{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,7]],"date-time":"2026-04-07T11:33:16Z","timestamp":1775561596378,"version":"3.50.1"},"reference-count":92,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2022,2,28]],"date-time":"2022-02-28T00:00:00Z","timestamp":1646006400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2022,2,28]],"date-time":"2022-02-28T00:00:00Z","timestamp":1646006400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Ethics Inf Technol"],"published-print":{"date-parts":[[2022,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The introduction of automated vehicles promises an increase in traffic safety. Prior to its launch proof of the anticipated reduction in the sense of a positive risk balance compared with human driving performance is required from various stakeholders such as the European Union Commission, the German Ethic Commission, and the ISO TR 4804. To meet this requirement and to generate acceptance by the public and the regulatory authorities, a qualitative Risk- Benefit framework has been defined. This framework is based on literature research on approaches applied in other disciplines. This report depicts the framework, adapted from the pharmaceutical sector called PROACT-URL which serves as a structured procedure to demonstrate a positive risk balance in an understandable and transparent manner. The qualitative framework needs to be turned in quantitative methods once it should be applied. Therefore, two steps of the framework are discussed in more detail: First, the definition of adequate development thresholds that are required at an early stage of the development. Second the simulation-based assessment to prove the positive risk balance prior to the market introduction.<\/jats:p>","DOI":"10.1007\/s10676-022-09625-2","type":"journal-article","created":{"date-parts":[[2022,2,28]],"date-time":"2022-02-28T18:06:53Z","timestamp":1646071613000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Positive risk balance: a comprehensive framework to ensure vehicle safety"],"prefix":"10.1007","volume":"24","author":[{"given":"Nina","family":"Kauffmann","sequence":"first","affiliation":[]},{"given":"Felix","family":"Fahrenkrog","sequence":"additional","affiliation":[]},{"given":"Ludwig","family":"Drees","sequence":"additional","affiliation":[]},{"given":"Florian","family":"Raisch","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,2,28]]},"reference":[{"key":"9625_CR1","doi-asserted-by":"crossref","unstructured":"Alvarez Lopez, P., Behrisch, M., Bieker-Walz, L., Erdmann, J., Fl\u00f6tter\u00f6d, Y.-P., Hilbrich, R., L\u00fccken, L., Rummel, J., Wagner, P., & Wie\u00dfner, E. (2018). Microscopic traffic simulation using SUMO. IEEE Intelligent Transportation Systems Conference (ITSC), IEEE. The 21st IEEE International Conference on Intelligent Transportation Systems, 4.-7. Nov. 2018 (pp. 2575\u20132582).","DOI":"10.1109\/ITSC.2018.8569938"},{"key":"9625_CR2","unstructured":"Arnoux, E. (2021). Scenarios from real life: PFA proposals for AD safety validation, French Scenarios Library, EUCAD Conference 2021. Retrieved from https:\/\/www.connectedautomateddriving.eu\/wp-content\/uploads\/2021\/05\/EUCAD2021_D3_BO11_Emmanuel-Arnoux.pdf"},{"key":"9625_CR3","unstructured":"Bast (Bundesanstalt f\u00fcr Stra\u00dfenwesen). (2014). Ergebnisse Fahrleistungserhebung 2014. Retrieved from https:\/\/www.bast.de\/BASt_2017\/DE\/Verkehrssicherheit\/Fachthemen\/U2-fahrleistung-2014\/u2-Fahrleistung-2014-ergebnisse.html"},{"issue":"3","key":"9625_CR4","doi-asserted-by":"publisher","first-page":"250","DOI":"10.1080\/1463922X.2018.1432716","volume":"20","author":"VA Banks","year":"2019","unstructured":"Banks, V. A., Plant, K. L., & Stanton, N. A. (2019). Driving aviation forward; contrasting driving automation and aviation automation. Theoretical Issues in Ergonomics Science, 20(3), 250\u2013264.","journal-title":"Theoretical Issues in Ergonomics Science"},{"key":"9625_CR5","unstructured":"Benmimoun, M., Fahrenkrog, F., Zlocki, A., Eckstein, L. (2011). Incident detection based on vehicle CAN-data within the large scale field operational test \u201ceuroFOT\u201d 22nd Enhanced Safety of Vehicles Conference. Retrieved from https:\/\/www-esv.nhtsa.dot.gov\/Proceedings\/22\/files\/22ESV-000042.pdf"},{"key":"9625_CR6","unstructured":"Bjorvatn, A., Page, Y., Fahrenkrog, F., Weber, H., Aittoniemi, E., B\u00e4rgman, J., Borrack, M., Hermitte, T., Heum, P., Hiller, J., Innamaa, S., Itkonen, T., Lehtonen, E., Malin, F., Pedersen, K., Silla, A., Sintonen, H., Streubel, T., & Torrao, G. (2021). Impact Evaluation Results, L3Pilot Deliverable D7.4."},{"key":"9625_CR7","doi-asserted-by":"publisher","DOI":"10.7249\/rra569-1","volume-title":"Safe Enough: Approaches to assessing acceptable safety for automated vehicles. Approaches to Assessing Acceptable Safety for Automated Vehicles","author":"M Blumenthal","year":"2020","unstructured":"Blumenthal, M., Fraade-Blanar, L., Best, R., & Irwin, J. (2020). Safe Enough: Approaches to assessing acceptable safety for automated vehicles. Approaches to Assessing Acceptable Safety for Automated Vehicles. RAND Corporation. https:\/\/doi.org\/10.7249\/rra569-1"},{"key":"9625_CR8","unstructured":"Bundesministerium f\u00fcr Verkehr und digitale Infrastruktur. (2015, October). Halbzeitbilanz des Verkehrssicherheitsprogramms 2011\u20132020. Retrieved from https:\/\/www.bmvi.de\/SharedDocs\/DE\/Publikationen\/StV\/halbzeitbilanz-verkehrssicherheitsprogramm.pdf?__blob=publicationFile."},{"key":"9625_CR9","unstructured":"Sayer, J. R., Bogard, S. E., Funkhouser, D., LeBlanc, D.J., Bao, S., Blankespoor, A.D., Buonarosa, M. L., & Winkler, C. B. (2010). Integrated vehicle-based safety systems heavy-truck field operational test key findings report, The University of Michigan Transportation Research Institute, Report No. DOT HS 811 362. Retrieved from https:\/\/deepblue.lib.umich.edu\/bitstream\/handle\/2027.42\/77988\/102672.pdf?sequence=1&isAllowed=y"},{"key":"9625_CR10","unstructured":"Bonnefon, J.-F., Cerny, D., Danaher, J., Deviller, N., Johansson, V., Kovacikova, T., Martens, M., Mladenovic, M. N., Palade, P., Reed, N., Santoni de Sio, F., Tsinorema, S., Wachter, S., & Zawieska, K. (2020). Ethics of Connected and Automated Vehicles: recommendations on road safety, privacy, fairness, explainability and responsibility. Horizon 2020 Commission Expert Group to advise on specific ethical issues raised by driverless mobility (E03659). Publication Office of the European Union. Retrieved from https:\/\/ec.europa.eu\/info\/sites\/info\/files\/research_and_innovation\/ethics_of_connected_and_automated_vehicles_report.pdf"},{"key":"9625_CR11","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1007\/978-3-658-05734-3_12","volume-title":"Handbuch Fahrerassistenzsysteme","author":"J Breuer","year":"2015","unstructured":"Breuer, J., von Hugo, C., M\u00fccke, S., & Tattersall, S. (2015). Nutzerorientierte Bewertungsverfahren von Fahrerassistenzsystemen. Handbuch Fahrerassistenzsysteme (pp. 183\u2013196). Springer Fachmedien Wiesbaden."},{"key":"9625_CR12","unstructured":"CDER. (U.S. Department of Health and Human Services Food and Drug Administration Center for Drug Evaluation and Research). (2005). Guidance for industry: Characterization and qualification of cell substrates and other biological starting materials used in the production of viral vaccines for the prevention and treatment of infectious diseases. Retrieved from https:\/\/www.fda.gov\/media\/72309\/download"},{"key":"9625_CR13","unstructured":"Destatis (Statistisches Bundesamt). (2021). Verkehr \u2013 Verkehrsunf\u00e4lle 2019 (Fachserie 8 Reihe 7). Statistisches Bundesamt. Retrieved from https:\/\/www.destatis.de\/DE\/Themen\/Gesellschaft-Umwelt\/Verkehrsunfaelle\/Publikationen\/Downloads-Verkehrsunfaelle\/verkehrsunfaelle-jahr-2080700197004.pdf?__blob=publicationFile"},{"key":"9625_CR14","unstructured":"Destatis (Statistisches Bundesamt). (2019). Verkehr: Verkehrsunf\u00e4lle 2018 (Fachserie 8 Reihe 7). Statistisches Bundesamt. Retrieved from https:\/\/www.statistischebibliothek.de\/mir\/servlets\/MCRFileNodeServlet\/DEHeft_derivate_00052769\/5462403187004_akt20191017.pdf"},{"key":"9625_CR15","unstructured":"Destatis (Statistisches Bundesamt). (2018). Verkehr \u2013 Verkehrsunf\u00e4lle 2017 (Fachserie 8 Reihe 7). Statistisches Bundesamt. Retrieved from https:\/\/www.statistischebibliothek.de\/mir\/servlets\/MCRFileNodeServlet\/DEHeft_derivate_00040387\/2080700177004_Erg16082018.pdf"},{"key":"9625_CR16","unstructured":"Destatis (Statistisches Bundesamt). (2017). Verkehr \u2013 Verkehrsunf\u00e4lle 2016 (Fachserie 8 Reihe 7). Statistisches Bundesamt. Retrieved from https:\/\/www.statistischebibliothek.de\/mir\/servlets\/MCRFileNodeServlet\/DEHeft_derivate_00035071\/2080700167004_Korr16042018.pdf"},{"key":"9625_CR17","unstructured":"Destatis (Statistisches Bundesamt). (2015). Verkehr \u2013 Verkehrsunf\u00e4lle 2015 (Fachserie 8 Reihe 7). Statistisches Bundesamt. Retrieved from https:\/\/www.statistischebibliothek.de\/mir\/servlets\/MCRFileNodeServlet\/DEHeft_derivate_00016632\/2080700151034.pdf;jsessionid=640EE976AC4916A939407BD8060D9053"},{"key":"9625_CR18","first-page":"407","volume-title":"Autonomous Driving","author":"K Dietmayer","year":"2016","unstructured":"Dietmayer, K. (2016). Predicting of machine perception for automated driving. Autonomous Driving (pp. 407\u2013424). Springer."},{"issue":"4","key":"9625_CR19","doi-asserted-by":"publisher","first-page":"324","DOI":"10.1080\/15472450.2017.1291351","volume":"21","author":"D Milakis","year":"2017","unstructured":"Milakis, D., van Arem, B., & van Wee, B. (2017). Policy and society related implications of automated driving: A review of literature and directions for future research. Journal of Intelligent Transportation Systems, 21(4), 324\u2013348. https:\/\/doi.org\/10.1080\/15472450.2017.1291351","journal-title":"Journal of Intelligent Transportation Systems"},{"key":"9625_CR20","unstructured":"Food and Drug Administration. (2018). Benefit-risk assessment in drug regulatory decision-making: Draft PDUFA VI implementation plan (FY 2018\u20132022). Retrieved from https:\/\/www.fda.gov\/files\/about%20fda\/published\/Benefit-Risk-Assessment-in-Drug-Regulatory-Decision-Making.pdf"},{"key":"9625_CR21","unstructured":"DIN EN ISO 14971:2020-07 Medical devices: Application of risk management to medical devices (ISO 14971:2019); German version EN ISO 14971:2019"},{"key":"9625_CR22","unstructured":"DIN EN 50129:2019-06 Railway applications: Communication, signalling and processing systems\u2014 Safety related electronic systems for signalling; German version EN 50129:2018 + AC:2019"},{"key":"9625_CR23","unstructured":"DIN EN 50126-1:2018-10 Railway Applications: The Specification and Demonstration of Reliability, Availability, Maintainability and Safety (RAMS) - Part 1: Generic RAMS Process; German version EN 50126-1:2017"},{"key":"9625_CR24","doi-asserted-by":"crossref","unstructured":"Dingus, T. A., Klauer, S. G., Neale, V. L., Petersen, A., Lee, S. E., Sudweeks, J., Perez, M. A., Hankey, J., Ramsey, D., Gupta, S., Bucher, C., Doerzaph, Z. R., Jermeland, J., & Knipling, R. R. (2006). The 100-car naturalistic driving study, Phase II: Results of the 100-car field experiment, Virginia tech transportation institute, Report No. DOT HS 810 593. Retrieved from https:\/\/www.nhtsa.gov\/sites\/nhtsa.dot.gov\/files\/100carmain.pdf","DOI":"10.1037\/e624282011-001"},{"key":"9625_CR25","unstructured":"Drask\u00f3czy, M., Carsten, O. M. J., & Kulmala, R. (1998), Road safety guidelines. CODE Project, telematics application programme, Deliverable B5.2."},{"key":"9625_CR26","volume-title":"Pro-Gen Safety group summary report: Estimation of the potential safety effects of different possible PROMETHEUS-Functions, Prometheus (Program)","author":"B Dryselius","year":"1990","unstructured":"Dryselius, B. (1990). Pro-Gen Safety group summary report: Estimation of the potential safety effects of different possible PROMETHEUS-Functions, Prometheus (Program). PRO-GEN Safety Group."},{"key":"9625_CR27","unstructured":"EMA European Medicines Agency. Benefit-risk methodology project work package 3 report: Field tests. European Medicines Agency; 31 Aug 2012. Retrieved from http:\/\/www.ema.europa.eu\/docs\/en_GB\/document_library\/Report\/2011\/09\/WC500112088.pdf. Report no: EMA\/718294\/2011."},{"key":"9625_CR28","unstructured":"EMA European Medicines Agency. (n.d.). PROACT-URL. Retrieved from https:\/\/www.protectbenefitrisk.eu\/PrOACT-URL.html"},{"key":"9625_CR29","unstructured":"Ellway, J., Hallbauer, K., & Kerz, T. (2019). The development of a Euro NCAP far side occupant test and assessment procedure. 26th International Technical Conference on the Enhanced Safety of Vehicles (ESV). Retrieved from https:\/\/www-esv.nhtsa.dot.gov\/Proceedings\/26\/26ESV-000278.pdf"},{"issue":"1","key":"9625_CR30","doi-asserted-by":"publisher","first-page":"32","DOI":"10.1518\/001872095779049543","volume":"37","author":"MR Endsley","year":"1995","unstructured":"Endsley, M. R. (1995). Toward a theory of situation awareness in dynamic systems. Human Factors: THe Journal of the Human Factors and Ergonomics Society, 37(1), 32\u201364. https:\/\/doi.org\/10.1518\/001872095779049543","journal-title":"Human Factors: THe Journal of the Human Factors and Ergonomics Society"},{"key":"9625_CR31","unstructured":"Di Fabio, U., Broy, M., Br\u00fcngger, R., Eichhorn, U., Grunwald, A., Heckmann, D., Hilgendorf, E., Kagermann, H., Losinger, A., Lutz-Bachmann, M., L\u00fctge, C., Markl, A., M\u00fcller, K., & Nehm, K. (2017). Ethic commission: automated and connected driving, Report of ethics commission appointed by the federal minister of transport and digital infrastructure. Retrieved from https:\/\/www.bmvi.de\/SharedDocs\/EN\/publications\/report-ethics-commission.pdf?__blob=publicationFile"},{"key":"9625_CR32","unstructured":"Fahrenkrog, F. (2016). Wirksamkeitsanalyse von Fahrerassistenzsystemen in Bezug auf die Verkehrssicherheit. Doctoral Dissertation, RWTH Aachen University.Schriftenreihe Automobiltechnik Issue Number: 196, fka Forschungsgesellschaft Kraftfahzeuge mbH, ISBN 978-3-946019-01-5."},{"key":"9625_CR33","unstructured":"Fahrenkrog, F., Wang, L., Platzer, T., Fries, A., Raisch, F., & Kompa\u00df, K. (2019). Prospective safety effectiveness assessment of automated driving function: From the method to the results. Enhanced Safety of Vehicles. Retrieved from https:\/\/www-esv.nhtsa.dot.gov\/Proceedings\/26\/26ESV-000166.pdf"},{"key":"9625_CR34","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1007\/978-3-662-45854-9_7","volume-title":"Autonomes Fahren","author":"B F\u00e4rber","year":"2015","unstructured":"F\u00e4rber, B. (2015). Kommunikationsprobleme zwischen autonomen Fahrzeugen und menschlichen Fahrern. Autonomes Fahren (pp. 127\u2013146). Springer."},{"issue":"4","key":"9625_CR35","doi-asserted-by":"publisher","first-page":"317","DOI":"10.1080\/15389580490896951","volume":"5","author":"CM Farmer","year":"2004","unstructured":"Farmer, C. M. (2004). Effect of electronic stability control on automobile crash risk. Traffic Injury Prevention, 5(4), 317\u2013325. https:\/\/doi.org\/10.1080\/15389580490896951","journal-title":"Traffic Injury Prevention"},{"key":"9625_CR36","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1007\/978-3-658-05734-3_8","volume-title":"Handbuch fahrerassistenzsysteme","author":"S Hakuli","year":"2015","unstructured":"Hakuli, S., & Krug, M. (2015). Virtuelle integration. Handbuch fahrerassistenzsysteme (pp. 125\u2013138). Springer Fachmedien Wiesbaden."},{"issue":"4","key":"9625_CR37","doi-asserted-by":"publisher","first-page":"295","DOI":"10.1207\/sthf0104_1","volume":"1","author":"PA Hancock","year":"1999","unstructured":"Hancock, P. A., Simmons, L., Hashemi, L., Howarth, H., & Ranney, T. (1999). The effects of in-vehicle distraction on driver response during a crucial driving maneuver. Transportation Human Factors, 1(4), 295\u2013309. https:\/\/doi.org\/10.1207\/sthf0104_1","journal-title":"Transportation Human Factors"},{"key":"9625_CR38","unstructured":"Helmer T. (2014). Development of a Methodology for the Evaluation of Active Safety using the Example of Preventive Pedestrian Protection. Doctoral Dissertation. TU Berlin). Retrieved from https:\/\/depositonce.tu-berlin.de.https:\/\/depositonce.tu-berlin.de\/bitstream\/11303\/4270\/2\/helmer_thomas.pdf"},{"key":"9625_CR39","unstructured":"HLDI. (2021). Volvo city safety loss experience: An update Highway Loss Data Institute. Bulletin 29(23). Retrieved from https:\/\/www.iihs.org\/media\/48c6e9ae-d60b-4cc7-9bf6-a330ef1d177e\/-808307776\/HLDI%20Research\/Bulletins\/hldi_bulletin_29.23.pdf"},{"key":"9625_CR40","volume-title":"Decision making in health and medicine: Integrating evidence and values","author":"M Hunink","year":"2001","unstructured":"Hunink, M., Weinstein, M., Wittenberg, E., Drummond, M., Pilskin, J., Wong, J., & Glasziou, P. (2001). Decision making in health and medicine: Integrating evidence and values. Cambridge University Press."},{"key":"9625_CR41","unstructured":"Innamaa, S., Smith, S., Barnard, Y., Rainville, L., Rakoff, H., Horiguchi, R., & Gellerman, H. (2018). Trilateral impact assessment framework for automation in road transportation, Report of the EU-US-Japan ITS Cooperation. Retrieved from https:\/\/connectedautomateddriving.eu\/wp-content\/uploads\/2018\/03\/Trilateral_IA_Framework_April2018.pdf"},{"key":"9625_CR42","unstructured":"Innamaa, S., Aittoniemi, E., Bjorvatn, A., Fahrenkrog, F., Gwehenberger, J., Lehtonen, E., Louw, T., Malin, F., Penttinen, M., Schindhelm, R., Silla, A., Weber, H., Borrack, B., Di Lillo, L., Merat, N., Metz, B., Page, Y., Shi, E., & Sintonen, H. (2020). Evaluation plan, L3Pilot Project, Deliverable D3.4. Retrieved from https:\/\/l3pilot.eu\/fileadmin\/user_upload\/Downloads\/Deliverables\/L3Pilot-SP3-D3.4-Evaluation_plan-v1.0_DRAFT_for_website.pdf"},{"key":"9625_CR43","unstructured":"International Civil Aviation Organization. (2008). Doc 9859 safety management manual. In International Civil Aviation Organization (Fourth edition). Retrieved from http:\/\/www.icao.int\/fsix\/_Library\/SMM-9859_1ed_en.pdf, C:\/Users\/Danilo\/Downloads\/Safety_management_and_risk_modelling_in_aviation.pdf, http:\/\/www.easa.eu.int\/essi\/documents\/Methodology.pdf"},{"key":"9625_CR44","unstructured":"Isaksson-Hellman, I., & Lindman, M. (2012). \u201cThe effect of a low-speed automatic brake system estimated from real life data.\u201d Annals of advances in automotive medicine. Association for the Advancement of Automotive Medicine. Annual Scientific Conference (Vol. 56, pp. 231\u201340). Retrieved from https:\/\/www.ncbi.nlm.nih.gov\/pmc\/articles\/PMC3503425\/"},{"key":"9625_CR45","unstructured":"ISO 4804. (2020). Road vehicles: Safety and cybersecurity for automated driving systems: Design, verification and validation. ISO Technical report 4804:2020."},{"key":"9625_CR46","unstructured":"ISO 21934. (2021). Road vehicles: Prospective safety performance assessment of pre-crash technology by virtual simulation: Part 1: State-of-the-art and general method overview. ISO\/TR 21934-1:2021."},{"key":"9625_CR47","unstructured":"ISO 26262. (2018). Road vehicles: Functional safety. ISO standard series ISO 26262."},{"key":"9625_CR48","unstructured":"ISO 21448. (2019). Road vehicles \u2014 Safety of the intended functionality. ISO standard ISO\/PAS 21448:2019."},{"key":"9625_CR49","unstructured":"Kessler, C., Etemad, A., Alessandretti, G., Heinig, K., Selpi, Brouwer, R., Cserpinszky, A., Hagleitner, W., & Benmimoun, M., (2012), Final Report, euroFOT project deliverable D11.3. Retrieved from https:\/\/www.eurofot-ip.eu\/download\/library\/deliverables\/eurofotsp120121212v11dld113_final_report.pdf"},{"key":"9625_CR50","unstructured":"Knoll, P., & Langenwieder, K. (2006). Der Sicherheitseffekt von ESP in Realunf\u00e4llen \u2013 \u00dcberlegungen zum volks-wirtschaftlichen Nutzen von pr\u00e4diktiven Fahrerassistenzsystemen 2. Tagung Aktive Sicherheit durch Fahrerassistenz.Retrieved from https:\/\/mediatum.ub.tum.de\/doc\/1145167\/1145167.pdf"},{"key":"9625_CR51","unstructured":"Kocherscheidt, H. (2004). Wege zur Effizienzbetrachtung von Fahrerassistenzsystemen, 1. Tagung Aktive Sicherheit durch Fahrerassistenz. Retrieved from https:\/\/mediatum.ub.tum.de\/doc\/1145552\/1145552.pdf"},{"key":"9625_CR52","unstructured":"Kron, H. H. (2004). On the evaluation of risk acceptance principles. Retrieved from http:\/\/citeseerx.ist.psu.edu\/viewdoc\/download?doi=10.1.1.455.4506&rep=rep1&type=pdf"},{"key":"9625_CR53","unstructured":"Krumbach, P., & Schnieder, L. (2019). Positive Risikobilanz als ein Zulassungsma\u00dfstab f\u00fcr das Hochautomatisierte Fahren. Safetronic."},{"key":"9625_CR54","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1016\/j.trf.2015.04.014","volume":"32","author":"M Kyriakidis","year":"2015","unstructured":"Kyriakidis, M., Happee, R., & De Winter, J. C. F. (2015). Public opinion on automated driving: Results of an international questionnaire among 5000 respondents. Transportation Research Part F: Traffic Psychology and Behaviour, 32, 127\u2013140. https:\/\/doi.org\/10.1016\/j.trf.2015.04.014","journal-title":"Transportation Research Part F: Traffic Psychology and Behaviour"},{"key":"9625_CR55","first-page":"4","volume":"D7","author":"P Larsson","year":"2012","unstructured":"Larsson, P., Esberg, I., van Noort, M., Willemsen, D., Garcia, E., Fahrenkrog, F., Zlocki, A., Scholliers, J., Koskinen, S., V\u00e1rhelyi, A., & Sch\u00f6nebeck, S. (2012). Test and evaluation plans, interactIVe project. Deliverable, D7, 4.","journal-title":"Deliverable"},{"issue":"4","key":"9625_CR56","doi-asserted-by":"publisher","first-page":"437","DOI":"10.1068\/p050437","volume":"5","author":"DN Lee","year":"1976","unstructured":"Lee, D. N. (1976). A theory of visual control of braking based on information about time-to-collision. Perception, 5(4), 437\u2013459. https:\/\/doi.org\/10.1068\/p050437","journal-title":"Perception"},{"key":"9625_CR57","unstructured":"Mai, M. (2017). Fahrerverhaltensmodellierung f\u00fcr die prospektive, stochastische Wirksamkeitsbewertung von Fahrerassistenzsystemen der Aktiven Fahrzeugsicherheit. Doctoral Dissertation. TU Dresden, Schriftenreihe des Lehrstuhls Kraftfahrzeugtechnik, ISBN 9783736995482"},{"key":"9625_CR58","unstructured":"Malone, K., Wilmink, I., Noecker, G., Ro\u00dfrucker, K., Galbas R., & Alkim, T. (2008) Socio-economic impact assessment of stand-alone and co-operative intelligent vehicle safety systems (IVSS) in Europe, eIMPACT project, Deliverable D10. Retrieved from https:\/\/trimis.ec.europa.eu\/sites\/default\/files\/project\/documents\/20130401_140253_77423_eIMPACT_D9_D10_v2.0.pdf"},{"key":"9625_CR59","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1016\/j.trf.2014.11.002","volume":"27","author":"N Merat","year":"2014","unstructured":"Merat, N., & De Waard, D. (2014). Human factors implications of vehicle automation: Current understanding and future directions. Transportation Research Part F: Traffic Psychology and Behaviour, 27, 193\u2013195. https:\/\/doi.org\/10.1016\/j.trf.2014.11.002","journal-title":"Transportation Research Part F: Traffic Psychology and Behaviour"},{"key":"9625_CR60","unstructured":"Metz, B., R\u00f6sener, C., Louw, T., Aittoniemi, E., Bjorvatn, A., W\u00f6rle, J., Weber, H., Torrao, G. A., Silla, A., Innamaa, S., Malin, F., Lehtonen, E., Fahrenkrog, F., Heum, P., Pedersen, K., Merat, N., Nordhoff, S., Beuster, A., Dotzauer, M., & Streubel, T. (2019). Evaluation method, L3Pilot Project, Deliverable D3.3. Retrieved from https:\/\/l3pilot.eu\/fileadmin\/user_upload\/L3Pilot-SP3-D3.3_Evaluation_Methods-v1.0_DRAFT_for_website.pdf"},{"key":"9625_CR61","doi-asserted-by":"crossref","unstructured":"Najm, W. G., Da Silva, M. P., & Wiacek, C. J. (2000). Estimation of crash injury severity reduction for intelligent vehicle safety systems, SAE technical paper series 2000-01-1354, SAE 2000 World Congress.","DOI":"10.4271\/2000-01-1354"},{"key":"9625_CR62","unstructured":"Najm, W. G., Stearns, M. D., Howarth, H., Koopmann, J., & Hitz, J. (2006). Evaluation of an automotive rear-end collision avoidance system, U.S. Department of Transportation, Report No. DOT HS 810 569. Retrieved from https:\/\/www.nhtsa.gov\/DOT\/NHTSA\/NRD\/Multimedia\/PDFs\/Crash%20Avoidance\/2006\/HS910569.pdf"},{"key":"9625_CR63","volume-title":"Naturalistic driving study: Field data collection","author":"National Academies of Sciences, Engineering, and Medicine","year":"2014","unstructured":"National Academies of Sciences, Engineering, and Medicine. (2014). Naturalistic driving study: Field data collection. The National Academies Press."},{"key":"9625_CR64","unstructured":"NHTSA. (National Highway Traffic Safety and Transportation). (2013). Preliminary statement of policy concerning automated vehicles. National Highway Traffic Safety Administration."},{"key":"9625_CR65","unstructured":"NHTSA. (National Highway Traffic Safety and Transportation). (2016). Federal automated vehicles policy. Accerlerating the next revolution in roadway safety. Retrieved from https:\/\/www.transportation.gov\/sites\/dot.gov\/files\/docs\/AV%20policy%20guidance%20PDF.pdf"},{"key":"9625_CR66","unstructured":"op den Camp, O., van Montfort, S., Uittenbogaard, J., & Welten, J. (2016). CATS Final project summary report, CATS project Deliverable 6.1. Retrieved from https:\/\/wiki.unece.org\/download\/attachments\/60360943\/AEBS-04-07%20%28NL%29%20TNO%20CATS%20Final%20project%20summary%20report.pdf?api=v2"},{"key":"9625_CR67","unstructured":"OpenPass. (2021).OpenPASS Working Group. Retrieved from https:\/\/openpass.eclipse.org\/"},{"key":"9625_CR68","doi-asserted-by":"publisher","first-page":"252","DOI":"10.1016\/j.trf.2014.04.009","volume":"27","author":"W Payre","year":"2014","unstructured":"Payre, W., Cestac, J., & Delhomme, P. (2014). Intention to use a fully automated car: Attitudes and a priori acceptability. Transportation Research Part F: Traffic Psychology and Behaviour, 27, 252\u2013263. https:\/\/doi.org\/10.1016\/j.trf.2014.04.009","journal-title":"Transportation Research Part F: Traffic Psychology and Behaviour"},{"key":"9625_CR69","unstructured":"Page, Y., Fahrenkrog, F., Fiorentino, A., Gwehenberger, J., Helmer, T., Lindman, M., Op den Camp, O., van Rooij, L., Puch, S., Fr\u00e4nzle, M., Sander, U., & Wimmer, P. (2015). A comprehensive and harmonized method for assessing the effectiveness of advanced driver assistance systems by virtual simulation: The p.e.a.r.s. initiative. The 24th International Technical Conference on the Enhanced Safety of Vehicles (ESV) (pp. 1\u201312). Retrieved from http:\/\/www-esv.nhtsa.dot.gov\/Proceedings\/24\/isv7\/main.htm"},{"key":"9625_CR70","unstructured":"PEGASUS. (2019). Scenario Database, PEGASUS Project, Final Event. Retrieved from https:\/\/www.pegasusprojekt.de\/files\/tmpl\/Pegasus-Abschlussveranstaltung\/15_Scenario-Database.pdf"},{"issue":"9","key":"9625_CR71","doi-asserted-by":"publisher","first-page":"819","DOI":"10.1023\/A:1007649804201","volume":"16","author":"E Petridou","year":"2000","unstructured":"Petridou, E., & Moustaki, M. (2000). Human factors in the causation of road traffic crashes. European Journal of Epidemiology, 16(9), 819\u2013826. https:\/\/doi.org\/10.1023\/A:1007649804201","journal-title":"European Journal of Epidemiology"},{"key":"9625_CR72","unstructured":"P.E.A.R.S. Consortium (2021). Prospective effectiveness assessment for road safety: Overview, UNECE VMAD Sub Group 2 Virtual Testing, Meeting 24th Feb. 2021. Retrieved from https:\/\/wiki.unece.org\/download\/attachments\/123666581\/VMAD-SG2-12-03%20PEARS%20Presentation.pdf?api=v2"},{"key":"9625_CR73","doi-asserted-by":"publisher","unstructured":"R\u00f6del, C., Stadler, S., Meschtscherjakov, A., & Tscheligi, M. (2014). Towards autonomous cars: The effect of autonomy levels on acceptance and user experience. Proceedings of the 6th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (pp. 1\u20138). https:\/\/doi.org\/10.1145\/2667317.2667330","DOI":"10.1145\/2667317.2667330"},{"key":"9625_CR74","unstructured":"R\u00f6sener, C. (2020). A traffic-based method for safety impact assessment of road vehicle automation. RWTH Aachen University. Doctoral Dissertation. Retrieved from https:\/\/publications.rwth-aachen.de\/record\/801589\/files\/801589.pdf"},{"key":"9625_CR75","volume-title":"Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles","author":"SAE","year":"2016","unstructured":"SAE. (2016). Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles. SAE."},{"key":"9625_CR76","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.aap.2018.01.010","volume":"113","author":"U Sander","year":"2018","unstructured":"Sander, U., & Lubbe, N. (2018). The potential of clustering methods to define intersection test scenarios: Assessing real-life performance of AEB. Accident Analysis & Prevention, 113, 1\u201311. https:\/\/doi.org\/10.1016\/j.aap.2018.01.010","journal-title":"Accident Analysis & Prevention"},{"key":"9625_CR77","unstructured":"Smith, S., Koopmann, J., Rakoff, H., Peirce, S., Noel, G., Eilbert, A., Yanagisawa, M. (2017). Benefits estimation model for automated vehicle operations: Phase 2 final report. U.S. Department of Transportation FHWA-JPO-18-636. Retrieved from https:\/\/rosap.ntl.bts.gov\/view\/dot\/34458\/dot_34458_DS1.pdf"},{"issue":"sup2","key":"9625_CR78","doi-asserted-by":"publisher","first-page":"S91","DOI":"10.1080\/15389588.2018.1527030","volume":"19","author":"R Spicer","year":"2018","unstructured":"Spicer, R., Vahabaghaie, A., Bahouth, G., Drees, L., Martinez von B\u00fclow, R., & Baur, P. (2018). Field effectiveness evaluation of advanced driver assistance systems. Traffic Injury Prevention, 19(sup2), S91\u2013S95. https:\/\/doi.org\/10.1080\/15389588.2018.1527030","journal-title":"Traffic Injury Prevention"},{"key":"9625_CR79","unstructured":"Spitzh\u00fcttel, F., Petzold, M., & Liers, H. (2015). PCM from iGLAD database, FAT-Schriftreihe 280. Verband der Automobilindustrie. Retrieved from https:\/\/www.vda.de\/dam\/vda\/publications\/2015\/FAT-Reihe\/fat-schriftenreihe-280.pdf"},{"issue":"sup1","key":"9625_CR80","doi-asserted-by":"publisher","first-page":"S18","DOI":"10.1080\/15389588.2017.1313413","volume":"18","author":"S Sternlund","year":"2017","unstructured":"Sternlund, S. (2017). The safety potential of lane departure warning systems: A descriptive real-world study of fatal lane departure passenger car crashes in Sweden. Traffic Injury Prevention, 18(sup1), S18\u2013S23. https:\/\/doi.org\/10.1080\/15389588.2017.1313413","journal-title":"Traffic Injury Prevention"},{"key":"9625_CR81","doi-asserted-by":"publisher","first-page":"105567","DOI":"10.1016\/j.aap.2020.105567","volume":"142","author":"A Sinha","year":"2020","unstructured":"Sinha, A., Chand, S., Wijayaratna, K. P., Virdi, N., & Dixit, V. (2020). Comprehensive safety assessment in mixed fleets with connected and automated vehicles: A crash severity and rate evaluation of conventional vehicles. Accident Analysis and Prevention, 142, 105567. https:\/\/doi.org\/10.1016\/j.aap.2020.105567","journal-title":"Accident Analysis and Prevention"},{"key":"9625_CR82","unstructured":"TRStrab Brandschutz \u2013 Technische Regeln von Stra\u00dfenbahnen \u2013 Brandschutz in unterirdischen Betriebsanlagen, Stand 24.06.2014"},{"issue":"2","key":"9625_CR83","doi-asserted-by":"publisher","first-page":"1805","DOI":"10.1103\/PhysRevE.62.1805","volume":"62","author":"M Treiber","year":"2000","unstructured":"Treiber, M., Hennecke, A., & Helbing, D. (2000). Congested traffic states in empirical observations and microscopic simulations. Physical Review E: Statistical Physics, Plasmas, Fluids, and Related Interdisciplinary Topics, 62(2), 1805\u20131824. https:\/\/doi.org\/10.1103\/PhysRevE.62.1805","journal-title":"Physical Review E: Statistical Physics, Plasmas, Fluids, and Related Interdisciplinary Topics"},{"key":"9625_CR84","unstructured":"UN ECE ALKS. (2020). Proposal for a new UN Regulation on uniform provisions concerning the approval of vehicles with regards to software update and software updates management system. ECE\/TRANS\/WP.29\/2020\/80."},{"key":"9625_CR85","unstructured":"UN ECE R-155. (2020). Proposal for a new UN Regulation on uniform provisions concerning the approval of vehicles with regards to cyber security and cyber security management system. UN ECE Regulation. Retrieved from https:\/\/unece.org\/fileadmin\/DAM\/trans\/doc\/2020\/wp29\/WP29-182-05e.pdf"},{"issue":"1","key":"9625_CR86","doi-asserted-by":"publisher","first-page":"80","DOI":"10.1109\/MITS.2014.2340054","volume":"7","author":"M van Noort","year":"2015","unstructured":"van Noort, M., Bakri, T., Fahrenkrog, F., & Dobberstein, J. (2015). SIMPATO: The safety impact assessment tool of interactive. IEEE Intelligent Transportation Systems Magazine, 7(1), 80\u201390. https:\/\/doi.org\/10.1109\/MITS.2014.2340054","journal-title":"IEEE Intelligent Transportation Systems Magazine"},{"key":"9625_CR87","volume-title":"Simulation des Stra\u00dfenverkehrsflusses","author":"R Wiedemann","year":"1974","unstructured":"Wiedemann, R. (1974). Simulation des Stra\u00dfenverkehrsflusses. Schriftenreihe des Instituts f\u00fcr Verkehrswesen der Universit\u00e4t Karlsruhe."},{"key":"9625_CR88","doi-asserted-by":"publisher","first-page":"1173","DOI":"10.1007\/978-3-658-05734-3","volume-title":"Handbuch Fahrerassistenzsysteme","author":"H Winner","year":"2015","unstructured":"Winner, H. (2015). Quo vadis, FAS? In H. Winner, S. Hakuli, F. Lotz, & C. Singer (Eds.), Handbuch Fahrerassistenzsysteme (pp. 1173\u20131182). Springer Vieweg."},{"key":"9625_CR90","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1016\/j.trf.2019.05.007","volume":"64","author":"M Witt","year":"2019","unstructured":"Witt, M., Kompa\u00df, K., Wang, L., Kates, R., Mai, M., & Prokop, G. (2019). Driver profiling: Data-based identification of driver behavior dimensions and affecting driver characteristics for multi-agent traffic simulation. Transportation Research Part F: Traffic Psychology and BehaviourISSN, 64, 361\u2013376. https:\/\/doi.org\/10.1016\/j.trf.2019.05.007","journal-title":"Transportation Research Part F: Traffic Psychology and BehaviourISSN"},{"key":"9625_CR89","volume-title":"Advances in human aspects of transportation. AHFE 2018. Advances in intelligent systems and computing","author":"M Witt","year":"2019","unstructured":"Witt, M., Wang, L., Fahrenkrog, F., Kompa\u00df, K., & Prokop, G. (2019). Cognitive driver behavior modeling: influence of personality and driver characteristics on driver behavior. In N. Stanton (Ed.), Advances in human aspects of transportation. AHFE 2018. Advances in intelligent systems and computing.  (Vol. 786). Springer."},{"key":"9625_CR91","unstructured":"Wood, M., Knobel, C., Garbacik, N., Robbel, P., Boymanns, D., Smerza, D., Maass, M., L\u00f6hning, M., Dalong, L., Radboud, D. T., Dehlink, B., Timmons, A., Meijs, M., Kaule, D., Bellotti, Harb, M., Kr\u00fcger, R., O\u2019Brien, M. et al. (2019). Safety first for automated driving. White paper of different car manufacutres and suppliers. Retrieved from https:\/\/www.press.bmwgroup.com\/global\/article\/attachment\/T0298103EN\/434404"},{"key":"9625_CR92","unstructured":"Zhao, D., & Peng, H. (2017). From the lab to the street: Solving the challenge of accelerating automated vehicle testing. MCity White Paper. Retrieved from https:\/\/mcity.umich.edu\/wp-content\/uploads\/2017\/05\/Mcity-White-Paper_Accelerated-AV-Testing.pdf"}],"container-title":["Ethics and Information Technology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10676-022-09625-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10676-022-09625-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10676-022-09625-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,3,22]],"date-time":"2022-03-22T19:19:39Z","timestamp":1647976779000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10676-022-09625-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,2,28]]},"references-count":92,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,3]]}},"alternative-id":["9625"],"URL":"https:\/\/doi.org\/10.1007\/s10676-022-09625-2","relation":{},"ISSN":["1388-1957","1572-8439"],"issn-type":[{"value":"1388-1957","type":"print"},{"value":"1572-8439","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,2,28]]},"assertion":[{"value":"5 January 2022","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 February 2022","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"15"}}