id	sid	tid	token	lemma	pos
fcis-32179	1	1	frontiers	frontier	NOUN
fcis-32179	1	2	in	in	ADP
fcis-32179	1	3	computing	computing	NOUN
fcis-32179	1	4	and	and	CCONJ
fcis-32179	1	5	intelligent	intelligent	ADJ
fcis-32179	1	6	systems	system	NOUN
fcis-32179	1	7	issn	issn	VERB
fcis-32179	1	8	:	:	PUNCT
fcis-32179	1	9	2832	2832	NUM
fcis-32179	1	10	-	-	SYM
fcis-32179	1	11	6024	6024	NUM
fcis-32179	1	12	|	|	NOUN
fcis-32179	1	13	vol	vol	NOUN
fcis-32179	1	14	.	.	PUNCT
fcis-32179	2	1	14	14	NUM
fcis-32179	2	2	,	,	PUNCT
fcis-32179	2	3	no	no	INTJ
fcis-32179	2	4	.	.	NOUN
fcis-32179	2	5	1	1	NUM
fcis-32179	2	6	,	,	PUNCT
fcis-32179	2	7	2025	2025	NUM
fcis-32179	2	8	77	77	NUM
fcis-32179	2	9	trajectory	trajectory	NOUN
fcis-32179	2	10	tracking	tracking	NOUN
fcis-32179	2	11	of	of	ADP
fcis-32179	2	12	open‐pit	open‐pit	NOUN
fcis-32179	2	13	mining	mining	NOUN
fcis-32179	2	14	trucks	truck	NOUN
fcis-32179	2	15	based	base	VERB
fcis-32179	2	16	on	on	ADP
fcis-32179	2	17	mpc	mpc	PROPN
fcis-32179	2	18	and	and	CCONJ
fcis-32179	2	19	pure	pure	ADJ
fcis-32179	2	20	pursuit	pursuit	NOUN
fcis-32179	2	21	control	control	NOUN
fcis-32179	2	22	qingfu	qingfu	PROPN
fcis-32179	3	1	zhang	zhang	PROPN
fcis-32179	3	2	1	1	NUM
fcis-32179	3	3	,	,	PUNCT
fcis-32179	3	4	yunsen	yunsen	VERB
fcis-32179	3	5	wang	wang	PROPN
fcis-32179	3	6	2	2	NUM
fcis-32179	3	7	,	,	PUNCT
fcis-32179	3	8	jianming	jianme	VERB
fcis-32179	3	9	zheng	zheng	PROPN
fcis-32179	3	10	1	1	NUM
fcis-32179	3	11	,	,	PUNCT
fcis-32179	3	12	zhao	zhao	PROPN
fcis-32179	3	13	li	li	PROPN
fcis-32179	3	14	3	3	NUM
fcis-32179	3	15	,	,	PUNCT
fcis-32179	3	16	hao	hao	PROPN
fcis-32179	3	17	li	li	PROPN
fcis-32179	3	18	1	1	NUM
fcis-32179	3	19	1	1	NUM
fcis-32179	3	20	jilin	jilin	PROPN
fcis-32179	3	21	university	university	PROPN
fcis-32179	3	22	of	of	ADP
fcis-32179	3	23	chemical	chemical	PROPN
fcis-32179	3	24	technology	technology	PROPN
fcis-32179	3	25	,	,	PUNCT
fcis-32179	3	26	jilin	jilin	PROPN
fcis-32179	3	27	jilin	jilin	PROPN
fcis-32179	3	28	,	,	PUNCT
fcis-32179	3	29	132022	132022	NUM
fcis-32179	3	30	,	,	PUNCT
fcis-32179	3	31	china	china	PROPN
fcis-32179	3	32	2	2	NUM
fcis-32179	3	33	northeastern	northeastern	PROPN
fcis-32179	3	34	university	university	PROPN
fcis-32179	3	35	,	,	PUNCT
fcis-32179	3	36	shenyang	shenyang	PROPN
fcis-32179	3	37	liaoning	liaoning	PROPN
fcis-32179	3	38	,	,	PUNCT
fcis-32179	3	39	110801	110801	NUM
fcis-32179	3	40	,	,	PUNCT
fcis-32179	3	41	china	china	PROPN
fcis-32179	3	42	3	3	NUM
fcis-32179	3	43	jilin	jilin	PROPN
fcis-32179	3	44	urban	urban	ADJ
fcis-32179	3	45	and	and	CCONJ
fcis-32179	3	46	rural	rural	ADJ
fcis-32179	3	47	planning	planning	NOUN
fcis-32179	3	48	research	research	PROPN
fcis-32179	3	49	institute	institute	PROPN
fcis-32179	3	50	,	,	PUNCT
fcis-32179	3	51	changchun	changchun	PROPN
fcis-32179	3	52	,	,	PUNCT
fcis-32179	3	53	jilin	jilin	PROPN
fcis-32179	3	54	132000	132000	NUM
fcis-32179	3	55	,	,	PUNCT
fcis-32179	3	56	china	china	PROPN
fcis-32179	3	57	abstract	abstract	PROPN
fcis-32179	3	58	:	:	PUNCT
fcis-32179	3	59	regarding	regard	VERB
fcis-32179	3	60	the	the	DET
fcis-32179	3	61	trajectory	trajectory	NOUN
fcis-32179	3	62	tracking	tracking	NOUN
fcis-32179	3	63	problem	problem	NOUN
fcis-32179	3	64	of	of	ADP
fcis-32179	3	65	mine	mine	ADJ
fcis-32179	3	66	trucks	truck	NOUN
fcis-32179	3	67	in	in	ADP
fcis-32179	3	68	intelligent	intelligent	ADJ
fcis-32179	3	69	mining	mining	NOUN
fcis-32179	3	70	environments	environment	NOUN
fcis-32179	3	71	,	,	PUNCT
fcis-32179	3	72	this	this	DET
fcis-32179	3	73	paper	paper	NOUN
fcis-32179	3	74	presents	present	VERB
fcis-32179	3	75	a	a	DET
fcis-32179	3	76	integrated	integrate	VERB
fcis-32179	3	77	trajectory	trajectory	NOUN
fcis-32179	3	78	tracking	tracking	NOUN
fcis-32179	3	79	approach	approach	NOUN
fcis-32179	3	80	based	base	VERB
fcis-32179	3	81	on	on	ADP
fcis-32179	3	82	model	model	NOUN
fcis-32179	3	83	predictive	predictive	PROPN
fcis-32179	3	84	control	control	PROPN
fcis-32179	3	85	(	(	PUNCT
fcis-32179	3	86	mpc	mpc	NOUN
fcis-32179	3	87	)	)	PUNCT
fcis-32179	3	88	and	and	CCONJ
fcis-32179	3	89	pure	pure	ADJ
fcis-32179	3	90	pursuit	pursuit	NOUN
fcis-32179	3	91	control	control	NOUN
fcis-32179	3	92	.	.	PUNCT
fcis-32179	4	1	this	this	DET
fcis-32179	4	2	approach	approach	NOUN
fcis-32179	4	3	is	be	AUX
fcis-32179	4	4	primarily	primarily	ADV
fcis-32179	4	5	driven	drive	VERB
fcis-32179	4	6	by	by	ADP
fcis-32179	4	7	the	the	DET
fcis-32179	4	8	model	model	NOUN
fcis-32179	4	9	predictive	predictive	PROPN
fcis-32179	4	10	control	control	PROPN
fcis-32179	4	11	(	(	PUNCT
fcis-32179	4	12	mpc	mpc	NOUN
fcis-32179	4	13	)	)	PUNCT
fcis-32179	4	14	controller	controller	NOUN
fcis-32179	4	15	,	,	PUNCT
fcis-32179	4	16	the	the	DET
fcis-32179	4	17	lateral	lateral	ADJ
fcis-32179	4	18	trajectory	trajectory	NOUN
fcis-32179	4	19	error	error	NOUN
fcis-32179	4	20	is	be	AUX
fcis-32179	4	21	derived	derive	VERB
fcis-32179	4	22	through	through	ADP
fcis-32179	4	23	the	the	DET
fcis-32179	4	24	pure	pure	ADJ
fcis-32179	4	25	pursuit	pursuit	NOUN
fcis-32179	4	26	(	(	PUNCT
fcis-32179	4	27	pp	pp	ADJ
fcis-32179	4	28	)	)	PUNCT
fcis-32179	4	29	control	control	NOUN
fcis-32179	4	30	algorithm	algorithm	NOUN
fcis-32179	4	31	,	,	PUNCT
fcis-32179	4	32	the	the	DET
fcis-32179	4	33	vehicle	vehicle	NOUN
fcis-32179	4	34	steering	steering	NOUN
fcis-32179	4	35	angle	angle	NOUN
fcis-32179	4	36	control	control	NOUN
fcis-32179	4	37	input	input	NOUN
fcis-32179	4	38	is	be	AUX
fcis-32179	4	39	generated	generate	VERB
fcis-32179	4	40	using	use	VERB
fcis-32179	4	41	a	a	DET
fcis-32179	4	42	weighted	weight	VERB
fcis-32179	4	43	hybrid	hybrid	ADJ
fcis-32179	4	44	control	control	NOUN
fcis-32179	4	45	approach	approach	NOUN
fcis-32179	4	46	,	,	PUNCT
fcis-32179	4	47	to	to	PART
fcis-32179	4	48	address	address	VERB
fcis-32179	4	49	the	the	DET
fcis-32179	4	50	trajectory	trajectory	NOUN
fcis-32179	4	51	tracking	tracking	NOUN
fcis-32179	4	52	challenge	challenge	NOUN
fcis-32179	4	53	of	of	ADP
fcis-32179	4	54	open	open	ADJ
fcis-32179	4	55	-	-	PUNCT
fcis-32179	4	56	pit	pit	NOUN
fcis-32179	4	57	mine	mine	NOUN
fcis-32179	4	58	trucks	truck	NOUN
fcis-32179	4	59	in	in	ADP
fcis-32179	4	60	dynamic	dynamic	ADJ
fcis-32179	4	61	and	and	CCONJ
fcis-32179	4	62	complex	complex	ADJ
fcis-32179	4	63	environments	environment	NOUN
fcis-32179	4	64	.	.	PUNCT
fcis-32179	5	1	finally	finally	ADV
fcis-32179	5	2	,	,	PUNCT
fcis-32179	5	3	through	through	ADP
fcis-32179	5	4	simulations	simulation	NOUN
fcis-32179	5	5	using	use	VERB
fcis-32179	5	6	carsim	carsim	NOUN
fcis-32179	5	7	and	and	CCONJ
fcis-32179	5	8	matlab	matlab	PROPN
fcis-32179	5	9	/	/	SYM
fcis-32179	5	10	simulink	simulink	PROPN
fcis-32179	5	11	,	,	PUNCT
fcis-32179	5	12	the	the	DET
fcis-32179	5	13	performance	performance	NOUN
fcis-32179	5	14	of	of	ADP
fcis-32179	5	15	the	the	DET
fcis-32179	5	16	mine	mine	ADJ
fcis-32179	5	17	truck	truck	NOUN
fcis-32179	5	18	in	in	ADP
fcis-32179	5	19	tracking	track	VERB
fcis-32179	5	20	a	a	DET
fcis-32179	5	21	dual	dual	ADJ
fcis-32179	5	22	-	-	PUNCT
fcis-32179	5	23	shift	shift	NOUN
fcis-32179	5	24	trajectory	trajectory	NOUN
fcis-32179	5	25	was	be	AUX
fcis-32179	5	26	evaluated	evaluate	VERB
fcis-32179	5	27	.	.	PUNCT
fcis-32179	6	1	the	the	DET
fcis-32179	6	2	results	result	NOUN
fcis-32179	6	3	indicate	indicate	VERB
fcis-32179	6	4	that	that	SCONJ
fcis-32179	6	5	,	,	PUNCT
fcis-32179	6	6	compared	compare	VERB
fcis-32179	6	7	to	to	ADP
fcis-32179	6	8	the	the	DET
fcis-32179	6	9	standalone	standalone	ADJ
fcis-32179	6	10	mpc	mpc	NOUN
fcis-32179	6	11	controller	controller	NOUN
fcis-32179	6	12	,	,	PUNCT
fcis-32179	6	13	the	the	DET
fcis-32179	6	14	integrated	integrate	VERB
fcis-32179	6	15	control	control	NOUN
fcis-32179	6	16	method	method	NOUN
fcis-32179	6	17	demonstrates	demonstrate	VERB
fcis-32179	6	18	a	a	DET
fcis-32179	6	19	significant	significant	ADJ
fcis-32179	6	20	improvement	improvement	NOUN
fcis-32179	6	21	in	in	ADP
fcis-32179	6	22	tracking	tracking	NOUN
fcis-32179	6	23	accuracy	accuracy	NOUN
fcis-32179	6	24	.	.	PUNCT
fcis-32179	7	1	keywords	keyword	NOUN
fcis-32179	7	2	:	:	PUNCT
fcis-32179	7	3	trajectory	trajectory	NOUN
fcis-32179	7	4	tracking	tracking	NOUN
fcis-32179	7	5	;	;	PUNCT
fcis-32179	7	6	model	model	NOUN
fcis-32179	7	7	predictive	predictive	PROPN
fcis-32179	7	8	control	control	PROPN
fcis-32179	7	9	;	;	PUNCT
fcis-32179	7	10	weighted	weight	VERB
fcis-32179	7	11	hybrid	hybrid	ADJ
fcis-32179	7	12	control	control	NOUN
fcis-32179	7	13	.	.	PUNCT
fcis-32179	8	1	1	1	X
fcis-32179	8	2	.	.	X
fcis-32179	8	3	introduction	introduction	NOUN
fcis-32179	8	4	the	the	DET
fcis-32179	8	5	development	development	NOUN
fcis-32179	8	6	of	of	ADP
fcis-32179	8	7	green	green	ADJ
fcis-32179	8	8	mines	mine	NOUN
fcis-32179	8	9	serves	serve	VERB
fcis-32179	8	10	as	as	ADP
fcis-32179	8	11	a	a	DET
fcis-32179	8	12	critical	critical	ADJ
fcis-32179	8	13	measure	measure	NOUN
fcis-32179	8	14	for	for	ADP
fcis-32179	8	15	promoting	promote	VERB
fcis-32179	8	16	high	high	ADJ
fcis-32179	8	17	-	-	PUNCT
fcis-32179	8	18	quality	quality	NOUN
fcis-32179	8	19	growth	growth	NOUN
fcis-32179	8	20	in	in	ADP
fcis-32179	8	21	the	the	DET
fcis-32179	8	22	mining	mining	NOUN
fcis-32179	8	23	industry	industry	NOUN
fcis-32179	8	24	,	,	PUNCT
fcis-32179	8	25	an	an	DET
fcis-32179	8	26	important	important	ADJ
fcis-32179	8	27	approach	approach	NOUN
fcis-32179	8	28	to	to	ADP
fcis-32179	8	29	advancing	advance	VERB
fcis-32179	8	30	ecological	ecological	ADJ
fcis-32179	8	31	progress	progress	NOUN
fcis-32179	8	32	within	within	ADP
fcis-32179	8	33	the	the	DET
fcis-32179	8	34	sector	sector	NOUN
fcis-32179	8	35	,	,	PUNCT
fcis-32179	8	36	and	and	CCONJ
fcis-32179	8	37	an	an	DET
fcis-32179	8	38	inevitable	inevitable	ADJ
fcis-32179	8	39	choice	choice	NOUN
fcis-32179	8	40	for	for	ADP
fcis-32179	8	41	achieving	achieve	VERB
fcis-32179	8	42	harmonious	harmonious	ADJ
fcis-32179	8	43	coexistence	coexistence	NOUN
fcis-32179	8	44	between	between	ADP
fcis-32179	8	45	humans	human	NOUN
fcis-32179	8	46	and	and	CCONJ
fcis-32179	8	47	nature	nature	NOUN
fcis-32179	9	1	[	[	X
fcis-32179	9	2	1	1	NUM
fcis-32179	9	3	]	]	PUNCT
fcis-32179	9	4	.	.	PUNCT
fcis-32179	10	1	open	open	ADJ
fcis-32179	10	2	-	-	PUNCT
fcis-32179	10	3	pit	pit	NOUN
fcis-32179	10	4	mining	mining	NOUN
fcis-32179	10	5	operations	operation	NOUN
fcis-32179	10	6	constitute	constitute	VERB
fcis-32179	10	7	a	a	DET
fcis-32179	10	8	significant	significant	ADJ
fcis-32179	10	9	component	component	NOUN
fcis-32179	10	10	of	of	ADP
fcis-32179	10	11	modern	modern	ADJ
fcis-32179	10	12	mineral	mineral	NOUN
fcis-32179	10	13	production	production	NOUN
fcis-32179	10	14	,	,	PUNCT
fcis-32179	10	15	where	where	SCONJ
fcis-32179	10	16	haul	haul	NOUN
fcis-32179	10	17	trucks	truck	NOUN
fcis-32179	10	18	,	,	PUNCT
fcis-32179	10	19	as	as	ADP
fcis-32179	10	20	the	the	DET
fcis-32179	10	21	primary	primary	ADJ
fcis-32179	10	22	means	mean	NOUN
fcis-32179	10	23	of	of	ADP
fcis-32179	10	24	transport	transport	NOUN
fcis-32179	10	25	,	,	PUNCT
fcis-32179	10	26	play	play	VERB
fcis-32179	10	27	a	a	DET
fcis-32179	10	28	vital	vital	ADJ
fcis-32179	10	29	role	role	NOUN
fcis-32179	10	30	.	.	PUNCT
fcis-32179	11	1	with	with	ADP
fcis-32179	11	2	advancements	advancement	NOUN
fcis-32179	11	3	in	in	ADP
fcis-32179	11	4	modern	modern	ADJ
fcis-32179	11	5	science	science	NOUN
fcis-32179	11	6	and	and	CCONJ
fcis-32179	11	7	technology	technology	NOUN
fcis-32179	11	8	,	,	PUNCT
fcis-32179	11	9	research	research	NOUN
fcis-32179	11	10	into	into	ADP
fcis-32179	11	11	unmanned	unmanned	ADJ
fcis-32179	11	12	driving	driving	NOUN
fcis-32179	11	13	for	for	ADP
fcis-32179	11	14	these	these	DET
fcis-32179	11	15	trucks	truck	NOUN
fcis-32179	11	16	has	have	AUX
fcis-32179	11	17	entered	enter	VERB
fcis-32179	11	18	a	a	DET
fcis-32179	11	19	new	new	ADJ
fcis-32179	11	20	phase	phase	NOUN
fcis-32179	11	21	.	.	PUNCT
fcis-32179	12	1	the	the	DET
fcis-32179	12	2	main	main	ADJ
fcis-32179	12	3	function	function	NOUN
fcis-32179	12	4	of	of	ADP
fcis-32179	12	5	haul	haul	NOUN
fcis-32179	12	6	trucks	truck	NOUN
fcis-32179	12	7	is	be	AUX
fcis-32179	12	8	to	to	PART
fcis-32179	12	9	transport	transport	VERB
fcis-32179	12	10	extracted	extract	VERB
fcis-32179	12	11	ore	ore	NOUN
fcis-32179	12	12	,	,	PUNCT
fcis-32179	12	13	waste	waste	NOUN
fcis-32179	12	14	material	material	NOUN
fcis-32179	12	15	,	,	PUNCT
fcis-32179	12	16	and	and	CCONJ
fcis-32179	12	17	other	other	ADJ
fcis-32179	12	18	supplies	supply	NOUN
fcis-32179	12	19	from	from	ADP
fcis-32179	12	20	the	the	DET
fcis-32179	12	21	mining	mining	NOUN
fcis-32179	12	22	pit	pit	NOUN
fcis-32179	12	23	to	to	ADP
fcis-32179	12	24	processing	processing	NOUN
fcis-32179	12	25	plants	plant	NOUN
fcis-32179	12	26	,	,	PUNCT
fcis-32179	12	27	storage	storage	NOUN
fcis-32179	12	28	yards	yard	NOUN
fcis-32179	12	29	,	,	PUNCT
fcis-32179	12	30	or	or	CCONJ
fcis-32179	12	31	other	other	ADJ
fcis-32179	12	32	designated	designate	VERB
fcis-32179	12	33	locations	location	NOUN
fcis-32179	12	34	.	.	PUNCT
fcis-32179	13	1	given	give	VERB
fcis-32179	13	2	the	the	DET
fcis-32179	13	3	harsh	harsh	ADJ
fcis-32179	13	4	conditions	condition	NOUN
fcis-32179	13	5	of	of	ADP
fcis-32179	13	6	open	open	ADJ
fcis-32179	13	7	-	-	PUNCT
fcis-32179	13	8	pit	pit	NOUN
fcis-32179	13	9	mines	mine	NOUN
fcis-32179	13	10	,	,	PUNCT
fcis-32179	13	11	which	which	PRON
fcis-32179	13	12	require	require	VERB
fcis-32179	13	13	drivers	driver	NOUN
fcis-32179	13	14	to	to	PART
fcis-32179	13	15	remain	remain	VERB
fcis-32179	13	16	in	in	ADP
fcis-32179	13	17	a	a	DET
fcis-32179	13	18	constant	constant	ADJ
fcis-32179	13	19	state	state	NOUN
fcis-32179	13	20	of	of	ADP
fcis-32179	13	21	high	high	ADJ
fcis-32179	13	22	alert	alert	NOUN
fcis-32179	13	23	,	,	PUNCT
fcis-32179	13	24	coupled	couple	VERB
fcis-32179	13	25	with	with	ADP
fcis-32179	13	26	the	the	DET
fcis-32179	13	27	highly	highly	ADV
fcis-32179	13	28	repetitive	repetitive	ADJ
fcis-32179	13	29	nature	nature	NOUN
fcis-32179	13	30	of	of	ADP
fcis-32179	13	31	the	the	DET
fcis-32179	13	32	task	task	NOUN
fcis-32179	13	33	,	,	PUNCT
fcis-32179	13	34	research	research	NOUN
fcis-32179	13	35	on	on	ADP
fcis-32179	13	36	path	path	NOUN
fcis-32179	13	37	tracking	tracking	NOUN
fcis-32179	13	38	for	for	ADP
fcis-32179	13	39	these	these	DET
fcis-32179	13	40	trucks	truck	NOUN
fcis-32179	13	41	is	be	AUX
fcis-32179	13	42	of	of	ADP
fcis-32179	13	43	considerable	considerable	ADJ
fcis-32179	13	44	necessity	necessity	NOUN
fcis-32179	13	45	.	.	PUNCT
fcis-32179	14	1	the	the	DET
fcis-32179	14	2	objective	objective	NOUN
fcis-32179	14	3	of	of	ADP
fcis-32179	14	4	intelligent	intelligent	ADJ
fcis-32179	14	5	truck	truck	NOUN
fcis-32179	14	6	trajectory	trajectory	NOUN
fcis-32179	14	7	tracking	tracking	NOUN
fcis-32179	14	8	is	be	AUX
fcis-32179	14	9	to	to	PART
fcis-32179	14	10	control	control	VERB
fcis-32179	14	11	the	the	DET
fcis-32179	14	12	vehicle	vehicle	NOUN
fcis-32179	14	13	's	's	PART
fcis-32179	14	14	speed	speed	NOUN
fcis-32179	14	15	and	and	CCONJ
fcis-32179	14	16	steering	steering	NOUN
fcis-32179	14	17	angle	angle	NOUN
fcis-32179	14	18	,	,	PUNCT
fcis-32179	14	19	enabling	enable	VERB
fcis-32179	14	20	it	it	PRON
fcis-32179	14	21	to	to	PART
fcis-32179	14	22	follow	follow	VERB
fcis-32179	14	23	a	a	DET
fcis-32179	14	24	planned	plan	VERB
fcis-32179	14	25	path	path	NOUN
fcis-32179	14	26	with	with	ADP
fcis-32179	14	27	minimal	minimal	ADJ
fcis-32179	14	28	deviation	deviation	NOUN
fcis-32179	14	29	while	while	SCONJ
fcis-32179	14	30	ensuring	ensure	VERB
fcis-32179	14	31	stability	stability	NOUN
fcis-32179	14	32	and	and	CCONJ
fcis-32179	14	33	safety[2][3	safety[2][3	NOUN
fcis-32179	14	34	]	]	X
fcis-32179	14	35	.	.	PUNCT
fcis-32179	15	1	the	the	DET
fcis-32179	15	2	origins	origin	NOUN
fcis-32179	15	3	of	of	ADP
fcis-32179	15	4	unmanned	unmanned	ADJ
fcis-32179	15	5	driving	driving	NOUN
fcis-32179	15	6	technology	technology	NOUN
fcis-32179	15	7	for	for	ADP
fcis-32179	15	8	mining	mining	NOUN
fcis-32179	15	9	trucks	truck	NOUN
fcis-32179	15	10	can	can	AUX
fcis-32179	15	11	be	be	AUX
fcis-32179	15	12	traced	trace	VERB
fcis-32179	15	13	back	back	ADV
fcis-32179	15	14	to	to	ADP
fcis-32179	15	15	the	the	DET
fcis-32179	15	16	1970s	1970	NOUN
fcis-32179	15	17	.	.	PUNCT
fcis-32179	16	1	however	however	ADV
fcis-32179	16	2	,	,	PUNCT
fcis-32179	16	3	progress	progress	NOUN
fcis-32179	16	4	was	be	AUX
fcis-32179	16	5	relatively	relatively	ADV
fcis-32179	16	6	slow	slow	ADJ
fcis-32179	16	7	due	due	ADP
fcis-32179	16	8	to	to	ADP
fcis-32179	16	9	limitations	limitation	NOUN
fcis-32179	16	10	in	in	ADP
fcis-32179	16	11	technology	technology	NOUN
fcis-32179	16	12	and	and	CCONJ
fcis-32179	16	13	other	other	ADJ
fcis-32179	16	14	factors	factor	NOUN
fcis-32179	16	15	at	at	ADP
fcis-32179	16	16	the	the	DET
fcis-32179	16	17	time[4	time[4	NUM
fcis-32179	16	18	]	]	PUNCT
fcis-32179	16	19	.	.	PUNCT
fcis-32179	17	1	current	current	ADJ
fcis-32179	17	2	research	research	NOUN
fcis-32179	17	3	predominantly	predominantly	ADV
fcis-32179	17	4	focuses	focus	VERB
fcis-32179	17	5	on	on	ADP
fcis-32179	17	6	control	control	NOUN
fcis-32179	17	7	algorithm	algorithm	NOUN
fcis-32179	17	8	design	design	NOUN
fcis-32179	17	9	based	base	VERB
fcis-32179	17	10	on	on	ADP
fcis-32179	17	11	preview	preview	NOUN
fcis-32179	17	12	theory	theory	NOUN
fcis-32179	17	13	and	and	CCONJ
fcis-32179	17	14	model	model	NOUN
fcis-32179	17	15	predictive	predictive	PROPN
fcis-32179	17	16	control	control	PROPN
fcis-32179	17	17	theory	theory	NOUN
fcis-32179	17	18	.	.	PUNCT
fcis-32179	18	1	in	in	ADP
fcis-32179	18	2	terms	term	NOUN
fcis-32179	18	3	of	of	ADP
fcis-32179	18	4	control	control	NOUN
fcis-32179	18	5	methodologies	methodology	NOUN
fcis-32179	18	6	,	,	PUNCT
fcis-32179	18	7	path	path	NOUN
fcis-32179	18	8	tracking	tracking	NOUN
fcis-32179	18	9	algorithms	algorithm	NOUN
fcis-32179	18	10	can	can	AUX
fcis-32179	18	11	be	be	AUX
fcis-32179	18	12	categorized	categorize	VERB
fcis-32179	18	13	into	into	ADP
fcis-32179	18	14	three	three	NUM
fcis-32179	18	15	types	type	NOUN
fcis-32179	18	16	:	:	PUNCT
fcis-32179	18	17	the	the	DET
fcis-32179	18	18	first	first	ADJ
fcis-32179	18	19	category	category	NOUN
fcis-32179	18	20	includes	include	VERB
fcis-32179	18	21	the	the	DET
fcis-32179	18	22	pure	pure	ADJ
fcis-32179	18	23	pursuit	pursuit	NOUN
fcis-32179	18	24	(	(	PUNCT
fcis-32179	18	25	pp	pp	ADJ
fcis-32179	18	26	)	)	PUNCT
fcis-32179	18	27	algorithm	algorithm	NOUN
fcis-32179	18	28	and	and	CCONJ
fcis-32179	18	29	the	the	DET
fcis-32179	18	30	stanley	stanley	PROPN
fcis-32179	18	31	algorithm	algorithm	PROPN
fcis-32179	18	32	,	,	PUNCT
fcis-32179	18	33	which	which	PRON
fcis-32179	18	34	are	be	AUX
fcis-32179	18	35	based	base	VERB
fcis-32179	18	36	on	on	ADP
fcis-32179	18	37	geometric	geometric	ADJ
fcis-32179	18	38	models	model	NOUN
fcis-32179	18	39	for	for	ADP
fcis-32179	18	40	path	path	NOUN
fcis-32179	18	41	tracking	tracking	NOUN
fcis-32179	18	42	control	control	NOUN
fcis-32179	18	43	.	.	PUNCT
fcis-32179	19	1	the	the	DET
fcis-32179	19	2	second	second	ADJ
fcis-32179	19	3	category	category	NOUN
fcis-32179	19	4	is	be	AUX
fcis-32179	19	5	the	the	DET
fcis-32179	19	6	model	model	NOUN
fcis-32179	19	7	predictive	predictive	PROPN
fcis-32179	19	8	control	control	PROPN
fcis-32179	19	9	(	(	PUNCT
fcis-32179	19	10	mpc	mpc	NOUN
fcis-32179	19	11	)	)	PUNCT
fcis-32179	19	12	algorithm	algorithm	NOUN
fcis-32179	19	13	,	,	PUNCT
fcis-32179	19	14	which	which	PRON
fcis-32179	19	15	utilizes	utilize	VERB
fcis-32179	19	16	a	a	DET
fcis-32179	19	17	kinematic	kinematic	ADJ
fcis-32179	19	18	model	model	NOUN
fcis-32179	19	19	for	for	ADP
fcis-32179	19	20	path	path	NOUN
fcis-32179	19	21	tracking	tracking	NOUN
fcis-32179	19	22	.	.	PUNCT
fcis-32179	20	1	the	the	DET
fcis-32179	20	2	third	third	ADJ
fcis-32179	20	3	category	category	NOUN
fcis-32179	20	4	comprises	comprise	VERB
fcis-32179	20	5	the	the	DET
fcis-32179	20	6	pid	pid	NOUN
fcis-32179	20	7	and	and	CCONJ
fcis-32179	20	8	lqr	lqr	PROPN
fcis-32179	20	9	algorithms	algorithm	NOUN
fcis-32179	20	10	,	,	PUNCT
fcis-32179	20	11	which	which	PRON
fcis-32179	20	12	rely	rely	VERB
fcis-32179	20	13	on	on	ADP
fcis-32179	20	14	both	both	CCONJ
fcis-32179	20	15	kinematic	kinematic	ADJ
fcis-32179	20	16	and	and	CCONJ
fcis-32179	20	17	dynamic	dynamic	ADJ
fcis-32179	20	18	models	model	NOUN
fcis-32179	20	19	for	for	ADP
fcis-32179	20	20	path	path	NOUN
fcis-32179	20	21	tracking	track	VERB
fcis-32179	20	22	control[5	control[5	NOUN
fcis-32179	20	23	]	]	PUNCT
fcis-32179	20	24	.	.	PUNCT
fcis-32179	21	1	the	the	DET
fcis-32179	21	2	pp	pp	PROPN
fcis-32179	21	3	algorithm	algorithm	NOUN
fcis-32179	21	4	operates	operate	VERB
fcis-32179	21	5	by	by	ADP
fcis-32179	21	6	identifying	identify	VERB
fcis-32179	21	7	a	a	DET
fcis-32179	21	8	preview	preview	NOUN
fcis-32179	21	9	point	point	NOUN
fcis-32179	21	10	on	on	ADP
fcis-32179	21	11	the	the	DET
fcis-32179	21	12	reference	reference	NOUN
fcis-32179	21	13	path	path	NOUN
fcis-32179	21	14	,	,	PUNCT
fcis-32179	21	15	then	then	ADV
fcis-32179	21	16	calculating	calculate	VERB
fcis-32179	21	17	the	the	DET
fcis-32179	21	18	front	front	ADJ
fcis-32179	21	19	-	-	PUNCT
fcis-32179	21	20	wheel	wheel	NOUN
fcis-32179	21	21	steering	steering	NOUN
fcis-32179	21	22	angle	angle	NOUN
fcis-32179	21	23	based	base	VERB
fcis-32179	21	24	on	on	ADP
fcis-32179	21	25	the	the	DET
fcis-32179	21	26	vehicle	vehicle	NOUN
fcis-32179	21	27	's	's	PART
fcis-32179	21	28	position	position	NOUN
fcis-32179	21	29	and	and	CCONJ
fcis-32179	21	30	the	the	DET
fcis-32179	21	31	preview	preview	NOUN
fcis-32179	21	32	point	point	NOUN
fcis-32179	21	33	,	,	PUNCT
fcis-32179	21	34	using	use	VERB
fcis-32179	21	35	the	the	DET
fcis-32179	21	36	rear	rear	ADJ
fcis-32179	21	37	axle	axle	NOUN
fcis-32179	21	38	as	as	ADP
fcis-32179	21	39	a	a	DET
fcis-32179	21	40	reference	reference	NOUN
fcis-32179	21	41	and	and	CCONJ
fcis-32179	21	42	the	the	DET
fcis-32179	21	43	preview	preview	NOUN
fcis-32179	21	44	distance[6	distance[6	PROPN
fcis-32179	21	45	]	]	PUNCT
fcis-32179	21	46	.	.	PUNCT
fcis-32179	22	1	the	the	DET
fcis-32179	22	2	stanley	stanley	PROPN
fcis-32179	22	3	algorithm	algorithm	PROPN
fcis-32179	22	4	is	be	AUX
fcis-32179	22	5	a	a	DET
fcis-32179	22	6	classic	classic	ADJ
fcis-32179	22	7	method	method	NOUN
fcis-32179	22	8	in	in	ADP
fcis-32179	22	9	the	the	DET
fcis-32179	22	10	field	field	NOUN
fcis-32179	22	11	of	of	ADP
fcis-32179	22	12	unmanned	unmanned	ADJ
fcis-32179	22	13	vehicle	vehicle	NOUN
fcis-32179	22	14	path	path	NOUN
fcis-32179	22	15	tracking	tracking	NOUN
fcis-32179	22	16	,	,	PUNCT
fcis-32179	22	17	known	know	VERB
fcis-32179	22	18	for	for	ADP
fcis-32179	22	19	its	its	PRON
fcis-32179	22	20	computational	computational	ADJ
fcis-32179	22	21	simplicity	simplicity	NOUN
fcis-32179	22	22	and	and	CCONJ
fcis-32179	22	23	effective	effective	ADJ
fcis-32179	22	24	tracking	tracking	NOUN
fcis-32179	22	25	performance	performance	NOUN
fcis-32179	22	26	.	.	PUNCT
fcis-32179	23	1	however	however	ADV
fcis-32179	23	2	,	,	PUNCT
fcis-32179	23	3	it	it	PRON
fcis-32179	23	4	requires	require	VERB
fcis-32179	23	5	the	the	DET
fcis-32179	23	6	desired	desire	VERB
fcis-32179	23	7	path	path	NOUN
fcis-32179	23	8	to	to	PART
fcis-32179	23	9	be	be	AUX
fcis-32179	23	10	sufficiently	sufficiently	ADV
fcis-32179	23	11	smooth	smooth	ADJ
fcis-32179	23	12	;	;	PUNCT
fcis-32179	23	13	suboptimal	suboptimal	ADJ
fcis-32179	23	14	smoothness	smoothness	NOUN
fcis-32179	23	15	in	in	ADP
fcis-32179	23	16	path	path	NOUN
fcis-32179	23	17	curvature	curvature	NOUN
fcis-32179	23	18	can	can	AUX
fcis-32179	23	19	lead	lead	VERB
fcis-32179	23	20	to	to	ADP
fcis-32179	23	21	issues	issue	NOUN
fcis-32179	23	22	such	such	ADJ
fcis-32179	23	23	as	as	ADP
fcis-32179	23	24	excessive	excessive	ADJ
fcis-32179	23	25	overshoot	overshoot	NOUN
fcis-32179	23	26	in	in	ADP
fcis-32179	23	27	vehicle	vehicle	NOUN
fcis-32179	23	28	response	response	NOUN
fcis-32179	23	29	[	[	X
fcis-32179	23	30	7	7	NUM
fcis-32179	23	31	]	]	PUNCT
fcis-32179	23	32	.	.	PUNCT
fcis-32179	24	1	fuzzy	fuzzy	ADJ
fcis-32179	24	2	pid	pid	NOUN
fcis-32179	24	3	control	control	NOUN
fcis-32179	24	4	enhances	enhance	VERB
fcis-32179	24	5	traditional	traditional	ADJ
fcis-32179	24	6	pid	pid	NOUN
fcis-32179	24	7	control	control	NOUN
fcis-32179	24	8	by	by	ADP
fcis-32179	24	9	leveraging	leverage	VERB
fcis-32179	24	10	fuzzy	fuzzy	ADJ
fcis-32179	24	11	logic	logic	NOUN
fcis-32179	24	12	to	to	PART
fcis-32179	24	13	dynamically	dynamically	ADV
fcis-32179	24	14	adjust	adjust	VERB
fcis-32179	24	15	pid	pid	NOUN
fcis-32179	24	16	parameters	parameter	NOUN
fcis-32179	24	17	,	,	PUNCT
fcis-32179	24	18	thereby	thereby	ADV
fcis-32179	24	19	improving	improve	VERB
fcis-32179	24	20	adaptability	adaptability	NOUN
fcis-32179	24	21	and	and	CCONJ
fcis-32179	24	22	optimization	optimization	NOUN
fcis-32179	24	23	when	when	SCONJ
fcis-32179	24	24	dealing	deal	VERB
fcis-32179	24	25	with	with	ADP
fcis-32179	24	26	uncertain	uncertain	ADJ
fcis-32179	24	27	,	,	PUNCT
fcis-32179	24	28	nonlinear	nonlinear	ADJ
fcis-32179	24	29	,	,	PUNCT
fcis-32179	24	30	and	and	CCONJ
fcis-32179	24	31	complex	complex	ADJ
fcis-32179	24	32	systems	system	NOUN
fcis-32179	24	33	.	.	PUNCT
fcis-32179	25	1	regarding	regard	VERB
fcis-32179	25	2	the	the	DET
fcis-32179	25	3	mpc	mpc	NOUN
fcis-32179	25	4	algorithm	algorithm	NOUN
fcis-32179	25	5	,	,	PUNCT
fcis-32179	25	6	numerous	numerous	ADJ
fcis-32179	25	7	studies	study	NOUN
fcis-32179	25	8	have	have	AUX
fcis-32179	25	9	been	be	AUX
fcis-32179	25	10	conducted	conduct	VERB
fcis-32179	25	11	by	by	ADP
fcis-32179	25	12	scholars	scholar	NOUN
fcis-32179	25	13	both	both	CCONJ
fcis-32179	25	14	domestically	domestically	ADV
fcis-32179	25	15	and	and	CCONJ
fcis-32179	25	16	internationally	internationally	ADV
fcis-32179	25	17	.	.	PUNCT
fcis-32179	26	1	for	for	ADP
fcis-32179	26	2	instance	instance	NOUN
fcis-32179	26	3	,	,	PUNCT
fcis-32179	26	4	in	in	ADP
fcis-32179	26	5	2019	2019	NUM
fcis-32179	26	6	,	,	PUNCT
fcis-32179	26	7	guo	guo	PROPN
fcis-32179	26	8	et	et	PROPN
fcis-32179	26	9	al	al	PROPN
fcis-32179	26	10	.	.	PUNCT
fcis-32179	27	1	[	[	X
fcis-32179	27	2	8	8	NUM
fcis-32179	27	3	]	]	PUNCT
fcis-32179	27	4	proposed	propose	VERB
fcis-32179	27	5	an	an	DET
fcis-32179	27	6	mpc	mpc	NOUN
fcis-32179	27	7	path	path	NOUN
fcis-32179	27	8	tracking	tracking	NOUN
fcis-32179	27	9	strategy	strategy	NOUN
fcis-32179	27	10	that	that	PRON
fcis-32179	27	11	accounts	account	VERB
fcis-32179	27	12	for	for	ADP
fcis-32179	27	13	constraints	constraint	NOUN
fcis-32179	27	14	including	include	VERB
fcis-32179	27	15	road	road	NOUN
fcis-32179	27	16	drivable	drivable	ADJ
fcis-32179	27	17	areas	area	NOUN
fcis-32179	27	18	and	and	CCONJ
fcis-32179	27	19	vehicle	vehicle	NOUN
fcis-32179	27	20	geometry	geometry	NOUN
fcis-32179	27	21	.	.	PUNCT
fcis-32179	28	1	this	this	DET
fcis-32179	28	2	approach	approach	NOUN
fcis-32179	28	3	addressed	address	VERB
fcis-32179	28	4	model	model	NOUN
fcis-32179	28	5	mismatch	mismatch	NOUN
fcis-32179	28	6	caused	cause	VERB
fcis-32179	28	7	by	by	ADP
fcis-32179	28	8	varying	vary	VERB
fcis-32179	28	9	road	road	NOUN
fcis-32179	28	10	conditions	condition	NOUN
fcis-32179	28	11	by	by	ADP
fcis-32179	28	12	treating	treat	VERB
fcis-32179	28	13	them	they	PRON
fcis-32179	28	14	as	as	ADP
fcis-32179	28	15	measurable	measurable	ADJ
fcis-32179	28	16	disturbances	disturbance	NOUN
fcis-32179	28	17	,	,	PUNCT
fcis-32179	28	18	thereby	thereby	ADV
fcis-32179	28	19	enhancing	enhance	VERB
fcis-32179	28	20	the	the	DET
fcis-32179	28	21	applicability	applicability	NOUN
fcis-32179	28	22	of	of	ADP
fcis-32179	28	23	the	the	DET
fcis-32179	28	24	mpc	mpc	NOUN
fcis-32179	28	25	algorithm	algorithm	NOUN
fcis-32179	28	26	for	for	ADP
fcis-32179	28	27	path	path	NOUN
fcis-32179	28	28	tracking	track	VERB
fcis-32179	28	29	under	under	ADP
fcis-32179	28	30	routine	routine	ADJ
fcis-32179	28	31	operating	operating	NOUN
fcis-32179	28	32	conditions	condition	NOUN
fcis-32179	28	33	.	.	PUNCT
fcis-32179	29	1	building	build	VERB
fcis-32179	29	2	upon	upon	SCONJ
fcis-32179	29	3	the	the	DET
fcis-32179	29	4	aforementioned	aforementioned	ADJ
fcis-32179	29	5	research	research	NOUN
fcis-32179	29	6	,	,	PUNCT
fcis-32179	29	7	this	this	DET
fcis-32179	29	8	paper	paper	NOUN
fcis-32179	29	9	designs	design	VERB
fcis-32179	29	10	a	a	DET
fcis-32179	29	11	hybrid	hybrid	ADJ
fcis-32179	29	12	weighted	weight	VERB
fcis-32179	29	13	control	control	NOUN
fcis-32179	29	14	approach	approach	NOUN
fcis-32179	29	15	that	that	PRON
fcis-32179	29	16	integrates	integrate	VERB
fcis-32179	29	17	mpc	mpc	NOUN
fcis-32179	29	18	and	and	CCONJ
fcis-32179	29	19	pp	pp	ADV
fcis-32179	29	20	.	.	PUNCT
fcis-32179	30	1	this	this	DET
fcis-32179	30	2	method	method	NOUN
fcis-32179	30	3	demonstrates	demonstrate	VERB
fcis-32179	30	4	effective	effective	ADJ
fcis-32179	30	5	performance	performance	NOUN
fcis-32179	30	6	for	for	ADP
fcis-32179	30	7	path	path	NOUN
fcis-32179	30	8	tracking	tracking	NOUN
fcis-32179	30	9	in	in	ADP
fcis-32179	30	10	open	open	ADJ
fcis-32179	30	11	-	-	PUNCT
fcis-32179	30	12	pit	pit	NOUN
fcis-32179	30	13	mine	mine	NOUN
fcis-32179	30	14	haul	haul	NOUN
fcis-32179	30	15	trucks	truck	NOUN
fcis-32179	30	16	under	under	ADP
fcis-32179	30	17	low	low	ADJ
fcis-32179	30	18	-	-	PUNCT
fcis-32179	30	19	speed	speed	NOUN
fcis-32179	30	20	operating	operating	NOUN
fcis-32179	30	21	conditions	condition	NOUN
fcis-32179	30	22	.	.	PUNCT
fcis-32179	31	1	2	2	X
fcis-32179	31	2	.	.	X
fcis-32179	31	3	vehicle	vehicle	NOUN
fcis-32179	31	4	error	error	NOUN
fcis-32179	31	5	model	model	NOUN
fcis-32179	31	6	considering	consider	VERB
fcis-32179	31	7	that	that	SCONJ
fcis-32179	31	8	we	we	PRON
fcis-32179	31	9	are	be	AUX
fcis-32179	31	10	addressing	address	VERB
fcis-32179	31	11	the	the	DET
fcis-32179	31	12	low	low	ADJ
fcis-32179	31	13	-	-	PUNCT
fcis-32179	31	14	speed	speed	NOUN
fcis-32179	31	15	motion	motion	NOUN
fcis-32179	31	16	of	of	ADP
fcis-32179	31	17	haul	haul	NOUN
fcis-32179	31	18	trucks	truck	NOUN
fcis-32179	31	19	in	in	ADP
fcis-32179	31	20	open	open	ADJ
fcis-32179	31	21	-	-	PUNCT
fcis-32179	31	22	pit	pit	NOUN
fcis-32179	31	23	mines	mine	NOUN
fcis-32179	31	24	,	,	PUNCT
fcis-32179	31	25	a	a	DET
fcis-32179	31	26	kinematic	kinematic	ADJ
fcis-32179	31	27	vehicle	vehicle	NOUN
fcis-32179	31	28	model	model	NOUN
fcis-32179	31	29	is	be	AUX
fcis-32179	31	30	established	establish	VERB
fcis-32179	31	31	here	here	ADV
fcis-32179	31	32	.	.	PUNCT
fcis-32179	32	1	the	the	DET
fcis-32179	32	2	vehicle	vehicle	NOUN
fcis-32179	32	3	's	's	PART
fcis-32179	32	4	motion	motion	NOUN
fcis-32179	32	5	process	process	NOUN
fcis-32179	32	6	is	be	AUX
fcis-32179	32	7	typically	typically	ADV
fcis-32179	32	8	described	describe	VERB
fcis-32179	32	9	using	use	VERB
fcis-32179	32	10	two	two	NUM
fcis-32179	32	11	coordinate	coordinate	NOUN
fcis-32179	32	12	systems	system	NOUN
fcis-32179	32	13	,	,	PUNCT
fcis-32179	32	14	the	the	DET
fcis-32179	32	15	inertial	inertial	ADJ
fcis-32179	32	16	coordinate	coordinate	NOUN
fcis-32179	32	17	system	system	NOUN
fcis-32179	32	18	(	(	PUNCT
fcis-32179	32	19	xoy	xoy	NOUN
fcis-32179	32	20	)	)	PUNCT
fcis-32179	32	21	and	and	CCONJ
fcis-32179	32	22	the	the	DET
fcis-32179	32	23	vehicle	vehicle	NOUN
fcis-32179	32	24	body	body	NOUN
fcis-32179	32	25	-	-	PUNCT
fcis-32179	32	26	fixed	fix	VERB
fcis-32179	32	27	coordinate	coordinate	NOUN
fcis-32179	32	28	system	system	NOUN
fcis-32179	32	29	(	(	PUNCT
fcis-32179	32	30	xoy	xoy	NOUN
fcis-32179	32	31	)	)	PUNCT
fcis-32179	32	32	.	.	PUNCT
fcis-32179	33	1	the	the	DET
fcis-32179	33	2	vehicle	vehicle	NOUN
fcis-32179	33	3	is	be	AUX
fcis-32179	33	4	modeled	model	VERB
fcis-32179	33	5	based	base	VERB
fcis-32179	33	6	on	on	ADP
fcis-32179	33	7	the	the	DET
fcis-32179	33	8	ackermann	ackermann	PROPN
fcis-32179	33	9	steering	steering	NOUN
fcis-32179	33	10	geometry	geometry	NOUN
fcis-32179	33	11	.	.	PUNCT
fcis-32179	34	1	the	the	DET
fcis-32179	34	2	coordinates	coordinate	NOUN
fcis-32179	34	3	(	(	PUNCT
fcis-32179	34	4	xr	xr	PROPN
fcis-32179	34	5	,	,	PUNCT
fcis-32179	34	6	yr	yr	NOUN
fcis-32179	34	7	)	)	PUNCT
fcis-32179	34	8	and	and	CCONJ
fcis-32179	34	9	(	(	PUNCT
fcis-32179	34	10	xf	xf	PROPN
fcis-32179	34	11	,	,	PUNCT
fcis-32179	34	12	yf	yf	NOUN
fcis-32179	34	13	)	)	PUNCT
fcis-32179	34	14	represent	represent	VERB
fcis-32179	34	15	the	the	DET
fcis-32179	34	16	centers	center	NOUN
fcis-32179	34	17	of	of	ADP
fcis-32179	34	18	the	the	DET
fcis-32179	34	19	rear	rear	ADJ
fcis-32179	34	20	and	and	CCONJ
fcis-32179	34	21	front	front	ADJ
fcis-32179	34	22	axles	axle	NOUN
fcis-32179	34	23	,	,	PUNCT
fcis-32179	34	24	respectively	respectively	ADV
fcis-32179	34	25	,	,	PUNCT
fcis-32179	34	26	vr	vr	PROPN
fcis-32179	34	27	denotes	denote	VERB
fcis-32179	34	28	the	the	DET
fcis-32179	34	29	velocity	velocity	NOUN
fcis-32179	34	30	at	at	ADP
fcis-32179	34	31	the	the	DET
fcis-32179	34	32	rear	rear	ADJ
fcis-32179	34	33	axle	axle	NOUN
fcis-32179	34	34	center	center	NOUN
fcis-32179	34	35	,	,	PUNCT
fcis-32179	34	36	l	l	PROPN
fcis-32179	34	37	is	be	AUX
fcis-32179	34	38	the	the	DET
fcis-32179	34	39	wheelbase	wheelbase	ADJ
fcis-32179	34	40	,	,	PUNCT
fcis-32179	34	41	δf	δf	NOUN
fcis-32179	34	42	represents	represent	VERB
fcis-32179	34	43	the	the	DET
fcis-32179	34	44	steering	steering	NOUN
fcis-32179	34	45	angle	angle	NOUN
fcis-32179	34	46	of	of	ADP
fcis-32179	34	47	the	the	DET
fcis-32179	34	48	front	front	ADJ
fcis-32179	34	49	wheels	wheel	NOUN
fcis-32179	34	50	,	,	PUNCT
fcis-32179	34	51	and	and	CCONJ
fcis-32179	34	52	θ	θ	PROPN
fcis-32179	34	53	indicates	indicate	VERB
fcis-32179	34	54	the	the	DET
fcis-32179	34	55	vehicle	vehicle	NOUN
fcis-32179	34	56	's	's	PART
fcis-32179	34	57	heading	heading	NOUN
fcis-32179	34	58	angle	angle	NOUN
fcis-32179	34	59	.	.	PUNCT
fcis-32179	35	1	as	as	SCONJ
fcis-32179	35	2	78	78	NUM
fcis-32179	35	3	illustrated	illustrate	VERB
fcis-32179	35	4	in	in	ADP
fcis-32179	35	5	figure	figure	NOUN
fcis-32179	35	6	1	1	NUM
fcis-32179	35	7	,	,	PUNCT
fcis-32179	35	8	the	the	DET
fcis-32179	35	9	kinematic	kinematic	ADJ
fcis-32179	35	10	equations	equation	NOUN
fcis-32179	35	11	of	of	ADP
fcis-32179	35	12	the	the	DET
fcis-32179	35	13	vehicle	vehicle	NOUN
fcis-32179	35	14	are	be	AUX
fcis-32179	35	15	established	establish	VERB
fcis-32179	35	16	accordingly	accordingly	ADV
fcis-32179	35	17	.	.	PUNCT
fcis-32179	36	1	figure	figure	VERB
fcis-32179	36	2	1	1	NUM
fcis-32179	36	3	.	.	PUNCT
fcis-32179	36	4	vehicle	vehicle	PROPN
fcis-32179	36	5	kinematic	kinematic	PROPN
fcis-32179	36	6	model	model	NOUN
fcis-32179	36	7	the	the	DET
fcis-32179	36	8	vehicle	vehicle	NOUN
fcis-32179	36	9	can	can	AUX
fcis-32179	36	10	thus	thus	ADV
fcis-32179	36	11	be	be	AUX
fcis-32179	36	12	regarded	regard	VERB
fcis-32179	36	13	as	as	ADP
fcis-32179	36	14	a	a	DET
fcis-32179	36	15	control	control	NOUN
fcis-32179	36	16	system	system	NOUN
fcis-32179	36	17	with	with	ADP
fcis-32179	36	18	the	the	DET
fcis-32179	36	19	motion	motion	NOUN
fcis-32179	36	20	state	state	PROPN
fcis-32179	36	21			PROPN
fcis-32179	36	22			PROPN
fcis-32179	36	23	,	,	PUNCT
fcis-32179	36	24	,	,	PUNCT
fcis-32179	36	25	t	t	PROPN
fcis-32179	36	26	x	x	SYM
fcis-32179	36	27	y	y	NOUN
fcis-32179	36	28			PROPN
fcis-32179	36	29	and	and	CCONJ
fcis-32179	36	30	output	output	PROPN
fcis-32179	36	31			PROPN
fcis-32179	36	32			PROPN
fcis-32179	36	33	,	,	PUNCT
fcis-32179	36	34	t	t	PROPN
fcis-32179	36	35	u	u	NOUN
fcis-32179	36	36	v	v	ADP
fcis-32179	36	37			NUM
fcis-32179	36	38	,	,	PUNCT
fcis-32179	36	39	its	its	PRON
fcis-32179	36	40	state	state	NOUN
fcis-32179	36	41	can	can	AUX
fcis-32179	36	42	be	be	AUX
fcis-32179	36	43	represented	represent	VERB
fcis-32179	36	44	by	by	ADP
fcis-32179	36	45	equation	equation	NOUN
fcis-32179	36	46	(	(	PUNCT
fcis-32179	36	47	1	1	NUM
fcis-32179	36	48	)	)	PUNCT
fcis-32179	36	49	.	.	PUNCT
fcis-32179	37	1	x	x	PUNCT
fcis-32179	37	2	cos	cos	ADP
fcis-32179	37	3	sin	sin	PROPN
fcis-32179	37	4	tan	tan	PROPN
fcis-32179	37	5	/	/	SYM
fcis-32179	37	6	r	r	NOUN
fcis-32179	37	7	f	f	PROPN
fcis-32179	37	8	y	y	PROPN
fcis-32179	37	9	v	v	NUM
fcis-32179	37	10	l	l	NOUN
fcis-32179	37	11			PROPN
fcis-32179	37	12			NOUN
fcis-32179	37	13			NOUN
fcis-32179	37	14			PROPN
fcis-32179	37	15			PROPN
fcis-32179	37	16			X
fcis-32179	37	17			NOUN
fcis-32179	37	18			NOUN
fcis-32179	37	19			NOUN
fcis-32179	37	20			NUM
fcis-32179	37	21			NOUN
fcis-32179	37	22			PROPN
fcis-32179	37	23			PROPN
fcis-32179	37	24			NOUN
fcis-32179	37	25			PROPN
fcis-32179	37	26			PROPN
fcis-32179	37	27			PROPN
fcis-32179	37	28			VERB
fcis-32179	37	29			PROPN
fcis-32179	37	30			NOUN
fcis-32179	37	31			NOUN
fcis-32179	37	32			NOUN
fcis-32179	37	33	(	(	PUNCT
fcis-32179	37	34	1	1	NUM
fcis-32179	37	35	)	)	PUNCT
fcis-32179	37	36	since	since	SCONJ
fcis-32179	37	37	the	the	DET
fcis-32179	37	38	focus	focus	NOUN
fcis-32179	37	39	of	of	ADP
fcis-32179	37	40	this	this	DET
fcis-32179	37	41	research	research	NOUN
fcis-32179	37	42	is	be	AUX
fcis-32179	37	43	path	path	NOUN
fcis-32179	37	44	tracking	tracking	NOUN
fcis-32179	37	45	,	,	PUNCT
fcis-32179	37	46	it	it	PRON
fcis-32179	37	47	can	can	AUX
fcis-32179	37	48	be	be	AUX
fcis-32179	37	49	inferred	infer	VERB
fcis-32179	37	50	from	from	ADP
fcis-32179	37	51	the	the	DET
fcis-32179	37	52	above	above	ADJ
fcis-32179	37	53	vehicle	vehicle	NOUN
fcis-32179	37	54	model	model	NOUN
fcis-32179	37	55	that	that	PRON
fcis-32179	37	56	we	we	PRON
fcis-32179	37	57	need	need	VERB
fcis-32179	37	58	to	to	PART
fcis-32179	37	59	obtain	obtain	VERB
fcis-32179	37	60	the	the	DET
fcis-32179	37	61	motion	motion	NOUN
fcis-32179	37	62	state	state	NOUN
fcis-32179	37	63	variables	variable	NOUN
fcis-32179	37	64	of	of	ADP
fcis-32179	37	65	the	the	DET
fcis-32179	37	66	reference	reference	NOUN
fcis-32179	37	67	path	path	NOUN
fcis-32179	37	68	.	.	PUNCT
fcis-32179	38	1	the	the	DET
fcis-32179	38	2	given	give	VERB
fcis-32179	38	3	reference	reference	NOUN
fcis-32179	38	4	trajectory	trajectory	NOUN
fcis-32179	38	5	is	be	AUX
fcis-32179	38	6	also	also	ADV
fcis-32179	38	7	considered	consider	VERB
fcis-32179	38	8	to	to	PART
fcis-32179	38	9	satisfy	satisfy	VERB
fcis-32179	38	10	this	this	DET
fcis-32179	38	11	vehicle	vehicle	NOUN
fcis-32179	38	12	model	model	NOUN
fcis-32179	38	13	,	,	PUNCT
fcis-32179	38	14	and	and	CCONJ
fcis-32179	38	15	equation	equation	NOUN
fcis-32179	38	16	(	(	PUNCT
fcis-32179	38	17	2	2	X
fcis-32179	38	18	)	)	PUNCT
fcis-32179	38	19	can	can	AUX
fcis-32179	38	20	be	be	AUX
fcis-32179	38	21	expressed	express	VERB
fcis-32179	38	22	as	as	ADP
fcis-32179	38	23	(	(	PUNCT
fcis-32179	38	24	,	,	PUNCT
fcis-32179	38	25	)	)	PUNCT
fcis-32179	38	26	r	r	NOUN
fcis-32179	38	27	rf	rf	NOUN
fcis-32179	38	28	u	u	NOUN
fcis-32179	38	29			PROPN
fcis-32179	38	30	(	(	PUNCT
fcis-32179	38	31	2	2	NUM
fcis-32179	38	32	)	)	PUNCT
fcis-32179	38	33	a	a	DET
fcis-32179	38	34	linear	linear	NOUN
fcis-32179	38	35	error	error	NOUN
fcis-32179	38	36	model	model	NOUN
fcis-32179	38	37	for	for	ADP
fcis-32179	38	38	vehicle	vehicle	NOUN
fcis-32179	38	39	trajectory	trajectory	NOUN
fcis-32179	38	40	tracking	tracking	NOUN
fcis-32179	38	41	is	be	AUX
fcis-32179	38	42	derived	derive	VERB
fcis-32179	38	43	by	by	ADP
fcis-32179	38	44	applying	apply	VERB
fcis-32179	38	45	a	a	DET
fcis-32179	38	46	taylor	taylor	PROPN
fcis-32179	38	47	series	series	NOUN
fcis-32179	38	48	expansion	expansion	NOUN
fcis-32179	38	49	to	to	ADP
fcis-32179	38	50	equation	equation	NOUN
fcis-32179	38	51	(	(	PUNCT
fcis-32179	38	52	1	1	NUM
fcis-32179	38	53	)	)	PUNCT
fcis-32179	38	54	at	at	ADP
fcis-32179	38	55	the	the	DET
fcis-32179	38	56	reference	reference	NOUN
fcis-32179	38	57	trajectory	trajectory	NOUN
fcis-32179	38	58	point	point	NOUN
fcis-32179	38	59	,	,	PUNCT
fcis-32179	38	60	neglecting	neglect	VERB
fcis-32179	38	61	higher	high	ADJ
fcis-32179	38	62	-	-	PUNCT
fcis-32179	38	63	order	order	NOUN
fcis-32179	38	64	terms	term	NOUN
fcis-32179	38	65	during	during	ADP
fcis-32179	38	66	the	the	DET
fcis-32179	38	67	expansion	expansion	NOUN
fcis-32179	38	68	to	to	PART
fcis-32179	38	69	simplify	simplify	VERB
fcis-32179	38	70	the	the	DET
fcis-32179	38	71	model	model	NOUN
fcis-32179	38	72	expression	expression	NOUN
fcis-32179	38	73	.	.	PUNCT
fcis-32179	39	1	subtracting	subtract	VERB
fcis-32179	39	2	equation	equation	NOUN
fcis-32179	39	3	(	(	PUNCT
fcis-32179	39	4	2	2	NUM
fcis-32179	39	5	)	)	PUNCT
fcis-32179	39	6	from	from	ADP
fcis-32179	39	7	the	the	DET
fcis-32179	39	8	resulting	result	VERB
fcis-32179	39	9	taylor	taylor	PROPN
fcis-32179	39	10	polynomial	polynomial	ADJ
fcis-32179	39	11	yields	yield	NOUN
fcis-32179	39	12	the	the	DET
fcis-32179	39	13	linear	linear	ADJ
fcis-32179	39	14	error	error	NOUN
fcis-32179	39	15	model	model	NOUN
fcis-32179	39	16	,	,	PUNCT
fcis-32179	39	17	which	which	PRON
fcis-32179	39	18	can	can	AUX
fcis-32179	39	19	be	be	AUX
fcis-32179	39	20	expressed	express	VERB
fcis-32179	39	21	as	as	ADP
fcis-32179	39	22	equation	equation	NOUN
fcis-32179	39	23	(	(	PUNCT
fcis-32179	39	24	3	3	NUM
fcis-32179	39	25	)	)	PUNCT
fcis-32179	39	26	.	.	PUNCT
fcis-32179	40	1	2	2	NUM
fcis-32179	40	2	cos	cos	NOUN
fcis-32179	40	3	0	0	NUM
fcis-32179	40	4	0	0	NUM
fcis-32179	40	5	0	0	NUM
fcis-32179	40	6	sin	sin	NOUN
fcis-32179	40	7	0sin	0sin	PROPN
fcis-32179	40	8	0	0	NUM
fcis-32179	40	9	0	0	PUNCT
fcis-32179	41	1	cos	cos	PROPN
fcis-32179	41	2	tan	tan	PROPN
fcis-32179	41	3	0	0	NUM
fcis-32179	41	4	0	0	NUM
fcis-32179	41	5	0	0	PUNCT
fcis-32179	42	1	cos	cos	ADP
fcis-32179	42	2	r	r	NOUN
fcis-32179	42	3	r	r	NOUN
fcis-32179	42	4	rr	rr	NOUN
fcis-32179	42	5	r	r	NOUN
fcis-32179	42	6	rr	rr	NOUN
fcis-32179	42	7	r	r	NOUN
fcis-32179	42	8	r	r	NOUN
fcis-32179	42	9	r	r	NOUN
fcis-32179	42	10	r	r	NOUN
fcis-32179	42	11	rrr	rrr	NOUN
fcis-32179	42	12	rr	rr	NOUN
fcis-32179	42	13	r	r	NOUN
fcis-32179	42	14	x	x	PUNCT
fcis-32179	42	15	x	x	PUNCT
fcis-32179	42	16	x	x	X
fcis-32179	42	17	xv	xv	PROPN
fcis-32179	42	18	v	v	INTJ
fcis-32179	42	19	v	v	ADP
fcis-32179	42	20	y	y	PROPN
fcis-32179	42	21	y	y	PROPN
fcis-32179	42	22	v	v	INTJ
fcis-32179	42	23	y	y	PROPN
fcis-32179	42	24	y	y	PROPN
fcis-32179	42	25	v	v	INTJ
fcis-32179	42	26	ll	ll	AUX
fcis-32179	42	27			PROPN
fcis-32179	42	28			X
fcis-32179	43	1			X
fcis-32179	43	2			PROPN
fcis-32179	44	1			PROPN
fcis-32179	44	2			PROPN
fcis-32179	44	3			PROPN
fcis-32179	44	4			PROPN
fcis-32179	45	1			ADJ
fcis-32179	45	2			NOUN
fcis-32179	45	3			ADV
fcis-32179	45	4			PROPN
fcis-32179	46	1			NUM
fcis-32179	46	2			NOUN
fcis-32179	46	3			PROPN
fcis-32179	46	4			PROPN
fcis-32179	46	5			PROPN
fcis-32179	46	6			PUNCT
fcis-32179	47	1			X
fcis-32179	47	2			NOUN
fcis-32179	47	3			NOUN
fcis-32179	48	1			PROPN
fcis-32179	48	2			NOUN
fcis-32179	49	1			PROPN
fcis-32179	49	2			PROPN
fcis-32179	49	3			VERB
fcis-32179	49	4			PROPN
fcis-32179	50	1			PROPN
fcis-32179	51	1			PROPN
fcis-32179	51	2			ADV
fcis-32179	51	3			PROPN
fcis-32179	52	1			PROPN
fcis-32179	52	2			PROPN
fcis-32179	52	3			PROPN
fcis-32179	52	4			NOUN
fcis-32179	53	1			PROPN
fcis-32179	54	1			PROPN
fcis-32179	54	2			PROPN
fcis-32179	55	1			NOUN
fcis-32179	55	2			PROPN
fcis-32179	55	3			VERB
fcis-32179	55	4			ADJ
fcis-32179	55	5			PROPN
fcis-32179	55	6			PROPN
fcis-32179	55	7			PROPN
fcis-32179	55	8			VERB
fcis-32179	55	9			NOUN
fcis-32179	55	10			PROPN
fcis-32179	55	11			PROPN
fcis-32179	55	12			PROPN
fcis-32179	55	13			PROPN
fcis-32179	55	14			NOUN
fcis-32179	55	15			NOUN
fcis-32179	55	16			NOUN
fcis-32179	55	17			NOUN
fcis-32179	55	18			NOUN
fcis-32179	55	19			NOUN
fcis-32179	55	20			NOUN
fcis-32179	55	21	(	(	PUNCT
fcis-32179	55	22	3	3	NUM
fcis-32179	55	23	)	)	PUNCT
fcis-32179	55	24	to	to	PART
fcis-32179	55	25	facilitate	facilitate	VERB
fcis-32179	55	26	the	the	DET
fcis-32179	55	27	application	application	NOUN
fcis-32179	55	28	of	of	ADP
fcis-32179	55	29	this	this	DET
fcis-32179	55	30	model	model	NOUN
fcis-32179	55	31	in	in	ADP
fcis-32179	55	32	the	the	DET
fcis-32179	55	33	design	design	NOUN
fcis-32179	55	34	of	of	ADP
fcis-32179	55	35	a	a	DET
fcis-32179	55	36	model	model	ADJ
fcis-32179	55	37	predictive	predictive	ADJ
fcis-32179	55	38	controller	controller	NOUN
fcis-32179	55	39	,	,	PUNCT
fcis-32179	55	40	equation	equation	NOUN
fcis-32179	55	41	(	(	PUNCT
fcis-32179	55	42	3	3	X
fcis-32179	55	43	)	)	PUNCT
fcis-32179	55	44	must	must	AUX
fcis-32179	55	45	be	be	AUX
fcis-32179	55	46	discretized	discretize	VERB
fcis-32179	55	47	.	.	PUNCT
fcis-32179	56	1	discretization	discretization	NOUN
fcis-32179	56	2	transforms	transform	VERB
fcis-32179	56	3	a	a	DET
fcis-32179	56	4	continuous	continuous	ADJ
fcis-32179	56	5	-	-	PUNCT
fcis-32179	56	6	time	time	NOUN
fcis-32179	56	7	control	control	NOUN
fcis-32179	56	8	system	system	NOUN
fcis-32179	56	9	into	into	ADP
fcis-32179	56	10	a	a	DET
fcis-32179	56	11	discrete	discrete	ADJ
fcis-32179	56	12	-	-	PUNCT
fcis-32179	56	13	time	time	NOUN
fcis-32179	56	14	model	model	NOUN
fcis-32179	56	15	suitable	suitable	ADJ
fcis-32179	56	16	for	for	ADP
fcis-32179	56	17	processing	processing	NOUN
fcis-32179	56	18	by	by	ADP
fcis-32179	56	19	digital	digital	ADJ
fcis-32179	56	20	computers	computer	NOUN
fcis-32179	56	21	.	.	PUNCT
fcis-32179	57	1	this	this	PRON
fcis-32179	57	2	enables	enable	VERB
fcis-32179	57	3	the	the	DET
fcis-32179	57	4	controller	controller	NOUN
fcis-32179	57	5	to	to	PART
fcis-32179	57	6	perform	perform	VERB
fcis-32179	57	7	prediction	prediction	NOUN
fcis-32179	57	8	and	and	CCONJ
fcis-32179	57	9	optimization	optimization	NOUN
fcis-32179	57	10	control	control	NOUN
fcis-32179	57	11	at	at	ADP
fcis-32179	57	12	each	each	DET
fcis-32179	57	13	sampling	sample	VERB
fcis-32179	57	14	instant	instant	NOUN
fcis-32179	57	15	based	base	VERB
fcis-32179	57	16	on	on	ADP
fcis-32179	57	17	the	the	DET
fcis-32179	57	18	current	current	ADJ
fcis-32179	57	19	system	system	NOUN
fcis-32179	57	20	state	state	NOUN
fcis-32179	57	21	,	,	PUNCT
fcis-32179	57	22	thereby	thereby	ADV
fcis-32179	57	23	improving	improve	VERB
fcis-32179	57	24	computational	computational	ADJ
fcis-32179	57	25	efficiency	efficiency	NOUN
fcis-32179	57	26	and	and	CCONJ
fcis-32179	57	27	practical	practical	ADJ
fcis-32179	57	28	implementability	implementability	NOUN
fcis-32179	57	29	in	in	ADP
fcis-32179	57	30	real	real	ADJ
fcis-32179	57	31	control	control	NOUN
fcis-32179	57	32	systems	system	NOUN
fcis-32179	57	33	.	.	PUNCT
fcis-32179	58	1	the	the	DET
fcis-32179	58	2	discretized	discretized	ADJ
fcis-32179	58	3	form	form	NOUN
fcis-32179	58	4	is	be	AUX
fcis-32179	58	5	given	give	VERB
fcis-32179	58	6	by	by	ADP
fcis-32179	58	7	equation	equation	NOUN
fcis-32179	58	8	(	(	PUNCT
fcis-32179	58	9	4	4	NUM
fcis-32179	58	10	)	)	PUNCT
fcis-32179	58	11	(	(	PUNCT
fcis-32179	58	12	+1)=a	+1)=a	X
fcis-32179	58	13	(	(	PUNCT
fcis-32179	58	14	)	)	PUNCT
fcis-32179	58	15	+	+	NOUN
fcis-32179	58	16	b	b	NOUN
fcis-32179	58	17	(	(	PUNCT
fcis-32179	58	18	)	)	PUNCT
fcis-32179	58	19	k	k	X
fcis-32179	59	1	k	k	PROPN
fcis-32179	59	2	u	u	PROPN
fcis-32179	59	3	k	k	VERB
fcis-32179	59	4			NUM
fcis-32179	59	5			X
fcis-32179	59	6			NOUN
fcis-32179	59	7	(	(	PUNCT
fcis-32179	59	8	4	4	NUM
fcis-32179	59	9	)	)	SYM
fcis-32179	59	10	1	1	NUM
fcis-32179	59	11	0	0	NUM
fcis-32179	59	12	sin	sin	NOUN
fcis-32179	59	13	t	t	PROPN
fcis-32179	59	14	a	a	DET
fcis-32179	59	15	0	0	NUM
fcis-32179	59	16	1	1	NUM
fcis-32179	59	17	cos	cos	ADP
fcis-32179	59	18	t	t	NOUN
fcis-32179	59	19	0	0	NUM
fcis-32179	59	20	0	0	NUM
fcis-32179	59	21	1	1	NUM
fcis-32179	59	22	r	r	NOUN
fcis-32179	59	23	r	r	NOUN
fcis-32179	59	24	r	r	NOUN
fcis-32179	59	25	r	r	NOUN
fcis-32179	59	26	v	v	NOUN
fcis-32179	59	27	v	v	NOUN
fcis-32179	59	28			PROPN
fcis-32179	59	29			X
fcis-32179	60	1			NOUN
fcis-32179	60	2			NOUN
fcis-32179	60	3			X
fcis-32179	60	4			X
fcis-32179	60	5			NOUN
fcis-32179	60	6			PROPN
fcis-32179	60	7			NOUN
fcis-32179	60	8			PROPN
fcis-32179	60	9			PROPN
fcis-32179	60	10	,	,	PUNCT
fcis-32179	60	11	2	2	NUM
fcis-32179	60	12	t	t	NOUN
fcis-32179	60	13	cos	cos	PROPN
fcis-32179	60	14	0	0	PROPN
fcis-32179	60	15	0tsin	0tsin	NUM
fcis-32179	60	16	b=	b=	NOUN
fcis-32179	60	17	tan	tan	PROPN
fcis-32179	60	18	tt	tt	PROPN
fcis-32179	60	19	cos	cos	PROPN
fcis-32179	60	20	r	r	NOUN
fcis-32179	60	21	r	r	NOUN
fcis-32179	60	22	rr	rr	NOUN
fcis-32179	60	23	r	r	NOUN
fcis-32179	60	24	v	v	NOUN
fcis-32179	60	25	ll	ll	NOUN
fcis-32179	60	26			PROPN
fcis-32179	60	27			PROPN
fcis-32179	61	1			PROPN
fcis-32179	61	2			PROPN
fcis-32179	61	3			PROPN
fcis-32179	61	4			ADJ
fcis-32179	61	5			NOUN
fcis-32179	61	6			PROPN
fcis-32179	61	7			NOUN
fcis-32179	61	8			NOUN
fcis-32179	61	9			NOUN
fcis-32179	61	10			NOUN
fcis-32179	61	11			NOUN
fcis-32179	61	12			NOUN
fcis-32179	61	13			NOUN
fcis-32179	61	14			PROPN
fcis-32179	61	15	,	,	PUNCT
fcis-32179	61	16	t	t	PROPN
fcis-32179	61	17	denotes	denote	VERB
fcis-32179	61	18	the	the	DET
fcis-32179	61	19	sampling	sampling	NOUN
fcis-32179	61	20	time	time	NOUN
fcis-32179	61	21	.	.	PUNCT
fcis-32179	62	1	3	3	X
fcis-32179	62	2	.	.	X
fcis-32179	62	3	design	design	NOUN
fcis-32179	62	4	of	of	ADP
fcis-32179	62	5	the	the	DET
fcis-32179	62	6	mpc	mpc	NOUN
fcis-32179	62	7	controller	controller	NOUN
fcis-32179	62	8	3.1	3.1	NUM
fcis-32179	62	9	.	.	PUNCT
fcis-32179	63	1	state	state	NOUN
fcis-32179	63	2	prediction	prediction	NOUN
fcis-32179	63	3	model	model	NOUN
fcis-32179	63	4	the	the	DET
fcis-32179	63	5	model	model	NOUN
fcis-32179	63	6	achieves	achieve	VERB
fcis-32179	63	7	desired	desire	VERB
fcis-32179	63	8	control	control	NOUN
fcis-32179	63	9	objectives	objective	NOUN
fcis-32179	63	10	by	by	ADP
fcis-32179	63	11	predicting	predict	VERB
fcis-32179	63	12	future	future	ADJ
fcis-32179	63	13	states	state	NOUN
fcis-32179	63	14	and	and	CCONJ
fcis-32179	63	15	optimizing	optimize	VERB
fcis-32179	63	16	control	control	NOUN
fcis-32179	63	17	inputs	input	NOUN
fcis-32179	63	18	.	.	PUNCT
fcis-32179	64	1	during	during	ADP
fcis-32179	64	2	this	this	DET
fcis-32179	64	3	process	process	NOUN
fcis-32179	64	4	,	,	PUNCT
fcis-32179	64	5	the	the	DET
fcis-32179	64	6	controller	controller	NOUN
fcis-32179	64	7	utilizes	utilize	VERB
fcis-32179	64	8	the	the	DET
fcis-32179	64	9	current	current	ADJ
fcis-32179	64	10	state	state	NOUN
fcis-32179	64	11	and	and	CCONJ
fcis-32179	64	12	the	the	DET
fcis-32179	64	13	system	system	NOUN
fcis-32179	64	14	model	model	NOUN
fcis-32179	64	15	to	to	PART
fcis-32179	64	16	forecast	forecast	VERB
fcis-32179	64	17	system	system	NOUN
fcis-32179	64	18	behavior	behavior	NOUN
fcis-32179	64	19	over	over	ADP
fcis-32179	64	20	a	a	DET
fcis-32179	64	21	future	future	ADJ
fcis-32179	64	22	time	time	NOUN
fcis-32179	64	23	horizon	horizon	NOUN
fcis-32179	64	24	and	and	CCONJ
fcis-32179	64	25	computes	compute	VERB
fcis-32179	64	26	the	the	DET
fcis-32179	64	27	optimal	optimal	ADJ
fcis-32179	64	28	control	control	NOUN
fcis-32179	64	29	sequence	sequence	NOUN
fcis-32179	64	30	.	.	PUNCT
fcis-32179	65	1	furthermore	furthermore	ADV
fcis-32179	65	2	,	,	PUNCT
fcis-32179	65	3	the	the	DET
fcis-32179	65	4	system	system	NOUN
fcis-32179	65	5	model	model	NOUN
fcis-32179	65	6	is	be	AUX
fcis-32179	65	7	capable	capable	ADJ
fcis-32179	65	8	of	of	ADP
fcis-32179	65	9	handling	handle	VERB
fcis-32179	65	10	various	various	ADJ
fcis-32179	65	11	constraints	constraint	NOUN
fcis-32179	65	12	,	,	PUNCT
fcis-32179	65	13	such	such	ADJ
fcis-32179	65	14	as	as	ADP
fcis-32179	65	15	limitations	limitation	NOUN
fcis-32179	65	16	on	on	ADP
fcis-32179	65	17	inputs	input	NOUN
fcis-32179	65	18	,	,	PUNCT
fcis-32179	65	19	outputs	output	NOUN
fcis-32179	65	20	,	,	PUNCT
fcis-32179	65	21	or	or	CCONJ
fcis-32179	65	22	states	state	NOUN
fcis-32179	65	23	,	,	PUNCT
fcis-32179	65	24	thereby	thereby	ADV
fcis-32179	65	25	enhancing	enhance	VERB
fcis-32179	65	26	the	the	DET
fcis-32179	65	27	feasibility	feasibility	NOUN
fcis-32179	65	28	and	and	CCONJ
fcis-32179	65	29	efficiency	efficiency	NOUN
fcis-32179	65	30	of	of	ADP
fcis-32179	65	31	the	the	DET
fcis-32179	65	32	control	control	NOUN
fcis-32179	65	33	strategy	strategy	NOUN
fcis-32179	65	34	in	in	ADP
fcis-32179	65	35	practical	practical	ADJ
fcis-32179	65	36	applications	application	NOUN
fcis-32179	65	37	.	.	PUNCT
fcis-32179	66	1	model	model	NOUN
fcis-32179	66	2	predictive	predictive	PROPN
fcis-32179	66	3	control	control	NOUN
fcis-32179	66	4	excels	excel	NOUN
fcis-32179	66	5	in	in	ADP
fcis-32179	66	6	delivering	deliver	VERB
fcis-32179	66	7	superior	superior	ADJ
fcis-32179	66	8	performance	performance	NOUN
fcis-32179	66	9	in	in	ADP
fcis-32179	66	10	complex	complex	ADJ
fcis-32179	66	11	and	and	CCONJ
fcis-32179	66	12	constrained	constrained	ADJ
fcis-32179	66	13	environments	environment	NOUN
fcis-32179	66	14	.	.	PUNCT
fcis-32179	67	1	to	to	PART
fcis-32179	67	2	enable	enable	VERB
fcis-32179	67	3	direct	direct	ADJ
fcis-32179	67	4	constraints	constraint	NOUN
fcis-32179	67	5	on	on	ADP
fcis-32179	67	6	control	control	NOUN
fcis-32179	67	7	increments	increment	NOUN
fcis-32179	67	8	during	during	ADP
fcis-32179	67	9	execution	execution	NOUN
fcis-32179	67	10	,	,	PUNCT
fcis-32179	67	11	equation	equation	NOUN
fcis-32179	67	12	(	(	PUNCT
fcis-32179	67	13	4	4	NUM
fcis-32179	67	14	)	)	PUNCT
fcis-32179	67	15	is	be	AUX
fcis-32179	67	16	transformed	transform	VERB
fcis-32179	67	17	as	as	SCONJ
fcis-32179	67	18	follows	follow	VERB
fcis-32179	67	19	(	(	PUNCT
fcis-32179	67	20	|	|	ADV
fcis-32179	67	21	)	)	PUNCT
fcis-32179	67	22	(	(	PUNCT
fcis-32179	67	23	|	|	ADV
fcis-32179	67	24	)	)	PUNCT
fcis-32179	67	25	(	(	PUNCT
fcis-32179	67	26	1|	1|	NUM
fcis-32179	67	27	)	)	PUNCT
fcis-32179	68	1	k	k	PROPN
fcis-32179	68	2	t	t	PROPN
fcis-32179	68	3	k	k	PROPN
fcis-32179	68	4	t	t	PROPN
fcis-32179	68	5	u	u	PROPN
fcis-32179	68	6	k	k	PROPN
fcis-32179	68	7	t	t	PROPN
fcis-32179	68	8			AUX
fcis-32179	68	9			VERB
fcis-32179	69	1			NUM
fcis-32179	69	2			NOUN
fcis-32179	69	3			PROPN
fcis-32179	69	4			NOUN
fcis-32179	69	5			PROPN
fcis-32179	69	6			PROPN
fcis-32179	69	7			ADJ
fcis-32179	69	8			NOUN
fcis-32179	69	9	(	(	PUNCT
fcis-32179	69	10	5	5	NUM
fcis-32179	69	11	)	)	PUNCT
fcis-32179	69	12	the	the	DET
fcis-32179	69	13	transformed	transform	VERB
fcis-32179	69	14	state	state	NOUN
fcis-32179	69	15	-	-	PUNCT
fcis-32179	69	16	space	space	NOUN
fcis-32179	69	17	representation	representation	NOUN
fcis-32179	69	18	is	be	AUX
fcis-32179	69	19	obtained	obtain	VERB
fcis-32179	69	20	as	as	ADP
fcis-32179	69	21	follows	follow	VERB
fcis-32179	69	22	,	,	PUNCT
fcis-32179	69	23	,	,	PUNCT
fcis-32179	69	24	,	,	PUNCT
fcis-32179	69	25	(	(	PUNCT
fcis-32179	69	26	1|	1|	NUM
fcis-32179	69	27	)	)	PUNCT
fcis-32179	69	28	a	a	DET
fcis-32179	69	29	(	(	PUNCT
fcis-32179	69	30	|	|	NOUN
fcis-32179	69	31	)	)	PUNCT
fcis-32179	69	32	+	+	NOUN
fcis-32179	69	33	b	b	X
fcis-32179	69	34	u	u	NOUN
fcis-32179	69	35	(	(	PUNCT
fcis-32179	69	36	|	|	ADV
fcis-32179	69	37	)	)	PUNCT
fcis-32179	69	38	(	(	PUNCT
fcis-32179	69	39	|	|	ADV
fcis-32179	69	40	)	)	PUNCT
fcis-32179	69	41	(	(	PUNCT
fcis-32179	69	42	|	|	ADV
fcis-32179	69	43	)	)	PUNCT
fcis-32179	69	44	k	k	PROPN
fcis-32179	70	1	t	t	PROPN
fcis-32179	71	1	k	k	PROPN
fcis-32179	71	2	t	t	PROPN
fcis-32179	72	1	k	k	PROPN
fcis-32179	72	2	t	t	PROPN
fcis-32179	73	1	k	k	PROPN
fcis-32179	73	2	t	t	PROPN
fcis-32179	74	1	k	k	PROPN
fcis-32179	74	2	t	t	PROPN
fcis-32179	75	1	k	k	PROPN
fcis-32179	75	2	t	t	PROPN
fcis-32179	75	3	k	k	PROPN
fcis-32179	75	4	t	t	PROPN
fcis-32179	75	5	c	c	PROPN
fcis-32179	75	6	k	k	PROPN
fcis-32179	75	7	t	t	PROPN
fcis-32179	75	8			NOUN
fcis-32179	75	9			NOUN
fcis-32179	75	10			NUM
fcis-32179	75	11			VERB
fcis-32179	75	12			ADV
fcis-32179	75	13			PROPN
fcis-32179	76	1			PRON
fcis-32179	76	2			PROPN
fcis-32179	76	3			NUM
fcis-32179	76	4			NOUN
fcis-32179	76	5			NOUN
fcis-32179	76	6			PROPN
fcis-32179	76	7			NOUN
fcis-32179	76	8	(	(	PUNCT
fcis-32179	76	9	6	6	NUM
fcis-32179	76	10	)	)	PUNCT
fcis-32179	76	11	in	in	ADP
fcis-32179	76	12	which	which	PRON
fcis-32179	76	13	,	,	PUNCT
fcis-32179	76	14	n	n	PRON
fcis-32179	76	15	m	m	VERB
fcis-32179	76	16	,	,	PUNCT
fcis-32179	76	17	,	,	PUNCT
fcis-32179	76	18	,	,	PUNCT
fcis-32179	76	19	m	m	VERB
fcis-32179	76	20	n	n	VERB
fcis-32179	76	21	m	m	VERB
fcis-32179	76	22	n	n	PRON
fcis-32179	76	23	m	m	NOUN
fcis-32179	76	24	m	m	VERB
fcis-32179	76	25	0a	0a	NOUN
fcis-32179	76	26	b	b	PROPN
fcis-32179	76	27	b	b	PROPN
fcis-32179	76	28	c	c	PROPN
fcis-32179	76	29	a	a	PRON
fcis-32179	76	30	;	;	PUNCT
fcis-32179	76	31	b	b	NOUN
fcis-32179	76	32	;	;	PUNCT
fcis-32179	76	33	c	c	X
fcis-32179	76	34	=	=	X
fcis-32179	76	35	diag(1	diag(1	NOUN
fcis-32179	76	36	1	1	NUM
fcis-32179	76	37	1	1	NUM
fcis-32179	76	38	)	)	PUNCT
fcis-32179	76	39	0	0	NUM
fcis-32179	76	40	0	0	NUM
fcis-32179	76	41	0k	0k	NOUN
fcis-32179	76	42	t	t	PROPN
fcis-32179	76	43	k	k	PROPN
fcis-32179	76	44	t	t	PROPN
fcis-32179	77	1	k	k	PROPN
fcis-32179	77	2	t	t	PROPN
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fcis-32179	77	4	m	m	VERB
fcis-32179	77	5	c	c	NOUN
fcis-32179	78	1	i	i	PRON
fcis-32179	78	2	i	i	PRON
fcis-32179	78	3			VERB
fcis-32179	79	1			PROPN
fcis-32179	79	2			PROPN
fcis-32179	79	3			PROPN
fcis-32179	79	4			PROPN
fcis-32179	79	5			INTJ
fcis-32179	79	6			PROPN
fcis-32179	79	7			ADJ
fcis-32179	79	8			PROPN
fcis-32179	80	1			NUM
fcis-32179	80	2			PROPN
fcis-32179	80	3			PROPN
fcis-32179	80	4			NOUN
fcis-32179	80	5			PROPN
fcis-32179	80	6			NOUN
fcis-32179	80	7			PROPN
fcis-32179	80	8			NOUN
fcis-32179	80	9			NOUN
fcis-32179	80	10			PROPN
fcis-32179	80	11			VERB
fcis-32179	80	12			PROPN
fcis-32179	80	13			PROPN
fcis-32179	80	14			NOUN
fcis-32179	80	15			PROPN
fcis-32179	81	1	；	；	VERB
fcis-32179	81	2	here	here	ADV
fcis-32179	81	3	,	,	PUNCT
fcis-32179	81	4	n=2denotes	n=2denote	VERB
fcis-32179	81	5	the	the	DET
fcis-32179	81	6	dimension	dimension	NOUN
fcis-32179	81	7	of	of	ADP
fcis-32179	81	8	the	the	DET
fcis-32179	81	9	state	state	NOUN
fcis-32179	81	10	vector	vector	NOUN
fcis-32179	81	11	,	,	PUNCT
fcis-32179	81	12	m=3denotes	m=3denote	VERB
fcis-32179	81	13	the	the	DET
fcis-32179	81	14	dimension	dimension	NOUN
fcis-32179	81	15	of	of	ADP
fcis-32179	81	16	the	the	DET
fcis-32179	81	17	control	control	NOUN
fcis-32179	81	18	input	input	NOUN
fcis-32179	81	19	,	,	PUNCT
fcis-32179	81	20	1	1	NUM
fcis-32179	81	21	|k	|k	NOUN
fcis-32179	81	22	t	t	PROPN
fcis-32179	81	23	denotes	denote	NOUN
fcis-32179	81	24	the	the	DET
fcis-32179	81	25	prediction	prediction	NOUN
fcis-32179	81	26	horizon	horizon	NOUN
fcis-32179	81	27	,	,	PUNCT
fcis-32179	81	28	which	which	PRON
fcis-32179	81	29	defines	define	VERB
fcis-32179	81	30	the	the	DET
fcis-32179	81	31	prediction	prediction	NOUN
fcis-32179	81	32	of	of	ADP
fcis-32179	81	33	system	system	NOUN
fcis-32179	81	34	variables	variable	NOUN
fcis-32179	81	35	from	from	ADP
fcis-32179	81	36	the	the	DET
fcis-32179	81	37	current	current	ADJ
fcis-32179	81	38	time	time	NOUN
fcis-32179	81	39	step	step	NOUN
fcis-32179	81	40	t	t	NOUN
fcis-32179	81	41	to	to	ADP
fcis-32179	81	42	the	the	DET
fcis-32179	81	43	future	future	ADJ
fcis-32179	81	44	time	time	NOUN
fcis-32179	81	45	step	step	NOUN
fcis-32179	81	46	1k	1k	NUM
fcis-32179	81	47			ADV
fcis-32179	81	48	.	.	PUNCT
fcis-32179	82	1	simplified	simplified	ADJ
fcis-32179	82	2	computation	computation	NOUN
fcis-32179	82	3	assumption	assumption	NOUN
fcis-32179	82	4	,	,	PUNCT
fcis-32179	82	5	,	,	PUNCT
fcis-32179	82	6	,	,	PUNCT
fcis-32179	82	7	,	,	PUNCT
fcis-32179	82	8	a	a	DET
fcis-32179	82	9	a	a	DET
fcis-32179	82	10	1,2,3	1,2,3	NUM
fcis-32179	82	11	,	,	PUNCT
fcis-32179	82	12	1	1	NUM
fcis-32179	82	13	k	k	NOUN
fcis-32179	82	14	t	t	PROPN
fcis-32179	83	1	t	t	PROPN
fcis-32179	83	2	t	t	PROPN
fcis-32179	83	3	k	k	PROPN
fcis-32179	83	4	t	t	PROPN
fcis-32179	83	5	t	t	PROPN
fcis-32179	83	6	t	t	PROPN
fcis-32179	83	7	k	k	PROPN
fcis-32179	83	8	t	t	PROPN
fcis-32179	83	9	n	n	PROPN
fcis-32179	83	10			NOUN
fcis-32179	83	11			VERB
fcis-32179	84	1			PROPN
fcis-32179	84	2			PUNCT
fcis-32179	84	3			SYM
fcis-32179	84	4	b	b	PROPN
fcis-32179	84	5	b	b	PROPN
fcis-32179	84	6			ADJ
fcis-32179	84	7			NOUN
fcis-32179	84	8			NOUN
fcis-32179	84	9			NOUN
fcis-32179	84	10			NOUN
fcis-32179	84	11	based	base	VERB
fcis-32179	84	12	on	on	ADP
fcis-32179	84	13	the	the	DET
fcis-32179	84	14	output	output	NOUN
fcis-32179	84	15	of	of	ADP
fcis-32179	84	16	equation	equation	NOUN
fcis-32179	84	17	(	(	PUNCT
fcis-32179	84	18	6	6	NUM
fcis-32179	84	19	)	)	PUNCT
fcis-32179	84	20	,	,	PUNCT
fcis-32179	84	21	the	the	DET
fcis-32179	84	22	variable	variable	NOUN
fcis-32179	84	23	(	(	PUNCT
fcis-32179	84	24	|	|	ADV
fcis-32179	84	25	)	)	PUNCT
fcis-32179	84	26	k	k	PROPN
fcis-32179	84	27	t	t	PUNCT
fcis-32179	84	28	can	can	AUX
fcis-32179	84	29	be	be	AUX
fcis-32179	84	30	derived	derive	VERB
fcis-32179	84	31	through	through	ADP
fcis-32179	84	32	multiple	multiple	ADJ
fcis-32179	84	33	steps	step	NOUN
fcis-32179	84	34	of	of	ADP
fcis-32179	84	35	deduction	deduction	NOUN
fcis-32179	84	36	as	as	SCONJ
fcis-32179	84	37	follows	follow	VERB
fcis-32179	84	38	(	(	PUNCT
fcis-32179	84	39	)	)	PUNCT
fcis-32179	84	40	(	(	PUNCT
fcis-32179	84	41	|	|	ADV
fcis-32179	84	42	)	)	PUNCT
fcis-32179	84	43	(	(	PUNCT
fcis-32179	84	44	)	)	PUNCT
fcis-32179	84	45	y	y	PROPN
fcis-32179	84	46	t	t	PROPN
fcis-32179	84	47	t	t	PROPN
fcis-32179	84	48	t	t	PROPN
fcis-32179	84	49	u	u	PROPN
fcis-32179	84	50	t	t	X
fcis-32179	84	51			PROPN
fcis-32179	84	52	(	(	PUNCT
fcis-32179	84	53	7	7	NUM
fcis-32179	84	54	)	)	PUNCT
fcis-32179	84	55	in	in	ADP
fcis-32179	84	56	which	which	PRON
fcis-32179	84	57	,	,	PUNCT
fcis-32179	84	58	,	,	PUNCT
fcis-32179	84	59	2	2	NUM
fcis-32179	84	60	,	,	PUNCT
fcis-32179	84	61	,	,	PUNCT
fcis-32179	84	62	,	,	PUNCT
fcis-32179	84	63	,	,	PUNCT
fcis-32179	84	64	,	,	PUNCT
fcis-32179	84	65	,	,	PUNCT
fcis-32179	84	66	c	c	PROPN
fcis-32179	84	67	a	a	PRON
fcis-32179	84	68	(	(	PUNCT
fcis-32179	84	69	1	1	NUM
fcis-32179	84	70	|	|	ADV
fcis-32179	84	71	)	)	PUNCT
fcis-32179	84	72	c	c	PROPN
fcis-32179	84	73	a	a	DET
fcis-32179	84	74	(	(	PUNCT
fcis-32179	84	75	2	2	NUM
fcis-32179	84	76	|	|	ADV
fcis-32179	84	77	)	)	PUNCT
fcis-32179	84	78	(	(	PUNCT
fcis-32179	84	79	|	|	ADV
fcis-32179	84	80	)	)	PUNCT
fcis-32179	84	81	(	(	PUNCT
fcis-32179	84	82	1	1	NUM
fcis-32179	84	83	|	|	ADV
fcis-32179	84	84	)	)	PUNCT
fcis-32179	84	85	(	(	PUNCT
fcis-32179	84	86	)	)	PUNCT
fcis-32179	84	87	;	;	PUNCT
fcis-32179	84	88	;	;	PUNCT
fcis-32179	84	89	(	(	PUNCT
fcis-32179	84	90	)	)	PUNCT
fcis-32179	84	91	(	(	PUNCT
fcis-32179	84	92	|	|	ADV
fcis-32179	84	93	)	)	PUNCT
fcis-32179	84	94	c	c	PROPN
fcis-32179	84	95	a	a	DET
fcis-32179	84	96	(	(	PUNCT
fcis-32179	84	97	|	|	ADV
fcis-32179	84	98	)	)	PUNCT
fcis-32179	84	99	(	(	PUNCT
fcis-32179	84	100	|	|	ADV
fcis-32179	84	101	)	)	PUNCT
fcis-32179	84	102	c	c	PROPN
fcis-32179	85	1	a	a	DET
fcis-32179	85	2	c	c	NOUN
fcis-32179	85	3	p	p	PROPN
fcis-32179	85	4	t	t	PROPN
fcis-32179	85	5	t	t	PROPN
fcis-32179	85	6	t	t	PROPN
fcis-32179	85	7	t	t	PROPN
fcis-32179	85	8	t	t	PROPN
fcis-32179	85	9	t	t	PROPN
fcis-32179	85	10	t	t	PROPN
fcis-32179	85	11	t	t	PROPN
fcis-32179	85	12	n	n	INTJ
fcis-32179	85	13	c	c	PROPN
fcis-32179	85	14	t	t	PROPN
fcis-32179	85	15	t	t	PROPN
fcis-32179	85	16	t	t	PROPN
fcis-32179	86	1	t	t	PROPN
fcis-32179	86	2	c	c	PROPN
fcis-32179	87	1	np	np	INTJ
fcis-32179	87	2	t	t	PROPN
fcis-32179	87	3	t	t	PROPN
fcis-32179	87	4	t	t	PROPN
fcis-32179	87	5	t	t	PROPN
fcis-32179	87	6	t	t	PROPN
fcis-32179	87	7	t	t	PROPN
fcis-32179	87	8	t	t	PROPN
fcis-32179	87	9	t	t	PROPN
fcis-32179	87	10	u	u	PROPN
fcis-32179	87	11	t	t	PROPN
fcis-32179	87	12	t	t	X
fcis-32179	87	13	u	u	NOUN
fcis-32179	87	14	t	t	PROPN
fcis-32179	87	15	t	t	X
fcis-32179	87	16	y	y	PROPN
fcis-32179	87	17	t	t	PROPN
fcis-32179	87	18	u	u	PROPN
fcis-32179	87	19	t	t	PROPN
fcis-32179	87	20	t	t	PROPN
fcis-32179	87	21	n	n	ADP
fcis-32179	87	22	t	t	X
fcis-32179	87	23	u	u	PROPN
fcis-32179	87	24	t	t	PROPN
fcis-32179	87	25	n	n	NOUN
fcis-32179	87	26	t	t	PROPN
fcis-32179	87	27	t	t	PROPN
fcis-32179	87	28	n	n	PROPN
fcis-32179	87	29	t	t	PROPN
fcis-32179	87	30			NUM
fcis-32179	87	31			NUM
fcis-32179	87	32			PRON
fcis-32179	87	33			NUM
fcis-32179	87	34			NUM
fcis-32179	87	35			PROPN
fcis-32179	87	36			PROPN
fcis-32179	87	37			X
fcis-32179	87	38			NOUN
fcis-32179	87	39			PROPN
fcis-32179	87	40			NOUN
fcis-32179	87	41			NOUN
fcis-32179	87	42			ADV
fcis-32179	87	43			NOUN
fcis-32179	87	44			NOUN
fcis-32179	87	45			ADJ
fcis-32179	87	46			NOUN
fcis-32179	87	47			NOUN
fcis-32179	87	48			NOUN
fcis-32179	87	49			NOUN
fcis-32179	87	50			NOUN
fcis-32179	87	51			PUNCT
fcis-32179	87	52			ADJ
fcis-32179	87	53			ADJ
fcis-32179	87	54			NOUN
fcis-32179	88	1			NOUN
fcis-32179	88	2			NUM
fcis-32179	88	3			NOUN
fcis-32179	88	4			ADJ
fcis-32179	88	5			NOUN
fcis-32179	88	6			NOUN
fcis-32179	88	7			NOUN
fcis-32179	88	8			NOUN
fcis-32179	88	9			NOUN
fcis-32179	88	10			PROPN
fcis-32179	88	11			NOUN
fcis-32179	88	12			NOUN
fcis-32179	88	13			NOUN
fcis-32179	88	14			NOUN
fcis-32179	88	15			NOUN
fcis-32179	88	16			PUNCT
fcis-32179	88	17			ADJ
fcis-32179	88	18			ADJ
fcis-32179	88	19			NOUN
fcis-32179	88	20			NOUN
fcis-32179	88	21			PROPN
fcis-32179	88	22			PROPN
fcis-32179	88	23			PROPN
fcis-32179	88	24			PROPN
fcis-32179	88	25			PROPN
fcis-32179	88	26			VERB
fcis-32179	88	27			PROPN
fcis-32179	88	28			PROPN
fcis-32179	88	29			ADJ
fcis-32179	88	30			PROPN
fcis-32179	88	31			PROPN
fcis-32179	88	32			PROPN
fcis-32179	88	33			VERB
fcis-32179	88	34			ADJ
fcis-32179	88	35			PROPN
fcis-32179	88	36			NOUN
fcis-32179	88	37			VERB
fcis-32179	88	38			VERB
fcis-32179	88	39			ADJ
fcis-32179	88	40			ADJ
fcis-32179	88	41			NOUN
fcis-32179	88	42	79	79	NUM
fcis-32179	88	43	,	,	PUNCT
fcis-32179	88	44	,	,	PUNCT
fcis-32179	88	45	,	,	PUNCT
fcis-32179	88	46	,	,	PUNCT
fcis-32179	88	47	,	,	PUNCT
fcis-32179	88	48	,	,	PUNCT
fcis-32179	88	49	,	,	PUNCT
fcis-32179	88	50	1	1	NUM
fcis-32179	88	51	2	2	NUM
fcis-32179	88	52	,	,	PUNCT
fcis-32179	88	53	,	,	PUNCT
fcis-32179	88	54	,	,	PUNCT
fcis-32179	88	55	,	,	PUNCT
fcis-32179	88	56	,	,	PUNCT
fcis-32179	88	57	,	,	PUNCT
fcis-32179	88	58	,	,	PUNCT
fcis-32179	88	59	,	,	PUNCT
fcis-32179	88	60	1	1	NUM
fcis-32179	88	61	2	2	NUM
fcis-32179	88	62	1	1	NUM
fcis-32179	88	63	,	,	PUNCT
fcis-32179	88	64	,	,	PUNCT
fcis-32179	88	65	,	,	PUNCT
fcis-32179	88	66	,	,	PUNCT
fcis-32179	88	67	,	,	PUNCT
fcis-32179	88	68	,	,	PUNCT
fcis-32179	88	69	,	,	PUNCT
fcis-32179	88	70	,	,	PUNCT
fcis-32179	88	71	,	,	PUNCT
fcis-32179	89	1	c	c	PROPN
fcis-32179	89	2	b	b	PROPN
fcis-32179	89	3	0	0	NUM
fcis-32179	89	4	0	0	NUM
fcis-32179	89	5	0	0	NUM
fcis-32179	89	6	c	c	PROPN
fcis-32179	89	7	a	a	DET
fcis-32179	89	8	b	b	PROPN
fcis-32179	89	9	c	c	NOUN
fcis-32179	89	10	b	b	PROPN
fcis-32179	89	11	0	0	NUM
fcis-32179	89	12	0	0	NUM
fcis-32179	90	1	c	c	PROPN
fcis-32179	90	2	a	a	DET
fcis-32179	90	3	b	b	NOUN
fcis-32179	90	4	c	c	NOUN
fcis-32179	90	5	a	a	DET
fcis-32179	90	6	b	b	NOUN
fcis-32179	90	7	c	c	NOUN
fcis-32179	90	8	b	b	PROPN
fcis-32179	90	9	c	c	PROPN
fcis-32179	90	10	a	a	DET
fcis-32179	90	11	b	b	NOUN
fcis-32179	90	12	c	c	NOUN
fcis-32179	90	13	a	a	DET
fcis-32179	90	14	b	b	NOUN
fcis-32179	90	15	c	c	NOUN
fcis-32179	90	16	a	a	DET
fcis-32179	90	17	b	b	NOUN
fcis-32179	90	18	c	c	NOUN
fcis-32179	90	19	c	c	NOUN
fcis-32179	91	1	p	p	NOUN
fcis-32179	91	2	p	p	X
fcis-32179	91	3	p	p	X
fcis-32179	91	4	c	c	PROPN
fcis-32179	91	5	t	t	PROPN
fcis-32179	91	6	t	t	PROPN
fcis-32179	91	7	t	t	PROPN
fcis-32179	91	8	t	t	PROPN
fcis-32179	91	9	t	t	PROPN
fcis-32179	91	10	t	t	PROPN
fcis-32179	91	11	t	t	PROPN
fcis-32179	91	12	t	t	PROPN
fcis-32179	91	13	t	t	PROPN
fcis-32179	91	14	t	t	PROPN
fcis-32179	91	15	t	t	PROPN
fcis-32179	91	16	t	t	PROPN
fcis-32179	91	17	t	t	PROPN
fcis-32179	91	18	t	t	PROPN
fcis-32179	91	19	n	n	PROPN
fcis-32179	91	20	n	n	PROPN
fcis-32179	91	21	t	t	PROPN
fcis-32179	91	22	t	t	PROPN
fcis-32179	91	23	t	t	PROPN
fcis-32179	91	24	t	t	PROPN
fcis-32179	91	25	t	t	PROPN
fcis-32179	91	26	t	t	PROPN
fcis-32179	91	27	t	t	PROPN
fcis-32179	91	28	t	t	PROPN
fcis-32179	91	29	t	t	PROPN
fcis-32179	91	30	t	t	PROPN
fcis-32179	91	31	t	t	PROPN
fcis-32179	91	32	t	t	PROPN
fcis-32179	91	33	t	t	PROPN
fcis-32179	91	34	t	t	PROPN
fcis-32179	91	35	t	t	PROPN
fcis-32179	91	36	t	t	PROPN
fcis-32179	91	37	n	n	CCONJ
fcis-32179	91	38	n	n	CCONJ
fcis-32179	91	39	n	n	CCONJ
fcis-32179	91	40	n	n	NOUN
fcis-32179	91	41	t	t	NOUN
fcis-32179	91	42	t	t	PROPN
fcis-32179	91	43	t	t	PROPN
fcis-32179	91	44	t	t	PROPN
fcis-32179	91	45	t	t	PROPN
fcis-32179	91	46	t	t	PROPN
fcis-32179	91	47	t	t	PROPN
fcis-32179	91	48	t	t	PROPN
fcis-32179	91	49	t	t	PROPN
fcis-32179	91	50	t	t	PROPN
fcis-32179	91	51	t	t	PROPN
fcis-32179	91	52	t	t	PROPN
fcis-32179	91	53	t	t	PROPN
fcis-32179	91	54	t	t	PROPN
fcis-32179	91	55	t	t	PROPN
fcis-32179	91	56	t	t	PROPN
fcis-32179	91	57	t	t	PROPN
fcis-32179	91	58	t	t	PROPN
fcis-32179	91	59			PROPN
fcis-32179	91	60			PROPN
fcis-32179	91	61			PROPN
fcis-32179	91	62			PROPN
fcis-32179	91	63			PROPN
fcis-32179	91	64			PROPN
fcis-32179	91	65			PROPN
fcis-32179	91	66			ADJ
fcis-32179	91	67			NOUN
fcis-32179	91	68			PROPN
fcis-32179	91	69			NOUN
fcis-32179	91	70			NOUN
fcis-32179	91	71			NOUN
fcis-32179	91	72			NOUN
fcis-32179	91	73			NOUN
fcis-32179	91	74			NOUN
fcis-32179	91	75			NOUN
fcis-32179	91	76			NOUN
fcis-32179	91	77			NOUN
fcis-32179	91	78			NOUN
fcis-32179	91	79			NOUN
fcis-32179	91	80			PROPN
fcis-32179	91	81			PROPN
fcis-32179	91	82			ADJ
fcis-32179	91	83			PROPN
fcis-32179	91	84			PROPN
fcis-32179	91	85			X
fcis-32179	91	86			PROPN
fcis-32179	91	87			ADJ
fcis-32179	91	88			NOUN
fcis-32179	91	89			NOUN
fcis-32179	91	90			NUM
fcis-32179	91	91			NOUN
fcis-32179	91	92			NOUN
fcis-32179	91	93			X
fcis-32179	91	94			PROPN
fcis-32179	91	95			PROPN
fcis-32179	91	96			PROPN
fcis-32179	91	97			ADJ
fcis-32179	91	98			NOUN
fcis-32179	91	99			NOUN
fcis-32179	91	100			NOUN
fcis-32179	91	101			NUM
fcis-32179	91	102			NOUN
fcis-32179	91	103			NOUN
fcis-32179	91	104			X
fcis-32179	91	105			PROPN
fcis-32179	91	106			PROPN
fcis-32179	91	107			PROPN
fcis-32179	91	108			PROPN
fcis-32179	91	109			NOUN
fcis-32179	91	110			PROPN
fcis-32179	91	111			PROPN
fcis-32179	91	112			PROPN
fcis-32179	92	1			PUNCT
fcis-32179	92	2			NOUN
fcis-32179	92	3			PROPN
fcis-32179	93	1	cn	cn	PROPN
fcis-32179	93	2	denotes	denote	VERB
fcis-32179	93	3	the	the	DET
fcis-32179	93	4	control	control	PROPN
fcis-32179	93	5	horizon	horizon	NOUN
fcis-32179	93	6	of	of	ADP
fcis-32179	93	7	the	the	DET
fcis-32179	93	8	predictive	predictive	ADJ
fcis-32179	93	9	model	model	NOUN
fcis-32179	93	10	,	,	PUNCT
fcis-32179	93	11	while	while	SCONJ
fcis-32179	93	12	pn	pn	PROPN
fcis-32179	93	13	represents	represent	VERB
fcis-32179	93	14	its	its	PRON
fcis-32179	93	15	prediction	prediction	NOUN
fcis-32179	93	16	horizon	horizon	NOUN
fcis-32179	93	17	.	.	PUNCT
fcis-32179	94	1	based	base	VERB
fcis-32179	94	2	on	on	ADP
fcis-32179	94	3	the	the	DET
fcis-32179	94	4	system	system	NOUN
fcis-32179	94	5	state	state	NOUN
fcis-32179	94	6	and	and	CCONJ
fcis-32179	94	7	error	error	NOUN
fcis-32179	94	8	at	at	ADP
fcis-32179	94	9	time	time	NOUN
fcis-32179	94	10	t	t	PROPN
fcis-32179	94	11	,	,	PUNCT
fcis-32179	94	12	the	the	DET
fcis-32179	94	13	model	model	NOUN
fcis-32179	94	14	can	can	AUX
fcis-32179	94	15	predict	predict	VERB
fcis-32179	94	16	system	system	NOUN
fcis-32179	94	17	states	state	NOUN
fcis-32179	94	18	over	over	ADP
fcis-32179	94	19	the	the	DET
fcis-32179	94	20	future	future	ADJ
fcis-32179	94	21	pn	pn	NOUN
fcis-32179	94	22	steps	step	NOUN
fcis-32179	94	23	,	,	PUNCT
fcis-32179	94	24	thereby	thereby	ADV
fcis-32179	94	25	achieving	achieve	VERB
fcis-32179	94	26	accurate	accurate	ADJ
fcis-32179	94	27	vehicle	vehicle	NOUN
fcis-32179	94	28	path	path	NOUN
fcis-32179	94	29	tracking	tracking	NOUN
fcis-32179	94	30	.	.	PUNCT
fcis-32179	95	1	3.2	3.2	NUM
fcis-32179	95	2	.	.	PUNCT
fcis-32179	96	1	pure	pure	ADJ
fcis-32179	96	2	pursuit	pursuit	NOUN
fcis-32179	96	3	(	(	PUNCT
fcis-32179	96	4	pp	pp	ADJ
fcis-32179	96	5	)	)	PUNCT
fcis-32179	96	6	controller	controller	NOUN
fcis-32179	96	7	the	the	DET
fcis-32179	96	8	core	core	NOUN
fcis-32179	96	9	principle	principle	NOUN
fcis-32179	96	10	of	of	ADP
fcis-32179	96	11	the	the	DET
fcis-32179	96	12	pure	pure	ADJ
fcis-32179	96	13	pursuit	pursuit	NOUN
fcis-32179	96	14	control	control	NOUN
fcis-32179	96	15	algorithm	algorithm	NOUN
fcis-32179	96	16	is	be	AUX
fcis-32179	96	17	to	to	PART
fcis-32179	96	18	select	select	VERB
fcis-32179	96	19	a	a	DET
fcis-32179	96	20	look	look	VERB
fcis-32179	96	21	-	-	PUNCT
fcis-32179	96	22	ahead	ahead	NOUN
fcis-32179	96	23	point	point	NOUN
fcis-32179	96	24	on	on	ADP
fcis-32179	96	25	the	the	DET
fcis-32179	96	26	target	target	NOUN
fcis-32179	96	27	path	path	NOUN
fcis-32179	96	28	at	at	ADP
fcis-32179	96	29	a	a	DET
fcis-32179	96	30	predetermined	predetermine	VERB
fcis-32179	96	31	distance	distance	NOUN
fcis-32179	96	32	from	from	ADP
fcis-32179	96	33	the	the	DET
fcis-32179	96	34	vehicle	vehicle	NOUN
fcis-32179	96	35	's	's	PART
fcis-32179	96	36	current	current	ADJ
fcis-32179	96	37	state	state	NOUN
fcis-32179	96	38	,	,	PUNCT
fcis-32179	96	39	and	and	CCONJ
fcis-32179	96	40	then	then	ADV
fcis-32179	96	41	compute	compute	VERB
fcis-32179	96	42	the	the	DET
fcis-32179	96	43	steering	steering	NOUN
fcis-32179	96	44	angle	angle	NOUN
fcis-32179	96	45	based	base	VERB
fcis-32179	96	46	on	on	ADP
fcis-32179	96	47	the	the	DET
fcis-32179	96	48	position	position	NOUN
fcis-32179	96	49	of	of	ADP
fcis-32179	96	50	this	this	DET
fcis-32179	96	51	target	target	NOUN
fcis-32179	96	52	point	point	NOUN
fcis-32179	96	53	relative	relative	ADJ
fcis-32179	96	54	to	to	ADP
fcis-32179	96	55	the	the	DET
fcis-32179	96	56	vehicle	vehicle	NOUN
fcis-32179	96	57	's	's	PART
fcis-32179	96	58	current	current	ADJ
fcis-32179	96	59	position	position	NOUN
fcis-32179	96	60	.	.	PUNCT
fcis-32179	97	1	as	as	SCONJ
fcis-32179	97	2	shown	show	VERB
fcis-32179	97	3	in	in	ADP
fcis-32179	97	4	figure	figure	NOUN
fcis-32179	97	5	2	2	NUM
fcis-32179	97	6	,	,	PUNCT
fcis-32179	97	7	with	with	ADP
fcis-32179	97	8	the	the	DET
fcis-32179	97	9	rear	rear	ADJ
fcis-32179	97	10	axle	axle	NOUN
fcis-32179	97	11	as	as	ADP
fcis-32179	97	12	the	the	DET
fcis-32179	97	13	reference	reference	NOUN
fcis-32179	97	14	point	point	NOUN
fcis-32179	97	15	(	(	PUNCT
fcis-32179	97	16	o	o	NOUN
fcis-32179	97	17	)	)	PUNCT
fcis-32179	97	18	,	,	PUNCT
fcis-32179	97	19	a	a	DET
fcis-32179	97	20	point	point	NOUN
fcis-32179	97	21	(	(	PUNCT
fcis-32179	97	22	c	c	X
fcis-32179	97	23	)	)	PUNCT
fcis-32179	97	24	is	be	AUX
fcis-32179	97	25	selected	select	VERB
fcis-32179	97	26	on	on	ADP
fcis-32179	97	27	the	the	DET
fcis-32179	97	28	path	path	NOUN
fcis-32179	97	29	at	at	ADP
fcis-32179	97	30	a	a	DET
fcis-32179	97	31	look	look	VERB
fcis-32179	97	32	-	-	PUNCT
fcis-32179	97	33	ahead	ahead	NOUN
fcis-32179	97	34	distance	distance	NOUN
fcis-32179	97	35	ld	ld	PROPN
fcis-32179	97	36	.	.	PUNCT
fcis-32179	98	1	this	this	DET
fcis-32179	98	2	configuration	configuration	NOUN
fcis-32179	98	3	forms	form	VERB
fcis-32179	98	4	a	a	DET
fcis-32179	98	5	circular	circular	ADJ
fcis-32179	98	6	arc	arc	NOUN
fcis-32179	98	7	centered	center	VERB
fcis-32179	98	8	at	at	ADP
fcis-32179	98	9	point	point	NOUN
fcis-32179	98	10	(	(	PUNCT
fcis-32179	98	11	o	o	NOUN
fcis-32179	98	12	)	)	PUNCT
fcis-32179	98	13	,	,	PUNCT
fcis-32179	98	14	where	where	SCONJ
fcis-32179	98	15	l	l	NOUN
fcis-32179	98	16	represents	represent	VERB
fcis-32179	98	17	the	the	DET
fcis-32179	98	18	wheelbase	wheelbase	NOUN
fcis-32179	98	19	of	of	ADP
fcis-32179	98	20	the	the	DET
fcis-32179	98	21	vehicle	vehicle	NOUN
fcis-32179	98	22	.	.	PUNCT
fcis-32179	99	1	figure	figure	NOUN
fcis-32179	99	2	2	2	NUM
fcis-32179	99	3	.	.	PUNCT
fcis-32179	99	4	principle	principle	NOUN
fcis-32179	99	5	of	of	ADP
fcis-32179	99	6	the	the	DET
fcis-32179	99	7	pure	pure	ADJ
fcis-32179	99	8	pursuit	pursuit	NOUN
fcis-32179	99	9	control	control	NOUN
fcis-32179	99	10	as	as	SCONJ
fcis-32179	99	11	illustrated	illustrate	VERB
fcis-32179	99	12	in	in	ADP
fcis-32179	99	13	the	the	DET
fcis-32179	99	14	figure	figure	NOUN
fcis-32179	99	15	,	,	PUNCT
fcis-32179	99	16	the	the	DET
fcis-32179	99	17	geometric	geometric	ADJ
fcis-32179	99	18	relationship	relationship	NOUN
fcis-32179	99	19	)	)	PUNCT
fcis-32179	99	20	2	2	NUM
fcis-32179	99	21	(	(	PUNCT
fcis-32179	99	22	sin	sin	NOUN
fcis-32179	99	23	r	r	NOUN
fcis-32179	99	24	sin2	sin2	NOUN
fcis-32179	99	25	ld	ld	PROPN
fcis-32179	99	26			PROPN
fcis-32179	99	27			PROPN
fcis-32179	99	28			PRON
fcis-32179	99	29	can	can	AUX
fcis-32179	99	30	be	be	AUX
fcis-32179	99	31	observed	observe	VERB
fcis-32179	99	32	.	.	PUNCT
fcis-32179	100	1	based	base	VERB
fcis-32179	100	2	on	on	ADP
fcis-32179	100	3	this	this	PRON
fcis-32179	100	4	,	,	PUNCT
fcis-32179	100	5	2sin	2sin	PROPN
fcis-32179	100	6	ld	ld	PROPN
fcis-32179	100	7	r	r	NOUN
fcis-32179	100	8			NOUN
fcis-32179	100	9	can	can	AUX
fcis-32179	100	10	be	be	AUX
fcis-32179	100	11	calculated	calculate	VERB
fcis-32179	100	12	.	.	PUNCT
fcis-32179	101	1	to	to	PART
fcis-32179	101	2	ensure	ensure	VERB
fcis-32179	101	3	that	that	SCONJ
fcis-32179	101	4	the	the	DET
fcis-32179	101	5	center	center	NOUN
fcis-32179	101	6	of	of	ADP
fcis-32179	101	7	the	the	DET
fcis-32179	101	8	rear	rear	ADJ
fcis-32179	101	9	axle	axle	NOUN
fcis-32179	101	10	reaches	reach	VERB
fcis-32179	101	11	the	the	DET
fcis-32179	101	12	previewed	preview	VERB
fcis-32179	101	13	position	position	NOUN
fcis-32179	101	14	after	after	ADP
fcis-32179	101	15	the	the	DET
fcis-32179	101	16	vehicle	vehicle	NOUN
fcis-32179	101	17	's	's	PART
fcis-32179	101	18	movement	movement	NOUN
fcis-32179	101	19	,	,	PUNCT
fcis-32179	101	20	the	the	DET
fcis-32179	101	21	steering	steering	NOUN
fcis-32179	101	22	angle	angle	NOUN
fcis-32179	101	23	of	of	ADP
fcis-32179	101	24	the	the	DET
fcis-32179	101	25	front	front	ADJ
fcis-32179	101	26	wheels	wheel	NOUN
fcis-32179	101	27	must	must	AUX
fcis-32179	101	28	satisfy	satisfy	VERB
fcis-32179	101	29	the	the	DET
fcis-32179	101	30	kinematic	kinematic	ADJ
fcis-32179	101	31	relationship	relationship	NOUN
fcis-32179	101	32	with	with	ADP
fcis-32179	101	33	the	the	DET
fcis-32179	101	34	wheelbase	wheelbase	NOUN
fcis-32179	101	35	,	,	PUNCT
fcis-32179	101	36	as	as	SCONJ
fcis-32179	101	37	expressed	express	VERB
fcis-32179	101	38	in	in	ADP
fcis-32179	101	39	r	r	PROPN
fcis-32179	101	40	l	l	NOUN
fcis-32179	101	41	tan	tan	PROPN
fcis-32179	101	42			PROPN
fcis-32179	101	43	.	.	PUNCT
fcis-32179	102	1	from	from	ADP
fcis-32179	102	2	this	this	PRON
fcis-32179	102	3	,	,	PUNCT
fcis-32179	102	4	)	)	PUNCT
fcis-32179	102	5	sin2	sin2	NOUN
fcis-32179	102	6	(	(	PUNCT
fcis-32179	102	7	arctan	arctan	PROPN
fcis-32179	102	8	ld	ld	PROPN
fcis-32179	102	9	l	l	PROPN
fcis-32179	102	10			PROPN
fcis-32179	102	11			PROPN
fcis-32179	102	12	can	can	AUX
fcis-32179	102	13	be	be	AUX
fcis-32179	102	14	derived	derive	VERB
fcis-32179	102	15	.	.	PUNCT
fcis-32179	103	1	3.3	3.3	NUM
fcis-32179	103	2	.	.	PUNCT
fcis-32179	104	1	lateral	lateral	ADJ
fcis-32179	104	2	error	error	NOUN
fcis-32179	104	3	in	in	ADP
fcis-32179	104	4	pure	pure	ADJ
fcis-32179	104	5	pursuit	pursuit	NOUN
fcis-32179	104	6	control	control	NOUN
fcis-32179	104	7	the	the	DET
fcis-32179	104	8	lateral	lateral	ADJ
fcis-32179	104	9	error	error	NOUN
fcis-32179	104	10	of	of	ADP
fcis-32179	104	11	the	the	DET
fcis-32179	104	12	vehicle	vehicle	NOUN
fcis-32179	104	13	at	at	ADP
fcis-32179	104	14	the	the	DET
fcis-32179	104	15	look	look	VERB
fcis-32179	104	16	-	-	PUNCT
fcis-32179	104	17	ahead	ahead	NOUN
fcis-32179	104	18	path	path	NOUN
fcis-32179	104	19	point	point	NOUN
fcis-32179	104	20	is	be	AUX
fcis-32179	104	21	defined	define	VERB
fcis-32179	104	22	as	as	ADP
fcis-32179	104	23	sinldey	sinldey	PROPN
fcis-32179	104	24			PROPN
fcis-32179	104	25	,	,	PUNCT
fcis-32179	104	26	under	under	ADP
fcis-32179	104	27	the	the	DET
fcis-32179	104	28	small	small	ADJ
fcis-32179	104	29	-	-	PUNCT
fcis-32179	104	30	angle	angle	NOUN
fcis-32179	104	31	assumption	assumption	NOUN
fcis-32179	104	32	,	,	PUNCT
fcis-32179	104	33	the	the	DET
fcis-32179	104	34	transformation	transformation	NOUN
fcis-32179	104	35	based	base	VERB
fcis-32179	104	36	on	on	ADP
fcis-32179	104	37	the	the	DET
fcis-32179	104	38	above	above	ADJ
fcis-32179	104	39	equation	equation	NOUN
fcis-32179	104	40	yields	yield	VERB
fcis-32179	104	41			NUM
fcis-32179	104	42	l	l	NOUN
fcis-32179	104	43	ld	ld	NOUN
fcis-32179	104	44	ey	ey	PRON
fcis-32179	104	45	2	2	NUM
fcis-32179	104	46	2	2	NUM
fcis-32179	104	47			NOUN
fcis-32179	104	48	.therefore	.therefore	NOUN
fcis-32179	104	49	,	,	PUNCT
fcis-32179	104	50	when	when	SCONJ
fcis-32179	104	51	the	the	DET
fcis-32179	104	52	look	look	VERB
fcis-32179	104	53	-	-	PUNCT
fcis-32179	104	54	ahead	ahead	NOUN
fcis-32179	104	55	distance	distance	NOUN
fcis-32179	104	56	and	and	CCONJ
fcis-32179	104	57	the	the	DET
fcis-32179	104	58	vehicle	vehicle	NOUN
fcis-32179	104	59	wheelbase	wheelbase	NOUN
fcis-32179	104	60	are	be	AUX
fcis-32179	104	61	fixed	fix	VERB
fcis-32179	104	62	,	,	PUNCT
fcis-32179	104	63	the	the	DET
fcis-32179	104	64	pure	pure	ADJ
fcis-32179	104	65	pursuit	pursuit	NOUN
fcis-32179	104	66	control	control	NOUN
fcis-32179	104	67	can	can	AUX
fcis-32179	104	68	essentially	essentially	ADV
fcis-32179	104	69	be	be	AUX
fcis-32179	104	70	regarded	regard	VERB
fcis-32179	104	71	as	as	ADP
fcis-32179	104	72	a	a	DET
fcis-32179	104	73	proportional	proportional	ADJ
fcis-32179	104	74	(	(	PUNCT
fcis-32179	104	75	p	p	ADJ
fcis-32179	104	76	)	)	PUNCT
fcis-32179	104	77	controller	controller	NOUN
fcis-32179	104	78	,	,	PUNCT
fcis-32179	104	79	whose	whose	DET
fcis-32179	104	80	tracking	tracking	NOUN
fcis-32179	104	81	performance	performance	NOUN
fcis-32179	104	82	is	be	AUX
fcis-32179	104	83	determined	determine	VERB
fcis-32179	104	84	by	by	ADP
fcis-32179	104	85	ld	ld	PROPN
fcis-32179	104	86	.	.	PUNCT
fcis-32179	105	1	typically	typically	ADV
fcis-32179	105	2	,	,	PUNCT
fcis-32179	105	3	ld	ld	PROPN
fcis-32179	105	4	is	be	AUX
fcis-32179	105	5	defined	define	VERB
fcis-32179	105	6	as	as	ADP
fcis-32179	105	7	a	a	DET
fcis-32179	105	8	speed	speed	NOUN
fcis-32179	105	9	-	-	PUNCT
fcis-32179	105	10	dependent	dependent	ADJ
fcis-32179	105	11	expression	expression	NOUN
fcis-32179	105	12	0ldvkld	0ldvkld	PRON
fcis-32179	105	13	v	v	ADP
fcis-32179	105	14			ADJ
fcis-32179	105	15	.the	.the	DET
fcis-32179	105	16	steering	steering	NOUN
fcis-32179	105	17	angle	angle	NOUN
fcis-32179	105	18	computed	compute	VERB
fcis-32179	105	19	from	from	ADP
fcis-32179	105	20	the	the	DET
fcis-32179	105	21	above	above	ADJ
fcis-32179	105	22	equation	equation	NOUN
fcis-32179	105	23	is	be	AUX
fcis-32179	105	24	incorporated	incorporate	VERB
fcis-32179	105	25	as	as	ADP
fcis-32179	105	26	an	an	DET
fcis-32179	105	27	optimization	optimization	NOUN
fcis-32179	105	28	term	term	NOUN
fcis-32179	105	29	in	in	ADP
fcis-32179	105	30	the	the	DET
fcis-32179	105	31	objective	objective	ADJ
fcis-32179	105	32	function	function	NOUN
fcis-32179	105	33	.	.	PUNCT
fcis-32179	106	1	simultaneously	simultaneously	ADV
fcis-32179	106	2	,	,	PUNCT
fcis-32179	106	3	the	the	DET
fcis-32179	106	4	suggested	suggest	VERB
fcis-32179	106	5	steering	steering	NOUN
fcis-32179	106	6	angles	angle	NOUN
fcis-32179	106	7	from	from	ADP
fcis-32179	106	8	the	the	DET
fcis-32179	106	9	reference	reference	NOUN
fcis-32179	106	10	path	path	NOUN
fcis-32179	106	11	and	and	CCONJ
fcis-32179	106	12	the	the	DET
fcis-32179	106	13	pure	pure	ADJ
fcis-32179	106	14	pursuit	pursuit	NOUN
fcis-32179	106	15	control	control	NOUN
fcis-32179	106	16	are	be	AUX
fcis-32179	106	17	combined	combine	VERB
fcis-32179	106	18	through	through	ADP
fcis-32179	106	19	a	a	DET
fcis-32179	106	20	weighted	weight	VERB
fcis-32179	106	21	fusion	fusion	NOUN
fcis-32179	106	22	strategy	strategy	NOUN
fcis-32179	106	23	,	,	PUNCT
fcis-32179	106	24	and	and	CCONJ
fcis-32179	106	25	the	the	DET
fcis-32179	106	26	resulting	result	VERB
fcis-32179	106	27	output	output	NOUN
fcis-32179	106	28	is	be	AUX
fcis-32179	106	29	applied	apply	VERB
fcis-32179	106	30	as	as	ADP
fcis-32179	106	31	the	the	DET
fcis-32179	106	32	final	final	ADJ
fcis-32179	106	33	steering	steering	NOUN
fcis-32179	106	34	command	command	NOUN
fcis-32179	106	35	to	to	ADP
fcis-32179	106	36	the	the	DET
fcis-32179	106	37	vehicle	vehicle	NOUN
fcis-32179	106	38	.	.	PUNCT
fcis-32179	107	1	4	4	X
fcis-32179	107	2	.	.	X
fcis-32179	107	3	design	design	NOUN
fcis-32179	107	4	of	of	ADP
fcis-32179	107	5	the	the	DET
fcis-32179	107	6	mpc	mpc	NOUN
fcis-32179	107	7	controller	controller	NOUN
fcis-32179	107	8	4.1	4.1	NUM
fcis-32179	107	9	.	.	PUNCT
fcis-32179	108	1	objective	objective	ADJ
fcis-32179	108	2	function	function	NOUN
fcis-32179	108	3	design	design	VERB
fcis-32179	108	4	the	the	DET
fcis-32179	108	5	lateral	lateral	ADJ
fcis-32179	108	6	error	error	NOUN
fcis-32179	108	7	derived	derive	VERB
fcis-32179	108	8	from	from	ADP
fcis-32179	108	9	the	the	DET
fcis-32179	108	10	pure	pure	ADJ
fcis-32179	108	11	pursuit	pursuit	NOUN
fcis-32179	108	12	(	(	PUNCT
fcis-32179	108	13	pp	pp	ADJ
fcis-32179	108	14	)	)	PUNCT
fcis-32179	108	15	control	control	NOUN
fcis-32179	108	16	relative	relative	ADJ
fcis-32179	108	17	to	to	ADP
fcis-32179	108	18	the	the	DET
fcis-32179	108	19	reference	reference	NOUN
fcis-32179	108	20	path	path	NOUN
fcis-32179	108	21	is	be	AUX
fcis-32179	108	22	incorporated	incorporate	VERB
fcis-32179	108	23	into	into	ADP
fcis-32179	108	24	the	the	DET
fcis-32179	108	25	optimal	optimal	ADJ
fcis-32179	108	26	control	control	NOUN
fcis-32179	108	27	objective	objective	ADJ
fcis-32179	108	28	function	function	NOUN
fcis-32179	108	29	through	through	ADP
fcis-32179	108	30	proportional	proportional	ADJ
fcis-32179	108	31	weighting	weighting	NOUN
fcis-32179	108	32	.	.	PUNCT
fcis-32179	109	1	this	this	DET
fcis-32179	109	2	paper	paper	NOUN
fcis-32179	109	3	adopts	adopt	VERB
fcis-32179	109	4	a	a	DET
fcis-32179	109	5	weighted	weighted	ADJ
fcis-32179	109	6	hybrid	hybrid	ADJ
fcis-32179	109	7	approach	approach	NOUN
fcis-32179	109	8	for	for	ADP
fcis-32179	109	9	reference	reference	NOUN
fcis-32179	109	10	path	path	NOUN
fcis-32179	109	11	tracking	tracking	NOUN
fcis-32179	109	12	,	,	PUNCT
fcis-32179	109	13	with	with	ADP
fcis-32179	109	14	the	the	DET
fcis-32179	109	15	specific	specific	ADJ
fcis-32179	109	16	control	control	NOUN
fcis-32179	109	17	procedure	procedure	NOUN
fcis-32179	109	18	detailed	detail	VERB
fcis-32179	109	19	in	in	ADP
fcis-32179	109	20	figure	figure	NOUN
fcis-32179	109	21	3	3	NUM
fcis-32179	109	22	.	.	PUNCT
fcis-32179	109	23	figure	figure	NOUN
fcis-32179	109	24	3	3	NUM
fcis-32179	109	25	.	.	PUNCT
fcis-32179	109	26	flowchart	flowchart	NOUN
fcis-32179	109	27	of	of	ADP
fcis-32179	109	28	the	the	DET
fcis-32179	109	29	path	path	NOUN
fcis-32179	109	30	tracking	track	VERB
fcis-32179	109	31	control	control	NOUN
fcis-32179	109	32	to	to	PART
fcis-32179	109	33	minimize	minimize	VERB
fcis-32179	109	34	both	both	CCONJ
fcis-32179	109	35	the	the	DET
fcis-32179	109	36	path	path	NOUN
fcis-32179	109	37	tracking	tracking	NOUN
fcis-32179	109	38	deviation	deviation	NOUN
fcis-32179	109	39	and	and	CCONJ
fcis-32179	109	40	the	the	DET
fcis-32179	109	41	control	control	NOUN
fcis-32179	109	42	input	input	NOUN
fcis-32179	109	43	energy	energy	NOUN
fcis-32179	109	44	,	,	PUNCT
fcis-32179	109	45	while	while	SCONJ
fcis-32179	109	46	reducing	reduce	VERB
fcis-32179	109	47	disturbances	disturbance	NOUN
fcis-32179	109	48	during	during	ADP
fcis-32179	109	49	the	the	DET
fcis-32179	109	50	control	control	NOUN
fcis-32179	109	51	process	process	NOUN
fcis-32179	109	52	,	,	PUNCT
fcis-32179	109	53	the	the	DET
fcis-32179	109	54	following	follow	VERB
fcis-32179	109	55	objective	objective	ADJ
fcis-32179	109	56	function	function	NOUN
fcis-32179	109	57	is	be	AUX
fcis-32179	109	58	designed	design	VERB
fcis-32179	109	59	.	.	PUNCT
fcis-32179	110	1	here	here	ADV
fcis-32179	110	2	,	,	PUNCT
fcis-32179	110	3	q	q	PUNCT
fcis-32179	110	4	represents	represent	VERB
fcis-32179	110	5	the	the	DET
fcis-32179	110	6	weighting	weighting	NOUN
fcis-32179	110	7	on	on	ADP
fcis-32179	110	8	the	the	DET
fcis-32179	110	9	error	error	NOUN
fcis-32179	110	10	terms	term	NOUN
fcis-32179	110	11	,	,	PUNCT
fcis-32179	110	12	which	which	PRON
fcis-32179	110	13	,	,	PUNCT
fcis-32179	110	14	as	as	SCONJ
fcis-32179	110	15	indicated	indicate	VERB
fcis-32179	110	16	in	in	ADP
fcis-32179	110	17	the	the	DET
fcis-32179	110	18	aforementioned	aforementioned	ADJ
fcis-32179	110	19	flowchart	flowchart	NOUN
fcis-32179	110	20	,	,	PUNCT
fcis-32179	110	21	comprise	comprise	VERB
fcis-32179	110	22	the	the	DET
fcis-32179	110	23	sum	sum	NOUN
fcis-32179	110	24	of	of	ADP
fcis-32179	110	25	the	the	DET
fcis-32179	110	26	vehicle	vehicle	NOUN
fcis-32179	110	27	state	state	NOUN
fcis-32179	110	28	error	error	NOUN
fcis-32179	110	29	and	and	CCONJ
fcis-32179	110	30	the	the	DET
fcis-32179	110	31	steering	steering	NOUN
fcis-32179	110	32	angle	angle	NOUN
fcis-32179	110	33	error	error	NOUN
fcis-32179	110	34	derived	derive	VERB
fcis-32179	110	35	from	from	ADP
fcis-32179	110	36	pure	pure	ADJ
fcis-32179	110	37	pursuit	pursuit	NOUN
fcis-32179	110	38	(	(	PUNCT
fcis-32179	110	39	pp	pp	ADJ
fcis-32179	110	40	)	)	PUNCT
fcis-32179	110	41	control	control	NOUN
fcis-32179	110	42	.	.	PUNCT
fcis-32179	111	1	the	the	DET
fcis-32179	111	2	r	r	NOUN
fcis-32179	111	3	matrix	matrix	NOUN
fcis-32179	111	4	denotes	denote	VERB
fcis-32179	111	5	the	the	DET
fcis-32179	111	6	weighting	weighting	NOUN
fcis-32179	111	7	on	on	ADP
fcis-32179	111	8	the	the	DET
fcis-32179	111	9	control	control	NOUN
fcis-32179	111	10	inputs	input	NOUN
fcis-32179	111	11	,	,	PUNCT
fcis-32179	111	12	while	while	SCONJ
fcis-32179	111	13	the	the	DET
fcis-32179	111	14	f	f	PROPN
fcis-32179	111	15	matrix	matrix	NOUN
fcis-32179	111	16	focuses	focus	VERB
fcis-32179	111	17	on	on	ADP
fcis-32179	111	18	the	the	DET
fcis-32179	111	19	terminal	terminal	ADJ
fcis-32179	111	20	error.	error.	PROPN
fcis-32179	111	21	represents	represent	VERB
fcis-32179	111	22	a	a	DET
fcis-32179	111	23	slack	slack	NOUN
fcis-32179	111	24	variable	variable	NOUN
fcis-32179	111	25	,	,	PUNCT
fcis-32179	111	26	whose	whose	DET
fcis-32179	111	27	introduction	introduction	NOUN
fcis-32179	111	28	relaxes	relax	VERB
fcis-32179	111	29	the	the	DET
fcis-32179	111	30	constraints	constraint	NOUN
fcis-32179	111	31	on	on	ADP
fcis-32179	111	32	the	the	DET
fcis-32179	111	33	inputs	input	NOUN
fcis-32179	111	34	,	,	PUNCT
fcis-32179	111	35	80	80	NUM
fcis-32179	111	36	thereby	thereby	ADV
fcis-32179	111	37	allowing	allow	VERB
fcis-32179	111	38	for	for	ADP
fcis-32179	111	39	more	more	ADV
fcis-32179	111	40	aggressive	aggressive	ADJ
fcis-32179	111	41	control	control	NOUN
fcis-32179	111	42	actions	action	NOUN
fcis-32179	111	43	.	.	PUNCT
fcis-32179	112	1	by	by	ADP
fcis-32179	112	2	substituting	substitute	VERB
fcis-32179	112	3	equation	equation	NOUN
fcis-32179	112	4	(	(	PUNCT
fcis-32179	112	5	7	7	NUM
fcis-32179	112	6	)	)	PUNCT
fcis-32179	112	7	into	into	ADP
fcis-32179	112	8	the	the	DET
fcis-32179	112	9	objective	objective	ADJ
fcis-32179	112	10	function	function	NOUN
fcis-32179	112	11	given	give	VERB
fcis-32179	112	12	in	in	ADP
fcis-32179	112	13	equation	equation	NOUN
fcis-32179	112	14	(	(	PUNCT
fcis-32179	112	15	8)	8)	NUM
fcis-32179	112	16	,	,	PUNCT
fcis-32179	112	17	the	the	DET
fcis-32179	112	18	objective	objective	ADJ
fcis-32179	112	19	function	function	NOUN
fcis-32179	112	20	can	can	AUX
fcis-32179	112	21	be	be	AUX
fcis-32179	112	22	reformulated	reformulate	VERB
fcis-32179	112	23	as	as	SCONJ
fcis-32179	112	24	follows	follow	VERB
fcis-32179	112	25	1	1	NUM
fcis-32179	112	26	2	2	NUM
fcis-32179	112	27	2	2	NUM
fcis-32179	112	28	1	1	NUM
fcis-32179	112	29	1	1	NUM
fcis-32179	112	30	(	(	PUNCT
fcis-32179	112	31	)	)	PUNCT
fcis-32179	112	32	(	(	PUNCT
fcis-32179	112	33	|	|	ADV
fcis-32179	112	34	)	)	PUNCT
fcis-32179	112	35	(	(	PUNCT
fcis-32179	112	36	|	|	ADV
fcis-32179	112	37	)	)	PUNCT
fcis-32179	112	38	(	(	PUNCT
fcis-32179	112	39	|	|	ADV
fcis-32179	112	40	)	)	PUNCT
fcis-32179	112	41	(	(	PUNCT
fcis-32179	112	42	|	|	ADV
fcis-32179	112	43	)	)	PUNCT
fcis-32179	112	44	(	(	PUNCT
fcis-32179	112	45	|	|	ADV
fcis-32179	112	46	)	)	PUNCT
fcis-32179	112	47	p	p	NOUN
fcis-32179	112	48	c	c	PROPN
fcis-32179	112	49	n	n	CCONJ
fcis-32179	112	50	n	n	PRON
fcis-32179	112	51	ref	ref	NOUN
fcis-32179	112	52	rq	rq	VERB
fcis-32179	113	1	i	i	PRON
fcis-32179	114	1	i	i	PRON
fcis-32179	114	2	t	t	VERB
fcis-32179	115	1	t	t	PROPN
fcis-32179	116	1	p	p	X
fcis-32179	117	1	p	p	PROPN
fcis-32179	117	2	j	j	PROPN
fcis-32179	118	1	k	k	PROPN
fcis-32179	118	2	k	k	PROPN
fcis-32179	119	1	i	i	PRON
fcis-32179	119	2	t	t	X
fcis-32179	120	1	k	k	NOUN
fcis-32179	121	1	i	i	PRON
fcis-32179	121	2	t	t	VERB
fcis-32179	121	3	u	u	X
fcis-32179	122	1	k	k	PROPN
fcis-32179	122	2	i	i	PRON
fcis-32179	122	3	t	t	X
fcis-32179	122	4	k	k	PROPN
fcis-32179	123	1	n	n	PROPN
fcis-32179	123	2	t	t	X
fcis-32179	124	1	f	f	PROPN
fcis-32179	124	2	k	k	PROPN
fcis-32179	124	3	n	n	PROPN
fcis-32179	124	4	t	t	X
fcis-32179	124	5			NUM
fcis-32179	124	6			NUM
fcis-32179	124	7			NUM
fcis-32179	124	8			NUM
fcis-32179	124	9			PROPN
fcis-32179	124	10			VERB
fcis-32179	124	11			NOUN
fcis-32179	124	12			NUM
fcis-32179	124	13			PRON
fcis-32179	124	14			PROPN
fcis-32179	124	15			ADV
fcis-32179	124	16			PROPN
fcis-32179	124	17			ADV
fcis-32179	124	18			PUNCT
fcis-32179	124	19			NOUN
fcis-32179	124	20			PROPN
fcis-32179	124	21			PROPN
fcis-32179	124	22			PROPN
fcis-32179	124	23			VERB
fcis-32179	124	24			PUNCT
fcis-32179	124	25			X
fcis-32179	124	26			X
fcis-32179	124	27	(	(	PUNCT
fcis-32179	124	28	8)	8)	NUM
fcis-32179	124	29	(	(	PUNCT
fcis-32179	124	30	)	)	PUNCT
fcis-32179	124	31	(	(	PUNCT
fcis-32179	124	32	)	)	PUNCT
fcis-32179	124	33	(	(	PUNCT
fcis-32179	124	34	)	)	PUNCT
fcis-32179	124	35	2	2	NUM
fcis-32179	124	36	(	(	PUNCT
fcis-32179	124	37	)	)	PUNCT
fcis-32179	124	38	t	t	NOUN
fcis-32179	124	39	t	t	PROPN
fcis-32179	124	40	tj	tj	PROPN
fcis-32179	125	1	k	k	PROPN
fcis-32179	126	1	k	k	PROPN
fcis-32179	127	1	g	g	PROPN
fcis-32179	127	2	k	k	PROPN
fcis-32179	127	3	k	k	PROPN
fcis-32179	127	4	e	e	PUNCT
fcis-32179	127	5	u	u	SYM
fcis-32179	127	6	u	u	NOUN
fcis-32179	127	7	h	h	NOUN
fcis-32179	127	8	u	u	NOUN
fcis-32179	127	9			NOUN
fcis-32179	127	10			NOUN
fcis-32179	127	11			PROPN
fcis-32179	127	12			PROPN
fcis-32179	127	13			VERB
fcis-32179	127	14			NOUN
fcis-32179	127	15			PRON
fcis-32179	127	16			PUNCT
fcis-32179	127	17			VERB
fcis-32179	127	18			PROPN
fcis-32179	127	19	(	(	PUNCT
fcis-32179	127	20	9	9	NUM
fcis-32179	127	21	)	)	PUNCT
fcis-32179	128	1	in	in	ADP
fcis-32179	128	2	which	which	PRON
fcis-32179	128	3	;	;	PUNCT
fcis-32179	128	4	;	;	PUNCT
fcis-32179	128	5	t	t	PROPN
fcis-32179	128	6	t	t	X
fcis-32179	128	7	tg	tg	X
fcis-32179	128	8	q	q	PROPN
fcis-32179	129	1	e	e	X
fcis-32179	129	2	q	q	PROPN
fcis-32179	129	3	h	h	PROPN
fcis-32179	129	4	q	q	PUNCT
fcis-32179	129	5	r	r	PROPN
fcis-32179	129	6			NOUN
fcis-32179	129	7			NOUN
fcis-32179	130	1			PROPN
fcis-32179	130	2			NUM
fcis-32179	130	3			PROPN
fcis-32179	130	4			PROPN
fcis-32179	130	5			NOUN
fcis-32179	130	6	,	,	PUNCT
fcis-32179	130	7	;	;	PUNCT
fcis-32179	130	8	r	r	NOUN
fcis-32179	130	9	q	q	NOUN
fcis-32179	130	10	r	r	NOUN
fcis-32179	130	11	q	q	NOUN
fcis-32179	130	12	r	r	NOUN
fcis-32179	130	13	q	q	NOUN
fcis-32179	130	14	r	r	NOUN
fcis-32179	130	15	f	f	NOUN
fcis-32179	130	16			PROPN
fcis-32179	130	17			INTJ
fcis-32179	130	18			PROPN
fcis-32179	130	19			ADJ
fcis-32179	130	20			NOUN
fcis-32179	130	21			PROPN
fcis-32179	130	22			NOUN
fcis-32179	130	23			NOUN
fcis-32179	130	24			NOUN
fcis-32179	130	25			NOUN
fcis-32179	130	26			NOUN
fcis-32179	131	1			NOUN
fcis-32179	131	2			NUM
fcis-32179	131	3			NOUN
fcis-32179	131	4			NOUN
fcis-32179	131	5			NOUN
fcis-32179	131	6			NOUN
fcis-32179	131	7			NOUN
fcis-32179	131	8			NOUN
fcis-32179	131	9			NOUN
fcis-32179	131	10			NOUN
fcis-32179	131	11			NOUN
fcis-32179	131	12			PROPN
fcis-32179	131	13			PROPN
fcis-32179	131	14			PROPN
fcis-32179	131	15			PROPN
fcis-32179	131	16			PROPN
fcis-32179	131	17	since	since	SCONJ
fcis-32179	131	18	g	g	PROPN
fcis-32179	131	19	is	be	AUX
fcis-32179	131	20	a	a	DET
fcis-32179	131	21	known	know	VERB
fcis-32179	131	22	quantity	quantity	NOUN
fcis-32179	131	23	,	,	PUNCT
fcis-32179	131	24	the	the	DET
fcis-32179	131	25	first	first	ADJ
fcis-32179	131	26	term	term	NOUN
fcis-32179	131	27	represents	represent	VERB
fcis-32179	131	28	the	the	DET
fcis-32179	131	29	initial	initial	ADJ
fcis-32179	131	30	state	state	NOUN
fcis-32179	131	31	and	and	CCONJ
fcis-32179	131	32	does	do	AUX
fcis-32179	131	33	not	not	PART
fcis-32179	131	34	affect	affect	VERB
fcis-32179	131	35	the	the	DET
fcis-32179	131	36	minimization	minimization	NOUN
fcis-32179	131	37	of	of	ADP
fcis-32179	131	38	the	the	DET
fcis-32179	131	39	cost	cost	NOUN
fcis-32179	131	40	function	function	NOUN
fcis-32179	131	41	,	,	PUNCT
fcis-32179	131	42	thus	thus	ADV
fcis-32179	131	43	it	it	PRON
fcis-32179	131	44	can	can	AUX
fcis-32179	131	45	be	be	AUX
fcis-32179	131	46	neglected	neglect	VERB
fcis-32179	131	47	during	during	ADP
fcis-32179	131	48	the	the	DET
fcis-32179	131	49	optimization	optimization	NOUN
fcis-32179	131	50	process	process	NOUN
fcis-32179	131	51	.	.	PUNCT
fcis-32179	132	1	following	follow	VERB
fcis-32179	132	2	multi	multi	ADJ
fcis-32179	132	3	-	-	ADJ
fcis-32179	132	4	step	step	NOUN
fcis-32179	132	5	derivations	derivation	NOUN
fcis-32179	132	6	and	and	CCONJ
fcis-32179	132	7	omitting	omit	VERB
fcis-32179	132	8	constant	constant	ADJ
fcis-32179	132	9	terms	term	NOUN
fcis-32179	132	10	,	,	PUNCT
fcis-32179	132	11	the	the	DET
fcis-32179	132	12	problem	problem	NOUN
fcis-32179	132	13	can	can	AUX
fcis-32179	132	14	be	be	AUX
fcis-32179	132	15	transformed	transform	VERB
fcis-32179	132	16	into	into	ADP
fcis-32179	132	17	a	a	DET
fcis-32179	132	18	standard	standard	ADJ
fcis-32179	132	19	quadratic	quadratic	ADJ
fcis-32179	132	20	programming	programming	NOUN
fcis-32179	132	21	form	form	NOUN
fcis-32179	132	22	,	,	PUNCT
fcis-32179	132	23	with	with	ADP
fcis-32179	132	24	the	the	DET
fcis-32179	132	25	final	final	ADJ
fcis-32179	132	26	objective	objective	ADJ
fcis-32179	132	27	function	function	NOUN
fcis-32179	132	28	given	give	VERB
fcis-32179	132	29	by	by	ADP
fcis-32179	132	30	equation	equation	NOUN
fcis-32179	132	31	(	(	PUNCT
fcis-32179	132	32	10	10	NUM
fcis-32179	132	33	)	)	PUNCT
fcis-32179	132	34	.	.	PUNCT
fcis-32179	133	1	2	2	NUM
fcis-32179	133	2	01	01	NUM
fcis-32179	133	3	min	min	NOUN
fcis-32179	133	4	(	(	PUNCT
fcis-32179	133	5	)	)	PUNCT
fcis-32179	133	6	2	2	NUM
fcis-32179	133	7	(	(	PUNCT
fcis-32179	133	8	)	)	PUNCT
fcis-32179	133	9	0	0	NUM
fcis-32179	133	10	0	0	NUM
fcis-32179	133	11	22	22	NUM
fcis-32179	133	12	t	t	NOUN
fcis-32179	133	13	tu	tu	PROPN
fcis-32179	133	14	h	h	NOUN
fcis-32179	133	15	u	u	X
fcis-32179	133	16	u	u	NOUN
fcis-32179	133	17	j	j	PROPN
fcis-32179	133	18	k	k	PROPN
fcis-32179	133	19	k	k	PROPN
fcis-32179	133	20	e	e	PROPN
fcis-32179	134	1			PROPN
fcis-32179	134	2			ADP
fcis-32179	134	3			PROPN
fcis-32179	134	4			PROPN
fcis-32179	134	5			ADP
fcis-32179	134	6			NOUN
fcis-32179	134	7			NOUN
fcis-32179	134	8			NOUN
fcis-32179	134	9			INTJ
fcis-32179	134	10			PROPN
fcis-32179	134	11			ADJ
fcis-32179	134	12			PROPN
fcis-32179	134	13			ADJ
fcis-32179	134	14			PROPN
fcis-32179	134	15			PROPN
fcis-32179	134	16			VERB
fcis-32179	134	17			NOUN
fcis-32179	134	18			NOUN
fcis-32179	134	19			VERB
fcis-32179	134	20			ADJ
fcis-32179	134	21			NOUN
fcis-32179	134	22			NOUN
fcis-32179	134	23			NOUN
fcis-32179	134	24			NOUN
fcis-32179	134	25			NOUN
fcis-32179	134	26			PROPN
fcis-32179	134	27			PROPN
fcis-32179	134	28			NOUN
fcis-32179	134	29			PROPN
fcis-32179	134	30			NOUN
fcis-32179	134	31			PROPN
fcis-32179	134	32			NOUN
fcis-32179	134	33			PROPN
fcis-32179	134	34			VERB
fcis-32179	134	35			PROPN
fcis-32179	134	36			PROPN
fcis-32179	134	37			PROPN
fcis-32179	134	38	(	(	PUNCT
fcis-32179	134	39	10	10	NUM
fcis-32179	134	40	)	)	PUNCT
fcis-32179	134	41	4.2	4.2	NUM
fcis-32179	134	42	.	.	PUNCT
fcis-32179	135	1	constraint	constraint	NOUN
fcis-32179	135	2	formulation	formulation	NOUN
fcis-32179	135	3	given	give	VERB
fcis-32179	135	4	that	that	PRON
fcis-32179	135	5	haul	haul	NOUN
fcis-32179	135	6	trucks	truck	NOUN
fcis-32179	135	7	typically	typically	ADV
fcis-32179	135	8	operate	operate	VERB
fcis-32179	135	9	at	at	ADP
fcis-32179	135	10	low	low	ADJ
fcis-32179	135	11	speeds	speed	NOUN
fcis-32179	135	12	in	in	ADP
fcis-32179	135	13	localized	localized	ADJ
fcis-32179	135	14	environments	environment	NOUN
fcis-32179	135	15	,	,	PUNCT
fcis-32179	135	16	the	the	DET
fcis-32179	135	17	design	design	NOUN
fcis-32179	135	18	of	of	ADP
fcis-32179	135	19	the	the	DET
fcis-32179	135	20	control	control	NOUN
fcis-32179	135	21	strategy	strategy	NOUN
fcis-32179	135	22	must	must	AUX
fcis-32179	135	23	specifically	specifically	ADV
fcis-32179	135	24	account	account	VERB
fcis-32179	135	25	for	for	ADP
fcis-32179	135	26	constraints	constraint	NOUN
fcis-32179	135	27	on	on	ADP
fcis-32179	135	28	the	the	DET
fcis-32179	135	29	velocity	velocity	NOUN
fcis-32179	135	30	as	as	ADP
fcis-32179	135	31	a	a	DET
fcis-32179	135	32	control	control	NOUN
fcis-32179	135	33	variable	variable	NOUN
fcis-32179	135	34	,	,	PUNCT
fcis-32179	135	35	as	as	ADV
fcis-32179	135	36	well	well	ADV
fcis-32179	135	37	as	as	ADP
fcis-32179	135	38	limitations	limitation	NOUN
fcis-32179	135	39	on	on	ADP
fcis-32179	135	40	the	the	DET
fcis-32179	135	41	control	control	NOUN
fcis-32179	135	42	increments	increment	NOUN
fcis-32179	135	43	.	.	PUNCT
fcis-32179	136	1	by	by	ADP
fcis-32179	136	2	effectively	effectively	ADV
fcis-32179	136	3	constraining	constrain	VERB
fcis-32179	136	4	both	both	CCONJ
fcis-32179	136	5	the	the	DET
fcis-32179	136	6	speed	speed	NOUN
fcis-32179	136	7	and	and	CCONJ
fcis-32179	136	8	its	its	PRON
fcis-32179	136	9	incremental	incremental	ADJ
fcis-32179	136	10	changes	change	NOUN
fcis-32179	136	11	,	,	PUNCT
fcis-32179	136	12	it	it	PRON
fcis-32179	136	13	is	be	AUX
fcis-32179	136	14	possible	possible	ADJ
fcis-32179	136	15	to	to	PART
fcis-32179	136	16	enhance	enhance	VERB
fcis-32179	136	17	smoothness	smoothness	NOUN
fcis-32179	136	18	during	during	ADP
fcis-32179	136	19	control	control	NOUN
fcis-32179	136	20	execution	execution	NOUN
fcis-32179	136	21	,	,	PUNCT
fcis-32179	136	22	prevent	prevent	VERB
fcis-32179	136	23	abrupt	abrupt	ADJ
fcis-32179	136	24	acceleration	acceleration	NOUN
fcis-32179	136	25	or	or	CCONJ
fcis-32179	136	26	deceleration	deceleration	NOUN
fcis-32179	136	27	,	,	PUNCT
fcis-32179	136	28	and	and	CCONJ
fcis-32179	136	29	ensure	ensure	VERB
fcis-32179	136	30	stable	stable	ADJ
fcis-32179	136	31	vehicle	vehicle	NOUN
fcis-32179	136	32	operation	operation	NOUN
fcis-32179	136	33	with	with	ADP
fcis-32179	136	34	improved	improved	ADJ
fcis-32179	136	35	control	control	NOUN
fcis-32179	136	36	accuracy	accuracy	NOUN
fcis-32179	136	37	.	.	PUNCT
fcis-32179	137	1	the	the	DET
fcis-32179	137	2	constraints	constraint	NOUN
fcis-32179	137	3	are	be	AUX
fcis-32179	137	4	formulated	formulate	VERB
fcis-32179	137	5	as	as	SCONJ
fcis-32179	137	6	follows	follow	VERB
fcis-32179	137	7	min	min	PROPN
fcis-32179	137	8	max	max	PROPN
fcis-32179	137	9	min	min	PROPN
fcis-32179	137	10	max	max	PROPN
fcis-32179	137	11	(	(	PUNCT
fcis-32179	137	12	)	)	PUNCT
fcis-32179	137	13	(	(	PUNCT
fcis-32179	137	14	)	)	PUNCT
fcis-32179	137	15	(	(	PUNCT
fcis-32179	137	16	)	)	PUNCT
fcis-32179	137	17	0,1	0,1	NUM
fcis-32179	137	18	,	,	PUNCT
fcis-32179	137	19	,	,	PUNCT
fcis-32179	137	20	1	1	NUM
fcis-32179	137	21	(	(	PUNCT
fcis-32179	137	22	)	)	PUNCT
fcis-32179	137	23	(	(	PUNCT
fcis-32179	138	1	)	)	PUNCT
fcis-32179	138	2	(	(	PUNCT
fcis-32179	138	3	)	)	PUNCT
fcis-32179	138	4	c	c	NOUN
fcis-32179	138	5	u	u	NOUN
fcis-32179	138	6	t	t	X
fcis-32179	138	7	k	k	X
fcis-32179	138	8	u	u	PROPN
fcis-32179	139	1	t	t	PROPN
fcis-32179	139	2	k	k	X
fcis-32179	139	3	u	u	PROPN
fcis-32179	140	1	t	t	PROPN
fcis-32179	141	1	k	k	PROPN
fcis-32179	142	1	k	k	PROPN
fcis-32179	143	1	n	n	CCONJ
fcis-32179	144	1	u	u	NOUN
fcis-32179	144	2	t	t	NOUN
fcis-32179	144	3	k	k	X
fcis-32179	144	4	u	u	PROPN
fcis-32179	144	5	t	t	PROPN
fcis-32179	144	6	k	k	X
fcis-32179	144	7	u	u	PROPN
fcis-32179	144	8	t	t	PROPN
fcis-32179	144	9	k	k	PROPN
fcis-32179	144	10			PROPN
fcis-32179	144	11			PROPN
fcis-32179	144	12			ADV
fcis-32179	144	13			NOUN
fcis-32179	144	14			NUM
fcis-32179	144	15			NUM
fcis-32179	144	16			NUM
fcis-32179	144	17			ADJ
fcis-32179	144	18			NUM
fcis-32179	144	19			NOUN
fcis-32179	144	20			VERB
fcis-32179	144	21			NOUN
fcis-32179	144	22			PUNCT
fcis-32179	144	23			DET
fcis-32179	144	24			NOUN
fcis-32179	144	25	(	(	PUNCT
fcis-32179	144	26	11	11	NUM
fcis-32179	144	27	)	)	SYM
fcis-32179	144	28	5	5	NUM
fcis-32179	144	29	.	.	X
fcis-32179	144	30	simulation	simulation	NOUN
fcis-32179	144	31	and	and	CCONJ
fcis-32179	144	32	experimental	experimental	ADJ
fcis-32179	144	33	analysis	analysis	NOUN
fcis-32179	144	34	to	to	PART
fcis-32179	144	35	validate	validate	VERB
fcis-32179	144	36	the	the	DET
fcis-32179	144	37	feasibility	feasibility	NOUN
fcis-32179	144	38	and	and	CCONJ
fcis-32179	144	39	effectiveness	effectiveness	NOUN
fcis-32179	144	40	of	of	ADP
fcis-32179	144	41	the	the	DET
fcis-32179	144	42	proposed	propose	VERB
fcis-32179	144	43	weighted	weight	VERB
fcis-32179	144	44	hybrid	hybrid	ADJ
fcis-32179	144	45	control	control	NOUN
fcis-32179	144	46	strategy	strategy	NOUN
fcis-32179	144	47	integrating	integrate	VERB
fcis-32179	144	48	mpc	mpc	NOUN
fcis-32179	144	49	and	and	CCONJ
fcis-32179	144	50	pure	pure	ADJ
fcis-32179	144	51	pursuit	pursuit	NOUN
fcis-32179	144	52	(	(	PUNCT
fcis-32179	144	53	pp	pp	ADJ
fcis-32179	144	54	)	)	PUNCT
fcis-32179	144	55	control	control	NOUN
fcis-32179	144	56	,	,	PUNCT
fcis-32179	144	57	a	a	DET
fcis-32179	144	58	co	co	NOUN
fcis-32179	144	59	-	-	NOUN
fcis-32179	144	60	simulation	simulation	NOUN
fcis-32179	144	61	study	study	NOUN
fcis-32179	144	62	was	be	AUX
fcis-32179	144	63	conducted	conduct	VERB
fcis-32179	144	64	using	use	VERB
fcis-32179	144	65	the	the	DET
fcis-32179	144	66	carsim	carsim	NOUN
fcis-32179	144	67	and	and	CCONJ
fcis-32179	144	68	matlab	matlab	PROPN
fcis-32179	144	69	/	/	SYM
fcis-32179	144	70	simulink	simulink	PROPN
fcis-32179	144	71	platform	platform	NOUN
fcis-32179	144	72	.	.	PUNCT
fcis-32179	145	1	a	a	DET
fcis-32179	145	2	doublelane	doublelane	PROPN
fcis-32179	145	3	change	change	NOUN
fcis-32179	145	4	trajectory	trajectory	NOUN
fcis-32179	145	5	was	be	AUX
fcis-32179	145	6	employed	employ	VERB
fcis-32179	145	7	as	as	ADP
fcis-32179	145	8	the	the	DET
fcis-32179	145	9	reference	reference	NOUN
fcis-32179	145	10	path	path	NOUN
fcis-32179	145	11	to	to	PART
fcis-32179	145	12	evaluate	evaluate	VERB
fcis-32179	145	13	the	the	DET
fcis-32179	145	14	path	path	NOUN
fcis-32179	145	15	-	-	PUNCT
fcis-32179	145	16	tracking	track	VERB
fcis-32179	145	17	performance	performance	NOUN
fcis-32179	145	18	of	of	ADP
fcis-32179	145	19	the	the	DET
fcis-32179	145	20	proposed	propose	VERB
fcis-32179	145	21	controller	controller	NOUN
fcis-32179	145	22	on	on	ADP
fcis-32179	145	23	roads	road	NOUN
fcis-32179	145	24	with	with	ADP
fcis-32179	145	25	varying	vary	VERB
fcis-32179	145	26	curvature	curvature	NOUN
fcis-32179	145	27	.	.	PUNCT
fcis-32179	146	1	the	the	DET
fcis-32179	146	2	mathematical	mathematical	ADJ
fcis-32179	146	3	expression	expression	NOUN
fcis-32179	146	4	of	of	ADP
fcis-32179	146	5	the	the	DET
fcis-32179	146	6	reference	reference	NOUN
fcis-32179	146	7	path	path	NOUN
fcis-32179	146	8	is	be	AUX
fcis-32179	146	9	given	give	VERB
fcis-32179	146	10	by	by	ADP
fcis-32179	146	11	)	)	PUNCT
fcis-32179	146	12	]	]	X
fcis-32179	146	13	2tanh(1	2tanh(1	NOUN
fcis-32179	146	14	[	[	PUNCT
fcis-32179	146	15	2	2	NUM
fcis-32179	146	16	2	2	NUM
fcis-32179	146	17	]	]	PUNCT
fcis-32179	146	18	tanh(r1)1	tanh(r1)1	ADJ
fcis-32179	146	19	[	[	PUNCT
fcis-32179	146	20	2	2	NUM
fcis-32179	146	21	1	1	NUM
fcis-32179	146	22	y	y	NOUN
fcis-32179	146	23	r	r	NOUN
fcis-32179	146	24	dndn	dndn	ADJ
fcis-32179	146	25			X
fcis-32179	146	26	(	(	PUNCT
fcis-32179	146	27	12	12	NUM
fcis-32179	146	28	)	)	PUNCT
fcis-32179	146	29	)	)	PUNCT
fcis-32179	146	30	]	]	PUNCT
fcis-32179	147	1	dm2	dm2	PROPN
fcis-32179	147	2	1.2	1.2	NUM
fcis-32179	147	3	(	(	PUNCT
fcis-32179	147	4	)	)	PUNCT
fcis-32179	147	5	cosh(r2	cosh(r2	NOUN
fcis-32179	147	6	)	)	PUNCT
fcis-32179	147	7	1	1	NUM
fcis-32179	147	8	dn2(-	dn2(-	NUM
fcis-32179	147	9	)	)	PUNCT
fcis-32179	147	10	dm1	dm1	PROPN
fcis-32179	147	11	1.2	1.2	NUM
fcis-32179	147	12	(	(	PUNCT
fcis-32179	147	13	)	)	PUNCT
fcis-32179	147	14	cosh(r1	cosh(r1	PROPN
fcis-32179	147	15	)	)	PUNCT
fcis-32179	147	16	1	1	NUM
fcis-32179	147	17	(	(	PUNCT
fcis-32179	147	18	arctan[dn1	arctan[dn1	PROPN
fcis-32179	147	19	22	22	NUM
fcis-32179	147	20	(	(	PUNCT
fcis-32179	147	21	13	13	NUM
fcis-32179	147	22	)	)	PUNCT
fcis-32179	147	23	in	in	ADP
fcis-32179	147	24	which	which	PRON
fcis-32179	147	25	5.4251562601	5.4251562601	NUM
fcis-32179	147	26	2.1)120	2.1)120	NOUN
fcis-32179	147	27	(	(	PUNCT
fcis-32179	147	28	2	2	NUM
fcis-32179	147	29	4.2	4.2	NUM
fcis-32179	147	30	22.1)60	22.1)60	NUM
fcis-32179	147	31	(	(	PUNCT
fcis-32179	147	32	1	1	NUM
fcis-32179	147	33	2.4	2.4	NUM
fcis-32179	147	34	1	1	NUM
fcis-32179	147	35			PROPN
fcis-32179	147	36			NOUN
fcis-32179	147	37	dndndmdm	dndndmdm	NOUN
fcis-32179	147	38	x	x	PUNCT
fcis-32179	147	39	dm	dm	AUX
fcis-32179	147	40	rx	rx	VERB
fcis-32179	147	41	dm	dm	PROPN
fcis-32179	147	42	r	r	NOUN
fcis-32179	147	43	；	；	NOUN
fcis-32179	147	44	；	；	X
fcis-32179	147	45	；	；	NOUN
fcis-32179	147	46	；	；	NOUN
fcis-32179	147	47	5.1	5.1	NUM
fcis-32179	147	48	.	.	PUNCT
fcis-32179	148	1	sensitivity	sensitivity	NOUN
fcis-32179	148	2	analysis	analysis	NOUN
fcis-32179	148	3	of	of	ADP
fcis-32179	148	4	weighting	weight	VERB
fcis-32179	148	5	parameters	parameter	NOUN
fcis-32179	148	6	for	for	ADP
fcis-32179	148	7	the	the	DET
fcis-32179	148	8	experimental	experimental	ADJ
fcis-32179	148	9	methodology	methodology	NOUN
fcis-32179	148	10	of	of	ADP
fcis-32179	148	11	weighted	weight	VERB
fcis-32179	148	12	hybrid	hybrid	ADJ
fcis-32179	148	13	tracking	tracking	NOUN
fcis-32179	148	14	,	,	PUNCT
fcis-32179	148	15	the	the	DET
fcis-32179	148	16	allocation	allocation	NOUN
fcis-32179	148	17	of	of	ADP
fcis-32179	148	18	tracking	track	VERB
fcis-32179	148	19	weight	weight	NOUN
fcis-32179	148	20	(	(	PUNCT
fcis-32179	148	21	α_track	α_track	NOUN
fcis-32179	148	22	)	)	PUNCT
fcis-32179	148	23	and	and	CCONJ
fcis-32179	148	24	steering	steer	VERB
fcis-32179	148	25	weight	weight	NOUN
fcis-32179	148	26	(	(	PUNCT
fcis-32179	148	27	β_steer	β_steer	NOUN
fcis-32179	148	28	)	)	PUNCT
fcis-32179	148	29	was	be	AUX
fcis-32179	148	30	performed	perform	VERB
fcis-32179	148	31	.	.	PUNCT
fcis-32179	149	1	to	to	PART
fcis-32179	149	2	systematically	systematically	ADV
fcis-32179	149	3	analyze	analyze	VERB
fcis-32179	149	4	the	the	DET
fcis-32179	149	5	impact	impact	NOUN
fcis-32179	149	6	of	of	ADP
fcis-32179	149	7	weight	weight	NOUN
fcis-32179	149	8	distribution	distribution	NOUN
fcis-32179	149	9	between	between	ADP
fcis-32179	149	10	the	the	DET
fcis-32179	149	11	mpc	mpc	NOUN
fcis-32179	149	12	and	and	CCONJ
fcis-32179	149	13	pure	pure	ADJ
fcis-32179	149	14	pursuit	pursuit	NOUN
fcis-32179	149	15	controllers	controller	NOUN
fcis-32179	149	16	,	,	PUNCT
fcis-32179	149	17	a	a	DET
fcis-32179	149	18	three	three	NUM
fcis-32179	149	19	-	-	PUNCT
fcis-32179	149	20	level	level	NOUN
fcis-32179	149	21	orthogonal	orthogonal	ADJ
fcis-32179	149	22	array	array	NOUN
fcis-32179	149	23	design	design	NOUN
fcis-32179	149	24	was	be	AUX
fcis-32179	149	25	adopted	adopt	VERB
fcis-32179	149	26	in	in	ADP
fcis-32179	149	27	this	this	DET
fcis-32179	149	28	study	study	NOUN
fcis-32179	149	29	to	to	PART
fcis-32179	149	30	efficiently	efficiently	ADV
fcis-32179	149	31	evaluate	evaluate	VERB
fcis-32179	149	32	each	each	DET
fcis-32179	149	33	normalized	normalize	VERB
fcis-32179	149	34	parameter	parameter	NOUN
fcis-32179	149	35	.	.	PUNCT
fcis-32179	150	1	α_track	α_track	PROPN
fcis-32179	150	2	:	:	PUNCT
fcis-32179	150	3	represents	represent	VERB
fcis-32179	150	4	the	the	DET
fcis-32179	150	5	proportion	proportion	NOUN
fcis-32179	150	6	of	of	ADP
fcis-32179	150	7	mpc	mpc	NOUN
fcis-32179	150	8	in	in	ADP
fcis-32179	150	9	the	the	DET
fcis-32179	150	10	total	total	ADJ
fcis-32179	150	11	tracking	tracking	NOUN
fcis-32179	150	12	error	error	NOUN
fcis-32179	150	13	weight	weight	NOUN
fcis-32179	150	14	,	,	PUNCT
fcis-32179	150	15	with	with	ADP
fcis-32179	150	16	level	level	NOUN
fcis-32179	150	17	values	value	NOUN
fcis-32179	150	18	{	{	PUNCT
fcis-32179	150	19	0.2	0.2	NUM
fcis-32179	150	20	,	,	PUNCT
fcis-32179	150	21	0.5	0.5	NUM
fcis-32179	150	22	,	,	PUNCT
fcis-32179	150	23	0.8	0.8	NUM
fcis-32179	150	24	}	}	PUNCT
fcis-32179	150	25	corresponding	correspond	VERB
fcis-32179	150	26	to	to	ADP
fcis-32179	150	27	"	"	PUNCT
fcis-32179	150	28	pp	pp	ADJ
fcis-32179	150	29	-	-	PUNCT
fcis-32179	150	30	dominant	dominant	NOUN
fcis-32179	150	31	,	,	PUNCT
fcis-32179	150	32	"	"	PUNCT
fcis-32179	150	33	"	"	PUNCT
fcis-32179	150	34	balanced	balanced	ADJ
fcis-32179	150	35	,	,	PUNCT
fcis-32179	150	36	"	"	PUNCT
fcis-32179	150	37	and	and	CCONJ
fcis-32179	150	38	"	"	PUNCT
fcis-32179	150	39	mpcdominant	mpcdominant	NOUN
fcis-32179	150	40	"	"	PUNCT
fcis-32179	150	41	tracking	tracking	NOUN
fcis-32179	150	42	strategies	strategy	NOUN
fcis-32179	150	43	,	,	PUNCT
fcis-32179	150	44	respectively	respectively	ADV
fcis-32179	150	45	.	.	PUNCT
fcis-32179	151	1	β_steer	β_steer	PROPN
fcis-32179	151	2	:	:	PUNCT
fcis-32179	151	3	denotes	denote	VERB
fcis-32179	151	4	the	the	DET
fcis-32179	151	5	proportion	proportion	NOUN
fcis-32179	151	6	of	of	ADP
fcis-32179	151	7	mpc	mpc	NOUN
fcis-32179	151	8	in	in	ADP
fcis-32179	151	9	the	the	DET
fcis-32179	151	10	total	total	ADJ
fcis-32179	151	11	steering	steering	NOUN
fcis-32179	151	12	cost	cost	NOUN
fcis-32179	151	13	weight	weight	NOUN
fcis-32179	151	14	,	,	PUNCT
fcis-32179	151	15	with	with	ADP
fcis-32179	151	16	level	level	NOUN
fcis-32179	151	17	values	value	NOUN
fcis-32179	151	18	{	{	PUNCT
fcis-32179	151	19	0.3	0.3	NUM
fcis-32179	151	20	,	,	PUNCT
fcis-32179	151	21	0.5	0.5	NUM
fcis-32179	151	22	,	,	PUNCT
fcis-32179	151	23	0.7	0.7	NUM
fcis-32179	151	24	}	}	PUNCT
fcis-32179	151	25	used	use	VERB
fcis-32179	151	26	to	to	PART
fcis-32179	151	27	explore	explore	VERB
fcis-32179	151	28	the	the	DET
fcis-32179	151	29	transition	transition	NOUN
fcis-32179	151	30	from	from	ADP
fcis-32179	151	31	pp	pp	ADV
fcis-32179	151	32	to	to	ADP
fcis-32179	151	33	mpc	mpc	NOUN
fcis-32179	151	34	in	in	ADP
fcis-32179	151	35	steering	steering	NOUN
fcis-32179	151	36	control	control	NOUN
fcis-32179	151	37	.	.	PUNCT
fcis-32179	152	1	based	base	VERB
fcis-32179	152	2	on	on	ADP
fcis-32179	152	3	the	the	DET
fcis-32179	152	4	above	above	ADJ
fcis-32179	152	5	selections	selection	NOUN
fcis-32179	152	6	,	,	PUNCT
fcis-32179	152	7	a	a	DET
fcis-32179	152	8	total	total	NOUN
fcis-32179	152	9	of	of	ADP
fcis-32179	152	10	nine	nine	NUM
fcis-32179	152	11	experimental	experimental	ADJ
fcis-32179	152	12	orthogonal	orthogonal	ADJ
fcis-32179	152	13	arrays	array	NOUN
fcis-32179	152	14	were	be	AUX
fcis-32179	152	15	derived	derive	VERB
fcis-32179	152	16	.	.	PUNCT
fcis-32179	153	1	simulations	simulation	NOUN
fcis-32179	153	2	under	under	ADP
fcis-32179	153	3	doublelane	doublelane	NOUN
fcis-32179	153	4	change	change	NOUN
fcis-32179	153	5	conditions	condition	NOUN
fcis-32179	153	6	recorded	record	VERB
fcis-32179	153	7	the	the	DET
fcis-32179	153	8	lateral	lateral	ADJ
fcis-32179	153	9	error	error	NOUN
fcis-32179	153	10	results	result	NOUN
fcis-32179	153	11	,	,	PUNCT
fcis-32179	153	12	with	with	ADP
fcis-32179	153	13	experiments	experiment	NOUN
fcis-32179	153	14	conducted	conduct	VERB
fcis-32179	153	15	at	at	ADP
fcis-32179	153	16	a	a	DET
fcis-32179	153	17	speed	speed	NOUN
fcis-32179	153	18	of	of	ADP
fcis-32179	153	19	15	15	NUM
fcis-32179	153	20	km	km	NOUN
fcis-32179	153	21	/	/	SYM
fcis-32179	153	22	h.	h.	NOUN
fcis-32179	153	23	the	the	DET
fcis-32179	153	24	mean	mean	ADJ
fcis-32179	153	25	absolute	absolute	ADJ
fcis-32179	153	26	error	error	NOUN
fcis-32179	153	27	(	(	PUNCT
fcis-32179	153	28	mae	mae	PROPN
fcis-32179	153	29	)	)	PUNCT
fcis-32179	153	30	,	,	PUNCT
fcis-32179	153	31	error	error	NOUN
fcis-32179	153	32	fluctuation	fluctuation	NOUN
fcis-32179	153	33	(	(	PUNCT
fcis-32179	153	34	standard	standard	ADJ
fcis-32179	153	35	deviation	deviation	NOUN
fcis-32179	153	36	,	,	PUNCT
fcis-32179	153	37	std	std	NOUN
fcis-32179	153	38	)	)	PUNCT
fcis-32179	153	39	,	,	PUNCT
fcis-32179	153	40	and	and	CCONJ
fcis-32179	153	41	worst	bad	ADJ
fcis-32179	153	42	-	-	PUNCT
fcis-32179	153	43	case	case	NOUN
fcis-32179	153	44	deviation	deviation	NOUN
fcis-32179	153	45	(	(	PUNCT
fcis-32179	153	46	max	max	PROPN
fcis-32179	153	47	)	)	PUNCT
fcis-32179	153	48	across	across	ADP
fcis-32179	153	49	all	all	DET
fcis-32179	153	50	time	time	NOUN
fcis-32179	153	51	steps	step	NOUN
fcis-32179	153	52	and	and	CCONJ
fcis-32179	153	53	repeated	repeat	VERB
fcis-32179	153	54	experiments	experiment	NOUN
fcis-32179	153	55	were	be	AUX
fcis-32179	153	56	calculated	calculate	VERB
fcis-32179	153	57	.	.	PUNCT
fcis-32179	154	1	the	the	DET
fcis-32179	154	2	range	range	NOUN
fcis-32179	154	3	analysis	analysis	NOUN
fcis-32179	154	4	method	method	NOUN
fcis-32179	154	5	of	of	ADP
fcis-32179	154	6	orthogonal	orthogonal	ADJ
fcis-32179	154	7	experiments	experiment	NOUN
fcis-32179	154	8	was	be	AUX
fcis-32179	154	9	then	then	ADV
fcis-32179	154	10	applied	apply	VERB
fcis-32179	154	11	to	to	ADP
fcis-32179	154	12	81	81	NUM
fcis-32179	154	13	determine	determine	NOUN
fcis-32179	154	14	parameter	parameter	NOUN
fcis-32179	154	15	significance	significance	NOUN
fcis-32179	154	16	,	,	PUNCT
fcis-32179	154	17	and	and	CCONJ
fcis-32179	154	18	the	the	DET
fcis-32179	154	19	interaction	interaction	NOUN
fcis-32179	154	20	effects	effect	NOUN
fcis-32179	154	21	were	be	AUX
fcis-32179	154	22	visualized	visualize	VERB
fcis-32179	154	23	using	use	VERB
fcis-32179	154	24	a	a	DET
fcis-32179	154	25	heatmap	heatmap	NOUN
fcis-32179	154	26	,	,	PUNCT
fcis-32179	154	27	as	as	SCONJ
fcis-32179	154	28	shown	show	VERB
fcis-32179	154	29	in	in	ADP
fcis-32179	154	30	figure	figure	NOUN
fcis-32179	154	31	4	4	NUM
fcis-32179	154	32	.	.	PUNCT
fcis-32179	154	33	figure	figure	VERB
fcis-32179	154	34	4	4	NUM
fcis-32179	154	35	.	.	PUNCT
fcis-32179	155	1	heatmap	heatmap	NOUN
fcis-32179	155	2	of	of	ADP
fcis-32179	155	3	interaction	interaction	NOUN
fcis-32179	155	4	effects	effect	NOUN
fcis-32179	155	5	range	range	VERB
fcis-32179	155	6	analysis	analysis	NOUN
fcis-32179	155	7	indicates	indicate	VERB
fcis-32179	155	8	that	that	SCONJ
fcis-32179	155	9	the	the	DET
fcis-32179	155	10	parameter	parameter	NOUN
fcis-32179	155	11	combination	combination	NOUN
fcis-32179	155	12	(	(	PUNCT
fcis-32179	155	13	α=0.2	α=0.2	ADV
fcis-32179	155	14	,	,	PUNCT
fcis-32179	155	15	β=0.7	β=0.7	NUM
fcis-32179	155	16	)	)	PUNCT
fcis-32179	155	17	falls	fall	VERB
fcis-32179	155	18	within	within	ADP
fcis-32179	155	19	the	the	DET
fcis-32179	155	20	low	low	ADJ
fcis-32179	155	21	-	-	PUNCT
fcis-32179	155	22	error	error	NOUN
fcis-32179	155	23	region	region	NOUN
fcis-32179	155	24	(	(	PUNCT
fcis-32179	155	25	mae=0.01359	mae=0.01359	NOUN
fcis-32179	155	26	)	)	PUNCT
fcis-32179	155	27	.	.	PUNCT
fcis-32179	156	1	consequently	consequently	ADV
fcis-32179	156	2	,	,	PUNCT
fcis-32179	156	3	the	the	DET
fcis-32179	156	4	weight	weight	NOUN
fcis-32179	156	5	allocation	allocation	NOUN
fcis-32179	156	6	for	for	ADP
fcis-32179	156	7	the	the	DET
fcis-32179	156	8	weighted	weight	VERB
fcis-32179	156	9	hybrid	hybrid	NOUN
fcis-32179	156	10	control	control	NOUN
fcis-32179	156	11	strategy	strategy	NOUN
fcis-32179	156	12	is	be	AUX
fcis-32179	156	13	determined	determine	VERB
fcis-32179	156	14	as	as	SCONJ
fcis-32179	156	15	shown	show	VERB
fcis-32179	156	16	in	in	ADP
fcis-32179	156	17	table	table	NOUN
fcis-32179	156	18	1	1	NUM
fcis-32179	156	19	.	.	PUNCT
fcis-32179	156	20	table	table	NOUN
fcis-32179	156	21	1	1	NUM
fcis-32179	156	22	.	.	PUNCT
fcis-32179	156	23	weight	weight	NOUN
fcis-32179	156	24	allocation	allocation	NOUN
fcis-32179	156	25	control	control	NOUN
fcis-32179	156	26	scheme	scheme	NOUN
fcis-32179	156	27	tracking	tracking	NOUN
fcis-32179	156	28	weight	weight	NOUN
fcis-32179	156	29	(	(	PUNCT
fcis-32179	156	30	α_track	α_track	NOUN
fcis-32179	156	31	)	)	PUNCT
fcis-32179	156	32	steering	steer	VERB
fcis-32179	156	33	weight	weight	NOUN
fcis-32179	156	34	(	(	PUNCT
fcis-32179	156	35	β_steer	β_steer	NOUN
fcis-32179	156	36	)	)	PUNCT
fcis-32179	156	37	mpc	mpc	NOUN
fcis-32179	156	38	control	control	NOUN
fcis-32179	156	39	0.2	0.2	NUM
fcis-32179	156	40	0.7	0.7	NUM
fcis-32179	156	41	pure	pure	ADJ
fcis-32179	156	42	pursuit	pursuit	NOUN
fcis-32179	156	43	control	control	NOUN
fcis-32179	156	44	0.8	0.8	NUM
fcis-32179	156	45	0.3	0.3	NUM
fcis-32179	156	46	5.2	5.2	NUM
fcis-32179	156	47	.	.	PUNCT
fcis-32179	157	1	simulation	simulation	NOUN
fcis-32179	157	2	results	result	VERB
fcis-32179	157	3	comparison	comparison	NOUN
fcis-32179	157	4	for	for	ADP
fcis-32179	157	5	the	the	DET
fcis-32179	157	6	mpc	mpc	NOUN
fcis-32179	157	7	controller	controller	NOUN
fcis-32179	157	8	,	,	PUNCT
fcis-32179	157	9	the	the	DET
fcis-32179	157	10	prediction	prediction	NOUN
fcis-32179	157	11	horizon	horizon	NOUN
fcis-32179	157	12	was	be	AUX
fcis-32179	157	13	set	set	VERB
fcis-32179	157	14	to	to	ADP
fcis-32179	157	15	50	50	NUM
fcis-32179	157	16	,	,	PUNCT
fcis-32179	157	17	the	the	DET
fcis-32179	157	18	control	control	NOUN
fcis-32179	157	19	horizon	horizon	PROPN
fcis-32179	157	20	to	to	ADP
fcis-32179	157	21	20	20	NUM
fcis-32179	157	22	,	,	PUNCT
fcis-32179	157	23	the	the	DET
fcis-32179	157	24	simulation	simulation	NOUN
fcis-32179	157	25	time	time	NOUN
fcis-32179	157	26	to	to	ADP
fcis-32179	157	27	40	40	NUM
fcis-32179	157	28	s	s	NOUN
fcis-32179	157	29	,	,	PUNCT
fcis-32179	157	30	and	and	CCONJ
fcis-32179	157	31	the	the	DET
fcis-32179	157	32	vehicle	vehicle	NOUN
fcis-32179	157	33	speed	speed	NOUN
fcis-32179	157	34	to	to	ADP
fcis-32179	157	35	4	4	NUM
fcis-32179	157	36	m	m	NOUN
fcis-32179	157	37	/	/	SYM
fcis-32179	157	38	s.	s.	PROPN
fcis-32179	157	39	the	the	DET
fcis-32179	157	40	tracking	tracking	NOUN
fcis-32179	157	41	performance	performance	NOUN
fcis-32179	157	42	of	of	ADP
fcis-32179	157	43	both	both	CCONJ
fcis-32179	157	44	the	the	DET
fcis-32179	157	45	mpc	mpc	NOUN
fcis-32179	157	46	and	and	CCONJ
fcis-32179	157	47	the	the	DET
fcis-32179	157	48	weighted	weight	VERB
fcis-32179	157	49	hybrid	hybrid	ADJ
fcis-32179	157	50	control	control	NOUN
fcis-32179	157	51	strategies	strategy	NOUN
fcis-32179	157	52	was	be	AUX
fcis-32179	157	53	validated	validate	VERB
fcis-32179	157	54	under	under	ADP
fcis-32179	157	55	the	the	DET
fcis-32179	157	56	same	same	ADJ
fcis-32179	157	57	reference	reference	NOUN
fcis-32179	157	58	path	path	NOUN
fcis-32179	157	59	.	.	PUNCT
fcis-32179	158	1	the	the	DET
fcis-32179	158	2	specific	specific	ADJ
fcis-32179	158	3	parameters	parameter	NOUN
fcis-32179	158	4	for	for	ADP
fcis-32179	158	5	the	the	DET
fcis-32179	158	6	mpc	mpc	PROPN
fcis-32179	158	7	simulation	simulation	NOUN
fcis-32179	158	8	and	and	CCONJ
fcis-32179	158	9	the	the	DET
fcis-32179	158	10	weighted	weight	VERB
fcis-32179	158	11	hybrid	hybrid	ADJ
fcis-32179	158	12	control	control	NOUN
fcis-32179	158	13	experiment	experiment	NOUN
fcis-32179	158	14	are	be	AUX
fcis-32179	158	15	listed	list	VERB
fcis-32179	158	16	in	in	ADP
fcis-32179	158	17	table	table	NOUN
fcis-32179	158	18	2	2	NUM
fcis-32179	158	19	.	.	PUNCT
fcis-32179	158	20	table	table	NOUN
fcis-32179	158	21	2	2	NUM
fcis-32179	158	22	.	.	PUNCT
fcis-32179	159	1	experimental	experimental	ADJ
fcis-32179	159	2	parameters	parameter	NOUN
fcis-32179	159	3	comparison	comparison	VERB
fcis-32179	159	4	experimental	experimental	ADJ
fcis-32179	159	5	class	class	NOUN
fcis-32179	159	6	wheelbase	wheelbase	NOUN
fcis-32179	159	7	,	,	PUNCT
fcis-32179	159	8	l	l	NOUN
fcis-32179	159	9	(	(	PUNCT
fcis-32179	159	10	m	m	NOUN
fcis-32179	159	11	)	)	PUNCT
fcis-32179	159	12	q	q	NOUN
fcis-32179	160	1	r	r	NOUN
fcis-32179	160	2	mpc	mpc	NOUN
fcis-32179	160	3	3.75	3.75	NUM
fcis-32179	160	4	10	10	NUM
fcis-32179	160	5	100	100	NUM
fcis-32179	160	6	weighted	weight	VERB
fcis-32179	160	7	hybrid	hybrid	ADJ
fcis-32179	160	8	control	control	NOUN
fcis-32179	160	9	3.75	3.75	NUM
fcis-32179	160	10	100	100	NUM
fcis-32179	160	11	10	10	NUM
fcis-32179	160	12	the	the	DET
fcis-32179	160	13	path	path	NOUN
fcis-32179	160	14	tracking	tracking	NOUN
fcis-32179	160	15	results	result	NOUN
fcis-32179	160	16	are	be	AUX
fcis-32179	160	17	shown	show	VERB
fcis-32179	160	18	in	in	ADP
fcis-32179	160	19	figure	figure	NOUN
fcis-32179	160	20	5	5	NUM
fcis-32179	160	21	.	.	PUNCT
fcis-32179	160	22	figure	figure	NOUN
fcis-32179	160	23	5	5	NUM
fcis-32179	160	24	.	.	PUNCT
fcis-32179	160	25	path	path	NOUN
fcis-32179	160	26	tracking	tracking	NOUN
fcis-32179	160	27	performance	performance	NOUN
fcis-32179	160	28	diagram	diagram	NOUN
fcis-32179	160	29	figure	figure	NOUN
fcis-32179	160	30	6	6	NUM
fcis-32179	160	31	illustrates	illustrate	VERB
fcis-32179	160	32	the	the	DET
fcis-32179	160	33	path	path	NOUN
fcis-32179	160	34	-	-	PUNCT
fcis-32179	160	35	tracking	track	VERB
fcis-32179	160	36	lateral	lateral	ADJ
fcis-32179	160	37	errors	error	NOUN
fcis-32179	160	38	under	under	ADP
fcis-32179	160	39	both	both	DET
fcis-32179	160	40	mpc	mpc	NOUN
fcis-32179	160	41	and	and	CCONJ
fcis-32179	160	42	the	the	DET
fcis-32179	160	43	weighted	weight	VERB
fcis-32179	160	44	hybrid	hybrid	ADJ
fcis-32179	160	45	control	control	NOUN
fcis-32179	160	46	strategies	strategy	NOUN
fcis-32179	160	47	,	,	PUNCT
fcis-32179	160	48	82	82	NUM
fcis-32179	160	49	demonstrating	demonstrate	VERB
fcis-32179	160	50	the	the	DET
fcis-32179	160	51	error	error	NOUN
fcis-32179	160	52	variation	variation	NOUN
fcis-32179	160	53	of	of	ADP
fcis-32179	160	54	each	each	DET
fcis-32179	160	55	control	control	NOUN
fcis-32179	160	56	approach	approach	NOUN
fcis-32179	160	57	over	over	ADP
fcis-32179	160	58	different	different	ADJ
fcis-32179	160	59	time	time	NOUN
fcis-32179	160	60	periods	period	NOUN
fcis-32179	160	61	.	.	PUNCT
fcis-32179	161	1	the	the	DET
fcis-32179	161	2	comparison	comparison	NOUN
fcis-32179	161	3	provides	provide	VERB
fcis-32179	161	4	a	a	DET
fcis-32179	161	5	clear	clear	ADJ
fcis-32179	161	6	visualization	visualization	NOUN
fcis-32179	161	7	of	of	ADP
fcis-32179	161	8	the	the	DET
fcis-32179	161	9	evolving	evolve	VERB
fcis-32179	161	10	trends	trend	NOUN
fcis-32179	161	11	in	in	ADP
fcis-32179	161	12	tracking	track	VERB
fcis-32179	161	13	errors	error	NOUN
fcis-32179	161	14	for	for	ADP
fcis-32179	161	15	both	both	DET
fcis-32179	161	16	methods	method	NOUN
fcis-32179	161	17	throughout	throughout	ADP
fcis-32179	161	18	the	the	DET
fcis-32179	161	19	path	path	NOUN
fcis-32179	161	20	-	-	PUNCT
fcis-32179	161	21	following	follow	VERB
fcis-32179	161	22	process	process	NOUN
fcis-32179	161	23	.	.	PUNCT
fcis-32179	162	1	figure	figure	VERB
fcis-32179	162	2	6	6	NUM
fcis-32179	162	3	.	.	PUNCT
fcis-32179	163	1	lateral	lateral	ADJ
fcis-32179	163	2	error	error	NOUN
fcis-32179	163	3	comparison	comparison	NOUN
fcis-32179	163	4	diagram	diagram	NOUN
fcis-32179	163	5	as	as	SCONJ
fcis-32179	163	6	demonstrated	demonstrate	VERB
fcis-32179	163	7	above	above	ADV
fcis-32179	163	8	,	,	PUNCT
fcis-32179	163	9	the	the	DET
fcis-32179	163	10	maximum	maximum	ADJ
fcis-32179	163	11	tracking	tracking	NOUN
fcis-32179	163	12	error	error	NOUN
fcis-32179	163	13	of	of	ADP
fcis-32179	163	14	the	the	DET
fcis-32179	163	15	weighted	weight	VERB
fcis-32179	163	16	hybrid	hybrid	ADJ
fcis-32179	163	17	control	control	NOUN
fcis-32179	163	18	remains	remain	VERB
fcis-32179	163	19	around	around	ADP
fcis-32179	163	20	0.02	0.02	NUM
fcis-32179	163	21	m	m	NOUN
fcis-32179	163	22	,	,	PUNCT
fcis-32179	163	23	whereas	whereas	SCONJ
fcis-32179	163	24	that	that	PRON
fcis-32179	163	25	of	of	ADP
fcis-32179	163	26	the	the	DET
fcis-32179	163	27	standalone	standalone	ADJ
fcis-32179	163	28	mpc	mpc	NOUN
fcis-32179	163	29	controller	controller	NOUN
fcis-32179	163	30	reaches	reach	VERB
fcis-32179	163	31	approximately	approximately	ADV
fcis-32179	163	32	0.07	0.07	NUM
fcis-32179	163	33	m.	m.	NOUN
fcis-32179	163	34	these	these	DET
fcis-32179	163	35	results	result	NOUN
fcis-32179	163	36	indicate	indicate	VERB
fcis-32179	163	37	that	that	SCONJ
fcis-32179	163	38	the	the	DET
fcis-32179	163	39	weighted	weight	VERB
fcis-32179	163	40	hybrid	hybrid	NOUN
fcis-32179	163	41	control	control	NOUN
fcis-32179	163	42	outperforms	outperform	VERB
fcis-32179	163	43	the	the	DET
fcis-32179	163	44	standalone	standalone	NOUN
fcis-32179	163	45	mpc	mpc	NOUN
fcis-32179	163	46	in	in	ADP
fcis-32179	163	47	terms	term	NOUN
fcis-32179	163	48	of	of	ADP
fcis-32179	163	49	tracking	tracking	NOUN
fcis-32179	163	50	accuracy	accuracy	NOUN
fcis-32179	163	51	,	,	PUNCT
fcis-32179	163	52	demonstrating	demonstrate	VERB
fcis-32179	163	53	a	a	DET
fcis-32179	163	54	stronger	strong	ADJ
fcis-32179	163	55	capability	capability	NOUN
fcis-32179	163	56	to	to	PART
fcis-32179	163	57	handle	handle	VERB
fcis-32179	163	58	system	system	NOUN
fcis-32179	163	59	uncertainties	uncertainty	NOUN
fcis-32179	163	60	and	and	CCONJ
fcis-32179	163	61	external	external	ADJ
fcis-32179	163	62	disturbances	disturbance	NOUN
fcis-32179	163	63	,	,	PUNCT
fcis-32179	163	64	thereby	thereby	ADV
fcis-32179	163	65	significantly	significantly	ADV
fcis-32179	163	66	reducing	reduce	VERB
fcis-32179	163	67	tracking	tracking	NOUN
fcis-32179	163	68	errors	error	NOUN
fcis-32179	163	69	.	.	PUNCT
fcis-32179	164	1	figure	figure	VERB
fcis-32179	164	2	7	7	NUM
fcis-32179	164	3	presents	present	VERB
fcis-32179	164	4	a	a	DET
fcis-32179	164	5	comparison	comparison	NOUN
fcis-32179	164	6	of	of	ADP
fcis-32179	164	7	lateral	lateral	ADJ
fcis-32179	164	8	errors	error	NOUN
fcis-32179	164	9	under	under	ADP
fcis-32179	164	10	the	the	DET
fcis-32179	164	11	weighted	weight	VERB
fcis-32179	164	12	hybrid	hybrid	ADJ
fcis-32179	164	13	control	control	NOUN
fcis-32179	164	14	strategy	strategy	NOUN
fcis-32179	164	15	at	at	ADP
fcis-32179	164	16	different	different	ADJ
fcis-32179	164	17	vehicle	vehicle	NOUN
fcis-32179	164	18	speeds	speed	NOUN
fcis-32179	164	19	.	.	PUNCT
fcis-32179	165	1	figure	figure	VERB
fcis-32179	165	2	7	7	NUM
fcis-32179	165	3	.	.	PUNCT
fcis-32179	165	4	low	low	ADJ
fcis-32179	165	5	-	-	PUNCT
fcis-32179	165	6	speed	speed	NOUN
fcis-32179	165	7	lateral	lateral	ADJ
fcis-32179	165	8	error	error	NOUN
fcis-32179	165	9	tracking	tracking	NOUN
fcis-32179	165	10	comparison	comparison	NOUN
fcis-32179	165	11	the	the	DET
fcis-32179	165	12	results	result	NOUN
fcis-32179	165	13	indicate	indicate	VERB
fcis-32179	165	14	that	that	SCONJ
fcis-32179	165	15	the	the	DET
fcis-32179	165	16	maximum	maximum	ADJ
fcis-32179	165	17	lateral	lateral	ADJ
fcis-32179	165	18	error	error	NOUN
fcis-32179	165	19	at	at	ADP
fcis-32179	165	20	5	5	NUM
fcis-32179	165	21	km	km	NOUN
fcis-32179	165	22	/	/	SYM
fcis-32179	165	23	h	h	NOUN
fcis-32179	165	24	remains	remain	VERB
fcis-32179	165	25	around	around	ADP
fcis-32179	165	26	0.02	0.02	NUM
fcis-32179	165	27	m	m	NOUN
fcis-32179	165	28	,	,	PUNCT
fcis-32179	165	29	while	while	SCONJ
fcis-32179	165	30	even	even	ADV
fcis-32179	165	31	at	at	ADP
fcis-32179	165	32	15	15	NUM
fcis-32179	165	33	km	km	NOUN
fcis-32179	165	34	/	/	SYM
fcis-32179	165	35	h	h	NOUN
fcis-32179	165	36	,	,	PUNCT
fcis-32179	165	37	it	it	PRON
fcis-32179	165	38	is	be	AUX
fcis-32179	165	39	only	only	ADV
fcis-32179	165	40	approximately	approximately	ADV
fcis-32179	165	41	0.035	0.035	NUM
fcis-32179	165	42	m.	m.	NOUN
fcis-32179	165	43	this	this	PRON
fcis-32179	165	44	demonstrates	demonstrate	VERB
fcis-32179	165	45	the	the	DET
fcis-32179	165	46	strong	strong	ADJ
fcis-32179	165	47	robustness	robustness	NOUN
fcis-32179	165	48	of	of	ADP
fcis-32179	165	49	the	the	DET
fcis-32179	165	50	proposed	propose	VERB
fcis-32179	165	51	method	method	NOUN
fcis-32179	165	52	within	within	ADP
fcis-32179	165	53	the	the	DET
fcis-32179	165	54	low	low	ADJ
fcis-32179	165	55	-	-	PUNCT
fcis-32179	165	56	speed	speed	NOUN
fcis-32179	165	57	range	range	NOUN
fcis-32179	165	58	.	.	PUNCT
fcis-32179	166	1	6	6	X
fcis-32179	166	2	.	.	X
fcis-32179	166	3	conclusion	conclusion	NOUN
fcis-32179	166	4	this	this	DET
fcis-32179	166	5	paper	paper	NOUN
fcis-32179	166	6	presents	present	VERB
fcis-32179	166	7	a	a	DET
fcis-32179	166	8	coordinated	coordinated	ADJ
fcis-32179	166	9	path	path	NOUN
fcis-32179	166	10	-	-	PUNCT
fcis-32179	166	11	tracking	track	VERB
fcis-32179	166	12	method	method	NOUN
fcis-32179	166	13	integrating	integrate	VERB
fcis-32179	166	14	model	model	NOUN
fcis-32179	166	15	predictive	predictive	PROPN
fcis-32179	166	16	control	control	PROPN
fcis-32179	166	17	(	(	PUNCT
fcis-32179	166	18	mpc	mpc	NOUN
fcis-32179	166	19	)	)	PUNCT
fcis-32179	166	20	and	and	CCONJ
fcis-32179	166	21	the	the	DET
fcis-32179	166	22	pure	pure	ADJ
fcis-32179	166	23	pursuit	pursuit	NOUN
fcis-32179	166	24	algorithm	algorithm	NOUN
fcis-32179	166	25	,	,	PUNCT
fcis-32179	166	26	which	which	PRON
fcis-32179	166	27	innovatively	innovatively	ADV
fcis-32179	166	28	combines	combine	VERB
fcis-32179	166	29	the	the	DET
fcis-32179	166	30	advantages	advantage	NOUN
fcis-32179	166	31	of	of	ADP
fcis-32179	166	32	both	both	DET
fcis-32179	166	33	control	control	NOUN
fcis-32179	166	34	strategies	strategy	NOUN
fcis-32179	166	35	to	to	PART
fcis-32179	166	36	effectively	effectively	ADV
fcis-32179	166	37	address	address	VERB
fcis-32179	166	38	the	the	DET
fcis-32179	166	39	path	path	NOUN
fcis-32179	166	40	-	-	PUNCT
fcis-32179	166	41	tracking	track	VERB
fcis-32179	166	42	challenges	challenge	NOUN
fcis-32179	166	43	faced	face	VERB
fcis-32179	166	44	by	by	ADP
fcis-32179	166	45	mining	mining	NOUN
fcis-32179	166	46	trucks	truck	NOUN
fcis-32179	166	47	in	in	ADP
fcis-32179	166	48	complex	complex	ADJ
fcis-32179	166	49	mining	mining	NOUN
fcis-32179	166	50	environments	environment	NOUN
fcis-32179	166	51	.	.	PUNCT
fcis-32179	167	1	the	the	DET
fcis-32179	167	2	proposed	propose	VERB
fcis-32179	167	3	approach	approach	NOUN
fcis-32179	167	4	leverages	leverage	VERB
fcis-32179	167	5	the	the	DET
fcis-32179	167	6	multi	multi	ADJ
fcis-32179	167	7	-	-	ADJ
fcis-32179	167	8	step	step	ADJ
fcis-32179	167	9	prediction	prediction	NOUN
fcis-32179	167	10	capability	capability	NOUN
fcis-32179	167	11	and	and	CCONJ
fcis-32179	167	12	constraint	constraint	NOUN
fcis-32179	167	13	-	-	PUNCT
fcis-32179	167	14	handling	handle	VERB
fcis-32179	167	15	strengths	strength	NOUN
fcis-32179	167	16	of	of	ADP
fcis-32179	167	17	mpc	mpc	NOUN
fcis-32179	167	18	,	,	PUNCT
fcis-32179	167	19	while	while	SCONJ
fcis-32179	167	20	incorporating	incorporate	VERB
fcis-32179	167	21	the	the	DET
fcis-32179	167	22	high	high	ADJ
fcis-32179	167	23	tracking	tracking	NOUN
fcis-32179	167	24	accuracy	accuracy	NOUN
fcis-32179	167	25	characteristic	characteristic	NOUN
fcis-32179	167	26	of	of	ADP
fcis-32179	167	27	the	the	DET
fcis-32179	167	28	pure	pure	ADJ
fcis-32179	167	29	pursuit	pursuit	NOUN
fcis-32179	167	30	algorithm	algorithm	NOUN
fcis-32179	167	31	.	.	PUNCT
fcis-32179	168	1	by	by	ADP
fcis-32179	168	2	implementing	implement	VERB
fcis-32179	168	3	a	a	DET
fcis-32179	168	4	dynamically	dynamically	ADV
fcis-32179	168	5	weighted	weight	VERB
fcis-32179	168	6	hybrid	hybrid	ADJ
fcis-32179	168	7	control	control	NOUN
fcis-32179	168	8	strategy	strategy	NOUN
fcis-32179	168	9	,	,	PUNCT
fcis-32179	168	10	precise	precise	ADJ
fcis-32179	168	11	optimization	optimization	NOUN
fcis-32179	168	12	of	of	ADP
fcis-32179	168	13	steering	steering	NOUN
fcis-32179	168	14	angle	angle	NOUN
fcis-32179	168	15	control	control	NOUN
fcis-32179	168	16	is	be	AUX
fcis-32179	168	17	achieved	achieve	VERB
fcis-32179	168	18	.	.	PUNCT
fcis-32179	169	1	in	in	ADP
fcis-32179	169	2	terms	term	NOUN
fcis-32179	169	3	of	of	ADP
fcis-32179	169	4	control	control	NOUN
fcis-32179	169	5	architecture	architecture	NOUN
fcis-32179	169	6	design	design	NOUN
fcis-32179	169	7	,	,	PUNCT
fcis-32179	169	8	a	a	DET
fcis-32179	169	9	parameter	parameter	NOUN
fcis-32179	169	10	sensitivity	sensitivity	NOUN
fcis-32179	169	11	analysis	analysis	NOUN
fcis-32179	169	12	model	model	NOUN
fcis-32179	169	13	was	be	AUX
fcis-32179	169	14	established	establish	VERB
fcis-32179	169	15	to	to	PART
fcis-32179	169	16	determine	determine	VERB
fcis-32179	169	17	the	the	DET
fcis-32179	169	18	optimal	optimal	ADJ
fcis-32179	169	19	weight	weight	NOUN
fcis-32179	169	20	allocation	allocation	NOUN
fcis-32179	169	21	scheme	scheme	NOUN
fcis-32179	169	22	,	,	PUNCT
fcis-32179	169	23	enabling	enable	VERB
fcis-32179	169	24	the	the	DET
fcis-32179	169	25	system	system	NOUN
fcis-32179	169	26	to	to	PART
fcis-32179	169	27	autonomously	autonomously	ADV
fcis-32179	169	28	adjust	adjust	VERB
fcis-32179	169	29	control	control	NOUN
fcis-32179	169	30	outputs	output	NOUN
fcis-32179	169	31	based	base	VERB
fcis-32179	169	32	on	on	ADP
fcis-32179	169	33	real	real	ADJ
fcis-32179	169	34	-	-	PUNCT
fcis-32179	169	35	time	time	NOUN
fcis-32179	169	36	operating	operating	NOUN
fcis-32179	169	37	conditions	condition	NOUN
fcis-32179	169	38	.	.	PUNCT
fcis-32179	170	1	future	future	ADJ
fcis-32179	170	2	research	research	NOUN
fcis-32179	170	3	will	will	AUX
fcis-32179	170	4	focus	focus	VERB
fcis-32179	170	5	on	on	ADP
fcis-32179	170	6	further	far	ADV
fcis-32179	170	7	optimizing	optimize	VERB
fcis-32179	170	8	the	the	DET
fcis-32179	170	9	weight	weight	NOUN
fcis-32179	170	10	adaptation	adaptation	NOUN
fcis-32179	170	11	algorithm	algorithm	NOUN
fcis-32179	170	12	to	to	PART
fcis-32179	170	13	accommodate	accommodate	VERB
fcis-32179	170	14	more	more	ADJ
fcis-32179	170	15	complex	complex	ADJ
fcis-32179	170	16	mining	mining	NOUN
fcis-32179	170	17	terrains	terrain	NOUN
fcis-32179	170	18	and	and	CCONJ
fcis-32179	170	19	varying	vary	VERB
fcis-32179	170	20	load	load	NOUN
fcis-32179	170	21	conditions	condition	NOUN
fcis-32179	170	22	.	.	PUNCT
fcis-32179	171	1	references	reference	NOUN
fcis-32179	171	2	[	[	X
fcis-32179	171	3	1	1	NUM
fcis-32179	171	4	]	]	PUNCT
fcis-32179	171	5	accelerate	accelerate	VERB
fcis-32179	171	6	the	the	DET
fcis-32179	171	7	process	process	NOUN
fcis-32179	171	8	of	of	ADP
fcis-32179	171	9	green	green	ADJ
fcis-32179	171	10	mine	mine	NOUN
fcis-32179	171	11	construction	construction	NOUN
fcis-32179	171	12	[	[	X
fcis-32179	171	13	n	n	X
fcis-32179	171	14	]	]	PUNCT
fcis-32179	171	15	.	.	PUNCT
fcis-32179	172	1	china	china	PROPN
fcis-32179	172	2	gold	gold	PROPN
fcis-32179	172	3	news	news	PROPN
fcis-32179	172	4	,	,	PUNCT
fcis-32179	172	5	april	april	PROPN
fcis-32179	172	6	19,2024	19,2024	NUM
fcis-32179	172	7	(	(	PUNCT
fcis-32179	172	8	002	002	NUM
fcis-32179	172	9	)	)	PUNCT
fcis-32179	172	10	.	.	PUNCT
fcis-32179	173	1	[	[	X
fcis-32179	173	2	2	2	NUM
fcis-32179	173	3	]	]	X
fcis-32179	173	4	li	li	PROPN
fcis-32179	173	5	keqiang	keqiang	PROPN
fcis-32179	173	6	,	,	PUNCT
fcis-32179	173	7	dai	dai	PROPN
fcis-32179	173	8	yifan	yifan	PROPN
fcis-32179	173	9	,	,	PUNCT
fcis-32179	173	10	li	li	PROPN
fcis-32179	173	11	shengbo	shengbo	PROPN
fcis-32179	173	12	,	,	PUNCT
fcis-32179	173	13	the	the	DET
fcis-32179	173	14	current	current	ADJ
fcis-32179	173	15	development	development	NOUN
fcis-32179	173	16	status	status	NOUN
fcis-32179	173	17	and	and	CCONJ
fcis-32179	173	18	trend	trend	NOUN
fcis-32179	173	19	of	of	ADP
fcis-32179	173	20	intelligent	intelligent	ADJ
fcis-32179	173	21	connected	connected	ADJ
fcis-32179	173	22	vehicle	vehicle	NOUN
fcis-32179	173	23	(	(	PUNCT
fcis-32179	173	24	icv	icv	PROPN
fcis-32179	173	25	)	)	PUNCT
fcis-32179	173	26	technology	technology	NOUN
fcis-32179	174	1	[	[	X
fcis-32179	174	2	j	j	X
fcis-32179	174	3	]	]	X
fcis-32179	174	4	.	.	PUNCT
fcis-32179	175	1	journal	journal	PROPN
fcis-32179	175	2	of	of	ADP
fcis-32179	175	3	automotive	automotive	ADJ
fcis-32179	175	4	safety	safety	NOUN
fcis-32179	175	5	and	and	CCONJ
fcis-32179	175	6	energy	energy	NOUN
fcis-32179	175	7	conservation	conservation	NOUN
fcis-32179	175	8	,	,	PUNCT
fcis-32179	175	9	2017,8(01):1	2017,8(01):1	NUM
fcis-32179	175	10	-	-	SYM
fcis-32179	175	11	14	14	NUM
fcis-32179	175	12	.	.	PUNCT
fcis-32179	176	1	[	[	X
fcis-32179	176	2	3	3	X
fcis-32179	176	3	]	]	X
fcis-32179	176	4	li	li	PROPN
fcis-32179	176	5	l	l	PROPN
fcis-32179	176	6	,	,	PUNCT
fcis-32179	176	7	fei	fei	PROPN
fcis-32179	176	8	yue	yue	PROPN
fcis-32179	176	9	w.	w.	PROPN
fcis-32179	176	10	advanced	advanced	PROPN
fcis-32179	176	11	motion	motion	NOUN
fcis-32179	176	12	control	control	NOUN
fcis-32179	176	13	and	and	CCONJ
fcis-32179	176	14	sensing	sense	VERB
fcis-32179	176	15	for	for	ADP
fcis-32179	176	16	intelligent	intelligent	ADJ
fcis-32179	176	17	veicles[m].boston	veicles[m].boston	NOUN
fcis-32179	176	18	:	:	PUNCT
fcis-32179	177	1	springer	springer	NOUN
fcis-32179	177	2	scienceand	scienceand	PROPN
fcis-32179	177	3	business	business	PROPN
fcis-32179	177	4	mdia	mdia	PROPN
fcis-32179	177	5	,	,	PUNCT
fcis-32179	177	6	2007	2007	NUM
fcis-32179	177	7	.	.	PUNCT
fcis-32179	178	1	83	83	NUM
fcis-32179	179	1	[	[	SYM
fcis-32179	179	2	4	4	NUM
fcis-32179	179	3	]	]	X
fcis-32179	179	4	shao	shao	PROPN
fcis-32179	179	5	shuicai	shuicai	PROPN
fcis-32179	179	6	,	,	PUNCT
fcis-32179	179	7	wang	wang	PROPN
fcis-32179	179	8	rong	rong	PROPN
fcis-32179	179	9	,	,	PUNCT
fcis-32179	179	10	hao	hao	PROPN
fcis-32179	179	11	pengfei	pengfei	PROPN
fcis-32179	179	12	.	.	PUNCT
fcis-32179	180	1	design	design	NOUN
fcis-32179	180	2	and	and	CCONJ
fcis-32179	180	3	application	application	NOUN
fcis-32179	180	4	of	of	ADP
fcis-32179	180	5	driverless	driverless	NOUN
fcis-32179	180	6	mine	mine	NOUN
fcis-32179	180	7	transport	transport	NOUN
fcis-32179	180	8	robot	robot	NOUN
fcis-32179	180	9	[	[	X
fcis-32179	180	10	j	j	X
fcis-32179	180	11	]	]	X
fcis-32179	180	12	.	.	PUNCT
fcis-32179	181	1	intelligent	intelligent	ADJ
fcis-32179	181	2	mine	mine	NOUN
fcis-32179	181	3	,	,	PUNCT
fcis-32179	181	4	24,5(02):44	24,5(02):44	NUM
fcis-32179	181	5	-	-	SYM
fcis-32179	181	6	51	51	NUM
fcis-32179	181	7	.	.	PUNCT
fcis-32179	182	1	[	[	X
fcis-32179	182	2	5	5	NUM
fcis-32179	182	3	]	]	X
fcis-32179	182	4	guo	guo	PROPN
fcis-32179	182	5	jingjing	jingjing	PROPN
fcis-32179	182	6	.	.	PUNCT
fcis-32179	183	1	research	research	NOUN
fcis-32179	183	2	on	on	ADP
fcis-32179	183	3	trajectory	trajectory	NOUN
fcis-32179	183	4	tracking	tracking	NOUN
fcis-32179	183	5	algorithm	algorithm	NOUN
fcis-32179	183	6	based	base	VERB
fcis-32179	183	7	on	on	ADP
fcis-32179	183	8	improved	improve	VERB
fcis-32179	183	9	mpc	mpc	NOUN
fcis-32179	183	10	under	under	ADP
fcis-32179	183	11	ice	ice	NOUN
fcis-32179	183	12	and	and	CCONJ
fcis-32179	183	13	snow	snow	NOUN
fcis-32179	183	14	conditions	condition	NOUN
fcis-32179	184	1	[	[	X
fcis-32179	184	2	d	d	X
fcis-32179	184	3	]	]	X
fcis-32179	184	4	jilin	jilin	PROPN
fcis-32179	184	5	university,2023	university,2023	PROPN
fcis-32179	184	6	.	.	PUNCT
fcis-32179	185	1	[	[	X
fcis-32179	185	2	6	6	NUM
fcis-32179	185	3	]	]	X
fcis-32179	185	4	qin	qin	PROPN
fcis-32179	185	5	hongmao	hongmao	PROPN
fcis-32179	185	6	,	,	PUNCT
fcis-32179	185	7	jiang	jiang	PROPN
fcis-32179	185	8	shu	shu	PROPN
fcis-32179	185	9	,	,	PUNCT
fcis-32179	185	10	zhang	zhang	PROPN
fcis-32179	185	11	tiantian	tiantian	PROPN
fcis-32179	185	12	,	,	PUNCT
fcis-32179	185	13	et	et	PROPN
fcis-32179	185	14	al	al	PROPN
fcis-32179	185	15	intelligent	intelligent	ADJ
fcis-32179	185	16	vehicle	vehicle	NOUN
fcis-32179	185	17	path	path	NOUN
fcis-32179	185	18	tracking	tracking	NOUN
fcis-32179	185	19	control	control	NOUN
fcis-32179	185	20	based	base	VERB
fcis-32179	185	21	on	on	ADP
fcis-32179	185	22	learning	learn	VERB
fcis-32179	185	23	model	model	NOUN
fcis-32179	185	24	predictive	predictive	ADJ
fcis-32179	185	25	control	control	NOUN
fcis-32179	186	1	[	[	X
fcis-32179	186	2	j	j	X
fcis-32179	186	3	]	]	X
fcis-32179	186	4	.	.	PUNCT
fcis-32179	187	1	automotive	automotive	PROPN
fcis-32179	187	2	engineering	engineering	PROPN
fcis-32179	187	3	,	,	PUNCT
fcis-32179	187	4	24,46(10):1804	24,46(10):1804	PROPN
fcis-32179	187	5	-	-	PUNCT
fcis-32179	187	6	1815	1815	NUM
fcis-32179	187	7	.	.	PUNCT
fcis-32179	188	1	[	[	X
fcis-32179	188	2	7	7	X
fcis-32179	188	3	]	]	X
fcis-32179	188	4	liu	liu	PROPN
fcis-32179	188	5	wenlong	wenlong	PROPN
fcis-32179	188	6	,	,	PUNCT
fcis-32179	188	7	jiang	jiang	PROPN
fcis-32179	188	8	mingyao	mingyao	PROPN
fcis-32179	188	9	,	,	PUNCT
fcis-32179	188	10	wang	wang	PROPN
fcis-32179	188	11	chenxu	chenxu	PROPN
fcis-32179	188	12	,	,	PUNCT
fcis-32179	188	13	et	et	PROPN
fcis-32179	188	14	al	al	PROPN
fcis-32179	188	15	.	.	PROPN
fcis-32179	188	16	fusion	fusion	NOUN
fcis-32179	188	17	control	control	NOUN
fcis-32179	188	18	algorithm	algorithm	NOUN
fcis-32179	188	19	for	for	ADP
fcis-32179	188	20	agricultural	agricultural	ADJ
fcis-32179	188	21	machinery	machinery	NOUN
fcis-32179	188	22	path	path	NOUN
fcis-32179	188	23	tracking	tracking	NOUN
fcis-32179	188	24	based	base	VERB
fcis-32179	188	25	on	on	ADP
fcis-32179	188	26	mpc	mpc	PROPN
fcis-32179	188	27	and	and	CCONJ
fcis-32179	188	28	stanley	stanley	NOUN
fcis-32179	189	1	[	[	X
fcis-32179	189	2	j	j	X
fcis-32179	189	3	]	]	X
fcis-32179	189	4	information	information	NOUN
fcis-32179	189	5	technology	technology	NOUN
fcis-32179	189	6	,	,	PUNCT
fcis-32179	189	7	2024	2024	NUM
fcis-32179	189	8	,	,	PUNCT
fcis-32179	189	9	(	(	PUNCT
fcis-32179	189	10	08	08	NUM
fcis-32179	189	11	):	):	PUNCT
fcis-32179	189	12	65	65	NUM
fcis-32179	189	13	-	-	SYM
fcis-32179	189	14	70	70	NUM
fcis-32179	189	15	+	+	NOUN
fcis-32179	189	16	78	78	NUM
fcis-32179	189	17	.	.	PUNCT
fcis-32179	190	1	[	[	X
fcis-32179	190	2	8	8	NUM
fcis-32179	190	3	]	]	X
fcis-32179	190	4	guo	guo	PROPN
fcis-32179	190	5	hy	hy	PROPN
fcis-32179	190	6	,	,	PUNCT
fcis-32179	190	7	cao	cao	PROPN
fcis-32179	190	8	dp	dp	PROPN
fcis-32179	190	9	,	,	PUNCT
fcis-32179	190	10	hu	hu	PROPN
fcis-32179	190	11	yf	yf	PROPN
fcis-32179	190	12	.	.	PROPN
fcis-32179	190	13	model	model	PROPN
fcis-32179	190	14	predictive	predictive	ADJ
fcis-32179	190	15	path	path	NOUN
fcis-32179	190	16	following	follow	VERB
fcis-32179	190	17	control	control	NOUN
fcis-32179	190	18	for	for	ADP
fcis-32179	190	19	autonomous	autonomous	ADJ
fcis-32179	190	20	cars	car	NOUN
fcis-32179	190	21	considering	consider	VERB
fcis-32179	190	22	a	a	DET
fcis-32179	190	23	measurable	measurable	ADJ
fcis-32179	190	24	disturbance	disturbance	NOUN
fcis-32179	190	25	:	:	PUNCT
fcis-32179	190	26	implementation	implementation	NOUN
fcis-32179	190	27	,	,	PUNCT
fcis-32179	190	28	testing	testing	NOUN
fcis-32179	190	29	,	,	PUNCT
fcis-32179	190	30	and	and	CCONJ
fcis-32179	190	31	verification[j	verification[j	NOUN
fcis-32179	190	32	]	]	X
fcis-32179	190	33	.	.	PUNCT
fcis-32179	191	1	mechanical	mechanical	ADJ
fcis-32179	191	2	systems	system	NOUN
fcis-32179	191	3	and	and	CCONJ
fcis-32179	191	4	signal	signal	NOUN
fcis-32179	191	5	processing	processing	NOUN
fcis-32179	191	6	,	,	PUNCT
fcis-32179	191	7	2019,118:41	2019,118:41	NUM
fcis-32179	191	8	-	-	SYM
fcis-32179	191	9	60	60	NUM
fcis-32179	191	10	.	.	PUNCT
fcis-32179	192	1	[	[	X
fcis-32179	192	2	9	9	X
fcis-32179	192	3	]	]	X
fcis-32179	192	4	liang	liang	PROPN
fcis-32179	192	5	zhengtao	zhengtao	PROPN
fcis-32179	192	6	,	,	PUNCT
fcis-32179	192	7	zhao	zhao	PROPN
fcis-32179	192	8	kegang	kegang	PROPN
fcis-32179	192	9	,	,	PUNCT
fcis-32179	192	10	pei	pei	PROPN
fcis-32179	192	11	feng	feng	PROPN
fcis-32179	192	12	,	,	PUNCT
fcis-32179	192	13	et	et	PROPN
fcis-32179	192	14	al	al	PROPN
fcis-32179	192	15	.	.	PUNCT
fcis-32179	192	16	intelligent	intelligent	ADJ
fcis-32179	192	17	vehicle	vehicle	NOUN
fcis-32179	192	18	trajectory	trajectory	NOUN
fcis-32179	192	19	tracking	tracking	NOUN
fcis-32179	192	20	algorithm	algorithm	NOUN
fcis-32179	192	21	based	base	VERB
fcis-32179	192	22	on	on	ADP
fcis-32179	192	23	mpc	mpc	PROPN
fcis-32179	192	24	[	[	X
fcis-32179	192	25	j	j	X
fcis-32179	192	26	]	]	X
fcis-32179	192	27	.	.	PUNCT
fcis-32179	193	1	china	china	PROPN
fcis-32179	193	2	machinery	machinery	PROPN
fcis-32179	193	3	&	&	CCONJ
fcis-32179	193	4	electronics,2019,37(01):66	electronics,2019,37(01):66	PROPN
fcis-32179	193	5	-	-	SYM
fcis-32179	193	6	70	70	NUM
fcis-32179	193	7	.	.	PUNCT
fcis-32179	194	1	[	[	X
fcis-32179	194	2	10	10	NUM
fcis-32179	194	3	]	]	X
fcis-32179	194	4	tian	tian	ADJ
fcis-32179	194	5	yuyang	yuyang	PROPN
fcis-32179	194	6	,	,	PUNCT
fcis-32179	194	7	wang	wang	PROPN
fcis-32179	194	8	jinbo	jinbo	PROPN
fcis-32179	194	9	,	,	PUNCT
fcis-32179	194	10	pang	pang	NOUN
fcis-32179	194	11	tongjia	tongjia	PROPN
fcis-32179	194	12	.	.	PUNCT
fcis-32179	195	1	research	research	NOUN
fcis-32179	195	2	and	and	CCONJ
fcis-32179	195	3	comparison	comparison	NOUN
fcis-32179	195	4	of	of	ADP
fcis-32179	195	5	lateral	lateral	ADJ
fcis-32179	195	6	control	control	NOUN
fcis-32179	195	7	strategies	strategy	NOUN
fcis-32179	195	8	between	between	ADP
fcis-32179	195	9	mpc	mpc	NOUN
fcis-32179	195	10	algorithm	algorithm	NOUN
fcis-32179	195	11	and	and	CCONJ
fcis-32179	195	12	pure	pure	ADJ
fcis-32179	195	13	tracking	tracking	NOUN
fcis-32179	195	14	algorithm	algorithm	NOUN
fcis-32179	196	1	[	[	X
fcis-32179	196	2	j	j	X
fcis-32179	196	3	]	]	X
fcis-32179	196	4	.	.	PUNCT
fcis-32179	197	1	agricultural	agricultural	ADJ
fcis-32179	197	2	equipment	equipment	NOUN
fcis-32179	197	3	and	and	CCONJ
fcis-32179	197	4	vehicle	vehicle	NOUN
fcis-32179	197	5	engineering	engineering	NOUN
fcis-32179	197	6	,	,	PUNCT
fcis-32179	197	7	24,62(08):58	24,62(08):58	NUM
fcis-32179	197	8	-	-	PUNCT
fcis-32179	197	9	62	62	NUM
fcis-32179	197	10	.	.	PUNCT
fcis-32179	198	1	[	[	X
fcis-32179	198	2	11	11	NUM
fcis-32179	198	3	]	]	X
fcis-32179	198	4	chen	chen	PROPN
fcis-32179	198	5	jiayi	jiayi	PROPN
fcis-32179	198	6	trajectory	trajectory	PROPN
fcis-32179	198	7	tracking	tracking	NOUN
fcis-32179	198	8	control	control	NOUN
fcis-32179	198	9	of	of	ADP
fcis-32179	198	10	unmanned	unmanned	ADJ
fcis-32179	198	11	mining	mining	NOUN
fcis-32179	198	12	trucks	truck	NOUN
fcis-32179	198	13	based	base	VERB
fcis-32179	198	14	on	on	ADP
fcis-32179	198	15	adaptive	adaptive	ADJ
fcis-32179	198	16	mpc	mpc	PROPN
fcis-32179	199	1	[	[	X
fcis-32179	199	2	d	d	X
fcis-32179	199	3	]	]	X
fcis-32179	199	4	.	.	PUNCT
fcis-32179	200	1	china	china	PROPN
fcis-32179	200	2	university	university	PROPN
fcis-32179	200	3	of	of	ADP
fcis-32179	200	4	mining	mining	NOUN
fcis-32179	200	5	and	and	CCONJ
fcis-32179	200	6	technology,2022	technology,2022	NOUN
fcis-32179	200	7	.	.	PUNCT