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The mentioned building blocks were integrated and tested in a prototype vehicle in urban scenarios. Furthermore, a novel general framework for specifying and testing traffic rule compliance has been developed. In this paper, the automated driving concept of PRORETA 5 is introduced and the developed methods are briefly explained.<\/jats:p>","DOI":"10.1515\/auto-2023-0092","type":"journal-article","created":{"date-parts":[[2024,4,8]],"date-time":"2024-04-08T20:23:35Z","timestamp":1712607815000},"page":"293-307","source":"Crossref","is-referenced-by-count":0,"title":["PRORETA 5 \u2013 building blocks for automated urban driving enhancing city road safety"],"prefix":"10.1515","volume":"72","author":[{"given":"Christoph","family":"Popp","sequence":"first","affiliation":[{"name":"Institute of Automotive Engineering, Technical University of Darmstadt , Darmstadt , Germany"}]},{"given":"Andreas","family":"Serov","sequence":"additional","affiliation":[{"name":"Cognitive Neuroinformatics, University of Bremen , Bremen , Germany"}]},{"given":"Felix","family":"Glatzki","sequence":"additional","affiliation":[{"name":"Institute of Automotive Engineering, Technical University of Darmstadt , Darmstadt , Germany"}]},{"given":"Christoph","family":"Ziegler","sequence":"additional","affiliation":[{"name":"Department of Control Methods and Intelligent Systems , Technical University of Darmstadt , Darmstadt , Germany"}]},{"given":"Andreea-Iulia","family":"Olaru","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering , Technical University of Ia\u015fi , Ia\u015fi , Romania"}]},{"given":"Jaime","family":"Maldonado","sequence":"additional","affiliation":[{"name":"Cognitive Neuroinformatics, University of Bremen , Bremen , Germany"}]},{"given":"Joachim","family":"Clemens","sequence":"additional","affiliation":[{"name":"Cognitive Neuroinformatics, University of Bremen , Bremen , Germany"}]},{"given":"J\u00fcrgen","family":"Adamy","sequence":"additional","affiliation":[{"name":"Department of Control Methods and Intelligent Systems , Technical University of Darmstadt , Darmstadt , Germany"}]},{"given":"Maxim","family":"Arbitmann","sequence":"additional","affiliation":[{"name":"Continental , Frankfurt , Germany"}]},{"given":"Florin","family":"Leon","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering , Technical University of Ia\u015fi , Ia\u015fi , Romania"}]},{"given":"Steven","family":"Peters","sequence":"additional","affiliation":[{"name":"Institute of Automotive Engineering, Technical University of Darmstadt , Darmstadt , Germany"}]},{"given":"Kerstin","family":"Schill","sequence":"additional","affiliation":[{"name":"Cognitive Neuroinformatics, University of Bremen , Bremen , Germany"}]},{"given":"Sighard","family":"Schr\u00e4bler","sequence":"additional","affiliation":[{"name":"Continental , Frankfurt , Germany"}]},{"given":"Hermann","family":"Winner","sequence":"additional","affiliation":[{"name":"Institute of Automotive Engineering, Technical University of Darmstadt , Darmstadt , Germany"}]}],"member":"374","published-online":{"date-parts":[[2024,4,8]]},"reference":[{"key":"2024040820233070859_j_auto-2023-0092_ref_001","doi-asserted-by":"crossref","unstructured":"E. 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