id	sid	tid	token	lemma	pos
fcis-12278	1	1	frontiers	frontier	NOUN
fcis-12278	1	2	in	in	ADP
fcis-12278	1	3	computing	computing	NOUN
fcis-12278	1	4	and	and	CCONJ
fcis-12278	1	5	intelligent	intelligent	ADJ
fcis-12278	1	6	systems	system	NOUN
fcis-12278	1	7	issn	issn	VERB
fcis-12278	1	8	:	:	PUNCT
fcis-12278	1	9	2832	2832	NUM
fcis-12278	1	10	-	-	SYM
fcis-12278	1	11	6024	6024	NUM
fcis-12278	1	12	|	|	NOUN
fcis-12278	1	13	vol	vol	NOUN
fcis-12278	1	14	.	.	PROPN
fcis-12278	2	1	5	5	NUM
fcis-12278	2	2	,	,	PUNCT
fcis-12278	2	3	no	no	INTJ
fcis-12278	2	4	.	.	NOUN
fcis-12278	2	5	2	2	NUM
fcis-12278	2	6	,	,	PUNCT
fcis-12278	2	7	2023	2023	NUM
fcis-12278	2	8	23	23	NUM
fcis-12278	2	9	research	research	NOUN
fcis-12278	2	10	on	on	ADP
fcis-12278	2	11	the	the	DET
fcis-12278	2	12	application	application	NOUN
fcis-12278	2	13	of	of	ADP
fcis-12278	2	14	machine	machine	NOUN
fcis-12278	2	15	learning	learning	NOUN
fcis-12278	2	16	in	in	ADP
fcis-12278	2	17	the	the	DET
fcis-12278	2	18	real	real	ADJ
fcis-12278	2	19	time	time	NOUN
fcis-12278	2	20	decision	decision	NOUN
fcis-12278	2	21	system	system	NOUN
fcis-12278	2	22	of	of	ADP
fcis-12278	2	23	autonomous	autonomous	ADJ
fcis-12278	2	24	vehicles	vehicle	NOUN
fcis-12278	2	25	shilong	shilong	PROPN
fcis-12278	2	26	li	li	PROPN
fcis-12278	2	27	jilin	jilin	PROPN
fcis-12278	2	28	university	university	PROPN
fcis-12278	2	29	-	-	PUNCT
fcis-12278	2	30	lambton	lambton	PROPN
fcis-12278	2	31	college	college	PROPN
fcis-12278	2	32	,	,	PUNCT
fcis-12278	2	33	changchun	changchun	PROPN
fcis-12278	2	34	,	,	PUNCT
fcis-12278	2	35	china	china	PROPN
fcis-12278	2	36	abstract	abstract	NOUN
fcis-12278	2	37	:	:	PUNCT
fcis-12278	2	38	as	as	SCONJ
fcis-12278	2	39	human	human	ADJ
fcis-12278	2	40	society	society	NOUN
fcis-12278	2	41	enters	enter	VERB
fcis-12278	2	42	the	the	DET
fcis-12278	2	43	era	era	NOUN
fcis-12278	2	44	of	of	ADP
fcis-12278	2	45	interconnection	interconnection	NOUN
fcis-12278	2	46	and	and	CCONJ
fcis-12278	2	47	intelligence	intelligence	NOUN
fcis-12278	2	48	;	;	PUNCT
fcis-12278	2	49	the	the	DET
fcis-12278	2	50	rapid	rapid	ADJ
fcis-12278	2	51	development	development	NOUN
fcis-12278	2	52	of	of	ADP
fcis-12278	2	53	the	the	DET
fcis-12278	2	54	automotive	automotive	ADJ
fcis-12278	2	55	industry	industry	NOUN
fcis-12278	2	56	has	have	AUX
fcis-12278	2	57	made	make	VERB
fcis-12278	2	58	intelligent	intelligent	ADJ
fcis-12278	2	59	driving	driving	NOUN
fcis-12278	2	60	technology	technology	NOUN
fcis-12278	2	61	a	a	DET
fcis-12278	2	62	new	new	ADJ
fcis-12278	2	63	industry	industry	NOUN
fcis-12278	2	64	focus	focus	NOUN
fcis-12278	2	65	.	.	PUNCT
fcis-12278	3	1	this	this	DET
fcis-12278	3	2	article	article	NOUN
fcis-12278	3	3	conducts	conduct	VERB
fcis-12278	3	4	research	research	NOUN
fcis-12278	3	5	on	on	ADP
fcis-12278	3	6	the	the	DET
fcis-12278	3	7	application	application	NOUN
fcis-12278	3	8	of	of	ADP
fcis-12278	3	9	machine	machine	NOUN
fcis-12278	3	10	learning	learning	NOUN
fcis-12278	3	11	in	in	ADP
fcis-12278	3	12	real	real	ADJ
fcis-12278	3	13	-	-	PUNCT
fcis-12278	3	14	time	time	NOUN
fcis-12278	3	15	decision	decision	NOUN
fcis-12278	3	16	-	-	PUNCT
fcis-12278	3	17	making	make	VERB
fcis-12278	3	18	systems	system	NOUN
fcis-12278	3	19	for	for	ADP
fcis-12278	3	20	autonomous	autonomous	ADJ
fcis-12278	3	21	vehicles	vehicle	NOUN
fcis-12278	3	22	.	.	PUNCT
fcis-12278	4	1	the	the	DET
fcis-12278	4	2	use	use	NOUN
fcis-12278	4	3	of	of	ADP
fcis-12278	4	4	radial	radial	ADJ
fcis-12278	4	5	basis	basis	NOUN
fcis-12278	4	6	function	function	NOUN
fcis-12278	4	7	artificial	artificial	ADJ
fcis-12278	4	8	neural	neural	ADJ
fcis-12278	4	9	networks	network	NOUN
fcis-12278	4	10	to	to	PART
fcis-12278	4	11	solve	solve	VERB
fcis-12278	4	12	the	the	DET
fcis-12278	4	13	classification	classification	NOUN
fcis-12278	4	14	problem	problem	NOUN
fcis-12278	4	15	of	of	ADP
fcis-12278	4	16	overtaking	overtake	VERB
fcis-12278	4	17	intentions	intention	NOUN
fcis-12278	4	18	has	have	AUX
fcis-12278	4	19	been	be	AUX
fcis-12278	4	20	proven	prove	VERB
fcis-12278	4	21	to	to	PART
fcis-12278	4	22	be	be	AUX
fcis-12278	4	23	a	a	DET
fcis-12278	4	24	universal	universal	ADJ
fcis-12278	4	25	approximator	approximator	NOUN
fcis-12278	4	26	.	.	PUNCT
fcis-12278	5	1	based	base	VERB
fcis-12278	5	2	on	on	ADP
fcis-12278	5	3	theoretical	theoretical	ADJ
fcis-12278	5	4	analysis	analysis	NOUN
fcis-12278	5	5	and	and	CCONJ
fcis-12278	5	6	practical	practical	ADJ
fcis-12278	5	7	driving	driving	NOUN
fcis-12278	5	8	experience	experience	NOUN
fcis-12278	5	9	,	,	PUNCT
fcis-12278	5	10	it	it	PRON
fcis-12278	5	11	can	can	AUX
fcis-12278	5	12	be	be	AUX
fcis-12278	5	13	seen	see	VERB
fcis-12278	5	14	that	that	SCONJ
fcis-12278	5	15	driving	drive	VERB
fcis-12278	5	16	behavior	behavior	NOUN
fcis-12278	5	17	is	be	AUX
fcis-12278	5	18	often	often	ADV
fcis-12278	5	19	stimulated	stimulate	VERB
fcis-12278	5	20	and	and	CCONJ
fcis-12278	5	21	influenced	influence	VERB
fcis-12278	5	22	by	by	ADP
fcis-12278	5	23	multiple	multiple	ADJ
fcis-12278	5	24	factors	factor	NOUN
fcis-12278	5	25	such	such	ADJ
fcis-12278	5	26	as	as	ADP
fcis-12278	5	27	people	people	NOUN
fcis-12278	5	28	,	,	PUNCT
fcis-12278	5	29	cars	car	NOUN
fcis-12278	5	30	,	,	PUNCT
fcis-12278	5	31	roads	road	NOUN
fcis-12278	5	32	,	,	PUNCT
fcis-12278	5	33	and	and	CCONJ
fcis-12278	5	34	the	the	DET
fcis-12278	5	35	environment	environment	NOUN
fcis-12278	5	36	during	during	ADP
fcis-12278	5	37	the	the	DET
fcis-12278	5	38	driving	drive	VERB
fcis-12278	5	39	decision	decision	NOUN
fcis-12278	5	40	-	-	PUNCT
fcis-12278	5	41	making	make	VERB
fcis-12278	5	42	process	process	NOUN
fcis-12278	5	43	.	.	PUNCT
fcis-12278	6	1	these	these	DET
fcis-12278	6	2	factors	factor	NOUN
fcis-12278	6	3	are	be	AUX
fcis-12278	6	4	collectively	collectively	ADV
fcis-12278	6	5	referred	refer	VERB
fcis-12278	6	6	to	to	ADP
fcis-12278	6	7	as	as	ADP
fcis-12278	6	8	driving	drive	VERB
fcis-12278	6	9	decision	decision	NOUN
fcis-12278	6	10	influencing	influence	VERB
fcis-12278	6	11	factors	factor	NOUN
fcis-12278	6	12	.	.	PUNCT
fcis-12278	7	1	assist	assist	VERB
fcis-12278	7	2	vehicle	vehicle	NOUN
fcis-12278	7	3	sensors	sensor	NOUN
fcis-12278	7	4	in	in	ADP
fcis-12278	7	5	making	make	VERB
fcis-12278	7	6	decisions	decision	NOUN
fcis-12278	7	7	based	base	VERB
fcis-12278	7	8	on	on	ADP
fcis-12278	7	9	the	the	DET
fcis-12278	7	10	identified	identify	VERB
fcis-12278	7	11	signage	signage	NOUN
fcis-12278	7	12	information	information	NOUN
fcis-12278	7	13	,	,	PUNCT
fcis-12278	7	14	accurately	accurately	ADV
fcis-12278	7	15	control	control	VERB
fcis-12278	7	16	the	the	DET
fcis-12278	7	17	vehicle	vehicle	NOUN
fcis-12278	7	18	's	's	PART
fcis-12278	7	19	driving	drive	VERB
fcis-12278	7	20	route	route	NOUN
fcis-12278	7	21	based	base	VERB
fcis-12278	7	22	on	on	ADP
fcis-12278	7	23	the	the	DET
fcis-12278	7	24	identified	identify	VERB
fcis-12278	7	25	lane	lane	NOUN
fcis-12278	7	26	markings	marking	NOUN
fcis-12278	7	27	,	,	PUNCT
fcis-12278	7	28	and	and	CCONJ
fcis-12278	7	29	improve	improve	VERB
fcis-12278	7	30	the	the	DET
fcis-12278	7	31	sensitivity	sensitivity	NOUN
fcis-12278	7	32	of	of	ADP
fcis-12278	7	33	the	the	DET
fcis-12278	7	34	sensors	sensor	NOUN
fcis-12278	7	35	and	and	CCONJ
fcis-12278	7	36	the	the	DET
fcis-12278	7	37	resilience	resilience	NOUN
fcis-12278	7	38	of	of	ADP
fcis-12278	7	39	the	the	DET
fcis-12278	7	40	entire	entire	ADJ
fcis-12278	7	41	system	system	NOUN
fcis-12278	7	42	.	.	PUNCT
fcis-12278	8	1	considering	consider	VERB
fcis-12278	8	2	that	that	SCONJ
fcis-12278	8	3	the	the	DET
fcis-12278	8	4	motor	motor	NOUN
fcis-12278	8	5	speed	speed	NOUN
fcis-12278	8	6	changes	change	VERB
fcis-12278	8	7	rapidly	rapidly	ADV
fcis-12278	8	8	and	and	CCONJ
fcis-12278	8	9	in	in	ADP
fcis-12278	8	10	order	order	NOUN
fcis-12278	8	11	to	to	PART
fcis-12278	8	12	ensure	ensure	VERB
fcis-12278	8	13	stable	stable	ADJ
fcis-12278	8	14	transmission	transmission	NOUN
fcis-12278	8	15	throughout	throughout	ADP
fcis-12278	8	16	the	the	DET
fcis-12278	8	17	entire	entire	ADJ
fcis-12278	8	18	driving	driving	NOUN
fcis-12278	8	19	process	process	NOUN
fcis-12278	8	20	,	,	PUNCT
fcis-12278	8	21	the	the	DET
fcis-12278	8	22	system	system	NOUN
fcis-12278	8	23	needs	need	VERB
fcis-12278	8	24	to	to	PART
fcis-12278	8	25	be	be	AUX
fcis-12278	8	26	adjusted	adjust	VERB
fcis-12278	8	27	slowly	slowly	ADV
fcis-12278	8	28	,	,	PUNCT
fcis-12278	8	29	even	even	ADV
fcis-12278	8	30	if	if	SCONJ
fcis-12278	8	31	there	there	PRON
fcis-12278	8	32	is	be	VERB
fcis-12278	8	33	no	no	DET
fcis-12278	8	34	small	small	ADJ
fcis-12278	8	35	deviation	deviation	NOUN
fcis-12278	8	36	adjustment	adjustment	NOUN
fcis-12278	8	37	,	,	PUNCT
fcis-12278	8	38	the	the	DET
fcis-12278	8	39	adjustment	adjustment	NOUN
fcis-12278	8	40	speed	speed	NOUN
fcis-12278	8	41	is	be	AUX
fcis-12278	8	42	fast	fast	ADJ
fcis-12278	8	43	,	,	PUNCT
fcis-12278	8	44	and	and	CCONJ
fcis-12278	8	45	the	the	DET
fcis-12278	8	46	large	large	ADJ
fcis-12278	8	47	deviation	deviation	NOUN
fcis-12278	8	48	generated	generate	VERB
fcis-12278	8	49	during	during	ADP
fcis-12278	8	50	cornering	corner	VERB
fcis-12278	8	51	or	or	CCONJ
fcis-12278	8	52	overtaking	overtaking	NOUN
fcis-12278	8	53	can	can	AUX
fcis-12278	8	54	be	be	AUX
fcis-12278	8	55	adjusted	adjust	VERB
fcis-12278	8	56	to	to	PART
fcis-12278	8	57	prevent	prevent	VERB
fcis-12278	8	58	slow	slow	ADJ
fcis-12278	8	59	tracking	tracking	NOUN
fcis-12278	8	60	response	response	NOUN
fcis-12278	8	61	speed	speed	NOUN
fcis-12278	8	62	.	.	PUNCT
fcis-12278	9	1	keywords	keyword	NOUN
fcis-12278	9	2	:	:	PUNCT
fcis-12278	9	3	machine	machine	NOUN
fcis-12278	9	4	learning	learning	NOUN
fcis-12278	9	5	;	;	PUNCT
fcis-12278	9	6	autonomous	autonomous	ADJ
fcis-12278	9	7	vehicles	vehicle	NOUN
fcis-12278	9	8	;	;	PUNCT
fcis-12278	9	9	real	real	ADJ
fcis-12278	9	10	-	-	PUNCT
fcis-12278	9	11	time	time	NOUN
fcis-12278	9	12	decision	decision	NOUN
fcis-12278	9	13	-	-	PUNCT
fcis-12278	9	14	making	make	VERB
fcis-12278	9	15	systems	system	NOUN
fcis-12278	9	16	.	.	PUNCT
fcis-12278	10	1	1	1	X
fcis-12278	10	2	.	.	X
fcis-12278	10	3	introduction	introduction	NOUN
fcis-12278	10	4	the	the	DET
fcis-12278	10	5	decision	decision	NOUN
fcis-12278	10	6	-	-	PUNCT
fcis-12278	10	7	making	make	VERB
fcis-12278	10	8	mechanism	mechanism	NOUN
fcis-12278	10	9	of	of	ADP
fcis-12278	10	10	different	different	ADJ
fcis-12278	10	11	driving	drive	VERB
fcis-12278	10	12	behavior	behavior	NOUN
fcis-12278	10	13	patterns	pattern	NOUN
fcis-12278	10	14	and	and	CCONJ
fcis-12278	10	15	the	the	DET
fcis-12278	10	16	execution	execution	NOUN
fcis-12278	10	17	mechanism	mechanism	NOUN
fcis-12278	10	18	of	of	ADP
fcis-12278	10	19	vehicle	vehicle	NOUN
fcis-12278	10	20	operation	operation	NOUN
fcis-12278	10	21	patterns	pattern	NOUN
fcis-12278	10	22	are	be	AUX
fcis-12278	10	23	two	two	NUM
fcis-12278	10	24	important	important	ADJ
fcis-12278	10	25	links	link	NOUN
fcis-12278	10	26	to	to	PART
fcis-12278	10	27	simulate	simulate	VERB
fcis-12278	10	28	the	the	DET
fcis-12278	10	29	driver	driver	NOUN
fcis-12278	10	30	's	's	PART
fcis-12278	10	31	task	task	NOUN
fcis-12278	10	32	aggregation	aggregation	NOUN
fcis-12278	10	33	and	and	CCONJ
fcis-12278	10	34	comprehensive	comprehensive	ADJ
fcis-12278	10	35	cognitive	cognitive	ADJ
fcis-12278	10	36	activities	activity	NOUN
fcis-12278	10	37	under	under	ADP
fcis-12278	10	38	the	the	DET
fcis-12278	10	39	stimulation	stimulation	NOUN
fcis-12278	10	40	of	of	ADP
fcis-12278	10	41	multi	multi	ADJ
fcis-12278	10	42	-	-	ADJ
fcis-12278	10	43	source	source	NOUN
fcis-12278	10	44	information	information	NOUN
fcis-12278	10	45	.	.	PUNCT
fcis-12278	11	1	among	among	ADP
fcis-12278	11	2	them	they	PRON
fcis-12278	11	3	,	,	PUNCT
fcis-12278	11	4	the	the	DET
fcis-12278	11	5	accuracy	accuracy	NOUN
fcis-12278	11	6	of	of	ADP
fcis-12278	11	7	driving	drive	VERB
fcis-12278	11	8	decision	decision	NOUN
fcis-12278	11	9	is	be	AUX
fcis-12278	11	10	directly	directly	ADV
fcis-12278	11	11	related	relate	VERB
fcis-12278	11	12	to	to	ADP
fcis-12278	11	13	road	road	NOUN
fcis-12278	11	14	traffic	traffic	NOUN
fcis-12278	11	15	safety	safety	NOUN
fcis-12278	11	16	.	.	PUNCT
fcis-12278	12	1	in	in	ADP
fcis-12278	12	2	the	the	DET
fcis-12278	12	3	decision	decision	NOUN
fcis-12278	12	4	-	-	PUNCT
fcis-12278	12	5	making	make	VERB
fcis-12278	12	6	process	process	NOUN
fcis-12278	12	7	,	,	PUNCT
fcis-12278	12	8	driving	drive	VERB
fcis-12278	12	9	behavior	behavior	NOUN
fcis-12278	12	10	is	be	AUX
fcis-12278	12	11	often	often	ADV
fcis-12278	12	12	stimulated	stimulate	VERB
fcis-12278	12	13	and	and	CCONJ
fcis-12278	12	14	influenced	influence	VERB
fcis-12278	12	15	by	by	ADP
fcis-12278	12	16	multisource	multisource	ADJ
fcis-12278	12	17	information	information	NOUN
fcis-12278	12	18	such	such	ADJ
fcis-12278	12	19	as	as	ADP
fcis-12278	12	20	people	people	NOUN
fcis-12278	12	21	,	,	PUNCT
fcis-12278	12	22	cars	car	NOUN
fcis-12278	12	23	,	,	PUNCT
fcis-12278	12	24	roads	road	NOUN
fcis-12278	12	25	and	and	CCONJ
fcis-12278	12	26	environment	environment	NOUN
fcis-12278	12	27	.	.	PUNCT
fcis-12278	13	1	with	with	ADP
fcis-12278	13	2	the	the	DET
fcis-12278	13	3	rapid	rapid	ADJ
fcis-12278	13	4	development	development	NOUN
fcis-12278	13	5	of	of	ADP
fcis-12278	13	6	scientific	scientific	ADJ
fcis-12278	13	7	and	and	CCONJ
fcis-12278	13	8	technological	technological	ADJ
fcis-12278	13	9	innovation	innovation	NOUN
fcis-12278	13	10	in	in	ADP
fcis-12278	13	11	recent	recent	ADJ
fcis-12278	13	12	years	year	NOUN
fcis-12278	13	13	,	,	PUNCT
fcis-12278	13	14	the	the	DET
fcis-12278	13	15	rapid	rapid	ADJ
fcis-12278	13	16	development	development	NOUN
fcis-12278	13	17	of	of	ADP
fcis-12278	13	18	artificial	artificial	ADJ
fcis-12278	13	19	intelligence	intelligence	NOUN
fcis-12278	13	20	has	have	AUX
fcis-12278	13	21	also	also	ADV
fcis-12278	13	22	prompted	prompt	VERB
fcis-12278	13	23	a	a	DET
fcis-12278	13	24	new	new	ADJ
fcis-12278	13	25	round	round	NOUN
fcis-12278	13	26	of	of	ADP
fcis-12278	13	27	automobile	automobile	NOUN
fcis-12278	13	28	revolution	revolution	NOUN
fcis-12278	13	29	.	.	PUNCT
fcis-12278	14	1	at	at	ADP
fcis-12278	14	2	the	the	DET
fcis-12278	14	3	same	same	ADJ
fcis-12278	14	4	time	time	NOUN
fcis-12278	14	5	,	,	PUNCT
fcis-12278	14	6	the	the	DET
fcis-12278	14	7	rapid	rapid	ADJ
fcis-12278	14	8	development	development	NOUN
fcis-12278	14	9	of	of	ADP
fcis-12278	14	10	automobile	automobile	NOUN
fcis-12278	14	11	industry	industry	NOUN
fcis-12278	14	12	has	have	AUX
fcis-12278	14	13	prompted	prompt	VERB
fcis-12278	14	14	intelligent	intelligent	ADJ
fcis-12278	14	15	driving	driving	NOUN
fcis-12278	14	16	technology	technology	NOUN
fcis-12278	14	17	to	to	PART
fcis-12278	14	18	become	become	VERB
fcis-12278	14	19	a	a	DET
fcis-12278	14	20	new	new	ADJ
fcis-12278	14	21	focus	focus	NOUN
fcis-12278	14	22	of	of	ADP
fcis-12278	14	23	the	the	DET
fcis-12278	14	24	industry	industry	NOUN
fcis-12278	14	25	,	,	PUNCT
fcis-12278	14	26	and	and	CCONJ
fcis-12278	14	27	the	the	DET
fcis-12278	14	28	deeper	deeply	ADV
fcis-12278	14	29	automatic	automatic	ADJ
fcis-12278	14	30	driving	driving	NOUN
fcis-12278	14	31	technology	technology	NOUN
fcis-12278	14	32	is	be	AUX
fcis-12278	14	33	bound	bind	VERB
fcis-12278	14	34	to	to	PART
fcis-12278	14	35	effectively	effectively	ADV
fcis-12278	14	36	reduce	reduce	VERB
fcis-12278	14	37	the	the	DET
fcis-12278	14	38	probability	probability	NOUN
fcis-12278	14	39	of	of	ADP
fcis-12278	14	40	traffic	traffic	NOUN
fcis-12278	14	41	accidents	accident	NOUN
fcis-12278	14	42	and	and	CCONJ
fcis-12278	14	43	ensure	ensure	VERB
fcis-12278	14	44	driving	drive	VERB
fcis-12278	14	45	safety	safety	NOUN
fcis-12278	15	1	[	[	X
fcis-12278	15	2	1	1	NUM
fcis-12278	15	3	]	]	PUNCT
fcis-12278	15	4	.	.	PUNCT
fcis-12278	16	1	autopilot	autopilot	NOUN
fcis-12278	16	2	technology	technology	NOUN
fcis-12278	16	3	is	be	AUX
fcis-12278	16	4	a	a	DET
fcis-12278	16	5	cuttingedge	cuttingedge	ADJ
fcis-12278	16	6	technology	technology	NOUN
fcis-12278	16	7	developed	develop	VERB
fcis-12278	16	8	rapidly	rapidly	ADV
fcis-12278	16	9	on	on	ADP
fcis-12278	16	10	the	the	DET
fcis-12278	16	11	basis	basis	NOUN
fcis-12278	16	12	of	of	ADP
fcis-12278	16	13	artificial	artificial	ADJ
fcis-12278	16	14	intelligence	intelligence	NOUN
fcis-12278	16	15	,	,	PUNCT
fcis-12278	16	16	visual	visual	ADJ
fcis-12278	16	17	computing	computing	NOUN
fcis-12278	16	18	,	,	PUNCT
fcis-12278	16	19	pattern	pattern	NOUN
fcis-12278	16	20	recognition	recognition	NOUN
fcis-12278	16	21	and	and	CCONJ
fcis-12278	16	22	other	other	ADJ
fcis-12278	16	23	technologies	technology	NOUN
fcis-12278	16	24	,	,	PUNCT
fcis-12278	16	25	and	and	CCONJ
fcis-12278	16	26	has	have	AUX
fcis-12278	16	27	been	be	AUX
fcis-12278	16	28	widely	widely	ADV
fcis-12278	16	29	concerned	concern	VERB
fcis-12278	16	30	by	by	ADP
fcis-12278	16	31	the	the	DET
fcis-12278	16	32	society	society	NOUN
fcis-12278	17	1	[	[	X
fcis-12278	17	2	2	2	NUM
fcis-12278	17	3	]	]	PUNCT
fcis-12278	17	4	.	.	PUNCT
fcis-12278	18	1	at	at	ADP
fcis-12278	18	2	present	present	ADJ
fcis-12278	18	3	,	,	PUNCT
fcis-12278	18	4	the	the	DET
fcis-12278	18	5	mainstream	mainstream	PROPN
fcis-12278	18	6	technical	technical	ADJ
fcis-12278	18	7	route	route	NOUN
fcis-12278	18	8	of	of	ADP
fcis-12278	18	9	autonomous	autonomous	ADJ
fcis-12278	18	10	driving	driving	NOUN
fcis-12278	18	11	is	be	AUX
fcis-12278	18	12	to	to	PART
fcis-12278	18	13	install	install	VERB
fcis-12278	18	14	sensors	sensor	NOUN
fcis-12278	18	15	such	such	ADJ
fcis-12278	18	16	as	as	ADP
fcis-12278	18	17	lidar	lidar	NOUN
fcis-12278	18	18	,	,	PUNCT
fcis-12278	18	19	camera	camera	NOUN
fcis-12278	18	20	and	and	CCONJ
fcis-12278	18	21	inertial	inertial	ADJ
fcis-12278	18	22	navigation	navigation	NOUN
fcis-12278	18	23	in	in	ADP
fcis-12278	18	24	the	the	DET
fcis-12278	18	25	car	car	NOUN
fcis-12278	18	26	,	,	PUNCT
fcis-12278	18	27	and	and	CCONJ
fcis-12278	18	28	make	make	VERB
fcis-12278	18	29	decisions	decision	NOUN
fcis-12278	18	30	and	and	CCONJ
fcis-12278	18	31	control	control	NOUN
fcis-12278	18	32	and	and	CCONJ
fcis-12278	18	33	execute	execute	VERB
fcis-12278	18	34	the	the	DET
fcis-12278	18	35	automatic	automatic	ADJ
fcis-12278	18	36	operation	operation	NOUN
fcis-12278	18	37	of	of	ADP
fcis-12278	18	38	the	the	DET
fcis-12278	18	39	vehicle	vehicle	NOUN
fcis-12278	18	40	by	by	ADP
fcis-12278	18	41	sensing	sense	VERB
fcis-12278	18	42	the	the	DET
fcis-12278	18	43	external	external	ADJ
fcis-12278	18	44	environment	environment	NOUN
fcis-12278	18	45	in	in	ADP
fcis-12278	18	46	real	real	ADJ
fcis-12278	18	47	time	time	NOUN
fcis-12278	18	48	[	[	X
fcis-12278	18	49	3	3	NUM
fcis-12278	18	50	]	]	PUNCT
fcis-12278	18	51	.	.	PUNCT
fcis-12278	19	1	its	its	PRON
fcis-12278	19	2	real	real	ADJ
fcis-12278	19	3	connotation	connotation	NOUN
fcis-12278	19	4	is	be	AUX
fcis-12278	19	5	that	that	SCONJ
fcis-12278	19	6	cars	car	NOUN
fcis-12278	19	7	are	be	AUX
fcis-12278	19	8	connected	connect	VERB
fcis-12278	19	9	with	with	ADP
fcis-12278	19	10	each	each	DET
fcis-12278	19	11	other	other	ADJ
fcis-12278	19	12	,	,	PUNCT
fcis-12278	19	13	and	and	CCONJ
fcis-12278	19	14	cars	car	NOUN
fcis-12278	19	15	are	be	AUX
fcis-12278	19	16	connected	connect	VERB
fcis-12278	19	17	with	with	ADP
fcis-12278	19	18	the	the	DET
fcis-12278	19	19	cloud	cloud	ADJ
fcis-12278	19	20	center	center	NOUN
fcis-12278	19	21	to	to	PART
fcis-12278	19	22	realize	realize	VERB
fcis-12278	19	23	intelligent	intelligent	ADJ
fcis-12278	19	24	traffic	traffic	NOUN
fcis-12278	19	25	guidance	guidance	NOUN
fcis-12278	19	26	and	and	CCONJ
fcis-12278	19	27	control	control	NOUN
fcis-12278	19	28	.	.	PUNCT
fcis-12278	20	1	intelligent	intelligent	ADJ
fcis-12278	20	2	networked	networked	ADJ
fcis-12278	20	3	automobile	automobile	NOUN
fcis-12278	20	4	is	be	AUX
fcis-12278	20	5	the	the	DET
fcis-12278	20	6	final	final	ADJ
fcis-12278	20	7	development	development	NOUN
fcis-12278	20	8	stage	stage	NOUN
fcis-12278	20	9	of	of	ADP
fcis-12278	20	10	autonomous	autonomous	ADJ
fcis-12278	20	11	driving	driving	NOUN
fcis-12278	20	12	,	,	PUNCT
fcis-12278	20	13	and	and	CCONJ
fcis-12278	20	14	it	it	PRON
fcis-12278	20	15	is	be	AUX
fcis-12278	20	16	an	an	DET
fcis-12278	20	17	important	important	ADJ
fcis-12278	20	18	means	mean	NOUN
fcis-12278	20	19	to	to	PART
fcis-12278	20	20	realize	realize	VERB
fcis-12278	20	21	the	the	DET
fcis-12278	20	22	four	four	NUM
fcis-12278	20	23	modernizations	modernization	NOUN
fcis-12278	20	24	of	of	ADP
fcis-12278	20	25	automobile	automobile	NOUN
fcis-12278	20	26	at	at	ADP
fcis-12278	20	27	present	present	NOUN
fcis-12278	20	28	.	.	PUNCT
fcis-12278	21	1	in	in	ADP
fcis-12278	21	2	the	the	DET
fcis-12278	21	3	future	future	NOUN
fcis-12278	21	4	,	,	PUNCT
fcis-12278	21	5	the	the	DET
fcis-12278	21	6	demands	demand	NOUN
fcis-12278	21	7	for	for	ADP
fcis-12278	21	8	infrastructure	infrastructure	NOUN
fcis-12278	21	9	such	such	ADJ
fcis-12278	21	10	as	as	ADP
fcis-12278	21	11	5	5	NUM
fcis-12278	21	12	g	g	NOUN
fcis-12278	21	13	communication	communication	NOUN
fcis-12278	21	14	and	and	CCONJ
fcis-12278	21	15	high	high	ADJ
fcis-12278	21	16	-	-	PUNCT
fcis-12278	21	17	precision	precision	NOUN
fcis-12278	21	18	positioning	positioning	NOUN
fcis-12278	21	19	,	,	PUNCT
fcis-12278	21	20	cloud	cloud	NOUN
fcis-12278	21	21	platforms	platform	NOUN
fcis-12278	21	22	and	and	CCONJ
fcis-12278	21	23	roadside	roadside	NOUN
fcis-12278	21	24	terminals	terminal	NOUN
fcis-12278	21	25	are	be	AUX
fcis-12278	21	26	also	also	ADV
fcis-12278	21	27	increasing	increase	VERB
fcis-12278	21	28	,	,	PUNCT
fcis-12278	21	29	so	so	ADV
fcis-12278	21	30	many	many	ADJ
fcis-12278	21	31	new	new	ADJ
fcis-12278	21	32	services	service	NOUN
fcis-12278	21	33	,	,	PUNCT
fcis-12278	21	34	such	such	ADJ
fcis-12278	21	35	as	as	ADP
fcis-12278	21	36	smart	smart	ADJ
fcis-12278	21	37	transportation	transportation	NOUN
fcis-12278	21	38	,	,	PUNCT
fcis-12278	21	39	shared	share	VERB
fcis-12278	21	40	travel	travel	NOUN
fcis-12278	21	41	,	,	PUNCT
fcis-12278	21	42	big	big	ADJ
fcis-12278	21	43	data	datum	NOUN
fcis-12278	21	44	mining	mining	NOUN
fcis-12278	21	45	and	and	CCONJ
fcis-12278	21	46	applications	application	NOUN
fcis-12278	21	47	,	,	PUNCT
fcis-12278	21	48	emerge	emerge	VERB
fcis-12278	21	49	in	in	ADP
fcis-12278	21	50	large	large	ADJ
fcis-12278	21	51	numbers	number	NOUN
fcis-12278	21	52	,	,	PUNCT
fcis-12278	21	53	and	and	CCONJ
fcis-12278	21	54	the	the	DET
fcis-12278	21	55	dynamic	dynamic	ADJ
fcis-12278	21	56	reconstruction	reconstruction	NOUN
fcis-12278	21	57	of	of	ADP
fcis-12278	21	58	the	the	DET
fcis-12278	21	59	industrial	industrial	ADJ
fcis-12278	21	60	chain	chain	NOUN
fcis-12278	21	61	has	have	AUX
fcis-12278	21	62	come	come	VERB
fcis-12278	21	63	[	[	PUNCT
fcis-12278	21	64	4	4	NUM
fcis-12278	21	65	]	]	PUNCT
fcis-12278	21	66	.	.	PUNCT
fcis-12278	22	1	in	in	ADP
fcis-12278	22	2	this	this	DET
fcis-12278	22	3	paper	paper	NOUN
fcis-12278	22	4	,	,	PUNCT
fcis-12278	22	5	the	the	DET
fcis-12278	22	6	application	application	NOUN
fcis-12278	22	7	of	of	ADP
fcis-12278	22	8	machine	machine	NOUN
fcis-12278	22	9	learning	learning	NOUN
fcis-12278	22	10	in	in	ADP
fcis-12278	22	11	real	real	ADJ
fcis-12278	22	12	-	-	PUNCT
fcis-12278	22	13	time	time	NOUN
fcis-12278	22	14	decision	decision	NOUN
fcis-12278	22	15	-	-	PUNCT
fcis-12278	22	16	making	make	VERB
fcis-12278	22	17	system	system	NOUN
fcis-12278	22	18	of	of	ADP
fcis-12278	22	19	autonomous	autonomous	ADJ
fcis-12278	22	20	vehicles	vehicle	NOUN
fcis-12278	22	21	is	be	AUX
fcis-12278	22	22	studied	study	VERB
fcis-12278	22	23	.	.	PUNCT
fcis-12278	23	1	learn	learn	VERB
fcis-12278	23	2	the	the	DET
fcis-12278	23	3	driving	drive	VERB
fcis-12278	23	4	characteristics	characteristic	NOUN
fcis-12278	23	5	of	of	ADP
fcis-12278	23	6	a	a	DET
fcis-12278	23	7	specific	specific	ADJ
fcis-12278	23	8	driver	driver	NOUN
fcis-12278	23	9	,	,	PUNCT
fcis-12278	23	10	so	so	SCONJ
fcis-12278	23	11	that	that	SCONJ
fcis-12278	23	12	the	the	DET
fcis-12278	23	13	intention	intention	NOUN
fcis-12278	23	14	of	of	ADP
fcis-12278	23	15	selfdriving	selfdriving	NOUN
fcis-12278	23	16	vehicles	vehicle	NOUN
fcis-12278	23	17	is	be	AUX
fcis-12278	23	18	the	the	DET
fcis-12278	23	19	same	same	ADJ
fcis-12278	23	20	or	or	CCONJ
fcis-12278	23	21	similar	similar	ADJ
fcis-12278	23	22	to	to	ADP
fcis-12278	23	23	that	that	PRON
fcis-12278	23	24	of	of	ADP
fcis-12278	23	25	human	human	ADJ
fcis-12278	23	26	drivers	driver	NOUN
fcis-12278	23	27	,	,	PUNCT
fcis-12278	23	28	which	which	PRON
fcis-12278	23	29	brings	bring	VERB
fcis-12278	23	30	a	a	DET
fcis-12278	23	31	good	good	ADJ
fcis-12278	23	32	driving	driving	NOUN
fcis-12278	23	33	experience	experience	NOUN
fcis-12278	23	34	.	.	PUNCT
fcis-12278	24	1	use	use	VERB
fcis-12278	24	2	spatial	spatial	ADJ
fcis-12278	24	3	query	query	NOUN
fcis-12278	24	4	to	to	PART
fcis-12278	24	5	query	query	VERB
fcis-12278	24	6	the	the	DET
fcis-12278	24	7	map	map	NOUN
fcis-12278	24	8	elements	element	NOUN
fcis-12278	24	9	within	within	ADP
fcis-12278	24	10	the	the	DET
fcis-12278	24	11	vehicle	vehicle	NOUN
fcis-12278	24	12	range	range	NOUN
fcis-12278	24	13	in	in	ADP
fcis-12278	24	14	real	real	ADJ
fcis-12278	24	15	time	time	NOUN
fcis-12278	24	16	according	accord	VERB
fcis-12278	24	17	to	to	ADP
fcis-12278	24	18	a	a	DET
fcis-12278	24	19	certain	certain	ADJ
fcis-12278	24	20	frequency	frequency	NOUN
fcis-12278	24	21	[	[	X
fcis-12278	24	22	5	5	NUM
fcis-12278	24	23	]	]	PUNCT
fcis-12278	24	24	.	.	PUNCT
fcis-12278	25	1	according	accord	VERB
fcis-12278	25	2	to	to	ADP
fcis-12278	25	3	the	the	DET
fcis-12278	25	4	inquired	inquire	VERB
fcis-12278	25	5	sign	sign	NOUN
fcis-12278	25	6	information	information	NOUN
fcis-12278	25	7	,	,	PUNCT
fcis-12278	25	8	the	the	DET
fcis-12278	25	9	vehicle	vehicle	NOUN
fcis-12278	25	10	sensor	sensor	NOUN
fcis-12278	25	11	decision	decision	NOUN
fcis-12278	25	12	-	-	PUNCT
fcis-12278	25	13	making	making	NOUN
fcis-12278	25	14	is	be	AUX
fcis-12278	25	15	assisted	assist	VERB
fcis-12278	25	16	,	,	PUNCT
fcis-12278	25	17	and	and	CCONJ
fcis-12278	25	18	the	the	DET
fcis-12278	25	19	vehicle	vehicle	NOUN
fcis-12278	25	20	driving	drive	VERB
fcis-12278	25	21	route	route	NOUN
fcis-12278	25	22	is	be	AUX
fcis-12278	25	23	accurately	accurately	ADV
fcis-12278	25	24	controlled	control	VERB
fcis-12278	25	25	according	accord	VERB
fcis-12278	25	26	to	to	ADP
fcis-12278	25	27	the	the	DET
fcis-12278	25	28	inquired	inquire	VERB
fcis-12278	25	29	lane	lane	NOUN
fcis-12278	25	30	markings	marking	NOUN
fcis-12278	25	31	,	,	PUNCT
fcis-12278	25	32	which	which	PRON
fcis-12278	25	33	improves	improve	VERB
fcis-12278	25	34	the	the	DET
fcis-12278	25	35	sensitivity	sensitivity	NOUN
fcis-12278	25	36	of	of	ADP
fcis-12278	25	37	the	the	DET
fcis-12278	25	38	sensor	sensor	NOUN
fcis-12278	25	39	and	and	CCONJ
fcis-12278	25	40	the	the	DET
fcis-12278	25	41	toughness	toughness	NOUN
fcis-12278	25	42	of	of	ADP
fcis-12278	25	43	the	the	DET
fcis-12278	25	44	whole	whole	ADJ
fcis-12278	25	45	system	system	NOUN
fcis-12278	25	46	,	,	PUNCT
fcis-12278	25	47	greatly	greatly	ADV
fcis-12278	25	48	reduces	reduce	VERB
fcis-12278	25	49	the	the	DET
fcis-12278	25	50	false	false	ADJ
fcis-12278	25	51	alarm	alarm	NOUN
fcis-12278	25	52	rate	rate	NOUN
fcis-12278	25	53	and	and	CCONJ
fcis-12278	25	54	false	false	ADJ
fcis-12278	25	55	alarm	alarm	NOUN
fcis-12278	25	56	rate	rate	NOUN
fcis-12278	25	57	of	of	ADP
fcis-12278	25	58	traffic	traffic	NOUN
fcis-12278	25	59	accidents	accident	NOUN
fcis-12278	25	60	,	,	PUNCT
fcis-12278	25	61	and	and	CCONJ
fcis-12278	25	62	improves	improve	VERB
fcis-12278	25	63	the	the	DET
fcis-12278	25	64	credibility	credibility	NOUN
fcis-12278	25	65	and	and	CCONJ
fcis-12278	25	66	reliability	reliability	NOUN
fcis-12278	25	67	of	of	ADP
fcis-12278	25	68	the	the	DET
fcis-12278	25	69	automobile	automobile	NOUN
fcis-12278	25	70	collision	collision	NOUN
fcis-12278	25	71	warning	warning	NOUN
fcis-12278	25	72	system	system	NOUN
fcis-12278	26	1	[	[	X
fcis-12278	26	2	6	6	NUM
fcis-12278	26	3	]	]	PUNCT
fcis-12278	26	4	.	.	PUNCT
fcis-12278	27	1	2	2	X
fcis-12278	27	2	.	.	X
fcis-12278	27	3	establishment	establishment	NOUN
fcis-12278	27	4	of	of	ADP
fcis-12278	27	5	a	a	DET
fcis-12278	27	6	driving	drive	VERB
fcis-12278	27	7	decision	decision	NOUN
fcis-12278	27	8	recognition	recognition	NOUN
fcis-12278	27	9	model	model	NOUN
fcis-12278	27	10	figure	figure	NOUN
fcis-12278	27	11	1	1	NUM
fcis-12278	27	12	.	.	PUNCT
fcis-12278	27	13	autonomous	autonomous	ADJ
fcis-12278	27	14	vehicle	vehicle	NOUN
fcis-12278	27	15	the	the	DET
fcis-12278	27	16	concept	concept	NOUN
fcis-12278	27	17	of	of	ADP
fcis-12278	27	18	autonomous	autonomous	ADJ
fcis-12278	27	19	driving	driving	NOUN
fcis-12278	27	20	was	be	AUX
fcis-12278	27	21	first	first	ADV
fcis-12278	27	22	proposed	propose	VERB
fcis-12278	27	23	by	by	ADP
fcis-12278	27	24	john	john	PROPN
fcis-12278	27	25	mccarthy	mccarthy	PROPN
fcis-12278	27	26	,	,	PUNCT
fcis-12278	27	27	one	one	NUM
fcis-12278	27	28	of	of	ADP
fcis-12278	27	29	the	the	DET
fcis-12278	27	30	founders	founder	NOUN
fcis-12278	27	31	of	of	ADP
fcis-12278	27	32	artificial	artificial	ADJ
fcis-12278	27	33	intelligence	intelligence	NOUN
fcis-12278	27	34	,	,	PUNCT
fcis-12278	27	35	in	in	ADP
fcis-12278	27	36	1969	1969	NUM
fcis-12278	27	37	.	.	PUNCT
fcis-12278	28	1	he	he	PRON
fcis-12278	28	2	proposed	propose	VERB
fcis-12278	28	3	in	in	ADP
fcis-12278	28	4	an	an	DET
fcis-12278	28	5	article	article	NOUN
fcis-12278	28	6	titled	title	VERB
fcis-12278	28	7	"	"	PUNCT
fcis-12278	28	8	computer	computer	NOUN
fcis-12278	28	9	24	24	NUM
fcis-12278	28	10	controlled	control	VERB
fcis-12278	28	11	vehicles	vehicle	NOUN
fcis-12278	28	12	"	"	PUNCT
fcis-12278	28	13	that	that	PRON
fcis-12278	28	14	an	an	DET
fcis-12278	28	15	"	"	PUNCT
fcis-12278	28	16	autonomous	autonomous	ADJ
fcis-12278	28	17	driver	driver	NOUN
fcis-12278	28	18	"	"	PUNCT
fcis-12278	28	19	can	can	AUX
fcis-12278	28	20	use	use	VERB
fcis-12278	28	21	a	a	DET
fcis-12278	28	22	camera	camera	NOUN
fcis-12278	28	23	head	head	NOUN
fcis-12278	28	24	to	to	PART
fcis-12278	28	25	input	input	VERB
fcis-12278	28	26	visual	visual	ADJ
fcis-12278	28	27	information	information	NOUN
fcis-12278	28	28	like	like	ADP
fcis-12278	28	29	a	a	DET
fcis-12278	28	30	human	human	ADJ
fcis-12278	28	31	eye	eye	NOUN
fcis-12278	28	32	to	to	PART
fcis-12278	28	33	assist	assist	VERB
fcis-12278	28	34	in	in	ADP
fcis-12278	28	35	vehicle	vehicle	NOUN
fcis-12278	28	36	control	control	NOUN
fcis-12278	28	37	,	,	PUNCT
fcis-12278	28	38	as	as	SCONJ
fcis-12278	28	39	shown	show	VERB
fcis-12278	28	40	in	in	ADP
fcis-12278	28	41	figure	figure	NOUN
fcis-12278	28	42	1	1	NUM
fcis-12278	28	43	of	of	ADP
fcis-12278	28	44	an	an	DET
fcis-12278	28	45	autonomous	autonomous	ADJ
fcis-12278	28	46	vehicle	vehicle	NOUN
fcis-12278	28	47	.	.	PUNCT
fcis-12278	29	1	in	in	ADP
fcis-12278	29	2	order	order	NOUN
fcis-12278	29	3	to	to	PART
fcis-12278	29	4	obtain	obtain	VERB
fcis-12278	29	5	accurate	accurate	ADJ
fcis-12278	29	6	road	road	NOUN
fcis-12278	29	7	information	information	NOUN
fcis-12278	29	8	,	,	PUNCT
fcis-12278	29	9	autonomous	autonomous	ADJ
fcis-12278	29	10	vehicles	vehicle	NOUN
fcis-12278	29	11	need	need	VERB
fcis-12278	29	12	to	to	PART
fcis-12278	29	13	select	select	VERB
fcis-12278	29	14	appropriate	appropriate	ADJ
fcis-12278	29	15	thresholds	threshold	NOUN
fcis-12278	29	16	.	.	PUNCT
fcis-12278	30	1	when	when	SCONJ
fcis-12278	30	2	the	the	DET
fcis-12278	30	3	light	light	NOUN
fcis-12278	30	4	is	be	AUX
fcis-12278	30	5	strong	strong	ADJ
fcis-12278	30	6	,	,	PUNCT
fcis-12278	30	7	choose	choose	VERB
fcis-12278	30	8	a	a	DET
fcis-12278	30	9	large	large	ADJ
fcis-12278	30	10	threshold	threshold	NOUN
fcis-12278	30	11	.	.	PUNCT
fcis-12278	31	1	when	when	SCONJ
fcis-12278	31	2	the	the	DET
fcis-12278	31	3	light	light	NOUN
fcis-12278	31	4	is	be	AUX
fcis-12278	31	5	weak	weak	ADJ
fcis-12278	31	6	,	,	PUNCT
fcis-12278	31	7	choose	choose	VERB
fcis-12278	31	8	a	a	DET
fcis-12278	31	9	small	small	ADJ
fcis-12278	31	10	threshold	threshold	NOUN
fcis-12278	31	11	.	.	PUNCT
fcis-12278	32	1	in	in	ADP
fcis-12278	32	2	binary	binary	ADJ
fcis-12278	32	3	image	image	NOUN
fcis-12278	32	4	,	,	PUNCT
fcis-12278	32	5	the	the	DET
fcis-12278	32	6	first	first	ADJ
fcis-12278	32	7	10	10	NUM
fcis-12278	32	8	lines	line	NOUN
fcis-12278	32	9	adopt	adopt	VERB
fcis-12278	32	10	edge	edge	NOUN
fcis-12278	32	11	extraction	extraction	NOUN
fcis-12278	32	12	method	method	NOUN
fcis-12278	32	13	,	,	PUNCT
fcis-12278	32	14	and	and	CCONJ
fcis-12278	32	15	the	the	DET
fcis-12278	32	16	next	next	ADJ
fcis-12278	32	17	line	line	NOUN
fcis-12278	32	18	adopts	adopt	VERB
fcis-12278	32	19	tracking	track	VERB
fcis-12278	32	20	edge	edge	NOUN
fcis-12278	32	21	extraction	extraction	NOUN
fcis-12278	32	22	method	method	NOUN
fcis-12278	32	23	.	.	PUNCT
fcis-12278	33	1	use	use	VERB
fcis-12278	33	2	the	the	DET
fcis-12278	33	3	position	position	NOUN
fcis-12278	33	4	of	of	ADP
fcis-12278	33	5	the	the	DET
fcis-12278	33	6	first	first	ADJ
fcis-12278	33	7	10	10	NUM
fcis-12278	33	8	lines	line	NOUN
fcis-12278	33	9	.	.	PUNCT
fcis-12278	34	1	locate	locate	ADJ
fcis-12278	34	2	at	at	ADP
fcis-12278	34	3	the	the	DET
fcis-12278	34	4	11th	11th	ADJ
fcis-12278	34	5	line	line	NOUN
fcis-12278	34	6	,	,	PUNCT
fcis-12278	34	7	then	then	ADV
fcis-12278	34	8	search	search	VERB
fcis-12278	34	9	for	for	ADP
fcis-12278	34	10	the	the	DET
fcis-12278	34	11	black	black	ADJ
fcis-12278	34	12	line	line	NOUN
fcis-12278	34	13	in	in	ADP
fcis-12278	34	14	this	this	DET
fcis-12278	34	15	area	area	NOUN
fcis-12278	34	16	,	,	PUNCT
fcis-12278	34	17	and	and	CCONJ
fcis-12278	34	18	so	so	ADV
fcis-12278	34	19	on	on	ADV
fcis-12278	34	20	.	.	PUNCT
fcis-12278	35	1	determine	determine	VERB
fcis-12278	35	2	the	the	DET
fcis-12278	35	3	next	next	ADJ
fcis-12278	35	4	line	line	NOUN
fcis-12278	35	5	according	accord	VERB
fcis-12278	35	6	to	to	ADP
fcis-12278	35	7	the	the	DET
fcis-12278	35	8	previous	previous	ADJ
fcis-12278	35	9	line	line	NOUN
fcis-12278	35	10	.	.	PUNCT
fcis-12278	36	1	when	when	SCONJ
fcis-12278	36	2	the	the	DET
fcis-12278	36	3	position	position	NOUN
fcis-12278	36	4	of	of	ADP
fcis-12278	36	5	the	the	DET
fcis-12278	36	6	black	black	ADJ
fcis-12278	36	7	line	line	NOUN
fcis-12278	36	8	is	be	AUX
fcis-12278	36	9	not	not	PART
fcis-12278	36	10	found	find	VERB
fcis-12278	36	11	,	,	PUNCT
fcis-12278	36	12	keep	keep	VERB
fcis-12278	36	13	the	the	DET
fcis-12278	36	14	position	position	NOUN
fcis-12278	36	15	of	of	ADP
fcis-12278	36	16	the	the	DET
fcis-12278	36	17	previous	previous	ADJ
fcis-12278	36	18	line	line	NOUN
fcis-12278	36	19	as	as	ADP
fcis-12278	36	20	the	the	DET
fcis-12278	36	21	current	current	ADJ
fcis-12278	36	22	black	black	ADJ
fcis-12278	36	23	line	line	NOUN
fcis-12278	36	24	,	,	PUNCT
fcis-12278	36	25	and	and	CCONJ
fcis-12278	36	26	expand	expand	VERB
fcis-12278	36	27	the	the	DET
fcis-12278	36	28	search	search	NOUN
fcis-12278	36	29	area	area	NOUN
fcis-12278	36	30	of	of	ADP
fcis-12278	36	31	the	the	DET
fcis-12278	36	32	next	next	ADJ
fcis-12278	36	33	line	line	NOUN
fcis-12278	37	1	[	[	X
fcis-12278	37	2	7	7	NUM
fcis-12278	37	3	]	]	PUNCT
fcis-12278	37	4	.	.	PUNCT
fcis-12278	38	1	if	if	SCONJ
fcis-12278	38	2	you	you	PRON
fcis-12278	38	3	do	do	AUX
fcis-12278	38	4	n't	not	PART
fcis-12278	38	5	search	search	VERB
fcis-12278	38	6	for	for	ADP
fcis-12278	38	7	three	three	NUM
fcis-12278	38	8	consecutive	consecutive	ADJ
fcis-12278	38	9	black	black	ADJ
fcis-12278	38	10	lines	line	NOUN
fcis-12278	38	11	,	,	PUNCT
fcis-12278	38	12	you	you	PRON
fcis-12278	38	13	think	think	VERB
fcis-12278	38	14	this	this	DET
fcis-12278	38	15	line	line	NOUN
fcis-12278	38	16	is	be	AUX
fcis-12278	38	17	lost	lose	VERB
fcis-12278	38	18	and	and	CCONJ
fcis-12278	38	19	quit	quit	VERB
fcis-12278	38	20	the	the	DET
fcis-12278	38	21	search	search	NOUN
fcis-12278	38	22	.	.	PUNCT
fcis-12278	39	1	vehicles	vehicle	NOUN
fcis-12278	39	2	sometimes	sometimes	ADV
fcis-12278	39	3	need	need	VERB
fcis-12278	39	4	to	to	PART
fcis-12278	39	5	accelerate	accelerate	VERB
fcis-12278	39	6	to	to	PART
fcis-12278	39	7	ensure	ensure	VERB
fcis-12278	39	8	that	that	SCONJ
fcis-12278	39	9	vehicles	vehicle	NOUN
fcis-12278	39	10	do	do	AUX
fcis-12278	39	11	not	not	PART
fcis-12278	39	12	exceed	exceed	VERB
fcis-12278	39	13	the	the	DET
fcis-12278	39	14	specified	specified	ADJ
fcis-12278	39	15	speed	speed	NOUN
fcis-12278	39	16	and	and	CCONJ
fcis-12278	39	17	quickly	quickly	ADV
fcis-12278	39	18	enter	enter	VERB
fcis-12278	39	19	the	the	DET
fcis-12278	39	20	set	set	NOUN
fcis-12278	39	21	route	route	NOUN
fcis-12278	39	22	.	.	PUNCT
fcis-12278	40	1	therefore	therefore	ADV
fcis-12278	40	2	,	,	PUNCT
fcis-12278	40	3	it	it	PRON
fcis-12278	40	4	is	be	AUX
fcis-12278	40	5	necessary	necessary	ADJ
fcis-12278	40	6	to	to	PART
fcis-12278	40	7	adjust	adjust	VERB
fcis-12278	40	8	the	the	DET
fcis-12278	40	9	vehicle	vehicle	NOUN
fcis-12278	40	10	speed	speed	NOUN
fcis-12278	40	11	in	in	ADP
fcis-12278	40	12	real	real	ADJ
fcis-12278	40	13	time	time	NOUN
fcis-12278	40	14	according	accord	VERB
fcis-12278	40	15	to	to	ADP
fcis-12278	40	16	the	the	DET
fcis-12278	40	17	deviation	deviation	NOUN
fcis-12278	40	18	.	.	PUNCT
fcis-12278	41	1	considering	consider	VERB
fcis-12278	41	2	the	the	DET
fcis-12278	41	3	rapid	rapid	ADJ
fcis-12278	41	4	change	change	NOUN
fcis-12278	41	5	of	of	ADP
fcis-12278	41	6	motor	motor	NOUN
fcis-12278	41	7	speed	speed	NOUN
fcis-12278	41	8	,	,	PUNCT
fcis-12278	41	9	large	large	ADJ
fcis-12278	41	10	current	current	ADJ
fcis-12278	41	11	and	and	CCONJ
fcis-12278	41	12	frequent	frequent	ADJ
fcis-12278	41	13	acceleration	acceleration	NOUN
fcis-12278	41	14	and	and	CCONJ
fcis-12278	41	15	braking	braking	NOUN
fcis-12278	41	16	,	,	PUNCT
fcis-12278	41	17	it	it	PRON
fcis-12278	41	18	not	not	PART
fcis-12278	41	19	only	only	ADV
fcis-12278	41	20	makes	make	VERB
fcis-12278	41	21	the	the	DET
fcis-12278	41	22	drive	drive	ADJ
fcis-12278	41	23	chip	chip	NOUN
fcis-12278	41	24	start	start	VERB
fcis-12278	41	25	thermal	thermal	ADJ
fcis-12278	41	26	protection	protection	NOUN
fcis-12278	41	27	,	,	PUNCT
fcis-12278	41	28	but	but	CCONJ
fcis-12278	41	29	even	even	ADV
fcis-12278	41	30	burns	burn	VERB
fcis-12278	41	31	out	out	ADP
fcis-12278	41	32	the	the	DET
fcis-12278	41	33	motor	motor	NOUN
fcis-12278	41	34	.	.	PUNCT
fcis-12278	42	1	at	at	ADP
fcis-12278	42	2	the	the	DET
fcis-12278	42	3	same	same	ADJ
fcis-12278	42	4	time	time	NOUN
fcis-12278	42	5	,	,	PUNCT
fcis-12278	42	6	in	in	ADP
fcis-12278	42	7	order	order	NOUN
fcis-12278	42	8	to	to	PART
fcis-12278	42	9	make	make	VERB
fcis-12278	42	10	the	the	DET
fcis-12278	42	11	vehicle	vehicle	NOUN
fcis-12278	42	12	change	change	VERB
fcis-12278	42	13	speed	speed	NOUN
fcis-12278	42	14	stably	stably	ADV
fcis-12278	42	15	during	during	ADP
fcis-12278	42	16	the	the	DET
fcis-12278	42	17	whole	whole	ADJ
fcis-12278	42	18	driving	driving	NOUN
fcis-12278	42	19	process	process	NOUN
fcis-12278	42	20	,	,	PUNCT
fcis-12278	42	21	it	it	PRON
fcis-12278	42	22	is	be	AUX
fcis-12278	42	23	necessary	necessary	ADJ
fcis-12278	42	24	to	to	PART
fcis-12278	42	25	ensure	ensure	VERB
fcis-12278	42	26	that	that	SCONJ
fcis-12278	42	27	the	the	DET
fcis-12278	42	28	motor	motor	NOUN
fcis-12278	42	29	speed	speed	NOUN
fcis-12278	42	30	is	be	AUX
fcis-12278	42	31	a	a	DET
fcis-12278	42	32	gradual	gradual	ADJ
fcis-12278	42	33	process	process	NOUN
fcis-12278	42	34	and	and	CCONJ
fcis-12278	42	35	the	the	DET
fcis-12278	42	36	system	system	NOUN
fcis-12278	42	37	needs	need	VERB
fcis-12278	42	38	to	to	PART
fcis-12278	42	39	be	be	AUX
fcis-12278	42	40	adjusted	adjust	VERB
fcis-12278	42	41	slowly	slowly	ADV
fcis-12278	42	42	.	.	PUNCT
fcis-12278	43	1	this	this	PRON
fcis-12278	43	2	can	can	AUX
fcis-12278	43	3	remove	remove	VERB
fcis-12278	43	4	the	the	DET
fcis-12278	43	5	interference	interference	NOUN
fcis-12278	43	6	and	and	CCONJ
fcis-12278	43	7	greatly	greatly	ADV
fcis-12278	43	8	improve	improve	VERB
fcis-12278	43	9	the	the	DET
fcis-12278	43	10	efficiency	efficiency	NOUN
fcis-12278	43	11	of	of	ADP
fcis-12278	43	12	the	the	DET
fcis-12278	43	13	algorithm	algorithm	NOUN
fcis-12278	43	14	.	.	PUNCT
fcis-12278	44	1	microscopic	microscopic	ADJ
fcis-12278	44	2	traffic	traffic	NOUN
fcis-12278	44	3	scene	scene	NOUN
fcis-12278	44	4	information	information	NOUN
fcis-12278	44	5	model	model	NOUN
fcis-12278	44	6	and	and	CCONJ
fcis-12278	44	7	real	real	ADJ
fcis-12278	44	8	-	-	PUNCT
fcis-12278	44	9	time	time	NOUN
fcis-12278	44	10	decision	decision	NOUN
fcis-12278	44	11	-	-	PUNCT
fcis-12278	44	12	making	make	VERB
fcis-12278	44	13	model	model	NOUN
fcis-12278	44	14	of	of	ADP
fcis-12278	44	15	self	self	NOUN
fcis-12278	44	16	-	-	PUNCT
fcis-12278	44	17	driving	drive	VERB
fcis-12278	44	18	vehicles	vehicle	NOUN
fcis-12278	44	19	.	.	PUNCT
fcis-12278	45	1	as	as	ADP
fcis-12278	45	2	the	the	DET
fcis-12278	45	3	input	input	NOUN
fcis-12278	45	4	of	of	ADP
fcis-12278	45	5	the	the	DET
fcis-12278	45	6	real	real	ADJ
fcis-12278	45	7	-	-	PUNCT
fcis-12278	45	8	time	time	NOUN
fcis-12278	45	9	decision	decision	NOUN
fcis-12278	45	10	-	-	PUNCT
fcis-12278	45	11	making	make	VERB
fcis-12278	45	12	model	model	NOUN
fcis-12278	45	13	of	of	ADP
fcis-12278	45	14	autonomous	autonomous	ADJ
fcis-12278	45	15	vehicles	vehicle	NOUN
fcis-12278	45	16	,	,	PUNCT
fcis-12278	45	17	the	the	DET
fcis-12278	45	18	microscopic	microscopic	ADJ
fcis-12278	45	19	traffic	traffic	NOUN
fcis-12278	45	20	scene	scene	NOUN
fcis-12278	45	21	information	information	NOUN
fcis-12278	45	22	model	model	NOUN
fcis-12278	45	23	contains	contain	VERB
fcis-12278	45	24	multi	multi	ADJ
fcis-12278	45	25	-	-	ADJ
fcis-12278	45	26	level	level	ADJ
fcis-12278	45	27	scene	scene	NOUN
fcis-12278	45	28	information	information	NOUN
fcis-12278	45	29	,	,	PUNCT
fcis-12278	45	30	which	which	PRON
fcis-12278	45	31	provides	provide	VERB
fcis-12278	45	32	an	an	DET
fcis-12278	45	33	effective	effective	ADJ
fcis-12278	45	34	basis	basis	NOUN
fcis-12278	45	35	for	for	ADP
fcis-12278	45	36	behavior	behavior	NOUN
fcis-12278	45	37	decisionmaking	decisionmake	VERB
fcis-12278	45	38	.	.	PUNCT
fcis-12278	46	1	based	base	VERB
fcis-12278	46	2	on	on	ADP
fcis-12278	46	3	hierarchical	hierarchical	ADJ
fcis-12278	46	4	state	state	NOUN
fcis-12278	46	5	machine	machine	NOUN
fcis-12278	46	6	,	,	PUNCT
fcis-12278	46	7	the	the	DET
fcis-12278	46	8	decisionmaking	decisionmake	VERB
fcis-12278	46	9	model	model	NOUN
fcis-12278	46	10	divides	divide	VERB
fcis-12278	46	11	human	human	ADJ
fcis-12278	46	12	driving	drive	VERB
fcis-12278	46	13	behavior	behavior	NOUN
fcis-12278	46	14	into	into	ADP
fcis-12278	46	15	different	different	ADJ
fcis-12278	46	16	levels	level	NOUN
fcis-12278	46	17	of	of	ADP
fcis-12278	46	18	sub	sub	NOUN
fcis-12278	46	19	-	-	NOUN
fcis-12278	46	20	behaviors	behavior	NOUN
fcis-12278	46	21	,	,	PUNCT
fcis-12278	46	22	and	and	CCONJ
fcis-12278	46	23	establishes	establish	VERB
fcis-12278	46	24	the	the	DET
fcis-12278	46	25	corresponding	corresponding	ADJ
fcis-12278	46	26	top	top	ADJ
fcis-12278	46	27	-	-	PUNCT
fcis-12278	46	28	level	level	NOUN
fcis-12278	46	29	state	state	NOUN
fcis-12278	46	30	machine	machine	NOUN
fcis-12278	46	31	and	and	CCONJ
fcis-12278	46	32	supercar	supercar	NOUN
fcis-12278	46	33	state	state	NOUN
fcis-12278	46	34	machine	machine	NOUN
fcis-12278	47	1	[	[	X
fcis-12278	47	2	8	8	NUM
fcis-12278	47	3	]	]	PUNCT
fcis-12278	47	4	.	.	PUNCT
fcis-12278	48	1	hierarchical	hierarchical	ADJ
fcis-12278	48	2	state	state	NOUN
fcis-12278	48	3	machine	machine	NOUN
fcis-12278	48	4	models	model	NOUN
fcis-12278	48	5	the	the	DET
fcis-12278	48	6	behavior	behavior	NOUN
fcis-12278	48	7	decisionmaking	decisionmake	VERB
fcis-12278	48	8	problem	problem	NOUN
fcis-12278	48	9	as	as	ADP
fcis-12278	48	10	the	the	DET
fcis-12278	48	11	transition	transition	NOUN
fcis-12278	48	12	relationship	relationship	NOUN
fcis-12278	48	13	between	between	ADP
fcis-12278	48	14	states	state	NOUN
fcis-12278	48	15	,	,	PUNCT
fcis-12278	48	16	which	which	PRON
fcis-12278	48	17	reduces	reduce	VERB
fcis-12278	48	18	the	the	DET
fcis-12278	48	19	complexity	complexity	NOUN
fcis-12278	48	20	of	of	ADP
fcis-12278	48	21	decision	decision	NOUN
fcis-12278	48	22	-	-	PUNCT
fcis-12278	48	23	making	making	NOUN
fcis-12278	48	24	and	and	CCONJ
fcis-12278	48	25	makes	make	VERB
fcis-12278	48	26	the	the	DET
fcis-12278	48	27	decision	decision	NOUN
fcis-12278	48	28	-	-	PUNCT
fcis-12278	48	29	making	make	VERB
fcis-12278	48	30	system	system	NOUN
fcis-12278	48	31	easy	easy	ADJ
fcis-12278	48	32	to	to	PART
fcis-12278	48	33	maintain	maintain	VERB
fcis-12278	48	34	.	.	PUNCT
fcis-12278	49	1	according	accord	VERB
fcis-12278	49	2	to	to	ADP
fcis-12278	49	3	theoretical	theoretical	ADJ
fcis-12278	49	4	analysis	analysis	NOUN
fcis-12278	49	5	and	and	CCONJ
fcis-12278	49	6	practical	practical	ADJ
fcis-12278	49	7	driving	driving	NOUN
fcis-12278	49	8	experience	experience	NOUN
fcis-12278	49	9	,	,	PUNCT
fcis-12278	49	10	in	in	ADP
fcis-12278	49	11	the	the	DET
fcis-12278	49	12	process	process	NOUN
fcis-12278	49	13	of	of	ADP
fcis-12278	49	14	driving	drive	VERB
fcis-12278	49	15	decision	decision	NOUN
fcis-12278	49	16	-	-	PUNCT
fcis-12278	49	17	making	making	NOUN
fcis-12278	49	18	,	,	PUNCT
fcis-12278	49	19	driving	drive	VERB
fcis-12278	49	20	behavior	behavior	NOUN
fcis-12278	49	21	is	be	AUX
fcis-12278	49	22	often	often	ADV
fcis-12278	49	23	stimulated	stimulate	VERB
fcis-12278	49	24	and	and	CCONJ
fcis-12278	49	25	influenced	influence	VERB
fcis-12278	49	26	by	by	ADP
fcis-12278	49	27	multiple	multiple	ADJ
fcis-12278	49	28	factors	factor	NOUN
fcis-12278	49	29	such	such	ADJ
fcis-12278	49	30	as	as	ADP
fcis-12278	49	31	people	people	NOUN
fcis-12278	49	32	,	,	PUNCT
fcis-12278	49	33	cars	car	NOUN
fcis-12278	49	34	,	,	PUNCT
fcis-12278	49	35	roads	road	NOUN
fcis-12278	49	36	and	and	CCONJ
fcis-12278	49	37	environment	environment	NOUN
fcis-12278	49	38	.	.	PUNCT
fcis-12278	50	1	these	these	DET
fcis-12278	50	2	factors	factor	NOUN
fcis-12278	50	3	are	be	AUX
fcis-12278	50	4	collectively	collectively	ADV
fcis-12278	50	5	called	call	VERB
fcis-12278	50	6	driving	drive	VERB
fcis-12278	50	7	decision	decision	NOUN
fcis-12278	50	8	-	-	PUNCT
fcis-12278	50	9	making	make	VERB
fcis-12278	50	10	influencing	influence	VERB
fcis-12278	50	11	factors	factor	NOUN
fcis-12278	50	12	,	,	PUNCT
fcis-12278	50	13	which	which	PRON
fcis-12278	50	14	together	together	ADV
fcis-12278	50	15	determine	determine	VERB
fcis-12278	50	16	the	the	DET
fcis-12278	50	17	driver	driver	NOUN
fcis-12278	50	18	's	's	PART
fcis-12278	50	19	action	action	NOUN
fcis-12278	50	20	strategy	strategy	NOUN
fcis-12278	50	21	at	at	ADP
fcis-12278	50	22	the	the	DET
fcis-12278	50	23	next	next	ADJ
fcis-12278	50	24	moment	moment	NOUN
fcis-12278	50	25	.	.	PUNCT
fcis-12278	51	1	according	accord	VERB
fcis-12278	51	2	to	to	ADP
fcis-12278	51	3	this	this	DET
fcis-12278	51	4	strategy	strategy	NOUN
fcis-12278	51	5	and	and	CCONJ
fcis-12278	51	6	the	the	DET
fcis-12278	51	7	current	current	ADJ
fcis-12278	51	8	driving	driving	NOUN
fcis-12278	51	9	environment	environment	NOUN
fcis-12278	51	10	,	,	PUNCT
fcis-12278	51	11	the	the	DET
fcis-12278	51	12	driver	driver	NOUN
fcis-12278	51	13	can	can	AUX
fcis-12278	51	14	make	make	VERB
fcis-12278	51	15	driving	driving	NOUN
fcis-12278	51	16	decisions	decision	NOUN
fcis-12278	51	17	timely	timely	ADV
fcis-12278	51	18	and	and	CCONJ
fcis-12278	51	19	accurately	accurately	ADV
fcis-12278	51	20	[	[	X
fcis-12278	51	21	9	9	NUM
fcis-12278	51	22	-	-	SYM
fcis-12278	51	23	10	10	NUM
fcis-12278	51	24	]	]	PUNCT
fcis-12278	51	25	.	.	PUNCT
fcis-12278	52	1	3	3	X
fcis-12278	52	2	.	.	X
fcis-12278	52	3	research	research	NOUN
fcis-12278	52	4	on	on	ADP
fcis-12278	52	5	the	the	DET
fcis-12278	52	6	application	application	NOUN
fcis-12278	52	7	of	of	ADP
fcis-12278	52	8	machine	machine	NOUN
fcis-12278	52	9	learning	learning	NOUN
fcis-12278	52	10	in	in	ADP
fcis-12278	52	11	the	the	DET
fcis-12278	52	12	real	real	ADJ
fcis-12278	52	13	time	time	NOUN
fcis-12278	52	14	decision	decision	NOUN
fcis-12278	52	15	system	system	NOUN
fcis-12278	52	16	of	of	ADP
fcis-12278	52	17	autonomous	autonomous	ADJ
fcis-12278	52	18	vehicles	vehicle	NOUN
fcis-12278	52	19	3.1	3.1	NUM
fcis-12278	52	20	.	.	PUNCT
fcis-12278	53	1	establishment	establishment	NOUN
fcis-12278	53	2	of	of	ADP
fcis-12278	53	3	a	a	DET
fcis-12278	53	4	real	real	ADJ
fcis-12278	53	5	-	-	PUNCT
fcis-12278	53	6	time	time	NOUN
fcis-12278	53	7	decisionmaking	decisionmake	VERB
fcis-12278	53	8	system	system	NOUN
fcis-12278	53	9	for	for	ADP
fcis-12278	53	10	autonomous	autonomous	ADJ
fcis-12278	53	11	vehicles	vehicle	NOUN
fcis-12278	53	12	the	the	DET
fcis-12278	53	13	sensors	sensor	NOUN
fcis-12278	53	14	equipped	equip	VERB
fcis-12278	53	15	with	with	ADP
fcis-12278	53	16	autonomous	autonomous	ADJ
fcis-12278	53	17	vehicles	vehicle	NOUN
fcis-12278	53	18	mainly	mainly	ADV
fcis-12278	53	19	include	include	VERB
fcis-12278	53	20	maps	map	NOUN
fcis-12278	53	21	,	,	PUNCT
fcis-12278	53	22	monocular	monocular	ADJ
fcis-12278	53	23	cameras	camera	NOUN
fcis-12278	53	24	,	,	PUNCT
fcis-12278	53	25	lidar	lidar	NOUN
fcis-12278	53	26	,	,	PUNCT
fcis-12278	53	27	millimeter	millimeter	NOUN
fcis-12278	53	28	wave	wave	NOUN
fcis-12278	53	29	radar	radar	NOUN
fcis-12278	53	30	,	,	PUNCT
fcis-12278	53	31	and	and	CCONJ
fcis-12278	53	32	gps	gps	PROPN
fcis-12278	53	33	/	/	SYM
fcis-12278	53	34	ins	in	NOUN
fcis-12278	53	35	.	.	PUNCT
fcis-12278	54	1	among	among	ADP
fcis-12278	54	2	them	they	PRON
fcis-12278	54	3	,	,	PUNCT
fcis-12278	54	4	the	the	DET
fcis-12278	54	5	map	map	NOUN
fcis-12278	54	6	provides	provide	VERB
fcis-12278	54	7	road	road	NOUN
fcis-12278	54	8	information	information	NOUN
fcis-12278	54	9	such	such	ADJ
fcis-12278	54	10	as	as	ADP
fcis-12278	54	11	road	road	NOUN
fcis-12278	54	12	width	width	NOUN
fcis-12278	54	13	,	,	PUNCT
fcis-12278	54	14	number	number	NOUN
fcis-12278	54	15	of	of	ADP
fcis-12278	54	16	lanes	lane	NOUN
fcis-12278	54	17	,	,	PUNCT
fcis-12278	54	18	and	and	CCONJ
fcis-12278	54	19	speed	speed	NOUN
fcis-12278	54	20	limits	limit	NOUN
fcis-12278	54	21	,	,	PUNCT
fcis-12278	54	22	which	which	PRON
fcis-12278	54	23	are	be	AUX
fcis-12278	54	24	matched	match	VERB
fcis-12278	54	25	with	with	ADP
fcis-12278	54	26	perceptual	perceptual	ADJ
fcis-12278	54	27	information	information	NOUN
fcis-12278	54	28	obtained	obtain	VERB
fcis-12278	54	29	from	from	ADP
fcis-12278	54	30	cameras	camera	NOUN
fcis-12278	54	31	and	and	CCONJ
fcis-12278	54	32	lidar	lidar	VERB
fcis-12278	54	33	through	through	ADP
fcis-12278	54	34	virtual	virtual	ADJ
fcis-12278	54	35	lane	lane	NOUN
fcis-12278	54	36	technology	technology	NOUN
fcis-12278	54	37	.	.	PUNCT
fcis-12278	55	1	the	the	DET
fcis-12278	55	2	camera	camera	NOUN
fcis-12278	55	3	is	be	AUX
fcis-12278	55	4	used	use	VERB
fcis-12278	55	5	for	for	ADP
fcis-12278	55	6	lane	lane	NOUN
fcis-12278	55	7	detection	detection	NOUN
fcis-12278	55	8	.	.	PUNCT
fcis-12278	56	1	lidar	lidar	NOUN
fcis-12278	56	2	provides	provide	VERB
fcis-12278	56	3	three	three	NUM
fcis-12278	56	4	-	-	PUNCT
fcis-12278	56	5	dimensional	dimensional	ADJ
fcis-12278	56	6	distance	distance	NOUN
fcis-12278	56	7	measurement	measurement	NOUN
fcis-12278	56	8	,	,	PUNCT
fcis-12278	56	9	achieving	achieve	VERB
fcis-12278	56	10	dynamic	dynamic	ADJ
fcis-12278	56	11	vehicle	vehicle	NOUN
fcis-12278	56	12	detection	detection	NOUN
fcis-12278	56	13	,	,	PUNCT
fcis-12278	56	14	roadside	roadside	NOUN
fcis-12278	56	15	detection	detection	NOUN
fcis-12278	56	16	,	,	PUNCT
fcis-12278	56	17	etc	etc	X
fcis-12278	56	18	.	.	X
fcis-12278	57	1	based	base	VERB
fcis-12278	57	2	on	on	ADP
fcis-12278	57	3	the	the	DET
fcis-12278	57	4	distance	distance	NOUN
fcis-12278	57	5	point	point	NOUN
fcis-12278	57	6	cloud	cloud	NOUN
fcis-12278	57	7	of	of	ADP
fcis-12278	57	8	obstacles	obstacle	NOUN
fcis-12278	57	9	.	.	PUNCT
fcis-12278	58	1	this	this	DET
fcis-12278	58	2	article	article	NOUN
fcis-12278	58	3	uses	use	VERB
fcis-12278	58	4	machine	machine	NOUN
fcis-12278	58	5	learning	learn	VERB
fcis-12278	58	6	algorithms	algorithm	NOUN
fcis-12278	58	7	to	to	PART
fcis-12278	58	8	solve	solve	VERB
fcis-12278	58	9	the	the	DET
fcis-12278	58	10	classification	classification	NOUN
fcis-12278	58	11	problem	problem	NOUN
fcis-12278	58	12	generated	generate	VERB
fcis-12278	58	13	during	during	ADP
fcis-12278	58	14	the	the	DET
fcis-12278	58	15	driving	driving	NOUN
fcis-12278	58	16	process	process	NOUN
fcis-12278	58	17	of	of	ADP
fcis-12278	58	18	autonomous	autonomous	ADJ
fcis-12278	58	19	vehicles	vehicle	NOUN
fcis-12278	58	20	,	,	PUNCT
fcis-12278	58	21	in	in	ADP
fcis-12278	58	22	order	order	NOUN
fcis-12278	58	23	to	to	PART
fcis-12278	58	24	approximate	approximate	VERB
fcis-12278	58	25	the	the	DET
fcis-12278	58	26	subjective	subjective	ADJ
fcis-12278	58	27	decisions	decision	NOUN
fcis-12278	58	28	of	of	ADP
fcis-12278	58	29	specific	specific	ADJ
fcis-12278	58	30	drivers	driver	NOUN
fcis-12278	58	31	and	and	CCONJ
fcis-12278	58	32	bring	bring	VERB
fcis-12278	58	33	a	a	DET
fcis-12278	58	34	good	good	ADJ
fcis-12278	58	35	driving	driving	NOUN
fcis-12278	58	36	experience	experience	NOUN
fcis-12278	58	37	.	.	PUNCT
fcis-12278	59	1	the	the	DET
fcis-12278	59	2	generation	generation	NOUN
fcis-12278	59	3	of	of	ADP
fcis-12278	59	4	overtaking	overtake	VERB
fcis-12278	59	5	intention	intention	NOUN
fcis-12278	59	6	in	in	ADP
fcis-12278	59	7	autonomous	autonomous	ADJ
fcis-12278	59	8	vehicle	vehicle	NOUN
fcis-12278	59	9	decision	decision	NOUN
fcis-12278	59	10	-	-	PUNCT
fcis-12278	59	11	making	making	NOUN
fcis-12278	59	12	is	be	AUX
fcis-12278	59	13	essentially	essentially	ADV
fcis-12278	59	14	a	a	DET
fcis-12278	59	15	classification	classification	NOUN
fcis-12278	59	16	problem	problem	NOUN
fcis-12278	59	17	,	,	PUNCT
fcis-12278	59	18	and	and	CCONJ
fcis-12278	59	19	commonly	commonly	ADV
fcis-12278	59	20	used	use	VERB
fcis-12278	59	21	machine	machine	NOUN
fcis-12278	59	22	learning	learn	VERB
fcis-12278	59	23	classification	classification	NOUN
fcis-12278	59	24	algorithms	algorithm	NOUN
fcis-12278	59	25	include	include	VERB
fcis-12278	59	26	artificial	artificial	ADJ
fcis-12278	59	27	neural	neural	ADJ
fcis-12278	59	28	networks	network	NOUN
fcis-12278	59	29	,	,	PUNCT
fcis-12278	59	30	support	support	VERB
fcis-12278	59	31	vector	vector	NOUN
fcis-12278	59	32	machines	machine	NOUN
fcis-12278	59	33	,	,	PUNCT
fcis-12278	59	34	deep	deep	ADJ
fcis-12278	59	35	learning	learning	NOUN
fcis-12278	59	36	,	,	PUNCT
fcis-12278	59	37	etc	etc	X
fcis-12278	59	38	.	.	X
fcis-12278	60	1	the	the	DET
fcis-12278	60	2	use	use	NOUN
fcis-12278	60	3	of	of	ADP
fcis-12278	60	4	radial	radial	ADJ
fcis-12278	60	5	basis	basis	NOUN
fcis-12278	60	6	function	function	NOUN
fcis-12278	60	7	artificial	artificial	ADJ
fcis-12278	60	8	neural	neural	ADJ
fcis-12278	60	9	networks	network	NOUN
fcis-12278	60	10	to	to	PART
fcis-12278	60	11	solve	solve	VERB
fcis-12278	60	12	the	the	DET
fcis-12278	60	13	classification	classification	NOUN
fcis-12278	60	14	problem	problem	NOUN
fcis-12278	60	15	of	of	ADP
fcis-12278	60	16	overtaking	overtake	VERB
fcis-12278	60	17	intentions	intention	NOUN
fcis-12278	60	18	has	have	AUX
fcis-12278	60	19	been	be	AUX
fcis-12278	60	20	proven	prove	VERB
fcis-12278	60	21	to	to	PART
fcis-12278	60	22	be	be	AUX
fcis-12278	60	23	a	a	DET
fcis-12278	60	24	universal	universal	ADJ
fcis-12278	60	25	approximator	approximator	NOUN
fcis-12278	60	26	.	.	PUNCT
fcis-12278	61	1	environmental	environmental	ADJ
fcis-12278	61	2	modeling	modeling	NOUN
fcis-12278	61	3	includes	include	VERB
fcis-12278	61	4	global	global	ADJ
fcis-12278	61	5	traffic	traffic	NOUN
fcis-12278	61	6	models	model	NOUN
fcis-12278	61	7	and	and	CCONJ
fcis-12278	61	8	local	local	ADJ
fcis-12278	61	9	traffic	traffic	NOUN
fcis-12278	61	10	models	model	NOUN
fcis-12278	61	11	.	.	PUNCT
fcis-12278	62	1	among	among	ADP
fcis-12278	62	2	them	they	PRON
fcis-12278	62	3	,	,	PUNCT
fcis-12278	62	4	the	the	DET
fcis-12278	62	5	global	global	ADJ
fcis-12278	62	6	traffic	traffic	NOUN
fcis-12278	62	7	model	model	NOUN
fcis-12278	62	8	mainly	mainly	ADV
fcis-12278	62	9	includes	include	VERB
fcis-12278	62	10	road	road	NOUN
fcis-12278	62	11	network	network	NOUN
fcis-12278	62	12	information	information	NOUN
fcis-12278	62	13	,	,	PUNCT
fcis-12278	62	14	real	real	ADJ
fcis-12278	62	15	-	-	PUNCT
fcis-12278	62	16	time	time	NOUN
fcis-12278	62	17	road	road	NOUN
fcis-12278	62	18	condition	condition	NOUN
fcis-12278	62	19	information	information	NOUN
fcis-12278	62	20	,	,	PUNCT
fcis-12278	62	21	etc	etc	X
fcis-12278	62	22	.	.	X
fcis-12278	62	23	,	,	PUNCT
fcis-12278	62	24	used	use	VERB
fcis-12278	62	25	for	for	ADP
fcis-12278	62	26	global	global	ADJ
fcis-12278	62	27	path	path	NOUN
fcis-12278	62	28	planning	planning	NOUN
fcis-12278	62	29	.	.	PUNCT
fcis-12278	63	1	the	the	DET
fcis-12278	63	2	micro	micro	PROPN
fcis-12278	63	3	traffic	traffic	PROPN
fcis-12278	63	4	scene	scene	PROPN
fcis-12278	63	5	model	model	NOUN
fcis-12278	63	6	belongs	belong	VERB
fcis-12278	63	7	to	to	ADP
fcis-12278	63	8	the	the	DET
fcis-12278	63	9	research	research	NOUN
fcis-12278	63	10	focus	focus	NOUN
fcis-12278	63	11	of	of	ADP
fcis-12278	63	12	this	this	DET
fcis-12278	63	13	project	project	NOUN
fcis-12278	63	14	,	,	PUNCT
fcis-12278	63	15	mainly	mainly	ADV
fcis-12278	63	16	including	include	VERB
fcis-12278	63	17	road	road	NOUN
fcis-12278	63	18	information	information	NOUN
fcis-12278	63	19	,	,	PUNCT
fcis-12278	63	20	vehicle	vehicle	NOUN
fcis-12278	63	21	information	information	NOUN
fcis-12278	63	22	,	,	PUNCT
fcis-12278	63	23	driver	driver	NOUN
fcis-12278	63	24	intention	intention	NOUN
fcis-12278	63	25	information	information	NOUN
fcis-12278	63	26	,	,	PUNCT
fcis-12278	63	27	etc	etc	X
fcis-12278	63	28	.	.	X
fcis-12278	63	29	in	in	ADP
fcis-12278	63	30	local	local	ADJ
fcis-12278	63	31	environments	environment	NOUN
fcis-12278	63	32	.	.	PUNCT
fcis-12278	64	1	this	this	DET
fcis-12278	64	2	paper	paper	NOUN
fcis-12278	64	3	analyzes	analyze	VERB
fcis-12278	64	4	the	the	DET
fcis-12278	64	5	particularity	particularity	NOUN
fcis-12278	64	6	of	of	ADP
fcis-12278	64	7	rbf	rbf	PROPN
fcis-12278	64	8	neural	neural	ADJ
fcis-12278	64	9	network	network	NOUN
fcis-12278	64	10	to	to	ADP
fcis-12278	64	11	the	the	DET
fcis-12278	64	12	road	road	NOUN
fcis-12278	64	13	environment	environment	NOUN
fcis-12278	64	14	,	,	PUNCT
fcis-12278	64	15	fully	fully	ADV
fcis-12278	64	16	considers	consider	VERB
fcis-12278	64	17	the	the	DET
fcis-12278	64	18	behavior	behavior	NOUN
fcis-12278	64	19	intention	intention	NOUN
fcis-12278	64	20	and	and	CCONJ
fcis-12278	64	21	behavior	behavior	NOUN
fcis-12278	64	22	interaction	interaction	NOUN
fcis-12278	64	23	of	of	ADP
fcis-12278	64	24	vehicles	vehicle	NOUN
fcis-12278	64	25	,	,	PUNCT
fcis-12278	64	26	and	and	CCONJ
fcis-12278	64	27	puts	put	VERB
fcis-12278	64	28	forward	forward	ADV
fcis-12278	64	29	the	the	DET
fcis-12278	64	30	overall	overall	ADJ
fcis-12278	64	31	framework	framework	NOUN
fcis-12278	64	32	of	of	ADP
fcis-12278	64	33	the	the	DET
fcis-12278	64	34	road	road	NOUN
fcis-12278	64	35	auto	auto	NOUN
fcis-12278	64	36	drive	drive	NOUN
fcis-12278	64	37	system	system	NOUN
fcis-12278	64	38	,	,	PUNCT
fcis-12278	64	39	as	as	SCONJ
fcis-12278	64	40	shown	show	VERB
fcis-12278	64	41	in	in	ADP
fcis-12278	64	42	figure	figure	NOUN
fcis-12278	64	43	2	2	NUM
fcis-12278	64	44	.	.	PUNCT
fcis-12278	64	45	figure	figure	NOUN
fcis-12278	64	46	2	2	NUM
fcis-12278	64	47	.	.	PUNCT
fcis-12278	64	48	overall	overall	ADJ
fcis-12278	64	49	framework	framework	NOUN
fcis-12278	64	50	of	of	ADP
fcis-12278	64	51	auto	auto	NOUN
fcis-12278	64	52	drive	drive	NOUN
fcis-12278	64	53	system	system	NOUN
fcis-12278	64	54	due	due	ADP
fcis-12278	64	55	to	to	ADP
fcis-12278	64	56	the	the	DET
fcis-12278	64	57	complexity	complexity	NOUN
fcis-12278	64	58	of	of	ADP
fcis-12278	64	59	real	real	ADJ
fcis-12278	64	60	traffic	traffic	NOUN
fcis-12278	64	61	scenes	scene	NOUN
fcis-12278	64	62	and	and	CCONJ
fcis-12278	64	63	unpredictable	unpredictable	ADJ
fcis-12278	64	64	emergencies	emergency	NOUN
fcis-12278	64	65	,	,	PUNCT
fcis-12278	64	66	it	it	PRON
fcis-12278	64	67	is	be	AUX
fcis-12278	64	68	a	a	DET
fcis-12278	64	69	great	great	ADJ
fcis-12278	64	70	challenge	challenge	NOUN
fcis-12278	64	71	to	to	PART
fcis-12278	64	72	establish	establish	VERB
fcis-12278	64	73	a	a	DET
fcis-12278	64	74	behavior	behavior	NOUN
fcis-12278	64	75	decision	decision	NOUN
fcis-12278	64	76	-	-	PUNCT
fcis-12278	64	77	making	make	VERB
fcis-12278	64	78	system	system	NOUN
fcis-12278	64	79	.	.	PUNCT
fcis-12278	65	1	the	the	DET
fcis-12278	65	2	multi	multi	ADJ
fcis-12278	65	3	-	-	ADJ
fcis-12278	65	4	level	level	ADJ
fcis-12278	65	5	microscopic	microscopic	ADJ
fcis-12278	65	6	traffic	traffic	NOUN
fcis-12278	65	7	scene	scene	NOUN
fcis-12278	65	8	information	information	NOUN
fcis-12278	65	9	model	model	NOUN
fcis-12278	65	10	is	be	AUX
fcis-12278	65	11	established	establish	VERB
fcis-12278	65	12	by	by	ADP
fcis-12278	65	13	rbf	rbf	PROPN
fcis-12278	65	14	neural	neural	ADJ
fcis-12278	65	15	network	network	NOUN
fcis-12278	65	16	,	,	PUNCT
fcis-12278	65	17	which	which	PRON
fcis-12278	65	18	provides	provide	VERB
fcis-12278	65	19	reasonable	reasonable	ADJ
fcis-12278	65	20	and	and	CCONJ
fcis-12278	65	21	effective	effective	ADJ
fcis-12278	65	22	decision	decision	NOUN
fcis-12278	65	23	-	-	PUNCT
fcis-12278	65	24	making	making	NOUN
fcis-12278	65	25	basis	basis	NOUN
fcis-12278	65	26	for	for	ADP
fcis-12278	65	27	behavior	behavior	NOUN
fcis-12278	65	28	decision	decision	NOUN
fcis-12278	65	29	-	-	PUNCT
fcis-12278	65	30	making	make	VERB
fcis-12278	65	31	module	module	NOUN
fcis-12278	65	32	,	,	PUNCT
fcis-12278	65	33	can	can	AUX
fcis-12278	65	34	reduce	reduce	VERB
fcis-12278	65	35	the	the	DET
fcis-12278	65	36	adverse	adverse	ADJ
fcis-12278	65	37	effects	effect	NOUN
fcis-12278	65	38	caused	cause	VERB
fcis-12278	65	39	by	by	ADP
fcis-12278	65	40	the	the	DET
fcis-12278	65	41	uncertainty	uncertainty	NOUN
fcis-12278	65	42	of	of	ADP
fcis-12278	65	43	perception	perception	NOUN
fcis-12278	65	44	system	system	NOUN
fcis-12278	65	45	to	to	ADP
fcis-12278	65	46	a	a	DET
fcis-12278	65	47	certain	certain	ADJ
fcis-12278	65	48	extent	extent	NOUN
fcis-12278	65	49	,	,	PUNCT
fcis-12278	65	50	and	and	CCONJ
fcis-12278	65	51	enhance	enhance	VERB
fcis-12278	65	52	the	the	DET
fcis-12278	65	53	driving	drive	VERB
fcis-12278	65	54	safety	safety	NOUN
fcis-12278	65	55	and	and	CCONJ
fcis-12278	65	56	decision	decision	NOUN
fcis-12278	65	57	-	-	PUNCT
fcis-12278	65	58	making	make	VERB
fcis-12278	65	59	rationality	rationality	NOUN
fcis-12278	65	60	.	.	PUNCT
fcis-12278	66	1	rbf	rbf	PROPN
fcis-12278	66	2	neural	neural	PROPN
fcis-12278	66	3	network	network	NOUN
fcis-12278	66	4	is	be	AUX
fcis-12278	66	5	a	a	DET
fcis-12278	66	6	kind	kind	NOUN
fcis-12278	66	7	of	of	ADP
fcis-12278	66	8	feedforward	feedforward	ADJ
fcis-12278	66	9	neural	neural	ADJ
fcis-12278	66	10	network	network	NOUN
fcis-12278	66	11	,	,	PUNCT
fcis-12278	66	12	which	which	PRON
fcis-12278	66	13	contains	contain	VERB
fcis-12278	66	14	a	a	DET
fcis-12278	66	15	hidden	hidden	ADJ
fcis-12278	66	16	layer	layer	NOUN
fcis-12278	66	17	with	with	ADP
fcis-12278	66	18	radial	radial	ADJ
fcis-12278	66	19	basis	basis	NOUN
fcis-12278	66	20	function	function	NOUN
fcis-12278	66	21	and	and	CCONJ
fcis-12278	66	22	an	an	DET
fcis-12278	66	23	output	output	NOUN
fcis-12278	66	24	layer	layer	NOUN
fcis-12278	66	25	with	with	ADP
fcis-12278	66	26	linear	linear	ADJ
fcis-12278	66	27	neurons	neuron	NOUN
fcis-12278	66	28	.	.	PUNCT
fcis-12278	67	1	the	the	DET
fcis-12278	67	2	hidden	hide	VERB
fcis-12278	67	3	layer	layer	NOUN
fcis-12278	67	4	unit	unit	NOUN
fcis-12278	67	5	realizes	realize	VERB
fcis-12278	67	6	a	a	DET
fcis-12278	67	7	radial	radial	ADJ
fcis-12278	67	8	basis	basis	NOUN
fcis-12278	67	9	function	function	NOUN
fcis-12278	67	10	,	,	PUNCT
fcis-12278	67	11	and	and	CCONJ
fcis-12278	67	12	the	the	DET
fcis-12278	67	13	output	output	NOUN
fcis-12278	67	14	of	of	ADP
fcis-12278	67	15	each	each	DET
fcis-12278	67	16	hidden	hide	VERB
fcis-12278	67	17	layer	layer	NOUN
fcis-12278	67	18	unit	unit	NOUN
fcis-12278	67	19	is	be	AUX
fcis-12278	67	20	:	:	PUNCT
fcis-12278	67	21	25	25	NUM
fcis-12278	67	22	jppj	jppj	NOUN
fcis-12278	67	23	zy	zy	PROPN
fcis-12278	67	24			PROPN
fcis-12278	67	25	(	(	PUNCT
fcis-12278	67	26	1	1	NUM
fcis-12278	67	27	)	)	PUNCT
fcis-12278	67	28	where	where	SCONJ
fcis-12278	67	29	j	j	PROPN
fcis-12278	67	30	represents	represent	VERB
fcis-12278	67	31	the	the	DET
fcis-12278	67	32	center	center	NOUN
fcis-12278	67	33	of	of	ADP
fcis-12278	67	34	the	the	DET
fcis-12278	67	35	basis	basis	NOUN
fcis-12278	67	36	function	function	NOUN
fcis-12278	67	37	.	.	PUNCT
fcis-12278	68	1	the	the	DET
fcis-12278	68	2	output	output	NOUN
fcis-12278	68	3	unit	unit	NOUN
fcis-12278	68	4	of	of	ADP
fcis-12278	68	5	the	the	DET
fcis-12278	68	6	radial	radial	ADJ
fcis-12278	68	7	basis	basis	NOUN
fcis-12278	68	8	network	network	NOUN
fcis-12278	68	9	realizes	realize	VERB
fcis-12278	68	10	the	the	DET
fcis-12278	68	11	linear	linear	ADJ
fcis-12278	68	12	excitation	excitation	NOUN
fcis-12278	68	13	function	function	NOUN
fcis-12278	68	14	,	,	PUNCT
fcis-12278	68	15	that	that	ADV
fcis-12278	68	16	is	is	ADV
fcis-12278	68	17	,	,	PUNCT
fcis-12278	68	18	the	the	DET
fcis-12278	68	19	linear	linear	ADJ
fcis-12278	68	20	combination	combination	NOUN
fcis-12278	68	21	of	of	ADP
fcis-12278	68	22	basic	basic	ADJ
fcis-12278	68	23	functions	function	NOUN
fcis-12278	68	24	,	,	PUNCT
fcis-12278	68	25	which	which	PRON
fcis-12278	68	26	is	be	AUX
fcis-12278	68	27	calculated	calculate	VERB
fcis-12278	68	28	as	as	ADP
fcis-12278	68	29	:	:	PUNCT
fcis-12278	68	30			X
fcis-12278	68	31			X
fcis-12278	68	32			PUNCT
fcis-12278	68	33			NUM
fcis-12278	68	34	1	1	NUM
fcis-12278	68	35	1	1	NUM
fcis-12278	68	36	j	j	PROPN
fcis-12278	68	37	k	k	PROPN
fcis-12278	68	38	kjpko	kjpko	VERB
fcis-12278	68	39			X
fcis-12278	68	40	(	(	PUNCT
fcis-12278	68	41	2	2	X
fcis-12278	68	42	)	)	PUNCT
fcis-12278	68	43	considering	consider	VERB
fcis-12278	68	44	the	the	DET
fcis-12278	68	45	lack	lack	NOUN
fcis-12278	68	46	of	of	ADP
fcis-12278	68	47	perception	perception	NOUN
fcis-12278	68	48	performance	performance	NOUN
fcis-12278	68	49	of	of	ADP
fcis-12278	68	50	selfdriving	selfdriving	NOUN
fcis-12278	68	51	vehicles	vehicle	NOUN
fcis-12278	68	52	,	,	PUNCT
fcis-12278	68	53	it	it	PRON
fcis-12278	68	54	is	be	AUX
fcis-12278	68	55	impossible	impossible	ADJ
fcis-12278	68	56	to	to	PART
fcis-12278	68	57	fully	fully	ADV
fcis-12278	68	58	and	and	CCONJ
fcis-12278	68	59	accurately	accurately	ADV
fcis-12278	68	60	perceive	perceive	VERB
fcis-12278	68	61	the	the	DET
fcis-12278	68	62	surrounding	surround	VERB
fcis-12278	68	63	traffic	traffic	NOUN
fcis-12278	68	64	environment	environment	NOUN
fcis-12278	68	65	,	,	PUNCT
fcis-12278	68	66	which	which	PRON
fcis-12278	68	67	makes	make	VERB
fcis-12278	68	68	the	the	DET
fcis-12278	68	69	decision	decision	NOUN
fcis-12278	68	70	-	-	PUNCT
fcis-12278	68	71	making	make	VERB
fcis-12278	68	72	problem	problem	NOUN
fcis-12278	68	73	more	more	ADV
fcis-12278	68	74	difficult	difficult	ADJ
fcis-12278	68	75	.	.	PUNCT
fcis-12278	69	1	in	in	ADP
fcis-12278	69	2	order	order	NOUN
fcis-12278	69	3	to	to	PART
fcis-12278	69	4	establish	establish	VERB
fcis-12278	69	5	a	a	DET
fcis-12278	69	6	complex	complex	ADJ
fcis-12278	69	7	behavior	behavior	NOUN
fcis-12278	69	8	decision	decision	NOUN
fcis-12278	69	9	-	-	PUNCT
fcis-12278	69	10	making	make	VERB
fcis-12278	69	11	system	system	NOUN
fcis-12278	69	12	,	,	PUNCT
fcis-12278	69	13	this	this	DET
fcis-12278	69	14	paper	paper	NOUN
fcis-12278	69	15	fully	fully	ADV
fcis-12278	69	16	draws	draw	VERB
fcis-12278	69	17	lessons	lesson	NOUN
fcis-12278	69	18	from	from	ADP
fcis-12278	69	19	the	the	DET
fcis-12278	69	20	decision	decision	NOUN
fcis-12278	69	21	-	-	PUNCT
fcis-12278	69	22	making	make	VERB
fcis-12278	69	23	process	process	NOUN
fcis-12278	69	24	of	of	ADP
fcis-12278	69	25	human	human	ADJ
fcis-12278	69	26	drivers	driver	NOUN
fcis-12278	69	27	.	.	PUNCT
fcis-12278	70	1	on	on	ADP
fcis-12278	70	2	the	the	DET
fcis-12278	70	3	one	one	NUM
fcis-12278	70	4	hand	hand	NOUN
fcis-12278	70	5	,	,	PUNCT
fcis-12278	70	6	human	human	ADJ
fcis-12278	70	7	driving	drive	VERB
fcis-12278	70	8	decision	decision	NOUN
fcis-12278	70	9	provides	provide	VERB
fcis-12278	70	10	a	a	DET
fcis-12278	70	11	model	model	NOUN
fcis-12278	70	12	for	for	ADP
fcis-12278	70	13	self	self	NOUN
fcis-12278	70	14	-	-	PUNCT
fcis-12278	70	15	driving	drive	VERB
fcis-12278	70	16	vehicles	vehicle	NOUN
fcis-12278	70	17	,	,	PUNCT
fcis-12278	70	18	which	which	PRON
fcis-12278	70	19	is	be	AUX
fcis-12278	70	20	a	a	DET
fcis-12278	70	21	good	good	ADJ
fcis-12278	70	22	idea	idea	NOUN
fcis-12278	70	23	.	.	PUNCT
fcis-12278	71	1	on	on	ADP
fcis-12278	71	2	the	the	DET
fcis-12278	71	3	other	other	ADJ
fcis-12278	71	4	hand	hand	NOUN
fcis-12278	71	5	,	,	PUNCT
fcis-12278	71	6	the	the	DET
fcis-12278	71	7	decision	decision	NOUN
fcis-12278	71	8	-	-	PUNCT
fcis-12278	71	9	making	make	VERB
fcis-12278	71	10	system	system	NOUN
fcis-12278	71	11	of	of	ADP
fcis-12278	71	12	autonomous	autonomous	ADJ
fcis-12278	71	13	vehicles	vehicle	NOUN
fcis-12278	71	14	needs	need	VERB
fcis-12278	71	15	to	to	PART
fcis-12278	71	16	be	be	AUX
fcis-12278	71	17	human	human	NOUN
fcis-12278	71	18	-	-	PUNCT
fcis-12278	71	19	like	like	ADJ
fcis-12278	71	20	,	,	PUNCT
fcis-12278	71	21	and	and	CCONJ
fcis-12278	71	22	its	its	PRON
fcis-12278	71	23	behavior	behavior	NOUN
fcis-12278	71	24	can	can	AUX
fcis-12278	71	25	be	be	AUX
fcis-12278	71	26	understood	understand	VERB
fcis-12278	71	27	by	by	ADP
fcis-12278	71	28	human	human	ADJ
fcis-12278	71	29	drivers	driver	NOUN
fcis-12278	71	30	,	,	PUNCT
fcis-12278	71	31	so	so	SCONJ
fcis-12278	71	32	that	that	SCONJ
fcis-12278	71	33	it	it	PRON
fcis-12278	71	34	can	can	AUX
fcis-12278	71	35	truly	truly	ADV
fcis-12278	71	36	integrate	integrate	VERB
fcis-12278	71	37	into	into	ADP
fcis-12278	71	38	the	the	DET
fcis-12278	71	39	traffic	traffic	NOUN
fcis-12278	71	40	flow	flow	NOUN
fcis-12278	71	41	and	and	CCONJ
fcis-12278	71	42	drive	drive	VERB
fcis-12278	71	43	safely	safely	ADV
fcis-12278	71	44	.	.	PUNCT
fcis-12278	72	1	3.2	3.2	NUM
fcis-12278	72	2	.	.	PUNCT
fcis-12278	72	3	realization	realization	NOUN
fcis-12278	72	4	of	of	ADP
fcis-12278	72	5	real	real	ADJ
fcis-12278	72	6	-	-	PUNCT
fcis-12278	72	7	time	time	NOUN
fcis-12278	72	8	decision	decision	NOUN
fcis-12278	72	9	system	system	NOUN
fcis-12278	72	10	for	for	ADP
fcis-12278	72	11	self	self	NOUN
fcis-12278	72	12	-	-	PUNCT
fcis-12278	72	13	driving	drive	VERB
fcis-12278	72	14	vehicles	vehicle	NOUN
fcis-12278	72	15	in	in	ADP
fcis-12278	72	16	the	the	DET
fcis-12278	72	17	application	application	NOUN
fcis-12278	72	18	of	of	ADP
fcis-12278	72	19	real	real	ADJ
fcis-12278	72	20	-	-	PUNCT
fcis-12278	72	21	time	time	NOUN
fcis-12278	72	22	decision	decision	NOUN
fcis-12278	72	23	-	-	PUNCT
fcis-12278	72	24	making	make	VERB
fcis-12278	72	25	system	system	NOUN
fcis-12278	72	26	for	for	ADP
fcis-12278	72	27	autonomous	autonomous	ADJ
fcis-12278	72	28	vehicles	vehicle	NOUN
fcis-12278	72	29	,	,	PUNCT
fcis-12278	72	30	according	accord	VERB
fcis-12278	72	31	to	to	ADP
fcis-12278	72	32	the	the	DET
fcis-12278	72	33	actual	actual	ADJ
fcis-12278	72	34	situation	situation	NOUN
fcis-12278	72	35	,	,	PUNCT
fcis-12278	72	36	vehicles	vehicle	NOUN
fcis-12278	72	37	do	do	AUX
fcis-12278	72	38	not	not	PART
fcis-12278	72	39	need	need	VERB
fcis-12278	72	40	to	to	PART
fcis-12278	72	41	strictly	strictly	ADV
fcis-12278	72	42	follow	follow	VERB
fcis-12278	72	43	the	the	DET
fcis-12278	72	44	set	set	NOUN
fcis-12278	72	45	route	route	NOUN
fcis-12278	72	46	due	due	ADP
fcis-12278	72	47	to	to	ADP
fcis-12278	72	48	the	the	DET
fcis-12278	72	49	need	need	NOUN
fcis-12278	72	50	for	for	ADP
fcis-12278	72	51	self	self	NOUN
fcis-12278	72	52	-	-	PUNCT
fcis-12278	72	53	judgment	judgment	NOUN
fcis-12278	72	54	ability	ability	NOUN
fcis-12278	72	55	.	.	PUNCT
fcis-12278	73	1	therefore	therefore	ADV
fcis-12278	73	2	,	,	PUNCT
fcis-12278	73	3	the	the	DET
fcis-12278	73	4	steering	steering	NOUN
fcis-12278	73	5	control	control	NOUN
fcis-12278	73	6	adopts	adopt	VERB
fcis-12278	73	7	a	a	DET
fcis-12278	73	8	control	control	NOUN
fcis-12278	73	9	algorithm	algorithm	NOUN
fcis-12278	73	10	to	to	PART
fcis-12278	73	11	eliminate	eliminate	VERB
fcis-12278	73	12	integral	integral	ADJ
fcis-12278	73	13	saturation	saturation	NOUN
fcis-12278	73	14	elements	element	NOUN
fcis-12278	73	15	.	.	PUNCT
fcis-12278	74	1	in	in	ADP
fcis-12278	74	2	order	order	NOUN
fcis-12278	74	3	to	to	PART
fcis-12278	74	4	make	make	VERB
fcis-12278	74	5	the	the	DET
fcis-12278	74	6	vehicle	vehicle	NOUN
fcis-12278	74	7	run	run	VERB
fcis-12278	74	8	more	more	ADV
fcis-12278	74	9	smoothly	smoothly	ADV
fcis-12278	74	10	,	,	PUNCT
fcis-12278	74	11	the	the	DET
fcis-12278	74	12	system	system	NOUN
fcis-12278	74	13	needs	need	VERB
fcis-12278	74	14	to	to	PART
fcis-12278	74	15	be	be	AUX
fcis-12278	74	16	adjusted	adjust	VERB
fcis-12278	74	17	slowly	slowly	ADV
fcis-12278	74	18	,	,	PUNCT
fcis-12278	74	19	or	or	CCONJ
fcis-12278	74	20	even	even	ADV
fcis-12278	74	21	not	not	PART
fcis-12278	74	22	adjusted	adjust	VERB
fcis-12278	74	23	on	on	ADP
fcis-12278	74	24	small	small	ADJ
fcis-12278	74	25	deviations	deviation	NOUN
fcis-12278	74	26	,	,	PUNCT
fcis-12278	74	27	while	while	SCONJ
fcis-12278	74	28	quickly	quickly	ADV
fcis-12278	74	29	adjusting	adjust	VERB
fcis-12278	74	30	to	to	PART
fcis-12278	74	31	avoid	avoid	VERB
fcis-12278	74	32	large	large	ADJ
fcis-12278	74	33	deviations	deviation	NOUN
fcis-12278	74	34	in	in	ADP
fcis-12278	74	35	the	the	DET
fcis-12278	74	36	motor	motor	NOUN
fcis-12278	74	37	.	.	PUNCT
fcis-12278	75	1	on	on	ADP
fcis-12278	75	2	the	the	DET
fcis-12278	75	3	basis	basis	NOUN
fcis-12278	75	4	of	of	ADP
fcis-12278	75	5	considering	consider	VERB
fcis-12278	75	6	the	the	DET
fcis-12278	75	7	multiobjective	multiobjective	ADJ
fcis-12278	75	8	decision	decision	NOUN
fcis-12278	75	9	-	-	PUNCT
fcis-12278	75	10	making	make	VERB
fcis-12278	75	11	system	system	NOUN
fcis-12278	75	12	of	of	ADP
fcis-12278	75	13	vehicle	vehicle	NOUN
fcis-12278	75	14	driving	driving	NOUN
fcis-12278	75	15	safety	safety	NOUN
fcis-12278	75	16	,	,	PUNCT
fcis-12278	75	17	comfort	comfort	NOUN
fcis-12278	75	18	,	,	PUNCT
fcis-12278	75	19	and	and	CCONJ
fcis-12278	75	20	stability	stability	NOUN
fcis-12278	75	21	,	,	PUNCT
fcis-12278	75	22	in	in	ADP
fcis-12278	75	23	order	order	NOUN
fcis-12278	75	24	to	to	PART
fcis-12278	75	25	make	make	VERB
fcis-12278	75	26	the	the	DET
fcis-12278	75	27	system	system	NOUN
fcis-12278	75	28	as	as	ADV
fcis-12278	75	29	close	close	ADJ
fcis-12278	75	30	as	as	ADP
fcis-12278	75	31	possible	possible	ADJ
fcis-12278	75	32	to	to	ADP
fcis-12278	75	33	the	the	DET
fcis-12278	75	34	handling	handling	NOUN
fcis-12278	75	35	characteristics	characteristic	NOUN
fcis-12278	75	36	of	of	ADP
fcis-12278	75	37	real	real	ADJ
fcis-12278	75	38	drivers	driver	NOUN
fcis-12278	75	39	,	,	PUNCT
fcis-12278	75	40	this	this	DET
fcis-12278	75	41	article	article	NOUN
fcis-12278	75	42	selects	select	VERB
fcis-12278	75	43	a	a	DET
fcis-12278	75	44	driving	drive	VERB
fcis-12278	75	45	simulator	simulator	NOUN
fcis-12278	75	46	as	as	ADP
fcis-12278	75	47	a	a	DET
fcis-12278	75	48	data	data	NOUN
fcis-12278	75	49	collection	collection	NOUN
fcis-12278	75	50	platform	platform	NOUN
fcis-12278	75	51	and	and	CCONJ
fcis-12278	75	52	designs	design	VERB
fcis-12278	75	53	various	various	ADJ
fcis-12278	75	54	daily	daily	ADJ
fcis-12278	75	55	driving	driving	NOUN
fcis-12278	75	56	conditions	condition	NOUN
fcis-12278	75	57	to	to	PART
fcis-12278	75	58	collect	collect	VERB
fcis-12278	75	59	real	real	ADJ
fcis-12278	75	60	driving	driving	NOUN
fcis-12278	75	61	data	datum	NOUN
fcis-12278	75	62	of	of	ADP
fcis-12278	75	63	drivers	driver	NOUN
fcis-12278	75	64	.	.	PUNCT
fcis-12278	76	1	the	the	DET
fcis-12278	76	2	actual	actual	ADJ
fcis-12278	76	3	acceleration	acceleration	NOUN
fcis-12278	76	4	of	of	ADP
fcis-12278	76	5	the	the	DET
fcis-12278	76	6	entire	entire	ADJ
fcis-12278	76	7	process	process	NOUN
fcis-12278	76	8	has	have	VERB
fcis-12278	76	9	a	a	DET
fcis-12278	76	10	good	good	ADJ
fcis-12278	76	11	tracking	tracking	NOUN
fcis-12278	76	12	effect	effect	NOUN
fcis-12278	76	13	on	on	ADP
fcis-12278	76	14	the	the	DET
fcis-12278	76	15	expected	expect	VERB
fcis-12278	76	16	acceleration	acceleration	NOUN
fcis-12278	76	17	.	.	PUNCT
fcis-12278	77	1	during	during	ADP
fcis-12278	77	2	the	the	DET
fcis-12278	77	3	deceleration	deceleration	NOUN
fcis-12278	77	4	process	process	NOUN
fcis-12278	77	5	,	,	PUNCT
fcis-12278	77	6	due	due	ADP
fcis-12278	77	7	to	to	ADP
fcis-12278	77	8	speed	speed	VERB
fcis-12278	77	9	fluctuations	fluctuation	NOUN
fcis-12278	77	10	in	in	ADP
fcis-12278	77	11	the	the	DET
fcis-12278	77	12	front	front	ADJ
fcis-12278	77	13	car	car	NOUN
fcis-12278	77	14	,	,	PUNCT
fcis-12278	77	15	the	the	DET
fcis-12278	77	16	expected	expect	VERB
fcis-12278	77	17	acceleration	acceleration	NOUN
fcis-12278	77	18	of	of	ADP
fcis-12278	77	19	this	this	DET
fcis-12278	77	20	car	car	NOUN
fcis-12278	77	21	changes	change	NOUN
fcis-12278	77	22	first	first	ADV
fcis-12278	77	23	by	by	ADP
fcis-12278	77	24	braking	brake	VERB
fcis-12278	77	25	heavily	heavily	ADV
fcis-12278	77	26	and	and	CCONJ
fcis-12278	77	27	then	then	ADV
fcis-12278	77	28	accelerating	accelerate	VERB
fcis-12278	77	29	.	.	PUNCT
fcis-12278	78	1	then	then	ADV
fcis-12278	78	2	,	,	PUNCT
fcis-12278	78	3	as	as	SCONJ
fcis-12278	78	4	it	it	PRON
fcis-12278	78	5	approaches	approach	VERB
fcis-12278	78	6	the	the	DET
fcis-12278	78	7	front	front	ADJ
fcis-12278	78	8	car	car	NOUN
fcis-12278	78	9	,	,	PUNCT
fcis-12278	78	10	it	it	PRON
fcis-12278	78	11	gradually	gradually	ADV
fcis-12278	78	12	decelerates	decelerate	VERB
fcis-12278	78	13	and	and	CCONJ
fcis-12278	78	14	brakes	brake	NOUN
fcis-12278	78	15	with	with	ADP
fcis-12278	78	16	pressure	pressure	NOUN
fcis-12278	78	17	at	at	ADP
fcis-12278	78	18	the	the	DET
fcis-12278	78	19	end	end	NOUN
fcis-12278	78	20	,	,	PUNCT
fcis-12278	78	21	which	which	PRON
fcis-12278	78	22	is	be	AUX
fcis-12278	78	23	basically	basically	ADV
fcis-12278	78	24	consistent	consistent	ADJ
fcis-12278	78	25	with	with	ADP
fcis-12278	78	26	the	the	DET
fcis-12278	78	27	driver	driver	NOUN
fcis-12278	78	28	's	's	PART
fcis-12278	78	29	behavior	behavior	NOUN
fcis-12278	78	30	pattern	pattern	NOUN
fcis-12278	78	31	.	.	PUNCT
fcis-12278	79	1	when	when	SCONJ
fcis-12278	79	2	the	the	DET
fcis-12278	79	3	distance	distance	NOUN
fcis-12278	79	4	between	between	ADP
fcis-12278	79	5	vehicles	vehicle	NOUN
fcis-12278	79	6	is	be	AUX
fcis-12278	79	7	too	too	ADV
fcis-12278	79	8	small	small	ADJ
fcis-12278	79	9	,	,	PUNCT
fcis-12278	79	10	it	it	PRON
fcis-12278	79	11	is	be	AUX
fcis-12278	79	12	necessary	necessary	ADJ
fcis-12278	79	13	to	to	PART
fcis-12278	79	14	slow	slow	VERB
fcis-12278	79	15	down	down	ADP
fcis-12278	79	16	to	to	PART
fcis-12278	79	17	increase	increase	VERB
fcis-12278	79	18	the	the	DET
fcis-12278	79	19	distance	distance	NOUN
fcis-12278	79	20	.	.	PUNCT
fcis-12278	80	1	when	when	SCONJ
fcis-12278	80	2	the	the	DET
fcis-12278	80	3	target	target	NOUN
fcis-12278	80	4	speed	speed	NOUN
fcis-12278	80	5	is	be	AUX
fcis-12278	80	6	calculated	calculate	VERB
fcis-12278	80	7	by	by	ADP
fcis-12278	80	8	the	the	DET
fcis-12278	80	9	vehicle	vehicle	NOUN
fcis-12278	80	10	distance	distance	NOUN
fcis-12278	80	11	model	model	NOUN
fcis-12278	80	12	and	and	CCONJ
fcis-12278	80	13	is	be	AUX
fcis-12278	80	14	less	less	ADJ
fcis-12278	80	15	than	than	ADP
fcis-12278	80	16	the	the	DET
fcis-12278	80	17	current	current	ADJ
fcis-12278	80	18	speed	speed	NOUN
fcis-12278	80	19	,	,	PUNCT
fcis-12278	80	20	it	it	PRON
fcis-12278	80	21	is	be	AUX
fcis-12278	80	22	controlled	control	VERB
fcis-12278	80	23	by	by	ADP
fcis-12278	80	24	the	the	DET
fcis-12278	80	25	operating	operating	NOUN
fcis-12278	80	26	conditions	condition	NOUN
fcis-12278	80	27	to	to	PART
fcis-12278	80	28	achieve	achieve	VERB
fcis-12278	80	29	speed	speed	NOUN
fcis-12278	80	30	following	following	NOUN
fcis-12278	80	31	.	.	PUNCT
fcis-12278	81	1	unlike	unlike	ADP
fcis-12278	81	2	the	the	DET
fcis-12278	81	3	engine	engine	NOUN
fcis-12278	81	4	characteristics	characteristic	NOUN
fcis-12278	81	5	,	,	PUNCT
fcis-12278	81	6	the	the	DET
fcis-12278	81	7	response	response	NOUN
fcis-12278	81	8	of	of	ADP
fcis-12278	81	9	a	a	DET
fcis-12278	81	10	car	car	NOUN
fcis-12278	81	11	's	's	PART
fcis-12278	81	12	deceleration	deceleration	NOUN
fcis-12278	81	13	braking	braking	NOUN
fcis-12278	81	14	is	be	AUX
fcis-12278	81	15	extremely	extremely	ADV
fcis-12278	81	16	fast	fast	ADJ
fcis-12278	81	17	,	,	PUNCT
fcis-12278	81	18	and	and	CCONJ
fcis-12278	81	19	the	the	DET
fcis-12278	81	20	wheel	wheel	NOUN
fcis-12278	81	21	cylinder	cylinder	NOUN
fcis-12278	81	22	braking	brake	VERB
fcis-12278	81	23	resistance	resistance	NOUN
fcis-12278	81	24	accounts	account	NOUN
fcis-12278	81	25	for	for	ADP
fcis-12278	81	26	the	the	DET
fcis-12278	81	27	majority	majority	NOUN
fcis-12278	81	28	of	of	ADP
fcis-12278	81	29	the	the	DET
fcis-12278	81	30	total	total	ADJ
fcis-12278	81	31	resistance	resistance	NOUN
fcis-12278	81	32	during	during	ADP
fcis-12278	81	33	the	the	DET
fcis-12278	81	34	braking	braking	NOUN
fcis-12278	81	35	process	process	NOUN
fcis-12278	81	36	.	.	PUNCT
fcis-12278	82	1	therefore	therefore	ADV
fcis-12278	82	2	,	,	PUNCT
fcis-12278	82	3	the	the	DET
fcis-12278	82	4	vehicle	vehicle	NOUN
fcis-12278	82	5	's	's	PART
fcis-12278	82	6	braking	braking	NOUN
fcis-12278	82	7	has	have	VERB
fcis-12278	82	8	good	good	ADJ
fcis-12278	82	9	linearity	linearity	NOUN
fcis-12278	82	10	.	.	PUNCT
fcis-12278	83	1	simply	simply	ADV
fcis-12278	83	2	set	set	VERB
fcis-12278	83	3	the	the	DET
fcis-12278	83	4	program	program	NOUN
fcis-12278	83	5	logic	logic	NOUN
fcis-12278	83	6	and	and	CCONJ
fcis-12278	83	7	acceleration	acceleration	NOUN
fcis-12278	83	8	control	control	NOUN
fcis-12278	83	9	threshold	threshold	NOUN
fcis-12278	83	10	to	to	PART
fcis-12278	83	11	achieve	achieve	VERB
fcis-12278	83	12	the	the	DET
fcis-12278	83	13	output	output	NOUN
fcis-12278	83	14	of	of	ADP
fcis-12278	83	15	the	the	DET
fcis-12278	83	16	target	target	NOUN
fcis-12278	83	17	control	control	NOUN
fcis-12278	83	18	curve	curve	NOUN
fcis-12278	83	19	.	.	PUNCT
fcis-12278	84	1	considering	consider	VERB
fcis-12278	84	2	that	that	SCONJ
fcis-12278	84	3	the	the	DET
fcis-12278	84	4	motor	motor	NOUN
fcis-12278	84	5	speed	speed	NOUN
fcis-12278	84	6	changes	change	VERB
fcis-12278	84	7	rapidly	rapidly	ADV
fcis-12278	84	8	and	and	CCONJ
fcis-12278	84	9	in	in	ADP
fcis-12278	84	10	order	order	NOUN
fcis-12278	84	11	to	to	PART
fcis-12278	84	12	ensure	ensure	VERB
fcis-12278	84	13	stable	stable	ADJ
fcis-12278	84	14	transmission	transmission	NOUN
fcis-12278	84	15	throughout	throughout	ADP
fcis-12278	84	16	the	the	DET
fcis-12278	84	17	entire	entire	ADJ
fcis-12278	84	18	driving	driving	NOUN
fcis-12278	84	19	process	process	NOUN
fcis-12278	84	20	,	,	PUNCT
fcis-12278	84	21	the	the	DET
fcis-12278	84	22	system	system	NOUN
fcis-12278	84	23	can	can	AUX
fcis-12278	84	24	ensure	ensure	VERB
fcis-12278	84	25	that	that	SCONJ
fcis-12278	84	26	the	the	DET
fcis-12278	84	27	motor	motor	NOUN
fcis-12278	84	28	speed	speed	NOUN
fcis-12278	84	29	is	be	AUX
fcis-12278	84	30	a	a	DET
fcis-12278	84	31	gradual	gradual	ADJ
fcis-12278	84	32	process	process	NOUN
fcis-12278	84	33	.	.	PUNCT
fcis-12278	85	1	the	the	DET
fcis-12278	85	2	system	system	NOUN
fcis-12278	85	3	needs	need	VERB
fcis-12278	85	4	to	to	PART
fcis-12278	85	5	adjust	adjust	VERB
fcis-12278	85	6	slowly	slowly	ADV
fcis-12278	85	7	,	,	PUNCT
fcis-12278	85	8	even	even	ADV
fcis-12278	85	9	if	if	SCONJ
fcis-12278	85	10	there	there	PRON
fcis-12278	85	11	is	be	VERB
fcis-12278	85	12	no	no	DET
fcis-12278	85	13	small	small	ADJ
fcis-12278	85	14	deviation	deviation	NOUN
fcis-12278	85	15	adjustment	adjustment	NOUN
fcis-12278	85	16	,	,	PUNCT
fcis-12278	85	17	the	the	DET
fcis-12278	85	18	adjustment	adjustment	NOUN
fcis-12278	85	19	speed	speed	NOUN
fcis-12278	85	20	is	be	AUX
fcis-12278	85	21	fast	fast	ADJ
fcis-12278	85	22	,	,	PUNCT
fcis-12278	85	23	and	and	CCONJ
fcis-12278	85	24	at	at	ADP
fcis-12278	85	25	the	the	DET
fcis-12278	85	26	same	same	ADJ
fcis-12278	85	27	time	time	NOUN
fcis-12278	85	28	,	,	PUNCT
fcis-12278	85	29	it	it	PRON
fcis-12278	85	30	can	can	AUX
fcis-12278	85	31	adjust	adjust	VERB
fcis-12278	85	32	the	the	DET
fcis-12278	85	33	large	large	ADJ
fcis-12278	85	34	deviation	deviation	NOUN
fcis-12278	85	35	generated	generate	VERB
fcis-12278	85	36	during	during	ADP
fcis-12278	85	37	cornering	corner	VERB
fcis-12278	85	38	or	or	CCONJ
fcis-12278	85	39	overtaking	overtake	VERB
fcis-12278	85	40	to	to	PART
fcis-12278	85	41	prevent	prevent	VERB
fcis-12278	85	42	slow	slow	ADJ
fcis-12278	85	43	tracking	tracking	NOUN
fcis-12278	85	44	response	response	NOUN
fcis-12278	85	45	speed	speed	NOUN
fcis-12278	85	46	.	.	PUNCT
fcis-12278	86	1	4	4	X
fcis-12278	86	2	.	.	X
fcis-12278	86	3	conclusion	conclusion	NOUN
fcis-12278	86	4	in	in	ADP
fcis-12278	86	5	the	the	DET
fcis-12278	86	6	road	road	NOUN
fcis-12278	86	7	traffic	traffic	NOUN
fcis-12278	86	8	environment	environment	NOUN
fcis-12278	86	9	,	,	PUNCT
fcis-12278	86	10	the	the	DET
fcis-12278	86	11	self	self	NOUN
fcis-12278	86	12	-	-	PUNCT
fcis-12278	86	13	driving	drive	VERB
fcis-12278	86	14	vehicle	vehicle	NOUN
fcis-12278	86	15	can	can	AUX
fcis-12278	86	16	reasonably	reasonably	ADV
fcis-12278	86	17	change	change	VERB
fcis-12278	86	18	the	the	DET
fcis-12278	86	19	speed	speed	NOUN
fcis-12278	86	20	and	and	CCONJ
fcis-12278	86	21	the	the	DET
fcis-12278	86	22	following	follow	VERB
fcis-12278	86	23	distance	distance	NOUN
fcis-12278	86	24	through	through	ADP
fcis-12278	86	25	control	control	NOUN
fcis-12278	86	26	,	,	PUNCT
fcis-12278	86	27	so	so	SCONJ
fcis-12278	86	28	as	as	SCONJ
fcis-12278	86	29	to	to	PART
fcis-12278	86	30	ensure	ensure	VERB
fcis-12278	86	31	the	the	DET
fcis-12278	86	32	safe	safe	ADJ
fcis-12278	86	33	driving	driving	NOUN
fcis-12278	86	34	of	of	ADP
fcis-12278	86	35	the	the	DET
fcis-12278	86	36	vehicle	vehicle	NOUN
fcis-12278	86	37	.	.	PUNCT
fcis-12278	87	1	drawing	draw	VERB
fcis-12278	87	2	lessons	lesson	NOUN
fcis-12278	87	3	from	from	ADP
fcis-12278	87	4	the	the	DET
fcis-12278	87	5	decision	decision	NOUN
fcis-12278	87	6	-	-	PUNCT
fcis-12278	87	7	making	make	VERB
fcis-12278	87	8	process	process	NOUN
fcis-12278	87	9	of	of	ADP
fcis-12278	87	10	overtaking	overtake	VERB
fcis-12278	87	11	behavior	behavior	NOUN
fcis-12278	87	12	of	of	ADP
fcis-12278	87	13	human	human	ADJ
fcis-12278	87	14	drivers	driver	NOUN
fcis-12278	87	15	,	,	PUNCT
fcis-12278	87	16	taking	take	VERB
fcis-12278	87	17	the	the	DET
fcis-12278	87	18	microscopic	microscopic	ADJ
fcis-12278	87	19	scene	scene	NOUN
fcis-12278	87	20	information	information	NOUN
fcis-12278	87	21	model	model	NOUN
fcis-12278	87	22	as	as	ADP
fcis-12278	87	23	the	the	DET
fcis-12278	87	24	decision	decision	NOUN
fcis-12278	87	25	-	-	PUNCT
fcis-12278	87	26	making	make	VERB
fcis-12278	87	27	basis	basis	NOUN
fcis-12278	87	28	and	and	CCONJ
fcis-12278	87	29	the	the	DET
fcis-12278	87	30	hierarchical	hierarchical	ADJ
fcis-12278	87	31	state	state	NOUN
fcis-12278	87	32	machine	machine	NOUN
fcis-12278	87	33	as	as	ADP
fcis-12278	87	34	the	the	DET
fcis-12278	87	35	decision	decision	NOUN
fcis-12278	87	36	-	-	PUNCT
fcis-12278	87	37	making	make	VERB
fcis-12278	87	38	basis	basis	NOUN
fcis-12278	87	39	,	,	PUNCT
fcis-12278	87	40	the	the	DET
fcis-12278	87	41	decision	decision	NOUN
fcis-12278	87	42	-	-	PUNCT
fcis-12278	87	43	making	making	NOUN
fcis-12278	87	44	of	of	ADP
fcis-12278	87	45	overtaking	overtake	VERB
fcis-12278	87	46	behavior	behavior	NOUN
fcis-12278	87	47	of	of	ADP
fcis-12278	87	48	self	self	NOUN
fcis-12278	87	49	-	-	PUNCT
fcis-12278	87	50	driving	drive	VERB
fcis-12278	87	51	vehicles	vehicle	NOUN
fcis-12278	87	52	is	be	AUX
fcis-12278	87	53	realized	realize	VERB
fcis-12278	87	54	by	by	ADP
fcis-12278	87	55	hierarchical	hierarchical	ADJ
fcis-12278	87	56	decision	decision	NOUN
fcis-12278	87	57	-	-	PUNCT
fcis-12278	87	58	making	making	NOUN
fcis-12278	87	59	method	method	NOUN
fcis-12278	87	60	.	.	PUNCT
fcis-12278	88	1	among	among	ADP
fcis-12278	88	2	them	they	PRON
fcis-12278	88	3	,	,	PUNCT
fcis-12278	88	4	the	the	DET
fcis-12278	88	5	microscopic	microscopic	ADJ
fcis-12278	88	6	traffic	traffic	NOUN
fcis-12278	88	7	scene	scene	NOUN
fcis-12278	88	8	information	information	NOUN
fcis-12278	88	9	model	model	NOUN
fcis-12278	88	10	includes	include	VERB
fcis-12278	88	11	scene	scene	NOUN
fcis-12278	88	12	basic	basic	ADJ
fcis-12278	88	13	information	information	NOUN
fcis-12278	88	14	,	,	PUNCT
fcis-12278	88	15	vehicle	vehicle	NOUN
fcis-12278	88	16	behavior	behavior	NOUN
fcis-12278	88	17	information	information	NOUN
fcis-12278	88	18	and	and	CCONJ
fcis-12278	88	19	driving	drive	VERB
fcis-12278	88	20	or	or	CCONJ
fcis-12278	88	21	driving	drive	VERB
fcis-12278	88	22	intention	intention	NOUN
fcis-12278	88	23	information	information	NOUN
fcis-12278	88	24	,	,	PUNCT
fcis-12278	88	25	and	and	CCONJ
fcis-12278	88	26	multi	multi	ADJ
fcis-12278	88	27	-	-	ADJ
fcis-12278	88	28	level	level	ADJ
fcis-12278	88	29	information	information	NOUN
fcis-12278	88	30	input	input	NOUN
fcis-12278	88	31	makes	make	VERB
fcis-12278	88	32	the	the	DET
fcis-12278	88	33	decision	decision	NOUN
fcis-12278	88	34	-	-	PUNCT
fcis-12278	88	35	making	making	NOUN
fcis-12278	88	36	result	result	NOUN
fcis-12278	88	37	more	more	ADV
fcis-12278	88	38	reasonable	reasonable	ADJ
fcis-12278	88	39	and	and	CCONJ
fcis-12278	88	40	feasible	feasible	ADJ
fcis-12278	88	41	.	.	PUNCT
fcis-12278	89	1	in	in	ADP
fcis-12278	89	2	this	this	DET
fcis-12278	89	3	paper	paper	NOUN
fcis-12278	89	4	,	,	PUNCT
fcis-12278	89	5	the	the	DET
fcis-12278	89	6	application	application	NOUN
fcis-12278	89	7	of	of	ADP
fcis-12278	89	8	machine	machine	NOUN
fcis-12278	89	9	learning	learning	NOUN
fcis-12278	89	10	in	in	ADP
fcis-12278	89	11	real	real	ADJ
fcis-12278	89	12	-	-	PUNCT
fcis-12278	89	13	time	time	NOUN
fcis-12278	89	14	decision	decision	NOUN
fcis-12278	89	15	-	-	PUNCT
fcis-12278	89	16	making	make	VERB
fcis-12278	89	17	system	system	NOUN
fcis-12278	89	18	of	of	ADP
fcis-12278	89	19	autonomous	autonomous	ADJ
fcis-12278	89	20	vehicles	vehicle	NOUN
fcis-12278	89	21	is	be	AUX
fcis-12278	89	22	studied	study	VERB
fcis-12278	89	23	.	.	PUNCT
fcis-12278	90	1	by	by	ADP
fcis-12278	90	2	collecting	collect	VERB
fcis-12278	90	3	the	the	DET
fcis-12278	90	4	behavior	behavior	NOUN
fcis-12278	90	5	decision	decision	NOUN
fcis-12278	90	6	data	datum	NOUN
fcis-12278	90	7	of	of	ADP
fcis-12278	90	8	a	a	DET
fcis-12278	90	9	specific	specific	ADJ
fcis-12278	90	10	driver	driver	NOUN
fcis-12278	90	11	,	,	PUNCT
fcis-12278	90	12	rbf	rbf	PROPN
fcis-12278	90	13	neural	neural	ADJ
fcis-12278	90	14	network	network	NOUN
fcis-12278	90	15	is	be	AUX
fcis-12278	90	16	trained	train	VERB
fcis-12278	90	17	,	,	PUNCT
fcis-12278	90	18	and	and	CCONJ
fcis-12278	90	19	the	the	DET
fcis-12278	90	20	driving	driving	NOUN
fcis-12278	90	21	characteristics	characteristic	NOUN
fcis-12278	90	22	are	be	AUX
fcis-12278	90	23	learned	learn	VERB
fcis-12278	90	24	and	and	CCONJ
fcis-12278	90	25	fitted	fit	VERB
fcis-12278	90	26	,	,	PUNCT
fcis-12278	90	27	so	so	SCONJ
fcis-12278	90	28	that	that	SCONJ
fcis-12278	90	29	the	the	DET
fcis-12278	90	30	decision	decision	NOUN
fcis-12278	90	31	results	result	NOUN
fcis-12278	90	32	are	be	AUX
fcis-12278	90	33	the	the	DET
fcis-12278	90	34	same	same	ADJ
fcis-12278	90	35	or	or	CCONJ
fcis-12278	90	36	similar	similar	ADJ
fcis-12278	90	37	to	to	ADP
fcis-12278	90	38	those	those	PRON
fcis-12278	90	39	of	of	ADP
fcis-12278	90	40	the	the	DET
fcis-12278	90	41	driver	driver	NOUN
fcis-12278	90	42	,	,	PUNCT
fcis-12278	90	43	which	which	PRON
fcis-12278	90	44	brings	bring	VERB
fcis-12278	90	45	a	a	DET
fcis-12278	90	46	good	good	ADJ
fcis-12278	90	47	and	and	CCONJ
fcis-12278	90	48	comfortable	comfortable	ADJ
fcis-12278	90	49	driving	driving	NOUN
fcis-12278	90	50	experience	experience	NOUN
fcis-12278	90	51	.	.	PUNCT
fcis-12278	91	1	in	in	ADP
fcis-12278	91	2	this	this	DET
fcis-12278	91	3	paper	paper	NOUN
fcis-12278	91	4	,	,	PUNCT
fcis-12278	91	5	a	a	DET
fcis-12278	91	6	driving	drive	VERB
fcis-12278	91	7	decision	decision	NOUN
fcis-12278	91	8	recognition	recognition	NOUN
fcis-12278	91	9	model	model	NOUN
fcis-12278	91	10	is	be	AUX
fcis-12278	91	11	established	establish	VERB
fcis-12278	91	12	.	.	PUNCT
fcis-12278	92	1	based	base	VERB
fcis-12278	92	2	on	on	ADP
fcis-12278	92	3	the	the	DET
fcis-12278	92	4	hierarchical	hierarchical	ADJ
fcis-12278	92	5	state	state	NOUN
fcis-12278	92	6	machine	machine	NOUN
fcis-12278	92	7	,	,	PUNCT
fcis-12278	92	8	the	the	DET
fcis-12278	92	9	driving	drive	VERB
fcis-12278	92	10	behavior	behavior	NOUN
fcis-12278	92	11	of	of	ADP
fcis-12278	92	12	human	human	ADJ
fcis-12278	92	13	beings	being	NOUN
fcis-12278	92	14	is	be	AUX
fcis-12278	92	15	divided	divide	VERB
fcis-12278	92	16	into	into	ADP
fcis-12278	92	17	different	different	ADJ
fcis-12278	92	18	levels	level	NOUN
fcis-12278	92	19	of	of	ADP
fcis-12278	92	20	sub	sub	NOUN
fcis-12278	92	21	-	-	NOUN
fcis-12278	92	22	behaviors	behavior	NOUN
fcis-12278	92	23	,	,	PUNCT
fcis-12278	92	24	and	and	CCONJ
fcis-12278	92	25	the	the	DET
fcis-12278	92	26	corresponding	corresponding	ADJ
fcis-12278	92	27	top	top	ADJ
fcis-12278	92	28	-	-	PUNCT
fcis-12278	92	29	level	level	NOUN
fcis-12278	92	30	state	state	NOUN
fcis-12278	92	31	machine	machine	NOUN
fcis-12278	92	32	and	and	CCONJ
fcis-12278	92	33	supercar	supercar	NOUN
fcis-12278	92	34	state	state	NOUN
fcis-12278	92	35	machine	machine	NOUN
fcis-12278	92	36	are	be	AUX
fcis-12278	92	37	established	establish	VERB
fcis-12278	92	38	.	.	PUNCT
fcis-12278	93	1	hierarchical	hierarchical	ADJ
fcis-12278	93	2	state	state	NOUN
fcis-12278	93	3	machine	machine	NOUN
fcis-12278	93	4	models	model	NOUN
fcis-12278	93	5	the	the	DET
fcis-12278	93	6	behavior	behavior	NOUN
fcis-12278	93	7	decision	decision	NOUN
fcis-12278	93	8	-	-	PUNCT
fcis-12278	93	9	making	make	VERB
fcis-12278	93	10	problem	problem	NOUN
fcis-12278	93	11	as	as	ADP
fcis-12278	93	12	the	the	DET
fcis-12278	93	13	transition	transition	NOUN
fcis-12278	93	14	relationship	relationship	NOUN
fcis-12278	93	15	between	between	ADP
fcis-12278	93	16	states	state	NOUN
fcis-12278	93	17	,	,	PUNCT
fcis-12278	93	18	which	which	PRON
fcis-12278	93	19	reduces	reduce	VERB
fcis-12278	93	20	the	the	DET
fcis-12278	93	21	complexity	complexity	NOUN
fcis-12278	93	22	of	of	ADP
fcis-12278	93	23	decision	decision	NOUN
fcis-12278	93	24	-	-	PUNCT
fcis-12278	93	25	making	making	NOUN
fcis-12278	93	26	and	and	CCONJ
fcis-12278	93	27	makes	make	VERB
fcis-12278	93	28	the	the	DET
fcis-12278	93	29	decision	decision	NOUN
fcis-12278	93	30	-	-	PUNCT
fcis-12278	93	31	making	make	VERB
fcis-12278	93	32	system	system	NOUN
fcis-12278	93	33	easy	easy	ADJ
fcis-12278	93	34	to	to	PART
fcis-12278	93	35	maintain	maintain	VERB
fcis-12278	93	36	.	.	PUNCT
fcis-12278	94	1	of	of	ADP
fcis-12278	94	2	course	course	NOUN
fcis-12278	94	3	,	,	PUNCT
fcis-12278	94	4	this	this	DET
fcis-12278	94	5	system	system	NOUN
fcis-12278	94	6	has	have	VERB
fcis-12278	94	7	the	the	DET
fcis-12278	94	8	advantages	advantage	NOUN
fcis-12278	94	9	of	of	ADP
fcis-12278	94	10	stable	stable	ADJ
fcis-12278	94	11	and	and	CCONJ
fcis-12278	94	12	reliable	reliable	ADJ
fcis-12278	94	13	operation	operation	NOUN
fcis-12278	94	14	,	,	PUNCT
fcis-12278	94	15	low	low	ADJ
fcis-12278	94	16	price	price	NOUN
fcis-12278	94	17	,	,	PUNCT
fcis-12278	94	18	simple	simple	ADJ
fcis-12278	94	19	structure	structure	NOUN
fcis-12278	94	20	and	and	CCONJ
fcis-12278	94	21	good	good	ADJ
fcis-12278	94	22	dynamic	dynamic	ADJ
fcis-12278	94	23	performance	performance	NOUN
fcis-12278	94	24	,	,	PUNCT
fcis-12278	94	25	which	which	PRON
fcis-12278	94	26	is	be	AUX
fcis-12278	94	27	the	the	DET
fcis-12278	94	28	future	future	ADJ
fcis-12278	94	29	direction	direction	NOUN
fcis-12278	94	30	of	of	ADP
fcis-12278	94	31	intelligent	intelligent	ADJ
fcis-12278	94	32	vehicles	vehicle	NOUN
fcis-12278	94	33	and	and	CCONJ
fcis-12278	94	34	automatic	automatic	ADJ
fcis-12278	94	35	driving	driving	NOUN
fcis-12278	94	36	.	.	PUNCT
fcis-12278	95	1	references	reference	NOUN
fcis-12278	95	2	[	[	X
fcis-12278	95	3	1	1	NUM
fcis-12278	95	4	]	]	X
fcis-12278	95	5	tao	tao	PROPN
fcis-12278	95	6	x	x	PROPN
fcis-12278	95	7	,	,	PUNCT
fcis-12278	95	8	yuan	yuan	PROPN
fcis-12278	95	9	z.	z.	PROPN
fcis-12278	95	10	real	real	ADJ
fcis-12278	95	11	-	-	PUNCT
fcis-12278	95	12	time	time	NOUN
fcis-12278	95	13	decision	decision	NOUN
fcis-12278	95	14	-	-	PUNCT
fcis-12278	95	15	making	making	NOUN
fcis-12278	95	16	for	for	ADP
fcis-12278	95	17	autonomous	autonomous	ADJ
fcis-12278	95	18	vehicles	vehicle	NOUN
fcis-12278	95	19	under	under	ADP
fcis-12278	95	20	faults[j].arxiv	faults[j].arxiv	NOUN
fcis-12278	95	21	e	e	NOUN
fcis-12278	95	22	-	-	NOUN
fcis-12278	95	23	prints	print	NOUN
fcis-12278	95	24	,	,	PUNCT
fcis-12278	95	25	2022	2022	NUM
fcis-12278	95	26	,	,	PUNCT
fcis-12278	95	27	44(5):32	44(5):32	PROPN
fcis-12278	95	28	-	-	PUNCT
fcis-12278	95	29	36	36	NUM
fcis-12278	95	30	.	.	PUNCT
fcis-12278	96	1	[	[	X
fcis-12278	96	2	2	2	NUM
fcis-12278	96	3	]	]	PUNCT
fcis-12278	96	4	shu	shu	NOUN
fcis-12278	96	5	h	h	PROPN
fcis-12278	96	6	,	,	PUNCT
fcis-12278	96	7	liu	liu	PROPN
fcis-12278	96	8	t	t	PROPN
fcis-12278	96	9	,	,	PUNCT
fcis-12278	96	10	mu	mu	PROPN
fcis-12278	96	11	x	x	PROPN
fcis-12278	96	12	,	,	PUNCT
fcis-12278	96	13	et	et	PROPN
fcis-12278	96	14	al	al	PROPN
fcis-12278	96	15	.	.	PUNCT
fcis-12278	96	16	driving	drive	VERB
fcis-12278	96	17	tasks	task	NOUN
fcis-12278	96	18	transfer	transfer	NOUN
fcis-12278	96	19	in	in	ADP
fcis-12278	96	20	deep	deep	ADJ
fcis-12278	96	21	reinforcement	reinforcement	NOUN
fcis-12278	96	22	learning	learning	NOUN
fcis-12278	96	23	for	for	ADP
fcis-12278	96	24	decision	decision	NOUN
fcis-12278	96	25	-	-	PUNCT
fcis-12278	96	26	making	making	NOUN
fcis-12278	96	27	of	of	ADP
fcis-12278	96	28	autonomous	autonomous	ADJ
fcis-12278	96	29	vehicles[j	vehicles[j	NOUN
fcis-12278	96	30	]	]	PUNCT
fcis-12278	96	31	.	.	PUNCT
fcis-12278	97	1	autonomous	autonomous	ADJ
fcis-12278	97	2	intelligent	intelligent	ADJ
fcis-12278	97	3	systems	system	NOUN
fcis-12278	97	4	,	,	PUNCT
fcis-12278	97	5	2020	2020	NUM
fcis-12278	97	6	,	,	PUNCT
fcis-12278	97	7	25(4):3035	25(4):3035	NUM
fcis-12278	97	8	.	.	PUNCT
fcis-12278	98	1	[	[	X
fcis-12278	98	2	3	3	X
fcis-12278	98	3	]	]	X
fcis-12278	98	4	wang	wang	PROPN
fcis-12278	98	5	x	x	PROPN
fcis-12278	98	6	,	,	PUNCT
fcis-12278	98	7	qi	qi	PROPN
fcis-12278	98	8	x	x	PROPN
fcis-12278	98	9	,	,	PUNCT
fcis-12278	98	10	wang	wang	PROPN
fcis-12278	98	11	p	p	PROPN
fcis-12278	98	12	,	,	PUNCT
fcis-12278	98	13	et	et	PROPN
fcis-12278	98	14	al	al	PROPN
fcis-12278	98	15	.	.	PUNCT
fcis-12278	98	16	decision	decision	NOUN
fcis-12278	98	17	making	make	VERB
fcis-12278	98	18	framework	framework	NOUN
fcis-12278	98	19	for	for	ADP
fcis-12278	98	20	autonomous	autonomous	ADJ
fcis-12278	98	21	vehicles	vehicle	NOUN
fcis-12278	98	22	driving	drive	VERB
fcis-12278	98	23	behavior	behavior	NOUN
fcis-12278	98	24	in	in	ADP
fcis-12278	98	25	complex	complex	ADJ
fcis-12278	98	26	scenarios	scenario	NOUN
fcis-12278	98	27	via	via	ADP
fcis-12278	98	28	hierarchical	hierarchical	ADJ
fcis-12278	98	29	state	state	NOUN
fcis-12278	98	30	machine[j].autonomous	machine[j].autonomous	ADJ
fcis-12278	98	31	intelligent	intelligent	ADJ
fcis-12278	98	32	systems	system	NOUN
fcis-12278	98	33	,	,	PUNCT
fcis-12278	98	34	2021	2021	NUM
fcis-12278	98	35	,	,	PUNCT
fcis-12278	98	36	1(1):1	1(1):1	PROPN
fcis-12278	98	37	-	-	NOUN
fcis-12278	98	38	12	12	NUM
fcis-12278	98	39	.	.	PUNCT
fcis-12278	99	1	[	[	X
fcis-12278	99	2	4	4	X
fcis-12278	99	3	]	]	X
fcis-12278	99	4	liu	liu	PROPN
fcis-12278	99	5	l	l	PROPN
fcis-12278	99	6	,	,	PUNCT
fcis-12278	99	7	lu	lu	PROPN
fcis-12278	99	8	s	s	PROPN
fcis-12278	99	9	,	,	PUNCT
fcis-12278	99	10	zhong	zhong	PROPN
fcis-12278	99	11	r	r	PROPN
fcis-12278	99	12	,	,	PUNCT
fcis-12278	99	13	et	et	PROPN
fcis-12278	99	14	al	al	PROPN
fcis-12278	99	15	.	.	PUNCT
fcis-12278	99	16	computing	compute	VERB
fcis-12278	99	17	systems	system	NOUN
fcis-12278	99	18	for	for	ADP
fcis-12278	99	19	autonomous	autonomous	ADJ
fcis-12278	99	20	driving	driving	NOUN
fcis-12278	99	21	:	:	PUNCT
fcis-12278	99	22	state	state	NOUN
fcis-12278	99	23	of	of	ADP
fcis-12278	99	24	the	the	DET
fcis-12278	99	25	art	art	NOUN
fcis-12278	99	26	and	and	CCONJ
fcis-12278	99	27	challenges[j].ieee	challenges[j].ieee	NOUN
fcis-12278	99	28	internet	internet	NOUN
fcis-12278	99	29	of	of	ADP
fcis-12278	99	30	things	thing	NOUN
fcis-12278	99	31	journal	journal	NOUN
fcis-12278	99	32	,	,	PUNCT
fcis-12278	99	33	2021	2021	NUM
fcis-12278	99	34	,	,	PUNCT
fcis-12278	99	35	28(8):8	28(8):8	PROPN
fcis-12278	99	36	-	-	SYM
fcis-12278	99	37	14	14	NUM
fcis-12278	99	38	.	.	PUNCT
fcis-12278	100	1	[	[	X
fcis-12278	100	2	5	5	NUM
fcis-12278	100	3	]	]	SYM
fcis-12278	100	4	li	li	PROPN
fcis-12278	100	5	s	s	PROPN
fcis-12278	100	6	,	,	PUNCT
fcis-12278	100	7	shu	shu	PROPN
fcis-12278	100	8	k	k	PROPN
fcis-12278	100	9	,	,	PUNCT
fcis-12278	100	10	chen	chen	PROPN
fcis-12278	100	11	c	c	X
fcis-12278	100	12	,	,	PUNCT
fcis-12278	100	13	et	et	PROPN
fcis-12278	100	14	al	al	PROPN
fcis-12278	100	15	.	.	PUNCT
fcis-12278	100	16	planning	planning	NOUN
fcis-12278	100	17	and	and	CCONJ
fcis-12278	100	18	decision	decision	NOUN
fcis-12278	100	19	-	-	PUNCT
fcis-12278	100	20	making	making	NOUN
fcis-12278	100	21	for	for	ADP
fcis-12278	100	22	connected	connected	ADJ
fcis-12278	100	23	autonomous	autonomous	ADJ
fcis-12278	100	24	vehicles	vehicle	NOUN
fcis-12278	100	25	at	at	ADP
fcis-12278	100	26	road	road	NOUN
fcis-12278	100	27	intersections	intersection	NOUN
fcis-12278	100	28	:	:	PUNCT
fcis-12278	100	29	a	a	DET
fcis-12278	100	30	review[j].chinese	review[j].chinese	ADJ
fcis-12278	100	31	journal	journal	NOUN
fcis-12278	100	32	of	of	ADP
fcis-12278	100	33	mechanical	mechanical	ADJ
fcis-12278	100	34	engineering	engineering	NOUN
fcis-12278	100	35	,	,	PUNCT
fcis-12278	100	36	2021	2021	NUM
fcis-12278	100	37	,	,	PUNCT
fcis-12278	100	38	34(1):1	34(1):1	PROPN
fcis-12278	100	39	-	-	SYM
fcis-12278	100	40	18	18	NUM
fcis-12278	100	41	.	.	PUNCT
fcis-12278	101	1	[	[	X
fcis-12278	101	2	6	6	NUM
fcis-12278	101	3	]	]	PUNCT
fcis-12278	101	4	garlick	garlick	PROPN
fcis-12278	101	5	s	s	PROPN
fcis-12278	101	6	,	,	PUNCT
fcis-12278	101	7	bradley	bradley	PROPN
fcis-12278	101	8	a.	a.	PROPN
fcis-12278	101	9	real	real	ADJ
fcis-12278	101	10	-	-	PUNCT
fcis-12278	101	11	time	time	NOUN
fcis-12278	101	12	optimal	optimal	ADJ
fcis-12278	101	13	trajectory	trajectory	NOUN
fcis-12278	101	14	planning	planning	NOUN
fcis-12278	101	15	for	for	ADP
fcis-12278	101	16	autonomous	autonomous	ADJ
fcis-12278	101	17	vehicles	vehicle	NOUN
fcis-12278	101	18	and	and	CCONJ
fcis-12278	101	19	lap	lap	NOUN
fcis-12278	101	20	time	time	NOUN
fcis-12278	101	21	simulation	simulation	NOUN
fcis-12278	101	22	using	use	VERB
fcis-12278	101	23	machine	machine	NOUN
fcis-12278	101	24	learning[j	learning[j	NOUN
fcis-12278	101	25	]	]	PUNCT
fcis-12278	101	26	.	.	PUNCT
fcis-12278	101	27	2021	2021	NUM
fcis-12278	101	28	,	,	PUNCT
fcis-12278	101	29	30(5):19	30(5):19	NUM
fcis-12278	101	30	-	-	SYM
fcis-12278	101	31	24	24	NUM
fcis-12278	101	32	.	.	PUNCT
fcis-12278	102	1	[	[	X
fcis-12278	102	2	7	7	X
fcis-12278	102	3	]	]	X
fcis-12278	102	4	zhou	zhou	PROPN
fcis-12278	102	5	x.	x.	NOUN
fcis-12278	102	6	machine	machine	NOUN
fcis-12278	102	7	learning	learn	VERB
fcis-12278	102	8	for	for	ADP
fcis-12278	102	9	triaging	triage	VERB
fcis-12278	102	10	failures	failure	NOUN
fcis-12278	102	11	in	in	ADP
fcis-12278	102	12	autonomous	autonomous	ADJ
fcis-12278	102	13	vehicles[j	vehicles[j	NOUN
fcis-12278	102	14	]	]	PUNCT
fcis-12278	102	15	.	.	PUNCT
fcis-12278	103	1	2022	2022	NUM
fcis-12278	103	2	,	,	PUNCT
fcis-12278	103	3	36(8):11	36(8):11	NUM
fcis-12278	103	4	-	-	SYM
fcis-12278	103	5	14	14	NUM
fcis-12278	103	6	.	.	PUNCT
fcis-12278	104	1	[	[	X
fcis-12278	104	2	8	8	X
fcis-12278	104	3	]	]	X
fcis-12278	104	4	miglani	miglani	X
fcis-12278	104	5	a	a	X
fcis-12278	104	6	,	,	PUNCT
fcis-12278	104	7	kumar	kumar	PROPN
fcis-12278	104	8	n.	n.	PROPN
fcis-12278	104	9	deep	deep	ADJ
fcis-12278	104	10	learning	learning	NOUN
fcis-12278	104	11	models	model	NOUN
fcis-12278	104	12	for	for	ADP
fcis-12278	104	13	traffic	traffic	NOUN
fcis-12278	104	14	flow	flow	NOUN
fcis-12278	104	15	prediction	prediction	NOUN
fcis-12278	104	16	in	in	ADP
fcis-12278	104	17	autonomous	autonomous	ADJ
fcis-12278	104	18	vehicles	vehicle	NOUN
fcis-12278	104	19	:	:	PUNCT
fcis-12278	104	20	a	a	DET
fcis-12278	104	21	review	review	NOUN
fcis-12278	104	22	,	,	PUNCT
fcis-12278	104	23	solutions	solution	NOUN
fcis-12278	104	24	,	,	PUNCT
fcis-12278	104	25	and	and	CCONJ
fcis-12278	104	26	26	26	NUM
fcis-12278	104	27	challenges[j].vehicular	challenges[j].vehicular	ADJ
fcis-12278	104	28	communications	communication	NOUN
fcis-12278	104	29	,	,	PUNCT
fcis-12278	104	30	2019	2019	NUM
fcis-12278	104	31	,	,	PUNCT
fcis-12278	104	32	20(7	20(7	NUM
fcis-12278	104	33	):	):	PUNCT
fcis-12278	104	34	100184	100184	NUM
fcis-12278	104	35	.	.	PUNCT
fcis-12278	105	1	1	1	NUM
fcis-12278	105	2	-	-	SYM
fcis-12278	105	3	100184.36	100184.36	NUM
fcis-12278	105	4	.	.	PUNCT
fcis-12278	106	1	[	[	X
fcis-12278	106	2	9	9	NUM
fcis-12278	106	3	]	]	SYM
fcis-12278	106	4	sankaranarayanan	sankaranarayanan	NOUN
fcis-12278	106	5	r	r	NOUN
fcis-12278	106	6	,	,	PUNCT
fcis-12278	106	7	umadevi	umadevi	ADJ
fcis-12278	106	8	k	k	PROPN
fcis-12278	106	9	s	s	PROPN
fcis-12278	106	10	,	,	PUNCT
fcis-12278	106	11	bhavani	bhavani	PROPN
fcis-12278	106	12	n	n	CCONJ
fcis-12278	106	13	,	,	PUNCT
fcis-12278	106	14	et	et	PROPN
fcis-12278	106	15	al	al	PROPN
fcis-12278	106	16	.	.	PROPN
fcis-12278	106	17	clusterbased	clusterbase	VERB
fcis-12278	106	18	attacks	attack	NOUN
fcis-12278	106	19	prevention	prevention	NOUN
fcis-12278	106	20	algorithm	algorithm	NOUN
fcis-12278	106	21	for	for	ADP
fcis-12278	106	22	autonomous	autonomous	ADJ
fcis-12278	106	23	vehicles	vehicle	NOUN
fcis-12278	106	24	using	use	VERB
fcis-12278	106	25	machine	machine	NOUN
fcis-12278	106	26	learning	learn	VERB
fcis-12278	106	27	algorithms[j].computers	algorithms[j].computer	NOUN
fcis-12278	106	28	and	and	CCONJ
fcis-12278	106	29	electrical	electrical	ADJ
fcis-12278	106	30	engineering	engineering	NOUN
fcis-12278	106	31	,	,	PUNCT
fcis-12278	106	32	2022	2022	NUM
fcis-12278	106	33	,	,	PUNCT
fcis-12278	106	34	23(9):101	23(9):101	PROPN
fcis-12278	106	35	-	-	PUNCT
fcis-12278	106	36	112	112	NUM
fcis-12278	106	37	.	.	PUNCT
fcis-12278	107	1	[	[	X
fcis-12278	107	2	10	10	NUM
fcis-12278	107	3	]	]	X
fcis-12278	107	4	an	an	DET
fcis-12278	107	5	d	d	PROPN
fcis-12278	107	6	,	,	PUNCT
fcis-12278	107	7	liu	liu	PROPN
fcis-12278	107	8	j	j	PROPN
fcis-12278	107	9	,	,	PUNCT
fcis-12278	107	10	zhang	zhang	PROPN
fcis-12278	107	11	m	m	PROPN
fcis-12278	107	12	,	,	PUNCT
fcis-12278	107	13	et	et	PROPN
fcis-12278	107	14	al	al	PROPN
fcis-12278	107	15	.	.	PUNCT
fcis-12278	108	1	uncertainty	uncertainty	NOUN
fcis-12278	108	2	modeling	modeling	NOUN
fcis-12278	108	3	and	and	CCONJ
fcis-12278	108	4	runtime	runtime	NOUN
fcis-12278	108	5	verification	verification	NOUN
fcis-12278	108	6	for	for	ADP
fcis-12278	108	7	autonomous	autonomous	ADJ
fcis-12278	108	8	vehicles	vehicle	NOUN
fcis-12278	108	9	driving	drive	VERB
fcis-12278	108	10	control	control	NOUN
fcis-12278	108	11	:	:	PUNCT
fcis-12278	108	12	a	a	DET
fcis-12278	108	13	machine	machine	NOUN
fcis-12278	108	14	learning	learning	NOUN
fcis-12278	108	15	-	-	PUNCT
fcis-12278	108	16	based	base	VERB
fcis-12278	108	17	approach[j].journal	approach[j].journal	NOUN
fcis-12278	108	18	of	of	ADP
fcis-12278	108	19	systems	system	NOUN
fcis-12278	108	20	and	and	CCONJ
fcis-12278	108	21	software	software	NOUN
fcis-12278	108	22	,	,	PUNCT
fcis-12278	108	23	2020	2020	NUM
fcis-12278	108	24	,	,	PUNCT
fcis-12278	108	25	167(22):26	167(22):26	NUM
fcis-12278	108	26	-	-	SYM
fcis-12278	108	27	31	31	NUM
fcis-12278	108	28	.	.	PUNCT