The worst-time-to-collision metric for situation identification. - Walther Wachenfeld; Philipp Junietz; Raphael Wenzel; Hermann Winner (Intelligent Vehicles Symposium, 2016)

Criticality Metric for the Safety Validation of Automated Driving using Model Predictive Trajectory Optimization. - Philipp Junietz; Farid Bonakdar; Björn Klamann; Hermann Winner (ITSC, 2018)

Evaluation of Different Approaches to Address Safety Validation of Automated Driving. - Philipp Junietz; Walther Wachenfeld; Kamil Klonecki; Hermann Winner (ITSC, 2018)