{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:OW7NPDBXGFSFVJ3O4ENSHJKZUU","short_pith_number":"pith:OW7NPDBX","canonical_record":{"source":{"id":"2407.12989","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-07-17T20:13:39Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"73247e1fa818d5c953240ae8c77cf3ce93a2f9cdb99027441bf751650a03bfef","abstract_canon_sha256":"a922a3892fc897fd23aefc604475290c1f5730c4be0b60ff1307b76e4ac2b9bd"},"schema_version":"1.0"},"canonical_sha256":"75bed78c3731645aa76ee11b23a559a52b52a11b73ba6e71ad97d9f09fa48e55","source":{"kind":"arxiv","id":"2407.12989","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.12989","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"arxiv_version","alias_value":"2407.12989v1","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.12989","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"pith_short_12","alias_value":"OW7NPDBXGFSF","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"pith_short_16","alias_value":"OW7NPDBXGFSFVJ3O","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"pith_short_8","alias_value":"OW7NPDBX","created_at":"2026-07-05T08:45:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:OW7NPDBXGFSFVJ3O4ENSHJKZUU","target":"record","payload":{"canonical_record":{"source":{"id":"2407.12989","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-07-17T20:13:39Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"73247e1fa818d5c953240ae8c77cf3ce93a2f9cdb99027441bf751650a03bfef","abstract_canon_sha256":"a922a3892fc897fd23aefc604475290c1f5730c4be0b60ff1307b76e4ac2b9bd"},"schema_version":"1.0"},"canonical_sha256":"75bed78c3731645aa76ee11b23a559a52b52a11b73ba6e71ad97d9f09fa48e55","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:45:14.328613Z","signature_b64":"pBtlKDvY+zqIYFgqqBfqJQxeO9DygG6IxezdTpk4jSsMX5LZVD6EvRNfMT/dr4WYniQVcZpFpX9jKTwSM9pKDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"75bed78c3731645aa76ee11b23a559a52b52a11b73ba6e71ad97d9f09fa48e55","last_reissued_at":"2026-07-05T08:45:14.328260Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:45:14.328260Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.12989","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:45:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KVAyVKKo6aC8nLZ9cwH1ew1INexGJWIwXEeZztI1c72JOxjkv8zL/Eokz5MaJvwD1ugSKRJ5Gk2yh8rSygDoCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T20:09:47.735266Z"},"content_sha256":"f675521fe7d2a75a92ceedec22cca50e53a0554e8aad0da303ae5f15393da0d3","schema_version":"1.0","event_id":"sha256:f675521fe7d2a75a92ceedec22cca50e53a0554e8aad0da303ae5f15393da0d3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:OW7NPDBXGFSFVJ3O4ENSHJKZUU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Trajectory Planning Using Tire Thermodynamics for Automated Drifting","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"J. Christian Gerdes, Takao Kobayashi, Trey P. Weber","submitted_at":"2024-07-17T20:13:39Z","abstract_excerpt":"Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies significantly depending on the tire temperature. However, tire parameters such as the friction coefficient have been conventionally treated as constant values in automated vehicle motion planning. This paper develops a simple thermodynamic model that captures tire friction temperature variation. To verify the model, it is implemented into trajectory planning for "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.12989","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2407.12989/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:45:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"U4wTfV6p4OfOhQAEHZSogeR3JTQnwNpZ6pq4VpZTGU2I8aexaZZqhgP4xs2/3uhUvKWZo2gEMmWdT/dW/6fgAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T20:09:47.735943Z"},"content_sha256":"01941e2702b8663a6ada43ca072940e23acc8af5ca0a034e85cbb43930b1a481","schema_version":"1.0","event_id":"sha256:01941e2702b8663a6ada43ca072940e23acc8af5ca0a034e85cbb43930b1a481"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OW7NPDBXGFSFVJ3O4ENSHJKZUU/bundle.json","state_url":"https://pith.science/pith/OW7NPDBXGFSFVJ3O4ENSHJKZUU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OW7NPDBXGFSFVJ3O4ENSHJKZUU/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-12T20:09:47Z","links":{"resolver":"https://pith.science/pith/OW7NPDBXGFSFVJ3O4ENSHJKZUU","bundle":"https://pith.science/pith/OW7NPDBXGFSFVJ3O4ENSHJKZUU/bundle.json","state":"https://pith.science/pith/OW7NPDBXGFSFVJ3O4ENSHJKZUU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OW7NPDBXGFSFVJ3O4ENSHJKZUU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:OW7NPDBXGFSFVJ3O4ENSHJKZUU","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"a922a3892fc897fd23aefc604475290c1f5730c4be0b60ff1307b76e4ac2b9bd","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-07-17T20:13:39Z","title_canon_sha256":"73247e1fa818d5c953240ae8c77cf3ce93a2f9cdb99027441bf751650a03bfef"},"schema_version":"1.0","source":{"id":"2407.12989","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.12989","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"arxiv_version","alias_value":"2407.12989v1","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.12989","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"pith_short_12","alias_value":"OW7NPDBXGFSF","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"pith_short_16","alias_value":"OW7NPDBXGFSFVJ3O","created_at":"2026-07-05T08:45:14Z"},{"alias_kind":"pith_short_8","alias_value":"OW7NPDBX","created_at":"2026-07-05T08:45:14Z"}],"graph_snapshots":[{"event_id":"sha256:01941e2702b8663a6ada43ca072940e23acc8af5ca0a034e85cbb43930b1a481","target":"graph","created_at":"2026-07-05T08:45:14Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2407.12989/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies significantly depending on the tire temperature. However, tire parameters such as the friction coefficient have been conventionally treated as constant values in automated vehicle motion planning. This paper develops a simple thermodynamic model that captures tire friction temperature variation. To verify the model, it is implemented into trajectory planning for ","authors_text":"J. Christian Gerdes, Takao Kobayashi, Trey P. Weber","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-07-17T20:13:39Z","title":"Trajectory Planning Using Tire Thermodynamics for Automated Drifting"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.12989","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:f675521fe7d2a75a92ceedec22cca50e53a0554e8aad0da303ae5f15393da0d3","target":"record","created_at":"2026-07-05T08:45:14Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"a922a3892fc897fd23aefc604475290c1f5730c4be0b60ff1307b76e4ac2b9bd","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-07-17T20:13:39Z","title_canon_sha256":"73247e1fa818d5c953240ae8c77cf3ce93a2f9cdb99027441bf751650a03bfef"},"schema_version":"1.0","source":{"id":"2407.12989","kind":"arxiv","version":1}},"canonical_sha256":"75bed78c3731645aa76ee11b23a559a52b52a11b73ba6e71ad97d9f09fa48e55","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"75bed78c3731645aa76ee11b23a559a52b52a11b73ba6e71ad97d9f09fa48e55","first_computed_at":"2026-07-05T08:45:14.328260Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:45:14.328260Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pBtlKDvY+zqIYFgqqBfqJQxeO9DygG6IxezdTpk4jSsMX5LZVD6EvRNfMT/dr4WYniQVcZpFpX9jKTwSM9pKDw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:45:14.328613Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.12989","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f675521fe7d2a75a92ceedec22cca50e53a0554e8aad0da303ae5f15393da0d3","sha256:01941e2702b8663a6ada43ca072940e23acc8af5ca0a034e85cbb43930b1a481"],"state_sha256":"64078744421d531598912ad4194360f36da4be7439821ce69a136f2535610a69"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JgBc7pmZgcCxjib/8lzCTyA/T6MP0+CsbsIl0FduxDTsViM1lJMs30gIWMxzZxyhTE2E4GDR59NRvcMD4b++AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-12T20:09:47.740212Z","bundle_sha256":"89b38f6fc24f932f03ebec28d3c5f164d5991e006906d2e8eb45d4520b7c0783"}}