A2CPS: a Vehicle-Centric Safety Conceptual Framework for Autonomous Transport Systems - Naufal Júnior, Jamil Kalil; Camargo Júnior, João Batista; Almeida Junior, Jorge Rady de; Molina, Caroline Palmieri Pitangui; Gonzalez, Rodrigo Ignacio R.; Inam, Rafia; Fersman, Elena (IEEE Transactions on Intelligent Transportation Systems ( Volume: 19 , Issue: 6 , June 2018 ), 2018)