@article{ gray_unified_2013,
  title = {A Unified Approach to Threat Assessment and Control for Automotive Active Safety},
  volume = {14},
  url = {http://ieeexplore.ieee.org/iel7/6979/6587572/06522881.pdf?arnumber=6522881},
  number = {3},
  urldate = {2013-09-24},
  journal = {{IEEE} {TRANSACTIONS} {ON} {IN℡LIGENT} {TRANSPORTATION} {SYSTEMS}},
  author = {Gray, Andrew and Ali, Mohammad and Gao, Yiqi and Hedrick, J. Karl and Borrelli, Francesco},
  year = {2013}
}

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