Andrea Bombarda Silvia Bonfanti Angelo Gargantini Nico Pellegrinelli Patrizia Scandurra Safety Enforcement for Autonomous Driving on a Simulated Highway Using Asmeta Models@run.time. 212-230 2025 ABZ https://doi.org/10.1007/978-3-031-94533-5_13 conf/zum/2025 db/conf/zum/abz2025.html#BombardaBGPS25 streams/conf/zum