A volume-based safety metric that counts the proportion of risky scenarios, with a convexity proof for linear car-following, is demonstrated on six production ACC models.
IEEE Transactions on Intelligent Transportation Systems 24(7):6971--6988
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Towards Full-Scenario Safety Evaluation of Automated Vehicles: A Volume-Based Method
A volume-based safety metric that counts the proportion of risky scenarios, with a convexity proof for linear car-following, is demonstrated on six production ACC models.