Lars Petersson Luke Fletcher Alexander Zelinsky Nick Barnes Fredrik Arnell Towards Safer Roads by Integration of Road Scene Monitoring and Vehicle Control. 53-72 2006 25 I. J. Robotic Res. 1 http://ijr.sagepub.com/cgi/content/abstract/25/1/53 db/journals/ijrr/ijrr25.html#PeterssonFZBA06