{"id":"https://openalex.org/W7128626208","doi":"https://doi.org/10.1109/icves65691.2025.11376522","title":"Towards Safe Autonomous Driving: A Real-Time Safeguarding Concept for Motion Planning Algorithms","display_name":"Towards Safe Autonomous Driving: A Real-Time Safeguarding Concept for Motion Planning Algorithms","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W7128626208","doi":"https://doi.org/10.1109/icves65691.2025.11376522"},"language":null,"primary_location":{"id":"doi:10.1109/icves65691.2025.11376522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icves65691.2025.11376522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","raw_type":"proceedings-article"},"type":"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/A5125677595","display_name":"Korbinian Moller","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Korbinian Moller","raw_affiliation_strings":["Technical University of Munich,Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125675644","display_name":"Rafael Neher","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rafael Neher","raw_affiliation_strings":["Technical University of Munich,Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120652512","display_name":"Marvin Seegert","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marvin Seegert","raw_affiliation_strings":["Technical University of Munich,Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125669565","display_name":"Johannes Betz","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Betz","raw_affiliation_strings":["Technical University of Munich,Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5125677595"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63436681,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"424","last_page":"430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.3089999854564667,"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":0.3089999854564667,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.21279999613761902,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10142","display_name":"Formal Methods in Verification","score":0.19660000503063202,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/safeguarding","display_name":"Safeguarding","score":0.724399983882904},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7192999720573425},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5953999757766724},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5716999769210815},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5411999821662903},{"id":"https://openalex.org/keywords/safeguard","display_name":"Safeguard","score":0.5224999785423279},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42160001397132874},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.41179999709129333}],"concepts":[{"id":"https://openalex.org/C2776743756","wikidata":"https://www.wikidata.org/wiki/Q5097921","display_name":"Safeguarding","level":2,"score":0.724399983882904},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7192999720573425},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5953999757766724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5896000266075134},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5716999769210815},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5411999821662903},{"id":"https://openalex.org/C2780771206","wikidata":"https://www.wikidata.org/wiki/Q3271761","display_name":"Safeguard","level":2,"score":0.5224999785423279},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.4699999988079071},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42160001397132874},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.41769999265670776},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.41179999709129333},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3714999854564667},{"id":"https://openalex.org/C81293917","wikidata":"https://www.wikidata.org/wiki/Q4189534","display_name":"System deployment","level":3,"score":0.36959999799728394},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.34869998693466187},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.3467999994754791},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3312999904155731},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.31949999928474426},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3156000077724457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3140999972820282},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.313400000333786},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.28519999980926514},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27410000562667847},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C2775940519","wikidata":"https://www.wikidata.org/wiki/Q17067742","display_name":"Logic model","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C188087704","wikidata":"https://www.wikidata.org/wiki/Q369577","display_name":"Standardization","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icves65691.2025.11376522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icves65691.2025.11376522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5341907143592834,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2091707830","https://openalex.org/W2192586580","https://openalex.org/W2328067583","https://openalex.org/W2343568200","https://openalex.org/W2588289902","https://openalex.org/W2810016625","https://openalex.org/W2965877563","https://openalex.org/W2968120782","https://openalex.org/W2989581819","https://openalex.org/W3086854072","https://openalex.org/W3107620440","https://openalex.org/W3108623890","https://openalex.org/W3114470638","https://openalex.org/W3116942665","https://openalex.org/W3121030992","https://openalex.org/W3121103293","https://openalex.org/W3157654733","https://openalex.org/W3188158137","https://openalex.org/W4205518878","https://openalex.org/W4232609829","https://openalex.org/W4238644249","https://openalex.org/W4297493289","https://openalex.org/W4315472014","https://openalex.org/W4385453437","https://openalex.org/W4389781730","https://openalex.org/W4396877721","https://openalex.org/W4399019070","https://openalex.org/W4400646363","https://openalex.org/W4401210495","https://openalex.org/W4403390366"],"related_works":[],"abstract_inverted_index":{"Ensuring":[0],"the":[1,77,111,124,128,162],"functional":[2],"safety":[3],"of":[4,80,127],"motion":[5,53],"planning":[6,54,81],"modules":[7],"in":[8],"autonomous":[9],"vehicles":[10],"remains":[11,44],"a":[12,28,49,61,92,140],"critical":[13],"challenge,":[14],"especially":[15],"when":[16],"dealing":[17],"with":[18],"complex":[19],"or":[20],"learning-based":[21],"software.":[22],"Online":[23],"verification":[24,148],"has":[25],"emerged":[26],"as":[27],"promising":[29],"approach":[30,74],"to":[31,83],"monitor":[32],"such":[33],"systems":[34],"at":[35],"runtime,":[36],"yet":[37],"its":[38,167],"integration":[39,126],"into":[40],"embedded":[41],"real-time":[42,93,116],"environments":[43],"limited.":[45],"This":[46,137],"work":[47,159],"presents":[48],"safeguarding":[50,112,163],"concept":[51],"for":[52,145,153],"that":[55,110],"extends":[56],"prior":[57],"approaches":[58],"by":[59],"introducing":[60],"time":[62,129],"safeguard.":[63],"While":[64],"existing":[65],"methods":[66],"focus":[67],"on":[68,91,155],"geometric":[69],"and":[70,103,118,132,142,149,165,172],"dynamic":[71],"feasibility,":[72],"our":[73],"additionally":[75],"monitors":[76],"temporal":[78],"consistency":[79],"outputs":[82],"ensure":[84],"timely":[85],"system":[86,95],"response.":[87],"A":[88],"prototypical":[89],"implementation":[90],"operating":[94],"evaluates":[96],"trajectory":[97,147],"candidates":[98],"using":[99],"constraint-based":[100],"feasibility":[101],"checks":[102],"cost-based":[104],"plausibility":[105],"metrics.":[106],"Preliminary":[107],"results":[108],"show":[109],"module":[113],"operates":[114],"within":[115],"bounds":[117],"effectively":[119],"detects":[120],"unsafe":[121],"trajectories.":[122],"However,":[123],"full":[125],"safeguard":[130],"logic":[131,164],"fallback":[133],"strategies":[134],"is":[135,177],"ongoing.":[136],"study":[138],"contributes":[139],"modular":[141],"extensible":[143],"framework":[144],"runtime":[146],"highlights":[150],"key":[151],"aspects":[152],"deployment":[154],"automotive-grade":[156],"hardware.":[157],"Future":[158],"includes":[160],"completing":[161],"validating":[166],"effectiveness":[168],"through":[169],"hardware-in-the-loop":[170],"simulations":[171],"vehicle-based":[173],"testing.":[174],"The":[175],"code":[176],"available":[178],"at:":[179],"https://github.com/TUM-AVS/motion-planning-supervisor.":[180]},"counts_by_year":[],"updated_date":"2026-02-13T13:36:01.753593","created_date":"2026-02-12T00:00:00"}