# Risk-Based Safety Envelopes for Autonomous Vehicles Under Perception Uncertainty

> Research article (2022 IEEE Intelligent Vehicles Symposium (IV), 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W3185815604](https://www.wikidata.org/wiki/openalex:W3185815604)  
**Source**: https://4ort.xyz/entity/risk-based-safety-envelopes-for-autonomous-vehicles-under-perception-uncertainty