Safe Lane-Keeping With Control Barrier Functions: From Theory to Practical Implementation. - Illés Vörös; Chenhuan Jiang; Hanyu Gan; Dénes Takács; Xiao Li 053; Ilya V. Kolmanovsky; John Talbot; James Dallas; John K. Subosits; Gábor Orosz (IEEE Trans. Control. Syst. Technol., 2026)