id	sid	eid	entity	type
fcis-2136	1	1	2832-6024	DATE
fcis-2136	2	1	1	CARDINAL
fcis-2136	2	2	3	CARDINAL
fcis-2136	2	3	2022	CARDINAL
fcis-2136	2	4	tongqing zhang*	PERSON
fcis-2136	2	5	shuai zhang	PERSON
fcis-2136	2	6	pengcheng ma	PERSON
fcis-2136	2	7	ruiyuan liu	PERSON
fcis-2136	2	8	jiaojiao li	PERSON
fcis-2136	2	9	shandong university of technology	ORG
fcis-2136	2	10	zibo 255000	FAC
fcis-2136	2	11	shandong	GPE
fcis-2136	2	12	china	GPE
fcis-2136	3	1	tongqing zhang	PERSON
fcis-2136	4	1	three	CARDINAL
fcis-2136	6	1	three	CARDINAL
fcis-2136	6	2	three	CARDINAL
fcis-2136	10	1	1	CARDINAL
fcis-2136	11	1	44 %	PERCENT
fcis-2136	11	2	1	CARDINAL
fcis-2136	14	1	more than 30 %	PERCENT
fcis-2136	14	2	more than eight minutes	TIME
fcis-2136	15	1	2	CARDINAL
fcis-2136	18	1	four	CARDINAL
fcis-2136	18	2	one	CARDINAL
fcis-2136	18	3	second	ORDINAL
fcis-2136	20	1	third	ORDINAL
fcis-2136	20	2	fourth	ORDINAL
fcis-2136	25	1	rnn	ORG
fcis-2136	27	1	three	CARDINAL
fcis-2136	28	1	three	CARDINAL
fcis-2136	29	1	2	CARDINAL
fcis-2136	30	1	2.1	CARDINAL
fcis-2136	32	1	ackerman	PERSON
fcis-2136	33	1	1.	CARDINAL
fcis-2136	33	2	79	CARDINAL
fcis-2136	33	3	lb=tan   	GPE
fcis-2136	33	4	 	MONEY
fcis-2136	34	1	=	NORP
fcis-2136	34	2	=  = 	PERSON
fcis-2136	35	1	2.2	CARDINAL
fcis-2136	38	1	2.2.1	CARDINAL
fcis-2136	38	2	vehicle kinematics constraints	ORG
fcis-2136	38	3	 	GPE
fcis-2136	38	4	  	QUANTITY
fcis-2136	38	5	max max	PERSON
fcis-2136	38	6	ω	ORG
fcis-2136	39	1	2.2.2	CARDINAL
fcis-2136	40	1		ORG
fcis-2136	40	2	 	PERSON
fcis-2136	40	3	lll	PERSON
fcis-2136	40	4	lll min max	PERSON
fcis-2136	40	5	two	CARDINAL
fcis-2136	41	1	2.2.3	CARDINAL
fcis-2136	47	1	max max max max	PERSON
fcis-2136	47	2	1	CARDINAL
fcis-2136	47	3	2	CARDINAL
fcis-2136	47	4	3	CARDINAL
fcis-2136	47	5	2 2	CARDINAL
fcis-2136	47	6	0	CARDINAL
fcis-2136	47	7	0	CARDINAL
fcis-2136	47	8	4	CARDINAL
fcis-2136	47	9	2 2	CARDINAL
fcis-2136	52	1	y x   	PERSON
fcis-2136	54	1	1	CARDINAL
fcis-2136	54	2	2	CARDINAL
fcis-2136	54	3	3	CARDINAL
fcis-2136	54	4	0 ≤ max	QUANTITY
fcis-2136	54	5	4	CARDINAL
fcis-2136	54	6	5	CARDINAL
fcis-2136	55	1	sg	GPE
fcis-2136	55	2	sef	ORG
fcis-2136	55	3	2.3	CARDINAL
fcis-2136	58	1	one	CARDINAL
fcis-2136	59	1	2,3,4	CARDINAL
fcis-2136	60	1	fig	ORG
fcis-2136	61	1	2	CARDINAL
fcis-2136	61	2	wl egl efl	PERSON
fcis-2136	61	3	80	CARDINAL
fcis-2136	62	1	3	CARDINAL
fcis-2136	63	1	4	CARDINAL
fcis-2136	63	2	three	CARDINAL
fcis-2136	65	1	one	CARDINAL
fcis-2136	65	2	2.2	CARDINAL
fcis-2136	67	1	1	CARDINAL
fcis-2136	68	1	tp1-tp2	PERSON
fcis-2136	70	1	0 ≤	MONEY
fcis-2136	70	2	1 111	CARDINAL
fcis-2136	70	3	111	CARDINAL
fcis-2136	70	4	sin cos	ORG
fcis-2136	70	5	θlxx	PERSON
fcis-2136	70	6	lp1p	PERSON
fcis-2136	70	7	12 12112 12112	CARDINAL
fcis-2136	71	1	cos pp ppppp ppppp	ORG
fcis-2136	71	2	θlxx	PERSON
fcis-2136	71	3	2	CARDINAL
fcis-2136	72	1	tp2	PERSON
fcis-2136	75	1	2	CARDINAL
fcis-2136	96	1	l τ lr l lr l lr l lr l	PERSON
fcis-2136	96	2	l lr l lr l ldx  	PERSON
fcis-2136	96	3	τp2p	ORG
fcis-2136	96	4	lp2p	WORK_OF_ART
fcis-2136	96	5	lp3	GPE
fcis-2136	97	1	 	ORG
fcis-2136	98	1	22	CARDINAL
fcis-2136	98	2	sincos	GPE
fcis-2136	98	3	 	ORG
fcis-2136	99	1	3223 23223223 23223223	CARDINAL
fcis-2136	99	2	sincos	GPE
fcis-2136	99	3	pppp	NORP
fcis-2136	99	4	3	CARDINAL
fcis-2136	101	1	3 3 3	DATE
fcis-2136	101	2	cos1	ORG
fcis-2136	101	3	sin   	PERSON
fcis-2136	101	4	βp3p	GPE
fcis-2136	101	5	lp3p	ORG
fcis-2136	102	1	 	ORG
fcis-2136	103	1	33 33333 33333	DATE
fcis-2136	103	2	sincos	GPE
fcis-2136	103	3	 	ORG
fcis-2136	104	1	4334 34334334 34334334	DATE
fcis-2136	104	2	sincos	GPE
fcis-2136	104	3	pppp	NORP
fcis-2136	104	4	4	CARDINAL
fcis-2136	105	1	81	CARDINAL
fcis-2136	109	1	1612800704056 1	DATE
fcis-2136	118	1	dyp5	WORK_OF_ART
fcis-2136	118	2	τp5	ORG
fcis-2136	118	3	rp4	ORG
fcis-2136	119	1	 	ORG
fcis-2136	120	1	45445445	DATE
fcis-2136	120	2	sincos	GPE
fcis-2136	120	3	pppp	NORP
fcis-2136	120	4	  −= ++=	ORG
fcis-2136	120	5	5 55555 55555	CARDINAL
fcis-2136	120	6	sincos	GPE
fcis-2136	120	7	5	CARDINAL
fcis-2136	122	1	5	CARDINAL
fcis-2136	122	2	sin cos	ORG
fcis-2136	122	3	lp5p	PERSON
fcis-2136	122	4	56 56556 56556	CARDINAL
fcis-2136	122	5	sin cos pp ppppp ppppp	ORG
fcis-2136	122	6	0	CARDINAL
fcis-2136	122	7	2	CARDINAL
fcis-2136	123	1	2	CARDINAL
fcis-2136	124	1	54545	DATE
fcis-2136	125	1	3222322321211	DATE
fcis-2136	125	2	1 32223223254541 21	CARDINAL
fcis-2136	126	1	l  	FAC
fcis-2136	127	1	2	CARDINAL
fcis-2136	127	2	454454 343343232232121165	DATE
fcis-2136	127	3	+ +	DATE
fcis-2136	127	4	+−+−−=   3	TIME
fcis-2136	129	1	3.1	CARDINAL
fcis-2136	129	2	3.1.1	CARDINAL
fcis-2136	133	1	1	CARDINAL
fcis-2136	133	2	polygon	ORG
fcis-2136	133	3	polygon	ORG
fcis-2136	134	1	polygon	ORG
fcis-2136	134	2		ORG
fcis-2136	134	3	 	GPE
fcis-2136	134	4	1(3221)1(321	CARDINAL
fcis-2136	134	5	jth	PRODUCT
fcis-2136	134	6	polygon obstacle	ORG
fcis-2136	134	7	1≤i≤j	CARDINAL
fcis-2136	135	1	1 2i	CARDINAL
fcis-2136	136	1	polygon	ORG
fcis-2136	136	2	（xqi1,yqi1）,（xqi2,yqi2）,	PERSON
fcis-2136	136	3	yqij）	ORG
fcis-2136	137	1		ORG
fcis-2136	137	2	qqqq	ORG
fcis-2136	137	3	1	CARDINAL
fcis-2136	137	4	2	CARDINAL
fcis-2136	139	1	xqoi	ORG
fcis-2136	139	2	yqoi	PERSON
fcis-2136	141	1	2	CARDINAL
fcis-2136	145	1	82	CARDINAL
fcis-2136	146	1	firstly	ORDINAL
fcis-2136	147	1	5	CARDINAL
fcis-2136	147	2	fig	ORG
fcis-2136	148	1	5	CARDINAL
fcis-2136	148	2	tttesi p	PERSON
fcis-2136	149	1	three	CARDINAL
fcis-2136	150	1	k =	PERSON
fcis-2136	151	1	3,2,1	CARDINAL
fcis-2136	152	1	iii=	ORG
fcis-2136	152	2	μ	GPE
fcis-2136	152	3	σ	ORG
fcis-2136	153	1	yxs =	PERSON
fcis-2136	153	2	sei(t	ORG
fcis-2136	154	1	η	ORG
fcis-2136	158	1	6	CARDINAL
fcis-2136	159	1	fig	ORG
fcis-2136	160	1	6	CARDINAL
fcis-2136	160	2	polygon	ORG
fcis-2136	161	1	polygon	ORG
fcis-2136	161	2	polygon	ORG
fcis-2136	162	1	two	CARDINAL
fcis-2136	162	2	polygon	ORG
fcis-2136	162	3	polygon	ORG
fcis-2136	163	1	polygon	ORG
fcis-2136	164	1	 	ORG
fcis-2136	166	1	1＞ 1 1	DATE
fcis-2136	166	2	1(1	CARDINAL
fcis-2136	166	3	polygon	ORG
fcis-2136	166	4	d.	NORP
fcis-2136	166	5	ryyxx ＞22	ORG
fcis-2136	166	6	xqoi	ORG
fcis-2136	166	7	yqoi	PERSON
fcis-2136	166	8	3.2	CARDINAL
fcis-2136	167	1	first	ORDINAL
fcis-2136	168	1	three	CARDINAL
fcis-2136	170	1	83	CARDINAL
fcis-2136	170	2	7	CARDINAL
fcis-2136	171	1	7	CARDINAL
fcis-2136	171	2	one	CARDINAL
fcis-2136	172	1	obstacle q3	PERSON
fcis-2136	180	1	1	CARDINAL
fcis-2136	180	2	li	PERSON
fcis-2136	180	3	kn	PERSON
fcis-2136	181	1	4.	CARDINAL
fcis-2136	182	1	5.5	CARDINAL
fcis-2136	182	2	2.4	CARDINAL
fcis-2136	184	1	three	CARDINAL
fcis-2136	184	2	8	CARDINAL
fcis-2136	184	3	9	CARDINAL
fcis-2136	184	4	10	CARDINAL
fcis-2136	185	1	11	CARDINAL
fcis-2136	187	1	9	CARDINAL
fcis-2136	187	2	fig.10	CARDINAL
fcis-2136	187	3	three	CARDINAL
fcis-2136	188	1	fig	ORG
fcis-2136	189	1	11	CARDINAL
fcis-2136	190	1	84 5	CARDINAL
fcis-2136	192	1	1	CARDINAL
fcis-2136	193	1	three	CARDINAL
fcis-2136	193	2	one	CARDINAL
fcis-2136	194	1	2	CARDINAL
fcis-2136	195	1	three	CARDINAL
fcis-2136	196	1	3	CARDINAL
fcis-2136	197	1	three	CARDINAL
fcis-2136	197	2	three	CARDINAL
fcis-2136	198	1	1	CARDINAL
fcis-2136	198	2	paul green	PERSON
fcis-2136	201	1	congress	ORG
fcis-2136	201	2	2006	DATE
fcis-2136	201	3	1685 1700	DATE
fcis-2136	202	1	2	CARDINAL
fcis-2136	203	1	2006,13(6):479-486	CARDINAL
fcis-2136	204	1	3	CARDINAL
fcis-2136	204	2	li x	PERSON
fcis-2136	204	3	spaces[d].dalian:dalian university of technology,2021	ORG
fcis-2136	205	1	4	CARDINAL
fcis-2136	205	2	electronics,2020,67(12):10809-10821	DATE
fcis-2136	206	1	5	CARDINAL
fcis-2136	206	2	bergman k	PERSON
fcis-2136	207	1	6	CARDINAL
fcis-2136	207	2	chen h	PERSON
fcis-2136	207	3	system[j].ieee access,2020,8:154485-154501	PERSON
fcis-2136	208	1	7	CARDINAL
fcis-2136	208	2	maheshwari s	PERSON
fcis-2136	208	3	mahapatra s	PERSON
fcis-2136	209	1	8	CARDINAL
fcis-2136	209	2	qiao shao-jie	PERSON
fcis-2136	209	3	han nan	PERSON
fcis-2136	209	4	zhu xin-wen	PERSON
fcis-2136	209	5	kalman	PERSON
fcis-2136	210	1	2):418	CARDINAL
fcis-2136	211	1	9	CARDINAL
fcis-2136	211	2	qiao shao-jie	PERSON
fcis-2136	211	3	jin kun	PERSON
fcis-2136	211	4	han nan	ORG
fcis-2136	212	1	5):76-91	DATE
fcis-2136	213	1	10	CARDINAL
fcis-2136	213	2	pan j	PERSON
fcis-2136	213	3	xu k	PERSON
fcis-2136	213	4	systems(iros	DATE
fcis-2136	214	1	ieee,2020:7949-7956	DATE
fcis-2136	215	1	11	CARDINAL
fcis-2136	215	2	jitendra k	PERSON
fcis-2136	215	3	rimsha g	PERSON
fcis-2136	215	4	ashutosh k s.long	PERSON
fcis-2136	215	5	lstm-rnn	PERSON
fcis-2136	215	6	j].procedia	ORG
fcis-2136	215	7	682	CARDINAL
fcis-2136	216	1	12	CARDINAL
fcis-2136	217	1	zhu z	PERSON
fcis-2136	217	2	zhang x p	PERSON
fcis-2136	218	1	929	CARDINAL