Reachability Analysis and its Application to the Safety Assessment of Autonomous Cars

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Survey on Scenario-Based Safety Assessment of Automated Vehicles (2020, methodology): “According to [156], they are similar to Lyapunov functions, but focus on safety instead of stability.”
Human motion trajectory prediction: a survey (2019, methodology): “Koschi M, Pek C, Beikirch M and Althoff M (2018) Set-based prediction of pedestrians in urban environments considering formalized traffic rules.”