id	sid	tid	token	lemma	pos
fcis-2068	1	1	frontiers	frontier	NOUN
fcis-2068	1	2	in	in	ADP
fcis-2068	1	3	computing	computing	NOUN
fcis-2068	1	4	and	and	CCONJ
fcis-2068	1	5	intelligent	intelligent	ADJ
fcis-2068	1	6	systems	system	NOUN
fcis-2068	1	7	issn	issn	VERB
fcis-2068	1	8	:	:	PUNCT
fcis-2068	1	9	2832	2832	NUM
fcis-2068	1	10	-	-	SYM
fcis-2068	1	11	6024	6024	NUM
fcis-2068	1	12	|	|	NOUN
fcis-2068	1	13	vol	vol	NOUN
fcis-2068	1	14	.	.	PROPN
fcis-2068	2	1	1	1	NUM
fcis-2068	2	2	,	,	PUNCT
fcis-2068	2	3	no	no	INTJ
fcis-2068	2	4	.	.	NOUN
fcis-2068	2	5	3	3	NUM
fcis-2068	2	6	,	,	PUNCT
fcis-2068	2	7	2022	2022	NUM
fcis-2068	2	8	42	42	NUM
fcis-2068	2	9	research	research	NOUN
fcis-2068	2	10	on	on	ADP
fcis-2068	2	11	vehicle	vehicle	NOUN
fcis-2068	2	12	longitudinal	longitudinal	ADJ
fcis-2068	2	13	control	control	NOUN
fcis-2068	2	14	method	method	NOUN
fcis-2068	2	15	based	base	VERB
fcis-2068	2	16	on	on	ADP
fcis-2068	2	17	model	model	PROPN
fcis-2068	2	18	predictive	predictive	PROPN
fcis-2068	2	19	control	control	PROPN
fcis-2068	2	20	xingbang	xingbang	PROPN
fcis-2068	2	21	gao	gao	PROPN
fcis-2068	2	22	*	*	PROPN
fcis-2068	2	23	,	,	PUNCT
fcis-2068	2	24	jiaojiao	jiaojiao	PROPN
fcis-2068	2	25	li	li	PROPN
fcis-2068	2	26	,	,	PUNCT
fcis-2068	2	27	ruiyuan	ruiyuan	PROPN
fcis-2068	2	28	liu	liu	PROPN
fcis-2068	2	29	,	,	PUNCT
fcis-2068	2	30	shuai	shuai	PROPN
fcis-2068	2	31	zhang	zhang	PROPN
fcis-2068	2	32	,	,	PUNCT
fcis-2068	2	33	pengcheng	pengcheng	PROPN
fcis-2068	2	34	ma	ma	PROPN
fcis-2068	2	35	school	school	PROPN
fcis-2068	2	36	of	of	ADP
fcis-2068	2	37	transportation	transportation	NOUN
fcis-2068	2	38	and	and	CCONJ
fcis-2068	2	39	vehicle	vehicle	NOUN
fcis-2068	2	40	engineering	engineering	NOUN
fcis-2068	2	41	,	,	PUNCT
fcis-2068	2	42	shandong	shandong	PROPN
fcis-2068	2	43	university	university	PROPN
fcis-2068	2	44	of	of	ADP
fcis-2068	2	45	technology	technology	PROPN
fcis-2068	2	46	,	,	PUNCT
fcis-2068	2	47	zibo	zibo	PROPN
fcis-2068	2	48	255049	255049	NUM
fcis-2068	2	49	,	,	PUNCT
fcis-2068	2	50	china	china	PROPN
fcis-2068	2	51	.	.	PUNCT
fcis-2068	3	1	*	*	PUNCT
fcis-2068	3	2	corresponding	correspond	VERB
fcis-2068	3	3	author	author	NOUN
fcis-2068	3	4	:	:	PUNCT
fcis-2068	3	5	xingbang	xingbang	PROPN
fcis-2068	3	6	gao	gao	PROPN
fcis-2068	3	7	.	.	PUNCT
fcis-2068	4	1	abstract	abstract	PROPN
fcis-2068	4	2	:	:	PUNCT
fcis-2068	4	3	in	in	ADP
fcis-2068	4	4	order	order	NOUN
fcis-2068	4	5	to	to	PART
fcis-2068	4	6	improve	improve	VERB
fcis-2068	4	7	the	the	DET
fcis-2068	4	8	safety	safety	NOUN
fcis-2068	4	9	of	of	ADP
fcis-2068	4	10	autonomous	autonomous	ADJ
fcis-2068	4	11	vehicles	vehicle	NOUN
fcis-2068	4	12	during	during	ADP
fcis-2068	4	13	driving	driving	NOUN
fcis-2068	4	14	and	and	CCONJ
fcis-2068	4	15	the	the	DET
fcis-2068	4	16	comfort	comfort	NOUN
fcis-2068	4	17	of	of	ADP
fcis-2068	4	18	drivers	driver	NOUN
fcis-2068	4	19	and	and	CCONJ
fcis-2068	4	20	passengers	passenger	NOUN
fcis-2068	4	21	,	,	PUNCT
fcis-2068	4	22	the	the	DET
fcis-2068	4	23	longitudinal	longitudinal	ADJ
fcis-2068	4	24	dynamics	dynamic	NOUN
fcis-2068	4	25	model	model	NOUN
fcis-2068	4	26	of	of	ADP
fcis-2068	4	27	the	the	DET
fcis-2068	4	28	vehicle	vehicle	NOUN
fcis-2068	4	29	is	be	AUX
fcis-2068	4	30	first	first	ADV
fcis-2068	4	31	established	establish	VERB
fcis-2068	4	32	.	.	PUNCT
fcis-2068	5	1	secondly	secondly	ADV
fcis-2068	5	2	,	,	PUNCT
fcis-2068	5	3	the	the	DET
fcis-2068	5	4	longitudinal	longitudinal	ADJ
fcis-2068	5	5	motion	motion	NOUN
fcis-2068	5	6	control	control	NOUN
fcis-2068	5	7	strategy	strategy	NOUN
fcis-2068	5	8	is	be	AUX
fcis-2068	5	9	designed	design	VERB
fcis-2068	5	10	considering	consider	VERB
fcis-2068	5	11	the	the	DET
fcis-2068	5	12	influence	influence	NOUN
fcis-2068	5	13	of	of	ADP
fcis-2068	5	14	vehicle	vehicle	NOUN
fcis-2068	5	15	driving	drive	VERB
fcis-2068	5	16	safety	safety	NOUN
fcis-2068	5	17	and	and	CCONJ
fcis-2068	5	18	driver	driver	NOUN
fcis-2068	5	19	comfort	comfort	NOUN
fcis-2068	5	20	.	.	PUNCT
fcis-2068	6	1	based	base	VERB
fcis-2068	6	2	on	on	ADP
fcis-2068	6	3	this	this	PRON
fcis-2068	6	4	,	,	PUNCT
fcis-2068	6	5	a	a	DET
fcis-2068	6	6	longitudinal	longitudinal	ADJ
fcis-2068	6	7	motion	motion	NOUN
fcis-2068	6	8	controller	controller	NOUN
fcis-2068	6	9	based	base	VERB
fcis-2068	6	10	on	on	ADP
fcis-2068	6	11	model	model	NOUN
fcis-2068	6	12	predictive	predictive	ADJ
fcis-2068	6	13	control	control	NOUN
fcis-2068	6	14	is	be	AUX
fcis-2068	6	15	established	establish	VERB
fcis-2068	6	16	.	.	PUNCT
fcis-2068	7	1	the	the	DET
fcis-2068	7	2	upper	upper	ADJ
fcis-2068	7	3	controller	controller	NOUN
fcis-2068	7	4	uses	use	VERB
fcis-2068	7	5	the	the	DET
fcis-2068	7	6	model	model	NOUN
fcis-2068	7	7	predictive	predictive	PROPN
fcis-2068	7	8	control	control	PROPN
fcis-2068	7	9	algorithm	algorithm	NOUN
fcis-2068	7	10	to	to	PART
fcis-2068	7	11	calculate	calculate	VERB
fcis-2068	7	12	the	the	DET
fcis-2068	7	13	expected	expect	VERB
fcis-2068	7	14	acceleration	acceleration	NOUN
fcis-2068	7	15	,	,	PUNCT
fcis-2068	7	16	and	and	CCONJ
fcis-2068	7	17	the	the	DET
fcis-2068	7	18	lower	low	ADJ
fcis-2068	7	19	controller	controller	NOUN
fcis-2068	7	20	uses	use	VERB
fcis-2068	7	21	the	the	DET
fcis-2068	7	22	vehicle	vehicle	NOUN
fcis-2068	7	23	inverse	inverse	NOUN
fcis-2068	7	24	longitudinal	longitudinal	ADJ
fcis-2068	7	25	dynamics	dynamic	NOUN
fcis-2068	7	26	model	model	NOUN
fcis-2068	7	27	to	to	PART
fcis-2068	7	28	convert	convert	VERB
fcis-2068	7	29	the	the	DET
fcis-2068	7	30	expected	expect	VERB
fcis-2068	7	31	acceleration	acceleration	NOUN
fcis-2068	7	32	calculated	calculate	VERB
fcis-2068	7	33	by	by	ADP
fcis-2068	7	34	the	the	DET
fcis-2068	7	35	upper	upper	ADJ
fcis-2068	7	36	controller	controller	NOUN
fcis-2068	7	37	into	into	ADP
fcis-2068	7	38	throttle	throttle	NOUN
fcis-2068	7	39	opening	opening	NOUN
fcis-2068	7	40	and	and	CCONJ
fcis-2068	7	41	braking	braking	NOUN
fcis-2068	7	42	pressure	pressure	NOUN
fcis-2068	7	43	.	.	PUNCT
fcis-2068	8	1	finally	finally	ADV
fcis-2068	8	2	,	,	PUNCT
fcis-2068	8	3	the	the	DET
fcis-2068	8	4	effectiveness	effectiveness	NOUN
fcis-2068	8	5	of	of	ADP
fcis-2068	8	6	the	the	DET
fcis-2068	8	7	longitudinal	longitudinal	ADJ
fcis-2068	8	8	motion	motion	NOUN
fcis-2068	8	9	controller	controller	NOUN
fcis-2068	8	10	is	be	AUX
fcis-2068	8	11	verified	verify	VERB
fcis-2068	8	12	by	by	ADP
fcis-2068	8	13	matlab	matlab	PROPN
fcis-2068	8	14	/	/	SYM
fcis-2068	8	15	simulink	simulink	PROPN
fcis-2068	8	16	under	under	ADP
fcis-2068	8	17	different	different	ADJ
fcis-2068	8	18	working	work	VERB
fcis-2068	8	19	conditions	condition	NOUN
fcis-2068	8	20	.	.	PUNCT
fcis-2068	9	1	the	the	DET
fcis-2068	9	2	simulation	simulation	NOUN
fcis-2068	9	3	results	result	NOUN
fcis-2068	9	4	show	show	VERB
fcis-2068	9	5	that	that	SCONJ
fcis-2068	9	6	the	the	DET
fcis-2068	9	7	longitudinal	longitudinal	ADJ
fcis-2068	9	8	motion	motion	NOUN
fcis-2068	9	9	controller	controller	NOUN
fcis-2068	9	10	designed	design	VERB
fcis-2068	9	11	in	in	ADP
fcis-2068	9	12	this	this	DET
fcis-2068	9	13	paper	paper	NOUN
fcis-2068	9	14	improves	improve	VERB
fcis-2068	9	15	the	the	DET
fcis-2068	9	16	comfort	comfort	NOUN
fcis-2068	9	17	of	of	ADP
fcis-2068	9	18	drivers	driver	NOUN
fcis-2068	9	19	and	and	CCONJ
fcis-2068	9	20	passengers	passenger	NOUN
fcis-2068	9	21	under	under	ADP
fcis-2068	9	22	the	the	DET
fcis-2068	9	23	premise	premise	NOUN
fcis-2068	9	24	of	of	ADP
fcis-2068	9	25	ensuring	ensure	VERB
fcis-2068	9	26	the	the	DET
fcis-2068	9	27	safety	safety	NOUN
fcis-2068	9	28	of	of	ADP
fcis-2068	9	29	vehicles	vehicle	NOUN
fcis-2068	9	30	.	.	PUNCT
fcis-2068	10	1	keywords	keyword	NOUN
fcis-2068	10	2	:	:	PUNCT
fcis-2068	10	3	autonomous	autonomous	ADJ
fcis-2068	10	4	vehicle	vehicle	NOUN
fcis-2068	10	5	;	;	PUNCT
fcis-2068	10	6	longitudinal	longitudinal	ADJ
fcis-2068	10	7	control	control	NOUN
fcis-2068	10	8	;	;	PUNCT
fcis-2068	10	9	model	model	NOUN
fcis-2068	10	10	predictive	predictive	PROPN
fcis-2068	10	11	control	control	NOUN
fcis-2068	10	12	;	;	PUNCT
fcis-2068	10	13	occupant	occupant	ADJ
fcis-2068	10	14	comfort	comfort	NOUN
fcis-2068	10	15	;	;	PUNCT
fcis-2068	10	16	vehicle	vehicle	NOUN
fcis-2068	10	17	longitudinal	longitudinal	ADJ
fcis-2068	10	18	dynamics	dynamic	NOUN
fcis-2068	10	19	model	model	NOUN
fcis-2068	10	20	.	.	PUNCT
fcis-2068	11	1	1	1	X
fcis-2068	11	2	.	.	X
fcis-2068	11	3	introduction	introduction	NOUN
fcis-2068	11	4	autonomous	autonomous	ADJ
fcis-2068	11	5	driving	driving	NOUN
fcis-2068	11	6	technology	technology	NOUN
fcis-2068	11	7	has	have	AUX
fcis-2068	11	8	become	become	VERB
fcis-2068	11	9	a	a	DET
fcis-2068	11	10	research	research	NOUN
fcis-2068	11	11	hotspot	hotspot	NOUN
fcis-2068	11	12	in	in	ADP
fcis-2068	11	13	the	the	DET
fcis-2068	11	14	field	field	NOUN
fcis-2068	11	15	of	of	ADP
fcis-2068	11	16	automotive	automotive	ADJ
fcis-2068	11	17	engineering	engineering	NOUN
fcis-2068	11	18	due	due	ADP
fcis-2068	11	19	to	to	ADP
fcis-2068	11	20	its	its	PRON
fcis-2068	11	21	significant	significant	ADJ
fcis-2068	11	22	advantages	advantage	NOUN
fcis-2068	11	23	in	in	ADP
fcis-2068	11	24	traffic	traffic	NOUN
fcis-2068	11	25	safety	safety	NOUN
fcis-2068	11	26	and	and	CCONJ
fcis-2068	11	27	traffic	traffic	NOUN
fcis-2068	11	28	efficiency	efficiency	NOUN
fcis-2068	11	29	.	.	PUNCT
fcis-2068	12	1	as	as	ADP
fcis-2068	12	2	one	one	NUM
fcis-2068	12	3	of	of	ADP
fcis-2068	12	4	the	the	DET
fcis-2068	12	5	three	three	NUM
fcis-2068	12	6	major	major	ADJ
fcis-2068	12	7	technical	technical	ADJ
fcis-2068	12	8	fields	field	NOUN
fcis-2068	12	9	of	of	ADP
fcis-2068	12	10	autonomous	autonomous	ADJ
fcis-2068	12	11	driving	driving	NOUN
fcis-2068	12	12	,	,	PUNCT
fcis-2068	12	13	vehicle	vehicle	NOUN
fcis-2068	12	14	motion	motion	NOUN
fcis-2068	12	15	control	control	NOUN
fcis-2068	12	16	can	can	AUX
fcis-2068	12	17	complete	complete	VERB
fcis-2068	12	18	the	the	DET
fcis-2068	12	19	lateral	lateral	ADJ
fcis-2068	12	20	control	control	NOUN
fcis-2068	12	21	,	,	PUNCT
fcis-2068	12	22	longitudinal	longitudinal	ADJ
fcis-2068	12	23	control	control	NOUN
fcis-2068	12	24	and	and	CCONJ
fcis-2068	12	25	lateral	lateral	ADJ
fcis-2068	12	26	longitudinal	longitudinal	ADJ
fcis-2068	12	27	coupling	couple	VERB
fcis-2068	12	28	control	control	NOUN
fcis-2068	12	29	of	of	ADP
fcis-2068	12	30	autonomous	autonomous	ADJ
fcis-2068	12	31	vehicles	vehicle	NOUN
fcis-2068	12	32	according	accord	VERB
fcis-2068	12	33	to	to	ADP
fcis-2068	12	34	the	the	DET
fcis-2068	12	35	target	target	NOUN
fcis-2068	12	36	planning	planning	NOUN
fcis-2068	12	37	path	path	NOUN
fcis-2068	12	38	and	and	CCONJ
fcis-2068	12	39	speed	speed	NOUN
fcis-2068	12	40	.	.	PUNCT
fcis-2068	13	1	stable	stable	ADJ
fcis-2068	13	2	and	and	CCONJ
fcis-2068	13	3	efficient	efficient	ADJ
fcis-2068	13	4	longitudinal	longitudinal	ADJ
fcis-2068	13	5	control	control	NOUN
fcis-2068	13	6	is	be	AUX
fcis-2068	13	7	the	the	DET
fcis-2068	13	8	basis	basis	NOUN
fcis-2068	13	9	for	for	ADP
fcis-2068	13	10	ensuring	ensure	VERB
fcis-2068	13	11	safe	safe	ADJ
fcis-2068	13	12	and	and	CCONJ
fcis-2068	13	13	comfortable	comfortable	ADJ
fcis-2068	13	14	speed	speed	NOUN
fcis-2068	13	15	tracking	tracking	NOUN
fcis-2068	13	16	of	of	ADP
fcis-2068	13	17	vehicles	vehicle	NOUN
fcis-2068	13	18	,	,	PUNCT
fcis-2068	13	19	and	and	CCONJ
fcis-2068	13	20	is	be	AUX
fcis-2068	13	21	the	the	DET
fcis-2068	13	22	key	key	ADJ
fcis-2068	13	23	technology	technology	NOUN
fcis-2068	13	24	to	to	PART
fcis-2068	13	25	improve	improve	VERB
fcis-2068	13	26	driving	drive	VERB
fcis-2068	13	27	safety	safety	NOUN
fcis-2068	13	28	and	and	CCONJ
fcis-2068	13	29	road	road	NOUN
fcis-2068	13	30	traffic	traffic	NOUN
fcis-2068	13	31	efficiency	efficiency	NOUN
fcis-2068	13	32	.	.	PUNCT
fcis-2068	14	1	in	in	ADP
fcis-2068	14	2	terms	term	NOUN
fcis-2068	14	3	of	of	ADP
fcis-2068	14	4	control	control	NOUN
fcis-2068	14	5	methods	method	NOUN
fcis-2068	14	6	,	,	PUNCT
fcis-2068	14	7	there	there	PRON
fcis-2068	14	8	are	be	VERB
fcis-2068	14	9	two	two	NUM
fcis-2068	14	10	main	main	ADJ
fcis-2068	14	11	types	type	NOUN
fcis-2068	14	12	of	of	ADP
fcis-2068	14	13	longitudinal	longitudinal	ADJ
fcis-2068	14	14	motion	motion	NOUN
fcis-2068	14	15	control	control	NOUN
fcis-2068	14	16	:	:	PUNCT
fcis-2068	14	17	traditional	traditional	ADJ
fcis-2068	14	18	control	control	NOUN
fcis-2068	14	19	algorithms	algorithm	NOUN
fcis-2068	14	20	and	and	CCONJ
fcis-2068	14	21	artificial	artificial	ADJ
fcis-2068	14	22	intelligence	intelligence	NOUN
fcis-2068	14	23	algorithms	algorithm	NOUN
fcis-2068	14	24	.	.	PUNCT
fcis-2068	15	1	zhang	zhang	PROPN
fcis-2068	15	2	et	et	PROPN
fcis-2068	15	3	al	al	PROPN
fcis-2068	15	4	.	.	PROPN
fcis-2068	15	5	used	use	VERB
fcis-2068	15	6	double	double	ADJ
fcis-2068	15	7	pid	pid	NOUN
fcis-2068	15	8	controller	controller	NOUN
fcis-2068	15	9	to	to	PART
fcis-2068	15	10	control	control	VERB
fcis-2068	15	11	the	the	DET
fcis-2068	15	12	speed	speed	NOUN
fcis-2068	15	13	and	and	CCONJ
fcis-2068	15	14	position	position	NOUN
fcis-2068	15	15	error	error	NOUN
fcis-2068	15	16	of	of	ADP
fcis-2068	15	17	vehicle	vehicle	NOUN
fcis-2068	15	18	longitudinal	longitudinal	ADJ
fcis-2068	15	19	motion	motion	NOUN
fcis-2068	15	20	.	.	PUNCT
fcis-2068	16	1	zheng	zheng	PROPN
fcis-2068	16	2	used	use	VERB
fcis-2068	16	3	sliding	slide	VERB
fcis-2068	16	4	mode	mode	NOUN
fcis-2068	16	5	control	control	NOUN
fcis-2068	16	6	algorithm	algorithm	NOUN
fcis-2068	16	7	to	to	PART
fcis-2068	16	8	design	design	VERB
fcis-2068	16	9	longitudinal	longitudinal	ADJ
fcis-2068	16	10	controller	controller	NOUN
fcis-2068	16	11	and	and	CCONJ
fcis-2068	16	12	compared	compare	VERB
fcis-2068	16	13	it	it	PRON
fcis-2068	16	14	with	with	ADP
fcis-2068	16	15	traditional	traditional	ADJ
fcis-2068	16	16	pid	pid	NOUN
fcis-2068	16	17	algorithm	algorithm	NOUN
fcis-2068	16	18	.	.	PUNCT
fcis-2068	17	1	zhu	zhu	PROPN
fcis-2068	17	2	et	et	PROPN
fcis-2068	17	3	al.designed	al.designe	VERB
fcis-2068	17	4	longitudinal	longitudinal	ADJ
fcis-2068	17	5	acceleration	acceleration	NOUN
fcis-2068	17	6	and	and	CCONJ
fcis-2068	17	7	braking	braking	NOUN
fcis-2068	17	8	controller	controller	NOUN
fcis-2068	17	9	based	base	VERB
fcis-2068	17	10	on	on	ADP
fcis-2068	17	11	fuzzy	fuzzy	ADJ
fcis-2068	17	12	control	control	NOUN
fcis-2068	17	13	method	method	NOUN
fcis-2068	17	14	.	.	PUNCT
fcis-2068	18	1	zheng	zheng	PROPN
fcis-2068	18	2	et	et	PROPN
fcis-2068	18	3	al.designed	al.designe	VERB
fcis-2068	18	4	a	a	DET
fcis-2068	18	5	vehicle	vehicle	NOUN
fcis-2068	18	6	longitudinal	longitudinal	ADJ
fcis-2068	18	7	motion	motion	NOUN
fcis-2068	18	8	controller	controller	NOUN
fcis-2068	18	9	based	base	VERB
fcis-2068	18	10	on	on	ADP
fcis-2068	18	11	particle	particle	NOUN
fcis-2068	18	12	swarm	swarm	NOUN
fcis-2068	18	13	optimization	optimization	NOUN
fcis-2068	18	14	pid	pid	NOUN
fcis-2068	18	15	algorithm	algorithm	PROPN
fcis-2068	18	16	.	.	PUNCT
fcis-2068	19	1	li	li	PROPN
fcis-2068	19	2	et	et	PROPN
fcis-2068	19	3	al.adopted	al.adopte	VERB
fcis-2068	19	4	a	a	DET
fcis-2068	19	5	model	model	ADJ
fcis-2068	19	6	predictive	predictive	ADJ
fcis-2068	19	7	control	control	PROPN
fcis-2068	19	8	method	method	NOUN
fcis-2068	19	9	based	base	VERB
fcis-2068	19	10	on	on	ADP
fcis-2068	19	11	improved	improve	VERB
fcis-2068	19	12	particle	particle	NOUN
fcis-2068	19	13	swarm	swarm	NOUN
fcis-2068	19	14	optimization	optimization	NOUN
fcis-2068	19	15	to	to	PART
fcis-2068	19	16	realize	realize	VERB
fcis-2068	19	17	the	the	DET
fcis-2068	19	18	longitudinal	longitudinal	ADJ
fcis-2068	19	19	motion	motion	NOUN
fcis-2068	19	20	control	control	NOUN
fcis-2068	19	21	of	of	ADP
fcis-2068	19	22	vehicle	vehicle	NOUN
fcis-2068	19	23	.	.	PUNCT
fcis-2068	20	1	there	there	PRON
fcis-2068	20	2	are	be	VERB
fcis-2068	20	3	many	many	ADJ
fcis-2068	20	4	control	control	NOUN
fcis-2068	20	5	methods	method	NOUN
fcis-2068	20	6	for	for	ADP
fcis-2068	20	7	vehicle	vehicle	NOUN
fcis-2068	20	8	longitudinal	longitudinal	ADJ
fcis-2068	20	9	motion	motion	NOUN
fcis-2068	20	10	control	control	NOUN
fcis-2068	20	11	.	.	PUNCT
fcis-2068	21	1	the	the	DET
fcis-2068	21	2	traditional	traditional	ADJ
fcis-2068	21	3	pid	pid	NOUN
fcis-2068	21	4	control	control	NOUN
fcis-2068	21	5	is	be	AUX
fcis-2068	21	6	popular	popular	ADJ
fcis-2068	21	7	in	in	ADP
fcis-2068	21	8	the	the	DET
fcis-2068	21	9	market	market	NOUN
fcis-2068	21	10	due	due	ADP
fcis-2068	21	11	to	to	ADP
fcis-2068	21	12	its	its	PRON
fcis-2068	21	13	maturity	maturity	NOUN
fcis-2068	21	14	of	of	ADP
fcis-2068	21	15	research	research	NOUN
fcis-2068	21	16	and	and	CCONJ
fcis-2068	21	17	convenience	convenience	NOUN
fcis-2068	21	18	of	of	ADP
fcis-2068	21	19	use	use	NOUN
fcis-2068	21	20	,	,	PUNCT
fcis-2068	21	21	but	but	CCONJ
fcis-2068	21	22	its	its	PRON
fcis-2068	21	23	control	control	NOUN
fcis-2068	21	24	accuracy	accuracy	NOUN
fcis-2068	21	25	is	be	AUX
fcis-2068	21	26	poor	poor	ADJ
fcis-2068	21	27	and	and	CCONJ
fcis-2068	21	28	its	its	PRON
fcis-2068	21	29	ability	ability	NOUN
fcis-2068	21	30	to	to	PART
fcis-2068	21	31	deal	deal	VERB
fcis-2068	21	32	with	with	ADP
fcis-2068	21	33	delay	delay	NOUN
fcis-2068	21	34	problems	problem	NOUN
fcis-2068	21	35	is	be	AUX
fcis-2068	21	36	not	not	PART
fcis-2068	21	37	strong	strong	ADJ
fcis-2068	21	38	.	.	PUNCT
fcis-2068	22	1	therefore	therefore	ADV
fcis-2068	22	2	,	,	PUNCT
fcis-2068	22	3	this	this	DET
fcis-2068	22	4	paper	paper	NOUN
fcis-2068	22	5	selects	select	VERB
fcis-2068	22	6	the	the	DET
fcis-2068	22	7	model	model	NOUN
fcis-2068	22	8	predictive	predictive	PROPN
fcis-2068	22	9	control	control	NOUN
fcis-2068	22	10	algorithm	algorithm	NOUN
fcis-2068	22	11	with	with	ADP
fcis-2068	22	12	higher	high	ADJ
fcis-2068	22	13	control	control	NOUN
fcis-2068	22	14	precision	precision	NOUN
fcis-2068	22	15	and	and	CCONJ
fcis-2068	22	16	better	well	ADJ
fcis-2068	22	17	processing	processing	NOUN
fcis-2068	22	18	delay	delay	NOUN
fcis-2068	22	19	ability	ability	NOUN
fcis-2068	22	20	to	to	PART
fcis-2068	22	21	design	design	VERB
fcis-2068	22	22	the	the	DET
fcis-2068	22	23	longitudinal	longitudinal	ADJ
fcis-2068	22	24	motion	motion	NOUN
fcis-2068	22	25	controller	controller	NOUN
fcis-2068	22	26	.	.	PUNCT
fcis-2068	23	1	in	in	ADP
fcis-2068	23	2	the	the	DET
fcis-2068	23	3	control	control	NOUN
fcis-2068	23	4	structure	structure	NOUN
fcis-2068	23	5	,	,	PUNCT
fcis-2068	23	6	longitudinal	longitudinal	ADJ
fcis-2068	23	7	motion	motion	NOUN
fcis-2068	23	8	control	control	NOUN
fcis-2068	23	9	is	be	AUX
fcis-2068	23	10	divided	divide	VERB
fcis-2068	23	11	into	into	ADP
fcis-2068	23	12	direct	direct	ADJ
fcis-2068	23	13	control	control	NOUN
fcis-2068	23	14	and	and	CCONJ
fcis-2068	23	15	hierarchical	hierarchical	ADJ
fcis-2068	23	16	control	control	NOUN
fcis-2068	23	17	structure	structure	NOUN
fcis-2068	23	18	.	.	PUNCT
fcis-2068	24	1	direct	direct	ADJ
fcis-2068	24	2	control	control	NOUN
fcis-2068	24	3	has	have	VERB
fcis-2068	24	4	the	the	DET
fcis-2068	24	5	characteristics	characteristic	NOUN
fcis-2068	24	6	of	of	ADP
fcis-2068	24	7	high	high	ADJ
fcis-2068	24	8	integration	integration	NOUN
fcis-2068	24	9	and	and	CCONJ
fcis-2068	24	10	strong	strong	ADJ
fcis-2068	24	11	accuracy	accuracy	NOUN
fcis-2068	24	12	,	,	PUNCT
fcis-2068	24	13	but	but	CCONJ
fcis-2068	24	14	its	its	PRON
fcis-2068	24	15	design	design	NOUN
fcis-2068	24	16	is	be	AUX
fcis-2068	24	17	complex	complex	ADJ
fcis-2068	24	18	and	and	CCONJ
fcis-2068	24	19	flexible	flexible	ADJ
fcis-2068	24	20	.	.	PUNCT
fcis-2068	25	1	zheng	zheng	PROPN
fcis-2068	25	2	designed	design	VERB
fcis-2068	25	3	a	a	DET
fcis-2068	25	4	longitudinal	longitudinal	ADJ
fcis-2068	25	5	controller	controller	NOUN
fcis-2068	25	6	based	base	VERB
fcis-2068	25	7	on	on	ADP
fcis-2068	25	8	fuzzy	fuzzy	ADJ
fcis-2068	25	9	control	control	NOUN
fcis-2068	25	10	by	by	ADP
fcis-2068	25	11	direct	direct	ADJ
fcis-2068	25	12	control	control	NOUN
fcis-2068	25	13	.	.	PUNCT
fcis-2068	26	1	hierarchical	hierarchical	ADJ
fcis-2068	26	2	control	control	NOUN
fcis-2068	26	3	is	be	AUX
fcis-2068	26	4	simpler	simple	ADJ
fcis-2068	26	5	and	and	CCONJ
fcis-2068	26	6	more	more	ADV
fcis-2068	26	7	flexible	flexible	ADJ
fcis-2068	26	8	than	than	ADP
fcis-2068	26	9	direct	direct	ADJ
fcis-2068	26	10	control	control	NOUN
fcis-2068	26	11	.	.	PUNCT
fcis-2068	27	1	jian	jian	PROPN
fcis-2068	27	2	designed	design	VERB
fcis-2068	27	3	a	a	DET
fcis-2068	27	4	longitudinal	longitudinal	ADJ
fcis-2068	27	5	controller	controller	NOUN
fcis-2068	27	6	with	with	ADP
fcis-2068	27	7	hierarchical	hierarchical	ADJ
fcis-2068	27	8	control	control	NOUN
fcis-2068	27	9	.	.	PUNCT
fcis-2068	28	1	the	the	DET
fcis-2068	28	2	upper	upper	ADJ
fcis-2068	28	3	layer	layer	NOUN
fcis-2068	28	4	uses	use	VERB
fcis-2068	28	5	sliding	slide	VERB
fcis-2068	28	6	mode	mode	ADJ
fcis-2068	28	7	variable	variable	ADJ
fcis-2068	28	8	structure	structure	NOUN
fcis-2068	28	9	control	control	NOUN
fcis-2068	28	10	to	to	PART
fcis-2068	28	11	obtain	obtain	VERB
fcis-2068	28	12	the	the	DET
fcis-2068	28	13	desired	desire	VERB
fcis-2068	28	14	acceleration	acceleration	NOUN
fcis-2068	28	15	,	,	PUNCT
fcis-2068	28	16	and	and	CCONJ
fcis-2068	28	17	the	the	DET
fcis-2068	28	18	lower	low	ADJ
fcis-2068	28	19	layer	layer	NOUN
fcis-2068	28	20	uses	use	VERB
fcis-2068	28	21	fuzzy	fuzzy	ADJ
fcis-2068	28	22	pid	pid	NOUN
fcis-2068	28	23	control	control	NOUN
fcis-2068	28	24	and	and	CCONJ
fcis-2068	28	25	longitudinal	longitudinal	ADJ
fcis-2068	28	26	dynamics	dynamic	NOUN
fcis-2068	28	27	model	model	NOUN
fcis-2068	28	28	to	to	PART
fcis-2068	28	29	calculate	calculate	VERB
fcis-2068	28	30	the	the	DET
fcis-2068	28	31	throttle	throttle	NOUN
fcis-2068	28	32	opening	opening	NOUN
fcis-2068	28	33	and	and	CCONJ
fcis-2068	28	34	braking	braking	NOUN
fcis-2068	28	35	pressure	pressure	NOUN
fcis-2068	28	36	.	.	PUNCT
fcis-2068	29	1	in	in	ADP
fcis-2068	29	2	order	order	NOUN
fcis-2068	29	3	to	to	PART
fcis-2068	29	4	study	study	VERB
fcis-2068	29	5	the	the	DET
fcis-2068	29	6	longitudinal	longitudinal	ADJ
fcis-2068	29	7	control	control	NOUN
fcis-2068	29	8	system	system	NOUN
fcis-2068	29	9	,	,	PUNCT
fcis-2068	29	10	this	this	DET
fcis-2068	29	11	paper	paper	NOUN
fcis-2068	29	12	adopts	adopt	VERB
fcis-2068	29	13	hierarchical	hierarchical	ADJ
fcis-2068	29	14	control	control	NOUN
fcis-2068	29	15	structure	structure	NOUN
fcis-2068	29	16	.	.	PUNCT
fcis-2068	30	1	in	in	ADP
fcis-2068	30	2	summary	summary	NOUN
fcis-2068	30	3	,	,	PUNCT
fcis-2068	30	4	few	few	ADJ
fcis-2068	30	5	existing	exist	VERB
fcis-2068	30	6	studies	study	NOUN
fcis-2068	30	7	have	have	AUX
fcis-2068	30	8	considered	consider	VERB
fcis-2068	30	9	the	the	DET
fcis-2068	30	10	comfort	comfort	NOUN
fcis-2068	30	11	of	of	ADP
fcis-2068	30	12	the	the	DET
fcis-2068	30	13	occupants	occupant	NOUN
fcis-2068	30	14	to	to	PART
fcis-2068	30	15	design	design	VERB
fcis-2068	30	16	the	the	DET
fcis-2068	30	17	longitudinal	longitudinal	ADJ
fcis-2068	30	18	motion	motion	NOUN
fcis-2068	30	19	controller	controller	NOUN
fcis-2068	30	20	.	.	PUNCT
fcis-2068	31	1	therefore	therefore	ADV
fcis-2068	31	2	,	,	PUNCT
fcis-2068	31	3	this	this	DET
fcis-2068	31	4	paper	paper	NOUN
fcis-2068	31	5	builds	build	VERB
fcis-2068	31	6	a	a	DET
fcis-2068	31	7	vehicle	vehicle	NOUN
fcis-2068	31	8	longitudinal	longitudinal	ADJ
fcis-2068	31	9	dynamics	dynamic	NOUN
fcis-2068	31	10	model	model	NOUN
fcis-2068	31	11	,	,	PUNCT
fcis-2068	31	12	comprehensively	comprehensively	ADV
fcis-2068	31	13	considers	consider	VERB
fcis-2068	31	14	the	the	DET
fcis-2068	31	15	influence	influence	NOUN
fcis-2068	31	16	of	of	ADP
fcis-2068	31	17	the	the	DET
fcis-2068	31	18	motion	motion	NOUN
fcis-2068	31	19	state	state	NOUN
fcis-2068	31	20	of	of	ADP
fcis-2068	31	21	the	the	DET
fcis-2068	31	22	front	front	ADJ
fcis-2068	31	23	vehicle	vehicle	NOUN
fcis-2068	31	24	in	in	ADP
fcis-2068	31	25	the	the	DET
fcis-2068	31	26	same	same	ADJ
fcis-2068	31	27	lane	lane	NOUN
fcis-2068	31	28	on	on	ADP
fcis-2068	31	29	the	the	DET
fcis-2068	31	30	vehicle	vehicle	NOUN
fcis-2068	31	31	and	and	CCONJ
fcis-2068	31	32	the	the	DET
fcis-2068	31	33	comfort	comfort	NOUN
fcis-2068	31	34	of	of	ADP
fcis-2068	31	35	the	the	DET
fcis-2068	31	36	occupants	occupant	NOUN
fcis-2068	31	37	to	to	PART
fcis-2068	31	38	design	design	VERB
fcis-2068	31	39	the	the	DET
fcis-2068	31	40	vehicle	vehicle	NOUN
fcis-2068	31	41	longitudinal	longitudinal	ADJ
fcis-2068	31	42	control	control	NOUN
fcis-2068	31	43	strategy	strategy	NOUN
fcis-2068	31	44	.	.	PUNCT
fcis-2068	32	1	based	base	VERB
fcis-2068	32	2	on	on	ADP
fcis-2068	32	3	this	this	PRON
fcis-2068	32	4	,	,	PUNCT
fcis-2068	32	5	the	the	DET
fcis-2068	32	6	hierarchical	hierarchical	ADJ
fcis-2068	32	7	control	control	NOUN
fcis-2068	32	8	structure	structure	NOUN
fcis-2068	32	9	is	be	AUX
fcis-2068	32	10	used	use	VERB
fcis-2068	32	11	to	to	PART
fcis-2068	32	12	design	design	VERB
fcis-2068	32	13	the	the	DET
fcis-2068	32	14	longitudinal	longitudinal	ADJ
fcis-2068	32	15	motion	motion	NOUN
fcis-2068	32	16	controller	controller	NOUN
fcis-2068	32	17	based	base	VERB
fcis-2068	32	18	on	on	ADP
fcis-2068	32	19	model	model	NOUN
fcis-2068	32	20	predictive	predictive	PROPN
fcis-2068	32	21	control	control	NOUN
fcis-2068	32	22	.	.	PUNCT
fcis-2068	33	1	finally	finally	ADV
fcis-2068	33	2	,	,	PUNCT
fcis-2068	33	3	under	under	ADP
fcis-2068	33	4	different	different	ADJ
fcis-2068	33	5	working	work	VERB
fcis-2068	33	6	conditions	condition	NOUN
fcis-2068	33	7	,	,	PUNCT
fcis-2068	33	8	simulation	simulation	NOUN
fcis-2068	33	9	experiments	experiment	NOUN
fcis-2068	33	10	are	be	AUX
fcis-2068	33	11	carried	carry	VERB
fcis-2068	33	12	out	out	ADP
fcis-2068	33	13	based	base	VERB
fcis-2068	33	14	on	on	ADP
fcis-2068	33	15	matlab	matlab	PROPN
fcis-2068	33	16	/	/	SYM
fcis-2068	33	17	simulink	simulink	PROPN
fcis-2068	33	18	.	.	PUNCT
fcis-2068	34	1	this	this	DET
fcis-2068	34	2	paper	paper	NOUN
fcis-2068	34	3	lays	lay	VERB
fcis-2068	34	4	a	a	DET
fcis-2068	34	5	theoretical	theoretical	ADJ
fcis-2068	34	6	foundation	foundation	NOUN
fcis-2068	34	7	for	for	ADP
fcis-2068	34	8	improving	improve	VERB
fcis-2068	34	9	vehicle	vehicle	NOUN
fcis-2068	34	10	driving	driving	NOUN
fcis-2068	34	11	safety	safety	NOUN
fcis-2068	34	12	and	and	CCONJ
fcis-2068	34	13	diversity	diversity	NOUN
fcis-2068	34	14	of	of	ADP
fcis-2068	34	15	control	control	NOUN
fcis-2068	34	16	scenarios	scenario	NOUN
fcis-2068	34	17	.	.	PUNCT
fcis-2068	35	1	2	2	X
fcis-2068	35	2	.	.	X
fcis-2068	35	3	longitudinal	longitudinal	ADJ
fcis-2068	35	4	vehicle	vehicle	NOUN
fcis-2068	35	5	dynamic	dynamic	ADJ
fcis-2068	35	6	model	model	NOUN
fcis-2068	35	7	the	the	DET
fcis-2068	35	8	vehicle	vehicle	NOUN
fcis-2068	35	9	completes	complete	VERB
fcis-2068	35	10	a	a	DET
fcis-2068	35	11	series	series	NOUN
fcis-2068	35	12	of	of	ADP
fcis-2068	35	13	actions	action	NOUN
fcis-2068	35	14	such	such	ADJ
fcis-2068	35	15	as	as	ADP
fcis-2068	35	16	acceleration	acceleration	NOUN
fcis-2068	35	17	,	,	PUNCT
fcis-2068	35	18	uniform	uniform	ADJ
fcis-2068	35	19	speed	speed	NOUN
fcis-2068	35	20	and	and	CCONJ
fcis-2068	35	21	deceleration	deceleration	NOUN
fcis-2068	35	22	through	through	ADP
fcis-2068	35	23	the	the	DET
fcis-2068	35	24	force	force	NOUN
fcis-2068	35	25	and	and	CCONJ
fcis-2068	35	26	reaction	reaction	NOUN
fcis-2068	35	27	force	force	NOUN
fcis-2068	35	28	between	between	ADP
fcis-2068	35	29	the	the	DET
fcis-2068	35	30	ground	ground	NOUN
fcis-2068	35	31	and	and	CCONJ
fcis-2068	35	32	the	the	DET
fcis-2068	35	33	tire	tire	NOUN
fcis-2068	35	34	.	.	PUNCT
fcis-2068	36	1	the	the	DET
fcis-2068	36	2	design	design	NOUN
fcis-2068	36	3	of	of	ADP
fcis-2068	36	4	the	the	DET
fcis-2068	36	5	control	control	NOUN
fcis-2068	36	6	algorithm	algorithm	NOUN
fcis-2068	36	7	needs	need	VERB
fcis-2068	36	8	to	to	PART
fcis-2068	36	9	be	be	AUX
fcis-2068	36	10	based	base	VERB
fcis-2068	36	11	on	on	ADP
fcis-2068	36	12	the	the	DET
fcis-2068	36	13	vehicle	vehicle	NOUN
fcis-2068	36	14	dynamics	dynamic	NOUN
fcis-2068	36	15	model	model	NOUN
fcis-2068	36	16	.	.	PUNCT
fcis-2068	37	1	therefore	therefore	ADV
fcis-2068	37	2	,	,	PUNCT
fcis-2068	37	3	this	this	DET
fcis-2068	37	4	paper	paper	NOUN
fcis-2068	37	5	analyzes	analyze	VERB
fcis-2068	37	6	the	the	DET
fcis-2068	37	7	force	force	NOUN
fcis-2068	37	8	of	of	ADP
fcis-2068	37	9	the	the	DET
fcis-2068	37	10	vehicle	vehicle	NOUN
fcis-2068	37	11	under	under	ADP
fcis-2068	37	12	acceleration	acceleration	NOUN
fcis-2068	37	13	and	and	CCONJ
fcis-2068	37	14	deceleration	deceleration	NOUN
fcis-2068	37	15	conditions	condition	NOUN
fcis-2068	37	16	during	during	ADP
fcis-2068	37	17	driving	drive	VERB
fcis-2068	37	18	,	,	PUNCT
fcis-2068	37	19	and	and	CCONJ
fcis-2068	37	20	establishes	establish	VERB
fcis-2068	37	21	the	the	DET
fcis-2068	37	22	vehicle	vehicle	NOUN
fcis-2068	37	23	driving	driving	NOUN
fcis-2068	37	24	dynamics	dynamic	NOUN
fcis-2068	37	25	model	model	NOUN
fcis-2068	37	26	and	and	CCONJ
fcis-2068	37	27	braking	brake	VERB
fcis-2068	37	28	dynamics	dynamic	NOUN
fcis-2068	37	29	model	model	NOUN
fcis-2068	37	30	:	:	PUNCT
fcis-2068	37	31	43	43	NUM
fcis-2068	37	32	fig.1	fig.1	PROPN
fcis-2068	37	33	longitudinal	longitudinal	ADJ
fcis-2068	37	34	force	force	NOUN
fcis-2068	37	35	diagram	diagram	NOUN
fcis-2068	37	36	of	of	ADP
fcis-2068	37	37	uphill	uphill	ADJ
fcis-2068	37	38	vehicle	vehicle	NOUN
fcis-2068	37	39	it	it	PRON
fcis-2068	37	40	can	can	AUX
fcis-2068	37	41	be	be	AUX
fcis-2068	37	42	seen	see	VERB
fcis-2068	37	43	from	from	ADP
fcis-2068	37	44	fig.1	fig.1	PROPN
fcis-2068	37	45	that	that	SCONJ
fcis-2068	37	46	taking	take	VERB
fcis-2068	37	47	the	the	DET
fcis-2068	37	48	vehicle	vehicle	NOUN
fcis-2068	37	49	with	with	ADP
fcis-2068	37	50	front	front	ADJ
fcis-2068	37	51	wheel	wheel	NOUN
fcis-2068	37	52	drive	drive	NOUN
fcis-2068	37	53	as	as	ADP
fcis-2068	37	54	an	an	DET
fcis-2068	37	55	example	example	NOUN
fcis-2068	37	56	,	,	PUNCT
fcis-2068	37	57	the	the	DET
fcis-2068	37	58	vehicle	vehicle	NOUN
fcis-2068	37	59	mainly	mainly	ADV
fcis-2068	37	60	needs	need	VERB
fcis-2068	37	61	to	to	PART
fcis-2068	37	62	be	be	AUX
fcis-2068	37	63	subjected	subject	VERB
fcis-2068	37	64	to	to	ADP
fcis-2068	37	65	its	its	PRON
fcis-2068	37	66	own	own	ADJ
fcis-2068	37	67	gravity	gravity	NOUN
fcis-2068	37	68	during	during	ADP
fcis-2068	37	69	driving	drive	VERB
fcis-2068	37	70	g	g	NOUN
fcis-2068	37	71	,	,	PUNCT
fcis-2068	37	72	air	air	NOUN
fcis-2068	37	73	resistance	resistance	PROPN
fcis-2068	37	74	wf	wf	PROPN
fcis-2068	37	75	,	,	PUNCT
fcis-2068	37	76	hill	hill	NOUN
fcis-2068	37	77	climbing	climbing	NOUN
fcis-2068	37	78	resistance	resistance	NOUN
fcis-2068	37	79	if	if	SCONJ
fcis-2068	37	80	,	,	PUNCT
fcis-2068	37	81	rolling	roll	VERB
fcis-2068	37	82	resistance	resistance	NOUN
fcis-2068	37	83	ff	ff	NOUN
fcis-2068	37	84	,	,	PUNCT
fcis-2068	37	85	and	and	CCONJ
fcis-2068	37	86	the	the	DET
fcis-2068	37	87	driving	drive	VERB
fcis-2068	37	88	force	force	NOUN
fcis-2068	37	89	acting	act	VERB
fcis-2068	37	90	on	on	ADP
fcis-2068	37	91	the	the	DET
fcis-2068	37	92	wheel	wheel	NOUN
fcis-2068	37	93	tf	tf	INTJ
fcis-2068	37	94	or	or	CCONJ
fcis-2068	37	95	braking	brake	VERB
fcis-2068	37	96	force	force	NOUN
fcis-2068	37	97	bf	bf	NOUN
fcis-2068	37	98	.	.	PUNCT
fcis-2068	38	1	according	accord	VERB
fcis-2068	38	2	to	to	ADP
fcis-2068	38	3	newton	newton	PROPN
fcis-2068	38	4	s	s	PART
fcis-2068	38	5	second	second	ADJ
fcis-2068	38	6	law	law	NOUN
fcis-2068	38	7	,	,	PUNCT
fcis-2068	38	8	the	the	DET
fcis-2068	38	9	dynamic	dynamic	ADJ
fcis-2068	38	10	equilibrium	equilibrium	NOUN
fcis-2068	38	11	expression	expression	NOUN
fcis-2068	38	12	of	of	ADP
fcis-2068	38	13	the	the	DET
fcis-2068	38	14	vehicle	vehicle	NOUN
fcis-2068	38	15	uphill	uphill	ADV
fcis-2068	38	16	can	can	AUX
fcis-2068	38	17	be	be	AUX
fcis-2068	38	18	established	establish	VERB
fcis-2068	38	19	as	as	ADP
fcis-2068	38	20	:	:	PUNCT
fcis-2068	38	21	𝛿𝛿𝛿𝛿𝑣𝑣𝑥𝑥	𝛿𝛿𝛿𝛿𝑣𝑣𝑥𝑥	PROPN
fcis-2068	38	22	′	′	NOUN
fcis-2068	39	1	=	=	SYM
fcis-2068	39	2	𝐹𝐹𝑡𝑡	𝐹𝐹𝑡𝑡	NOUN
fcis-2068	39	3	−	−	NUM
fcis-2068	40	1	𝐹𝐹𝑤𝑤	𝐹𝐹𝑤𝑤	NUM
fcis-2068	40	2	−	−	PROPN
fcis-2068	41	1	𝐹𝐹𝑖𝑖	𝐹𝐹𝑖𝑖	PROPN
fcis-2068	42	1	−	−	PROPN
fcis-2068	42	2	𝐹𝐹𝑓𝑓	𝐹𝐹𝑓𝑓	PROPN
fcis-2068	42	3	(	(	PUNCT
fcis-2068	42	4	1	1	NUM
fcis-2068	42	5	)	)	PUNCT
fcis-2068	42	6	among	among	ADP
fcis-2068	42	7	them	they	PRON
fcis-2068	42	8	,	,	PUNCT
fcis-2068	42	9	m	m	VERB
fcis-2068	42	10	is	be	AUX
fcis-2068	42	11	the	the	DET
fcis-2068	42	12	vehicle	vehicle	NOUN
fcis-2068	42	13	mass	mass	NOUN
fcis-2068	42	14	;	;	PUNCT
fcis-2068	42	15	δ	δ	PROPN
fcis-2068	42	16	is	be	AUX
fcis-2068	42	17	the	the	DET
fcis-2068	42	18	rotational	rotational	ADJ
fcis-2068	42	19	mass	mass	PROPN
fcis-2068	42	20	conversion	conversion	NOUN
fcis-2068	42	21	coefficient	coefficient	NOUN
fcis-2068	42	22	xv	xv	PROPN
fcis-2068	42	23	is	be	AUX
fcis-2068	42	24	longitudinal	longitudinal	ADJ
fcis-2068	42	25	speed	speed	NOUN
fcis-2068	42	26	.	.	PUNCT
fcis-2068	43	1	the	the	DET
fcis-2068	43	2	expression	expression	NOUN
fcis-2068	43	3	of	of	ADP
fcis-2068	43	4	air	air	NOUN
fcis-2068	43	5	resistance	resistance	NOUN
fcis-2068	43	6	is	be	AUX
fcis-2068	43	7	:	:	PUNCT
fcis-2068	43	8	𝐹𝐹𝑤𝑤	𝐹𝐹𝑤𝑤	PROPN
fcis-2068	43	9	=	=	SYM
fcis-2068	43	10	1	1	NUM
fcis-2068	43	11	2	2	NUM
fcis-2068	43	12	𝐶𝐶𝐷𝐷𝐴𝐴𝐴𝐴𝑢𝑢𝑟𝑟2	𝐶𝐶𝐷𝐷𝐴𝐴𝐴𝐴𝑢𝑢𝑟𝑟2	X
fcis-2068	43	13	(	(	PUNCT
fcis-2068	43	14	2	2	NUM
fcis-2068	43	15	)	)	PUNCT
fcis-2068	43	16	among	among	ADP
fcis-2068	43	17	them	they	PRON
fcis-2068	43	18	,	,	PUNCT
fcis-2068	43	19	dc	dc	PROPN
fcis-2068	43	20	is	be	AUX
fcis-2068	43	21	the	the	DET
fcis-2068	43	22	air	air	NOUN
fcis-2068	43	23	resistance	resistance	NOUN
fcis-2068	43	24	coefficient	coefficient	NOUN
fcis-2068	43	25	;	;	PUNCT
fcis-2068	43	26	a	a	PRON
fcis-2068	43	27	is	be	AUX
fcis-2068	43	28	the	the	DET
fcis-2068	43	29	windward	windward	ADJ
fcis-2068	43	30	area	area	NOUN
fcis-2068	43	31	of	of	ADP
fcis-2068	43	32	the	the	DET
fcis-2068	43	33	vehicle	vehicle	NOUN
fcis-2068	43	34	;	;	PUNCT
fcis-2068	43	35	ρ	ρ	PROPN
fcis-2068	43	36	is	be	AUX
fcis-2068	43	37	air	air	NOUN
fcis-2068	43	38	density	density	NOUN
fcis-2068	43	39	;	;	PUNCT
fcis-2068	43	40	ru	ru	PROPN
fcis-2068	43	41	is	be	AUX
fcis-2068	43	42	the	the	DET
fcis-2068	43	43	relative	relative	ADJ
fcis-2068	43	44	speed	speed	NOUN
fcis-2068	43	45	of	of	ADP
fcis-2068	43	46	speed	speed	NOUN
fcis-2068	43	47	and	and	CCONJ
fcis-2068	43	48	wind	wind	NOUN
fcis-2068	43	49	speed	speed	NOUN
fcis-2068	43	50	.	.	PUNCT
fcis-2068	44	1	the	the	DET
fcis-2068	44	2	expression	expression	NOUN
fcis-2068	44	3	of	of	ADP
fcis-2068	44	4	slope	slope	NOUN
fcis-2068	44	5	resistance	resistance	NOUN
fcis-2068	44	6	is	be	AUX
fcis-2068	44	7	:	:	PUNCT
fcis-2068	44	8	𝐹𝐹𝑖𝑖	𝐹𝐹𝑖𝑖	PROPN
fcis-2068	44	9	=	=	PUNCT
fcis-2068	45	1	𝛿𝛿𝑚𝑚	𝛿𝛿𝑚𝑚	PROPN
fcis-2068	45	2	𝑠𝑠𝑠𝑠𝑠𝑠	𝑠𝑠𝑠𝑠𝑠𝑠	NOUN
fcis-2068	45	3	𝜃𝜃	𝜃𝜃	PROPN
fcis-2068	45	4	(	(	PUNCT
fcis-2068	45	5	3	3	NUM
fcis-2068	45	6	)	)	PUNCT
fcis-2068	45	7	among	among	ADP
fcis-2068	45	8	them	they	PRON
fcis-2068	45	9	,	,	PUNCT
fcis-2068	45	10	θ	θ	PROPN
fcis-2068	45	11	is	be	AUX
fcis-2068	45	12	the	the	DET
fcis-2068	45	13	slope	slope	NOUN
fcis-2068	45	14	angle	angle	NOUN
fcis-2068	45	15	of	of	ADP
fcis-2068	45	16	the	the	DET
fcis-2068	45	17	road	road	NOUN
fcis-2068	45	18	.	.	PUNCT
fcis-2068	46	1	the	the	DET
fcis-2068	46	2	expression	expression	NOUN
fcis-2068	46	3	of	of	ADP
fcis-2068	46	4	rolling	rolling	ADJ
fcis-2068	46	5	resistance	resistance	NOUN
fcis-2068	46	6	is	be	AUX
fcis-2068	46	7	:	:	PUNCT
fcis-2068	47	1	𝐹𝐹𝑓𝑓	𝐹𝐹𝑓𝑓	PROPN
fcis-2068	47	2	=	=	PUNCT
fcis-2068	47	3	𝛿𝛿𝑚𝑚𝑚𝑚	𝛿𝛿𝑚𝑚𝑚𝑚	PROPN
fcis-2068	47	4	𝑐𝑐𝑐𝑐𝑠𝑠	𝑐𝑐𝑐𝑐𝑠𝑠	PROPN
fcis-2068	48	1	𝜃𝜃	𝜃𝜃	INTJ
fcis-2068	48	2	(	(	PUNCT
fcis-2068	48	3	4	4	NUM
fcis-2068	48	4	)	)	PUNCT
fcis-2068	48	5	among	among	ADP
fcis-2068	48	6	them	they	PRON
fcis-2068	48	7	,	,	PUNCT
fcis-2068	48	8	f	f	PROPN
fcis-2068	48	9	is	be	AUX
fcis-2068	48	10	the	the	DET
fcis-2068	48	11	rolling	rolling	ADJ
fcis-2068	48	12	resistance	resistance	NOUN
fcis-2068	48	13	coefficient	coefficient	NOUN
fcis-2068	48	14	.	.	PUNCT
fcis-2068	49	1	during	during	ADP
fcis-2068	49	2	the	the	DET
fcis-2068	49	3	driving	drive	VERB
fcis-2068	49	4	process	process	NOUN
fcis-2068	49	5	of	of	ADP
fcis-2068	49	6	the	the	DET
fcis-2068	49	7	vehicle	vehicle	NOUN
fcis-2068	49	8	,	,	PUNCT
fcis-2068	49	9	the	the	DET
fcis-2068	49	10	expression	expression	NOUN
fcis-2068	49	11	of	of	ADP
fcis-2068	49	12	the	the	DET
fcis-2068	49	13	driving	drive	VERB
fcis-2068	49	14	force	force	NOUN
fcis-2068	49	15	tf	tf	INTJ
fcis-2068	49	16	of	of	ADP
fcis-2068	49	17	the	the	DET
fcis-2068	49	18	engine	engine	NOUN
fcis-2068	49	19	acting	act	VERB
fcis-2068	49	20	on	on	ADP
fcis-2068	49	21	the	the	DET
fcis-2068	49	22	tire	tire	NOUN
fcis-2068	49	23	is	be	AUX
fcis-2068	49	24	:	:	PUNCT
fcis-2068	49	25	𝐹𝐹𝑡𝑡	𝐹𝐹𝑡𝑡	X
fcis-2068	49	26	=	=	PUNCT
fcis-2068	49	27	𝑇𝑇𝑡𝑡	𝑇𝑇𝑡𝑡	PUNCT
fcis-2068	49	28	𝑟𝑟	𝑟𝑟	ADP
fcis-2068	49	29	=	=	PUNCT
fcis-2068	49	30	𝑇𝑇𝑡𝑡𝑡𝑡𝑠𝑠𝑔𝑔𝑠𝑠0𝜂𝜂𝑡𝑡	𝑇𝑇𝑡𝑡𝑡𝑡𝑠𝑠𝑔𝑔𝑠𝑠0𝜂𝜂𝑡𝑡	PROPN
fcis-2068	49	31	𝑟𝑟	𝑟𝑟	X
fcis-2068	49	32	(	(	PUNCT
fcis-2068	49	33	5	5	NUM
fcis-2068	49	34	)	)	PUNCT
fcis-2068	49	35	among	among	ADP
fcis-2068	49	36	them	they	PRON
fcis-2068	49	37	,	,	PUNCT
fcis-2068	49	38	tqt	tqt	ADV
fcis-2068	49	39	is	be	AUX
fcis-2068	49	40	engine	engine	NOUN
fcis-2068	49	41	torque	torque	NOUN
fcis-2068	49	42	;	;	PUNCT
fcis-2068	49	43	gi	gi	INTJ
fcis-2068	49	44	,	,	PUNCT
fcis-2068	49	45	0i	0i	PROPN
fcis-2068	49	46	are	be	AUX
fcis-2068	49	47	the	the	DET
fcis-2068	49	48	transmission	transmission	NOUN
fcis-2068	49	49	ratio	ratio	NOUN
fcis-2068	49	50	of	of	ADP
fcis-2068	49	51	transmission	transmission	NOUN
fcis-2068	49	52	and	and	CCONJ
fcis-2068	49	53	main	main	ADJ
fcis-2068	49	54	reducer	reducer	NOUN
fcis-2068	49	55	respectively	respectively	ADV
fcis-2068	49	56	;	;	PUNCT
fcis-2068	49	57	tη	tη	PROPN
fcis-2068	49	58	is	be	AUX
fcis-2068	49	59	the	the	DET
fcis-2068	49	60	mechanical	mechanical	ADJ
fcis-2068	49	61	efficiency	efficiency	NOUN
fcis-2068	49	62	of	of	ADP
fcis-2068	49	63	the	the	DET
fcis-2068	49	64	transmission	transmission	NOUN
fcis-2068	49	65	;	;	PUNCT
fcis-2068	49	66	r	r	NOUN
fcis-2068	49	67	is	be	AUX
fcis-2068	49	68	the	the	DET
fcis-2068	49	69	wheel	wheel	NOUN
fcis-2068	49	70	radius	radius	NOUN
fcis-2068	49	71	.	.	PUNCT
fcis-2068	50	1	vehicle	vehicle	NOUN
fcis-2068	50	2	braking	braking	NOUN
fcis-2068	50	3	process	process	NOUN
fcis-2068	50	4	,	,	PUNCT
fcis-2068	50	5	the	the	DET
fcis-2068	50	6	ground	ground	NOUN
fcis-2068	50	7	on	on	ADP
fcis-2068	50	8	the	the	DET
fcis-2068	50	9	tire	tire	NOUN
fcis-2068	50	10	braking	brake	VERB
fcis-2068	50	11	force	force	NOUN
fcis-2068	50	12	bf	bf	NOUN
fcis-2068	50	13	to	to	PART
fcis-2068	50	14	replace	replace	VERB
fcis-2068	50	15	the	the	DET
fcis-2068	50	16	driving	drive	VERB
fcis-2068	50	17	force	force	NOUN
fcis-2068	50	18	engine	engine	NOUN
fcis-2068	50	19	driving	driving	NOUN
fcis-2068	50	20	force	force	NOUN
fcis-2068	50	21	acting	act	VERB
fcis-2068	50	22	on	on	ADP
fcis-2068	50	23	the	the	DET
fcis-2068	50	24	tire	tire	NOUN
fcis-2068	51	1	,	,	PUNCT
fcis-2068	51	2	the	the	DET
fcis-2068	51	3	expression	expression	NOUN
fcis-2068	51	4	is	be	AUX
fcis-2068	51	5	:	:	PUNCT
fcis-2068	51	6	𝐹𝐹𝑏𝑏	𝐹𝐹𝑏𝑏	PROPN
fcis-2068	51	7	=	=	PUNCT
fcis-2068	52	1	𝑇𝑇𝑏𝑏	𝑇𝑇𝑏𝑏	ADP
fcis-2068	52	2	𝑟𝑟	𝑟𝑟	ADP
fcis-2068	52	3	≤	≤	ADJ
fcis-2068	52	4	𝐹𝐹𝑍𝑍𝜑𝜑	𝐹𝐹𝑍𝑍𝜑𝜑	PROPN
fcis-2068	52	5	(	(	PUNCT
fcis-2068	52	6	6	6	NUM
fcis-2068	52	7	)	)	PUNCT
fcis-2068	52	8	among	among	ADP
fcis-2068	52	9	them	they	PRON
fcis-2068	52	10	,	,	PUNCT
fcis-2068	52	11	bt	bt	PROPN
fcis-2068	52	12	is	be	AUX
fcis-2068	52	13	the	the	DET
fcis-2068	52	14	friction	friction	NOUN
fcis-2068	52	15	torque	torque	NOUN
fcis-2068	52	16	of	of	ADP
fcis-2068	52	17	the	the	DET
fcis-2068	52	18	brake	brake	NOUN
fcis-2068	52	19	;	;	PUNCT
fcis-2068	52	20	zf	zf	PROPN
fcis-2068	52	21	is	be	AUX
fcis-2068	52	22	the	the	DET
fcis-2068	52	23	normal	normal	ADJ
fcis-2068	52	24	reaction	reaction	NOUN
fcis-2068	52	25	force	force	NOUN
fcis-2068	52	26	of	of	ADP
fcis-2068	52	27	the	the	DET
fcis-2068	52	28	ground	ground	NOUN
fcis-2068	52	29	to	to	ADP
fcis-2068	52	30	the	the	DET
fcis-2068	52	31	tire;ϕ	tire;ϕ	PROPN
fcis-2068	52	32	is	be	AUX
fcis-2068	52	33	the	the	DET
fcis-2068	52	34	ground	ground	NOUN
fcis-2068	52	35	adhesion	adhesion	NOUN
fcis-2068	52	36	coefficient	coefficient	NOUN
fcis-2068	52	37	.	.	PUNCT
fcis-2068	53	1	the	the	DET
fcis-2068	53	2	direction	direction	NOUN
fcis-2068	53	3	of	of	ADP
fcis-2068	53	4	the	the	DET
fcis-2068	53	5	force	force	NOUN
fcis-2068	53	6	of	of	ADP
fcis-2068	53	7	the	the	DET
fcis-2068	53	8	vehicle	vehicle	NOUN
fcis-2068	53	9	is	be	AUX
fcis-2068	53	10	different	different	ADJ
fcis-2068	53	11	in	in	ADP
fcis-2068	53	12	the	the	DET
fcis-2068	53	13	uphill	uphill	NOUN
fcis-2068	53	14	,	,	PUNCT
fcis-2068	53	15	downhill	downhill	ADV
fcis-2068	53	16	,	,	PUNCT
fcis-2068	53	17	acceleration	acceleration	NOUN
fcis-2068	53	18	and	and	CCONJ
fcis-2068	53	19	braking	braking	NOUN
fcis-2068	53	20	.	.	PUNCT
fcis-2068	54	1	it	it	PRON
fcis-2068	54	2	is	be	AUX
fcis-2068	54	3	necessary	necessary	ADJ
fcis-2068	54	4	to	to	PART
fcis-2068	54	5	change	change	VERB
fcis-2068	54	6	the	the	DET
fcis-2068	54	7	direction	direction	NOUN
fcis-2068	54	8	of	of	ADP
fcis-2068	54	9	the	the	DET
fcis-2068	54	10	force	force	NOUN
fcis-2068	54	11	in	in	ADP
fcis-2068	54	12	the	the	DET
fcis-2068	54	13	model	model	NOUN
fcis-2068	54	14	.	.	PUNCT
fcis-2068	55	1	the	the	DET
fcis-2068	55	2	overall	overall	ADJ
fcis-2068	55	3	idea	idea	NOUN
fcis-2068	55	4	is	be	AUX
fcis-2068	55	5	similar	similar	ADJ
fcis-2068	55	6	to	to	ADP
fcis-2068	55	7	the	the	DET
fcis-2068	55	8	uphill	uphill	ADJ
fcis-2068	55	9	driving	driving	NOUN
fcis-2068	55	10	of	of	ADP
fcis-2068	55	11	the	the	DET
fcis-2068	55	12	vehicle	vehicle	NOUN
fcis-2068	55	13	,	,	PUNCT
fcis-2068	55	14	and	and	CCONJ
fcis-2068	55	15	it	it	PRON
fcis-2068	55	16	is	be	AUX
fcis-2068	55	17	not	not	PART
fcis-2068	55	18	described	describe	VERB
fcis-2068	55	19	too	too	ADV
fcis-2068	55	20	much	much	ADJ
fcis-2068	55	21	in	in	ADP
fcis-2068	55	22	the	the	DET
fcis-2068	55	23	text	text	NOUN
fcis-2068	55	24	.	.	PUNCT
fcis-2068	56	1	3	3	X
fcis-2068	56	2	.	.	X
fcis-2068	56	3	longitudinal	longitudinal	ADJ
fcis-2068	56	4	controller	controller	NOUN
fcis-2068	56	5	design	design	NOUN
fcis-2068	56	6	based	base	VERB
fcis-2068	56	7	on	on	ADP
fcis-2068	56	8	model	model	NOUN
fcis-2068	56	9	predictive	predictive	PROPN
fcis-2068	56	10	control	control	PROPN
fcis-2068	56	11	3.1	3.1	NUM
fcis-2068	56	12	.	.	PUNCT
fcis-2068	56	13	longitudinal	longitudinal	ADJ
fcis-2068	56	14	control	control	NOUN
fcis-2068	56	15	strategy	strategy	NOUN
fcis-2068	56	16	considering	consider	VERB
fcis-2068	56	17	motion	motion	NOUN
fcis-2068	56	18	state	state	NOUN
fcis-2068	56	19	of	of	ADP
fcis-2068	56	20	other	other	ADJ
fcis-2068	56	21	vehicles	vehicle	NOUN
fcis-2068	56	22	in	in	ADP
fcis-2068	56	23	addition	addition	NOUN
fcis-2068	56	24	to	to	ADP
fcis-2068	56	25	the	the	DET
fcis-2068	56	26	road	road	NOUN
fcis-2068	56	27	environment	environment	NOUN
fcis-2068	56	28	and	and	CCONJ
fcis-2068	56	29	regulations	regulation	NOUN
fcis-2068	56	30	,	,	PUNCT
fcis-2068	56	31	the	the	DET
fcis-2068	56	32	vehicle	vehicle	NOUN
fcis-2068	56	33	speed	speed	NOUN
fcis-2068	56	34	is	be	AUX
fcis-2068	56	35	also	also	ADV
fcis-2068	56	36	affected	affect	VERB
fcis-2068	56	37	by	by	ADP
fcis-2068	56	38	the	the	DET
fcis-2068	56	39	motion	motion	NOUN
fcis-2068	56	40	state	state	NOUN
fcis-2068	56	41	of	of	ADP
fcis-2068	56	42	other	other	ADJ
fcis-2068	56	43	participants	participant	NOUN
fcis-2068	56	44	in	in	ADP
fcis-2068	56	45	the	the	DET
fcis-2068	56	46	traffic	traffic	NOUN
fcis-2068	56	47	system	system	NOUN
fcis-2068	56	48	.	.	PUNCT
fcis-2068	57	1	in	in	ADP
fcis-2068	57	2	the	the	DET
fcis-2068	57	3	normal	normal	ADJ
fcis-2068	57	4	driving	driving	NOUN
fcis-2068	57	5	process	process	NOUN
fcis-2068	57	6	,	,	PUNCT
fcis-2068	57	7	when	when	SCONJ
fcis-2068	57	8	the	the	DET
fcis-2068	57	9	speed	speed	NOUN
fcis-2068	57	10	of	of	ADP
fcis-2068	57	11	the	the	DET
fcis-2068	57	12	front	front	ADJ
fcis-2068	57	13	vehicle	vehicle	NOUN
fcis-2068	57	14	in	in	ADP
fcis-2068	57	15	the	the	DET
fcis-2068	57	16	same	same	ADJ
fcis-2068	57	17	lane	lane	NOUN
fcis-2068	57	18	is	be	AUX
fcis-2068	57	19	low	low	ADJ
fcis-2068	57	20	,	,	PUNCT
fcis-2068	57	21	or	or	CCONJ
fcis-2068	57	22	the	the	DET
fcis-2068	57	23	front	front	ADJ
fcis-2068	57	24	vehicle	vehicle	NOUN
fcis-2068	57	25	is	be	AUX
fcis-2068	57	26	braked	brake	VERB
fcis-2068	57	27	from	from	ADP
fcis-2068	57	28	a	a	DET
fcis-2068	57	29	higher	high	ADJ
fcis-2068	57	30	speed	speed	NOUN
fcis-2068	57	31	to	to	ADP
fcis-2068	57	32	a	a	DET
fcis-2068	57	33	lower	low	ADJ
fcis-2068	57	34	speed	speed	NOUN
fcis-2068	57	35	,	,	PUNCT
fcis-2068	57	36	a	a	DET
fcis-2068	57	37	traffic	traffic	NOUN
fcis-2068	57	38	conflict	conflict	NOUN
fcis-2068	57	39	will	will	AUX
fcis-2068	57	40	occur	occur	VERB
fcis-2068	57	41	to	to	ADP
fcis-2068	57	42	the	the	DET
fcis-2068	57	43	normal	normal	ADJ
fcis-2068	57	44	driving	driving	NOUN
fcis-2068	57	45	of	of	ADP
fcis-2068	57	46	the	the	DET
fcis-2068	57	47	vehicle	vehicle	NOUN
fcis-2068	57	48	.	.	PUNCT
fcis-2068	58	1	in	in	ADP
fcis-2068	58	2	order	order	NOUN
fcis-2068	58	3	to	to	PART
fcis-2068	58	4	avoid	avoid	VERB
fcis-2068	58	5	accidents	accident	NOUN
fcis-2068	58	6	,	,	PUNCT
fcis-2068	58	7	the	the	DET
fcis-2068	58	8	vehicle	vehicle	NOUN
fcis-2068	58	9	should	should	AUX
fcis-2068	58	10	take	take	VERB
fcis-2068	58	11	braking	brake	VERB
fcis-2068	58	12	to	to	PART
fcis-2068	58	13	control	control	VERB
fcis-2068	58	14	longitudinal	longitudinal	ADJ
fcis-2068	58	15	motion	motion	NOUN
fcis-2068	58	16	;	;	PUNCT
fcis-2068	58	17	when	when	SCONJ
fcis-2068	58	18	the	the	DET
fcis-2068	58	19	current	current	ADJ
fcis-2068	58	20	vehicle	vehicle	NOUN
fcis-2068	58	21	speed	speed	NOUN
fcis-2068	58	22	is	be	AUX
fcis-2068	58	23	greater	great	ADJ
fcis-2068	58	24	than	than	ADP
fcis-2068	58	25	the	the	DET
fcis-2068	58	26	self	self	NOUN
fcis-2068	58	27	-	-	PUNCT
fcis-2068	58	28	vehicle	vehicle	NOUN
fcis-2068	58	29	or	or	CCONJ
fcis-2068	58	30	away	away	ADV
fcis-2068	58	31	from	from	ADP
fcis-2068	58	32	the	the	DET
fcis-2068	58	33	current	current	ADJ
fcis-2068	58	34	lane	lane	NOUN
fcis-2068	58	35	of	of	ADP
fcis-2068	58	36	the	the	DET
fcis-2068	58	37	self	self	NOUN
fcis-2068	58	38	-	-	PUNCT
fcis-2068	58	39	vehicle	vehicle	NOUN
fcis-2068	58	40	,	,	PUNCT
fcis-2068	58	41	the	the	DET
fcis-2068	58	42	self	self	NOUN
fcis-2068	58	43	-	-	PUNCT
fcis-2068	58	44	vehicle	vehicle	NOUN
fcis-2068	58	45	should	should	AUX
fcis-2068	58	46	drive	drive	VERB
fcis-2068	58	47	stably	stably	ADV
fcis-2068	58	48	at	at	ADP
fcis-2068	58	49	the	the	DET
fcis-2068	58	50	set	set	NOUN
fcis-2068	58	51	speed	speed	NOUN
fcis-2068	58	52	.	.	PUNCT
fcis-2068	59	1	in	in	ADP
fcis-2068	59	2	the	the	DET
fcis-2068	59	3	process	process	NOUN
fcis-2068	59	4	of	of	ADP
fcis-2068	59	5	driving	driving	NOUN
fcis-2068	59	6	,	,	PUNCT
fcis-2068	59	7	ensuring	ensure	VERB
fcis-2068	59	8	the	the	DET
fcis-2068	59	9	safety	safety	NOUN
fcis-2068	59	10	of	of	ADP
fcis-2068	59	11	vehicle	vehicle	NOUN
fcis-2068	59	12	driving	driving	NOUN
fcis-2068	59	13	is	be	AUX
fcis-2068	59	14	the	the	DET
fcis-2068	59	15	bottom	bottom	ADJ
fcis-2068	59	16	line	line	NOUN
fcis-2068	59	17	of	of	ADP
fcis-2068	59	18	autonomous	autonomous	ADJ
fcis-2068	59	19	driving	driving	NOUN
fcis-2068	59	20	technology	technology	NOUN
fcis-2068	59	21	.	.	PUNCT
fcis-2068	60	1	if	if	SCONJ
fcis-2068	60	2	the	the	DET
fcis-2068	60	3	acceleration	acceleration	NOUN
fcis-2068	60	4	can	can	AUX
fcis-2068	60	5	be	be	AUX
fcis-2068	60	6	constrained	constrain	VERB
fcis-2068	60	7	on	on	ADP
fcis-2068	60	8	this	this	DET
fcis-2068	60	9	basis	basis	NOUN
fcis-2068	60	10	to	to	PART
fcis-2068	60	11	achieve	achieve	VERB
fcis-2068	60	12	predictive	predictive	ADJ
fcis-2068	60	13	braking	braking	NOUN
fcis-2068	60	14	,	,	PUNCT
fcis-2068	60	15	the	the	DET
fcis-2068	60	16	comfort	comfort	NOUN
fcis-2068	60	17	of	of	ADP
fcis-2068	60	18	drivers	driver	NOUN
fcis-2068	60	19	and	and	CCONJ
fcis-2068	60	20	passengers	passenger	NOUN
fcis-2068	60	21	can	can	AUX
fcis-2068	60	22	be	be	AUX
fcis-2068	60	23	greatly	greatly	ADV
fcis-2068	60	24	improved	improve	VERB
fcis-2068	60	25	.	.	PUNCT
fcis-2068	61	1	therefore	therefore	ADV
fcis-2068	61	2	,	,	PUNCT
fcis-2068	61	3	aiming	aim	VERB
fcis-2068	61	4	at	at	ADP
fcis-2068	61	5	the	the	DET
fcis-2068	61	6	safety	safety	NOUN
fcis-2068	61	7	and	and	CCONJ
fcis-2068	61	8	comfort	comfort	NOUN
fcis-2068	61	9	of	of	ADP
fcis-2068	61	10	autonomous	autonomous	ADJ
fcis-2068	61	11	vehicles	vehicle	NOUN
fcis-2068	61	12	,	,	PUNCT
fcis-2068	61	13	this	this	DET
fcis-2068	61	14	paper	paper	NOUN
fcis-2068	61	15	designs	design	VERB
fcis-2068	61	16	a	a	DET
fcis-2068	61	17	longitudinal	longitudinal	ADJ
fcis-2068	61	18	control	control	NOUN
fcis-2068	61	19	strategy	strategy	NOUN
fcis-2068	61	20	considering	consider	VERB
fcis-2068	61	21	the	the	DET
fcis-2068	61	22	motion	motion	NOUN
fcis-2068	61	23	state	state	NOUN
fcis-2068	61	24	of	of	ADP
fcis-2068	61	25	the	the	DET
fcis-2068	61	26	preceding	precede	VERB
fcis-2068	61	27	vehicle	vehicle	NOUN
fcis-2068	61	28	under	under	ADP
fcis-2068	61	29	the	the	DET
fcis-2068	61	30	following	follow	VERB
fcis-2068	61	31	traffic	traffic	NOUN
fcis-2068	61	32	conflict	conflict	NOUN
fcis-2068	61	33	conditions	condition	NOUN
fcis-2068	61	34	.	.	PUNCT
fcis-2068	62	1	(	(	PUNCT
fcis-2068	62	2	1	1	X
fcis-2068	62	3	)	)	PUNCT
fcis-2068	62	4	condition	condition	NOUN
fcis-2068	62	5	1	1	NUM
fcis-2068	62	6	:	:	PUNCT
fcis-2068	62	7	the	the	DET
fcis-2068	62	8	same	same	ADJ
fcis-2068	62	9	lane	lane	NOUN
fcis-2068	62	10	in	in	ADP
fcis-2068	62	11	front	front	NOUN
fcis-2068	62	12	of	of	ADP
fcis-2068	62	13	the	the	DET
fcis-2068	62	14	car	car	NOUN
fcis-2068	62	15	or	or	CCONJ
fcis-2068	62	16	stationary	stationary	ADJ
fcis-2068	62	17	speed	speed	NOUN
fcis-2068	62	18	when	when	SCONJ
fcis-2068	62	19	the	the	DET
fcis-2068	62	20	front	front	ADJ
fcis-2068	62	21	vehicle	vehicle	NOUN
fcis-2068	62	22	in	in	ADP
fcis-2068	62	23	the	the	DET
fcis-2068	62	24	same	same	ADJ
fcis-2068	62	25	lane	lane	NOUN
fcis-2068	62	26	runs	run	VERB
fcis-2068	62	27	at	at	ADP
fcis-2068	62	28	a	a	DET
fcis-2068	62	29	constant	constant	ADJ
fcis-2068	62	30	speed	speed	NOUN
fcis-2068	62	31	and	and	CCONJ
fcis-2068	62	32	the	the	DET
fcis-2068	62	33	speed	speed	NOUN
fcis-2068	62	34	of	of	ADP
fcis-2068	62	35	the	the	DET
fcis-2068	62	36	front	front	ADJ
fcis-2068	62	37	vehicle	vehicle	NOUN
fcis-2068	62	38	is	be	AUX
fcis-2068	62	39	less	less	ADJ
fcis-2068	62	40	than	than	ADP
fcis-2068	62	41	that	that	PRON
fcis-2068	62	42	of	of	ADP
fcis-2068	62	43	the	the	DET
fcis-2068	62	44	self	self	NOUN
fcis-2068	62	45	-	-	PUNCT
fcis-2068	62	46	vehicle	vehicle	NOUN
fcis-2068	62	47	,	,	PUNCT
fcis-2068	62	48	if	if	SCONJ
fcis-2068	62	49	the	the	DET
fcis-2068	62	50	self	self	NOUN
fcis-2068	62	51	-	-	PUNCT
fcis-2068	62	52	vehicle	vehicle	NOUN
fcis-2068	62	53	can	can	AUX
fcis-2068	62	54	not	not	PART
fcis-2068	62	55	complete	complete	VERB
fcis-2068	62	56	the	the	DET
fcis-2068	62	57	braking	braking	NOUN
fcis-2068	62	58	within	within	ADP
fcis-2068	62	59	a	a	DET
fcis-2068	62	60	safe	safe	ADJ
fcis-2068	62	61	distance	distance	NOUN
fcis-2068	62	62	,	,	PUNCT
fcis-2068	62	63	the	the	DET
fcis-2068	62	64	two	two	NUM
fcis-2068	62	65	vehicles	vehicle	NOUN
fcis-2068	62	66	will	will	AUX
fcis-2068	62	67	have	have	VERB
fcis-2068	62	68	traffic	traffic	NOUN
fcis-2068	62	69	conflicts	conflict	NOUN
fcis-2068	62	70	.	.	PUNCT
fcis-2068	63	1	in	in	ADP
fcis-2068	63	2	order	order	NOUN
fcis-2068	63	3	to	to	PART
fcis-2068	63	4	avoid	avoid	VERB
fcis-2068	63	5	accidents	accident	NOUN
fcis-2068	63	6	,	,	PUNCT
fcis-2068	63	7	the	the	DET
fcis-2068	63	8	longitudinal	longitudinal	ADJ
fcis-2068	63	9	speed	speed	NOUN
fcis-2068	63	10	of	of	ADP
fcis-2068	63	11	the	the	DET
fcis-2068	63	12	vehicle	vehicle	NOUN
fcis-2068	63	13	should	should	AUX
fcis-2068	63	14	be	be	AUX
fcis-2068	63	15	controlled	control	VERB
fcis-2068	63	16	.	.	PUNCT
fcis-2068	64	1	since	since	SCONJ
fcis-2068	64	2	the	the	DET
fcis-2068	64	3	vehicle	vehicle	NOUN
fcis-2068	64	4	does	do	AUX
fcis-2068	64	5	not	not	PART
fcis-2068	64	6	need	need	VERB
fcis-2068	64	7	the	the	DET
fcis-2068	64	8	driver	driver	NOUN
fcis-2068	64	9	s	s	PART
fcis-2068	64	10	control	control	NOUN
fcis-2068	64	11	in	in	ADP
fcis-2068	64	12	the	the	DET
fcis-2068	64	13	autonomous	autonomous	ADJ
fcis-2068	64	14	driving	drive	VERB
fcis-2068	64	15	state	state	NOUN
fcis-2068	64	16	,	,	PUNCT
fcis-2068	64	17	the	the	DET
fcis-2068	64	18	driver	driver	NOUN
fcis-2068	64	19	s	s	PART
fcis-2068	64	20	reaction	reaction	NOUN
fcis-2068	64	21	time	time	NOUN
fcis-2068	64	22	is	be	AUX
fcis-2068	64	23	not	not	PART
fcis-2068	64	24	included	include	VERB
fcis-2068	64	25	in	in	ADP
fcis-2068	64	26	the	the	DET
fcis-2068	64	27	braking	braking	NOUN
fcis-2068	64	28	process	process	NOUN
fcis-2068	64	29	,	,	PUNCT
fcis-2068	64	30	and	and	CCONJ
fcis-2068	64	31	replaced	replace	VERB
fcis-2068	64	32	by	by	ADP
fcis-2068	64	33	the	the	DET
fcis-2068	64	34	reaction	reaction	NOUN
fcis-2068	64	35	time	time	NOUN
fcis-2068	64	36	of	of	ADP
fcis-2068	64	37	the	the	DET
fcis-2068	64	38	autonomous	autonomous	ADJ
fcis-2068	64	39	driving	driving	NOUN
fcis-2068	64	40	system	system	NOUN
fcis-2068	64	41	.	.	PUNCT
fcis-2068	65	1	let	let	VERB
fcis-2068	65	2	the	the	DET
fcis-2068	65	3	system	system	NOUN
fcis-2068	65	4	reaction	reaction	NOUN
fcis-2068	65	5	time	time	NOUN
fcis-2068	65	6	be	be	AUX
fcis-2068	65	7	rt	rt	PROPN
fcis-2068	65	8	,	,	PUNCT
fcis-2068	65	9	the	the	DET
fcis-2068	65	10	braking	brake	VERB
fcis-2068	65	11	force	force	NOUN
fcis-2068	65	12	growth	growth	NOUN
fcis-2068	65	13	time	time	NOUN
fcis-2068	65	14	is	be	AUX
fcis-2068	65	15	it	it	PRON
fcis-2068	65	16	,	,	PUNCT
fcis-2068	65	17	the	the	DET
fcis-2068	65	18	continuous	continuous	ADJ
fcis-2068	65	19	braking	braking	NOUN
fcis-2068	65	20	time	time	NOUN
fcis-2068	65	21	is	be	AUX
fcis-2068	65	22	ct	ct	PRON
fcis-2068	65	23	,	,	PUNCT
fcis-2068	65	24	the	the	DET
fcis-2068	65	25	initial	initial	ADJ
fcis-2068	65	26	speed	speed	NOUN
fcis-2068	65	27	of	of	ADP
fcis-2068	65	28	the	the	DET
fcis-2068	65	29	self	self	NOUN
fcis-2068	65	30	-	-	PUNCT
fcis-2068	65	31	vehicle	vehicle	NOUN
fcis-2068	65	32	is	be	AUX
fcis-2068	65	33	m0v	m0v	PROPN
fcis-2068	65	34	,	,	PUNCT
fcis-2068	65	35	and	and	CCONJ
fcis-2068	65	36	the	the	DET
fcis-2068	65	37	initial	initial	ADJ
fcis-2068	65	38	speed	speed	NOUN
fcis-2068	65	39	of	of	ADP
fcis-2068	65	40	the	the	DET
fcis-2068	65	41	front	front	ADJ
fcis-2068	65	42	vehicle	vehicle	NOUN
fcis-2068	65	43	is	be	AUX
fcis-2068	65	44	0qv	0qv	NOUN
fcis-2068	65	45	,	,	PUNCT
fcis-2068	65	46	under	under	ADP
fcis-2068	65	47	this	this	DET
fcis-2068	65	48	condition	condition	NOUN
fcis-2068	65	49	,	,	PUNCT
fcis-2068	65	50	the	the	DET
fcis-2068	65	51	minimum	minimum	NOUN
fcis-2068	65	52	safety	safety	NOUN
fcis-2068	65	53	distance	distance	NOUN
fcis-2068	65	54	min1s	min1s	PROPN
fcis-2068	65	55	from	from	ADP
fcis-2068	65	56	the	the	DET
fcis-2068	65	57	self	self	NOUN
fcis-2068	65	58	-	-	PUNCT
fcis-2068	65	59	vehicle	vehicle	NOUN
fcis-2068	65	60	to	to	ADP
fcis-2068	65	61	the	the	DET
fcis-2068	65	62	two	two	NUM
fcis-2068	65	63	vehicles	vehicle	NOUN
fcis-2068	65	64	without	without	ADP
fcis-2068	65	65	collision	collision	NOUN
fcis-2068	65	66	is	be	AUX
fcis-2068	65	67	:	:	PUNCT
fcis-2068	65	68	𝑆𝑆𝑚𝑚𝑖𝑖𝑚𝑚1	𝑆𝑆𝑚𝑚𝑖𝑖𝑚𝑚1	PROPN
fcis-2068	65	69	=	=	SYM
fcis-2068	65	70	�	�	PROPN
fcis-2068	65	71	𝑣𝑣𝑚𝑚0	𝑣𝑣𝑚𝑚0	NOUN
fcis-2068	65	72	−	−	PROPN
fcis-2068	65	73	𝑣𝑣𝑡𝑡0	𝑣𝑣𝑡𝑡0	PROPN
fcis-2068	65	74	�	�	NOUN
fcis-2068	65	75	𝑡𝑡𝑟𝑟	𝑡𝑡𝑟𝑟	VERB
fcis-2068	65	76	+	+	NOUN
fcis-2068	65	77	1	1	NUM
fcis-2068	65	78	2	2	NUM
fcis-2068	65	79	�	�	NOUN
fcis-2068	65	80	𝑣𝑣𝑚𝑚0	𝑣𝑣𝑚𝑚0	NOUN
fcis-2068	65	81	−	−	PROPN
fcis-2068	65	82	𝑣𝑣𝑡𝑡0	𝑣𝑣𝑡𝑡0	PROPN
fcis-2068	65	83	�	�	PROPN
fcis-2068	66	1	𝑡𝑡𝑖𝑖	𝑡𝑡𝑖𝑖	NOUN
fcis-2068	66	2	−	−	PROPN
fcis-2068	66	3	�	�	PROPN
fcis-2068	66	4	𝑣𝑣𝑚𝑚0−𝑣𝑣𝑞𝑞0	𝑣𝑣𝑚𝑚0−𝑣𝑣𝑞𝑞0	NOUN
fcis-2068	66	5	�	�	NOUN
fcis-2068	66	6	2	2	NUM
fcis-2068	66	7	2𝑎𝑎𝑏𝑏𝑚𝑚𝑚𝑚𝑚𝑚	2𝑎𝑎𝑏𝑏𝑚𝑚𝑚𝑚𝑚𝑚	NUM
fcis-2068	66	8	+	+	NUM
fcis-2068	66	9	𝑎𝑎𝑏𝑏𝑚𝑚𝑚𝑚𝑚𝑚	𝑎𝑎𝑏𝑏𝑚𝑚𝑚𝑚𝑚𝑚	ADJ
fcis-2068	66	10	𝑡𝑡𝑖𝑖2	𝑡𝑡𝑖𝑖2	NOUN
fcis-2068	66	11	24	24	NUM
fcis-2068	66	12	where	where	SCONJ
fcis-2068	66	13	maxba	maxba	NOUN
fcis-2068	66	14	is	be	AUX
fcis-2068	66	15	the	the	DET
fcis-2068	66	16	maximum	maximum	ADJ
fcis-2068	66	17	braking	brake	VERB
fcis-2068	66	18	deceleration	deceleration	NOUN
fcis-2068	66	19	?	?	PUNCT
fcis-2068	67	1	in	in	ADP
fcis-2068	67	2	the	the	DET
fcis-2068	67	3	actual	actual	ADJ
fcis-2068	67	4	driving	driving	NOUN
fcis-2068	67	5	process	process	NOUN
fcis-2068	67	6	,	,	PUNCT
fcis-2068	67	7	in	in	ADP
fcis-2068	67	8	order	order	NOUN
fcis-2068	67	9	to	to	PART
fcis-2068	67	10	improve	improve	VERB
fcis-2068	67	11	the	the	DET
fcis-2068	67	12	safety	safety	NOUN
fcis-2068	67	13	,	,	PUNCT
fcis-2068	67	14	the	the	DET
fcis-2068	67	15	critical	critical	ADJ
fcis-2068	67	16	state	state	NOUN
fcis-2068	67	17	of	of	ADP
fcis-2068	67	18	no	no	DET
fcis-2068	67	19	collision	collision	NOUN
fcis-2068	67	20	should	should	AUX
fcis-2068	67	21	not	not	PART
fcis-2068	67	22	be	be	AUX
fcis-2068	67	23	considered	consider	VERB
fcis-2068	67	24	only	only	ADV
fcis-2068	67	25	when	when	SCONJ
fcis-2068	67	26	braking	brake	VERB
fcis-2068	67	27	.	.	PUNCT
fcis-2068	68	1	when	when	SCONJ
fcis-2068	68	2	the	the	DET
fcis-2068	68	3	braking	braking	NOUN
fcis-2068	68	4	process	process	NOUN
fcis-2068	68	5	is	be	AUX
fcis-2068	68	6	completed	complete	VERB
fcis-2068	68	7	,	,	PUNCT
fcis-2068	68	8	a	a	DET
fcis-2068	68	9	certain	certain	ADJ
fcis-2068	68	10	distance	distance	NOUN
fcis-2068	68	11	should	should	AUX
fcis-2068	68	12	be	be	AUX
fcis-2068	68	13	retained	retain	VERB
fcis-2068	68	14	between	between	ADP
fcis-2068	68	15	the	the	DET
fcis-2068	68	16	two	two	NUM
fcis-2068	68	17	vehicles	vehicle	NOUN
fcis-2068	68	18	,	,	PUNCT
fcis-2068	68	19	and	and	CCONJ
fcis-2068	68	20	the	the	DET
fcis-2068	68	21	longitudinal	longitudinal	ADJ
fcis-2068	68	22	control	control	NOUN
fcis-2068	68	23	of	of	ADP
fcis-2068	68	24	the	the	DET
fcis-2068	68	25	vehicle	vehicle	NOUN
fcis-2068	68	26	still	still	ADV
fcis-2068	68	27	needs	need	VERB
fcis-2068	68	28	to	to	PART
fcis-2068	68	29	improve	improve	VERB
fcis-2068	68	30	the	the	DET
fcis-2068	68	31	comfort	comfort	NOUN
fcis-2068	68	32	as	as	ADV
fcis-2068	68	33	much	much	ADV
fcis-2068	68	34	as	as	ADP
fcis-2068	68	35	possible	possible	ADJ
fcis-2068	68	36	under	under	ADP
fcis-2068	68	37	the	the	DET
fcis-2068	68	38	premise	premise	NOUN
fcis-2068	68	39	of	of	ADP
fcis-2068	68	40	ensuring	ensure	VERB
fcis-2068	68	41	safety	safety	NOUN
fcis-2068	68	42	.	.	PUNCT
fcis-2068	69	1	in	in	ADP
fcis-2068	69	2	order	order	NOUN
fcis-2068	69	3	to	to	PART
fcis-2068	69	4	improve	improve	VERB
fcis-2068	69	5	comfort	comfort	NOUN
fcis-2068	69	6	,	,	PUNCT
fcis-2068	69	7	experienced	experience	VERB
fcis-2068	69	8	drivers	driver	NOUN
fcis-2068	69	9	will	will	AUX
fcis-2068	69	10	gradually	gradually	ADV
fcis-2068	69	11	increase	increase	VERB
fcis-2068	69	12	the	the	DET
fcis-2068	69	13	braking	brake	VERB
fcis-2068	69	14	pedal	pedal	NOUN
fcis-2068	69	15	to	to	ADP
fcis-2068	69	16	a	a	DET
fcis-2068	69	17	certain	certain	ADJ
fcis-2068	69	18	appropriate	appropriate	ADJ
fcis-2068	69	19	braking	braking	NOUN
fcis-2068	69	20	force	force	NOUN
fcis-2068	69	21	and	and	CCONJ
fcis-2068	69	22	maintain	maintain	VERB
fcis-2068	69	23	it	it	PRON
fcis-2068	69	24	for	for	ADP
fcis-2068	69	25	a	a	DET
fcis-2068	69	26	period	period	NOUN
fcis-2068	69	27	of	of	ADP
fcis-2068	69	28	time	time	NOUN
fcis-2068	69	29	when	when	SCONJ
fcis-2068	69	30	performing	perform	VERB
fcis-2068	69	31	braking	brake	VERB
fcis-2068	69	32	operations	operation	NOUN
fcis-2068	69	33	under	under	ADP
fcis-2068	69	34	safe	safe	ADJ
fcis-2068	69	35	conditions	condition	NOUN
fcis-2068	69	36	.	.	PUNCT
fcis-2068	70	1	when	when	SCONJ
fcis-2068	70	2	the	the	DET
fcis-2068	70	3	vehicle	vehicle	NOUN
fcis-2068	70	4	brakes	brake	NOUN
fcis-2068	70	5	to	to	ADP
fcis-2068	70	6	a	a	DET
fcis-2068	70	7	safe	safe	ADJ
fcis-2068	70	8	speed	speed	NOUN
fcis-2068	70	9	or	or	CCONJ
fcis-2068	70	10	stops	stop	NOUN
fcis-2068	70	11	,	,	PUNCT
fcis-2068	70	12	the	the	DET
fcis-2068	70	13	driver	driver	NOUN
fcis-2068	70	14	will	will	AUX
fcis-2068	70	15	gradually	gradually	ADV
fcis-2068	70	16	reduce	reduce	VERB
fcis-2068	70	17	the	the	DET
fcis-2068	70	18	braking	brake	VERB
fcis-2068	70	19	force	force	NOUN
fcis-2068	70	20	to	to	PART
fcis-2068	70	21	ensure	ensure	VERB
fcis-2068	70	22	smooth	smooth	ADJ
fcis-2068	70	23	and	and	CCONJ
fcis-2068	70	24	comfortable	comfortable	ADJ
fcis-2068	70	25	braking	braking	NOUN
fcis-2068	70	26	.	.	PUNCT
fcis-2068	71	1	based	base	VERB
fcis-2068	71	2	on	on	ADP
fcis-2068	71	3	this	this	PRON
fcis-2068	71	4	,	,	PUNCT
fcis-2068	71	5	this	this	DET
fcis-2068	71	6	paper	paper	NOUN
fcis-2068	71	7	constrains	constrain	VERB
fcis-2068	71	8	the	the	DET
fcis-2068	71	9	44	44	NUM
fcis-2068	71	10	braking	braking	NOUN
fcis-2068	71	11	deceleration	deceleration	NOUN
fcis-2068	71	12	,	,	PUNCT
fcis-2068	71	13	and	and	CCONJ
fcis-2068	71	14	uses	use	VERB
fcis-2068	71	15	the	the	DET
fcis-2068	71	16	trapezoidal	trapezoidal	ADJ
fcis-2068	71	17	braking	brake	VERB
fcis-2068	71	18	deceleration	deceleration	NOUN
fcis-2068	71	19	curve	curve	NOUN
fcis-2068	71	20	to	to	PART
fcis-2068	71	21	represent	represent	VERB
fcis-2068	71	22	the	the	DET
fcis-2068	71	23	change	change	NOUN
fcis-2068	71	24	of	of	ADP
fcis-2068	71	25	acceleration	acceleration	NOUN
fcis-2068	71	26	with	with	ADP
fcis-2068	71	27	time	time	NOUN
fcis-2068	71	28	in	in	ADP
fcis-2068	71	29	the	the	DET
fcis-2068	71	30	braking	brake	VERB
fcis-2068	71	31	stage	stage	NOUN
fcis-2068	71	32	,	,	PUNCT
fcis-2068	71	33	as	as	SCONJ
fcis-2068	71	34	shown	show	VERB
fcis-2068	71	35	in	in	ADP
fcis-2068	71	36	fig.2	fig.2	PROPN
fcis-2068	71	37	.	.	PUNCT
fcis-2068	72	1	fig.2	fig.2	PROPN
fcis-2068	72	2	vehicle	vehicle	NOUN
fcis-2068	72	3	speed	speed	NOUN
fcis-2068	72	4	change	change	NOUN
fcis-2068	72	5	with	with	ADP
fcis-2068	72	6	time	time	NOUN
fcis-2068	72	7	after	after	ADP
fcis-2068	72	8	constraint	constraint	NOUN
fcis-2068	72	9	,	,	PUNCT
fcis-2068	72	10	the	the	DET
fcis-2068	72	11	expected	expect	VERB
fcis-2068	72	12	safety	safety	NOUN
fcis-2068	72	13	distance	distance	NOUN
fcis-2068	72	14	𝑆𝑆𝑒𝑒1	𝑆𝑆𝑒𝑒1	PROPN
fcis-2068	72	15	under	under	ADP
fcis-2068	72	16	condition	condition	NOUN
fcis-2068	72	17	1	1	NUM
fcis-2068	72	18	is	be	AUX
fcis-2068	72	19	:	:	PUNCT
fcis-2068	72	20	𝑆𝑆𝑒𝑒1	𝑆𝑆𝑒𝑒1	PROPN
fcis-2068	72	21	=	=	SYM
fcis-2068	72	22	�	�	PROPN
fcis-2068	72	23	𝑣𝑣𝑚𝑚0	𝑣𝑣𝑚𝑚0	NOUN
fcis-2068	72	24	−	−	PROPN
fcis-2068	72	25	𝑣𝑣𝑡𝑡0	𝑣𝑣𝑡𝑡0	PROPN
fcis-2068	72	26	�	�	PROPN
fcis-2068	72	27	�	�	PROPN
fcis-2068	72	28	𝑡𝑡𝑟𝑟	𝑡𝑡𝑟𝑟	ADJ
fcis-2068	72	29	+	+	CCONJ
fcis-2068	72	30	𝑡𝑡𝑖𝑖	𝑡𝑡𝑖𝑖	ADV
fcis-2068	72	31	2	2	NUM
fcis-2068	72	32	�	�	PROPN
fcis-2068	72	33	−	−	PROPN
fcis-2068	72	34	�	�	PROPN
fcis-2068	72	35	𝑣𝑣𝑚𝑚0	𝑣𝑣𝑚𝑚0	NOUN
fcis-2068	72	36	−	−	PROPN
fcis-2068	72	37	𝑣𝑣𝑡𝑡0	𝑣𝑣𝑡𝑡0	PROPN
fcis-2068	72	38	�	�	PROPN
fcis-2068	72	39	2	2	NUM
fcis-2068	72	40	2𝑎𝑎𝑒𝑒	2𝑎𝑎𝑒𝑒	NUM
fcis-2068	72	41	+	+	CCONJ
fcis-2068	72	42	𝑎𝑎𝑒𝑒𝑡𝑡𝑖𝑖2	𝑎𝑎𝑒𝑒𝑡𝑡𝑖𝑖2	PROPN
fcis-2068	72	43	24	24	NUM
fcis-2068	72	44	−	−	NOUN
fcis-2068	72	45	𝑎𝑎𝑒𝑒𝑡𝑡𝑑𝑑2	𝑎𝑎𝑒𝑒𝑡𝑡𝑑𝑑2	PROPN
fcis-2068	72	46	6	6	NUM
fcis-2068	72	47	+	+	CCONJ
fcis-2068	72	48	𝑆𝑆0	𝑆𝑆0	ADV
fcis-2068	72	49	in	in	ADP
fcis-2068	72	50	the	the	DET
fcis-2068	72	51	formula	formula	NOUN
fcis-2068	72	52	,	,	PUNCT
fcis-2068	72	53	ea	ea	X
fcis-2068	72	54	is	be	AUX
fcis-2068	72	55	the	the	DET
fcis-2068	72	56	expected	expect	VERB
fcis-2068	72	57	acceleration	acceleration	NOUN
fcis-2068	72	58	,	,	PUNCT
fcis-2068	72	59	dt	dt	PUNCT
fcis-2068	72	60	is	be	AUX
fcis-2068	72	61	the	the	DET
fcis-2068	72	62	time	time	NOUN
fcis-2068	72	63	required	require	VERB
fcis-2068	72	64	for	for	ADP
fcis-2068	72	65	the	the	DET
fcis-2068	72	66	braking	brake	VERB
fcis-2068	72	67	force	force	NOUN
fcis-2068	72	68	slow	slow	ADJ
fcis-2068	72	69	-	-	PUNCT
fcis-2068	72	70	down	down	ADP
fcis-2068	72	71	stage	stage	NOUN
fcis-2068	72	72	,	,	PUNCT
fcis-2068	72	73	0s	0s	PROPN
fcis-2068	72	74	is	be	AUX
fcis-2068	72	75	the	the	DET
fcis-2068	72	76	distance	distance	NOUN
fcis-2068	72	77	between	between	ADP
fcis-2068	72	78	the	the	DET
fcis-2068	72	79	two	two	NUM
fcis-2068	72	80	cars	car	NOUN
fcis-2068	72	81	when	when	SCONJ
fcis-2068	72	82	the	the	DET
fcis-2068	72	83	two	two	NUM
fcis-2068	72	84	cars	car	NOUN
fcis-2068	72	85	brake	brake	NOUN
fcis-2068	72	86	to	to	ADP
fcis-2068	72	87	the	the	DET
fcis-2068	72	88	same	same	ADJ
fcis-2068	72	89	speed	speed	NOUN
fcis-2068	72	90	,	,	PUNCT
fcis-2068	72	91	referring	refer	VERB
fcis-2068	72	92	to	to	ADP
fcis-2068	72	93	the	the	DET
fcis-2068	72	94	mazda	mazda	PROPN
fcis-2068	72	95	safety	safety	PROPN
fcis-2068	72	96	distance	distance	NOUN
fcis-2068	72	97	model	model	NOUN
fcis-2068	72	98	,	,	PUNCT
fcis-2068	72	99	here	here	ADV
fcis-2068	72	100	take	take	VERB
fcis-2068	72	101	5	5	NUM
fcis-2068	72	102	m.	m.	NOUN
fcis-2068	72	103	when	when	SCONJ
fcis-2068	72	104	the	the	DET
fcis-2068	72	105	preceding	precede	VERB
fcis-2068	72	106	vehicle	vehicle	NOUN
fcis-2068	72	107	in	in	ADP
fcis-2068	72	108	the	the	DET
fcis-2068	72	109	same	same	ADJ
fcis-2068	72	110	lane	lane	NOUN
fcis-2068	72	111	is	be	AUX
fcis-2068	72	112	stationary	stationary	ADJ
fcis-2068	72	113	,	,	PUNCT
fcis-2068	72	114	it	it	PRON
fcis-2068	72	115	is	be	AUX
fcis-2068	72	116	only	only	ADV
fcis-2068	72	117	necessary	necessary	ADJ
fcis-2068	72	118	to	to	PART
fcis-2068	72	119	set	set	VERB
fcis-2068	72	120	the	the	DET
fcis-2068	72	121	preceding	precede	VERB
fcis-2068	72	122	vehicle	vehicle	NOUN
fcis-2068	72	123	speed𝑣𝑣𝑡𝑡0	speed𝑣𝑣𝑡𝑡0	NOUN
fcis-2068	73	1	=	=	PUNCT
fcis-2068	73	2	0	0	NUM
fcis-2068	74	1	in	in	ADP
fcis-2068	74	2	formulas	formula	NOUN
fcis-2068	74	3	(	(	PUNCT
fcis-2068	74	4	1	1	NUM
fcis-2068	74	5	)	)	PUNCT
fcis-2068	74	6	and	and	CCONJ
fcis-2068	74	7	(	(	PUNCT
fcis-2068	74	8	2	2	NUM
fcis-2068	74	9	)	)	PUNCT
fcis-2068	74	10	.	.	PUNCT
fcis-2068	75	1	therefore	therefore	ADV
fcis-2068	75	2	,	,	PUNCT
fcis-2068	75	3	under	under	ADP
fcis-2068	75	4	condition	condition	NOUN
fcis-2068	75	5	1	1	NUM
fcis-2068	75	6	,	,	PUNCT
fcis-2068	75	7	after	after	ADP
fcis-2068	75	8	setting	set	VERB
fcis-2068	75	9	the	the	DET
fcis-2068	75	10	comfortable	comfortable	ADJ
fcis-2068	75	11	expected	expect	VERB
fcis-2068	75	12	acceleration	acceleration	NOUN
fcis-2068	75	13	ea	ea	PROPN
fcis-2068	75	14	,	,	PUNCT
fcis-2068	75	15	the	the	DET
fcis-2068	75	16	braking	brake	VERB
fcis-2068	75	17	force	force	NOUN
fcis-2068	75	18	increase	increase	VERB
fcis-2068	75	19	time	time	NOUN
fcis-2068	75	20	it	it	PRON
fcis-2068	75	21	,	,	PUNCT
fcis-2068	75	22	and	and	CCONJ
fcis-2068	75	23	the	the	DET
fcis-2068	75	24	braking	brake	VERB
fcis-2068	75	25	force	force	NOUN
fcis-2068	75	26	slow	slow	ADJ
fcis-2068	75	27	-	-	PUNCT
fcis-2068	75	28	down	down	ADP
fcis-2068	75	29	phase	phase	NOUN
fcis-2068	75	30	time	time	NOUN
fcis-2068	75	31	dt	dt	NOUN
fcis-2068	75	32	,	,	PUNCT
fcis-2068	75	33	the	the	DET
fcis-2068	75	34	expected	expect	VERB
fcis-2068	75	35	safety	safety	NOUN
fcis-2068	75	36	distance	distance	NOUN
fcis-2068	75	37	that	that	PRON
fcis-2068	75	38	takes	take	VERB
fcis-2068	75	39	into	into	ADP
fcis-2068	75	40	account	account	NOUN
fcis-2068	75	41	both	both	DET
fcis-2068	75	42	safety	safety	NOUN
fcis-2068	75	43	and	and	CCONJ
fcis-2068	75	44	comfort	comfort	NOUN
fcis-2068	75	45	can	can	AUX
fcis-2068	75	46	be	be	AUX
fcis-2068	75	47	calculated	calculate	VERB
fcis-2068	75	48	.	.	PUNCT
fcis-2068	76	1	when	when	SCONJ
fcis-2068	76	2	the	the	DET
fcis-2068	76	3	distance	distance	NOUN
fcis-2068	76	4	between	between	ADP
fcis-2068	76	5	the	the	DET
fcis-2068	76	6	two	two	NUM
fcis-2068	76	7	vehicles	vehicle	NOUN
fcis-2068	76	8	is	be	AUX
fcis-2068	76	9	less	less	ADJ
fcis-2068	76	10	than	than	ADP
fcis-2068	76	11	the	the	DET
fcis-2068	76	12	minimum	minimum	NOUN
fcis-2068	76	13	safety	safety	NOUN
fcis-2068	76	14	distance	distance	NOUN
fcis-2068	76	15	min1s	min1s	PROPN
fcis-2068	76	16	,	,	PUNCT
fcis-2068	76	17	emergency	emergency	NOUN
fcis-2068	76	18	braking	braking	NOUN
fcis-2068	76	19	is	be	AUX
fcis-2068	76	20	taken	take	VERB
fcis-2068	76	21	;	;	PUNCT
fcis-2068	76	22	when	when	SCONJ
fcis-2068	76	23	the	the	DET
fcis-2068	76	24	distance	distance	NOUN
fcis-2068	76	25	between	between	ADP
fcis-2068	76	26	the	the	DET
fcis-2068	76	27	two	two	NUM
fcis-2068	76	28	cars	car	NOUN
fcis-2068	76	29	is	be	AUX
fcis-2068	76	30	in[𝑆𝑆𝑒𝑒1	in[𝑆𝑆𝑒𝑒1	NOUN
fcis-2068	76	31	,	,	PUNCT
fcis-2068	76	32	𝑆𝑆𝑒𝑒1	𝑆𝑆𝑒𝑒1	PROPN
fcis-2068	76	33	+	+	CCONJ
fcis-2068	76	34	5	5	NUM
fcis-2068	76	35	]	]	PUNCT
fcis-2068	76	36	,	,	PUNCT
fcis-2068	76	37	comfortable	comfortable	ADJ
fcis-2068	76	38	braking	braking	NOUN
fcis-2068	76	39	is	be	AUX
fcis-2068	76	40	adopted	adopt	VERB
fcis-2068	76	41	.	.	PUNCT
fcis-2068	77	1	(	(	PUNCT
fcis-2068	77	2	2	2	X
fcis-2068	77	3	)	)	PUNCT
fcis-2068	77	4	condition	condition	NOUN
fcis-2068	77	5	2	2	NUM
fcis-2068	77	6	:	:	PUNCT
fcis-2068	77	7	uniform	uniform	ADJ
fcis-2068	77	8	deceleration	deceleration	NOUN
fcis-2068	77	9	in	in	ADP
fcis-2068	77	10	the	the	DET
fcis-2068	77	11	same	same	ADJ
fcis-2068	77	12	lane	lane	NOUN
fcis-2068	77	13	when	when	SCONJ
fcis-2068	77	14	the	the	DET
fcis-2068	77	15	vehicle	vehicle	NOUN
fcis-2068	77	16	in	in	ADP
fcis-2068	77	17	front	front	NOUN
fcis-2068	77	18	of	of	ADP
fcis-2068	77	19	the	the	DET
fcis-2068	77	20	same	same	ADJ
fcis-2068	77	21	lane	lane	NOUN
fcis-2068	77	22	slows	slow	VERB
fcis-2068	77	23	down	down	ADP
fcis-2068	77	24	,	,	PUNCT
fcis-2068	77	25	and	and	CCONJ
fcis-2068	77	26	the	the	DET
fcis-2068	77	27	current	current	ADJ
fcis-2068	77	28	speed	speed	NOUN
fcis-2068	77	29	is	be	AUX
fcis-2068	77	30	less	less	ADJ
fcis-2068	77	31	than	than	ADP
fcis-2068	77	32	the	the	DET
fcis-2068	77	33	speed	speed	NOUN
fcis-2068	77	34	of	of	ADP
fcis-2068	77	35	the	the	DET
fcis-2068	77	36	vehicle	vehicle	NOUN
fcis-2068	77	37	,	,	PUNCT
fcis-2068	77	38	the	the	DET
fcis-2068	77	39	vehicle	vehicle	NOUN
fcis-2068	77	40	needs	need	VERB
fcis-2068	77	41	to	to	PART
fcis-2068	77	42	control	control	VERB
fcis-2068	77	43	the	the	DET
fcis-2068	77	44	longitudinal	longitudinal	ADJ
fcis-2068	77	45	speed	speed	NOUN
fcis-2068	77	46	to	to	PART
fcis-2068	77	47	avoid	avoid	VERB
fcis-2068	77	48	traffic	traffic	NOUN
fcis-2068	77	49	conflicts	conflict	NOUN
fcis-2068	77	50	.	.	PUNCT
fcis-2068	78	1	under	under	ADP
fcis-2068	78	2	condition	condition	NOUN
fcis-2068	78	3	2	2	NUM
fcis-2068	78	4	,	,	PUNCT
fcis-2068	78	5	the	the	DET
fcis-2068	78	6	minimum	minimum	ADJ
fcis-2068	78	7	safety	safety	NOUN
fcis-2068	78	8	distance	distance	NOUN
fcis-2068	78	9	min	min	NOUN
fcis-2068	78	10	2s	2s	NOUN
fcis-2068	78	11	from	from	ADP
fcis-2068	78	12	the	the	DET
fcis-2068	78	13	car	car	NOUN
fcis-2068	78	14	to	to	PART
fcis-2068	78	15	take	take	VERB
fcis-2068	78	16	emergency	emergency	NOUN
fcis-2068	78	17	braking	braking	NOUN
fcis-2068	78	18	to	to	ADP
fcis-2068	78	19	the	the	DET
fcis-2068	78	20	two	two	NUM
fcis-2068	78	21	cars	car	NOUN
fcis-2068	78	22	without	without	ADP
fcis-2068	78	23	collision	collision	NOUN
fcis-2068	78	24	is	be	AUX
fcis-2068	78	25	:	:	PUNCT
fcis-2068	78	26	𝑆𝑆𝑚𝑚𝑖𝑖𝑚𝑚	𝑆𝑆𝑚𝑚𝑖𝑖𝑚𝑚	NOUN
fcis-2068	78	27	2	2	NUM
fcis-2068	78	28	=	=	SYM
fcis-2068	78	29	𝑣𝑣𝑚𝑚0𝑡𝑡𝑟𝑟	𝑣𝑣𝑚𝑚0𝑡𝑡𝑟𝑟	X
fcis-2068	78	30	+	+	CCONJ
fcis-2068	78	31	𝑣𝑣𝑚𝑚0𝑡𝑡𝑖𝑖	𝑣𝑣𝑚𝑚0𝑡𝑡𝑖𝑖	X
fcis-2068	78	32	2	2	NUM
fcis-2068	78	33	+	+	NUM
fcis-2068	78	34	𝑣𝑣𝑡𝑡2	𝑣𝑣𝑡𝑡2	NOUN
fcis-2068	78	35	−	−	NOUN
fcis-2068	78	36	𝑣𝑣𝑚𝑚02	𝑣𝑣𝑚𝑚02	NOUN
fcis-2068	78	37	2𝑎𝑎𝑏𝑏𝑚𝑚𝑎𝑎𝑥𝑥	2𝑎𝑎𝑏𝑏𝑚𝑚𝑎𝑎𝑥𝑥	NUM
fcis-2068	79	1	+	+	CCONJ
fcis-2068	79	2	𝑎𝑎𝑏𝑏𝑚𝑚𝑎𝑎𝑥𝑥	𝑎𝑎𝑏𝑏𝑚𝑚𝑎𝑎𝑥𝑥	ADJ
fcis-2068	79	3	𝑡𝑡𝑖𝑖2	𝑡𝑡𝑖𝑖2	NOUN
fcis-2068	79	4	24	24	NUM
fcis-2068	79	5	−	−	NOUN
fcis-2068	79	6	𝑣𝑣𝑡𝑡2	𝑣𝑣𝑡𝑡2	NOUN
fcis-2068	79	7	−	−	NOUN
fcis-2068	79	8	𝑣𝑣𝑡𝑡02	𝑣𝑣𝑡𝑡02	NOUN
fcis-2068	79	9	2𝑎𝑎𝑏𝑏𝑡𝑡	2𝑎𝑎𝑏𝑏𝑡𝑡	NUM
fcis-2068	79	10	in	in	ADP
fcis-2068	79	11	the	the	DET
fcis-2068	79	12	formula	formula	NOUN
fcis-2068	79	13	,	,	PUNCT
fcis-2068	79	14	qv	qv	X
fcis-2068	79	15	is	be	AUX
fcis-2068	79	16	the	the	DET
fcis-2068	79	17	speed	speed	NOUN
fcis-2068	79	18	of	of	ADP
fcis-2068	79	19	the	the	DET
fcis-2068	79	20	front	front	ADJ
fcis-2068	79	21	vehicle	vehicle	NOUN
fcis-2068	79	22	after	after	ADP
fcis-2068	79	23	braking	brake	VERB
fcis-2068	79	24	,	,	PUNCT
fcis-2068	79	25	and	and	CCONJ
fcis-2068	79	26	bqa	bqa	NOUN
fcis-2068	79	27	is	be	AUX
fcis-2068	79	28	the	the	DET
fcis-2068	79	29	braking	brake	VERB
fcis-2068	79	30	deceleration	deceleration	NOUN
fcis-2068	79	31	of	of	ADP
fcis-2068	79	32	the	the	DET
fcis-2068	79	33	front	front	ADJ
fcis-2068	79	34	vehicle	vehicle	NOUN
fcis-2068	79	35	.	.	PUNCT
fcis-2068	80	1	after	after	SCONJ
fcis-2068	80	2	the	the	DET
fcis-2068	80	3	driver	driver	NOUN
fcis-2068	80	4	s	s	PART
fcis-2068	80	5	comfort	comfort	NOUN
fcis-2068	80	6	is	be	AUX
fcis-2068	80	7	taken	take	VERB
fcis-2068	80	8	into	into	ADP
fcis-2068	80	9	account	account	NOUN
fcis-2068	80	10	to	to	PART
fcis-2068	80	11	impose	impose	VERB
fcis-2068	80	12	constraints	constraint	NOUN
fcis-2068	80	13	on	on	ADP
fcis-2068	80	14	the	the	DET
fcis-2068	80	15	self	self	NOUN
fcis-2068	80	16	-	-	PUNCT
fcis-2068	80	17	driving	drive	VERB
fcis-2068	80	18	brake	brake	NOUN
fcis-2068	80	19	deceleration	deceleration	NOUN
fcis-2068	80	20	,	,	PUNCT
fcis-2068	80	21	the	the	DET
fcis-2068	80	22	expected	expect	VERB
fcis-2068	80	23	safety	safety	NOUN
fcis-2068	80	24	distance	distance	NOUN
fcis-2068	80	25	2es	2es	NOUN
fcis-2068	80	26	under	under	ADP
fcis-2068	80	27	condition	condition	NOUN
fcis-2068	80	28	1	1	NUM
fcis-2068	80	29	is	be	AUX
fcis-2068	80	30	:	:	PUNCT
fcis-2068	80	31	𝑆𝑆𝑒𝑒2	𝑆𝑆𝑒𝑒2	X
fcis-2068	80	32	=	=	PUNCT
fcis-2068	80	33	𝑣𝑣𝑚𝑚0𝑡𝑡𝑟𝑟	𝑣𝑣𝑚𝑚0𝑡𝑡𝑟𝑟	X
fcis-2068	81	1	+	+	CCONJ
fcis-2068	81	2	𝑣𝑣𝑚𝑚0𝑡𝑡𝑖𝑖	𝑣𝑣𝑚𝑚0𝑡𝑡𝑖𝑖	X
fcis-2068	81	3	2	2	NUM
fcis-2068	81	4	+	+	NUM
fcis-2068	81	5	𝑣𝑣𝑡𝑡2	𝑣𝑣𝑡𝑡2	NOUN
fcis-2068	81	6	−	−	NOUN
fcis-2068	81	7	𝑣𝑣𝑚𝑚02	𝑣𝑣𝑚𝑚02	NOUN
fcis-2068	81	8	2𝑎𝑎𝑒𝑒	2𝑎𝑎𝑒𝑒	NUM
fcis-2068	82	1	+	+	CCONJ
fcis-2068	82	2	𝑎𝑎𝑒𝑒𝑡𝑡𝑖𝑖2	𝑎𝑎𝑒𝑒𝑡𝑡𝑖𝑖2	PROPN
fcis-2068	82	3	24	24	NUM
fcis-2068	83	1	+	+	NUM
fcis-2068	83	2	𝑣𝑣𝑡𝑡𝑡𝑡𝑑𝑑	𝑣𝑣𝑡𝑡𝑡𝑡𝑑𝑑	PROPN
fcis-2068	83	3	−	−	PROPN
fcis-2068	83	4	𝑎𝑎𝑒𝑒𝑡𝑡𝑑𝑑2	𝑎𝑎𝑒𝑒𝑡𝑡𝑑𝑑2	PROPN
fcis-2068	83	5	6	6	NUM
fcis-2068	83	6	−	−	NOUN
fcis-2068	83	7	𝑣𝑣𝑡𝑡2	𝑣𝑣𝑡𝑡2	NOUN
fcis-2068	83	8	−	−	NOUN
fcis-2068	83	9	𝑣𝑣𝑡𝑡02	𝑣𝑣𝑡𝑡02	NOUN
fcis-2068	83	10	2𝑎𝑎𝑏𝑏𝑡𝑡	2𝑎𝑎𝑏𝑏𝑡𝑡	NUM
fcis-2068	83	11	+	+	CCONJ
fcis-2068	83	12	𝑆𝑆0	𝑆𝑆0	ADV
fcis-2068	83	13	under	under	ADP
fcis-2068	83	14	condition	condition	NOUN
fcis-2068	83	15	2	2	NUM
fcis-2068	83	16	,	,	PUNCT
fcis-2068	83	17	when	when	SCONJ
fcis-2068	83	18	the	the	DET
fcis-2068	83	19	distance	distance	NOUN
fcis-2068	83	20	between	between	ADP
fcis-2068	83	21	the	the	DET
fcis-2068	83	22	two	two	NUM
fcis-2068	83	23	vehicles	vehicle	NOUN
fcis-2068	83	24	is	be	AUX
fcis-2068	83	25	less	less	ADJ
fcis-2068	83	26	than	than	ADP
fcis-2068	83	27	the	the	DET
fcis-2068	83	28	minimum	minimum	NOUN
fcis-2068	83	29	safety	safety	NOUN
fcis-2068	83	30	distance𝑆𝑆𝑚𝑚𝑖𝑖𝑚𝑚	distance𝑆𝑆𝑚𝑚𝑖𝑖𝑚𝑚	PROPN
fcis-2068	83	31	2	2	NUM
fcis-2068	83	32	,	,	PUNCT
fcis-2068	83	33	emergency	emergency	NOUN
fcis-2068	83	34	braking	braking	NOUN
fcis-2068	83	35	is	be	AUX
fcis-2068	83	36	taken	take	VERB
fcis-2068	83	37	;	;	PUNCT
fcis-2068	83	38	when	when	SCONJ
fcis-2068	83	39	the	the	DET
fcis-2068	83	40	distance	distance	NOUN
fcis-2068	83	41	between	between	ADP
fcis-2068	83	42	the	the	DET
fcis-2068	83	43	two	two	NUM
fcis-2068	83	44	cars	car	NOUN
fcis-2068	83	45	is	be	AUX
fcis-2068	83	46	in[𝑆𝑆𝑒𝑒2	in[𝑆𝑆𝑒𝑒2	ADJ
fcis-2068	83	47	,	,	PUNCT
fcis-2068	83	48	𝑆𝑆𝑒𝑒2	𝑆𝑆𝑒𝑒2	NOUN
fcis-2068	83	49	+	+	CCONJ
fcis-2068	83	50	5	5	NUM
fcis-2068	83	51	]	]	PUNCT
fcis-2068	83	52	,	,	PUNCT
fcis-2068	83	53	comfortable	comfortable	ADJ
fcis-2068	83	54	braking	braking	NOUN
fcis-2068	83	55	is	be	AUX
fcis-2068	83	56	adopted	adopt	VERB
fcis-2068	83	57	.	.	PUNCT
fcis-2068	84	1	3.2	3.2	NUM
fcis-2068	84	2	.	.	PUNCT
fcis-2068	84	3	longitudinal	longitudinal	ADJ
fcis-2068	84	4	controller	controller	NOUN
fcis-2068	84	5	design	design	NOUN
fcis-2068	84	6	based	base	VERB
fcis-2068	84	7	on	on	ADP
fcis-2068	84	8	model	model	NOUN
fcis-2068	84	9	predictive	predictive	PROPN
fcis-2068	84	10	control	control	PROPN
fcis-2068	84	11	the	the	DET
fcis-2068	84	12	model	model	NOUN
fcis-2068	84	13	predictive	predictive	PROPN
fcis-2068	84	14	control	control	PROPN
fcis-2068	84	15	algorithm	algorithm	NOUN
fcis-2068	84	16	is	be	AUX
fcis-2068	84	17	used	use	VERB
fcis-2068	84	18	to	to	PART
fcis-2068	84	19	design	design	VERB
fcis-2068	84	20	the	the	DET
fcis-2068	84	21	hierarchical	hierarchical	ADJ
fcis-2068	84	22	longitudinal	longitudinal	ADJ
fcis-2068	84	23	motion	motion	NOUN
fcis-2068	84	24	controller	controller	NOUN
fcis-2068	84	25	.	.	PUNCT
fcis-2068	85	1	the	the	DET
fcis-2068	85	2	upper	upper	ADJ
fcis-2068	85	3	controller	controller	NOUN
fcis-2068	85	4	is	be	AUX
fcis-2068	85	5	based	base	VERB
fcis-2068	85	6	on	on	ADP
fcis-2068	85	7	the	the	DET
fcis-2068	85	8	model	model	NOUN
fcis-2068	85	9	predictive	predictive	PROPN
fcis-2068	85	10	control	control	PROPN
fcis-2068	85	11	algorithm	algorithm	NOUN
fcis-2068	85	12	to	to	PART
fcis-2068	85	13	obtain	obtain	VERB
fcis-2068	85	14	the	the	DET
fcis-2068	85	15	expected	expect	VERB
fcis-2068	85	16	acceleration𝑎𝑎𝑒𝑒according	acceleration𝑎𝑎𝑒𝑒accorde	VERB
fcis-2068	85	17	to	to	ADP
fcis-2068	85	18	the	the	DET
fcis-2068	85	19	relative	relative	ADJ
fcis-2068	85	20	distance	distance	NOUN
fcis-2068	85	21	𝑑𝑑𝑟𝑟𝑒𝑒	𝑑𝑑𝑟𝑟𝑒𝑒	NOUN
fcis-2068	85	22	between	between	ADP
fcis-2068	85	23	the	the	DET
fcis-2068	85	24	two	two	NUM
fcis-2068	85	25	vehicles	vehicle	NOUN
fcis-2068	85	26	,	,	PUNCT
fcis-2068	85	27	the	the	DET
fcis-2068	85	28	front	front	ADJ
fcis-2068	85	29	vehicle	vehicle	NOUN
fcis-2068	85	30	speed𝑣𝑣𝑡𝑡	speed𝑣𝑣𝑡𝑡	NOUN
fcis-2068	85	31	,	,	PUNCT
fcis-2068	85	32	the	the	DET
fcis-2068	85	33	initial	initial	ADJ
fcis-2068	85	34	vehicle	vehicle	NOUN
fcis-2068	85	35	speed𝑣𝑣𝑚𝑚0	speed𝑣𝑣𝑚𝑚0	NOUN
fcis-2068	85	36	,	,	PUNCT
fcis-2068	85	37	and	and	CCONJ
fcis-2068	85	38	the	the	DET
fcis-2068	85	39	real	real	ADJ
fcis-2068	85	40	-	-	PUNCT
fcis-2068	85	41	time	time	NOUN
fcis-2068	85	42	vehicle	vehicle	NOUN
fcis-2068	85	43	speed𝑣𝑣𝑚𝑚.	speed𝑣𝑣𝑚𝑚.	NOUN
fcis-2068	85	44	the	the	DET
fcis-2068	85	45	lower	low	ADJ
fcis-2068	85	46	controller	controller	NOUN
fcis-2068	85	47	is	be	AUX
fcis-2068	85	48	based	base	VERB
fcis-2068	85	49	on	on	ADP
fcis-2068	85	50	the	the	DET
fcis-2068	85	51	vehicle	vehicle	NOUN
fcis-2068	85	52	inverse	inverse	NOUN
fcis-2068	85	53	longitudinal	longitudinal	ADJ
fcis-2068	85	54	dynamics	dynamic	NOUN
fcis-2068	85	55	model	model	NOUN
fcis-2068	85	56	,	,	PUNCT
fcis-2068	85	57	and	and	CCONJ
fcis-2068	85	58	the	the	DET
fcis-2068	85	59	control	control	NOUN
fcis-2068	85	60	acceleration	acceleration	NOUN
fcis-2068	85	61	output	output	NOUN
fcis-2068	85	62	by	by	ADP
fcis-2068	85	63	the	the	DET
fcis-2068	85	64	upper	upper	ADJ
fcis-2068	85	65	layer	layer	NOUN
fcis-2068	85	66	is	be	AUX
fcis-2068	85	67	converted	convert	VERB
fcis-2068	85	68	into	into	ADP
fcis-2068	85	69	throttle	throttle	NOUN
fcis-2068	85	70	opening	opening	NOUN
fcis-2068	85	71	and	and	CCONJ
fcis-2068	85	72	braking	braking	NOUN
fcis-2068	85	73	pressure	pressure	NOUN
fcis-2068	85	74	,	,	PUNCT
fcis-2068	85	75	and	and	CCONJ
fcis-2068	85	76	finally	finally	ADV
fcis-2068	85	77	the	the	DET
fcis-2068	85	78	vehicle	vehicle	NOUN
fcis-2068	85	79	can	can	AUX
fcis-2068	85	80	stably	stably	ADV
fcis-2068	85	81	complete	complete	VERB
fcis-2068	85	82	the	the	DET
fcis-2068	85	83	speed	speed	NOUN
fcis-2068	85	84	tracking	tracking	NOUN
fcis-2068	85	85	.	.	PUNCT
fcis-2068	86	1	the	the	DET
fcis-2068	86	2	structure	structure	NOUN
fcis-2068	86	3	design	design	NOUN
fcis-2068	86	4	of	of	ADP
fcis-2068	86	5	the	the	DET
fcis-2068	86	6	longitudinal	longitudinal	ADJ
fcis-2068	86	7	motion	motion	NOUN
fcis-2068	86	8	controller	controller	NOUN
fcis-2068	86	9	is	be	AUX
fcis-2068	86	10	shown	show	VERB
fcis-2068	86	11	in	in	ADP
fcis-2068	86	12	fig.3	fig.3	ADJ
fcis-2068	86	13	:	:	PUNCT
fcis-2068	86	14	fig	fig	NOUN
fcis-2068	86	15	.	.	PUNCT
fcis-2068	87	1	3	3	NUM
fcis-2068	87	2	structure	structure	NOUN
fcis-2068	87	3	diagram	diagram	NOUN
fcis-2068	87	4	of	of	ADP
fcis-2068	87	5	longitudinal	longitudinal	ADJ
fcis-2068	87	6	motion	motion	NOUN
fcis-2068	87	7	controller	controller	NOUN
fcis-2068	87	8	(	(	PUNCT
fcis-2068	87	9	1	1	NUM
fcis-2068	87	10	)	)	PUNCT
fcis-2068	87	11	upper	upper	ADJ
fcis-2068	87	12	controller	controller	NOUN
fcis-2068	87	13	design	design	NOUN
fcis-2068	87	14	in	in	ADP
fcis-2068	87	15	this	this	DET
fcis-2068	87	16	paper	paper	NOUN
fcis-2068	87	17	,	,	PUNCT
fcis-2068	87	18	only	only	ADV
fcis-2068	87	19	the	the	DET
fcis-2068	87	20	longitudinal	longitudinal	ADJ
fcis-2068	87	21	motion	motion	NOUN
fcis-2068	87	22	of	of	ADP
fcis-2068	87	23	the	the	DET
fcis-2068	87	24	vehicle	vehicle	NOUN
fcis-2068	87	25	is	be	AUX
fcis-2068	87	26	studied	study	VERB
fcis-2068	87	27	,	,	PUNCT
fcis-2068	87	28	and	and	CCONJ
fcis-2068	87	29	the	the	DET
fcis-2068	87	30	influence	influence	NOUN
fcis-2068	87	31	of	of	ADP
fcis-2068	87	32	yaw	yaw	ADJ
fcis-2068	87	33	motion	motion	NOUN
fcis-2068	87	34	on	on	ADP
fcis-2068	87	35	the	the	DET
fcis-2068	87	36	longitudinal	longitudinal	ADJ
fcis-2068	87	37	motion	motion	NOUN
fcis-2068	87	38	control	control	NOUN
fcis-2068	87	39	of	of	ADP
fcis-2068	87	40	the	the	DET
fcis-2068	87	41	vehicle	vehicle	NOUN
fcis-2068	87	42	is	be	AUX
fcis-2068	87	43	neglected	neglect	VERB
fcis-2068	87	44	.	.	PUNCT
fcis-2068	88	1	therefore	therefore	ADV
fcis-2068	88	2	,	,	PUNCT
fcis-2068	88	3	the	the	DET
fcis-2068	88	4	acceleration	acceleration	NOUN
fcis-2068	88	5	of	of	ADP
fcis-2068	88	6	the	the	DET
fcis-2068	88	7	vehicle	vehicle	NOUN
fcis-2068	88	8	is	be	AUX
fcis-2068	88	9	approximately	approximately	ADV
fcis-2068	88	10	equal	equal	ADJ
fcis-2068	88	11	to	to	ADP
fcis-2068	88	12	the	the	DET
fcis-2068	88	13	first	first	ADJ
fcis-2068	88	14	derivative	derivative	NOUN
fcis-2068	88	15	of	of	ADP
fcis-2068	88	16	the	the	DET
fcis-2068	88	17	longitudinal	longitudinal	ADJ
fcis-2068	88	18	speed	speed	NOUN
fcis-2068	88	19	of	of	ADP
fcis-2068	88	20	the	the	DET
fcis-2068	88	21	vehicle	vehicle	NOUN
fcis-2068	88	22	to	to	ADP
fcis-2068	88	23	time	time	NOUN
fcis-2068	88	24	,	,	PUNCT
fcis-2068	88	25	and	and	CCONJ
fcis-2068	88	26	the	the	DET
fcis-2068	88	27	longitudinal	longitudinal	ADJ
fcis-2068	88	28	control	control	NOUN
fcis-2068	88	29	of	of	ADP
fcis-2068	88	30	the	the	DET
fcis-2068	88	31	vehicle	vehicle	NOUN
fcis-2068	88	32	can	can	AUX
fcis-2068	88	33	be	be	AUX
fcis-2068	88	34	expressed	express	VERB
fcis-2068	88	35	by	by	ADP
fcis-2068	88	36	the	the	DET
fcis-2068	88	37	first	first	ADJ
fcis-2068	88	38	order	order	NOUN
fcis-2068	88	39	inertial	inertial	ADJ
fcis-2068	88	40	system	system	NOUN
fcis-2068	88	41	.	.	PUNCT
fcis-2068	89	1	𝑎𝑎′	𝑎𝑎′	PUNCT
fcis-2068	89	2	=	=	PUNCT
fcis-2068	90	1	𝐾𝐾(𝑎𝑎𝑒𝑒	𝐾𝐾(𝑎𝑎𝑒𝑒	DET
fcis-2068	90	2	−	−	NOUN
fcis-2068	90	3	𝑎𝑎𝑡𝑡	𝑎𝑎𝑡𝑡	NOUN
fcis-2068	90	4	)	)	PUNCT
fcis-2068	90	5	𝜏𝜏	𝜏𝜏	ADP
fcis-2068	90	6	𝐾𝐾	𝐾𝐾	PROPN
fcis-2068	90	7	is	be	AUX
fcis-2068	90	8	the	the	DET
fcis-2068	90	9	system	system	NOUN
fcis-2068	90	10	gain	gain	NOUN
fcis-2068	90	11	;	;	PUNCT
fcis-2068	90	12	𝑎𝑎𝑡𝑡	𝑎𝑎𝑡𝑡	NOUN
fcis-2068	90	13	is	be	AUX
fcis-2068	90	14	the	the	DET
fcis-2068	90	15	actual	actual	ADJ
fcis-2068	90	16	longitudinal	longitudinal	ADJ
fcis-2068	90	17	acceleration	acceleration	NOUN
fcis-2068	90	18	;	;	PUNCT
fcis-2068	90	19	τ	τ	X
fcis-2068	90	20	is	be	AUX
fcis-2068	90	21	the	the	DET
fcis-2068	90	22	time	time	NOUN
fcis-2068	90	23	constant	constant	ADJ
fcis-2068	90	24	.	.	PUNCT
fcis-2068	91	1	the	the	DET
fcis-2068	91	2	continuous	continuous	ADJ
fcis-2068	91	3	state	state	NOUN
fcis-2068	91	4	equation	equation	NOUN
fcis-2068	91	5	of	of	ADP
fcis-2068	91	6	the	the	DET
fcis-2068	91	7	vehicle	vehicle	NOUN
fcis-2068	91	8	can	can	AUX
fcis-2068	91	9	be	be	AUX
fcis-2068	91	10	expressed	express	VERB
fcis-2068	91	11	as	as	ADP
fcis-2068	91	12	:	:	PUNCT
fcis-2068	91	13	𝑥𝑥	𝑥𝑥	ADP
fcis-2068	91	14	′	′	NOUN
fcis-2068	91	15	=	=	SYM
fcis-2068	91	16	�	�	PROPN
fcis-2068	91	17	0	0	NUM
fcis-2068	91	18	1	1	NUM
fcis-2068	91	19	0	0	NUM
fcis-2068	91	20	−	−	NUM
fcis-2068	91	21	1	1	NUM
fcis-2068	91	22	𝜏𝜏	𝜏𝜏	ADP
fcis-2068	91	23	�	�	PROPN
fcis-2068	91	24	𝑥𝑥	𝑥𝑥	ADP
fcis-2068	91	25	+	+	X
fcis-2068	91	26	�	�	PROPN
fcis-2068	91	27	0	0	NUM
fcis-2068	91	28	𝐾𝐾	𝐾𝐾	PROPN
fcis-2068	91	29	𝜏𝜏	𝜏𝜏	ADP
fcis-2068	91	30	�	�	PROPN
fcis-2068	91	31	𝑢𝑢	𝑢𝑢	PROPN
fcis-2068	91	32	in	in	ADP
fcis-2068	91	33	the	the	DET
fcis-2068	91	34	formula	formula	NOUN
fcis-2068	91	35	,	,	PUNCT
fcis-2068	91	36	x	x	X
fcis-2068	91	37	is	be	AUX
fcis-2068	91	38	a	a	DET
fcis-2068	91	39	continuous	continuous	ADJ
fcis-2068	91	40	state	state	NOUN
fcis-2068	91	41	quantity	quantity	NOUN
fcis-2068	91	42	;	;	PUNCT
fcis-2068	91	43	u	u	NOUN
fcis-2068	91	44	is	be	AUX
fcis-2068	91	45	the	the	DET
fcis-2068	91	46	system	system	NOUN
fcis-2068	91	47	control	control	NOUN
fcis-2068	91	48	input	input	NOUN
fcis-2068	91	49	,	,	PUNCT
fcis-2068	91	50	𝑢𝑢	𝑢𝑢	PRON
fcis-2068	91	51	=	=	PUNCT
fcis-2068	91	52	𝑎𝑎𝑒𝑒	𝑎𝑎𝑒𝑒	NOUN
fcis-2068	91	53	.	.	PUNCT
fcis-2068	92	1	the	the	DET
fcis-2068	92	2	discrete	discrete	ADJ
fcis-2068	92	3	state	state	NOUN
fcis-2068	92	4	equation	equation	NOUN
fcis-2068	92	5	of	of	ADP
fcis-2068	92	6	the	the	DET
fcis-2068	92	7	system	system	NOUN
fcis-2068	92	8	is	be	AUX
fcis-2068	92	9	obtained	obtain	VERB
fcis-2068	92	10	by	by	ADP
fcis-2068	92	11	discretizing	discretize	VERB
fcis-2068	92	12	eq	eq	X
fcis-2068	92	13	.	.	PUNCT
fcis-2068	93	1	(	(	PUNCT
fcis-2068	93	2	11	11	NUM
fcis-2068	93	3	):	):	PUNCT
fcis-2068	93	4	𝑥𝑥(𝜆𝜆	𝑥𝑥(𝜆𝜆	X
fcis-2068	94	1	+	+	PUNCT
fcis-2068	94	2	1	1	X
fcis-2068	94	3	)	)	PUNCT
fcis-2068	94	4	=	=	SYM
fcis-2068	94	5	𝐴𝐴𝜆𝜆𝑥𝑥(𝜆𝜆	𝐴𝐴𝜆𝜆𝑥𝑥(𝜆𝜆	PROPN
fcis-2068	94	6	)	)	PUNCT
fcis-2068	95	1	+	+	NUM
fcis-2068	95	2	𝐵𝐵𝜆𝜆𝑢𝑢(𝜆𝜆	𝐵𝐵𝜆𝜆𝑢𝑢(𝜆𝜆	NOUN
fcis-2068	95	3	)	)	PUNCT
fcis-2068	95	4	where	where	SCONJ
fcis-2068	95	5	aλ	aλ	PROPN
fcis-2068	95	6	is	be	AUX
fcis-2068	95	7	the	the	DET
fcis-2068	95	8	state	state	NOUN
fcis-2068	95	9	matrix	matrix	NOUN
fcis-2068	95	10	,	,	PUNCT
fcis-2068	95	11	𝐴𝐴𝜆𝜆	𝐴𝐴𝜆𝜆	PROPN
fcis-2068	95	12	=	=	SYM
fcis-2068	95	13	�	�	PROPN
fcis-2068	95	14	1	1	NUM
fcis-2068	95	15	𝑇𝑇𝑐𝑐	𝑇𝑇𝑐𝑐	PROPN
fcis-2068	95	16	0	0	NUM
fcis-2068	95	17	1	1	NUM
fcis-2068	95	18	−	−	PROPN
fcis-2068	95	19	𝑇𝑇𝑐𝑐	𝑇𝑇𝑐𝑐	PROPN
fcis-2068	95	20	𝜏𝜏	𝜏𝜏	ADP
fcis-2068	95	21	�	�	PROPN
fcis-2068	95	22	;	;	PUNCT
fcis-2068	95	23	bλ	bλ	PROPN
fcis-2068	95	24	is	be	AUX
fcis-2068	95	25	the	the	DET
fcis-2068	95	26	control	control	NOUN
fcis-2068	95	27	input	input	NOUN
fcis-2068	95	28	matrix	matrix	NOUN
fcis-2068	95	29	,	,	PUNCT
fcis-2068	95	30	𝐵𝐵𝜆𝜆	𝐵𝐵𝜆𝜆	PROPN
fcis-2068	95	31	=	=	SYM
fcis-2068	95	32	�	�	PROPN
fcis-2068	95	33	0	0	PUNCT
fcis-2068	96	1	𝐾𝐾𝑇𝑇𝑐𝑐	𝐾𝐾𝑇𝑇𝑐𝑐	PROPN
fcis-2068	96	2	𝜏𝜏	𝜏𝜏	ADP
fcis-2068	96	3	�	�	PROPN
fcis-2068	96	4	;	;	PUNCT
fcis-2068	96	5	λ	λ	NOUN
fcis-2068	96	6	is	be	AUX
fcis-2068	96	7	the	the	DET
fcis-2068	96	8	current	current	ADJ
fcis-2068	96	9	sampling	sampling	NOUN
fcis-2068	96	10	time	time	NOUN
fcis-2068	96	11	;	;	PUNCT
fcis-2068	96	12	𝜆𝜆	𝜆𝜆	CCONJ
fcis-2068	96	13	+	+	SYM
fcis-2068	96	14	1	1	NUM
fcis-2068	96	15	is	be	AUX
fcis-2068	96	16	the	the	DET
fcis-2068	96	17	next	next	ADJ
fcis-2068	96	18	sampling	sampling	NOUN
fcis-2068	96	19	time	time	NOUN
fcis-2068	96	20	;	;	PUNCT
fcis-2068	96	21	ct	ct	PROPN
fcis-2068	96	22	is	be	AUX
fcis-2068	96	23	the	the	DET
fcis-2068	96	24	sampling	sampling	NOUN
fcis-2068	96	25	period	period	NOUN
fcis-2068	96	26	.	.	PUNCT
fcis-2068	97	1	speed	speed	NOUN
fcis-2068	97	2	as	as	ADP
fcis-2068	97	3	the	the	DET
fcis-2068	97	4	output	output	NOUN
fcis-2068	97	5	of	of	ADP
fcis-2068	97	6	the	the	DET
fcis-2068	97	7	system	system	NOUN
fcis-2068	97	8	,	,	PUNCT
fcis-2068	97	9	the	the	DET
fcis-2068	97	10	output	output	NOUN
fcis-2068	97	11	equation	equation	NOUN
fcis-2068	97	12	is	be	AUX
fcis-2068	97	13	:	:	PUNCT
fcis-2068	97	14	𝑣𝑣(𝜆𝜆	𝑣𝑣(𝜆𝜆	X
fcis-2068	97	15	)	)	PUNCT
fcis-2068	97	16	=	=	SYM
fcis-2068	97	17	𝑐𝑐𝑥𝑥(𝜆𝜆	𝑐𝑐𝑥𝑥(𝜆𝜆	PROPN
fcis-2068	97	18	)	)	PUNCT
fcis-2068	97	19	,	,	PUNCT
fcis-2068	97	20	𝑐𝑐	𝑐𝑐	NOUN
fcis-2068	98	1	=	=	PUNCT
fcis-2068	99	1	[	[	X
fcis-2068	99	2	0	0	NUM
fcis-2068	99	3	1	1	NUM
fcis-2068	99	4	]	]	PUNCT
fcis-2068	99	5	according	accord	VERB
fcis-2068	99	6	to	to	ADP
fcis-2068	99	7	the	the	DET
fcis-2068	99	8	control	control	NOUN
fcis-2068	99	9	strategy	strategy	NOUN
fcis-2068	99	10	designed	design	VERB
fcis-2068	99	11	by	by	ADP
fcis-2068	99	12	3.1	3.1	NUM
fcis-2068	99	13	,	,	PUNCT
fcis-2068	99	14	the	the	DET
fcis-2068	99	15	control	control	NOUN
fcis-2068	99	16	goal	goal	NOUN
fcis-2068	99	17	of	of	ADP
fcis-2068	99	18	the	the	DET
fcis-2068	99	19	automatic	automatic	ADJ
fcis-2068	99	20	driving	driving	NOUN
fcis-2068	99	21	vehicle	vehicle	NOUN
fcis-2068	99	22	in	in	ADP
fcis-2068	99	23	the	the	DET
fcis-2068	99	24	actual	actual	ADJ
fcis-2068	99	25	45	45	NUM
fcis-2068	99	26	driving	driving	NOUN
fcis-2068	99	27	process	process	NOUN
fcis-2068	99	28	is	be	AUX
fcis-2068	99	29	to	to	PART
fcis-2068	99	30	improve	improve	VERB
fcis-2068	99	31	the	the	DET
fcis-2068	99	32	driving	drive	VERB
fcis-2068	99	33	comfort	comfort	NOUN
fcis-2068	99	34	as	as	ADV
fcis-2068	99	35	much	much	ADV
fcis-2068	99	36	as	as	ADP
fcis-2068	99	37	possible	possible	ADJ
fcis-2068	99	38	under	under	ADP
fcis-2068	99	39	the	the	DET
fcis-2068	99	40	premise	premise	NOUN
fcis-2068	99	41	of	of	ADP
fcis-2068	99	42	ensuring	ensure	VERB
fcis-2068	99	43	the	the	DET
fcis-2068	99	44	safety	safety	NOUN
fcis-2068	99	45	of	of	ADP
fcis-2068	99	46	the	the	DET
fcis-2068	99	47	vehicle	vehicle	NOUN
fcis-2068	99	48	speed	speed	NOUN
fcis-2068	99	49	tracking	tracking	NOUN
fcis-2068	99	50	accuracy	accuracy	NOUN
fcis-2068	99	51	,	,	PUNCT
fcis-2068	99	52	that	that	ADV
fcis-2068	99	53	is	is	ADV
fcis-2068	99	54	,	,	PUNCT
fcis-2068	99	55	not	not	PART
fcis-2068	99	56	to	to	PART
fcis-2068	99	57	occur	occur	VERB
fcis-2068	99	58	violent	violent	ADJ
fcis-2068	99	59	acceleration	acceleration	NOUN
fcis-2068	99	60	and	and	CCONJ
fcis-2068	99	61	deceleration	deceleration	NOUN
fcis-2068	99	62	and	and	CCONJ
fcis-2068	99	63	acceleration	acceleration	NOUN
fcis-2068	99	64	and	and	CCONJ
fcis-2068	99	65	deceleration	deceleration	NOUN
fcis-2068	99	66	rate	rate	NOUN
fcis-2068	99	67	of	of	ADP
fcis-2068	99	68	change	change	NOUN
fcis-2068	99	69	.	.	PUNCT
fcis-2068	100	1	based	base	VERB
fcis-2068	100	2	on	on	ADP
fcis-2068	100	3	this	this	PRON
fcis-2068	100	4	,	,	PUNCT
fcis-2068	100	5	the	the	DET
fcis-2068	100	6	system	system	NOUN
fcis-2068	100	7	performance	performance	NOUN
fcis-2068	100	8	evaluation	evaluation	NOUN
fcis-2068	100	9	index	index	NOUN
fcis-2068	100	10	(	(	PUNCT
fcis-2068	100	11	objective	objective	ADJ
fcis-2068	100	12	function	function	NOUN
fcis-2068	100	13	)	)	PUNCT
fcis-2068	100	14	is	be	AUX
fcis-2068	100	15	:	:	PUNCT
fcis-2068	100	16	𝐽𝐽	𝐽𝐽	PROPN
fcis-2068	100	17	�	�	PROPN
fcis-2068	100	18	𝑥𝑥(𝜆𝜆),𝑢𝑢(𝜆𝜆	𝑥𝑥(𝜆𝜆),𝑢𝑢(𝜆𝜆	PROPN
fcis-2068	100	19	−	−	PROPN
fcis-2068	100	20	1),𝛥𝛥𝑢𝑢(𝜆𝜆	1),𝛥𝛥𝑢𝑢(𝜆𝜆	NUM
fcis-2068	100	21	)	)	PUNCT
fcis-2068	100	22	�	�	PROPN
fcis-2068	100	23	�	�	PROPN
fcis-2068	100	24	�	�	PROPN
fcis-2068	100	25	𝑌𝑌𝑝𝑝(𝜆𝜆	𝑌𝑌𝑝𝑝(𝜆𝜆	PART
fcis-2068	100	26	+	+	SYM
fcis-2068	100	27	𝑠𝑠|𝜆𝜆	𝑠𝑠|𝜆𝜆	NOUN
fcis-2068	100	28	)	)	PUNCT
fcis-2068	100	29	−	−	PROPN
fcis-2068	101	1	𝑌𝑌𝑟𝑟𝑒𝑒(𝜆𝜆	𝑌𝑌𝑟𝑟𝑒𝑒(𝜆𝜆	X
fcis-2068	101	2	+	+	CCONJ
fcis-2068	101	3	𝑠𝑠|𝜆𝜆	𝑠𝑠|𝜆𝜆	PROPN
fcis-2068	101	4	)	)	PUNCT
fcis-2068	101	5	�	�	PROPN
fcis-2068	101	6	𝑁𝑁𝑝𝑝	𝑁𝑁𝑝𝑝	PROPN
fcis-2068	101	7	𝑖𝑖=1	𝑖𝑖=1	PUNCT
fcis-2068	102	1	𝑄𝑄	𝑄𝑄	PROPN
fcis-2068	102	2	2	2	NUM
fcis-2068	103	1	+	+	NOUN
fcis-2068	103	2	�	�	PROPN
fcis-2068	103	3	‖𝛥𝛥𝑢𝑢(𝜆𝜆	‖𝛥𝛥𝑢𝑢(𝜆𝜆	ADJ
fcis-2068	103	4	+	+	NOUN
fcis-2068	103	5	𝑠𝑠|𝜆𝜆)‖	𝑠𝑠|𝜆𝜆)‖	NOUN
fcis-2068	103	6	𝑁𝑁𝑐𝑐	𝑁𝑁𝑐𝑐	ADJ
fcis-2068	103	7	𝑖𝑖=1	𝑖𝑖=1	VERB
fcis-2068	103	8	𝑅𝑅	𝑅𝑅	PROPN
fcis-2068	103	9	2	2	NUM
fcis-2068	103	10	+	+	CCONJ
fcis-2068	103	11	𝜀𝜀𝜎𝜎2	𝜀𝜀𝜎𝜎2	NOUN
fcis-2068	103	12	in	in	ADP
fcis-2068	103	13	the	the	DET
fcis-2068	103	14	formula	formula	NOUN
fcis-2068	103	15	,	,	PUNCT
fcis-2068	103	16	pn	pn	PROPN
fcis-2068	103	17	is	be	AUX
fcis-2068	103	18	the	the	DET
fcis-2068	103	19	prediction	prediction	NOUN
fcis-2068	103	20	time	time	NOUN
fcis-2068	103	21	domain	domain	NOUN
fcis-2068	103	22	;	;	PUNCT
fcis-2068	103	23	cn	cn	PROPN
fcis-2068	103	24	is	be	AUX
fcis-2068	103	25	the	the	DET
fcis-2068	103	26	control	control	NOUN
fcis-2068	103	27	time	time	NOUN
fcis-2068	103	28	domain	domain	NOUN
fcis-2068	103	29	;	;	PUNCT
fcis-2068	103	30	𝜆𝜆	𝜆𝜆	CCONJ
fcis-2068	104	1	+	+	CCONJ
fcis-2068	104	2	𝑠𝑠|𝜆𝜆	𝑠𝑠|𝜆𝜆	PROPN
fcis-2068	104	3	indicates	indicate	VERB
fcis-2068	104	4	that	that	SCONJ
fcis-2068	104	5	the	the	DET
fcis-2068	104	6	state	state	NOUN
fcis-2068	104	7	value	value	NOUN
fcis-2068	104	8	at	at	ADP
fcis-2068	104	9	time	time	NOUN
fcis-2068	104	10	1λ	1λ	NUM
fcis-2068	104	11	+	+	CCONJ
fcis-2068	104	12	is	be	AUX
fcis-2068	104	13	predicted	predict	VERB
fcis-2068	104	14	according	accord	VERB
fcis-2068	104	15	to	to	ADP
fcis-2068	104	16	the	the	DET
fcis-2068	104	17	state	state	NOUN
fcis-2068	104	18	value	value	NOUN
fcis-2068	104	19	at	at	ADP
fcis-2068	104	20	time	time	NOUN
fcis-2068	104	21	λ	λ	X
fcis-2068	104	22	;	;	PUNCT
fcis-2068	104	23	𝑌𝑌𝑝𝑝(𝜆𝜆	𝑌𝑌𝑝𝑝(𝜆𝜆	X
fcis-2068	104	24	+	+	CCONJ
fcis-2068	104	25	𝑠𝑠|𝜆𝜆)is	𝑠𝑠|𝜆𝜆)is	NUM
fcis-2068	104	26	the	the	DET
fcis-2068	104	27	output	output	NOUN
fcis-2068	104	28	prediction	prediction	NOUN
fcis-2068	104	29	value	value	NOUN
fcis-2068	104	30	;	;	PUNCT
fcis-2068	104	31	𝑌𝑌𝑟𝑟𝑒𝑒(𝜆𝜆	𝑌𝑌𝑟𝑟𝑒𝑒(𝜆𝜆	X
fcis-2068	104	32	+	+	CCONJ
fcis-2068	104	33	𝑠𝑠|𝜆𝜆)is	𝑠𝑠|𝜆𝜆)is	NUM
fcis-2068	104	34	the	the	DET
fcis-2068	104	35	output	output	NOUN
fcis-2068	104	36	reference	reference	NOUN
fcis-2068	104	37	value	value	NOUN
fcis-2068	104	38	;	;	PUNCT
fcis-2068	104	39	q	q	NOUN
fcis-2068	104	40	and	and	CCONJ
fcis-2068	104	41	r	r	NOUN
fcis-2068	104	42	are	be	AUX
fcis-2068	104	43	weight	weight	NOUN
fcis-2068	104	44	matrix	matrix	NOUN
fcis-2068	104	45	;	;	PUNCT
fcis-2068	104	46	ε	ε	PROPN
fcis-2068	104	47	is	be	AUX
fcis-2068	104	48	the	the	DET
fcis-2068	104	49	weight	weight	NOUN
fcis-2068	104	50	coefficient	coefficient	NOUN
fcis-2068	104	51	;	;	PUNCT
fcis-2068	104	52	σ	σ	PROPN
fcis-2068	104	53	is	be	AUX
fcis-2068	104	54	the	the	DET
fcis-2068	104	55	relaxation	relaxation	NOUN
fcis-2068	104	56	factor	factor	NOUN
fcis-2068	104	57	.	.	PUNCT
fcis-2068	105	1	in	in	ADP
fcis-2068	105	2	order	order	NOUN
fcis-2068	105	3	to	to	PART
fcis-2068	105	4	ensure	ensure	VERB
fcis-2068	105	5	that	that	SCONJ
fcis-2068	105	6	the	the	DET
fcis-2068	105	7	system	system	NOUN
fcis-2068	105	8	output	output	NOUN
fcis-2068	105	9	is	be	AUX
fcis-2068	105	10	within	within	ADP
fcis-2068	105	11	a	a	DET
fcis-2068	105	12	reasonable	reasonable	ADJ
fcis-2068	105	13	range	range	NOUN
fcis-2068	105	14	,	,	PUNCT
fcis-2068	105	15	it	it	PRON
fcis-2068	105	16	is	be	AUX
fcis-2068	105	17	necessary	necessary	ADJ
fcis-2068	105	18	to	to	PART
fcis-2068	105	19	add	add	VERB
fcis-2068	105	20	active	active	ADJ
fcis-2068	105	21	constraints	constraint	NOUN
fcis-2068	105	22	,	,	PUNCT
fcis-2068	105	23	namely	namely	ADV
fcis-2068	105	24	acceleration	acceleration	NOUN
fcis-2068	105	25	constraint	constraint	NOUN
fcis-2068	105	26	and	and	CCONJ
fcis-2068	105	27	acceleration	acceleration	NOUN
fcis-2068	105	28	change	change	NOUN
fcis-2068	105	29	rate	rate	NOUN
fcis-2068	105	30	constraint	constraint	NOUN
fcis-2068	105	31	:	:	PUNCT
fcis-2068	106	1	𝑢𝑢𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	𝑢𝑢𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	NOUN
fcis-2068	106	2	≤	≤	PUNCT
fcis-2068	106	3	𝑢𝑢(𝜆𝜆	𝑢𝑢(𝜆𝜆	PROPN
fcis-2068	106	4	+	+	CCONJ
fcis-2068	106	5	𝑠𝑠	𝑠𝑠	X
fcis-2068	106	6	)	)	PUNCT
fcis-2068	106	7	≤	≤	NOUN
fcis-2068	106	8	𝑢𝑢𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	𝑢𝑢𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	VERB
fcis-2068	106	9	(	(	PUNCT
fcis-2068	106	10	𝑠𝑠	𝑠𝑠	ADV
fcis-2068	106	11	=	=	SYM
fcis-2068	106	12	1,2	1,2	NUM
fcis-2068	106	13	,	,	PUNCT
fcis-2068	106	14	…	…	PUNCT
fcis-2068	106	15	𝑁𝑁	𝑁𝑁	PROPN
fcis-2068	106	16	)	)	PUNCT
fcis-2068	106	17	𝛥𝛥𝑢𝑢𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	𝛥𝛥𝑢𝑢𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	NOUN
fcis-2068	106	18	≤	≤	PUNCT
fcis-2068	106	19	𝛥𝛥𝑢𝑢(𝜆𝜆	𝛥𝛥𝑢𝑢(𝜆𝜆	PROPN
fcis-2068	107	1	+	+	PUNCT
fcis-2068	107	2	𝑠𝑠	𝑠𝑠	X
fcis-2068	107	3	)	)	PUNCT
fcis-2068	107	4	≤	≤	NOUN
fcis-2068	108	1	𝛥𝛥𝑢𝑢𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	𝛥𝛥𝑢𝑢𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	PROPN
fcis-2068	108	2	(	(	PUNCT
fcis-2068	108	3	𝑠𝑠	𝑠𝑠	ADV
fcis-2068	108	4	=	=	ADJ
fcis-2068	108	5	1,2	1,2	NUM
fcis-2068	108	6	,	,	PUNCT
fcis-2068	108	7	.	.	PUNCT
fcis-2068	108	8	.	.	PUNCT
fcis-2068	109	1	.𝑁𝑁	.𝑁𝑁	X
fcis-2068	109	2	)	)	PUNCT
fcis-2068	110	1	where𝑢𝑢(𝜆𝜆	where𝑢𝑢(𝜆𝜆	NOUN
fcis-2068	110	2	+	+	CCONJ
fcis-2068	110	3	1)and𝛥𝛥𝑢𝑢(𝜆𝜆	1)and𝛥𝛥𝑢𝑢(𝜆𝜆	PROPN
fcis-2068	110	4	+	+	SYM
fcis-2068	110	5	1)are	1)are	NUM
fcis-2068	110	6	the	the	DET
fcis-2068	110	7	longitudinal	longitudinal	ADJ
fcis-2068	110	8	expected	expect	VERB
fcis-2068	110	9	acceleration	acceleration	NOUN
fcis-2068	110	10	constraint	constraint	NOUN
fcis-2068	110	11	and	and	CCONJ
fcis-2068	110	12	its	its	PRON
fcis-2068	110	13	incremental	incremental	ADJ
fcis-2068	110	14	constraint	constraint	NOUN
fcis-2068	110	15	;	;	PUNCT
fcis-2068	110	16	mineu	mineu	NOUN
fcis-2068	110	17	and	and	CCONJ
fcis-2068	110	18	maxeu	maxeu	NOUN
fcis-2068	110	19	are	be	AUX
fcis-2068	110	20	the	the	DET
fcis-2068	110	21	minimum	minimum	NOUN
fcis-2068	110	22	and	and	CCONJ
fcis-2068	110	23	maximum	maximum	NOUN
fcis-2068	110	24	of	of	ADP
fcis-2068	110	25	the	the	DET
fcis-2068	110	26	longitudinal	longitudinal	ADJ
fcis-2068	110	27	expected	expect	VERB
fcis-2068	110	28	acceleration	acceleration	NOUN
fcis-2068	110	29	constraint	constraint	NOUN
fcis-2068	110	30	,	,	PUNCT
fcis-2068	110	31	respectively	respectively	ADV
fcis-2068	110	32	;	;	PUNCT
fcis-2068	110	33	𝛥𝛥𝑢𝑢𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	𝛥𝛥𝑢𝑢𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	PROPN
fcis-2068	110	34	and𝛥𝛥𝑢𝑢𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	and𝛥𝛥𝑢𝑢𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	NOUN
fcis-2068	110	35	are	be	AUX
fcis-2068	110	36	the	the	DET
fcis-2068	110	37	minimum	minimum	ADJ
fcis-2068	110	38	and	and	CCONJ
fcis-2068	110	39	maximum	maximum	ADJ
fcis-2068	110	40	values	value	NOUN
fcis-2068	110	41	of	of	ADP
fcis-2068	110	42	the	the	DET
fcis-2068	110	43	longitudinal	longitudinal	ADJ
fcis-2068	110	44	expected	expect	VERB
fcis-2068	110	45	acceleration	acceleration	NOUN
fcis-2068	110	46	increment	increment	NOUN
fcis-2068	110	47	constraint	constraint	NOUN
fcis-2068	110	48	,	,	PUNCT
fcis-2068	110	49	respectively	respectively	ADV
fcis-2068	110	50	.	.	PUNCT
fcis-2068	111	1	the	the	DET
fcis-2068	111	2	system	system	NOUN
fcis-2068	111	3	solves	solve	VERB
fcis-2068	111	4	the	the	DET
fcis-2068	111	5	optimization	optimization	NOUN
fcis-2068	111	6	problem	problem	NOUN
fcis-2068	111	7	at	at	ADP
fcis-2068	111	8	each	each	DET
fcis-2068	111	9	moment	moment	NOUN
fcis-2068	111	10	,	,	PUNCT
fcis-2068	111	11	obtains	obtain	VERB
fcis-2068	111	12	the	the	DET
fcis-2068	111	13	optimal	optimal	ADJ
fcis-2068	111	14	input	input	NOUN
fcis-2068	111	15	control	control	NOUN
fcis-2068	111	16	quantity	quantity	NOUN
fcis-2068	111	17	,	,	PUNCT
fcis-2068	111	18	and	and	CCONJ
fcis-2068	111	19	takes	take	VERB
fcis-2068	111	20	the	the	DET
fcis-2068	111	21	first	first	ADJ
fcis-2068	111	22	control	control	NOUN
fcis-2068	111	23	quantity	quantity	NOUN
fcis-2068	111	24	as	as	ADP
fcis-2068	111	25	the	the	DET
fcis-2068	111	26	output	output	NOUN
fcis-2068	111	27	quantity	quantity	NOUN
fcis-2068	111	28	.	.	PUNCT
fcis-2068	112	1	the	the	DET
fcis-2068	112	2	system	system	NOUN
fcis-2068	112	3	will	will	AUX
fcis-2068	112	4	re	re	VERB
fcis-2068	112	5	-	-	VERB
fcis-2068	112	6	predict	predict	VERB
fcis-2068	112	7	the	the	DET
fcis-2068	112	8	control	control	NOUN
fcis-2068	112	9	state	state	NOUN
fcis-2068	112	10	of	of	ADP
fcis-2068	112	11	the	the	DET
fcis-2068	112	12	next	next	ADJ
fcis-2068	112	13	moment	moment	NOUN
fcis-2068	112	14	according	accord	VERB
fcis-2068	112	15	to	to	ADP
fcis-2068	112	16	the	the	DET
fcis-2068	112	17	current	current	ADJ
fcis-2068	112	18	state	state	NOUN
fcis-2068	112	19	,	,	PUNCT
fcis-2068	112	20	and	and	CCONJ
fcis-2068	112	21	continuously	continuously	ADV
fcis-2068	112	22	scroll	scroll	VERB
fcis-2068	112	23	the	the	DET
fcis-2068	112	24	optimization	optimization	NOUN
fcis-2068	112	25	until	until	SCONJ
fcis-2068	112	26	the	the	DET
fcis-2068	112	27	control	control	NOUN
fcis-2068	112	28	is	be	AUX
fcis-2068	112	29	completed	complete	VERB
fcis-2068	112	30	.	.	PUNCT
fcis-2068	113	1	the	the	DET
fcis-2068	113	2	optimization	optimization	NOUN
fcis-2068	113	3	problem	problem	NOUN
fcis-2068	113	4	of	of	ADP
fcis-2068	113	5	model	model	NOUN
fcis-2068	113	6	predictive	predictive	ADJ
fcis-2068	113	7	control	control	NOUN
fcis-2068	113	8	can	can	AUX
fcis-2068	113	9	be	be	AUX
fcis-2068	113	10	transformed	transform	VERB
fcis-2068	113	11	into	into	ADP
fcis-2068	113	12	a	a	DET
fcis-2068	113	13	quadratic	quadratic	ADJ
fcis-2068	113	14	programming	programming	NOUN
fcis-2068	113	15	problem	problem	NOUN
fcis-2068	113	16	:	:	PUNCT
fcis-2068	113	17	𝛿𝛿𝑠𝑠𝑠𝑠	𝛿𝛿𝑠𝑠𝑠𝑠	VERB
fcis-2068	113	18	δ𝑈𝑈	δ𝑈𝑈	ADV
fcis-2068	113	19	1	1	NUM
fcis-2068	113	20	2	2	NUM
fcis-2068	113	21	𝑈𝑈𝑇𝑇𝐻𝐻δ𝑈𝑈	𝑈𝑈𝑇𝑇𝐻𝐻δ𝑈𝑈	NOUN
fcis-2068	113	22	+	+	CCONJ
fcis-2068	113	23	𝐺𝐺𝑇𝑇δ𝑈𝑈	𝐺𝐺𝑇𝑇δ𝑈𝑈	NOUN
fcis-2068	113	24	𝑠𝑠.	𝑠𝑠.	VERB
fcis-2068	113	25	𝑡𝑡.	𝑡𝑡.	VERB
fcis-2068	113	26	𝑈𝑈𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	𝑈𝑈𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	PROPN
fcis-2068	113	27	≤	≤	PUNCT
fcis-2068	113	28	𝐴𝐴1δ𝑈𝑈	𝐴𝐴1δ𝑈𝑈	NOUN
fcis-2068	113	29	+	+	CCONJ
fcis-2068	113	30	𝑈𝑈𝜏𝜏	𝑈𝑈𝜏𝜏	PROPN
fcis-2068	113	31	≤	≤	PUNCT
fcis-2068	114	1	𝑈𝑈𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	𝑈𝑈𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	VERB
fcis-2068	114	2	δ𝑈𝑈𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	δ𝑈𝑈𝑒𝑒𝑚𝑚𝑖𝑖𝑚𝑚	ADP
fcis-2068	114	3	≤	≤	ADJ
fcis-2068	114	4	δ𝑈𝑈𝜏𝜏	δ𝑈𝑈𝜏𝜏	PROPN
fcis-2068	114	5	≤	≤	NUM
fcis-2068	114	6	δ𝑈𝑈𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	δ𝑈𝑈𝑒𝑒𝑚𝑚𝑎𝑎𝑥𝑥	VERB
fcis-2068	114	7	in	in	ADP
fcis-2068	114	8	the	the	DET
fcis-2068	114	9	formula,𝐻𝐻	formula,𝐻𝐻	ADJ
fcis-2068	114	10	∈	∈	NOUN
fcis-2068	114	11	𝑅𝑅2×2;𝐺𝐺	𝑅𝑅2×2;𝐺𝐺	NOUN
fcis-2068	114	12	∈	∈	NOUN
fcis-2068	114	13	𝑅𝑅2;δ𝑈𝑈	𝑅𝑅2;δ𝑈𝑈	PROPN
fcis-2068	115	1	=	=	PUNCT
fcis-2068	116	1	[	[	X
fcis-2068	116	2	δ𝑢𝑢(𝜆𝜆	δ𝑢𝑢(𝜆𝜆	X
fcis-2068	116	3	)	)	PUNCT
fcis-2068	116	4	,	,	PUNCT
fcis-2068	116	5	δ𝑢𝑢(𝜆𝜆	δ𝑢𝑢(𝜆𝜆	X
fcis-2068	116	6	+	+	CCONJ
fcis-2068	116	7	1	1	NUM
fcis-2068	116	8	)	)	PUNCT
fcis-2068	116	9	,	,	PUNCT
fcis-2068	116	10	.	.	PUNCT
fcis-2068	116	11	.	.	PUNCT
fcis-2068	117	1	.	.	PUNCT
fcis-2068	118	1	,	,	PUNCT
fcis-2068	118	2	δ𝑢𝑢(𝜆𝜆	δ𝑢𝑢(𝜆𝜆	X
fcis-2068	119	1	+	+	CCONJ
fcis-2068	119	2	𝑠𝑠)]𝑇𝑇;𝑈𝑈𝜏𝜏	𝑠𝑠)]𝑇𝑇;𝑈𝑈𝜏𝜏	PROPN
fcis-2068	119	3	=	=	SYM
fcis-2068	119	4	1𝑁𝑁𝑒𝑒	1𝑁𝑁𝑒𝑒	NUM
fcis-2068	119	5	⊗	⊗	PROPN
fcis-2068	119	6	𝑢𝑢(𝜆𝜆	𝑢𝑢(𝜆𝜆	PROPN
fcis-2068	119	7	−	−	PROPN
fcis-2068	119	8	1	1	NUM
fcis-2068	119	9	)	)	PUNCT
fcis-2068	120	1	,	,	PUNCT
fcis-2068	120	2	1	1	NUM
fcis-2068	120	3	en	en	X
fcis-2068	120	4	is	be	AUX
fcis-2068	120	5	the	the	DET
fcis-2068	120	6	unit	unit	NOUN
fcis-2068	120	7	vector	vector	NOUN
fcis-2068	120	8	of	of	ADP
fcis-2068	120	9	en	en	X
fcis-2068	120	10	line	line	NOUN
fcis-2068	120	11	,	,	PUNCT
fcis-2068	120	12	(	(	PUNCT
fcis-2068	120	13	)	)	PUNCT
fcis-2068	120	14	1u	1u	NUM
fcis-2068	120	15	λ	λ	NOUN
fcis-2068	120	16	−	−	PROPN
fcis-2068	120	17	is	be	AUX
fcis-2068	120	18	the	the	DET
fcis-2068	120	19	control	control	NOUN
fcis-2068	120	20	quantity	quantity	NOUN
fcis-2068	120	21	of	of	ADP
fcis-2068	120	22	the	the	DET
fcis-2068	120	23	previous	previous	ADJ
fcis-2068	120	24	moment	moment	NOUN
fcis-2068	120	25	;	;	PUNCT
fcis-2068	120	26	mineu	mineu	NOUN
fcis-2068	120	27	and	and	CCONJ
fcis-2068	120	28	maxeu	maxeu	NOUN
fcis-2068	120	29	are	be	AUX
fcis-2068	120	30	the	the	DET
fcis-2068	120	31	minimum	minimum	ADJ
fcis-2068	120	32	and	and	CCONJ
fcis-2068	120	33	maximum	maximum	ADJ
fcis-2068	120	34	sets	set	NOUN
fcis-2068	120	35	of	of	ADP
fcis-2068	120	36	the	the	DET
fcis-2068	120	37	control	control	NOUN
fcis-2068	120	38	quantity	quantity	NOUN
fcis-2068	120	39	in	in	ADP
fcis-2068	120	40	the	the	DET
fcis-2068	120	41	control	control	NOUN
fcis-2068	120	42	time	time	NOUN
fcis-2068	120	43	domain	domain	NOUN
fcis-2068	120	44	respectively	respectively	ADV
fcis-2068	120	45	.	.	PUNCT
fcis-2068	121	1	mineu∆	mineu∆	NOUN
fcis-2068	121	2	and	and	CCONJ
fcis-2068	121	3	maxeu∆	maxeu∆	NOUN
fcis-2068	121	4	are	be	AUX
fcis-2068	121	5	the	the	DET
fcis-2068	121	6	minimum	minimum	ADJ
fcis-2068	121	7	and	and	CCONJ
fcis-2068	121	8	maximum	maximum	ADJ
fcis-2068	121	9	sets	set	NOUN
fcis-2068	121	10	of	of	ADP
fcis-2068	121	11	control	control	NOUN
fcis-2068	121	12	increment	increment	NOUN
fcis-2068	121	13	in	in	ADP
fcis-2068	121	14	control	control	NOUN
fcis-2068	121	15	time	time	NOUN
fcis-2068	121	16	domain	domain	NOUN
fcis-2068	121	17	respectively	respectively	ADV
fcis-2068	121	18	;	;	PUNCT
fcis-2068	121	19	𝐴𝐴1	𝐴𝐴1	PROPN
fcis-2068	121	20	=	=	SYM
fcis-2068	121	21	⎝	⎝	PUNCT
fcis-2068	121	22	⎜	⎜	PROPN
fcis-2068	121	23	⎛	⎛	NOUN
fcis-2068	121	24	1	1	NUM
fcis-2068	121	25	0	0	NUM
fcis-2068	121	26	0	0	NUM
fcis-2068	121	27	⋯	⋯	VERB
fcis-2068	121	28	0	0	NUM
fcis-2068	121	29	1	1	NUM
fcis-2068	121	30	1	1	NUM
fcis-2068	121	31	0	0	NUM
fcis-2068	121	32	⋯	⋯	ADP
fcis-2068	121	33	0	0	NUM
fcis-2068	121	34	1	1	NUM
fcis-2068	121	35	1	1	NUM
fcis-2068	121	36	1	1	NUM
fcis-2068	121	37	⋯	⋯	NOUN
fcis-2068	121	38	0	0	NUM
fcis-2068	121	39	⋮	⋮	NOUN
fcis-2068	121	40	⋮	⋮	ADJ
fcis-2068	121	41	⋮	⋮	ADJ
fcis-2068	121	42	⋮	⋮	NOUN
fcis-2068	121	43	1	1	NUM
fcis-2068	121	44	1	1	NUM
fcis-2068	121	45	1	1	NUM
fcis-2068	121	46	⋯	⋯	ADP
fcis-2068	121	47	1⎠	1⎠	NUM
fcis-2068	121	48	⎟	⎟	PROPN
fcis-2068	121	49	⎞	⎞	PROPN
fcis-2068	121	50	𝑁𝑁𝑒𝑒×𝑁𝑁𝑒𝑒	𝑁𝑁𝑒𝑒×𝑁𝑁𝑒𝑒	VERB
fcis-2068	121	51	.	.	PUNCT
fcis-2068	122	1	the	the	DET
fcis-2068	122	2	quadratic	quadratic	ADJ
fcis-2068	122	3	programming	programming	NOUN
fcis-2068	122	4	problem	problem	NOUN
fcis-2068	122	5	can	can	AUX
fcis-2068	122	6	be	be	AUX
fcis-2068	122	7	solved	solve	VERB
fcis-2068	122	8	by	by	ADP
fcis-2068	122	9	the	the	DET
fcis-2068	122	10	quadprog	quadprog	NOUN
fcis-2068	122	11	function	function	NOUN
fcis-2068	122	12	provided	provide	VERB
fcis-2068	122	13	in	in	ADP
fcis-2068	122	14	matlab	matlab	PROPN
fcis-2068	122	15	.	.	PUNCT
fcis-2068	123	1	(	(	PUNCT
fcis-2068	123	2	2	2	X
fcis-2068	123	3	)	)	PUNCT
fcis-2068	123	4	lower	low	ADJ
fcis-2068	123	5	layer	layer	NOUN
fcis-2068	123	6	controller	controller	NOUN
fcis-2068	123	7	design	design	NOUN
fcis-2068	123	8	in	in	ADP
fcis-2068	123	9	order	order	NOUN
fcis-2068	123	10	to	to	PART
fcis-2068	123	11	avoid	avoid	VERB
fcis-2068	123	12	damage	damage	NOUN
fcis-2068	123	13	to	to	ADP
fcis-2068	123	14	the	the	DET
fcis-2068	123	15	vehicle	vehicle	NOUN
fcis-2068	123	16	system	system	NOUN
fcis-2068	123	17	,	,	PUNCT
fcis-2068	123	18	the	the	DET
fcis-2068	123	19	brake	brake	NOUN
fcis-2068	123	20	pedal	pedal	NOUN
fcis-2068	123	21	and	and	CCONJ
fcis-2068	123	22	the	the	DET
fcis-2068	123	23	accelerator	accelerator	NOUN
fcis-2068	123	24	pedal	pedal	NOUN
fcis-2068	123	25	can	can	AUX
fcis-2068	123	26	not	not	PART
fcis-2068	123	27	be	be	AUX
fcis-2068	123	28	operated	operate	VERB
fcis-2068	123	29	at	at	ADP
fcis-2068	123	30	the	the	DET
fcis-2068	123	31	same	same	ADJ
fcis-2068	123	32	time	time	NOUN
fcis-2068	123	33	during	during	ADP
fcis-2068	123	34	the	the	DET
fcis-2068	123	35	driving	drive	VERB
fcis-2068	123	36	process	process	NOUN
fcis-2068	123	37	of	of	ADP
fcis-2068	123	38	the	the	DET
fcis-2068	123	39	vehicle	vehicle	NOUN
fcis-2068	123	40	.	.	PUNCT
fcis-2068	124	1	at	at	ADP
fcis-2068	124	2	the	the	DET
fcis-2068	124	3	same	same	ADJ
fcis-2068	124	4	time	time	NOUN
fcis-2068	124	5	,	,	PUNCT
fcis-2068	124	6	considering	consider	VERB
fcis-2068	124	7	the	the	DET
fcis-2068	124	8	comfort	comfort	NOUN
fcis-2068	124	9	of	of	ADP
fcis-2068	124	10	the	the	DET
fcis-2068	124	11	occupants	occupant	NOUN
fcis-2068	124	12	,	,	PUNCT
fcis-2068	124	13	frequent	frequent	ADJ
fcis-2068	124	14	switching	switching	NOUN
fcis-2068	124	15	between	between	ADP
fcis-2068	124	16	braking	braking	NOUN
fcis-2068	124	17	and	and	CCONJ
fcis-2068	124	18	driving	driving	NOUN
fcis-2068	124	19	is	be	AUX
fcis-2068	124	20	avoided	avoid	VERB
fcis-2068	124	21	.	.	PUNCT
fcis-2068	125	1	based	base	VERB
fcis-2068	125	2	on	on	ADP
fcis-2068	125	3	this	this	PRON
fcis-2068	125	4	,	,	PUNCT
fcis-2068	125	5	the	the	DET
fcis-2068	125	6	switching	switch	VERB
fcis-2068	125	7	logic	logic	NOUN
fcis-2068	125	8	is	be	AUX
fcis-2068	125	9	designed	design	VERB
fcis-2068	125	10	according	accord	VERB
fcis-2068	125	11	to	to	ADP
fcis-2068	125	12	the	the	DET
fcis-2068	125	13	expected	expect	VERB
fcis-2068	125	14	acceleration	acceleration	NOUN
fcis-2068	125	15	of	of	ADP
fcis-2068	125	16	the	the	DET
fcis-2068	125	17	vehicle	vehicle	NOUN
fcis-2068	125	18	.	.	PUNCT
fcis-2068	126	1	mod	mod	PROPN
fcis-2068	126	2	=	=	PUNCT
fcis-2068	126	3	�	�	PROPN
fcis-2068	126	4	𝑎𝑎𝑗𝑗	𝑎𝑎𝑗𝑗	NOUN
fcis-2068	126	5	,	,	PUNCT
fcis-2068	126	6	𝑎𝑎𝑒𝑒	𝑎𝑎𝑒𝑒	PROPN
fcis-2068	126	7	≥	≥	PROPN
fcis-2068	126	8	𝑎𝑎𝑚𝑚𝑎𝑎𝑥𝑥	𝑎𝑎𝑚𝑚𝑎𝑎𝑥𝑥	VERB
fcis-2068	126	9	+	+	CCONJ
fcis-2068	126	10	𝛥𝛥𝑎𝑎	𝛥𝛥𝑎𝑎	PROPN
fcis-2068	126	11	0	0	NUM
fcis-2068	126	12	,	,	PUNCT
fcis-2068	126	13	𝑎𝑎𝑚𝑚𝑎𝑎𝑥𝑥	𝑎𝑎𝑚𝑚𝑎𝑎𝑥𝑥	VERB
fcis-2068	126	14	−	−	NUM
fcis-2068	126	15	𝛥𝛥𝑎𝑎	𝛥𝛥𝑎𝑎	PROPN
fcis-2068	126	16	≤	≤	NUM
fcis-2068	126	17	𝑎𝑎𝑒𝑒	𝑎𝑎𝑒𝑒	NOUN
fcis-2068	126	18	≤	≤	NUM
fcis-2068	126	19	𝑎𝑎𝑚𝑚𝑎𝑎𝑥𝑥	𝑎𝑎𝑚𝑚𝑎𝑎𝑥𝑥	VERB
fcis-2068	126	20	+	+	CCONJ
fcis-2068	126	21	𝛥𝛥𝑎𝑎	𝛥𝛥𝑎𝑎	PROPN
fcis-2068	126	22	𝑎𝑎𝑏𝑏	𝑎𝑎𝑏𝑏	NOUN
fcis-2068	126	23	,	,	PUNCT
fcis-2068	126	24	𝑎𝑎𝑒𝑒	𝑎𝑎𝑒𝑒	NOUN
fcis-2068	126	25	≤	≤	PROPN
fcis-2068	126	26	𝑎𝑎𝑚𝑚𝑎𝑎𝑥𝑥	𝑎𝑎𝑚𝑚𝑎𝑎𝑥𝑥	VERB
fcis-2068	126	27	−	−	PROPN
fcis-2068	127	1	𝛥𝛥𝑎𝑎	𝛥𝛥𝑎𝑎	PROPN
fcis-2068	127	2	mod	mod	PROPN
fcis-2068	127	3	is	be	AUX
fcis-2068	127	4	the	the	DET
fcis-2068	127	5	output	output	NOUN
fcis-2068	127	6	mode	mode	NOUN
fcis-2068	127	7	;	;	PUNCT
fcis-2068	127	8	ja	ja	PROPN
fcis-2068	127	9	represents	represent	VERB
fcis-2068	127	10	the	the	DET
fcis-2068	127	11	drive	drive	ADJ
fcis-2068	127	12	mode	mode	NOUN
fcis-2068	127	13	;	;	PUNCT
fcis-2068	127	14	ba	ba	PROPN
fcis-2068	127	15	represents	represent	VERB
fcis-2068	127	16	the	the	DET
fcis-2068	127	17	braking	brake	VERB
fcis-2068	127	18	mode	mode	NOUN
fcis-2068	127	19	;	;	PUNCT
fcis-2068	127	20	maxa	maxa	NOUN
fcis-2068	127	21	is	be	AUX
fcis-2068	127	22	the	the	DET
fcis-2068	127	23	maximum	maximum	ADJ
fcis-2068	127	24	deceleration	deceleration	NOUN
fcis-2068	127	25	when	when	SCONJ
fcis-2068	127	26	the	the	DET
fcis-2068	127	27	throttle	throttle	NOUN
fcis-2068	127	28	opening	opening	NOUN
fcis-2068	127	29	is	be	AUX
fcis-2068	127	30	0	0	NUM
fcis-2068	127	31	;	;	PUNCT
fcis-2068	127	32	a∆	a∆	X
fcis-2068	127	33	is	be	AUX
fcis-2068	127	34	the	the	DET
fcis-2068	127	35	dead	dead	ADJ
fcis-2068	127	36	zone	zone	NOUN
fcis-2068	127	37	buffer	buffer	NOUN
fcis-2068	127	38	value	value	NOUN
fcis-2068	127	39	.	.	PUNCT
fcis-2068	128	1	from	from	ADP
fcis-2068	128	2	eqs.(1)-(5	eqs.(1)-(5	NOUN
fcis-2068	128	3	)	)	PUNCT
fcis-2068	128	4	,	,	PUNCT
fcis-2068	128	5	the	the	DET
fcis-2068	128	6	expected	expect	VERB
fcis-2068	128	7	output	output	NOUN
fcis-2068	128	8	torque	torque	NOUN
fcis-2068	128	9	of	of	ADP
fcis-2068	128	10	the	the	DET
fcis-2068	128	11	engine	engine	NOUN
fcis-2068	128	12	is	be	AUX
fcis-2068	128	13	:	:	PUNCT
fcis-2068	128	14	𝑇𝑇𝑡𝑡𝑡𝑡	𝑇𝑇𝑡𝑡𝑡𝑡	PROPN
fcis-2068	128	15	=	=	SYM
fcis-2068	128	16	�	�	PROPN
fcis-2068	128	17	𝛿𝛿𝛿𝛿𝑎𝑎𝑒𝑒	𝛿𝛿𝛿𝛿𝑎𝑎𝑒𝑒	NOUN
fcis-2068	128	18	+	+	NOUN
fcis-2068	128	19	1	1	NUM
fcis-2068	128	20	2𝐶𝐶𝐷𝐷𝐴𝐴𝐴𝐴𝑢𝑢𝑟𝑟	2𝐶𝐶𝐷𝐷𝐴𝐴𝐴𝐴𝑢𝑢𝑟𝑟	NUM
fcis-2068	128	21	2	2	NUM
fcis-2068	128	22	+	+	CCONJ
fcis-2068	128	23	𝛿𝛿𝑚𝑚	𝛿𝛿𝑚𝑚	NOUN
fcis-2068	128	24	𝑠𝑠𝑠𝑠𝑠𝑠	𝑠𝑠𝑠𝑠𝑠𝑠	NOUN
fcis-2068	128	25	𝜃𝜃	𝜃𝜃	PROPN
fcis-2068	129	1	+	+	NUM
fcis-2068	129	2	𝛿𝛿𝑚𝑚𝑚𝑚	𝛿𝛿𝑚𝑚𝑚𝑚	PROPN
fcis-2068	129	3	𝑐𝑐𝑐𝑐𝑠𝑠	𝑐𝑐𝑐𝑐𝑠𝑠	PROPN
fcis-2068	129	4	𝑠𝑠𝑔𝑔𝑠𝑠0𝜂𝜂𝑡𝑡	𝑠𝑠𝑔𝑔𝑠𝑠0𝜂𝜂𝑡𝑡	PROPN
fcis-2068	130	1	the	the	DET
fcis-2068	130	2	expected	expect	VERB
fcis-2068	130	3	throttle	throttle	NOUN
fcis-2068	130	4	opening	opening	NOUN
fcis-2068	130	5	tvpa	tvpa	NOUN
fcis-2068	130	6	can	can	AUX
fcis-2068	130	7	be	be	AUX
fcis-2068	130	8	obtained	obtain	VERB
fcis-2068	130	9	according	accord	VERB
fcis-2068	130	10	to	to	ADP
fcis-2068	130	11	the	the	DET
fcis-2068	130	12	external	external	ADJ
fcis-2068	130	13	characteristics	characteristic	NOUN
fcis-2068	130	14	of	of	ADP
fcis-2068	130	15	the	the	DET
fcis-2068	130	16	engine	engine	NOUN
fcis-2068	130	17	and	and	CCONJ
fcis-2068	130	18	the	the	DET
fcis-2068	130	19	power	power	NOUN
fcis-2068	130	20	and	and	CCONJ
fcis-2068	130	21	torque	torque	NOUN
fcis-2068	130	22	curve	curve	NOUN
fcis-2068	130	23	:	:	PUNCT
fcis-2068	130	24	𝑎𝑎𝑡𝑡𝑣𝑣𝑝𝑝	𝑎𝑎𝑡𝑡𝑣𝑣𝑝𝑝	NOUN
fcis-2068	130	25	=	=	SYM
fcis-2068	130	26	𝑚𝑚	𝑚𝑚	ADP
fcis-2068	130	27	�	�	PROPN
fcis-2068	130	28	𝑠𝑠,𝑇𝑇𝑡𝑡𝑡𝑡	𝑠𝑠,𝑇𝑇𝑡𝑡𝑡𝑡	NOUN
fcis-2068	130	29	�	�	PROPN
fcis-2068	130	30	the	the	DET
fcis-2068	130	31	longitudinal	longitudinal	ADJ
fcis-2068	130	32	dynamic	dynamic	ADJ
fcis-2068	130	33	model	model	NOUN
fcis-2068	130	34	of	of	ADP
fcis-2068	130	35	the	the	DET
fcis-2068	130	36	vehicle	vehicle	NOUN
fcis-2068	130	37	established	establish	VERB
fcis-2068	130	38	by	by	ADP
fcis-2068	130	39	2.1	2.1	NUM
fcis-2068	130	40	shows	show	NOUN
fcis-2068	130	41	that	that	SCONJ
fcis-2068	130	42	the	the	DET
fcis-2068	130	43	braking	brake	VERB
fcis-2068	130	44	force	force	NOUN
fcis-2068	130	45	required	require	VERB
fcis-2068	130	46	by	by	ADP
fcis-2068	130	47	the	the	DET
fcis-2068	130	48	vehicle	vehicle	NOUN
fcis-2068	130	49	in	in	ADP
fcis-2068	130	50	the	the	DET
fcis-2068	130	51	braking	braking	NOUN
fcis-2068	130	52	process	process	NOUN
fcis-2068	130	53	is	be	AUX
fcis-2068	130	54	braf	braf	NOUN
fcis-2068	130	55	:	:	PUNCT
fcis-2068	131	1	𝐹𝐹𝑏𝑏𝑟𝑟𝑎𝑎	𝐹𝐹𝑏𝑏𝑟𝑟𝑎𝑎	X
fcis-2068	131	2	=	=	SYM
fcis-2068	131	3	𝛿𝛿𝛿𝛿𝑎𝑎𝑒𝑒	𝛿𝛿𝛿𝛿𝑎𝑎𝑒𝑒	NOUN
fcis-2068	131	4	−	−	NUM
fcis-2068	131	5	1	1	NUM
fcis-2068	131	6	2	2	NUM
fcis-2068	131	7	𝐶𝐶𝐷𝐷𝐴𝐴𝐴𝐴𝑢𝑢𝑟𝑟2	𝐶𝐶𝐷𝐷𝐴𝐴𝐴𝐴𝑢𝑢𝑟𝑟2	NOUN
fcis-2068	131	8	−	−	NOUN
fcis-2068	132	1	𝛿𝛿𝑚𝑚	𝛿𝛿𝑚𝑚	NOUN
fcis-2068	133	1	𝑠𝑠𝑠𝑠𝑠𝑠	𝑠𝑠𝑠𝑠𝑠𝑠	NOUN
fcis-2068	133	2	𝜃𝜃	𝜃𝜃	PROPN
fcis-2068	133	3	−	−	PROPN
fcis-2068	134	1	𝛿𝛿𝑚𝑚𝑚𝑚	𝛿𝛿𝑚𝑚𝑚𝑚	PROPN
fcis-2068	134	2	𝑐𝑐𝑐𝑐𝑠𝑠	𝑐𝑐𝑐𝑐𝑠𝑠	PROPN
fcis-2068	135	1	𝜃𝜃	𝜃𝜃	INTJ
fcis-2068	135	2	therefore	therefore	ADV
fcis-2068	135	3	,	,	PUNCT
fcis-2068	135	4	the	the	DET
fcis-2068	135	5	expected	expect	VERB
fcis-2068	135	6	brake	brake	NOUN
fcis-2068	135	7	master	master	NOUN
fcis-2068	135	8	cylinder	cylinder	NOUN
fcis-2068	135	9	pressure	pressure	NOUN
fcis-2068	135	10	bp	bp	PROPN
fcis-2068	135	11	is	be	AUX
fcis-2068	135	12	:	:	PUNCT
fcis-2068	135	13	𝑃𝑃𝑏𝑏	𝑃𝑃𝑏𝑏	PROPN
fcis-2068	135	14	=	=	SYM
fcis-2068	136	1	𝐹𝐹𝑏𝑏𝑟𝑟𝑎𝑎	𝐹𝐹𝑏𝑏𝑟𝑟𝑎𝑎	PROPN
fcis-2068	136	2	𝑘𝑘𝑏𝑏	𝑘𝑘𝑏𝑏	ADP
fcis-2068	136	3	4	4	NUM
fcis-2068	136	4	.	.	PUNCT
fcis-2068	136	5	longitudinal	longitudinal	ADJ
fcis-2068	136	6	control	control	PROPN
fcis-2068	136	7	simulation	simulation	NOUN
fcis-2068	136	8	analysis	analysis	NOUN
fcis-2068	136	9	in	in	ADP
fcis-2068	136	10	order	order	NOUN
fcis-2068	136	11	to	to	PART
fcis-2068	136	12	verify	verify	VERB
fcis-2068	136	13	the	the	DET
fcis-2068	136	14	control	control	NOUN
fcis-2068	136	15	effect	effect	NOUN
fcis-2068	136	16	of	of	ADP
fcis-2068	136	17	the	the	DET
fcis-2068	136	18	longitudinal	longitudinal	ADJ
fcis-2068	136	19	motion	motion	NOUN
fcis-2068	136	20	controller	controller	NOUN
fcis-2068	136	21	,	,	PUNCT
fcis-2068	136	22	matlab	matlab	PROPN
fcis-2068	136	23	/	/	SYM
fcis-2068	136	24	simulink	simulink	PROPN
fcis-2068	136	25	is	be	AUX
fcis-2068	136	26	used	use	VERB
fcis-2068	136	27	to	to	PART
fcis-2068	136	28	build	build	VERB
fcis-2068	136	29	the	the	DET
fcis-2068	136	30	longitudinal	longitudinal	ADJ
fcis-2068	136	31	controller	controller	NOUN
fcis-2068	136	32	simulation	simulation	NOUN
fcis-2068	136	33	model	model	NOUN
fcis-2068	136	34	based	base	VERB
fcis-2068	136	35	on	on	ADP
fcis-2068	136	36	model	model	NOUN
fcis-2068	136	37	predictive	predictive	PROPN
fcis-2068	136	38	control	control	NOUN
fcis-2068	136	39	,	,	PUNCT
fcis-2068	136	40	including	include	VERB
fcis-2068	136	41	the	the	DET
fcis-2068	136	42	self	self	NOUN
fcis-2068	136	43	-	-	PUNCT
fcis-2068	136	44	vehicle	vehicle	NOUN
fcis-2068	136	45	control	control	NOUN
fcis-2068	136	46	model	model	NOUN
fcis-2068	136	47	and	and	CCONJ
fcis-2068	136	48	the	the	DET
fcis-2068	136	49	other	other	ADJ
fcis-2068	136	50	-	-	PUNCT
fcis-2068	136	51	vehicle	vehicle	NOUN
fcis-2068	136	52	control	control	NOUN
fcis-2068	136	53	model	model	NOUN
fcis-2068	136	54	,	,	PUNCT
fcis-2068	136	55	and	and	CCONJ
fcis-2068	136	56	the	the	DET
fcis-2068	136	57	longitudinal	longitudinal	ADJ
fcis-2068	136	58	control	control	NOUN
fcis-2068	136	59	of	of	ADP
fcis-2068	136	60	the	the	DET
fcis-2068	136	61	self	self	NOUN
fcis-2068	136	62	-	-	PUNCT
fcis-2068	136	63	vehicle	vehicle	NOUN
fcis-2068	136	64	is	be	AUX
fcis-2068	136	65	simulated	simulate	VERB
fcis-2068	136	66	under	under	ADP
fcis-2068	136	67	three	three	NUM
fcis-2068	136	68	conditions	condition	NOUN
fcis-2068	136	69	:	:	PUNCT
fcis-2068	136	70	the	the	DET
fcis-2068	136	71	same	same	ADJ
fcis-2068	136	72	-	-	PUNCT
fcis-2068	136	73	lane	lane	NOUN
fcis-2068	136	74	vehicle	vehicle	NOUN
fcis-2068	136	75	driving	drive	VERB
fcis-2068	136	76	at	at	ADP
fcis-2068	136	77	a	a	DET
fcis-2068	136	78	constant	constant	ADJ
fcis-2068	136	79	speed	speed	NOUN
fcis-2068	136	80	or	or	CCONJ
fcis-2068	136	81	at	at	ADP
fcis-2068	136	82	rest	rest	NOUN
fcis-2068	136	83	,	,	PUNCT
fcis-2068	136	84	the	the	DET
fcis-2068	136	85	same	same	ADJ
fcis-2068	136	86	-	-	PUNCT
fcis-2068	136	87	lane	lane	NOUN
fcis-2068	136	88	vehicle	vehicle	NOUN
fcis-2068	136	89	decelerating	decelerating	NOUN
fcis-2068	136	90	,	,	PUNCT
fcis-2068	136	91	the	the	DET
fcis-2068	136	92	same	same	ADJ
fcis-2068	136	93	-	-	PUNCT
fcis-2068	136	94	lane	lane	NOUN
fcis-2068	136	95	vehicle	vehicle	NOUN
fcis-2068	136	96	accelerating	accelerate	VERB
fcis-2068	136	97	or	or	CCONJ
fcis-2068	136	98	driving	drive	VERB
fcis-2068	136	99	out	out	ADP
fcis-2068	136	100	of	of	ADP
fcis-2068	136	101	the	the	DET
fcis-2068	136	102	current	current	ADJ
fcis-2068	136	103	lane	lane	NOUN
fcis-2068	136	104	.	.	PUNCT
fcis-2068	137	1	4.1	4.1	NUM
fcis-2068	137	2	.	.	PUNCT
fcis-2068	138	1	build	build	VERB
fcis-2068	138	2	simulation	simulation	NOUN
fcis-2068	138	3	model	model	NOUN
fcis-2068	138	4	through	through	ADP
fcis-2068	138	5	matlab	matlab	PROPN
fcis-2068	138	6	/	/	SYM
fcis-2068	138	7	simulink	simulink	PROPN
fcis-2068	138	8	,	,	PUNCT
fcis-2068	138	9	the	the	DET
fcis-2068	138	10	front	front	ADJ
fcis-2068	138	11	vehicle	vehicle	NOUN
fcis-2068	138	12	model	model	NOUN
fcis-2068	138	13	,	,	PUNCT
fcis-2068	138	14	the	the	DET
fcis-2068	138	15	longitudinal	longitudinal	ADJ
fcis-2068	138	16	control	control	NOUN
fcis-2068	138	17	model	model	NOUN
fcis-2068	138	18	and	and	CCONJ
fcis-2068	138	19	the	the	DET
fcis-2068	138	20	visual	visual	ADJ
fcis-2068	138	21	model	model	NOUN
fcis-2068	138	22	are	be	AUX
fcis-2068	138	23	built	build	VERB
fcis-2068	138	24	respectively	respectively	ADV
fcis-2068	138	25	.	.	PUNCT
fcis-2068	139	1	the	the	DET
fcis-2068	139	2	dynamic	dynamic	ADJ
fcis-2068	139	3	model	model	NOUN
fcis-2068	139	4	between	between	ADP
fcis-2068	139	5	acceleration	acceleration	NOUN
fcis-2068	139	6	and	and	CCONJ
fcis-2068	139	7	speed	speed	NOUN
fcis-2068	139	8	is	be	AUX
fcis-2068	139	9	used	use	VERB
fcis-2068	139	10	to	to	PART
fcis-2068	139	11	build	build	VERB
fcis-2068	139	12	the	the	DET
fcis-2068	139	13	front	front	ADJ
fcis-2068	139	14	vehicle	vehicle	NOUN
fcis-2068	139	15	model	model	NOUN
fcis-2068	139	16	.	.	PUNCT
fcis-2068	140	1	the	the	DET
fcis-2068	140	2	simulation	simulation	NOUN
fcis-2068	140	3	model	model	NOUN
fcis-2068	140	4	of	of	ADP
fcis-2068	140	5	the	the	DET
fcis-2068	140	6	self	self	NOUN
fcis-2068	140	7	-	-	PUNCT
fcis-2068	140	8	driving	drive	VERB
fcis-2068	140	9	car	car	NOUN
fcis-2068	140	10	mainly	mainly	ADV
fcis-2068	140	11	includes	include	VERB
fcis-2068	140	12	three	three	NUM
fcis-2068	140	13	driving	driving	NOUN
fcis-2068	140	14	modes	mode	NOUN
fcis-2068	140	15	:	:	PUNCT
fcis-2068	140	16	constant	constant	ADJ
fcis-2068	140	17	speed	speed	NOUN
fcis-2068	140	18	cruise	cruise	NOUN
fcis-2068	140	19	,	,	PUNCT
fcis-2068	140	20	intelligent	intelligent	ADJ
fcis-2068	140	21	car	car	NOUN
fcis-2068	140	22	-	-	PUNCT
fcis-2068	140	23	following	follow	VERB
fcis-2068	140	24	and	and	CCONJ
fcis-2068	140	25	emergency	emergency	NOUN
fcis-2068	140	26	braking	braking	NOUN
fcis-2068	140	27	.	.	PUNCT
fcis-2068	141	1	the	the	DET
fcis-2068	141	2	constant	constant	ADJ
fcis-2068	141	3	speed	speed	NOUN
fcis-2068	141	4	cruise	cruise	NOUN
fcis-2068	141	5	mode	mode	NOUN
fcis-2068	141	6	can	can	AUX
fcis-2068	141	7	track	track	VERB
fcis-2068	141	8	the	the	DET
fcis-2068	141	9	set	set	ADJ
fcis-2068	141	10	speed	speed	NOUN
fcis-2068	141	11	and	and	CCONJ
fcis-2068	141	12	drive	drive	VERB
fcis-2068	141	13	steadily	steadily	ADV
fcis-2068	141	14	.	.	PUNCT
fcis-2068	142	1	the	the	DET
fcis-2068	142	2	intelligent	intelligent	ADJ
fcis-2068	142	3	car	car	NOUN
fcis-2068	142	4	-	-	PUNCT
fcis-2068	142	5	following	follow	VERB
fcis-2068	142	6	mode	mode	NOUN
fcis-2068	142	7	can	can	AUX
fcis-2068	142	8	track	track	VERB
fcis-2068	142	9	the	the	DET
fcis-2068	142	10	front	front	ADJ
fcis-2068	142	11	vehicle	vehicle	NOUN
fcis-2068	142	12	speed	speed	NOUN
fcis-2068	142	13	and	and	CCONJ
fcis-2068	142	14	maintain	maintain	VERB
fcis-2068	142	15	a	a	DET
fcis-2068	142	16	certain	certain	ADJ
fcis-2068	142	17	safe	safe	ADJ
fcis-2068	142	18	distance	distance	NOUN
fcis-2068	142	19	.	.	PUNCT
fcis-2068	143	1	the	the	DET
fcis-2068	143	2	emergency	emergency	NOUN
fcis-2068	143	3	braking	brake	VERB
fcis-2068	143	4	mode	mode	NOUN
fcis-2068	143	5	can	can	AUX
fcis-2068	143	6	make	make	VERB
fcis-2068	143	7	the	the	DET
fcis-2068	143	8	vehicle	vehicle	NOUN
fcis-2068	143	9	brake	brake	NOUN
fcis-2068	143	10	at	at	ADP
fcis-2068	143	11	the	the	DET
fcis-2068	143	12	maximum	maximum	ADJ
fcis-2068	143	13	deceleration	deceleration	NOUN
fcis-2068	143	14	when	when	SCONJ
fcis-2068	143	15	the	the	DET
fcis-2068	143	16	safe	safe	ADJ
fcis-2068	143	17	distance	distance	NOUN
fcis-2068	143	18	can	can	AUX
fcis-2068	143	19	not	not	PART
fcis-2068	143	20	be	be	AUX
fcis-2068	143	21	guaranteed	guarantee	VERB
fcis-2068	143	22	to	to	PART
fcis-2068	143	23	avoid	avoid	VERB
fcis-2068	143	24	or	or	CCONJ
fcis-2068	143	25	reduce	reduce	VERB
fcis-2068	143	26	the	the	DET
fcis-2068	143	27	damage	damage	NOUN
fcis-2068	143	28	46	46	NUM
fcis-2068	143	29	caused	cause	VERB
fcis-2068	143	30	by	by	ADP
fcis-2068	143	31	the	the	DET
fcis-2068	143	32	accident	accident	NOUN
fcis-2068	143	33	.	.	PUNCT
fcis-2068	144	1	in	in	ADP
fcis-2068	144	2	order	order	NOUN
fcis-2068	144	3	to	to	PART
fcis-2068	144	4	realize	realize	VERB
fcis-2068	144	5	the	the	DET
fcis-2068	144	6	switching	switching	NOUN
fcis-2068	144	7	of	of	ADP
fcis-2068	144	8	the	the	DET
fcis-2068	144	9	three	three	NUM
fcis-2068	144	10	modes	mode	NOUN
fcis-2068	144	11	and	and	CCONJ
fcis-2068	144	12	realize	realize	VERB
fcis-2068	144	13	the	the	DET
fcis-2068	144	14	continuous	continuous	ADJ
fcis-2068	144	15	and	and	CCONJ
fcis-2068	144	16	complete	complete	ADJ
fcis-2068	144	17	longitudinal	longitudinal	ADJ
fcis-2068	144	18	control	control	NOUN
fcis-2068	144	19	,	,	PUNCT
fcis-2068	144	20	the	the	DET
fcis-2068	144	21	state	state	NOUN
fcis-2068	144	22	machine	machine	NOUN
fcis-2068	144	23	is	be	AUX
fcis-2068	144	24	used	use	VERB
fcis-2068	144	25	to	to	PART
fcis-2068	144	26	switch	switch	VERB
fcis-2068	144	27	the	the	DET
fcis-2068	144	28	three	three	NUM
fcis-2068	144	29	driving	drive	VERB
fcis-2068	144	30	modes	mode	NOUN
fcis-2068	144	31	according	accord	VERB
fcis-2068	144	32	to	to	ADP
fcis-2068	144	33	the	the	DET
fcis-2068	144	34	safe	safe	ADJ
fcis-2068	144	35	distance	distance	NOUN
fcis-2068	144	36	set	set	VERB
fcis-2068	144	37	by	by	ADP
fcis-2068	144	38	section	section	NOUN
fcis-2068	144	39	3.1	3.1	NUM
fcis-2068	144	40	.	.	PUNCT
fcis-2068	145	1	the	the	DET
fcis-2068	145	2	simulation	simulation	NOUN
fcis-2068	145	3	structure	structure	NOUN
fcis-2068	145	4	of	of	ADP
fcis-2068	145	5	the	the	DET
fcis-2068	145	6	vehicle	vehicle	NOUN
fcis-2068	145	7	longitudinal	longitudinal	ADJ
fcis-2068	145	8	motion	motion	NOUN
fcis-2068	145	9	control	control	NOUN
fcis-2068	145	10	model	model	NOUN
fcis-2068	145	11	based	base	VERB
fcis-2068	145	12	on	on	ADP
fcis-2068	145	13	model	model	NOUN
fcis-2068	145	14	predictive	predictive	ADJ
fcis-2068	145	15	control	control	NOUN
fcis-2068	145	16	is	be	AUX
fcis-2068	145	17	shown	show	VERB
fcis-2068	145	18	in	in	ADP
fcis-2068	145	19	fig.4	fig.4	PROPN
fcis-2068	145	20	.	.	PUNCT
fcis-2068	145	21	fig	fig	NOUN
fcis-2068	145	22	.	.	PUNCT
fcis-2068	146	1	4	4	NUM
fcis-2068	146	2	simulation	simulation	NOUN
fcis-2068	146	3	framework	framework	NOUN
fcis-2068	146	4	of	of	ADP
fcis-2068	146	5	longitudinal	longitudinal	ADJ
fcis-2068	146	6	motion	motion	NOUN
fcis-2068	146	7	control	control	NOUN
fcis-2068	146	8	4.2	4.2	NUM
fcis-2068	146	9	.	.	PUNCT
fcis-2068	147	1	simulation	simulation	NOUN
fcis-2068	147	2	results	result	NOUN
fcis-2068	147	3	and	and	CCONJ
fcis-2068	147	4	analysis	analysis	NOUN
fcis-2068	147	5	according	accord	VERB
fcis-2068	147	6	to	to	ADP
fcis-2068	147	7	the	the	DET
fcis-2068	147	8	longitudinal	longitudinal	ADJ
fcis-2068	147	9	motion	motion	NOUN
fcis-2068	147	10	simulation	simulation	NOUN
fcis-2068	147	11	model	model	NOUN
fcis-2068	147	12	of	of	ADP
fcis-2068	147	13	the	the	DET
fcis-2068	147	14	self	self	NOUN
fcis-2068	147	15	-	-	PUNCT
fcis-2068	147	16	driving	drive	VERB
fcis-2068	147	17	vehicle	vehicle	NOUN
fcis-2068	147	18	built	build	VERB
fcis-2068	147	19	above	above	ADV
fcis-2068	147	20	,	,	PUNCT
fcis-2068	147	21	the	the	DET
fcis-2068	147	22	longitudinal	longitudinal	ADJ
fcis-2068	147	23	motion	motion	NOUN
fcis-2068	147	24	control	control	NOUN
fcis-2068	147	25	of	of	ADP
fcis-2068	147	26	the	the	DET
fcis-2068	147	27	self	self	NOUN
fcis-2068	147	28	-	-	PUNCT
fcis-2068	147	29	driving	drive	VERB
fcis-2068	147	30	vehicle	vehicle	NOUN
fcis-2068	147	31	under	under	ADP
fcis-2068	147	32	the	the	DET
fcis-2068	147	33	three	three	NUM
fcis-2068	147	34	conditions	condition	NOUN
fcis-2068	147	35	of	of	ADP
fcis-2068	147	36	the	the	DET
fcis-2068	147	37	front	front	ADJ
fcis-2068	147	38	vehicle	vehicle	NOUN
fcis-2068	147	39	driving	drive	VERB
fcis-2068	147	40	at	at	ADP
fcis-2068	147	41	a	a	DET
fcis-2068	147	42	constant	constant	ADJ
fcis-2068	147	43	speed	speed	NOUN
fcis-2068	147	44	below	below	ADP
fcis-2068	147	45	the	the	DET
fcis-2068	147	46	selfdriving	selfdriving	NOUN
fcis-2068	147	47	vehicle	vehicle	NOUN
fcis-2068	147	48	speed	speed	NOUN
fcis-2068	147	49	,	,	PUNCT
fcis-2068	147	50	the	the	DET
fcis-2068	147	51	front	front	ADJ
fcis-2068	147	52	vehicle	vehicle	NOUN
fcis-2068	147	53	decelerating	decelerating	NOUN
fcis-2068	147	54	and	and	CCONJ
fcis-2068	147	55	the	the	DET
fcis-2068	147	56	front	front	ADJ
fcis-2068	147	57	vehicle	vehicle	NOUN
fcis-2068	147	58	accelerating	accelerate	VERB
fcis-2068	147	59	is	be	AUX
fcis-2068	147	60	simulated	simulate	VERB
fcis-2068	147	61	.	.	PUNCT
fcis-2068	148	1	(	(	PUNCT
fcis-2068	148	2	1	1	X
fcis-2068	148	3	)	)	PUNCT
fcis-2068	148	4	condition	condition	NOUN
fcis-2068	148	5	1	1	NUM
fcis-2068	148	6	:	:	PUNCT
fcis-2068	148	7	the	the	DET
fcis-2068	148	8	preceding	precede	VERB
fcis-2068	148	9	vehicle	vehicle	NOUN
fcis-2068	148	10	travels	travel	VERB
fcis-2068	148	11	at	at	ADP
fcis-2068	148	12	a	a	DET
fcis-2068	148	13	constant	constant	ADJ
fcis-2068	148	14	speed	speed	NOUN
fcis-2068	148	15	below	below	ADP
fcis-2068	148	16	its	its	PRON
fcis-2068	148	17	own	own	ADJ
fcis-2068	148	18	speed	speed	NOUN
fcis-2068	148	19	the	the	DET
fcis-2068	148	20	initial	initial	ADJ
fcis-2068	148	21	speed	speed	NOUN
fcis-2068	148	22	of	of	ADP
fcis-2068	148	23	the	the	DET
fcis-2068	148	24	front	front	ADJ
fcis-2068	148	25	vehicle	vehicle	NOUN
fcis-2068	148	26	is	be	AUX
fcis-2068	148	27	set	set	VERB
fcis-2068	148	28	to	to	ADP
fcis-2068	148	29	20	20	NUM
fcis-2068	148	30	m	m	NOUN
fcis-2068	148	31	/	/	SYM
fcis-2068	148	32	s	s	PROPN
fcis-2068	148	33	,	,	PUNCT
fcis-2068	148	34	the	the	DET
fcis-2068	148	35	target	target	NOUN
fcis-2068	148	36	cruise	cruise	NOUN
fcis-2068	148	37	speed	speed	NOUN
fcis-2068	148	38	is	be	AUX
fcis-2068	148	39	20	20	NUM
fcis-2068	148	40	m	m	NOUN
fcis-2068	148	41	/	/	SYM
fcis-2068	148	42	s	s	PROPN
fcis-2068	148	43	,	,	PUNCT
fcis-2068	148	44	and	and	CCONJ
fcis-2068	148	45	the	the	DET
fcis-2068	148	46	initial	initial	ADJ
fcis-2068	148	47	position	position	NOUN
fcis-2068	148	48	is	be	AUX
fcis-2068	148	49	40	40	NUM
fcis-2068	148	50	m	m	NOUN
fcis-2068	148	51	in	in	ADP
fcis-2068	148	52	front	front	NOUN
fcis-2068	148	53	of	of	ADP
fcis-2068	148	54	the	the	DET
fcis-2068	148	55	vehicle	vehicle	NOUN
fcis-2068	148	56	.	.	PUNCT
fcis-2068	149	1	the	the	DET
fcis-2068	149	2	initial	initial	ADJ
fcis-2068	149	3	speed	speed	NOUN
fcis-2068	149	4	of	of	ADP
fcis-2068	149	5	the	the	DET
fcis-2068	149	6	vehicle	vehicle	NOUN
fcis-2068	149	7	is	be	AUX
fcis-2068	149	8	set	set	VERB
fcis-2068	149	9	to	to	ADP
fcis-2068	149	10	20	20	NUM
fcis-2068	149	11	m	m	NOUN
fcis-2068	149	12	/	/	SYM
fcis-2068	149	13	s	s	PROPN
fcis-2068	149	14	,	,	PUNCT
fcis-2068	149	15	and	and	CCONJ
fcis-2068	149	16	the	the	DET
fcis-2068	149	17	target	target	NOUN
fcis-2068	149	18	cruise	cruise	NOUN
fcis-2068	149	19	speed	speed	NOUN
fcis-2068	149	20	is	be	AUX
fcis-2068	149	21	set	set	VERB
fcis-2068	149	22	to	to	ADP
fcis-2068	149	23	25	25	NUM
fcis-2068	149	24	m	m	NOUN
fcis-2068	149	25	/	/	SYM
fcis-2068	149	26	s.	s.	PROPN
fcis-2068	150	1	the	the	DET
fcis-2068	150	2	simulated	simulated	ADJ
fcis-2068	150	3	velocity	velocity	NOUN
fcis-2068	150	4	and	and	CCONJ
fcis-2068	150	5	acceleration	acceleration	NOUN
fcis-2068	150	6	results	result	NOUN
fcis-2068	150	7	are	be	AUX
fcis-2068	150	8	shown	show	VERB
fcis-2068	150	9	in	in	ADP
fcis-2068	150	10	fig.5	fig.5	PROPN
fcis-2068	150	11	:	:	PUNCT
fcis-2068	150	12	fig.5	fig.5	VERB
fcis-2068	150	13	curves	curve	NOUN
fcis-2068	150	14	of	of	ADP
fcis-2068	150	15	self	self	NOUN
fcis-2068	150	16	-	-	PUNCT
fcis-2068	150	17	driving	drive	VERB
fcis-2068	150	18	speed	speed	NOUN
fcis-2068	150	19	and	and	CCONJ
fcis-2068	150	20	acceleration	acceleration	NOUN
fcis-2068	150	21	versus	versus	ADP
fcis-2068	150	22	time	time	NOUN
fcis-2068	150	23	under	under	ADP
fcis-2068	150	24	condition	condition	NOUN
fcis-2068	150	25	1	1	NUM
fcis-2068	150	26	as	as	SCONJ
fcis-2068	150	27	shown	show	VERB
fcis-2068	150	28	in	in	ADP
fcis-2068	150	29	fig.7	fig.7	ADJ
fcis-2068	150	30	,	,	PUNCT
fcis-2068	150	31	at	at	ADP
fcis-2068	150	32	the	the	DET
fcis-2068	150	33	beginning	beginning	NOUN
fcis-2068	150	34	of	of	ADP
fcis-2068	150	35	the	the	DET
fcis-2068	150	36	simulation	simulation	NOUN
fcis-2068	150	37	,	,	PUNCT
fcis-2068	150	38	the	the	DET
fcis-2068	150	39	self	self	NOUN
fcis-2068	150	40	-	-	PUNCT
fcis-2068	150	41	driving	drive	VERB
fcis-2068	150	42	car	car	NOUN
fcis-2068	150	43	first	first	ADV
fcis-2068	150	44	accelerates	accelerate	VERB
fcis-2068	150	45	to	to	PART
fcis-2068	150	46	track	track	VERB
fcis-2068	150	47	the	the	DET
fcis-2068	150	48	set	set	ADJ
fcis-2068	150	49	target	target	NOUN
fcis-2068	150	50	cruise	cruise	NOUN
fcis-2068	150	51	speed	speed	NOUN
fcis-2068	150	52	,	,	PUNCT
fcis-2068	150	53	but	but	CCONJ
fcis-2068	150	54	in	in	ADP
fcis-2068	150	55	the	the	DET
fcis-2068	150	56	acceleration	acceleration	NOUN
fcis-2068	150	57	process	process	NOUN
fcis-2068	150	58	,	,	PUNCT
fcis-2068	150	59	the	the	DET
fcis-2068	150	60	relative	relative	ADJ
fcis-2068	150	61	distance	distance	NOUN
fcis-2068	150	62	between	between	ADP
fcis-2068	150	63	the	the	DET
fcis-2068	150	64	self	self	NOUN
fcis-2068	150	65	-	-	PUNCT
fcis-2068	150	66	driving	drive	VERB
fcis-2068	150	67	car	car	NOUN
fcis-2068	150	68	and	and	CCONJ
fcis-2068	150	69	the	the	DET
fcis-2068	150	70	front	front	ADJ
fcis-2068	150	71	car	car	NOUN
fcis-2068	150	72	is	be	AUX
fcis-2068	150	73	less	less	ADJ
fcis-2068	150	74	than	than	ADP
fcis-2068	150	75	the	the	DET
fcis-2068	150	76	expected	expect	VERB
fcis-2068	150	77	safe	safe	ADJ
fcis-2068	150	78	distance	distance	NOUN
fcis-2068	150	79	under	under	ADP
fcis-2068	150	80	this	this	DET
fcis-2068	150	81	condition	condition	NOUN
fcis-2068	150	82	.	.	PUNCT
fcis-2068	151	1	therefore	therefore	ADV
fcis-2068	151	2	,	,	PUNCT
fcis-2068	151	3	the	the	DET
fcis-2068	151	4	self	self	NOUN
fcis-2068	151	5	-	-	PUNCT
fcis-2068	151	6	driving	drive	VERB
fcis-2068	151	7	car	car	NOUN
fcis-2068	151	8	adjusts	adjust	VERB
fcis-2068	151	9	the	the	DET
fcis-2068	151	10	speed	speed	NOUN
fcis-2068	151	11	and	and	CCONJ
fcis-2068	151	12	finally	finally	ADV
fcis-2068	151	13	stabilizes	stabilize	VERB
fcis-2068	151	14	the	the	DET
fcis-2068	151	15	speed	speed	NOUN
fcis-2068	151	16	to	to	ADP
fcis-2068	151	17	about	about	ADV
fcis-2068	151	18	20	20	NUM
fcis-2068	151	19	m	m	NOUN
fcis-2068	151	20	/	/	SYM
fcis-2068	151	21	s	s	PROPN
fcis-2068	151	22	,	,	PUNCT
fcis-2068	151	23	that	that	ADV
fcis-2068	151	24	is	is	ADV
fcis-2068	151	25	,	,	PUNCT
fcis-2068	151	26	the	the	DET
fcis-2068	151	27	speed	speed	NOUN
fcis-2068	151	28	of	of	ADP
fcis-2068	151	29	the	the	DET
fcis-2068	151	30	front	front	ADJ
fcis-2068	151	31	car	car	NOUN
fcis-2068	151	32	is	be	AUX
fcis-2068	151	33	equal	equal	ADJ
fcis-2068	151	34	to	to	ADP
fcis-2068	151	35	that	that	PRON
fcis-2068	151	36	of	of	ADP
fcis-2068	151	37	the	the	DET
fcis-2068	151	38	front	front	ADJ
fcis-2068	151	39	car	car	NOUN
fcis-2068	151	40	,	,	PUNCT
fcis-2068	151	41	and	and	CCONJ
fcis-2068	151	42	the	the	DET
fcis-2068	151	43	acceleration	acceleration	NOUN
fcis-2068	151	44	range	range	NOUN
fcis-2068	151	45	is	be	AUX
fcis-2068	151	46	[	[	X
fcis-2068	151	47	2,2	2,2	NUM
fcis-2068	151	48	]	]	X
fcis-2068	151	49	,	,	PUNCT
fcis-2068	151	50	which	which	PRON
fcis-2068	151	51	is	be	AUX
fcis-2068	151	52	within	within	ADP
fcis-2068	151	53	the	the	DET
fcis-2068	151	54	expected	expect	VERB
fcis-2068	151	55	comfortable	comfortable	ADJ
fcis-2068	151	56	acceleration	acceleration	NOUN
fcis-2068	151	57	range	range	NOUN
fcis-2068	151	58	.	.	PUNCT
fcis-2068	152	1	finally	finally	ADV
fcis-2068	152	2	,	,	PUNCT
fcis-2068	152	3	the	the	DET
fcis-2068	152	4	safe	safe	ADJ
fcis-2068	152	5	and	and	CCONJ
fcis-2068	152	6	comfortable	comfortable	ADJ
fcis-2068	152	7	intelligent	intelligent	ADJ
fcis-2068	152	8	carfollowing	carfollowing	NOUN
fcis-2068	152	9	driving	driving	NOUN
fcis-2068	152	10	is	be	AUX
fcis-2068	152	11	realized	realize	VERB
fcis-2068	152	12	.	.	PUNCT
fcis-2068	153	1	(	(	PUNCT
fcis-2068	153	2	2	2	X
fcis-2068	153	3	)	)	PUNCT
fcis-2068	153	4	condition	condition	NOUN
fcis-2068	153	5	2	2	NUM
fcis-2068	153	6	:	:	PUNCT
fcis-2068	153	7	front	front	ADJ
fcis-2068	153	8	car	car	NOUN
fcis-2068	153	9	slows	slow	VERB
fcis-2068	153	10	down	down	ADP
fcis-2068	153	11	the	the	DET
fcis-2068	153	12	initial	initial	ADJ
fcis-2068	153	13	vehicle	vehicle	NOUN
fcis-2068	153	14	speed	speed	NOUN
fcis-2068	153	15	is	be	AUX
fcis-2068	153	16	set	set	VERB
fcis-2068	153	17	to	to	ADP
fcis-2068	153	18	25	25	NUM
fcis-2068	153	19	m	m	NOUN
fcis-2068	153	20	/	/	SYM
fcis-2068	153	21	s	s	PROPN
fcis-2068	153	22	,	,	PUNCT
fcis-2068	153	23	the	the	DET
fcis-2068	153	24	target	target	NOUN
fcis-2068	153	25	cruise	cruise	NOUN
fcis-2068	153	26	speed	speed	NOUN
fcis-2068	153	27	is	be	AUX
fcis-2068	153	28	15	15	NUM
fcis-2068	153	29	m	m	NOUN
fcis-2068	153	30	/	/	SYM
fcis-2068	153	31	s	s	PROPN
fcis-2068	153	32	,	,	PUNCT
fcis-2068	153	33	and	and	CCONJ
fcis-2068	153	34	the	the	DET
fcis-2068	153	35	initial	initial	ADJ
fcis-2068	153	36	position	position	NOUN
fcis-2068	153	37	is	be	AUX
fcis-2068	153	38	40	40	NUM
fcis-2068	153	39	m	m	NOUN
fcis-2068	153	40	in	in	ADP
fcis-2068	153	41	front	front	NOUN
fcis-2068	153	42	of	of	ADP
fcis-2068	153	43	the	the	DET
fcis-2068	153	44	vehicle	vehicle	NOUN
fcis-2068	153	45	.	.	PUNCT
fcis-2068	154	1	the	the	DET
fcis-2068	154	2	initial	initial	ADJ
fcis-2068	154	3	speed	speed	NOUN
fcis-2068	154	4	of	of	ADP
fcis-2068	154	5	the	the	DET
fcis-2068	154	6	vehicle	vehicle	NOUN
fcis-2068	154	7	is	be	AUX
fcis-2068	154	8	set	set	VERB
fcis-2068	154	9	to	to	ADP
fcis-2068	154	10	20	20	NUM
fcis-2068	154	11	m	m	NOUN
fcis-2068	154	12	/	/	SYM
fcis-2068	154	13	s	s	PROPN
fcis-2068	154	14	,	,	PUNCT
fcis-2068	154	15	and	and	CCONJ
fcis-2068	154	16	the	the	DET
fcis-2068	154	17	target	target	NOUN
fcis-2068	154	18	cruise	cruise	NOUN
fcis-2068	154	19	speed	speed	NOUN
fcis-2068	154	20	is	be	AUX
fcis-2068	154	21	20	20	NUM
fcis-2068	154	22	m	m	NOUN
fcis-2068	154	23	/	/	SYM
fcis-2068	154	24	s.	s.	PROPN
fcis-2068	154	25	the	the	DET
fcis-2068	154	26	simulated	simulated	ADJ
fcis-2068	154	27	velocity	velocity	NOUN
fcis-2068	154	28	and	and	CCONJ
fcis-2068	154	29	acceleration	acceleration	NOUN
fcis-2068	154	30	results	result	NOUN
fcis-2068	154	31	are	be	AUX
fcis-2068	154	32	shown	show	VERB
fcis-2068	154	33	in	in	ADP
fcis-2068	154	34	fig.6	fig.6	PROPN
fcis-2068	154	35	:	:	PUNCT
fcis-2068	154	36	fig.6	fig.6	VERB
fcis-2068	154	37	the	the	DET
fcis-2068	154	38	curve	curve	NOUN
fcis-2068	154	39	of	of	ADP
fcis-2068	154	40	self	self	NOUN
fcis-2068	154	41	-	-	PUNCT
fcis-2068	154	42	driving	drive	VERB
fcis-2068	154	43	speed	speed	NOUN
fcis-2068	154	44	and	and	CCONJ
fcis-2068	154	45	acceleration	acceleration	NOUN
fcis-2068	154	46	with	with	ADP
fcis-2068	154	47	time	time	NOUN
fcis-2068	154	48	under	under	ADP
fcis-2068	154	49	condition	condition	NOUN
fcis-2068	154	50	2	2	NUM
fcis-2068	154	51	as	as	SCONJ
fcis-2068	154	52	shown	show	VERB
fcis-2068	154	53	in	in	ADP
fcis-2068	154	54	fig.8	fig.8	PROPN
fcis-2068	154	55	,	,	PUNCT
fcis-2068	154	56	at	at	ADP
fcis-2068	154	57	the	the	DET
fcis-2068	154	58	beginning	beginning	NOUN
fcis-2068	154	59	of	of	ADP
fcis-2068	154	60	the	the	DET
fcis-2068	154	61	simulation	simulation	NOUN
fcis-2068	154	62	,	,	PUNCT
fcis-2068	154	63	the	the	DET
fcis-2068	154	64	vehicle	vehicle	NOUN
fcis-2068	154	65	runs	run	VERB
fcis-2068	154	66	at	at	ADP
fcis-2068	154	67	a	a	DET
fcis-2068	154	68	uniform	uniform	ADJ
fcis-2068	154	69	speed	speed	NOUN
fcis-2068	154	70	of	of	ADP
fcis-2068	154	71	20	20	NUM
fcis-2068	154	72	m	m	NOUN
fcis-2068	154	73	/	/	SYM
fcis-2068	154	74	s	s	PROPN
fcis-2068	154	75	,	,	PUNCT
fcis-2068	154	76	and	and	CCONJ
fcis-2068	154	77	the	the	DET
fcis-2068	154	78	front	front	ADJ
fcis-2068	154	79	vehicle	vehicle	NOUN
fcis-2068	154	80	brakes	brake	NOUN
fcis-2068	154	81	from	from	ADP
fcis-2068	154	82	the	the	DET
fcis-2068	154	83	initial	initial	ADJ
fcis-2068	154	84	25	25	NUM
fcis-2068	154	85	m	m	NOUN
fcis-2068	154	86	/	/	SYM
fcis-2068	154	87	s	s	PROPN
fcis-2068	154	88	to	to	PART
fcis-2068	154	89	15	15	NUM
fcis-2068	154	90	m	m	NOUN
fcis-2068	154	91	/	/	SYM
fcis-2068	154	92	s.	s.	PROPN
fcis-2068	154	93	at	at	ADP
fcis-2068	154	94	about	about	ADV
fcis-2068	154	95	the	the	DET
fcis-2068	154	96	5th	5th	ADJ
fcis-2068	154	97	second	second	NOUN
fcis-2068	154	98	of	of	ADP
fcis-2068	154	99	the	the	DET
fcis-2068	154	100	simulation	simulation	NOUN
fcis-2068	154	101	,	,	PUNCT
fcis-2068	154	102	the	the	DET
fcis-2068	154	103	relative	relative	ADJ
fcis-2068	154	104	distance	distance	NOUN
fcis-2068	154	105	between	between	ADP
fcis-2068	154	106	the	the	DET
fcis-2068	154	107	two	two	NUM
fcis-2068	154	108	vehicles	vehicle	NOUN
fcis-2068	154	109	is	be	AUX
fcis-2068	154	110	less	less	ADJ
fcis-2068	154	111	than	than	ADP
fcis-2068	154	112	the	the	DET
fcis-2068	154	113	expected	expect	VERB
fcis-2068	154	114	safe	safe	ADJ
fcis-2068	154	115	distance	distance	NOUN
fcis-2068	154	116	,	,	PUNCT
fcis-2068	154	117	and	and	CCONJ
fcis-2068	154	118	the	the	DET
fcis-2068	154	119	self	self	NOUN
fcis-2068	154	120	-	-	PUNCT
fcis-2068	154	121	vehicle	vehicle	NOUN
fcis-2068	154	122	is	be	AUX
fcis-2068	154	123	converted	convert	VERB
fcis-2068	154	124	from	from	ADP
fcis-2068	154	125	the	the	DET
fcis-2068	154	126	fixed	fix	VERB
fcis-2068	154	127	-	-	PUNCT
fcis-2068	154	128	speed	speed	NOUN
fcis-2068	154	129	cruise	cruise	NOUN
fcis-2068	154	130	mode	mode	NOUN
fcis-2068	154	131	to	to	ADP
fcis-2068	154	132	the	the	DET
fcis-2068	154	133	intelligent	intelligent	ADJ
fcis-2068	154	134	car	car	NOUN
fcis-2068	154	135	-	-	PUNCT
fcis-2068	154	136	following	follow	VERB
fcis-2068	154	137	mode	mode	NOUN
fcis-2068	154	138	,	,	PUNCT
fcis-2068	154	139	and	and	CCONJ
fcis-2068	154	140	the	the	DET
fcis-2068	154	141	self	self	NOUN
fcis-2068	154	142	-	-	PUNCT
fcis-2068	154	143	vehicle	vehicle	NOUN
fcis-2068	154	144	speed	speed	NOUN
fcis-2068	154	145	is	be	AUX
fcis-2068	154	146	adjusted	adjust	VERB
fcis-2068	154	147	to	to	PART
fcis-2068	154	148	make	make	VERB
fcis-2068	154	149	the	the	DET
fcis-2068	154	150	self	self	NOUN
fcis-2068	154	151	-	-	PUNCT
fcis-2068	154	152	vehicle	vehicle	NOUN
fcis-2068	154	153	speed	speed	NOUN
fcis-2068	154	154	consistent	consistent	ADJ
fcis-2068	154	155	with	with	ADP
fcis-2068	154	156	the	the	DET
fcis-2068	154	157	front	front	ADJ
fcis-2068	154	158	vehicle	vehicle	NOUN
fcis-2068	154	159	speed	speed	NOUN
fcis-2068	154	160	.	.	PUNCT
fcis-2068	155	1	in	in	ADP
fcis-2068	155	2	this	this	DET
fcis-2068	155	3	process	process	NOUN
fcis-2068	155	4	,	,	PUNCT
fcis-2068	155	5	the	the	DET
fcis-2068	155	6	actual	actual	ADJ
fcis-2068	155	7	acceleration	acceleration	NOUN
fcis-2068	155	8	range	range	NOUN
fcis-2068	155	9	is[-2,0.75	is[-2,0.75	PRON
fcis-2068	155	10	]	]	PUNCT
fcis-2068	155	11	,	,	PUNCT
fcis-2068	155	12	in	in	ADP
fcis-2068	155	13	line	line	NOUN
fcis-2068	155	14	with	with	ADP
fcis-2068	155	15	the	the	DET
fcis-2068	155	16	expected	expect	VERB
fcis-2068	155	17	comfortable	comfortable	ADJ
fcis-2068	155	18	acceleration	acceleration	NOUN
fcis-2068	155	19	,	,	PUNCT
fcis-2068	155	20	and	and	CCONJ
fcis-2068	155	21	ultimately	ultimately	ADV
fcis-2068	155	22	to	to	PART
fcis-2068	155	23	achieve	achieve	VERB
fcis-2068	155	24	safe	safe	ADJ
fcis-2068	155	25	and	and	CCONJ
fcis-2068	155	26	comfortable	comfortable	ADJ
fcis-2068	155	27	car	car	NOUN
fcis-2068	155	28	following	following	NOUN
fcis-2068	155	29	.	.	PUNCT
fcis-2068	156	1	(	(	PUNCT
fcis-2068	156	2	3	3	X
fcis-2068	156	3	)	)	PUNCT
fcis-2068	156	4	condition	condition	NOUN
fcis-2068	156	5	3	3	NUM
fcis-2068	156	6	:	:	PUNCT
fcis-2068	156	7	front	front	ADJ
fcis-2068	156	8	vehicle	vehicle	NOUN
fcis-2068	156	9	accelerates	accelerate	VERB
fcis-2068	156	10	the	the	DET
fcis-2068	156	11	initial	initial	ADJ
fcis-2068	156	12	vehicle	vehicle	NOUN
fcis-2068	156	13	speed	speed	NOUN
fcis-2068	156	14	is	be	AUX
fcis-2068	156	15	set	set	VERB
fcis-2068	156	16	to	to	ADP
fcis-2068	156	17	15	15	NUM
fcis-2068	156	18	m	m	NOUN
fcis-2068	156	19	/	/	SYM
fcis-2068	156	20	s	s	PROPN
fcis-2068	156	21	,	,	PUNCT
fcis-2068	156	22	the	the	DET
fcis-2068	156	23	target	target	NOUN
fcis-2068	156	24	cruise	cruise	NOUN
fcis-2068	156	25	speed	speed	NOUN
fcis-2068	156	26	is	be	AUX
fcis-2068	156	27	30	30	NUM
fcis-2068	156	28	m	m	NOUN
fcis-2068	156	29	/	/	SYM
fcis-2068	156	30	s	s	PROPN
fcis-2068	156	31	,	,	PUNCT
fcis-2068	156	32	and	and	CCONJ
fcis-2068	156	33	the	the	DET
fcis-2068	156	34	initial	initial	ADJ
fcis-2068	156	35	position	position	NOUN
fcis-2068	156	36	is	be	AUX
fcis-2068	156	37	30	30	NUM
fcis-2068	156	38	m	m	NOUN
fcis-2068	156	39	in	in	ADP
fcis-2068	156	40	front	front	NOUN
fcis-2068	156	41	of	of	ADP
fcis-2068	156	42	the	the	DET
fcis-2068	156	43	vehicle	vehicle	NOUN
fcis-2068	156	44	.	.	PUNCT
fcis-2068	157	1	the	the	DET
fcis-2068	157	2	initial	initial	ADJ
fcis-2068	157	3	speed	speed	NOUN
fcis-2068	157	4	of	of	ADP
fcis-2068	157	5	the	the	DET
fcis-2068	157	6	vehicle	vehicle	NOUN
fcis-2068	157	7	is	be	AUX
fcis-2068	157	8	set	set	VERB
fcis-2068	157	9	to	to	ADP
fcis-2068	157	10	20	20	NUM
fcis-2068	157	11	m	m	NOUN
fcis-2068	157	12	/	/	SYM
fcis-2068	157	13	s	s	PROPN
fcis-2068	157	14	,	,	PUNCT
fcis-2068	157	15	and	and	CCONJ
fcis-2068	157	16	the	the	DET
fcis-2068	157	17	target	target	NOUN
fcis-2068	157	18	cruise	cruise	NOUN
fcis-2068	157	19	speed	speed	NOUN
fcis-2068	157	20	is	be	AUX
fcis-2068	157	21	25	25	NUM
fcis-2068	157	22	m	m	NOUN
fcis-2068	157	23	/	/	SYM
fcis-2068	157	24	s.	s.	PROPN
fcis-2068	157	25	the	the	DET
fcis-2068	157	26	simulated	simulated	ADJ
fcis-2068	157	27	velocity	velocity	NOUN
fcis-2068	157	28	and	and	CCONJ
fcis-2068	157	29	acceleration	acceleration	NOUN
fcis-2068	157	30	results	result	NOUN
fcis-2068	157	31	are	be	AUX
fcis-2068	157	32	shown	show	VERB
fcis-2068	157	33	in	in	ADP
fcis-2068	157	34	fig.7	fig.7	ADJ
fcis-2068	157	35	:	:	PUNCT
fcis-2068	157	36	fig.7	fig.7	ADJ
fcis-2068	157	37	the	the	DET
fcis-2068	157	38	curve	curve	NOUN
fcis-2068	157	39	of	of	ADP
fcis-2068	157	40	self	self	NOUN
fcis-2068	157	41	-	-	PUNCT
fcis-2068	157	42	driving	drive	VERB
fcis-2068	157	43	speed	speed	NOUN
fcis-2068	157	44	and	and	CCONJ
fcis-2068	157	45	acceleration	acceleration	NOUN
fcis-2068	157	46	with	with	ADP
fcis-2068	157	47	time	time	NOUN
fcis-2068	157	48	under	under	ADP
fcis-2068	157	49	condition	condition	NOUN
fcis-2068	157	50	3	3	NUM
fcis-2068	157	51	as	as	SCONJ
fcis-2068	157	52	shown	show	VERB
fcis-2068	157	53	in	in	ADP
fcis-2068	157	54	fig.9	fig.9	PROPN
fcis-2068	157	55	,	,	PUNCT
fcis-2068	157	56	at	at	ADP
fcis-2068	157	57	the	the	DET
fcis-2068	157	58	beginning	beginning	NOUN
fcis-2068	157	59	of	of	ADP
fcis-2068	157	60	the	the	DET
fcis-2068	157	61	simulation	simulation	NOUN
fcis-2068	157	62	,	,	PUNCT
fcis-2068	157	63	the	the	DET
fcis-2068	157	64	speed	speed	NOUN
fcis-2068	157	65	of	of	ADP
fcis-2068	157	66	the	the	DET
fcis-2068	157	67	front	front	ADJ
fcis-2068	157	68	vehicle	vehicle	NOUN
fcis-2068	157	69	is	be	AUX
fcis-2068	157	70	less	less	ADJ
fcis-2068	157	71	than	than	ADP
fcis-2068	157	72	that	that	PRON
fcis-2068	157	73	of	of	ADP
fcis-2068	157	74	the	the	DET
fcis-2068	157	75	self	self	NOUN
fcis-2068	157	76	-	-	PUNCT
fcis-2068	157	77	vehicle	vehicle	NOUN
fcis-2068	157	78	,	,	PUNCT
fcis-2068	157	79	and	and	CCONJ
fcis-2068	157	80	the	the	DET
fcis-2068	157	81	relative	relative	ADJ
fcis-2068	157	82	distance	distance	NOUN
fcis-2068	157	83	between	between	ADP
fcis-2068	157	84	the	the	DET
fcis-2068	157	85	two	two	NUM
fcis-2068	157	86	vehicles	vehicle	NOUN
fcis-2068	157	87	is	be	AUX
fcis-2068	157	88	less	less	ADJ
fcis-2068	157	89	than	than	ADP
fcis-2068	157	90	the	the	DET
fcis-2068	157	91	expected	expect	VERB
fcis-2068	157	92	safe	safe	ADJ
fcis-2068	157	93	distance	distance	NOUN
fcis-2068	157	94	.	.	PUNCT
fcis-2068	158	1	therefore	therefore	ADV
fcis-2068	158	2	,	,	PUNCT
fcis-2068	158	3	the	the	DET
fcis-2068	158	4	self	self	NOUN
fcis-2068	158	5	-	-	PUNCT
fcis-2068	158	6	vehicle	vehicle	NOUN
fcis-2068	158	7	turns	turn	VERB
fcis-2068	158	8	to	to	ADP
fcis-2068	158	9	the	the	DET
fcis-2068	158	10	intelligent	intelligent	ADJ
fcis-2068	158	11	car	car	NOUN
fcis-2068	158	12	-	-	PUNCT
fcis-2068	158	13	following	follow	VERB
fcis-2068	158	14	mode	mode	NOUN
fcis-2068	158	15	to	to	PART
fcis-2068	158	16	track	track	VERB
fcis-2068	158	17	the	the	DET
fcis-2068	158	18	speed	speed	NOUN
fcis-2068	158	19	of	of	ADP
fcis-2068	158	20	the	the	DET
fcis-2068	158	21	front	front	ADJ
fcis-2068	158	22	vehicle	vehicle	NOUN
fcis-2068	158	23	.	.	PUNCT
fcis-2068	159	1	with	with	ADP
fcis-2068	159	2	the	the	DET
fcis-2068	159	3	passage	passage	NOUN
fcis-2068	159	4	of	of	ADP
fcis-2068	159	5	time	time	NOUN
fcis-2068	159	6	,	,	PUNCT
fcis-2068	159	7	the	the	DET
fcis-2068	159	8	speed	speed	NOUN
fcis-2068	159	9	of	of	ADP
fcis-2068	159	10	the	the	DET
fcis-2068	159	11	front	front	ADJ
fcis-2068	159	12	vehicle	vehicle	NOUN
fcis-2068	159	13	is	be	AUX
fcis-2068	159	14	gradually	gradually	ADV
fcis-2068	159	15	higher	high	ADJ
fcis-2068	159	16	than	than	ADP
fcis-2068	159	17	that	that	PRON
fcis-2068	159	18	of	of	ADP
fcis-2068	159	19	the	the	DET
fcis-2068	159	20	self	self	NOUN
fcis-2068	159	21	-	-	PUNCT
fcis-2068	159	22	vehicle	vehicle	NOUN
fcis-2068	159	23	,	,	PUNCT
fcis-2068	159	24	and	and	CCONJ
fcis-2068	159	25	when	when	SCONJ
fcis-2068	159	26	the	the	DET
fcis-2068	159	27	relative	relative	ADJ
fcis-2068	159	28	distance	distance	NOUN
fcis-2068	159	29	between	between	ADP
fcis-2068	159	30	the	the	DET
fcis-2068	159	31	two	two	NUM
fcis-2068	159	32	vehicles	vehicle	NOUN
fcis-2068	159	33	is	be	AUX
fcis-2068	159	34	greater	great	ADJ
fcis-2068	159	35	than	than	ADP
fcis-2068	159	36	the	the	DET
fcis-2068	159	37	expected	expect	VERB
fcis-2068	159	38	safe	safe	ADJ
fcis-2068	159	39	distance	distance	NOUN
fcis-2068	159	40	,	,	PUNCT
fcis-2068	159	41	the	the	DET
fcis-2068	159	42	self	self	NOUN
fcis-2068	159	43	-	-	PUNCT
fcis-2068	159	44	vehicle	vehicle	NOUN
fcis-2068	159	45	changes	change	NOUN
fcis-2068	159	46	from	from	ADP
fcis-2068	159	47	the	the	DET
fcis-2068	159	48	intelligent	intelligent	ADJ
fcis-2068	159	49	following	follow	VERB
fcis-2068	159	50	mode	mode	NOUN
fcis-2068	159	51	to	to	ADP
fcis-2068	159	52	the	the	DET
fcis-2068	159	53	fixed	fix	VERB
fcis-2068	159	54	-	-	PUNCT
fcis-2068	159	55	speed	speed	NOUN
fcis-2068	159	56	cruise	cruise	NOUN
fcis-2068	159	57	mode	mode	NOUN
fcis-2068	159	58	,	,	PUNCT
fcis-2068	159	59	and	and	CCONJ
fcis-2068	159	60	accelerates	accelerate	VERB
fcis-2068	159	61	with	with	ADP
fcis-2068	159	62	the	the	DET
fcis-2068	159	63	expected	expect	VERB
fcis-2068	159	64	comfortable	comfortable	ADJ
fcis-2068	159	65	acceleration	acceleration	NOUN
fcis-2068	159	66	until	until	SCONJ
fcis-2068	159	67	the	the	DET
fcis-2068	159	68	target	target	NOUN
fcis-2068	159	69	cruise	cruise	NOUN
fcis-2068	159	70	speed	speed	NOUN
fcis-2068	159	71	set	set	VERB
fcis-2068	159	72	by	by	ADP
fcis-2068	159	73	the	the	DET
fcis-2068	159	74	self	self	NOUN
fcis-2068	159	75	-	-	PUNCT
fcis-2068	159	76	vehicle	vehicle	NOUN
fcis-2068	159	77	is	be	AUX
fcis-2068	159	78	reached	reach	VERB
fcis-2068	159	79	.	.	PUNCT
fcis-2068	160	1	in	in	ADP
fcis-2068	160	2	this	this	DET
fcis-2068	160	3	process	process	NOUN
fcis-2068	160	4	,	,	PUNCT
fcis-2068	160	5	the	the	DET
fcis-2068	160	6	acceleration	acceleration	NOUN
fcis-2068	160	7	threshold	threshold	NOUN
fcis-2068	160	8	ranges	range	VERB
fcis-2068	160	9	from	from	ADP
fcis-2068	160	10	[	[	X
fcis-2068	160	11	−2	−2	X
fcis-2068	160	12	,	,	PUNCT
fcis-2068	160	13	2	2	NUM
fcis-2068	160	14	]	]	PUNCT
fcis-2068	160	15	to	to	ADP
fcis-2068	160	16	the	the	DET
fcis-2068	160	17	desired	desire	VERB
fcis-2068	160	18	comfortable	comfortable	ADJ
fcis-2068	160	19	acceleration	acceleration	NOUN
fcis-2068	160	20	range	range	NOUN
fcis-2068	160	21	.	.	PUNCT
fcis-2068	161	1	5	5	X
fcis-2068	161	2	.	.	X
fcis-2068	161	3	conclusion	conclusion	NOUN
fcis-2068	161	4	in	in	ADP
fcis-2068	161	5	this	this	DET
fcis-2068	161	6	paper	paper	NOUN
fcis-2068	161	7	,	,	PUNCT
fcis-2068	161	8	a	a	DET
fcis-2068	161	9	vehicle	vehicle	NOUN
fcis-2068	161	10	longitudinal	longitudinal	ADJ
fcis-2068	161	11	motion	motion	NOUN
fcis-2068	161	12	controller	controller	NOUN
fcis-2068	161	13	based	base	VERB
fcis-2068	161	14	on	on	ADP
fcis-2068	161	15	model	model	NOUN
fcis-2068	161	16	predictive	predictive	ADJ
fcis-2068	161	17	control	control	NOUN
fcis-2068	161	18	is	be	AUX
fcis-2068	161	19	established	establish	VERB
fcis-2068	161	20	by	by	ADP
fcis-2068	161	21	considering	consider	VERB
fcis-2068	161	22	the	the	DET
fcis-2068	161	23	motion	motion	NOUN
fcis-2068	161	24	state	state	NOUN
fcis-2068	161	25	of	of	ADP
fcis-2068	161	26	the	the	DET
fcis-2068	161	27	preceding	precede	VERB
fcis-2068	161	28	vehicle	vehicle	NOUN
fcis-2068	161	29	and	and	CCONJ
fcis-2068	161	30	the	the	DET
fcis-2068	161	31	comfort	comfort	NOUN
fcis-2068	161	32	of	of	ADP
fcis-2068	161	33	the	the	DET
fcis-2068	161	34	driver	driver	NOUN
fcis-2068	161	35	and	and	CCONJ
fcis-2068	161	36	passenger	passenger	NOUN
fcis-2068	161	37	.	.	PUNCT
fcis-2068	162	1	the	the	DET
fcis-2068	162	2	effectiveness	effectiveness	NOUN
fcis-2068	162	3	of	of	ADP
fcis-2068	162	4	the	the	DET
fcis-2068	162	5	longitudinal	longitudinal	ADJ
fcis-2068	162	6	motion	motion	NOUN
fcis-2068	162	7	controller	controller	NOUN
fcis-2068	162	8	is	be	AUX
fcis-2068	162	9	simulated	simulate	VERB
fcis-2068	162	10	by	by	ADP
fcis-2068	162	11	matlab	matlab	PROPN
fcis-2068	162	12	/	/	SYM
fcis-2068	162	13	simulink	simulink	PROPN
fcis-2068	162	14	under	under	ADP
fcis-2068	162	15	three	three	NUM
fcis-2068	162	16	conditions	condition	NOUN
fcis-2068	162	17	:	:	PUNCT
fcis-2068	162	18	the	the	DET
fcis-2068	162	19	constant	constant	ADJ
fcis-2068	162	20	speed	speed	NOUN
fcis-2068	162	21	of	of	ADP
fcis-2068	162	22	the	the	DET
fcis-2068	162	23	preceding	precede	VERB
fcis-2068	162	24	vehicle	vehicle	NOUN
fcis-2068	162	25	,	,	PUNCT
fcis-2068	162	26	the	the	DET
fcis-2068	162	27	constant	constant	ADJ
fcis-2068	162	28	speed	speed	NOUN
fcis-2068	162	29	of	of	ADP
fcis-2068	162	30	the	the	DET
fcis-2068	162	31	preceding	precede	VERB
fcis-2068	162	32	vehicle	vehicle	NOUN
fcis-2068	162	33	lower	low	ADJ
fcis-2068	162	34	than	than	ADP
fcis-2068	162	35	the	the	DET
fcis-2068	162	36	speed	speed	NOUN
fcis-2068	162	37	of	of	ADP
fcis-2068	162	38	the	the	DET
fcis-2068	162	39	vehicle	vehicle	NOUN
fcis-2068	162	40	,	,	PUNCT
fcis-2068	162	41	the	the	DET
fcis-2068	162	42	deceleration	deceleration	NOUN
fcis-2068	162	43	of	of	ADP
fcis-2068	162	44	the	the	DET
fcis-2068	162	45	preceding	precede	VERB
fcis-2068	162	46	vehicle	vehicle	NOUN
fcis-2068	162	47	and	and	CCONJ
fcis-2068	162	48	the	the	DET
fcis-2068	162	49	acceleration	acceleration	NOUN
fcis-2068	162	50	of	of	ADP
fcis-2068	162	51	the	the	DET
fcis-2068	162	52	preceding	precede	VERB
fcis-2068	162	53	vehicle	vehicle	NOUN
fcis-2068	162	54	.	.	PUNCT
fcis-2068	163	1	47	47	NUM
fcis-2068	163	2	(	(	PUNCT
fcis-2068	163	3	1	1	X
fcis-2068	163	4	)	)	PUNCT
fcis-2068	163	5	the	the	DET
fcis-2068	163	6	vehicle	vehicle	NOUN
fcis-2068	163	7	longitudinal	longitudinal	ADJ
fcis-2068	163	8	motion	motion	NOUN
fcis-2068	163	9	controller	controller	NOUN
fcis-2068	163	10	based	base	VERB
fcis-2068	163	11	on	on	ADP
fcis-2068	163	12	model	model	NOUN
fcis-2068	163	13	predictive	predictive	ADJ
fcis-2068	163	14	control	control	NOUN
fcis-2068	163	15	can	can	AUX
fcis-2068	163	16	realize	realize	VERB
fcis-2068	163	17	the	the	DET
fcis-2068	163	18	longitudinal	longitudinal	ADJ
fcis-2068	163	19	motion	motion	NOUN
fcis-2068	163	20	control	control	NOUN
fcis-2068	163	21	of	of	ADP
fcis-2068	163	22	the	the	DET
fcis-2068	163	23	controlled	control	VERB
fcis-2068	163	24	vehicle	vehicle	NOUN
fcis-2068	163	25	according	accord	VERB
fcis-2068	163	26	to	to	ADP
fcis-2068	163	27	the	the	DET
fcis-2068	163	28	motion	motion	NOUN
fcis-2068	163	29	state	state	NOUN
fcis-2068	163	30	of	of	ADP
fcis-2068	163	31	the	the	DET
fcis-2068	163	32	preceding	precede	VERB
fcis-2068	163	33	vehicle	vehicle	NOUN
fcis-2068	163	34	.	.	PUNCT
fcis-2068	164	1	according	accord	VERB
fcis-2068	164	2	to	to	ADP
fcis-2068	164	3	different	different	ADJ
fcis-2068	164	4	working	working	NOUN
fcis-2068	164	5	conditions	condition	NOUN
fcis-2068	164	6	,	,	PUNCT
fcis-2068	164	7	the	the	DET
fcis-2068	164	8	controlled	control	VERB
fcis-2068	164	9	vehicle	vehicle	NOUN
fcis-2068	164	10	can	can	AUX
fcis-2068	164	11	be	be	AUX
fcis-2068	164	12	switched	switch	VERB
fcis-2068	164	13	under	under	ADP
fcis-2068	164	14	three	three	NUM
fcis-2068	164	15	driving	driving	NOUN
fcis-2068	164	16	modes	mode	NOUN
fcis-2068	164	17	:	:	PUNCT
fcis-2068	164	18	constant	constant	ADJ
fcis-2068	164	19	speed	speed	NOUN
fcis-2068	164	20	cruise	cruise	NOUN
fcis-2068	164	21	,	,	PUNCT
fcis-2068	164	22	intelligent	intelligent	ADJ
fcis-2068	164	23	following	following	NOUN
fcis-2068	164	24	and	and	CCONJ
fcis-2068	164	25	emergency	emergency	NOUN
fcis-2068	164	26	braking	braking	NOUN
fcis-2068	164	27	,	,	PUNCT
fcis-2068	164	28	which	which	PRON
fcis-2068	164	29	improves	improve	VERB
fcis-2068	164	30	the	the	DET
fcis-2068	164	31	driving	driving	NOUN
fcis-2068	164	32	safety	safety	NOUN
fcis-2068	164	33	.	.	PUNCT
fcis-2068	165	1	(	(	PUNCT
fcis-2068	165	2	2)a	2)a	NUM
fcis-2068	165	3	longitudinal	longitudinal	ADJ
fcis-2068	165	4	motion	motion	NOUN
fcis-2068	165	5	control	control	NOUN
fcis-2068	165	6	method	method	NOUN
fcis-2068	165	7	is	be	AUX
fcis-2068	165	8	proposed	propose	VERB
fcis-2068	165	9	.	.	PUNCT
fcis-2068	166	1	under	under	ADP
fcis-2068	166	2	the	the	DET
fcis-2068	166	3	premise	premise	NOUN
fcis-2068	166	4	of	of	ADP
fcis-2068	166	5	ensuring	ensure	VERB
fcis-2068	166	6	the	the	DET
fcis-2068	166	7	safety	safety	NOUN
fcis-2068	166	8	of	of	ADP
fcis-2068	166	9	vehicle	vehicle	NOUN
fcis-2068	166	10	driving	driving	NOUN
fcis-2068	166	11	,	,	PUNCT
fcis-2068	166	12	the	the	DET
fcis-2068	166	13	comfort	comfort	NOUN
fcis-2068	166	14	of	of	ADP
fcis-2068	166	15	drivers	driver	NOUN
fcis-2068	166	16	and	and	CCONJ
fcis-2068	166	17	passengers	passenger	NOUN
fcis-2068	166	18	is	be	AUX
fcis-2068	166	19	considered	consider	VERB
fcis-2068	166	20	comprehensively	comprehensively	ADV
fcis-2068	166	21	,	,	PUNCT
fcis-2068	166	22	and	and	CCONJ
fcis-2068	166	23	the	the	DET
fcis-2068	166	24	control	control	NOUN
fcis-2068	166	25	of	of	ADP
fcis-2068	166	26	vehicle	vehicle	NOUN
fcis-2068	166	27	longitudinal	longitudinal	ADJ
fcis-2068	166	28	motion	motion	NOUN
fcis-2068	166	29	state	state	NOUN
fcis-2068	166	30	is	be	AUX
fcis-2068	166	31	completed	complete	VERB
fcis-2068	166	32	by	by	ADP
fcis-2068	166	33	adopting	adopt	VERB
fcis-2068	166	34	a	a	DET
fcis-2068	166	35	more	more	ADV
fcis-2068	166	36	moderate	moderate	ADJ
fcis-2068	166	37	comfortable	comfortable	ADJ
fcis-2068	166	38	acceleration	acceleration	NOUN
fcis-2068	166	39	,	,	PUNCT
fcis-2068	166	40	which	which	PRON
fcis-2068	166	41	improves	improve	VERB
fcis-2068	166	42	the	the	DET
fcis-2068	166	43	driving	drive	VERB
fcis-2068	166	44	comfort	comfort	NOUN
fcis-2068	166	45	.	.	PUNCT
fcis-2068	167	1	references	reference	NOUN
fcis-2068	167	2	[	[	X
fcis-2068	167	3	1	1	NUM
fcis-2068	167	4	]	]	X
fcis-2068	167	5	yin	yin	PROPN
fcis-2068	167	6	zhishuai	zhishuai	PROPN
fcis-2068	167	7	,	,	PUNCT
fcis-2068	167	8	he	he	PRON
fcis-2068	167	9	jiaxiong	jiaxiong	PROPN
fcis-2068	167	10	,	,	PUNCT
fcis-2068	167	11	nie	nie	PROPN
fcis-2068	167	12	linzhen	linzhen	PROPN
fcis-2068	167	13	,	,	PUNCT
fcis-2068	167	14	butler	butler	PROPN
fcis-2068	167	15	.	.	PUNCT
fcis-2068	168	1	longitudinal	longitudinal	ADJ
fcis-2068	168	2	adaptive	adaptive	ADJ
fcis-2068	168	3	control	control	NOUN
fcis-2068	168	4	of	of	ADP
fcis-2068	168	5	autonomous	autonomous	ADJ
fcis-2068	168	6	vehicles	vehicle	NOUN
fcis-2068	168	7	based	base	VERB
fcis-2068	168	8	on	on	ADP
fcis-2068	168	9	optimization	optimization	NOUN
fcis-2068	168	10	algorithms	algorithm	NOUN
fcis-2068	169	1	[	[	X
fcis-2068	169	2	j	j	X
fcis-2068	169	3	]	]	X
fcis-2068	169	4	.	.	PUNCT
fcis-2068	170	1	journal	journal	PROPN
fcis-2068	170	2	of	of	ADP
fcis-2068	170	3	system	system	NOUN
fcis-2068	170	4	simulation,2021	simulation,2021	NOUN
fcis-2068	170	5	,	,	PUNCT
fcis-2068	170	6	33(02	33(02	NUM
fcis-2068	170	7	):	):	PUNCT
fcis-2068	170	8	409420	409420	NUM
fcis-2068	170	9	.	.	PUNCT
fcis-2068	171	1	doi:10.16182	doi:10.16182	NOUN
fcis-2068	171	2	/	/	SYM
fcis-2068	171	3	j.issn1004731x.joss.19	j.issn1004731x.joss.19	PROPN
fcis-2068	171	4	-	-	PUNCT
fcis-2068	171	5	0372	0372	NUM
fcis-2068	171	6	.	.	PUNCT
fcis-2068	172	1	[	[	X
fcis-2068	172	2	2	2	NUM
fcis-2068	172	3	]	]	PUNCT
fcis-2068	172	4	riley	riley	PROPN
fcis-2068	172	5	,	,	PUNCT
fcis-2068	172	6	zhang	zhang	PROPN
fcis-2068	172	7	tong	tong	PROPN
fcis-2068	172	8	.	.	PUNCT
fcis-2068	173	1	longitudinal	longitudinal	ADJ
fcis-2068	173	2	following	follow	VERB
fcis-2068	173	3	control	control	NOUN
fcis-2068	173	4	of	of	ADP
fcis-2068	173	5	intelligent	intelligent	ADJ
fcis-2068	173	6	platoon	platoon	NOUN
fcis-2068	173	7	based	base	VERB
fcis-2068	173	8	on	on	ADP
fcis-2068	173	9	fuzzy	fuzzy	ADJ
fcis-2068	173	10	mpc[j	mpc[j	PROPN
fcis-2068	173	11	]	]	PUNCT
fcis-2068	173	12	.journal	.journal	PROPN
fcis-2068	173	13	of	of	ADP
fcis-2068	173	14	jiangsu	jiangsu	PROPN
fcis-2068	173	15	university	university	PROPN
fcis-2068	173	16	(	(	PUNCT
fcis-2068	173	17	natural	natural	ADJ
fcis-2068	173	18	science	science	NOUN
fcis-2068	173	19	edition	edition	NOUN
fcis-2068	173	20	)	)	PUNCT
fcis-2068	173	21	,	,	PUNCT
fcis-2068	173	22	2022,43(04):394399	2022,43(04):394399	NUM
fcis-2068	173	23	+	+	SYM
fcis-2068	173	24	430	430	NUM
fcis-2068	173	25	.	.	PUNCT
fcis-2068	174	1	[	[	X
fcis-2068	174	2	3	3	X
fcis-2068	174	3	]	]	X
fcis-2068	174	4	zhang	zhang	PROPN
fcis-2068	174	5	xuyuan	xuyuan	PROPN
fcis-2068	174	6	,	,	PUNCT
fcis-2068	174	7	li	li	PROPN
fcis-2068	174	8	jun	jun	PROPN
fcis-2068	174	9	.	.	PROPN
fcis-2068	174	10	lateral	lateral	ADJ
fcis-2068	174	11	and	and	CCONJ
fcis-2068	174	12	longitudinal	longitudinal	ADJ
fcis-2068	174	13	coordinated	coordinated	ADJ
fcis-2068	174	14	control	control	NOUN
fcis-2068	174	15	of	of	ADP
fcis-2068	174	16	intelligent	intelligent	ADJ
fcis-2068	174	17	electric	electric	ADJ
fcis-2068	174	18	vehicle	vehicle	NOUN
fcis-2068	174	19	trajectory	trajectory	NOUN
fcis-2068	174	20	tracking	tracking	NOUN
fcis-2068	174	21	based	base	VERB
fcis-2068	174	22	on	on	ADP
fcis-2068	174	23	lqr	lqr	NOUN
fcis-2068	174	24	double	double	PROPN
fcis-2068	174	25	pid[j].journal	pid[j].journal	PROPN
fcis-2068	174	26	of	of	ADP
fcis-2068	174	27	automotive	automotive	ADJ
fcis-2068	174	28	safety	safety	NOUN
fcis-2068	174	29	and	and	CCONJ
fcis-2068	174	30	energy	energy	NOUN
fcis-2068	174	31	saving,2021,12(03):346	saving,2021,12(03):346	PROPN
fcis-2068	174	32	-	-	SYM
fcis-2068	174	33	354	354	NUM
fcis-2068	174	34	.	.	PUNCT
fcis-2068	175	1	[	[	X
fcis-2068	175	2	4	4	X
fcis-2068	175	3	]	]	X
fcis-2068	175	4	zheng	zheng	PROPN
fcis-2068	175	5	yannan	yannan	PROPN
fcis-2068	175	6	.	.	PUNCT
fcis-2068	176	1	longitudinal	longitudinal	ADJ
fcis-2068	176	2	study	study	NOUN
fcis-2068	176	3	of	of	ADP
fcis-2068	176	4	following	follow	VERB
fcis-2068	176	5	vehicle	vehicle	NOUN
fcis-2068	176	6	based	base	VERB
fcis-2068	176	7	on	on	ADP
fcis-2068	176	8	sliding	slide	VERB
fcis-2068	176	9	mode	mode	NOUN
fcis-2068	176	10	control[j].agricultural	control[j].agricultural	ADJ
fcis-2068	176	11	equipment	equipment	NOUN
fcis-2068	176	12	and	and	CCONJ
fcis-2068	176	13	vehicle	vehicle	NOUN
fcis-2068	176	14	engineering,2022,60(04):103	engineering,2022,60(04):103	NOUN
fcis-2068	176	15	-	-	PUNCT
fcis-2068	176	16	107	107	NUM
fcis-2068	176	17	.	.	PUNCT
fcis-2068	177	1	[	[	X
fcis-2068	177	2	5	5	NUM
fcis-2068	177	3	]	]	X
fcis-2068	177	4	zhu	zhu	PROPN
fcis-2068	177	5	zenghui	zenghui	PROPN
fcis-2068	177	6	,	,	PUNCT
fcis-2068	177	7	xu	xu	PROPN
fcis-2068	177	8	youchun	youchun	PROPN
fcis-2068	177	9	,	,	PUNCT
fcis-2068	177	10	ma	ma	PROPN
fcis-2068	177	11	yulin	yulin	PROPN
fcis-2068	177	12	,	,	PUNCT
fcis-2068	177	13	li	li	PROPN
fcis-2068	177	14	jianshi	jianshi	PROPN
fcis-2068	177	15	,	,	PUNCT
fcis-2068	177	16	li	li	PROPN
fcis-2068	177	17	yongle	yongle	PROPN
fcis-2068	177	18	.	.	PUNCT
fcis-2068	178	1	design	design	NOUN
fcis-2068	178	2	of	of	ADP
fcis-2068	178	3	intelligent	intelligent	ADJ
fcis-2068	178	4	vehicle	vehicle	NOUN
fcis-2068	178	5	longitudinal	longitudinal	ADJ
fcis-2068	178	6	acceleration	acceleration	NOUN
fcis-2068	178	7	tracking	tracking	NOUN
fcis-2068	178	8	controller	controller	NOUN
fcis-2068	178	9	based	base	VERB
fcis-2068	178	10	on	on	ADP
fcis-2068	178	11	fuzzy	fuzzy	ADJ
fcis-2068	178	12	control[j].journal	control[j].journal	NOUN
fcis-2068	178	13	of	of	ADP
fcis-2068	178	14	military	military	ADJ
fcis-2068	178	15	transportation	transportation	NOUN
fcis-2068	178	16	college,2014,16(12):31	college,2014,16(12):31	PROPN
fcis-2068	178	17	-	-	PUNCT
fcis-2068	178	18	35	35	NUM
fcis-2068	178	19	.	.	PUNCT
fcis-2068	179	1	[	[	X
fcis-2068	179	2	6	6	NUM
fcis-2068	179	3	]	]	X
fcis-2068	179	4	zheng	zheng	PROPN
fcis-2068	179	5	shuhua	shuhua	PROPN
fcis-2068	179	6	,	,	PUNCT
fcis-2068	179	7	qiao	qiao	PROPN
fcis-2068	179	8	yajun	yajun	PROPN
fcis-2068	179	9	,	,	PUNCT
fcis-2068	179	10	wang	wang	PROPN
fcis-2068	179	11	xiangzhou	xiangzhou	PROPN
fcis-2068	179	12	,	,	PUNCT
fcis-2068	179	13	li	li	PROPN
fcis-2068	179	14	shouxiang	shouxiang	PROPN
fcis-2068	179	15	,	,	PUNCT
fcis-2068	179	16	chen	chen	PROPN
fcis-2068	179	17	dongqing	dongqing	PROPN
fcis-2068	179	18	.	.	PUNCT
fcis-2068	180	1	research	research	NOUN
fcis-2068	180	2	on	on	ADP
fcis-2068	180	3	influence	influence	NOUN
fcis-2068	180	4	of	of	ADP
fcis-2068	180	5	load	load	NOUN
fcis-2068	180	6	change	change	NOUN
fcis-2068	180	7	on	on	ADP
fcis-2068	180	8	mine	mine	ADJ
fcis-2068	180	9	vehicle	vehicle	NOUN
fcis-2068	180	10	trajectory	trajectory	NOUN
fcis-2068	180	11	tracking[j].journal	tracking[j].journal	PROPN
fcis-2068	180	12	of	of	ADP
fcis-2068	180	13	beijing	beijing	PROPN
fcis-2068	180	14	university	university	PROPN
fcis-2068	180	15	of	of	ADP
fcis-2068	180	16	technology,2021,41(04):403409.doi:10.15918	technology,2021,41(04):403409.doi:10.15918	PROPN
fcis-2068	180	17	/	/	SYM
fcis-2068	180	18	j.tbit1001	j.tbit1001	NOUN
fcis-2068	180	19	-	-	PUNCT
fcis-2068	180	20	0645.2019.320	0645.2019.320	NOUN
fcis-2068	180	21	.	.	PUNCT
fcis-2068	181	1	[	[	X
fcis-2068	181	2	7	7	NUM
fcis-2068	181	3	]	]	X
fcis-2068	181	4	li	li	PROPN
fcis-2068	181	5	guangnan	guangnan	PROPN
fcis-2068	181	6	,	,	PUNCT
fcis-2068	181	7	ye	ye	PROPN
fcis-2068	181	8	hongtao	hongtao	PROPN
fcis-2068	181	9	,	,	PUNCT
fcis-2068	181	10	luo	luo	PROPN
fcis-2068	181	11	wenguang	wenguang	PROPN
fcis-2068	181	12	.	.	PUNCT
fcis-2068	182	1	longitudinal	longitudinal	ADJ
fcis-2068	182	2	motion	motion	NOUN
fcis-2068	182	3	control	control	NOUN
fcis-2068	182	4	of	of	ADP
fcis-2068	182	5	unmanned	unmanned	ADJ
fcis-2068	182	6	vehicle	vehicle	NOUN
fcis-2068	182	7	based	base	VERB
fcis-2068	182	8	on	on	ADP
fcis-2068	182	9	ipsompc[j].journal	ipsompc[j].journal	PROPN
fcis-2068	182	10	of	of	ADP
fcis-2068	182	11	guangxi	guangxi	PROPN
fcis-2068	182	12	university	university	PROPN
fcis-2068	182	13	of	of	ADP
fcis-2068	182	14	science	science	NOUN
fcis-2068	182	15	and	and	CCONJ
fcis-2068	182	16	technology,2022,33(01	technology,2022,33(01	PROPN
fcis-2068	182	17	):	):	PUNCT
fcis-2068	182	18	94100	94100	NUM
fcis-2068	182	19	+	+	SYM
fcis-2068	182	20	109.doi:10.16375	109.doi:10.16375	NUM
fcis-2068	182	21	/	/	SYM
fcis-2068	182	22	j.cnki.cn45	j.cnki.cn45	NOUN
fcis-2068	182	23	-	-	PUNCT
fcis-2068	182	24	1395	1395	NUM
fcis-2068	182	25	/	/	SYM
fcis-2068	182	26	t.2022.01.014	t.2022.01.014	NOUN
fcis-2068	182	27	.	.	PUNCT
fcis-2068	183	1	[	[	X
fcis-2068	183	2	8	8	NUM
fcis-2068	183	3	]	]	X
fcis-2068	183	4	research	research	NOUN
fcis-2068	183	5	on	on	ADP
fcis-2068	183	6	automatic	automatic	ADJ
fcis-2068	183	7	driving	driving	NOUN
fcis-2068	183	8	control	control	NOUN
fcis-2068	183	9	strategy	strategy	NOUN
fcis-2068	183	10	of	of	ADP
fcis-2068	183	11	intelligent	intelligent	ADJ
fcis-2068	183	12	vehicle	vehicle	NOUN
fcis-2068	183	13	on	on	ADP
fcis-2068	183	14	special	special	ADJ
fcis-2068	183	15	road[d].chongqing	road[d].chongqing	NOUN
fcis-2068	183	16	jiaotong	jiaotong	ADJ
fcis-2068	183	17	university,2018	university,2018	NOUN
fcis-2068	183	18	.	.	PUNCT
fcis-2068	184	1	[	[	X
fcis-2068	184	2	9	9	NUM
fcis-2068	184	3	]	]	PUNCT
fcis-2068	184	4	jiang	jiang	PROPN
fcis-2068	184	5	shuzhen.research	shuzhen.research	VERB
fcis-2068	184	6	on	on	ADP
fcis-2068	184	7	lateral	lateral	ADJ
fcis-2068	184	8	and	and	CCONJ
fcis-2068	184	9	longitudinal	longitudinal	ADJ
fcis-2068	184	10	integrated	integrate	VERB
fcis-2068	184	11	control	control	NOUN
fcis-2068	184	12	strategy	strategy	NOUN
fcis-2068	184	13	of	of	ADP
fcis-2068	184	14	intelligent	intelligent	ADJ
fcis-2068	184	15	vehicle	vehicle	NOUN
fcis-2068	184	16	trajectory	trajectory	NOUN
fcis-2068	184	17	tracking[d].chang'an	tracking[d].chang'an	NOUN
fcis-2068	184	18	university,2021.doi:10.26976	university,2021.doi:10.26976	NOUN
fcis-2068	184	19	/	/	SYM
fcis-2068	184	20	d.cnki.gchau.2021.001930	d.cnki.gchau.2021.001930	NOUN
fcis-2068	184	21	.	.	PUNCT
fcis-2068	185	1	[	[	X
fcis-2068	185	2	10	10	NUM
fcis-2068	185	3	]	]	X
fcis-2068	185	4	wu	wu	PROPN
fcis-2068	185	5	hao	hao	PROPN
fcis-2068	185	6	,	,	PUNCT
fcis-2068	185	7	wang	wang	PROPN
fcis-2068	185	8	sishan	sishan	PROPN
fcis-2068	185	9	,	,	PUNCT
fcis-2068	185	10	zhou	zhou	PROPN
fcis-2068	185	11	haiying	haiying	PROPN
fcis-2068	185	12	,	,	PUNCT
fcis-2068	185	13	shang	shang	PROPN
fcis-2068	185	14	rong	rong	PROPN
fcis-2068	185	15	.	.	PUNCT
fcis-2068	186	1	design	design	NOUN
fcis-2068	186	2	of	of	ADP
fcis-2068	186	3	intelligent	intelligent	ADJ
fcis-2068	186	4	vehicle	vehicle	NOUN
fcis-2068	186	5	lateral	lateral	ADJ
fcis-2068	186	6	and	and	CCONJ
fcis-2068	186	7	longitudinal	longitudinal	ADJ
fcis-2068	186	8	controller	controller	NOUN
fcis-2068	186	9	based	base	VERB
fcis-2068	186	10	on	on	ADP
fcis-2068	186	11	model	model	NOUN
fcis-2068	186	12	predictive	predictive	PROPN
fcis-2068	186	13	control[j].journal	control[j].journal	NOUN
fcis-2068	186	14	of	of	ADP
fcis-2068	186	15	hubei	hubei	PROPN
fcis-2068	186	16	university	university	PROPN
fcis-2068	186	17	of	of	ADP
fcis-2068	186	18	automobile	automobile	NOUN
fcis-2068	186	19	industry,2021,35(01):11	industry,2021,35(01):11	PROPN
fcis-2068	186	20	-	-	PUNCT
fcis-2068	186	21	16	16	NUM
fcis-2068	186	22	+	+	NOUN
fcis-2068	186	23	20	20	NUM
fcis-2068	186	24	.	.	PUNCT
fcis-2068	187	1	[	[	X
fcis-2068	187	2	11	11	NUM
fcis-2068	187	3	]	]	PUNCT
fcis-2068	187	4	he	he	PRON
fcis-2068	187	5	xianglin	xianglin	PROPN
fcis-2068	187	6	.	.	PUNCT
fcis-2068	188	1	research	research	NOUN
fcis-2068	188	2	on	on	ADP
fcis-2068	188	3	lateral	lateral	ADJ
fcis-2068	188	4	and	and	CCONJ
fcis-2068	188	5	longitudinal	longitudinal	ADJ
fcis-2068	188	6	control	control	NOUN
fcis-2068	188	7	strategy	strategy	NOUN
fcis-2068	188	8	of	of	ADP
fcis-2068	188	9	unmanned	unmanned	ADJ
fcis-2068	188	10	vehicle	vehicle	NOUN
fcis-2068	188	11	path	path	NOUN
fcis-2068	188	12	tracking[d].hunan	tracking[d].hunan	PROPN
fcis-2068	188	13	university,2020.doi:10.27135	university,2020.doi:10.27135	PROPN
fcis-2068	188	14	/	/	SYM
fcis-2068	188	15	d.cnki.ghudu.2020.003390	d.cnki.ghudu.2020.003390	PROPN
fcis-2068	188	16	.	.	PUNCT
fcis-2068	189	1	research	research	NOUN
fcis-2068	189	2	on	on	ADP
fcis-2068	189	3	vehicle	vehicle	NOUN
fcis-2068	189	4	longitudinal	longitudinal	ADJ
fcis-2068	189	5	control	control	NOUN
fcis-2068	189	6	method	method	NOUN
fcis-2068	189	7	based	base	VERB
fcis-2068	189	8	on	on	ADP
fcis-2068	189	9	model	model	NOUN
fcis-2068	189	10	predictive	predictive	ADJ
fcis-2068	189	11	control	control	PROPN
fcis-2068	189	12	1	1	NUM
fcis-2068	189	13	.	.	PUNCT
fcis-2068	189	14	introduction	introduction	NOUN
fcis-2068	189	15	2	2	NUM
fcis-2068	189	16	.	.	PUNCT
fcis-2068	189	17	longitudinal	longitudinal	ADJ
fcis-2068	189	18	vehicle	vehicle	NOUN
fcis-2068	189	19	dynamic	dynamic	ADJ
fcis-2068	189	20	model	model	NOUN
fcis-2068	189	21	3	3	NUM
fcis-2068	189	22	.	.	PUNCT
fcis-2068	189	23	longitudinal	longitudinal	ADJ
fcis-2068	189	24	controller	controller	NOUN
fcis-2068	189	25	design	design	NOUN
fcis-2068	189	26	based	base	VERB
fcis-2068	189	27	on	on	ADP
fcis-2068	189	28	model	model	NOUN
fcis-2068	189	29	predictive	predictive	PROPN
fcis-2068	189	30	control	control	PROPN
fcis-2068	189	31	3.1	3.1	NUM
fcis-2068	189	32	.	.	PUNCT
fcis-2068	190	1	longitudinal	longitudinal	ADJ
fcis-2068	190	2	control	control	NOUN
fcis-2068	190	3	strategy	strategy	NOUN
fcis-2068	190	4	considering	consider	VERB
fcis-2068	190	5	motion	motion	NOUN
fcis-2068	190	6	state	state	NOUN
fcis-2068	190	7	of	of	ADP
fcis-2068	190	8	other	other	ADJ
fcis-2068	190	9	vehicles	vehicle	NOUN
fcis-2068	190	10	3.2	3.2	NUM
fcis-2068	190	11	.	.	PUNCT
fcis-2068	191	1	longitudinal	longitudinal	ADJ
fcis-2068	191	2	controller	controller	NOUN
fcis-2068	191	3	design	design	NOUN
fcis-2068	191	4	based	base	VERB
fcis-2068	191	5	on	on	ADP
fcis-2068	191	6	model	model	NOUN
fcis-2068	191	7	predictive	predictive	ADJ
fcis-2068	191	8	control	control	PROPN
fcis-2068	191	9	4	4	NUM
fcis-2068	191	10	.	.	PUNCT
fcis-2068	191	11	longitudinal	longitudinal	ADJ
fcis-2068	191	12	control	control	PROPN
fcis-2068	191	13	simulation	simulation	NOUN
fcis-2068	191	14	analysis	analysis	NOUN
fcis-2068	191	15	4.1	4.1	NUM
fcis-2068	191	16	.	.	PUNCT
fcis-2068	192	1	build	build	VERB
fcis-2068	192	2	simulation	simulation	NOUN
fcis-2068	192	3	model	model	PROPN
fcis-2068	192	4	4.2	4.2	NUM
fcis-2068	192	5	.	.	PUNCT
fcis-2068	193	1	simulation	simulation	NOUN
fcis-2068	193	2	results	result	NOUN
fcis-2068	193	3	and	and	CCONJ
fcis-2068	193	4	analysis	analysis	NOUN
fcis-2068	193	5	5	5	NUM
fcis-2068	193	6	.	.	PUNCT
fcis-2068	194	1	conclusion	conclusion	NOUN
fcis-2068	194	2	references	reference	NOUN