id	sid	tid	token	lemma	pos
fcis-31243	1	1	frontiers	frontier	NOUN
fcis-31243	1	2	in	in	ADP
fcis-31243	1	3	computing	computing	NOUN
fcis-31243	1	4	and	and	CCONJ
fcis-31243	1	5	intelligent	intelligent	ADJ
fcis-31243	1	6	systems	system	NOUN
fcis-31243	1	7	issn	issn	VERB
fcis-31243	1	8	:	:	PUNCT
fcis-31243	1	9	2832	2832	NUM
fcis-31243	1	10	-	-	SYM
fcis-31243	1	11	6024	6024	NUM
fcis-31243	1	12	|	|	NOUN
fcis-31243	1	13	vol	vol	NOUN
fcis-31243	1	14	.	.	PROPN
fcis-31243	2	1	12	12	NUM
fcis-31243	2	2	,	,	PUNCT
fcis-31243	2	3	no	no	INTJ
fcis-31243	2	4	.	.	NOUN
fcis-31243	2	5	3	3	NUM
fcis-31243	2	6	,	,	PUNCT
fcis-31243	2	7	2025	2025	NUM
fcis-31243	2	8	70	70	NUM
fcis-31243	2	9	research	research	NOUN
fcis-31243	2	10	on	on	ADP
fcis-31243	2	11	vehicle‐road	vehicle‐road	ADJ
fcis-31243	2	12	collaboration	collaboration	NOUN
fcis-31243	2	13	and	and	CCONJ
fcis-31243	2	14	autonomous	autonomous	ADJ
fcis-31243	2	15	driving	drive	VERB
fcis-31243	2	16	algorithms	algorithm	NOUN
fcis-31243	2	17	wen	wen	PROPN
fcis-31243	2	18	shao	shao	PROPN
fcis-31243	2	19	a	a	PROPN
fcis-31243	2	20	,	,	PUNCT
fcis-31243	3	1	yihong	yihong	PROPN
fcis-31243	3	2	qin	qin	PROPN
fcis-31243	3	3	b	b	PROPN
fcis-31243	3	4	,	,	PUNCT
fcis-31243	3	5	zongyao	zongyao	PROPN
fcis-31243	4	1	ji	ji	PROPN
fcis-31243	4	2	c	c	PROPN
fcis-31243	4	3	catarc	catarc	PROPN
fcis-31243	4	4	automotive	automotive	ADJ
fcis-31243	4	5	research	research	NOUN
fcis-31243	4	6	and	and	CCONJ
fcis-31243	4	7	inspection	inspection	NOUN
fcis-31243	4	8	center	center	NOUN
fcis-31243	4	9	(	(	PUNCT
fcis-31243	4	10	tianjin)co	tianjin)co	NOUN
fcis-31243	4	11	.	.	PUNCT
fcis-31243	4	12	,	,	PUNCT
fcis-31243	4	13	ltd	ltd	PROPN
fcis-31243	4	14	.	.	PROPN
fcis-31243	4	15	tianjin	tianjin	PROPN
fcis-31243	4	16	,	,	PUNCT
fcis-31243	4	17	china	china	PROPN
fcis-31243	4	18	a	a	DET
fcis-31243	4	19	shaowen@catarc.ac.cn	shaowen@catarc.ac.cn	PROPN
fcis-31243	4	20	,	,	PUNCT
fcis-31243	4	21	b	b	NOUN
fcis-31243	4	22	qinyihong@catarc.ac.cn	qinyihong@catarc.ac.cn	NOUN
fcis-31243	4	23	,	,	PUNCT
fcis-31243	4	24	c	c	NOUN
fcis-31243	4	25	jizongyao@catarc.ac.cn	jizongyao@catarc.ac.cn	ADJ
fcis-31243	4	26	abstract	abstract	NOUN
fcis-31243	4	27	:	:	PUNCT
fcis-31243	4	28	this	this	DET
fcis-31243	4	29	paper	paper	NOUN
fcis-31243	4	30	presents	present	VERB
fcis-31243	4	31	an	an	DET
fcis-31243	4	32	exhaustive	exhaustive	ADJ
fcis-31243	4	33	20,000	20,000	NUM
fcis-31243	4	34	-	-	PUNCT
fcis-31243	4	35	word	word	NOUN
fcis-31243	4	36	investigation	investigation	NOUN
fcis-31243	4	37	into	into	ADP
fcis-31243	4	38	the	the	DET
fcis-31243	4	39	fusion	fusion	NOUN
fcis-31243	4	40	architecture	architecture	NOUN
fcis-31243	4	41	of	of	ADP
fcis-31243	4	42	vehicle	vehicle	NOUN
fcis-31243	4	43	-	-	PUNCT
fcis-31243	4	44	road	road	NOUN
fcis-31243	4	45	collaboration	collaboration	NOUN
fcis-31243	4	46	(	(	PUNCT
fcis-31243	4	47	vrc	vrc	NOUN
fcis-31243	4	48	)	)	PUNCT
fcis-31243	4	49	and	and	CCONJ
fcis-31243	4	50	autonomous	autonomous	ADJ
fcis-31243	4	51	driving	driving	NOUN
fcis-31243	4	52	(	(	PUNCT
fcis-31243	4	53	ad	ad	NOUN
fcis-31243	4	54	)	)	PUNCT
fcis-31243	4	55	algorithms	algorithm	NOUN
fcis-31243	4	56	.	.	PUNCT
fcis-31243	5	1	our	our	PRON
fcis-31243	5	2	research	research	NOUN
fcis-31243	5	3	systematically	systematically	ADV
fcis-31243	5	4	examines	examine	VERB
fcis-31243	5	5	three	three	NUM
fcis-31243	5	6	critical	critical	ADJ
fcis-31243	5	7	integration	integration	NOUN
fcis-31243	5	8	layers	layer	NOUN
fcis-31243	5	9	:	:	PUNCT
fcis-31243	5	10	communication	communication	NOUN
fcis-31243	5	11	infrastructure	infrastructure	NOUN
fcis-31243	5	12	,	,	PUNCT
fcis-31243	5	13	multi	multi	ADJ
fcis-31243	5	14	-	-	ADJ
fcis-31243	5	15	sensor	sensor	ADJ
fcis-31243	5	16	data	datum	NOUN
fcis-31243	5	17	fusion	fusion	NOUN
fcis-31243	5	18	,	,	PUNCT
fcis-31243	5	19	and	and	CCONJ
fcis-31243	5	20	heterogeneous	heterogeneous	ADJ
fcis-31243	5	21	system	system	NOUN
fcis-31243	5	22	coordination	coordination	NOUN
fcis-31243	5	23	.	.	PUNCT
fcis-31243	6	1	the	the	DET
fcis-31243	6	2	study	study	NOUN
fcis-31243	6	3	demonstrates	demonstrate	VERB
fcis-31243	6	4	how	how	SCONJ
fcis-31243	6	5	5g	5g	NUM
fcis-31243	6	6	-	-	PUNCT
fcis-31243	6	7	v2x	v2x	NOUN
fcis-31243	6	8	technology	technology	NOUN
fcis-31243	6	9	achieves	achieve	VERB
fcis-31243	6	10	unprecedented	unprecedented	ADJ
fcis-31243	6	11	1ms	1ms	ADJ
fcis-31243	6	12	latency	latency	NOUN
fcis-31243	6	13	communication	communication	NOUN
fcis-31243	6	14	,	,	PUNCT
fcis-31243	6	15	how	how	SCONJ
fcis-31243	6	16	roadside	roadside	ADJ
fcis-31243	6	17	sensor	sensor	NOUN
fcis-31243	6	18	networks	network	NOUN
fcis-31243	6	19	extend	extend	VERB
fcis-31243	6	20	perception	perception	NOUN
fcis-31243	6	21	ranges	range	VERB
fcis-31243	6	22	to	to	ADP
fcis-31243	6	23	300	300	NUM
fcis-31243	6	24	m	m	NOUN
fcis-31243	6	25	with	with	ADP
fcis-31243	6	26	20	20	NUM
fcis-31243	6	27	%	%	NOUN
fcis-31243	6	28	accuracy	accuracy	NOUN
fcis-31243	6	29	improvements	improvement	NOUN
fcis-31243	6	30	,	,	PUNCT
fcis-31243	6	31	and	and	CCONJ
fcis-31243	6	32	how	how	SCONJ
fcis-31243	6	33	standardized	standardized	ADJ
fcis-31243	6	34	edge	edge	NOUN
fcis-31243	6	35	computing	compute	VERB
fcis-31243	6	36	protocols	protocol	NOUN
fcis-31243	6	37	reduce	reduce	VERB
fcis-31243	6	38	onboard	onboard	ADP
fcis-31243	6	39	computational	computational	ADJ
fcis-31243	6	40	loads	load	NOUN
fcis-31243	6	41	by	by	ADP
fcis-31243	6	42	30	30	NUM
fcis-31243	6	43	-	-	SYM
fcis-31243	6	44	40	40	NUM
fcis-31243	6	45	%	%	NOUN
fcis-31243	6	46	.	.	PUNCT
fcis-31243	7	1	through	through	ADP
fcis-31243	7	2	detailed	detailed	ADJ
fcis-31243	7	3	algorithm	algorithm	NOUN
fcis-31243	7	4	optimization	optimization	NOUN
fcis-31243	7	5	across	across	ADP
fcis-31243	7	6	perception	perception	NOUN
fcis-31243	7	7	,	,	PUNCT
fcis-31243	7	8	decision	decision	NOUN
fcis-31243	7	9	,	,	PUNCT
fcis-31243	7	10	and	and	CCONJ
fcis-31243	7	11	control	control	NOUN
fcis-31243	7	12	domains	domain	NOUN
fcis-31243	7	13	,	,	PUNCT
fcis-31243	7	14	we	we	PRON
fcis-31243	7	15	validate	validate	VERB
fcis-31243	7	16	15	15	NUM
fcis-31243	7	17	-	-	SYM
fcis-31243	7	18	25	25	NUM
fcis-31243	7	19	%	%	NOUN
fcis-31243	7	20	efficiency	efficiency	NOUN
fcis-31243	7	21	gains	gain	NOUN
fcis-31243	7	22	in	in	ADP
fcis-31243	7	23	urban	urban	ADJ
fcis-31243	7	24	traffic	traffic	NOUN
fcis-31243	7	25	scenarios	scenario	NOUN
fcis-31243	7	26	and	and	CCONJ
fcis-31243	7	27	sub-100ms	sub-100ms	ADJ
fcis-31243	7	28	emergency	emergency	NOUN
fcis-31243	7	29	response	response	NOUN
fcis-31243	7	30	capabilities	capability	NOUN
fcis-31243	7	31	.	.	PUNCT
fcis-31243	8	1	the	the	DET
fcis-31243	8	2	paper	paper	NOUN
fcis-31243	8	3	further	far	ADV
fcis-31243	8	4	explores	explore	VERB
fcis-31243	8	5	implementation	implementation	NOUN
fcis-31243	8	6	challenges	challenge	NOUN
fcis-31243	8	7	,	,	PUNCT
fcis-31243	8	8	comparative	comparative	ADJ
fcis-31243	8	9	analyses	analysis	NOUN
fcis-31243	8	10	with	with	ADP
fcis-31243	8	11	existing	exist	VERB
fcis-31243	8	12	systems	system	NOUN
fcis-31243	8	13	,	,	PUNCT
fcis-31243	8	14	and	and	CCONJ
fcis-31243	8	15	future	future	ADJ
fcis-31243	8	16	directions	direction	NOUN
fcis-31243	8	17	incorporating	incorporate	VERB
fcis-31243	8	18	quantum	quantum	NOUN
fcis-31243	8	19	computing	computing	NOUN
fcis-31243	8	20	and	and	CCONJ
fcis-31243	8	21	6	6	NUM
fcis-31243	8	22	g	g	NOUN
fcis-31243	8	23	communications	communication	NOUN
fcis-31243	8	24	.	.	PUNCT
fcis-31243	9	1	keywords	keyword	NOUN
fcis-31243	9	2	:	:	PUNCT
fcis-31243	9	3	vehicle	vehicle	NOUN
fcis-31243	9	4	-	-	PUNCT
fcis-31243	9	5	road	road	NOUN
fcis-31243	9	6	collaboration	collaboration	NOUN
fcis-31243	9	7	;	;	PUNCT
fcis-31243	9	8	autonomous	autonomous	ADJ
fcis-31243	9	9	driving	driving	NOUN
fcis-31243	9	10	;	;	PUNCT
fcis-31243	9	11	5g	5g	NUM
fcis-31243	9	12	-	-	PUNCT
fcis-31243	9	13	v2x	v2x	NOUN
fcis-31243	9	14	;	;	PUNCT
fcis-31243	9	15	sensor	sensor	NOUN
fcis-31243	9	16	fusion	fusion	NOUN
fcis-31243	9	17	;	;	PUNCT
fcis-31243	9	18	edge	edge	NOUN
fcis-31243	9	19	computing	computing	NOUN
fcis-31243	9	20	;	;	PUNCT
fcis-31243	9	21	mpc	mpc	NOUN
fcis-31243	9	22	;	;	PUNCT
fcis-31243	9	23	reinforcement	reinforcement	NOUN
fcis-31243	9	24	learning	learning	NOUN
fcis-31243	9	25	;	;	PUNCT
fcis-31243	9	26	intelligent	intelligent	ADJ
fcis-31243	9	27	transportation	transportation	NOUN
fcis-31243	9	28	systems	system	NOUN
fcis-31243	9	29	.	.	PUNCT
fcis-31243	10	1	1	1	X
fcis-31243	10	2	.	.	X
fcis-31243	10	3	introduction	introduction	NOUN
fcis-31243	10	4	with	with	ADP
fcis-31243	10	5	the	the	DET
fcis-31243	10	6	deep	deep	ADJ
fcis-31243	10	7	development	development	NOUN
fcis-31243	10	8	of	of	ADP
fcis-31243	10	9	the	the	DET
fcis-31243	10	10	automotive	automotive	ADJ
fcis-31243	10	11	industry	industry	NOUN
fcis-31243	10	12	towards	towards	ADP
fcis-31243	10	13	intelligence	intelligence	NOUN
fcis-31243	10	14	and	and	CCONJ
fcis-31243	10	15	networking	networking	NOUN
fcis-31243	10	16	,	,	PUNCT
fcis-31243	10	17	autonomous	autonomous	ADJ
fcis-31243	10	18	driving	driving	NOUN
fcis-31243	10	19	technology	technology	NOUN
fcis-31243	10	20	has	have	AUX
fcis-31243	10	21	become	become	VERB
fcis-31243	10	22	the	the	DET
fcis-31243	10	23	focus	focus	NOUN
fcis-31243	10	24	of	of	ADP
fcis-31243	10	25	the	the	DET
fcis-31243	10	26	industry	industry	NOUN
fcis-31243	10	27	.	.	PUNCT
fcis-31243	11	1	however	however	ADV
fcis-31243	11	2	,	,	PUNCT
fcis-31243	11	3	the	the	DET
fcis-31243	11	4	auto	auto	NOUN
fcis-31243	11	5	drive	drive	NOUN
fcis-31243	11	6	system	system	NOUN
fcis-31243	11	7	,	,	PUNCT
fcis-31243	11	8	which	which	PRON
fcis-31243	11	9	only	only	ADV
fcis-31243	11	10	relies	rely	VERB
fcis-31243	11	11	on	on	ADP
fcis-31243	11	12	on	on	ADP
fcis-31243	11	13	-	-	PUNCT
fcis-31243	11	14	board	board	NOUN
fcis-31243	11	15	sensors	sensor	NOUN
fcis-31243	11	16	,	,	PUNCT
fcis-31243	11	17	has	have	VERB
fcis-31243	11	18	some	some	DET
fcis-31243	11	19	limitations	limitation	NOUN
fcis-31243	11	20	such	such	ADJ
fcis-31243	11	21	as	as	ADP
fcis-31243	11	22	blind	blind	ADJ
fcis-31243	11	23	spots	spot	NOUN
fcis-31243	11	24	in	in	ADP
fcis-31243	11	25	perception	perception	NOUN
fcis-31243	11	26	and	and	CCONJ
fcis-31243	11	27	heavy	heavy	ADJ
fcis-31243	11	28	computing	computing	NOUN
fcis-31243	11	29	load	load	NOUN
fcis-31243	11	30	in	in	ADP
fcis-31243	11	31	complex	complex	ADJ
fcis-31243	11	32	traffic	traffic	NOUN
fcis-31243	11	33	scenes	scene	NOUN
fcis-31243	11	34	.	.	PUNCT
fcis-31243	12	1	the	the	DET
fcis-31243	12	2	proposal	proposal	NOUN
fcis-31243	12	3	of	of	ADP
fcis-31243	12	4	vehicle	vehicle	NOUN
fcis-31243	12	5	road	road	NOUN
fcis-31243	12	6	collaboration	collaboration	NOUN
fcis-31243	12	7	(	(	PUNCT
fcis-31243	12	8	vrc	vrc	NOUN
fcis-31243	12	9	)	)	PUNCT
fcis-31243	12	10	concept	concept	NOUN
fcis-31243	12	11	provides	provide	VERB
fcis-31243	12	12	a	a	DET
fcis-31243	12	13	new	new	ADJ
fcis-31243	12	14	path	path	NOUN
fcis-31243	12	15	for	for	ADP
fcis-31243	12	16	autonomous	autonomous	ADJ
fcis-31243	12	17	driving	driving	NOUN
fcis-31243	12	18	technology	technology	NOUN
fcis-31243	12	19	to	to	PART
fcis-31243	12	20	break	break	VERB
fcis-31243	12	21	through	through	ADP
fcis-31243	12	22	bottlenecks	bottleneck	NOUN
fcis-31243	12	23	by	by	ADP
fcis-31243	12	24	building	build	VERB
fcis-31243	12	25	information	information	NOUN
fcis-31243	12	26	exchange	exchange	NOUN
fcis-31243	12	27	networks	network	NOUN
fcis-31243	12	28	between	between	ADP
fcis-31243	12	29	vehicles	vehicle	NOUN
fcis-31243	12	30	and	and	CCONJ
fcis-31243	12	31	roads	road	NOUN
fcis-31243	12	32	,	,	PUNCT
fcis-31243	12	33	vehicles	vehicle	NOUN
fcis-31243	12	34	and	and	CCONJ
fcis-31243	12	35	vehicles	vehicle	NOUN
fcis-31243	12	36	,	,	PUNCT
fcis-31243	12	37	and	and	CCONJ
fcis-31243	12	38	vehicles	vehicle	NOUN
fcis-31243	12	39	and	and	CCONJ
fcis-31243	12	40	people	people	NOUN
fcis-31243	12	41	.	.	PUNCT
fcis-31243	13	1	the	the	DET
fcis-31243	13	2	deep	deep	ADJ
fcis-31243	13	3	integration	integration	NOUN
fcis-31243	13	4	of	of	ADP
fcis-31243	13	5	vehicle	vehicle	NOUN
fcis-31243	13	6	road	road	NOUN
fcis-31243	13	7	collaboration	collaboration	NOUN
fcis-31243	13	8	and	and	CCONJ
fcis-31243	13	9	automatic	automatic	ADJ
fcis-31243	13	10	driving	driving	NOUN
fcis-31243	13	11	algorithm	algorithm	NOUN
fcis-31243	13	12	can	can	AUX
fcis-31243	13	13	effectively	effectively	ADV
fcis-31243	13	14	improve	improve	VERB
fcis-31243	13	15	the	the	DET
fcis-31243	13	16	safety	safety	NOUN
fcis-31243	13	17	,	,	PUNCT
fcis-31243	13	18	reliability	reliability	NOUN
fcis-31243	13	19	and	and	CCONJ
fcis-31243	13	20	operating	operating	NOUN
fcis-31243	13	21	efficiency	efficiency	NOUN
fcis-31243	13	22	of	of	ADP
fcis-31243	13	23	the	the	DET
fcis-31243	13	24	auto	auto	NOUN
fcis-31243	13	25	drive	drive	NOUN
fcis-31243	13	26	system	system	NOUN
fcis-31243	13	27	.	.	PUNCT
fcis-31243	14	1	this	this	DET
fcis-31243	14	2	study	study	NOUN
fcis-31243	14	3	aims	aim	VERB
fcis-31243	14	4	to	to	PART
fcis-31243	14	5	deeply	deeply	ADV
fcis-31243	14	6	analyze	analyze	VERB
fcis-31243	14	7	their	their	PRON
fcis-31243	14	8	integration	integration	NOUN
fcis-31243	14	9	architecture	architecture	NOUN
fcis-31243	14	10	and	and	CCONJ
fcis-31243	14	11	technical	technical	ADJ
fcis-31243	14	12	advantages	advantage	NOUN
fcis-31243	14	13	,	,	PUNCT
fcis-31243	14	14	and	and	CCONJ
fcis-31243	14	15	provide	provide	VERB
fcis-31243	14	16	theoretical	theoretical	ADJ
fcis-31243	14	17	and	and	CCONJ
fcis-31243	14	18	practical	practical	ADJ
fcis-31243	14	19	reference	reference	NOUN
fcis-31243	14	20	for	for	ADP
fcis-31243	14	21	the	the	DET
fcis-31243	14	22	industry	industry	NOUN
fcis-31243	14	23	development	development	NOUN
fcis-31243	14	24	.	.	PUNCT
fcis-31243	15	1	the	the	DET
fcis-31243	15	2	global	global	ADJ
fcis-31243	15	3	autonomous	autonomous	ADJ
fcis-31243	15	4	vehicle	vehicle	NOUN
fcis-31243	15	5	market	market	NOUN
fcis-31243	15	6	is	be	AUX
fcis-31243	15	7	projected	project	VERB
fcis-31243	15	8	to	to	PART
fcis-31243	15	9	reach	reach	VERB
fcis-31243	15	10	$	$	SYM
fcis-31243	15	11	2.2	2.2	NUM
fcis-31243	15	12	trillion	trillion	NUM
fcis-31243	15	13	by	by	ADP
fcis-31243	15	14	2030	2030	NUM
fcis-31243	15	15	(	(	PUNCT
fcis-31243	15	16	mckinsey	mckinsey	NOUN
fcis-31243	15	17	,	,	PUNCT
fcis-31243	15	18	2023	2023	NUM
fcis-31243	15	19	)	)	PUNCT
fcis-31243	15	20	,	,	PUNCT
fcis-31243	15	21	with	with	ADP
fcis-31243	15	22	vehicle	vehicle	NOUN
fcis-31243	15	23	-	-	PUNCT
fcis-31243	15	24	road	road	NOUN
fcis-31243	15	25	collaboration	collaboration	NOUN
fcis-31243	15	26	emerging	emerge	VERB
fcis-31243	15	27	as	as	ADP
fcis-31243	15	28	the	the	DET
fcis-31243	15	29	critical	critical	ADJ
fcis-31243	15	30	enabler	enabler	NOUN
fcis-31243	15	31	for	for	ADP
fcis-31243	15	32	level	level	NOUN
fcis-31243	15	33	4/5	4/5	NUM
fcis-31243	15	34	autonomy	autonomy	NOUN
fcis-31243	15	35	.	.	PUNCT
fcis-31243	16	1	[	[	X
fcis-31243	16	2	1	1	NUM
fcis-31243	16	3	]	]	X
fcis-31243	16	4	traditional	traditional	ADJ
fcis-31243	16	5	autonomous	autonomous	ADJ
fcis-31243	16	6	systems	system	NOUN
fcis-31243	16	7	face	face	VERB
fcis-31243	16	8	four	four	NUM
fcis-31243	16	9	fundamental	fundamental	ADJ
fcis-31243	16	10	limitations	limitation	NOUN
fcis-31243	16	11	:	:	PUNCT
fcis-31243	16	12	[	[	X
fcis-31243	16	13	2	2	NUM
fcis-31243	16	14	]	]	SYM
fcis-31243	16	15	1.perception	1.perception	NUM
fcis-31243	16	16	constraint	constraint	NOUN
fcis-31243	16	17	:	:	PUNCT
fcis-31243	16	18	onboard	onboard	ADP
fcis-31243	16	19	sensors	sensor	NOUN
fcis-31243	16	20	have	have	VERB
fcis-31243	16	21	physical	physical	ADJ
fcis-31243	16	22	detection	detection	NOUN
fcis-31243	16	23	limits	limit	NOUN
fcis-31243	16	24	(	(	PUNCT
fcis-31243	16	25	typically	typically	ADV
fcis-31243	16	26	120	120	NUM
fcis-31243	16	27	m	m	NOUN
fcis-31243	16	28	for	for	ADP
fcis-31243	16	29	lidar	lidar	NOUN
fcis-31243	16	30	)	)	PUNCT
fcis-31243	16	31	with	with	ADP
fcis-31243	16	32	30	30	NUM
fcis-31243	16	33	-	-	SYM
fcis-31243	16	34	40	40	NUM
fcis-31243	16	35	%	%	NOUN
fcis-31243	16	36	accuracy	accuracy	NOUN
fcis-31243	16	37	degradation	degradation	NOUN
fcis-31243	16	38	in	in	ADP
fcis-31243	16	39	adverse	adverse	ADJ
fcis-31243	16	40	weather	weather	NOUN
fcis-31243	16	41	(	(	PUNCT
fcis-31243	16	42	snow	snow	NOUN
fcis-31243	16	43	et	et	PROPN
fcis-31243	16	44	al	al	PROPN
fcis-31243	16	45	.	.	PROPN
fcis-31243	16	46	,	,	PUNCT
fcis-31243	16	47	2022	2022	NUM
fcis-31243	16	48	)	)	PUNCT
fcis-31243	16	49	2.computational	2.computational	NUM
fcis-31243	16	50	bottleneck	bottleneck	NOUN
fcis-31243	16	51	:	:	PUNCT
fcis-31243	16	52	real	real	ADJ
fcis-31243	16	53	-	-	PUNCT
fcis-31243	16	54	time	time	NOUN
fcis-31243	16	55	processing	processing	NOUN
fcis-31243	16	56	of	of	ADP
fcis-31243	16	57	multi	multi	ADJ
fcis-31243	16	58	-	-	ADJ
fcis-31243	16	59	modal	modal	ADJ
fcis-31243	16	60	sensor	sensor	NOUN
fcis-31243	16	61	data	datum	NOUN
fcis-31243	16	62	requires	require	VERB
fcis-31243	16	63	250	250	NUM
fcis-31243	16	64	+	+	NUM
fcis-31243	16	65	tops	top	NOUN
fcis-31243	16	66	computing	compute	VERB
fcis-31243	16	67	power	power	NOUN
fcis-31243	16	68	(	(	PUNCT
fcis-31243	16	69	nvidia	nvidia	PROPN
fcis-31243	16	70	drive	drive	VERB
fcis-31243	16	71	thor	thor	PROPN
fcis-31243	16	72	specifications	specification	NOUN
fcis-31243	16	73	)	)	PUNCT
fcis-31243	16	74	3.communication	3.communication	NUM
fcis-31243	16	75	latency	latency	NOUN
fcis-31243	16	76	:	:	PUNCT
fcis-31243	16	77	4g	4g	NOUN
fcis-31243	16	78	-	-	PUNCT
fcis-31243	16	79	based	base	VERB
fcis-31243	16	80	v2x	v2x	NOUN
fcis-31243	16	81	systems	system	NOUN
fcis-31243	16	82	exhibit	exhibit	VERB
fcis-31243	16	83	30	30	NUM
fcis-31243	16	84	-	-	PUNCT
fcis-31243	16	85	50ms	50ms	ADJ
fcis-31243	16	86	latency	latency	NOUN
fcis-31243	16	87	insufficient	insufficient	ADJ
fcis-31243	16	88	for	for	ADP
fcis-31243	16	89	high	high	ADJ
fcis-31243	16	90	-	-	PUNCT
fcis-31243	16	91	speed	speed	NOUN
fcis-31243	16	92	scenarios	scenario	NOUN
fcis-31243	16	93	4.system	4.system	NUM
fcis-31243	16	94	fragmentation	fragmentation	NOUN
fcis-31243	16	95	:	:	PUNCT
fcis-31243	16	96	proprietary	proprietary	ADJ
fcis-31243	16	97	protocols	protocol	NOUN
fcis-31243	16	98	from	from	ADP
fcis-31243	16	99	7	7	NUM
fcis-31243	16	100	major	major	ADJ
fcis-31243	16	101	oems	oem	NOUN
fcis-31243	16	102	create	create	VERB
fcis-31243	16	103	interoperability	interoperability	NOUN
fcis-31243	16	104	challenges	challenge	NOUN
fcis-31243	16	105	2	2	NUM
fcis-31243	16	106	.	.	PUNCT
fcis-31243	16	107	communication	communication	NOUN
fcis-31243	16	108	fusion	fusion	NOUN
fcis-31243	16	109	architecture	architecture	NOUN
fcis-31243	16	110	2.1	2.1	NUM
fcis-31243	16	111	.	.	PUNCT
fcis-31243	17	1	5g	5g	NUM
fcis-31243	17	2	-	-	PUNCT
fcis-31243	17	3	v2x	v2x	NOUN
fcis-31243	17	4	technical	technical	ADJ
fcis-31243	17	5	specifications	specification	NOUN
fcis-31243	17	6	the	the	DET
fcis-31243	17	7	5g	5g	NUM
fcis-31243	17	8	-	-	PUNCT
fcis-31243	17	9	v2x	v2x	NOUN
fcis-31243	17	10	technical	technical	ADJ
fcis-31243	17	11	specifications	specification	NOUN
fcis-31243	17	12	are	be	AUX
fcis-31243	17	13	a	a	DET
fcis-31243	17	14	set	set	NOUN
fcis-31243	17	15	of	of	ADP
fcis-31243	17	16	standards	standard	NOUN
fcis-31243	17	17	and	and	CCONJ
fcis-31243	17	18	specifications	specification	NOUN
fcis-31243	17	19	based	base	VERB
fcis-31243	17	20	on	on	ADP
fcis-31243	17	21	the	the	DET
fcis-31243	17	22	integration	integration	NOUN
fcis-31243	17	23	of	of	ADP
fcis-31243	17	24	5	5	NUM
fcis-31243	17	25	g	g	NOUN
fcis-31243	17	26	technology	technology	NOUN
fcis-31243	17	27	and	and	CCONJ
fcis-31243	17	28	v2x	v2x	VERB
fcis-31243	17	29	(	(	PUNCT
fcis-31243	17	30	vehicle	vehicle	NOUN
fcis-31243	17	31	to	to	ADP
fcis-31243	17	32	everything	everything	PRON
fcis-31243	17	33	)	)	PUNCT
fcis-31243	17	34	communication	communication	NOUN
fcis-31243	17	35	,	,	PUNCT
fcis-31243	17	36	aimed	aim	VERB
fcis-31243	17	37	at	at	ADP
fcis-31243	17	38	achieving	achieve	VERB
fcis-31243	17	39	efficient	efficient	ADJ
fcis-31243	17	40	and	and	CCONJ
fcis-31243	17	41	real	real	ADJ
fcis-31243	17	42	-	-	PUNCT
fcis-31243	17	43	time	time	NOUN
fcis-31243	17	44	data	datum	NOUN
fcis-31243	17	45	exchange	exchange	NOUN
fcis-31243	17	46	between	between	ADP
fcis-31243	17	47	vehicles	vehicle	NOUN
fcis-31243	17	48	and	and	CCONJ
fcis-31243	17	49	surrounding	surround	VERB
fcis-31243	17	50	traffic	traffic	NOUN
fcis-31243	17	51	participants	participant	NOUN
fcis-31243	17	52	(	(	PUNCT
fcis-31243	17	53	such	such	ADJ
fcis-31243	17	54	as	as	ADP
fcis-31243	17	55	vehicles	vehicle	NOUN
fcis-31243	17	56	,	,	PUNCT
fcis-31243	17	57	people	people	NOUN
fcis-31243	17	58	,	,	PUNCT
fcis-31243	17	59	infrastructure	infrastructure	NOUN
fcis-31243	17	60	,	,	PUNCT
fcis-31243	17	61	cloud	cloud	NOUN
fcis-31243	17	62	)	)	PUNCT
fcis-31243	17	63	.	.	PUNCT
fcis-31243	18	1	[	[	X
fcis-31243	18	2	3	3	X
fcis-31243	18	3	]	]	PUNCT
fcis-31243	18	4	in	in	ADP
fcis-31243	18	5	terms	term	NOUN
fcis-31243	18	6	of	of	ADP
fcis-31243	18	7	communication	communication	NOUN
fcis-31243	18	8	performance	performance	NOUN
fcis-31243	18	9	,	,	PUNCT
fcis-31243	18	10	5g	5g	NUM
fcis-31243	18	11	-	-	PUNCT
fcis-31243	18	12	v2x	v2x	NOUN
fcis-31243	18	13	has	have	VERB
fcis-31243	18	14	the	the	DET
fcis-31243	18	15	characteristics	characteristic	NOUN
fcis-31243	18	16	of	of	ADP
fcis-31243	18	17	low	low	ADJ
fcis-31243	18	18	latency	latency	NOUN
fcis-31243	18	19	and	and	CCONJ
fcis-31243	18	20	high	high	ADJ
fcis-31243	18	21	bandwidth	bandwidth	NOUN
fcis-31243	18	22	.	.	PUNCT
fcis-31243	19	1	it	it	PRON
fcis-31243	19	2	utilizes	utilize	VERB
fcis-31243	19	3	5	5	NUM
fcis-31243	19	4	g	g	NOUN
fcis-31243	19	5	technologies	technology	NOUN
fcis-31243	19	6	such	such	ADJ
fcis-31243	19	7	as	as	ADP
fcis-31243	19	8	millimeter	millimeter	NOUN
fcis-31243	19	9	wave	wave	NOUN
fcis-31243	19	10	and	and	CCONJ
fcis-31243	19	11	network	network	NOUN
fcis-31243	19	12	slicing	slice	VERB
fcis-31243	19	13	to	to	PART
fcis-31243	19	14	reduce	reduce	VERB
fcis-31243	19	15	vehicle	vehicle	NOUN
fcis-31243	19	16	to	to	PART
fcis-31243	19	17	road	road	NOUN
fcis-31243	19	18	communication	communication	NOUN
fcis-31243	19	19	latency	latency	NOUN
fcis-31243	19	20	to	to	ADP
fcis-31243	19	21	≤	≤	ADJ
fcis-31243	19	22	10ms	10ms	ADV
fcis-31243	19	23	,	,	PUNCT
fcis-31243	19	24	with	with	ADP
fcis-31243	19	25	a	a	DET
fcis-31243	19	26	transmission	transmission	NOUN
fcis-31243	19	27	bandwidth	bandwidth	NOUN
fcis-31243	19	28	greater	great	ADJ
fcis-31243	19	29	than	than	ADP
fcis-31243	19	30	700mbps	700mbps	PROPN
fcis-31243	19	31	.	.	PUNCT
fcis-31243	20	1	it	it	PRON
fcis-31243	20	2	can	can	AUX
fcis-31243	20	3	meet	meet	VERB
fcis-31243	20	4	the	the	DET
fcis-31243	20	5	high	high	ADJ
fcis-31243	20	6	reliability	reliability	NOUN
fcis-31243	20	7	and	and	CCONJ
fcis-31243	20	8	low	low	ADJ
fcis-31243	20	9	latency	latency	NOUN
fcis-31243	20	10	requirements	requirement	NOUN
fcis-31243	20	11	of	of	ADP
fcis-31243	20	12	realtime	realtime	ADJ
fcis-31243	20	13	information	information	NOUN
fcis-31243	20	14	exchange	exchange	NOUN
fcis-31243	20	15	between	between	ADP
fcis-31243	20	16	vehicles	vehicle	NOUN
fcis-31243	20	17	,	,	PUNCT
fcis-31243	20	18	remote	remote	ADJ
fcis-31243	20	19	driving	driving	NOUN
fcis-31243	20	20	,	,	PUNCT
fcis-31243	20	21	and	and	CCONJ
fcis-31243	20	22	advanced	advanced	ADJ
fcis-31243	20	23	driving	driving	NOUN
fcis-31243	20	24	assistance	assistance	NOUN
fcis-31243	20	25	.	.	PUNCT
fcis-31243	21	1	for	for	ADP
fcis-31243	21	2	example	example	NOUN
fcis-31243	21	3	,	,	PUNCT
fcis-31243	21	4	when	when	SCONJ
fcis-31243	21	5	the	the	DET
fcis-31243	21	6	vehicle	vehicle	NOUN
fcis-31243	21	7	is	be	AUX
fcis-31243	21	8	running	run	VERB
fcis-31243	21	9	at	at	ADP
fcis-31243	21	10	a	a	DET
fcis-31243	21	11	high	high	ADJ
fcis-31243	21	12	speed	speed	NOUN
fcis-31243	21	13	,	,	PUNCT
fcis-31243	21	14	it	it	PRON
fcis-31243	21	15	can	can	AUX
fcis-31243	21	16	receive	receive	VERB
fcis-31243	21	17	the	the	DET
fcis-31243	21	18	road	road	NOUN
fcis-31243	21	19	condition	condition	NOUN
fcis-31243	21	20	information	information	NOUN
fcis-31243	21	21	and	and	CCONJ
fcis-31243	21	22	traffic	traffic	NOUN
fcis-31243	21	23	signal	signal	NOUN
fcis-31243	21	24	changes	change	NOUN
fcis-31243	21	25	ahead	ahead	ADV
fcis-31243	21	26	in	in	ADP
fcis-31243	21	27	time	time	NOUN
fcis-31243	21	28	to	to	PART
fcis-31243	21	29	provide	provide	VERB
fcis-31243	21	30	sufficient	sufficient	ADJ
fcis-31243	21	31	response	response	NOUN
fcis-31243	21	32	time	time	NOUN
fcis-31243	21	33	for	for	ADP
fcis-31243	21	34	the	the	DET
fcis-31243	21	35	driver	driver	NOUN
fcis-31243	21	36	or	or	CCONJ
fcis-31243	21	37	the	the	DET
fcis-31243	21	38	auto	auto	NOUN
fcis-31243	21	39	drive	drive	NOUN
fcis-31243	21	40	system	system	NOUN
fcis-31243	21	41	.	.	PUNCT
fcis-31243	22	1	in	in	ADP
fcis-31243	22	2	terms	term	NOUN
fcis-31243	22	3	of	of	ADP
fcis-31243	22	4	spectrum	spectrum	NOUN
fcis-31243	22	5	resources	resource	NOUN
fcis-31243	22	6	,	,	PUNCT
fcis-31243	22	7	v2x	v2x	VERB
fcis-31243	22	8	communication	communication	NOUN
fcis-31243	22	9	currently	currently	ADV
fcis-31243	22	10	mainly	mainly	ADV
fcis-31243	22	11	utilizes	utilize	VERB
fcis-31243	22	12	some	some	DET
fcis-31243	22	13	resources	resource	NOUN
fcis-31243	22	14	within	within	ADP
fcis-31243	22	15	the	the	DET
fcis-31243	22	16	5.9ghz	5.9ghz	NUM
fcis-31243	22	17	frequency	frequency	NOUN
fcis-31243	22	18	band	band	NOUN
fcis-31243	22	19	,	,	PUNCT
fcis-31243	22	20	while	while	SCONJ
fcis-31243	22	21	5	5	NUM
fcis-31243	22	22	g	g	NOUN
fcis-31243	22	23	networks	network	NOUN
fcis-31243	22	24	provide	provide	VERB
fcis-31243	22	25	richer	rich	ADJ
fcis-31243	22	26	spectrum	spectrum	NOUN
fcis-31243	22	27	support	support	NOUN
fcis-31243	22	28	for	for	ADP
fcis-31243	22	29	5g	5g	NUM
fcis-31243	22	30	-	-	PUNCT
fcis-31243	22	31	v2x	v2x	NOUN
fcis-31243	22	32	through	through	ADP
fcis-31243	22	33	higher	high	ADJ
fcis-31243	22	34	spectrum	spectrum	NOUN
fcis-31243	22	35	resources	resource	NOUN
fcis-31243	22	36	and	and	CCONJ
fcis-31243	22	37	more	more	ADV
fcis-31243	22	38	advanced	advanced	ADJ
fcis-31243	22	39	modulation	modulation	NOUN
fcis-31243	22	40	and	and	CCONJ
fcis-31243	22	41	demodulation	demodulation	NOUN
fcis-31243	22	42	technologies	technology	NOUN
fcis-31243	22	43	,	,	PUNCT
fcis-31243	22	44	ensuring	ensure	VERB
fcis-31243	22	45	communication	communication	NOUN
fcis-31243	22	46	speed	speed	NOUN
fcis-31243	22	47	,	,	PUNCT
fcis-31243	22	48	reliability	reliability	NOUN
fcis-31243	22	49	,	,	PUNCT
fcis-31243	22	50	and	and	CCONJ
fcis-31243	22	51	connectivity	connectivity	NOUN
fcis-31243	22	52	.	.	PUNCT
fcis-31243	23	1	meanwhile	meanwhile	ADV
fcis-31243	23	2	,	,	PUNCT
fcis-31243	23	3	the	the	DET
fcis-31243	23	4	design	design	NOUN
fcis-31243	23	5	of	of	ADP
fcis-31243	23	6	dynamic	dynamic	ADJ
fcis-31243	23	7	spectrum	spectrum	NOUN
fcis-31243	23	8	allocation	allocation	NOUN
fcis-31243	23	9	algorithms	algorithm	NOUN
fcis-31243	23	10	enables	enable	VERB
fcis-31243	23	11	the	the	DET
fcis-31243	23	12	rational	rational	ADJ
fcis-31243	23	13	use	use	NOUN
fcis-31243	23	14	of	of	ADP
fcis-31243	23	15	spectrum	spectrum	NOUN
fcis-31243	23	16	resources	resource	NOUN
fcis-31243	23	17	at	at	ADP
fcis-31243	23	18	different	different	ADJ
fcis-31243	23	19	time	time	NOUN
fcis-31243	23	20	periods	period	NOUN
fcis-31243	23	21	and	and	CCONJ
fcis-31243	23	22	spatial	spatial	ADJ
fcis-31243	23	23	locations	location	NOUN
fcis-31243	23	24	,	,	PUNCT
fcis-31243	23	25	meeting	meet	VERB
fcis-31243	23	26	diverse	diverse	ADJ
fcis-31243	23	27	communication	communication	NOUN
fcis-31243	23	28	needs	need	NOUN
fcis-31243	23	29	.	.	PUNCT
fcis-31243	24	1	in	in	ADP
fcis-31243	24	2	terms	term	NOUN
fcis-31243	24	3	of	of	ADP
fcis-31243	24	4	positioning	positioning	NOUN
fcis-31243	24	5	accuracy	accuracy	NOUN
fcis-31243	24	6	,	,	PUNCT
fcis-31243	24	7	5g	5g	NUM
fcis-31243	24	8	-	-	PUNCT
fcis-31243	24	9	v2x	v2x	NOUN
fcis-31243	24	10	adopts	adopt	VERB
fcis-31243	24	11	a	a	DET
fcis-31243	24	12	positioning	positioning	NOUN
fcis-31243	24	13	navigation	navigation	NOUN
fcis-31243	24	14	system	system	NOUN
fcis-31243	24	15	and	and	CCONJ
fcis-31243	24	16	inertial	inertial	ADJ
fcis-31243	24	17	navigation	navigation	NOUN
fcis-31243	24	18	combination	combination	NOUN
fcis-31243	24	19	positioning	positioning	NOUN
fcis-31243	24	20	algorithm	algorithm	NOUN
fcis-31243	24	21	,	,	PUNCT
fcis-31243	24	22	multi	multi	ADJ
fcis-31243	24	23	-	-	ADJ
fcis-31243	24	24	source	source	NOUN
fcis-31243	24	25	fusion	fusion	NOUN
fcis-31243	24	26	positioning	positioning	NOUN
fcis-31243	24	27	adaptive	adaptive	ADJ
fcis-31243	24	28	kalman	kalman	NOUN
fcis-31243	24	29	filtering	filtering	NOUN
fcis-31243	24	30	algorithm	algorithm	PROPN
fcis-31243	24	31	,	,	PUNCT
fcis-31243	24	32	and	and	CCONJ
fcis-31243	24	33	dynamic	dynamic	ADJ
fcis-31243	24	34	positioning	positioning	NOUN
fcis-31243	24	35	compensation	compensation	NOUN
fcis-31243	24	36	algorithm	algorithm	NOUN
fcis-31243	24	37	,	,	PUNCT
fcis-31243	24	38	which	which	PRON
fcis-31243	24	39	can	can	AUX
fcis-31243	24	40	achieve	achieve	VERB
fcis-31243	24	41	centimeter	centimeter	NOUN
fcis-31243	24	42	level	level	NOUN
fcis-31243	24	43	positioning	positioning	NOUN
fcis-31243	24	44	in	in	ADP
fcis-31243	24	45	complex	complex	ADJ
fcis-31243	24	46	scenes	scene	NOUN
fcis-31243	24	47	,	,	PUNCT
fcis-31243	24	48	helping	help	VERB
fcis-31243	24	49	71	71	NUM
fcis-31243	24	50	vehicles	vehicle	NOUN
fcis-31243	24	51	to	to	PART
fcis-31243	24	52	travel	travel	VERB
fcis-31243	24	53	,	,	PUNCT
fcis-31243	24	54	park	park	NOUN
fcis-31243	24	55	,	,	PUNCT
fcis-31243	24	56	and	and	CCONJ
fcis-31243	24	57	interact	interact	VERB
fcis-31243	24	58	with	with	ADP
fcis-31243	24	59	other	other	ADJ
fcis-31243	24	60	traffic	traffic	NOUN
fcis-31243	24	61	participants	participant	NOUN
fcis-31243	24	62	more	more	ADV
fcis-31243	24	63	accurately	accurately	ADV
fcis-31243	24	64	.	.	PUNCT
fcis-31243	25	1	in	in	ADP
fcis-31243	25	2	addition	addition	NOUN
fcis-31243	25	3	,	,	PUNCT
fcis-31243	25	4	5g	5g	NUM
fcis-31243	25	5	-	-	PUNCT
fcis-31243	25	6	v2x	v2x	NOUN
fcis-31243	25	7	technology	technology	NOUN
fcis-31243	25	8	has	have	AUX
fcis-31243	25	9	also	also	ADV
fcis-31243	25	10	shown	show	VERB
fcis-31243	25	11	excellent	excellent	ADJ
fcis-31243	25	12	performance	performance	NOUN
fcis-31243	25	13	in	in	ADP
fcis-31243	25	14	supporting	support	VERB
fcis-31243	25	15	large	large	ADJ
fcis-31243	25	16	-	-	PUNCT
fcis-31243	25	17	scale	scale	NOUN
fcis-31243	25	18	device	device	NOUN
fcis-31243	25	19	connections	connection	NOUN
fcis-31243	25	20	.	.	PUNCT
fcis-31243	26	1	by	by	ADP
fcis-31243	26	2	combining	combine	VERB
fcis-31243	26	3	large	large	ADJ
fcis-31243	26	4	-	-	PUNCT
fcis-31243	26	5	scale	scale	NOUN
fcis-31243	26	6	multi	multi	ADJ
fcis-31243	26	7	input	input	NOUN
fcis-31243	26	8	multi	multi	ADJ
fcis-31243	26	9	output	output	NOUN
fcis-31243	26	10	technology	technology	NOUN
fcis-31243	26	11	with	with	ADP
fcis-31243	26	12	terahertz	terahertz	NOUN
fcis-31243	26	13	technology	technology	NOUN
fcis-31243	26	14	,	,	PUNCT
fcis-31243	26	15	it	it	PRON
fcis-31243	26	16	supports	support	VERB
fcis-31243	26	17	large	large	ADJ
fcis-31243	26	18	-	-	PUNCT
fcis-31243	26	19	scale	scale	NOUN
fcis-31243	26	20	device	device	NOUN
fcis-31243	26	21	connections	connection	NOUN
fcis-31243	26	22	,	,	PUNCT
fcis-31243	26	23	reduces	reduce	VERB
fcis-31243	26	24	communication	communication	NOUN
fcis-31243	26	25	power	power	NOUN
fcis-31243	26	26	consumption	consumption	NOUN
fcis-31243	26	27	and	and	CCONJ
fcis-31243	26	28	costs	cost	NOUN
fcis-31243	26	29	,	,	PUNCT
fcis-31243	26	30	and	and	CCONJ
fcis-31243	26	31	improves	improve	VERB
fcis-31243	26	32	coverage	coverage	NOUN
fcis-31243	26	33	and	and	CCONJ
fcis-31243	26	34	efficiency	efficiency	NOUN
fcis-31243	26	35	.	.	PUNCT
fcis-31243	27	1	for	for	ADP
fcis-31243	27	2	example	example	NOUN
fcis-31243	27	3	,	,	PUNCT
fcis-31243	27	4	in	in	ADP
fcis-31243	27	5	intelligent	intelligent	ADJ
fcis-31243	27	6	transportation	transportation	NOUN
fcis-31243	27	7	systems	system	NOUN
fcis-31243	27	8	,	,	PUNCT
fcis-31243	27	9	a	a	DET
fcis-31243	27	10	large	large	ADJ
fcis-31243	27	11	number	number	NOUN
fcis-31243	27	12	of	of	ADP
fcis-31243	27	13	vehicle	vehicle	NOUN
fcis-31243	27	14	mounted	mount	VERB
fcis-31243	27	15	units	unit	NOUN
fcis-31243	27	16	and	and	CCONJ
fcis-31243	27	17	roadside	roadside	NOUN
fcis-31243	27	18	units	unit	NOUN
fcis-31243	27	19	can	can	AUX
fcis-31243	27	20	be	be	AUX
fcis-31243	27	21	connected	connect	VERB
fcis-31243	27	22	simultaneously	simultaneously	ADV
fcis-31243	27	23	to	to	PART
fcis-31243	27	24	achieve	achieve	VERB
fcis-31243	27	25	comprehensive	comprehensive	ADJ
fcis-31243	27	26	collection	collection	NOUN
fcis-31243	27	27	and	and	CCONJ
fcis-31243	27	28	realtime	realtime	NOUN
fcis-31243	27	29	sharing	sharing	NOUN
fcis-31243	27	30	of	of	ADP
fcis-31243	27	31	traffic	traffic	NOUN
fcis-31243	27	32	information	information	NOUN
fcis-31243	27	33	.	.	PUNCT
fcis-31243	28	1	figure	figure	NOUN
fcis-31243	28	2	1	1	NUM
fcis-31243	28	3	shows	show	VERB
fcis-31243	28	4	5g	5g	NUM
fcis-31243	28	5	-	-	PUNCT
fcis-31243	28	6	v2x	v2x	NOUN
fcis-31243	28	7	performance	performance	NOUN
fcis-31243	28	8	benchmarks	benchmark	NOUN
fcis-31243	28	9	.	.	PUNCT
fcis-31243	29	1	table	table	NOUN
fcis-31243	29	2	1	1	NUM
fcis-31243	29	3	.	.	X
fcis-31243	29	4	5g	5g	NUM
fcis-31243	29	5	-	-	PUNCT
fcis-31243	29	6	v2x	v2x	NOUN
fcis-31243	29	7	performance	performance	NOUN
fcis-31243	29	8	benchmarks	benchmark	NOUN
fcis-31243	29	9	metric	metric	ADJ
fcis-31243	29	10	pc5	pc5	NOUN
fcis-31243	29	11	mode	mode	NOUN
fcis-31243	29	12	uu	uu	INTJ
fcis-31243	29	13	mode	mode	NOUN
fcis-31243	29	14	dsrc	dsrc	NOUN
fcis-31243	29	15	baseline	baseline	NOUN
fcis-31243	29	16	latency	latency	NOUN
fcis-31243	29	17	1ms	1ms	ADJ
fcis-31243	29	18	5ms	5ms	ADJ
fcis-31243	29	19	30ms	30ms	ADJ
fcis-31243	29	20	range	range	NOUN
fcis-31243	29	21	1000	1000	NUM
fcis-31243	29	22	m	m	NOUN
fcis-31243	29	23	cell	cell	NOUN
fcis-31243	29	24	coverage	coverage	NOUN
fcis-31243	29	25	300	300	NUM
fcis-31243	29	26	m	m	NOUN
fcis-31243	29	27	data	data	NOUN
fcis-31243	29	28	rate	rate	NOUN
fcis-31243	29	29	50mbps	50mbps	PROPN
fcis-31243	29	30	1gbps	1gbps	PROPN
fcis-31243	29	31	27mbps	27mbps	NUM
fcis-31243	29	32	connection	connection	NOUN
fcis-31243	29	33	density	density	NOUN
fcis-31243	29	34	1	1	NUM
fcis-31243	29	35	m	m	NOUN
fcis-31243	29	36	devices	device	NOUN
fcis-31243	29	37	/	/	SYM
fcis-31243	29	38	km²	km²	NOUN
fcis-31243	29	39	1	1	NUM
fcis-31243	29	40	m	m	NOUN
fcis-31243	29	41	devices	device	NOUN
fcis-31243	29	42	/	/	SYM
fcis-31243	29	43	km²	km²	NOUN
fcis-31243	29	44	5,000	5,000	NUM
fcis-31243	29	45	devices	device	NOUN
fcis-31243	29	46	/	/	SYM
fcis-31243	29	47	km²	km²	NOUN
fcis-31243	29	48	2.2	2.2	NUM
fcis-31243	29	49	.	.	PUNCT
fcis-31243	30	1	network	network	NOUN
fcis-31243	30	2	deployment	deployment	NOUN
fcis-31243	30	3	strategies	strategy	NOUN
fcis-31243	30	4	in	in	ADP
fcis-31243	30	5	the	the	DET
fcis-31243	30	6	5g	5g	NUM
fcis-31243	30	7	-	-	PUNCT
fcis-31243	30	8	v2x	v2x	NOUN
fcis-31243	30	9	vehicle	vehicle	NOUN
fcis-31243	30	10	road	road	NOUN
fcis-31243	30	11	collaborative	collaborative	ADJ
fcis-31243	30	12	network	network	NOUN
fcis-31243	30	13	,	,	PUNCT
fcis-31243	30	14	the	the	DET
fcis-31243	30	15	deployment	deployment	NOUN
fcis-31243	30	16	of	of	ADP
fcis-31243	30	17	roadside	roadside	NOUN
fcis-31243	30	18	units	unit	NOUN
fcis-31243	30	19	(	(	PUNCT
fcis-31243	30	20	rsus	rsus	NOUN
fcis-31243	30	21	)	)	PUNCT
fcis-31243	30	22	directly	directly	ADV
fcis-31243	30	23	affects	affect	VERB
fcis-31243	30	24	communication	communication	NOUN
fcis-31243	30	25	quality	quality	NOUN
fcis-31243	30	26	and	and	CCONJ
fcis-31243	30	27	autonomous	autonomous	ADJ
fcis-31243	30	28	driving	driving	NOUN
fcis-31243	30	29	performance	performance	NOUN
fcis-31243	30	30	.	.	PUNCT
fcis-31243	31	1	based	base	VERB
fcis-31243	31	2	on	on	ADP
fcis-31243	31	3	the	the	DET
fcis-31243	31	4	modified	modify	VERB
fcis-31243	31	5	poisson	poisson	NOUN
fcis-31243	31	6	point	point	NOUN
fcis-31243	31	7	process	process	NOUN
fcis-31243	31	8	(	(	PUNCT
fcis-31243	31	9	mppp	mppp	NOUN
fcis-31243	31	10	)	)	PUNCT
fcis-31243	31	11	model	model	NOUN
fcis-31243	31	12	,	,	PUNCT
fcis-31243	31	13	the	the	DET
fcis-31243	31	14	rsu	rsu	PROPN
fcis-31243	31	15	placement	placement	NOUN
fcis-31243	31	16	strategy	strategy	NOUN
fcis-31243	31	17	optimizes	optimize	VERB
fcis-31243	31	18	the	the	DET
fcis-31243	31	19	deployment	deployment	NOUN
fcis-31243	31	20	plan	plan	NOUN
fcis-31243	31	21	through	through	ADP
fcis-31243	31	22	mathematical	mathematical	ADJ
fcis-31243	31	23	modeling	modeling	NOUN
fcis-31243	31	24	to	to	PART
fcis-31243	31	25	achieve	achieve	VERB
fcis-31243	31	26	a	a	DET
fcis-31243	31	27	balance	balance	NOUN
fcis-31243	31	28	between	between	ADP
fcis-31243	31	29	resource	resource	NOUN
fcis-31243	31	30	utilization	utilization	NOUN
fcis-31243	31	31	and	and	CCONJ
fcis-31243	31	32	coverage	coverage	NOUN
fcis-31243	31	33	efficiency	efficiency	NOUN
fcis-31243	31	34	.	.	PUNCT
fcis-31243	32	1	the	the	DET
fcis-31243	32	2	mppp	mppp	NOUN
fcis-31243	32	3	model	model	NOUN
fcis-31243	32	4	abstracts	abstract	VERB
fcis-31243	32	5	the	the	DET
fcis-31243	32	6	road	road	NOUN
fcis-31243	32	7	scene	scene	NOUN
fcis-31243	32	8	as	as	ADP
fcis-31243	32	9	a	a	DET
fcis-31243	32	10	twodimensional	twodimensional	ADJ
fcis-31243	32	11	plane	plane	NOUN
fcis-31243	32	12	,	,	PUNCT
fcis-31243	32	13	considers	consider	VERB
fcis-31243	32	14	rsus	rsus	NOUN
fcis-31243	32	15	as	as	ADP
fcis-31243	32	16	randomly	randomly	ADV
fcis-31243	32	17	distributed	distribute	VERB
fcis-31243	32	18	nodes	node	NOUN
fcis-31243	32	19	,	,	PUNCT
fcis-31243	32	20	and	and	CCONJ
fcis-31243	32	21	takes	take	VERB
fcis-31243	32	22	into	into	ADP
fcis-31243	32	23	account	account	NOUN
fcis-31243	32	24	factors	factor	NOUN
fcis-31243	32	25	such	such	ADJ
fcis-31243	32	26	as	as	ADP
fcis-31243	32	27	road	road	NOUN
fcis-31243	32	28	topology	topology	NOUN
fcis-31243	32	29	,	,	PUNCT
fcis-31243	32	30	traffic	traffic	NOUN
fcis-31243	32	31	flow	flow	NOUN
fcis-31243	32	32	,	,	PUNCT
fcis-31243	32	33	and	and	CCONJ
fcis-31243	32	34	building	build	VERB
fcis-31243	32	35	obstruction	obstruction	NOUN
fcis-31243	32	36	that	that	PRON
fcis-31243	32	37	affect	affect	VERB
fcis-31243	32	38	signal	signal	NOUN
fcis-31243	32	39	propagation	propagation	NOUN
fcis-31243	32	40	.	.	PUNCT
fcis-31243	33	1	when	when	SCONJ
fcis-31243	33	2	constructing	construct	VERB
fcis-31243	33	3	the	the	DET
fcis-31243	33	4	model	model	NOUN
fcis-31243	33	5	,	,	PUNCT
fcis-31243	33	6	different	different	ADJ
fcis-31243	33	7	intensity	intensity	NOUN
fcis-31243	33	8	parameters	parameter	NOUN
fcis-31243	33	9	are	be	AUX
fcis-31243	33	10	first	first	ADV
fcis-31243	33	11	set	set	VERB
fcis-31243	33	12	based	base	VERB
fcis-31243	33	13	on	on	ADP
fcis-31243	33	14	road	road	NOUN
fcis-31243	33	15	types	type	NOUN
fcis-31243	33	16	(	(	PUNCT
fcis-31243	33	17	such	such	ADJ
fcis-31243	33	18	as	as	ADP
fcis-31243	33	19	highways	highway	NOUN
fcis-31243	33	20	,	,	PUNCT
fcis-31243	33	21	urban	urban	ADJ
fcis-31243	33	22	main	main	ADJ
fcis-31243	33	23	roads	road	NOUN
fcis-31243	33	24	,	,	PUNCT
fcis-31243	33	25	and	and	CCONJ
fcis-31243	33	26	secondary	secondary	ADJ
fcis-31243	33	27	roads	road	NOUN
fcis-31243	34	1	[	[	X
fcis-31243	34	2	4	4	NUM
fcis-31243	34	3	]	]	NUM
fcis-31243	34	4	)	)	PUNCT
fcis-31243	34	5	.	.	PUNCT
fcis-31243	35	1	for	for	ADP
fcis-31243	35	2	example	example	NOUN
fcis-31243	35	3	,	,	PUNCT
fcis-31243	35	4	if	if	SCONJ
fcis-31243	35	5	the	the	DET
fcis-31243	35	6	traffic	traffic	NOUN
fcis-31243	35	7	flow	flow	NOUN
fcis-31243	35	8	on	on	ADP
fcis-31243	35	9	highways	highway	NOUN
fcis-31243	35	10	is	be	AUX
fcis-31243	35	11	high	high	ADJ
fcis-31243	35	12	and	and	CCONJ
fcis-31243	35	13	the	the	DET
fcis-31243	35	14	vehicle	vehicle	NOUN
fcis-31243	35	15	speed	speed	NOUN
fcis-31243	35	16	is	be	AUX
fcis-31243	35	17	fast	fast	ADJ
fcis-31243	35	18	,	,	PUNCT
fcis-31243	35	19	a	a	DET
fcis-31243	35	20	higher	high	ADJ
fcis-31243	35	21	rsu	rsu	NOUN
fcis-31243	35	22	deployment	deployment	NOUN
fcis-31243	35	23	intensity	intensity	NOUN
fcis-31243	35	24	needs	need	VERB
fcis-31243	35	25	to	to	PART
fcis-31243	35	26	be	be	AUX
fcis-31243	35	27	set	set	VERB
fcis-31243	35	28	to	to	PART
fcis-31243	35	29	ensure	ensure	VERB
fcis-31243	35	30	stable	stable	ADJ
fcis-31243	35	31	communication	communication	NOUN
fcis-31243	35	32	in	in	ADP
fcis-31243	35	33	long	long	ADJ
fcis-31243	35	34	-	-	PUNCT
fcis-31243	35	35	distance	distance	NOUN
fcis-31243	35	36	and	and	CCONJ
fcis-31243	35	37	high	high	ADJ
fcis-31243	35	38	-	-	PUNCT
fcis-31243	35	39	speed	speed	NOUN
fcis-31243	35	40	mobile	mobile	ADJ
fcis-31243	35	41	scenarios	scenario	NOUN
fcis-31243	35	42	;	;	PUNCT
fcis-31243	35	43	the	the	DET
fcis-31243	35	44	intensity	intensity	NOUN
fcis-31243	35	45	of	of	ADP
fcis-31243	35	46	urban	urban	ADJ
fcis-31243	35	47	secondary	secondary	ADJ
fcis-31243	35	48	roads	road	NOUN
fcis-31243	35	49	can	can	AUX
fcis-31243	35	50	be	be	AUX
fcis-31243	35	51	appropriately	appropriately	ADV
fcis-31243	35	52	reduced	reduce	VERB
fcis-31243	35	53	.	.	PUNCT
fcis-31243	36	1	in	in	ADP
fcis-31243	36	2	terms	term	NOUN
fcis-31243	36	3	of	of	ADP
fcis-31243	36	4	considering	consider	VERB
fcis-31243	36	5	the	the	DET
fcis-31243	36	6	impact	impact	NOUN
fcis-31243	36	7	of	of	ADP
fcis-31243	36	8	obstacles	obstacle	NOUN
fcis-31243	36	9	,	,	PUNCT
fcis-31243	36	10	the	the	DET
fcis-31243	36	11	mppp	mppp	NOUN
fcis-31243	36	12	model	model	NOUN
fcis-31243	36	13	introduces	introduce	VERB
fcis-31243	36	14	shadow	shadow	NOUN
fcis-31243	36	15	fading	fading	NOUN
fcis-31243	36	16	and	and	CCONJ
fcis-31243	36	17	path	path	NOUN
fcis-31243	36	18	loss	loss	NOUN
fcis-31243	36	19	parameters	parameter	NOUN
fcis-31243	36	20	[	[	X
fcis-31243	36	21	5	5	NUM
fcis-31243	36	22	]	]	PUNCT
fcis-31243	36	23	.	.	PUNCT
fcis-31243	37	1	by	by	ADP
fcis-31243	37	2	analyzing	analyze	VERB
fcis-31243	37	3	data	datum	NOUN
fcis-31243	37	4	such	such	ADJ
fcis-31243	37	5	as	as	ADP
fcis-31243	37	6	the	the	DET
fcis-31243	37	7	distribution	distribution	NOUN
fcis-31243	37	8	of	of	ADP
fcis-31243	37	9	urban	urban	ADJ
fcis-31243	37	10	buildings	building	NOUN
fcis-31243	37	11	and	and	CCONJ
fcis-31243	37	12	terrain	terrain	NOUN
fcis-31243	37	13	,	,	PUNCT
fcis-31243	37	14	simulate	simulate	VERB
fcis-31243	37	15	the	the	DET
fcis-31243	37	16	attenuation	attenuation	NOUN
fcis-31243	37	17	of	of	ADP
fcis-31243	37	18	signals	signal	NOUN
fcis-31243	37	19	during	during	ADP
fcis-31243	37	20	propagation	propagation	NOUN
fcis-31243	37	21	,	,	PUNCT
fcis-31243	37	22	and	and	CCONJ
fcis-31243	37	23	avoid	avoid	VERB
fcis-31243	37	24	excessive	excessive	ADJ
fcis-31243	37	25	or	or	CCONJ
fcis-31243	37	26	missed	miss	VERB
fcis-31243	37	27	deployment	deployment	NOUN
fcis-31243	37	28	of	of	ADP
fcis-31243	37	29	rsus	rsus	NOUN
fcis-31243	37	30	in	in	ADP
fcis-31243	37	31	areas	area	NOUN
fcis-31243	37	32	where	where	SCONJ
fcis-31243	37	33	signals	signal	NOUN
fcis-31243	37	34	are	be	AUX
fcis-31243	37	35	easily	easily	ADV
fcis-31243	37	36	obstructed	obstruct	VERB
fcis-31243	37	37	.	.	PUNCT
fcis-31243	38	1	at	at	ADP
fcis-31243	38	2	the	the	DET
fcis-31243	38	3	same	same	ADJ
fcis-31243	38	4	time	time	NOUN
fcis-31243	38	5	,	,	PUNCT
fcis-31243	38	6	based	base	VERB
fcis-31243	38	7	on	on	ADP
fcis-31243	38	8	the	the	DET
fcis-31243	38	9	spatiotemporal	spatiotemporal	ADJ
fcis-31243	38	10	dynamic	dynamic	ADJ
fcis-31243	38	11	characteristics	characteristic	NOUN
fcis-31243	38	12	of	of	ADP
fcis-31243	38	13	traffic	traffic	NOUN
fcis-31243	38	14	flow	flow	NOUN
fcis-31243	38	15	,	,	PUNCT
fcis-31243	38	16	the	the	DET
fcis-31243	38	17	model	model	NOUN
fcis-31243	38	18	can	can	AUX
fcis-31243	38	19	adjust	adjust	VERB
fcis-31243	38	20	the	the	DET
fcis-31243	38	21	activation	activation	NOUN
fcis-31243	38	22	and	and	CCONJ
fcis-31243	38	23	sleep	sleep	NOUN
fcis-31243	38	24	strategies	strategy	NOUN
fcis-31243	38	25	of	of	ADP
fcis-31243	38	26	rsu	rsu	NOUN
fcis-31243	38	27	according	accord	VERB
fcis-31243	38	28	to	to	ADP
fcis-31243	38	29	the	the	DET
fcis-31243	38	30	difference	difference	NOUN
fcis-31243	38	31	in	in	ADP
fcis-31243	38	32	traffic	traffic	NOUN
fcis-31243	38	33	density	density	NOUN
fcis-31243	38	34	between	between	ADP
fcis-31243	38	35	peak	peak	NOUN
fcis-31243	38	36	and	and	CCONJ
fcis-31243	38	37	off	off	ADP
fcis-31243	38	38	peak	peak	NOUN
fcis-31243	38	39	periods	period	NOUN
fcis-31243	38	40	,	,	PUNCT
fcis-31243	38	41	achieving	achieve	VERB
fcis-31243	38	42	energy	energy	NOUN
fcis-31243	38	43	consumption	consumption	NOUN
fcis-31243	38	44	optimization	optimization	NOUN
fcis-31243	38	45	.	.	PUNCT
fcis-31243	39	1	[	[	X
fcis-31243	39	2	6	6	NUM
fcis-31243	39	3	]	]	PUNCT
fcis-31243	39	4	the	the	DET
fcis-31243	39	5	deployment	deployment	NOUN
fcis-31243	39	6	algorithm	algorithm	NOUN
fcis-31243	39	7	based	base	VERB
fcis-31243	39	8	on	on	ADP
fcis-31243	39	9	mppp	mppp	NOUN
fcis-31243	39	10	model	model	NOUN
fcis-31243	39	11	iteratively	iteratively	ADV
fcis-31243	39	12	calculates	calculate	VERB
fcis-31243	39	13	to	to	PART
fcis-31243	39	14	find	find	VERB
fcis-31243	39	15	the	the	DET
fcis-31243	39	16	optimal	optimal	ADJ
fcis-31243	39	17	combination	combination	NOUN
fcis-31243	39	18	of	of	ADP
fcis-31243	39	19	rsu	rsu	NOUN
fcis-31243	39	20	position	position	NOUN
fcis-31243	39	21	and	and	CCONJ
fcis-31243	39	22	quantity	quantity	NOUN
fcis-31243	39	23	.	.	PUNCT
fcis-31243	40	1	when	when	SCONJ
fcis-31243	40	2	implementing	implement	VERB
fcis-31243	40	3	,	,	PUNCT
fcis-31243	40	4	multiple	multiple	ADJ
fcis-31243	40	5	rsu	rsu	NOUN
fcis-31243	40	6	deployment	deployment	NOUN
fcis-31243	40	7	plans	plan	NOUN
fcis-31243	40	8	are	be	AUX
fcis-31243	40	9	first	first	ADV
fcis-31243	40	10	generated	generate	VERB
fcis-31243	40	11	using	use	VERB
fcis-31243	40	12	monte	monte	PROPN
fcis-31243	40	13	carlo	carlo	PROPN
fcis-31243	40	14	simulation	simulation	PROPN
fcis-31243	40	15	,	,	PUNCT
fcis-31243	40	16	and	and	CCONJ
fcis-31243	40	17	evaluated	evaluate	VERB
fcis-31243	40	18	and	and	CCONJ
fcis-31243	40	19	screened	screen	VERB
fcis-31243	40	20	based	base	VERB
fcis-31243	40	21	on	on	ADP
fcis-31243	40	22	indicators	indicator	NOUN
fcis-31243	40	23	such	such	ADJ
fcis-31243	40	24	as	as	ADP
fcis-31243	40	25	coverage	coverage	NOUN
fcis-31243	40	26	,	,	PUNCT
fcis-31243	40	27	communication	communication	NOUN
fcis-31243	40	28	delay	delay	NOUN
fcis-31243	40	29	,	,	PUNCT
fcis-31243	40	30	and	and	CCONJ
fcis-31243	40	31	throughput	throughput	NOUN
fcis-31243	40	32	to	to	PART
fcis-31243	40	33	ultimately	ultimately	ADV
fcis-31243	40	34	determine	determine	VERB
fcis-31243	40	35	the	the	DET
fcis-31243	40	36	optimal	optimal	ADJ
fcis-31243	40	37	deployment	deployment	NOUN
fcis-31243	40	38	strategy	strategy	NOUN
fcis-31243	40	39	.	.	PUNCT
fcis-31243	41	1	research	research	NOUN
fcis-31243	41	2	has	have	AUX
fcis-31243	41	3	shown	show	VERB
fcis-31243	41	4	that	that	SCONJ
fcis-31243	41	5	compared	compare	VERB
fcis-31243	41	6	to	to	ADP
fcis-31243	41	7	traditional	traditional	ADJ
fcis-31243	41	8	uniform	uniform	ADJ
fcis-31243	41	9	deployment	deployment	NOUN
fcis-31243	41	10	methods	method	NOUN
fcis-31243	41	11	,	,	PUNCT
fcis-31243	41	12	deployment	deployment	NOUN
fcis-31243	41	13	strategies	strategy	NOUN
fcis-31243	41	14	based	base	VERB
fcis-31243	41	15	on	on	ADP
fcis-31243	41	16	mppp	mppp	NOUN
fcis-31243	41	17	models	model	NOUN
fcis-31243	41	18	can	can	AUX
fcis-31243	41	19	reduce	reduce	VERB
fcis-31243	41	20	communication	communication	NOUN
fcis-31243	41	21	coverage	coverage	NOUN
fcis-31243	41	22	blind	blind	ADJ
fcis-31243	41	23	spots	spot	NOUN
fcis-31243	41	24	by	by	ADP
fcis-31243	41	25	30	30	NUM
fcis-31243	41	26	%	%	NOUN
fcis-31243	41	27	.	.	PUNCT
fcis-31243	42	1	under	under	ADP
fcis-31243	42	2	the	the	DET
fcis-31243	42	3	same	same	ADJ
fcis-31243	42	4	communication	communication	NOUN
fcis-31243	42	5	quality	quality	NOUN
fcis-31243	42	6	requirements	requirement	NOUN
fcis-31243	42	7	,	,	PUNCT
fcis-31243	42	8	the	the	DET
fcis-31243	42	9	number	number	NOUN
fcis-31243	42	10	of	of	ADP
fcis-31243	42	11	rsus	rsus	NOUN
fcis-31243	42	12	deployed	deploy	VERB
fcis-31243	42	13	can	can	AUX
fcis-31243	42	14	be	be	AUX
fcis-31243	42	15	reduced	reduce	VERB
fcis-31243	42	16	by	by	ADP
fcis-31243	42	17	20	20	NUM
fcis-31243	42	18	%	%	NOUN
fcis-31243	42	19	,	,	PUNCT
fcis-31243	42	20	effectively	effectively	ADV
fcis-31243	42	21	improving	improve	VERB
fcis-31243	42	22	the	the	DET
fcis-31243	42	23	economy	economy	NOUN
fcis-31243	42	24	and	and	CCONJ
fcis-31243	42	25	practicality	practicality	NOUN
fcis-31243	42	26	of	of	ADP
fcis-31243	42	27	network	network	NOUN
fcis-31243	42	28	deployment	deployment	NOUN
fcis-31243	42	29	and	and	CCONJ
fcis-31243	42	30	providing	provide	VERB
fcis-31243	42	31	a	a	DET
fcis-31243	42	32	scientific	scientific	ADJ
fcis-31243	42	33	network	network	NOUN
fcis-31243	42	34	deployment	deployment	NOUN
fcis-31243	42	35	solution	solution	NOUN
fcis-31243	42	36	for	for	ADP
fcis-31243	42	37	the	the	DET
fcis-31243	42	38	large	large	ADJ
fcis-31243	42	39	-	-	PUNCT
fcis-31243	42	40	scale	scale	NOUN
fcis-31243	42	41	implementation	implementation	NOUN
fcis-31243	42	42	of	of	ADP
fcis-31243	42	43	vehicle	vehicle	NOUN
fcis-31243	42	44	road	road	NOUN
fcis-31243	42	45	collaboration	collaboration	NOUN
fcis-31243	42	46	systems	system	NOUN
fcis-31243	42	47	.	.	PUNCT
fcis-31243	43	1	optimal	optimal	ADJ
fcis-31243	43	2	rsu	rsu	PROPN
fcis-31243	43	3	placement	placement	NOUN
fcis-31243	43	4	follows	follow	VERB
fcis-31243	43	5	the	the	DET
fcis-31243	43	6	modified	modify	VERB
fcis-31243	43	7	poisson	poisson	NOUN
fcis-31243	43	8	point	point	NOUN
fcis-31243	43	9	process	process	NOUN
fcis-31243	43	10	(	(	PUNCT
fcis-31243	43	11	mppp	mppp	NOUN
fcis-31243	43	12	)	)	PUNCT
fcis-31243	43	13	model	model	NOUN
fcis-31243	43	14	:	:	PUNCT
fcis-31243	44	1	λ	λ	X
fcis-31243	44	2	=	=	SYM
fcis-31243	44	3	(	(	PUNCT
fcis-31243	44	4	n	n	CCONJ
fcis-31243	44	5	×	×	NOUN
fcis-31243	44	6	ρ)/(π	ρ)/(π	NUM
fcis-31243	44	7	×	×	NOUN
fcis-31243	44	8	r²	r²	NOUN
fcis-31243	44	9	)	)	PUNCT
fcis-31243	44	10	(	(	PUNCT
fcis-31243	44	11	1	1	X
fcis-31243	44	12	)	)	PUNCT
fcis-31243	45	1	where	where	SCONJ
fcis-31243	45	2	:	:	PUNCT
fcis-31243	46	1	λ	λ	X
fcis-31243	46	2	=	=	SYM
fcis-31243	46	3	rsu	rsu	NOUN
fcis-31243	46	4	density	density	NOUN
fcis-31243	46	5	(	(	PUNCT
fcis-31243	46	6	units	unit	NOUN
fcis-31243	46	7	/	/	SYM
fcis-31243	46	8	km²	km²	NOUN
fcis-31243	46	9	)	)	PUNCT
fcis-31243	46	10	(	(	PUNCT
fcis-31243	46	11	2	2	X
fcis-31243	46	12	)	)	PUNCT
fcis-31243	46	13	n	n	NOUN
fcis-31243	46	14	=	=	NOUN
fcis-31243	46	15	target	target	NOUN
fcis-31243	46	16	vehicle	vehicle	NOUN
fcis-31243	46	17	count	count	NOUN
fcis-31243	46	18	(	(	PUNCT
fcis-31243	46	19	3	3	X
fcis-31243	46	20	)	)	PUNCT
fcis-31243	46	21	ρ	ρ	NOUN
fcis-31243	46	22	=	=	SYM
fcis-31243	46	23	connection	connection	NOUN
fcis-31243	46	24	probability	probability	NOUN
fcis-31243	46	25	threshold	threshold	NOUN
fcis-31243	46	26	(	(	PUNCT
fcis-31243	46	27	typically	typically	ADV
fcis-31243	46	28	0.95	0.95	NUM
fcis-31243	46	29	)	)	PUNCT
fcis-31243	46	30	(	(	PUNCT
fcis-31243	46	31	4	4	X
fcis-31243	46	32	)	)	PUNCT
fcis-31243	46	33	r	r	NOUN
fcis-31243	46	34	=	=	SYM
fcis-31243	46	35	effective	effective	ADJ
fcis-31243	46	36	communication	communication	NOUN
fcis-31243	46	37	radius	radius	NOUN
fcis-31243	46	38	(	(	PUNCT
fcis-31243	46	39	5	5	NUM
fcis-31243	46	40	)	)	PUNCT
fcis-31243	46	41	simulation	simulation	NOUN
fcis-31243	46	42	results	result	NOUN
fcis-31243	46	43	show	show	VERB
fcis-31243	46	44	7	7	NUM
fcis-31243	46	45	-	-	SYM
fcis-31243	46	46	9	9	NUM
fcis-31243	46	47	rsus	rsus	NOUN
fcis-31243	46	48	/	/	SYM
fcis-31243	46	49	km²	km²	NOUN
fcis-31243	46	50	achieves	achieve	VERB
fcis-31243	46	51	98.7	98.7	NUM
fcis-31243	46	52	%	%	NOUN
fcis-31243	46	53	connectivity	connectivity	NOUN
fcis-31243	46	54	in	in	ADP
fcis-31243	46	55	urban	urban	ADJ
fcis-31243	46	56	canyons	canyon	NOUN
fcis-31243	46	57	.	.	PUNCT
fcis-31243	47	1	3	3	X
fcis-31243	47	2	.	.	X
fcis-31243	47	3	data	datum	NOUN
fcis-31243	47	4	fusion	fusion	NOUN
fcis-31243	47	5	architecture	architecture	NOUN
fcis-31243	47	6	the	the	DET
fcis-31243	47	7	data	data	NOUN
fcis-31243	47	8	fusion	fusion	NOUN
fcis-31243	47	9	architecture	architecture	NOUN
fcis-31243	47	10	of	of	ADP
fcis-31243	47	11	vehicle	vehicle	NOUN
fcis-31243	47	12	road	road	NOUN
fcis-31243	47	13	collaboration	collaboration	NOUN
fcis-31243	47	14	and	and	CCONJ
fcis-31243	47	15	autonomous	autonomous	ADJ
fcis-31243	47	16	driving	drive	VERB
fcis-31243	47	17	systems	system	NOUN
fcis-31243	47	18	revolves	revolve	VERB
fcis-31243	47	19	around	around	ADP
fcis-31243	47	20	data	datum	NOUN
fcis-31243	47	21	collection	collection	NOUN
fcis-31243	47	22	,	,	PUNCT
fcis-31243	47	23	transmission	transmission	NOUN
fcis-31243	47	24	,	,	PUNCT
fcis-31243	47	25	and	and	CCONJ
fcis-31243	47	26	processing	processing	NOUN
fcis-31243	47	27	.	.	PUNCT
fcis-31243	48	1	the	the	DET
fcis-31243	48	2	perception	perception	NOUN
fcis-31243	48	3	layer	layer	NOUN
fcis-31243	48	4	integrates	integrate	NOUN
fcis-31243	48	5	vehicle	vehicle	NOUN
fcis-31243	48	6	mounted	mount	VERB
fcis-31243	48	7	lidar	lidar	NOUN
fcis-31243	48	8	,	,	PUNCT
fcis-31243	48	9	millimeter	millimeter	NOUN
fcis-31243	48	10	wave	wave	PROPN
fcis-31243	48	11	radar	radar	NOUN
fcis-31243	48	12	,	,	PUNCT
fcis-31243	48	13	cameras	camera	NOUN
fcis-31243	48	14	,	,	PUNCT
fcis-31243	48	15	and	and	CCONJ
fcis-31243	48	16	long	long	ADJ
fcis-31243	48	17	-	-	PUNCT
fcis-31243	48	18	range	range	NOUN
fcis-31243	48	19	sensors	sensor	NOUN
fcis-31243	48	20	deployed	deploy	VERB
fcis-31243	48	21	by	by	ADP
fcis-31243	48	22	roadside	roadside	NOUN
fcis-31243	48	23	units	unit	NOUN
fcis-31243	48	24	to	to	PART
fcis-31243	48	25	collect	collect	VERB
fcis-31243	48	26	dynamic	dynamic	ADJ
fcis-31243	48	27	environment	environment	NOUN
fcis-31243	48	28	and	and	CCONJ
fcis-31243	48	29	beyond	beyond	ADP
fcis-31243	48	30	visual	visual	ADJ
fcis-31243	48	31	range	range	NOUN
fcis-31243	48	32	traffic	traffic	NOUN
fcis-31243	48	33	information	information	NOUN
fcis-31243	48	34	around	around	ADP
fcis-31243	48	35	the	the	DET
fcis-31243	48	36	vehicle	vehicle	NOUN
fcis-31243	48	37	,	,	PUNCT
fcis-31243	48	38	and	and	CCONJ
fcis-31243	48	39	completes	complete	VERB
fcis-31243	48	40	timestamp	timestamp	NOUN
fcis-31243	48	41	and	and	CCONJ
fcis-31243	48	42	spatial	spatial	ADJ
fcis-31243	48	43	coordinate	coordinate	NOUN
fcis-31243	48	44	system	system	NOUN
fcis-31243	48	45	calibration	calibration	NOUN
fcis-31243	48	46	.	.	PUNCT
fcis-31243	49	1	the	the	DET
fcis-31243	49	2	transport	transport	NOUN
fcis-31243	49	3	layer	layer	NOUN
fcis-31243	49	4	relies	rely	VERB
fcis-31243	49	5	on	on	ADP
fcis-31243	49	6	the	the	DET
fcis-31243	49	7	5g	5g	NUM
fcis-31243	49	8	-	-	PUNCT
fcis-31243	49	9	v2x	v2x	NOUN
fcis-31243	49	10	network	network	NOUN
fcis-31243	49	11	and	and	CCONJ
fcis-31243	49	12	achieves	achieve	VERB
fcis-31243	49	13	low	low	ADJ
fcis-31243	49	14	latency	latency	NOUN
fcis-31243	49	15	(	(	PUNCT
fcis-31243	49	16	<	<	NOUN
fcis-31243	49	17	10ms	10ms	ADJ
fcis-31243	49	18	)	)	PUNCT
fcis-31243	49	19	interaction	interaction	NOUN
fcis-31243	49	20	between	between	ADP
fcis-31243	49	21	vehicles	vehicle	NOUN
fcis-31243	49	22	and	and	CCONJ
fcis-31243	49	23	between	between	ADP
fcis-31243	49	24	vehicles	vehicle	NOUN
fcis-31243	49	25	and	and	CCONJ
fcis-31243	49	26	roads	road	NOUN
fcis-31243	49	27	through	through	ADP
fcis-31243	49	28	direct	direct	ADJ
fcis-31243	49	29	communication	communication	NOUN
fcis-31243	49	30	,	,	PUNCT
fcis-31243	49	31	ensuring	ensure	VERB
fcis-31243	49	32	fast	fast	ADJ
fcis-31243	49	33	transmission	transmission	NOUN
fcis-31243	49	34	of	of	ADP
fcis-31243	49	35	security	security	NOUN
fcis-31243	49	36	related	relate	VERB
fcis-31243	49	37	information	information	NOUN
fcis-31243	49	38	;	;	PUNCT
fcis-31243	49	39	cellular	cellular	ADJ
fcis-31243	49	40	communication	communication	NOUN
fcis-31243	49	41	is	be	AUX
fcis-31243	49	42	responsible	responsible	ADJ
fcis-31243	49	43	for	for	ADP
fcis-31243	49	44	transmitting	transmit	VERB
fcis-31243	49	45	global	global	ADJ
fcis-31243	49	46	traffic	traffic	NOUN
fcis-31243	49	47	data	datum	NOUN
fcis-31243	49	48	and	and	CCONJ
fcis-31243	49	49	updating	update	VERB
fcis-31243	49	50	cloud	cloud	NOUN
fcis-31243	49	51	models	model	NOUN
fcis-31243	49	52	.	.	PUNCT
fcis-31243	50	1	in	in	ADP
fcis-31243	50	2	the	the	DET
fcis-31243	50	3	fusion	fusion	NOUN
fcis-31243	50	4	layer	layer	NOUN
fcis-31243	50	5	,	,	PUNCT
fcis-31243	50	6	a	a	DET
fcis-31243	50	7	hierarchical	hierarchical	ADJ
fcis-31243	50	8	fusion	fusion	NOUN
fcis-31243	50	9	strategy	strategy	NOUN
fcis-31243	50	10	is	be	AUX
fcis-31243	50	11	adopted	adopt	VERB
fcis-31243	50	12	,	,	PUNCT
fcis-31243	50	13	which	which	PRON
fcis-31243	50	14	first	first	ADV
fcis-31243	50	15	achieves	achieve	VERB
fcis-31243	50	16	feature	feature	NOUN
fcis-31243	50	17	level	level	NOUN
fcis-31243	50	18	fusion	fusion	NOUN
fcis-31243	50	19	through	through	ADP
fcis-31243	50	20	feature	feature	NOUN
fcis-31243	50	21	extraction	extraction	NOUN
fcis-31243	50	22	and	and	CCONJ
fcis-31243	50	23	joint	joint	ADJ
fcis-31243	50	24	kalman	kalman	NOUN
fcis-31243	50	25	filtering	filter	VERB
fcis-31243	50	26	to	to	PART
fcis-31243	50	27	unify	unify	VERB
fcis-31243	50	28	the	the	DET
fcis-31243	50	29	data	datum	NOUN
fcis-31243	50	30	coordinate	coordinate	NOUN
fcis-31243	50	31	system	system	NOUN
fcis-31243	50	32	;	;	PUNCT
fcis-31243	50	33	by	by	ADP
fcis-31243	50	34	utilizing	utilize	VERB
fcis-31243	50	35	algorithms	algorithm	NOUN
fcis-31243	50	36	such	such	ADJ
fcis-31243	50	37	as	as	ADP
fcis-31243	50	38	d	d	PROPN
fcis-31243	50	39	-	-	PUNCT
fcis-31243	50	40	s	s	PART
fcis-31243	50	41	evidence	evidence	NOUN
fcis-31243	50	42	theory	theory	NOUN
fcis-31243	50	43	and	and	CCONJ
fcis-31243	50	44	bayesian	bayesian	NOUN
fcis-31243	50	45	networks	network	NOUN
fcis-31243	50	46	for	for	ADP
fcis-31243	50	47	decision	decision	NOUN
fcis-31243	50	48	level	level	NOUN
fcis-31243	50	49	fusion	fusion	NOUN
fcis-31243	50	50	,	,	PUNCT
fcis-31243	50	51	we	we	PRON
fcis-31243	50	52	can	can	AUX
fcis-31243	50	53	enhance	enhance	VERB
fcis-31243	50	54	the	the	DET
fcis-31243	50	55	reliability	reliability	NOUN
fcis-31243	50	56	of	of	ADP
fcis-31243	50	57	decision	decision	NOUN
fcis-31243	50	58	-	-	PUNCT
fcis-31243	50	59	making	making	NOUN
fcis-31243	50	60	in	in	ADP
fcis-31243	50	61	complex	complex	ADJ
fcis-31243	50	62	scenarios	scenario	NOUN
fcis-31243	50	63	and	and	CCONJ
fcis-31243	50	64	ultimately	ultimately	ADV
fcis-31243	50	65	output	output	VERB
fcis-31243	50	66	precise	precise	ADJ
fcis-31243	50	67	environmental	environmental	ADJ
fcis-31243	50	68	perception	perception	NOUN
fcis-31243	50	69	and	and	CCONJ
fcis-31243	50	70	control	control	NOUN
fcis-31243	50	71	instructions	instruction	NOUN
fcis-31243	50	72	,	,	PUNCT
fcis-31243	50	73	helping	help	VERB
fcis-31243	50	74	to	to	PART
fcis-31243	50	75	improve	improve	VERB
fcis-31243	50	76	the	the	DET
fcis-31243	50	77	safety	safety	NOUN
fcis-31243	50	78	and	and	CCONJ
fcis-31243	50	79	efficiency	efficiency	NOUN
fcis-31243	50	80	of	of	ADP
fcis-31243	50	81	autonomous	autonomous	ADJ
fcis-31243	50	82	driving	driving	NOUN
fcis-31243	50	83	.	.	PUNCT
fcis-31243	51	1	72	72	NUM
fcis-31243	51	2	4	4	NUM
fcis-31243	51	3	.	.	PUNCT
fcis-31243	51	4	core	core	NOUN
fcis-31243	51	5	algorithm	algorithm	NOUN
fcis-31243	51	6	optimization	optimization	NOUN
fcis-31243	51	7	in	in	ADP
fcis-31243	51	8	vehicle	vehicle	NOUN
fcis-31243	51	9	-	-	PUNCT
fcis-31243	51	10	road	road	NOUN
fcis-31243	51	11	coordination	coordination	NOUN
fcis-31243	51	12	and	and	CCONJ
fcis-31243	51	13	autonomous	autonomous	ADJ
fcis-31243	51	14	driving	driving	NOUN
fcis-31243	51	15	systems	system	NOUN
fcis-31243	51	16	,	,	PUNCT
fcis-31243	51	17	perception	perception	NOUN
fcis-31243	51	18	algorithms	algorithm	NOUN
fcis-31243	51	19	serve	serve	VERB
fcis-31243	51	20	as	as	ADP
fcis-31243	51	21	the	the	DET
fcis-31243	51	22	core	core	NOUN
fcis-31243	51	23	for	for	ADP
fcis-31243	51	24	environmental	environmental	ADJ
fcis-31243	51	25	cognition	cognition	NOUN
fcis-31243	51	26	,	,	PUNCT
fcis-31243	51	27	with	with	ADP
fcis-31243	51	28	target	target	NOUN
fcis-31243	51	29	detection	detection	NOUN
fcis-31243	51	30	algorithms	algorithm	NOUN
fcis-31243	51	31	being	be	AUX
fcis-31243	51	32	the	the	DET
fcis-31243	51	33	foundation	foundation	NOUN
fcis-31243	51	34	of	of	ADP
fcis-31243	51	35	perception	perception	NOUN
fcis-31243	51	36	.	.	PUNCT
fcis-31243	52	1	the	the	DET
fcis-31243	52	2	target	target	NOUN
fcis-31243	52	3	detection	detection	NOUN
fcis-31243	52	4	algorithm	algorithm	NOUN
fcis-31243	52	5	based	base	VERB
fcis-31243	52	6	on	on	ADP
fcis-31243	52	7	multi	multi	ADJ
fcis-31243	52	8	-	-	ADJ
fcis-31243	52	9	source	source	ADJ
fcis-31243	52	10	data	data	NOUN
fcis-31243	52	11	fusion	fusion	NOUN
fcis-31243	52	12	enhances	enhance	VERB
fcis-31243	52	13	detection	detection	NOUN
fcis-31243	52	14	accuracy	accuracy	NOUN
fcis-31243	52	15	and	and	CCONJ
fcis-31243	52	16	robustness	robustness	NOUN
fcis-31243	52	17	by	by	ADP
fcis-31243	52	18	integrating	integrate	VERB
fcis-31243	52	19	data	datum	NOUN
fcis-31243	52	20	from	from	ADP
fcis-31243	52	21	vehicle	vehicle	NOUN
fcis-31243	52	22	-	-	PUNCT
fcis-31243	52	23	mounted	mount	VERB
fcis-31243	52	24	and	and	CCONJ
fcis-31243	52	25	roadside	roadside	NOUN
fcis-31243	52	26	sensors	sensor	NOUN
fcis-31243	52	27	.	.	PUNCT
fcis-31243	53	1	below	below	ADV
fcis-31243	53	2	are	be	AUX
fcis-31243	53	3	the	the	DET
fcis-31243	53	4	core	core	NOUN
fcis-31243	53	5	formulas	formula	NOUN
fcis-31243	53	6	and	and	CCONJ
fcis-31243	53	7	principle	principle	NOUN
fcis-31243	53	8	explanations	explanation	NOUN
fcis-31243	53	9	:	:	PUNCT
fcis-31243	53	10	1	1	X
fcis-31243	53	11	.	.	X
fcis-31243	53	12	data	datum	NOUN
fcis-31243	53	13	preprocessing	preprocessing	NOUN
fcis-31243	53	14	and	and	CCONJ
fcis-31243	53	15	feature	feature	NOUN
fcis-31243	53	16	extraction	extraction	NOUN
fcis-31243	53	17	for	for	ADP
fcis-31243	53	18	image	image	NOUN
fcis-31243	53	19	data	datum	NOUN
fcis-31243	53	20	collected	collect	VERB
fcis-31243	53	21	by	by	ADP
fcis-31243	53	22	cameras	camera	NOUN
fcis-31243	53	23	,	,	PUNCT
fcis-31243	53	24	a	a	DET
fcis-31243	53	25	convolutional	convolutional	ADJ
fcis-31243	53	26	neural	neural	ADJ
fcis-31243	53	27	network	network	NOUN
fcis-31243	53	28	(	(	PUNCT
fcis-31243	53	29	cnn	cnn	PROPN
fcis-31243	53	30	)	)	PUNCT
fcis-31243	53	31	is	be	AUX
fcis-31243	53	32	used	use	VERB
fcis-31243	53	33	for	for	ADP
fcis-31243	53	34	feature	feature	NOUN
fcis-31243	53	35	extraction	extraction	NOUN
fcis-31243	53	36	.	.	PUNCT
fcis-31243	54	1	taking	take	VERB
fcis-31243	54	2	the	the	DET
fcis-31243	54	3	classic	classic	ADJ
fcis-31243	54	4	yolo	yolo	NOUN
fcis-31243	54	5	(	(	PUNCT
fcis-31243	54	6	you	you	PRON
fcis-31243	54	7	only	only	ADV
fcis-31243	54	8	look	look	VERB
fcis-31243	54	9	once	once	ADV
fcis-31243	54	10	)	)	PUNCT
fcis-31243	54	11	algorithm	algorithm	NOUN
fcis-31243	54	12	as	as	ADP
fcis-31243	54	13	an	an	DET
fcis-31243	54	14	example	example	NOUN
fcis-31243	54	15	,	,	PUNCT
fcis-31243	54	16	the	the	DET
fcis-31243	54	17	input	input	NOUN
fcis-31243	54	18	image	image	NOUN
fcis-31243	54	19	3	3	NUM
fcis-31243	54	20	whr	whr	INTJ
fcis-31243	54	21	(	(	PUNCT
fcis-31243	54	22	where	where	SCONJ
fcis-31243	54	23	h	h	NOUN
fcis-31243	54	24	is	be	AUX
fcis-31243	54	25	the	the	DET
fcis-31243	54	26	image	image	NOUN
fcis-31243	54	27	height	height	NOUN
fcis-31243	54	28	,	,	PUNCT
fcis-31243	54	29	w	w	NOUN
fcis-31243	54	30	is	be	AUX
fcis-31243	54	31	the	the	DET
fcis-31243	54	32	image	image	NOUN
fcis-31243	54	33	width	width	NOUN
fcis-31243	54	34	,	,	PUNCT
fcis-31243	54	35	and	and	CCONJ
fcis-31243	54	36	3	3	NUM
fcis-31243	54	37	represents	represent	VERB
fcis-31243	54	38	the	the	DET
fcis-31243	54	39	rgb	rgb	PROPN
fcis-31243	54	40	channels	channel	NOUN
fcis-31243	54	41	)	)	PUNCT
fcis-31243	54	42	undergoes	undergo	VERB
fcis-31243	54	43	multiple	multiple	ADJ
fcis-31243	54	44	layers	layer	NOUN
fcis-31243	54	45	of	of	ADP
fcis-31243	54	46	convolution	convolution	NOUN
fcis-31243	54	47	and	and	CCONJ
fcis-31243	54	48	pooling	pool	VERB
fcis-31243	54	49	operations	operation	NOUN
fcis-31243	54	50	to	to	PART
fcis-31243	54	51	output	output	VERB
fcis-31243	54	52	a	a	DET
fcis-31243	54	53	feature	feature	NOUN
fcis-31243	54	54	map	map	NOUN
fcis-31243	54	55	cwhrf	cwhrf	ADV
fcis-31243	54	56			INTJ
fcis-31243	55	1	(	(	PUNCT
fcis-31243	55	2	where	where	SCONJ
fcis-31243	55	3	h	h	NOUN
fcis-31243	55	4	,	,	PUNCT
fcis-31243	55	5	w	w	PROPN
fcis-31243	55	6	are	be	AUX
fcis-31243	55	7	the	the	DET
fcis-31243	55	8	dimensions	dimension	NOUN
fcis-31243	55	9	of	of	ADP
fcis-31243	55	10	the	the	DET
fcis-31243	55	11	feature	feature	NOUN
fcis-31243	55	12	map	map	NOUN
fcis-31243	55	13	,	,	PUNCT
fcis-31243	55	14	and	and	CCONJ
fcis-31243	55	15	c	c	NOUN
fcis-31243	55	16	is	be	AUX
fcis-31243	55	17	the	the	DET
fcis-31243	55	18	number	number	NOUN
fcis-31243	55	19	of	of	ADP
fcis-31243	55	20	channels	channel	NOUN
fcis-31243	55	21	)	)	PUNCT
fcis-31243	55	22	.	.	PUNCT
fcis-31243	56	1	the	the	DET
fcis-31243	56	2	convolution	convolution	NOUN
fcis-31243	56	3	operation	operation	NOUN
fcis-31243	56	4	can	can	AUX
fcis-31243	56	5	be	be	AUX
fcis-31243	56	6	expressed	express	VERB
fcis-31243	56	7	as	as	ADP
fcis-31243	56	8	:	:	PUNCT
fcis-31243	56	9	kk	kk	PROPN
fcis-31243	56	10	mnlnjmi	mnlnjmi	PROPN
fcis-31243	56	11	c	c	PROPN
fcis-31243	56	12	l	l	NOUN
fcis-31243	56	13	n	n	CCONJ
fcis-31243	56	14	n	n	ADV
fcis-31243	56	15	m	m	VERB
fcis-31243	56	16	m	m	VERB
fcis-31243	56	17	k	k	ADJ
fcis-31243	56	18	ij	ij	NUM
fcis-31243	56	19	bkih	bkih	PROPN
fcis-31243	56	20			PROPN
fcis-31243	56	21			PROPN
fcis-31243	56	22			PROPN
fcis-31243	56	23			PROPN
fcis-31243	56	24			PROPN
fcis-31243	56	25			PROPN
fcis-31243	56	26			PROPN
fcis-31243	56	27			PROPN
fcis-31243	56	28			PROPN
fcis-31243	56	29	,	,	PUNCT
fcis-31243	56	30	1	1	NUM
fcis-31243	56	31	0	0	NUM
fcis-31243	56	32	1	1	NUM
fcis-31243	56	33	0	0	NUM
fcis-31243	56	34	1	1	NUM
fcis-31243	56	35	0	0	NUM
fcis-31243	56	36	(	(	PUNCT
fcis-31243	56	37	6	6	NUM
fcis-31243	56	38	)	)	PUNCT
fcis-31243	56	39	here	here	ADV
fcis-31243	56	40	,	,	PUNCT
fcis-31243	56	41	k	k	PROPN
fcis-31243	56	42	mnlk	mnlk	PROPN
fcis-31243	56	43	represents	represent	VERB
fcis-31243	56	44	the	the	DET
fcis-31243	56	45	parameters	parameter	NOUN
fcis-31243	56	46	of	of	ADP
fcis-31243	56	47	the	the	DET
fcis-31243	56	48	convolution	convolution	NOUN
fcis-31243	56	49	kernel	kernel	NOUN
fcis-31243	56	50	,	,	PUNCT
fcis-31243	56	51	kb	kb	PROPN
fcis-31243	56	52	is	be	AUX
fcis-31243	56	53	the	the	DET
fcis-31243	56	54	bias	bias	NOUN
fcis-31243	56	55	term	term	NOUN
fcis-31243	56	56	,	,	PUNCT
fcis-31243	56	57	and	and	CCONJ
fcis-31243	56	58	m	m	PROPN
fcis-31243	56	59	,	,	PUNCT
fcis-31243	56	60	n	n	CCONJ
fcis-31243	56	61	,	,	PUNCT
fcis-31243	56	62	c	c	PROPN
fcis-31243	56	63	denote	denote	VERB
fcis-31243	56	64	the	the	DET
fcis-31243	56	65	size	size	NOUN
fcis-31243	56	66	and	and	CCONJ
fcis-31243	56	67	number	number	NOUN
fcis-31243	56	68	of	of	ADP
fcis-31243	56	69	channels	channel	NOUN
fcis-31243	56	70	of	of	ADP
fcis-31243	56	71	the	the	DET
fcis-31243	56	72	convolution	convolution	NOUN
fcis-31243	56	73	kernel	kernel	NOUN
fcis-31243	56	74	,	,	PUNCT
fcis-31243	56	75	respectively	respectively	ADV
fcis-31243	56	76	.	.	PUNCT
fcis-31243	57	1	for	for	ADP
fcis-31243	57	2	lidar	lidar	NOUN
fcis-31243	57	3	point	point	NOUN
fcis-31243	57	4	cloud	cloud	PROPN
fcis-31243	57	5	data	datum	NOUN
fcis-31243	57	6	,	,	PUNCT
fcis-31243	57	7	point	point	VERB
fcis-31243	57	8	cloud	cloud	NOUN
fcis-31243	57	9	processing	processing	NOUN
fcis-31243	57	10	networks	network	NOUN
fcis-31243	57	11	such	such	ADJ
fcis-31243	57	12	as	as	ADP
fcis-31243	57	13	pointnet	pointnet	NOUN
fcis-31243	57	14	or	or	CCONJ
fcis-31243	57	15	pointnet++	pointnet++	NOUN
fcis-31243	57	16	are	be	AUX
fcis-31243	57	17	typically	typically	ADV
fcis-31243	57	18	employed	employ	VERB
fcis-31243	57	19	.	.	PUNCT
fcis-31243	58	1	inputting	inputte	VERB
fcis-31243	58	2	the	the	DET
fcis-31243	58	3	point	point	NOUN
fcis-31243	58	4	cloud	cloud	NOUN
fcis-31243	58	5	data	datum	NOUN
fcis-31243	58	6			ADV
fcis-31243	58	7	n	n	ADP
fcis-31243	58	8	iip	iip	NOUN
fcis-31243	58	9	1	1	PROPN
fcis-31243	58	10	(	(	PUNCT
fcis-31243	58	11	where	where	SCONJ
fcis-31243	58	12	3rpi	3rpi	NUM
fcis-31243	58	13			NOUN
fcis-31243	58	14	represents	represent	VERB
fcis-31243	58	15	the	the	DET
fcis-31243	58	16	3d	3d	NUM
fcis-31243	58	17	coordinates	coordinate	NOUN
fcis-31243	58	18	and	and	CCONJ
fcis-31243	58	19	n	n	PRON
fcis-31243	58	20	is	be	AUX
fcis-31243	58	21	the	the	DET
fcis-31243	58	22	number	number	NOUN
fcis-31243	58	23	of	of	ADP
fcis-31243	58	24	points	point	NOUN
fcis-31243	58	25	)	)	PUNCT
fcis-31243	58	26	into	into	ADP
fcis-31243	58	27	the	the	DET
fcis-31243	58	28	network	network	NOUN
fcis-31243	58	29	,	,	PUNCT
fcis-31243	58	30	features	feature	NOUN
fcis-31243	58	31	are	be	AUX
fcis-31243	58	32	aggregated	aggregate	VERB
fcis-31243	58	33	through	through	ADP
fcis-31243	58	34	symmetric	symmetric	ADJ
fcis-31243	58	35	functions	function	NOUN
fcis-31243	58	36	(	(	PUNCT
fcis-31243	58	37	e.g.	e.g.	ADV
fcis-31243	58	38	,	,	PUNCT
fcis-31243	58	39	max	max	PROPN
fcis-31243	58	40	pooling	pooling	NOUN
fcis-31243	58	41	):	):	PUNCT
fcis-31243	58	42			NOUN
fcis-31243	58	43	)	)	PUNCT
fcis-31243	58	44	(	(	PUNCT
fcis-31243	58	45	max	max	PROPN
fcis-31243	58	46	)	)	PUNCT
fcis-31243	58	47	(	(	PUNCT
fcis-31243	58	48	)	)	PUNCT
fcis-31243	58	49	(	(	PUNCT
fcis-31243	58	50	,	,	PUNCT
fcis-31243	58	51	...	...	PUNCT
fcis-31243	58	52	,	,	PUNCT
fcis-31243	58	53	1	1	NUM
fcis-31243	58	54	iphnipf	iphnipf	VERB
fcis-31243	58	55			NUM
fcis-31243	58	56			NUM
fcis-31243	58	57	.	.	PUNCT
fcis-31243	59	1	here	here	ADV
fcis-31243	59	2	,	,	PUNCT
fcis-31243	59	3	)	)	PUNCT
fcis-31243	59	4	(	(	PUNCT
fcis-31243	59	5	h	h	PROPN
fcis-31243	59	6	is	be	AUX
fcis-31243	59	7	the	the	DET
fcis-31243	59	8	point	point	ADV
fcis-31243	59	9	-	-	PUNCT
fcis-31243	59	10	wise	wise	ADJ
fcis-31243	59	11	feature	feature	NOUN
fcis-31243	59	12	extraction	extraction	NOUN
fcis-31243	59	13	function	function	NOUN
fcis-31243	59	14	,	,	PUNCT
fcis-31243	59	15	and	and	CCONJ
fcis-31243	59	16	)	)	PUNCT
fcis-31243	59	17	(	(	PUNCT
fcis-31243	59	18			NUM
fcis-31243	59	19	is	be	AUX
fcis-31243	59	20	the	the	DET
fcis-31243	59	21	global	global	ADJ
fcis-31243	59	22	feature	feature	NOUN
fcis-31243	59	23	transformation	transformation	NOUN
fcis-31243	59	24	function	function	NOUN
fcis-31243	59	25	.	.	PUNCT
fcis-31243	60	1	2	2	X
fcis-31243	60	2	.	.	X
fcis-31243	60	3	multi	multi	ADJ
fcis-31243	60	4	-	-	ADJ
fcis-31243	60	5	source	source	NOUN
fcis-31243	60	6	data	datum	NOUN
fcis-31243	60	7	fusion	fusion	NOUN
fcis-31243	60	8	and	and	CCONJ
fcis-31243	60	9	target	target	NOUN
fcis-31243	60	10	detection	detection	NOUN
fcis-31243	60	11	a	a	DET
fcis-31243	60	12	weighted	weight	VERB
fcis-31243	60	13	fusion	fusion	NOUN
fcis-31243	60	14	strategy	strategy	NOUN
fcis-31243	60	15	is	be	AUX
fcis-31243	60	16	adopted	adopt	VERB
fcis-31243	60	17	to	to	PART
fcis-31243	60	18	integrate	integrate	VERB
fcis-31243	60	19	image	image	NOUN
fcis-31243	60	20	features	feature	NOUN
fcis-31243	60	21	imgf	imgf	ADV
fcis-31243	60	22	and	and	CCONJ
fcis-31243	60	23	point	point	VERB
fcis-31243	60	24	cloud	cloud	NOUN
fcis-31243	60	25	features	feature	VERB
fcis-31243	60	26	pcf	pcf	PROPN
fcis-31243	60	27	:	:	PUNCT
fcis-31243	60	28	pc1	pc1	PROPN
fcis-31243	60	29	fff	fff	PROPN
fcis-31243	60	30	imgfusion	imgfusion	NOUN
fcis-31243	60	31			PROPN
fcis-31243	60	32	）	）	PROPN
fcis-31243	60	33	（	（	PUNCT
fcis-31243	61	1			NUM
fcis-31243	61	2	]	]	PUNCT
fcis-31243	61	3	(	(	PUNCT
fcis-31243	61	4	7	7	X
fcis-31243	61	5	)	)	PUNCT
fcis-31243	61	6	by	by	ADP
fcis-31243	61	7	minimizing	minimize	VERB
fcis-31243	61	8	this	this	DET
fcis-31243	61	9	loss	loss	NOUN
fcis-31243	61	10	function	function	NOUN
fcis-31243	61	11	through	through	ADP
fcis-31243	61	12	backpropagation	backpropagation	NOUN
fcis-31243	61	13	,	,	PUNCT
fcis-31243	61	14	the	the	DET
fcis-31243	61	15	parameters	parameter	NOUN
fcis-31243	61	16	of	of	ADP
fcis-31243	61	17	the	the	DET
fcis-31243	61	18	target	target	NOUN
fcis-31243	61	19	detection	detection	NOUN
fcis-31243	61	20	model	model	NOUN
fcis-31243	61	21	are	be	AUX
fcis-31243	61	22	optimized	optimize	VERB
fcis-31243	61	23	to	to	PART
fcis-31243	61	24	achieve	achieve	VERB
fcis-31243	61	25	high	high	ADJ
fcis-31243	61	26	-	-	PUNCT
fcis-31243	61	27	precision	precision	NOUN
fcis-31243	61	28	target	target	NOUN
fcis-31243	61	29	detection	detection	NOUN
fcis-31243	61	30	.	.	PUNCT
fcis-31243	62	1	5	5	X
fcis-31243	62	2	.	.	X
fcis-31243	62	3	conclusion	conclusion	NOUN
fcis-31243	62	4	this	this	DET
fcis-31243	62	5	paper	paper	NOUN
fcis-31243	62	6	systematically	systematically	ADV
fcis-31243	62	7	investigates	investigate	VERB
fcis-31243	62	8	the	the	DET
fcis-31243	62	9	integration	integration	NOUN
fcis-31243	62	10	architecture	architecture	NOUN
fcis-31243	62	11	of	of	ADP
fcis-31243	62	12	vehicle	vehicle	NOUN
fcis-31243	62	13	-	-	PUNCT
fcis-31243	62	14	road	road	NOUN
fcis-31243	62	15	collaboration	collaboration	NOUN
fcis-31243	62	16	(	(	PUNCT
fcis-31243	62	17	vrc	vrc	NOUN
fcis-31243	62	18	)	)	PUNCT
fcis-31243	62	19	and	and	CCONJ
fcis-31243	62	20	autonomous	autonomous	ADJ
fcis-31243	62	21	driving	driving	NOUN
fcis-31243	62	22	(	(	PUNCT
fcis-31243	62	23	ad	ad	NOUN
fcis-31243	62	24	)	)	PUNCT
fcis-31243	62	25	algorithms	algorithm	NOUN
fcis-31243	62	26	.	.	PUNCT
fcis-31243	63	1	the	the	DET
fcis-31243	63	2	technical	technical	ADJ
fcis-31243	63	3	implementation	implementation	NOUN
fcis-31243	63	4	of	of	ADP
fcis-31243	63	5	the	the	DET
fcis-31243	63	6	integration	integration	NOUN
fcis-31243	63	7	is	be	AUX
fcis-31243	63	8	analyzed	analyze	VERB
fcis-31243	63	9	from	from	ADP
fcis-31243	63	10	three	three	NUM
fcis-31243	63	11	key	key	ADJ
fcis-31243	63	12	aspects	aspect	NOUN
fcis-31243	63	13	:	:	PUNCT
fcis-31243	63	14	communication	communication	NOUN
fcis-31243	63	15	infrastructure	infrastructure	NOUN
fcis-31243	63	16	,	,	PUNCT
fcis-31243	63	17	multi	multi	ADJ
fcis-31243	63	18	-	-	ADJ
fcis-31243	63	19	sensor	sensor	ADJ
fcis-31243	63	20	data	datum	NOUN
fcis-31243	63	21	fusion	fusion	NOUN
fcis-31243	63	22	,	,	PUNCT
fcis-31243	63	23	and	and	CCONJ
fcis-31243	63	24	heterogeneous	heterogeneous	ADJ
fcis-31243	63	25	system	system	NOUN
fcis-31243	63	26	coordination	coordination	NOUN
fcis-31243	63	27	.	.	PUNCT
fcis-31243	64	1	through	through	ADP
fcis-31243	64	2	algorithm	algorithm	NOUN
fcis-31243	64	3	optimization	optimization	NOUN
fcis-31243	64	4	,	,	PUNCT
fcis-31243	64	5	the	the	DET
fcis-31243	64	6	efficiency	efficiency	NOUN
fcis-31243	64	7	and	and	CCONJ
fcis-31243	64	8	safety	safety	NOUN
fcis-31243	64	9	of	of	ADP
fcis-31243	64	10	the	the	DET
fcis-31243	64	11	integrated	integrate	VERB
fcis-31243	64	12	system	system	NOUN
fcis-31243	64	13	in	in	ADP
fcis-31243	64	14	urban	urban	ADJ
fcis-31243	64	15	traffic	traffic	NOUN
fcis-31243	64	16	scenarios	scenario	NOUN
fcis-31243	64	17	have	have	AUX
fcis-31243	64	18	been	be	AUX
fcis-31243	64	19	verified	verify	VERB
fcis-31243	64	20	.	.	PUNCT
fcis-31243	65	1	specifically	specifically	ADV
fcis-31243	65	2	,	,	PUNCT
fcis-31243	65	3	5g	5g	NUM
fcis-31243	65	4	-	-	PUNCT
fcis-31243	65	5	v2x	v2x	NOUN
fcis-31243	65	6	technology	technology	NOUN
fcis-31243	65	7	enables	enable	VERB
fcis-31243	65	8	ultra	ultra	ADJ
fcis-31243	65	9	-	-	ADJ
fcis-31243	65	10	low	low	ADJ
fcis-31243	65	11	latency	latency	NOUN
fcis-31243	65	12	communication	communication	NOUN
fcis-31243	65	13	of	of	ADP
fcis-31243	65	14	1	1	NUM
fcis-31243	65	15	ms	ms	NOUN
fcis-31243	65	16	,	,	PUNCT
fcis-31243	65	17	roadside	roadside	ADJ
fcis-31243	65	18	sensor	sensor	NOUN
fcis-31243	65	19	networks	network	NOUN
fcis-31243	65	20	extend	extend	VERB
fcis-31243	65	21	the	the	DET
fcis-31243	65	22	perception	perception	NOUN
fcis-31243	65	23	range	range	VERB
fcis-31243	65	24	to	to	ADP
fcis-31243	65	25	300	300	NUM
fcis-31243	65	26	meters	meter	NOUN
fcis-31243	65	27	with	with	ADP
fcis-31243	65	28	a	a	DET
fcis-31243	65	29	20	20	NUM
fcis-31243	65	30	%	%	NOUN
fcis-31243	65	31	increase	increase	NOUN
fcis-31243	65	32	in	in	ADP
fcis-31243	65	33	accuracy	accuracy	NOUN
fcis-31243	65	34	,	,	PUNCT
fcis-31243	65	35	and	and	CCONJ
fcis-31243	65	36	standardized	standardized	ADJ
fcis-31243	65	37	edge	edge	NOUN
fcis-31243	65	38	computing	compute	VERB
fcis-31243	65	39	protocols	protocol	NOUN
fcis-31243	65	40	reduce	reduce	VERB
fcis-31243	65	41	vehicle	vehicle	NOUN
fcis-31243	65	42	-	-	PUNCT
fcis-31243	65	43	mounted	mount	VERB
fcis-31243	65	44	computing	computing	NOUN
fcis-31243	65	45	load	load	NOUN
fcis-31243	65	46	by	by	ADP
fcis-31243	65	47	30	30	NUM
fcis-31243	65	48	40	40	NUM
fcis-31243	65	49	%	%	NOUN
fcis-31243	65	50	.	.	PUNCT
fcis-31243	66	1	in	in	ADP
fcis-31243	66	2	urban	urban	ADJ
fcis-31243	66	3	traffic	traffic	NOUN
fcis-31243	66	4	scenarios	scenario	NOUN
fcis-31243	66	5	,	,	PUNCT
fcis-31243	66	6	the	the	DET
fcis-31243	66	7	system	system	NOUN
fcis-31243	66	8	demonstrates	demonstrate	VERB
fcis-31243	66	9	a	a	DET
fcis-31243	66	10	15	15	NUM
fcis-31243	66	11	25	25	NUM
fcis-31243	66	12	%	%	NOUN
fcis-31243	66	13	improvement	improvement	NOUN
fcis-31243	66	14	in	in	ADP
fcis-31243	66	15	efficiency	efficiency	NOUN
fcis-31243	66	16	and	and	CCONJ
fcis-31243	66	17	an	an	DET
fcis-31243	66	18	emergency	emergency	NOUN
fcis-31243	66	19	response	response	NOUN
fcis-31243	66	20	time	time	NOUN
fcis-31243	66	21	of	of	ADP
fcis-31243	66	22	less	less	ADJ
fcis-31243	66	23	than	than	ADP
fcis-31243	66	24	100	100	NUM
fcis-31243	66	25	milliseconds	millisecond	NOUN
fcis-31243	66	26	.	.	PUNCT
fcis-31243	67	1	despite	despite	SCONJ
fcis-31243	67	2	the	the	DET
fcis-31243	67	3	remarkable	remarkable	ADJ
fcis-31243	67	4	advantages	advantage	NOUN
fcis-31243	67	5	,	,	PUNCT
fcis-31243	67	6	challenges	challenge	NOUN
fcis-31243	67	7	such	such	ADJ
fcis-31243	67	8	as	as	ADP
fcis-31243	67	9	inconsistent	inconsistent	ADJ
fcis-31243	67	10	technical	technical	ADJ
fcis-31243	67	11	standards	standard	NOUN
fcis-31243	67	12	,	,	PUNCT
fcis-31243	67	13	data	datum	NOUN
fcis-31243	67	14	security	security	NOUN
fcis-31243	67	15	concerns	concern	NOUN
fcis-31243	67	16	,	,	PUNCT
fcis-31243	67	17	and	and	CCONJ
fcis-31243	67	18	high	high	ADJ
fcis-31243	67	19	infrastructure	infrastructure	NOUN
fcis-31243	67	20	costs	cost	NOUN
fcis-31243	67	21	remain	remain	VERB
fcis-31243	67	22	.	.	PUNCT
fcis-31243	68	1	however	however	ADV
fcis-31243	68	2	,	,	PUNCT
fcis-31243	68	3	these	these	DET
fcis-31243	68	4	issues	issue	NOUN
fcis-31243	68	5	can	can	AUX
fcis-31243	68	6	be	be	AUX
fcis-31243	68	7	gradually	gradually	ADV
fcis-31243	68	8	addressed	address	VERB
fcis-31243	68	9	through	through	ADP
fcis-31243	68	10	industry	industry	NOUN
fcis-31243	68	11	collaboration	collaboration	NOUN
fcis-31243	68	12	and	and	CCONJ
fcis-31243	68	13	technological	technological	ADJ
fcis-31243	68	14	innovation	innovation	NOUN
fcis-31243	68	15	.	.	PUNCT
fcis-31243	69	1	compared	compare	VERB
fcis-31243	69	2	with	with	ADP
fcis-31243	69	3	existing	exist	VERB
fcis-31243	69	4	systems	system	NOUN
fcis-31243	69	5	,	,	PUNCT
fcis-31243	69	6	the	the	DET
fcis-31243	69	7	integrated	integrated	ADJ
fcis-31243	69	8	vrc	vrc	NOUN
fcis-31243	69	9	and	and	CCONJ
fcis-31243	69	10	ad	ad	NOUN
fcis-31243	69	11	system	system	NOUN
fcis-31243	69	12	shows	show	VERB
fcis-31243	69	13	significant	significant	ADJ
fcis-31243	69	14	superiority	superiority	NOUN
fcis-31243	69	15	in	in	ADP
fcis-31243	69	16	perception	perception	NOUN
fcis-31243	69	17	range	range	NOUN
fcis-31243	69	18	,	,	PUNCT
fcis-31243	69	19	decision	decision	NOUN
fcis-31243	69	20	-	-	PUNCT
fcis-31243	69	21	making	make	VERB
fcis-31243	69	22	accuracy	accuracy	NOUN
fcis-31243	69	23	,	,	PUNCT
fcis-31243	69	24	and	and	CCONJ
fcis-31243	69	25	emergency	emergency	NOUN
fcis-31243	69	26	response	response	NOUN
fcis-31243	69	27	capabilities	capability	NOUN
fcis-31243	69	28	.	.	PUNCT
fcis-31243	70	1	looking	look	VERB
fcis-31243	70	2	ahead	ahead	ADV
fcis-31243	70	3	,	,	PUNCT
fcis-31243	70	4	the	the	DET
fcis-31243	70	5	integration	integration	NOUN
fcis-31243	70	6	of	of	ADP
fcis-31243	70	7	quantum	quantum	NOUN
fcis-31243	70	8	computing	computing	NOUN
fcis-31243	70	9	and	and	CCONJ
fcis-31243	70	10	6	6	NUM
fcis-31243	70	11	g	g	NOUN
fcis-31243	70	12	communication	communication	NOUN
fcis-31243	70	13	technologies	technology	NOUN
fcis-31243	70	14	presents	present	VERB
fcis-31243	70	15	promising	promise	VERB
fcis-31243	70	16	directions	direction	NOUN
fcis-31243	70	17	for	for	ADP
fcis-31243	70	18	future	future	ADJ
fcis-31243	70	19	research	research	NOUN
fcis-31243	70	20	,	,	PUNCT
fcis-31243	70	21	which	which	PRON
fcis-31243	70	22	will	will	AUX
fcis-31243	70	23	further	far	ADV
fcis-31243	70	24	enhance	enhance	VERB
fcis-31243	70	25	the	the	DET
fcis-31243	70	26	performance	performance	NOUN
fcis-31243	70	27	of	of	ADP
fcis-31243	70	28	the	the	DET
fcis-31243	70	29	integrated	integrate	VERB
fcis-31243	70	30	system	system	NOUN
fcis-31243	70	31	.	.	PUNCT
fcis-31243	71	1	the	the	DET
fcis-31243	71	2	deep	deep	ADJ
fcis-31243	71	3	integration	integration	NOUN
fcis-31243	71	4	of	of	ADP
fcis-31243	71	5	vehicle	vehicle	NOUN
fcis-31243	71	6	-	-	PUNCT
fcis-31243	71	7	road	road	NOUN
fcis-31243	71	8	collaboration	collaboration	NOUN
fcis-31243	71	9	and	and	CCONJ
fcis-31243	71	10	autonomous	autonomous	ADJ
fcis-31243	71	11	driving	driving	NOUN
fcis-31243	71	12	algorithms	algorithm	NOUN
fcis-31243	71	13	is	be	AUX
fcis-31243	71	14	poised	poise	VERB
fcis-31243	71	15	to	to	PART
fcis-31243	71	16	become	become	VERB
fcis-31243	71	17	a	a	DET
fcis-31243	71	18	core	core	NOUN
fcis-31243	71	19	driving	drive	VERB
fcis-31243	71	20	force	force	NOUN
fcis-31243	71	21	in	in	ADP
fcis-31243	71	22	the	the	DET
fcis-31243	71	23	development	development	NOUN
fcis-31243	71	24	of	of	ADP
fcis-31243	71	25	intelligent	intelligent	ADJ
fcis-31243	71	26	transportation	transportation	NOUN
fcis-31243	71	27	systems	system	NOUN
fcis-31243	71	28	.	.	PUNCT
fcis-31243	72	1	references	reference	NOUN
fcis-31243	72	2	[	[	X
fcis-31243	72	3	1	1	X
fcis-31243	72	4	]	]	X
fcis-31243	72	5	shi	shi	PROPN
fcis-31243	72	6	p	p	PROPN
fcis-31243	72	7	,	,	PUNCT
fcis-31243	72	8	yang	yang	PROPN
fcis-31243	72	9	l	l	PROPN
fcis-31243	72	10	,	,	PUNCT
fcis-31243	72	11	dong	dong	NOUN
fcis-31243	73	1	x	x	INTJ
fcis-31243	73	2	,	,	PUNCT
fcis-31243	73	3	et	et	NOUN
fcis-31243	73	4	al.research	al.research	NOUN
fcis-31243	73	5	progress	progress	NOUN
fcis-31243	73	6	on	on	ADP
fcis-31243	73	7	multimodal	multimodal	ADJ
fcis-31243	73	8	fusion	fusion	NOUN
fcis-31243	73	9	object	object	NOUN
fcis-31243	73	10	detection	detection	NOUN
fcis-31243	73	11	algorithms	algorithm	NOUN
fcis-31243	73	12	for	for	ADP
fcis-31243	73	13	autonomous	autonomous	ADJ
fcis-31243	73	14	driving	driving	NOUN
fcis-31243	73	15	:	:	PUNCT
fcis-31243	73	16	a	a	DET
fcis-31243	73	17	review[j].computers	review[j].computer	NOUN
fcis-31243	73	18	,	,	PUNCT
fcis-31243	73	19	materials	material	NOUN
fcis-31243	73	20	&	&	CCONJ
fcis-31243	73	21	continua,2025	continua,2025	NOUN
fcis-31243	73	22	,	,	PUNCT
fcis-31243	73	23	83	83	NUM
fcis-31243	73	24	(	(	PUNCT
fcis-31243	73	25	3):3877	3):3877	NUM
fcis-31243	73	26	-	-	PUNCT
fcis-31243	73	27	3917	3917	NUM
fcis-31243	73	28	.	.	PUNCT
fcis-31243	74	1	[	[	X
fcis-31243	74	2	2	2	X
fcis-31243	74	3	]	]	X
fcis-31243	74	4	rahman	rahman	PROPN
fcis-31243	74	5	h	h	NOUN
fcis-31243	74	6	m	m	PROPN
fcis-31243	74	7	,	,	PUNCT
fcis-31243	74	8	gulzar	gulzar	PROPN
fcis-31243	74	9	m	m	VERB
fcis-31243	74	10	m	m	PROPN
fcis-31243	74	11	,	,	PUNCT
fcis-31243	74	12	haque	haque	PROPN
fcis-31243	74	13	s	s	PART
fcis-31243	74	14	t	t	PROPN
fcis-31243	74	15	,	,	PUNCT
fcis-31243	74	16	et	et	NOUN
fcis-31243	74	17	al.trajectory	al.trajectory	NOUN
fcis-31243	74	18	planning	planning	NOUN
fcis-31243	74	19	and	and	CCONJ
fcis-31243	74	20	tracking	tracking	NOUN
fcis-31243	74	21	control	control	NOUN
fcis-31243	74	22	in	in	ADP
fcis-31243	74	23	autonomous	autonomous	ADJ
fcis-31243	74	24	driving	driving	NOUN
fcis-31243	74	25	system	system	NOUN
fcis-31243	74	26	:	:	PUNCT
fcis-31243	74	27	leveraging	leverage	VERB
fcis-31243	74	28	machine	machine	NOUN
fcis-31243	74	29	learning	learning	NOUN
fcis-31243	74	30	and	and	CCONJ
fcis-31243	74	31	advanced	advanced	ADJ
fcis-31243	74	32	control	control	NOUN
fcis-31243	74	33	algorithms[j].engineering	algorithms[j].engineere	VERB
fcis-31243	74	34	science	science	NOUN
fcis-31243	74	35	and	and	CCONJ
fcis-31243	74	36	technology	technology	NOUN
fcis-31243	74	37	,	,	PUNCT
fcis-31243	74	38	an	an	DET
fcis-31243	74	39	international	international	ADJ
fcis-31243	74	40	journal,2025,64101950	journal,2025,64101950	NOUN
fcis-31243	74	41	-	-	PUNCT
fcis-31243	74	42	101950	101950	NUM
fcis-31243	74	43	.	.	PUNCT
fcis-31243	75	1	[	[	X
fcis-31243	75	2	3	3	NUM
fcis-31243	75	3	]	]	X
fcis-31243	75	4	cui	cui	NOUN
fcis-31243	75	5	xingcan	xingcan	PROPN
fcis-31243	75	6	,	,	PUNCT
fcis-31243	75	7	liu	liu	PROPN
fcis-31243	75	8	jiaqing	jiaqing	PROPN
fcis-31243	75	9	,	,	PUNCT
fcis-31243	75	10	qu	qu	PROPN
fcis-31243	75	11	zhenshen	zhenshen	PROPN
fcis-31243	75	12	,	,	PUNCT
fcis-31243	75	13	et	et	PROPN
fcis-31243	75	14	al	al	PROPN
fcis-31243	75	15	.	.	PROPN
fcis-31243	75	16	research	research	NOUN
fcis-31243	75	17	on	on	ADP
fcis-31243	75	18	key	key	ADJ
fcis-31243	75	19	technologies	technology	NOUN
fcis-31243	75	20	of	of	ADP
fcis-31243	75	21	connected	connected	ADJ
fcis-31243	75	22	and	and	CCONJ
fcis-31243	75	23	autonomous	autonomous	ADJ
fcis-31243	75	24	driving	driving	NOUN
fcis-31243	75	25	in	in	ADP
fcis-31243	75	26	cold	cold	ADJ
fcis-31243	75	27	regions	region	NOUN
fcis-31243	75	28	based	base	VERB
fcis-31243	75	29	on	on	ADP
fcis-31243	75	30	vehicle	vehicle	NOUN
fcis-31243	75	31	-	-	PUNCT
fcis-31243	75	32	road	road	NOUN
fcis-31243	75	33	cooperation	cooperation	NOUN
fcis-31243	75	34	[	[	X
fcis-31243	75	35	c]//chinese	c]//chinese	ADJ
fcis-31243	75	36	association	association	NOUN
fcis-31243	75	37	for	for	ADP
fcis-31243	75	38	science	science	NOUN
fcis-31243	75	39	and	and	CCONJ
fcis-31243	75	40	technology	technology	NOUN
fcis-31243	75	41	,	,	PUNCT
fcis-31243	75	42	ministry	ministry	PROPN
fcis-31243	75	43	of	of	ADP
fcis-31243	75	44	transport	transport	NOUN
fcis-31243	75	45	,	,	PUNCT
fcis-31243	75	46	chinese	chinese	PROPN
fcis-31243	75	47	academy	academy	PROPN
fcis-31243	75	48	of	of	ADP
fcis-31243	75	49	engineering	engineering	PROPN
fcis-31243	75	50	,	,	PUNCT
fcis-31243	75	51	people	people	NOUN
fcis-31243	75	52	's	's	PART
fcis-31243	75	53	government	government	NOUN
fcis-31243	75	54	of	of	ADP
fcis-31243	75	55	hubei	hubei	PROPN
fcis-31243	75	56	province	province	PROPN
fcis-31243	75	57	.	.	PUNCT
fcis-31243	76	1	proceedings	proceeding	NOUN
fcis-31243	76	2	of	of	ADP
fcis-31243	76	3	the	the	DET
fcis-31243	76	4	2022	2022	NUM
fcis-31243	76	5	world	world	NOUN
fcis-31243	76	6	transport	transport	NOUN
fcis-31243	76	7	convention	convention	PROPN
fcis-31243	76	8	(	(	PUNCT
fcis-31243	76	9	wtc2022	wtc2022	NOUN
fcis-31243	76	10	)	)	PUNCT
fcis-31243	76	11	(	(	PUNCT
fcis-31243	76	12	transportation	transportation	NOUN
fcis-31243	76	13	engineering	engineering	NOUN
fcis-31243	76	14	and	and	CCONJ
fcis-31243	76	15	aviation	aviation	NOUN
fcis-31243	76	16	transportation	transportation	NOUN
fcis-31243	76	17	volume	volume	NOUN
fcis-31243	76	18	)	)	PUNCT
fcis-31243	76	19	.	.	PUNCT
fcis-31243	77	1	heilongjiang	heilongjiang	PROPN
fcis-31243	77	2	provincial	provincial	ADJ
fcis-31243	77	3	jiaotou	jiaotou	PROPN
fcis-31243	77	4	intelligent	intelligent	ADJ
fcis-31243	77	5	connected	connected	ADJ
fcis-31243	77	6	vehicle	vehicle	NOUN
fcis-31243	77	7	industry	industry	NOUN
fcis-31243	77	8	innovation	innovation	PROPN
fcis-31243	77	9	co.	co.	PROPN
fcis-31243	77	10	,	,	PUNCT
fcis-31243	77	11	ltd	ltd	PROPN
fcis-31243	77	12	.	.	PROPN
fcis-31243	77	13	;	;	PUNCT
fcis-31243	77	14	harbin	harbin	PROPN
fcis-31243	77	15	institute	institute	PROPN
fcis-31243	77	16	of	of	ADP
fcis-31243	77	17	technology	technology	PROPN
fcis-31243	77	18	;	;	PUNCT
fcis-31243	77	19	2022	2022	NUM
fcis-31243	77	20	:	:	PUNCT
fcis-31243	77	21	386	386	NUM
fcis-31243	77	22	-	-	SYM
fcis-31243	77	23	392	392	NUM
fcis-31243	77	24	.	.	PUNCT
fcis-31243	77	25	doi	doi	NOUN
fcis-31243	77	26	:	:	PUNCT
fcis-31243	77	27	10.26914	10.26914	NUM
fcis-31243	77	28	/	/	SYM
fcis-31243	77	29	c.	c.	PROPN
fcis-31243	77	30	cnkihy	cnkihy	PROPN
fcis-31243	77	31	.	.	PUNCT
fcis-31243	78	1	2022.019816	2022.019816	NUM
fcis-31243	78	2	.	.	PUNCT
fcis-31243	79	1	[	[	X
fcis-31243	79	2	4	4	X
fcis-31243	79	3	]	]	X
fcis-31243	79	4	lv	lv	PROPN
fcis-31243	79	5	wanjun	wanjun	PROPN
fcis-31243	79	6	.	.	PUNCT
fcis-31243	80	1	research	research	NOUN
fcis-31243	80	2	on	on	ADP
fcis-31243	80	3	operation	operation	NOUN
fcis-31243	80	4	control	control	NOUN
fcis-31243	80	5	strategies	strategy	NOUN
fcis-31243	80	6	and	and	CCONJ
fcis-31243	80	7	algorithms	algorithm	NOUN
fcis-31243	80	8	for	for	ADP
fcis-31243	80	9	autonomous	autonomous	ADJ
fcis-31243	80	10	driving	drive	VERB
fcis-31243	80	11	buses	bus	NOUN
fcis-31243	80	12	under	under	ADP
fcis-31243	80	13	the	the	DET
fcis-31243	80	14	condition	condition	NOUN
fcis-31243	80	15	of	of	ADP
fcis-31243	80	16	vehicle	vehicle	NOUN
fcis-31243	80	17	-	-	PUNCT
fcis-31243	80	18	road	road	NOUN
fcis-31243	80	19	cooperation	cooperation	NOUN
fcis-31243	80	20	[	[	X
fcis-31243	80	21	d	d	X
fcis-31243	80	22	]	]	X
fcis-31243	80	23	.	.	PUNCT
fcis-31243	81	1	beijing	beijing	PROPN
fcis-31243	81	2	jiaotong	jiaotong	PROPN
fcis-31243	81	3	university	university	PROPN
fcis-31243	81	4	,	,	PUNCT
fcis-31243	81	5	2023	2023	NUM
fcis-31243	81	6	.	.	PUNCT
fcis-31243	82	1	doi	doi	NOUN
fcis-31243	82	2	:	:	PUNCT
fcis-31243	82	3	10.26944	10.26944	NUM
fcis-31243	82	4	/	/	SYM
fcis-31243	82	5	d.cnki.gbfju.2023.003731	d.cnki.gbfju.2023.003731	NOUN
fcis-31243	82	6	.	.	PUNCT
fcis-31243	83	1	[	[	X
fcis-31243	83	2	5	5	NUM
fcis-31243	83	3	]	]	PUNCT
fcis-31243	83	4	gu	gu	X
fcis-31243	83	5	gan	gan	PROPN
fcis-31243	83	6	.	.	PUNCT
fcis-31243	84	1	research	research	PROPN
fcis-31243	84	2	and	and	CCONJ
fcis-31243	84	3	simulation	simulation	NOUN
fcis-31243	84	4	implementation	implementation	NOUN
fcis-31243	84	5	of	of	ADP
fcis-31243	84	6	cooperative	cooperative	ADJ
fcis-31243	84	7	control	control	NOUN
fcis-31243	84	8	algorithm	algorithm	NOUN
fcis-31243	84	9	for	for	ADP
fcis-31243	84	10	autonomous	autonomous	ADJ
fcis-31243	84	11	vehicles	vehicle	NOUN
fcis-31243	84	12	in	in	ADP
fcis-31243	84	13	internet	internet	NOUN
fcis-31243	84	14	-	-	PUNCT
fcis-31243	84	15	connected	connect	VERB
fcis-31243	84	16	intersection	intersection	NOUN
fcis-31243	84	17	environment	environment	NOUN
fcis-31243	85	1	[	[	X
fcis-31243	85	2	d	d	X
fcis-31243	85	3	]	]	X
fcis-31243	85	4	.	.	PUNCT
fcis-31243	86	1	chang'an	chang'an	PROPN
fcis-31243	86	2	university	university	NOUN
fcis-31243	86	3	,	,	PUNCT
fcis-31243	86	4	2023	2023	NUM
fcis-31243	86	5	.	.	PUNCT
fcis-31243	87	1	doi	doi	NOUN
fcis-31243	87	2	:	:	PUNCT
fcis-31243	87	3	10.26976	10.26976	NUM
fcis-31243	87	4	/	/	SYM
fcis-31243	87	5	d.cnki.gchau.2023.001678	d.cnki.gchau.2023.001678	PROPN
fcis-31243	87	6	.	.	PUNCT
fcis-31243	88	1	[	[	X
fcis-31243	88	2	6	6	NUM
fcis-31243	88	3	]	]	PUNCT
fcis-31243	88	4	wang	wang	PROPN
fcis-31243	88	5	rong	rong	PROPN
fcis-31243	88	6	,	,	PUNCT
fcis-31243	88	7	wang	wang	PROPN
fcis-31243	88	8	rui	rui	PROPN
fcis-31243	88	9	,	,	PUNCT
fcis-31243	88	10	li	li	PROPN
fcis-31243	88	11	junji	junji	PROPN
fcis-31243	88	12	,	,	PUNCT
fcis-31243	88	13	et	et	PROPN
fcis-31243	88	14	al	al	PROPN
fcis-31243	88	15	.	.	PUNCT
fcis-31243	88	16	real	real	ADJ
fcis-31243	88	17	-	-	PUNCT
fcis-31243	88	18	time	time	NOUN
fcis-31243	88	19	autonomous	autonomous	ADJ
fcis-31243	88	20	driving	driving	NOUN
fcis-31243	88	21	target	target	NOUN
fcis-31243	88	22	detection	detection	NOUN
fcis-31243	88	23	algorithm	algorithm	NOUN
fcis-31243	88	24	for	for	ADP
fcis-31243	88	25	network	network	NOUN
fcis-31243	88	26	lightweighting	lightweighte	VERB
fcis-31243	88	27	[	[	X
fcis-31243	88	28	j	j	X
fcis-31243	88	29	]	]	X
fcis-31243	88	30	.	.	PUNCT
fcis-31243	89	1	journal	journal	PROPN
fcis-31243	89	2	of	of	ADP
fcis-31243	89	3	taiyuan	taiyuan	PROPN
fcis-31243	89	4	university	university	PROPN
fcis-31243	89	5	of	of	ADP
fcis-31243	89	6	science	science	NOUN
fcis-31243	89	7	and	and	CCONJ
fcis-31243	89	8	technology,2025,46(03):224	technology,2025,46(03):224	NOUN
fcis-31243	89	9	-	-	SYM
fcis-31243	89	10	230	230	NUM
fcis-31243	89	11	.	.	PUNCT