{"id":"https://openalex.org/W3208034587","doi":"https://doi.org/10.1109/itsc48978.2021.9564486","title":"Learning-Based Vehicle Dynamics Residual Correction Model for Autonomous Driving Simulation","display_name":"Learning-Based Vehicle Dynamics Residual Correction Model for Autonomous Driving Simulation","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3208034587","doi":"https://doi.org/10.1109/itsc48978.2021.9564486","mag":"3208034587"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101849424","display_name":"Shu Jiang","orcid":"https://orcid.org/0000-0002-2937-7771"},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shu Jiang","raw_affiliation_strings":["Baidu USA LLC,Sunnyvale,CA,94089"],"affiliations":[{"raw_affiliation_string":"Baidu USA LLC,Sunnyvale,CA,94089","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104020984","display_name":"Weiman Lin","orcid":null},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weiman Lin","raw_affiliation_strings":["Baidu USA LLC,Sunnyvale,CA,94089"],"affiliations":[{"raw_affiliation_string":"Baidu USA LLC,Sunnyvale,CA,94089","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055090280","display_name":"Yu Cao","orcid":"https://orcid.org/0000-0001-5767-7029"},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Cao","raw_affiliation_strings":["Baidu USA LLC,Sunnyvale,CA,94089"],"affiliations":[{"raw_affiliation_string":"Baidu USA LLC,Sunnyvale,CA,94089","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100445331","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0003-1054-555X"},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Baidu USA LLC,Sunnyvale,CA,94089"],"affiliations":[{"raw_affiliation_string":"Baidu USA LLC,Sunnyvale,CA,94089","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022644877","display_name":"Jinghao Miao","orcid":"https://orcid.org/0000-0002-6222-1285"},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jinghao Miao","raw_affiliation_strings":["Baidu USA LLC,Sunnyvale,CA,94089"],"affiliations":[{"raw_affiliation_string":"Baidu USA LLC,Sunnyvale,CA,94089","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101625459","display_name":"Qi Luo","orcid":"https://orcid.org/0000-0001-8965-688X"},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qi Luo","raw_affiliation_strings":["Baidu USA LLC,Sunnyvale,CA,94089"],"affiliations":[{"raw_affiliation_string":"Baidu USA LLC,Sunnyvale,CA,94089","institution_ids":[]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.416,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.284277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":66,"max":71},"biblio":{"volume":null,"issue":null,"first_page":"782","last_page":"789"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9968,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9968,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9811,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9778,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.7055372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.64886016},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.6368001},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6021534},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5543628},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44313914},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.42963898},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4032531},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36105734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35895503},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.27085054},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26197982},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20159349},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16972575},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":21,"referenced_works":["https://openalex.org/W1490488263","https://openalex.org/W1533660737","https://openalex.org/W1677182931","https://openalex.org/W2098613108","https://openalex.org/W2110347272","https://openalex.org/W2118760499","https://openalex.org/W2129013743","https://openalex.org/W2583569546","https://openalex.org/W2754329383","https://openalex.org/W2893995718","https://openalex.org/W2923554444","https://openalex.org/W2963190151","https://openalex.org/W2969101033","https://openalex.org/W2985462853","https://openalex.org/W2990981774","https://openalex.org/W3004384589","https://openalex.org/W3087736720","https://openalex.org/W3091421298","https://openalex.org/W3099788636","https://openalex.org/W3099939783","https://openalex.org/W3145073221"],"related_works":["https://openalex.org/W4360995134","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W2949601986","https://openalex.org/W2788972299","https://openalex.org/W2560215812","https://openalex.org/W2521347458","https://openalex.org/W2145006118","https://openalex.org/W1941703695"],"abstract_inverted_index":{"An":[0,124],"accurate":[1,149],"vehicle":[2,15,38,45,51,91,113],"dynamics":[3,39,46,52,56,71,92,114,150],"model":[4,53,76,83,93,111,151,159,179,183],"serves":[5],"as":[6,54,99,101],"a":[7,30,36,55,59,63,105,147],"virtual":[8],"car":[9],"in":[10,96,163],"simulation.":[11],"It":[12],"reflects":[13],"realistic":[14],"behavior":[16],"under":[17],"control":[18,86],"command":[19],"sequences":[20],"to":[21,34,68,120,130],"assist":[22],"with":[23,175],"autonomous":[24,154],"driving":[25,155],"algorithm":[26,127],"development.":[27],"We":[28],"present":[29],"learning-based":[31,181],"modeling":[32,143],"method":[33],"generate":[35,146],"high-accuracy":[37],"model,":[40,58],"i.e.,":[41],"the":[42,70,74,78,110,121,132,141,176],"residual":[43,60],"correction":[44],"model.":[47],"Given":[48],"an":[49,153],"existing":[50],"base":[57,75,82,178,182],"predictor":[61],"uses":[62],"multi-loss":[64,106],"Gaussian":[65,107],"regression":[66,108],"process":[67],"predict":[69],"residuals":[72],"of":[73,81,90,152,165],"from":[77],"encoded":[79],"history":[80],"predictions":[84],"and":[85,137,172,180],"commands.":[87],"The":[88],"accuracy":[89],"is":[94,128],"improved":[95],"heading,":[97],"speed":[98],"well":[100],"trajectory.":[102],"By":[103],"design":[104],"process,":[109],"predicted":[112],"states":[115],"has":[116],"less":[117],"difference":[118],"compared":[119,174],"ground":[122],"truth.":[123],"online":[125,138],"inference":[126],"proposed":[129,142,158],"bridge":[131],"differences":[133],"between":[134],"offline":[135],"training":[136],"inference.":[139],"Using":[140],"method,":[144],"we":[145],"highly":[148],"vehicle.":[156],"Our":[157],"improves":[160],"trajectory":[161,168],"accuracy,":[162],"terms":[164],"mean":[166],"average":[167],"error,":[169],"by":[170],"80.93%":[171],"52.12%":[173],"rule-based":[177],"respectively.":[184]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3208034587","counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-04-17T17:10:51.318585","created_date":"2021-11-08"}