@article{steammosafesotiferrorandfailuremodel,
  title = {STEAM & MoSAFE: SOTIF Error-and-Failure Model & Analysis for AI-Enabled Driving Automation},
  author = {Krzysztof Czarnecki and Hiroshi Kuwajima},
  year = {2023},
  eprint = {2312.09559},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2312.09559v2},
}