@article{safetyoftheintendeddrivingbehaviorusing,
  title = {Safety of the Intended Driving Behavior Using Rulebooks},
  author = {Anne Collin and Artur Bilka and Scott Pendleton and Radboud Duintjer Tebbens},
  year = {2021},
  eprint = {2105.04472},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.04472v1},
}