1. SAFER Vehicle and Traffic Safety Centre, Chalmers University of Technology, Gothenburg, Sweden;
2. Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden;
3. MedTech West, Gothenburg, Sweden;
4. Department of IT, University of Borås, Borås, Sweden;
5. Autoliv Research, Autoliv Development AB, Vårgårda, Sweden;
6. The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden