Taxonomy to Unify Fault Tolerance Regimes for Automotive Systems: Defining Fail-Operational, Fail-Degraded, and Fail-Safe. - Torben Stolte; Stefan Ackermann; Robert Graubohm; Inga Jatzkowski; Björn Klamann; Hermann Winner; Markus Maurer (IEEE Trans. Intell. Veh., 2022)