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David Bétaille, Rafael Toledo-Moreo, Creating Enhanced Maps for Lane Level Vehicle Navigation, IEEE Transactions on Intelligent Transportation Systems, ISSN: 1524-9050. Vol 11, issue 4. Dec. 2010.
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Rafael Toledo-Moreo, Miguel A. Zamora, Collision Avoidance Support in Roads with Lateral and Longitudinal Maneuver Prediction by Fusing GPS/IMU and Digital Maps. Transportation Research Part C 18 (2010), pp. 611-625.
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Rafael Toledo-Moreo, Miguel Pinzolas-Prado, Jose Manuel Cano Izquierdo.Maneuver Prediction for Road Vehicles based on a Neuro-fuzzy Architecture with a Low Cost Navigation Unit. IEEE Transactions on Intelligent Transportation Systems. ISSN: 1524-9050. Vol 11, N2, pp. 498-504 June 2010.
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Rafael Toledo-Moreo, David Bétaille, Francois Peyret. Lane Lane-Level Integrity Provision for Navigation and Map Matching With GNSS, Dead Reckoning, and Enhanced Maps. IEEE Transactions on Intelligent Transportation Systems, ISSN: 1524-9050. Vol 10, issue 4, 2010.
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Rafael Toledo Moreo, David Bétaille, Francois Peyret, Jean Laneurit,Fusing GNSS, Dead-reckoning and Enhanced Maps for Road Vehicle Lane-Level Navigation. IEEE Journal of Selected Topics In Signal Processing, ISSN: 1932-4553, Vol 3. N.5 October 2009.
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Jose Santa Lozano, Rafael Toledo Moreo, Miguel A. Zamora-Izquierdo, Benito Úbeda-Miñarro, Antonio F. Gómez-Skarmeta., An Analysis of Communication and Navigation Issues in Collision Avoidance Support Systems. Elsevier Transportation Research Part C. Emerging Technologies. DOI: 0.1016/j.trc.2009.05.007. Online publication complete: 21-JUN-2009.
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Rafael Toledo-Moreo, Miguel A. Zamora-Izquierdo. IMM-based Lane Change Prediction In Highways With Low-Cost GPS/INS. IEEE Transactions on Intelligent Transportation Systems. ISSN: 1524-9050, , pp. 180-185. Vol 10. N.1 March 2009.
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Rafael Toledo-Moreo, Miguel A. Zamora-Izquierdo, Benito Úbeda-Miñarro, Antonio F. Gómez-Skarmeta. High Integrity IMM-EKF Based Road Vehicle Navigation with Low Cost GPS/SBAS/INS. IEEE Transactions on Intelligent Transportation Systems. ISSN: 1524-9050, Vol 8 Num 3, Sep 2007. pp 491—511.
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Francois Peyret, David Bétaille, Pinana Carolina, Rafael Toledo-Moreo, Antonio F. Gómez-Skarmeta, Miguel Ortiz, GNSS autonomous localization: Non-Line-Of-Sight satellite detection based on digital 3D maps of city environments, ISSN: 1070-9932 (peding).
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C. Piñana-Díaz, R. Toledo-Moreo, Fco. Javier Toledo-Moreo, A. Skarmeta, A Two-Layers Based Approach of an Enhanced-Map for Urban Positioning Support, ISSN: 1424-8220. Oct. 2012.
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M. Valdés-Vela, R. Toledo-Moreo, F. Terroso-Saenz, M.A. Zamora-Izquierdo, An Application of a Fuzzy Classifier Extracted from Data for Collision Avoidance Support in Road Vehicles, ISSN: 0952-1976. Feb. 2012.
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F. Terroso-Saenz, M. Valdés-Vela, C. Sotomayor, R. Toledo-Moreo, A. Gómez-Skarmeta, A Cooperative Approach to Traffic Congestion Detection with Complex Event Processing and VANET, ISSN: 1524-9050.pp (in press) Jan. 2012.