@article{14634,
  title = "Assessing and Explaining Collision Risk in Dynamic Environments for Autonomous Driving Safety",
  author = "Richa Nahata and Daniel Omeiza and Rhys Howard and Lars Kunze",
  year = "2021",
  publisher = "Proceedings of the 24th IEEE International Conference on Intelligent Transportation Systems",
  url = "https://www.cs.ox.ac.uk/files/12910/risk_explain.pdf",
}