{"id":"https://openalex.org/W2124820636","doi":"https://doi.org/10.1109/mits.2013.2278405","title":"Safety Verification of Automated Driving Systems","display_name":"Safety Verification of Automated Driving Systems","publication_year":2013,"publication_date":"2013-01-01","ids":{"openalex":"https://openalex.org/W2124820636","doi":"https://doi.org/10.1109/mits.2013.2278405","mag":"2124820636"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2013.2278405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2013.2278405","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Intelligent Transportation Systems Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/1200226","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025900783","display_name":"Roozbeh Kianfar","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Roozbeh Kianfar","raw_affiliation_strings":["Department of Signals and Systems, Mechatronics, Chalmers University of Technology, Goteborg, Sweden","Dept. of Signals and Systems, Chalmers Univ. of Technology, G\u00f6teborg, Sweden#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Signals and Systems, Mechatronics, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Dept. of Signals and Systems, Chalmers Univ. of Technology, G\u00f6teborg, Sweden#TAB#","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019767300","display_name":"Paolo Falcone","orcid":"https://orcid.org/0000-0001-9587-9924"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Paolo Falcone","raw_affiliation_strings":["Department of Signals and Systems, Mechatronics, Chalmers University of Technology, Goteborg, Sweden","Dept. of Signals and Systems, Chalmers Univ. of Technology, G\u00f6teborg, Sweden#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Signals and Systems, Mechatronics, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Dept. of Signals and Systems, Chalmers Univ. of Technology, G\u00f6teborg, Sweden#TAB#","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012623700","display_name":"Jonas Fredriksson","orcid":"https://orcid.org/0000-0002-9814-6416"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jonas Fredriksson","raw_affiliation_strings":["Department of Signals and Systems, Mechatronics, Chalmers University of Technology, Goteborg, Sweden","Dept. of Signals and Systems, Chalmers Univ. of Technology, G\u00f6teborg, Sweden#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Signals and Systems, Mechatronics, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Dept. of Signals and Systems, Chalmers Univ. of Technology, G\u00f6teborg, Sweden#TAB#","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5025900783"],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":3.7358,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.93448682,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"73","last_page":"86"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12810","display_name":"Real-time simulation and control systems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.9435980916023254},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7562946081161499},{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.6189084053039551},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5900430679321289},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5778769254684448},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4990410804748535},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.47664007544517517},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4413623809814453},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4187595844268799},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3903403580188751},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24027392268180847},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23127004504203796},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20721766352653503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11741092801094055}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9435980916023254},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7562946081161499},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.6189084053039551},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5900430679321289},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5778769254684448},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4990410804748535},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.47664007544517517},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4413623809814453},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4187595844268799},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3903403580188751},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24027392268180847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23127004504203796},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20721766352653503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11741092801094055},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mits.2013.2278405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2013.2278405","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Intelligent Transportation Systems Magazine","raw_type":"journal-article"},{"id":"pmh:oai:iris.unimore.it:11380/1200226","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1200226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:research.chalmers.se:191944","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/191944","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1200226","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1200226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1524886571","https://openalex.org/W1555241936","https://openalex.org/W1880805667","https://openalex.org/W1926100748","https://openalex.org/W1997752734","https://openalex.org/W2038962524","https://openalex.org/W2041526726","https://openalex.org/W2072802361","https://openalex.org/W2073455351","https://openalex.org/W2100426031","https://openalex.org/W2101369257","https://openalex.org/W2107556430","https://openalex.org/W2119974577","https://openalex.org/W2120346558","https://openalex.org/W2156485924","https://openalex.org/W2162791642","https://openalex.org/W2750147881","https://openalex.org/W4300995080","https://openalex.org/W6640210221","https://openalex.org/W6659886871","https://openalex.org/W6669098937","https://openalex.org/W6674967802","https://openalex.org/W6743558609"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2150194458","https://openalex.org/W2143461633","https://openalex.org/W2959018463","https://openalex.org/W4295767435","https://openalex.org/W3034648909","https://openalex.org/W2042872819"],"abstract_inverted_index":{"In":[0,77],"this":[1],"paper,":[2],"a":[3,41,45,62,70,113],"set":[4,87,104],"based":[5,50],"approach":[6],"is":[7,25,100,116,148,160],"presented":[8,157],"for":[9,35,150,164],"safety":[10],"verification":[11,158],"and":[12,44,85,110,124,132,173],"performance":[13],"analysis":[14,23,84,180],"of":[15,105,142,167],"automated":[16],"driving":[17],"systems.":[18],"As":[19],"an":[20,185],"example,":[21],"reachability":[22,83,179],"technique":[24],"used":[26,73,91],"to":[27,92,118,120,162],"study":[28],"the":[29,58,75,94,103,121,137,143,151,156,165,178],"minimum":[30],"required":[31],"safe":[32],"inter-vehicle":[33,64,125],"distance":[34,65],"two":[36,152],"given":[37,114],"adaptive":[38],"cruise":[39],"controllers,":[40],"state":[42,46],"feedback":[43],"feedback/feedforward":[47],"controller":[48,115],"designed":[49],"on":[51,177],"mixed":[52],"d":[53],"H2/3":[54],"control.":[55],"Not":[56],"surprisingly,":[57],"results":[59,176],"indicate":[60],"that":[61],"shorter":[63],"can":[66,89],"be":[67,90],"achieved":[68],"when":[69],"feedforward":[71],"term":[72],"in":[74],"controller.":[76],"addition,":[78],"we":[79],"show":[80],"how":[81],"backward":[82],"invariant":[86],"theory":[88],"find":[93],"Maximal":[95,144],"Admissible":[96,145],"Safe":[97,146],"Set.":[98],"This":[99],"defined":[101],"as":[102],"position":[106],"error,":[107],"relative":[108],"speeds":[109],"acceleration,":[111],"which":[112],"guaranteed":[117],"control":[119],"desired":[122],"speed":[123],"distance,":[126],"while":[127],"fulfilling":[128],"vehicle":[129,168],"physical":[130],"constraints":[131],"avoiding":[133],"rear-end":[134],"collisions":[135],"with":[136,170],"preceding":[138],"vehicle.":[139],"The":[140,175],"calculation":[141],"Set":[147],"demonstrated":[149],"aforementioned":[153],"controllers.":[154],"Furthermore,":[155],"method":[159],"extended":[161],"account":[163],"case":[166],"model":[169],"polytopic":[171],"uncertainties":[172],"delay.":[174],"are":[181],"verified":[182],"experimentally":[183],"using":[184],"emergency":[186],"braking":[187],"scenario.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2016-06-24T00:00:00"}