Khanafer, Ali (2012):
A rule-based system for collision avoidance driver assistance systems : collision avoidance, collision mitigation.
In: Fortschrittberichte VDI : Reihe 12, Verkehrstechnik, Fahrzeugtechnik ; 748, Düsseldorf, VDI-Verl., TU Darmstadt, ISBN 978-3-18-374812-9,
[Ph.D. Thesis]

Khanafer, Ali ; Balzer, D. ; Isermann, Rolf (2009):
A rule-based Collision Avoidance System - A Scene Interpretation, Strategy Selection, Path Planning and System Intervention -.
Detroit, USA, SAE Congress, [Conference or Workshop Item]

Schorn, Matthias ; Stählin, Ulrich ; Khanafer, Ali ; Isermann, Rolf (2006):
Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle.
In: American Control Conference <Mnneapolis, Minnesota, USA,2006> ; 2006 American Control Conference, Silver Anniversary ACC ; 6, p. 6, [Conference or Workshop Item]