{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T20:44:36Z","timestamp":1779223476728,"version":"3.51.4"},"reference-count":90,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100006360","name":"German Federal Ministry for Economic Affairs and Energy within the project \u2018VVM - Verification & Validation Methods for Automated Vehicles Level 4 and 5.\u2019","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100006360","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2021]]},"DOI":"10.1109\/access.2021.3053159","type":"journal-article","created":{"date-parts":[[2021,1,21]],"date-time":"2021-01-21T20:55:29Z","timestamp":1611262529000},"page":"18016-18041","source":"Crossref","is-referenced-by-count":116,"title":["Criticality Analysis for the Verification and Validation of Automated Vehicles"],"prefix":"10.1109","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8847-5147","authenticated-orcid":false,"given":"Christian","family":"Neurohr","sequence":"first","affiliation":[{"name":"OFFIS, Oldenburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1065-4182","authenticated-orcid":false,"given":"Lukas","family":"Westhofen","sequence":"additional","affiliation":[{"name":"OFFIS, Oldenburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0000-3020","authenticated-orcid":false,"given":"Martin","family":"Butz","sequence":"additional","affiliation":[{"name":"Robert Bosch GmbH, Renningen, Germany"}]},{"given":"Martin Herbert","family":"Bollmann","sequence":"additional","affiliation":[{"name":"ZF AG, Friedrichshafen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0359-0053","authenticated-orcid":false,"given":"Ulrich","family":"Eberle","sequence":"additional","affiliation":[{"name":"Opel Automobile\/Groupe PSA, Rüsselsheim, Germany"}]},{"given":"Roland","family":"Galbas","sequence":"additional","affiliation":[{"name":"Robert Bosch GmbH, Renningen, Germany"}]}],"member":"263","reference":[{"key":"ref73","first-page":"1","article-title":"Intersection road accident causation: A European view","author":"simon","year":"2009","journal-title":"Proc 21st Int Tech Conf Enhanced Saf Vehicles"},{"key":"ref72","article-title":"6-layer model for a structured description and categorization of urban traffic and environment","author":"scholtes","year":"2020","journal-title":"arXiv 2012 06319"},{"key":"ref71","author":"schick","year":"1995","journal-title":"How to Think about Weird Things"},{"key":"ref70","year":"2014"},{"key":"ref76","first-page":"1887","article-title":"Robust causal inference using directed acyclic graphs: The R package ‘dagitty","volume":"45","author":"textor","year":"2016","journal-title":"Int J Epidemiol"},{"key":"ref77","article-title":"Tri-level study of the causes of traffic accidents. Executive summary","author":"treat","year":"1979"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00252"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913491297"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940482"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1093\/aje\/kwq439"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1016\/j.iatssr.2010.07.002"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2015.164"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2017.11.001"},{"key":"ref32","author":"leitner","year":"2019","journal-title":"Testing and Validation of Highly Automated Systems"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2007.909241"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2011.6082801"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2926040"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/001872086000200101"},{"key":"ref35","year":"2020","journal-title":"ASAM OpenSCENARIO"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0184952"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500406"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2019.8814015"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.3141\/2386-19"},{"key":"ref63","article-title":"Fundamental considerations around scenario-based testing for automated driving","author":"neurohr","year":"2020","journal-title":"arXiv 2005 04045"},{"key":"ref28","first-page":"1","article-title":"UDRIVE: The European naturalistic driving study","author":"eenink","year":"2014","journal-title":"Proc Transport Res Arena"},{"key":"ref64","first-page":"10","article-title":"Scientific approach and methodology of a new in-depth investigation study in Germany called Gidas","author":"otte","year":"2003","journal-title":"Proc Int Tech Conf Enhanced Saf Vehicles"},{"key":"ref27","article-title":"CARLA: An open urban driving simulator","author":"dosovitskiy","year":"2017","journal-title":"arXiv 1711 03938"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511803161"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1016\/j.jsr.2018.05.002"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2014.6957773"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007649804201"},{"key":"ref68","article-title":"On the validation of complex systems operating in open contexts","author":"poddey","year":"2019","journal-title":"arXiv 1902 10517v1"},{"key":"ref69","first-page":"79","article-title":"How to control confounding effects by statistical analysis","volume":"5","author":"pourhoseingholi","year":"2012","journal-title":"Gastroenterol Hepatol Bed Bench"},{"key":"ref2","first-page":"67","article-title":"Analysis of traffic conflicts and collisions","volume":"667","author":"allen","year":"1978","journal-title":"Transp Res Rec"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920961451"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1145\/3194085.3194086"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-95246-8_11"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-14628-3_7"},{"key":"ref24","author":"dickmanns","year":"2007","journal-title":"Dynamic Vision for Perception and Control of Motion"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1080\/15389588.2019.1602727"},{"key":"ref26","first-page":"1","article-title":"The eclipse working group openpass-an open source approach to safety impact assessment via simulation","author":"dobberstein","year":"2017","journal-title":"Proc 25th ESV Conf"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0168054"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2016.2555853"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569326"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-87617-2_14"},{"key":"ref59","author":"mcmenamin","year":"1984","journal-title":"Essential System Analysis"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569938"},{"key":"ref57","article-title":"Review of current study methods for VRU safety. Appendix 6—Scoping review: Surrogate measures of safety in site-based road traffic observations: Deliverable 2.1–part 4","author":"laureshyn","year":"2016"},{"key":"ref56","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1007\/978-3-030-58920-2_11","article-title":"Identification and quantification of hazardous scenarios for automated driving","author":"kramer","year":"2020","journal-title":"Proc Int Symp Model-Based Saf Assessment"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569552"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2004.1384441"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1016\/j.tra.2016.09.010"},{"key":"ref52","first-page":"1","article-title":"Metrik zur Bewertung der Kritikalität von Verkehrssituationen und-szenarien","author":"junietz","year":"2017","journal-title":"Proc 11th Workshop Fahrerassistenzsysteme"},{"key":"ref10","first-page":"139","article-title":"Efficient splitting of test and simulation cases for the verification of highly automated driving functions","author":"b\u00f6de","year":"2018","journal-title":"Proc Int Conf Comput Saf Rel Secur"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2019.105406"},{"key":"ref40","article-title":"A2D2: Audi autonomous driving dataset","author":"geyer","year":"2020","journal-title":"arXiv 2004 06320v1"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2005.1505122"},{"key":"ref13","first-page":"121","article-title":"IRTAD-international road traffic and accident database (stand: 1993)","volume":"39","author":"br\u00fchning","year":"1993","journal-title":"Zeitschrift für Verkehrssicherheit"},{"key":"ref14","first-page":"1","article-title":"SOCA: Domain analysis for highly automated driving systems","author":"butz","year":"2020","journal-title":"Proc IEEE 23rd Int Conf Intell Transp Syst (ITSC)"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01164"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500624"},{"key":"ref16","first-page":"154","article-title":"Counterexample-guided abstraction refinement","author":"clarke","year":"2000","journal-title":"Proc Int Conf Comput Aided Verification"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1080\/00140139008925338"},{"key":"ref17","first-page":"20","year":"2019"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2017.2720459"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.4324\/9780203807002"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2019.04.015"},{"key":"ref19","first-page":"512","article-title":"Perspectives on the validation and verification of machine learning systems in the context of highly automated vehicles","author":"damm","year":"2018","journal-title":"Proc AAAI Spring Symposia"},{"key":"ref80","first-page":"425","author":"wachenfeld","year":"2016","journal-title":"Autonomous Driving"},{"key":"ref89","doi-asserted-by":"crossref","first-page":"394","DOI":"10.1142\/9789814261302_0021","article-title":"Fuzzy sets","author":"zadeh","year":"1996","journal-title":"Fuzzy Sets Fuzzy Logic and Fuzzy Systems Selected Papers"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2009.2018966"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9257-9"},{"key":"ref6","author":"baier","year":"2008","journal-title":"Principles of Model Checking"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1080\/15389588.2019.1624732"},{"key":"ref85","first-page":"1","article-title":"A simulation-based, statistical approach for the derivation of concrete scenarios for the release of highly automated driving functions","author":"weber","year":"2020","journal-title":"Proc Automot Electron 11th GMM-Symp"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1515\/auto-2014-1144"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-48847-8_17"},{"key":"ref7","first-page":"11","article-title":"Concepts and classification of traffic accident causes","volume":"9","author":"baker","year":"1961","journal-title":"Int Road Saf Traffic Rev"},{"key":"ref49","article-title":"Collision avoidance theory: With application to automotive collision mitigation","author":"jansson","year":"2005"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543783"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1136\/injuryprev-2019-043402"},{"key":"ref9","first-page":"1929","article-title":"The inD dataset: A drone dataset of naturalistic road user trajectories at German intersections","author":"bock","year":"2020","journal-title":"Proc IEEE Intell Vehicles Symp (IV)"},{"key":"ref46","article-title":"Near miss determination through use of a scale of danger","author":"hayward","year":"1972"},{"key":"ref45","article-title":"Saturation effects in recorded maneuver data for the test of automated driving","author":"hartjen","year":"1972","journal-title":"Highway Res Rec"},{"key":"ref48","year":"2019"},{"key":"ref47","year":"2011"},{"key":"ref42","first-page":"1","article-title":"Ontologies and knowledge bases","author":"guarino","year":"1995","journal-title":"Towards Very Large Knowledge Bases"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW50498.2020.00170"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1007\/BF01211866"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.4271\/2018-01-1066"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/9312710\/09330510.pdf?arnumber=9330510","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,15]],"date-time":"2024-01-15T21:26:31Z","timestamp":1705353991000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9330510\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"references-count":90,"URL":"https:\/\/doi.org\/10.1109\/access.2021.3053159","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]}}}