id	sid	tid	token	lemma	pos
fcis-2136	1	1	frontiers	frontier	NOUN
fcis-2136	1	2	in	in	ADP
fcis-2136	1	3	computing	computing	NOUN
fcis-2136	1	4	and	and	CCONJ
fcis-2136	1	5	intelligent	intelligent	ADJ
fcis-2136	1	6	systems	system	NOUN
fcis-2136	1	7	issn	issn	VERB
fcis-2136	1	8	:	:	PUNCT
fcis-2136	1	9	2832	2832	NUM
fcis-2136	1	10	-	-	SYM
fcis-2136	1	11	6024	6024	NUM
fcis-2136	1	12	|	|	NOUN
fcis-2136	1	13	vol	vol	NOUN
fcis-2136	1	14	.	.	PROPN
fcis-2136	2	1	1	1	NUM
fcis-2136	2	2	,	,	PUNCT
fcis-2136	2	3	no	no	INTJ
fcis-2136	2	4	.	.	NOUN
fcis-2136	2	5	3	3	NUM
fcis-2136	2	6	,	,	PUNCT
fcis-2136	2	7	2022	2022	NUM
fcis-2136	2	8	78	78	NUM
fcis-2136	2	9	multi	multi	ADJ
fcis-2136	2	10	-	-	ADJ
fcis-2136	2	11	strategy	strategy	ADJ
fcis-2136	2	12	vertical	vertical	ADJ
fcis-2136	2	13	parking	parking	NOUN
fcis-2136	2	14	path	path	NOUN
fcis-2136	2	15	planning	planning	NOUN
fcis-2136	2	16	considering	consider	VERB
fcis-2136	2	17	the	the	DET
fcis-2136	2	18	influence	influence	NOUN
fcis-2136	2	19	of	of	ADP
fcis-2136	2	20	obstacles	obstacle	NOUN
fcis-2136	2	21	tongqing	tongqe	VERB
fcis-2136	2	22	zhang	zhang	PROPN
fcis-2136	2	23	*	*	PROPN
fcis-2136	2	24	,	,	PUNCT
fcis-2136	2	25	shuai	shuai	PROPN
fcis-2136	2	26	zhang	zhang	PROPN
fcis-2136	2	27	,	,	PUNCT
fcis-2136	2	28	pengcheng	pengcheng	PROPN
fcis-2136	2	29	ma	ma	PROPN
fcis-2136	2	30	,	,	PUNCT
fcis-2136	2	31	ruiyuan	ruiyuan	PROPN
fcis-2136	2	32	liu	liu	PROPN
fcis-2136	2	33	,	,	PUNCT
fcis-2136	2	34	jiaojiao	jiaojiao	PROPN
fcis-2136	2	35	li	li	PROPN
fcis-2136	2	36	school	school	PROPN
fcis-2136	2	37	of	of	ADP
fcis-2136	2	38	transportation	transportation	NOUN
fcis-2136	2	39	and	and	CCONJ
fcis-2136	2	40	vehicle	vehicle	NOUN
fcis-2136	2	41	engineering	engineering	NOUN
fcis-2136	2	42	,	,	PUNCT
fcis-2136	2	43	shandong	shandong	PROPN
fcis-2136	2	44	university	university	PROPN
fcis-2136	2	45	of	of	ADP
fcis-2136	2	46	technology	technology	PROPN
fcis-2136	2	47	,	,	PUNCT
fcis-2136	2	48	zibo	zibo	PROPN
fcis-2136	2	49	255000	255000	NUM
fcis-2136	2	50	,	,	PUNCT
fcis-2136	2	51	shandong	shandong	PROPN
fcis-2136	2	52	,	,	PUNCT
fcis-2136	2	53	china	china	PROPN
fcis-2136	2	54	.	.	PUNCT
fcis-2136	3	1	*	*	PUNCT
fcis-2136	3	2	corresponding	correspond	VERB
fcis-2136	3	3	author	author	NOUN
fcis-2136	3	4	:	:	PUNCT
fcis-2136	3	5	tongqing	tongqing	PROPN
fcis-2136	3	6	zhang	zhang	PROPN
fcis-2136	3	7	.	.	PUNCT
fcis-2136	4	1	abstract	abstract	PROPN
fcis-2136	4	2	:	:	PUNCT
fcis-2136	4	3	for	for	ADP
fcis-2136	4	4	the	the	DET
fcis-2136	4	5	vertical	vertical	ADJ
fcis-2136	4	6	parking	parking	NOUN
fcis-2136	4	7	scene	scene	NOUN
fcis-2136	4	8	with	with	ADP
fcis-2136	4	9	narrow	narrow	ADJ
fcis-2136	4	10	parking	parking	NOUN
fcis-2136	4	11	spaces	space	NOUN
fcis-2136	4	12	,	,	PUNCT
fcis-2136	4	13	this	this	DET
fcis-2136	4	14	paper	paper	NOUN
fcis-2136	4	15	proposes	propose	VERB
fcis-2136	4	16	three	three	NUM
fcis-2136	4	17	kinds	kind	NOUN
fcis-2136	4	18	of	of	ADP
fcis-2136	4	19	path	path	NOUN
fcis-2136	4	20	planning	planning	NOUN
fcis-2136	4	21	strategies	strategy	NOUN
fcis-2136	4	22	to	to	PART
fcis-2136	4	23	guide	guide	VERB
fcis-2136	4	24	the	the	DET
fcis-2136	4	25	vehicle	vehicle	NOUN
fcis-2136	4	26	to	to	PART
fcis-2136	4	27	park	park	VERB
fcis-2136	4	28	safely	safely	ADV
fcis-2136	4	29	and	and	CCONJ
fcis-2136	4	30	successfully	successfully	ADV
fcis-2136	4	31	in	in	ADP
fcis-2136	4	32	the	the	DET
fcis-2136	4	33	parking	parking	NOUN
fcis-2136	4	34	spaces	space	NOUN
fcis-2136	4	35	by	by	ADP
fcis-2136	4	36	using	use	VERB
fcis-2136	4	37	the	the	DET
fcis-2136	4	38	path	path	NOUN
fcis-2136	4	39	planning	planning	NOUN
fcis-2136	4	40	method	method	NOUN
fcis-2136	4	41	of	of	ADP
fcis-2136	4	42	arc	arc	NOUN
fcis-2136	4	43	-	-	PUNCT
fcis-2136	4	44	line	line	NOUN
fcis-2136	4	45	-	-	PUNCT
fcis-2136	4	46	mitigation	mitigation	NOUN
fcis-2136	4	47	curve	curve	NOUN
fcis-2136	4	48	and	and	CCONJ
fcis-2136	4	49	considering	consider	VERB
fcis-2136	4	50	the	the	DET
fcis-2136	4	51	initial	initial	ADJ
fcis-2136	4	52	posture	posture	NOUN
fcis-2136	4	53	and	and	CCONJ
fcis-2136	4	54	position	position	NOUN
fcis-2136	4	55	relationship	relationship	NOUN
fcis-2136	4	56	of	of	ADP
fcis-2136	4	57	different	different	ADJ
fcis-2136	4	58	vehicles	vehicle	NOUN
fcis-2136	4	59	.	.	PUNCT
fcis-2136	5	1	then	then	ADV
fcis-2136	5	2	,	,	PUNCT
fcis-2136	5	3	considering	consider	VERB
fcis-2136	5	4	the	the	DET
fcis-2136	5	5	complexity	complexity	NOUN
fcis-2136	5	6	of	of	ADP
fcis-2136	5	7	the	the	DET
fcis-2136	5	8	actual	actual	ADJ
fcis-2136	5	9	parking	parking	NOUN
fcis-2136	5	10	environment	environment	NOUN
fcis-2136	5	11	,	,	PUNCT
fcis-2136	5	12	obstacle	obstacle	VERB
fcis-2136	5	13	analysis	analysis	NOUN
fcis-2136	5	14	and	and	CCONJ
fcis-2136	5	15	future	future	ADJ
fcis-2136	5	16	trajectory	trajectory	NOUN
fcis-2136	5	17	prediction	prediction	NOUN
fcis-2136	5	18	of	of	ADP
fcis-2136	5	19	dynamic	dynamic	ADJ
fcis-2136	5	20	obstacles	obstacle	NOUN
fcis-2136	5	21	are	be	AUX
fcis-2136	5	22	added	add	VERB
fcis-2136	5	23	,	,	PUNCT
fcis-2136	5	24	and	and	CCONJ
fcis-2136	5	25	the	the	DET
fcis-2136	5	26	impact	impact	NOUN
fcis-2136	5	27	of	of	ADP
fcis-2136	5	28	different	different	ADJ
fcis-2136	5	29	obstacles	obstacle	NOUN
fcis-2136	5	30	on	on	ADP
fcis-2136	5	31	the	the	DET
fcis-2136	5	32	parking	parking	NOUN
fcis-2136	5	33	path	path	NOUN
fcis-2136	5	34	is	be	AUX
fcis-2136	5	35	analyzed	analyze	VERB
fcis-2136	5	36	.	.	PUNCT
fcis-2136	6	1	three	three	NUM
fcis-2136	6	2	obstacle	obstacle	NOUN
fcis-2136	6	3	avoidance	avoidance	NOUN
fcis-2136	6	4	methods	method	NOUN
fcis-2136	6	5	are	be	AUX
fcis-2136	6	6	proposed	propose	VERB
fcis-2136	6	7	,	,	PUNCT
fcis-2136	6	8	and	and	CCONJ
fcis-2136	6	9	three	three	NUM
fcis-2136	6	10	planning	planning	NOUN
fcis-2136	6	11	strategies	strategy	NOUN
fcis-2136	6	12	are	be	AUX
fcis-2136	6	13	combined	combine	VERB
fcis-2136	6	14	to	to	PART
fcis-2136	6	15	achieve	achieve	VERB
fcis-2136	6	16	safe	safe	ADJ
fcis-2136	6	17	and	and	CCONJ
fcis-2136	6	18	efficient	efficient	ADJ
fcis-2136	6	19	vertical	vertical	ADJ
fcis-2136	6	20	parking	parking	NOUN
fcis-2136	6	21	.	.	PUNCT
fcis-2136	7	1	finally	finally	ADV
fcis-2136	7	2	,	,	PUNCT
fcis-2136	7	3	the	the	DET
fcis-2136	7	4	path	path	NOUN
fcis-2136	7	5	planning	planning	NOUN
fcis-2136	7	6	method	method	NOUN
fcis-2136	7	7	is	be	AUX
fcis-2136	7	8	simulated	simulate	VERB
fcis-2136	7	9	and	and	CCONJ
fcis-2136	7	10	verified	verify	VERB
fcis-2136	7	11	in	in	ADP
fcis-2136	7	12	qt	qt	PROPN
fcis-2136	7	13	environment	environment	NOUN
fcis-2136	7	14	.	.	PUNCT
fcis-2136	8	1	the	the	DET
fcis-2136	8	2	results	result	NOUN
fcis-2136	8	3	show	show	VERB
fcis-2136	8	4	that	that	SCONJ
fcis-2136	8	5	the	the	DET
fcis-2136	8	6	vertical	vertical	ADJ
fcis-2136	8	7	parking	parking	NOUN
fcis-2136	8	8	path	path	NOUN
fcis-2136	8	9	planning	planning	NOUN
fcis-2136	8	10	method	method	NOUN
fcis-2136	8	11	proposed	propose	VERB
fcis-2136	8	12	in	in	ADP
fcis-2136	8	13	this	this	DET
fcis-2136	8	14	paper	paper	NOUN
fcis-2136	8	15	meets	meet	VERB
fcis-2136	8	16	the	the	DET
fcis-2136	8	17	parking	parking	NOUN
fcis-2136	8	18	needs	need	NOUN
fcis-2136	8	19	of	of	ADP
fcis-2136	8	20	narrow	narrow	ADJ
fcis-2136	8	21	vertical	vertical	ADJ
fcis-2136	8	22	parking	parking	NOUN
fcis-2136	8	23	spaces	space	NOUN
fcis-2136	8	24	and	and	CCONJ
fcis-2136	8	25	achieves	achieve	VERB
fcis-2136	8	26	safe	safe	ADJ
fcis-2136	8	27	and	and	CCONJ
fcis-2136	8	28	efficient	efficient	ADJ
fcis-2136	8	29	parking	parking	NOUN
fcis-2136	8	30	with	with	ADP
fcis-2136	8	31	predictability	predictability	NOUN
fcis-2136	8	32	.	.	PUNCT
fcis-2136	9	1	keywords	keyword	NOUN
fcis-2136	9	2	:	:	PUNCT
fcis-2136	9	3	automatic	automatic	ADJ
fcis-2136	9	4	parking	parking	NOUN
fcis-2136	9	5	;	;	PUNCT
fcis-2136	9	6	path	path	NOUN
fcis-2136	9	7	planning	planning	NOUN
fcis-2136	9	8	;	;	PUNCT
fcis-2136	9	9	arc	arc	NOUN
fcis-2136	9	10	-	-	PUNCT
fcis-2136	9	11	line	line	NOUN
fcis-2136	9	12	-	-	PUNCT
fcis-2136	9	13	détente	détente	NOUN
fcis-2136	9	14	curve	curve	NOUN
fcis-2136	9	15	;	;	PUNCT
fcis-2136	9	16	obstacle	obstacle	NOUN
fcis-2136	9	17	prediction	prediction	NOUN
fcis-2136	9	18	;	;	PUNCT
fcis-2136	9	19	optimal	optimal	ADJ
fcis-2136	9	20	path	path	NOUN
fcis-2136	9	21	.	.	PUNCT
fcis-2136	10	1	1	1	X
fcis-2136	10	2	.	.	X
fcis-2136	10	3	introduction	introduction	NOUN
fcis-2136	10	4	with	with	ADP
fcis-2136	10	5	the	the	DET
fcis-2136	10	6	rapid	rapid	ADJ
fcis-2136	10	7	growth	growth	NOUN
fcis-2136	10	8	of	of	ADP
fcis-2136	10	9	motor	motor	NOUN
fcis-2136	10	10	vehicle	vehicle	NOUN
fcis-2136	10	11	ownership	ownership	NOUN
fcis-2136	10	12	,	,	PUNCT
fcis-2136	10	13	the	the	DET
fcis-2136	10	14	shortage	shortage	NOUN
fcis-2136	10	15	of	of	ADP
fcis-2136	10	16	traffic	traffic	NOUN
fcis-2136	10	17	resources	resource	NOUN
fcis-2136	10	18	is	be	AUX
fcis-2136	10	19	becoming	become	VERB
fcis-2136	10	20	more	more	ADV
fcis-2136	10	21	and	and	CCONJ
fcis-2136	10	22	more	more	ADV
fcis-2136	10	23	serious	serious	ADJ
fcis-2136	10	24	,	,	PUNCT
fcis-2136	10	25	and	and	CCONJ
fcis-2136	10	26	the	the	DET
fcis-2136	10	27	problems	problem	NOUN
fcis-2136	10	28	of	of	ADP
fcis-2136	10	29	urban	urban	ADJ
fcis-2136	10	30	congestion	congestion	NOUN
fcis-2136	10	31	,	,	PUNCT
fcis-2136	10	32	insufficient	insufficient	ADJ
fcis-2136	10	33	parking	parking	NOUN
fcis-2136	10	34	space	space	NOUN
fcis-2136	10	35	and	and	CCONJ
fcis-2136	10	36	narrow	narrow	ADJ
fcis-2136	10	37	parking	parking	NOUN
fcis-2136	10	38	space	space	NOUN
fcis-2136	10	39	are	be	AUX
fcis-2136	10	40	becoming	become	VERB
fcis-2136	10	41	more	more	ADV
fcis-2136	10	42	and	and	CCONJ
fcis-2136	10	43	more	more	ADV
fcis-2136	10	44	prominent	prominent	ADJ
fcis-2136	10	45	,	,	PUNCT
fcis-2136	10	46	resulting	result	VERB
fcis-2136	10	47	in	in	ADP
fcis-2136	10	48	frequent	frequent	ADJ
fcis-2136	10	49	parking	parking	NOUN
fcis-2136	10	50	safety	safety	NOUN
fcis-2136	10	51	accidents	accident	NOUN
fcis-2136	10	52	.	.	PUNCT
fcis-2136	11	1	relevant	relevant	ADJ
fcis-2136	11	2	data	datum	NOUN
fcis-2136	11	3	show	show	VERB
fcis-2136	11	4	that	that	SCONJ
fcis-2136	11	5	in	in	ADP
fcis-2136	11	6	all	all	DET
fcis-2136	11	7	kinds	kind	NOUN
fcis-2136	11	8	of	of	ADP
fcis-2136	11	9	traffic	traffic	NOUN
fcis-2136	11	10	accidents	accident	NOUN
fcis-2136	11	11	,	,	PUNCT
fcis-2136	11	12	accidents	accident	NOUN
fcis-2136	11	13	in	in	ADP
fcis-2136	11	14	parking	parking	NOUN
fcis-2136	11	15	scenarios	scenario	NOUN
fcis-2136	11	16	account	account	VERB
fcis-2136	11	17	for	for	ADP
fcis-2136	11	18	44	44	NUM
fcis-2136	11	19	%	%	NOUN
fcis-2136	11	20	of	of	ADP
fcis-2136	11	21	the	the	DET
fcis-2136	11	22	total	total	NOUN
fcis-2136	11	23	[	[	PUNCT
fcis-2136	11	24	1	1	NUM
fcis-2136	11	25	]	]	PUNCT
fcis-2136	11	26	.	.	PUNCT
fcis-2136	12	1	with	with	ADP
fcis-2136	12	2	the	the	DET
fcis-2136	12	3	increasingly	increasingly	ADV
fcis-2136	12	4	narrow	narrow	ADJ
fcis-2136	12	5	parking	parking	NOUN
fcis-2136	12	6	space	space	NOUN
fcis-2136	12	7	,	,	PUNCT
fcis-2136	12	8	the	the	DET
fcis-2136	12	9	requirements	requirement	NOUN
fcis-2136	12	10	for	for	ADP
fcis-2136	12	11	the	the	DET
fcis-2136	12	12	driver	driver	NOUN
fcis-2136	12	13	's	's	PART
fcis-2136	12	14	parking	parking	NOUN
fcis-2136	12	15	technology	technology	NOUN
fcis-2136	12	16	are	be	AUX
fcis-2136	12	17	also	also	ADV
fcis-2136	12	18	increasing	increase	VERB
fcis-2136	12	19	,	,	PUNCT
fcis-2136	12	20	and	and	CCONJ
fcis-2136	12	21	the	the	DET
fcis-2136	12	22	driver	driver	NOUN
fcis-2136	12	23	's	's	PART
fcis-2136	12	24	driving	drive	VERB
fcis-2136	12	25	experience	experience	NOUN
fcis-2136	12	26	is	be	AUX
fcis-2136	12	27	poor	poor	ADJ
fcis-2136	12	28	.	.	PUNCT
fcis-2136	13	1	in	in	ADP
fcis-2136	13	2	addition	addition	NOUN
fcis-2136	13	3	,	,	PUNCT
fcis-2136	13	4	the	the	DET
fcis-2136	13	5	number	number	NOUN
fcis-2136	13	6	of	of	ADP
fcis-2136	13	7	adjustments	adjustment	NOUN
fcis-2136	13	8	and	and	CCONJ
fcis-2136	13	9	parking	parking	NOUN
fcis-2136	13	10	time	time	NOUN
fcis-2136	13	11	of	of	ADP
fcis-2136	13	12	the	the	DET
fcis-2136	13	13	driver	driver	NOUN
fcis-2136	13	14	during	during	ADP
fcis-2136	13	15	the	the	DET
fcis-2136	13	16	parking	parking	NOUN
fcis-2136	13	17	process	process	NOUN
fcis-2136	13	18	also	also	ADV
fcis-2136	13	19	increases	increase	VERB
fcis-2136	13	20	.	.	PUNCT
fcis-2136	14	1	more	more	ADJ
fcis-2136	14	2	than	than	ADP
fcis-2136	14	3	30	30	NUM
fcis-2136	14	4	%	%	NOUN
fcis-2136	14	5	of	of	ADP
fcis-2136	14	6	the	the	DET
fcis-2136	14	7	vehicles	vehicle	NOUN
fcis-2136	14	8	on	on	ADP
fcis-2136	14	9	the	the	DET
fcis-2136	14	10	road	road	NOUN
fcis-2136	14	11	are	be	AUX
fcis-2136	14	12	in	in	ADP
fcis-2136	14	13	patrol	patrol	NOUN
fcis-2136	14	14	or	or	CCONJ
fcis-2136	14	15	parking	parking	NOUN
fcis-2136	14	16	,	,	PUNCT
fcis-2136	14	17	and	and	CCONJ
fcis-2136	14	18	the	the	DET
fcis-2136	14	19	average	average	ADJ
fcis-2136	14	20	time	time	NOUN
fcis-2136	14	21	spent	spend	VERB
fcis-2136	14	22	on	on	ADP
fcis-2136	14	23	parking	parking	NOUN
fcis-2136	14	24	is	be	AUX
fcis-2136	14	25	more	more	ADJ
fcis-2136	14	26	than	than	ADP
fcis-2136	14	27	eight	eight	NUM
fcis-2136	14	28	minutes	minute	NOUN
fcis-2136	14	29	.	.	PUNCT
fcis-2136	15	1	[	[	X
fcis-2136	15	2	2	2	NUM
fcis-2136	15	3	]	]	PUNCT
fcis-2136	15	4	.	.	PUNCT
fcis-2136	16	1	therefore	therefore	ADV
fcis-2136	16	2	,	,	PUNCT
fcis-2136	16	3	with	with	ADP
fcis-2136	16	4	the	the	DET
fcis-2136	16	5	advancement	advancement	NOUN
fcis-2136	16	6	of	of	ADP
fcis-2136	16	7	automobile	automobile	NOUN
fcis-2136	16	8	intelligence	intelligence	NOUN
fcis-2136	16	9	,	,	PUNCT
fcis-2136	16	10	automatic	automatic	ADJ
fcis-2136	16	11	parking	parking	NOUN
fcis-2136	16	12	technology	technology	NOUN
fcis-2136	16	13	has	have	AUX
fcis-2136	16	14	developed	develop	VERB
fcis-2136	16	15	rapidly	rapidly	ADV
fcis-2136	16	16	.	.	PUNCT
fcis-2136	17	1	the	the	DET
fcis-2136	17	2	automatic	automatic	ADJ
fcis-2136	17	3	parking	parking	NOUN
fcis-2136	17	4	system	system	NOUN
fcis-2136	17	5	has	have	AUX
fcis-2136	17	6	greatly	greatly	ADV
fcis-2136	17	7	improved	improve	VERB
fcis-2136	17	8	the	the	DET
fcis-2136	17	9	safety	safety	NOUN
fcis-2136	17	10	and	and	CCONJ
fcis-2136	17	11	efficiency	efficiency	NOUN
fcis-2136	17	12	of	of	ADP
fcis-2136	17	13	the	the	DET
fcis-2136	17	14	parking	parking	NOUN
fcis-2136	17	15	process	process	NOUN
fcis-2136	17	16	,	,	PUNCT
fcis-2136	17	17	improved	improve	VERB
fcis-2136	17	18	the	the	DET
fcis-2136	17	19	driving	drive	VERB
fcis-2136	17	20	experience	experience	NOUN
fcis-2136	17	21	,	,	PUNCT
fcis-2136	17	22	and	and	CCONJ
fcis-2136	17	23	realized	realize	VERB
fcis-2136	17	24	safe	safe	ADJ
fcis-2136	17	25	,	,	PUNCT
fcis-2136	17	26	efficient	efficient	ADJ
fcis-2136	17	27	and	and	CCONJ
fcis-2136	17	28	convenient	convenient	ADJ
fcis-2136	17	29	parking	parking	NOUN
fcis-2136	17	30	.	.	PUNCT
fcis-2136	18	1	at	at	ADP
fcis-2136	18	2	present	present	ADJ
fcis-2136	18	3	,	,	PUNCT
fcis-2136	18	4	the	the	DET
fcis-2136	18	5	research	research	NOUN
fcis-2136	18	6	on	on	ADP
fcis-2136	18	7	the	the	DET
fcis-2136	18	8	path	path	NOUN
fcis-2136	18	9	planning	plan	VERB
fcis-2136	18	10	part	part	NOUN
fcis-2136	18	11	of	of	ADP
fcis-2136	18	12	the	the	DET
fcis-2136	18	13	automatic	automatic	ADJ
fcis-2136	18	14	parking	parking	NOUN
fcis-2136	18	15	system	system	NOUN
fcis-2136	18	16	is	be	AUX
fcis-2136	18	17	mainly	mainly	ADV
fcis-2136	18	18	divided	divide	VERB
fcis-2136	18	19	into	into	ADP
fcis-2136	18	20	four	four	NUM
fcis-2136	18	21	kinds	kind	NOUN
fcis-2136	18	22	:	:	PUNCT
fcis-2136	18	23	one	one	NUM
fcis-2136	18	24	is	be	AUX
fcis-2136	18	25	the	the	DET
fcis-2136	18	26	geometric	geometric	ADJ
fcis-2136	18	27	method	method	NOUN
fcis-2136	18	28	,	,	PUNCT
fcis-2136	18	29	which	which	PRON
fcis-2136	18	30	has	have	VERB
fcis-2136	18	31	the	the	DET
fcis-2136	18	32	advantages	advantage	NOUN
fcis-2136	18	33	of	of	ADP
fcis-2136	18	34	smooth	smooth	ADJ
fcis-2136	18	35	path	path	NOUN
fcis-2136	18	36	,	,	PUNCT
fcis-2136	18	37	low	low	ADJ
fcis-2136	18	38	model	model	NOUN
fcis-2136	18	39	calculation	calculation	NOUN
fcis-2136	18	40	and	and	CCONJ
fcis-2136	18	41	strong	strong	ADJ
fcis-2136	18	42	applicability	applicability	NOUN
fcis-2136	18	43	,	,	PUNCT
fcis-2136	18	44	but	but	CCONJ
fcis-2136	18	45	the	the	DET
fcis-2136	18	46	applicability	applicability	NOUN
fcis-2136	18	47	is	be	AUX
fcis-2136	18	48	not	not	PART
fcis-2136	18	49	strong	strong	ADJ
fcis-2136	18	50	;	;	PUNCT
fcis-2136	18	51	the	the	DET
fcis-2136	18	52	second	second	NOUN
fcis-2136	18	53	is	be	AUX
fcis-2136	18	54	the	the	DET
fcis-2136	18	55	numerical	numerical	ADJ
fcis-2136	18	56	optimization	optimization	NOUN
fcis-2136	18	57	method	method	NOUN
fcis-2136	18	58	,	,	PUNCT
fcis-2136	18	59	which	which	PRON
fcis-2136	18	60	finds	find	VERB
fcis-2136	18	61	the	the	DET
fcis-2136	18	62	optimal	optimal	ADJ
fcis-2136	18	63	path	path	NOUN
fcis-2136	18	64	by	by	ADP
fcis-2136	18	65	considering	consider	VERB
fcis-2136	18	66	the	the	DET
fcis-2136	18	67	constraint	constraint	NOUN
fcis-2136	18	68	optimization	optimization	NOUN
fcis-2136	18	69	problem	problem	NOUN
fcis-2136	18	70	.	.	PUNCT
fcis-2136	19	1	this	this	DET
fcis-2136	19	2	method	method	NOUN
fcis-2136	19	3	has	have	VERB
fcis-2136	19	4	strong	strong	ADJ
fcis-2136	19	5	solving	solving	NOUN
fcis-2136	19	6	ability	ability	NOUN
fcis-2136	19	7	,	,	PUNCT
fcis-2136	19	8	but	but	CCONJ
fcis-2136	19	9	has	have	VERB
fcis-2136	19	10	problems	problem	NOUN
fcis-2136	19	11	such	such	ADJ
fcis-2136	19	12	as	as	ADP
fcis-2136	19	13	large	large	ADJ
fcis-2136	19	14	amount	amount	NOUN
fcis-2136	19	15	of	of	ADP
fcis-2136	19	16	calculation	calculation	NOUN
fcis-2136	19	17	and	and	CCONJ
fcis-2136	19	18	poor	poor	ADJ
fcis-2136	19	19	real	real	ADJ
fcis-2136	19	20	-	-	PUNCT
fcis-2136	19	21	time	time	NOUN
fcis-2136	19	22	performance	performance	NOUN
fcis-2136	19	23	.	.	PUNCT
fcis-2136	20	1	third	third	ADJ
fcis-2136	20	2	,	,	PUNCT
fcis-2136	20	3	based	base	VERB
fcis-2136	20	4	on	on	ADP
fcis-2136	20	5	sampling	sample	VERB
fcis-2136	20	6	method	method	NOUN
fcis-2136	20	7	,	,	PUNCT
fcis-2136	20	8	this	this	DET
fcis-2136	20	9	kind	kind	NOUN
fcis-2136	20	10	of	of	ADP
fcis-2136	20	11	algorithm	algorithm	NOUN
fcis-2136	20	12	has	have	VERB
fcis-2136	20	13	strong	strong	ADJ
fcis-2136	20	14	adaptability	adaptability	NOUN
fcis-2136	20	15	,	,	PUNCT
fcis-2136	20	16	but	but	CCONJ
fcis-2136	20	17	the	the	DET
fcis-2136	20	18	curvature	curvature	NOUN
fcis-2136	20	19	is	be	AUX
fcis-2136	20	20	not	not	PART
fcis-2136	20	21	continuous	continuous	ADJ
fcis-2136	20	22	;	;	PUNCT
fcis-2136	20	23	the	the	DET
fcis-2136	20	24	fourth	fourth	ADJ
fcis-2136	20	25	is	be	AUX
fcis-2136	20	26	based	base	VERB
fcis-2136	20	27	on	on	ADP
fcis-2136	20	28	the	the	DET
fcis-2136	20	29	reinforcement	reinforcement	NOUN
fcis-2136	20	30	learning	learning	NOUN
fcis-2136	20	31	method	method	NOUN
fcis-2136	20	32	,	,	PUNCT
fcis-2136	20	33	that	that	ADV
fcis-2136	20	34	is	is	ADV
fcis-2136	20	35	,	,	PUNCT
fcis-2136	20	36	using	use	VERB
fcis-2136	20	37	the	the	DET
fcis-2136	20	38	reinforcement	reinforcement	NOUN
fcis-2136	20	39	learning	learn	VERB
fcis-2136	20	40	network	network	NOUN
fcis-2136	20	41	to	to	PART
fcis-2136	20	42	train	train	VERB
fcis-2136	20	43	and	and	CCONJ
fcis-2136	20	44	plan	plan	VERB
fcis-2136	20	45	the	the	DET
fcis-2136	20	46	parking	parking	NOUN
fcis-2136	20	47	path	path	NOUN
fcis-2136	20	48	.	.	PUNCT
fcis-2136	21	1	this	this	DET
fcis-2136	21	2	method	method	NOUN
fcis-2136	21	3	has	have	VERB
fcis-2136	21	4	strong	strong	ADJ
fcis-2136	21	5	applicability	applicability	NOUN
fcis-2136	21	6	and	and	CCONJ
fcis-2136	21	7	strong	strong	ADJ
fcis-2136	21	8	solving	solving	NOUN
fcis-2136	21	9	ability	ability	NOUN
fcis-2136	21	10	,	,	PUNCT
fcis-2136	21	11	but	but	CCONJ
fcis-2136	21	12	the	the	DET
fcis-2136	21	13	algorithm	algorithm	NOUN
fcis-2136	21	14	training	training	NOUN
fcis-2136	21	15	is	be	AUX
fcis-2136	21	16	usually	usually	ADV
fcis-2136	21	17	difficult	difficult	ADJ
fcis-2136	21	18	to	to	PART
fcis-2136	21	19	converge	converge	VERB
fcis-2136	21	20	,	,	PUNCT
fcis-2136	21	21	and	and	CCONJ
fcis-2136	21	22	the	the	DET
fcis-2136	21	23	actual	actual	ADJ
fcis-2136	21	24	environment	environment	NOUN
fcis-2136	21	25	application	application	NOUN
fcis-2136	21	26	gap	gap	NOUN
fcis-2136	21	27	is	be	AUX
fcis-2136	21	28	large	large	ADJ
fcis-2136	21	29	.	.	PUNCT
fcis-2136	22	1	in	in	ADP
fcis-2136	22	2	addition	addition	NOUN
fcis-2136	22	3	,	,	PUNCT
fcis-2136	22	4	in	in	ADP
fcis-2136	22	5	the	the	DET
fcis-2136	22	6	automatic	automatic	ADJ
fcis-2136	22	7	parking	parking	NOUN
fcis-2136	22	8	path	path	NOUN
fcis-2136	22	9	planning	planning	NOUN
fcis-2136	22	10	,	,	PUNCT
fcis-2136	22	11	the	the	DET
fcis-2136	22	12	influence	influence	NOUN
fcis-2136	22	13	of	of	ADP
fcis-2136	22	14	obstacles	obstacle	NOUN
fcis-2136	22	15	should	should	AUX
fcis-2136	22	16	be	be	AUX
fcis-2136	22	17	considered	consider	VERB
fcis-2136	22	18	,	,	PUNCT
fcis-2136	22	19	that	that	ADV
fcis-2136	22	20	is	is	ADV
fcis-2136	22	21	,	,	PUNCT
fcis-2136	22	22	the	the	DET
fcis-2136	22	23	influence	influence	NOUN
fcis-2136	22	24	of	of	ADP
fcis-2136	22	25	the	the	DET
fcis-2136	22	26	position	position	NOUN
fcis-2136	22	27	,	,	PUNCT
fcis-2136	22	28	trajectory	trajectory	NOUN
fcis-2136	22	29	and	and	CCONJ
fcis-2136	22	30	predicted	predict	VERB
fcis-2136	22	31	trajectory	trajectory	NOUN
fcis-2136	22	32	of	of	ADP
fcis-2136	22	33	obstacles	obstacle	NOUN
fcis-2136	22	34	on	on	ADP
fcis-2136	22	35	the	the	DET
fcis-2136	22	36	parking	parking	NOUN
fcis-2136	22	37	path	path	NOUN
fcis-2136	22	38	.	.	PUNCT
fcis-2136	23	1	the	the	DET
fcis-2136	23	2	information	information	NOUN
fcis-2136	23	3	of	of	ADP
fcis-2136	23	4	obstacle	obstacle	NOUN
fcis-2136	23	5	position	position	NOUN
fcis-2136	23	6	and	and	CCONJ
fcis-2136	23	7	historical	historical	ADJ
fcis-2136	23	8	trajectory	trajectory	NOUN
fcis-2136	23	9	can	can	AUX
fcis-2136	23	10	be	be	AUX
fcis-2136	23	11	obtained	obtain	VERB
fcis-2136	23	12	directly	directly	ADV
fcis-2136	23	13	through	through	ADP
fcis-2136	23	14	perception	perception	NOUN
fcis-2136	23	15	,	,	PUNCT
fcis-2136	23	16	but	but	CCONJ
fcis-2136	23	17	the	the	DET
fcis-2136	23	18	analysis	analysis	NOUN
fcis-2136	23	19	and	and	CCONJ
fcis-2136	23	20	prediction	prediction	NOUN
fcis-2136	23	21	of	of	ADP
fcis-2136	23	22	obstacles	obstacle	NOUN
fcis-2136	23	23	need	need	VERB
fcis-2136	23	24	further	further	ADJ
fcis-2136	23	25	research	research	NOUN
fcis-2136	23	26	.	.	PUNCT
fcis-2136	24	1	at	at	ADP
fcis-2136	24	2	present	present	ADJ
fcis-2136	24	3	,	,	PUNCT
fcis-2136	24	4	the	the	DET
fcis-2136	24	5	main	main	ADJ
fcis-2136	24	6	methods	method	NOUN
fcis-2136	24	7	are	be	AUX
fcis-2136	24	8	:	:	PUNCT
fcis-2136	24	9	model	model	NOUN
fcis-2136	24	10	-	-	PUNCT
fcis-2136	24	11	based	base	VERB
fcis-2136	24	12	prediction	prediction	NOUN
fcis-2136	24	13	,	,	PUNCT
fcis-2136	24	14	including	include	VERB
fcis-2136	24	15	markov	markov	NOUN
fcis-2136	24	16	model	model	NOUN
fcis-2136	24	17	,	,	PUNCT
fcis-2136	24	18	kalman	kalman	PROPN
fcis-2136	24	19	filter	filter	PROPN
fcis-2136	24	20	,	,	PUNCT
fcis-2136	24	21	gaussian	gaussian	ADJ
fcis-2136	24	22	distribution	distribution	NOUN
fcis-2136	24	23	,	,	PUNCT
fcis-2136	24	24	etc	etc	X
fcis-2136	24	25	.	.	X
fcis-2136	24	26	,	,	PUNCT
fcis-2136	24	27	which	which	PRON
fcis-2136	24	28	has	have	VERB
fcis-2136	24	29	the	the	DET
fcis-2136	24	30	advantages	advantage	NOUN
fcis-2136	24	31	of	of	ADP
fcis-2136	24	32	simple	simple	ADJ
fcis-2136	24	33	and	and	CCONJ
fcis-2136	24	34	intuitive	intuitive	ADJ
fcis-2136	24	35	,	,	PUNCT
fcis-2136	24	36	low	low	ADJ
fcis-2136	24	37	complexity	complexity	NOUN
fcis-2136	24	38	,	,	PUNCT
fcis-2136	24	39	but	but	CCONJ
fcis-2136	24	40	it	it	PRON
fcis-2136	24	41	is	be	AUX
fcis-2136	24	42	more	more	ADV
fcis-2136	24	43	dependent	dependent	ADJ
fcis-2136	24	44	on	on	ADP
fcis-2136	24	45	model	model	NOUN
fcis-2136	24	46	parameters	parameter	NOUN
fcis-2136	24	47	and	and	CCONJ
fcis-2136	24	48	can	can	AUX
fcis-2136	24	49	not	not	PART
fcis-2136	24	50	deal	deal	VERB
fcis-2136	24	51	with	with	ADP
fcis-2136	24	52	the	the	DET
fcis-2136	24	53	prediction	prediction	NOUN
fcis-2136	24	54	of	of	ADP
fcis-2136	24	55	complex	complex	ADJ
fcis-2136	24	56	scenes	scene	NOUN
fcis-2136	24	57	.	.	PUNCT
fcis-2136	25	1	the	the	DET
fcis-2136	25	2	other	other	ADJ
fcis-2136	25	3	is	be	AUX
fcis-2136	25	4	based	base	VERB
fcis-2136	25	5	on	on	ADP
fcis-2136	25	6	datadriven	datadriven	ADJ
fcis-2136	25	7	deep	deep	ADJ
fcis-2136	25	8	learning	learning	NOUN
fcis-2136	25	9	,	,	PUNCT
fcis-2136	25	10	including	include	VERB
fcis-2136	25	11	dnn	dnn	PROPN
fcis-2136	25	12	,	,	PUNCT
fcis-2136	25	13	rnn	rnn	PROPN
fcis-2136	25	14	,	,	PUNCT
fcis-2136	25	15	lstm	lstm	NOUN
fcis-2136	25	16	and	and	CCONJ
fcis-2136	25	17	other	other	ADJ
fcis-2136	25	18	methods	method	NOUN
fcis-2136	25	19	,	,	PUNCT
fcis-2136	25	20	with	with	ADP
fcis-2136	25	21	high	high	ADJ
fcis-2136	25	22	accuracy	accuracy	NOUN
fcis-2136	25	23	and	and	CCONJ
fcis-2136	25	24	high	high	ADJ
fcis-2136	25	25	efficiency	efficiency	NOUN
fcis-2136	25	26	.	.	PUNCT
fcis-2136	26	1	in	in	ADP
fcis-2136	26	2	this	this	DET
fcis-2136	26	3	paper	paper	NOUN
fcis-2136	26	4	,	,	PUNCT
fcis-2136	26	5	the	the	DET
fcis-2136	26	6	path	path	NOUN
fcis-2136	26	7	planning	planning	NOUN
fcis-2136	26	8	method	method	NOUN
fcis-2136	26	9	of	of	ADP
fcis-2136	26	10	arc	arc	NOUN
fcis-2136	26	11	-	-	PUNCT
fcis-2136	26	12	line	line	NOUN
fcis-2136	26	13	-	-	PUNCT
fcis-2136	26	14	gentle	gentle	ADJ
fcis-2136	26	15	curve	curve	NOUN
fcis-2136	26	16	is	be	AUX
fcis-2136	26	17	used	use	VERB
fcis-2136	26	18	to	to	PART
fcis-2136	26	19	analyze	analyze	VERB
fcis-2136	26	20	the	the	DET
fcis-2136	26	21	path	path	NOUN
fcis-2136	26	22	planning	planning	NOUN
fcis-2136	26	23	problem	problem	NOUN
fcis-2136	26	24	in	in	ADP
fcis-2136	26	25	vertical	vertical	ADJ
fcis-2136	26	26	parking	parking	NOUN
fcis-2136	26	27	in	in	ADP
fcis-2136	26	28	detail	detail	NOUN
fcis-2136	26	29	.	.	PUNCT
fcis-2136	27	1	combined	combine	VERB
fcis-2136	27	2	with	with	ADP
fcis-2136	27	3	the	the	DET
fcis-2136	27	4	advantages	advantage	NOUN
fcis-2136	27	5	of	of	ADP
fcis-2136	27	6	geometric	geometric	ADJ
fcis-2136	27	7	model	model	NOUN
fcis-2136	27	8	and	and	CCONJ
fcis-2136	27	9	curvature	curvature	NOUN
fcis-2136	27	10	continuity	continuity	NOUN
fcis-2136	27	11	,	,	PUNCT
fcis-2136	27	12	three	three	NUM
fcis-2136	27	13	path	path	NOUN
fcis-2136	27	14	planning	planning	NOUN
fcis-2136	27	15	strategy	strategy	NOUN
fcis-2136	27	16	models	model	NOUN
fcis-2136	27	17	are	be	AUX
fcis-2136	27	18	established	establish	VERB
fcis-2136	27	19	to	to	PART
fcis-2136	27	20	improve	improve	VERB
fcis-2136	27	21	the	the	DET
fcis-2136	27	22	applicability	applicability	NOUN
fcis-2136	27	23	and	and	CCONJ
fcis-2136	27	24	planning	planning	NOUN
fcis-2136	27	25	success	success	NOUN
fcis-2136	27	26	rate	rate	NOUN
fcis-2136	27	27	.	.	PUNCT
fcis-2136	28	1	then	then	ADV
fcis-2136	28	2	the	the	DET
fcis-2136	28	3	prediction	prediction	NOUN
fcis-2136	28	4	of	of	ADP
fcis-2136	28	5	obstacles	obstacle	NOUN
fcis-2136	28	6	is	be	AUX
fcis-2136	28	7	added	add	VERB
fcis-2136	28	8	,	,	PUNCT
fcis-2136	28	9	three	three	NUM
fcis-2136	28	10	obstacle	obstacle	NOUN
fcis-2136	28	11	avoidance	avoidance	NOUN
fcis-2136	28	12	methods	method	NOUN
fcis-2136	28	13	are	be	AUX
fcis-2136	28	14	proposed	propose	VERB
fcis-2136	28	15	,	,	PUNCT
fcis-2136	28	16	and	and	CCONJ
fcis-2136	28	17	the	the	DET
fcis-2136	28	18	optimal	optimal	ADJ
fcis-2136	28	19	path	path	NOUN
fcis-2136	28	20	is	be	AUX
fcis-2136	28	21	selected	select	VERB
fcis-2136	28	22	to	to	PART
fcis-2136	28	23	ensure	ensure	VERB
fcis-2136	28	24	the	the	DET
fcis-2136	28	25	safe	safe	ADJ
fcis-2136	28	26	and	and	CCONJ
fcis-2136	28	27	efficient	efficient	ADJ
fcis-2136	28	28	parking	parking	NOUN
fcis-2136	28	29	of	of	ADP
fcis-2136	28	30	the	the	DET
fcis-2136	28	31	vehicle	vehicle	NOUN
fcis-2136	28	32	.	.	PUNCT
fcis-2136	29	1	2	2	X
fcis-2136	29	2	.	.	X
fcis-2136	29	3	vertical	vertical	ADJ
fcis-2136	29	4	parking	parking	NOUN
fcis-2136	29	5	path	path	NOUN
fcis-2136	29	6	planning	planning	NOUN
fcis-2136	29	7	strategy	strategy	NOUN
fcis-2136	29	8	according	accord	VERB
fcis-2136	29	9	to	to	ADP
fcis-2136	29	10	different	different	ADJ
fcis-2136	29	11	parking	parking	NOUN
fcis-2136	29	12	environments	environment	NOUN
fcis-2136	29	13	and	and	CCONJ
fcis-2136	29	14	constraints	constraint	NOUN
fcis-2136	29	15	,	,	PUNCT
fcis-2136	29	16	this	this	DET
fcis-2136	29	17	paper	paper	NOUN
fcis-2136	29	18	uses	use	VERB
fcis-2136	29	19	different	different	ADJ
fcis-2136	29	20	path	path	NOUN
fcis-2136	29	21	planning	planning	NOUN
fcis-2136	29	22	strategies	strategy	NOUN
fcis-2136	29	23	to	to	PART
fcis-2136	29	24	plan	plan	VERB
fcis-2136	29	25	the	the	DET
fcis-2136	29	26	parking	parking	NOUN
fcis-2136	29	27	path	path	NOUN
fcis-2136	29	28	.	.	PUNCT
fcis-2136	30	1	2.1	2.1	NUM
fcis-2136	30	2	.	.	PUNCT
fcis-2136	30	3	establishment	establishment	NOUN
fcis-2136	30	4	of	of	ADP
fcis-2136	30	5	vehicle	vehicle	NOUN
fcis-2136	30	6	kinematics	kinematic	NOUN
fcis-2136	30	7	model	model	NOUN
fcis-2136	30	8	vehicles	vehicle	NOUN
fcis-2136	30	9	in	in	ADP
fcis-2136	30	10	the	the	DET
fcis-2136	30	11	parking	parking	NOUN
fcis-2136	30	12	process	process	NOUN
fcis-2136	30	13	,	,	PUNCT
fcis-2136	30	14	the	the	DET
fcis-2136	30	15	driving	drive	VERB
fcis-2136	30	16	speed	speed	NOUN
fcis-2136	30	17	is	be	AUX
fcis-2136	30	18	low	low	ADJ
fcis-2136	30	19	,	,	PUNCT
fcis-2136	30	20	so	so	CCONJ
fcis-2136	30	21	the	the	DET
fcis-2136	30	22	wheel	wheel	NOUN
fcis-2136	30	23	skid	skid	NOUN
fcis-2136	30	24	can	can	AUX
fcis-2136	30	25	be	be	AUX
fcis-2136	30	26	ignored	ignore	VERB
fcis-2136	30	27	.	.	PUNCT
fcis-2136	31	1	due	due	ADP
fcis-2136	31	2	to	to	ADP
fcis-2136	31	3	the	the	DET
fcis-2136	31	4	complex	complex	ADJ
fcis-2136	31	5	shape	shape	NOUN
fcis-2136	31	6	of	of	ADP
fcis-2136	31	7	the	the	DET
fcis-2136	31	8	car	car	NOUN
fcis-2136	31	9	body	body	NOUN
fcis-2136	31	10	,	,	PUNCT
fcis-2136	31	11	it	it	PRON
fcis-2136	31	12	is	be	AUX
fcis-2136	31	13	necessary	necessary	ADJ
fcis-2136	31	14	to	to	PART
fcis-2136	31	15	simplify	simplify	VERB
fcis-2136	31	16	the	the	DET
fcis-2136	31	17	shape	shape	NOUN
fcis-2136	31	18	of	of	ADP
fcis-2136	31	19	the	the	DET
fcis-2136	31	20	car	car	NOUN
fcis-2136	31	21	body	body	NOUN
fcis-2136	31	22	into	into	ADP
fcis-2136	31	23	a	a	DET
fcis-2136	31	24	rectangle	rectangle	NOUN
fcis-2136	31	25	,	,	PUNCT
fcis-2136	31	26	and	and	CCONJ
fcis-2136	31	27	expand	expand	VERB
fcis-2136	31	28	the	the	DET
fcis-2136	31	29	length	length	NOUN
fcis-2136	31	30	and	and	CCONJ
fcis-2136	31	31	width	width	NOUN
fcis-2136	31	32	of	of	ADP
fcis-2136	31	33	the	the	DET
fcis-2136	31	34	rectangle	rectangle	NOUN
fcis-2136	31	35	outwards	outward	NOUN
fcis-2136	31	36	to	to	PART
fcis-2136	31	37	facilitate	facilitate	VERB
fcis-2136	31	38	the	the	DET
fcis-2136	31	39	establishment	establishment	NOUN
fcis-2136	31	40	of	of	ADP
fcis-2136	31	41	the	the	DET
fcis-2136	31	42	vehicle	vehicle	NOUN
fcis-2136	31	43	model	model	NOUN
fcis-2136	31	44	and	and	CCONJ
fcis-2136	31	45	further	far	ADV
fcis-2136	31	46	ensure	ensure	VERB
fcis-2136	31	47	parking	parking	NOUN
fcis-2136	31	48	safety	safety	NOUN
fcis-2136	31	49	.	.	PUNCT
fcis-2136	32	1	the	the	DET
fcis-2136	32	2	vehicle	vehicle	NOUN
fcis-2136	32	3	kinematics	kinematic	NOUN
fcis-2136	32	4	is	be	AUX
fcis-2136	32	5	studied	study	VERB
fcis-2136	32	6	according	accord	VERB
fcis-2136	32	7	to	to	ADP
fcis-2136	32	8	ackerman	ackerman	PROPN
fcis-2136	32	9	steering	steering	NOUN
fcis-2136	32	10	principle	principle	NOUN
fcis-2136	32	11	,	,	PUNCT
fcis-2136	32	12	and	and	CCONJ
fcis-2136	32	13	the	the	DET
fcis-2136	32	14	schematic	schematic	ADJ
fcis-2136	32	15	diagram	diagram	NOUN
fcis-2136	32	16	is	be	AUX
fcis-2136	32	17	shown	show	VERB
fcis-2136	32	18	in	in	ADP
fcis-2136	32	19	fig	fig	NOUN
fcis-2136	32	20	.	.	PUNCT
fcis-2136	33	1	1	1	NUM
fcis-2136	33	2	.	.	X
fcis-2136	33	3	79	79	NUM
fcis-2136	33	4	fig.1	fig.1	PROPN
fcis-2136	33	5	ackerman	ackerman	NOUN
fcis-2136	33	6	turn	turn	VERB
fcis-2136	33	7	schematic	schematic	ADJ
fcis-2136	33	8	the	the	DET
fcis-2136	33	9	kinematics	kinematic	NOUN
fcis-2136	33	10	equation	equation	NOUN
fcis-2136	33	11	of	of	ADP
fcis-2136	33	12	the	the	DET
fcis-2136	33	13	vehicle	vehicle	NOUN
fcis-2136	33	14	at	at	ADP
fcis-2136	33	15	low	low	ADJ
fcis-2136	33	16	speed	speed	NOUN
fcis-2136	33	17	is	be	AUX
fcis-2136	33	18	:	:	PUNCT
fcis-2136	33	19	r	r	NOUN
fcis-2136	33	20	lb=tan	lb=tan	ADJ
fcis-2136	33	21			NUM
fcis-2136	33	22			NUM
fcis-2136	33	23			NUM
fcis-2136	33	24			NUM
fcis-2136	33	25			NOUN
fcis-2136	33	26			NUM
fcis-2136	33	27			NUM
fcis-2136	33	28			ADP
fcis-2136	34	1	=	=	ADJ
fcis-2136	34	2	=	=	NOUN
fcis-2136	34	3			ADP
fcis-2136	34	4	=	=	PROPN
fcis-2136	34	5			CCONJ
fcis-2136	34	6	)	)	PUNCT
fcis-2136	34	7	(	(	PUNCT
fcis-2136	34	8	tan	tan	NOUN
fcis-2136	34	9	)	)	PUNCT
fcis-2136	34	10	sin	sin	NOUN
fcis-2136	34	11	(	(	PUNCT
fcis-2136	34	12	)	)	PUNCT
fcis-2136	34	13	cos	cos	X
fcis-2136	34	14	(	(	PUNCT
fcis-2136	34	15			VERB
fcis-2136	34	16			X
fcis-2136	34	17			SYM
fcis-2136	34	18	b	b	PROPN
fcis-2136	34	19	r	r	NOUN
fcis-2136	34	20	rr	rr	PROPN
fcis-2136	34	21	rr	rr	PROPN
fcis-2136	34	22	l	l	PROPN
fcis-2136	34	23	v	v	PROPN
fcis-2136	34	24	vy	vy	X
fcis-2136	34	25	vx	vx	ADP
fcis-2136	34	26	where	where	SCONJ
fcis-2136	34	27	,	,	PUNCT
fcis-2136	34	28	α	α	PROPN
fcis-2136	34	29	is	be	AUX
fcis-2136	34	30	the	the	DET
fcis-2136	34	31	equivalent	equivalent	ADJ
fcis-2136	34	32	front	front	ADJ
fcis-2136	34	33	wheel	wheel	NOUN
fcis-2136	34	34	angle	angle	NOUN
fcis-2136	34	35	;	;	PUNCT
fcis-2136	34	36	lb	lb	PRON
fcis-2136	34	37	is	be	AUX
fcis-2136	34	38	the	the	DET
fcis-2136	34	39	wheelbase	wheelbase	NOUN
fcis-2136	34	40	of	of	ADP
fcis-2136	34	41	the	the	DET
fcis-2136	34	42	vehicle	vehicle	NOUN
fcis-2136	34	43	;	;	PUNCT
fcis-2136	34	44	r	r	NOUN
fcis-2136	34	45	is	be	AUX
fcis-2136	34	46	the	the	DET
fcis-2136	34	47	turning	turn	VERB
fcis-2136	34	48	radius	radius	NOUN
fcis-2136	34	49	of	of	ADP
fcis-2136	34	50	the	the	DET
fcis-2136	34	51	center	center	ADJ
fcis-2136	34	52	point	point	NOUN
fcis-2136	34	53	of	of	ADP
fcis-2136	34	54	the	the	DET
fcis-2136	34	55	vehicle	vehicle	NOUN
fcis-2136	34	56	rear	rear	ADJ
fcis-2136	34	57	axle	axle	NOUN
fcis-2136	34	58	;	;	PUNCT
fcis-2136	34	59	xr	xr	PROPN
fcis-2136	34	60	and	and	CCONJ
fcis-2136	34	61	yr	yr	PROPN
fcis-2136	34	62	are	be	AUX
fcis-2136	34	63	the	the	DET
fcis-2136	34	64	x	x	X
fcis-2136	34	65	and	and	CCONJ
fcis-2136	34	66	y	y	PROPN
fcis-2136	34	67	axis	axis	NOUN
fcis-2136	34	68	coordinate	coordinate	NOUN
fcis-2136	34	69	values	value	NOUN
fcis-2136	34	70	of	of	ADP
fcis-2136	34	71	the	the	DET
fcis-2136	34	72	center	center	ADJ
fcis-2136	34	73	point	point	NOUN
fcis-2136	34	74	of	of	ADP
fcis-2136	34	75	the	the	DET
fcis-2136	34	76	rear	rear	ADJ
fcis-2136	34	77	axle	axle	NOUN
fcis-2136	34	78	of	of	ADP
fcis-2136	34	79	the	the	DET
fcis-2136	34	80	vehicle	vehicle	NOUN
fcis-2136	34	81	;	;	PUNCT
fcis-2136	34	82	vr	vr	PROPN
fcis-2136	34	83	is	be	AUX
fcis-2136	34	84	the	the	DET
fcis-2136	34	85	speed	speed	NOUN
fcis-2136	34	86	of	of	ADP
fcis-2136	34	87	the	the	DET
fcis-2136	34	88	center	center	ADJ
fcis-2136	34	89	point	point	NOUN
fcis-2136	34	90	of	of	ADP
fcis-2136	34	91	the	the	DET
fcis-2136	34	92	vehicle	vehicle	NOUN
fcis-2136	34	93	rear	rear	ADJ
fcis-2136	34	94	axle	axle	NOUN
fcis-2136	34	95	;	;	PUNCT
fcis-2136	34	96	θ	θ	PROPN
fcis-2136	34	97	is	be	AUX
fcis-2136	34	98	the	the	DET
fcis-2136	34	99	body	body	NOUN
fcis-2136	34	100	posture	posture	NOUN
fcis-2136	34	101	angle	angle	NOUN
fcis-2136	34	102	,	,	PUNCT
fcis-2136	34	103	the	the	DET
fcis-2136	34	104	angle	angle	NOUN
fcis-2136	34	105	between	between	ADP
fcis-2136	34	106	the	the	DET
fcis-2136	34	107	body	body	NOUN
fcis-2136	34	108	and	and	CCONJ
fcis-2136	34	109	the	the	DET
fcis-2136	34	110	x	x	ADJ
fcis-2136	34	111	axis	axis	NOUN
fcis-2136	34	112	.	.	PUNCT
fcis-2136	35	1	2.2	2.2	NUM
fcis-2136	35	2	.	.	PUNCT
fcis-2136	36	1	constraint	constraint	NOUN
fcis-2136	36	2	condition	condition	NOUN
fcis-2136	36	3	analysis	analysis	NOUN
fcis-2136	36	4	the	the	DET
fcis-2136	36	5	constraints	constraint	NOUN
fcis-2136	36	6	in	in	ADP
fcis-2136	36	7	the	the	DET
fcis-2136	36	8	parking	parking	NOUN
fcis-2136	36	9	process	process	NOUN
fcis-2136	36	10	mainly	mainly	ADV
fcis-2136	36	11	include	include	VERB
fcis-2136	36	12	vehicle	vehicle	NOUN
fcis-2136	36	13	kinematics	kinematic	NOUN
fcis-2136	36	14	constraints	constraint	NOUN
fcis-2136	36	15	,	,	PUNCT
fcis-2136	36	16	parking	parking	NOUN
fcis-2136	36	17	space	space	NOUN
fcis-2136	36	18	size	size	NOUN
fcis-2136	36	19	constraints	constraint	NOUN
fcis-2136	36	20	,	,	PUNCT
fcis-2136	36	21	space	space	NOUN
fcis-2136	36	22	constraints	constraint	NOUN
fcis-2136	36	23	and	and	CCONJ
fcis-2136	36	24	obstacle	obstacle	NOUN
fcis-2136	36	25	constraints	constraint	NOUN
fcis-2136	36	26	.	.	PUNCT
fcis-2136	37	1	obstacle	obstacle	NOUN
fcis-2136	37	2	constraints	constraint	NOUN
fcis-2136	37	3	will	will	AUX
fcis-2136	37	4	be	be	AUX
fcis-2136	37	5	analyzed	analyze	VERB
fcis-2136	37	6	in	in	ADP
fcis-2136	37	7	detail	detail	NOUN
fcis-2136	37	8	later	later	ADV
fcis-2136	37	9	due	due	ADP
fcis-2136	37	10	to	to	ADP
fcis-2136	37	11	the	the	DET
fcis-2136	37	12	uncertainty	uncertainty	NOUN
fcis-2136	37	13	.	.	PUNCT
fcis-2136	38	1	2.2.1	2.2.1	NUM
fcis-2136	38	2	.	.	PUNCT
fcis-2136	38	3	vehicle	vehicle	NOUN
fcis-2136	38	4	kinematics	kinematic	NOUN
fcis-2136	38	5	constraints	constraint	NOUN
fcis-2136	38	6	in	in	ADP
fcis-2136	38	7	the	the	DET
fcis-2136	38	8	process	process	NOUN
fcis-2136	38	9	of	of	ADP
fcis-2136	38	10	vehicle	vehicle	NOUN
fcis-2136	38	11	parking	parking	NOUN
fcis-2136	38	12	,	,	PUNCT
fcis-2136	38	13	kinematic	kinematic	ADJ
fcis-2136	38	14	constraints	constraint	NOUN
fcis-2136	38	15	mainly	mainly	ADV
fcis-2136	38	16	consider	consider	VERB
fcis-2136	38	17	the	the	DET
fcis-2136	38	18	maximum	maximum	ADJ
fcis-2136	38	19	angle	angle	NOUN
fcis-2136	38	20	constraint	constraint	NOUN
fcis-2136	38	21	of	of	ADP
fcis-2136	38	22	vehicle	vehicle	NOUN
fcis-2136	38	23	equivalent	equivalent	ADJ
fcis-2136	38	24	front	front	ADJ
fcis-2136	38	25	wheel	wheel	NOUN
fcis-2136	38	26	and	and	CCONJ
fcis-2136	38	27	the	the	DET
fcis-2136	38	28	maximum	maximum	ADJ
fcis-2136	38	29	angle	angle	NOUN
fcis-2136	38	30	rate	rate	NOUN
fcis-2136	38	31	constraint	constraint	NOUN
fcis-2136	38	32	of	of	ADP
fcis-2136	38	33	vehicle	vehicle	NOUN
fcis-2136	38	34	equivalent	equivalent	ADJ
fcis-2136	38	35	front	front	ADJ
fcis-2136	38	36	wheel	wheel	NOUN
fcis-2136	38	37	:	:	PUNCT
fcis-2136	38	38			NUM
fcis-2136	38	39			PROPN
fcis-2136	38	40			NUM
fcis-2136	38	41			NUM
fcis-2136	38	42			NOUN
fcis-2136	38	43			NUM
fcis-2136	38	44			NOUN
fcis-2136	38	45			NUM
fcis-2136	38	46	min	min	NOUN
fcis-2136	38	47	max	max	PROPN
fcis-2136	38	48	max	max	PROPN
fcis-2136	38	49	rr	rr	PROPN
fcis-2136	38	50			PUNCT
fcis-2136	38	51			NUM
fcis-2136	38	52	where	where	SCONJ
fcis-2136	38	53	,	,	PUNCT
fcis-2136	38	54	α	α	PRON
fcis-2136	38	55	represents	represent	VERB
fcis-2136	38	56	the	the	DET
fcis-2136	38	57	equivalent	equivalent	ADJ
fcis-2136	38	58	front	front	ADJ
fcis-2136	38	59	wheel	wheel	NOUN
fcis-2136	38	60	angle	angle	NOUN
fcis-2136	38	61	;	;	PUNCT
fcis-2136	38	62	ω	ω	NUM
fcis-2136	38	63	represents	represent	VERB
fcis-2136	38	64	the	the	DET
fcis-2136	38	65	equivalent	equivalent	ADJ
fcis-2136	38	66	front	front	ADJ
fcis-2136	38	67	wheel	wheel	NOUN
fcis-2136	38	68	angle	angle	NOUN
fcis-2136	38	69	rate	rate	NOUN
fcis-2136	38	70	;	;	PUNCT
fcis-2136	38	71	r	r	NOUN
fcis-2136	38	72	denotes	denote	VERB
fcis-2136	38	73	the	the	DET
fcis-2136	38	74	turning	turn	VERB
fcis-2136	38	75	radius	radius	NOUN
fcis-2136	38	76	of	of	ADP
fcis-2136	38	77	the	the	DET
fcis-2136	38	78	vehicle	vehicle	NOUN
fcis-2136	38	79	.	.	PUNCT
fcis-2136	39	1	2.2.2	2.2.2	X
fcis-2136	39	2	.	.	PUNCT
fcis-2136	39	3	parking	parking	NOUN
fcis-2136	39	4	space	space	NOUN
fcis-2136	39	5	size	size	NOUN
fcis-2136	39	6	constraints	constraint	VERB
fcis-2136	39	7	the	the	DET
fcis-2136	39	8	parking	parking	NOUN
fcis-2136	39	9	space	space	NOUN
fcis-2136	39	10	size	size	NOUN
fcis-2136	39	11	needs	need	VERB
fcis-2136	39	12	to	to	PART
fcis-2136	39	13	be	be	AUX
fcis-2136	39	14	larger	large	ADJ
fcis-2136	39	15	than	than	ADP
fcis-2136	39	16	the	the	DET
fcis-2136	39	17	vehicle	vehicle	NOUN
fcis-2136	39	18	size	size	NOUN
fcis-2136	39	19	to	to	PART
fcis-2136	39	20	meet	meet	VERB
fcis-2136	39	21	the	the	DET
fcis-2136	39	22	successful	successful	ADJ
fcis-2136	39	23	parking	parking	NOUN
fcis-2136	39	24	of	of	ADP
fcis-2136	39	25	the	the	DET
fcis-2136	39	26	vehicle	vehicle	NOUN
fcis-2136	39	27	.	.	PUNCT
fcis-2136	40	1			PRON
fcis-2136	40	2			PROPN
fcis-2136	40	3			PROPN
fcis-2136	40	4			NOUN
fcis-2136	40	5			NUM
fcis-2136	40	6			ADP
fcis-2136	40	7			NOUN
fcis-2136	40	8			NOUN
fcis-2136	40	9	efegw	efegw	ADV
fcis-2136	40	10	efegl	efegl	ADV
fcis-2136	40	11	,	,	PUNCT
fcis-2136	40	12	lll	lll	PROPN
fcis-2136	40	13	,	,	PUNCT
fcis-2136	40	14	lll	lll	PROPN
fcis-2136	40	15	min	min	PROPN
fcis-2136	40	16	max	max	PROPN
fcis-2136	40	17	in	in	ADP
fcis-2136	40	18	the	the	DET
fcis-2136	40	19	formula	formula	NOUN
fcis-2136	40	20	,	,	PUNCT
fcis-2136	40	21	is	be	AUX
fcis-2136	40	22	the	the	DET
fcis-2136	40	23	length	length	NOUN
fcis-2136	40	24	of	of	ADP
fcis-2136	40	25	the	the	DET
fcis-2136	40	26	car	car	NOUN
fcis-2136	40	27	,	,	PUNCT
fcis-2136	40	28	is	be	AUX
fcis-2136	40	29	the	the	DET
fcis-2136	40	30	width	width	NOUN
fcis-2136	40	31	of	of	ADP
fcis-2136	40	32	the	the	DET
fcis-2136	40	33	car	car	NOUN
fcis-2136	40	34	,	,	PUNCT
fcis-2136	40	35	and	and	CCONJ
fcis-2136	40	36	are	be	AUX
fcis-2136	40	37	the	the	DET
fcis-2136	40	38	two	two	NUM
fcis-2136	40	39	sides	side	NOUN
fcis-2136	40	40	of	of	ADP
fcis-2136	40	41	the	the	DET
fcis-2136	40	42	parking	parking	NOUN
fcis-2136	40	43	space	space	NOUN
fcis-2136	40	44	.	.	PUNCT
fcis-2136	41	1	2.2.3	2.2.3	X
fcis-2136	41	2	.	.	PUNCT
fcis-2136	42	1	spatial	spatial	ADJ
fcis-2136	42	2	constraints	constraint	NOUN
fcis-2136	42	3	spatial	spatial	ADJ
fcis-2136	42	4	constraints	constraint	NOUN
fcis-2136	42	5	mainly	mainly	ADV
fcis-2136	42	6	consider	consider	VERB
fcis-2136	42	7	whether	whether	SCONJ
fcis-2136	42	8	the	the	DET
fcis-2136	42	9	vehicle	vehicle	NOUN
fcis-2136	42	10	collides	collide	VERB
fcis-2136	42	11	with	with	ADP
fcis-2136	42	12	the	the	DET
fcis-2136	42	13	spatial	spatial	ADJ
fcis-2136	42	14	boundary	boundary	NOUN
fcis-2136	42	15	,	,	PUNCT
fcis-2136	42	16	that	that	ADV
fcis-2136	42	17	is	is	ADV
fcis-2136	42	18	,	,	PUNCT
fcis-2136	42	19	the	the	DET
fcis-2136	42	20	critical	critical	ADJ
fcis-2136	42	21	spatial	spatial	ADJ
fcis-2136	42	22	constraint	constraint	NOUN
fcis-2136	42	23	.	.	PUNCT
fcis-2136	43	1	different	different	ADJ
fcis-2136	43	2	parking	parking	NOUN
fcis-2136	43	3	space	space	NOUN
fcis-2136	43	4	types	type	NOUN
fcis-2136	43	5	have	have	VERB
fcis-2136	43	6	different	different	ADJ
fcis-2136	43	7	spatial	spatial	ADJ
fcis-2136	43	8	constraints	constraint	NOUN
fcis-2136	43	9	:	:	PUNCT
fcis-2136	43	10	when	when	SCONJ
fcis-2136	43	11	the	the	DET
fcis-2136	43	12	vehicle	vehicle	NOUN
fcis-2136	43	13	is	be	AUX
fcis-2136	43	14	parked	park	VERB
fcis-2136	43	15	vertically	vertically	ADV
fcis-2136	43	16	,	,	PUNCT
fcis-2136	43	17	the	the	DET
fcis-2136	43	18	left	left	ADJ
fcis-2136	43	19	front	front	ADJ
fcis-2136	43	20	angle	angle	NOUN
fcis-2136	43	21	a	a	DET
fcis-2136	43	22	,	,	PUNCT
fcis-2136	43	23	right	right	ADJ
fcis-2136	43	24	front	front	ADJ
fcis-2136	43	25	angle	angle	PROPN
fcis-2136	43	26	b	b	PROPN
fcis-2136	43	27	,	,	PUNCT
fcis-2136	43	28	left	leave	VERB
fcis-2136	43	29	rear	rear	ADJ
fcis-2136	43	30	angle	angle	NOUN
fcis-2136	44	1	c	c	NOUN
fcis-2136	44	2	,	,	PUNCT
fcis-2136	44	3	right	right	ADJ
fcis-2136	44	4	rear	rear	ADJ
fcis-2136	44	5	angle	angle	NOUN
fcis-2136	44	6	d	d	NOUN
fcis-2136	44	7	,	,	PUNCT
fcis-2136	44	8	left	leave	VERB
fcis-2136	44	9	and	and	CCONJ
fcis-2136	44	10	right	right	ADJ
fcis-2136	44	11	side	side	NOUN
fcis-2136	45	1	i	i	PRON
fcis-2136	45	2	and	and	CCONJ
fcis-2136	45	3	j	j	PROPN
fcis-2136	45	4	of	of	ADP
fcis-2136	45	5	the	the	DET
fcis-2136	45	6	rear	rear	ADJ
fcis-2136	45	7	axle	axle	NOUN
fcis-2136	45	8	are	be	AUX
fcis-2136	45	9	the	the	DET
fcis-2136	45	10	main	main	ADJ
fcis-2136	45	11	collision	collision	NOUN
fcis-2136	45	12	points	point	NOUN
fcis-2136	45	13	.	.	PUNCT
fcis-2136	46	1	when	when	SCONJ
fcis-2136	46	2	the	the	DET
fcis-2136	46	3	key	key	ADJ
fcis-2136	46	4	collision	collision	NOUN
fcis-2136	46	5	points	point	NOUN
fcis-2136	46	6	of	of	ADP
fcis-2136	46	7	the	the	DET
fcis-2136	46	8	above	above	ADJ
fcis-2136	46	9	vehicle	vehicle	NOUN
fcis-2136	46	10	do	do	AUX
fcis-2136	46	11	not	not	PART
fcis-2136	46	12	collide	collide	VERB
fcis-2136	46	13	with	with	ADP
fcis-2136	46	14	space	space	NOUN
fcis-2136	46	15	,	,	PUNCT
fcis-2136	46	16	the	the	DET
fcis-2136	46	17	whole	whole	ADJ
fcis-2136	46	18	vehicle	vehicle	NOUN
fcis-2136	46	19	does	do	AUX
fcis-2136	46	20	not	not	PART
fcis-2136	46	21	collide	collide	VERB
fcis-2136	46	22	,	,	PUNCT
fcis-2136	46	23	which	which	PRON
fcis-2136	46	24	conforms	conform	VERB
fcis-2136	46	25	to	to	ADP
fcis-2136	46	26	the	the	DET
fcis-2136	46	27	space	space	NOUN
fcis-2136	46	28	constraint	constraint	NOUN
fcis-2136	46	29	.	.	PUNCT
fcis-2136	47	1	max	max	PROPN
fcis-2136	47	2	max	max	PROPN
fcis-2136	47	3	max	max	PROPN
fcis-2136	47	4	max	max	PROPN
fcis-2136	47	5	,	,	PUNCT
fcis-2136	47	6	(	(	PUNCT
fcis-2136	47	7	1	1	NUM
fcis-2136	47	8	)	)	PUNCT
fcis-2136	47	9	,	,	PUNCT
fcis-2136	47	10	(	(	PUNCT
fcis-2136	47	11	2	2	X
fcis-2136	47	12	)	)	PUNCT
fcis-2136	47	13	(	(	PUNCT
fcis-2136	47	14	3	3	X
fcis-2136	47	15	)	)	PUNCT
fcis-2136	47	16	2	2	NUM
fcis-2136	47	17	2	2	NUM
fcis-2136	47	18	:	:	SYM
fcis-2136	47	19	0	0	NUM
fcis-2136	47	20	;	;	PUNCT
fcis-2136	47	21	:	:	SYM
fcis-2136	47	22	0	0	NUM
fcis-2136	47	23	(	(	PUNCT
fcis-2136	47	24	4	4	NUM
fcis-2136	47	25	)	)	SYM
fcis-2136	47	26	2	2	NUM
fcis-2136	47	27	2	2	NUM
fcis-2136	47	28	a	a	DET
fcis-2136	47	29	g	g	NOUN
fcis-2136	47	30	b	b	PROPN
fcis-2136	47	31	g	g	PROPN
fcis-2136	47	32	c	c	PROPN
fcis-2136	47	33	g	g	PROPN
fcis-2136	47	34	d	d	X
fcis-2136	47	35	g	g	PROPN
fcis-2136	47	36	c	c	PROPN
fcis-2136	47	37	d	d	X
fcis-2136	47	38	c	c	PROPN
fcis-2136	47	39	def	def	PROPN
fcis-2136	47	40	ef	ef	PROPN
fcis-2136	47	41	cd	cd	PROPN
fcis-2136	47	42	c	c	PROPN
fcis-2136	47	43	d	d	X
fcis-2136	47	44	ef	ef	X
fcis-2136	47	45	ef	ef	PROPN
fcis-2136	48	1	i	i	PRON
fcis-2136	48	2	i	i	PRON
fcis-2136	48	3	j	j	PROPN
fcis-2136	49	1	j	j	PROPN
fcis-2136	49	2	y	y	PROPN
fcis-2136	49	3	l	l	PROPN
fcis-2136	49	4	y	y	PROPN
fcis-2136	49	5	l	l	NOUN
fcis-2136	49	6	y	y	PROPN
fcis-2136	49	7	l	l	NOUN
fcis-2136	49	8	y	y	PROPN
fcis-2136	49	9	l	l	NOUN
fcis-2136	49	10	y	y	NOUN
fcis-2136	50	1	x	x	PUNCT
fcis-2136	50	2	x	x	PUNCT
fcis-2136	51	1	yl	yl	NOUN
fcis-2136	51	2	l	l	NOUN
fcis-2136	51	3	x	x	X
fcis-2136	52	1	y	y	NOUN
fcis-2136	52	2	y	y	PROPN
fcis-2136	52	3	l	l	NOUN
fcis-2136	52	4	l	l	NOUN
fcis-2136	52	5	when	when	SCONJ
fcis-2136	52	6	y	y	PROPN
fcis-2136	52	7	x	x	VERB
fcis-2136	52	8	when	when	SCONJ
fcis-2136	52	9	y	y	PROPN
fcis-2136	52	10	x	x	X
fcis-2136	52	11			PROPN
fcis-2136	52	12			NOUN
fcis-2136	52	13			NUM
fcis-2136	52	14			PROPN
fcis-2136	52	15			PROPN
fcis-2136	52	16			PRON
fcis-2136	52	17			NUM
fcis-2136	52	18			NUM
fcis-2136	52	19	−	−	NOUN
fcis-2136	52	20			NUM
fcis-2136	52	21	−	−	NOUN
fcis-2136	52	22			PROPN
fcis-2136	53	1	=	=	SYM
fcis-2136	53	2			ADJ
fcis-2136	53	3	−	−	NOUN
fcis-2136	53	4			NUM
fcis-2136	53	5			NUM
fcis-2136	53	6	=	=	SYM
fcis-2136	53	7			NUM
fcis-2136	53	8	−	−	PROPN
fcis-2136	54	1	=	=	SYM
fcis-2136	54	2			NOUN
fcis-2136	54	3			INTJ
fcis-2136	54	4	，	，	PUNCT
fcis-2136	54	5	，	，	PUNCT
fcis-2136	54	6	where	where	SCONJ
fcis-2136	54	7	formula	formula	NOUN
fcis-2136	54	8	(	(	PUNCT
fcis-2136	54	9	1	1	X
fcis-2136	54	10	)	)	PUNCT
fcis-2136	54	11	indicates	indicate	VERB
fcis-2136	54	12	that	that	SCONJ
fcis-2136	54	13	the	the	DET
fcis-2136	54	14	left	left	ADJ
fcis-2136	54	15	front	front	ADJ
fcis-2136	54	16	corner	corner	NOUN
fcis-2136	54	17	a	a	PRON
fcis-2136	54	18	and	and	CCONJ
fcis-2136	54	19	the	the	DET
fcis-2136	54	20	right	right	ADJ
fcis-2136	54	21	front	front	ADJ
fcis-2136	54	22	corner	corner	NOUN
fcis-2136	54	23	c	c	PROPN
fcis-2136	54	24	of	of	ADP
fcis-2136	54	25	the	the	DET
fcis-2136	54	26	vehicle	vehicle	NOUN
fcis-2136	54	27	have	have	VERB
fcis-2136	54	28	no	no	DET
fcis-2136	54	29	collision	collision	NOUN
fcis-2136	54	30	with	with	ADP
fcis-2136	54	31	the	the	DET
fcis-2136	54	32	other	other	ADJ
fcis-2136	54	33	side	side	NOUN
fcis-2136	54	34	of	of	ADP
fcis-2136	54	35	the	the	DET
fcis-2136	54	36	road	road	NOUN
fcis-2136	54	37	;	;	PUNCT
fcis-2136	54	38	formula	formula	NOUN
fcis-2136	54	39	(	(	PUNCT
fcis-2136	54	40	2	2	X
fcis-2136	54	41	)	)	PUNCT
fcis-2136	54	42	indicates	indicate	VERB
fcis-2136	54	43	that	that	SCONJ
fcis-2136	54	44	the	the	DET
fcis-2136	54	45	left	left	ADJ
fcis-2136	54	46	rear	rear	ADJ
fcis-2136	54	47	corner	corner	NOUN
fcis-2136	54	48	b	b	PROPN
fcis-2136	54	49	and	and	CCONJ
fcis-2136	54	50	the	the	DET
fcis-2136	54	51	right	right	ADJ
fcis-2136	54	52	rear	rear	ADJ
fcis-2136	54	53	corner	corner	NOUN
fcis-2136	54	54	d	d	PROPN
fcis-2136	54	55	of	of	ADP
fcis-2136	54	56	the	the	DET
fcis-2136	54	57	vehicle	vehicle	NOUN
fcis-2136	54	58	have	have	VERB
fcis-2136	54	59	no	no	DET
fcis-2136	54	60	collision	collision	NOUN
fcis-2136	54	61	with	with	ADP
fcis-2136	54	62	the	the	DET
fcis-2136	54	63	other	other	ADJ
fcis-2136	54	64	side	side	NOUN
fcis-2136	54	65	of	of	ADP
fcis-2136	54	66	the	the	DET
fcis-2136	54	67	road	road	NOUN
fcis-2136	54	68	;	;	PUNCT
fcis-2136	54	69	formula	formula	NOUN
fcis-2136	54	70	(	(	PUNCT
fcis-2136	54	71	3	3	X
fcis-2136	54	72	)	)	PUNCT
fcis-2136	54	73	indicates	indicate	VERB
fcis-2136	54	74	that	that	SCONJ
fcis-2136	54	75	there	there	PRON
fcis-2136	54	76	is	be	VERB
fcis-2136	54	77	no	no	DET
fcis-2136	54	78	collision	collision	NOUN
fcis-2136	54	79	between	between	ADP
fcis-2136	54	80	bd	bd	PROPN
fcis-2136	54	81	behind	behind	ADP
fcis-2136	54	82	the	the	DET
fcis-2136	54	83	vehicle	vehicle	NOUN
fcis-2136	54	84	and	and	CCONJ
fcis-2136	54	85	parking	parking	NOUN
fcis-2136	54	86	angle	angle	NOUN
fcis-2136	54	87	e	e	PROPN
fcis-2136	54	88	,	,	PUNCT
fcis-2136	54	89	f.	f.	PROPN
fcis-2136	54	90	when	when	SCONJ
fcis-2136	54	91	min	min	PROPN
fcis-2136	54	92	(	(	PUNCT
fcis-2136	54	93	yb	yb	PROPN
fcis-2136	54	94	,	,	PUNCT
fcis-2136	54	95	yd	yd	NOUN
fcis-2136	54	96	)	)	PUNCT
fcis-2136	54	97	≤	≤	NUM
fcis-2136	54	98	0	0	NUM
fcis-2136	54	99	≤	≤	NUM
fcis-2136	54	100	max	max	PROPN
fcis-2136	54	101	(	(	PUNCT
fcis-2136	54	102	yb	yb	PROPN
fcis-2136	54	103	,	,	PUNCT
fcis-2136	54	104	yd	yd	PROPN
fcis-2136	54	105	)	)	PUNCT
fcis-2136	54	106	,	,	PUNCT
fcis-2136	54	107	let	let	VERB
fcis-2136	54	108	y	y	PROPN
fcis-2136	54	109	=	=	SYM
fcis-2136	54	110	0	0	PROPN
fcis-2136	54	111	,	,	PUNCT
fcis-2136	54	112	the	the	DET
fcis-2136	54	113	solved	solve	VERB
fcis-2136	54	114	x	x	PUNCT
fcis-2136	54	115	needs	need	VERB
fcis-2136	54	116	to	to	PART
fcis-2136	54	117	satisfy	satisfy	VERB
fcis-2136	54	118	formula	formula	NOUN
fcis-2136	54	119	(	(	PUNCT
fcis-2136	54	120	4	4	NUM
fcis-2136	54	121	)	)	PUNCT
fcis-2136	54	122	;	;	PUNCT
fcis-2136	54	123	formula	formula	NOUN
fcis-2136	54	124	(	(	PUNCT
fcis-2136	54	125	5	5	NUM
fcis-2136	54	126	)	)	PUNCT
fcis-2136	54	127	indicates	indicate	VERB
fcis-2136	54	128	that	that	SCONJ
fcis-2136	54	129	there	there	PRON
fcis-2136	54	130	is	be	VERB
fcis-2136	54	131	no	no	DET
fcis-2136	54	132	collision	collision	NOUN
fcis-2136	54	133	between	between	ADP
fcis-2136	54	134	the	the	DET
fcis-2136	54	135	left	left	ADJ
fcis-2136	54	136	and	and	CCONJ
fcis-2136	54	137	right	right	ADJ
fcis-2136	54	138	sides	side	NOUN
fcis-2136	54	139	of	of	ADP
fcis-2136	54	140	the	the	DET
fcis-2136	54	141	rear	rear	ADJ
fcis-2136	54	142	axle	axle	NOUN
fcis-2136	55	1	i	i	PRON
fcis-2136	55	2	,	,	PUNCT
fcis-2136	55	3	j	j	PROPN
fcis-2136	55	4	and	and	CCONJ
fcis-2136	55	5	the	the	DET
fcis-2136	55	6	parking	parking	NOUN
fcis-2136	55	7	angle	angle	NOUN
fcis-2136	55	8	e	e	PROPN
fcis-2136	55	9	,	,	PUNCT
fcis-2136	55	10	f.	f.	PROPN
fcis-2136	55	11	where	where	SCONJ
fcis-2136	55	12	,	,	PUNCT
fcis-2136	55	13	sg	sg	PROPN
fcis-2136	55	14	represents	represent	VERB
fcis-2136	55	15	the	the	DET
fcis-2136	55	16	width	width	NOUN
fcis-2136	55	17	of	of	ADP
fcis-2136	55	18	the	the	DET
fcis-2136	55	19	road	road	NOUN
fcis-2136	55	20	,	,	PUNCT
fcis-2136	55	21	that	that	ADV
fcis-2136	55	22	is	is	ADV
fcis-2136	55	23	,	,	PUNCT
fcis-2136	55	24	the	the	DET
fcis-2136	55	25	longitudinal	longitudinal	ADJ
fcis-2136	55	26	coordinate	coordinate	NOUN
fcis-2136	55	27	value	value	NOUN
fcis-2136	55	28	on	on	ADP
fcis-2136	55	29	the	the	DET
fcis-2136	55	30	other	other	ADJ
fcis-2136	55	31	side	side	NOUN
fcis-2136	55	32	of	of	ADP
fcis-2136	55	33	the	the	DET
fcis-2136	55	34	road	road	NOUN
fcis-2136	55	35	;	;	PUNCT
fcis-2136	55	36	xbd	xbd	PROPN
fcis-2136	55	37	represents	represent	VERB
fcis-2136	55	38	the	the	DET
fcis-2136	55	39	vehicle	vehicle	NOUN
fcis-2136	55	40	rear	rear	PROPN
fcis-2136	55	41	bd	bd	PROPN
fcis-2136	55	42	;	;	PUNCT
fcis-2136	55	43	sef	sef	PROPN
fcis-2136	55	44	represents	represent	VERB
fcis-2136	55	45	the	the	DET
fcis-2136	55	46	length	length	NOUN
fcis-2136	55	47	of	of	ADP
fcis-2136	55	48	the	the	DET
fcis-2136	55	49	parking	parking	NOUN
fcis-2136	55	50	space	space	NOUN
fcis-2136	55	51	ef	ef	PROPN
fcis-2136	55	52	.	.	PROPN
fcis-2136	55	53	2.3	2.3	NUM
fcis-2136	55	54	.	.	PUNCT
fcis-2136	56	1	parking	parking	NOUN
fcis-2136	56	2	strategy	strategy	NOUN
fcis-2136	56	3	analysis	analysis	NOUN
fcis-2136	56	4	because	because	SCONJ
fcis-2136	56	5	the	the	DET
fcis-2136	56	6	environment	environment	NOUN
fcis-2136	56	7	is	be	AUX
fcis-2136	56	8	changeable	changeable	ADJ
fcis-2136	56	9	when	when	SCONJ
fcis-2136	56	10	the	the	DET
fcis-2136	56	11	vehicle	vehicle	NOUN
fcis-2136	56	12	is	be	AUX
fcis-2136	56	13	parking	park	VERB
fcis-2136	56	14	vertically	vertically	ADV
fcis-2136	56	15	,	,	PUNCT
fcis-2136	56	16	the	the	DET
fcis-2136	56	17	size	size	NOUN
fcis-2136	56	18	of	of	ADP
fcis-2136	56	19	the	the	DET
fcis-2136	56	20	vehicle	vehicle	NOUN
fcis-2136	56	21	and	and	CCONJ
fcis-2136	56	22	the	the	DET
fcis-2136	56	23	parking	parking	NOUN
fcis-2136	56	24	space	space	NOUN
fcis-2136	56	25	,	,	PUNCT
fcis-2136	56	26	the	the	DET
fcis-2136	56	27	relative	relative	ADJ
fcis-2136	56	28	position	position	NOUN
fcis-2136	56	29	of	of	ADP
fcis-2136	56	30	the	the	DET
fcis-2136	56	31	vehicle	vehicle	NOUN
fcis-2136	56	32	and	and	CCONJ
fcis-2136	56	33	the	the	DET
fcis-2136	56	34	parking	parking	NOUN
fcis-2136	56	35	space	space	NOUN
fcis-2136	56	36	,	,	PUNCT
fcis-2136	57	1	the	the	DET
fcis-2136	57	2	attitude	attitude	NOUN
fcis-2136	57	3	angle	angle	NOUN
fcis-2136	57	4	of	of	ADP
fcis-2136	57	5	the	the	DET
fcis-2136	57	6	vehicle	vehicle	NOUN
fcis-2136	57	7	and	and	CCONJ
fcis-2136	57	8	other	other	ADJ
fcis-2136	57	9	parameters	parameter	NOUN
fcis-2136	57	10	are	be	AUX
fcis-2136	57	11	random	random	ADJ
fcis-2136	57	12	,	,	PUNCT
fcis-2136	57	13	so	so	CCONJ
fcis-2136	57	14	when	when	SCONJ
fcis-2136	57	15	the	the	DET
fcis-2136	57	16	vehicle	vehicle	NOUN
fcis-2136	57	17	is	be	AUX
fcis-2136	57	18	parking	park	VERB
fcis-2136	57	19	vertically	vertically	ADV
fcis-2136	57	20	,	,	PUNCT
fcis-2136	57	21	different	different	ADJ
fcis-2136	57	22	parking	parking	NOUN
fcis-2136	57	23	path	path	NOUN
fcis-2136	57	24	planning	planning	NOUN
fcis-2136	57	25	strategies	strategy	NOUN
fcis-2136	57	26	are	be	AUX
fcis-2136	57	27	needed	need	VERB
fcis-2136	57	28	to	to	PART
fcis-2136	57	29	realize	realize	VERB
fcis-2136	57	30	the	the	DET
fcis-2136	57	31	successful	successful	ADJ
fcis-2136	57	32	planning	planning	NOUN
fcis-2136	57	33	of	of	ADP
fcis-2136	57	34	the	the	DET
fcis-2136	57	35	safe	safe	ADJ
fcis-2136	57	36	path	path	NOUN
fcis-2136	57	37	and	and	CCONJ
fcis-2136	57	38	the	the	DET
fcis-2136	57	39	selection	selection	NOUN
fcis-2136	57	40	of	of	ADP
fcis-2136	57	41	the	the	DET
fcis-2136	57	42	efficient	efficient	ADJ
fcis-2136	57	43	path	path	NOUN
fcis-2136	57	44	.	.	PUNCT
fcis-2136	58	1	the	the	DET
fcis-2136	58	2	parking	parking	NOUN
fcis-2136	58	3	path	path	NOUN
fcis-2136	58	4	planning	planning	NOUN
fcis-2136	58	5	strategy	strategy	NOUN
fcis-2136	58	6	mainly	mainly	ADV
fcis-2136	58	7	includes	include	VERB
fcis-2136	58	8	the	the	DET
fcis-2136	58	9	one	one	NUM
fcis-2136	58	10	-	-	PUNCT
fcis-2136	58	11	time	time	NOUN
fcis-2136	58	12	parking	parking	NOUN
fcis-2136	58	13	strategy	strategy	NOUN
fcis-2136	58	14	,	,	PUNCT
fcis-2136	58	15	the	the	DET
fcis-2136	58	16	reverse	reverse	ADJ
fcis-2136	58	17	parking	parking	NOUN
fcis-2136	58	18	strategy	strategy	NOUN
fcis-2136	58	19	after	after	ADP
fcis-2136	58	20	the	the	DET
fcis-2136	58	21	vehicle	vehicle	NOUN
fcis-2136	58	22	's	's	PART
fcis-2136	58	23	forward	forward	ADJ
fcis-2136	58	24	adjustment	adjustment	NOUN
fcis-2136	58	25	and	and	CCONJ
fcis-2136	58	26	the	the	DET
fcis-2136	58	27	multiple	multiple	ADJ
fcis-2136	58	28	adjustment	adjustment	NOUN
fcis-2136	58	29	parking	parking	NOUN
fcis-2136	58	30	strategy	strategy	NOUN
fcis-2136	58	31	.	.	PUNCT
fcis-2136	59	1	the	the	DET
fcis-2136	59	2	schematic	schematic	ADJ
fcis-2136	59	3	diagrams	diagram	NOUN
fcis-2136	59	4	are	be	AUX
fcis-2136	59	5	shown	show	VERB
fcis-2136	59	6	in	in	ADP
fcis-2136	59	7	figure	figure	NOUN
fcis-2136	59	8	2,3,4	2,3,4	NUM
fcis-2136	59	9	,	,	PUNCT
fcis-2136	59	10	respectively	respectively	ADV
fcis-2136	59	11	,	,	PUNCT
fcis-2136	59	12	and	and	CCONJ
fcis-2136	59	13	are	be	AUX
fcis-2136	59	14	represented	represent	VERB
fcis-2136	59	15	by	by	ADP
fcis-2136	59	16	typical	typical	ADJ
fcis-2136	59	17	scenarios	scenario	NOUN
fcis-2136	59	18	of	of	ADP
fcis-2136	59	19	each	each	DET
fcis-2136	59	20	parking	parking	NOUN
fcis-2136	59	21	strategy	strategy	NOUN
fcis-2136	59	22	.	.	PUNCT
fcis-2136	60	1	fig	fig	NOUN
fcis-2136	60	2	.	.	PUNCT
fcis-2136	61	1	2	2	NUM
fcis-2136	61	2	trajectory	trajectory	NOUN
fcis-2136	61	3	planning	planning	NOUN
fcis-2136	61	4	of	of	ADP
fcis-2136	61	5	vehicle	vehicle	NOUN
fcis-2136	61	6	parking	parking	NOUN
fcis-2136	61	7	strategy	strategy	NOUN
fcis-2136	61	8	ll	ll	AUX
fcis-2136	61	9	wl	wl	PROPN
fcis-2136	61	10	egl	egl	PROPN
fcis-2136	61	11	efl	efl	PROPN
fcis-2136	61	12	80	80	NUM
fcis-2136	61	13	fig	fig	NOUN
fcis-2136	61	14	.	.	PUNCT
fcis-2136	62	1	3	3	NUM
fcis-2136	62	2	parking	parking	NOUN
fcis-2136	62	3	trajectory	trajectory	NOUN
fcis-2136	62	4	planning	planning	NOUN
fcis-2136	62	5	of	of	ADP
fcis-2136	62	6	reverse	reverse	ADJ
fcis-2136	62	7	parking	parking	NOUN
fcis-2136	62	8	strategy	strategy	NOUN
fcis-2136	62	9	after	after	ADP
fcis-2136	62	10	vehicle	vehicle	NOUN
fcis-2136	62	11	forward	forward	ADV
fcis-2136	62	12	adjustment	adjustment	NOUN
fcis-2136	62	13	fig	fig	NOUN
fcis-2136	62	14	.	.	PUNCT
fcis-2136	63	1	4	4	NUM
fcis-2136	63	2	parking	parking	NOUN
fcis-2136	63	3	trajectory	trajectory	NOUN
fcis-2136	63	4	planning	planning	NOUN
fcis-2136	63	5	of	of	ADP
fcis-2136	63	6	multiple	multiple	ADJ
fcis-2136	63	7	adjusted	adjust	VERB
fcis-2136	63	8	parking	parking	NOUN
fcis-2136	63	9	strategy	strategy	NOUN
fcis-2136	63	10	in	in	ADP
fcis-2136	63	11	the	the	DET
fcis-2136	63	12	vertical	vertical	ADJ
fcis-2136	63	13	parking	parking	NOUN
fcis-2136	63	14	path	path	NOUN
fcis-2136	63	15	,	,	PUNCT
fcis-2136	63	16	it	it	PRON
fcis-2136	63	17	mainly	mainly	ADV
fcis-2136	63	18	includes	include	VERB
fcis-2136	63	19	three	three	NUM
fcis-2136	63	20	-	-	PUNCT
fcis-2136	63	21	line	line	NOUN
fcis-2136	63	22	segments	segment	NOUN
fcis-2136	63	23	:	:	PUNCT
fcis-2136	63	24	straight	straight	ADJ
fcis-2136	63	25	line	line	NOUN
fcis-2136	63	26	,	,	PUNCT
fcis-2136	63	27	arc	arc	NOUN
fcis-2136	63	28	and	and	CCONJ
fcis-2136	63	29	transition	transition	NOUN
fcis-2136	63	30	curve	curve	NOUN
fcis-2136	63	31	.	.	PUNCT
fcis-2136	64	1	the	the	DET
fcis-2136	64	2	formula	formula	NOUN
fcis-2136	64	3	expression	expression	NOUN
fcis-2136	64	4	is	be	AUX
fcis-2136	64	5	similar	similar	ADJ
fcis-2136	64	6	.	.	PUNCT
fcis-2136	65	1	therefore	therefore	ADV
fcis-2136	65	2	,	,	PUNCT
fcis-2136	65	3	this	this	DET
fcis-2136	65	4	paper	paper	NOUN
fcis-2136	65	5	takes	take	VERB
fcis-2136	65	6	the	the	DET
fcis-2136	65	7	one	one	NUM
fcis-2136	65	8	-	-	PUNCT
fcis-2136	65	9	time	time	NOUN
fcis-2136	65	10	reverse	reverse	ADJ
fcis-2136	65	11	parking	parking	NOUN
fcis-2136	65	12	strategy	strategy	NOUN
fcis-2136	65	13	as	as	ADP
fcis-2136	65	14	an	an	DET
fcis-2136	65	15	example	example	NOUN
fcis-2136	65	16	to	to	PART
fcis-2136	65	17	derive	derive	VERB
fcis-2136	65	18	and	and	CCONJ
fcis-2136	65	19	analyze	analyze	VERB
fcis-2136	65	20	the	the	DET
fcis-2136	65	21	formula	formula	NOUN
fcis-2136	65	22	,	,	PUNCT
fcis-2136	65	23	that	that	ADV
fcis-2136	65	24	is	is	ADV
fcis-2136	65	25	,	,	PUNCT
fcis-2136	65	26	the	the	DET
fcis-2136	65	27	following	follow	VERB
fcis-2136	65	28	analysis	analysis	NOUN
fcis-2136	65	29	and	and	CCONJ
fcis-2136	65	30	calculation	calculation	NOUN
fcis-2136	65	31	are	be	AUX
fcis-2136	65	32	carried	carry	VERB
fcis-2136	65	33	out	out	ADP
fcis-2136	65	34	for	for	ADP
fcis-2136	65	35	figure	figure	NOUN
fcis-2136	65	36	2.2	2.2	NUM
fcis-2136	65	37	.	.	PUNCT
fcis-2136	66	1	the	the	DET
fcis-2136	66	2	vehicle	vehicle	NOUN
fcis-2136	66	3	parking	parking	NOUN
fcis-2136	66	4	path	path	NOUN
fcis-2136	66	5	consists	consist	VERB
fcis-2136	66	6	of	of	ADP
fcis-2136	66	7	straight	straight	ADJ
fcis-2136	66	8	line	line	NOUN
fcis-2136	66	9	p1p2	p1p2	PROPN
fcis-2136	66	10	,	,	PUNCT
fcis-2136	66	11	transition	transition	NOUN
fcis-2136	66	12	curve	curve	NOUN
fcis-2136	66	13	p2p3	p2p3	NOUN
fcis-2136	66	14	,	,	PUNCT
fcis-2136	66	15	arc	arc	NOUN
fcis-2136	66	16	p3p4	p3p4	NOUN
fcis-2136	66	17	,	,	PUNCT
fcis-2136	66	18	transition	transition	NOUN
fcis-2136	66	19	curve	curve	NOUN
fcis-2136	66	20	p4p5	p4p5	PROPN
fcis-2136	66	21	and	and	CCONJ
fcis-2136	66	22	straight	straight	ADJ
fcis-2136	66	23	line	line	NOUN
fcis-2136	66	24	p5p6	p5p6	PROPN
fcis-2136	66	25	.	.	PROPN
fcis-2136	66	26	wherein	wherein	PROPN
fcis-2136	66	27	,	,	PUNCT
fcis-2136	66	28	the	the	DET
fcis-2136	66	29	green	green	ADJ
fcis-2136	66	30	line	line	NOUN
fcis-2136	66	31	segment	segment	NOUN
fcis-2136	66	32	represents	represent	VERB
fcis-2136	66	33	the	the	DET
fcis-2136	66	34	straight	straight	ADJ
fcis-2136	66	35	reversing	reversing	NOUN
fcis-2136	66	36	path	path	NOUN
fcis-2136	66	37	of	of	ADP
fcis-2136	66	38	the	the	DET
fcis-2136	66	39	rear	rear	ADJ
fcis-2136	66	40	axle	axle	NOUN
fcis-2136	66	41	center	center	NOUN
fcis-2136	66	42	of	of	ADP
fcis-2136	66	43	the	the	DET
fcis-2136	66	44	vehicle	vehicle	NOUN
fcis-2136	66	45	;	;	PUNCT
fcis-2136	66	46	yellow	yellow	ADJ
fcis-2136	66	47	curve	curve	NOUN
fcis-2136	66	48	represents	represent	VERB
fcis-2136	66	49	the	the	DET
fcis-2136	66	50	center	center	NOUN
fcis-2136	66	51	of	of	ADP
fcis-2136	66	52	the	the	DET
fcis-2136	66	53	vehicle	vehicle	NOUN
fcis-2136	66	54	rear	rear	ADJ
fcis-2136	66	55	axle	axle	NOUN
fcis-2136	66	56	ease	ease	NOUN
fcis-2136	66	57	curve	curve	NOUN
fcis-2136	66	58	path	path	NOUN
fcis-2136	66	59	;	;	PUNCT
fcis-2136	66	60	the	the	DET
fcis-2136	66	61	blue	blue	ADJ
fcis-2136	66	62	curve	curve	NOUN
fcis-2136	66	63	represents	represent	VERB
fcis-2136	66	64	the	the	DET
fcis-2136	66	65	arc	arc	NOUN
fcis-2136	66	66	path	path	NOUN
fcis-2136	66	67	of	of	ADP
fcis-2136	66	68	the	the	DET
fcis-2136	66	69	vehicle	vehicle	NOUN
fcis-2136	66	70	rear	rear	PROPN
fcis-2136	66	71	axle	axle	NOUN
fcis-2136	66	72	center	center	NOUN
fcis-2136	66	73	;	;	PUNCT
fcis-2136	66	74	the	the	DET
fcis-2136	66	75	red	red	ADJ
fcis-2136	66	76	arc	arc	NOUN
fcis-2136	66	77	represents	represent	VERB
fcis-2136	66	78	the	the	DET
fcis-2136	66	79	vehicle	vehicle	NOUN
fcis-2136	66	80	space	space	NOUN
fcis-2136	66	81	constraint	constraint	NOUN
fcis-2136	66	82	critical	critical	ADJ
fcis-2136	66	83	.	.	PUNCT
fcis-2136	67	1	(	(	PUNCT
fcis-2136	67	2	1	1	X
fcis-2136	67	3	)	)	PUNCT
fcis-2136	67	4	derivation	derivation	NOUN
fcis-2136	67	5	of	of	ADP
fcis-2136	67	6	straight	straight	ADJ
fcis-2136	67	7	line	line	NOUN
fcis-2136	67	8	p1p2	p1p2	NOUN
fcis-2136	67	9	:	:	PUNCT
fcis-2136	67	10	let	let	VERB
fcis-2136	67	11	the	the	DET
fcis-2136	67	12	time	time	NOUN
fcis-2136	67	13	-	-	PUNCT
fcis-2136	67	14	consuming	consume	VERB
fcis-2136	67	15	phase	phase	NOUN
fcis-2136	67	16	of	of	ADP
fcis-2136	67	17	the	the	DET
fcis-2136	67	18	straight	straight	ADJ
fcis-2136	67	19	line	line	NOUN
fcis-2136	68	1	p1p2	p1p2	PROPN
fcis-2136	68	2	be	be	VERB
fcis-2136	68	3	tp1	tp1	NOUN
fcis-2136	68	4	-	-	NOUN
fcis-2136	68	5	tp2	tp2	PROPN
fcis-2136	69	1	and	and	CCONJ
fcis-2136	69	2	the	the	DET
fcis-2136	69	3	distance	distance	NOUN
fcis-2136	69	4	be	be	AUX
fcis-2136	69	5	lp1p2	lp1p2	PROPN
fcis-2136	69	6	.	.	PUNCT
fcis-2136	70	1	when	when	SCONJ
fcis-2136	70	2	tp1	tp1	NOUN
fcis-2136	70	3	=	=	SYM
fcis-2136	70	4	0	0	NUM
fcis-2136	70	5	≤	≤	NUM
fcis-2136	70	6	t	t	PROPN
fcis-2136	70	7	≤	≤	PROPN
fcis-2136	70	8	tp2	tp2	PROPN
fcis-2136	70	9	,	,	PUNCT
fcis-2136	70	10	p	p	PROPN
fcis-2136	70	11	is	be	AUX
fcis-2136	70	12	a	a	DET
fcis-2136	70	13	point	point	NOUN
fcis-2136	70	14	on	on	ADP
fcis-2136	70	15	the	the	DET
fcis-2136	70	16	straight	straight	ADJ
fcis-2136	70	17	line	line	NOUN
fcis-2136	70	18	at	at	ADP
fcis-2136	70	19	time	time	NOUN
fcis-2136	70	20	t	t	PROPN
fcis-2136	70	21	,	,	PUNCT
fcis-2136	70	22	then	then	ADV
fcis-2136	70	23	the	the	DET
fcis-2136	70	24	linear	linear	ADJ
fcis-2136	70	25	equation	equation	NOUN
fcis-2136	70	26	is	be	AUX
fcis-2136	70	27	:	:	PUNCT
fcis-2136	70	28			NUM
fcis-2136	70	29			PROPN
fcis-2136	70	30			NUM
fcis-2136	70	31			NUM
fcis-2136	70	32			NOUN
fcis-2136	70	33	=	=	PUNCT
fcis-2136	70	34	−=	−=	X
fcis-2136	70	35	−=	−=	ADV
fcis-2136	70	36	1	1	NUM
fcis-2136	70	37	111	111	NUM
fcis-2136	70	38	111	111	NUM
fcis-2136	70	39	sin	sin	NOUN
fcis-2136	70	40	cos	cos	PROPN
fcis-2136	70	41	pp	pp	PROPN
fcis-2136	70	42	ppppp	ppppp	PROPN
fcis-2136	70	43	ppppp	ppppp	PROPN
fcis-2136	70	44	θθ	θθ	NUM
fcis-2136	70	45	θlyy	θlyy	PROPN
fcis-2136	70	46	θlxx	θlxx	PROPN
fcis-2136	70	47	where	where	SCONJ
fcis-2136	70	48	,	,	PUNCT
fcis-2136	70	49	lp1p	lp1p	PROPN
fcis-2136	70	50	denotes	denote	VERB
fcis-2136	70	51	the	the	DET
fcis-2136	70	52	distance	distance	NOUN
fcis-2136	70	53	from	from	ADP
fcis-2136	70	54	p1	p1	PROPN
fcis-2136	70	55	to	to	ADP
fcis-2136	70	56	p	p	PRON
fcis-2136	70	57	,	,	PUNCT
fcis-2136	70	58	the	the	DET
fcis-2136	70	59	intersection	intersection	NOUN
fcis-2136	70	60	point	point	NOUN
fcis-2136	70	61	p2	p2	PROPN
fcis-2136	70	62	coordinates	coordinate	NOUN
fcis-2136	70	63	of	of	ADP
fcis-2136	70	64	the	the	DET
fcis-2136	70	65	straight	straight	ADJ
fcis-2136	70	66	line	line	NOUN
fcis-2136	70	67	and	and	CCONJ
fcis-2136	70	68	the	the	DET
fcis-2136	70	69	transition	transition	NOUN
fcis-2136	70	70	curve	curve	NOUN
fcis-2136	70	71	and	and	CCONJ
fcis-2136	70	72	the	the	DET
fcis-2136	70	73	body	body	NOUN
fcis-2136	70	74	attitude	attitude	NOUN
fcis-2136	70	75	angle	angle	NOUN
fcis-2136	70	76	are	be	AUX
fcis-2136	70	77	:	:	PUNCT
fcis-2136	70	78			PRON
fcis-2136	70	79			PROPN
fcis-2136	70	80			NUM
fcis-2136	70	81			NUM
fcis-2136	70	82			NOUN
fcis-2136	70	83	=	=	PUNCT
fcis-2136	70	84	−=	−=	X
fcis-2136	70	85	−=	−=	X
fcis-2136	70	86	12	12	NUM
fcis-2136	70	87	12112	12112	NUM
fcis-2136	70	88	12112	12112	NUM
fcis-2136	70	89	sin	sin	NOUN
fcis-2136	71	1	cos	cos	PROPN
fcis-2136	71	2	pp	pp	PROPN
fcis-2136	71	3	ppppp	ppppp	PROPN
fcis-2136	71	4	ppppp	ppppp	PROPN
fcis-2136	71	5	θθ	θθ	NUM
fcis-2136	71	6	θlyy	θlyy	PROPN
fcis-2136	71	7	θlxx	θlxx	PROPN
fcis-2136	71	8	(	(	PUNCT
fcis-2136	71	9	2	2	NUM
fcis-2136	71	10	)	)	PUNCT
fcis-2136	71	11	transition	transition	NOUN
fcis-2136	71	12	curve	curve	NOUN
fcis-2136	71	13	p2p3	p2p3	CCONJ
fcis-2136	71	14	derivation	derivation	NOUN
fcis-2136	71	15	the	the	DET
fcis-2136	71	16	time	time	NOUN
fcis-2136	71	17	-	-	PUNCT
fcis-2136	71	18	consuming	consume	VERB
fcis-2136	71	19	stage	stage	NOUN
fcis-2136	71	20	of	of	ADP
fcis-2136	71	21	the	the	DET
fcis-2136	71	22	transition	transition	NOUN
fcis-2136	71	23	curve	curve	NOUN
fcis-2136	71	24	p2p3	p2p3	NUM
fcis-2136	71	25	is	be	AUX
fcis-2136	71	26	tp2	tp2	NOUN
fcis-2136	71	27	-	-	PUNCT
fcis-2136	71	28	tp3	tp3	NOUN
fcis-2136	71	29	.	.	PUNCT
fcis-2136	72	1	when	when	SCONJ
fcis-2136	72	2	tp2	tp2	PROPN
fcis-2136	72	3	<	<	X
fcis-2136	72	4	t	t	NOUN
fcis-2136	72	5	≤	≤	NUM
fcis-2136	72	6	tp3	tp3	NOUN
fcis-2136	72	7	,	,	PUNCT
fcis-2136	72	8	p	p	NOUN
fcis-2136	72	9	is	be	AUX
fcis-2136	72	10	a	a	DET
fcis-2136	72	11	point	point	NOUN
fcis-2136	72	12	on	on	ADP
fcis-2136	72	13	the	the	DET
fcis-2136	72	14	transition	transition	NOUN
fcis-2136	72	15	curve	curve	NOUN
fcis-2136	72	16	at	at	ADP
fcis-2136	72	17	time	time	NOUN
fcis-2136	72	18	t.	t.	PROPN
fcis-2136	72	19	firstly	firstly	ADV
fcis-2136	72	20	,	,	PUNCT
fcis-2136	72	21	according	accord	VERB
fcis-2136	72	22	to	to	ADP
fcis-2136	72	23	the	the	DET
fcis-2136	72	24	theoretical	theoretical	ADJ
fcis-2136	72	25	equation	equation	NOUN
fcis-2136	72	26	of	of	ADP
fcis-2136	72	27	the	the	DET
fcis-2136	72	28	transition	transition	NOUN
fcis-2136	72	29	curve	curve	NOUN
fcis-2136	72	30	,	,	PUNCT
fcis-2136	72	31	it	it	PRON
fcis-2136	72	32	can	can	AUX
fcis-2136	72	33	be	be	AUX
fcis-2136	72	34	obtained	obtain	VERB
fcis-2136	72	35	that	that	SCONJ
fcis-2136	72	36	:	:	PUNCT
fcis-2136	73	1			NUM
fcis-2136	73	2			NUM
fcis-2136	73	3			NUM
fcis-2136	73	4			NUM
fcis-2136	73	5			PROPN
fcis-2136	73	6			NUM
fcis-2136	73	7			NUM
fcis-2136	73	8			NUM
fcis-2136	73	9			NUM
fcis-2136	73	10			NUM
fcis-2136	73	11			ADP
fcis-2136	74	1	=	=	PUNCT
fcis-2136	75	1	+	+	ADJ
fcis-2136	75	2	−+−=	−+−=	X
fcis-2136	75	3	+	+	NOUN
fcis-2136	75	4	−+−=	−+−=	SYM
fcis-2136	75	5	33	33	NUM
fcis-2136	75	6	2	2	NUM
fcis-2136	75	7	2	2	NUM
fcis-2136	75	8	33	33	NUM
fcis-2136	75	9	2	2	NUM
fcis-2136	75	10	33	33	NUM
fcis-2136	75	11	2	2	NUM
fcis-2136	75	12	33	33	NUM
fcis-2136	75	13	2	2	NUM
fcis-2136	75	14	33	33	NUM
fcis-2136	75	15	2	2	NUM
fcis-2136	75	16	2	2	NUM
fcis-2136	75	17	33	33	NUM
fcis-2136	75	18	2	2	NUM
fcis-2136	75	19	33	33	NUM
fcis-2136	75	20	2	2	NUM
fcis-2136	75	21	33	33	NUM
fcis-2136	75	22	2	2	NUM
fcis-2136	75	23	22	22	NUM
fcis-2136	75	24	2	2	NUM
fcis-2136	75	25	)	)	PUNCT
fcis-2136	75	26	1612800704056	1612800704056	NUM
fcis-2136	75	27	1	1	NUM
fcis-2136	75	28	(	(	PUNCT
fcis-2136	75	29	6	6	NUM
fcis-2136	75	30	)	)	PUNCT
fcis-2136	75	31	599040345640	599040345640	NUM
fcis-2136	75	32	1	1	NUM
fcis-2136	75	33	(	(	PUNCT
fcis-2136	75	34	2	2	NUM
fcis-2136	75	35	66	66	NUM
fcis-2136	75	36	12	12	NUM
fcis-2136	75	37	44	44	NUM
fcis-2136	75	38	8	8	NUM
fcis-2136	75	39	22	22	NUM
fcis-2136	75	40	43	43	NUM
fcis-2136	75	41	66	66	NUM
fcis-2136	75	42	12	12	NUM
fcis-2136	75	43	44	44	NUM
fcis-2136	75	44	8	8	NUM
fcis-2136	75	45	22	22	NUM
fcis-2136	75	46	4	4	NUM
fcis-2136	76	1	pp	pp	ADV
fcis-2136	77	1	pp	pp	INTJ
fcis-2136	78	1	pp	pp	INTJ
fcis-2136	79	1	pp	pp	INTJ
fcis-2136	80	1	pp	pp	INTJ
fcis-2136	81	1	pp	pp	INTJ
fcis-2136	82	1	pp	pp	INTJ
fcis-2136	83	1	pp	pp	INTJ
fcis-2136	84	1	pp	pp	INTJ
fcis-2136	85	1	pp	pp	INTJ
fcis-2136	86	1	pp	pp	INTJ
fcis-2136	87	1	pp	pp	INTJ
fcis-2136	88	1	pp	pp	INTJ
fcis-2136	89	1	pp	pp	INTJ
fcis-2136	90	1	pp	pp	INTJ
fcis-2136	91	1	pp	pp	INTJ
fcis-2136	92	1	pp	pp	INTJ
fcis-2136	93	1	pp	pp	PROPN
fcis-2136	94	1	pppp	pppp	PROPN
fcis-2136	95	1	lr	lr	PROPN
fcis-2136	96	1	l	l	PROPN
fcis-2136	96	2	τ	τ	PROPN
fcis-2136	96	3	lr	lr	X
fcis-2136	96	4	l	l	NOUN
fcis-2136	96	5	lr	lr	X
fcis-2136	96	6	l	l	NOUN
fcis-2136	96	7	lr	lr	X
fcis-2136	96	8	l	l	NOUN
fcis-2136	96	9	lr	lr	PROPN
fcis-2136	96	10	l	l	PROPN
fcis-2136	96	11	dy	dy	NOUN
fcis-2136	96	12	lr	lr	PROPN
fcis-2136	96	13	l	l	PROPN
fcis-2136	96	14	lr	lr	PROPN
fcis-2136	96	15	l	l	NOUN
fcis-2136	96	16	lr	lr	PROPN
fcis-2136	96	17	l	l	PROPN
fcis-2136	96	18	ldx	ldx	PROPN
fcis-2136	96	19			NOUN
fcis-2136	96	20			NOUN
fcis-2136	96	21	where	where	SCONJ
fcis-2136	96	22	,	,	PUNCT
fcis-2136	96	23	dxp2p	dxp2p	PROPN
fcis-2136	96	24	is	be	AUX
fcis-2136	96	25	the	the	DET
fcis-2136	96	26	longitudinal	longitudinal	ADJ
fcis-2136	96	27	variation	variation	NOUN
fcis-2136	96	28	from	from	ADP
fcis-2136	96	29	point	point	NOUN
fcis-2136	96	30	p2	p2	NOUN
fcis-2136	96	31	to	to	PART
fcis-2136	96	32	point	point	VERB
fcis-2136	96	33	p	p	PRON
fcis-2136	96	34	,	,	PUNCT
fcis-2136	96	35	dyp2p	dyp2p	X
fcis-2136	96	36	is	be	AUX
fcis-2136	96	37	the	the	DET
fcis-2136	96	38	transverse	transverse	NOUN
fcis-2136	96	39	variation	variation	NOUN
fcis-2136	96	40	from	from	ADP
fcis-2136	96	41	point	point	NOUN
fcis-2136	96	42	p2	p2	NOUN
fcis-2136	96	43	to	to	PART
fcis-2136	96	44	point	point	VERB
fcis-2136	96	45	p	p	PRON
fcis-2136	96	46	,	,	PUNCT
fcis-2136	96	47	τp2p	τp2p	PROPN
fcis-2136	96	48	is	be	AUX
fcis-2136	96	49	the	the	DET
fcis-2136	96	50	tangential	tangential	ADJ
fcis-2136	96	51	angle	angle	NOUN
fcis-2136	96	52	variation	variation	NOUN
fcis-2136	96	53	from	from	ADP
fcis-2136	96	54	point	point	NOUN
fcis-2136	96	55	p2	p2	NOUN
fcis-2136	96	56	to	to	PART
fcis-2136	96	57	point	point	VERB
fcis-2136	96	58	p	p	PRON
fcis-2136	96	59	,	,	PUNCT
fcis-2136	96	60	lp2p	lp2p	PROPN
fcis-2136	96	61	is	be	AUX
fcis-2136	96	62	the	the	DET
fcis-2136	96	63	curve	curve	NOUN
fcis-2136	96	64	length	length	NOUN
fcis-2136	96	65	from	from	ADP
fcis-2136	96	66	point	point	NOUN
fcis-2136	96	67	p2	p2	NOUN
fcis-2136	96	68	to	to	PART
fcis-2136	96	69	point	point	VERB
fcis-2136	96	70	p	p	PRON
fcis-2136	96	71	,	,	PUNCT
fcis-2136	96	72	rp3	rp3	NOUN
fcis-2136	96	73	and	and	CCONJ
fcis-2136	96	74	lp3	lp3	NOUN
fcis-2136	96	75	are	be	AUX
fcis-2136	96	76	the	the	DET
fcis-2136	96	77	curvature	curvature	NOUN
fcis-2136	96	78	radius	radius	NOUN
fcis-2136	96	79	of	of	ADP
fcis-2136	96	80	point	point	NOUN
fcis-2136	96	81	p3	p3	PROPN
fcis-2136	96	82	and	and	CCONJ
fcis-2136	96	83	the	the	DET
fcis-2136	96	84	curve	curve	NOUN
fcis-2136	96	85	length	length	NOUN
fcis-2136	96	86	of	of	ADP
fcis-2136	96	87	p2p3	p2p3	NUM
fcis-2136	96	88	respectively	respectively	ADV
fcis-2136	96	89	.	.	PUNCT
fcis-2136	97	1	the	the	DET
fcis-2136	97	2	specific	specific	ADJ
fcis-2136	97	3	equation	equation	NOUN
fcis-2136	97	4	of	of	ADP
fcis-2136	97	5	the	the	DET
fcis-2136	97	6	mitigation	mitigation	NOUN
fcis-2136	97	7	curve	curve	NOUN
fcis-2136	97	8	p2p3	p2p3	NUM
fcis-2136	97	9	is	be	AUX
fcis-2136	97	10	:	:	PUNCT
fcis-2136	97	11			NUM
fcis-2136	97	12			PROPN
fcis-2136	97	13			NUM
fcis-2136	97	14			NUM
fcis-2136	97	15			PUNCT
fcis-2136	98	1	+	+	ADJ
fcis-2136	98	2	=	=	SYM
fcis-2136	98	3	+−=	+−=	NOUN
fcis-2136	98	4	−−=	−−=	NOUN
fcis-2136	98	5	pppp	pppp	X
fcis-2136	98	6	pppppppp	pppppppp	X
fcis-2136	98	7	pppppppp	pppppppp	NOUN
fcis-2136	98	8	θθ	θθ	ADV
fcis-2136	98	9	θdyθdxyy	θdyθdxyy	VERB
fcis-2136	98	10	θdyθdxxx	θdyθdxxx	NOUN
fcis-2136	98	11	22	22	NUM
fcis-2136	98	12	22222	22222	NUM
fcis-2136	98	13	22222	22222	NUM
fcis-2136	98	14	)	)	PUNCT
fcis-2136	98	15	cossin	cossin	NOUN
fcis-2136	98	16	(	(	PUNCT
fcis-2136	98	17	)	)	PUNCT
fcis-2136	98	18	sincos	sincos	PROPN
fcis-2136	98	19	(	(	PUNCT
fcis-2136	98	20			PROPN
fcis-2136	98	21	the	the	DET
fcis-2136	98	22	p3	p3	PROPN
fcis-2136	98	23	coordinates	coordinate	NOUN
fcis-2136	98	24	of	of	ADP
fcis-2136	98	25	the	the	DET
fcis-2136	98	26	intersection	intersection	NOUN
fcis-2136	98	27	of	of	ADP
fcis-2136	98	28	the	the	DET
fcis-2136	98	29	transition	transition	NOUN
fcis-2136	98	30	curve	curve	NOUN
fcis-2136	98	31	and	and	CCONJ
fcis-2136	98	32	the	the	DET
fcis-2136	98	33	arc	arc	NOUN
fcis-2136	98	34	and	and	CCONJ
fcis-2136	98	35	the	the	DET
fcis-2136	98	36	body	body	NOUN
fcis-2136	98	37	attitude	attitude	NOUN
fcis-2136	98	38	angle	angle	NOUN
fcis-2136	98	39	are	be	AUX
fcis-2136	98	40	:	:	PUNCT
fcis-2136	98	41			PRON
fcis-2136	98	42			PROPN
fcis-2136	98	43			NUM
fcis-2136	98	44			NUM
fcis-2136	98	45			PUNCT
fcis-2136	99	1	+	+	ADJ
fcis-2136	99	2	=	=	NOUN
fcis-2136	99	3	+−=	+−=	ADJ
fcis-2136	99	4	−−=	−−=	NUM
fcis-2136	99	5	3223	3223	NUM
fcis-2136	99	6	23223223	23223223	NUM
fcis-2136	99	7	23223223	23223223	NUM
fcis-2136	99	8	)	)	PUNCT
fcis-2136	99	9	cossin	cossin	NOUN
fcis-2136	99	10	(	(	PUNCT
fcis-2136	99	11	)	)	PUNCT
fcis-2136	99	12	sincos	sincos	PROPN
fcis-2136	99	13	(	(	PUNCT
fcis-2136	99	14	pppp	pppp	PROPN
fcis-2136	99	15	pppppppp	pppppppp	PROPN
fcis-2136	99	16	pppppppp	pppppppp	PROPN
fcis-2136	99	17	θθ	θθ	PRON
fcis-2136	99	18	θdyθdxyy	θdyθdxyy	ADJ
fcis-2136	99	19	θdyθdxxx	θdyθdxxx	NOUN
fcis-2136	99	20			NOUN
fcis-2136	99	21	(	(	PUNCT
fcis-2136	99	22	3	3	NUM
fcis-2136	99	23	)	)	PUNCT
fcis-2136	99	24	derivation	derivation	NOUN
fcis-2136	99	25	of	of	ADP
fcis-2136	99	26	arc	arc	NOUN
fcis-2136	99	27	p3p4	p3p4	NOUN
fcis-2136	99	28	let	let	VERB
fcis-2136	99	29	the	the	DET
fcis-2136	99	30	radius	radius	NOUN
fcis-2136	99	31	of	of	ADP
fcis-2136	99	32	p3p4	p3p4	NOUN
fcis-2136	99	33	be	be	AUX
fcis-2136	99	34	r	r	NOUN
fcis-2136	99	35	and	and	CCONJ
fcis-2136	99	36	the	the	DET
fcis-2136	99	37	time	time	NOUN
fcis-2136	99	38	-	-	PUNCT
fcis-2136	99	39	consuming	consume	VERB
fcis-2136	99	40	stage	stage	NOUN
fcis-2136	99	41	be	be	VERB
fcis-2136	99	42	tp3	tp3	NOUN
fcis-2136	99	43	-	-	PUNCT
fcis-2136	99	44	tp4	tp4	NOUN
fcis-2136	99	45	.	.	PUNCT
fcis-2136	100	1	when	when	SCONJ
fcis-2136	100	2	tp3	tp3	NOUN
fcis-2136	100	3	<	<	X
fcis-2136	100	4	t	t	X
fcis-2136	100	5	≤	≤	NUM
fcis-2136	100	6	tp4	tp4	NOUN
fcis-2136	100	7	,	,	PUNCT
fcis-2136	100	8	and	and	CCONJ
fcis-2136	100	9	p	p	NOUN
fcis-2136	100	10	is	be	AUX
fcis-2136	100	11	a	a	DET
fcis-2136	100	12	point	point	NOUN
fcis-2136	100	13	on	on	ADP
fcis-2136	100	14	the	the	DET
fcis-2136	100	15	arc	arc	NOUN
fcis-2136	100	16	curve	curve	NOUN
fcis-2136	100	17	at	at	ADP
fcis-2136	100	18	time	time	NOUN
fcis-2136	100	19	t.	t.	PROPN
fcis-2136	100	20	firstly	firstly	ADV
fcis-2136	100	21	,	,	PUNCT
fcis-2136	100	22	according	accord	VERB
fcis-2136	100	23	to	to	ADP
fcis-2136	100	24	the	the	DET
fcis-2136	100	25	arc	arc	NOUN
fcis-2136	100	26	theory	theory	NOUN
fcis-2136	100	27	,	,	PUNCT
fcis-2136	100	28	we	we	PRON
fcis-2136	100	29	can	can	AUX
fcis-2136	100	30	get	get	VERB
fcis-2136	100	31	:	:	PUNCT
fcis-2136	100	32			NUM
fcis-2136	100	33			NUM
fcis-2136	100	34			NUM
fcis-2136	100	35			NUM
fcis-2136	100	36			NUM
fcis-2136	100	37			NUM
fcis-2136	100	38			NUM
fcis-2136	100	39			NUM
fcis-2136	100	40			NUM
fcis-2136	100	41			NOUN
fcis-2136	101	1	=	=	NOUN
fcis-2136	101	2	=	=	X
fcis-2136	101	3	−=	−=	PROPN
fcis-2136	101	4	=	=	NOUN
fcis-2136	101	5			PUNCT
fcis-2136	101	6	r	r	NOUN
fcis-2136	101	7	dtv	dtv	PROPN
fcis-2136	101	8	r	r	NOUN
fcis-2136	101	9	l	l	NOUN
fcis-2136	101	10	rdoy	rdoy	NOUN
fcis-2136	101	11	rdox	rdox	NOUN
fcis-2136	101	12	t	t	PROPN
fcis-2136	101	13	tpp	tpp	PROPN
fcis-2136	101	14	pp	pp	PROPN
fcis-2136	101	15	ppp	ppp	PROPN
fcis-2136	101	16	ppp	ppp	PROPN
fcis-2136	101	17	p33	p33	PROPN
fcis-2136	101	18	3	3	NUM
fcis-2136	101	19	3	3	NUM
fcis-2136	101	20	3	3	NUM
fcis-2136	101	21	)	)	PUNCT
fcis-2136	101	22	cos1	cos1	PROPN
fcis-2136	101	23	(	(	PUNCT
fcis-2136	101	24	sin	sin	NOUN
fcis-2136	101	25			PROPN
fcis-2136	101	26			PROPN
fcis-2136	101	27			PROPN
fcis-2136	101	28	where	where	SCONJ
fcis-2136	101	29	,	,	PUNCT
fcis-2136	101	30	dxp3p	dxp3p	PROPN
fcis-2136	101	31	is	be	AUX
fcis-2136	101	32	the	the	DET
fcis-2136	101	33	longitudinal	longitudinal	ADJ
fcis-2136	101	34	variation	variation	NOUN
fcis-2136	101	35	from	from	ADP
fcis-2136	101	36	p3	p3	PROPN
fcis-2136	101	37	point	point	NOUN
fcis-2136	101	38	to	to	ADP
fcis-2136	101	39	p	p	NOUN
fcis-2136	101	40	point	point	NOUN
fcis-2136	101	41	,	,	PUNCT
fcis-2136	101	42	dyp3p	dyp3p	PROPN
fcis-2136	101	43	is	be	AUX
fcis-2136	101	44	the	the	DET
fcis-2136	101	45	transverse	transverse	NOUN
fcis-2136	101	46	variation	variation	NOUN
fcis-2136	101	47	from	from	ADP
fcis-2136	101	48	p3	p3	PROPN
fcis-2136	101	49	point	point	NOUN
fcis-2136	101	50	to	to	ADP
fcis-2136	101	51	p	p	NOUN
fcis-2136	101	52	point	point	NOUN
fcis-2136	101	53	,	,	PUNCT
fcis-2136	101	54	βp3p	βp3p	PROPN
fcis-2136	101	55	is	be	AUX
fcis-2136	101	56	the	the	DET
fcis-2136	101	57	central	central	ADJ
fcis-2136	101	58	angle	angle	NOUN
fcis-2136	101	59	variation	variation	NOUN
fcis-2136	101	60	from	from	ADP
fcis-2136	101	61	p3	p3	PROPN
fcis-2136	101	62	point	point	NOUN
fcis-2136	101	63	to	to	ADP
fcis-2136	101	64	p	p	NOUN
fcis-2136	101	65	point	point	NOUN
fcis-2136	101	66	,	,	PUNCT
fcis-2136	101	67	lp3p	lp3p	PROPN
fcis-2136	101	68	is	be	AUX
fcis-2136	101	69	the	the	DET
fcis-2136	101	70	arc	arc	NOUN
fcis-2136	101	71	length	length	NOUN
fcis-2136	101	72	from	from	ADP
fcis-2136	101	73	p3	p3	PROPN
fcis-2136	101	74	point	point	NOUN
fcis-2136	101	75	to	to	ADP
fcis-2136	101	76	p	p	NOUN
fcis-2136	101	77	point	point	NOUN
fcis-2136	101	78	.	.	PUNCT
fcis-2136	102	1	the	the	DET
fcis-2136	102	2	specific	specific	ADJ
fcis-2136	102	3	equation	equation	NOUN
fcis-2136	102	4	of	of	ADP
fcis-2136	102	5	the	the	DET
fcis-2136	102	6	arc	arc	NOUN
fcis-2136	102	7	curve	curve	NOUN
fcis-2136	102	8	p3p4	p3p4	PROPN
fcis-2136	102	9	is	be	AUX
fcis-2136	102	10	:	:	PUNCT
fcis-2136	102	11			NUM
fcis-2136	102	12			PROPN
fcis-2136	102	13			NUM
fcis-2136	102	14			NUM
fcis-2136	102	15			PUNCT
fcis-2136	103	1	+	+	ADJ
fcis-2136	103	2	=	=	SYM
fcis-2136	103	3	+−=	+−=	NOUN
fcis-2136	103	4	−−=	−−=	NOUN
fcis-2136	103	5	pppp	pppp	X
fcis-2136	103	6	pppppppp	pppppppp	X
fcis-2136	103	7	pppppppp	pppppppp	NOUN
fcis-2136	103	8	θθ	θθ	ADP
fcis-2136	103	9	θdoyθdoxyy	θdoyθdoxyy	NOUN
fcis-2136	103	10	θdoyθdoxxx	θdoyθdoxxx	NOUN
fcis-2136	103	11	33	33	NUM
fcis-2136	103	12	33333	33333	NUM
fcis-2136	103	13	33333	33333	NUM
fcis-2136	103	14	)	)	PUNCT
fcis-2136	103	15	cossin	cossin	NOUN
fcis-2136	103	16	(	(	PUNCT
fcis-2136	103	17	)	)	PUNCT
fcis-2136	103	18	sincos	sincos	PROPN
fcis-2136	103	19	(	(	PUNCT
fcis-2136	103	20			VERB
fcis-2136	103	21	the	the	DET
fcis-2136	103	22	intersection	intersection	NOUN
fcis-2136	103	23	point	point	NOUN
fcis-2136	103	24	p4	p4	ADJ
fcis-2136	103	25	coordinates	coordinate	NOUN
fcis-2136	103	26	of	of	ADP
fcis-2136	103	27	the	the	DET
fcis-2136	103	28	arc	arc	NOUN
fcis-2136	103	29	and	and	CCONJ
fcis-2136	103	30	the	the	DET
fcis-2136	103	31	transition	transition	NOUN
fcis-2136	103	32	curve	curve	NOUN
fcis-2136	103	33	and	and	CCONJ
fcis-2136	103	34	the	the	DET
fcis-2136	103	35	body	body	NOUN
fcis-2136	103	36	attitude	attitude	NOUN
fcis-2136	103	37	angle	angle	NOUN
fcis-2136	103	38	are	be	AUX
fcis-2136	103	39	:	:	PUNCT
fcis-2136	103	40			PRON
fcis-2136	103	41			PROPN
fcis-2136	103	42			NUM
fcis-2136	103	43			NUM
fcis-2136	103	44			PUNCT
fcis-2136	104	1	+	+	ADJ
fcis-2136	104	2	=	=	NOUN
fcis-2136	104	3	+−=	+−=	NOUN
fcis-2136	104	4	−−=	−−=	X
fcis-2136	104	5	4334	4334	NUM
fcis-2136	104	6	34334334	34334334	NUM
fcis-2136	104	7	34334334	34334334	NUM
fcis-2136	104	8	)	)	PUNCT
fcis-2136	104	9	cossin	cossin	NOUN
fcis-2136	104	10	(	(	PUNCT
fcis-2136	104	11	)	)	PUNCT
fcis-2136	104	12	sincos	sincos	PROPN
fcis-2136	104	13	(	(	PUNCT
fcis-2136	104	14	pppp	pppp	PROPN
fcis-2136	104	15	pppppppp	pppppppp	PROPN
fcis-2136	104	16	pppppppp	pppppppp	PROPN
fcis-2136	104	17	θθ	θθ	ADP
fcis-2136	104	18	θdoyθdoxyy	θdoyθdoxyy	NOUN
fcis-2136	104	19	θdoyθdoxxx	θdoyθdoxxx	PROPN
fcis-2136	104	20			PROPN
fcis-2136	104	21	(	(	PUNCT
fcis-2136	104	22	4	4	NUM
fcis-2136	104	23	)	)	PUNCT
fcis-2136	104	24	transition	transition	NOUN
fcis-2136	104	25	curve	curve	NOUN
fcis-2136	104	26	p4p5	p4p5	NOUN
fcis-2136	104	27	derivation	derivation	NOUN
fcis-2136	104	28	the	the	DET
fcis-2136	104	29	time	time	NOUN
fcis-2136	104	30	-	-	PUNCT
fcis-2136	104	31	consuming	consume	VERB
fcis-2136	104	32	stage	stage	NOUN
fcis-2136	104	33	of	of	ADP
fcis-2136	104	34	the	the	DET
fcis-2136	104	35	transition	transition	NOUN
fcis-2136	104	36	curve	curve	NOUN
fcis-2136	104	37	p4p5	p4p5	NOUN
fcis-2136	104	38	is	be	AUX
fcis-2136	104	39	tp4	tp4	NOUN
fcis-2136	104	40	-	-	PUNCT
fcis-2136	104	41	tp5	tp5	NOUN
fcis-2136	104	42	.	.	PUNCT
fcis-2136	105	1	when	when	SCONJ
fcis-2136	105	2	tp4	tp4	PROPN
fcis-2136	105	3	<	<	X
fcis-2136	105	4	t	t	NOUN
fcis-2136	105	5	≤	≤	NOUN
fcis-2136	105	6	tp5	tp5	NOUN
fcis-2136	105	7	,	,	PUNCT
fcis-2136	105	8	p	p	NOUN
fcis-2136	105	9	is	be	AUX
fcis-2136	105	10	a	a	DET
fcis-2136	105	11	point	point	NOUN
fcis-2136	105	12	on	on	ADP
fcis-2136	105	13	the	the	DET
fcis-2136	105	14	transition	transition	NOUN
fcis-2136	105	15	curve	curve	NOUN
fcis-2136	105	16	at	at	ADP
fcis-2136	105	17	time	time	NOUN
fcis-2136	105	18	t.	t.	PROPN
fcis-2136	105	19	since	since	SCONJ
fcis-2136	105	20	the	the	DET
fcis-2136	105	21	starting	starting	NOUN
fcis-2136	105	22	point	point	NOUN
fcis-2136	105	23	of	of	ADP
fcis-2136	105	24	the	the	DET
fcis-2136	105	25	transition	transition	NOUN
fcis-2136	105	26	curve	curve	NOUN
fcis-2136	105	27	p4p5	p4p5	NOUN
fcis-2136	105	28	is	be	AUX
fcis-2136	105	29	p4	p4	ADJ
fcis-2136	105	30	,	,	PUNCT
fcis-2136	105	31	81	81	NUM
fcis-2136	105	32	the	the	DET
fcis-2136	105	33	coordinates	coordinate	NOUN
fcis-2136	105	34	of	of	ADP
fcis-2136	105	35	the	the	DET
fcis-2136	105	36	end	end	NOUN
fcis-2136	105	37	point	point	NOUN
fcis-2136	105	38	p5	p5	ADJ
fcis-2136	105	39	of	of	ADP
fcis-2136	105	40	the	the	DET
fcis-2136	105	41	transition	transition	NOUN
fcis-2136	105	42	curve	curve	NOUN
fcis-2136	105	43	can	can	AUX
fcis-2136	105	44	be	be	AUX
fcis-2136	105	45	calculated	calculate	VERB
fcis-2136	105	46	,	,	PUNCT
fcis-2136	105	47	and	and	CCONJ
fcis-2136	105	48	the	the	DET
fcis-2136	105	49	transition	transition	NOUN
fcis-2136	105	50	curve	curve	NOUN
fcis-2136	105	51	equation	equation	NOUN
fcis-2136	105	52	can	can	AUX
fcis-2136	105	53	be	be	AUX
fcis-2136	105	54	derived	derive	VERB
fcis-2136	105	55	and	and	CCONJ
fcis-2136	105	56	calculated	calculate	VERB
fcis-2136	105	57	by	by	ADP
fcis-2136	105	58	p5	p5	ADJ
fcis-2136	105	59	point	point	NOUN
fcis-2136	105	60	.	.	PUNCT
fcis-2136	106	1	since	since	SCONJ
fcis-2136	106	2	the	the	DET
fcis-2136	106	3	length	length	NOUN
fcis-2136	106	4	of	of	ADP
fcis-2136	106	5	the	the	DET
fcis-2136	106	6	transition	transition	NOUN
fcis-2136	106	7	curve	curve	NOUN
fcis-2136	106	8	p4p5	p4p5	NOUN
fcis-2136	106	9	is	be	AUX
fcis-2136	106	10	determined	determine	VERB
fcis-2136	106	11	,	,	PUNCT
fcis-2136	107	1	lp4p5	lp4p5	PROPN
fcis-2136	107	2	=	=	SYM
fcis-2136	107	3	lp5p4	lp5p4	PROPN
fcis-2136	107	4	,	,	PUNCT
fcis-2136	107	5	according	accord	VERB
fcis-2136	107	6	to	to	ADP
fcis-2136	107	7	the	the	DET
fcis-2136	107	8	theoretical	theoretical	ADJ
fcis-2136	107	9	equation	equation	NOUN
fcis-2136	107	10	of	of	ADP
fcis-2136	107	11	the	the	DET
fcis-2136	107	12	transition	transition	NOUN
fcis-2136	107	13	curve	curve	NOUN
fcis-2136	107	14	,	,	PUNCT
fcis-2136	107	15	we	we	PRON
fcis-2136	107	16	can	can	AUX
fcis-2136	107	17	get	get	VERB
fcis-2136	107	18	:	:	PUNCT
fcis-2136	107	19			NUM
fcis-2136	107	20			NUM
fcis-2136	107	21			NUM
fcis-2136	107	22			NUM
fcis-2136	107	23			NUM
fcis-2136	107	24			PROPN
fcis-2136	107	25			NUM
fcis-2136	107	26			NUM
fcis-2136	107	27			NUM
fcis-2136	107	28			NUM
fcis-2136	107	29			NUM
fcis-2136	107	30			NUM
fcis-2136	107	31			ADP
fcis-2136	108	1	=	=	PUNCT
fcis-2136	108	2	=	=	SYM
fcis-2136	108	3	+	+	ADJ
fcis-2136	108	4	−+−=	−+−=	X
fcis-2136	108	5	+	+	NOUN
fcis-2136	108	6	−+−=	−+−=	NUM
fcis-2136	108	7			ADP
fcis-2136	109	1	4	4	NUM
fcis-2136	109	2	5	5	NUM
fcis-2136	109	3	4	4	NUM
fcis-2136	109	4	4	4	NUM
fcis-2136	109	5	54	54	NUM
fcis-2136	109	6	54	54	NUM
fcis-2136	109	7	4	4	NUM
fcis-2136	109	8	54	54	NUM
fcis-2136	109	9	4	4	NUM
fcis-2136	109	10	54	54	NUM
fcis-2136	109	11	4	4	NUM
fcis-2136	109	12	54	54	NUM
fcis-2136	109	13	4	4	NUM
fcis-2136	109	14	54	54	NUM
fcis-2136	109	15	54	54	NUM
fcis-2136	109	16	4	4	NUM
fcis-2136	109	17	54	54	NUM
fcis-2136	109	18	4	4	NUM
fcis-2136	109	19	54	54	NUM
fcis-2136	109	20	4	4	NUM
fcis-2136	109	21	54	54	NUM
fcis-2136	109	22	5454	5454	NUM
fcis-2136	109	23	22	22	NUM
fcis-2136	109	24	)	)	PUNCT
fcis-2136	109	25	1612800704056	1612800704056	NUM
fcis-2136	109	26	1	1	NUM
fcis-2136	109	27	(	(	PUNCT
fcis-2136	109	28	6	6	NUM
fcis-2136	109	29	)	)	PUNCT
fcis-2136	109	30	599040345640	599040345640	NUM
fcis-2136	109	31	1	1	NUM
fcis-2136	109	32	(	(	PUNCT
fcis-2136	109	33	t	t	PROPN
fcis-2136	109	34	6	6	NUM
fcis-2136	109	35	6	6	NUM
fcis-2136	109	36	4	4	NUM
fcis-2136	109	37	4	4	NUM
fcis-2136	109	38	2	2	NUM
fcis-2136	109	39	22	22	NUM
fcis-2136	109	40	6	6	NUM
fcis-2136	109	41	6	6	NUM
fcis-2136	109	42	4	4	NUM
fcis-2136	109	43	4	4	NUM
fcis-2136	109	44	2	2	NUM
fcis-2136	109	45	2	2	NUM
fcis-2136	109	46	p	p	NOUN
fcis-2136	109	47	t	t	NOUN
fcis-2136	110	1	p	p	NOUN
fcis-2136	111	1	pp	pp	INTJ
fcis-2136	112	1	pp	pp	ADV
fcis-2136	112	2	p	p	NOUN
fcis-2136	113	1	pp	pp	ADJ
fcis-2136	113	2	p	p	NOUN
fcis-2136	114	1	pp	pp	ADP
fcis-2136	114	2	p	p	NOUN
fcis-2136	115	1	pp	pp	ADP
fcis-2136	115	2	p	p	NOUN
fcis-2136	116	1	pp	pp	INTJ
fcis-2136	116	2	pp	pp	ADV
fcis-2136	116	3	p	p	NOUN
fcis-2136	117	1	pp	pp	ADJ
fcis-2136	117	2	p	p	NOUN
fcis-2136	118	1	pp	pp	ADP
fcis-2136	118	2	p	p	PROPN
fcis-2136	118	3	pp	pp	PROPN
fcis-2136	118	4	pppp	pppp	PROPN
fcis-2136	118	5	r	r	PROPN
fcis-2136	118	6	dtv	dtv	PROPN
fcis-2136	118	7	r	r	NOUN
fcis-2136	118	8	l	l	NOUN
fcis-2136	118	9	τ	τ	X
fcis-2136	118	10	r	r	NOUN
fcis-2136	118	11	l	l	NOUN
fcis-2136	118	12	r	r	NOUN
fcis-2136	118	13	l	l	NOUN
fcis-2136	118	14	r	r	NOUN
fcis-2136	118	15	l	l	NOUN
fcis-2136	118	16	r	r	NOUN
fcis-2136	118	17	l	l	NOUN
fcis-2136	118	18	dy	dy	NOUN
fcis-2136	118	19	r	r	NOUN
fcis-2136	118	20	l	l	NOUN
fcis-2136	118	21	r	r	NOUN
fcis-2136	118	22	l	l	NOUN
fcis-2136	118	23	r	r	NOUN
fcis-2136	118	24	l	l	NOUN
fcis-2136	118	25	ldx	ldx	PROPN
fcis-2136	118	26	p	p	NOUN
fcis-2136	118	27	p	p	NOUN
fcis-2136	118	28			NOUN
fcis-2136	118	29			NOUN
fcis-2136	118	30	where	where	SCONJ
fcis-2136	118	31	,	,	PUNCT
fcis-2136	118	32	dxp5	dxp5	PROPN
fcis-2136	118	33	is	be	AUX
fcis-2136	118	34	the	the	DET
fcis-2136	118	35	longitudinal	longitudinal	ADJ
fcis-2136	118	36	variation	variation	NOUN
fcis-2136	118	37	from	from	ADP
fcis-2136	118	38	p4	p4	ADJ
fcis-2136	118	39	to	to	PART
fcis-2136	118	40	p5	p5	VERB
fcis-2136	118	41	,	,	PUNCT
fcis-2136	118	42	dyp5	dyp5	NOUN
fcis-2136	118	43	is	be	AUX
fcis-2136	118	44	the	the	DET
fcis-2136	118	45	transverse	transverse	NOUN
fcis-2136	118	46	variation	variation	NOUN
fcis-2136	118	47	from	from	ADP
fcis-2136	118	48	p4	p4	ADJ
fcis-2136	118	49	to	to	PART
fcis-2136	118	50	p5	p5	VERB
fcis-2136	118	51	,	,	PUNCT
fcis-2136	118	52	τp5	τp5	PROPN
fcis-2136	118	53	is	be	AUX
fcis-2136	118	54	the	the	DET
fcis-2136	118	55	tangential	tangential	ADJ
fcis-2136	118	56	angle	angle	NOUN
fcis-2136	118	57	variation	variation	NOUN
fcis-2136	118	58	from	from	ADP
fcis-2136	118	59	p4	p4	ADJ
fcis-2136	118	60	to	to	PART
fcis-2136	118	61	p5	p5	VERB
fcis-2136	118	62	,	,	PUNCT
fcis-2136	118	63	lp5	lp5	NOUN
fcis-2136	118	64	is	be	AUX
fcis-2136	118	65	the	the	DET
fcis-2136	118	66	curve	curve	NOUN
fcis-2136	118	67	length	length	NOUN
fcis-2136	118	68	from	from	ADP
fcis-2136	118	69	p4	p4	ADJ
fcis-2136	118	70	to	to	PART
fcis-2136	118	71	p5	p5	VERB
fcis-2136	118	72	,	,	PUNCT
fcis-2136	118	73	rp4	rp4	PROPN
fcis-2136	118	74	is	be	AUX
fcis-2136	118	75	the	the	DET
fcis-2136	118	76	radius	radius	NOUN
fcis-2136	118	77	of	of	ADP
fcis-2136	118	78	curvature	curvature	NOUN
fcis-2136	118	79	of	of	ADP
fcis-2136	118	80	p4	p4	ADJ
fcis-2136	118	81	.	.	PUNCT
fcis-2136	119	1	considering	consider	VERB
fcis-2136	119	2	the	the	DET
fcis-2136	119	3	body	body	NOUN
fcis-2136	119	4	attitude	attitude	NOUN
fcis-2136	119	5	angle	angle	NOUN
fcis-2136	119	6	,	,	PUNCT
fcis-2136	119	7	the	the	DET
fcis-2136	119	8	position	position	NOUN
fcis-2136	119	9	coordinates	coordinate	NOUN
fcis-2136	119	10	of	of	ADP
fcis-2136	119	11	the	the	DET
fcis-2136	119	12	p5	p5	ADJ
fcis-2136	119	13	point	point	NOUN
fcis-2136	119	14	of	of	ADP
fcis-2136	119	15	the	the	DET
fcis-2136	119	16	transition	transition	NOUN
fcis-2136	119	17	curve	curve	NOUN
fcis-2136	119	18	are	be	AUX
fcis-2136	119	19	:	:	PUNCT
fcis-2136	119	20			PRON
fcis-2136	119	21			PROPN
fcis-2136	119	22			NUM
fcis-2136	119	23			NUM
fcis-2136	119	24			PUNCT
fcis-2136	120	1	+	+	ADJ
fcis-2136	120	2	=	=	ADJ
fcis-2136	120	3	+−=	+−=	ADJ
fcis-2136	120	4	−−=	−−=	NUM
fcis-2136	120	5	5445	5445	NUM
fcis-2136	120	6	45445445	45445445	NUM
fcis-2136	120	7	45445445	45445445	NUM
fcis-2136	120	8	)	)	PUNCT
fcis-2136	120	9	cossin	cossin	NOUN
fcis-2136	120	10	(	(	PUNCT
fcis-2136	120	11	)	)	PUNCT
fcis-2136	120	12	sincos	sincos	PROPN
fcis-2136	120	13	(	(	PUNCT
fcis-2136	120	14	pppp	pppp	PROPN
fcis-2136	120	15	pppppppp	pppppppp	PROPN
fcis-2136	120	16	pppppppp	pppppppp	PROPN
fcis-2136	120	17	θθ	θθ	PRON
fcis-2136	120	18	θdyθdxyy	θdyθdxyy	ADJ
fcis-2136	120	19	θdyθdxxx	θdyθdxxx	PROPN
fcis-2136	120	20			NOUN
fcis-2136	120	21	the	the	DET
fcis-2136	120	22	specific	specific	ADJ
fcis-2136	120	23	equation	equation	NOUN
fcis-2136	120	24	of	of	ADP
fcis-2136	120	25	the	the	DET
fcis-2136	120	26	mitigation	mitigation	NOUN
fcis-2136	120	27	curve	curve	NOUN
fcis-2136	120	28	p4p5	p4p5	NOUN
fcis-2136	120	29	is	be	AUX
fcis-2136	120	30	:	:	PUNCT
fcis-2136	120	31			NUM
fcis-2136	120	32			PROPN
fcis-2136	120	33			NUM
fcis-2136	120	34			NUM
fcis-2136	120	35			ADV
fcis-2136	120	36	−=	−=	VERB
fcis-2136	120	37	++=	++=	PROPN
fcis-2136	120	38	−+=	−+=	ADJ
fcis-2136	120	39	ppp	ppp	NOUN
fcis-2136	120	40	pppppppp	pppppppp	PROPN
fcis-2136	120	41	pppppppp	pppppppp	NOUN
fcis-2136	120	42	θθ	θθ	PRON
fcis-2136	120	43	θdyθdxyy	θdyθdxyy	ADJ
fcis-2136	120	44	θdyθdxxx	θdyθdxxx	PROPN
fcis-2136	120	45			NOUN
fcis-2136	120	46	5	5	NUM
fcis-2136	120	47	55555	55555	NUM
fcis-2136	120	48	55555	55555	NUM
fcis-2136	120	49	)	)	PUNCT
fcis-2136	120	50	cossin	cossin	NOUN
fcis-2136	120	51	(	(	PUNCT
fcis-2136	120	52	)	)	PUNCT
fcis-2136	120	53	sincos	sincos	PROPN
fcis-2136	120	54	(	(	PUNCT
fcis-2136	120	55	(	(	PUNCT
fcis-2136	120	56	5	5	X
fcis-2136	120	57	)	)	PUNCT
fcis-2136	120	58	straight	straight	ADJ
fcis-2136	120	59	line	line	NOUN
fcis-2136	121	1	p5p6	p5p6	INTJ
fcis-2136	121	2	derivation	derivation	NOUN
fcis-2136	121	3	the	the	DET
fcis-2136	121	4	time	time	NOUN
fcis-2136	121	5	-	-	PUNCT
fcis-2136	121	6	consuming	consume	VERB
fcis-2136	121	7	stage	stage	NOUN
fcis-2136	121	8	of	of	ADP
fcis-2136	121	9	the	the	DET
fcis-2136	121	10	straight	straight	ADJ
fcis-2136	121	11	line	line	NOUN
fcis-2136	121	12	p5p6	p5p6	X
fcis-2136	121	13	is	be	AUX
fcis-2136	121	14	tp5tp6	tp5tp6	ADV
fcis-2136	121	15	,	,	PUNCT
fcis-2136	121	16	and	and	CCONJ
fcis-2136	121	17	the	the	DET
fcis-2136	121	18	distance	distance	NOUN
fcis-2136	121	19	is	be	AUX
fcis-2136	121	20	lp5p6	lp5p6	PROPN
fcis-2136	121	21	.	.	PUNCT
fcis-2136	122	1	when	when	SCONJ
fcis-2136	122	2	tp5	tp5	ADP
fcis-2136	122	3	<	<	X
fcis-2136	122	4	t	t	X
fcis-2136	122	5	≤	≤	PUNCT
fcis-2136	122	6	tp6	tp6	ADP
fcis-2136	122	7	,	,	PUNCT
fcis-2136	122	8	p	p	PRON
fcis-2136	122	9	is	be	AUX
fcis-2136	122	10	a	a	DET
fcis-2136	122	11	point	point	NOUN
fcis-2136	122	12	on	on	ADP
fcis-2136	122	13	the	the	DET
fcis-2136	122	14	straight	straight	ADJ
fcis-2136	122	15	line	line	NOUN
fcis-2136	122	16	at	at	ADP
fcis-2136	122	17	time	time	NOUN
fcis-2136	122	18	t	t	PROPN
fcis-2136	122	19	,	,	PUNCT
fcis-2136	122	20	then	then	ADV
fcis-2136	122	21	the	the	DET
fcis-2136	122	22	linear	linear	ADJ
fcis-2136	122	23	equation	equation	NOUN
fcis-2136	122	24	is	be	AUX
fcis-2136	122	25	:	:	PUNCT
fcis-2136	122	26			NUM
fcis-2136	122	27			PROPN
fcis-2136	122	28			NUM
fcis-2136	122	29			NUM
fcis-2136	122	30			NOUN
fcis-2136	122	31	=	=	PUNCT
fcis-2136	122	32	−=	−=	X
fcis-2136	122	33	−=	−=	X
fcis-2136	122	34	5	5	NUM
fcis-2136	122	35	555	555	NUM
fcis-2136	122	36	555	555	NUM
fcis-2136	122	37	sin	sin	NOUN
fcis-2136	122	38	cos	cos	PROPN
fcis-2136	122	39	pp	pp	PROPN
fcis-2136	122	40	ppppp	ppppp	PROPN
fcis-2136	122	41	ppppp	ppppp	PROPN
fcis-2136	122	42	θθ	θθ	NUM
fcis-2136	122	43	θlyy	θlyy	PROPN
fcis-2136	122	44	θlxx	θlxx	NOUN
fcis-2136	122	45	where	where	SCONJ
fcis-2136	122	46	lp5p	lp5p	PROPN
fcis-2136	122	47	denotes	denote	VERB
fcis-2136	122	48	the	the	DET
fcis-2136	122	49	length	length	NOUN
fcis-2136	122	50	of	of	ADP
fcis-2136	122	51	a	a	DET
fcis-2136	122	52	line	line	NOUN
fcis-2136	122	53	from	from	ADP
fcis-2136	122	54	p5	p5	ADJ
fcis-2136	122	55	to	to	ADP
fcis-2136	122	56	p.	p.	NOUN
fcis-2136	122	57	the	the	DET
fcis-2136	122	58	straight	straight	ADJ
fcis-2136	122	59	end	end	NOUN
fcis-2136	122	60	point	point	NOUN
fcis-2136	122	61	p6	p6	PROPN
fcis-2136	122	62	coordinates	coordinate	NOUN
fcis-2136	122	63	and	and	CCONJ
fcis-2136	122	64	body	body	NOUN
fcis-2136	122	65	attitude	attitude	NOUN
fcis-2136	122	66	angle	angle	NOUN
fcis-2136	122	67	are	be	AUX
fcis-2136	122	68	:	:	PUNCT
fcis-2136	122	69			PRON
fcis-2136	122	70			PROPN
fcis-2136	122	71			NUM
fcis-2136	122	72			NUM
fcis-2136	122	73			NOUN
fcis-2136	122	74	=	=	PUNCT
fcis-2136	122	75	−=	−=	X
fcis-2136	122	76	−=	−=	X
fcis-2136	122	77	56	56	NUM
fcis-2136	122	78	56556	56556	NUM
fcis-2136	122	79	56556	56556	NUM
fcis-2136	122	80	sin	sin	NOUN
fcis-2136	122	81	cos	cos	PROPN
fcis-2136	122	82	pp	pp	PROPN
fcis-2136	122	83	ppppp	ppppp	PROPN
fcis-2136	122	84	ppppp	ppppp	PROPN
fcis-2136	122	85	θθ	θθ	NUM
fcis-2136	122	86	θlyy	θlyy	PROPN
fcis-2136	122	87	θlxx	θlxx	NOUN
fcis-2136	122	88	in	in	ADP
fcis-2136	122	89	order	order	NOUN
fcis-2136	122	90	to	to	PART
fcis-2136	122	91	ensure	ensure	VERB
fcis-2136	122	92	the	the	DET
fcis-2136	122	93	parking	parking	NOUN
fcis-2136	122	94	quality	quality	NOUN
fcis-2136	122	95	,	,	PUNCT
fcis-2136	122	96	the	the	DET
fcis-2136	122	97	vehicle	vehicle	NOUN
fcis-2136	122	98	stops	stop	VERB
fcis-2136	122	99	at	at	ADP
fcis-2136	122	100	the	the	DET
fcis-2136	122	101	center	center	NOUN
fcis-2136	122	102	of	of	ADP
fcis-2136	122	103	the	the	DET
fcis-2136	122	104	parking	parking	NOUN
fcis-2136	122	105	space	space	NOUN
fcis-2136	122	106	after	after	ADP
fcis-2136	122	107	parking	parking	NOUN
fcis-2136	122	108	,	,	PUNCT
fcis-2136	122	109	that	that	ADV
fcis-2136	122	110	is	is	ADV
fcis-2136	122	111	,	,	PUNCT
fcis-2136	122	112	when	when	SCONJ
fcis-2136	122	113	the	the	DET
fcis-2136	122	114	parking	parking	NOUN
fcis-2136	122	115	stops	stop	VERB
fcis-2136	122	116	,	,	PUNCT
fcis-2136	122	117	the	the	DET
fcis-2136	122	118	coordinates	coordinate	NOUN
fcis-2136	122	119	of	of	ADP
fcis-2136	122	120	the	the	DET
fcis-2136	122	121	p6	p6	ADJ
fcis-2136	122	122	position	position	NOUN
fcis-2136	122	123	of	of	ADP
fcis-2136	122	124	the	the	DET
fcis-2136	122	125	vehicle	vehicle	NOUN
fcis-2136	122	126	rear	rear	ADJ
fcis-2136	122	127	axle	axle	NOUN
fcis-2136	122	128	end	end	NOUN
fcis-2136	122	129	point	point	NOUN
fcis-2136	122	130	are	be	AUX
fcis-2136	122	131	(	(	PUNCT
fcis-2136	122	132	0	0	NUM
fcis-2136	122	133	,	,	PUNCT
fcis-2136	122	134	−	−	PROPN
fcis-2136	122	135	(	(	PUNCT
fcis-2136	122	136	seg	seg	NOUN
fcis-2136	122	137	+	+	PROPN
fcis-2136	122	138	e	e	NOUN
fcis-2136	122	139	)	)	PUNCT
fcis-2136	122	140	/	/	SYM
fcis-2136	122	141	2	2	NUM
fcis-2136	122	142	)	)	PUNCT
fcis-2136	122	143	,	,	PUNCT
fcis-2136	122	144	and	and	CCONJ
fcis-2136	122	145	the	the	DET
fcis-2136	122	146	body	body	NOUN
fcis-2136	122	147	attitude	attitude	NOUN
fcis-2136	122	148	angle	angle	NOUN
fcis-2136	122	149	θp6	θp6	NOUN
fcis-2136	123	1	=	=	PUNCT
fcis-2136	123	2	π	π	NOUN
fcis-2136	123	3	/	/	SYM
fcis-2136	123	4	2	2	NUM
fcis-2136	123	5	.	.	PUNCT
fcis-2136	124	1	in	in	ADP
fcis-2136	124	2	addition	addition	NOUN
fcis-2136	124	3	,	,	PUNCT
fcis-2136	124	4	the	the	DET
fcis-2136	124	5	abscissa	abscissa	ADJ
fcis-2136	124	6	value	value	NOUN
fcis-2136	124	7	of	of	ADP
fcis-2136	124	8	the	the	DET
fcis-2136	124	9	center	center	NOUN
fcis-2136	124	10	o	o	NOUN
fcis-2136	124	11	is	be	AUX
fcis-2136	124	12	:	:	PUNCT
fcis-2136	124	13	54545	54545	NUM
fcis-2136	124	14	cos	cos	ADP
fcis-2136	124	15	pppppp	pppppp	PROPN
fcis-2136	124	16	rdxxx	rdxxx	PROPN
fcis-2136	125	1	o	o	NOUN
fcis-2136	125	2	++=	++=	NOUN
fcis-2136	125	3	)	)	PUNCT
fcis-2136	125	4	sin()sincos(cos	sin()sincos(co	NOUN
fcis-2136	125	5	3222322321211	3222322321211	NUM
fcis-2136	125	6	pppppppppppppp	pppppppppppppp	VERB
fcis-2136	125	7	rdydxlxx	rdydxlxx	PROPN
fcis-2136	125	8	o	o	PROPN
fcis-2136	125	9			PROPN
fcis-2136	125	10	+	+	PROPN
fcis-2136	125	11	−−+=−	−−+=−	NUM
fcis-2136	125	12	therefore	therefore	ADV
fcis-2136	125	13	,	,	PUNCT
fcis-2136	125	14	line	line	NOUN
fcis-2136	125	15	lp1p2	lp1p2	ADV
fcis-2136	125	16	,	,	PUNCT
fcis-2136	125	17	line	line	NOUN
fcis-2136	125	18	lp5p6	lp5p6	PROPN
fcis-2136	125	19	satisfy	satisfy	VERB
fcis-2136	125	20	the	the	DET
fcis-2136	125	21	following	follow	VERB
fcis-2136	125	22	relationship	relationship	NOUN
fcis-2136	125	23	:	:	PUNCT
fcis-2136	125	24	1	1	NUM
fcis-2136	125	25	32223223254541	32223223254541	NUM
fcis-2136	125	26	21	21	NUM
fcis-2136	125	27	cos	cos	NOUN
fcis-2136	125	28	)	)	PUNCT
fcis-2136	125	29	]	]	X
fcis-2136	126	1	sin()sincos(cos	sin()sincos(cos	PROPN
fcis-2136	126	2	[	[	PUNCT
fcis-2136	126	3	p	p	NOUN
fcis-2136	126	4	pppppppppppppp	pppppppppppppp	NOUN
fcis-2136	126	5	pp	pp	ADV
fcis-2136	126	6	rdydxrdxx	rdydxrdxx	VERB
fcis-2136	126	7	l	l	NOUN
fcis-2136	126	8			NOUN
fcis-2136	126	9			X
fcis-2136	127	1	+	+	ADJ
fcis-2136	127	2	+−−−−	+−−−−	NOUN
fcis-2136	127	3	=	=	SYM
fcis-2136	127	4	2	2	X
fcis-2136	127	5	)	)	PUNCT
fcis-2136	127	6	cossin	cossin	NOUN
fcis-2136	127	7	(	(	PUNCT
fcis-2136	127	8	)	)	PUNCT
fcis-2136	127	9	cossin()cossin(sin	cossin()cossin(sin	NOUN
fcis-2136	127	10	454454	454454	NUM
fcis-2136	127	11	343343232232121165	343343232232121165	NUM
fcis-2136	127	12	es	es	X
fcis-2136	127	13	dydx	dydx	NOUN
fcis-2136	127	14	doydoxdydxlyl	doydoxdydxlyl	NOUN
fcis-2136	127	15	eg	eg	PROPN
fcis-2136	127	16	pppppp	pppppp	PROPN
fcis-2136	127	17	pppppppppppppppppp	pppppppppppppppppp	PROPN
fcis-2136	127	18	+	+	X
fcis-2136	127	19	+	+	ADJ
fcis-2136	127	20	+−	+−	NOUN
fcis-2136	127	21	+−+−−=	+−+−−=	NUM
fcis-2136	127	22			NOUN
fcis-2136	127	23			X
fcis-2136	127	24	3	3	X
fcis-2136	127	25	.	.	X
fcis-2136	127	26	optimal	optimal	ADJ
fcis-2136	127	27	vertical	vertical	ADJ
fcis-2136	127	28	parking	parking	NOUN
fcis-2136	127	29	path	path	NOUN
fcis-2136	127	30	planning	planning	NOUN
fcis-2136	127	31	considering	consider	VERB
fcis-2136	127	32	the	the	DET
fcis-2136	127	33	influence	influence	NOUN
fcis-2136	127	34	of	of	ADP
fcis-2136	127	35	obstacles	obstacle	NOUN
fcis-2136	127	36	in	in	ADP
fcis-2136	127	37	the	the	DET
fcis-2136	127	38	process	process	NOUN
fcis-2136	127	39	of	of	ADP
fcis-2136	127	40	vertical	vertical	ADJ
fcis-2136	127	41	parking	parking	NOUN
fcis-2136	127	42	,	,	PUNCT
fcis-2136	127	43	it	it	PRON
fcis-2136	127	44	is	be	AUX
fcis-2136	127	45	also	also	ADV
fcis-2136	127	46	necessary	necessary	ADJ
fcis-2136	127	47	to	to	PART
fcis-2136	127	48	consider	consider	VERB
fcis-2136	127	49	the	the	DET
fcis-2136	127	50	collision	collision	NOUN
fcis-2136	127	51	constraints	constraint	NOUN
fcis-2136	127	52	of	of	ADP
fcis-2136	127	53	obstacles	obstacle	NOUN
fcis-2136	127	54	to	to	PART
fcis-2136	127	55	ensure	ensure	VERB
fcis-2136	127	56	that	that	SCONJ
fcis-2136	127	57	vehicles	vehicle	NOUN
fcis-2136	127	58	can	can	AUX
fcis-2136	127	59	park	park	VERB
fcis-2136	127	60	safely	safely	ADV
fcis-2136	127	61	.	.	PUNCT
fcis-2136	128	1	in	in	ADP
fcis-2136	128	2	addition	addition	NOUN
fcis-2136	128	3	,	,	PUNCT
fcis-2136	128	4	when	when	SCONJ
fcis-2136	128	5	the	the	DET
fcis-2136	128	6	vehicle	vehicle	NOUN
fcis-2136	128	7	plans	plan	VERB
fcis-2136	128	8	a	a	DET
fcis-2136	128	9	path	path	NOUN
fcis-2136	128	10	that	that	PRON
fcis-2136	128	11	can	can	AUX
fcis-2136	128	12	be	be	AUX
fcis-2136	128	13	safely	safely	ADV
fcis-2136	128	14	parked	park	VERB
fcis-2136	128	15	,	,	PUNCT
fcis-2136	128	16	it	it	PRON
fcis-2136	128	17	is	be	AUX
fcis-2136	128	18	necessary	necessary	ADJ
fcis-2136	128	19	to	to	PART
fcis-2136	128	20	consider	consider	VERB
fcis-2136	128	21	the	the	DET
fcis-2136	128	22	parking	parking	NOUN
fcis-2136	128	23	efficiency	efficiency	NOUN
fcis-2136	128	24	,	,	PUNCT
fcis-2136	128	25	that	that	ADV
fcis-2136	128	26	is	is	ADV
fcis-2136	128	27	,	,	PUNCT
fcis-2136	128	28	the	the	DET
fcis-2136	128	29	time	time	NOUN
fcis-2136	128	30	-	-	PUNCT
fcis-2136	128	31	consuming	consuming	NOUN
fcis-2136	128	32	of	of	ADP
fcis-2136	128	33	the	the	DET
fcis-2136	128	34	entire	entire	ADJ
fcis-2136	128	35	parking	parking	NOUN
fcis-2136	128	36	process	process	NOUN
fcis-2136	128	37	,	,	PUNCT
fcis-2136	128	38	to	to	PART
fcis-2136	128	39	achieve	achieve	VERB
fcis-2136	128	40	the	the	DET
fcis-2136	128	41	optimal	optimal	ADJ
fcis-2136	128	42	vertical	vertical	ADJ
fcis-2136	128	43	parking	parking	NOUN
fcis-2136	128	44	path	path	NOUN
fcis-2136	128	45	planning	planning	NOUN
fcis-2136	128	46	.	.	PUNCT
fcis-2136	129	1	3.1	3.1	NUM
fcis-2136	129	2	.	.	X
fcis-2136	129	3	obstacle	obstacle	NOUN
fcis-2136	129	4	and	and	CCONJ
fcis-2136	129	5	collision	collision	VERB
fcis-2136	129	6	analysis	analysis	NOUN
fcis-2136	129	7	3.1.1	3.1.1	NUM
fcis-2136	129	8	.	.	PUNCT
fcis-2136	130	1	obstacle	obstacle	NOUN
fcis-2136	130	2	analysis	analysis	NOUN
fcis-2136	130	3	obstacles	obstacle	NOUN
fcis-2136	130	4	mainly	mainly	ADV
fcis-2136	130	5	include	include	VERB
fcis-2136	130	6	static	static	ADJ
fcis-2136	130	7	obstacles	obstacle	NOUN
fcis-2136	130	8	and	and	CCONJ
fcis-2136	130	9	dynamic	dynamic	ADJ
fcis-2136	130	10	obstacles	obstacle	NOUN
fcis-2136	130	11	.	.	PUNCT
fcis-2136	131	1	static	static	ADJ
fcis-2136	131	2	obstacles	obstacle	NOUN
fcis-2136	131	3	mainly	mainly	ADV
fcis-2136	131	4	consider	consider	VERB
fcis-2136	131	5	their	their	PRON
fcis-2136	131	6	position	position	NOUN
fcis-2136	131	7	,	,	PUNCT
fcis-2136	131	8	shape	shape	NOUN
fcis-2136	131	9	and	and	CCONJ
fcis-2136	131	10	size	size	NOUN
fcis-2136	131	11	.	.	PUNCT
fcis-2136	132	1	dynamic	dynamic	ADJ
fcis-2136	132	2	obstacles	obstacle	NOUN
fcis-2136	132	3	not	not	PART
fcis-2136	132	4	only	only	ADV
fcis-2136	132	5	consider	consider	VERB
fcis-2136	132	6	the	the	DET
fcis-2136	132	7	above	above	ADJ
fcis-2136	132	8	parameters	parameter	NOUN
fcis-2136	132	9	,	,	PUNCT
fcis-2136	132	10	but	but	CCONJ
fcis-2136	132	11	also	also	ADV
fcis-2136	132	12	consider	consider	VERB
fcis-2136	132	13	their	their	PRON
fcis-2136	132	14	trajectory	trajectory	NOUN
fcis-2136	132	15	and	and	CCONJ
fcis-2136	132	16	predicted	predict	VERB
fcis-2136	132	17	trajectory	trajectory	NOUN
fcis-2136	132	18	.	.	PUNCT
fcis-2136	133	1	(	(	PUNCT
fcis-2136	133	2	1	1	X
fcis-2136	133	3	)	)	PUNCT
fcis-2136	133	4	the	the	DET
fcis-2136	133	5	location	location	NOUN
fcis-2136	133	6	and	and	CCONJ
fcis-2136	133	7	size	size	NOUN
fcis-2136	133	8	of	of	ADP
fcis-2136	133	9	the	the	DET
fcis-2136	133	10	obstacle	obstacle	NOUN
fcis-2136	133	11	the	the	DET
fcis-2136	133	12	shape	shape	NOUN
fcis-2136	133	13	of	of	ADP
fcis-2136	133	14	the	the	DET
fcis-2136	133	15	obstacle	obstacle	NOUN
fcis-2136	133	16	is	be	AUX
fcis-2136	133	17	simplified	simplify	VERB
fcis-2136	133	18	to	to	PART
fcis-2136	133	19	convex	convex	VERB
fcis-2136	133	20	polygon	polygon	NOUN
fcis-2136	133	21	or	or	CCONJ
fcis-2136	133	22	circle	circle	NOUN
fcis-2136	133	23	,	,	PUNCT
fcis-2136	133	24	and	and	CCONJ
fcis-2136	133	25	the	the	DET
fcis-2136	133	26	side	side	NOUN
fcis-2136	133	27	length	length	NOUN
fcis-2136	133	28	of	of	ADP
fcis-2136	133	29	the	the	DET
fcis-2136	133	30	convex	convex	NOUN
fcis-2136	133	31	polygon	polygon	NOUN
fcis-2136	133	32	or	or	CCONJ
fcis-2136	133	33	the	the	DET
fcis-2136	133	34	diameter	diameter	NOUN
fcis-2136	133	35	of	of	ADP
fcis-2136	133	36	the	the	DET
fcis-2136	133	37	circle	circle	NOUN
fcis-2136	133	38	is	be	AUX
fcis-2136	133	39	expanded	expand	VERB
fcis-2136	133	40	outward	outward	ADV
fcis-2136	133	41	le	le	X
fcis-2136	133	42	to	to	PART
fcis-2136	133	43	realize	realize	VERB
fcis-2136	133	44	the	the	DET
fcis-2136	133	45	model	model	NOUN
fcis-2136	133	46	establishment	establishment	NOUN
fcis-2136	133	47	of	of	ADP
fcis-2136	133	48	the	the	DET
fcis-2136	133	49	irregular	irregular	ADJ
fcis-2136	133	50	shape	shape	NOUN
fcis-2136	133	51	obstacle	obstacle	NOUN
fcis-2136	133	52	and	and	CCONJ
fcis-2136	133	53	the	the	DET
fcis-2136	133	54	further	further	ADJ
fcis-2136	133	55	guarantee	guarantee	NOUN
fcis-2136	133	56	of	of	ADP
fcis-2136	133	57	the	the	DET
fcis-2136	133	58	parking	parking	NOUN
fcis-2136	133	59	safety	safety	NOUN
fcis-2136	133	60	.	.	PUNCT
fcis-2136	134	1	therefore	therefore	ADV
fcis-2136	134	2	,	,	PUNCT
fcis-2136	134	3	the	the	DET
fcis-2136	134	4	convex	convex	NOUN
fcis-2136	134	5	polygon	polygon	NOUN
fcis-2136	134	6	obstacle	obstacle	NOUN
fcis-2136	134	7	can	can	AUX
fcis-2136	134	8	be	be	AUX
fcis-2136	134	9	expressed	express	VERB
fcis-2136	134	10	as	as	ADP
fcis-2136	134	11	:	:	PUNCT
fcis-2136	134	12			PROPN
fcis-2136	134	13			PROPN
fcis-2136	134	14			PROPN
fcis-2136	134	15	ijjiiiiiijjiiiii	ijjiiiiiijjiiiii	NOUN
fcis-2136	134	16	qq,,qq	qq,,qq	PROPN
fcis-2136	134	17	,	,	PUNCT
fcis-2136	134	18	qqqqqqqq	qqqqqqqq	NOUN
fcis-2136	134	19	)	)	PUNCT
fcis-2136	134	20	1(3221)1(321	1(3221)1(321	NUM
fcis-2136	134	21	−−	−−	NOUN
fcis-2136	134	22	=	=	SYM
fcis-2136	134	23	=	=	NOUN
fcis-2136	134	24			NOUN
fcis-2136	134	25	where	where	SCONJ
fcis-2136	134	26	,	,	PUNCT
fcis-2136	134	27	qi	qi	PROPN
fcis-2136	134	28	denotes	denote	VERB
fcis-2136	134	29	the	the	DET
fcis-2136	134	30	ith	ith	PROPN
fcis-2136	134	31	obstacle	obstacle	NOUN
fcis-2136	134	32	;	;	PUNCT
fcis-2136	134	33	qij	qij	NOUN
fcis-2136	134	34	denotes	denote	VERB
fcis-2136	134	35	the	the	DET
fcis-2136	134	36	jth	jth	PROPN
fcis-2136	134	37	vertex	vertex	NOUN
fcis-2136	134	38	of	of	ADP
fcis-2136	134	39	the	the	DET
fcis-2136	134	40	ith	ith	PROPN
fcis-2136	134	41	polygon	polygon	PROPN
fcis-2136	134	42	obstacle	obstacle	NOUN
fcis-2136	134	43	,	,	PUNCT
fcis-2136	134	44	where	where	SCONJ
fcis-2136	134	45	1≤i≤j	1≤i≤j	NUM
fcis-2136	134	46	,	,	PUNCT
fcis-2136	134	47	there	there	PRON
fcis-2136	134	48	are	be	VERB
fcis-2136	134	49	j	j	PROPN
fcis-2136	134	50	vertices	vertex	NOUN
fcis-2136	134	51	;	;	PUNCT
fcis-2136	135	1	1	1	NUM
fcis-2136	135	2	2i	2i	NUM
fcis-2136	135	3	iq	iq	NOUN
fcis-2136	135	4	q	q	PROPN
fcis-2136	135	5	denotes	denote	VERB
fcis-2136	135	6	the	the	DET
fcis-2136	135	7	connecting	connect	VERB
fcis-2136	135	8	line	line	NOUN
fcis-2136	135	9	segment	segment	NOUN
fcis-2136	135	10	of	of	ADP
fcis-2136	135	11	zi1	zi1	PROPN
fcis-2136	135	12	、	、	PROPN
fcis-2136	135	13	zi2	zi2	PROPN
fcis-2136	135	14	vertex	vertex	PROPN
fcis-2136	135	15	angle	angle	NOUN
fcis-2136	135	16	of	of	ADP
fcis-2136	135	17	the	the	DET
fcis-2136	135	18	i	i	PROPN
fcis-2136	135	19	th	th	X
fcis-2136	135	20	obstacle	obstacle	NOUN
fcis-2136	135	21	.	.	PUNCT
fcis-2136	136	1	the	the	DET
fcis-2136	136	2	position	position	NOUN
fcis-2136	136	3	and	and	CCONJ
fcis-2136	136	4	size	size	NOUN
fcis-2136	136	5	of	of	ADP
fcis-2136	136	6	the	the	DET
fcis-2136	136	7	convex	convex	PROPN
fcis-2136	136	8	polygon	polygon	NOUN
fcis-2136	136	9	obstacle	obstacle	NOUN
fcis-2136	136	10	can	can	AUX
fcis-2136	136	11	be	be	AUX
fcis-2136	136	12	represented	represent	VERB
fcis-2136	136	13	by	by	ADP
fcis-2136	136	14	the	the	DET
fcis-2136	136	15	coordinates	coordinate	NOUN
fcis-2136	136	16	of	of	ADP
fcis-2136	136	17	each	each	DET
fcis-2136	136	18	vertex	vertex	NOUN
fcis-2136	136	19	,	,	PUNCT
fcis-2136	136	20	namely	namely	ADV
fcis-2136	136	21	（	（	NUM
fcis-2136	136	22	xqi1,yqi1）,（xqi2,yqi2）,	xqi1,yqi1）,（xqi2,yqi2）,	NUM
fcis-2136	136	23	…	…	PUNCT
fcis-2136	136	24	…	…	PUNCT
fcis-2136	136	25	,（xqij	,（xqij	ADJ
fcis-2136	136	26	,	,	PUNCT
fcis-2136	136	27	yqij	yqij	PROPN
fcis-2136	136	28	）	）	PROPN
fcis-2136	136	29	.	.	PUNCT
fcis-2136	137	1	circular	circular	ADJ
fcis-2136	137	2	obstacles	obstacle	NOUN
fcis-2136	137	3	can	can	AUX
fcis-2136	137	4	be	be	AUX
fcis-2136	137	5	expressed	express	VERB
fcis-2136	137	6	as	as	ADP
fcis-2136	137	7	:	:	PUNCT
fcis-2136	137	8			PROPN
fcis-2136	137	9			PROPN
fcis-2136	137	10	ioooo	ioooo	PROPN
fcis-2136	137	11	qqqq	qqqq	PROPN
fcis-2136	137	12			NOUN
fcis-2136	137	13	21	21	NUM
fcis-2136	137	14	=	=	SYM
fcis-2136	137	15	1	1	NUM
fcis-2136	137	16	)	)	PUNCT
fcis-2136	137	17	(	(	PUNCT
fcis-2136	137	18	)	)	PUNCT
fcis-2136	137	19	(	(	PUNCT
fcis-2136	137	20	)	)	PUNCT
fcis-2136	137	21	,	,	PUNCT
fcis-2136	137	22	(	(	PUNCT
fcis-2136	137	23	2	2	NUM
fcis-2136	137	24	2	2	NUM
fcis-2136	137	25	2	2	NUM
fcis-2136	137	26	2	2	NUM
fcis-2136	137	27	−	−	NOUN
fcis-2136	137	28	−	−	PROPN
fcis-2136	138	1	+	+	CCONJ
fcis-2136	139	1	−	−	PROPN
fcis-2136	139	2	=	=	SYM
fcis-2136	139	3	io	io	PROPN
fcis-2136	139	4	io	io	X
fcis-2136	139	5	io	io	X
fcis-2136	139	6	io	io	X
fcis-2136	139	7	i	i	PRON
fcis-2136	139	8	q	q	PROPN
fcis-2136	139	9	q	q	X
fcis-2136	139	10	q	q	X
fcis-2136	139	11	q	q	NOUN
fcis-2136	139	12	o	o	NOUN
fcis-2136	139	13	r	r	NOUN
fcis-2136	139	14	yy	yy	NOUN
fcis-2136	139	15	r	r	NOUN
fcis-2136	139	16	xx	xx	NUM
fcis-2136	139	17	yxq	yxq	INTJ
fcis-2136	139	18	where	where	SCONJ
fcis-2136	139	19	,	,	PUNCT
fcis-2136	139	20	qoi	qoi	PROPN
fcis-2136	139	21	denotes	denote	VERB
fcis-2136	139	22	the	the	DET
fcis-2136	139	23	ith	ith	PROPN
fcis-2136	139	24	circular	circular	ADJ
fcis-2136	139	25	obstacle	obstacle	NOUN
fcis-2136	139	26	;	;	PUNCT
fcis-2136	139	27	qoi	qoi	NOUN
fcis-2136	139	28	(	(	PUNCT
fcis-2136	139	29	x	x	NOUN
fcis-2136	139	30	,	,	PUNCT
fcis-2136	139	31	y	y	NOUN
fcis-2136	139	32	)	)	PUNCT
fcis-2136	139	33	denotes	denote	VERB
fcis-2136	139	34	the	the	DET
fcis-2136	139	35	edge	edge	NOUN
fcis-2136	139	36	circle	circle	NOUN
fcis-2136	139	37	coordinate	coordinate	NOUN
fcis-2136	139	38	function	function	NOUN
fcis-2136	139	39	of	of	ADP
fcis-2136	139	40	the	the	DET
fcis-2136	139	41	circular	circular	ADJ
fcis-2136	139	42	obstacle	obstacle	NOUN
fcis-2136	139	43	qoi	qoi	PROPN
fcis-2136	139	44	;	;	PUNCT
fcis-2136	139	45	the	the	DET
fcis-2136	139	46	circle	circle	NOUN
fcis-2136	139	47	center	center	NOUN
fcis-2136	139	48	coordinate	coordinate	NOUN
fcis-2136	139	49	is	be	AUX
fcis-2136	139	50	(	(	PUNCT
fcis-2136	139	51	xqoi	xqoi	PROPN
fcis-2136	139	52	,	,	PUNCT
fcis-2136	139	53	yqoi	yqoi	NOUN
fcis-2136	139	54	)	)	PUNCT
fcis-2136	139	55	,	,	PUNCT
fcis-2136	139	56	and	and	CCONJ
fcis-2136	139	57	the	the	DET
fcis-2136	139	58	radius	radius	NOUN
fcis-2136	139	59	is	be	AUX
fcis-2136	139	60	rqoi	rqoi	NOUN
fcis-2136	139	61	.	.	PUNCT
fcis-2136	140	1	therefore	therefore	ADV
fcis-2136	140	2	,	,	PUNCT
fcis-2136	140	3	the	the	DET
fcis-2136	140	4	position	position	NOUN
fcis-2136	140	5	and	and	CCONJ
fcis-2136	140	6	size	size	NOUN
fcis-2136	140	7	of	of	ADP
fcis-2136	140	8	a	a	DET
fcis-2136	140	9	circular	circular	ADJ
fcis-2136	140	10	obstacle	obstacle	NOUN
fcis-2136	140	11	can	can	AUX
fcis-2136	140	12	be	be	AUX
fcis-2136	140	13	expressed	express	VERB
fcis-2136	140	14	by	by	ADP
fcis-2136	140	15	the	the	DET
fcis-2136	140	16	center	center	NOUN
fcis-2136	140	17	coordinates	coordinate	NOUN
fcis-2136	140	18	and	and	CCONJ
fcis-2136	140	19	radius	radius	NOUN
fcis-2136	140	20	length	length	NOUN
fcis-2136	140	21	.	.	PUNCT
fcis-2136	141	1	(	(	PUNCT
fcis-2136	141	2	2	2	X
fcis-2136	141	3	)	)	PUNCT
fcis-2136	141	4	trajectory	trajectory	NOUN
fcis-2136	141	5	tracking	tracking	NOUN
fcis-2136	141	6	and	and	CCONJ
fcis-2136	141	7	short	short	ADJ
fcis-2136	141	8	-	-	PUNCT
fcis-2136	141	9	term	term	NOUN
fcis-2136	141	10	prediction	prediction	NOUN
fcis-2136	141	11	of	of	ADP
fcis-2136	141	12	dynamic	dynamic	ADJ
fcis-2136	141	13	obstacles	obstacle	NOUN
fcis-2136	141	14	according	accord	VERB
fcis-2136	141	15	to	to	ADP
fcis-2136	141	16	the	the	DET
fcis-2136	141	17	position	position	NOUN
fcis-2136	141	18	information	information	NOUN
fcis-2136	141	19	of	of	ADP
fcis-2136	141	20	each	each	DET
fcis-2136	141	21	instantaneous	instantaneous	ADJ
fcis-2136	141	22	obstacle	obstacle	NOUN
fcis-2136	141	23	,	,	PUNCT
fcis-2136	141	24	the	the	DET
fcis-2136	141	25	historical	historical	ADJ
fcis-2136	141	26	trajectory	trajectory	NOUN
fcis-2136	141	27	of	of	ADP
fcis-2136	141	28	the	the	DET
fcis-2136	141	29	obstacle	obstacle	NOUN
fcis-2136	141	30	can	can	AUX
fcis-2136	141	31	be	be	AUX
fcis-2136	141	32	calculated	calculate	VERB
fcis-2136	141	33	.	.	PUNCT
fcis-2136	142	1	based	base	VERB
fcis-2136	142	2	on	on	ADP
fcis-2136	142	3	the	the	DET
fcis-2136	142	4	historical	historical	ADJ
fcis-2136	142	5	trajectory	trajectory	NOUN
fcis-2136	142	6	data	datum	NOUN
fcis-2136	142	7	and	and	CCONJ
fcis-2136	142	8	the	the	DET
fcis-2136	142	9	lstm	lstm	PROPN
fcis-2136	142	10	trajectory	trajectory	NOUN
fcis-2136	142	11	prediction	prediction	NOUN
fcis-2136	142	12	model	model	NOUN
fcis-2136	142	13	,	,	PUNCT
fcis-2136	142	14	the	the	DET
fcis-2136	142	15	short	short	ADJ
fcis-2136	142	16	-	-	PUNCT
fcis-2136	142	17	term	term	NOUN
fcis-2136	142	18	prediction	prediction	NOUN
fcis-2136	142	19	of	of	ADP
fcis-2136	142	20	the	the	DET
fcis-2136	142	21	future	future	ADJ
fcis-2136	142	22	trajectory	trajectory	NOUN
fcis-2136	142	23	of	of	ADP
fcis-2136	142	24	dynamic	dynamic	ADJ
fcis-2136	142	25	obstacles	obstacle	NOUN
fcis-2136	142	26	can	can	AUX
fcis-2136	142	27	be	be	AUX
fcis-2136	142	28	realized	realize	VERB
fcis-2136	142	29	to	to	PART
fcis-2136	142	30	further	far	ADV
fcis-2136	142	31	improve	improve	VERB
fcis-2136	142	32	the	the	DET
fcis-2136	142	33	safety	safety	NOUN
fcis-2136	142	34	and	and	CCONJ
fcis-2136	142	35	predictability	predictability	NOUN
fcis-2136	142	36	of	of	ADP
fcis-2136	142	37	parking	parking	NOUN
fcis-2136	142	38	trajectory	trajectory	NOUN
fcis-2136	142	39	planning	planning	NOUN
fcis-2136	142	40	.	.	PUNCT
fcis-2136	143	1	the	the	DET
fcis-2136	143	2	main	main	ADJ
fcis-2136	143	3	dynamic	dynamic	ADJ
fcis-2136	143	4	obstacles	obstacle	NOUN
fcis-2136	143	5	in	in	ADP
fcis-2136	143	6	the	the	DET
fcis-2136	143	7	parking	parking	NOUN
fcis-2136	143	8	environment	environment	NOUN
fcis-2136	143	9	include	include	VERB
fcis-2136	143	10	vehicles	vehicle	NOUN
fcis-2136	143	11	,	,	PUNCT
fcis-2136	143	12	pedestrians	pedestrian	NOUN
fcis-2136	143	13	,	,	PUNCT
fcis-2136	143	14	non	non	ADJ
fcis-2136	143	15	-	-	ADJ
fcis-2136	143	16	motor	motor	ADJ
fcis-2136	143	17	vehicles	vehicle	NOUN
fcis-2136	143	18	,	,	PUNCT
fcis-2136	143	19	pets	pet	NOUN
fcis-2136	143	20	,	,	PUNCT
fcis-2136	143	21	etc	etc	X
fcis-2136	143	22	.	.	X
fcis-2136	144	1	the	the	DET
fcis-2136	144	2	prediction	prediction	NOUN
fcis-2136	144	3	of	of	ADP
fcis-2136	144	4	obstacles	obstacle	NOUN
fcis-2136	144	5	is	be	AUX
fcis-2136	144	6	mainly	mainly	ADV
fcis-2136	144	7	based	base	VERB
fcis-2136	144	8	on	on	ADP
fcis-2136	144	9	its	its	PRON
fcis-2136	144	10	historical	historical	ADJ
fcis-2136	144	11	trajectory	trajectory	NOUN
fcis-2136	144	12	and	and	CCONJ
fcis-2136	144	13	intention	intention	NOUN
fcis-2136	144	14	to	to	PART
fcis-2136	144	15	predict	predict	VERB
fcis-2136	144	16	its	its	PRON
fcis-2136	144	17	future	future	ADJ
fcis-2136	144	18	trajectory	trajectory	NOUN
fcis-2136	144	19	.	.	PUNCT
fcis-2136	145	1	in	in	ADP
fcis-2136	145	2	addition	addition	NOUN
fcis-2136	145	3	,	,	PUNCT
fcis-2136	145	4	obstacles	obstacle	NOUN
fcis-2136	145	5	in	in	ADP
fcis-2136	145	6	the	the	DET
fcis-2136	145	7	environment	environment	NOUN
fcis-2136	145	8	have	have	VERB
fcis-2136	145	9	interaction	interaction	NOUN
fcis-2136	145	10	,	,	PUNCT
fcis-2136	145	11	that	that	ADV
fcis-2136	145	12	is	is	ADV
fcis-2136	145	13	,	,	PUNCT
fcis-2136	145	14	when	when	SCONJ
fcis-2136	145	15	the	the	DET
fcis-2136	145	16	direction	direction	NOUN
fcis-2136	145	17	of	of	ADP
fcis-2136	145	18	obstacle	obstacle	NOUN
fcis-2136	145	19	movement	movement	NOUN
fcis-2136	145	20	is	be	AUX
fcis-2136	145	21	not	not	PART
fcis-2136	145	22	affected	affect	VERB
fcis-2136	145	23	by	by	ADP
fcis-2136	145	24	82	82	NUM
fcis-2136	145	25	other	other	ADJ
fcis-2136	145	26	obstacles	obstacle	NOUN
fcis-2136	145	27	,	,	PUNCT
fcis-2136	145	28	it	it	PRON
fcis-2136	145	29	moves	move	VERB
fcis-2136	145	30	according	accord	VERB
fcis-2136	145	31	to	to	ADP
fcis-2136	145	32	its	its	PRON
fcis-2136	145	33	original	original	ADJ
fcis-2136	145	34	trajectory	trajectory	NOUN
fcis-2136	145	35	trend	trend	NOUN
fcis-2136	145	36	,	,	PUNCT
fcis-2136	145	37	and	and	CCONJ
fcis-2136	145	38	when	when	SCONJ
fcis-2136	145	39	the	the	DET
fcis-2136	145	40	direction	direction	NOUN
fcis-2136	145	41	of	of	ADP
fcis-2136	145	42	obstacle	obstacle	NOUN
fcis-2136	145	43	movement	movement	NOUN
fcis-2136	145	44	is	be	AUX
fcis-2136	145	45	affected	affect	VERB
fcis-2136	145	46	by	by	ADP
fcis-2136	145	47	other	other	ADJ
fcis-2136	145	48	obstacles	obstacle	NOUN
fcis-2136	145	49	,	,	PUNCT
fcis-2136	145	50	it	it	PRON
fcis-2136	145	51	will	will	AUX
fcis-2136	145	52	correct	correct	VERB
fcis-2136	145	53	its	its	PRON
fcis-2136	145	54	own	own	ADJ
fcis-2136	145	55	trajectory	trajectory	NOUN
fcis-2136	145	56	.	.	PUNCT
fcis-2136	146	1	firstly	firstly	ADV
fcis-2136	146	2	,	,	PUNCT
fcis-2136	146	3	the	the	DET
fcis-2136	146	4	intention	intention	NOUN
fcis-2136	146	5	recognition	recognition	NOUN
fcis-2136	146	6	of	of	ADP
fcis-2136	146	7	obstacles	obstacle	NOUN
fcis-2136	146	8	is	be	AUX
fcis-2136	146	9	based	base	VERB
fcis-2136	146	10	on	on	ADP
fcis-2136	146	11	the	the	DET
fcis-2136	146	12	lstm	lstm	PROPN
fcis-2136	146	13	network	network	NOUN
fcis-2136	146	14	,	,	PUNCT
fcis-2136	146	15	that	that	ADV
fcis-2136	146	16	is	is	ADV
fcis-2136	146	17	,	,	PUNCT
fcis-2136	146	18	based	base	VERB
fcis-2136	146	19	on	on	ADP
fcis-2136	146	20	the	the	DET
fcis-2136	146	21	historical	historical	ADJ
fcis-2136	146	22	trajectory	trajectory	NOUN
fcis-2136	146	23	of	of	ADP
fcis-2136	146	24	obstacles	obstacle	NOUN
fcis-2136	146	25	,	,	PUNCT
fcis-2136	146	26	the	the	DET
fcis-2136	146	27	probability	probability	NOUN
fcis-2136	146	28	of	of	ADP
fcis-2136	146	29	future	future	ADJ
fcis-2136	146	30	trajectory	trajectory	NOUN
fcis-2136	146	31	of	of	ADP
fcis-2136	146	32	obstacles	obstacle	NOUN
fcis-2136	146	33	is	be	AUX
fcis-2136	146	34	calculated	calculate	VERB
fcis-2136	146	35	.	.	PUNCT
fcis-2136	147	1	the	the	DET
fcis-2136	147	2	model	model	NOUN
fcis-2136	147	3	structure	structure	NOUN
fcis-2136	147	4	is	be	AUX
fcis-2136	147	5	shown	show	VERB
fcis-2136	147	6	in	in	ADP
fcis-2136	147	7	figure	figure	NOUN
fcis-2136	147	8	5	5	NUM
fcis-2136	147	9	.	.	PUNCT
fcis-2136	147	10	fig	fig	NOUN
fcis-2136	147	11	.	.	PUNCT
fcis-2136	148	1	5	5	NUM
fcis-2136	148	2	lstm	lstm	NOUN
fcis-2136	148	3	trajectory	trajectory	NOUN
fcis-2136	148	4	prediction	prediction	NOUN
fcis-2136	148	5	model	model	NOUN
fcis-2136	148	6	framework	framework	NOUN
fcis-2136	148	7	assuming	assume	VERB
fcis-2136	148	8	that	that	SCONJ
fcis-2136	148	9	the	the	DET
fcis-2136	148	10	input	input	NOUN
fcis-2136	148	11	of	of	ADP
fcis-2136	148	12	the	the	DET
fcis-2136	148	13	model	model	NOUN
fcis-2136	148	14	is	be	AUX
fcis-2136	148	15	i	i	PRON
fcis-2136	148	16	,	,	PUNCT
fcis-2136	148	17	which	which	PRON
fcis-2136	148	18	is	be	AUX
fcis-2136	148	19	the	the	DET
fcis-2136	148	20	historical	historical	ADJ
fcis-2136	148	21	trajectory	trajectory	NOUN
fcis-2136	148	22	of	of	ADP
fcis-2136	148	23	the	the	DET
fcis-2136	148	24	obstacle	obstacle	NOUN
fcis-2136	148	25	and	and	CCONJ
fcis-2136	148	26	the	the	DET
fcis-2136	148	27	rotation	rotation	NOUN
fcis-2136	148	28	angle	angle	NOUN
fcis-2136	148	29	and	and	CCONJ
fcis-2136	148	30	environmental	environmental	ADJ
fcis-2136	148	31	information	information	NOUN
fcis-2136	148	32	,	,	PUNCT
fcis-2136	148	33	expressed	express	VERB
fcis-2136	148	34	as	as	ADP
fcis-2136	148	35	:	:	PUNCT
fcis-2136	148	36	tttesi	tttesi	PROPN
fcis-2136	148	37	p	p	X
fcis-2136	148	38	tt	tt	PROPN
fcis-2136	148	39	e	e	PROPN
fcis-2136	148	40	t	t	PROPN
fcis-2136	148	41	=	=	X
fcis-2136	148	42	]	]	X
fcis-2136	148	43	,	,	PUNCT
fcis-2136	148	44	[	[	PUNCT
fcis-2136	148	45	)	)	PUNCT
fcis-2136	148	46	(	(	PUNCT
fcis-2136	148	47	)	)	PUNCT
fcis-2136	148	48	(	(	PUNCT
fcis-2136	148	49	)	)	PUNCT
fcis-2136	148	50	(	(	PUNCT
fcis-2136	148	51	where	where	SCONJ
fcis-2136	148	52	,	,	PUNCT
fcis-2136	148	53	se(t	se(t	ADJ
fcis-2136	148	54	)	)	PUNCT
fcis-2136	148	55	denotes	denote	VERB
fcis-2136	148	56	the	the	DET
fcis-2136	148	57	historical	historical	ADJ
fcis-2136	148	58	motion	motion	NOUN
fcis-2136	148	59	trajectory	trajectory	NOUN
fcis-2136	148	60	of	of	ADP
fcis-2136	148	61	the	the	DET
fcis-2136	148	62	predicted	predict	VERB
fcis-2136	148	63	obstacle	obstacle	NOUN
fcis-2136	148	64	;	;	PUNCT
fcis-2136	148	65	e(t	e(t	NOUN
fcis-2136	148	66	)	)	PUNCT
fcis-2136	148	67	denotes	denote	VERB
fcis-2136	148	68	the	the	DET
fcis-2136	148	69	environmental	environmental	ADJ
fcis-2136	148	70	information	information	NOUN
fcis-2136	148	71	,	,	PUNCT
fcis-2136	148	72	mainly	mainly	ADV
fcis-2136	148	73	including	include	VERB
fcis-2136	148	74	the	the	DET
fcis-2136	148	75	motion	motion	NOUN
fcis-2136	148	76	trajectory	trajectory	NOUN
fcis-2136	148	77	of	of	ADP
fcis-2136	148	78	spatially	spatially	ADV
fcis-2136	148	79	combined	combine	VERB
fcis-2136	148	80	and	and	CCONJ
fcis-2136	148	81	other	other	ADJ
fcis-2136	148	82	obstacles	obstacle	NOUN
fcis-2136	148	83	and	and	CCONJ
fcis-2136	148	84	the	the	DET
fcis-2136	148	85	predicted	predict	VERB
fcis-2136	148	86	trajectory	trajectory	NOUN
fcis-2136	148	87	;	;	PUNCT
fcis-2136	148	88	tp	tp	PART
fcis-2136	148	89	denotes	denote	VERB
fcis-2136	148	90	the	the	DET
fcis-2136	148	91	historical	historical	ADJ
fcis-2136	148	92	time	time	NOUN
fcis-2136	148	93	domain	domain	NOUN
fcis-2136	148	94	;	;	PUNCT
fcis-2136	148	95	t	t	PROPN
fcis-2136	148	96	denotes	denote	VERB
fcis-2136	148	97	the	the	DET
fcis-2136	148	98	whole	whole	ADJ
fcis-2136	148	99	-	-	PUNCT
fcis-2136	148	100	time	time	NOUN
fcis-2136	148	101	domain	domain	NOUN
fcis-2136	148	102	.	.	PUNCT
fcis-2136	149	1	the	the	DET
fcis-2136	149	2	output	output	NOUN
fcis-2136	149	3	intention	intention	NOUN
fcis-2136	149	4	category	category	NOUN
fcis-2136	149	5	of	of	ADP
fcis-2136	149	6	the	the	DET
fcis-2136	149	7	intention	intention	NOUN
fcis-2136	149	8	recognition	recognition	NOUN
fcis-2136	149	9	module	module	NOUN
fcis-2136	149	10	is	be	AUX
fcis-2136	149	11	u=	u=	NOUN
fcis-2136	149	12	(	(	PUNCT
fcis-2136	149	13	u1,u2,u3	u1,u2,u3	NOUN
fcis-2136	149	14	)	)	PUNCT
fcis-2136	149	15	,	,	PUNCT
fcis-2136	149	16	where	where	SCONJ
fcis-2136	149	17	u1、u2、u3	u1、u2、u3	NOUN
fcis-2136	149	18	represent	represent	VERB
fcis-2136	149	19	the	the	DET
fcis-2136	149	20	three	three	NUM
fcis-2136	149	21	intention	intention	NOUN
fcis-2136	149	22	categories	category	NOUN
fcis-2136	149	23	of	of	ADP
fcis-2136	149	24	lateral	lateral	ADJ
fcis-2136	149	25	movement	movement	NOUN
fcis-2136	149	26	,	,	PUNCT
fcis-2136	149	27	longitudinal	longitudinal	ADJ
fcis-2136	149	28	movement	movement	NOUN
fcis-2136	149	29	and	and	CCONJ
fcis-2136	149	30	rotation	rotation	NOUN
fcis-2136	149	31	to	to	ADP
fcis-2136	149	32	the	the	DET
fcis-2136	149	33	obstacle	obstacle	NOUN
fcis-2136	149	34	,	,	PUNCT
fcis-2136	149	35	respectively	respectively	ADV
fcis-2136	149	36	.	.	PUNCT
fcis-2136	150	1	k	k	X
fcis-2136	150	2	=	=	PRON
fcis-2136	150	3	(	(	PUNCT
fcis-2136	150	4	k1	k1	PROPN
fcis-2136	150	5	,	,	PUNCT
fcis-2136	150	6	k2	k2	NOUN
fcis-2136	150	7	,	,	PUNCT
fcis-2136	150	8	k3	k3	PROPN
fcis-2136	150	9	)	)	PUNCT
fcis-2136	150	10	represents	represent	VERB
fcis-2136	150	11	the	the	DET
fcis-2136	150	12	probability	probability	NOUN
fcis-2136	150	13	of	of	ADP
fcis-2136	150	14	lateral	lateral	ADJ
fcis-2136	150	15	movement	movement	NOUN
fcis-2136	150	16	,	,	PUNCT
fcis-2136	150	17	longitudinal	longitudinal	ADJ
fcis-2136	150	18	movement	movement	NOUN
fcis-2136	150	19	and	and	CCONJ
fcis-2136	150	20	rotation	rotation	NOUN
fcis-2136	150	21	to	to	ADP
fcis-2136	150	22	the	the	DET
fcis-2136	150	23	obstacle	obstacle	NOUN
fcis-2136	150	24	,	,	PUNCT
fcis-2136	150	25	respectively	respectively	ADV
fcis-2136	150	26	.	.	PUNCT
fcis-2136	151	1	the	the	DET
fcis-2136	151	2	output	output	NOUN
fcis-2136	151	3	of	of	ADP
fcis-2136	151	4	the	the	DET
fcis-2136	151	5	intention	intention	NOUN
fcis-2136	151	6	recognition	recognition	NOUN
fcis-2136	151	7	module	module	NOUN
fcis-2136	151	8	is	be	AUX
fcis-2136	151	9	:	:	PUNCT
fcis-2136	151	10	3,2,1	3,2,1	NUM
fcis-2136	151	11	(	(	PUNCT
fcis-2136	151	12	=	=	NOUN
fcis-2136	151	13	=	=	PROPN
fcis-2136	151	14	iiupk	iiupk	PROPN
fcis-2136	151	15	ii	ii	X
fcis-2136	151	16	）	）	PUNCT
fcis-2136	152	1	the	the	DET
fcis-2136	152	2	distribution	distribution	NOUN
fcis-2136	152	3	probability	probability	NOUN
fcis-2136	152	4	of	of	ADP
fcis-2136	152	5	the	the	DET
fcis-2136	152	6	predicted	predict	VERB
fcis-2136	152	7	future	future	ADJ
fcis-2136	152	8	trajectory	trajectory	NOUN
fcis-2136	152	9	is	be	AUX
fcis-2136	152	10	:	:	PUNCT
fcis-2136	152	11	)	)	PUNCT
fcis-2136	152	12	(	(	PUNCT
fcis-2136	152	13	)	)	PUNCT
fcis-2136	152	14	,	,	PUNCT
fcis-2136	152	15	(	(	PUNCT
fcis-2136	152	16	)	)	PUNCT
fcis-2136	152	17	(	(	PUNCT
fcis-2136	152	18	,	,	PUNCT
fcis-2136	152	19	,	,	PUNCT
fcis-2136	152	20	iupiuhpihp	iupiuhpihp	NOUN
fcis-2136	152	21	iii=	iii=	NOUN
fcis-2136	152	22			ADP
fcis-2136	152	23	where	where	SCONJ
fcis-2136	152	24	,	,	PUNCT
fcis-2136	152	25	h	h	NOUN
fcis-2136	152	26	is	be	AUX
fcis-2136	152	27	the	the	DET
fcis-2136	152	28	model	model	NOUN
fcis-2136	152	29	output	output	NOUN
fcis-2136	152	30	;	;	PUNCT
fcis-2136	152	31	pπ	pπ	PROPN
fcis-2136	152	32	,	,	PUNCT
fcis-2136	152	33	μ	μ	NOUN
fcis-2136	152	34	,	,	PUNCT
fcis-2136	152	35	σ(hi|ci	σ(hi|ci	PART
fcis-2136	152	36	,	,	PUNCT
fcis-2136	152	37	i	i	PRON
fcis-2136	152	38	)	)	PUNCT
fcis-2136	152	39	is	be	AUX
fcis-2136	152	40	the	the	DET
fcis-2136	152	41	probability	probability	NOUN
fcis-2136	152	42	distribution	distribution	NOUN
fcis-2136	152	43	of	of	ADP
fcis-2136	152	44	trajectories	trajectory	NOUN
fcis-2136	152	45	based	base	VERB
fcis-2136	152	46	on	on	ADP
fcis-2136	152	47	different	different	ADJ
fcis-2136	152	48	driving	driving	NOUN
fcis-2136	152	49	intentions	intention	NOUN
fcis-2136	152	50	;	;	PUNCT
fcis-2136	152	51	π	π	X
fcis-2136	152	52	,	,	PUNCT
fcis-2136	152	53	μ	μ	PROPN
fcis-2136	152	54	,	,	PUNCT
fcis-2136	152	55	σ	σ	PROPN
fcis-2136	152	56	are	be	AUX
fcis-2136	152	57	the	the	DET
fcis-2136	152	58	model	model	NOUN
fcis-2136	152	59	calculation	calculation	NOUN
fcis-2136	152	60	parameters	parameter	NOUN
fcis-2136	152	61	.	.	PUNCT
fcis-2136	153	1	environmental	environmental	ADJ
fcis-2136	153	2	information	information	NOUN
fcis-2136	153	3	mainly	mainly	ADV
fcis-2136	153	4	considers	consider	VERB
fcis-2136	153	5	the	the	DET
fcis-2136	153	6	interaction	interaction	NOUN
fcis-2136	153	7	when	when	SCONJ
fcis-2136	153	8	the	the	DET
fcis-2136	153	9	predicted	predict	VERB
fcis-2136	153	10	trajectory	trajectory	NOUN
fcis-2136	153	11	of	of	ADP
fcis-2136	153	12	obstacles	obstacle	NOUN
fcis-2136	153	13	conflicts	conflict	NOUN
fcis-2136	153	14	,	,	PUNCT
fcis-2136	153	15	that	that	ADV
fcis-2136	153	16	is	is	ADV
fcis-2136	153	17	,	,	PUNCT
fcis-2136	153	18	each	each	DET
fcis-2136	153	19	obstacle	obstacle	NOUN
fcis-2136	153	20	should	should	AUX
fcis-2136	153	21	maintain	maintain	VERB
fcis-2136	153	22	a	a	DET
fcis-2136	153	23	certain	certain	ADJ
fcis-2136	153	24	distance	distance	NOUN
fcis-2136	153	25	relationship	relationship	NOUN
fcis-2136	153	26	,	,	PUNCT
fcis-2136	153	27	that	that	ADV
fcis-2136	153	28	is	is	ADV
fcis-2136	153	29	:	:	PUNCT
fcis-2136	153	30	)	)	PUNCT
fcis-2136	153	31	,	,	PUNCT
fcis-2136	153	32	(	(	PUNCT
fcis-2136	153	33	)	)	PUNCT
fcis-2136	153	34	(	(	PUNCT
fcis-2136	153	35	)	)	PUNCT
fcis-2136	153	36	(	(	PUNCT
fcis-2136	153	37	)	)	PUNCT
fcis-2136	153	38	(	(	PUNCT
fcis-2136	153	39	t	t	PROPN
fcis-2136	153	40	s	s	PROPN
fcis-2136	153	41	t	t	PROPN
fcis-2136	153	42	e	e	PROPN
fcis-2136	153	43	t	t	PROPN
fcis-2136	153	44	iei	iei	PROPN
fcis-2136	153	45	vse	vse	PROPN
fcis-2136	153	46	=	=	PUNCT
fcis-2136	153	47	)	)	PUNCT
fcis-2136	153	48	,	,	PUNCT
fcis-2136	153	49	,	,	PUNCT
fcis-2136	153	50	(	(	PUNCT
fcis-2136	153	51	)	)	PUNCT
fcis-2136	153	52	(	(	PUNCT
fcis-2136	153	53	)	)	PUNCT
fcis-2136	153	54	(	(	PUNCT
fcis-2136	153	55	)	)	PUNCT
fcis-2136	153	56	(	(	PUNCT
fcis-2136	153	57	)	)	PUNCT
fcis-2136	153	58	(	(	PUNCT
fcis-2136	153	59	t	t	NOUN
fcis-2136	153	60	e	e	X
fcis-2136	153	61	t	t	PROPN
fcis-2136	153	62	e	e	PROPN
fcis-2136	153	63	t	t	PROPN
fcis-2136	153	64	e	e	PROPN
fcis-2136	153	65	t	t	PROPN
fcis-2136	153	66	e	e	PROPN
fcis-2136	153	67	iiii	iiii	PROPN
fcis-2136	153	68	yxs	yxs	PROPN
fcis-2136	153	69	=	=	PROPN
fcis-2136	153	70	where	where	SCONJ
fcis-2136	153	71	,	,	PUNCT
fcis-2136	153	72	sei(t	sei(t	PROPN
fcis-2136	153	73	)	)	PUNCT
fcis-2136	153	74	denotes	denote	VERB
fcis-2136	153	75	the	the	DET
fcis-2136	153	76	predicted	predict	VERB
fcis-2136	153	77	motion	motion	NOUN
fcis-2136	153	78	trajectory	trajectory	NOUN
fcis-2136	153	79	of	of	ADP
fcis-2136	153	80	each	each	DET
fcis-2136	153	81	obstacle	obstacle	NOUN
fcis-2136	153	82	in	in	ADP
fcis-2136	153	83	the	the	DET
fcis-2136	153	84	environment	environment	NOUN
fcis-2136	153	85	;	;	PUNCT
fcis-2136	153	86	vsei(t	vsei(t	NUM
fcis-2136	153	87	)	)	PUNCT
fcis-2136	153	88	denotes	denote	VERB
fcis-2136	153	89	the	the	DET
fcis-2136	153	90	predicted	predict	VERB
fcis-2136	153	91	motion	motion	NOUN
fcis-2136	153	92	velocity	velocity	NOUN
fcis-2136	153	93	of	of	ADP
fcis-2136	153	94	each	each	DET
fcis-2136	153	95	obstacle	obstacle	NOUN
fcis-2136	153	96	in	in	ADP
fcis-2136	153	97	the	the	DET
fcis-2136	153	98	environment	environment	NOUN
fcis-2136	153	99	;	;	PUNCT
fcis-2136	153	100	δxei(t	δxei(t	NOUN
fcis-2136	153	101	)	)	PUNCT
fcis-2136	153	102	,	,	PUNCT
fcis-2136	153	103	δyei(t	δyei(t	NOUN
fcis-2136	153	104	)	)	PUNCT
fcis-2136	153	105	,	,	PUNCT
fcis-2136	153	106	and	and	CCONJ
fcis-2136	153	107	δδei(t	δδei(t	VERB
fcis-2136	153	108	)	)	PUNCT
fcis-2136	153	109	denote	denote	VERB
fcis-2136	153	110	the	the	DET
fcis-2136	153	111	lateral	lateral	ADJ
fcis-2136	153	112	,	,	PUNCT
fcis-2136	153	113	vertical	vertical	ADJ
fcis-2136	153	114	,	,	PUNCT
fcis-2136	153	115	and	and	CCONJ
fcis-2136	153	116	rotational	rotational	ADJ
fcis-2136	153	117	angle	angle	NOUN
fcis-2136	153	118	variations	variation	NOUN
fcis-2136	153	119	,	,	PUNCT
fcis-2136	153	120	respectively	respectively	ADV
fcis-2136	153	121	.	.	PUNCT
fcis-2136	154	1	therefore	therefore	ADV
fcis-2136	154	2	,	,	PUNCT
fcis-2136	154	3	the	the	DET
fcis-2136	154	4	predicted	predict	VERB
fcis-2136	154	5	horizontal	horizontal	ADJ
fcis-2136	154	6	and	and	CCONJ
fcis-2136	154	7	vertical	vertical	ADJ
fcis-2136	154	8	coordinates	coordinate	NOUN
fcis-2136	154	9	are	be	AUX
fcis-2136	154	10	:	:	PUNCT
fcis-2136	154	11	tttyxh	tttyxh	PROPN
fcis-2136	154	12	p	p	PROPN
fcis-2136	154	13	tttt	tttt	NOUN
fcis-2136	154	14	=	=	X
fcis-2136	154	15	]	]	X
fcis-2136	154	16	,	,	PUNCT
fcis-2136	154	17	,	,	PUNCT
fcis-2136	154	18	[	[	PUNCT
fcis-2136	154	19	)	)	PUNCT
fcis-2136	154	20	(	(	PUNCT
fcis-2136	154	21	)	)	PUNCT
fcis-2136	154	22	(	(	PUNCT
fcis-2136	154	23	)	)	PUNCT
fcis-2136	154	24	(	(	PUNCT
fcis-2136	154	25	)	)	PUNCT
fcis-2136	154	26	(	(	PUNCT
fcis-2136	154	27			NUM
fcis-2136	154	28	where	where	SCONJ
fcis-2136	154	29	,	,	PUNCT
fcis-2136	154	30	x	x	NOUN
fcis-2136	154	31	,	,	PUNCT
fcis-2136	154	32	y	y	PROPN
fcis-2136	154	33	,	,	PUNCT
fcis-2136	154	34	and	and	CCONJ
fcis-2136	154	35	η	η	PROPN
fcis-2136	154	36	denote	denote	VERB
fcis-2136	154	37	the	the	DET
fcis-2136	154	38	horizontal	horizontal	ADJ
fcis-2136	154	39	and	and	CCONJ
fcis-2136	154	40	vertical	vertical	ADJ
fcis-2136	154	41	coordinates	coordinate	NOUN
fcis-2136	154	42	and	and	CCONJ
fcis-2136	154	43	angular	angular	ADJ
fcis-2136	154	44	sequences	sequence	NOUN
fcis-2136	154	45	,	,	PUNCT
fcis-2136	154	46	respectively	respectively	ADV
fcis-2136	154	47	.	.	PUNCT
fcis-2136	155	1	3.1.2	3.1.2	X
fcis-2136	155	2	.	.	PUNCT
fcis-2136	156	1	obstacle	obstacle	NOUN
fcis-2136	156	2	collision	collision	NOUN
fcis-2136	156	3	analysis	analysis	NOUN
fcis-2136	156	4	the	the	DET
fcis-2136	156	5	vehicle	vehicle	NOUN
fcis-2136	156	6	and	and	CCONJ
fcis-2136	156	7	the	the	DET
fcis-2136	156	8	obstacle	obstacle	NOUN
fcis-2136	156	9	are	be	AUX
fcis-2136	156	10	projected	project	VERB
fcis-2136	156	11	on	on	ADP
fcis-2136	156	12	the	the	DET
fcis-2136	156	13	twodimensional	twodimensional	ADJ
fcis-2136	156	14	plane	plane	NOUN
fcis-2136	156	15	.	.	PUNCT
fcis-2136	157	1	when	when	SCONJ
fcis-2136	157	2	the	the	DET
fcis-2136	157	3	overlap	overlap	NOUN
fcis-2136	157	4	area	area	NOUN
fcis-2136	157	5	between	between	ADP
fcis-2136	157	6	the	the	DET
fcis-2136	157	7	vehicle	vehicle	NOUN
fcis-2136	157	8	and	and	CCONJ
fcis-2136	157	9	the	the	DET
fcis-2136	157	10	obstacle	obstacle	NOUN
fcis-2136	157	11	is	be	AUX
fcis-2136	157	12	greater	great	ADJ
fcis-2136	157	13	than	than	ADP
fcis-2136	157	14	0	0	NUM
fcis-2136	157	15	,	,	PUNCT
fcis-2136	157	16	the	the	DET
fcis-2136	157	17	vehicle	vehicle	NOUN
fcis-2136	157	18	collides	collide	VERB
fcis-2136	157	19	.	.	PUNCT
fcis-2136	158	1	the	the	DET
fcis-2136	158	2	vehicle	vehicle	NOUN
fcis-2136	158	3	collision	collision	NOUN
fcis-2136	158	4	diagram	diagram	NOUN
fcis-2136	158	5	is	be	AUX
fcis-2136	158	6	shown	show	VERB
fcis-2136	158	7	in	in	ADP
fcis-2136	158	8	figure	figure	NOUN
fcis-2136	158	9	6	6	NUM
fcis-2136	158	10	,	,	PUNCT
fcis-2136	158	11	where	where	SCONJ
fcis-2136	158	12	the	the	DET
fcis-2136	158	13	blue	blue	ADJ
fcis-2136	158	14	rectangular	rectangular	ADJ
fcis-2136	158	15	frame	frame	NOUN
fcis-2136	158	16	represents	represent	VERB
fcis-2136	158	17	the	the	DET
fcis-2136	158	18	vehicle	vehicle	NOUN
fcis-2136	158	19	,	,	PUNCT
fcis-2136	158	20	the	the	DET
fcis-2136	158	21	red	red	ADJ
fcis-2136	158	22	rectangular	rectangular	ADJ
fcis-2136	158	23	frame	frame	NOUN
fcis-2136	158	24	and	and	CCONJ
fcis-2136	158	25	the	the	DET
fcis-2136	158	26	circle	circle	NOUN
fcis-2136	158	27	represent	represent	VERB
fcis-2136	158	28	the	the	DET
fcis-2136	158	29	obstacle	obstacle	NOUN
fcis-2136	158	30	,	,	PUNCT
fcis-2136	158	31	and	and	CCONJ
fcis-2136	158	32	the	the	DET
fcis-2136	158	33	light	light	ADJ
fcis-2136	158	34	blue	blue	ADJ
fcis-2136	158	35	or	or	CCONJ
fcis-2136	158	36	yellow	yellow	ADJ
fcis-2136	158	37	part	part	NOUN
fcis-2136	158	38	of	of	ADP
fcis-2136	158	39	the	the	DET
fcis-2136	158	40	outer	outer	ADJ
fcis-2136	158	41	side	side	NOUN
fcis-2136	158	42	is	be	AUX
fcis-2136	158	43	the	the	DET
fcis-2136	158	44	expansion	expansion	NOUN
fcis-2136	158	45	part	part	NOUN
fcis-2136	158	46	.	.	PUNCT
fcis-2136	159	1	fig	fig	NOUN
fcis-2136	159	2	.	.	PUNCT
fcis-2136	160	1	6	6	NUM
fcis-2136	160	2	vehicle	vehicle	NOUN
fcis-2136	160	3	collision	collision	NOUN
fcis-2136	160	4	diagram	diagram	NOUN
fcis-2136	160	5	it	it	PRON
fcis-2136	160	6	can	can	AUX
fcis-2136	160	7	be	be	AUX
fcis-2136	160	8	seen	see	VERB
fcis-2136	160	9	from	from	ADP
fcis-2136	160	10	the	the	DET
fcis-2136	160	11	above	above	ADJ
fcis-2136	160	12	figure	figure	NOUN
fcis-2136	160	13	that	that	SCONJ
fcis-2136	160	14	when	when	SCONJ
fcis-2136	160	15	the	the	DET
fcis-2136	160	16	obstacle	obstacle	NOUN
fcis-2136	160	17	is	be	AUX
fcis-2136	160	18	a	a	DET
fcis-2136	160	19	convex	convex	ADJ
fcis-2136	160	20	polygon	polygon	NOUN
fcis-2136	160	21	,	,	PUNCT
fcis-2136	160	22	the	the	DET
fcis-2136	160	23	collision	collision	NOUN
fcis-2136	160	24	of	of	ADP
fcis-2136	160	25	the	the	DET
fcis-2136	160	26	vehicle	vehicle	NOUN
fcis-2136	160	27	must	must	AUX
fcis-2136	160	28	originate	originate	VERB
fcis-2136	160	29	from	from	ADP
fcis-2136	160	30	the	the	DET
fcis-2136	160	31	vertex	vertex	NOUN
fcis-2136	160	32	.	.	PUNCT
fcis-2136	161	1	the	the	DET
fcis-2136	161	2	triangle	triangle	NOUN
fcis-2136	161	3	area	area	NOUN
fcis-2136	161	4	method	method	NOUN
fcis-2136	161	5	can	can	AUX
fcis-2136	161	6	be	be	AUX
fcis-2136	161	7	used	use	VERB
fcis-2136	161	8	to	to	PART
fcis-2136	161	9	further	far	ADV
fcis-2136	161	10	determine	determine	VERB
fcis-2136	161	11	whether	whether	SCONJ
fcis-2136	161	12	the	the	DET
fcis-2136	161	13	vertex	vertex	NOUN
fcis-2136	161	14	collides	collide	VERB
fcis-2136	161	15	,	,	PUNCT
fcis-2136	161	16	that	that	ADV
fcis-2136	161	17	is	is	ADV
fcis-2136	161	18	,	,	PUNCT
fcis-2136	161	19	a	a	DET
fcis-2136	161	20	point	point	NOUN
fcis-2136	161	21	q	q	X
fcis-2136	161	22	outside	outside	ADP
fcis-2136	161	23	the	the	DET
fcis-2136	161	24	convex	convex	NOUN
fcis-2136	161	25	polygon	polygon	NOUN
fcis-2136	161	26	is	be	AUX
fcis-2136	161	27	connected	connect	VERB
fcis-2136	161	28	to	to	ADP
fcis-2136	161	29	the	the	DET
fcis-2136	161	30	vertices	vertex	NOUN
fcis-2136	161	31	of	of	ADP
fcis-2136	161	32	the	the	DET
fcis-2136	161	33	convex	convex	ADJ
fcis-2136	161	34	polygon	polygon	NOUN
fcis-2136	161	35	.	.	PUNCT
fcis-2136	162	1	if	if	SCONJ
fcis-2136	162	2	the	the	DET
fcis-2136	162	3	sum	sum	NOUN
fcis-2136	162	4	of	of	ADP
fcis-2136	162	5	the	the	DET
fcis-2136	162	6	triangle	triangle	NOUN
fcis-2136	162	7	areas	area	NOUN
fcis-2136	162	8	formed	form	VERB
fcis-2136	162	9	by	by	ADP
fcis-2136	162	10	q	q	PROPN
fcis-2136	162	11	and	and	CCONJ
fcis-2136	162	12	each	each	DET
fcis-2136	162	13	two	two	NUM
fcis-2136	162	14	adjacent	adjacent	ADJ
fcis-2136	162	15	vertices	vertex	NOUN
fcis-2136	162	16	of	of	ADP
fcis-2136	162	17	the	the	DET
fcis-2136	162	18	convex	convex	ADJ
fcis-2136	162	19	polygon	polygon	NOUN
fcis-2136	162	20	is	be	AUX
fcis-2136	162	21	greater	great	ADJ
fcis-2136	162	22	than	than	ADP
fcis-2136	162	23	the	the	DET
fcis-2136	162	24	sum	sum	NOUN
fcis-2136	162	25	of	of	ADP
fcis-2136	162	26	the	the	DET
fcis-2136	162	27	convex	convex	NOUN
fcis-2136	162	28	polygons	polygon	NOUN
fcis-2136	162	29	,	,	PUNCT
fcis-2136	162	30	then	then	ADV
fcis-2136	162	31	the	the	DET
fcis-2136	162	32	q	q	ADJ
fcis-2136	162	33	point	point	NOUN
fcis-2136	162	34	is	be	AUX
fcis-2136	162	35	located	locate	VERB
fcis-2136	162	36	outside	outside	ADP
fcis-2136	162	37	the	the	DET
fcis-2136	162	38	convex	convex	NOUN
fcis-2136	162	39	polygon	polygon	NOUN
fcis-2136	162	40	.	.	PUNCT
fcis-2136	163	1	with	with	ADP
fcis-2136	163	2	qij	qij	NOUN
fcis-2136	163	3	representing	represent	VERB
fcis-2136	163	4	the	the	DET
fcis-2136	163	5	vertices	vertex	NOUN
fcis-2136	163	6	of	of	ADP
fcis-2136	163	7	the	the	DET
fcis-2136	163	8	polygon	polygon	NOUN
fcis-2136	163	9	obstacle	obstacle	NOUN
fcis-2136	163	10	,	,	PUNCT
fcis-2136	163	11	the	the	DET
fcis-2136	163	12	vehicle	vehicle	NOUN
fcis-2136	163	13	vertices	vertice	VERB
fcis-2136	163	14	a	a	DET
fcis-2136	163	15	,	,	PUNCT
fcis-2136	163	16	b	b	NOUN
fcis-2136	163	17	,	,	PUNCT
fcis-2136	163	18	c	c	NOUN
fcis-2136	163	19	,	,	PUNCT
fcis-2136	163	20	d	d	NOUN
fcis-2136	163	21	,	,	PUNCT
fcis-2136	163	22	and	and	CCONJ
fcis-2136	163	23	qij	qij	NOUN
fcis-2136	163	24	should	should	AUX
fcis-2136	163	25	satisfy	satisfy	VERB
fcis-2136	163	26	:	:	PUNCT
fcis-2136	164	1			PROPN
fcis-2136	164	2			PROPN
fcis-2136	164	3			PROPN
fcis-2136	164	4			NUM
fcis-2136	164	5			NUM
fcis-2136	164	6			ADP
fcis-2136	165	1	=	=	PUNCT
fcis-2136	165	2	+	+	NUM
fcis-2136	165	3	+++	+++	PROPN
fcis-2136	165	4			X
fcis-2136	165	5	−	−	NOUN
fcis-2136	166	1	=	=	SYM
fcis-2136	166	2	+	+	NUM
fcis-2136	166	3	dcbasss	dcbasss	PROPN
fcis-2136	166	4	jnsssss	jnsssss	PROPN
fcis-2136	166	5	iniiniji	iniiniji	PROPN
fcis-2136	166	6	inininin	inininin	PROPN
fcis-2136	166	7	q	q	PROPN
fcis-2136	166	8	j	j	PROPN
fcis-2136	166	9	n	n	PRON
fcis-2136	166	10	qqqq	qqqq	PROPN
fcis-2136	166	11	abcdcdqbdqacqabq	abcdcdqbdqacqabq	VERB
fcis-2136	166	12	,	,	PUNCT
fcis-2136	166	13	,	,	PUNCT
fcis-2136	166	14	,	,	PUNCT
fcis-2136	166	15	＞	＞	PROPN
fcis-2136	166	16	1＞	1＞	NUM
fcis-2136	166	17	1	1	NUM
fcis-2136	166	18	1	1	NUM
fcis-2136	166	19	)	)	PUNCT
fcis-2136	166	20	1(1	1(1	NUM
fcis-2136	166	21			PROPN
fcis-2136	166	22	△	△	X
fcis-2136	166	23	△	△	X
fcis-2136	166	24	△	△	X
fcis-2136	166	25	△	△	X
fcis-2136	166	26	△	△	X
fcis-2136	166	27	△	△	X
fcis-2136	166	28	where	where	SCONJ
fcis-2136	166	29	,	,	PUNCT
fcis-2136	166	30	sqi	sqi	PROPN
fcis-2136	166	31	denotes	denote	VERB
fcis-2136	166	32	the	the	DET
fcis-2136	166	33	area	area	NOUN
fcis-2136	166	34	of	of	ADP
fcis-2136	166	35	the	the	DET
fcis-2136	166	36	convex	convex	PROPN
fcis-2136	166	37	polygon	polygon	NOUN
fcis-2136	166	38	obstacle	obstacle	NOUN
fcis-2136	166	39	qi	qi	PROPN
fcis-2136	166	40	,	,	PUNCT
fcis-2136	166	41	j	j	PROPN
fcis-2136	166	42	denotes	denote	VERB
fcis-2136	166	43	the	the	DET
fcis-2136	166	44	number	number	NOUN
fcis-2136	166	45	of	of	ADP
fcis-2136	166	46	vertices	vertex	NOUN
fcis-2136	166	47	of	of	ADP
fcis-2136	166	48	the	the	DET
fcis-2136	166	49	obstacle	obstacle	NOUN
fcis-2136	166	50	qi	qi	PROPN
fcis-2136	166	51	,	,	PUNCT
fcis-2136	166	52	n	n	PRON
fcis-2136	166	53	denotes	denote	VERB
fcis-2136	166	54	the	the	DET
fcis-2136	166	55	nth	nth	NOUN
fcis-2136	166	56	vertex	vertex	NOUN
fcis-2136	166	57	of	of	ADP
fcis-2136	166	58	the	the	DET
fcis-2136	166	59	obstacle	obstacle	NOUN
fcis-2136	166	60	qi	qi	PROPN
fcis-2136	166	61	,	,	PUNCT
fcis-2136	166	62	and	and	CCONJ
fcis-2136	166	63	χ	χ	PRON
fcis-2136	166	64	denotes	denote	VERB
fcis-2136	166	65	the	the	DET
fcis-2136	166	66	ensemble	ensemble	NOUN
fcis-2136	166	67	of	of	ADP
fcis-2136	166	68	vehicle	vehicle	NOUN
fcis-2136	166	69	vertices	vertice	VERB
fcis-2136	166	70	a	a	DET
fcis-2136	166	71	,	,	PUNCT
fcis-2136	166	72	b	b	NOUN
fcis-2136	166	73	,	,	PUNCT
fcis-2136	166	74	c	c	NOUN
fcis-2136	166	75	,	,	PUNCT
fcis-2136	166	76	and	and	CCONJ
fcis-2136	166	77	d.	d.	NOUN
fcis-2136	166	78	when	when	SCONJ
fcis-2136	166	79	the	the	DET
fcis-2136	166	80	obstacle	obstacle	NOUN
fcis-2136	166	81	is	be	AUX
fcis-2136	166	82	circular	circular	ADJ
fcis-2136	166	83	,	,	PUNCT
fcis-2136	166	84	the	the	DET
fcis-2136	166	85	distance	distance	NOUN
fcis-2136	166	86	between	between	ADP
fcis-2136	166	87	any	any	DET
fcis-2136	166	88	point	point	NOUN
fcis-2136	166	89	on	on	ADP
fcis-2136	166	90	the	the	DET
fcis-2136	166	91	vehicle	vehicle	NOUN
fcis-2136	166	92	and	and	CCONJ
fcis-2136	166	93	the	the	DET
fcis-2136	166	94	circle	circle	NOUN
fcis-2136	166	95	should	should	AUX
fcis-2136	166	96	be	be	AUX
fcis-2136	166	97	greater	great	ADJ
fcis-2136	166	98	than	than	ADP
fcis-2136	166	99	its	its	PRON
fcis-2136	166	100	radius	radius	NOUN
fcis-2136	166	101	to	to	PART
fcis-2136	166	102	ensure	ensure	VERB
fcis-2136	166	103	that	that	SCONJ
fcis-2136	166	104	no	no	DET
fcis-2136	166	105	collision	collision	NOUN
fcis-2136	166	106	occurs	occur	VERB
fcis-2136	166	107	,	,	PUNCT
fcis-2136	166	108	then	then	ADV
fcis-2136	166	109	the	the	DET
fcis-2136	166	110	vehicle	vehicle	NOUN
fcis-2136	166	111	vertices	vertice	VERB
fcis-2136	166	112	a	a	DET
fcis-2136	166	113	,	,	PUNCT
fcis-2136	166	114	b	b	NOUN
fcis-2136	166	115	,	,	PUNCT
fcis-2136	166	116	c	c	NOUN
fcis-2136	166	117	,	,	PUNCT
fcis-2136	166	118	d	d	PROPN
fcis-2136	166	119	should	should	AUX
fcis-2136	166	120	meet	meet	VERB
fcis-2136	166	121	:	:	PUNCT
fcis-2136	166	122	(	(	PUNCT
fcis-2136	166	123	)	)	PUNCT
fcis-2136	166	124	oiqoiqoiq	oiqoiqoiq	ADP
fcis-2136	166	125	ryyxx	ryyxx	PROPN
fcis-2136	166	126	＞22	＞22	PROPN
fcis-2136	166	127	)	)	PUNCT
fcis-2136	166	128	(	(	PUNCT
fcis-2136	166	129	)	)	PUNCT
fcis-2136	166	130	(	(	PUNCT
fcis-2136	166	131	min	min	NOUN
fcis-2136	166	132	−+−	−+−	PROPN
fcis-2136	166	133	where	where	SCONJ
fcis-2136	166	134	,	,	PUNCT
fcis-2136	166	135	(	(	PUNCT
fcis-2136	166	136	x	x	NOUN
fcis-2136	166	137	,	,	PUNCT
fcis-2136	166	138	y	y	NOUN
fcis-2136	166	139	)	)	PUNCT
fcis-2136	166	140	denotes	denote	VERB
fcis-2136	166	141	a	a	DET
fcis-2136	166	142	point	point	NOUN
fcis-2136	166	143	on	on	ADP
fcis-2136	166	144	the	the	DET
fcis-2136	166	145	edge	edge	NOUN
fcis-2136	166	146	of	of	ADP
fcis-2136	166	147	the	the	DET
fcis-2136	166	148	vehicle	vehicle	NOUN
fcis-2136	166	149	,	,	PUNCT
fcis-2136	166	150	(	(	PUNCT
fcis-2136	166	151	xqoi	xqoi	PROPN
fcis-2136	166	152	,	,	PUNCT
fcis-2136	166	153	yqoi	yqoi	NOUN
fcis-2136	166	154	)	)	PUNCT
fcis-2136	166	155	denotes	denote	VERB
fcis-2136	166	156	the	the	DET
fcis-2136	166	157	coordinates	coordinate	NOUN
fcis-2136	166	158	of	of	ADP
fcis-2136	166	159	the	the	DET
fcis-2136	166	160	circle	circle	NOUN
fcis-2136	166	161	center	center	NOUN
fcis-2136	166	162	of	of	ADP
fcis-2136	166	163	the	the	DET
fcis-2136	166	164	circular	circular	ADJ
fcis-2136	166	165	obstacle	obstacle	NOUN
fcis-2136	166	166	qoi	qoi	PROPN
fcis-2136	166	167	,	,	PUNCT
fcis-2136	166	168	and	and	CCONJ
fcis-2136	166	169	rqoi	rqoi	NOUN
fcis-2136	166	170	denotes	denote	VERB
fcis-2136	166	171	the	the	DET
fcis-2136	166	172	radius	radius	NOUN
fcis-2136	166	173	of	of	ADP
fcis-2136	166	174	the	the	DET
fcis-2136	166	175	circle	circle	PROPN
fcis-2136	166	176	qoi	qoi	PROPN
fcis-2136	166	177	.	.	PROPN
fcis-2136	166	178	3.2	3.2	NUM
fcis-2136	166	179	.	.	PUNCT
fcis-2136	167	1	optimal	optimal	ADJ
fcis-2136	167	2	vertical	vertical	ADJ
fcis-2136	167	3	parking	parking	NOUN
fcis-2136	167	4	path	path	NOUN
fcis-2136	167	5	planning	planning	NOUN
fcis-2136	167	6	considering	consider	VERB
fcis-2136	167	7	the	the	DET
fcis-2136	167	8	influence	influence	NOUN
fcis-2136	167	9	of	of	ADP
fcis-2136	167	10	obstacles	obstacle	NOUN
fcis-2136	167	11	first	first	ADV
fcis-2136	167	12	,	,	PUNCT
fcis-2136	167	13	according	accord	VERB
fcis-2136	167	14	to	to	ADP
fcis-2136	167	15	the	the	DET
fcis-2136	167	16	parking	parking	NOUN
fcis-2136	167	17	space	space	NOUN
fcis-2136	167	18	,	,	PUNCT
fcis-2136	167	19	the	the	DET
fcis-2136	167	20	initial	initial	ADJ
fcis-2136	167	21	position	position	NOUN
fcis-2136	167	22	and	and	CCONJ
fcis-2136	167	23	attitude	attitude	NOUN
fcis-2136	167	24	of	of	ADP
fcis-2136	167	25	the	the	DET
fcis-2136	167	26	vehicle	vehicle	NOUN
fcis-2136	167	27	information	information	NOUN
fcis-2136	167	28	,	,	PUNCT
fcis-2136	167	29	obstacle	obstacle	NOUN
fcis-2136	167	30	information	information	NOUN
fcis-2136	167	31	,	,	PUNCT
fcis-2136	167	32	select	select	VERB
fcis-2136	167	33	all	all	DET
fcis-2136	167	34	parking	parking	NOUN
fcis-2136	167	35	strategies	strategy	NOUN
fcis-2136	167	36	that	that	PRON
fcis-2136	167	37	meet	meet	VERB
fcis-2136	167	38	the	the	DET
fcis-2136	167	39	constraints	constraint	NOUN
fcis-2136	167	40	.	.	PUNCT
fcis-2136	168	1	when	when	SCONJ
fcis-2136	168	2	the	the	DET
fcis-2136	168	3	vehicle	vehicle	NOUN
fcis-2136	168	4	is	be	AUX
fcis-2136	168	5	parked	park	VERB
fcis-2136	168	6	vertically	vertically	ADV
fcis-2136	168	7	,	,	PUNCT
fcis-2136	168	8	if	if	SCONJ
fcis-2136	168	9	there	there	PRON
fcis-2136	168	10	may	may	AUX
fcis-2136	168	11	be	be	AUX
fcis-2136	168	12	a	a	DET
fcis-2136	168	13	conflict	conflict	NOUN
fcis-2136	168	14	with	with	ADP
fcis-2136	168	15	the	the	DET
fcis-2136	168	16	dynamic	dynamic	ADJ
fcis-2136	168	17	obstacle	obstacle	NOUN
fcis-2136	168	18	trajectory	trajectory	NOUN
fcis-2136	168	19	,	,	PUNCT
fcis-2136	168	20	three	three	NUM
fcis-2136	168	21	obstacle	obstacle	NOUN
fcis-2136	168	22	avoidance	avoidance	NOUN
fcis-2136	168	23	methods	method	NOUN
fcis-2136	168	24	can	can	AUX
fcis-2136	168	25	be	be	AUX
fcis-2136	168	26	used	use	VERB
fcis-2136	168	27	to	to	PART
fcis-2136	168	28	ensure	ensure	VERB
fcis-2136	168	29	the	the	DET
fcis-2136	168	30	safe	safe	ADJ
fcis-2136	168	31	and	and	CCONJ
fcis-2136	168	32	successful	successful	ADJ
fcis-2136	168	33	parking	parking	NOUN
fcis-2136	168	34	of	of	ADP
fcis-2136	168	35	the	the	DET
fcis-2136	168	36	vehicle	vehicle	NOUN
fcis-2136	168	37	,	,	PUNCT
fcis-2136	168	38	including	include	VERB
fcis-2136	168	39	parking	parking	NOUN
fcis-2136	168	40	waiting	waiting	NOUN
fcis-2136	168	41	,	,	PUNCT
fcis-2136	168	42	changing	change	VERB
fcis-2136	168	43	the	the	DET
fcis-2136	168	44	parking	parking	NOUN
fcis-2136	168	45	strategy	strategy	NOUN
fcis-2136	168	46	and	and	CCONJ
fcis-2136	168	47	adjusting	adjust	VERB
fcis-2136	168	48	the	the	DET
fcis-2136	168	49	vehicle	vehicle	NOUN
fcis-2136	168	50	position	position	NOUN
fcis-2136	168	51	to	to	PART
fcis-2136	168	52	re	re	VERB
fcis-2136	168	53	-	-	VERB
fcis-2136	168	54	plan	plan	VERB
fcis-2136	168	55	the	the	DET
fcis-2136	168	56	path	path	NOUN
fcis-2136	168	57	.	.	PUNCT
fcis-2136	169	1	the	the	DET
fcis-2136	169	2	selection	selection	NOUN
fcis-2136	169	3	of	of	ADP
fcis-2136	169	4	obstacle	obstacle	NOUN
fcis-2136	169	5	avoidance	avoidance	NOUN
fcis-2136	169	6	mode	mode	NOUN
fcis-2136	169	7	in	in	ADP
fcis-2136	169	8	vehicle	vehicle	NOUN
fcis-2136	169	9	parking	parking	NOUN
fcis-2136	169	10	process	process	NOUN
fcis-2136	169	11	mainly	mainly	ADV
fcis-2136	169	12	considers	consider	VERB
fcis-2136	169	13	the	the	DET
fcis-2136	169	14	parameters	parameter	NOUN
fcis-2136	169	15	such	such	ADJ
fcis-2136	169	16	as	as	ADP
fcis-2136	169	17	size	size	NOUN
fcis-2136	169	18	,	,	PUNCT
fcis-2136	169	19	shape	shape	NOUN
fcis-2136	169	20	and	and	CCONJ
fcis-2136	169	21	future	future	ADJ
fcis-2136	169	22	trajectory	trajectory	NOUN
fcis-2136	169	23	of	of	ADP
fcis-2136	169	24	dynamic	dynamic	ADJ
fcis-2136	169	25	obstacles	obstacle	NOUN
fcis-2136	169	26	.	.	PUNCT
fcis-2136	170	1	the	the	DET
fcis-2136	170	2	83	83	NUM
fcis-2136	170	3	selection	selection	NOUN
fcis-2136	170	4	of	of	ADP
fcis-2136	170	5	different	different	ADJ
fcis-2136	170	6	scenarios	scenario	NOUN
fcis-2136	170	7	is	be	AUX
fcis-2136	170	8	shown	show	VERB
fcis-2136	170	9	in	in	ADP
fcis-2136	170	10	figure	figure	NOUN
fcis-2136	170	11	7	7	NUM
fcis-2136	170	12	.	.	PUNCT
fcis-2136	170	13	fig	fig	NOUN
fcis-2136	170	14	.	.	PUNCT
fcis-2136	171	1	7	7	NUM
fcis-2136	171	2	parking	parking	NOUN
fcis-2136	171	3	strategy	strategy	NOUN
fcis-2136	171	4	and	and	CCONJ
fcis-2136	171	5	obstacle	obstacle	NOUN
fcis-2136	171	6	avoidance	avoidance	NOUN
fcis-2136	171	7	choice	choice	NOUN
fcis-2136	171	8	under	under	ADP
fcis-2136	171	9	different	different	ADJ
fcis-2136	171	10	scenarios	scenario	NOUN
fcis-2136	171	11	when	when	SCONJ
fcis-2136	171	12	the	the	DET
fcis-2136	171	13	obstacle	obstacle	NOUN
fcis-2136	171	14	and	and	CCONJ
fcis-2136	171	15	the	the	DET
fcis-2136	171	16	vehicle	vehicle	NOUN
fcis-2136	171	17	may	may	AUX
fcis-2136	171	18	conflict	conflict	VERB
fcis-2136	171	19	at	at	ADP
fcis-2136	171	20	the	the	DET
fcis-2136	171	21	parking	parking	NOUN
fcis-2136	171	22	space	space	NOUN
fcis-2136	171	23	,	,	PUNCT
fcis-2136	171	24	such	such	ADJ
fcis-2136	171	25	as	as	ADP
fcis-2136	171	26	obstacle	obstacle	PROPN
fcis-2136	171	27	q1	q1	PROPN
fcis-2136	171	28	,	,	PUNCT
fcis-2136	171	29	the	the	DET
fcis-2136	171	30	vehicle	vehicle	NOUN
fcis-2136	171	31	can	can	AUX
fcis-2136	171	32	only	only	ADV
fcis-2136	171	33	choose	choose	VERB
fcis-2136	171	34	to	to	PART
fcis-2136	171	35	park	park	VERB
fcis-2136	171	36	and	and	CCONJ
fcis-2136	171	37	wait	wait	VERB
fcis-2136	171	38	for	for	ADP
fcis-2136	171	39	obstacle	obstacle	NOUN
fcis-2136	171	40	avoidance	avoidance	NOUN
fcis-2136	171	41	;	;	PUNCT
fcis-2136	171	42	when	when	SCONJ
fcis-2136	171	43	the	the	DET
fcis-2136	171	44	obstacle	obstacle	NOUN
fcis-2136	171	45	is	be	AUX
fcis-2136	171	46	located	locate	VERB
fcis-2136	171	47	in	in	ADP
fcis-2136	171	48	front	front	NOUN
fcis-2136	171	49	of	of	ADP
fcis-2136	171	50	the	the	DET
fcis-2136	171	51	initial	initial	ADJ
fcis-2136	171	52	position	position	NOUN
fcis-2136	171	53	of	of	ADP
fcis-2136	171	54	the	the	DET
fcis-2136	171	55	vehicle	vehicle	NOUN
fcis-2136	171	56	,	,	PUNCT
fcis-2136	171	57	such	such	ADJ
fcis-2136	171	58	as	as	ADP
fcis-2136	171	59	obstacle	obstacle	NOUN
fcis-2136	171	60	q2	q2	NOUN
fcis-2136	171	61	,	,	PUNCT
fcis-2136	171	62	the	the	DET
fcis-2136	171	63	vehicle	vehicle	NOUN
fcis-2136	171	64	can	can	AUX
fcis-2136	171	65	only	only	ADV
fcis-2136	171	66	use	use	VERB
fcis-2136	171	67	one	one	NUM
fcis-2136	171	68	parking	parking	NOUN
fcis-2136	171	69	strategy	strategy	NOUN
fcis-2136	171	70	or	or	CCONJ
fcis-2136	171	71	multiple	multiple	ADJ
fcis-2136	171	72	adjustment	adjustment	NOUN
fcis-2136	171	73	parking	parking	NOUN
fcis-2136	171	74	strategy	strategy	NOUN
fcis-2136	171	75	,	,	PUNCT
fcis-2136	171	76	that	that	ADV
fcis-2136	171	77	is	is	ADV
fcis-2136	171	78	,	,	PUNCT
fcis-2136	171	79	when	when	SCONJ
fcis-2136	171	80	the	the	DET
fcis-2136	171	81	vehicle	vehicle	NOUN
fcis-2136	171	82	forward	forward	ADV
fcis-2136	171	83	adjustment	adjustment	NOUN
fcis-2136	171	84	parking	parking	NOUN
fcis-2136	171	85	strategy	strategy	NOUN
fcis-2136	171	86	is	be	AUX
fcis-2136	171	87	selected	select	VERB
fcis-2136	171	88	to	to	PART
fcis-2136	171	89	change	change	VERB
fcis-2136	171	90	the	the	DET
fcis-2136	171	91	parking	parking	NOUN
fcis-2136	171	92	strategy	strategy	NOUN
fcis-2136	171	93	to	to	PART
fcis-2136	171	94	achieve	achieve	VERB
fcis-2136	171	95	obstacle	obstacle	NOUN
fcis-2136	171	96	avoidance	avoidance	NOUN
fcis-2136	171	97	;	;	PUNCT
fcis-2136	171	98	when	when	SCONJ
fcis-2136	171	99	the	the	DET
fcis-2136	171	100	obstacle	obstacle	NOUN
fcis-2136	171	101	is	be	AUX
fcis-2136	171	102	located	locate	VERB
fcis-2136	171	103	in	in	ADP
fcis-2136	171	104	the	the	DET
fcis-2136	171	105	middle	middle	NOUN
fcis-2136	171	106	of	of	ADP
fcis-2136	171	107	the	the	DET
fcis-2136	171	108	lane	lane	NOUN
fcis-2136	171	109	,	,	PUNCT
fcis-2136	171	110	it	it	PRON
fcis-2136	171	111	may	may	AUX
fcis-2136	171	112	conflict	conflict	VERB
fcis-2136	171	113	with	with	ADP
fcis-2136	171	114	the	the	DET
fcis-2136	171	115	vehicle	vehicle	NOUN
fcis-2136	171	116	and	and	CCONJ
fcis-2136	171	117	occupy	occupy	VERB
fcis-2136	171	118	the	the	DET
fcis-2136	171	119	target	target	NOUN
fcis-2136	171	120	channel	channel	NOUN
fcis-2136	171	121	with	with	ADP
fcis-2136	171	122	each	each	DET
fcis-2136	171	123	other	other	ADJ
fcis-2136	171	124	,	,	PUNCT
fcis-2136	171	125	that	that	ADV
fcis-2136	171	126	is	is	ADV
fcis-2136	171	127	,	,	PUNCT
fcis-2136	171	128	the	the	DET
fcis-2136	171	129	vehicle	vehicle	NOUN
fcis-2136	171	130	and	and	CCONJ
fcis-2136	171	131	the	the	DET
fcis-2136	171	132	obstacle	obstacle	NOUN
fcis-2136	171	133	can	can	AUX
fcis-2136	171	134	not	not	PART
fcis-2136	171	135	continue	continue	VERB
fcis-2136	171	136	to	to	PART
fcis-2136	171	137	travel	travel	VERB
fcis-2136	171	138	according	accord	VERB
fcis-2136	171	139	to	to	ADP
fcis-2136	171	140	the	the	DET
fcis-2136	171	141	original	original	ADJ
fcis-2136	171	142	planned	plan	VERB
fcis-2136	171	143	route	route	NOUN
fcis-2136	171	144	.	.	PUNCT
fcis-2136	172	1	for	for	ADP
fcis-2136	172	2	example	example	NOUN
fcis-2136	172	3	,	,	PUNCT
fcis-2136	172	4	obstacle	obstacle	PROPN
fcis-2136	172	5	q3	q3	PROPN
fcis-2136	172	6	,	,	PUNCT
fcis-2136	172	7	the	the	DET
fcis-2136	172	8	obstacle	obstacle	NOUN
fcis-2136	172	9	avoidance	avoidance	NOUN
fcis-2136	172	10	method	method	NOUN
fcis-2136	172	11	of	of	ADP
fcis-2136	172	12	replanning	replanne	VERB
fcis-2136	172	13	the	the	DET
fcis-2136	172	14	path	path	NOUN
fcis-2136	172	15	by	by	ADP
fcis-2136	172	16	adjusting	adjust	VERB
fcis-2136	172	17	the	the	DET
fcis-2136	172	18	vehicle	vehicle	NOUN
fcis-2136	172	19	position	position	NOUN
fcis-2136	172	20	is	be	AUX
fcis-2136	172	21	selected	select	VERB
fcis-2136	172	22	,	,	PUNCT
fcis-2136	172	23	that	that	ADV
fcis-2136	172	24	is	is	ADV
fcis-2136	172	25	,	,	PUNCT
fcis-2136	172	26	the	the	DET
fcis-2136	172	27	vehicle	vehicle	NOUN
fcis-2136	172	28	stops	stop	VERB
fcis-2136	172	29	parking	parking	NOUN
fcis-2136	172	30	and	and	CCONJ
fcis-2136	172	31	goes	go	VERB
fcis-2136	172	32	forward	forward	ADV
fcis-2136	172	33	to	to	ADP
fcis-2136	172	34	the	the	DET
fcis-2136	172	35	roadside	roadside	NOUN
fcis-2136	172	36	.	.	PUNCT
fcis-2136	173	1	after	after	SCONJ
fcis-2136	173	2	the	the	DET
fcis-2136	173	3	obstacle	obstacle	NOUN
fcis-2136	173	4	passes	pass	VERB
fcis-2136	173	5	,	,	PUNCT
fcis-2136	173	6	the	the	DET
fcis-2136	173	7	parking	parking	NOUN
fcis-2136	173	8	strategy	strategy	NOUN
fcis-2136	173	9	is	be	AUX
fcis-2136	173	10	reselected	reselecte	VERB
fcis-2136	173	11	for	for	ADP
fcis-2136	173	12	parking	parking	NOUN
fcis-2136	173	13	.	.	PUNCT
fcis-2136	174	1	the	the	DET
fcis-2136	174	2	optimal	optimal	ADJ
fcis-2136	174	3	selection	selection	NOUN
fcis-2136	174	4	of	of	ADP
fcis-2136	174	5	parking	parking	NOUN
fcis-2136	174	6	paths	path	NOUN
fcis-2136	174	7	for	for	ADP
fcis-2136	174	8	different	different	ADJ
fcis-2136	174	9	parking	parking	NOUN
fcis-2136	174	10	strategies	strategy	NOUN
fcis-2136	174	11	and	and	CCONJ
fcis-2136	174	12	different	different	ADJ
fcis-2136	174	13	obstacle	obstacle	NOUN
fcis-2136	174	14	avoidance	avoidance	NOUN
fcis-2136	174	15	methods	method	NOUN
fcis-2136	174	16	mainly	mainly	ADV
fcis-2136	174	17	considers	consider	VERB
fcis-2136	174	18	the	the	DET
fcis-2136	174	19	path	path	NOUN
fcis-2136	174	20	efficiency	efficiency	NOUN
fcis-2136	174	21	,	,	PUNCT
fcis-2136	174	22	that	that	ADV
fcis-2136	174	23	is	is	ADV
fcis-2136	174	24	,	,	PUNCT
fcis-2136	174	25	the	the	DET
fcis-2136	174	26	time	time	NOUN
fcis-2136	174	27	required	require	VERB
fcis-2136	174	28	for	for	SCONJ
fcis-2136	174	29	the	the	DET
fcis-2136	174	30	vehicle	vehicle	NOUN
fcis-2136	174	31	to	to	PART
fcis-2136	174	32	be	be	AUX
fcis-2136	174	33	parked	park	VERB
fcis-2136	174	34	in	in	ADP
fcis-2136	174	35	the	the	DET
fcis-2136	174	36	process	process	NOUN
fcis-2136	174	37	.	.	PUNCT
fcis-2136	175	1	the	the	DET
fcis-2136	175	2	whole	whole	ADJ
fcis-2136	175	3	process	process	NOUN
fcis-2136	175	4	of	of	ADP
fcis-2136	175	5	parking	parking	NOUN
fcis-2136	175	6	is	be	AUX
fcis-2136	175	7	taken	take	VERB
fcis-2136	175	8	as	as	ADP
fcis-2136	175	9	a	a	DET
fcis-2136	175	10	specific	specific	ADJ
fcis-2136	175	11	evaluation	evaluation	NOUN
fcis-2136	175	12	index	index	NOUN
fcis-2136	175	13	,	,	PUNCT
fcis-2136	175	14	and	and	CCONJ
fcis-2136	175	15	the	the	DET
fcis-2136	175	16	path	path	NOUN
fcis-2136	175	17	with	with	ADP
fcis-2136	175	18	the	the	DET
fcis-2136	175	19	smallest	small	ADJ
fcis-2136	175	20	evaluation	evaluation	NOUN
fcis-2136	175	21	index	index	NOUN
fcis-2136	175	22	is	be	AUX
fcis-2136	175	23	selected	select	VERB
fcis-2136	175	24	as	as	ADP
fcis-2136	175	25	the	the	DET
fcis-2136	175	26	optimal	optimal	ADJ
fcis-2136	175	27	parking	parking	NOUN
fcis-2136	175	28	path	path	NOUN
fcis-2136	175	29	.	.	PUNCT
fcis-2136	176	1	the	the	DET
fcis-2136	176	2	evaluation	evaluation	NOUN
fcis-2136	176	3	index	index	NOUN
fcis-2136	176	4	expression	expression	NOUN
fcis-2136	176	5	is	be	AUX
fcis-2136	176	6	:	:	PUNCT
fcis-2136	176	7	tnk	tnk	PROPN
fcis-2136	176	8	v	v	NUM
fcis-2136	176	9	l	l	NOUN
fcis-2136	176	10	m	m	VERB
fcis-2136	177	1	n	n	ADV
fcis-2136	178	1	j	j	NOUN
fcis-2136	179	1	i	i	PRON
fcis-2136	179	2	i	i	INTJ
fcis-2136	179	3	i	i	PRON
fcis-2136	180	1	+	+	PROPN
fcis-2136	180	2	+	+	NOUN
fcis-2136	180	3	=	=	NOUN
fcis-2136	180	4			X
fcis-2136	180	5	=	=	NOUN
fcis-2136	180	6	1	1	NUM
fcis-2136	180	7	where	where	SCONJ
fcis-2136	180	8	,	,	PUNCT
fcis-2136	180	9	m	m	PROPN
fcis-2136	180	10	is	be	AUX
fcis-2136	180	11	the	the	DET
fcis-2136	180	12	quantitative	quantitative	ADJ
fcis-2136	180	13	evaluation	evaluation	NOUN
fcis-2136	180	14	index	index	NOUN
fcis-2136	180	15	;	;	PUNCT
fcis-2136	180	16	li	li	PROPN
fcis-2136	180	17	is	be	AUX
fcis-2136	180	18	the	the	DET
fcis-2136	180	19	length	length	NOUN
fcis-2136	180	20	of	of	ADP
fcis-2136	180	21	the	the	DET
fcis-2136	180	22	ith	ith	PROPN
fcis-2136	180	23	line	line	NOUN
fcis-2136	180	24	segment	segment	NOUN
fcis-2136	180	25	;	;	PUNCT
fcis-2136	180	26	𝑣𝑖is	𝑣𝑖is	VERB
fcis-2136	180	27	the	the	DET
fcis-2136	180	28	average	average	ADJ
fcis-2136	180	29	speed	speed	NOUN
fcis-2136	180	30	of	of	ADP
fcis-2136	180	31	the	the	DET
fcis-2136	180	32	line	line	NOUN
fcis-2136	180	33	segment	segment	NOUN
fcis-2136	180	34	;	;	PUNCT
fcis-2136	180	35	the	the	DET
fcis-2136	180	36	whole	whole	ADJ
fcis-2136	180	37	process	process	NOUN
fcis-2136	180	38	of	of	ADP
fcis-2136	180	39	parking	parking	NOUN
fcis-2136	180	40	a	a	DET
fcis-2136	180	41	total	total	NOUN
fcis-2136	180	42	of	of	ADP
fcis-2136	180	43	j	j	PROPN
fcis-2136	180	44	line	line	NOUN
fcis-2136	180	45	segments	segment	NOUN
fcis-2136	180	46	;	;	PUNCT
fcis-2136	180	47	kn	kn	PROPN
fcis-2136	180	48	is	be	AUX
fcis-2136	180	49	the	the	DET
fcis-2136	180	50	vehicle	vehicle	NOUN
fcis-2136	180	51	turning	turn	VERB
fcis-2136	180	52	time	time	NOUN
fcis-2136	180	53	consumption	consumption	NOUN
fcis-2136	180	54	coefficient	coefficient	NOUN
fcis-2136	180	55	,	,	PUNCT
fcis-2136	180	56	n	n	X
fcis-2136	180	57	is	be	AUX
fcis-2136	180	58	the	the	DET
fcis-2136	180	59	number	number	NOUN
fcis-2136	180	60	of	of	ADP
fcis-2136	180	61	vehicles	vehicle	NOUN
fcis-2136	180	62	turning	turn	VERB
fcis-2136	180	63	,	,	PUNCT
fcis-2136	180	64	t	t	PROPN
fcis-2136	180	65	is	be	AUX
fcis-2136	180	66	the	the	DET
fcis-2136	180	67	parking	parking	NOUN
fcis-2136	180	68	waiting	waiting	NOUN
fcis-2136	180	69	time	time	NOUN
fcis-2136	180	70	when	when	SCONJ
fcis-2136	180	71	the	the	DET
fcis-2136	180	72	vehicle	vehicle	NOUN
fcis-2136	180	73	is	be	AUX
fcis-2136	180	74	parked	park	VERB
fcis-2136	180	75	.	.	PUNCT
fcis-2136	181	1	4	4	X
fcis-2136	181	2	.	.	X
fcis-2136	181	3	simulation	simulation	NOUN
fcis-2136	181	4	analysis	analysis	NOUN
fcis-2136	181	5	the	the	DET
fcis-2136	181	6	parking	parking	NOUN
fcis-2136	181	7	path	path	NOUN
fcis-2136	181	8	planning	planning	NOUN
fcis-2136	181	9	algorithm	algorithm	NOUN
fcis-2136	181	10	is	be	AUX
fcis-2136	181	11	simulated	simulate	VERB
fcis-2136	181	12	and	and	CCONJ
fcis-2136	181	13	verified	verify	VERB
fcis-2136	181	14	in	in	ADP
fcis-2136	181	15	qt	qt	PROPN
fcis-2136	181	16	environment	environment	NOUN
fcis-2136	181	17	.	.	PUNCT
fcis-2136	182	1	it	it	PRON
fcis-2136	182	2	is	be	AUX
fcis-2136	182	3	assumed	assume	VERB
fcis-2136	182	4	that	that	SCONJ
fcis-2136	182	5	the	the	DET
fcis-2136	182	6	vertical	vertical	ADJ
fcis-2136	182	7	parking	parking	NOUN
fcis-2136	182	8	space	space	NOUN
fcis-2136	182	9	is	be	AUX
fcis-2136	182	10	5.5	5.5	NUM
fcis-2136	182	11	m	m	NOUN
fcis-2136	182	12	in	in	ADP
fcis-2136	182	13	length	length	NOUN
fcis-2136	182	14	and	and	CCONJ
fcis-2136	182	15	2.4	2.4	NUM
fcis-2136	182	16	m	m	NOUN
fcis-2136	182	17	in	in	ADP
fcis-2136	182	18	width	width	NOUN
fcis-2136	182	19	,	,	PUNCT
fcis-2136	182	20	which	which	PRON
fcis-2136	182	21	is	be	AUX
fcis-2136	182	22	a	a	DET
fcis-2136	182	23	narrow	narrow	ADJ
fcis-2136	182	24	parking	parking	NOUN
fcis-2136	182	25	space	space	NOUN
fcis-2136	182	26	.	.	PUNCT
fcis-2136	183	1	the	the	DET
fcis-2136	183	2	vertical	vertical	ADJ
fcis-2136	183	3	parking	parking	NOUN
fcis-2136	183	4	path	path	NOUN
fcis-2136	183	5	of	of	ADP
fcis-2136	183	6	the	the	DET
fcis-2136	183	7	vehicle	vehicle	NOUN
fcis-2136	183	8	is	be	AUX
fcis-2136	183	9	planned	plan	VERB
fcis-2136	183	10	.	.	PUNCT
fcis-2136	184	1	the	the	DET
fcis-2136	184	2	three	three	NUM
fcis-2136	184	3	parking	parking	NOUN
fcis-2136	184	4	path	path	NOUN
fcis-2136	184	5	planning	planning	NOUN
fcis-2136	184	6	strategies	strategy	NOUN
fcis-2136	184	7	are	be	AUX
fcis-2136	184	8	simulated	simulate	VERB
fcis-2136	184	9	in	in	ADP
fcis-2136	184	10	figure	figure	NOUN
fcis-2136	184	11	8	8	NUM
fcis-2136	184	12	,	,	PUNCT
fcis-2136	184	13	figure	figure	NOUN
fcis-2136	184	14	9	9	NUM
fcis-2136	184	15	and	and	CCONJ
fcis-2136	184	16	figure	figure	VERB
fcis-2136	184	17	10	10	NUM
fcis-2136	184	18	,	,	PUNCT
fcis-2136	184	19	where	where	SCONJ
fcis-2136	184	20	the	the	DET
fcis-2136	184	21	blue	blue	ADJ
fcis-2136	184	22	curve	curve	NOUN
fcis-2136	184	23	represents	represent	VERB
fcis-2136	184	24	the	the	DET
fcis-2136	184	25	rear	rear	ADJ
fcis-2136	184	26	axle	axle	NOUN
fcis-2136	184	27	driving	driving	NOUN
fcis-2136	184	28	path	path	NOUN
fcis-2136	184	29	of	of	ADP
fcis-2136	184	30	the	the	DET
fcis-2136	184	31	vehicle	vehicle	NOUN
fcis-2136	184	32	.	.	PUNCT
fcis-2136	185	1	the	the	DET
fcis-2136	185	2	simulation	simulation	NOUN
fcis-2136	185	3	diagram	diagram	NOUN
fcis-2136	185	4	of	of	ADP
fcis-2136	185	5	vertical	vertical	ADJ
fcis-2136	185	6	parking	parking	NOUN
fcis-2136	185	7	path	path	NOUN
fcis-2136	185	8	planning	planning	NOUN
fcis-2136	185	9	after	after	ADP
fcis-2136	185	10	adding	add	VERB
fcis-2136	185	11	obstacle	obstacle	NOUN
fcis-2136	185	12	prediction	prediction	NOUN
fcis-2136	185	13	is	be	AUX
fcis-2136	185	14	shown	show	VERB
fcis-2136	185	15	in	in	ADP
fcis-2136	185	16	figure	figure	NOUN
fcis-2136	185	17	11	11	NUM
fcis-2136	185	18	.	.	PUNCT
fcis-2136	186	1	fig.8	fig.8	PROPN
fcis-2136	186	2	vehicle	vehicle	NOUN
fcis-2136	186	3	parking	parking	NOUN
fcis-2136	186	4	strategy	strategy	NOUN
fcis-2136	186	5	simulation	simulation	PROPN
fcis-2136	186	6	fig	fig	PROPN
fcis-2136	186	7	.	.	PUNCT
fcis-2136	187	1	9	9	NUM
fcis-2136	187	2	simulation	simulation	NOUN
fcis-2136	187	3	of	of	ADP
fcis-2136	187	4	reverse	reverse	ADJ
fcis-2136	187	5	parking	parking	NOUN
fcis-2136	187	6	strategy	strategy	NOUN
fcis-2136	187	7	after	after	ADP
fcis-2136	187	8	vehicle	vehicle	NOUN
fcis-2136	187	9	forward	forward	ADV
fcis-2136	187	10	adjustment	adjustment	NOUN
fcis-2136	187	11	fig.10	fig.10	DET
fcis-2136	187	12	simulation	simulation	NOUN
fcis-2136	187	13	of	of	ADP
fcis-2136	187	14	vehicle	vehicle	NOUN
fcis-2136	187	15	multiple	multiple	ADJ
fcis-2136	187	16	adjustment	adjustment	NOUN
fcis-2136	187	17	parking	parking	NOUN
fcis-2136	187	18	strategy	strategy	NOUN
fcis-2136	187	19	the	the	DET
fcis-2136	187	20	simulation	simulation	NOUN
fcis-2136	187	21	results	result	NOUN
fcis-2136	187	22	show	show	VERB
fcis-2136	187	23	that	that	SCONJ
fcis-2136	187	24	when	when	SCONJ
fcis-2136	187	25	the	the	DET
fcis-2136	187	26	parking	parking	NOUN
fcis-2136	187	27	space	space	NOUN
fcis-2136	187	28	environment	environment	NOUN
fcis-2136	187	29	and	and	CCONJ
fcis-2136	187	30	the	the	DET
fcis-2136	187	31	initial	initial	ADJ
fcis-2136	187	32	position	position	NOUN
fcis-2136	187	33	of	of	ADP
fcis-2136	187	34	the	the	DET
fcis-2136	187	35	vehicle	vehicle	NOUN
fcis-2136	187	36	are	be	AUX
fcis-2136	187	37	different	different	ADJ
fcis-2136	187	38	,	,	PUNCT
fcis-2136	187	39	the	the	DET
fcis-2136	187	40	three	three	NUM
fcis-2136	187	41	vertical	vertical	ADJ
fcis-2136	187	42	parking	parking	NOUN
fcis-2136	187	43	path	path	NOUN
fcis-2136	187	44	planning	planning	NOUN
fcis-2136	187	45	strategies	strategy	NOUN
fcis-2136	187	46	based	base	VERB
fcis-2136	187	47	on	on	ADP
fcis-2136	187	48	the	the	DET
fcis-2136	187	49	arc	arc	NOUN
fcis-2136	187	50	-	-	PUNCT
fcis-2136	187	51	straight	straight	ADJ
fcis-2136	187	52	line	line	NOUN
fcis-2136	187	53	-	-	PUNCT
fcis-2136	187	54	relaxation	relaxation	NOUN
fcis-2136	187	55	curve	curve	NOUN
fcis-2136	187	56	can	can	AUX
fcis-2136	187	57	effectively	effectively	ADV
fcis-2136	187	58	plan	plan	VERB
fcis-2136	187	59	the	the	DET
fcis-2136	187	60	vertical	vertical	ADJ
fcis-2136	187	61	parking	parking	NOUN
fcis-2136	187	62	path	path	NOUN
fcis-2136	187	63	and	and	CCONJ
fcis-2136	187	64	greatly	greatly	ADV
fcis-2136	187	65	improve	improve	VERB
fcis-2136	187	66	the	the	DET
fcis-2136	187	67	safety	safety	NOUN
fcis-2136	187	68	and	and	CCONJ
fcis-2136	187	69	success	success	NOUN
fcis-2136	187	70	rate	rate	NOUN
fcis-2136	187	71	of	of	ADP
fcis-2136	187	72	parking	parking	NOUN
fcis-2136	187	73	path	path	NOUN
fcis-2136	187	74	planning	planning	NOUN
fcis-2136	187	75	.	.	PUNCT
fcis-2136	188	1	fig	fig	NOUN
fcis-2136	188	2	.	.	PUNCT
fcis-2136	189	1	11	11	NUM
fcis-2136	189	2	simulation	simulation	NOUN
fcis-2136	189	3	of	of	ADP
fcis-2136	189	4	vehicle	vehicle	NOUN
fcis-2136	189	5	vertical	vertical	ADJ
fcis-2136	189	6	parking	parking	NOUN
fcis-2136	189	7	considering	consider	VERB
fcis-2136	189	8	obstacles	obstacle	NOUN
fcis-2136	189	9	from	from	ADP
fcis-2136	189	10	the	the	DET
fcis-2136	189	11	simulation	simulation	NOUN
fcis-2136	189	12	results	result	NOUN
fcis-2136	189	13	of	of	ADP
fcis-2136	189	14	the	the	DET
fcis-2136	189	15	vertical	vertical	ADJ
fcis-2136	189	16	parking	parking	NOUN
fcis-2136	189	17	path	path	NOUN
fcis-2136	189	18	with	with	ADP
fcis-2136	189	19	obstacles	obstacle	NOUN
fcis-2136	189	20	,	,	PUNCT
fcis-2136	189	21	it	it	PRON
fcis-2136	189	22	can	can	AUX
fcis-2136	189	23	be	be	AUX
fcis-2136	189	24	seen	see	VERB
fcis-2136	189	25	that	that	SCONJ
fcis-2136	189	26	by	by	ADP
fcis-2136	189	27	predicting	predict	VERB
fcis-2136	189	28	the	the	DET
fcis-2136	189	29	future	future	ADJ
fcis-2136	189	30	trajectory	trajectory	NOUN
fcis-2136	189	31	of	of	ADP
fcis-2136	189	32	obstacles	obstacle	NOUN
fcis-2136	189	33	,	,	PUNCT
fcis-2136	189	34	the	the	DET
fcis-2136	189	35	obstacle	obstacle	NOUN
fcis-2136	189	36	avoidance	avoidance	NOUN
fcis-2136	189	37	method	method	NOUN
fcis-2136	189	38	of	of	ADP
fcis-2136	189	39	changing	change	VERB
fcis-2136	189	40	the	the	DET
fcis-2136	189	41	parking	parking	NOUN
fcis-2136	189	42	strategy	strategy	NOUN
fcis-2136	189	43	is	be	AUX
fcis-2136	189	44	adopted	adopt	VERB
fcis-2136	189	45	,	,	PUNCT
fcis-2136	189	46	and	and	CCONJ
fcis-2136	189	47	the	the	DET
fcis-2136	189	48	reverse	reverse	ADJ
fcis-2136	189	49	parking	parking	NOUN
fcis-2136	189	50	strategy	strategy	NOUN
fcis-2136	189	51	after	after	SCONJ
fcis-2136	189	52	the	the	DET
fcis-2136	189	53	vehicle	vehicle	NOUN
fcis-2136	189	54	forward	forward	ADJ
fcis-2136	189	55	adjustment	adjustment	NOUN
fcis-2136	189	56	is	be	AUX
fcis-2136	189	57	adjusted	adjust	VERB
fcis-2136	189	58	to	to	ADP
fcis-2136	189	59	the	the	DET
fcis-2136	189	60	vehicle	vehicle	NOUN
fcis-2136	189	61	multiple	multiple	ADJ
fcis-2136	189	62	adjustment	adjustment	NOUN
fcis-2136	189	63	parking	parking	NOUN
fcis-2136	189	64	strategy	strategy	NOUN
fcis-2136	189	65	,	,	PUNCT
fcis-2136	189	66	which	which	PRON
fcis-2136	189	67	realizes	realize	VERB
fcis-2136	189	68	safe	safe	ADJ
fcis-2136	189	69	obstacle	obstacle	NOUN
fcis-2136	189	70	avoidance	avoidance	NOUN
fcis-2136	189	71	and	and	CCONJ
fcis-2136	189	72	efficient	efficient	ADJ
fcis-2136	189	73	parking	parking	NOUN
fcis-2136	189	74	.	.	PUNCT
fcis-2136	190	1	84	84	NUM
fcis-2136	190	2	5	5	NUM
fcis-2136	190	3	.	.	PUNCT
fcis-2136	190	4	conclusion	conclusion	NOUN
fcis-2136	190	5	in	in	ADP
fcis-2136	190	6	this	this	DET
fcis-2136	190	7	paper	paper	NOUN
fcis-2136	190	8	,	,	PUNCT
fcis-2136	190	9	the	the	DET
fcis-2136	190	10	parking	parking	NOUN
fcis-2136	190	11	path	path	NOUN
fcis-2136	190	12	planning	planning	NOUN
fcis-2136	190	13	of	of	ADP
fcis-2136	190	14	narrow	narrow	ADJ
fcis-2136	190	15	vertical	vertical	ADJ
fcis-2136	190	16	parking	parking	NOUN
fcis-2136	190	17	space	space	NOUN
fcis-2136	190	18	is	be	AUX
fcis-2136	190	19	studied	study	VERB
fcis-2136	190	20	.	.	PUNCT
fcis-2136	191	1	considering	consider	VERB
fcis-2136	191	2	the	the	DET
fcis-2136	191	3	complexity	complexity	NOUN
fcis-2136	191	4	and	and	CCONJ
fcis-2136	191	5	variability	variability	NOUN
fcis-2136	191	6	of	of	ADP
fcis-2136	191	7	parking	parking	NOUN
fcis-2136	191	8	environment	environment	NOUN
fcis-2136	191	9	,	,	PUNCT
fcis-2136	191	10	the	the	DET
fcis-2136	191	11	parking	parking	NOUN
fcis-2136	191	12	with	with	ADP
fcis-2136	191	13	high	high	ADJ
fcis-2136	191	14	success	success	NOUN
fcis-2136	191	15	rate	rate	NOUN
fcis-2136	191	16	,	,	PUNCT
fcis-2136	191	17	high	high	ADJ
fcis-2136	191	18	safety	safety	NOUN
fcis-2136	191	19	,	,	PUNCT
fcis-2136	191	20	strong	strong	ADJ
fcis-2136	191	21	adaptability	adaptability	NOUN
fcis-2136	191	22	and	and	CCONJ
fcis-2136	191	23	good	good	ADJ
fcis-2136	191	24	efficiency	efficiency	NOUN
fcis-2136	191	25	is	be	AUX
fcis-2136	191	26	realized	realize	VERB
fcis-2136	191	27	.	.	PUNCT
fcis-2136	192	1	the	the	DET
fcis-2136	192	2	main	main	ADJ
fcis-2136	192	3	tasks	task	NOUN
fcis-2136	192	4	are	be	AUX
fcis-2136	192	5	as	as	SCONJ
fcis-2136	192	6	follows	follow	VERB
fcis-2136	192	7	:	:	PUNCT
fcis-2136	192	8	(	(	PUNCT
fcis-2136	192	9	1	1	X
fcis-2136	192	10	)	)	PUNCT
fcis-2136	192	11	multi	multi	ADJ
fcis-2136	192	12	-	-	ADJ
fcis-2136	192	13	strategy	strategy	ADJ
fcis-2136	192	14	parking	parking	NOUN
fcis-2136	192	15	path	path	NOUN
fcis-2136	192	16	planning	planning	NOUN
fcis-2136	192	17	under	under	ADP
fcis-2136	192	18	different	different	ADJ
fcis-2136	192	19	vehicle	vehicle	NOUN
fcis-2136	192	20	initial	initial	ADJ
fcis-2136	192	21	positions	position	NOUN
fcis-2136	192	22	and	and	CCONJ
fcis-2136	192	23	postures	posture	NOUN
fcis-2136	192	24	.	.	PUNCT
fcis-2136	193	1	using	use	VERB
fcis-2136	193	2	the	the	DET
fcis-2136	193	3	path	path	NOUN
fcis-2136	193	4	planning	planning	NOUN
fcis-2136	193	5	method	method	NOUN
fcis-2136	193	6	of	of	ADP
fcis-2136	193	7	arc	arc	NOUN
fcis-2136	193	8	-	-	PUNCT
fcis-2136	193	9	line	line	NOUN
fcis-2136	193	10	-	-	PUNCT
fcis-2136	193	11	transition	transition	NOUN
fcis-2136	193	12	curve	curve	NOUN
fcis-2136	193	13	,	,	PUNCT
fcis-2136	193	14	and	and	CCONJ
fcis-2136	193	15	using	use	VERB
fcis-2136	193	16	three	three	NUM
fcis-2136	193	17	planning	planning	NOUN
fcis-2136	193	18	strategies	strategy	NOUN
fcis-2136	193	19	of	of	ADP
fcis-2136	193	20	one	one	NUM
fcis-2136	193	21	-	-	PUNCT
fcis-2136	193	22	time	time	NOUN
fcis-2136	193	23	parking	parking	NOUN
fcis-2136	193	24	,	,	PUNCT
fcis-2136	193	25	reverse	reverse	ADJ
fcis-2136	193	26	parking	parking	NOUN
fcis-2136	193	27	after	after	ADP
fcis-2136	193	28	vehicle	vehicle	NOUN
fcis-2136	193	29	forward	forward	ADV
fcis-2136	193	30	adjustment	adjustment	NOUN
fcis-2136	193	31	and	and	CCONJ
fcis-2136	193	32	multiple	multiple	ADJ
fcis-2136	193	33	adjustment	adjustment	NOUN
fcis-2136	193	34	parking	parking	NOUN
fcis-2136	193	35	,	,	PUNCT
fcis-2136	193	36	the	the	DET
fcis-2136	193	37	parking	parking	NOUN
fcis-2136	193	38	of	of	ADP
fcis-2136	193	39	continuous	continuous	ADJ
fcis-2136	193	40	curvature	curvature	NOUN
fcis-2136	193	41	path	path	NOUN
fcis-2136	193	42	under	under	ADP
fcis-2136	193	43	different	different	ADJ
fcis-2136	193	44	positions	position	NOUN
fcis-2136	193	45	and	and	CCONJ
fcis-2136	193	46	postures	posture	NOUN
fcis-2136	193	47	of	of	ADP
fcis-2136	193	48	vehicles	vehicle	NOUN
fcis-2136	193	49	is	be	AUX
fcis-2136	193	50	realized	realize	VERB
fcis-2136	193	51	.	.	PUNCT
fcis-2136	194	1	(	(	PUNCT
fcis-2136	194	2	2	2	X
fcis-2136	194	3	)	)	PUNCT
fcis-2136	194	4	predictive	predictive	ADJ
fcis-2136	194	5	parking	parking	NOUN
fcis-2136	194	6	path	path	NOUN
fcis-2136	194	7	planning	planning	NOUN
fcis-2136	194	8	considering	consider	VERB
fcis-2136	194	9	obstacle	obstacle	NOUN
fcis-2136	194	10	prediction	prediction	NOUN
fcis-2136	194	11	trajectory	trajectory	NOUN
fcis-2136	194	12	.	.	PUNCT
fcis-2136	195	1	considering	consider	VERB
fcis-2136	195	2	the	the	DET
fcis-2136	195	3	complex	complex	ADJ
fcis-2136	195	4	influence	influence	NOUN
fcis-2136	195	5	of	of	ADP
fcis-2136	195	6	obstacles	obstacle	NOUN
fcis-2136	195	7	in	in	ADP
fcis-2136	195	8	parking	parking	NOUN
fcis-2136	195	9	environment	environment	NOUN
fcis-2136	195	10	,	,	PUNCT
fcis-2136	195	11	considering	consider	VERB
fcis-2136	195	12	the	the	DET
fcis-2136	195	13	historical	historical	ADJ
fcis-2136	195	14	trajectory	trajectory	NOUN
fcis-2136	195	15	and	and	CCONJ
fcis-2136	195	16	interaction	interaction	NOUN
fcis-2136	195	17	of	of	ADP
fcis-2136	195	18	obstacles	obstacle	NOUN
fcis-2136	195	19	,	,	PUNCT
fcis-2136	195	20	the	the	DET
fcis-2136	195	21	future	future	ADJ
fcis-2136	195	22	trajectory	trajectory	NOUN
fcis-2136	195	23	of	of	ADP
fcis-2136	195	24	obstacles	obstacle	NOUN
fcis-2136	195	25	is	be	AUX
fcis-2136	195	26	predicted	predict	VERB
fcis-2136	195	27	,	,	PUNCT
fcis-2136	195	28	and	and	CCONJ
fcis-2136	195	29	three	three	NUM
fcis-2136	195	30	parking	parking	NOUN
fcis-2136	195	31	obstacle	obstacle	NOUN
fcis-2136	195	32	avoidance	avoidance	NOUN
fcis-2136	195	33	methods	method	NOUN
fcis-2136	195	34	are	be	AUX
fcis-2136	195	35	proposed	propose	VERB
fcis-2136	195	36	to	to	PART
fcis-2136	195	37	realize	realize	VERB
fcis-2136	195	38	safe	safe	ADJ
fcis-2136	195	39	and	and	CCONJ
fcis-2136	195	40	efficient	efficient	ADJ
fcis-2136	195	41	path	path	NOUN
fcis-2136	195	42	planning	planning	NOUN
fcis-2136	195	43	in	in	ADP
fcis-2136	195	44	different	different	ADJ
fcis-2136	195	45	parking	parking	NOUN
fcis-2136	195	46	environments	environment	NOUN
fcis-2136	195	47	.	.	PUNCT
fcis-2136	196	1	(	(	PUNCT
fcis-2136	196	2	3	3	X
fcis-2136	196	3	)	)	PUNCT
fcis-2136	196	4	optimal	optimal	ADJ
fcis-2136	196	5	path	path	NOUN
fcis-2136	196	6	planning	planning	NOUN
fcis-2136	196	7	selection	selection	NOUN
fcis-2136	196	8	.	.	PUNCT
fcis-2136	197	1	combined	combine	VERB
fcis-2136	197	2	with	with	ADP
fcis-2136	197	3	different	different	ADJ
fcis-2136	197	4	initial	initial	ADJ
fcis-2136	197	5	positions	position	NOUN
fcis-2136	197	6	and	and	CCONJ
fcis-2136	197	7	postures	posture	NOUN
fcis-2136	197	8	of	of	ADP
fcis-2136	197	9	the	the	DET
fcis-2136	197	10	vehicle	vehicle	NOUN
fcis-2136	197	11	and	and	CCONJ
fcis-2136	197	12	obstacle	obstacle	NOUN
fcis-2136	197	13	information	information	NOUN
fcis-2136	197	14	,	,	PUNCT
fcis-2136	197	15	three	three	NUM
fcis-2136	197	16	planning	planning	NOUN
fcis-2136	197	17	strategies	strategy	NOUN
fcis-2136	197	18	and	and	CCONJ
fcis-2136	197	19	three	three	NUM
fcis-2136	197	20	obstacle	obstacle	NOUN
fcis-2136	197	21	avoidance	avoidance	NOUN
fcis-2136	197	22	methods	method	NOUN
fcis-2136	197	23	are	be	AUX
fcis-2136	197	24	used	use	VERB
fcis-2136	197	25	to	to	PART
fcis-2136	197	26	achieve	achieve	VERB
fcis-2136	197	27	the	the	DET
fcis-2136	197	28	optimal	optimal	ADJ
fcis-2136	197	29	parking	parking	NOUN
fcis-2136	197	30	path	path	NOUN
fcis-2136	197	31	planning	planning	NOUN
fcis-2136	197	32	with	with	ADP
fcis-2136	197	33	parking	parking	NOUN
fcis-2136	197	34	time	time	NOUN
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fcis-2136	197	36	the	the	DET
fcis-2136	197	37	evaluation	evaluation	NOUN
fcis-2136	197	38	index	index	NOUN
fcis-2136	197	39	.	.	PUNCT
fcis-2136	198	1	references	reference	NOUN
fcis-2136	198	2	[	[	X
fcis-2136	198	3	1	1	X
fcis-2136	198	4	]	]	X
fcis-2136	198	5	paul	paul	PROPN
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fcis-2136	199	2	crashes	crash	NOUN
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fcis-2136	199	4	parking	parking	NOUN
fcis-2136	199	5	assistance	assistance	NOUN
fcis-2136	199	6	system	system	NOUN
fcis-2136	199	7	design	design	NOUN
fcis-2136	199	8	:	:	PUNCT
fcis-2136	199	9	evid	evid	PROPN
fcis-2136	199	10	ence	ence	NOUN
fcis-2136	199	11	from	from	ADP
fcis-2136	199	12	crash	crash	NOUN
fcis-2136	199	13	databases	database	NOUN
fcis-2136	199	14	,	,	PUNCT
fcis-2136	199	15	the	the	DET
fcis-2136	199	16	literature	literature	NOUN
fcis-2136	199	17	and	and	CCONJ
fcis-2136	199	18	insurance	insurance	NOUN
fcis-2136	199	19	agent	agent	NOUN
fcis-2136	199	20	interviews	interview	NOUN
fcis-2136	200	1	[	[	X
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fcis-2136	200	3	]	]	X
fcis-2136	200	4	.	.	PUNCT
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fcis-2136	201	2	world	world	PROPN
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fcis-2136	201	4	,	,	PUNCT
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fcis-2136	201	6	,	,	PUNCT
fcis-2136	201	7	i	i	PRON
fcis-2136	201	8	:	:	PUNCT
fcis-2136	201	9	1685	1685	NUM
fcis-2136	201	10	1700	1700	NUM
fcis-2136	201	11	.	.	PUNCT
fcis-2136	202	1	[	[	X
fcis-2136	202	2	2	2	NUM
fcis-2136	202	3	]	]	PUNCT
fcis-2136	202	4	shoup	shoup	PROPN
fcis-2136	202	5	d	d	PROPN
fcis-2136	202	6	c.	c.	PROPN
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fcis-2136	203	6	486	486	NUM
fcis-2136	203	7	.	.	PUNCT
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fcis-2136	204	2	3	3	X
fcis-2136	204	3	]	]	X
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fcis-2136	215	12	s.long	s.long	PROPN
fcis-2136	215	13	short	short	PROPN
fcis-2136	215	14	term	term	NOUN
fcis-2136	215	15	memory	memory	NOUN
fcis-2136	215	16	recurrent	recurrent	NOUN
fcis-2136	215	17	neural	neural	ADJ
fcis-2136	215	18	network	network	NOUN
fcis-2136	215	19	(	(	PUNCT
fcis-2136	215	20	lstm	lstm	PROPN
fcis-2136	215	21	-	-	PUNCT
fcis-2136	215	22	rnn	rnn	PROPN
fcis-2136	215	23	)	)	PUNCT
fcis-2136	215	24	based	base	VERB
fcis-2136	215	25	workload	workload	NOUN
fcis-2136	215	26	forecasting	forecasting	NOUN
fcis-2136	215	27	model	model	NOUN
fcis-2136	215	28	for	for	ADP
fcis-2136	215	29	cloud	cloud	NOUN
fcis-2136	215	30	datacenters	datacenter	NOUN
fcis-2136	215	31	[	[	X
fcis-2136	215	32	j].procedia	j].procedia	NOUN
fcis-2136	215	33	computer	computer	NOUN
fcis-2136	215	34	science,2018,125:676	science,2018,125:676	NOUN
fcis-2136	215	35	-	-	PUNCT
fcis-2136	215	36	682	682	NUM
fcis-2136	215	37	.	.	PUNCT
fcis-2136	216	1	[	[	X
fcis-2136	216	2	12	12	NUM
fcis-2136	216	3	]	]	X
fcis-2136	216	4	zhang	zhang	PROPN
fcis-2136	216	5	j	j	PROPN
fcis-2136	217	1	f	f	PROPN
fcis-2136	217	2	,	,	PUNCT
fcis-2136	217	3	zhu	zhu	PROPN
fcis-2136	217	4	z	z	PROPN
fcis-2136	217	5	,	,	PUNCT
fcis-2136	217	6	zhang	zhang	PROPN
fcis-2136	217	7	x	x	PROPN
fcis-2136	217	8	p	p	X
fcis-2136	217	9	,	,	PUNCT
fcis-2136	217	10	et	et	PROPN
fcis-2136	217	11	al.developing	al.develope	VERB
fcis-2136	217	12	a	a	DET
fcis-2136	217	13	long	long	ADJ
fcis-2136	217	14	short	short	ADJ
fcis-2136	217	15	-	-	PUNCT
fcis-2136	217	16	term	term	NOUN
fcis-2136	217	17	memory	memory	NOUN
fcis-2136	217	18	(	(	PUNCT
fcis-2136	217	19	lstm	lstm	NOUN
fcis-2136	217	20	)	)	PUNCT
fcis-2136	217	21	based	base	VERB
fcis-2136	217	22	model	model	NOUN
fcis-2136	217	23	for	for	ADP
fcis-2136	217	24	predicting	predict	VERB
fcis-2136	217	25	water	water	NOUN
fcis-2136	217	26	table	table	NOUN
fcis-2136	217	27	depth	depth	NOUN
fcis-2136	217	28	in	in	ADP
fcis-2136	217	29	agricultural	agricultural	ADJ
fcis-2136	217	30	areas	area	NOUN
fcis-2136	218	1	[	[	X
fcis-2136	218	2	j].journal	j].journal	NOUN
fcis-2136	218	3	of	of	ADP
fcis-2136	218	4	hydrology,2018,561:918	hydrology,2018,561:918	PROPN
fcis-2136	218	5	-	-	PUNCT
fcis-2136	218	6	929	929	NUM
fcis-2136	218	7	.	.	PUNCT