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Cited article:

A Survey of Decision-Making Safety Assessment Methods for Autonomous Vehicles

Zhaowen Pang, Zhenbin Chen, Jiayi Lu, Mengyue Zhang, Xinjie Feng, Yuyi Chen, Shichun Yang and Yaoguang Cao
IEEE Intelligent Transportation Systems Magazine 16 (1) 74 (2024)
https://doi.org/10.1109/MITS.2023.3292511