Han X, Chen K, Zhou Y, Qiu M, Fan C, Liu Y, Zhang T. A Unified Anomaly Detection Methodology for Lane-Following of Autonomous Driving Systems, in 2021 IEEE Intl Conf on Parallel & Distributed Processing with Applications, Big Data & Cloud Computing, Sustainable Computing & Communications, Social Computing & Networking (ISPA/BDCloud/SocialCom/SustainCom). IEEE; 2021:836–844.