Perception sensor modeling for virtual validation of automated driving. - Peng Cao; Walther Wachenfeld; Hermann Winner (it Inf. Technol., 2015)

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

No Human - No Cry? - Klaus Bengler; Hermann Winner; Walther Wachenfeld (Autom., 2017)

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