@inproceedings{zhang2018agraded,
  title={A Graded Offline Evaluation Framework for Intelligent Vehicle's Cognitive Ability},
  author={Zhang, Chi and Liu, Yuehu and Zhang, Qilin and Wang, Le},
  booktitle={IEEE Intelligent Vehicles Symposium (IV'2018), Changshu, China},
  year={2018},
  publisher={IEEE}
}