13629	274	7	scenarios	scenario	NOUN
fumecheng-13629	274	8	,	,	PUNCT
fumecheng-13629	274	9	reveals	reveal	VERB
fumecheng-13629	274	10	that	that	SCONJ
fumecheng-13629	274	11	the	the	DET
fumecheng-13629	274	12	proposed	propose	VERB
fumecheng-13629	274	13	algorithm	algorithm	NOUN
fumecheng-13629	274	14	exhibits	exhibit	VERB
fumecheng-13629	274	15	highly	highly	ADV
fumecheng-13629	274	16	satisfactory	satisfactory	ADJ
fumecheng-13629	274	17	car	car	NOUN
fumecheng-13629	274	18	-	-	PUNCT
fumecheng-13629	274	19	following	follow	VERB
fumecheng-13629	274	20	behavior	behavior	NOUN
fumecheng-13629	274	21	.	.	PUNCT
fumecheng-13629	275	1	critically	critically	ADV
fumecheng-13629	275	2	,	,	PUNCT
fumecheng-13629	275	3	the	the	DET
fumecheng-13629	275	4	algorithm	algorithm	NOUN
fumecheng-13629	275	5	consistently	consistently	ADV
fumecheng-13629	275	6	maintains	maintain	VERB
fumecheng-13629	275	7	the	the	DET
fumecheng-13629	275	8	following	follow	VERB
fumecheng-13629	275	9	vehicle	vehicle	NOUN
fumecheng-13629	275	10	within	within	ADP
fumecheng-13629	275	11	a	a	DET
fumecheng-13629	275	12	safe	safe	ADJ
fumecheng-13629	275	13	distance	distance	NOUN
fumecheng-13629	275	14	envelope	envelope	NOUN
fumecheng-13629	275	15	relative	relative	ADJ
fumecheng-13629	275	16	to	to	ADP
fumecheng-13629	275	17	the	the	DET
fumecheng-13629	275	18	leader	leader	NOUN
fumecheng-13629	275	19	.	.	PUNCT
fumecheng-13629	276	1	furthermore	furthermore	ADV
fumecheng-13629	276	2	,	,	PUNCT
fumecheng-13629	276	3	it	it	PRON
fumecheng-13629	276	4	demonstrates	demonstrate	VERB
fumecheng-13629	276	5	a	a	DET
fumecheng-13629	276	6	dynamic	dynamic	ADJ
fumecheng-13629	276	7	and	and	CCONJ
fumecheng-13629	276	8	responsive	responsive	ADJ
fumecheng-13629	276	9	capability	capability	NOUN
fumecheng-13629	276	10	,	,	PUNCT
fumecheng-13629	276	11	as	as	SCONJ
fumecheng-13629	276	12	the	the	DET
fumecheng-13629	276	13	following	follow	VERB
fumecheng-13629	276	14	vehicle	vehicle	NOUN
fumecheng-13629	276	15	's	's	PART
fumecheng-13629	276	16	speed	speed	NOUN
fumecheng-13629	276	17	continuously	continuously	ADV
fumecheng-13629	276	18	adapts	adapt	VERB
fumecheng-13629	276	19	to	to	ADP
fumecheng-13629	276	20	fluctuations	fluctuation	NOUN
fumecheng-13629	276	21	in	in	ADP
fumecheng-13629	276	22	the	the	DET
fumecheng-13629	276	23	leading	lead	VERB
fumecheng-13629	276	24	vehicle	vehicle	NOUN
fumecheng-13629	276	25	's	's	PART
fumecheng-13629	276	26	speed	speed	NOUN
fumecheng-13629	276	27	.	.	PUNCT
fumecheng-13629	277	1	this	this	DET
fumecheng-13629	277	2	observed	observe	VERB
fumecheng-13629	277	3	performance	performance	NOUN
fumecheng-13629	277	4	effectively	effectively	ADV
fumecheng-13629	277	5	confirms	confirm	VERB
fumecheng-13629	277	6	the	the	DET
fumecheng-13629	277	7	model	model	NOUN
fumecheng-13629	277	8	's	's	PART
fumecheng-13629	277	9	operational	operational	ADJ
fumecheng-13629	277	10	validity	validity	NOUN
fumecheng-13629	277	11	.	.	PUNCT
fumecheng-13629	278	1	to	to	PART
fumecheng-13629	278	2	quantitatively	quantitatively	ADV
fumecheng-13629	278	3	assess	assess	VERB
fumecheng-13629	278	4	and	and	CCONJ
fumecheng-13629	278	5	clearly	clearly	ADV
fumecheng-13629	278	6	illustrate	illustrate	VERB
fumecheng-13629	278	7	the	the	DET
fumecheng-13629	278	8	differences	difference	NOUN
fumecheng-13629	278	9	in	in	ADP
fumecheng-13629	278	10	speed	speed	NOUN
fumecheng-13629	278	11	tracking	tracking	NOUN
fumecheng-13629	278	12	accuracy	accuracy	NOUN
fumecheng-13629	278	13	between	between	ADP
fumecheng-13629	278	14	the	the	DET
fumecheng-13629	278	15	following	follow	VERB
fumecheng-13629	278	16	vehicle	vehicle	NOUN
fumecheng-13629	278	17	and	and	CCONJ
fumecheng-13629	278	18	the	the	DET
fumecheng-13629	278	19	leading	lead	VERB
fumecheng-13629	278	20	vehicle	vehicle	NOUN
fumecheng-13629	278	21	across	across	ADP
fumecheng-13629	278	22	the	the	DET
fumecheng-13629	278	23	evaluated	evaluated	ADJ
fumecheng-13629	278	24	models	model	NOUN
fumecheng-13629	278	25	,	,	PUNCT
fumecheng-13629	278	26	the	the	DET
fumecheng-13629	278	27	sum	sum	NOUN
fumecheng-13629	278	28	of	of	ADP
fumecheng-13629	278	29	squared	square	VERB
fumecheng-13629	278	30	errors	error	NOUN
fumecheng-13629	278	31	(	(	PUNCT
fumecheng-13629	278	32	sse	sse	PROPN
fumecheng-13629	278	33	)	)	PUNCT
fumecheng-13629	278	34	was	be	AUX
fumecheng-13629	278	35	calculated	calculate	VERB
fumecheng-13629	278	36	for	for	ADP
fumecheng-13629	278	37	each	each	DET
fumecheng-13629	278	38	dataset	dataset	NOUN
fumecheng-13629	278	39	.	.	PUNCT
fumecheng-13629	279	1	the	the	DET
fumecheng-13629	279	2	comparative	comparative	ADJ
fumecheng-13629	279	3	results	result	NOUN
fumecheng-13629	279	4	highlight	highlight	VERB
fumecheng-13629	279	5	significant	significant	ADJ
fumecheng-13629	279	6	performance	performance	NOUN
fumecheng-13629	279	7	variations	variation	NOUN
fumecheng-13629	279	8	:	:	PUNCT
fumecheng-13629	279	9	the	the	DET
fumecheng-13629	279	10	average	average	ADJ
fumecheng-13629	279	11	sse	sse	NOUN
fumecheng-13629	279	12	values	value	NOUN
fumecheng-13629	279	13	for	for	ADP
fumecheng-13629	279	14	the	the	DET
fumecheng-13629	279	15	optimal	optimal	ADJ
fumecheng-13629	279	16	speed	speed	NOUN
fumecheng-13629	279	17	model	model	NOUN
fumecheng-13629	279	18	,	,	PUNCT
fumecheng-13629	279	19	the	the	DET
fumecheng-13629	279	20	idm	idm	NOUN
fumecheng-13629	279	21	(	(	PUNCT
fumecheng-13629	279	22	intelligent	intelligent	ADJ
fumecheng-13629	279	23	driver	driver	NOUN
fumecheng-13629	279	24	model	model	NOUN
fumecheng-13629	279	25	)	)	PUNCT
fumecheng-13629	279	26	,	,	PUNCT
fumecheng-13629	279	27	the	the	DET
fumecheng-13629	279	28	stimulus	stimulus	ADJ
fumecheng-13629	279	29	-	-	PUNCT
fumecheng-13629	279	30	response	response	NOUN
fumecheng-13629	279	31	model	model	NOUN
fumecheng-13629	279	32	,	,	PUNCT
fumecheng-13629	279	33	and	and	CCONJ
fumecheng-13629	279	34	the	the	DET
fumecheng-13629	279	35	safe	safe	ADJ
fumecheng-13629	279	36	distance	distance	NOUN
fumecheng-13629	279	37	model	model	NOUN
fumecheng-13629	279	38	are	be	AUX
fumecheng-13629	279	39	24.2	24.2	NUM
fumecheng-13629	279	40	,	,	PUNCT
fumecheng-13629	279	41	15.08	15.08	NUM
fumecheng-13629	279	42	,	,	PUNCT
fumecheng-13629	279	43	7.52	7.52	NUM
fumecheng-13629	279	44	,	,	PUNCT
fumecheng-13629	279	45	and	and	CCONJ
fumecheng-13629	279	46	3.1	3.1	NUM
fumecheng-13629	279	47	,	,	PUNCT
fumecheng-13629	279	48	respectively	respectively	ADV
fumecheng-13629	279	49	.	.	PUNCT
fumecheng-13629	280	1	crucially	crucially	ADV
fumecheng-13629	280	2	,	,	PUNCT
fumecheng-13629	280	3	the	the	DET
fumecheng-13629	280	4	proposed	propose	VERB
fumecheng-13629	280	5	model	model	NOUN
fumecheng-13629	280	6	achieves	achieve	VERB
fumecheng-13629	280	7	a	a	DET
fumecheng-13629	280	8	substantially	substantially	ADV
fumecheng-13629	280	9	lower	low	ADJ
fumecheng-13629	280	10	sse	sse	NOUN
fumecheng-13629	280	11	of	of	ADP
fumecheng-13629	280	12	2.89	2.89	NUM
fumecheng-13629	280	13	.	.	PUNCT
fumecheng-13629	281	1	this	this	DET
fumecheng-13629	281	2	demonstrably	demonstrably	ADV
fumecheng-13629	281	3	smaller	small	ADJ
fumecheng-13629	281	4	error	error	NOUN
fumecheng-13629	281	5	value	value	NOUN
fumecheng-13629	281	6	underscores	underscore	VERB
fumecheng-13629	281	7	the	the	DET
fumecheng-13629	281	8	superior	superior	ADJ
fumecheng-13629	281	9	effectiveness	effectiveness	NOUN
fumecheng-13629	281	10	of	of	ADP
fumecheng-13629	281	11	the	the	DET
fumecheng-13629	281	12	novel	novel	ADJ
fumecheng-13629	281	13	approach	approach	NOUN
fumecheng-13629	281	14	in	in	ADP
fumecheng-13629	281	15	accurately	accurately	ADV
fumecheng-13629	281	16	replicating	replicate	VERB
fumecheng-13629	281	17	the	the	DET
fumecheng-13629	281	18	nuanced	nuanced	ADJ
fumecheng-13629	281	19	car	car	NOUN
fumecheng-13629	281	20	-	-	PUNCT
fumecheng-13629	281	21	following	follow	VERB
fumecheng-13629	281	22	strategies	strategy	NOUN
fumecheng-13629	281	23	characteristic	characteristic	ADJ
fumecheng-13629	281	24	of	of	ADP
fumecheng-13629	281	25	expert	expert	ADJ
fumecheng-13629	281	26	human	human	ADJ
fumecheng-13629	281	27	driving	driving	NOUN
fumecheng-13629	281	28	.	.	PUNCT
fumecheng-13629	282	1	scenario	scenario	NOUN
fumecheng-13629	282	2	-	-	PUNCT
fumecheng-13629	282	3	level	level	NOUN
fumecheng-13629	282	4	hierarchical	hierarchical	ADJ
fumecheng-13629	282	5	energy	energy	NOUN
fumecheng-13629	282	6	management	management	NOUN
fumecheng-13629	282	7	control	control	NOUN
fumecheng-13629	282	8	strategy	strategy	NOUN
fumecheng-13629	282	9	for	for	ADP
fumecheng-13629	282	10	hybrid	hybrid	ADJ
fumecheng-13629	282	11	electric	electric	ADJ
fumecheng-13629	282	12	vehicle	vehicle	NOUN
fumecheng-13629	282	13	17	17	NUM
fumecheng-13629	282	14	(	(	PUNCT
fumecheng-13629	282	15	a	a	NOUN
fumecheng-13629	282	16	)	)	PUNCT
fumecheng-13629	282	17	(	(	PUNCT
fumecheng-13629	282	18	b	b	X
fumecheng-13629	282	19	)	)	PUNCT
fumecheng-13629	282	20	(	(	PUNCT
fumecheng-13629	282	21	c	c	X
fumecheng-13629	282	22	)	)	PUNCT
fumecheng-13629	282	23	fig	fig	NOUN
fumecheng-13629	282	24	.	.	PUNCT
fumecheng-13629	283	1	3	3	NUM
fumecheng-13629	283	2	time	time	NOUN
fumecheng-13629	283	3	-	-	PUNCT
fumecheng-13629	283	4	distance	distance	NOUN
fumecheng-13629	283	5	and	and	CCONJ
fumecheng-13629	283	6	time	time	NOUN
fumecheng-13629	283	7	-	-	PUNCT
fumecheng-13629	283	8	velocity	velocity	NOUN
fumecheng-13629	283	9	plots	plot	NOUN
fumecheng-13629	283	10	for	for	ADP
fumecheng-13629	283	11	car	car	NOUN
fumecheng-13629	283	12	-	-	PUNCT
fumecheng-13629	283	13	following	follow	VERB
fumecheng-13629	283	14	behavior	behavior	NOUN
fumecheng-13629	283	15	:	:	PUNCT
fumecheng-13629	283	16	(	(	PUNCT
fumecheng-13629	283	17	a	a	X
fumecheng-13629	283	18	)	)	PUNCT
fumecheng-13629	283	19	steady	steady	ADJ
fumecheng-13629	283	20	-	-	PUNCT
fumecheng-13629	283	21	state	state	NOUN
fumecheng-13629	283	22	condition	condition	NOUN
fumecheng-13629	283	23	;	;	PUNCT
fumecheng-13629	283	24	(	(	PUNCT
fumecheng-13629	283	25	b	b	X
fumecheng-13629	283	26	)	)	PUNCT
fumecheng-13629	283	27	acceleration	acceleration	NOUN
fumecheng-13629	283	28	condition	condition	NOUN
fumecheng-13629	283	29	;	;	PUNCT
fumecheng-13629	283	30	(	(	PUNCT
fumecheng-13629	283	31	c	c	X
fumecheng-13629	283	32	)	)	PUNCT
fumecheng-13629	283	33	deceleration	deceleration	NOUN
fumecheng-13629	283	34	condition	condition	NOUN
fumecheng-13629	283	35	to	to	PART
fumecheng-13629	283	36	further	far	ADV
fumecheng-13629	283	37	evaluate	evaluate	VERB
fumecheng-13629	283	38	the	the	DET
fumecheng-13629	283	39	conformity	conformity	NOUN
fumecheng-13629	283	40	of	of	ADP
fumecheng-13629	283	41	the	the	DET
fumecheng-13629	283	42	car	car	NOUN
fumecheng-13629	283	43	-	-	PUNCT
fumecheng-13629	283	44	following	follow	VERB
fumecheng-13629	283	45	model	model	NOUN
fumecheng-13629	283	46	with	with	ADP
fumecheng-13629	283	47	the	the	DET
fumecheng-13629	283	48	expert	expert	ADJ
fumecheng-13629	283	49	algorithm	algorithm	NOUN
fumecheng-13629	283	50	,	,	PUNCT
fumecheng-13629	283	51	the	the	DET
fumecheng-13629	283	52	time	time	NOUN
fumecheng-13629	283	53	-	-	PUNCT
fumecheng-13629	283	54	speed	speed	NOUN
fumecheng-13629	283	55	and	and	CCONJ
fumecheng-13629	283	56	time	time	NOUN
fumecheng-13629	283	57	-	-	PUNCT
fumecheng-13629	283	58	distance	distance	NOUN
fumecheng-13629	283	59	curves	curve	NOUN
fumecheng-13629	283	60	for	for	ADP
fumecheng-13629	283	61	the	the	DET
fumecheng-13629	283	62	algorithm	algorithm	NOUN
fumecheng-13629	283	63	proposed	propose	VERB
fumecheng-13629	283	64	in	in	ADP
fumecheng-13629	283	65	this	this	DET
fumecheng-13629	283	66	chapter	chapter	NOUN
fumecheng-13629	283	67	,	,	PUNCT
fumecheng-13629	283	68	the	the	DET
fumecheng-13629	283	69	expert	expert	NOUN
fumecheng-13629	283	70	algorithm	algorithm	NOUN
fumecheng-13629	283	71	,	,	PUNCT
fumecheng-13629	283	72	and	and	CCONJ
fumecheng-13629	283	73	the	the	DET
fumecheng-13629	283	74	leading	lead	VERB
fumecheng-13629	283	75	vehicle	vehicle	NOUN
fumecheng-13629	283	76	are	be	AUX
fumecheng-13629	283	77	presented	present	VERB
fumecheng-13629	283	78	in	in	ADP
fumecheng-13629	283	79	fig	fig	NOUN
fumecheng-13629	283	80	.	.	PUNCT
fumecheng-13629	284	1	4	4	X
fumecheng-13629	284	2	.	.	X
fumecheng-13629	284	3	the	the	DET
fumecheng-13629	284	4	proposed	propose	VERB
fumecheng-13629	284	5	algorithm	algorithm	NOUN
fumecheng-13629	284	6	is	be	AUX
fumecheng-13629	284	7	closer	close	ADJ
fumecheng-13629	284	8	to	to	ADP
fumecheng-13629	284	9	the	the	DET
fumecheng-13629	284	10	leading	lead	VERB
fumecheng-13629	284	11	vehicle	vehicle	NOUN
fumecheng-13629	284	12	in	in	ADP
fumecheng-13629	284	13	certain	certain	ADJ
fumecheng-13629	284	14	regions	region	NOUN
fumecheng-13629	284	15	compared	compare	VERB
fumecheng-13629	284	16	to	to	ADP
fumecheng-13629	284	17	the	the	DET
fumecheng-13629	284	18	expert	expert	ADJ
fumecheng-13629	284	19	algorithm	algorithm	NOUN
fumecheng-13629	284	20	.	.	PUNCT
fumecheng-13629	285	1	in	in	ADP
fumecheng-13629	285	2	some	some	DET
fumecheng-13629	285	3	road	road	NOUN
fumecheng-13629	285	4	segments	segment	NOUN
fumecheng-13629	285	5	,	,	PUNCT
fumecheng-13629	285	6	the	the	DET
fumecheng-13629	285	7	proposed	propose	VERB
fumecheng-13629	285	8	algorithm	algorithm	NOUN
fumecheng-13629	285	9	even	even	ADV
fumecheng-13629	285	10	surpasses	surpass	VERB
fumecheng-13629	285	11	the	the	DET
fumecheng-13629	285	12	expert	expert	NOUN
fumecheng-13629	285	13	algorithm	algorithm	NOUN
fumecheng-13629	285	14	,	,	PUNCT
fumecheng-13629	285	15	and	and	CCONJ
fumecheng-13629	285	16	the	the	DET
fumecheng-13629	285	17	consistency	consistency	NOUN
fumecheng-13629	285	18	between	between	ADP
fumecheng-13629	285	19	the	the	DET
fumecheng-13629	285	20	vehicle	vehicle	NOUN
fumecheng-13629	285	21	speed	speed	NOUN
fumecheng-13629	285	22	and	and	CCONJ
fumecheng-13629	285	23	the	the	DET
fumecheng-13629	285	24	leading	lead	VERB
fumecheng-13629	285	25	vehicle	vehicle	NOUN
fumecheng-13629	285	26	is	be	AUX
fumecheng-13629	285	27	also	also	ADV
fumecheng-13629	285	28	more	more	ADV
fumecheng-13629	285	29	closely	closely	ADV
fumecheng-13629	285	30	aligned	aligned	ADJ
fumecheng-13629	285	31	than	than	ADP
fumecheng-13629	285	32	the	the	DET
fumecheng-13629	285	33	expert	expert	ADJ
fumecheng-13629	285	34	algorithm	algorithm	NOUN
fumecheng-13629	285	35	.	.	PUNCT
fumecheng-13629	286	1	18	18	NUM
fumecheng-13629	286	2	f.	f.	PROPN
fumecheng-13629	286	3	xiao	xiao	PROPN
fumecheng-13629	286	4	,	,	PUNCT
fumecheng-13629	286	5	r.	r.	PROPN
fumecheng-13629	286	6	zhang	zhang	PROPN
fumecheng-13629	286	7	,	,	PUNCT
fumecheng-13629	286	8	c.	c.	PROPN
fumecheng-13629	286	9	qi	qi	PROPN
fumecheng-13629	286	10	(	(	PUNCT
fumecheng-13629	286	11	a	a	NOUN
fumecheng-13629	286	12	)	)	PUNCT
fumecheng-13629	286	13	(	(	PUNCT
fumecheng-13629	286	14	b	b	X
fumecheng-13629	286	15	)	)	PUNCT
fumecheng-13629	286	16	(	(	PUNCT
fumecheng-13629	286	17	c	c	X
fumecheng-13629	286	18	)	)	PUNCT
fumecheng-13629	286	19	fig	fig	NOUN
fumecheng-13629	286	20	.	.	PUNCT
fumecheng-13629	287	1	4	4	NUM
fumecheng-13629	287	2	comparison	comparison	NOUN
fumecheng-13629	287	3	of	of	ADP
fumecheng-13629	287	4	the	the	DET
fumecheng-13629	287	5	algorithm	algorithm	NOUN
fumecheng-13629	287	6	in	in	ADP
fumecheng-13629	287	7	this	this	DET
fumecheng-13629	287	8	paper	paper	NOUN
fumecheng-13629	287	9	to	to	ADP
fumecheng-13629	287	10	an	an	DET
fumecheng-13629	287	11	expert	expert	NOUN
fumecheng-13629	287	12	-	-	PUNCT
fumecheng-13629	287	13	level	level	NOUN
fumecheng-13629	287	14	algorithm	algorithm	NOUN
fumecheng-13629	287	15	:	:	PUNCT
fumecheng-13629	287	16	(	(	PUNCT
fumecheng-13629	287	17	a	a	X
fumecheng-13629	287	18	)	)	PUNCT
fumecheng-13629	287	19	steady	steady	ADJ
fumecheng-13629	287	20	-	-	PUNCT
fumecheng-13629	287	21	state	state	NOUN
fumecheng-13629	287	22	condition	condition	NOUN
fumecheng-13629	287	23	;	;	PUNCT
fumecheng-13629	287	24	(	(	PUNCT
fumecheng-13629	287	25	b	b	X
fumecheng-13629	287	26	)	)	PUNCT
fumecheng-13629	287	27	acceleration	acceleration	NOUN
fumecheng-13629	287	28	condition	condition	NOUN
fumecheng-13629	287	29	;	;	PUNCT
fumecheng-13629	287	30	(	(	PUNCT
fumecheng-13629	287	31	c	c	X
fumecheng-13629	287	32	)	)	PUNCT
fumecheng-13629	287	33	deceleration	deceleration	NOUN
fumecheng-13629	287	34	condition	condition	NOUN
fumecheng-13629	287	35	in	in	ADP
fumecheng-13629	287	36	order	order	NOUN
fumecheng-13629	287	37	to	to	PART
fumecheng-13629	287	38	quantify	quantify	VERB
fumecheng-13629	287	39	the	the	DET
fumecheng-13629	287	40	results	result	NOUN
fumecheng-13629	287	41	shown	show	VERB
fumecheng-13629	287	42	in	in	ADP
fumecheng-13629	287	43	fig	fig	NOUN
fumecheng-13629	287	44	.	.	PUNCT
fumecheng-13629	288	1	4	4	NUM
fumecheng-13629	288	2	,	,	PUNCT
fumecheng-13629	288	3	the	the	DET
fumecheng-13629	288	4	speed	speed	NOUN
fumecheng-13629	288	5	difference	difference	NOUN
fumecheng-13629	288	6	between	between	ADP
fumecheng-13629	288	7	the	the	DET
fumecheng-13629	288	8	vehicle	vehicle	NOUN
fumecheng-13629	288	9	model	model	NOUN
fumecheng-13629	288	10	trained	train	VERB
fumecheng-13629	288	11	with	with	ADP
fumecheng-13629	288	12	the	the	DET
fumecheng-13629	288	13	two	two	NUM
fumecheng-13629	288	14	different	different	ADJ
fumecheng-13629	288	15	algorithms	algorithm	NOUN
fumecheng-13629	288	16	and	and	CCONJ
fumecheng-13629	288	17	the	the	DET
fumecheng-13629	288	18	leading	lead	VERB
fumecheng-13629	288	19	vehicle	vehicle	NOUN
fumecheng-13629	288	20	are	be	AUX
fumecheng-13629	288	21	calculated	calculate	VERB
fumecheng-13629	288	22	,	,	PUNCT
fumecheng-13629	288	23	as	as	SCONJ
fumecheng-13629	288	24	shown	show	VERB
fumecheng-13629	288	25	in	in	ADP
fumecheng-13629	288	26	table	table	NOUN
fumecheng-13629	288	27	3	3	NUM
fumecheng-13629	288	28	.	.	PUNCT
fumecheng-13629	288	29	to	to	PART
fumecheng-13629	288	30	more	more	ADV
fumecheng-13629	288	31	clearly	clearly	ADV
fumecheng-13629	288	32	illustrate	illustrate	VERB
fumecheng-13629	288	33	the	the	DET
fumecheng-13629	288	34	performance	performance	NOUN
fumecheng-13629	288	35	gap	gap	NOUN
fumecheng-13629	288	36	between	between	ADP
fumecheng-13629	288	37	the	the	DET
fumecheng-13629	288	38	proposed	propose	VERB
fumecheng-13629	288	39	algorithm	algorithm	NOUN
fumecheng-13629	288	40	and	and	CCONJ
fumecheng-13629	288	41	the	the	DET
fumecheng-13629	288	42	expert	expert	NOUN
fumecheng-13629	288	43	algorithm	algorithm	NOUN
fumecheng-13629	288	44	,	,	PUNCT
fumecheng-13629	288	45	the	the	DET
fumecheng-13629	288	46	average	average	ADJ
fumecheng-13629	288	47	values	value	NOUN
fumecheng-13629	288	48	of	of	ADP
fumecheng-13629	288	49	the	the	DET
fumecheng-13629	288	50	speed	speed	NOUN
fumecheng-13629	288	51	differences	difference	NOUN
fumecheng-13629	288	52	are	be	AUX
fumecheng-13629	288	53	calculated	calculate	VERB
fumecheng-13629	288	54	for	for	ADP
fumecheng-13629	288	55	each	each	DET
fumecheng-13629	288	56	case	case	NOUN
fumecheng-13629	288	57	with	with	ADP
fumecheng-13629	288	58	0.38	0.38	NUM
fumecheng-13629	288	59	,	,	PUNCT
fumecheng-13629	288	60	0.0026	0.0026	NUM
fumecheng-13629	288	61	,	,	PUNCT
fumecheng-13629	288	62	0.21	0.21	NUM
fumecheng-13629	288	63	.	.	PUNCT
fumecheng-13629	289	1	the	the	DET
fumecheng-13629	289	2	results	result	NOUN
fumecheng-13629	289	3	indicate	indicate	VERB
fumecheng-13629	289	4	that	that	SCONJ
fumecheng-13629	289	5	the	the	DET
fumecheng-13629	289	6	algorithm	algorithm	NOUN
fumecheng-13629	289	7	developed	develop	VERB
fumecheng-13629	289	8	in	in	ADP
fumecheng-13629	289	9	this	this	DET
fumecheng-13629	289	10	chapter	chapter	NOUN
fumecheng-13629	289	11	can	can	AUX
fumecheng-13629	289	12	sometimes	sometimes	ADV
fumecheng-13629	289	13	outperform	outperform	VERB
fumecheng-13629	289	14	the	the	DET
fumecheng-13629	289	15	expert	expert	ADJ
fumecheng-13629	289	16	algorithm	algorithm	NOUN
fumecheng-13629	289	17	.	.	PUNCT
fumecheng-13629	290	1	scenario	scenario	NOUN
fumecheng-13629	290	2	-	-	PUNCT
fumecheng-13629	290	3	level	level	NOUN
fumecheng-13629	290	4	hierarchical	hierarchical	ADJ
fumecheng-13629	290	5	energy	energy	NOUN
fumecheng-13629	290	6	management	management	NOUN
fumecheng-13629	290	7	control	control	NOUN
fumecheng-13629	290	8	strategy	strategy	NOUN
fumecheng-13629	290	9	for	for	ADP
fumecheng-13629	290	10	hybrid	hybrid	ADJ
fumecheng-13629	290	11	electric	electric	ADJ
fumecheng-13629	290	12	vehicle	vehicle	NOUN
fumecheng-13629	290	13	19	19	NUM
fumecheng-13629	290	14	table	table	NOUN
fumecheng-13629	290	15	3	3	NUM
fumecheng-13629	290	16	quantitative	quantitative	ADJ
fumecheng-13629	290	17	comparison	comparison	NOUN
fumecheng-13629	290	18	of	of	ADP
fumecheng-13629	290	19	speed	speed	NOUN
fumecheng-13629	290	20	metrics	metric	NOUN
fumecheng-13629	290	21	between	between	ADP
fumecheng-13629	290	22	the	the	DET
fumecheng-13629	290	23	algorithm	algorithm	NOUN
fumecheng-13629	290	24	in	in	ADP
fumecheng-13629	290	25	this	this	DET
fumecheng-13629	290	26	paper	paper	NOUN
fumecheng-13629	290	27	and	and	CCONJ
fumecheng-13629	290	28	an	an	DET
fumecheng-13629	290	29	expert	expert	NOUN
fumecheng-13629	290	30	-	-	PUNCT
fumecheng-13629	290	31	level	level	NOUN
fumecheng-13629	290	32	steady	steady	ADJ
fumecheng-13629	290	33	-	-	PUNCT
fumecheng-13629	290	34	state	state	NOUN
fumecheng-13629	290	35	condition	condition	NOUN
fumecheng-13629	290	36	(	(	PUNCT
fumecheng-13629	290	37	m	m	NOUN
fumecheng-13629	290	38	/	/	SYM
fumecheng-13629	290	39	s	s	NOUN
fumecheng-13629	290	40	)	)	PUNCT
fumecheng-13629	290	41	acceleration	acceleration	NOUN
fumecheng-13629	290	42	condition	condition	NOUN
fumecheng-13629	290	43	(	(	PUNCT
fumecheng-13629	290	44	m	m	NOUN
fumecheng-13629	290	45	/	/	SYM
fumecheng-13629	290	46	s	s	NOUN
fumecheng-13629	290	47	)	)	PUNCT
fumecheng-13629	290	48	deceleration	deceleration	NOUN
fumecheng-13629	290	49	condition	condition	NOUN
fumecheng-13629	290	50	(	(	PUNCT
fumecheng-13629	290	51	m	m	NOUN
fumecheng-13629	290	52	/	/	SYM
fumecheng-13629	290	53	s	s	NOUN
fumecheng-13629	290	54	)	)	PUNCT
fumecheng-13629	290	55	time	time	NOUN
fumecheng-13629	290	56	(	(	PUNCT
fumecheng-13629	290	57	s	s	NOUN
fumecheng-13629	290	58	)	)	PUNCT
fumecheng-13629	290	59	expert	expert	NOUN
fumecheng-13629	290	60	paper	paper	NOUN
fumecheng-13629	290	61	difference	difference	NOUN
fumecheng-13629	290	62	expert	expert	NOUN
fumecheng-13629	290	63	paper	paper	NOUN
fumecheng-13629	290	64	difference	difference	NOUN
fumecheng-13629	290	65	expert	expert	NOUN
fumecheng-13629	290	66	paper	paper	NOUN
fumecheng-13629	290	67	difference	difference	NOUN
fumecheng-13629	290	68	0	0	NUM
fumecheng-13629	291	1	0.099	0.099	NUM
fumecheng-13629	291	2	0.148	0.148	NUM
fumecheng-13629	291	3	0.049	0.049	NUM
fumecheng-13629	291	4	0.000	0.000	NUM
fumecheng-13629	291	5	0.050	0.050	NUM
fumecheng-13629	291	6	0.050	0.050	NUM
fumecheng-13629	291	7	0.752	0.752	NUM
fumecheng-13629	291	8	-0.071	-0.071	PUNCT
fumecheng-13629	291	9	-0.823	-0.823	NUM
fumecheng-13629	291	10	0.5	0.5	NUM
fumecheng-13629	291	11	0.049	0.049	NUM
fumecheng-13629	291	12	0.248	0.248	NUM
fumecheng-13629	291	13	0.200	0.200	NUM
fumecheng-13629	291	14	0.573	0.573	NUM
fumecheng-13629	291	15	0.112	0.112	NUM
fumecheng-13629	291	16	-0.461	-0.461	PUNCT
fumecheng-13629	291	17	-0.032	-0.032	ADP
fumecheng-13629	291	18	-0.780	-0.780	ADJ
fumecheng-13629	291	19	-0.748	-0.748	PUNCT
fumecheng-13629	291	20	1	1	NUM
fumecheng-13629	291	21	-0.001	-0.001	NUM
fumecheng-13629	291	22	0.298	0.298	NUM
fumecheng-13629	291	23	0.299	0.299	NUM
fumecheng-13629	291	24	-0.773	-0.773	NUM
fumecheng-13629	291	25	0.120	0.120	NUM
fumecheng-13629	291	26	0.893	0.893	NUM
fumecheng-13629	291	27	-0.832	-0.832	NUM
fumecheng-13629	291	28	-1.135	-1.135	PUNCT
fumecheng-13629	291	29	-0.303	-0.303	X
fumecheng-13629	291	30	1.5	1.5	NUM
fumecheng-13629	291	31	-0.001	-0.001	NUM
fumecheng-13629	291	32	0.347	0.347	NUM
fumecheng-13629	291	33	0.348	0.348	NUM
fumecheng-13629	291	34	-0.021	-0.021	NOUN
fumecheng-13629	291	35	0.110	0.110	NUM
fumecheng-13629	291	36	0.131	0.131	NUM
fumecheng-13629	291	37	-0.355	-0.355	SYM
fumecheng-13629	291	38	-0.851	-0.851	NOUN
fumecheng-13629	291	39	-0.496	-0.496	PUNCT
fumecheng-13629	291	40	2	2	NUM
fumecheng-13629	291	41	-0.050	-0.050	NUM
fumecheng-13629	291	42	0.396	0.396	NUM
fumecheng-13629	291	43	0.446	0.446	NUM
fumecheng-13629	291	44	0.204	0.204	NUM
fumecheng-13629	291	45	-1.210	-1.210	NOUN
fumecheng-13629	291	46	-1.414	-1.414	PUNCT
fumecheng-13629	291	47	-0.177	-0.177	PUNCT
fumecheng-13629	291	48	-0.780	-0.780	X
fumecheng-13629	291	49	-0.603	-0.603	PUNCT
fumecheng-13629	291	50	2.5	2.5	NUM
fumecheng-13629	291	51	0.049	0.049	NUM
fumecheng-13629	291	52	0.446	0.446	NUM
fumecheng-13629	291	53	0.397	0.397	NUM
fumecheng-13629	291	54	-0.001	-0.001	NUM
fumecheng-13629	291	55	1.210	1.210	NUM
fumecheng-13629	291	56	1.211	1.211	NUM
fumecheng-13629	291	57	-0.390	-0.390	NOUN
fumecheng-13629	291	58	-0.851	-0.851	NOUN
fumecheng-13629	291	59	-0.461	-0.461	NOUN
fumecheng-13629	291	60	3	3	NUM
fumecheng-13629	291	61	0.000	0.000	NUM
fumecheng-13629	291	62	0.544	0.544	NUM
fumecheng-13629	291	63	0.544	0.544	NUM
fumecheng-13629	291	64	-0.240	-0.240	NOUN
fumecheng-13629	291	65	-1.410	-1.410	PRON
fumecheng-13629	291	66	-1.170	-1.170	PUNCT
fumecheng-13629	291	67	-0.774	-0.774	NUM
fumecheng-13629	291	68	-0.993	-0.993	SYM
fumecheng-13629	291	69	-0.218	-0.218	NOUN
fumecheng-13629	291	70	3.5	3.5	NUM
fumecheng-13629	291	71	0.100	0.100	NUM
fumecheng-13629	291	72	0.541	0.541	NUM
fumecheng-13629	291	73	0.442	0.442	NUM
fumecheng-13629	291	74	0.891	0.891	NUM
fumecheng-13629	291	75	-1.220	-1.220	NOUN
fumecheng-13629	291	76	-2.111	-2.111	NOUN
fumecheng-13629	291	77	-0.832	-0.832	X
fumecheng-13629	291	78	-1.348	-1.348	NOUN
fumecheng-13629	291	79	-0.516	-0.516	NUM
fumecheng-13629	291	80	4	4	NUM
fumecheng-13629	291	81	0.199	0.199	NUM
fumecheng-13629	291	82	0.538	0.538	NUM
fumecheng-13629	291	83	0.339	0.339	NUM
fumecheng-13629	291	84	-0.376	-0.376	NOUN
fumecheng-13629	291	85	1.630	1.630	NUM
fumecheng-13629	291	86	2.006	2.006	NUM
fumecheng-13629	291	87	-0.142	-0.142	NOUN
fumecheng-13629	291	88	-0.922	-0.922	PUNCT
fumecheng-13629	291	89	-0.780	-0.780	VERB
fumecheng-13629	291	90	4.5	4.5	NUM
fumecheng-13629	291	91	0.150	0.150	NUM
fumecheng-13629	291	92	0.637	0.637	NUM
fumecheng-13629	291	93	0.487	0.487	NUM
fumecheng-13629	291	94	-0.509	-0.509	NUM
fumecheng-13629	291	95	1.800	1.800	NUM
fumecheng-13629	291	96	2.309	2.309	NUM
fumecheng-13629	291	97	-0.567	-0.567	NUM
fumecheng-13629	291	98	-0.922	-0.922	PUNCT
fumecheng-13629	291	99	-0.355	-0.355	PUNCT
fumecheng-13629	291	100	5	5	NUM
fumecheng-13629	292	1	0.200	0.200	NUM
fumecheng-13629	292	2	0.537	0.537	NUM
fumecheng-13629	292	3	0.338	0.338	NUM
fumecheng-13629	292	4	-1.233	-1.233	SYM
fumecheng-13629	292	5	-1.500	-1.500	NUM
fumecheng-13629	292	6	-0.267	-0.267	PUNCT
fumecheng-13629	292	7	-0.893	-0.893	X
fumecheng-13629	292	8	-1.206	-1.206	X
fumecheng-13629	292	9	-0.313	-0.313	PUNCT
fumecheng-13629	292	10	5.5	5.5	NUM
fumecheng-13629	292	11	0.299	0.299	NUM
fumecheng-13629	292	12	0.587	0.587	NUM
fumecheng-13629	292	13	0.288	0.288	NUM
fumecheng-13629	292	14	1.598	1.598	NUM
fumecheng-13629	292	15	0.430	0.430	NUM
fumecheng-13629	292	16	-1.168	-1.168	NOUN
fumecheng-13629	292	17	-0.761	-0.761	PUNCT
fumecheng-13629	292	18	-0.496	-0.496	PUNCT
fumecheng-13629	292	19	0.265	0.265	NUM
fumecheng-13629	292	20	6	6	NUM
fumecheng-13629	292	21	0.300	0.300	NUM
fumecheng-13629	292	22	0.588	0.588	NUM
fumecheng-13629	292	23	0.288	0.288	NUM
fumecheng-13629	292	24	-1.054	-1.054	NUM
fumecheng-13629	292	25	-1.100	-1.100	PUNCT
fumecheng-13629	292	26	-0.046	-0.046	VERB
fumecheng-13629	292	27	-0.176	-0.176	NOUN
fumecheng-13629	292	28	-0.355	-0.355	PUNCT
fumecheng-13629	292	29	-0.179	-0.179	PUNCT
fumecheng-13629	292	30	6.5	6.5	NUM
fumecheng-13629	292	31	0.349	0.349	NUM
fumecheng-13629	292	32	0.639	0.639	NUM
fumecheng-13629	292	33	0.290	0.290	NUM
fumecheng-13629	292	34	-0.177	-0.177	PUNCT
fumecheng-13629	292	35	0.200	0.200	NUM
fumecheng-13629	292	36	0.377	0.377	NUM
fumecheng-13629	292	37	-0.113	-0.113	NOUN
fumecheng-13629	292	38	-0.271	-0.271	PUNCT
fumecheng-13629	292	39	-0.158	-0.158	PUNCT
fumecheng-13629	292	40	7	7	NUM
fumecheng-13629	292	41	0.300	0.300	NUM
fumecheng-13629	292	42	0.590	0.590	NUM
fumecheng-13629	292	43	0.290	0.290	NUM
fumecheng-13629	292	44	-0.200	-0.200	PUNCT
fumecheng-13629	292	45	1.200	1.200	NUM
fumecheng-13629	292	46	1.400	1.400	NUM
fumecheng-13629	292	47	-0.170	-0.170	PUNCT
fumecheng-13629	292	48	-0.229	-0.229	NOUN
fumecheng-13629	292	49	-0.059	-0.059	PUNCT
fumecheng-13629	292	50	7.5	7.5	NUM
fumecheng-13629	292	51	0.398	0.398	NUM
fumecheng-13629	292	52	0.640	0.640	NUM
fumecheng-13629	292	53	0.242	0.242	NUM
fumecheng-13629	292	54	-0.101	-0.101	PUNCT
fumecheng-13629	292	55	0.800	0.800	NUM
fumecheng-13629	292	56	0.901	0.901	NUM
fumecheng-13629	292	57	-0.170	-0.170	PUNCT
fumecheng-13629	292	58	-0.350	-0.350	PUNCT
fumecheng-13629	292	59	-0.180	-0.180	VERB
fumecheng-13629	292	60	8	8	NUM
fumecheng-13629	292	61	0.399	0.399	NUM
fumecheng-13629	292	62	0.640	0.640	NUM
fumecheng-13629	292	63	0.242	0.242	NUM
fumecheng-13629	292	64	1.679	1.679	NUM
fumecheng-13629	292	65	-1.000	-1.000	PUNCT
fumecheng-13629	292	66	-2.679	-2.679	PUNCT
fumecheng-13629	292	67	-0.228	-0.228	ADJ
fumecheng-13629	292	68	-0.294	-0.294	NUM
fumecheng-13629	292	69	-0.066	-0.066	NOUN
fumecheng-13629	292	70	8.5	8.5	NUM
fumecheng-13629	292	71	0.399	0.399	NUM
fumecheng-13629	292	72	0.640	0.640	NUM
fumecheng-13629	292	73	0.241	0.241	NUM
fumecheng-13629	292	74	0.075	0.075	NUM
fumecheng-13629	292	75	-0.200	-0.200	X
fumecheng-13629	292	76	-0.275	-0.275	PUNCT
fumecheng-13629	292	77	-0.026	-0.026	SYM
fumecheng-13629	292	78	-0.166	-0.166	NUM
fumecheng-13629	292	79	-0.140	-0.140	ADJ
fumecheng-13629	292	80	9	9	NUM
fumecheng-13629	292	81	0.351	0.351	NUM
fumecheng-13629	292	82	0.838	0.838	NUM
fumecheng-13629	292	83	0.487	0.487	NUM
fumecheng-13629	292	84	-0.211	-0.211	NUM
fumecheng-13629	292	85	0.120	0.120	NUM
fumecheng-13629	292	86	0.331	0.331	NUM
fumecheng-13629	292	87	-0.108	-0.108	X
fumecheng-13629	292	88	-0.265	-0.265	PUNCT
fumecheng-13629	292	89	-0.158	-0.158	PUNCT
fumecheng-13629	292	90	9.5	9.5	NUM
fumecheng-13629	292	91	0.450	0.450	NUM
fumecheng-13629	292	92	0.839	0.839	NUM
fumecheng-13629	292	93	0.389	0.389	NUM
fumecheng-13629	292	94	0.514	0.514	NUM
fumecheng-13629	292	95	0.760	0.760	NUM
fumecheng-13629	292	96	0.246	0.246	NUM
fumecheng-13629	292	97	-0.315	-0.315	PROPN
fumecheng-13629	292	98	-0.315	-0.315	PROPN
fumecheng-13629	292	99	0.000	0.000	NUM
fumecheng-13629	292	100	10	10	NUM
fumecheng-13629	292	101	0.297	0.297	NUM
fumecheng-13629	292	102	0.941	0.941	NUM
fumecheng-13629	292	103	0.644	0.644	NUM
fumecheng-13629	292	104	0.644	0.644	NUM
fumecheng-13629	292	105	1.23	1.23	NUM
fumecheng-13629	292	106	0.586	0.586	NUM
fumecheng-13629	292	107	-0.600	-0.600	CCONJ
fumecheng-13629	292	108	-0.600	-0.600	ADP
fumecheng-13629	292	109	0.000	0.000	NUM
fumecheng-13629	292	110	10.5	10.5	NUM
fumecheng-13629	292	111	0.309	0.309	NUM
fumecheng-13629	292	112	0.730	0.730	NUM
fumecheng-13629	292	113	0.421	0.421	NUM
fumecheng-13629	292	114	0.421	0.421	NUM
fumecheng-13629	292	115	-2.1	-2.1	NOUN
fumecheng-13629	292	116	-2.521	-2.521	PUNCT
fumecheng-13629	292	117	-0.550	-0.550	PUNCT
fumecheng-13629	292	118	-0.500	-0.500	NUM
fumecheng-13629	292	119	0.050	0.050	NUM
fumecheng-13629	292	120	11	11	NUM
fumecheng-13629	292	121	0.136	0.136	NUM
fumecheng-13629	292	122	0.660	0.660	NUM
fumecheng-13629	292	123	0.524	0.524	NUM
fumecheng-13629	292	124	0.524	0.524	NUM
fumecheng-13629	292	125	0.79	0.79	NUM
fumecheng-13629	292	126	0.266	0.266	NUM
fumecheng-13629	292	127	-0.500	-0.500	NUM
fumecheng-13629	292	128	-0.200	-0.200	PUNCT
fumecheng-13629	292	129	0.300	0.300	NUM
fumecheng-13629	292	130	11.5	11.5	NUM
fumecheng-13629	292	131	0.192	0.192	NUM
fumecheng-13629	292	132	0.966	0.966	NUM
fumecheng-13629	292	133	0.774	0.774	NUM
fumecheng-13629	292	134	0.774	0.774	NUM
fumecheng-13629	292	135	-0.82	-0.82	NUM
fumecheng-13629	292	136	-1.594	-1.594	NUM
fumecheng-13629	292	137	-0.600	-0.600	NUM
fumecheng-13629	292	138	-0.300	-0.300	NUM
fumecheng-13629	292	139	0.300	0.300	NUM
fumecheng-13629	292	140	12	12	NUM
fumecheng-13629	292	141	0.200	0.200	NUM
fumecheng-13629	292	142	0.814	0.814	NUM
fumecheng-13629	292	143	0.614	0.614	NUM
fumecheng-13629	292	144	0.614	0.614	NUM
fumecheng-13629	292	145	-3.06	-3.06	NOUN
fumecheng-13629	292	146	-3.674	-3.674	NUM
fumecheng-13629	292	147	-0.470	-0.470	NUM
fumecheng-13629	292	148	-0.300	-0.300	NUM
fumecheng-13629	292	149	0.170	0.170	NUM
fumecheng-13629	292	150	5.2	5.2	NUM
fumecheng-13629	292	151	simulation	simulation	NOUN
fumecheng-13629	292	152	results	result	NOUN
fumecheng-13629	292	153	in	in	ADP
fumecheng-13629	292	154	a	a	DET
fumecheng-13629	292	155	mixed	mixed	ADJ
fumecheng-13629	292	156	scenario	scenario	NOUN
fumecheng-13629	292	157	the	the	DET
fumecheng-13629	292	158	simulation	simulation	NOUN
fumecheng-13629	292	159	is	be	AUX
fumecheng-13629	292	160	conducted	conduct	VERB
fumecheng-13629	292	161	on	on	ADP
fumecheng-13629	292	162	a	a	DET
fumecheng-13629	292	163	pc	pc	NOUN
fumecheng-13629	292	164	with	with	ADP
fumecheng-13629	292	165	an	an	DET
fumecheng-13629	292	166	i5	i5	ADJ
fumecheng-13629	292	167	-	-	PUNCT
fumecheng-13629	292	168	12400	12400	NUM
fumecheng-13629	292	169	cpu	cpu	NOUN
fumecheng-13629	292	170	and	and	CCONJ
fumecheng-13629	292	171	16	16	NUM
fumecheng-13629	292	172	gb	gb	NOUN
fumecheng-13629	292	173	of	of	ADP
fumecheng-13629	292	174	memory	memory	NOUN
fumecheng-13629	292	175	,	,	PUNCT
fumecheng-13629	292	176	running	run	VERB
fumecheng-13629	292	177	in	in	ADP
fumecheng-13629	292	178	matlab	matlab	PROPN
fumecheng-13629	292	179	and	and	CCONJ
fumecheng-13629	292	180	sumo	sumo	ADJ
fumecheng-13629	292	181	environments	environment	NOUN
fumecheng-13629	292	182	.	.	PUNCT
fumecheng-13629	293	1	the	the	DET
fumecheng-13629	293	2	following	follow	VERB
fumecheng-13629	293	3	vehicle	vehicle	NOUN
fumecheng-13629	293	4	is	be	AUX
fumecheng-13629	293	5	modeled	model	VERB
fumecheng-13629	293	6	as	as	ADP
fumecheng-13629	293	7	a	a	DET
fumecheng-13629	293	8	plug	plug	VERB
fumecheng-13629	293	9	-	-	PUNCT
fumecheng-13629	293	10	in	in	ADP
fumecheng-13629	293	11	hybrid	hybrid	ADJ
fumecheng-13629	293	12	electric	electric	ADJ
fumecheng-13629	293	13	vehicle	vehicle	NOUN
fumecheng-13629	293	14	(	(	PUNCT
fumecheng-13629	293	15	phev	phev	PROPN
fumecheng-13629	293	16	)	)	PUNCT
fumecheng-13629	293	17	with	with	ADP
fumecheng-13629	293	18	intelligent	intelligent	ADJ
fumecheng-13629	293	19	connected	connected	ADJ
fumecheng-13629	293	20	vehicle	vehicle	NOUN
fumecheng-13629	293	21	(	(	PUNCT
fumecheng-13629	293	22	icv	icv	PROPN
fumecheng-13629	293	23	)	)	PUNCT
fumecheng-13629	293	24	capabilities	capability	NOUN
fumecheng-13629	293	25	.	.	PUNCT
fumecheng-13629	294	1	the	the	DET
fumecheng-13629	294	2	initial	initial	ADJ
fumecheng-13629	294	3	conditions	condition	NOUN
fumecheng-13629	294	4	for	for	ADP
fumecheng-13629	294	5	the	the	DET
fumecheng-13629	294	6	vehicle	vehicle	NOUN
fumecheng-13629	294	7	are	be	AUX
fumecheng-13629	294	8	a	a	DET
fumecheng-13629	294	9	battery	battery	NOUN
fumecheng-13629	294	10	soc	soc	NOUN
fumecheng-13629	294	11	of	of	ADP
fumecheng-13629	294	12	0.65	0.65	NUM
fumecheng-13629	294	13	and	and	CCONJ
fumecheng-13629	294	14	a	a	DET
fumecheng-13629	294	15	full	full	ADJ
fumecheng-13629	294	16	fuel	fuel	NOUN
fumecheng-13629	294	17	tank	tank	NOUN
fumecheng-13629	294	18	.	.	PUNCT
fumecheng-13629	295	1	the	the	DET
fumecheng-13629	295	2	simulation	simulation	NOUN
fumecheng-13629	295	3	results	result	VERB
fumecheng-13629	295	4	with	with	ADP
fumecheng-13629	295	5	the	the	DET
fumecheng-13629	295	6	proposed	propose	VERB
fumecheng-13629	295	7	car	car	NOUN
fumecheng-13629	295	8	-	-	PUNCT
fumecheng-13629	295	9	following	follow	VERB
fumecheng-13629	295	10	algorithm	algorithm	NOUN
fumecheng-13629	295	11	are	be	AUX
fumecheng-13629	295	12	presented	present	VERB
fumecheng-13629	295	13	in	in	ADP
fumecheng-13629	295	14	fig	fig	NOUN
fumecheng-13629	295	15	.	.	PUNCT
fumecheng-13629	296	1	5	5	X
fumecheng-13629	296	2	.	.	X
fumecheng-13629	296	3	the	the	DET
fumecheng-13629	296	4	blue	blue	ADJ
fumecheng-13629	296	5	solid	solid	ADJ
fumecheng-13629	296	6	line	line	NOUN
fumecheng-13629	296	7	represents	represent	VERB
fumecheng-13629	296	8	the	the	DET
fumecheng-13629	296	9	speed	speed	NOUN
fumecheng-13629	296	10	of	of	ADP
fumecheng-13629	296	11	the	the	DET
fumecheng-13629	296	12	leading	lead	VERB
fumecheng-13629	296	13	vehicle	vehicle	NOUN
fumecheng-13629	296	14	,	,	PUNCT
fumecheng-13629	296	15	while	while	SCONJ
fumecheng-13629	296	16	the	the	DET
fumecheng-13629	296	17	red	red	NOUN
fumecheng-13629	296	18	dashed	dash	VERB
fumecheng-13629	296	19	line	line	NOUN
fumecheng-13629	296	20	depicts	depict	VERB
fumecheng-13629	296	21	the	the	DET
fumecheng-13629	296	22	speed	speed	NOUN
fumecheng-13629	296	23	of	of	ADP
fumecheng-13629	296	24	the	the	DET
fumecheng-13629	296	25	following	follow	VERB
fumecheng-13629	296	26	vehicle	vehicle	NOUN
fumecheng-13629	296	27	after	after	ADP
fumecheng-13629	296	28	the	the	DET
fumecheng-13629	296	29	optimization	optimization	NOUN
fumecheng-13629	296	30	of	of	ADP
fumecheng-13629	296	31	the	the	DET
fumecheng-13629	296	32	car	car	NOUN
fumecheng-13629	296	33	-	-	PUNCT
fumecheng-13629	296	34	following	follow	VERB
fumecheng-13629	296	35	algorithm	algorithm	NOUN
fumecheng-13629	296	36	.	.	PUNCT
fumecheng-13629	297	1	the	the	DET
fumecheng-13629	297	2	speed	speed	NOUN
fumecheng-13629	297	3	-	-	PUNCT
fumecheng-13629	297	4	tracking	track	VERB
fumecheng-13629	297	5	results	result	NOUN
fumecheng-13629	297	6	demonstrate	demonstrate	VERB
fumecheng-13629	297	7	that	that	SCONJ
fumecheng-13629	297	8	the	the	DET
fumecheng-13629	297	9	proposed	propose	VERB
fumecheng-13629	297	10	algorithm	algorithm	NOUN
fumecheng-13629	297	11	is	be	AUX
fumecheng-13629	297	12	able	able	ADJ
fumecheng-13629	297	13	to	to	PART
fumecheng-13629	297	14	closely	closely	ADV
fumecheng-13629	297	15	follow	follow	VERB
fumecheng-13629	297	16	the	the	DET
fumecheng-13629	297	17	leading	lead	VERB
fumecheng-13629	297	18	vehicle	vehicle	NOUN
fumecheng-13629	297	19	's	's	PART
fumecheng-13629	297	20	velocity	velocity	NOUN
fumecheng-13629	297	21	profile	profile	NOUN
fumecheng-13629	297	22	.	.	PUNCT
fumecheng-13629	298	1	20	20	NUM
fumecheng-13629	298	2	f.	f.	PROPN
fumecheng-13629	298	3	xiao	xiao	PROPN
fumecheng-13629	298	4	,	,	PUNCT
fumecheng-13629	298	5	r.	r.	PROPN
fumecheng-13629	298	6	zhang	zhang	PROPN
fumecheng-13629	298	7	,	,	PUNCT
fumecheng-13629	298	8	c.	c.	PROPN
fumecheng-13629	298	9	qi	qi	PROPN
fumecheng-13629	298	10	fig	fig	PROPN
fumecheng-13629	298	11	.	.	PUNCT
fumecheng-13629	299	1	5	5	NUM
fumecheng-13629	299	2	speeds	speed	NOUN
fumecheng-13629	299	3	of	of	ADP
fumecheng-13629	299	4	the	the	DET
fumecheng-13629	299	5	lead	lead	ADJ
fumecheng-13629	299	6	vehicle	vehicle	NOUN
fumecheng-13629	299	7	and	and	CCONJ
fumecheng-13629	299	8	the	the	DET
fumecheng-13629	299	9	following	follow	VERB
fumecheng-13629	299	10	vehicle	vehicle	NOUN
fumecheng-13629	299	11	after	after	ADP
fumecheng-13629	299	12	the	the	DET
fumecheng-13629	299	13	implementation	implementation	NOUN
fumecheng-13629	299	14	of	of	ADP
fumecheng-13629	299	15	the	the	DET
fumecheng-13629	299	16	global	global	ADJ
fumecheng-13629	299	17	car	car	NOUN
fumecheng-13629	299	18	-	-	PUNCT
fumecheng-13629	299	19	following	follow	VERB
fumecheng-13629	299	20	algorithm	algorithm	NOUN
fumecheng-13629	299	21	,	,	PUNCT
fumecheng-13629	299	22	the	the	DET
fumecheng-13629	299	23	strategy	strategy	NOUN
fumecheng-13629	299	24	at	at	ADP
fumecheng-13629	299	25	intersections	intersection	NOUN
fumecheng-13629	299	26	is	be	AUX
fumecheng-13629	299	27	further	far	ADV
fumecheng-13629	299	28	integrated	integrate	VERB
fumecheng-13629	299	29	,	,	PUNCT
fumecheng-13629	299	30	resulting	result	VERB
fumecheng-13629	299	31	in	in	ADP
fumecheng-13629	299	32	the	the	DET
fumecheng-13629	299	33	engine	engine	NOUN
fumecheng-13629	299	34	torque	torque	NOUN
fumecheng-13629	299	35	distribution	distribution	NOUN
fumecheng-13629	299	36	under	under	ADP
fumecheng-13629	299	37	the	the	DET
fumecheng-13629	299	38	given	give	VERB
fumecheng-13629	299	39	driving	driving	NOUN
fumecheng-13629	299	40	conditions	condition	NOUN
fumecheng-13629	299	41	,	,	PUNCT
fumecheng-13629	299	42	as	as	SCONJ
fumecheng-13629	299	43	shown	show	VERB
fumecheng-13629	299	44	in	in	ADP
fumecheng-13629	299	45	fig	fig	NOUN
fumecheng-13629	299	46	.	.	PUNCT
fumecheng-13629	300	1	6	6	NUM
fumecheng-13629	300	2	.	.	PUNCT
fumecheng-13629	301	1	the	the	DET
fumecheng-13629	301	2	torque	torque	NOUN
fumecheng-13629	301	3	distribution	distribution	NOUN
fumecheng-13629	301	4	of	of	ADP
fumecheng-13629	301	5	the	the	DET
fumecheng-13629	301	6	engine	engine	NOUN
fumecheng-13629	301	7	,	,	PUNCT
fumecheng-13629	301	8	generator	generator	NOUN
fumecheng-13629	301	9	,	,	PUNCT
fumecheng-13629	301	10	and	and	CCONJ
fumecheng-13629	301	11	electric	electric	ADJ
fumecheng-13629	301	12	motor	motor	NOUN
fumecheng-13629	301	13	in	in	ADP
fumecheng-13629	301	14	the	the	DET
fumecheng-13629	301	15	non	non	ADJ
fumecheng-13629	301	16	-	-	ADJ
fumecheng-13629	301	17	hierarchical	hierarchical	ADJ
fumecheng-13629	301	18	case	case	NOUN
fumecheng-13629	301	19	are	be	AUX
fumecheng-13629	301	20	presented	present	VERB
fumecheng-13629	301	21	in	in	ADP
fumecheng-13629	301	22	fig	fig	NOUN
fumecheng-13629	301	23	.	.	PUNCT
fumecheng-13629	302	1	6(a	6(a	NUM
fumecheng-13629	302	2	)	)	PUNCT
fumecheng-13629	302	3	.	.	PUNCT
fumecheng-13629	303	1	in	in	ADP
fumecheng-13629	303	2	contrast	contrast	NOUN
fumecheng-13629	303	3	,	,	PUNCT
fumecheng-13629	303	4	the	the	DET
fumecheng-13629	303	5	torque	torque	NOUN
fumecheng-13629	303	6	distribution	distribution	NOUN
fumecheng-13629	303	7	of	of	ADP
fumecheng-13629	303	8	the	the	DET
fumecheng-13629	303	9	engine	engine	NOUN
fumecheng-13629	303	10	,	,	PUNCT
fumecheng-13629	303	11	generator	generator	PROPN
fumecheng-13629	303	12	mg1	mg1	PROPN
fumecheng-13629	303	13	,	,	PUNCT
fumecheng-13629	303	14	and	and	CCONJ
fumecheng-13629	303	15	electric	electric	PROPN
fumecheng-13629	303	16	motor	motor	PROPN
fumecheng-13629	303	17	mg2	mg2	PROPN
fumecheng-13629	303	18	under	under	ADP
fumecheng-13629	303	19	the	the	DET
fumecheng-13629	303	20	hierarchical	hierarchical	ADJ
fumecheng-13629	303	21	control	control	NOUN
fumecheng-13629	303	22	strategy	strategy	NOUN
fumecheng-13629	303	23	is	be	AUX
fumecheng-13629	303	24	illustrated	illustrate	VERB
fumecheng-13629	303	25	in	in	ADP
fumecheng-13629	303	26	fig	fig	NOUN
fumecheng-13629	303	27	.	.	PUNCT
fumecheng-13629	304	1	6(b	6(b	NUM
fumecheng-13629	304	2	)	)	PUNCT
fumecheng-13629	304	3	.	.	PUNCT
fumecheng-13629	305	1	(	(	PUNCT
fumecheng-13629	305	2	a	a	X
fumecheng-13629	305	3	)	)	PUNCT
fumecheng-13629	305	4	(	(	PUNCT
fumecheng-13629	305	5	b	b	X
fumecheng-13629	305	6	)	)	PUNCT
fumecheng-13629	305	7	fig	fig	NOUN
fumecheng-13629	305	8	.	.	PUNCT
fumecheng-13629	306	1	6	6	NUM
fumecheng-13629	306	2	engine	engine	NOUN
fumecheng-13629	306	3	torque	torque	NOUN
fumecheng-13629	306	4	,	,	PUNCT
fumecheng-13629	306	5	mg1	mg1	NOUN
fumecheng-13629	306	6	torque	torque	NOUN
fumecheng-13629	306	7	,	,	PUNCT
fumecheng-13629	306	8	and	and	CCONJ
fumecheng-13629	306	9	mg2	mg2	PROPN
fumecheng-13629	306	10	torque	torque	NOUN
fumecheng-13629	306	11	:	:	PUNCT
fumecheng-13629	306	12	(	(	PUNCT
fumecheng-13629	306	13	a	a	X
fumecheng-13629	306	14	)	)	PUNCT
fumecheng-13629	306	15	before	before	ADP
fumecheng-13629	306	16	layering	layer	VERB
fumecheng-13629	306	17	;	;	PUNCT
fumecheng-13629	306	18	(	(	PUNCT
fumecheng-13629	306	19	b	b	X
fumecheng-13629	306	20	)	)	PUNCT
fumecheng-13629	306	21	after	after	ADP
fumecheng-13629	306	22	layering	layer	VERB
fumecheng-13629	306	23	the	the	DET
fumecheng-13629	306	24	soc	soc	NOUN
fumecheng-13629	306	25	trajectory	trajectory	NOUN
fumecheng-13629	306	26	under	under	ADP
fumecheng-13629	306	27	the	the	DET
fumecheng-13629	306	28	given	give	VERB
fumecheng-13629	306	29	driving	driving	NOUN
fumecheng-13629	306	30	conditions	condition	NOUN
fumecheng-13629	306	31	is	be	AUX
fumecheng-13629	306	32	illustrated	illustrate	VERB
fumecheng-13629	306	33	in	in	ADP
fumecheng-13629	306	34	fig	fig	NOUN
fumecheng-13629	306	35	.	.	PUNCT
fumecheng-13629	307	1	7	7	X
fumecheng-13629	307	2	.	.	X
fumecheng-13629	307	3	the	the	DET
fumecheng-13629	307	4	overall	overall	ADJ
fumecheng-13629	307	5	trend	trend	NOUN
fumecheng-13629	307	6	shows	show	VERB
fumecheng-13629	307	7	a	a	DET
fumecheng-13629	307	8	decrease	decrease	NOUN
fumecheng-13629	307	9	in	in	ADP
fumecheng-13629	307	10	soc	soc	NOUN
fumecheng-13629	307	11	over	over	ADP
fumecheng-13629	307	12	time	time	NOUN
fumecheng-13629	307	13	.	.	PUNCT
fumecheng-13629	308	1	in	in	ADP
fumecheng-13629	308	2	the	the	DET
fumecheng-13629	308	3	non	non	ADJ
fumecheng-13629	308	4	-	-	ADJ
fumecheng-13629	308	5	hierarchical	hierarchical	ADJ
fumecheng-13629	308	6	case	case	NOUN
fumecheng-13629	308	7	,	,	PUNCT
fumecheng-13629	308	8	the	the	DET
fumecheng-13629	308	9	battery	battery	NOUN
fumecheng-13629	308	10	scenario	scenario	NOUN
fumecheng-13629	308	11	-	-	PUNCT
fumecheng-13629	308	12	level	level	NOUN
fumecheng-13629	308	13	hierarchical	hierarchical	ADJ
fumecheng-13629	308	14	energy	energy	NOUN
fumecheng-13629	308	15	management	management	NOUN
fumecheng-13629	308	16	control	control	NOUN
fumecheng-13629	308	17	strategy	strategy	NOUN
fumecheng-13629	308	18	for	for	ADP
fumecheng-13629	308	19	hybrid	hybrid	ADJ
fumecheng-13629	308	20	electric	electric	ADJ
fumecheng-13629	308	21	vehicle	vehicle	NOUN
fumecheng-13629	308	22	21	21	NUM
fumecheng-13629	308	23	soc	soc	NOUN
fumecheng-13629	308	24	exhibits	exhibit	VERB
fumecheng-13629	308	25	a	a	DET
fumecheng-13629	308	26	significant	significant	ADJ
fumecheng-13629	308	27	drop	drop	NOUN
fumecheng-13629	308	28	around	around	ADP
fumecheng-13629	308	29	the	the	DET
fumecheng-13629	308	30	1100	1100	NUM
fumecheng-13629	308	31	-	-	PUNCT
fumecheng-13629	308	32	second	second	NOUN
fumecheng-13629	308	33	mark	mark	NOUN
fumecheng-13629	308	34	.	.	PUNCT
fumecheng-13629	309	1	in	in	ADP
fumecheng-13629	309	2	contrast	contrast	NOUN
fumecheng-13629	309	3	,	,	PUNCT
fumecheng-13629	309	4	the	the	DET
fumecheng-13629	309	5	hierarchical	hierarchical	ADJ
fumecheng-13629	309	6	control	control	NOUN
fumecheng-13629	309	7	strategy	strategy	NOUN
fumecheng-13629	309	8	is	be	AUX
fumecheng-13629	309	9	able	able	ADJ
fumecheng-13629	309	10	to	to	PART
fumecheng-13629	309	11	maintain	maintain	VERB
fumecheng-13629	309	12	a	a	DET
fumecheng-13629	309	13	more	more	ADV
fumecheng-13629	309	14	stable	stable	ADJ
fumecheng-13629	309	15	soc	soc	NOUN
fumecheng-13629	309	16	profile	profile	NOUN
fumecheng-13629	309	17	throughout	throughout	ADP
fumecheng-13629	309	18	the	the	DET
fumecheng-13629	309	19	driving	drive	VERB
fumecheng-13629	309	20	cycle	cycle	NOUN
fumecheng-13629	309	21	.	.	PUNCT
fumecheng-13629	310	1	(	(	PUNCT
fumecheng-13629	310	2	a	a	X
fumecheng-13629	310	3	)	)	PUNCT
fumecheng-13629	310	4	(	(	PUNCT
fumecheng-13629	310	5	b	b	X
fumecheng-13629	310	6	)	)	PUNCT
fumecheng-13629	310	7	fig	fig	NOUN
fumecheng-13629	310	8	.	.	PUNCT
fumecheng-13629	311	1	7	7	NUM
fumecheng-13629	311	2	comparison	comparison	NOUN
fumecheng-13629	311	3	of	of	ADP
fumecheng-13629	311	4	battery	battery	NOUN
fumecheng-13629	311	5	soc	soc	NOUN
fumecheng-13629	311	6	before	before	ADP
fumecheng-13629	311	7	and	and	CCONJ
fumecheng-13629	311	8	after	after	ADP
fumecheng-13629	311	9	hierarchical	hierarchical	ADJ
fumecheng-13629	311	10	control	control	NOUN
fumecheng-13629	311	11	:	:	PUNCT
fumecheng-13629	311	12	(	(	PUNCT
fumecheng-13629	311	13	a	a	X
fumecheng-13629	311	14	)	)	PUNCT
fumecheng-13629	311	15	before	before	ADP
fumecheng-13629	311	16	layering	layer	VERB
fumecheng-13629	311	17	;	;	PUNCT
fumecheng-13629	311	18	(	(	PUNCT
fumecheng-13629	311	19	b	b	X
fumecheng-13629	311	20	)	)	PUNCT
fumecheng-13629	311	21	after	after	ADP
fumecheng-13629	311	22	layering	layer	VERB
fumecheng-13629	311	23	as	as	SCONJ
fumecheng-13629	311	24	shown	show	VERB
fumecheng-13629	311	25	in	in	ADP
fumecheng-13629	311	26	table	table	NOUN
fumecheng-13629	311	27	4	4	NUM
fumecheng-13629	311	28	,	,	PUNCT
fumecheng-13629	311	29	under	under	ADP
fumecheng-13629	311	30	similar	similar	ADJ
fumecheng-13629	311	31	initial	initial	ADJ
fumecheng-13629	311	32	and	and	CCONJ
fumecheng-13629	311	33	final	final	ADJ
fumecheng-13629	311	34	soc	soc	NOUN
fumecheng-13629	311	35	conditions	condition	NOUN
fumecheng-13629	311	36	,	,	PUNCT
fumecheng-13629	311	37	the	the	DET
fumecheng-13629	311	38	fuel	fuel	NOUN
fumecheng-13629	311	39	consumption	consumption	NOUN
fumecheng-13629	311	40	per	per	ADP
fumecheng-13629	311	41	100	100	NUM
fumecheng-13629	311	42	kilometers	kilometer	NOUN
fumecheng-13629	311	43	is	be	AUX
fumecheng-13629	311	44	reduced	reduce	VERB
fumecheng-13629	311	45	across	across	ADP
fumecheng-13629	311	46	different	different	ADJ
fumecheng-13629	311	47	reinforcement	reinforcement	NOUN
fumecheng-13629	311	48	learning	learning	NOUN
fumecheng-13629	311	49	algorithms	algorithm	NOUN
fumecheng-13629	311	50	when	when	SCONJ
fumecheng-13629	311	51	the	the	DET
fumecheng-13629	311	52	hierarchical	hierarchical	ADJ
fumecheng-13629	311	53	control	control	NOUN
fumecheng-13629	311	54	strategy	strategy	NOUN
fumecheng-13629	311	55	is	be	AUX
fumecheng-13629	311	56	employed	employ	VERB
fumecheng-13629	311	57	,	,	PUNCT
fumecheng-13629	311	58	compared	compare	VERB
fumecheng-13629	311	59	to	to	ADP
fumecheng-13629	311	60	the	the	DET
fumecheng-13629	311	61	nonhierarchical	nonhierarchical	ADJ
fumecheng-13629	311	62	approach	approach	NOUN
fumecheng-13629	311	63	.	.	PUNCT
fumecheng-13629	312	1	the	the	DET
fumecheng-13629	312	2	bar	bar	NOUN
fumecheng-13629	312	3	chart	chart	NOUN
fumecheng-13629	312	4	in	in	ADP
fumecheng-13629	312	5	fig	fig	NOUN
fumecheng-13629	312	6	.	.	PUNCT
fumecheng-13629	312	7	8	8	NUM
fumecheng-13629	312	8	provides	provide	VERB
fumecheng-13629	312	9	a	a	DET
fumecheng-13629	312	10	clearer	clear	ADJ
fumecheng-13629	312	11	visualization	visualization	NOUN
fumecheng-13629	312	12	of	of	ADP
fumecheng-13629	312	13	these	these	DET
fumecheng-13629	312	14	fuel	fuel	NOUN
fumecheng-13629	312	15	consumption	consumption	NOUN
fumecheng-13629	312	16	improvements	improvement	NOUN
fumecheng-13629	312	17	.	.	PUNCT
fumecheng-13629	313	1	the	the	DET
fumecheng-13629	313	2	figure	figure	NOUN
fumecheng-13629	313	3	shows	show	VERB
fumecheng-13629	313	4	that	that	SCONJ
fumecheng-13629	313	5	the	the	DET
fumecheng-13629	313	6	hierarchical	hierarchical	ADJ
fumecheng-13629	313	7	control	control	NOUN
fumecheng-13629	313	8	strategy	strategy	NOUN
fumecheng-13629	313	9	resulted	result	VERB
fumecheng-13629	313	10	in	in	ADP
fumecheng-13629	313	11	reductions	reduction	NOUN
fumecheng-13629	313	12	of	of	ADP
fumecheng-13629	313	13	7.52	7.52	NUM
fumecheng-13629	313	14	%	%	NOUN
fumecheng-13629	313	15	,	,	PUNCT
fumecheng-13629	313	16	5.29	5.29	NUM
fumecheng-13629	313	17	%	%	NOUN
fumecheng-13629	313	18	,	,	PUNCT
fumecheng-13629	313	19	9.6	9.6	NUM
fumecheng-13629	313	20	%	%	NOUN
fumecheng-13629	313	21	,	,	PUNCT
fumecheng-13629	313	22	and	and	CCONJ
fumecheng-13629	313	23	5.93	5.93	NUM
fumecheng-13629	313	24	%	%	NOUN
fumecheng-13629	313	25	in	in	ADP
fumecheng-13629	313	26	fuel	fuel	NOUN
fumecheng-13629	313	27	consumption	consumption	NOUN
fumecheng-13629	313	28	,	,	PUNCT
fumecheng-13629	313	29	respectively	respectively	ADV
fumecheng-13629	313	30	,	,	PUNCT
fumecheng-13629	313	31	when	when	SCONJ
fumecheng-13629	313	32	compared	compare	VERB
fumecheng-13629	313	33	to	to	ADP
fumecheng-13629	313	34	the	the	DET
fumecheng-13629	313	35	non	non	ADJ
fumecheng-13629	313	36	-	-	ADJ
fumecheng-13629	313	37	hierarchical	hierarchical	ADJ
fumecheng-13629	313	38	case	case	NOUN
fumecheng-13629	313	39	.	.	PUNCT
fumecheng-13629	314	1	as	as	SCONJ
fumecheng-13629	314	2	shown	show	VERB
fumecheng-13629	314	3	in	in	ADP
fumecheng-13629	314	4	table	table	NOUN
fumecheng-13629	314	5	5	5	NUM
fumecheng-13629	314	6	,	,	PUNCT
fumecheng-13629	314	7	with	with	ADP
fumecheng-13629	314	8	dqn	dqn	ADJ
fumecheng-13629	314	9	algorithm	algorithm	NOUN
fumecheng-13629	314	10	as	as	ADP
fumecheng-13629	314	11	an	an	DET
fumecheng-13629	314	12	example	example	NOUN
fumecheng-13629	314	13	,	,	PUNCT
fumecheng-13629	314	14	the	the	DET
fumecheng-13629	314	15	strategy	strategy	NOUN
fumecheng-13629	314	16	with	with	ADP
fumecheng-13629	314	17	hierarchical	hierarchical	ADJ
fumecheng-13629	314	18	control	control	NOUN
fumecheng-13629	314	19	resulted	result	VERB
fumecheng-13629	314	20	in	in	ADP
fumecheng-13629	314	21	reductions	reduction	NOUN
fumecheng-13629	314	22	of	of	ADP
fumecheng-13629	314	23	18.3	18.3	NUM
fumecheng-13629	314	24	%	%	NOUN
fumecheng-13629	314	25	,	,	PUNCT
fumecheng-13629	314	26	14.23	14.23	NUM
fumecheng-13629	314	27	%	%	NOUN
fumecheng-13629	314	28	,	,	PUNCT
fumecheng-13629	314	29	16.94	16.94	NUM
fumecheng-13629	314	30	%	%	NOUN
fumecheng-13629	314	31	,	,	PUNCT
fumecheng-13629	314	32	and	and	CCONJ
fumecheng-13629	314	33	20.9	20.9	NUM
fumecheng-13629	314	34	%	%	NOUN
fumecheng-13629	314	35	in	in	ADP
fumecheng-13629	314	36	the	the	DET
fumecheng-13629	314	37	emissions	emission	NOUN
fumecheng-13629	314	38	of	of	ADP
fumecheng-13629	314	39	various	various	ADJ
fumecheng-13629	314	40	harmful	harmful	ADJ
fumecheng-13629	314	41	pollutants	pollutant	NOUN
fumecheng-13629	314	42	such	such	ADJ
fumecheng-13629	314	43	as	as	ADP
fumecheng-13629	314	44	co	co	NOUN
fumecheng-13629	314	45	,	,	PUNCT
fumecheng-13629	314	46	hc	hc	PROPN
fumecheng-13629	314	47	,	,	PUNCT
fumecheng-13629	314	48	pm	pm	NOUN
fumecheng-13629	314	49	,	,	PUNCT
fumecheng-13629	314	50	nox	nox	NOUN
fumecheng-13629	314	51	,	,	PUNCT
fumecheng-13629	314	52	compared	compare	VERB
fumecheng-13629	314	53	to	to	ADP
fumecheng-13629	314	54	the	the	DET
fumecheng-13629	314	55	non	non	ADJ
fumecheng-13629	314	56	-	-	ADJ
fumecheng-13629	314	57	hierarchical	hierarchical	ADJ
fumecheng-13629	314	58	approach	approach	NOUN
fumecheng-13629	314	59	.	.	PUNCT
fumecheng-13629	315	1	fig	fig	NOUN
fumecheng-13629	315	2	.	.	PUNCT
fumecheng-13629	316	1	8	8	NUM
fumecheng-13629	316	2	fuel	fuel	NOUN
fumecheng-13629	316	3	consumption	consumption	NOUN
fumecheng-13629	316	4	comparison	comparison	NOUN
fumecheng-13629	316	5	for	for	ADP
fumecheng-13629	316	6	different	different	ADJ
fumecheng-13629	316	7	algorithms	algorithm	NOUN
fumecheng-13629	316	8	22	22	NUM
fumecheng-13629	316	9	f.	f.	PROPN
fumecheng-13629	316	10	xiao	xiao	PROPN
fumecheng-13629	316	11	,	,	PUNCT
fumecheng-13629	316	12	r.	r.	PROPN
fumecheng-13629	316	13	zhang	zhang	PROPN
fumecheng-13629	316	14	,	,	PUNCT
fumecheng-13629	316	15	c.	c.	PROPN
fumecheng-13629	316	16	qi	qi	PROPN
fumecheng-13629	316	17	table	table	NOUN
fumecheng-13629	316	18	4	4	NUM
fumecheng-13629	316	19	fuel	fuel	NOUN
fumecheng-13629	316	20	consumption	consumption	NOUN
fumecheng-13629	316	21	per	per	ADP
fumecheng-13629	316	22	100	100	NUM
fumecheng-13629	316	23	km	km	NOUN
fumecheng-13629	316	24	for	for	ADP
fumecheng-13629	316	25	different	different	ADJ
fumecheng-13629	316	26	algorithms	algorithm	NOUN
fumecheng-13629	316	27	with	with	ADP
fumecheng-13629	316	28	similar	similar	ADJ
fumecheng-13629	316	29	initial	initial	ADJ
fumecheng-13629	316	30	and	and	CCONJ
fumecheng-13629	316	31	final	final	ADJ
fumecheng-13629	316	32	soc	soc	NOUN
fumecheng-13629	316	33	strategy	strategy	NOUN
fumecheng-13629	316	34	initial	initial	ADJ
fumecheng-13629	316	35	/	/	SYM
fumecheng-13629	316	36	final	final	ADJ
fumecheng-13629	316	37	soc	soc	NOUN
fumecheng-13629	316	38	fuel	fuel	NOUN
fumecheng-13629	316	39	consumption	consumption	NOUN
fumecheng-13629	316	40	per	per	ADP
fumecheng-13629	316	41	100	100	NUM
fumecheng-13629	316	42	km	km	NOUN
fumecheng-13629	316	43	(	(	PUNCT
fumecheng-13629	316	44	l/00	l/00	ADJ
fumecheng-13629	316	45	km	km	NOUN
fumecheng-13629	316	46	)	)	PUNCT
fumecheng-13629	316	47	depletion	depletion	NOUN
fumecheng-13629	316	48	rate	rate	NOUN
fumecheng-13629	316	49	ppo	ppo	PROPN
fumecheng-13629	316	50	shems	shems	PROPN
fumecheng-13629	316	51	(	(	PUNCT
fumecheng-13629	316	52	offline	offline	ADJ
fumecheng-13629	316	53	)	)	PUNCT
fumecheng-13629	316	54	0.65/0.51	0.65/0.51	NUM
fumecheng-13629	317	1	5.314	5.314	NUM
fumecheng-13629	317	2	ppo	ppo	PROPN
fumecheng-13629	317	3	shems	shem	NOUN
fumecheng-13629	317	4	(	(	PUNCT
fumecheng-13629	317	5	hil	hil	PROPN
fumecheng-13629	317	6	)	)	PUNCT
fumecheng-13629	317	7	0.65/0.51	0.65/0.51	NOUN
fumecheng-13629	317	8	4.917	4.917	NUM
fumecheng-13629	317	9	7.52	7.52	NUM
fumecheng-13629	317	10	%	%	NOUN
fumecheng-13629	317	11	a2c	a2c	ADP
fumecheng-13629	317	12	shems	shem	NOUN
fumecheng-13629	317	13	(	(	PUNCT
fumecheng-13629	317	14	offline	offline	ADJ
fumecheng-13629	317	15	)	)	PUNCT
fumecheng-13629	317	16	0.65/0.51	0.65/0.51	NUM
fumecheng-13629	317	17	5.212	5.212	NUM
fumecheng-13629	317	18	a2c	a2c	NOUN
fumecheng-13629	317	19	shems	shem	NOUN
fumecheng-13629	317	20	(	(	PUNCT
fumecheng-13629	317	21	hil	hil	PROPN
fumecheng-13629	317	22	)	)	PUNCT
fumecheng-13629	317	23	0.65/0.502	0.65/0.502	NOUN
fumecheng-13629	317	24	4.936	4.936	NUM
fumecheng-13629	317	25	5.29	5.29	NUM
fumecheng-13629	317	26	%	%	NOUN
fumecheng-13629	317	27	a3c	a3c	NUM
fumecheng-13629	317	28	shems	shem	NOUN
fumecheng-13629	317	29	(	(	PUNCT
fumecheng-13629	317	30	offline	offline	ADJ
fumecheng-13629	317	31	)	)	PUNCT
fumecheng-13629	317	32	0.65/0.514	0.65/0.514	NOUN
fumecheng-13629	317	33	5.34	5.34	NUM
fumecheng-13629	317	34	a3c	a3c	NUM
fumecheng-13629	317	35	shems	shem	NOUN
fumecheng-13629	317	36	(	(	PUNCT
fumecheng-13629	317	37	hil	hil	PROPN
fumecheng-13629	317	38	)	)	PUNCT
fumecheng-13629	317	39	0.65/0.51	0.65/0.51	NUM
fumecheng-13629	317	40	4.826	4.826	NUM
fumecheng-13629	317	41	9.6	9.6	NUM
fumecheng-13629	317	42	%	%	NOUN
fumecheng-13629	317	43	dqn	dqn	NOUN
fumecheng-13629	317	44	shems	shem	NOUN
fumecheng-13629	317	45	(	(	PUNCT
fumecheng-13629	317	46	offline	offline	ADJ
fumecheng-13629	317	47	)	)	PUNCT
fumecheng-13629	317	48	0.65/0.489	0.65/0.489	NOUN
fumecheng-13629	317	49	5.23	5.23	NUM
fumecheng-13629	317	50	dqn	dqn	NOUN
fumecheng-13629	317	51	shems	shem	NOUN
fumecheng-13629	317	52	(	(	PUNCT
fumecheng-13629	317	53	hil	hil	PROPN
fumecheng-13629	317	54	)	)	PUNCT
fumecheng-13629	317	55	0.65/0.495	0.65/0.495	NOUN
fumecheng-13629	317	56	4.92	4.92	NUM
fumecheng-13629	317	57	5.93	5.93	NUM
fumecheng-13629	317	58	%	%	NOUN
fumecheng-13629	317	59	table	table	NOUN
fumecheng-13629	317	60	5	5	NUM
fumecheng-13629	317	61	pollutant	pollutant	ADJ
fumecheng-13629	317	62	emissions	emission	NOUN
fumecheng-13629	317	63	with	with	ADP
fumecheng-13629	317	64	the	the	DET
fumecheng-13629	317	65	dqn	dqn	PROPN
fumecheng-13629	317	66	algorithm	algorithm	PROPN
fumecheng-13629	317	67	pollutant	pollutant	ADJ
fumecheng-13629	317	68	dqn	dqn	NOUN
fumecheng-13629	317	69	strategy	strategy	NOUN
fumecheng-13629	317	70	(	(	PUNCT
fumecheng-13629	317	71	before	before	ADP
fumecheng-13629	317	72	layering	layering	NOUN
fumecheng-13629	317	73	)	)	PUNCT
fumecheng-13629	317	74	dqn	dqn	NOUN
fumecheng-13629	317	75	strategy	strategy	NOUN
fumecheng-13629	317	76	(	(	PUNCT
fumecheng-13629	317	77	after	after	ADP
fumecheng-13629	317	78	layering	layering	NOUN
fumecheng-13629	317	79	)	)	PUNCT
fumecheng-13629	317	80	decrement	decrement	ADJ
fumecheng-13629	317	81	rate	rate	NOUN
fumecheng-13629	317	82	before	before	ADP
fumecheng-13629	317	83	and	and	CCONJ
fumecheng-13629	317	84	after	after	ADP
fumecheng-13629	317	85	layering	layer	VERB
fumecheng-13629	317	86	dynamic	dynamic	ADJ
fumecheng-13629	317	87	programming	programming	NOUN
fumecheng-13629	317	88	co	co	X
fumecheng-13629	317	89	10.25	10.25	NUM
fumecheng-13629	317	90	8.34	8.34	NUM
fumecheng-13629	317	91	18.3	18.3	NUM
fumecheng-13629	317	92	%	%	NOUN
fumecheng-13629	317	93	8.24	8.24	NUM
fumecheng-13629	317	94	hc	hc	PROPN
fumecheng-13629	317	95	2.81	2.81	NUM
fumecheng-13629	317	96	2.41	2.41	NUM
fumecheng-13629	317	97	14.23	14.23	NUM
fumecheng-13629	317	98	%	%	NOUN
fumecheng-13629	317	99	2.40	2.40	NUM
fumecheng-13629	317	100	pm	pm	NOUN
fumecheng-13629	317	101	0.098	0.098	NUM
fumecheng-13629	317	102	0.0814	0.0814	NUM
fumecheng-13629	317	103	16.94	16.94	NUM
fumecheng-13629	317	104	%	%	NOUN
fumecheng-13629	317	105	0.0809	0.0809	NUM
fumecheng-13629	317	106	nox	nox	NOUN
fumecheng-13629	317	107	2.68	2.68	NUM
fumecheng-13629	317	108	2.12	2.12	NUM
fumecheng-13629	317	109	20.9	20.9	NUM
fumecheng-13629	317	110	%	%	NOUN
fumecheng-13629	317	111	2.14	2.14	NUM
fumecheng-13629	317	112	5.3	5.3	NUM
fumecheng-13629	317	113	hardware	hardware	NOUN
fumecheng-13629	317	114	-	-	PUNCT
fumecheng-13629	317	115	in	in	ADP
fumecheng-13629	317	116	-	-	PUNCT
fumecheng-13629	317	117	the	the	DET
fumecheng-13629	317	118	-	-	PUNCT
fumecheng-13629	317	119	loop	loop	NOUN
fumecheng-13629	317	120	experiment	experiment	NOUN
fumecheng-13629	317	121	5.3.1	5.3.1	ADJ
fumecheng-13629	317	122	hardware	hardware	NOUN
fumecheng-13629	317	123	-	-	PUNCT
fumecheng-13629	317	124	in	in	ADP
fumecheng-13629	317	125	-	-	PUNCT
fumecheng-13629	317	126	loop	loop	NOUN
fumecheng-13629	317	127	experiment	experiment	NOUN
fumecheng-13629	317	128	to	to	PART
fumecheng-13629	317	129	verify	verify	VERB
fumecheng-13629	317	130	the	the	DET
fumecheng-13629	317	131	effect	effect	NOUN
fumecheng-13629	317	132	of	of	ADP
fumecheng-13629	317	133	the	the	DET
fumecheng-13629	317	134	strategy	strategy	NOUN
fumecheng-13629	317	135	in	in	ADP
fumecheng-13629	317	136	real	real	ADJ
fumecheng-13629	317	137	controllers	controller	NOUN
fumecheng-13629	317	138	,	,	PUNCT
fumecheng-13629	317	139	we	we	PRON
fumecheng-13629	317	140	have	have	AUX
fumecheng-13629	317	141	built	build	VERB
fumecheng-13629	317	142	a	a	DET
fumecheng-13629	317	143	hardware	hardware	NOUN
fumecheng-13629	317	144	-	-	PUNCT
fumecheng-13629	317	145	in	in	ADP
fumecheng-13629	317	146	-	-	PUNCT
fumecheng-13629	317	147	theloop	theloop	NOUN
fumecheng-13629	317	148	(	(	PUNCT
fumecheng-13629	317	149	hil	hil	NOUN
fumecheng-13629	317	150	)	)	PUNCT
fumecheng-13629	317	151	platform	platform	NOUN
fumecheng-13629	317	152	.	.	PUNCT
fumecheng-13629	318	1	as	as	SCONJ
fumecheng-13629	318	2	shown	show	VERB
fumecheng-13629	318	3	in	in	ADP
fumecheng-13629	318	4	fig	fig	NOUN
fumecheng-13629	318	5	.	.	PUNCT
fumecheng-13629	319	1	9	9	NUM
fumecheng-13629	319	2	,	,	PUNCT
fumecheng-13629	319	3	the	the	DET
fumecheng-13629	319	4	experimental	experimental	ADJ
fumecheng-13629	319	5	system	system	NOUN
fumecheng-13629	319	6	consists	consist	VERB
fumecheng-13629	319	7	of	of	ADP
fumecheng-13629	319	8	a	a	DET
fumecheng-13629	319	9	hybrid	hybrid	ADJ
fumecheng-13629	319	10	power	power	NOUN
fumecheng-13629	319	11	model	model	NOUN
fumecheng-13629	319	12	,	,	PUNCT
fumecheng-13629	319	13	a	a	DET
fumecheng-13629	319	14	driver	driver	NOUN
fumecheng-13629	319	15	operation	operation	NOUN
fumecheng-13629	319	16	system	system	NOUN
fumecheng-13629	319	17	,	,	PUNCT
fumecheng-13629	319	18	a	a	DET
fumecheng-13629	319	19	virtual	virtual	ADJ
fumecheng-13629	319	20	scenario	scenario	NOUN
fumecheng-13629	319	21	system	system	NOUN
fumecheng-13629	319	22	,	,	PUNCT
fumecheng-13629	319	23	a	a	DET
fumecheng-13629	319	24	sensor	sensor	NOUN
fumecheng-13629	319	25	system	system	NOUN
fumecheng-13629	319	26	,	,	PUNCT
fumecheng-13629	319	27	an	an	DET
fumecheng-13629	319	28	ni	ni	PROPN
fumecheng-13629	319	29	real	real	ADJ
fumecheng-13629	319	30	-	-	PUNCT
fumecheng-13629	319	31	time	time	NOUN
fumecheng-13629	319	32	system	system	NOUN
fumecheng-13629	319	33	,	,	PUNCT
fumecheng-13629	319	34	and	and	CCONJ
fumecheng-13629	319	35	a	a	DET
fumecheng-13629	319	36	vehicle	vehicle	NOUN
fumecheng-13629	319	37	control	control	NOUN
fumecheng-13629	319	38	unit	unit	NOUN
fumecheng-13629	319	39	.	.	PUNCT
fumecheng-13629	320	1	the	the	DET
fumecheng-13629	320	2	virtual	virtual	ADJ
fumecheng-13629	320	3	scenario	scenario	NOUN
fumecheng-13629	320	4	system	system	NOUN
fumecheng-13629	320	5	provides	provide	VERB
fumecheng-13629	320	6	the	the	DET
fumecheng-13629	320	7	driver	driver	NOUN
fumecheng-13629	320	8	with	with	ADP
fumecheng-13629	320	9	a	a	DET
fumecheng-13629	320	10	realistic	realistic	ADJ
fumecheng-13629	320	11	driving	driving	NOUN
fumecheng-13629	320	12	environment	environment	NOUN
fumecheng-13629	320	13	,	,	PUNCT
fumecheng-13629	320	14	making	make	VERB
fumecheng-13629	320	15	the	the	DET
fumecheng-13629	320	16	driving	drive	VERB
fumecheng-13629	320	17	experience	experience	NOUN
fumecheng-13629	320	18	more	more	ADV
fumecheng-13629	320	19	similar	similar	ADJ
fumecheng-13629	320	20	to	to	ADP
fumecheng-13629	320	21	reality	reality	NOUN
fumecheng-13629	320	22	.	.	PUNCT
fumecheng-13629	321	1	furthermore	furthermore	ADV
fumecheng-13629	321	2	,	,	PUNCT
fumecheng-13629	321	3	it	it	PRON
fumecheng-13629	321	4	provides	provide	VERB
fumecheng-13629	321	5	traffic	traffic	NOUN
fumecheng-13629	321	6	environment	environment	NOUN
fumecheng-13629	321	7	information	information	NOUN
fumecheng-13629	321	8	,	,	PUNCT
fumecheng-13629	321	9	road	road	NOUN
fumecheng-13629	321	10	information	information	NOUN
fumecheng-13629	321	11	,	,	PUNCT
fumecheng-13629	321	12	and	and	CCONJ
fumecheng-13629	321	13	geographic	geographic	ADJ
fumecheng-13629	321	14	location	location	NOUN
fumecheng-13629	321	15	information	information	NOUN
fumecheng-13629	321	16	through	through	ADP
fumecheng-13629	321	17	data	data	NOUN
fumecheng-13629	321	18	interaction	interaction	NOUN
fumecheng-13629	321	19	.	.	PUNCT
fumecheng-13629	322	1	the	the	DET
fumecheng-13629	322	2	main	main	ADJ
fumecheng-13629	322	3	function	function	NOUN
fumecheng-13629	322	4	of	of	ADP
fumecheng-13629	322	5	the	the	DET
fumecheng-13629	322	6	vehicle	vehicle	NOUN
fumecheng-13629	322	7	control	control	NOUN
fumecheng-13629	322	8	system	system	NOUN
fumecheng-13629	322	9	is	be	AUX
fumecheng-13629	322	10	to	to	PART
fumecheng-13629	322	11	implement	implement	VERB
fumecheng-13629	322	12	the	the	DET
fumecheng-13629	322	13	proposed	propose	VERB
fumecheng-13629	322	14	strategy	strategy	NOUN
fumecheng-13629	322	15	and	and	CCONJ
fumecheng-13629	322	16	output	output	NOUN
fumecheng-13629	322	17	control	control	NOUN
fumecheng-13629	322	18	parameters	parameter	NOUN
fumecheng-13629	322	19	to	to	ADP
fumecheng-13629	322	20	the	the	DET
fumecheng-13629	322	21	actuators	actuator	NOUN
fumecheng-13629	322	22	.	.	PUNCT
fumecheng-13629	323	1	the	the	DET
fumecheng-13629	323	2	driver	driver	NOUN
fumecheng-13629	323	3	's	's	PART
fumecheng-13629	323	4	operation	operation	NOUN
fumecheng-13629	323	5	information	information	NOUN
fumecheng-13629	323	6	is	be	AUX
fumecheng-13629	323	7	all	all	PRON
fumecheng-13629	323	8	fed	feed	VERB
fumecheng-13629	323	9	back	back	ADV
fumecheng-13629	323	10	to	to	ADP
fumecheng-13629	323	11	the	the	DET
fumecheng-13629	323	12	steering	steering	NOUN
fumecheng-13629	323	13	system	system	NOUN
fumecheng-13629	323	14	,	,	PUNCT
fumecheng-13629	323	15	while	while	SCONJ
fumecheng-13629	323	16	the	the	DET
fumecheng-13629	323	17	vehicle	vehicle	NOUN
fumecheng-13629	323	18	's	's	PART
fumecheng-13629	323	19	speed	speed	NOUN
fumecheng-13629	323	20	status	status	NOUN
fumecheng-13629	323	21	information	information	NOUN
fumecheng-13629	323	22	and	and	CCONJ
fumecheng-13629	323	23	the	the	DET
fumecheng-13629	323	24	status	status	NOUN
fumecheng-13629	323	25	of	of	ADP
fumecheng-13629	323	26	the	the	DET
fumecheng-13629	323	27	electromagnetical	electromagnetical	ADJ
fumecheng-13629	323	28	system	system	NOUN
fumecheng-13629	323	29	are	be	AUX
fumecheng-13629	323	30	provided	provide	VERB
fumecheng-13629	323	31	by	by	ADP
fumecheng-13629	323	32	the	the	DET
fumecheng-13629	323	33	real	real	ADJ
fumecheng-13629	323	34	-	-	PUNCT
fumecheng-13629	323	35	time	time	NOUN
fumecheng-13629	323	36	simulation	simulation	NOUN
fumecheng-13629	323	37	system	system	NOUN
fumecheng-13629	323	38	.	.	PUNCT
fumecheng-13629	324	1	scenario	scenario	NOUN
fumecheng-13629	324	2	-	-	PUNCT
fumecheng-13629	324	3	level	level	NOUN
fumecheng-13629	324	4	hierarchical	hierarchical	ADJ
fumecheng-13629	324	5	energy	energy	NOUN
fumecheng-13629	324	6	management	management	NOUN
fumecheng-13629	324	7	control	control	NOUN
fumecheng-13629	324	8	strategy	strategy	NOUN
fumecheng-13629	324	9	for	for	ADP
fumecheng-13629	324	10	hybrid	hybrid	ADJ
fumecheng-13629	324	11	electric	electric	ADJ
fumecheng-13629	324	12	vehicle	vehicle	NOUN
fumecheng-13629	324	13	23	23	NUM
fumecheng-13629	324	14	fig	fig	NOUN
fumecheng-13629	324	15	.	.	PUNCT
fumecheng-13629	325	1	9	9	NUM
fumecheng-13629	325	2	hil	hil	PROPN
fumecheng-13629	325	3	test	test	NOUN
fumecheng-13629	325	4	bench	bench	VERB
fumecheng-13629	325	5	the	the	DET
fumecheng-13629	325	6	integrated	integrate	VERB
fumecheng-13629	325	7	system	system	NOUN
fumecheng-13629	325	8	is	be	AUX
fumecheng-13629	325	9	shown	show	VERB
fumecheng-13629	325	10	in	in	ADP
fumecheng-13629	325	11	fig	fig	NOUN
fumecheng-13629	325	12	.	.	PUNCT
fumecheng-13629	326	1	10(a	10(a	NUM
fumecheng-13629	326	2	)	)	PUNCT
fumecheng-13629	326	3	.	.	PUNCT
fumecheng-13629	327	1	in	in	ADP
fumecheng-13629	327	2	fig	fig	NOUN
fumecheng-13629	327	3	.	.	PUNCT
fumecheng-13629	328	1	10(b	10(b	NUM
fumecheng-13629	328	2	)	)	PUNCT
fumecheng-13629	328	3	,	,	PUNCT
fumecheng-13629	328	4	the	the	DET
fumecheng-13629	328	5	data	data	NOUN
fumecheng-13629	328	6	acquisition	acquisition	NOUN
fumecheng-13629	328	7	system	system	NOUN
fumecheng-13629	328	8	is	be	AUX
fumecheng-13629	328	9	combined	combine	VERB
fumecheng-13629	328	10	with	with	ADP
fumecheng-13629	328	11	the	the	DET
fumecheng-13629	328	12	driver	driver	NOUN
fumecheng-13629	328	13	operation	operation	NOUN
fumecheng-13629	328	14	system	system	NOUN
fumecheng-13629	328	15	,	,	PUNCT
fumecheng-13629	328	16	displayed	display	VERB
fumecheng-13629	328	17	below	below	ADP
fumecheng-13629	328	18	the	the	DET
fumecheng-13629	328	19	driver	driver	NOUN
fumecheng-13629	328	20	.	.	PUNCT
fumecheng-13629	329	1	based	base	VERB
fumecheng-13629	329	2	on	on	ADP
fumecheng-13629	329	3	the	the	DET
fumecheng-13629	329	4	existing	exist	VERB
fumecheng-13629	329	5	configuration	configuration	NOUN
fumecheng-13629	329	6	and	and	CCONJ
fumecheng-13629	329	7	technical	technical	ADJ
fumecheng-13629	329	8	conditions	condition	NOUN
fumecheng-13629	329	9	,	,	PUNCT
fumecheng-13629	329	10	can	can	AUX
fumecheng-13629	329	11	communication	communication	NOUN
fumecheng-13629	329	12	technology	technology	NOUN
fumecheng-13629	329	13	is	be	AUX
fumecheng-13629	329	14	applied	apply	VERB
fumecheng-13629	329	15	to	to	PART
fumecheng-13629	329	16	achieve	achieve	VERB
fumecheng-13629	329	17	data	data	NOUN
fumecheng-13629	329	18	interaction	interaction	NOUN
fumecheng-13629	329	19	,	,	PUNCT
fumecheng-13629	329	20	and	and	CCONJ
fumecheng-13629	329	21	real	real	ADJ
fumecheng-13629	329	22	-	-	PUNCT
fumecheng-13629	329	23	time	time	NOUN
fumecheng-13629	329	24	data	datum	NOUN
fumecheng-13629	329	25	of	of	ADP
fumecheng-13629	329	26	the	the	DET
fumecheng-13629	329	27	steering	steering	NOUN
fumecheng-13629	329	28	wheel	wheel	NOUN
fumecheng-13629	329	29	angle	angle	NOUN
fumecheng-13629	329	30	,	,	PUNCT
fumecheng-13629	329	31	acceleration	acceleration	NOUN
fumecheng-13629	329	32	,	,	PUNCT
fumecheng-13629	329	33	and	and	CCONJ
fumecheng-13629	329	34	brake	brake	NOUN
fumecheng-13629	329	35	pedal	pedal	NOUN
fumecheng-13629	329	36	is	be	AUX
fumecheng-13629	329	37	obtained	obtain	VERB
fumecheng-13629	329	38	.	.	PUNCT
fumecheng-13629	330	1	these	these	DET
fumecheng-13629	330	2	data	datum	NOUN
fumecheng-13629	330	3	are	be	AUX
fumecheng-13629	330	4	input	input	VERB
fumecheng-13629	330	5	into	into	ADP
fumecheng-13629	330	6	the	the	DET
fumecheng-13629	330	7	vehicle	vehicle	NOUN
fumecheng-13629	330	8	control	control	NOUN
fumecheng-13629	330	9	unit	unit	NOUN
fumecheng-13629	330	10	(	(	PUNCT
fumecheng-13629	330	11	vcu	vcu	PROPN
fumecheng-13629	330	12	)	)	PUNCT
fumecheng-13629	330	13	.	.	PUNCT
fumecheng-13629	331	1	(	(	PUNCT
fumecheng-13629	331	2	a	a	X
fumecheng-13629	331	3	)	)	PUNCT
fumecheng-13629	331	4	(	(	PUNCT
fumecheng-13629	331	5	b	b	X
fumecheng-13629	331	6	)	)	PUNCT
fumecheng-13629	331	7	fig	fig	NOUN
fumecheng-13629	331	8	.	.	PUNCT
fumecheng-13629	332	1	10	10	NUM
fumecheng-13629	332	2	integrated	integrate	VERB
fumecheng-13629	332	3	system	system	NOUN
fumecheng-13629	332	4	and	and	CCONJ
fumecheng-13629	332	5	driver	driver	NOUN
fumecheng-13629	332	6	operating	operating	NOUN
fumecheng-13629	332	7	system	system	NOUN
fumecheng-13629	332	8	:	:	PUNCT
fumecheng-13629	332	9	(	(	PUNCT
fumecheng-13629	332	10	a	a	X
fumecheng-13629	332	11	)	)	PUNCT
fumecheng-13629	332	12	integrated	integrate	VERB
fumecheng-13629	332	13	system	system	NOUN
fumecheng-13629	332	14	;	;	PUNCT
fumecheng-13629	332	15	(	(	PUNCT
fumecheng-13629	332	16	b	b	X
fumecheng-13629	332	17	)	)	PUNCT
fumecheng-13629	332	18	driver	driver	NOUN
fumecheng-13629	332	19	operating	operating	NOUN
fumecheng-13629	332	20	system	system	NOUN
fumecheng-13629	332	21	24	24	NUM
fumecheng-13629	332	22	f.	f.	PROPN
fumecheng-13629	332	23	xiao	xiao	PROPN
fumecheng-13629	332	24	,	,	PUNCT
fumecheng-13629	332	25	r.	r.	PROPN
fumecheng-13629	332	26	zhang	zhang	PROPN
fumecheng-13629	332	27	,	,	PUNCT
fumecheng-13629	332	28	c.	c.	PROPN
fumecheng-13629	332	29	qi	qi	PROPN
fumecheng-13629	332	30	5.3.2	5.3.2	NUM
fumecheng-13629	332	31	hardware	hardware	NOUN
fumecheng-13629	332	32	-	-	PUNCT
fumecheng-13629	332	33	in	in	ADP
fumecheng-13629	332	34	-	-	PUNCT
fumecheng-13629	332	35	the	the	DET
fumecheng-13629	332	36	-	-	PUNCT
fumecheng-13629	332	37	loop	loop	NOUN
fumecheng-13629	332	38	experiment	experiment	NOUN
fumecheng-13629	332	39	data	datum	NOUN
fumecheng-13629	332	40	analysis	analysis	NOUN
fumecheng-13629	332	41	to	to	PART
fumecheng-13629	332	42	further	far	ADV
fumecheng-13629	332	43	validate	validate	VERB
fumecheng-13629	332	44	the	the	DET
fumecheng-13629	332	45	hierarchical	hierarchical	ADJ
fumecheng-13629	332	46	strategy	strategy	NOUN
fumecheng-13629	332	47	proposed	propose	VERB
fumecheng-13629	332	48	in	in	ADP
fumecheng-13629	332	49	this	this	DET
fumecheng-13629	332	50	work	work	NOUN
fumecheng-13629	332	51	,	,	PUNCT
fumecheng-13629	332	52	hardware	hardware	NOUN
fumecheng-13629	332	53	-	-	PUNCT
fumecheng-13629	332	54	in	in	ADP
fumecheng-13629	332	55	-	-	PUNCT
fumecheng-13629	332	56	theloop	theloop	NOUN
fumecheng-13629	332	57	(	(	PUNCT
fumecheng-13629	332	58	hil	hil	NOUN
fumecheng-13629	332	59	)	)	PUNCT
fumecheng-13629	332	60	experiments	experiment	NOUN
fumecheng-13629	332	61	based	base	VERB
fumecheng-13629	332	62	on	on	ADP
fumecheng-13629	332	63	the	the	DET
fumecheng-13629	332	64	test	test	NOUN
fumecheng-13629	332	65	driving	drive	VERB
fumecheng-13629	332	66	cycle	cycle	NOUN
fumecheng-13629	332	67	are	be	AUX
fumecheng-13629	332	68	conducted	conduct	VERB
fumecheng-13629	332	69	.	.	PUNCT
fumecheng-13629	333	1	the	the	DET
fumecheng-13629	333	2	validation	validation	NOUN
fumecheng-13629	333	3	process	process	NOUN
fumecheng-13629	333	4	is	be	AUX
fumecheng-13629	333	5	composed	compose	VERB
fumecheng-13629	333	6	of	of	ADP
fumecheng-13629	333	7	three	three	NUM
fumecheng-13629	333	8	key	key	ADJ
fumecheng-13629	333	9	aspects	aspect	NOUN
fumecheng-13629	333	10	:	:	PUNCT
fumecheng-13629	333	11	verifying	verify	VERB
fumecheng-13629	333	12	the	the	DET
fumecheng-13629	333	13	vehicle	vehicle	NOUN
fumecheng-13629	333	14	following	follow	VERB
fumecheng-13629	333	15	algorithm	algorithm	NOUN
fumecheng-13629	333	16	,	,	PUNCT
fumecheng-13629	333	17	analyzing	analyze	VERB
fumecheng-13629	333	18	the	the	DET
fumecheng-13629	333	19	shems	shem	NOUN
fumecheng-13629	333	20	,	,	PUNCT
fumecheng-13629	333	21	and	and	CCONJ
fumecheng-13629	333	22	validating	validate	VERB
fumecheng-13629	333	23	the	the	DET
fumecheng-13629	333	24	harmful	harmful	ADJ
fumecheng-13629	333	25	emissions	emission	NOUN
fumecheng-13629	333	26	reduction	reduction	NOUN
fumecheng-13629	333	27	.	.	PUNCT
fumecheng-13629	334	1	as	as	SCONJ
fumecheng-13629	334	2	shown	show	VERB
fumecheng-13629	334	3	in	in	ADP
fumecheng-13629	334	4	fig	fig	NOUN
fumecheng-13629	334	5	.	.	PUNCT
fumecheng-13629	335	1	11	11	NUM
fumecheng-13629	335	2	,	,	PUNCT
fumecheng-13629	335	3	the	the	DET
fumecheng-13629	335	4	vehicle	vehicle	NOUN
fumecheng-13629	335	5	following	follow	VERB
fumecheng-13629	335	6	performance	performance	NOUN
fumecheng-13629	335	7	can	can	AUX
fumecheng-13629	335	8	be	be	AUX
fumecheng-13629	335	9	observed	observe	VERB
fumecheng-13629	335	10	.	.	PUNCT
fumecheng-13629	336	1	from	from	ADP
fumecheng-13629	336	2	the	the	DET
fumecheng-13629	336	3	figure	figure	NOUN
fumecheng-13629	336	4	,	,	PUNCT
fumecheng-13629	336	5	it	it	PRON
fumecheng-13629	336	6	is	be	AUX
fumecheng-13629	336	7	evident	evident	ADJ
fumecheng-13629	336	8	that	that	SCONJ
fumecheng-13629	336	9	the	the	DET
fumecheng-13629	336	10	vehicle	vehicle	NOUN
fumecheng-13629	336	11	is	be	AUX
fumecheng-13629	336	12	able	able	ADJ
fumecheng-13629	336	13	to	to	PART
fumecheng-13629	336	14	closely	closely	ADV
fumecheng-13629	336	15	follow	follow	VERB
fumecheng-13629	336	16	the	the	DET
fumecheng-13629	336	17	lead	lead	ADJ
fumecheng-13629	336	18	vehicle	vehicle	NOUN
fumecheng-13629	336	19	without	without	ADP
fumecheng-13629	336	20	any	any	DET
fumecheng-13629	336	21	collision	collision	NOUN
fumecheng-13629	336	22	incidents	incident	NOUN
fumecheng-13629	336	23	,	,	PUNCT
fumecheng-13629	336	24	demonstrating	demonstrate	VERB
fumecheng-13629	336	25	good	good	ADJ
fumecheng-13629	336	26	driving	driving	NOUN
fumecheng-13629	336	27	safety	safety	NOUN
fumecheng-13629	336	28	.	.	PUNCT
fumecheng-13629	337	1	fig	fig	NOUN
fumecheng-13629	337	2	.	.	PUNCT
fumecheng-13629	338	1	11	11	NUM
fumecheng-13629	338	2	performance	performance	NOUN
fumecheng-13629	338	3	of	of	ADP
fumecheng-13629	338	4	vehicle	vehicle	NOUN
fumecheng-13629	338	5	following	follow	VERB
fumecheng-13629	338	6	in	in	ADP
fumecheng-13629	338	7	hil	hil	PROPN
fumecheng-13629	338	8	the	the	DET
fumecheng-13629	338	9	range	range	NOUN
fumecheng-13629	338	10	of	of	ADP
fumecheng-13629	338	11	soc	soc	NOUN
fumecheng-13629	338	12	variations	variation	NOUN
fumecheng-13629	338	13	during	during	ADP
fumecheng-13629	338	14	the	the	DET
fumecheng-13629	338	15	simulation	simulation	NOUN
fumecheng-13629	338	16	and	and	CCONJ
fumecheng-13629	338	17	hil	hil	PROPN
fumecheng-13629	338	18	tests	test	NOUN
fumecheng-13629	338	19	is	be	AUX
fumecheng-13629	338	20	shown	show	VERB
fumecheng-13629	338	21	in	in	ADP
fumecheng-13629	338	22	fig	fig	NOUN
fumecheng-13629	338	23	.	.	PUNCT
fumecheng-13629	339	1	12	12	NUM
fumecheng-13629	339	2	.	.	PUNCT
fumecheng-13629	340	1	the	the	DET
fumecheng-13629	340	2	blue	blue	ADJ
fumecheng-13629	340	3	line	line	NOUN
fumecheng-13629	340	4	represents	represent	VERB
fumecheng-13629	340	5	the	the	DET
fumecheng-13629	340	6	battery	battery	NOUN
fumecheng-13629	340	7	soc	soc	NOUN
fumecheng-13629	340	8	changes	change	VERB
fumecheng-13629	340	9	under	under	ADP
fumecheng-13629	340	10	the	the	DET
fumecheng-13629	340	11	offline	offline	ADJ
fumecheng-13629	340	12	simulation	simulation	NOUN
fumecheng-13629	340	13	,	,	PUNCT
fumecheng-13629	340	14	while	while	SCONJ
fumecheng-13629	340	15	the	the	DET
fumecheng-13629	340	16	red	red	ADJ
fumecheng-13629	340	17	line	line	NOUN
fumecheng-13629	340	18	shows	show	VERB
fumecheng-13629	340	19	the	the	DET
fumecheng-13629	340	20	battery	battery	NOUN
fumecheng-13629	340	21	soc	soc	NOUN
fumecheng-13629	340	22	changes	change	VERB
fumecheng-13629	340	23	in	in	ADP
fumecheng-13629	340	24	the	the	DET
fumecheng-13629	340	25	hil	hil	ADJ
fumecheng-13629	340	26	test	test	NOUN
fumecheng-13629	340	27	.	.	PUNCT
fumecheng-13629	341	1	from	from	ADP
fumecheng-13629	341	2	the	the	DET
fumecheng-13629	341	3	figure	figure	NOUN
fumecheng-13629	341	4	,	,	PUNCT
fumecheng-13629	341	5	it	it	PRON
fumecheng-13629	341	6	can	can	AUX
fumecheng-13629	341	7	be	be	AUX
fumecheng-13629	341	8	seen	see	VERB
fumecheng-13629	341	9	that	that	SCONJ
fumecheng-13629	341	10	both	both	DET
fumecheng-13629	341	11	strategies	strategy	NOUN
fumecheng-13629	341	12	are	be	AUX
fumecheng-13629	341	13	able	able	ADJ
fumecheng-13629	341	14	to	to	PART
fumecheng-13629	341	15	maintain	maintain	VERB
fumecheng-13629	341	16	a	a	DET
fumecheng-13629	341	17	good	good	ADJ
fumecheng-13629	341	18	range	range	NOUN
fumecheng-13629	341	19	of	of	ADP
fumecheng-13629	341	20	battery	battery	NOUN
fumecheng-13629	341	21	soc	soc	NOUN
fumecheng-13629	341	22	under	under	ADP
fumecheng-13629	341	23	the	the	DET
fumecheng-13629	341	24	real	real	ADJ
fumecheng-13629	341	25	-	-	PUNCT
fumecheng-13629	341	26	time	time	NOUN
fumecheng-13629	341	27	operation	operation	NOUN
fumecheng-13629	341	28	.	.	PUNCT
fumecheng-13629	342	1	the	the	DET
fumecheng-13629	342	2	battery	battery	NOUN
fumecheng-13629	342	3	performance	performance	NOUN
fumecheng-13629	342	4	and	and	CCONJ
fumecheng-13629	342	5	state	state	NOUN
fumecheng-13629	342	6	remain	remain	VERB
fumecheng-13629	342	7	in	in	ADP
fumecheng-13629	342	8	a	a	DET
fumecheng-13629	342	9	favorable	favorable	ADJ
fumecheng-13629	342	10	condition	condition	NOUN
fumecheng-13629	342	11	,	,	PUNCT
fumecheng-13629	342	12	indicating	indicate	VERB
fumecheng-13629	342	13	that	that	SCONJ
fumecheng-13629	342	14	the	the	DET
fumecheng-13629	342	15	battery	battery	NOUN
fumecheng-13629	342	16	is	be	AUX
fumecheng-13629	342	17	functioning	function	VERB
fumecheng-13629	342	18	normally	normally	ADV
fumecheng-13629	342	19	,	,	PUNCT
fumecheng-13629	342	20	which	which	PRON
fumecheng-13629	342	21	ensures	ensure	VERB
fumecheng-13629	342	22	the	the	DET
fumecheng-13629	342	23	overall	overall	ADJ
fumecheng-13629	342	24	reliability	reliability	NOUN
fumecheng-13629	342	25	and	and	CCONJ
fumecheng-13629	342	26	stability	stability	NOUN
fumecheng-13629	342	27	of	of	ADP
fumecheng-13629	342	28	the	the	DET
fumecheng-13629	342	29	strategy	strategy	NOUN
fumecheng-13629	342	30	.	.	PUNCT
fumecheng-13629	343	1	fig	fig	NOUN
fumecheng-13629	343	2	.	.	PUNCT
fumecheng-13629	344	1	12	12	NUM
fumecheng-13629	344	2	performance	performance	NOUN
fumecheng-13629	344	3	of	of	ADP
fumecheng-13629	344	4	battery	battery	NOUN
fumecheng-13629	344	5	soc	soc	NOUN
fumecheng-13629	344	6	changes	change	VERB
fumecheng-13629	344	7	in	in	ADP
fumecheng-13629	344	8	hil	hil	PROPN
fumecheng-13629	344	9	the	the	DET
fumecheng-13629	344	10	comparative	comparative	ADJ
fumecheng-13629	344	11	plots	plot	NOUN
fumecheng-13629	344	12	of	of	ADP
fumecheng-13629	344	13	the	the	DET
fumecheng-13629	344	14	engine	engine	NOUN
fumecheng-13629	344	15	torque	torque	NOUN
fumecheng-13629	344	16	,	,	PUNCT
fumecheng-13629	344	17	engine	engine	NOUN
fumecheng-13629	344	18	mg1	mg1	NOUN
fumecheng-13629	344	19	torque	torque	NOUN
fumecheng-13629	344	20	,	,	PUNCT
fumecheng-13629	344	21	and	and	CCONJ
fumecheng-13629	344	22	electric	electric	PROPN
fumecheng-13629	344	23	motor	motor	PROPN
fumecheng-13629	344	24	mg2	mg2	PROPN
fumecheng-13629	344	25	torque	torque	NOUN
fumecheng-13629	344	26	under	under	ADP
fumecheng-13629	344	27	the	the	DET
fumecheng-13629	344	28	test	test	NOUN
fumecheng-13629	344	29	driving	driving	NOUN
fumecheng-13629	344	30	cycle	cycle	NOUN
fumecheng-13629	344	31	are	be	AUX
fumecheng-13629	344	32	depicted	depict	VERB
fumecheng-13629	344	33	in	in	ADP
fumecheng-13629	344	34	fig	fig	NOUN
fumecheng-13629	344	35	.	.	PUNCT
fumecheng-13629	345	1	13	13	NUM
fumecheng-13629	345	2	.	.	PUNCT
fumecheng-13629	346	1	the	the	DET
fumecheng-13629	346	2	inset	inset	NOUN
fumecheng-13629	346	3	plot	plot	NOUN
fumecheng-13629	346	4	displays	display	VERB
fumecheng-13629	346	5	the	the	DET
fumecheng-13629	346	6	detailed	detailed	ADJ
fumecheng-13629	346	7	view	view	NOUN
fumecheng-13629	346	8	of	of	ADP
fumecheng-13629	346	9	the	the	DET
fumecheng-13629	346	10	local	local	ADJ
fumecheng-13629	346	11	variations	variation	NOUN
fumecheng-13629	346	12	.	.	PUNCT
fumecheng-13629	347	1	it	it	PRON
fumecheng-13629	347	2	can	can	AUX
fumecheng-13629	347	3	be	be	AUX
fumecheng-13629	347	4	concluded	conclude	VERB
fumecheng-13629	347	5	that	that	SCONJ
fumecheng-13629	347	6	there	there	PRON
fumecheng-13629	347	7	are	be	VERB
fumecheng-13629	347	8	some	some	DET
fumecheng-13629	347	9	differences	difference	NOUN
fumecheng-13629	347	10	scenario	scenario	NOUN
fumecheng-13629	347	11	-	-	PUNCT
fumecheng-13629	347	12	level	level	NOUN
fumecheng-13629	347	13	hierarchical	hierarchical	ADJ
fumecheng-13629	347	14	energy	energy	NOUN
fumecheng-13629	347	15	management	management	NOUN
fumecheng-13629	347	16	control	control	NOUN
fumecheng-13629	347	17	strategy	strategy	NOUN
fumecheng-13629	347	18	for	for	ADP
fumecheng-13629	347	19	hybrid	hybrid	ADJ
fumecheng-13629	347	20	electric	electric	ADJ
fumecheng-13629	347	21	vehicle	vehicle	NOUN
fumecheng-13629	347	22	25	25	NUM
fumecheng-13629	347	23	between	between	ADP
fumecheng-13629	347	24	the	the	DET
fumecheng-13629	347	25	hil	hil	PROPN
fumecheng-13629	347	26	test	test	NOUN
fumecheng-13629	347	27	data	datum	NOUN
fumecheng-13629	347	28	and	and	CCONJ
fumecheng-13629	347	29	the	the	DET
fumecheng-13629	347	30	offline	offline	ADJ
fumecheng-13629	347	31	simulation	simulation	NOUN
fumecheng-13629	347	32	data	data	PROPN
fumecheng-13629	347	33	.	.	PUNCT
fumecheng-13629	348	1	however	however	ADV
fumecheng-13629	348	2	,	,	PUNCT
fumecheng-13629	348	3	these	these	DET
fumecheng-13629	348	4	differences	difference	NOUN
fumecheng-13629	348	5	are	be	AUX
fumecheng-13629	348	6	within	within	ADP
fumecheng-13629	348	7	a	a	DET
fumecheng-13629	348	8	reasonable	reasonable	ADJ
fumecheng-13629	348	9	range	range	NOUN
fumecheng-13629	348	10	.	.	PUNCT
fumecheng-13629	349	1	overall	overall	ADV
fumecheng-13629	349	2	,	,	PUNCT
fumecheng-13629	349	3	the	the	DET
fumecheng-13629	349	4	variations	variation	NOUN
fumecheng-13629	349	5	in	in	ADP
fumecheng-13629	349	6	the	the	DET
fumecheng-13629	349	7	real	real	ADJ
fumecheng-13629	349	8	-	-	PUNCT
fumecheng-13629	349	9	time	time	NOUN
fumecheng-13629	349	10	environment	environment	NOUN
fumecheng-13629	349	11	between	between	ADP
fumecheng-13629	349	12	the	the	DET
fumecheng-13629	349	13	two	two	NUM
fumecheng-13629	349	14	sets	set	NOUN
fumecheng-13629	349	15	of	of	ADP
fumecheng-13629	349	16	data	datum	NOUN
fumecheng-13629	349	17	are	be	AUX
fumecheng-13629	349	18	not	not	PART
fumecheng-13629	349	19	significant	significant	ADJ
fumecheng-13629	349	20	,	,	PUNCT
fumecheng-13629	349	21	and	and	CCONJ
fumecheng-13629	349	22	the	the	DET
fumecheng-13629	349	23	alignment	alignment	NOUN
fumecheng-13629	349	24	between	between	ADP
fumecheng-13629	349	25	them	they	PRON
fumecheng-13629	349	26	is	be	AUX
fumecheng-13629	349	27	relatively	relatively	ADV
fumecheng-13629	349	28	satisfied	satisfied	ADJ
fumecheng-13629	349	29	.	.	PUNCT
fumecheng-13629	350	1	(	(	PUNCT
fumecheng-13629	350	2	a	a	X
fumecheng-13629	350	3	)	)	PUNCT
fumecheng-13629	350	4	(	(	PUNCT
fumecheng-13629	350	5	b	b	X
fumecheng-13629	350	6	)	)	PUNCT
fumecheng-13629	350	7	(	(	PUNCT
fumecheng-13629	350	8	c	c	X
fumecheng-13629	350	9	)	)	PUNCT
fumecheng-13629	350	10	fig	fig	NOUN
fumecheng-13629	350	11	.	.	PUNCT
fumecheng-13629	351	1	13	13	NUM
fumecheng-13629	351	2	performance	performance	NOUN
fumecheng-13629	351	3	in	in	ADP
fumecheng-13629	351	4	hil	hil	ADJ
fumecheng-13629	351	5	:	:	PUNCT
fumecheng-13629	351	6	(	(	PUNCT
fumecheng-13629	351	7	a	a	X
fumecheng-13629	351	8	)	)	PUNCT
fumecheng-13629	351	9	engine	engine	NOUN
fumecheng-13629	351	10	torque	torque	NOUN
fumecheng-13629	351	11	,	,	PUNCT
fumecheng-13629	351	12	(	(	PUNCT
fumecheng-13629	351	13	b	b	X
fumecheng-13629	351	14	)	)	PUNCT
fumecheng-13629	351	15	mg1	mg1	NOUN
fumecheng-13629	351	16	torque	torque	NOUN
fumecheng-13629	351	17	(	(	PUNCT
fumecheng-13629	351	18	c	c	NOUN
fumecheng-13629	351	19	)	)	PUNCT
fumecheng-13629	351	20	mg2	mg2	NOUN
fumecheng-13629	351	21	torque	torque	NOUN
fumecheng-13629	351	22	as	as	SCONJ
fumecheng-13629	351	23	shown	show	VERB
fumecheng-13629	351	24	in	in	ADP
fumecheng-13629	351	25	table	table	NOUN
fumecheng-13629	351	26	6	6	NUM
fumecheng-13629	351	27	,	,	PUNCT
fumecheng-13629	351	28	by	by	ADP
fumecheng-13629	351	29	comparing	compare	VERB
fumecheng-13629	351	30	the	the	DET
fumecheng-13629	351	31	emissions	emission	NOUN
fumecheng-13629	351	32	of	of	ADP
fumecheng-13629	351	33	harmful	harmful	ADJ
fumecheng-13629	351	34	substances	substance	NOUN
fumecheng-13629	351	35	between	between	ADP
fumecheng-13629	351	36	simulation	simulation	NOUN
fumecheng-13629	351	37	and	and	CCONJ
fumecheng-13629	351	38	hil	hil	PROPN
fumecheng-13629	351	39	testing	testing	NOUN
fumecheng-13629	351	40	using	use	VERB
fumecheng-13629	351	41	the	the	DET
fumecheng-13629	351	42	dqn	dqn	ADJ
fumecheng-13629	351	43	algorithm	algorithm	NOUN
fumecheng-13629	351	44	,	,	PUNCT
fumecheng-13629	351	45	it	it	PRON
fumecheng-13629	351	46	can	can	AUX
fumecheng-13629	351	47	be	be	AUX
fumecheng-13629	351	48	summarized	summarize	VERB
fumecheng-13629	351	49	that	that	SCONJ
fumecheng-13629	351	50	the	the	DET
fumecheng-13629	351	51	layered	layered	ADJ
fumecheng-13629	351	52	dqn	dqn	NOUN
fumecheng-13629	351	53	algorithm	algorithm	NOUN
fumecheng-13629	351	54	significantly	significantly	ADV
fumecheng-13629	351	55	reduced	reduce	VERB
fumecheng-13629	351	56	pollutant	pollutant	ADJ
fumecheng-13629	351	57	emissions	emission	NOUN
fumecheng-13629	351	58	in	in	ADP
fumecheng-13629	351	59	the	the	DET
fumecheng-13629	351	60	hil	hil	PROPN
fumecheng-13629	351	61	experiment	experiment	NOUN
fumecheng-13629	351	62	,	,	PUNCT
fumecheng-13629	351	63	with	with	ADP
fumecheng-13629	351	64	the	the	DET
fumecheng-13629	351	65	emissions	emission	NOUN
fumecheng-13629	351	66	approaching	approach	VERB
fumecheng-13629	351	67	the	the	DET
fumecheng-13629	351	68	levels	level	NOUN
fumecheng-13629	351	69	achieved	achieve	VERB
fumecheng-13629	351	70	under	under	ADP
fumecheng-13629	351	71	the	the	DET
fumecheng-13629	351	72	dynamic	dynamic	ADJ
fumecheng-13629	351	73	programming	programming	NOUN
fumecheng-13629	351	74	approach	approach	NOUN
fumecheng-13629	351	75	.	.	PUNCT
fumecheng-13629	352	1	26	26	NUM
fumecheng-13629	352	2	f.	f.	PROPN
fumecheng-13629	352	3	xiao	xiao	PROPN
fumecheng-13629	352	4	,	,	PUNCT
fumecheng-13629	352	5	r.	r.	PROPN
fumecheng-13629	352	6	zhang	zhang	PROPN
fumecheng-13629	352	7	,	,	PUNCT
fumecheng-13629	352	8	c.	c.	PROPN
fumecheng-13629	352	9	qi	qi	PROPN
fumecheng-13629	352	10	furthermore	furthermore	ADV
fumecheng-13629	352	11	,	,	PUNCT
fumecheng-13629	352	12	the	the	DET
fumecheng-13629	352	13	results	result	NOUN
fumecheng-13629	352	14	from	from	ADP
fumecheng-13629	352	15	the	the	DET
fumecheng-13629	352	16	hil	hil	PROPN
fumecheng-13629	352	17	testing	testing	NOUN
fumecheng-13629	352	18	closely	closely	ADV
fumecheng-13629	352	19	matched	match	VERB
fumecheng-13629	352	20	those	those	PRON
fumecheng-13629	352	21	from	from	ADP
fumecheng-13629	352	22	the	the	DET
fumecheng-13629	352	23	simulation	simulation	NOUN
fumecheng-13629	352	24	,	,	PUNCT
fumecheng-13629	352	25	with	with	ADP
fumecheng-13629	352	26	only	only	ADJ
fumecheng-13629	352	27	minor	minor	ADJ
fumecheng-13629	352	28	differences	difference	NOUN
fumecheng-13629	352	29	.	.	PUNCT
fumecheng-13629	353	1	table	table	NOUN
fumecheng-13629	353	2	6	6	NUM
fumecheng-13629	353	3	comparison	comparison	NOUN
fumecheng-13629	353	4	of	of	ADP
fumecheng-13629	353	5	emissions	emission	NOUN
fumecheng-13629	353	6	of	of	ADP
fumecheng-13629	353	7	harmful	harmful	ADJ
fumecheng-13629	353	8	substances	substance	NOUN
fumecheng-13629	353	9	between	between	ADP
fumecheng-13629	353	10	simulation	simulation	NOUN
fumecheng-13629	353	11	and	and	CCONJ
fumecheng-13629	353	12	hil	hil	PROPN
fumecheng-13629	353	13	under	under	ADP
fumecheng-13629	353	14	dqn	dqn	NOUN
fumecheng-13629	353	15	algorithm	algorithm	NOUN
fumecheng-13629	353	16	harmful	harmful	ADJ
fumecheng-13629	353	17	gasses	gas	NOUN
fumecheng-13629	353	18	dqn	dqn	NOUN
fumecheng-13629	353	19	(	(	PUNCT
fumecheng-13629	353	20	before	before	ADP
fumecheng-13629	353	21	layering	layering	NOUN
fumecheng-13629	353	22	)	)	PUNCT
fumecheng-13629	353	23	simulation	simulation	PROPN
fumecheng-13629	353	24	/	/	SYM
fumecheng-13629	353	25	hil	hil	PROPN
fumecheng-13629	353	26	dqn	dqn	PROPN
fumecheng-13629	353	27	(	(	PUNCT
fumecheng-13629	353	28	after	after	ADP
fumecheng-13629	353	29	layering	layering	NOUN
fumecheng-13629	353	30	)	)	PUNCT
fumecheng-13629	353	31	simulation	simulation	PROPN
fumecheng-13629	353	32	/	/	SYM
fumecheng-13629	353	33	hil	hil	PROPN
fumecheng-13629	353	34	dynamic	dynamic	ADJ
fumecheng-13629	353	35	programming	programming	NOUN
fumecheng-13629	353	36	simulation	simulation	PROPN
fumecheng-13629	353	37	/	/	SYM
fumecheng-13629	353	38	hil	hil	PROPN
fumecheng-13629	353	39	co	co	PROPN
fumecheng-13629	353	40	10.25/10.02	10.25/10.02	PROPN
fumecheng-13629	353	41	8.43/8.31	8.43/8.31	NUM
fumecheng-13629	353	42	8.24/8.23	8.24/8.23	PROPN
fumecheng-13629	353	43	hc	hc	PROPN
fumecheng-13629	353	44	2.81/2.95	2.81/2.95	NUM
fumecheng-13629	353	45	2.41/2.40	2.41/2.40	NUM
fumecheng-13629	353	46	2.40/2.40	2.40/2.40	NUM
fumecheng-13629	353	47	pm	pm	NOUN
fumecheng-13629	353	48	0.098/0.094	0.098/0.094	VERB
fumecheng-13629	353	49	0.0814/0.0801	0.0814/0.0801	NUM
fumecheng-13629	353	50	0.0809/0.0810	0.0809/0.0810	NUM
fumecheng-13629	353	51	nox	nox	NOUN
fumecheng-13629	353	52	2.68/2.67	2.68/2.67	NUM
fumecheng-13629	353	53	2.12/2.13	2.12/2.13	NUM
fumecheng-13629	353	54	2.14/2.13	2.14/2.13	NUM
fumecheng-13629	353	55	6	6	NUM
fumecheng-13629	353	56	.	.	PUNCT
fumecheng-13629	354	1	conclusion	conclusion	NOUN
fumecheng-13629	354	2	the	the	DET
fumecheng-13629	354	3	shems	shem	NOUN
fumecheng-13629	354	4	refers	refer	VERB
fumecheng-13629	354	5	to	to	ADP
fumecheng-13629	354	6	driving	drive	VERB
fumecheng-13629	354	7	techniques	technique	NOUN
fumecheng-13629	354	8	and	and	CCONJ
fumecheng-13629	354	9	strategies	strategy	NOUN
fumecheng-13629	354	10	that	that	PRON
fumecheng-13629	354	11	aim	aim	VERB
fumecheng-13629	354	12	to	to	PART
fumecheng-13629	354	13	reduce	reduce	VERB
fumecheng-13629	354	14	the	the	DET
fumecheng-13629	354	15	environmental	environmental	ADJ
fumecheng-13629	354	16	impact	impact	NOUN
fumecheng-13629	354	17	of	of	ADP
fumecheng-13629	354	18	vehicles	vehicle	NOUN
fumecheng-13629	354	19	by	by	ADP
fumecheng-13629	354	20	improving	improve	VERB
fumecheng-13629	354	21	vehicle	vehicle	NOUN
fumecheng-13629	354	22	operation	operation	NOUN
fumecheng-13629	354	23	and	and	CCONJ
fumecheng-13629	354	24	driving	driving	NOUN
fumecheng-13629	354	25	behavior	behavior	NOUN
fumecheng-13629	354	26	.	.	PUNCT
fumecheng-13629	355	1	based	base	VERB
fumecheng-13629	355	2	on	on	ADP
fumecheng-13629	355	3	a	a	DET
fumecheng-13629	355	4	learning	learning	NOUN
fumecheng-13629	355	5	-	-	PUNCT
fumecheng-13629	355	6	based	base	VERB
fumecheng-13629	355	7	approach	approach	NOUN
fumecheng-13629	355	8	,	,	PUNCT
fumecheng-13629	355	9	a	a	DET
fumecheng-13629	355	10	layered	layered	ADJ
fumecheng-13629	355	11	ecological	ecological	ADJ
fumecheng-13629	355	12	driving	driving	NOUN
fumecheng-13629	355	13	strategy	strategy	NOUN
fumecheng-13629	355	14	targeting	target	VERB
fumecheng-13629	355	15	a	a	DET
fumecheng-13629	355	16	hybrid	hybrid	ADJ
fumecheng-13629	355	17	electric	electric	ADJ
fumecheng-13629	355	18	vehicle	vehicle	NOUN
fumecheng-13629	355	19	is	be	AUX
fumecheng-13629	355	20	proposed	propose	VERB
fumecheng-13629	355	21	,	,	PUNCT
fumecheng-13629	355	22	with	with	ADP
fumecheng-13629	355	23	the	the	DET
fumecheng-13629	355	24	objectives	objective	NOUN
fumecheng-13629	355	25	of	of	ADP
fumecheng-13629	355	26	driving	drive	VERB
fumecheng-13629	355	27	safety	safety	NOUN
fumecheng-13629	355	28	,	,	PUNCT
fumecheng-13629	355	29	energy	energy	NOUN
fumecheng-13629	355	30	management	management	NOUN
fumecheng-13629	355	31	,	,	PUNCT
fumecheng-13629	355	32	and	and	CCONJ
fumecheng-13629	355	33	pollutant	pollutant	ADJ
fumecheng-13629	355	34	emission	emission	NOUN
fumecheng-13629	355	35	reduction	reduction	NOUN
fumecheng-13629	355	36	.	.	PUNCT
fumecheng-13629	356	1	simulation	simulation	NOUN
fumecheng-13629	356	2	and	and	CCONJ
fumecheng-13629	356	3	hil	hil	PROPN
fumecheng-13629	356	4	testing	testing	NOUN
fumecheng-13629	356	5	are	be	AUX
fumecheng-13629	356	6	conducted	conduct	VERB
fumecheng-13629	356	7	to	to	PART
fumecheng-13629	356	8	evaluate	evaluate	VERB
fumecheng-13629	356	9	the	the	DET
fumecheng-13629	356	10	proposed	propose	VERB
fumecheng-13629	356	11	ecological	ecological	ADJ
fumecheng-13629	356	12	driving	driving	NOUN
fumecheng-13629	356	13	strategy	strategy	NOUN
fumecheng-13629	356	14	,	,	PUNCT
fumecheng-13629	356	15	and	and	CCONJ
fumecheng-13629	356	16	the	the	DET
fumecheng-13629	356	17	performance	performance	NOUN
fumecheng-13629	356	18	is	be	AUX
fumecheng-13629	356	19	assessed	assess	VERB
fumecheng-13629	356	20	.	.	PUNCT
fumecheng-13629	357	1	the	the	DET
fumecheng-13629	357	2	main	main	ADJ
fumecheng-13629	357	3	research	research	NOUN
fumecheng-13629	357	4	work	work	NOUN
fumecheng-13629	357	5	of	of	ADP
fumecheng-13629	357	6	this	this	DET
fumecheng-13629	357	7	paper	paper	NOUN
fumecheng-13629	357	8	is	be	AUX
fumecheng-13629	357	9	as	as	SCONJ
fumecheng-13629	357	10	follows	follow	VERB
fumecheng-13629	357	11	:	:	PUNCT
fumecheng-13629	357	12	the	the	DET
fumecheng-13629	357	13	driving	drive	VERB
fumecheng-13629	357	14	scenarios	scenario	NOUN
fumecheng-13629	357	15	for	for	ADP
fumecheng-13629	357	16	the	the	DET
fumecheng-13629	357	17	shems	shem	NOUN
fumecheng-13629	357	18	can	can	AUX
fumecheng-13629	357	19	be	be	AUX
fumecheng-13629	357	20	classified	classify	VERB
fumecheng-13629	357	21	into	into	ADP
fumecheng-13629	357	22	free	free	ADJ
fumecheng-13629	357	23	driving	driving	NOUN
fumecheng-13629	357	24	,	,	PUNCT
fumecheng-13629	357	25	car	car	NOUN
fumecheng-13629	357	26	-	-	PUNCT
fumecheng-13629	357	27	following	following	NOUN
fumecheng-13629	357	28	,	,	PUNCT
fumecheng-13629	357	29	and	and	CCONJ
fumecheng-13629	357	30	intersection	intersection	NOUN
fumecheng-13629	357	31	scenarios	scenario	NOUN
fumecheng-13629	357	32	and	and	CCONJ
fumecheng-13629	357	33	the	the	DET
fumecheng-13629	357	34	optimization	optimization	NOUN
fumecheng-13629	357	35	objectives	objective	NOUN
fumecheng-13629	357	36	are	be	AUX
fumecheng-13629	357	37	formulated	formulate	VERB
fumecheng-13629	357	38	for	for	ADP
fumecheng-13629	357	39	each	each	DET
fumecheng-13629	357	40	scenario	scenario	NOUN
fumecheng-13629	357	41	.	.	PUNCT
fumecheng-13629	358	1	to	to	PART
fumecheng-13629	358	2	account	account	VERB
fumecheng-13629	358	3	for	for	ADP
fumecheng-13629	358	4	the	the	DET
fumecheng-13629	358	5	impact	impact	NOUN
fumecheng-13629	358	6	of	of	ADP
fumecheng-13629	358	7	traffic	traffic	NOUN
fumecheng-13629	358	8	conditions	condition	NOUN
fumecheng-13629	358	9	and	and	CCONJ
fumecheng-13629	358	10	driver	driver	NOUN
fumecheng-13629	358	11	behavior	behavior	NOUN
fumecheng-13629	358	12	on	on	ADP
fumecheng-13629	358	13	driving	drive	VERB
fumecheng-13629	358	14	strategies	strategy	NOUN
fumecheng-13629	358	15	,	,	PUNCT
fumecheng-13629	358	16	an	an	DET
fumecheng-13629	358	17	imitation	imitation	NOUN
fumecheng-13629	358	18	learning	learning	NOUN
fumecheng-13629	358	19	–	–	PUNCT
fumecheng-13629	358	20	based	base	VERB
fumecheng-13629	358	21	approach	approach	NOUN
fumecheng-13629	358	22	is	be	AUX
fumecheng-13629	358	23	introduced	introduce	VERB
fumecheng-13629	358	24	as	as	ADP
fumecheng-13629	358	25	an	an	DET
fumecheng-13629	358	26	innovative	innovative	ADJ
fumecheng-13629	358	27	solution	solution	NOUN
fumecheng-13629	358	28	.	.	PUNCT
fumecheng-13629	359	1	this	this	DET
fumecheng-13629	359	2	strategy	strategy	NOUN
fumecheng-13629	359	3	constructs	construct	VERB
fumecheng-13629	359	4	an	an	DET
fumecheng-13629	359	5	adaptive	adaptive	ADJ
fumecheng-13629	359	6	learning	learning	NOUN
fumecheng-13629	359	7	framework	framework	NOUN
fumecheng-13629	359	8	,	,	PUNCT
fumecheng-13629	359	9	which	which	PRON
fumecheng-13629	359	10	not	not	PART
fumecheng-13629	359	11	only	only	ADV
fumecheng-13629	359	12	reduces	reduce	VERB
fumecheng-13629	359	13	the	the	DET
fumecheng-13629	359	14	complexity	complexity	NOUN
fumecheng-13629	359	15	of	of	ADP
fumecheng-13629	359	16	reward	reward	NOUN
fumecheng-13629	359	17	function	function	NOUN
fumecheng-13629	359	18	design	design	NOUN
fumecheng-13629	359	19	,	,	PUNCT
fumecheng-13629	359	20	but	but	CCONJ
fumecheng-13629	359	21	also	also	ADV
fumecheng-13629	359	22	enables	enable	VERB
fumecheng-13629	359	23	the	the	DET
fumecheng-13629	359	24	model	model	NOUN
fumecheng-13629	359	25	to	to	PART
fumecheng-13629	359	26	exceed	exceed	VERB
fumecheng-13629	359	27	expert	expert	NOUN
fumecheng-13629	359	28	demonstrations	demonstration	NOUN
fumecheng-13629	359	29	and	and	CCONJ
fumecheng-13629	359	30	capture	capture	VERB
fumecheng-13629	359	31	high	high	ADV
fumecheng-13629	359	32	-	-	PUNCT
fumecheng-13629	359	33	dimensional	dimensional	ADJ
fumecheng-13629	359	34	environmental	environmental	ADJ
fumecheng-13629	359	35	features	feature	NOUN
fumecheng-13629	359	36	.	.	PUNCT
fumecheng-13629	360	1	the	the	DET
fumecheng-13629	360	2	simulation	simulation	NOUN
fumecheng-13629	360	3	verification	verification	NOUN
fumecheng-13629	360	4	shows	show	VERB
fumecheng-13629	360	5	that	that	SCONJ
fumecheng-13629	360	6	the	the	DET
fumecheng-13629	360	7	algorithm	algorithm	NOUN
fumecheng-13629	360	8	performs	perform	VERB
fumecheng-13629	360	9	excellently	excellently	ADV
fumecheng-13629	360	10	in	in	ADP
fumecheng-13629	360	11	car	car	NOUN
fumecheng-13629	360	12	-	-	PUNCT
fumecheng-13629	360	13	following	following	NOUN
fumecheng-13629	360	14	,	,	PUNCT
fumecheng-13629	360	15	vehicle	vehicle	NOUN
fumecheng-13629	360	16	distance	distance	NOUN
fumecheng-13629	360	17	maintenance	maintenance	NOUN
fumecheng-13629	360	18	,	,	PUNCT
fumecheng-13629	360	19	and	and	CCONJ
fumecheng-13629	360	20	speed	speed	NOUN
fumecheng-13629	360	21	regulation	regulation	NOUN
fumecheng-13629	360	22	.	.	PUNCT
fumecheng-13629	361	1	the	the	DET
fumecheng-13629	361	2	average	average	ADJ
fumecheng-13629	361	3	differences	difference	NOUN
fumecheng-13629	361	4	between	between	ADP
fumecheng-13629	361	5	the	the	DET
fumecheng-13629	361	6	expert	expert	ADJ
fumecheng-13629	361	7	algorithm	algorithm	NOUN
fumecheng-13629	361	8	and	and	CCONJ
fumecheng-13629	361	9	the	the	DET
fumecheng-13629	361	10	proposed	propose	VERB
fumecheng-13629	361	11	algorithm	algorithm	NOUN
fumecheng-13629	361	12	are	be	AUX
fumecheng-13629	361	13	0.38	0.38	NUM
fumecheng-13629	361	14	m	m	PROPN
fumecheng-13629	361	15	/	/	SYM
fumecheng-13629	361	16	s	s	PROPN
fumecheng-13629	361	17	,	,	PUNCT
fumecheng-13629	361	18	0.0026	0.0026	NUM
fumecheng-13629	361	19	m	m	PROPN
fumecheng-13629	361	20	/	/	SYM
fumecheng-13629	361	21	s	s	PROPN
fumecheng-13629	361	22	,	,	PUNCT
fumecheng-13629	361	23	and	and	CCONJ
fumecheng-13629	361	24	0.21	0.21	NUM
fumecheng-13629	361	25	m	m	NOUN
fumecheng-13629	361	26	/	/	SYM
fumecheng-13629	361	27	s	s	PROPN
fumecheng-13629	361	28	under	under	ADP
fumecheng-13629	361	29	steady	steady	ADJ
fumecheng-13629	361	30	-	-	PUNCT
fumecheng-13629	361	31	state	state	NOUN
fumecheng-13629	361	32	,	,	PUNCT
fumecheng-13629	361	33	acceleration	acceleration	NOUN
fumecheng-13629	361	34	,	,	PUNCT
fumecheng-13629	361	35	and	and	CCONJ
fumecheng-13629	361	36	deceleration	deceleration	NOUN
fumecheng-13629	361	37	conditions	condition	NOUN
fumecheng-13629	361	38	,	,	PUNCT
fumecheng-13629	361	39	respectively	respectively	ADV
fumecheng-13629	361	40	.	.	PUNCT
fumecheng-13629	362	1	for	for	ADP
fumecheng-13629	362	2	the	the	DET
fumecheng-13629	362	3	complex	complex	ADJ
fumecheng-13629	362	4	intersection	intersection	NOUN
fumecheng-13629	362	5	scenario	scenario	NOUN
fumecheng-13629	362	6	,	,	PUNCT
fumecheng-13629	362	7	two	two	NUM
fumecheng-13629	362	8	strategies	strategy	NOUN
fumecheng-13629	362	9	are	be	AUX
fumecheng-13629	362	10	proposed	propose	VERB
fumecheng-13629	362	11	creatively	creatively	ADV
fumecheng-13629	362	12	,	,	PUNCT
fumecheng-13629	362	13	which	which	PRON
fumecheng-13629	362	14	consists	consist	VERB
fumecheng-13629	362	15	of	of	ADP
fumecheng-13629	362	16	incorporating	incorporate	VERB
fumecheng-13629	362	17	an	an	DET
fumecheng-13629	362	18	additional	additional	ADJ
fumecheng-13629	362	19	reward	reward	NOUN
fumecheng-13629	362	20	mechanism	mechanism	NOUN
fumecheng-13629	362	21	and	and	CCONJ
fumecheng-13629	362	22	a	a	DET
fumecheng-13629	362	23	self	self	NOUN
fumecheng-13629	362	24	-	-	PUNCT
fumecheng-13629	362	25	supervised	supervise	VERB
fumecheng-13629	362	26	reinforcement	reinforcement	NOUN
fumecheng-13629	362	27	learning	learning	NOUN
fumecheng-13629	362	28	module	module	NOUN
fumecheng-13629	362	29	to	to	PART
fumecheng-13629	362	30	effectively	effectively	ADV
fumecheng-13629	362	31	compensate	compensate	VERB
fumecheng-13629	362	32	for	for	ADP
fumecheng-13629	362	33	the	the	DET
fumecheng-13629	362	34	sparsity	sparsity	NOUN
fumecheng-13629	362	35	of	of	ADP
fumecheng-13629	362	36	the	the	DET
fumecheng-13629	362	37	ecological	ecological	ADJ
fumecheng-13629	362	38	driving	driving	NOUN
fumecheng-13629	362	39	reward	reward	NOUN
fumecheng-13629	362	40	function	function	NOUN
fumecheng-13629	362	41	.	.	PUNCT
fumecheng-13629	363	1	to	to	PART
fumecheng-13629	363	2	address	address	VERB
fumecheng-13629	363	3	the	the	DET
fumecheng-13629	363	4	challenges	challenge	NOUN
fumecheng-13629	363	5	posed	pose	VERB
fumecheng-13629	363	6	by	by	ADP
fumecheng-13629	363	7	the	the	DET
fumecheng-13629	363	8	changing	change	VERB
fumecheng-13629	363	9	intersection	intersection	NOUN
fumecheng-13629	363	10	environment	environment	NOUN
fumecheng-13629	363	11	,	,	PUNCT
fumecheng-13629	363	12	a	a	DET
fumecheng-13629	363	13	reinforcement	reinforcement	NOUN
fumecheng-13629	363	14	learning	learning	NOUN
fumecheng-13629	363	15	calibration	calibration	NOUN
fumecheng-13629	363	16	strategy	strategy	NOUN
fumecheng-13629	363	17	is	be	AUX
fumecheng-13629	363	18	introduced	introduce	VERB
fumecheng-13629	363	19	to	to	PART
fumecheng-13629	363	20	correct	correct	VERB
fumecheng-13629	363	21	the	the	DET
fumecheng-13629	363	22	algorithm	algorithm	NOUN
fumecheng-13629	363	23	,	,	PUNCT
fumecheng-13629	363	24	significantly	significantly	ADV
fumecheng-13629	363	25	improving	improve	VERB
fumecheng-13629	363	26	its	its	PRON
fumecheng-13629	363	27	efficiency	efficiency	NOUN
fumecheng-13629	363	28	.	.	PUNCT
fumecheng-13629	364	1	the	the	DET
fumecheng-13629	364	2	reward	reward	NOUN
fumecheng-13629	364	3	function	function	VERB
fumecheng-13629	364	4	not	not	PART
fumecheng-13629	364	5	only	only	ADV
fumecheng-13629	364	6	converges	converge	VERB
fumecheng-13629	364	7	rapidly	rapidly	ADV
fumecheng-13629	364	8	but	but	CCONJ
fumecheng-13629	364	9	also	also	ADV
fumecheng-13629	364	10	has	have	VERB
fumecheng-13629	364	11	a	a	DET
fumecheng-13629	364	12	denser	dense	ADJ
fumecheng-13629	364	13	reward	reward	NOUN
fumecheng-13629	364	14	distribution	distribution	NOUN
fumecheng-13629	364	15	.	.	PUNCT
fumecheng-13629	365	1	based	base	VERB
fumecheng-13629	365	2	on	on	ADP
fumecheng-13629	365	3	the	the	DET
fumecheng-13629	365	4	simulation	simulation	NOUN
fumecheng-13629	365	5	results	result	NOUN
fumecheng-13629	365	6	,	,	PUNCT
fumecheng-13629	365	7	the	the	DET
fumecheng-13629	365	8	strategy	strategy	NOUN
fumecheng-13629	365	9	proposed	propose	VERB
fumecheng-13629	365	10	in	in	ADP
fumecheng-13629	365	11	this	this	DET
fumecheng-13629	365	12	paper	paper	NOUN
fumecheng-13629	365	13	has	have	VERB
fumecheng-13629	365	14	significant	significant	ADJ
fumecheng-13629	365	15	advantages	advantage	NOUN
fumecheng-13629	365	16	in	in	ADP
fumecheng-13629	365	17	terms	term	NOUN
fumecheng-13629	365	18	of	of	ADP
fumecheng-13629	365	19	reward	reward	NOUN
fumecheng-13629	365	20	value	value	NOUN
fumecheng-13629	365	21	,	,	PUNCT
fumecheng-13629	365	22	battery	battery	NOUN
fumecheng-13629	365	23	soc	soc	NOUN
fumecheng-13629	365	24	,	,	PUNCT
fumecheng-13629	365	25	and	and	CCONJ
fumecheng-13629	365	26	engine	engine	NOUN
fumecheng-13629	365	27	operation	operation	NOUN
fumecheng-13629	365	28	.	.	PUNCT
fumecheng-13629	366	1	under	under	ADP
fumecheng-13629	366	2	different	different	ADJ
fumecheng-13629	366	3	algorithms	algorithm	NOUN
fumecheng-13629	366	4	,	,	PUNCT
fumecheng-13629	366	5	the	the	DET
fumecheng-13629	366	6	fuel	fuel	NOUN
fumecheng-13629	366	7	consumption	consumption	NOUN
fumecheng-13629	366	8	is	be	AUX
fumecheng-13629	366	9	significantly	significantly	ADV
fumecheng-13629	366	10	reduced	reduce	VERB
fumecheng-13629	366	11	through	through	ADP
fumecheng-13629	366	12	the	the	DET
fumecheng-13629	366	13	layered	layered	ADJ
fumecheng-13629	366	14	strategy	strategy	NOUN
fumecheng-13629	366	15	,	,	PUNCT
fumecheng-13629	366	16	with	with	ADP
fumecheng-13629	366	17	reductions	reduction	NOUN
fumecheng-13629	366	18	of	of	ADP
fumecheng-13629	366	19	7.52	7.52	NUM
fumecheng-13629	366	20	%	%	NOUN
fumecheng-13629	366	21	,	,	PUNCT
fumecheng-13629	366	22	5.29	5.29	NUM
fumecheng-13629	366	23	%	%	NOUN
fumecheng-13629	366	24	,	,	PUNCT
fumecheng-13629	366	25	9.6	9.6	NUM
fumecheng-13629	366	26	%	%	NOUN
fumecheng-13629	366	27	,	,	PUNCT
fumecheng-13629	366	28	and	and	CCONJ
fumecheng-13629	366	29	5.93	5.93	NUM
fumecheng-13629	366	30	%	%	NOUN
fumecheng-13629	366	31	for	for	ADP
fumecheng-13629	366	32	the	the	DET
fumecheng-13629	366	33	ppo	ppo	PROPN
fumecheng-13629	366	34	,	,	PUNCT
fumecheng-13629	366	35	a2c	a2c	PROPN
fumecheng-13629	366	36	,	,	PUNCT
fumecheng-13629	366	37	a3c	a3c	NUM
fumecheng-13629	366	38	,	,	PUNCT
fumecheng-13629	366	39	and	and	CCONJ
fumecheng-13629	366	40	dqn	dqn	ADJ
fumecheng-13629	366	41	strategies	strategy	NOUN
fumecheng-13629	366	42	,	,	PUNCT
fumecheng-13629	366	43	respectively	respectively	ADV
fumecheng-13629	366	44	.	.	PUNCT
fumecheng-13629	367	1	taking	take	VERB
fumecheng-13629	367	2	the	the	DET
fumecheng-13629	367	3	dqn	dqn	ADJ
fumecheng-13629	367	4	algorithm	algorithm	NOUN
fumecheng-13629	367	5	as	as	ADP
fumecheng-13629	367	6	an	an	DET
fumecheng-13629	367	7	example	example	NOUN
fumecheng-13629	367	8	,	,	PUNCT
fumecheng-13629	367	9	the	the	DET
fumecheng-13629	367	10	emissions	emission	NOUN
fumecheng-13629	367	11	of	of	ADP
fumecheng-13629	367	12	harmful	harmful	ADJ
fumecheng-13629	367	13	gases	gas	NOUN
fumecheng-13629	367	14	co	co	NOUN
fumecheng-13629	367	15	,	,	PUNCT
fumecheng-13629	367	16	hc	hc	PROPN
fumecheng-13629	367	17	,	,	PUNCT
fumecheng-13629	367	18	pm	pm	NOUN
fumecheng-13629	367	19	and	and	CCONJ
fumecheng-13629	367	20	nox	nox	NOUN
fumecheng-13629	367	21	,	,	PUNCT
fumecheng-13629	367	22	are	be	AUX
fumecheng-13629	367	23	scenario	scenario	NOUN
fumecheng-13629	367	24	-	-	PUNCT
fumecheng-13629	367	25	level	level	NOUN
fumecheng-13629	367	26	hierarchical	hierarchical	ADJ
fumecheng-13629	367	27	energy	energy	NOUN
fumecheng-13629	367	28	management	management	NOUN
fumecheng-13629	367	29	control	control	NOUN
fumecheng-13629	367	30	strategy	strategy	NOUN
fumecheng-13629	367	31	for	for	ADP
fumecheng-13629	367	32	hybrid	hybrid	ADJ
fumecheng-13629	367	33	electric	electric	ADJ
fumecheng-13629	367	34	vehicle	vehicle	NOUN
fumecheng-13629	367	35	27	27	NUM
fumecheng-13629	367	36	reduced	reduce	VERB
fumecheng-13629	367	37	by	by	ADP
fumecheng-13629	367	38	18.3	18.3	NUM
fumecheng-13629	367	39	%	%	NOUN
fumecheng-13629	367	40	,	,	PUNCT
fumecheng-13629	367	41	14.23	14.23	NUM
fumecheng-13629	367	42	%	%	NOUN
fumecheng-13629	367	43	,	,	PUNCT
fumecheng-13629	367	44	16.94	16.94	NUM
fumecheng-13629	367	45	%	%	NOUN
fumecheng-13629	367	46	,	,	PUNCT
fumecheng-13629	367	47	and	and	CCONJ
fumecheng-13629	367	48	20.9	20.9	NUM
fumecheng-13629	367	49	%	%	NOUN
fumecheng-13629	367	50	,	,	PUNCT
fumecheng-13629	367	51	respectively	respectively	ADV
fumecheng-13629	367	52	,	,	PUNCT
fumecheng-13629	367	53	after	after	ADP
fumecheng-13629	367	54	layering	layer	VERB
fumecheng-13629	367	55	.	.	PUNCT
fumecheng-13629	368	1	the	the	DET
fumecheng-13629	368	2	hil	hil	PROPN
fumecheng-13629	368	3	experiment	experiment	NOUN
fumecheng-13629	368	4	further	further	ADJ
fumecheng-13629	368	5	verifies	verifie	NOUN
fumecheng-13629	368	6	the	the	DET
fumecheng-13629	368	7	safety	safety	NOUN
fumecheng-13629	368	8	and	and	CCONJ
fumecheng-13629	368	9	effectiveness	effectiveness	NOUN
fumecheng-13629	368	10	of	of	ADP
fumecheng-13629	368	11	the	the	DET
fumecheng-13629	368	12	strategy	strategy	NOUN
fumecheng-13629	368	13	,	,	PUNCT
fumecheng-13629	368	14	demonstrating	demonstrate	VERB
fumecheng-13629	368	15	the	the	DET
fumecheng-13629	368	16	algorithm	algorithm	NOUN
fumecheng-13629	368	17	's	's	PART
fumecheng-13629	368	18	efficiency	efficiency	NOUN
fumecheng-13629	368	19	in	in	ADP
fumecheng-13629	368	20	reducing	reduce	VERB
fumecheng-13629	368	21	harmful	harmful	ADJ
fumecheng-13629	368	22	gas	gas	NOUN
fumecheng-13629	368	23	emissions	emission	NOUN
fumecheng-13629	368	24	.	.	PUNCT
fumecheng-13629	369	1	acknowledgement	acknowledgement	NOUN
fumecheng-13629	369	2	:	:	PUNCT
fumecheng-13629	369	3	this	this	DET
fumecheng-13629	369	4	work	work	NOUN
fumecheng-13629	369	5	was	be	AUX
fumecheng-13629	369	6	supported	support	VERB
fumecheng-13629	369	7	by	by	ADP
fumecheng-13629	369	8	the	the	DET
fumecheng-13629	369	9	guangxi	guangxi	PROPN
fumecheng-13629	369	10	science	science	PROPN
fumecheng-13629	369	11	and	and	CCONJ
fumecheng-13629	369	12	technology	technology	NOUN
fumecheng-13629	369	13	major	major	ADJ
fumecheng-13629	369	14	program	program	NOUN
fumecheng-13629	369	15	(	(	PUNCT
fumecheng-13629	369	16	grant	grant	VERB
fumecheng-13629	369	17	no	no	INTJ
fumecheng-13629	369	18	.	.	PUNCT
fumecheng-13629	370	1	guike	guike	ADJ
fumecheng-13629	370	2	aa23062067	aa23062067	NOUN
fumecheng-13629	370	3	)	)	PUNCT
fumecheng-13629	370	4	,	,	PUNCT
fumecheng-13629	370	5	in	in	ADP
fumecheng-13629	370	6	part	part	NOUN
fumecheng-13629	370	7	by	by	ADP
fumecheng-13629	370	8	the	the	DET
fumecheng-13629	370	9	open	open	ADJ
fumecheng-13629	370	10	fund	fund	NOUN
fumecheng-13629	370	11	for	for	ADP
fumecheng-13629	370	12	state	state	NOUN
fumecheng-13629	370	13	key	key	ADJ
fumecheng-13629	370	14	laboratory	laboratory	NOUN
fumecheng-13629	370	15	of	of	ADP
fumecheng-13629	370	16	advanced	advanced	ADJ
fumecheng-13629	370	17	design	design	NOUN
fumecheng-13629	370	18	and	and	CCONJ
fumecheng-13629	370	19	manufacturing	manufacturing	NOUN
fumecheng-13629	370	20	technology	technology	NOUN
fumecheng-13629	370	21	for	for	ADP
fumecheng-13629	370	22	vehicle	vehicle	NOUN
fumecheng-13629	370	23	at	at	ADP
fumecheng-13629	370	24	hunan	hunan	PROPN
fumecheng-13629	370	25	university	university	PROPN
fumecheng-13629	370	26	under	under	ADP
fumecheng-13629	370	27	grant	grant	PROPN
fumecheng-13629	370	28	82315002	82315002	NUM
fumecheng-13629	370	29	.	.	PUNCT
fumecheng-13629	371	1	references	reference	NOUN
fumecheng-13629	371	2	1	1	NUM
fumecheng-13629	371	3	.	.	PUNCT
fumecheng-13629	372	1	huang	huang	PROPN
fumecheng-13629	372	2	,	,	PUNCT
fumecheng-13629	372	3	y.	y.	PROPN
fumecheng-13629	372	4	,	,	PUNCT
fumecheng-13629	372	5	ng	ng	PROPN
fumecheng-13629	372	6	,	,	PUNCT
fumecheng-13629	372	7	e.	e.	PROPN
fumecheng-13629	372	8	,	,	PUNCT
fumecheng-13629	372	9	zhou	zhou	PROPN
fumecheng-13629	372	10	,	,	PUNCT
fumecheng-13629	372	11	j.	j.	PROPN
fumecheng-13629	372	12	,	,	PUNCT
fumecheng-13629	372	13	surawski	surawski	ADJ
fumecheng-13629	372	14	,	,	PUNCT
fumecheng-13629	372	15	n.	n.	NOUN
fumecheng-13629	372	16	,	,	PUNCT
fumecheng-13629	372	17	lu	lu	PROPN
fumecheng-13629	372	18	,	,	PUNCT
fumecheng-13629	372	19	x.	x.	PROPN
fumecheng-13629	372	20	,	,	PUNCT
fumecheng-13629	372	21	du	du	PROPN
fumecheng-13629	372	22	,	,	PUNCT
fumecheng-13629	372	23	b.	b.	PROPN
fumecheng-13629	372	24	,	,	PUNCT
fumecheng-13629	372	25	forehead	forehead	PROPN
fumecheng-13629	372	26	,	,	PUNCT
fumecheng-13629	372	27	h.	h.	PROPN
fumecheng-13629	372	28	,	,	PUNCT
fumecheng-13629	372	29	perez	perez	PROPN
fumecheng-13629	372	30	,	,	PUNCT
fumecheng-13629	372	31	p.	p.	PROPN
fumecheng-13629	372	32	,	,	PUNCT
fumecheng-13629	372	33	chan	chan	PROPN
fumecheng-13629	372	34	,	,	PUNCT
fumecheng-13629	372	35	e.	e.	PROPN
fumecheng-13629	372	36	,	,	PUNCT
fumecheng-13629	372	37	2021	2021	NUM
fumecheng-13629	372	38	,	,	PUNCT
fumecheng-13629	372	39	impact	impact	NOUN
fumecheng-13629	372	40	of	of	ADP
fumecheng-13629	372	41	drivers	driver	NOUN
fumecheng-13629	372	42	on	on	ADP
fumecheng-13629	372	43	real	real	ADJ
fumecheng-13629	372	44	-	-	PUNCT
fumecheng-13629	372	45	driving	drive	VERB
fumecheng-13629	372	46	fuel	fuel	NOUN
fumecheng-13629	372	47	consumption	consumption	NOUN
fumecheng-13629	372	48	and	and	CCONJ
fumecheng-13629	372	49	emissions	emission	NOUN
fumecheng-13629	372	50	performance	performance	NOUN
fumecheng-13629	372	51	,	,	PUNCT
fumecheng-13629	372	52	science	science	NOUN
fumecheng-13629	372	53	of	of	ADP
fumecheng-13629	372	54	the	the	DET
fumecheng-13629	372	55	total	total	ADJ
fumecheng-13629	372	56	environment	environment	NOUN
fumecheng-13629	372	57	,	,	PUNCT
fumecheng-13629	372	58	798	798	NUM
fumecheng-13629	372	59	,	,	PUNCT
fumecheng-13629	372	60	149297	149297	NUM
fumecheng-13629	372	61	.	.	PUNCT
fumecheng-13629	373	1	2	2	X
fumecheng-13629	373	2	.	.	X
fumecheng-13629	373	3	li	li	PROPN
fumecheng-13629	373	4	,	,	PUNCT
fumecheng-13629	373	5	j.	j.	PROPN
fumecheng-13629	373	6	,	,	PUNCT
fumecheng-13629	373	7	fotouhi	fotouhi	PROPN
fumecheng-13629	373	8	,	,	PUNCT
fumecheng-13629	373	9	a.	a.	NOUN
fumecheng-13629	373	10	,	,	PUNCT
fumecheng-13629	373	11	liu	liu	PROPN
fumecheng-13629	373	12	,	,	PUNCT
fumecheng-13629	373	13	y.	y.	PROPN
fumecheng-13629	373	14	,	,	PUNCT
fumecheng-13629	373	15	zhang	zhang	PROPN
fumecheng-13629	373	16	,	,	PUNCT
fumecheng-13629	373	17	y.	y.	PROPN
fumecheng-13629	373	18	,chen	,chen	PROPN
fumecheng-13629	373	19	,	,	PUNCT
fumecheng-13629	373	20	z.	z.	PROPN
fumecheng-13629	373	21	,	,	PUNCT
fumecheng-13629	373	22	2024	2024	NUM
fumecheng-13629	373	23	,	,	PUNCT
fumecheng-13629	373	24	review	review	NOUN
fumecheng-13629	373	25	on	on	ADP
fumecheng-13629	373	26	eco	eco	PROPN
fumecheng-13629	373	27	-	-	PUNCT
fumecheng-13629	373	28	driving	drive	VERB
fumecheng-13629	373	29	control	control	NOUN
fumecheng-13629	373	30	for	for	ADP
fumecheng-13629	373	31	connected	connected	ADJ
fumecheng-13629	373	32	and	and	CCONJ
fumecheng-13629	373	33	automated	automate	VERB
fumecheng-13629	373	34	vehicles	vehicle	NOUN
fumecheng-13629	373	35	,	,	PUNCT
fumecheng-13629	373	36	renewable	renewable	ADJ
fumecheng-13629	373	37	&	&	CCONJ
fumecheng-13629	373	38	sustainable	sustainable	ADJ
fumecheng-13629	373	39	energy	energy	NOUN
fumecheng-13629	373	40	reviews	review	NOUN
fumecheng-13629	373	41	,	,	PUNCT
fumecheng-13629	373	42	189	189	NUM
fumecheng-13629	373	43	,	,	PUNCT
fumecheng-13629	373	44	114025	114025	NUM
fumecheng-13629	373	45	.	.	PUNCT
fumecheng-13629	374	1	3	3	X
fumecheng-13629	374	2	.	.	X
fumecheng-13629	374	3	ahmad	ahmad	PROPN
fumecheng-13629	374	4	,	,	PUNCT
fumecheng-13629	374	5	a.	a.	PROPN
fumecheng-13629	374	6	,	,	PUNCT
fumecheng-13629	374	7	al	al	PROPN
fumecheng-13629	374	8	-	-	PUNCT
fumecheng-13629	374	9	sumaiti	sumaiti	PROPN
fumecheng-13629	374	10	,	,	PUNCT
fumecheng-13629	374	11	a.	a.	NOUN
fumecheng-13629	374	12	,	,	PUNCT
fumecheng-13629	374	13	byon	byon	PROPN
fumecheng-13629	374	14	,	,	PUNCT
fumecheng-13629	374	15	y.	y.	PROPN
fumecheng-13629	374	16	,al	,al	PUNCT
fumecheng-13629	374	17	hosani	hosani	PROPN
fumecheng-13629	374	18	,	,	PUNCT
fumecheng-13629	374	19	k.	k.	PROPN
fumecheng-13629	374	20	,	,	PUNCT
fumecheng-13629	374	21	2024	2024	NUM
fumecheng-13629	374	22	,	,	PUNCT
fumecheng-13629	374	23	eco	eco	NOUN
fumecheng-13629	374	24	-	-	PUNCT
fumecheng-13629	374	25	driving	drive	VERB
fumecheng-13629	374	26	framework	framework	NOUN
fumecheng-13629	374	27	for	for	ADP
fumecheng-13629	374	28	autonomous	autonomous	ADJ
fumecheng-13629	374	29	vehicles	vehicle	NOUN
fumecheng-13629	374	30	at	at	ADP
fumecheng-13629	374	31	signalized	signalize	VERB
fumecheng-13629	374	32	intersection	intersection	NOUN
fumecheng-13629	374	33	in	in	ADP
fumecheng-13629	374	34	mixed	mixed	ADJ
fumecheng-13629	374	35	-	-	PUNCT
fumecheng-13629	374	36	traffic	traffic	NOUN
fumecheng-13629	374	37	environment	environment	NOUN
fumecheng-13629	374	38	,	,	PUNCT
fumecheng-13629	374	39	ieee	ieee	NOUN
fumecheng-13629	374	40	access	access	NOUN
fumecheng-13629	374	41	,	,	PUNCT
fumecheng-13629	374	42	12	12	NUM
fumecheng-13629	374	43	,	,	PUNCT
fumecheng-13629	374	44	pp	pp	ADJ
fumecheng-13629	374	45	.	.	PUNCT
fumecheng-13629	374	46	85291	85291	NUM
fumecheng-13629	374	47	-	-	SYM
fumecheng-13629	374	48	85305	85305	NUM
fumecheng-13629	374	49	.	.	PUNCT
fumecheng-13629	375	1	4	4	X
fumecheng-13629	375	2	.	.	X
fumecheng-13629	375	3	yuan	yuan	NOUN
fumecheng-13629	375	4	,	,	PUNCT
fumecheng-13629	375	5	w.	w.	PROPN
fumecheng-13629	375	6	,	,	PUNCT
fumecheng-13629	375	7	frey	frey	PROPN
fumecheng-13629	375	8	,	,	PUNCT
fumecheng-13629	375	9	h.	h.	PROPN
fumecheng-13629	375	10	,	,	PUNCT
fumecheng-13629	375	11	2020	2020	NUM
fumecheng-13629	375	12	,	,	PUNCT
fumecheng-13629	375	13	potential	potential	NOUN
fumecheng-13629	375	14	for	for	ADP
fumecheng-13629	375	15	metro	metro	PROPN
fumecheng-13629	375	16	rail	rail	NOUN
fumecheng-13629	375	17	energy	energy	NOUN
fumecheng-13629	375	18	savings	saving	NOUN
fumecheng-13629	375	19	and	and	CCONJ
fumecheng-13629	375	20	emissions	emission	NOUN
fumecheng-13629	375	21	reduction	reduction	NOUN
fumecheng-13629	375	22	via	via	ADP
fumecheng-13629	375	23	eco	eco	PROPN
fumecheng-13629	375	24	-	-	PUNCT
fumecheng-13629	375	25	driving	driving	NOUN
fumecheng-13629	375	26	,	,	PUNCT
fumecheng-13629	375	27	applied	apply	VERB
fumecheng-13629	375	28	energy	energy	NOUN
fumecheng-13629	375	29	,	,	PUNCT
fumecheng-13629	375	30	268	268	NUM
fumecheng-13629	375	31	,	,	PUNCT
fumecheng-13629	375	32	114944	114944	NUM
fumecheng-13629	375	33	.	.	PUNCT
fumecheng-13629	376	1	5	5	NUM
fumecheng-13629	376	2	.	.	X
fumecheng-13629	376	3	wu	wu	PROPN
fumecheng-13629	376	4	,	,	PUNCT
fumecheng-13629	376	5	f.	f.	PROPN
fumecheng-13629	376	6	,	,	PUNCT
fumecheng-13629	376	7	ye	ye	PROPN
fumecheng-13629	376	8	,	,	PUNCT
fumecheng-13629	376	9	h.	h.	NOUN
fumecheng-13629	376	10	,	,	PUNCT
fumecheng-13629	376	11	bektas	bekta	NOUN
fumecheng-13629	376	12	,	,	PUNCT
fumecheng-13629	376	13	t.	t.	PROPN
fumecheng-13629	376	14	,	,	PUNCT
fumecheng-13629	376	15	dong	dong	PROPN
fumecheng-13629	376	16	,	,	PUNCT
fumecheng-13629	376	17	m.	m.	NOUN
fumecheng-13629	376	18	,	,	PUNCT
fumecheng-13629	376	19	2025	2025	NUM
fumecheng-13629	376	20	,	,	PUNCT
fumecheng-13629	376	21	new	new	ADJ
fumecheng-13629	376	22	and	and	CCONJ
fumecheng-13629	376	23	tractable	tractable	ADJ
fumecheng-13629	376	24	formulations	formulation	NOUN
fumecheng-13629	376	25	for	for	ADP
fumecheng-13629	376	26	the	the	DET
fumecheng-13629	376	27	eco	eco	NOUN
fumecheng-13629	376	28	-	-	PUNCT
fumecheng-13629	376	29	driving	driving	NOUN
fumecheng-13629	376	30	and	and	CCONJ
fumecheng-13629	376	31	the	the	DET
fumecheng-13629	376	32	eco	eco	NOUN
fumecheng-13629	376	33	-	-	PUNCT
fumecheng-13629	376	34	routing	routing	NOUN
fumecheng-13629	376	35	-	-	PUNCT
fumecheng-13629	376	36	and	and	CCONJ
fumecheng-13629	376	37	-	-	PUNCT
fumecheng-13629	376	38	driving	drive	VERB
fumecheng-13629	376	39	problems	problem	NOUN
fumecheng-13629	376	40	,	,	PUNCT
fumecheng-13629	376	41	european	european	PROPN
fumecheng-13629	376	42	journal	journal	PROPN
fumecheng-13629	376	43	of	of	ADP
fumecheng-13629	376	44	operational	operational	ADJ
fumecheng-13629	376	45	research	research	NOUN
fumecheng-13629	376	46	,	,	PUNCT
fumecheng-13629	376	47	321(2	321(2	NUM
fumecheng-13629	376	48	)	)	PUNCT
fumecheng-13629	376	49	,	,	PUNCT
fumecheng-13629	376	50	pp	pp	ADJ
fumecheng-13629	376	51	.	.	PUNCT
fumecheng-13629	377	1	445	445	NUM
fumecheng-13629	377	2	-	-	SYM
fumecheng-13629	377	3	461	461	NUM
fumecheng-13629	377	4	.	.	PUNCT
fumecheng-13629	378	1	6	6	NUM
fumecheng-13629	378	2	.	.	X
fumecheng-13629	378	3	yu	yu	PROPN
fumecheng-13629	378	4	,	,	PUNCT
fumecheng-13629	378	5	m.	m.	NOUN
fumecheng-13629	378	6	,	,	PUNCT
fumecheng-13629	378	7	long	long	ADV
fumecheng-13629	378	8	,	,	PUNCT
fumecheng-13629	378	9	j.	j.	PROPN
fumecheng-13629	378	10	,	,	PUNCT
fumecheng-13629	378	11	2022	2022	NUM
fumecheng-13629	378	12	,	,	PUNCT
fumecheng-13629	378	13	an	an	DET
fumecheng-13629	378	14	eco	eco	NOUN
fumecheng-13629	378	15	-	-	PUNCT
fumecheng-13629	378	16	driving	drive	VERB
fumecheng-13629	378	17	strategy	strategy	NOUN
fumecheng-13629	378	18	for	for	ADP
fumecheng-13629	378	19	partially	partially	ADV
fumecheng-13629	378	20	connected	connect	VERB
fumecheng-13629	378	21	automated	automate	VERB
fumecheng-13629	378	22	vehicles	vehicle	NOUN
fumecheng-13629	378	23	at	at	ADP
fumecheng-13629	378	24	a	a	DET
fumecheng-13629	378	25	signalized	signalize	VERB
fumecheng-13629	378	26	intersection	intersection	NOUN
fumecheng-13629	378	27	,	,	PUNCT
fumecheng-13629	378	28	ieee	ieee	NOUN
fumecheng-13629	378	29	transactions	transaction	NOUN
fumecheng-13629	378	30	on	on	ADP
fumecheng-13629	378	31	intelligent	intelligent	ADJ
fumecheng-13629	378	32	transportation	transportation	NOUN
fumecheng-13629	378	33	systems	system	NOUN
fumecheng-13629	378	34	,	,	PUNCT
fumecheng-13629	378	35	23(9	23(9	NUM
fumecheng-13629	378	36	)	)	PUNCT
fumecheng-13629	378	37	,	,	PUNCT
fumecheng-13629	378	38	pp	pp	PROPN
fumecheng-13629	378	39	.	.	PUNCT
fumecheng-13629	379	1	15780	15780	NUM
fumecheng-13629	379	2	-	-	SYM
fumecheng-13629	379	3	15793	15793	NUM
fumecheng-13629	379	4	.	.	PUNCT
fumecheng-13629	380	1	7	7	X
fumecheng-13629	380	2	.	.	X
fumecheng-13629	380	3	guo	guo	PROPN
fumecheng-13629	380	4	,	,	PUNCT
fumecheng-13629	380	5	q.	q.	PROPN
fumecheng-13629	380	6	,	,	PUNCT
fumecheng-13629	380	7	angah	angah	PROPN
fumecheng-13629	380	8	,	,	PUNCT
fumecheng-13629	380	9	o.	o.	PROPN
fumecheng-13629	380	10	,	,	PUNCT
fumecheng-13629	380	11	liu	liu	PROPN
fumecheng-13629	380	12	,	,	PUNCT
fumecheng-13629	380	13	z.	z.	PROPN
fumecheng-13629	380	14	,	,	PUNCT
fumecheng-13629	380	15	ban	ban	NOUN
fumecheng-13629	380	16	,	,	PUNCT
fumecheng-13629	380	17	x.	x.	NOUN
fumecheng-13629	380	18	,	,	PUNCT
fumecheng-13629	380	19	2021	2021	NUM
fumecheng-13629	380	20	,	,	PUNCT
fumecheng-13629	380	21	hybrid	hybrid	ADJ
fumecheng-13629	380	22	deep	deep	ADJ
fumecheng-13629	380	23	reinforcement	reinforcement	NOUN
fumecheng-13629	380	24	learning	learning	NOUN
fumecheng-13629	380	25	based	base	VERB
fumecheng-13629	380	26	eco	eco	PROPN
fumecheng-13629	380	27	-	-	PUNCT
fumecheng-13629	380	28	driving	driving	NOUN
fumecheng-13629	380	29	for	for	ADP
fumecheng-13629	380	30	lowlevel	lowlevel	NOUN
fumecheng-13629	380	31	connected	connect	VERB
fumecheng-13629	380	32	and	and	CCONJ
fumecheng-13629	380	33	automated	automate	VERB
fumecheng-13629	380	34	vehicles	vehicle	NOUN
fumecheng-13629	380	35	along	along	ADP
fumecheng-13629	380	36	signalized	signalize	VERB
fumecheng-13629	380	37	corridors	corridor	NOUN
fumecheng-13629	380	38	,	,	PUNCT
fumecheng-13629	380	39	transportation	transportation	NOUN
fumecheng-13629	380	40	research	research	NOUN
fumecheng-13629	380	41	part	part	NOUN
fumecheng-13629	380	42	cemerging	cemerge	VERB
fumecheng-13629	380	43	technologies	technology	NOUN
fumecheng-13629	380	44	,	,	PUNCT
fumecheng-13629	380	45	124	124	NUM
fumecheng-13629	380	46	,	,	PUNCT
fumecheng-13629	380	47	102980	102980	NUM
fumecheng-13629	380	48	.	.	PUNCT
fumecheng-13629	381	1	8	8	NUM
fumecheng-13629	381	2	.	.	X
fumecheng-13629	382	1	he	he	PRON
fumecheng-13629	382	2	,	,	PUNCT
fumecheng-13629	382	3	w.	w.	PROPN
fumecheng-13629	382	4	,	,	PUNCT
fumecheng-13629	382	5	huang	huang	PROPN
fumecheng-13629	382	6	,	,	PUNCT
fumecheng-13629	382	7	y.	y.	PROPN
fumecheng-13629	382	8	,	,	PUNCT
fumecheng-13629	382	9	2021	2021	NUM
fumecheng-13629	382	10	,	,	PUNCT
fumecheng-13629	382	11	real	real	ADJ
fumecheng-13629	382	12	-	-	PUNCT
fumecheng-13629	382	13	time	time	NOUN
fumecheng-13629	382	14	energy	energy	NOUN
fumecheng-13629	382	15	optimization	optimization	NOUN
fumecheng-13629	382	16	of	of	ADP
fumecheng-13629	382	17	hybrid	hybrid	ADJ
fumecheng-13629	382	18	electric	electric	ADJ
fumecheng-13629	382	19	vehicle	vehicle	NOUN
fumecheng-13629	382	20	in	in	ADP
fumecheng-13629	382	21	connected	connected	ADJ
fumecheng-13629	382	22	environment	environment	NOUN
fumecheng-13629	382	23	based	base	VERB
fumecheng-13629	382	24	on	on	ADP
fumecheng-13629	382	25	deep	deep	ADJ
fumecheng-13629	382	26	reinforcement	reinforcement	NOUN
fumecheng-13629	382	27	learning	learning	NOUN
fumecheng-13629	382	28	,	,	PUNCT
fumecheng-13629	382	29	6th	6th	ADJ
fumecheng-13629	382	30	ifac	ifac	NOUN
fumecheng-13629	382	31	conference	conference	NOUN
fumecheng-13629	382	32	on	on	ADP
fumecheng-13629	382	33	engine	engine	NOUN
fumecheng-13629	382	34	powertrain	powertrain	NOUN
fumecheng-13629	382	35	control	control	NOUN
fumecheng-13629	382	36	,	,	PUNCT
fumecheng-13629	382	37	simulation	simulation	NOUN
fumecheng-13629	382	38	and	and	CCONJ
fumecheng-13629	382	39	modeling	modeling	NOUN
fumecheng-13629	382	40	(	(	PUNCT
fumecheng-13629	382	41	e	e	NOUN
fumecheng-13629	382	42	-	-	NOUN
fumecheng-13629	382	43	cosm	cosm	NOUN
fumecheng-13629	382	44	)	)	PUNCT
fumecheng-13629	382	45	,	,	PUNCT
fumecheng-13629	382	46	54	54	NUM
fumecheng-13629	382	47	,	,	PUNCT
fumecheng-13629	382	48	pp	pp	ADJ
fumecheng-13629	382	49	.	.	PUNCT
fumecheng-13629	382	50	176	176	NUM
fumecheng-13629	382	51	-	-	SYM
fumecheng-13629	382	52	181	181	NUM
fumecheng-13629	382	53	.	.	PUNCT
fumecheng-13629	382	54	9	9	NUM
fumecheng-13629	382	55	.	.	X
fumecheng-13629	382	56	tadić	tadić	PROPN
fumecheng-13629	382	57	,	,	PUNCT
fumecheng-13629	382	58	d.	d.	PROPN
fumecheng-13629	382	59	,	,	PUNCT
fumecheng-13629	382	60	lukić	lukić	PROPN
fumecheng-13629	382	61	,	,	PUNCT
fumecheng-13629	382	62	j.	j.	PROPN
fumecheng-13629	382	63	,	,	PUNCT
fumecheng-13629	382	64	komatina	komatina	PROPN
fumecheng-13629	382	65	,	,	PUNCT
fumecheng-13629	382	66	n.	n.	NOUN
fumecheng-13629	382	67	,	,	PUNCT
fumecheng-13629	382	68	marinković	marinković	ADJ
fumecheng-13629	382	69	,	,	PUNCT
fumecheng-13629	382	70	d.	d.	PROPN
fumecheng-13629	382	71	,	,	PUNCT
fumecheng-13629	382	72	pamučar	pamučar	PROPN
fumecheng-13629	382	73	,	,	PUNCT
fumecheng-13629	382	74	d.	d.	PROPN
fumecheng-13629	382	75	,	,	PUNCT
fumecheng-13629	382	76	2025	2025	NUM
fumecheng-13629	382	77	,	,	PUNCT
fumecheng-13629	382	78	a	a	DET
fumecheng-13629	382	79	fuzzy	fuzzy	ADJ
fumecheng-13629	382	80	decision	decision	NOUN
fumecheng-13629	382	81	-	-	PUNCT
fumecheng-13629	382	82	making	make	VERB
fumecheng-13629	382	83	approach	approach	NOUN
fumecheng-13629	382	84	to	to	ADP
fumecheng-13629	382	85	electric	electric	ADJ
fumecheng-13629	382	86	vehicle	vehicle	NOUN
fumecheng-13629	382	87	evaluation	evaluation	NOUN
fumecheng-13629	382	88	and	and	CCONJ
fumecheng-13629	382	89	ranking	ranking	NOUN
fumecheng-13629	382	90	,	,	PUNCT
fumecheng-13629	382	91	tehnicki	tehnicki	NOUN
fumecheng-13629	382	92	vjesnik	vjesnik	NOUN
fumecheng-13629	382	93	,	,	PUNCT
fumecheng-13629	382	94	32(3	32(3	NUM
fumecheng-13629	382	95	)	)	PUNCT
fumecheng-13629	382	96	,	,	PUNCT
fumecheng-13629	382	97	pp	pp	PROPN
fumecheng-13629	382	98	.	.	PUNCT
fumecheng-13629	382	99	1066	1066	NUM
fumecheng-13629	382	100	-	-	SYM
fumecheng-13629	382	101	1075	1075	NUM
fumecheng-13629	382	102	.	.	PUNCT
fumecheng-13629	383	1	10	10	NUM
fumecheng-13629	383	2	.	.	X
fumecheng-13629	384	1	hu	hu	PROPN
fumecheng-13629	384	2	,	,	PUNCT
fumecheng-13629	384	3	j.	j.	PROPN
fumecheng-13629	384	4	,	,	PUNCT
fumecheng-13629	384	5	shao	shao	PROPN
fumecheng-13629	384	6	y.	y.	PROPN
fumecheng-13629	384	7	,	,	PUNCT
fumecheng-13629	384	8	sun	sun	PROPN
fumecheng-13629	384	9	,	,	PUNCT
fumecheng-13629	384	10	z.	z.	PROPN
fumecheng-13629	384	11	,	,	PUNCT
fumecheng-13629	384	12	wang	wang	PROPN
fumecheng-13629	384	13	m.	m.	PROPN
fumecheng-13629	384	14	,	,	PUNCT
fumecheng-13629	384	15	bared	bare	VERB
fumecheng-13629	384	16	,	,	PUNCT
fumecheng-13629	384	17	j.	j.	PROPN
fumecheng-13629	384	18	,	,	PUNCT
fumecheng-13629	384	19	huang	huang	PROPN
fumecheng-13629	384	20	,	,	PUNCT
fumecheng-13629	384	21	p.	p.	PROPN
fumecheng-13629	384	22	,	,	PUNCT
fumecheng-13629	384	23	2016	2016	NUM
fumecheng-13629	384	24	,	,	PUNCT
fumecheng-13629	384	25	integrated	integrate	VERB
fumecheng-13629	384	26	optimal	optimal	ADJ
fumecheng-13629	384	27	eco	eco	NOUN
fumecheng-13629	384	28	-	-	PUNCT
fumecheng-13629	384	29	driving	driving	NOUN
fumecheng-13629	384	30	on	on	ADP
fumecheng-13629	384	31	rolling	roll	VERB
fumecheng-13629	384	32	terrain	terrain	NOUN
fumecheng-13629	384	33	for	for	ADP
fumecheng-13629	384	34	hybrid	hybrid	ADJ
fumecheng-13629	384	35	electric	electric	ADJ
fumecheng-13629	384	36	vehicle	vehicle	NOUN
fumecheng-13629	384	37	with	with	ADP
fumecheng-13629	384	38	vehicle	vehicle	NOUN
fumecheng-13629	384	39	-	-	PUNCT
fumecheng-13629	384	40	infrastructure	infrastructure	NOUN
fumecheng-13629	384	41	communication	communication	NOUN
fumecheng-13629	384	42	,	,	PUNCT
fumecheng-13629	384	43	transportation	transportation	NOUN
fumecheng-13629	384	44	research	research	NOUN
fumecheng-13629	384	45	:	:	PUNCT
fumecheng-13629	384	46	part	part	NOUN
fumecheng-13629	384	47	c	c	NOUN
fumecheng-13629	384	48	,	,	PUNCT
fumecheng-13629	384	49	68	68	NUM
fumecheng-13629	384	50	pp	pp	NOUN
fumecheng-13629	384	51	.	.	PUNCT
fumecheng-13629	385	1	228	228	NUM
fumecheng-13629	385	2	-	-	SYM
fumecheng-13629	385	3	244	244	NUM
fumecheng-13629	385	4	.	.	PUNCT
fumecheng-13629	386	1	11	11	NUM
fumecheng-13629	386	2	.	.	PUNCT
fumecheng-13629	387	1	liu	liu	PROPN
fumecheng-13629	387	2	,	,	PUNCT
fumecheng-13629	387	3	l.	l.	PROPN
fumecheng-13629	387	4	,	,	PUNCT
fumecheng-13629	387	5	neng	neng	PROPN
fumecheng-13629	387	6	,	,	PUNCT
fumecheng-13629	387	7	l.	l.	PROPN
fumecheng-13629	387	8	,	,	PUNCT
fumecheng-13629	387	9	peng	peng	PROPN
fumecheng-13629	387	10	,	,	PUNCT
fumecheng-13629	387	11	z.	z.	PROPN
fumecheng-13629	387	12	,	,	PUNCT
fumecheng-13629	387	13	zhan	zhan	PROPN
fumecheng-13629	387	14	,	,	PUNCT
fumecheng-13629	387	15	s.	s.	PROPN
fumecheng-13629	387	16	,	,	PUNCT
fumecheng-13629	387	17	gao	gao	PROPN
fumecheng-13629	387	18	,	,	PUNCT
fumecheng-13629	387	19	j.	j.	PROPN
fumecheng-13629	387	20	,	,	PUNCT
fumecheng-13629	387	21	wang	wang	PROPN
fumecheng-13629	387	22	,	,	PUNCT
fumecheng-13629	387	23	h.	h.	PROPN
fumecheng-13629	387	24	,	,	PUNCT
fumecheng-13629	387	25	2024	2024	NUM
fumecheng-13629	387	26	,	,	PUNCT
fumecheng-13629	387	27	modeling	modeling	NOUN
fumecheng-13629	387	28	and	and	CCONJ
fumecheng-13629	387	29	verification	verification	NOUN
fumecheng-13629	387	30	of	of	ADP
fumecheng-13629	387	31	eco	eco	PROPN
fumecheng-13629	387	32	-	-	PUNCT
fumecheng-13629	387	33	driving	drive	VERB
fumecheng-13629	387	34	evaluation	evaluation	NOUN
fumecheng-13629	387	35	,	,	PUNCT
fumecheng-13629	387	36	journal	journal	NOUN
fumecheng-13629	387	37	of	of	ADP
fumecheng-13629	387	38	information	information	NOUN
fumecheng-13629	387	39	processing	processing	NOUN
fumecheng-13629	387	40	systems	system	NOUN
fumecheng-13629	387	41	,	,	PUNCT
fumecheng-13629	387	42	20(3	20(3	NOUN
fumecheng-13629	387	43	)	)	PUNCT
fumecheng-13629	387	44	,	,	PUNCT
fumecheng-13629	387	45	pp	pp	ADJ
fumecheng-13629	387	46	.	.	PUNCT
fumecheng-13629	388	1	296	296	NUM
fumecheng-13629	388	2	-	-	SYM
fumecheng-13629	388	3	306	306	NUM
fumecheng-13629	388	4	.	.	PUNCT
fumecheng-13629	389	1	12	12	NUM
fumecheng-13629	389	2	.	.	PUNCT
fumecheng-13629	390	1	li	li	PROPN
fumecheng-13629	390	2	,	,	PUNCT
fumecheng-13629	390	3	j.	j.	PROPN
fumecheng-13629	390	4	,	,	PUNCT
fumecheng-13629	390	5	fotouhi	fotouhi	PROPN
fumecheng-13629	390	6	,	,	PUNCT
fumecheng-13629	390	7	a.	a.	NOUN
fumecheng-13629	390	8	,	,	PUNCT
fumecheng-13629	390	9	pan	pan	PROPN
fumecheng-13629	390	10	,	,	PUNCT
fumecheng-13629	390	11	w.	w.	PROPN
fumecheng-13629	390	12	,	,	PUNCT
fumecheng-13629	390	13	liu	liu	PROPN
fumecheng-13629	390	14	,	,	PUNCT
fumecheng-13629	390	15	y.	y.	PROPN
fumecheng-13629	390	16	,	,	PUNCT
fumecheng-13629	390	17	zhang	zhang	PROPN
fumecheng-13629	390	18	,	,	PUNCT
fumecheng-13629	390	19	y.	y.	PROPN
fumecheng-13629	390	20	,	,	PUNCT
fumecheng-13629	390	21	chen	chen	PROPN
fumecheng-13629	390	22	,	,	PUNCT
fumecheng-13629	390	23	z.	z.	PROPN
fumecheng-13629	390	24	,	,	PUNCT
fumecheng-13629	390	25	2023	2023	NUM
fumecheng-13629	390	26	,	,	PUNCT
fumecheng-13629	390	27	deep	deep	ADJ
fumecheng-13629	390	28	reinforcement	reinforcement	NOUN
fumecheng-13629	390	29	learning	learning	NOUN
fumecheng-13629	390	30	-	-	PUNCT
fumecheng-13629	390	31	based	base	VERB
fumecheng-13629	390	32	ecodriving	ecodriving	NOUN
fumecheng-13629	390	33	control	control	NOUN
fumecheng-13629	390	34	for	for	ADP
fumecheng-13629	390	35	connected	connected	ADJ
fumecheng-13629	390	36	electric	electric	ADJ
fumecheng-13629	390	37	vehicles	vehicle	NOUN
fumecheng-13629	390	38	at	at	ADP
fumecheng-13629	390	39	signalized	signalize	VERB
fumecheng-13629	390	40	intersections	intersection	NOUN
fumecheng-13629	390	41	considering	consider	VERB
fumecheng-13629	390	42	traffic	traffic	NOUN
fumecheng-13629	390	43	uncertainties	uncertainty	NOUN
fumecheng-13629	390	44	,	,	PUNCT
fumecheng-13629	390	45	energy	energy	NOUN
fumecheng-13629	390	46	,	,	PUNCT
fumecheng-13629	390	47	279	279	NUM
fumecheng-13629	390	48	,	,	PUNCT
fumecheng-13629	390	49	128139	128139	NUM
fumecheng-13629	390	50	.	.	PUNCT
fumecheng-13629	391	1	13	13	NUM
fumecheng-13629	391	2	.	.	X
fumecheng-13629	391	3	bai	bai	PROPN
fumecheng-13629	391	4	,	,	PUNCT
fumecheng-13629	391	5	z.	z.	PROPN
fumecheng-13629	391	6	,	,	PUNCT
fumecheng-13629	391	7	hao	hao	PROPN
fumecheng-13629	391	8	,	,	PUNCT
fumecheng-13629	391	9	p.	p.	PROPN
fumecheng-13629	391	10	,	,	PUNCT
fumecheng-13629	391	11	shangguan	shangguan	PROPN
fumecheng-13629	391	12	,	,	PUNCT
fumecheng-13629	391	13	w.	w.	PROPN
fumecheng-13629	391	14	,	,	PUNCT
fumecheng-13629	391	15	cai	cai	PROPN
fumecheng-13629	391	16	,	,	PUNCT
fumecheng-13629	391	17	b.	b.	PROPN
fumecheng-13629	391	18	,	,	PUNCT
fumecheng-13629	391	19	barth	barth	PROPN
fumecheng-13629	391	20	,	,	PUNCT
fumecheng-13629	391	21	m.	m.	NOUN
fumecheng-13629	391	22	,	,	PUNCT
fumecheng-13629	391	23	2022	2022	NUM
fumecheng-13629	391	24	,	,	PUNCT
fumecheng-13629	391	25	hybrid	hybrid	ADJ
fumecheng-13629	391	26	reinforcement	reinforcement	NOUN
fumecheng-13629	391	27	learning	learning	NOUN
fumecheng-13629	391	28	-	-	PUNCT
fumecheng-13629	391	29	based	base	VERB
fumecheng-13629	391	30	ecodriving	ecodriving	NOUN
fumecheng-13629	391	31	strategy	strategy	NOUN
fumecheng-13629	391	32	for	for	ADP
fumecheng-13629	391	33	connected	connected	ADJ
fumecheng-13629	391	34	and	and	CCONJ
fumecheng-13629	391	35	automated	automate	VERB
fumecheng-13629	391	36	vehicles	vehicle	NOUN
fumecheng-13629	391	37	at	at	ADP
fumecheng-13629	391	38	signalized	signalize	VERB
fumecheng-13629	391	39	intersections	intersection	NOUN
fumecheng-13629	391	40	,	,	PUNCT
fumecheng-13629	391	41	ieee	ieee	NOUN
fumecheng-13629	391	42	transactions	transaction	NOUN
fumecheng-13629	391	43	on	on	ADP
fumecheng-13629	391	44	intelligent	intelligent	ADJ
fumecheng-13629	391	45	transportation	transportation	NOUN
fumecheng-13629	391	46	systems	system	NOUN
fumecheng-13629	391	47	,	,	PUNCT
fumecheng-13629	391	48	23(9	23(9	NUM
fumecheng-13629	391	49	)	)	PUNCT
fumecheng-13629	391	50	,	,	PUNCT
fumecheng-13629	391	51	pp	pp	PROPN
fumecheng-13629	391	52	.	.	PUNCT
fumecheng-13629	391	53	15850	15850	NUM
fumecheng-13629	391	54	-	-	SYM
fumecheng-13629	391	55	15863	15863	NUM
fumecheng-13629	391	56	.	.	PUNCT
fumecheng-13629	392	1	14	14	NUM
fumecheng-13629	392	2	.	.	PUNCT
fumecheng-13629	393	1	xie	xie	PROPN
fumecheng-13629	393	2	,	,	PUNCT
fumecheng-13629	393	3	s.	s.	PROPN
fumecheng-13629	393	4	,	,	PUNCT
fumecheng-13629	393	5	hu	hu	PROPN
fumecheng-13629	393	6	,	,	PUNCT
fumecheng-13629	393	7	x.	x.	PROPN
fumecheng-13629	393	8	,	,	PUNCT
fumecheng-13629	393	9	liu	liu	PROPN
fumecheng-13629	393	10	,	,	PUNCT
fumecheng-13629	393	11	t.	t.	PROPN
fumecheng-13629	393	12	,	,	PUNCT
fumecheng-13629	393	13	qi	qi	PROPN
fumecheng-13629	393	14	,	,	PUNCT
fumecheng-13629	393	15	s.	s.	PROPN
fumecheng-13629	393	16	,	,	PUNCT
fumecheng-13629	393	17	lang	lang	PROPN
fumecheng-13629	393	18	,	,	PUNCT
fumecheng-13629	393	19	k.	k.	PROPN
fumecheng-13629	393	20	,	,	PUNCT
fumecheng-13629	393	21	li	li	PROPN
fumecheng-13629	393	22	,	,	PUNCT
fumecheng-13629	393	23	h.	h.	PROPN
fumecheng-13629	393	24	,	,	PUNCT
fumecheng-13629	393	25	2019	2019	NUM
fumecheng-13629	393	26	,	,	PUNCT
fumecheng-13629	393	27	predictive	predictive	ADJ
fumecheng-13629	393	28	vehicle	vehicle	NOUN
fumecheng-13629	393	29	-	-	PUNCT
fumecheng-13629	393	30	following	follow	VERB
fumecheng-13629	393	31	power	power	NOUN
fumecheng-13629	393	32	management	management	NOUN
fumecheng-13629	393	33	for	for	ADP
fumecheng-13629	393	34	plug	plug	VERB
fumecheng-13629	393	35	-	-	PUNCT
fumecheng-13629	393	36	in	in	ADP
fumecheng-13629	393	37	hybrid	hybrid	ADJ
fumecheng-13629	393	38	electric	electric	ADJ
fumecheng-13629	393	39	vehicles	vehicle	NOUN
fumecheng-13629	393	40	,	,	PUNCT
fumecheng-13629	393	41	energy	energy	NOUN
fumecheng-13629	393	42	,	,	PUNCT
fumecheng-13629	393	43	166	166	NUM
fumecheng-13629	393	44	,	,	PUNCT
fumecheng-13629	393	45	pp	pp	ADJ
fumecheng-13629	393	46	.	.	PUNCT
fumecheng-13629	394	1	701	701	NUM
fumecheng-13629	394	2	-	-	SYM
fumecheng-13629	394	3	714	714	NUM
fumecheng-13629	394	4	.	.	PUNCT
fumecheng-13629	395	1	15	15	NUM
fumecheng-13629	395	2	.	.	PUNCT
fumecheng-13629	396	1	qi	qi	PROPN
fumecheng-13629	396	2	,	,	PUNCT
fumecheng-13629	396	3	c.	c.	PROPN
fumecheng-13629	396	4	,	,	PUNCT
fumecheng-13629	396	5	zhu	zhu	PROPN
fumecheng-13629	396	6	,	,	PUNCT
fumecheng-13629	396	7	y.	y.	PROPN
fumecheng-13629	396	8	,	,	PUNCT
fumecheng-13629	396	9	song	song	NOUN
fumecheng-13629	396	10	,	,	PUNCT
fumecheng-13629	396	11	c.	c.	PROPN
fumecheng-13629	396	12	,	,	PUNCT
fumecheng-13629	396	13	yan	yan	PROPN
fumecheng-13629	396	14	,	,	PUNCT
fumecheng-13629	396	15	g.	g.	PROPN
fumecheng-13629	396	16	,	,	PUNCT
fumecheng-13629	396	17	wang	wang	PROPN
fumecheng-13629	396	18	,	,	PUNCT
fumecheng-13629	396	19	d.	d.	PROPN
fumecheng-13629	396	20	,	,	PUNCT
fumecheng-13629	396	21	xiao	xiao	PROPN
fumecheng-13629	396	22	,	,	PUNCT
fumecheng-13629	396	23	f.	f.	PROPN
fumecheng-13629	396	24	,	,	PUNCT
fumecheng-13629	396	25	zhang	zhang	PROPN
fumecheng-13629	396	26	,	,	PUNCT
fumecheng-13629	396	27	x.	x.	PROPN
fumecheng-13629	396	28	,	,	PUNCT
fumecheng-13629	396	29	cao	cao	PROPN
fumecheng-13629	396	30	,	,	PUNCT
fumecheng-13629	396	31	j.	j.	PROPN
fumecheng-13629	396	32	,	,	PUNCT
fumecheng-13629	396	33	song	song	NOUN
fumecheng-13629	396	34	,	,	PUNCT
fumecheng-13629	396	35	s.	s.	PROPN
fumecheng-13629	396	36	,	,	PUNCT
fumecheng-13629	396	37	2022	2022	NUM
fumecheng-13629	396	38	,	,	PUNCT
fumecheng-13629	396	39	hierarchical	hierarchical	ADJ
fumecheng-13629	396	40	reinforcement	reinforcement	NOUN
fumecheng-13629	396	41	learning	learning	NOUN
fumecheng-13629	396	42	based	base	VERB
fumecheng-13629	396	43	energy	energy	NOUN
fumecheng-13629	396	44	management	management	NOUN
fumecheng-13629	396	45	strategy	strategy	NOUN
fumecheng-13629	396	46	for	for	ADP
fumecheng-13629	396	47	hybrid	hybrid	ADJ
fumecheng-13629	396	48	electric	electric	ADJ
fumecheng-13629	396	49	vehicle	vehicle	NOUN
fumecheng-13629	396	50	,	,	PUNCT
fumecheng-13629	396	51	energy	energy	NOUN
fumecheng-13629	396	52	,	,	PUNCT
fumecheng-13629	396	53	238	238	NUM
fumecheng-13629	396	54	,	,	PUNCT
fumecheng-13629	396	55	121703	121703	NUM
fumecheng-13629	396	56	.	.	PUNCT
fumecheng-13629	397	1	16	16	NUM
fumecheng-13629	397	2	.	.	PUNCT
fumecheng-13629	398	1	marinković	marinković	PROPN
fumecheng-13629	398	2	,	,	PUNCT
fumecheng-13629	398	3	d.	d.	PROPN
fumecheng-13629	398	4	,	,	PUNCT
fumecheng-13629	398	5	dezső	dezső	PROPN
fumecheng-13629	398	6	,	,	PUNCT
fumecheng-13629	398	7	g.	g.	PROPN
fumecheng-13629	398	8	,	,	PUNCT
fumecheng-13629	398	9	milojević	milojević	PROPN
fumecheng-13629	398	10	,	,	PUNCT
fumecheng-13629	398	11	s.	s.	PROPN
fumecheng-13629	398	12	,	,	PUNCT
fumecheng-13629	398	13	2024	2024	NUM
fumecheng-13629	398	14	,	,	PUNCT
fumecheng-13629	398	15	application	application	NOUN
fumecheng-13629	398	16	of	of	ADP
fumecheng-13629	398	17	machine	machine	NOUN
fumecheng-13629	398	18	learning	learning	NOUN
fumecheng-13629	398	19	during	during	ADP
fumecheng-13629	398	20	maintenance	maintenance	NOUN
fumecheng-13629	398	21	and	and	CCONJ
fumecheng-13629	398	22	exploitation	exploitation	NOUN
fumecheng-13629	398	23	of	of	ADP
fumecheng-13629	398	24	electric	electric	ADJ
fumecheng-13629	398	25	vehicles	vehicle	NOUN
fumecheng-13629	398	26	,	,	PUNCT
fumecheng-13629	398	27	advanced	advanced	ADJ
fumecheng-13629	398	28	engineering	engineering	NOUN
fumecheng-13629	398	29	letters	letter	NOUN
fumecheng-13629	398	30	,	,	PUNCT
fumecheng-13629	398	31	3(3	3(3	NUM
fumecheng-13629	398	32	)	)	PUNCT
fumecheng-13629	398	33	,	,	PUNCT
fumecheng-13629	398	34	pp	pp	ADP
fumecheng-13629	398	35	.	.	PUNCT
fumecheng-13629	399	1	132	132	NUM
fumecheng-13629	399	2	-	-	SYM
fumecheng-13629	399	3	140	140	NUM
fumecheng-13629	399	4	.	.	PUNCT
fumecheng-13629	400	1	17	17	NUM
fumecheng-13629	400	2	.	.	PUNCT
fumecheng-13629	401	1	yeom	yeom	PROPN
fumecheng-13629	401	2	,	,	PUNCT
fumecheng-13629	401	3	k.	k.	PROPN
fumecheng-13629	401	4	,	,	PUNCT
fumecheng-13629	401	5	2022	2022	NUM
fumecheng-13629	401	6	,	,	PUNCT
fumecheng-13629	401	7	model	model	NOUN
fumecheng-13629	401	8	predictive	predictive	ADJ
fumecheng-13629	401	9	control	control	NOUN
fumecheng-13629	401	10	and	and	CCONJ
fumecheng-13629	401	11	deep	deep	ADJ
fumecheng-13629	401	12	reinforcement	reinforcement	NOUN
fumecheng-13629	401	13	learning	learning	NOUN
fumecheng-13629	401	14	based	base	VERB
fumecheng-13629	401	15	energy	energy	NOUN
fumecheng-13629	401	16	efficient	efficient	ADJ
fumecheng-13629	401	17	ecodriving	ecodrive	VERB
fumecheng-13629	401	18	for	for	ADP
fumecheng-13629	401	19	battery	battery	NOUN
fumecheng-13629	401	20	electric	electric	ADJ
fumecheng-13629	401	21	vehicles	vehicle	NOUN
fumecheng-13629	401	22	,	,	PUNCT
fumecheng-13629	401	23	energy	energy	NOUN
fumecheng-13629	401	24	reports	report	NOUN
fumecheng-13629	401	25	,	,	PUNCT
fumecheng-13629	401	26	8	8	NUM
fumecheng-13629	401	27	,	,	PUNCT
fumecheng-13629	401	28	pp	pp	ADJ
fumecheng-13629	401	29	.	.	PUNCT
fumecheng-13629	402	1	34	34	NUM
fumecheng-13629	402	2	-	-	SYM
fumecheng-13629	402	3	42	42	NUM
fumecheng-13629	402	4	.	.	PUNCT
fumecheng-13629	403	1	18	18	NUM
fumecheng-13629	403	2	.	.	PUNCT
fumecheng-13629	404	1	he	he	PRON
fumecheng-13629	404	2	,	,	PUNCT
fumecheng-13629	404	3	t.	t.	PROPN
fumecheng-13629	404	4	,	,	PUNCT
fumecheng-13629	404	5	liang	liang	PROPN
fumecheng-13629	404	6	,	,	PUNCT
fumecheng-13629	404	7	c.	c.	PROPN
fumecheng-13629	404	8	,	,	PUNCT
fumecheng-13629	404	9	zheng	zheng	PROPN
fumecheng-13629	404	10	,	,	PUNCT
fumecheng-13629	404	11	c.	c.	PROPN
fumecheng-13629	404	12	,	,	PUNCT
fumecheng-13629	404	13	liu	liu	PROPN
fumecheng-13629	404	14	,	,	PUNCT
fumecheng-13629	404	15	y.	y.	PROPN
fumecheng-13629	404	16	,	,	PUNCT
fumecheng-13629	404	17	zhang	zhang	PROPN
fumecheng-13629	404	18	,	,	PUNCT
fumecheng-13629	404	19	y.	y.	PROPN
fumecheng-13629	404	20	,	,	PUNCT
fumecheng-13629	404	21	hu	hu	PROPN
fumecheng-13629	404	22	,	,	PUNCT
fumecheng-13629	404	23	j.	j.	PROPN
fumecheng-13629	404	24	,	,	PUNCT
fumecheng-13629	404	25	2025	2025	NUM
fumecheng-13629	404	26	,	,	PUNCT
fumecheng-13629	404	27	multi	multi	ADJ
fumecheng-13629	404	28	-	-	ADJ
fumecheng-13629	404	29	objective	objective	ADJ
fumecheng-13629	404	30	autonomous	autonomous	ADJ
fumecheng-13629	404	31	eco	eco	NOUN
fumecheng-13629	404	32	-	-	PUNCT
fumecheng-13629	404	33	driving	drive	VERB
fumecheng-13629	404	34	strategy	strategy	NOUN
fumecheng-13629	404	35	:	:	PUNCT
fumecheng-13629	404	36	a	a	DET
fumecheng-13629	404	37	pathway	pathway	NOUN
fumecheng-13629	404	38	to	to	ADP
fumecheng-13629	404	39	future	future	ADJ
fumecheng-13629	404	40	green	green	ADJ
fumecheng-13629	404	41	mobility	mobility	NOUN
fumecheng-13629	404	42	,	,	PUNCT
fumecheng-13629	404	43	green	green	ADJ
fumecheng-13629	404	44	energy	energy	NOUN
fumecheng-13629	404	45	and	and	CCONJ
fumecheng-13629	404	46	intelligent	intelligent	ADJ
fumecheng-13629	404	47	transportation	transportation	NOUN
fumecheng-13629	404	48	,	,	PUNCT
fumecheng-13629	404	49	4(4	4(4	NUM
fumecheng-13629	404	50	)	)	PUNCT
fumecheng-13629	404	51	,	,	PUNCT
fumecheng-13629	404	52	100279	100279	NUM
fumecheng-13629	404	53	.	.	PUNCT
fumecheng-13629	405	1	28	28	NUM
fumecheng-13629	405	2	f.	f.	PROPN
fumecheng-13629	405	3	xiao	xiao	PROPN
fumecheng-13629	405	4	,	,	PUNCT
fumecheng-13629	405	5	r.	r.	PROPN
fumecheng-13629	405	6	zhang	zhang	PROPN
fumecheng-13629	405	7	,	,	PUNCT
fumecheng-13629	405	8	c.	c.	PROPN
fumecheng-13629	405	9	qi	qi	PROPN
fumecheng-13629	405	10	19	19	NUM
fumecheng-13629	405	11	.	.	PUNCT
fumecheng-13629	406	1	ozatay	ozatay	PROPN
fumecheng-13629	406	2	,	,	PUNCT
fumecheng-13629	406	3	e.	e.	PROPN
fumecheng-13629	406	4	,	,	PUNCT
fumecheng-13629	406	5	onori	onori	PROPN
fumecheng-13629	406	6	,	,	PUNCT
fumecheng-13629	406	7	s.	s.	PROPN
fumecheng-13629	406	8	,	,	PUNCT
fumecheng-13629	406	9	wollaeger	wollaeger	PROPN
fumecheng-13629	406	10	,	,	PUNCT
fumecheng-13629	406	11	j.	j.	PROPN
fumecheng-13629	406	12	,	,	PUNCT
fumecheng-13629	406	13	ozguner	ozguner	NOUN
fumecheng-13629	406	14	,	,	PUNCT
fumecheng-13629	406	15	u.	u.	PROPN
fumecheng-13629	406	16	,	,	PUNCT
fumecheng-13629	406	17	rizzoni	rizzoni	PROPN
fumecheng-13629	406	18	,	,	PUNCT
fumecheng-13629	406	19	g.	g.	PROPN
fumecheng-13629	406	20	,	,	PUNCT
fumecheng-13629	406	21	filev	filev	NOUN
fumecheng-13629	406	22	,	,	PUNCT
fumecheng-13629	406	23	d.	d.	PROPN
fumecheng-13629	406	24	,	,	PUNCT
fumecheng-13629	406	25	michelini	michelini	PROPN
fumecheng-13629	406	26	,	,	PUNCT
fumecheng-13629	406	27	j.	j.	PROPN
fumecheng-13629	406	28	,	,	PUNCT
fumecheng-13629	406	29	di	di	X
fumecheng-13629	406	30	cairano	cairano	PROPN
fumecheng-13629	406	31	,	,	PUNCT
fumecheng-13629	406	32	s.	s.	PROPN
fumecheng-13629	406	33	,	,	PUNCT
fumecheng-13629	406	34	2014	2014	NUM
fumecheng-13629	406	35	,	,	PUNCT
fumecheng-13629	406	36	cloud	cloud	NOUN
fumecheng-13629	406	37	-	-	PUNCT
fumecheng-13629	406	38	based	base	VERB
fumecheng-13629	406	39	velocity	velocity	NOUN
fumecheng-13629	406	40	profile	profile	NOUN
fumecheng-13629	406	41	optimization	optimization	NOUN
fumecheng-13629	406	42	for	for	ADP
fumecheng-13629	406	43	everyday	everyday	ADJ
fumecheng-13629	406	44	driving	driving	NOUN
fumecheng-13629	406	45	:	:	PUNCT
fumecheng-13629	406	46	a	a	DET
fumecheng-13629	406	47	dynamic	dynamic	ADJ
fumecheng-13629	406	48	-	-	PUNCT
fumecheng-13629	406	49	programming	programming	NOUN
fumecheng-13629	406	50	-	-	PUNCT
fumecheng-13629	406	51	based	base	VERB
fumecheng-13629	406	52	solution	solution	NOUN
fumecheng-13629	406	53	,	,	PUNCT
fumecheng-13629	406	54	ieee	ieee	NOUN
fumecheng-13629	406	55	transactions	transaction	NOUN
fumecheng-13629	406	56	on	on	ADP
fumecheng-13629	406	57	intelligent	intelligent	ADJ
fumecheng-13629	406	58	transportation	transportation	NOUN
fumecheng-13629	406	59	systems	system	NOUN
fumecheng-13629	406	60	,	,	PUNCT
fumecheng-13629	406	61	15(6	15(6	NUM
fumecheng-13629	406	62	)	)	PUNCT
fumecheng-13629	406	63	,	,	PUNCT
fumecheng-13629	406	64	pp	pp	PROPN
fumecheng-13629	406	65	.	.	PUNCT
fumecheng-13629	406	66	2491	2491	NUM
fumecheng-13629	406	67	-	-	SYM
fumecheng-13629	406	68	2505	2505	NUM
fumecheng-13629	406	69	.	.	PUNCT
fumecheng-13629	407	1	20	20	NUM
fumecheng-13629	407	2	.	.	X
fumecheng-13629	408	1	wang	wang	PROPN
fumecheng-13629	408	2	,	,	PUNCT
fumecheng-13629	408	3	s.	s.	PROPN
fumecheng-13629	408	4	,	,	PUNCT
fumecheng-13629	408	5	lin	lin	PROPN
fumecheng-13629	408	6	,	,	PUNCT
fumecheng-13629	408	7	x.	x.	NOUN
fumecheng-13629	408	8	,	,	PUNCT
fumecheng-13629	408	9	2020	2020	NUM
fumecheng-13629	408	10	,	,	PUNCT
fumecheng-13629	408	11	eco	eco	NOUN
fumecheng-13629	408	12	-	-	PUNCT
fumecheng-13629	408	13	driving	drive	VERB
fumecheng-13629	408	14	control	control	NOUN
fumecheng-13629	408	15	of	of	ADP
fumecheng-13629	408	16	connected	connected	ADJ
fumecheng-13629	408	17	and	and	CCONJ
fumecheng-13629	408	18	automated	automate	VERB
fumecheng-13629	408	19	hybrid	hybrid	ADJ
fumecheng-13629	408	20	vehicles	vehicle	NOUN
fumecheng-13629	408	21	in	in	ADP
fumecheng-13629	408	22	mixed	mixed	ADJ
fumecheng-13629	408	23	driving	driving	NOUN
fumecheng-13629	408	24	scenarios	scenario	NOUN
fumecheng-13629	408	25	,	,	PUNCT
fumecheng-13629	408	26	applied	apply	VERB
fumecheng-13629	408	27	energy	energy	NOUN
fumecheng-13629	408	28	,	,	PUNCT
fumecheng-13629	408	29	271	271	NUM
fumecheng-13629	408	30	,	,	PUNCT
fumecheng-13629	408	31	115233	115233	NUM
fumecheng-13629	408	32	.	.	PUNCT
fumecheng-13629	409	1	21	21	NUM
fumecheng-13629	409	2	.	.	PUNCT
fumecheng-13629	410	1	guo	guo	PROPN
fumecheng-13629	410	2	,	,	PUNCT
fumecheng-13629	410	3	l.	l.	PROPN
fumecheng-13629	410	4	,	,	PUNCT
fumecheng-13629	410	5	zhang	zhang	PROPN
fumecheng-13629	410	6	,	,	PUNCT
fumecheng-13629	410	7	x.	x.	PROPN
fumecheng-13629	410	8	,	,	PUNCT
fumecheng-13629	410	9	zou	zou	PROPN
fumecheng-13629	410	10	,	,	PUNCT
fumecheng-13629	410	11	y.	y.	PROPN
fumecheng-13629	410	12	,	,	PUNCT
fumecheng-13629	410	13	han	han	PROPN
fumecheng-13629	410	14	,	,	PUNCT
fumecheng-13629	410	15	l.	l.	PROPN
fumecheng-13629	410	16	,	,	PUNCT
fumecheng-13629	410	17	du	du	PROPN
fumecheng-13629	410	18	,	,	PUNCT
fumecheng-13629	410	19	g.	g.	PROPN
fumecheng-13629	410	20	,	,	PUNCT
fumecheng-13629	410	21	guo	guo	PROPN
fumecheng-13629	410	22	,	,	PUNCT
fumecheng-13629	410	23	n.	n.	PROPN
fumecheng-13629	410	24	,	,	PUNCT
fumecheng-13629	410	25	xiang	xiang	PROPN
fumecheng-13629	410	26	,	,	PUNCT
fumecheng-13629	410	27	c.	c.	PROPN
fumecheng-13629	410	28	,	,	PUNCT
fumecheng-13629	410	29	2022	2022	NUM
fumecheng-13629	410	30	,	,	PUNCT
fumecheng-13629	410	31	co	co	ADJ
fumecheng-13629	410	32	-	-	ADJ
fumecheng-13629	410	33	optimization	optimization	ADJ
fumecheng-13629	410	34	strategy	strategy	NOUN
fumecheng-13629	410	35	of	of	ADP
fumecheng-13629	410	36	unmanned	unmanned	ADJ
fumecheng-13629	410	37	hybrid	hybrid	ADJ
fumecheng-13629	410	38	electric	electric	ADJ
fumecheng-13629	410	39	tracked	track	VERB
fumecheng-13629	410	40	vehicle	vehicle	NOUN
fumecheng-13629	410	41	combining	combine	VERB
fumecheng-13629	410	42	eco	eco	PROPN
fumecheng-13629	410	43	-	-	PUNCT
fumecheng-13629	410	44	driving	drive	VERB
fumecheng-13629	410	45	and	and	CCONJ
fumecheng-13629	410	46	simultaneous	simultaneous	ADJ
fumecheng-13629	410	47	energy	energy	NOUN
fumecheng-13629	410	48	management	management	NOUN
fumecheng-13629	410	49	,	,	PUNCT
fumecheng-13629	410	50	energy	energy	NOUN
fumecheng-13629	410	51	,	,	PUNCT
fumecheng-13629	410	52	246	246	NUM
fumecheng-13629	410	53	,	,	PUNCT
fumecheng-13629	410	54	123309	123309	NUM
fumecheng-13629	410	55	.	.	PUNCT
fumecheng-13629	411	1	22	22	NUM
fumecheng-13629	411	2	.	.	PUNCT
fumecheng-13629	412	1	liu	liu	PROPN
fumecheng-13629	412	2	,	,	PUNCT
fumecheng-13629	412	3	y.	y.	PROPN
fumecheng-13629	412	4	,	,	PUNCT
fumecheng-13629	412	5	huang	huang	PROPN
fumecheng-13629	412	6	,	,	PUNCT
fumecheng-13629	412	7	b.	b.	PROPN
fumecheng-13629	412	8	,	,	PUNCT
fumecheng-13629	412	9	yang	yang	PROPN
fumecheng-13629	412	10	,	,	PUNCT
fumecheng-13629	412	11	y.	y.	PROPN
fumecheng-13629	412	12	,	,	PUNCT
fumecheng-13629	412	13	lei	lei	PROPN
fumecheng-13629	412	14	,	,	PUNCT
fumecheng-13629	412	15	z.	z.	PROPN
fumecheng-13629	412	16	,	,	PUNCT
fumecheng-13629	412	17	zhang	zhang	PROPN
fumecheng-13629	412	18	,	,	PUNCT
fumecheng-13629	412	19	y.	y.	PROPN
fumecheng-13629	412	20	,	,	PUNCT
fumecheng-13629	412	21	chen	chen	PROPN
fumecheng-13629	412	22	,	,	PUNCT
fumecheng-13629	412	23	z.	z.	PROPN
fumecheng-13629	412	24	,	,	PUNCT
fumecheng-13629	412	25	2022	2022	NUM
fumecheng-13629	412	26	,	,	PUNCT
fumecheng-13629	412	27	hierarchical	hierarchical	ADJ
fumecheng-13629	412	28	speed	speed	NOUN
fumecheng-13629	412	29	planning	planning	NOUN
fumecheng-13629	412	30	and	and	CCONJ
fumecheng-13629	412	31	energy	energy	NOUN
fumecheng-13629	412	32	management	management	NOUN
fumecheng-13629	412	33	for	for	ADP
fumecheng-13629	412	34	autonomous	autonomous	ADJ
fumecheng-13629	412	35	plug	plug	VERB
fumecheng-13629	412	36	-	-	PUNCT
fumecheng-13629	412	37	in	in	ADP
fumecheng-13629	412	38	hybrid	hybrid	ADJ
fumecheng-13629	412	39	electric	electric	ADJ
fumecheng-13629	412	40	vehicle	vehicle	NOUN
fumecheng-13629	412	41	in	in	ADP
fumecheng-13629	412	42	vehicle	vehicle	NOUN
fumecheng-13629	412	43	-	-	PUNCT
fumecheng-13629	412	44	following	follow	VERB
fumecheng-13629	412	45	environment	environment	NOUN
fumecheng-13629	412	46	,	,	PUNCT
fumecheng-13629	412	47	energy	energy	NOUN
fumecheng-13629	412	48	,	,	PUNCT
fumecheng-13629	412	49	260	260	NUM
fumecheng-13629	412	50	,	,	PUNCT
fumecheng-13629	412	51	125212	125212	NUM
fumecheng-13629	412	52	.	.	PUNCT
fumecheng-13629	413	1	23	23	NUM
fumecheng-13629	413	2	.	.	PUNCT
fumecheng-13629	414	1	peng	peng	PROPN
fumecheng-13629	414	2	,	,	PUNCT
fumecheng-13629	414	3	j.	j.	PROPN
fumecheng-13629	414	4	,	,	PUNCT
fumecheng-13629	414	5	zhang	zhang	PROPN
fumecheng-13629	414	6	,	,	PUNCT
fumecheng-13629	414	7	f.	f.	PROPN
fumecheng-13629	414	8	,	,	PUNCT
fumecheng-13629	414	9	coskun	coskun	PROPN
fumecheng-13629	414	10	,	,	PUNCT
fumecheng-13629	414	11	s.	s.	PROPN
fumecheng-13629	414	12	,	,	PUNCT
fumecheng-13629	414	13	hu	hu	PROPN
fumecheng-13629	414	14	,	,	PUNCT
fumecheng-13629	414	15	x.	x.	PROPN
fumecheng-13629	414	16	,	,	PUNCT
fumecheng-13629	414	17	yang	yang	PROPN
fumecheng-13629	414	18	,	,	PUNCT
fumecheng-13629	414	19	y.	y.	PROPN
fumecheng-13629	414	20	,	,	PUNCT
fumecheng-13629	414	21	langari	langari	PROPN
fumecheng-13629	414	22	,	,	PUNCT
fumecheng-13629	414	23	r.	r.	PROPN
fumecheng-13629	414	24	,	,	PUNCT
fumecheng-13629	414	25	he	he	PRON
fumecheng-13629	414	26	,	,	PUNCT
fumecheng-13629	414	27	j.	j.	PROPN
fumecheng-13629	414	28	,	,	PUNCT
fumecheng-13629	414	29	2023	2023	NUM
fumecheng-13629	414	30	,	,	PUNCT
fumecheng-13629	414	31	hierarchical	hierarchical	ADJ
fumecheng-13629	414	32	optimization	optimization	NOUN
fumecheng-13629	414	33	of	of	ADP
fumecheng-13629	414	34	speed	speed	NOUN
fumecheng-13629	414	35	planning	planning	NOUN
fumecheng-13629	414	36	and	and	CCONJ
fumecheng-13629	414	37	energy	energy	NOUN
fumecheng-13629	414	38	management	management	NOUN
fumecheng-13629	414	39	for	for	ADP
fumecheng-13629	414	40	connected	connected	ADJ
fumecheng-13629	414	41	hybrid	hybrid	ADJ
fumecheng-13629	414	42	electric	electric	ADJ
fumecheng-13629	414	43	vehicles	vehicle	NOUN
fumecheng-13629	414	44	under	under	ADP
fumecheng-13629	414	45	multi	multi	ADJ
fumecheng-13629	414	46	-	-	ADJ
fumecheng-13629	414	47	lane	lane	ADJ
fumecheng-13629	414	48	and	and	CCONJ
fumecheng-13629	414	49	signal	signal	ADJ
fumecheng-13629	414	50	lights	light	NOUN
fumecheng-13629	414	51	aware	aware	ADJ
fumecheng-13629	414	52	scenarios	scenario	NOUN
fumecheng-13629	414	53	,	,	PUNCT
fumecheng-13629	414	54	ieee	ieee	NOUN
fumecheng-13629	414	55	transactions	transaction	NOUN
fumecheng-13629	414	56	on	on	ADP
fumecheng-13629	414	57	intelligent	intelligent	ADJ
fumecheng-13629	414	58	transportation	transportation	NOUN
fumecheng-13629	414	59	systems	system	NOUN
fumecheng-13629	414	60	,	,	PUNCT
fumecheng-13629	414	61	24(12	24(12	NUM
fumecheng-13629	414	62	)	)	PUNCT
fumecheng-13629	414	63	,	,	PUNCT
fumecheng-13629	414	64	pp	pp	ADP
fumecheng-13629	414	65	.	.	PUNCT
fumecheng-13629	415	1	14174	14174	NUM
fumecheng-13629	415	2	-	-	SYM
fumecheng-13629	415	3	14188	14188	NUM
fumecheng-13629	415	4	.	.	PUNCT
fumecheng-13629	416	1	24	24	NUM
fumecheng-13629	416	2	.	.	PUNCT
fumecheng-13629	416	3	li	li	PROPN
fumecheng-13629	416	4	,	,	PUNCT
fumecheng-13629	416	5	j.	j.	PROPN
fumecheng-13629	416	6	,	,	PUNCT
fumecheng-13629	416	7	liu	liu	PROPN
fumecheng-13629	416	8	,	,	PUNCT
fumecheng-13629	416	9	y.	y.	PROPN
fumecheng-13629	416	10	,	,	PUNCT
fumecheng-13629	416	11	zhang	zhang	PROPN
fumecheng-13629	416	12	,	,	PUNCT
fumecheng-13629	416	13	y.	y.	PROPN
fumecheng-13629	416	14	,	,	PUNCT
fumecheng-13629	416	15	lei	lei	PROPN
fumecheng-13629	416	16	,	,	PUNCT
fumecheng-13629	416	17	z.	z.	PROPN
fumecheng-13629	416	18	,	,	PUNCT
fumecheng-13629	416	19	chen	chen	PROPN
fumecheng-13629	416	20	,	,	PUNCT
fumecheng-13629	416	21	z.	z.	PROPN
fumecheng-13629	416	22	,	,	PUNCT
fumecheng-13629	416	23	li	li	PROPN
fumecheng-13629	416	24	,	,	PUNCT
fumecheng-13629	416	25	g.	g.	PROPN
fumecheng-13629	416	26	,	,	PUNCT
fumecheng-13629	416	27	2021	2021	NUM
fumecheng-13629	416	28	,	,	PUNCT
fumecheng-13629	416	29	data	data	NOUN
fumecheng-13629	416	30	-	-	PUNCT
fumecheng-13629	416	31	driven	drive	VERB
fumecheng-13629	416	32	based	base	VERB
fumecheng-13629	416	33	eco	eco	PROPN
fumecheng-13629	416	34	-	-	PUNCT
fumecheng-13629	416	35	driving	drive	VERB
fumecheng-13629	416	36	control	control	NOUN
fumecheng-13629	416	37	for	for	ADP
fumecheng-13629	416	38	plugin	plugin	NOUN
fumecheng-13629	416	39	hybrid	hybrid	ADJ
fumecheng-13629	416	40	electric	electric	ADJ
fumecheng-13629	416	41	vehicles	vehicle	NOUN
fumecheng-13629	416	42	,	,	PUNCT
fumecheng-13629	416	43	journal	journal	NOUN
fumecheng-13629	416	44	of	of	ADP
fumecheng-13629	416	45	power	power	NOUN
fumecheng-13629	416	46	sources	source	NOUN
fumecheng-13629	416	47	,	,	PUNCT
fumecheng-13629	416	48	498	498	NUM
fumecheng-13629	416	49	,	,	PUNCT
fumecheng-13629	416	50	229916	229916	NUM
fumecheng-13629	416	51	.	.	PUNCT
fumecheng-13629	417	1	25	25	NUM
fumecheng-13629	417	2	.	.	X
fumecheng-13629	418	1	qiu	qiu	PROPN
fumecheng-13629	418	2	,	,	PUNCT
fumecheng-13629	418	3	s.	s.	PROPN
fumecheng-13629	418	4	,	,	PUNCT
fumecheng-13629	418	5	qiu	qiu	PROPN
fumecheng-13629	418	6	,	,	PUNCT
fumecheng-13629	418	7	l.	l.	PROPN
fumecheng-13629	418	8	,	,	PUNCT
fumecheng-13629	418	9	qian	qian	PROPN
fumecheng-13629	418	10	,	,	PUNCT
fumecheng-13629	418	11	l.	l.	PROPN
fumecheng-13629	418	12	,	,	PUNCT
fumecheng-13629	418	13	pierluigi	pierluigi	NOUN
fumecheng-13629	418	14	,	,	PUNCT
fumecheng-13629	418	15	p.	p.	NOUN
fumecheng-13629	418	16	,	,	PUNCT
fumecheng-13629	418	17	2019	2019	NUM
fumecheng-13629	418	18	,	,	PUNCT
fumecheng-13629	418	19	hierarchical	hierarchical	ADJ
fumecheng-13629	418	20	energy	energy	NOUN
fumecheng-13629	418	21	management	management	NOUN
fumecheng-13629	418	22	control	control	NOUN
fumecheng-13629	418	23	strategies	strategy	NOUN
fumecheng-13629	418	24	for	for	ADP
fumecheng-13629	418	25	connected	connected	ADJ
fumecheng-13629	418	26	hybrid	hybrid	ADJ
fumecheng-13629	418	27	electric	electric	ADJ
fumecheng-13629	418	28	vehicles	vehicle	NOUN
fumecheng-13629	418	29	considering	consider	VERB
fumecheng-13629	418	30	efficiencies	efficiency	NOUN
fumecheng-13629	418	31	feedback	feedback	NOUN
fumecheng-13629	418	32	,	,	PUNCT
fumecheng-13629	418	33	simulation	simulation	NOUN
fumecheng-13629	418	34	modelling	modelling	NOUN
fumecheng-13629	418	35	practice	practice	NOUN
fumecheng-13629	418	36	and	and	CCONJ
fumecheng-13629	418	37	theory	theory	NOUN
fumecheng-13629	418	38	,	,	PUNCT
fumecheng-13629	418	39	90	90	NUM
fumecheng-13629	418	40	,	,	PUNCT
fumecheng-13629	418	41	pp	pp	ADJ
fumecheng-13629	418	42	.	.	PUNCT
fumecheng-13629	419	1	1	1	NUM
fumecheng-13629	419	2	-	-	SYM
fumecheng-13629	419	3	15	15	NUM
fumecheng-13629	419	4	.	.	NOUN
fumecheng-13629	420	1	26	26	NUM
fumecheng-13629	420	2	.	.	PUNCT
fumecheng-13629	420	3	almannaa	almannaa	NOUN
fumecheng-13629	420	4	,	,	PUNCT
fumecheng-13629	420	5	m.	m.	NOUN
fumecheng-13629	420	6	,	,	PUNCT
fumecheng-13629	420	7	chen	chen	PROPN
fumecheng-13629	420	8	,	,	PUNCT
fumecheng-13629	420	9	h.	h.	PROPN
fumecheng-13629	420	10	,	,	PUNCT
fumecheng-13629	420	11	rakha	rakha	PROPN
fumecheng-13629	420	12	,	,	PUNCT
fumecheng-13629	420	13	h.	h.	PROPN
fumecheng-13629	420	14	,	,	PUNCT
fumecheng-13629	420	15	loulizi	loulizi	PROPN
fumecheng-13629	420	16	,	,	PUNCT
fumecheng-13629	420	17	a.	a.	PROPN
fumecheng-13629	420	18	,	,	PUNCT
fumecheng-13629	420	19	el	el	PROPN
fumecheng-13629	420	20	-	-	PUNCT
fumecheng-13629	420	21	shawarby	shawarby	PROPN
fumecheng-13629	420	22	,	,	PUNCT
fumecheng-13629	420	23	i.	i.	NOUN
fumecheng-13629	420	24	,	,	PUNCT
fumecheng-13629	420	25	2019	2019	NUM
fumecheng-13629	420	26	,	,	PUNCT
fumecheng-13629	420	27	field	field	NOUN
fumecheng-13629	420	28	implementation	implementation	NOUN
fumecheng-13629	420	29	and	and	CCONJ
fumecheng-13629	420	30	testing	testing	NOUN
fumecheng-13629	420	31	of	of	ADP
fumecheng-13629	420	32	an	an	DET
fumecheng-13629	420	33	automated	automate	VERB
fumecheng-13629	420	34	eco	eco	NOUN
fumecheng-13629	420	35	-	-	PUNCT
fumecheng-13629	420	36	cooperative	cooperative	ADJ
fumecheng-13629	420	37	adaptive	adaptive	ADJ
fumecheng-13629	420	38	cruise	cruise	NOUN
fumecheng-13629	420	39	control	control	NOUN
fumecheng-13629	420	40	system	system	NOUN
fumecheng-13629	420	41	in	in	ADP
fumecheng-13629	420	42	the	the	DET
fumecheng-13629	420	43	vicinity	vicinity	NOUN
fumecheng-13629	420	44	of	of	ADP
fumecheng-13629	420	45	signalized	signalize	VERB
fumecheng-13629	420	46	intersections	intersection	NOUN
fumecheng-13629	420	47	,	,	PUNCT
fumecheng-13629	420	48	transportation	transportation	NOUN
fumecheng-13629	420	49	research	research	NOUN
fumecheng-13629	420	50	part	part	NOUN
fumecheng-13629	420	51	d	d	NOUN
fumecheng-13629	420	52	-	-	PUNCT
fumecheng-13629	420	53	transport	transport	NOUN
fumecheng-13629	420	54	and	and	CCONJ
fumecheng-13629	420	55	environment	environment	NOUN
fumecheng-13629	420	56	,	,	PUNCT
fumecheng-13629	420	57	67	67	NUM
fumecheng-13629	420	58	,	,	PUNCT
fumecheng-13629	420	59	pp	pp	ADJ
fumecheng-13629	420	60	.	.	PUNCT
fumecheng-13629	421	1	244	244	NUM
fumecheng-13629	421	2	-	-	SYM
fumecheng-13629	421	3	262	262	NUM
fumecheng-13629	421	4	.	.	PUNCT
fumecheng-13629	422	1	27	27	NUM
fumecheng-13629	422	2	.	.	PUNCT
fumecheng-13629	423	1	zheng	zheng	PROPN
fumecheng-13629	423	2	,	,	PUNCT
fumecheng-13629	423	3	y.	y.	PROPN
fumecheng-13629	423	4	,	,	PUNCT
fumecheng-13629	423	5	guo	guo	PROPN
fumecheng-13629	423	6	,	,	PUNCT
fumecheng-13629	423	7	r.	r.	PROPN
fumecheng-13629	423	8	,	,	PUNCT
fumecheng-13629	423	9	ma	ma	PROPN
fumecheng-13629	423	10	,	,	PUNCT
fumecheng-13629	423	11	d.	d.	PROPN
fumecheng-13629	423	12	,	,	PUNCT
fumecheng-13629	423	13	zhao	zhao	PROPN
fumecheng-13629	423	14	,	,	PUNCT
fumecheng-13629	423	15	z.	z.	PROPN
fumecheng-13629	423	16	,	,	PUNCT
fumecheng-13629	423	17	li	li	PROPN
fumecheng-13629	423	18	,	,	PUNCT
fumecheng-13629	423	19	x.	x.	NOUN
fumecheng-13629	423	20	,	,	PUNCT
fumecheng-13629	423	21	2020	2020	NUM
fumecheng-13629	423	22	,	,	PUNCT
fumecheng-13629	423	23	a	a	DET
fumecheng-13629	423	24	novel	novel	ADJ
fumecheng-13629	423	25	approach	approach	NOUN
fumecheng-13629	423	26	to	to	ADP
fumecheng-13629	423	27	coordinating	coordinate	VERB
fumecheng-13629	423	28	green	green	ADJ
fumecheng-13629	423	29	wave	wave	NOUN
fumecheng-13629	423	30	system	system	NOUN
fumecheng-13629	423	31	with	with	ADP
fumecheng-13629	423	32	adaptation	adaptation	NOUN
fumecheng-13629	423	33	evolutionary	evolutionary	ADJ
fumecheng-13629	423	34	strategy	strategy	NOUN
fumecheng-13629	423	35	,	,	PUNCT
fumecheng-13629	423	36	ieee	ieee	NOUN
fumecheng-13629	423	37	access	access	NOUN
fumecheng-13629	423	38	,	,	PUNCT
fumecheng-13629	423	39	8	8	NUM
fumecheng-13629	423	40	,	,	PUNCT
fumecheng-13629	423	41	pp	pp	ADJ
fumecheng-13629	423	42	.	.	PUNCT
fumecheng-13629	423	43	214115	214115	NUM
fumecheng-13629	423	44	-	-	SYM
fumecheng-13629	423	45	214127	214127	NUM
fumecheng-13629	423	46	.	.	PUNCT
fumecheng-13629	424	1	28	28	NUM
fumecheng-13629	424	2	.	.	PUNCT
fumecheng-13629	425	1	chen	chen	PROPN
fumecheng-13629	425	2	,	,	PUNCT
fumecheng-13629	425	3	z.	z.	PROPN
fumecheng-13629	425	4	,	,	PUNCT
fumecheng-13629	425	5	xiong	xiong	PROPN
fumecheng-13629	425	6	,	,	PUNCT
fumecheng-13629	425	7	s.	s.	PROPN
fumecheng-13629	425	8	,	,	PUNCT
fumecheng-13629	425	9	chen	chen	PROPN
fumecheng-13629	425	10	,	,	PUNCT
fumecheng-13629	425	11	q.	q.	PROPN
fumecheng-13629	425	12	,	,	PUNCT
fumecheng-13629	425	13	zhang	zhang	PROPN
fumecheng-13629	425	14	,	,	PUNCT
fumecheng-13629	425	15	y.	y.	PROPN
fumecheng-13629	425	16	,	,	PUNCT
fumecheng-13629	425	17	yu	yu	PROPN
fumecheng-13629	425	18	,	,	PUNCT
fumecheng-13629	425	19	j.	j.	PROPN
fumecheng-13629	425	20	,	,	PUNCT
fumecheng-13629	425	21	jiang	jiang	PROPN
fumecheng-13629	425	22	,	,	PUNCT
fumecheng-13629	425	23	j.	j.	PROPN
fumecheng-13629	425	24	,	,	PUNCT
fumecheng-13629	425	25	wu	wu	PROPN
fumecheng-13629	425	26	,	,	PUNCT
fumecheng-13629	425	27	c.	c.	PROPN
fumecheng-13629	425	28	,	,	PUNCT
fumecheng-13629	425	29	2022	2022	NUM
fumecheng-13629	425	30	,	,	PUNCT
fumecheng-13629	425	31	eco	eco	NOUN
fumecheng-13629	425	32	-	-	PUNCT
fumecheng-13629	425	33	driving	driving	NOUN
fumecheng-13629	425	34	:	:	PUNCT
fumecheng-13629	425	35	a	a	DET
fumecheng-13629	425	36	scientometric	scientometric	ADJ
fumecheng-13629	425	37	and	and	CCONJ
fumecheng-13629	425	38	bibliometric	bibliometric	ADJ
fumecheng-13629	425	39	analysis	analysis	NOUN
fumecheng-13629	425	40	,	,	PUNCT
fumecheng-13629	425	41	ieee	ieee	NOUN
fumecheng-13629	425	42	transactions	transaction	NOUN
fumecheng-13629	425	43	on	on	ADP
fumecheng-13629	425	44	intelligent	intelligent	ADJ
fumecheng-13629	425	45	transportation	transportation	NOUN
fumecheng-13629	425	46	systems	system	NOUN
fumecheng-13629	425	47	,	,	PUNCT
fumecheng-13629	425	48	23(12	23(12	NUM
fumecheng-13629	425	49	)	)	PUNCT
fumecheng-13629	425	50	,	,	PUNCT
fumecheng-13629	425	51	pp	pp	PROPN
fumecheng-13629	425	52	.	.	PUNCT
fumecheng-13629	426	1	1	1	NUM
fumecheng-13629	426	2	-	-	SYM
fumecheng-13629	426	3	21	21	NUM
fumecheng-13629	426	4	.	.	PUNCT
fumecheng-13629	427	1	29	29	NUM
fumecheng-13629	427	2	.	.	PUNCT
fumecheng-13629	428	1	ma	ma	PROPN
fumecheng-13629	428	2	,	,	PUNCT
fumecheng-13629	428	3	h.	h.	PROPN
fumecheng-13629	428	4	,	,	PUNCT
fumecheng-13629	428	5	xie	xie	PROPN
fumecheng-13629	428	6	,	,	PUNCT
fumecheng-13629	428	7	h.	h.	PROPN
fumecheng-13629	428	8	,	,	PUNCT
fumecheng-13629	428	9	brown	brown	PROPN
fumecheng-13629	428	10	,	,	PUNCT
fumecheng-13629	428	11	d.	d.	PROPN
fumecheng-13629	428	12	,	,	PUNCT
fumecheng-13629	428	13	2018	2018	NUM
fumecheng-13629	428	14	,	,	PUNCT
fumecheng-13629	428	15	eco	eco	NOUN
fumecheng-13629	428	16	-	-	PUNCT
fumecheng-13629	428	17	driving	drive	VERB
fumecheng-13629	428	18	assistance	assistance	NOUN
fumecheng-13629	428	19	system	system	NOUN
fumecheng-13629	428	20	for	for	ADP
fumecheng-13629	428	21	a	a	DET
fumecheng-13629	428	22	manual	manual	ADJ
fumecheng-13629	428	23	transmission	transmission	NOUN
fumecheng-13629	428	24	bus	bus	NOUN
fumecheng-13629	428	25	based	base	VERB
fumecheng-13629	428	26	on	on	ADP
fumecheng-13629	428	27	machine	machine	NOUN
fumecheng-13629	428	28	learning	learning	NOUN
fumecheng-13629	428	29	,	,	PUNCT
fumecheng-13629	428	30	ieee	ieee	NOUN
fumecheng-13629	428	31	transactions	transaction	NOUN
fumecheng-13629	428	32	on	on	ADP
fumecheng-13629	428	33	intelligent	intelligent	ADJ
fumecheng-13629	428	34	transportation	transportation	NOUN
fumecheng-13629	428	35	systems	system	NOUN
fumecheng-13629	428	36	,	,	PUNCT
fumecheng-13629	428	37	19(2	19(2	NUM
fumecheng-13629	428	38	)	)	PUNCT
fumecheng-13629	428	39	,	,	PUNCT
fumecheng-13629	428	40	pp	pp	PROPN
fumecheng-13629	428	41	.	.	PUNCT
fumecheng-13629	429	1	572	572	NUM
fumecheng-13629	429	2	-	-	SYM
fumecheng-13629	429	3	581	581	NUM
fumecheng-13629	429	4	.	.	PUNCT
fumecheng-13629	429	5	30	30	NUM
fumecheng-13629	429	6	.	.	PUNCT
fumecheng-13629	430	1	chen	chen	PROPN
fumecheng-13629	430	2	,	,	PUNCT
fumecheng-13629	430	3	h.	h.	PROPN
fumecheng-13629	430	4	,	,	PUNCT
fumecheng-13629	430	5	rakha	rakha	PROPN
fumecheng-13629	430	6	,	,	PUNCT
fumecheng-13629	430	7	h.	h.	PROPN
fumecheng-13629	430	8	,	,	PUNCT
fumecheng-13629	430	9	loulizi	loulizi	PROPN
fumecheng-13629	430	10	,	,	PUNCT
fumecheng-13629	430	11	a.	a.	PROPN
fumecheng-13629	430	12	,	,	PUNCT
fumecheng-13629	430	13	el	el	PROPN
fumecheng-13629	430	14	-	-	PUNCT
fumecheng-13629	430	15	shawarby	shawarby	PROPN
fumecheng-13629	430	16	,	,	PUNCT
fumecheng-13629	430	17	i.	i.	NOUN
fumecheng-13629	430	18	,	,	PUNCT
fumecheng-13629	430	19	almannaa	almannaa	NOUN
fumecheng-13629	430	20	,	,	PUNCT
fumecheng-13629	430	21	m.	m.	NOUN
fumecheng-13629	430	22	,	,	PUNCT
fumecheng-13629	430	23	2016	2016	NUM
fumecheng-13629	430	24	,	,	PUNCT
fumecheng-13629	430	25	development	development	NOUN
fumecheng-13629	430	26	and	and	CCONJ
fumecheng-13629	430	27	preliminary	preliminary	ADJ
fumecheng-13629	430	28	field	field	NOUN
fumecheng-13629	430	29	testing	testing	NOUN
fumecheng-13629	430	30	of	of	ADP
fumecheng-13629	430	31	an	an	DET
fumecheng-13629	430	32	in	in	ADP
fumecheng-13629	430	33	-	-	PUNCT
fumecheng-13629	430	34	vehicle	vehicle	NOUN
fumecheng-13629	430	35	eco	eco	NOUN
fumecheng-13629	430	36	-	-	PUNCT
fumecheng-13629	430	37	speed	speed	NOUN
fumecheng-13629	430	38	control	control	NOUN
fumecheng-13629	430	39	system	system	NOUN
fumecheng-13629	430	40	in	in	ADP
fumecheng-13629	430	41	the	the	DET
fumecheng-13629	430	42	vicinity	vicinity	NOUN
fumecheng-13629	430	43	of	of	ADP
fumecheng-13629	430	44	signalized	signalize	VERB
fumecheng-13629	430	45	intersections	intersection	NOUN
fumecheng-13629	430	46	,	,	PUNCT
fumecheng-13629	430	47	14th	14th	ADJ
fumecheng-13629	430	48	ifac	ifac	NOUN
fumecheng-13629	430	49	symposium	symposium	NOUN
fumecheng-13629	430	50	on	on	ADP
fumecheng-13629	430	51	control	control	NOUN
fumecheng-13629	430	52	in	in	ADP
fumecheng-13629	430	53	transportation	transportation	NOUN
fumecheng-13629	430	54	systems	system	NOUN
fumecheng-13629	430	55	(	(	PUNCT
fumecheng-13629	430	56	cts	cts	PROPN
fumecheng-13629	430	57	)	)	PUNCT
fumecheng-13629	430	58	,	,	PUNCT
fumecheng-13629	430	59	49(3	49(3	PROPN
fumecheng-13629	430	60	)	)	PUNCT
fumecheng-13629	430	61	,	,	PUNCT
fumecheng-13629	430	62	pp	pp	ADP
fumecheng-13629	430	63	.	.	PUNCT
fumecheng-13629	431	1	249	249	NUM
fumecheng-13629	431	2	-	-	SYM
fumecheng-13629	431	3	254	254	NUM
fumecheng-13629	431	4	.	.	PUNCT
fumecheng-13629	432	1	31	31	NUM
fumecheng-13629	432	2	.	.	PUNCT
fumecheng-13629	432	3	dong	dong	PROPN
fumecheng-13629	432	4	,	,	PUNCT
fumecheng-13629	432	5	h.	h.	PROPN
fumecheng-13629	432	6	,	,	PUNCT
fumecheng-13629	432	7	zhuang	zhuang	PROPN
fumecheng-13629	432	8	,	,	PUNCT
fumecheng-13629	432	9	w.	w.	PROPN
fumecheng-13629	432	10	,	,	PUNCT
fumecheng-13629	432	11	chen	chen	PROPN
fumecheng-13629	432	12	,	,	PUNCT
fumecheng-13629	432	13	b.	b.	PROPN
fumecheng-13629	432	14	,	,	PUNCT
fumecheng-13629	432	15	lu	lu	PROPN
fumecheng-13629	432	16	,	,	PUNCT
fumecheng-13629	432	17	y.	y.	PROPN
fumecheng-13629	432	18	,	,	PUNCT
fumecheng-13629	432	19	liu	liu	PROPN
fumecheng-13629	432	20	,	,	PUNCT
fumecheng-13629	432	21	s.	s.	PROPN
fumecheng-13629	432	22	,	,	PUNCT
fumecheng-13629	432	23	xu	xu	PROPN
fumecheng-13629	432	24	,	,	PUNCT
fumecheng-13629	432	25	l.	l.	PROPN
fumecheng-13629	432	26	,	,	PUNCT
fumecheng-13629	432	27	pi	pi	PROPN
fumecheng-13629	432	28	,	,	PUNCT
fumecheng-13629	432	29	d.	d.	PROPN
fumecheng-13629	432	30	,	,	PUNCT
fumecheng-13629	432	31	yin	yin	PROPN
fumecheng-13629	432	32	,	,	PUNCT
fumecheng-13629	432	33	g.	g.	PROPN
fumecheng-13629	432	34	,	,	PUNCT
fumecheng-13629	432	35	2022	2022	NUM
fumecheng-13629	432	36	,	,	PUNCT
fumecheng-13629	432	37	predictive	predictive	ADJ
fumecheng-13629	432	38	energy	energy	NOUN
fumecheng-13629	432	39	-	-	PUNCT
fumecheng-13629	432	40	efficient	efficient	ADJ
fumecheng-13629	432	41	driving	driving	NOUN
fumecheng-13629	432	42	strategy	strategy	NOUN
fumecheng-13629	432	43	design	design	NOUN
fumecheng-13629	432	44	of	of	ADP
fumecheng-13629	432	45	connected	connected	ADJ
fumecheng-13629	432	46	electric	electric	ADJ
fumecheng-13629	432	47	vehicle	vehicle	NOUN
fumecheng-13629	432	48	among	among	ADP
fumecheng-13629	432	49	multiple	multiple	ADJ
fumecheng-13629	432	50	signalized	signalize	VERB
fumecheng-13629	432	51	intersections	intersection	NOUN
fumecheng-13629	432	52	,	,	PUNCT
fumecheng-13629	432	53	transportation	transportation	NOUN
fumecheng-13629	432	54	research	research	NOUN
fumecheng-13629	432	55	part	part	NOUN
fumecheng-13629	432	56	c	c	NOUN
fumecheng-13629	432	57	-	-	PUNCT
fumecheng-13629	432	58	emerging	emerge	VERB
fumecheng-13629	432	59	technologies	technology	NOUN
fumecheng-13629	432	60	,	,	PUNCT
fumecheng-13629	432	61	137	137	NUM
fumecheng-13629	432	62	,	,	PUNCT
fumecheng-13629	432	63	103595	103595	NUM
fumecheng-13629	432	64	.	.	PUNCT
fumecheng-13629	433	1	32	32	NUM
fumecheng-13629	433	2	.	.	X
fumecheng-13629	433	3	yao	yao	PROPN
fumecheng-13629	433	4	,	,	PUNCT
fumecheng-13629	433	5	h.	h.	PROPN
fumecheng-13629	433	6	,	,	PUNCT
fumecheng-13629	433	7	li	li	PROPN
fumecheng-13629	433	8	,	,	PUNCT
fumecheng-13629	433	9	x.	x.	NOUN
fumecheng-13629	433	10	,	,	PUNCT
fumecheng-13629	433	11	2020	2020	NUM
fumecheng-13629	433	12	,	,	PUNCT
fumecheng-13629	433	13	decentralized	decentralized	ADJ
fumecheng-13629	433	14	control	control	NOUN
fumecheng-13629	433	15	of	of	ADP
fumecheng-13629	433	16	connected	connected	ADJ
fumecheng-13629	433	17	automated	automate	VERB
fumecheng-13629	433	18	vehicle	vehicle	NOUN
fumecheng-13629	433	19	trajectories	trajectory	NOUN
fumecheng-13629	433	20	in	in	ADP
fumecheng-13629	433	21	mixed	mixed	ADJ
fumecheng-13629	433	22	traffic	traffic	NOUN
fumecheng-13629	433	23	at	at	ADP
fumecheng-13629	433	24	an	an	DET
fumecheng-13629	433	25	isolated	isolated	ADJ
fumecheng-13629	433	26	signalized	signalize	VERB
fumecheng-13629	433	27	intersection	intersection	NOUN
fumecheng-13629	433	28	,	,	PUNCT
fumecheng-13629	433	29	transportation	transportation	NOUN
fumecheng-13629	433	30	research	research	NOUN
fumecheng-13629	433	31	part	part	NOUN
fumecheng-13629	433	32	c	c	NOUN
fumecheng-13629	433	33	-	-	PUNCT
fumecheng-13629	433	34	emerging	emerge	VERB
fumecheng-13629	433	35	technologies	technology	NOUN
fumecheng-13629	433	36	,	,	PUNCT
fumecheng-13629	433	37	121	121	NUM
fumecheng-13629	433	38	,	,	PUNCT
fumecheng-13629	433	39	102846	102846	NUM
fumecheng-13629	433	40	.	.	PUNCT
fumecheng-13629	434	1	33	33	NUM
fumecheng-13629	434	2	.	.	PUNCT
fumecheng-13629	434	3	kebria	kebria	PROPN
fumecheng-13629	434	4	,	,	PUNCT
fumecheng-13629	434	5	p.	p.	NOUN
fumecheng-13629	434	6	,	,	PUNCT
fumecheng-13629	434	7	khosravi	khosravi	NOUN
fumecheng-13629	434	8	,	,	PUNCT
fumecheng-13629	434	9	a.	a.	NOUN
fumecheng-13629	434	10	,	,	PUNCT
fumecheng-13629	434	11	salaken	salaken	PROPN
fumecheng-13629	434	12	,	,	PUNCT
fumecheng-13629	434	13	s.	s.	PROPN
fumecheng-13629	434	14	,	,	PUNCT
fumecheng-13629	434	15	nahavandi	nahavandi	PROPN
fumecheng-13629	434	16	,	,	PUNCT
fumecheng-13629	434	17	s.	s.	PROPN
fumecheng-13629	434	18	,	,	PUNCT
fumecheng-13629	434	19	2020	2020	NUM
fumecheng-13629	434	20	,	,	PUNCT
fumecheng-13629	434	21	deep	deep	ADJ
fumecheng-13629	434	22	imitation	imitation	NOUN
fumecheng-13629	434	23	learning	learn	VERB
fumecheng-13629	434	24	for	for	ADP
fumecheng-13629	434	25	autonomous	autonomous	ADJ
fumecheng-13629	434	26	vehicles	vehicle	NOUN
fumecheng-13629	434	27	based	base	VERB
fumecheng-13629	434	28	on	on	ADP
fumecheng-13629	434	29	convolutional	convolutional	ADJ
fumecheng-13629	434	30	neural	neural	ADJ
fumecheng-13629	434	31	networks	network	NOUN
fumecheng-13629	434	32	,	,	PUNCT
fumecheng-13629	434	33	ieee	ieee	NOUN
fumecheng-13629	434	34	-	-	PUNCT
fumecheng-13629	434	35	caa	caa	NOUN
fumecheng-13629	434	36	journal	journal	PROPN
fumecheng-13629	434	37	of	of	ADP
fumecheng-13629	434	38	automatica	automatica	PROPN
fumecheng-13629	434	39	sinica	sinica	PROPN
fumecheng-13629	434	40	,	,	PUNCT
fumecheng-13629	434	41	7(1	7(1	NUM
fumecheng-13629	434	42	)	)	PUNCT
fumecheng-13629	434	43	,	,	PUNCT
fumecheng-13629	434	44	pp	pp	PROPN
fumecheng-13629	434	45	.	.	PUNCT
fumecheng-13629	435	1	82	82	NUM
fumecheng-13629	435	2	-	-	SYM
fumecheng-13629	435	3	95	95	NUM
fumecheng-13629	435	4	.	.	PUNCT
fumecheng-13629	436	1	34	34	NUM
fumecheng-13629	436	2	.	.	X
fumecheng-13629	437	1	zhang	zhang	PROPN
fumecheng-13629	437	2	,	,	PUNCT
fumecheng-13629	437	3	c.	c.	PROPN
fumecheng-13629	437	4	,	,	PUNCT
fumecheng-13629	437	5	bai	bai	PROPN
fumecheng-13629	437	6	,	,	PUNCT
fumecheng-13629	437	7	w.	w.	PROPN
fumecheng-13629	437	8	,	,	PUNCT
fumecheng-13629	437	9	du	du	PROPN
fumecheng-13629	437	10	,	,	PUNCT
fumecheng-13629	437	11	x.	x.	PROPN
fumecheng-13629	437	12	,	,	PUNCT
fumecheng-13629	437	13	liu	liu	PROPN
fumecheng-13629	437	14	,	,	PUNCT
fumecheng-13629	437	15	w.	w.	PROPN
fumecheng-13629	437	16	,	,	PUNCT
fumecheng-13629	437	17	zhou	zhou	PROPN
fumecheng-13629	437	18	,	,	PUNCT
fumecheng-13629	437	19	c.	c.	PROPN
fumecheng-13629	437	20	,	,	PUNCT
fumecheng-13629	437	21	qian	qian	PROPN
fumecheng-13629	437	22	,	,	PUNCT
fumecheng-13629	437	23	h.	h.	PROPN
fumecheng-13629	437	24	,	,	PUNCT
fumecheng-13629	437	25	2023	2023	NUM
fumecheng-13629	437	26	,	,	PUNCT
fumecheng-13629	437	27	survey	survey	NOUN
fumecheng-13629	437	28	of	of	ADP
fumecheng-13629	437	29	imitation	imitation	NOUN
fumecheng-13629	437	30	learning：tradition	learning：tradition	NOUN
fumecheng-13629	437	31	and	and	CCONJ
fumecheng-13629	437	32	new	new	ADJ
fumecheng-13629	437	33	advances	advance	NOUN
fumecheng-13629	437	34	,	,	PUNCT
fumecheng-13629	437	35	journal	journal	NOUN
fumecheng-13629	437	36	of	of	ADP
fumecheng-13629	437	37	image	image	NOUN
fumecheng-13629	437	38	and	and	CCONJ
fumecheng-13629	437	39	graphics	graphic	NOUN
fumecheng-13629	437	40	,	,	PUNCT
fumecheng-13629	437	41	28(6	28(6	NOUN
fumecheng-13629	437	42	)	)	PUNCT
fumecheng-13629	437	43	,	,	PUNCT
fumecheng-13629	437	44	pp	pp	ADP
fumecheng-13629	437	45	.	.	PUNCT
fumecheng-13629	438	1	1585	1585	NUM
fumecheng-13629	438	2	-	-	SYM
fumecheng-13629	438	3	1607	1607	NUM
fumecheng-13629	438	4	.	.	PUNCT
fumecheng-13629	439	1	35	35	NUM
fumecheng-13629	439	2	.	.	PUNCT
fumecheng-13629	440	1	hussein	hussein	PROPN
fumecheng-13629	440	2	,	,	PUNCT
fumecheng-13629	440	3	a.	a.	PROPN
fumecheng-13629	440	4	,	,	PUNCT
fumecheng-13629	440	5	gaber	gaber	PROPN
fumecheng-13629	440	6	,	,	PUNCT
fumecheng-13629	440	7	m.	m.	NOUN
fumecheng-13629	440	8	,	,	PUNCT
fumecheng-13629	440	9	elyan	elyan	PROPN
fumecheng-13629	440	10	,	,	PUNCT
fumecheng-13629	440	11	e.	e.	PROPN
fumecheng-13629	440	12	,	,	PUNCT
fumecheng-13629	440	13	jayne	jayne	PROPN
fumecheng-13629	440	14	,	,	PUNCT
fumecheng-13629	440	15	c.	c.	PROPN
fumecheng-13629	440	16	,	,	PUNCT
fumecheng-13629	440	17	2017	2017	NUM
fumecheng-13629	440	18	,	,	PUNCT
fumecheng-13629	440	19	imitation	imitation	NOUN
fumecheng-13629	440	20	learning	learning	NOUN
fumecheng-13629	440	21	:	:	PUNCT
fumecheng-13629	440	22	a	a	DET
fumecheng-13629	440	23	survey	survey	NOUN
fumecheng-13629	440	24	of	of	ADP
fumecheng-13629	440	25	learning	learn	VERB
fumecheng-13629	440	26	methods	method	NOUN
fumecheng-13629	440	27	,	,	PUNCT
fumecheng-13629	440	28	acm	acm	PROPN
fumecheng-13629	440	29	computing	computing	NOUN
fumecheng-13629	440	30	surveys	survey	NOUN
fumecheng-13629	440	31	,	,	PUNCT
fumecheng-13629	440	32	50(2	50(2	NUM
fumecheng-13629	440	33	)	)	PUNCT
fumecheng-13629	440	34	,	,	PUNCT
fumecheng-13629	440	35	21	21	NUM
fumecheng-13629	440	36	.	.	X
fumecheng-13629	440	37	36	36	NUM
fumecheng-13629	440	38	.	.	PUNCT
fumecheng-13629	441	1	zhong	zhong	PROPN
fumecheng-13629	441	2	,	,	PUNCT
fumecheng-13629	441	3	q.	q.	PROPN
fumecheng-13629	441	4	,	,	PUNCT
fumecheng-13629	441	5	zhi	zhi	PROPN
fumecheng-13629	441	6	,	,	PUNCT
fumecheng-13629	441	7	j.	j.	PROPN
fumecheng-13629	441	8	,	,	PUNCT
fumecheng-13629	441	9	xu	xu	PROPN
fumecheng-13629	441	10	,	,	PUNCT
fumecheng-13629	441	11	y.	y.	PROPN
fumecheng-13629	441	12	,	,	PUNCT
fumecheng-13629	441	13	gao	gao	PROPN
fumecheng-13629	441	14	,	,	PUNCT
fumecheng-13629	441	15	p.	p.	PROPN
fumecheng-13629	441	16	,	,	PUNCT
fumecheng-13629	441	17	feng	feng	PROPN
fumecheng-13629	441	18	,	,	PUNCT
fumecheng-13629	441	19	s.	s.	PROPN
fumecheng-13629	441	20	,	,	PUNCT
fumecheng-13629	441	21	2024	2024	NUM
fumecheng-13629	441	22	,	,	PUNCT
fumecheng-13629	441	23	applying	apply	VERB
fumecheng-13629	441	24	an	an	DET
fumecheng-13629	441	25	extended	extended	ADJ
fumecheng-13629	441	26	theory	theory	NOUN
fumecheng-13629	441	27	of	of	ADP
fumecheng-13629	441	28	planned	plan	VERB
fumecheng-13629	441	29	behavior	behavior	NOUN
fumecheng-13629	441	30	to	to	PART
fumecheng-13629	441	31	predict	predict	VERB
fumecheng-13629	441	32	young	young	ADJ
fumecheng-13629	441	33	drivers	driver	NOUN
fumecheng-13629	441	34	'	'	PART
fumecheng-13629	441	35	in	in	ADP
fumecheng-13629	441	36	-	-	PUNCT
fumecheng-13629	441	37	vehicle	vehicle	NOUN
fumecheng-13629	441	38	information	information	NOUN
fumecheng-13629	441	39	system	system	NOUN
fumecheng-13629	441	40	(	(	PUNCT
fumecheng-13629	441	41	ivis	ivis	NOUN
fumecheng-13629	441	42	)	)	PUNCT
fumecheng-13629	441	43	use	use	VERB
fumecheng-13629	441	44	intention	intention	NOUN
fumecheng-13629	441	45	and	and	CCONJ
fumecheng-13629	441	46	behavior	behavior	NOUN
fumecheng-13629	441	47	while	while	SCONJ
fumecheng-13629	441	48	driving	drive	VERB
fumecheng-13629	441	49	:	:	PUNCT
fumecheng-13629	441	50	a	a	DET
fumecheng-13629	441	51	longitudinal	longitudinal	ADJ
fumecheng-13629	441	52	two	two	NUM
fumecheng-13629	441	53	-	-	PUNCT
fumecheng-13629	441	54	wave	wave	NOUN
fumecheng-13629	441	55	survey	survey	NOUN
fumecheng-13629	441	56	,	,	PUNCT
fumecheng-13629	441	57	sustainability	sustainability	NOUN
fumecheng-13629	441	58	,	,	PUNCT
fumecheng-13629	441	59	16(20	16(20	NUM
fumecheng-13629	441	60	)	)	PUNCT
fumecheng-13629	441	61	,	,	PUNCT
fumecheng-13629	441	62	8908	8908	NUM
fumecheng-13629	441	63	.	.	PUNCT
fumecheng-13629	442	1	37	37	NUM
fumecheng-13629	442	2	.	.	PUNCT
fumecheng-13629	443	1	huang	huang	PROPN
fumecheng-13629	443	2	,	,	PUNCT
fumecheng-13629	443	3	h.	h.	PROPN
fumecheng-13629	443	4	,	,	PUNCT
fumecheng-13629	443	5	zeng	zeng	PROPN
fumecheng-13629	443	6	,	,	PUNCT
fumecheng-13629	443	7	z.	z.	PROPN
fumecheng-13629	443	8	,	,	PUNCT
fumecheng-13629	443	9	yao	yao	PROPN
fumecheng-13629	443	10	,	,	PUNCT
fumecheng-13629	443	11	d.	d.	PROPN
fumecheng-13629	443	12	,	,	PUNCT
fumecheng-13629	443	13	pei	pei	PROPN
fumecheng-13629	443	14	,	,	PUNCT
fumecheng-13629	443	15	x.	x.	PROPN
fumecheng-13629	443	16	,	,	PUNCT
fumecheng-13629	443	17	zhang	zhang	PROPN
fumecheng-13629	443	18	,	,	PUNCT
fumecheng-13629	443	19	y.	y.	PROPN
fumecheng-13629	443	20	,	,	PUNCT
fumecheng-13629	443	21	2022	2022	NUM
fumecheng-13629	443	22	,	,	PUNCT
fumecheng-13629	443	23	spatial	spatial	ADJ
fumecheng-13629	443	24	-	-	PUNCT
fumecheng-13629	443	25	temporal	temporal	ADJ
fumecheng-13629	443	26	convlstm	convlstm	NOUN
fumecheng-13629	443	27	for	for	ADP
fumecheng-13629	443	28	vehicle	vehicle	NOUN
fumecheng-13629	443	29	driving	drive	VERB
fumecheng-13629	443	30	intention	intention	NOUN
fumecheng-13629	443	31	prediction	prediction	NOUN
fumecheng-13629	443	32	,	,	PUNCT
fumecheng-13629	443	33	tsinghua	tsinghua	PROPN
fumecheng-13629	443	34	science	science	PROPN
fumecheng-13629	443	35	and	and	CCONJ
fumecheng-13629	443	36	technology	technology	NOUN
fumecheng-13629	443	37	,	,	PUNCT
fumecheng-13629	443	38	27(3	27(3	NUM
fumecheng-13629	443	39	)	)	PUNCT
fumecheng-13629	443	40	,	,	PUNCT
fumecheng-13629	443	41	pp	pp	ADP
fumecheng-13629	443	42	.	.	PUNCT
fumecheng-13629	444	1	599	599	NUM
fumecheng-13629	444	2	-	-	SYM
fumecheng-13629	444	3	609	609	NUM
fumecheng-13629	444	4	.	.	PUNCT
fumecheng-13629	445	1	38	38	NUM
fumecheng-13629	445	2	.	.	PUNCT
fumecheng-13629	446	1	emerson	emerson	PROPN
fumecheng-13629	446	2	,	,	PUNCT
fumecheng-13629	446	3	r.	r.	PROPN
fumecheng-13629	446	4	,	,	PUNCT
fumecheng-13629	446	5	2024	2024	NUM
fumecheng-13629	446	6	,	,	PUNCT
fumecheng-13629	446	7	k	k	X
fumecheng-13629	446	8	-	-	PUNCT
fumecheng-13629	446	9	means	mean	VERB
fumecheng-13629	446	10	clustering	clustering	NOUN
fumecheng-13629	446	11	explained	explain	VERB
fumecheng-13629	446	12	,	,	PUNCT
fumecheng-13629	446	13	journal	journal	NOUN
fumecheng-13629	446	14	of	of	ADP
fumecheng-13629	446	15	visual	visual	ADJ
fumecheng-13629	446	16	impairment	impairment	NOUN
fumecheng-13629	446	17	&	&	CCONJ
fumecheng-13629	446	18	blindness	blindness	NOUN
fumecheng-13629	446	19	,	,	PUNCT
fumecheng-13629	446	20	118(1	118(1	NUM
fumecheng-13629	446	21	)	)	PUNCT
fumecheng-13629	446	22	,	,	PUNCT
fumecheng-13629	446	23	pp	pp	PROPN
fumecheng-13629	446	24	.	.	PUNCT
fumecheng-13629	447	1	65	65	NUM
fumecheng-13629	447	2	-	-	SYM
fumecheng-13629	447	3	66	66	NUM
fumecheng-13629	447	4	.	.	PUNCT
fumecheng-13629	448	1	39	39	NUM
fumecheng-13629	448	2	.	.	PUNCT
fumecheng-13629	449	1	savitzky	savitzky	PROPN
fumecheng-13629	449	2	,	,	PUNCT
fumecheng-13629	449	3	a.	a.	PROPN
fumecheng-13629	449	4	,	,	PUNCT
fumecheng-13629	449	5	golay	golay	NOUN
fumecheng-13629	449	6	,	,	PUNCT
fumecheng-13629	449	7	m.	m.	NOUN
fumecheng-13629	449	8	,	,	PUNCT
fumecheng-13629	449	9	1964	1964	NUM
fumecheng-13629	449	10	,	,	PUNCT
fumecheng-13629	449	11	smoothing	smoothing	NOUN
fumecheng-13629	449	12	and	and	CCONJ
fumecheng-13629	449	13	differentiation	differentiation	NOUN
fumecheng-13629	449	14	of	of	ADP
fumecheng-13629	449	15	data	datum	NOUN
fumecheng-13629	449	16	by	by	ADP
fumecheng-13629	449	17	simplified	simplified	ADJ
fumecheng-13629	449	18	least	least	ADJ
fumecheng-13629	449	19	squares	square	NOUN
fumecheng-13629	449	20	procedures	procedure	NOUN
fumecheng-13629	449	21	,	,	PUNCT
fumecheng-13629	449	22	analytical	analytical	ADJ
fumecheng-13629	449	23	chemistry	chemistry	NOUN
fumecheng-13629	449	24	,	,	PUNCT
fumecheng-13629	449	25	36(8	36(8	NUM
fumecheng-13629	449	26	)	)	PUNCT
fumecheng-13629	449	27	,	,	PUNCT
fumecheng-13629	449	28	pp	pp	ADP
fumecheng-13629	449	29	.	.	PUNCT
fumecheng-13629	449	30	1627	1627	NUM
fumecheng-13629	449	31	-	-	SYM
fumecheng-13629	449	32	1639	1639	NUM
fumecheng-13629	449	33	.	.	PUNCT
fumecheng-13629	450	1	40	40	NUM
fumecheng-13629	450	2	.	.	PUNCT
fumecheng-13629	450	3	brockfeld	brockfeld	PROPN
fumecheng-13629	450	4	,	,	PUNCT
fumecheng-13629	450	5	e.	e.	PROPN
fumecheng-13629	450	6	,	,	PUNCT
fumecheng-13629	450	7	kühne	kühne	PROPN
fumecheng-13629	450	8	,	,	PUNCT
fumecheng-13629	450	9	r.	r.	PROPN
fumecheng-13629	450	10	,	,	PUNCT
fumecheng-13629	450	11	wagner	wagner	PROPN
fumecheng-13629	450	12	,	,	PUNCT
fumecheng-13629	450	13	p.	p.	PROPN
fumecheng-13629	450	14	,	,	PUNCT
fumecheng-13629	450	15	2005	2005	NUM
fumecheng-13629	450	16	,	,	PUNCT
fumecheng-13629	450	17	calibration	calibration	NOUN
fumecheng-13629	450	18	and	and	CCONJ
fumecheng-13629	450	19	validation	validation	NOUN
fumecheng-13629	450	20	of	of	ADP
fumecheng-13629	450	21	microscopic	microscopic	ADJ
fumecheng-13629	450	22	traffic	traffic	NOUN
fumecheng-13629	450	23	flow	flow	NOUN
fumecheng-13629	450	24	models	model	NOUN
fumecheng-13629	450	25	,	,	PUNCT
fumecheng-13629	450	26	transportation	transportation	NOUN
fumecheng-13629	450	27	research	research	NOUN
fumecheng-13629	450	28	record	record	NOUN
fumecheng-13629	450	29	,	,	PUNCT
fumecheng-13629	450	30	1934	1934	NUM
fumecheng-13629	450	31	,	,	PUNCT
fumecheng-13629	450	32	pp	pp	ADV
fumecheng-13629	450	33	.	.	PUNCT
fumecheng-13629	451	1	62	62	NUM
fumecheng-13629	451	2	-	-	SYM
fumecheng-13629	451	3	70	70	NUM
fumecheng-13629	451	4	.	.	PUNCT