@conference {sprinkle279, title = {A Safe Autonomous Vehicle Trajectory Domain Specific Modeling Language For Non-Expert Development}, booktitle = {Proceedings of the International Workshop on Domain-Specific Modeling (DSM 2016)}, year = {2016}, pages = {42{\textendash}48}, publisher = {ACM}, organization = {ACM}, address = {Amsterdam, Netherlands}, doi = {10.1145/3023147.3023154}, url = {http://doi.acm.org/10.1145/3023147.3023154}, author = {Matthew Bunting and Yegeta Zeleke and Kennon McKeever and Jonathan Sprinkle} }