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Lateral control using LQR for intelligent vehicles based on the optimal front-tire lateral force
CHEN Liang, QIN Zhaobo, KONG Weiwei, CHEN Xin
Journal of Tsinghua University(Science and Technology) . 2021, (9): 906 -912 .  DOI: 10.16511/j.cnki.qhdxxb.2020.22.028

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