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

Automated Driving in Complex Real-World Scenarios using a Scalable Risk-Based Behavior Generation Framework. - Malte Probst; Raphael Wenzel; Tim Puphal; Misa Komuro; Thomas H. Weisswange; Nico Steinhardt; Bram Bolder; Benedict Flade; Yosuke Sakamoto; Yuji Yasui; Julian Eggert (ITSC, 2021)

Asymmetry-based Behavior Planning for Cooperation at Shared Traffic Spaces. - Raphael Wenzel; Malte Probst; Tim Puphal; Thomas H. Weisswange; Julian Eggert (IV, 2021)

Considering Human Factors in Risk Maps for Robust and Foresighted Driver Warning. - Tim Puphal; Ryohei Hirano; Malte Probst; Raphael Wenzel; Akihito Kimata (RO-MAN, 2023)

Importance Filtering with Risk Models for Complex Driving Situations. - Tim Puphal; Raphael Wenzel; Benedict Flade; Malte Probst; Julian Eggert (CoRR, 2023)

Enabling Cooperative Pedestrian-Vehicle Interactions using an eHMI. - Markus Amann; Malte Probst; Raphael Wenzel; Thomas H. Weisswange (IV, 2024)

Optimal Behavior Planning for Implicit Communication using a Probabilistic Vehicle-Pedestrian Interaction Model. - Markus Amann; Malte Probst; Raphael Wenzel; Thomas H. Weisswange; Miguel Ángel Sotelo (CoRR, 2025)

Finding the Easy Way Through - the Probabilistic Gap Planner for Social Robot Navigation. - Malte Probst; Raphael Wenzel; Tim Puphal; Monica Dasi; Nico Steinhardt; Sango Matsuzaki; Misa Komuro (CoRR, 2025)