I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l En
g
in
ee
ring
a
nd
Co
m
pu
t
er
Science
Vo
l.
23
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
,
p
p
.
1
8
3
8
~
1
8
4
6
I
SS
N:
2
5
0
2
-
4
7
5
2
,
DOI
: 1
0
.
1
1
5
9
1
/ijeecs.v
23
.i
3
.
pp
1
8
3
8
-
1
8
4
6
1838
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ee
cs.ia
esco
r
e.
co
m
Accelera
tion
bas
ed bla
ck
-
bo
x
accid
ent
de
tec
tion a
nd
wa
rning
sy
stem
K
a
dri
I
bra
him
,
K
a
dri Bo
ufe
ldja
,
B
ela
dg
ha
m
M
o
ha
mm
e
d
,
Da
hm
a
ne
O
us
s
a
m
a
Da
ta P
ro
c
e
ss
in
g
a
n
d
Tele
c
o
m
m
u
n
ica
ti
o
n
Lab
o
ra
to
ry
(LT
IT)
,
F
a
c
u
lt
y
o
f
Tec
h
n
o
l
o
g
y
,
Un
iv
e
rsity
T
a
h
ri
M
o
h
a
m
m
e
d
Be
c
h
a
r,
Alg
e
ria
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
an
16
,
2
0
2
1
R
ev
is
ed
J
ul
27
,
2
0
2
1
Acc
ep
ted
Au
g
15
,
2
0
2
1
Th
e
p
u
r
p
o
se
o
f
th
is
re
se
a
rc
h
p
a
p
e
r
is
to
d
e
v
e
l
o
p
a
b
lac
k
-
b
o
x
a
c
c
id
e
n
t
wa
rn
in
g
sy
ste
m
th
a
t
u
t
il
ize
s
b
o
t
h
g
lo
b
a
l
sy
ste
m
fo
r
m
o
b
il
e
c
o
m
m
u
n
ica
ti
o
n
(G
S
M
)
a
n
d
g
lo
b
a
l
p
o
siti
o
n
i
n
g
s
y
ste
m
(G
P
S
)
tec
h
n
o
l
o
g
ies
to
id
e
n
ti
fy
a
n
d
d
e
li
v
e
r
a
m
in
imu
m
se
t
o
f
d
a
ta
t
h
a
t
in
c
lu
d
e
s
c
rit
ica
l
d
a
ta
a
b
o
u
t
t
h
e
a
c
c
id
e
n
t
g
a
th
e
re
d
v
ia
v
a
ri
o
u
s
se
n
so
rs
s
u
c
h
a
s
t
h
e
ty
p
e
o
f
a
c
c
id
e
n
ts,
g
e
o
g
ra
p
h
ic
c
o
o
rd
i
n
a
tes
,
ti
m
e
,
a
n
d
v
e
lo
c
it
ie
s
(c
iv
il
p
ro
tec
ti
o
n
,
h
o
sp
it
a
ls,
a
n
d
p
o
l
ice
).
Ad
d
it
i
o
n
a
ll
y
,
th
e
sy
ste
m
m
a
k
e
s
u
se
o
f
d
a
ta
c
o
ll
e
c
ted
v
ia
th
e
OBD
-
II
sta
n
d
a
r
d
to
p
r
o
v
id
e
a
re
li
a
b
le
m
e
th
o
d
fo
r
d
e
tec
ti
n
g
a
c
c
id
e
n
ts
b
a
se
d
o
n
v
e
h
icle
a
c
c
e
ler
a
ti
o
n
.
Clea
rly
,
t
h
is
sy
ste
m
a
p
p
e
a
re
d
to
b
e
t
h
e
b
e
st
o
p
ti
o
n
fo
r
c
o
u
n
tri
e
s
with
si
g
n
ifi
c
a
n
tl
y
o
l
d
e
r
a
v
e
ra
g
e
v
e
h
icle
a
g
e
s.
Th
e
s
y
ste
m
wa
s
in
sta
ll
e
d
in
a
re
a
l
v
e
h
icle
i
n
o
rd
e
r
to
e
v
a
lu
a
te
t
h
e
c
o
ll
isi
o
n
d
e
tec
ti
o
n
a
l
g
o
ri
th
m
t
h
ro
u
g
h
t
h
e
u
se
o
f
a
b
r
u
p
t
m
e
d
i
u
m
-
sp
e
e
d
b
r
a
k
in
g
.
Th
e
s
y
ste
m
a
lso
in
c
lu
d
e
s
a
n
ima
g
e
p
ro
c
e
ss
in
g
sy
ste
m
fo
r
a
g
e
a
n
d
g
e
n
d
e
r
p
re
d
icti
o
n
b
a
se
d
o
n
th
e
Ra
p
sb
e
rry
P
i
a
n
d
i
n
tel
n
e
u
ra
l
c
o
m
p
u
te
st
ick
2
(NCS
2
)
t
h
a
t
will
b
e
p
u
b
l
ish
e
d
i
n
f
u
tu
re
wo
rk
.
K
ey
w
o
r
d
s
:
Acc
id
en
t w
ar
n
in
g
GPS
GSM
I
m
ag
e
p
r
o
ce
s
s
in
g
Min
im
u
m
s
et
o
f
d
ata
OB
D
-
I
I
s
tan
d
ar
d
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Kad
r
i
I
b
r
a
h
im
Data
Pro
ce
s
s
in
g
an
d
T
elec
o
m
m
u
n
icatio
n
L
a
b
o
r
ato
r
y
(
L
T
I
T
)
Un
iv
er
s
ity
T
ah
r
i
Mo
h
am
m
ed
B
ec
h
ar
,
Alg
er
ia
E
m
ail:
k
ad
r
i.ib
r
a
h
im
@
u
n
iv
-
b
ec
h
ar
.
d
z
1.
I
NT
RO
D
UCT
I
O
N
T
r
an
s
p
o
r
tatio
n
h
as
g
r
o
wn
e
x
p
o
n
en
tially
i
n
r
ec
e
n
t
y
ea
r
s
in
to
d
ay
'
s
s
o
ciety
.
R
eg
r
ettab
ly
,
th
is
was
a
s
ig
n
if
ican
t
f
ac
to
r
in
th
e
in
c
r
e
a
s
e
in
d
ea
d
l
y
r
o
ad
co
llis
io
n
s
[
1
]
,
[
2
]
.
Nea
r
ly
1
.
2
m
illi
o
n
p
eo
p
le
ar
e
k
illed
in
au
to
m
o
b
ile
ac
ci
d
en
ts
ea
ch
y
ea
r
.
Ad
d
itio
n
ally
,
b
etwe
en
2
0
an
d
5
0
m
illi
o
n
in
d
iv
id
u
al
s
ar
e
p
er
m
a
n
en
tly
h
an
d
icap
p
ed
o
r
s
er
io
u
s
ly
h
ar
m
ed
[
3
]
.
Prio
r
r
esear
ch
h
as
es
tab
lis
h
ed
a
s
u
b
s
tan
tial
co
r
r
elatio
n
b
etwe
en
tr
af
f
ic
ac
cid
en
t d
ea
th
s
an
d
t
h
e
r
ea
ctio
n
tim
e
o
f
in
ter
v
en
tio
n
s
er
v
ices: th
e
tim
e
r
eq
u
ir
e
d
f
o
r
in
ter
v
e
n
tio
n
u
n
its
to
r
ea
c
h
o
n
th
e
s
ce
n
e
o
f
th
e
ac
ci
d
en
t
[
3
]
.
Au
to
m
ate
d
v
eh
icle
ac
ci
d
e
n
t
d
etec
tio
n
an
d
war
n
i
n
g
s
y
s
tem
s
,
o
f
ten
ca
lled
as
eCall
s
y
s
tem
s
,
ca
n
h
elp
in
ter
v
en
tio
n
r
esp
o
n
d
er
s
r
esp
o
n
d
m
o
r
e
q
u
ick
l
y
.
As
a
co
n
s
eq
u
en
ce
,
s
ev
er
al
liv
es
m
ay
b
e
s
av
ed
an
d
th
e
s
ev
er
ity
o
f
in
ju
r
ies m
ay
b
e
m
i
n
im
ized
[
4
]
,
[
5
]
.
T
o
f
ac
ilit
ate
f
ast
ac
tio
n
,
we
in
tr
o
d
u
ce
d
a
n
ac
cid
en
t
d
etec
tio
n
an
d
war
n
i
n
g
s
y
s
tem
(
ADWS
)
ca
p
ab
le
o
f
tr
an
s
m
itti
n
g
a
m
in
im
u
m
s
et
o
f
d
ata
(
MSD)
f
r
o
m
th
e
v
e
h
icle
to
in
ter
v
en
tio
n
s
er
v
ices
[
6
]
.
T
h
e
f
o
llo
win
g
d
ata
is
i
n
clu
d
ed
in
t
h
is
MSD:
a)
Acc
id
en
t ty
p
e
b)
Geo
g
r
ap
h
ic
p
o
s
itio
n
(
L
o
n
g
itu
d
e
an
d
latitu
d
e
)
c)
T
im
e
o
f
th
e
ac
ci
d
en
t
d)
S
p
ee
d
e)
Acc
eler
atio
n
/Dec
eler
atio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
cc
elera
tio
n
b
a
s
ed
b
l
a
ck
-
b
o
x
a
cc
id
en
t d
etec
tio
n
a
n
d
w
a
r
n
in
g
s
ystem
(
K
a
d
r
i I
b
r
a
h
im
)
1839
T
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
m
ak
es
u
s
e
o
f
GPS
tech
n
o
lo
g
y
to
c
o
m
p
u
te
th
e
v
eh
icle'
s
p
r
ec
is
e
lo
n
g
itu
d
e
a
n
d
latitu
d
e
co
o
r
d
i
n
ates
an
d
tr
a
n
s
m
its
th
em
to
in
ter
v
en
tio
n
s
er
v
ices
th
r
o
u
g
h
th
e
g
lo
b
al
s
y
s
tem
f
o
r
m
o
b
ile
co
m
m
u
n
icatio
n
(
GSM)
n
etwo
r
k
.
Ad
d
itio
n
ally
,
it
u
tili
ze
s
th
e
R
asp
b
er
r
y
Pi
to
h
an
d
le
ac
ce
ler
atio
n
an
d
a
n
u
m
b
er
o
f
o
th
er
d
ata
co
llected
th
r
o
u
g
h
d
if
f
er
en
t
k
in
d
s
o
f
s
en
s
o
r
s
[
7
]
.
2.
RE
L
AT
E
D
WO
RK
S
E
m
er
g
en
c
y
c
all
is
a
ca
ll
th
at
e
n
ab
les
th
e
d
r
i
v
er
o
f
th
e
v
eh
icl
e
to
s
en
d
a
m
ess
ag
e
to
th
e
p
u
b
lic
s
af
ety
an
s
wer
in
g
p
o
in
t
(
PS
AP)
m
an
u
ally
o
r
au
to
m
atica
lly
in
th
e
ca
s
e
o
f
a
s
ig
n
if
ican
t c
o
llis
io
n
[
8
]
.
2
.
1
.
B
uil
t
-
in un
it
s
Au
to
m
o
b
iles
m
an
u
f
ac
tu
r
er
s
a
r
e
n
o
w
p
u
r
s
u
in
g
in
te
g
r
ated
(
b
u
ilt
-
in
u
n
it)
em
er
g
en
c
y
ca
ll
s
y
s
tem
s
f
o
r
th
eir
latest
au
to
m
o
b
iles
.
T
h
e
p
r
im
ar
y
b
en
ef
it
o
f
th
is
k
i
n
d
is
th
e
ab
ilit
y
to
ch
ec
k
t
h
e
s
tatu
s
o
f
a
n
y
s
en
s
o
r
in
s
talled
in
th
e
v
eh
icle,
in
cl
u
d
in
g
ac
ce
ler
o
m
eter
s
an
d
air
b
ag
d
ep
l
o
y
m
en
t
m
o
n
ito
r
s
.
to
estab
lis
h
h
o
w
an
ac
cid
en
t o
cc
u
r
r
ed
.
2
.
2
.
B
la
c
k
-
bo
x
s
y
s
t
e
m
s
Un
f
o
r
tu
n
atel
y
,
th
e
m
aj
o
r
ity
o
f
ca
r
s
in
n
atio
n
s
with
a
m
u
ch
g
r
ea
te
r
av
er
a
g
e
ag
e
d
o
n
o
t
h
a
v
e
au
to
m
ated
s
y
s
tem
f
o
r
d
etec
tin
g
ac
cid
en
ts
an
d
r
ep
o
r
tin
g
[
9
]
.
T
h
e
o
p
tim
u
m
o
p
tio
n
in
th
is
s
it
u
atio
n
is
to
u
s
e
th
e
'
b
lack
-
b
o
x
'
eCall
s
o
lu
tio
n
s
,
in
d
ep
en
d
en
t
o
r
d
ep
lo
y
a
b
le
d
ev
ices
th
at
h
a
v
e
th
e
s
p
ec
if
ic
p
er
s
o
n
al
s
en
s
o
r
h
ar
d
war
e,
p
o
s
itio
n
in
g
a
n
d
c
o
m
m
u
n
icatio
n
ca
p
ab
ilit
ies [
4
]
.
2
.
3
.
M
o
bil
e
ph
o
ne
-
ba
s
ed
s
y
s
t
em
s
Alm
o
s
t
ev
er
y
p
ass
en
g
er
in
a
v
eh
icle
h
as
a
s
m
ar
tp
h
o
n
e
with
t
h
e
in
c
r
ea
s
in
g
u
s
e
o
f
m
o
b
ile
co
m
m
u
n
icatio
n
s
d
ev
ices.
T
h
i
s
in
clu
d
es
th
e
k
ey
tech
n
ical
p
ar
ts
n
ee
d
ed
b
y
an
em
er
g
en
cy
c
all
s
y
s
tem
(
GPS,
a
cc
eler
o
m
eter
,
GSM
co
m
m
u
n
icatio
n
)
[
4
]
.
I
n
r
elatio
n
to
b
u
ilt
-
in
u
n
it
ar
e
th
e
b
en
ef
its
an
d
lim
itatio
n
s
o
f
s
m
ar
tp
h
o
n
e
ac
cid
en
t
war
n
in
g
ap
p
s
,
e.
g
.
d
o
n
o
t
a
u
to
m
atica
lly
lin
k
to
in
-
v
eh
icl
e
s
en
s
o
r
s
,
a
n
d
o
f
f
er
s
ig
n
if
ican
t
in
f
o
r
m
atio
n
f
o
r
ac
cid
e
n
t
in
v
esti
g
atio
n
s
in
clu
d
in
g
v
id
eo
s
an
d
im
ag
es.
T
h
ey
ar
e
n
o
t
a
s
ac
cu
r
ate
as
o
th
e
r
s
y
s
tem
s
,
h
o
wev
er
,
s
in
ce
th
ey
m
ay
g
en
e
r
ate
m
is
lead
in
g
p
o
s
itiv
e
ef
f
ec
ts
[
9
]
.
N
e
m
e
r
o
u
s
r
es
e
a
r
c
h
e
r
s
a
r
e
n
o
w
a
d
a
y
s
d
e
v
el
o
p
i
n
g
eC
a
ll
s
y
s
t
e
m
s
.
F
i
r
s
t
o
f
a
ll
,
t
h
e
m
o
b
i
le
p
h
o
n
e
’
s
a
p
p
l
i
c
a
t
i
o
n
s
a
r
e
t
h
e
m
o
s
t
w
i
d
es
p
r
e
a
d
s
o
l
u
ti
o
n
s
d
u
e
t
o
t
h
e
i
r
l
o
w
c
o
s
t
a
n
d
e
as
e
o
f
u
s
e
.
H
o
w
e
v
e
r
,
t
h
e
y
’
r
e
t
h
e
l
e
as
t
e
f
f
e
c
t
i
v
e
c
o
m
p
a
r
i
n
g
t
o
b
u
i
lt
-
i
n
a
n
d
b
l
a
c
k
-
box
s
o
l
u
t
i
o
n
s
.
I
n
f
ac
t
,
a
l
m
o
s
t
a
ll
m
o
b
i
l
e
p
h
o
n
e
a
p
p
l
i
c
a
t
i
o
n
s
e
m
p
l
o
y
e
d
t
h
e
i
n
t
e
g
r
a
t
e
d
s
m
a
r
t
p
h
o
n
e
a
c
c
e
l
e
r
o
m
e
t
e
r
’
s
d
a
ta
t
o
p
e
r
f
o
r
m
t
h
e
a
c
c
i
d
e
n
ts
d
e
t
e
c
ti
o
n
[
9
]
.
S
o
m
e
o
f
t
h
e
m
u
s
e
d
s
p
e
c
i
al
m
a
c
h
i
n
e
l
e
a
r
n
i
n
g
a
l
g
o
r
i
t
h
m
s
s
o
a
s
t
o
a
n
a
l
y
ze
t
h
is
d
a
t
a
a
n
d
d
e
t
e
r
m
i
n
e
t
h
e
a
c
ci
d
e
n
t
s
e
v
e
r
it
y
[
1
0
]
-
[
1
2
]
.
Oth
er
s
u
tili
ze
d
b
o
th
in
teg
r
ated
s
m
ar
tp
h
o
n
es
an
d
v
eh
icle
s
en
s
o
r
s
in
th
e
ac
cid
en
t
d
etec
tio
n
i
n
o
r
d
e
r
to
r
aise
th
e
co
n
f
id
en
ce
r
ate
[
1
3
]
.
T
h
e
r
ef
o
r
e,
ig
n
o
r
in
g
th
e
u
s
e
o
f
th
e
in
-
v
eh
icle
s
en
s
o
r
s
in
th
e
ac
cid
en
t
d
etec
tio
n
p
r
o
ce
d
u
r
e
ca
u
s
es a
b
ig
lim
itatio
n
in
s
u
ch
s
y
s
tem
s
p
er
f
o
r
m
an
ce
s
[
1
4
]
.
Seco
n
d
ly
,
b
lack
-
b
o
x
s
o
lu
tio
n
s
ar
e
m
o
r
e
c
o
m
p
licated
in
ter
m
s
o
f
co
n
ce
p
tio
n
an
d
im
p
le
m
en
tatio
n
.
W
h
er
ea
s
,
th
ey
h
av
e
m
o
r
e
ef
f
i
cien
cy
in
ter
m
s
o
f
th
e
p
r
o
v
id
i
n
g
ac
ci
d
en
t
d
ata
q
u
ality
.
T
h
ey
eith
er
u
s
ed
s
p
ec
if
ic
ty
p
es
o
f
s
en
s
o
r
s
o
r
th
e
in
-
v
e
h
icle
s
en
s
o
r
s
,
m
icr
o
co
n
tr
o
ller
s
ar
e
m
ain
ly
em
p
lo
y
e
d
in
th
e
co
n
ce
p
tio
n
o
f
th
is
k
in
d
o
f
s
y
s
tem
s
to
m
an
ip
u
lat
e
th
e
d
if
f
er
en
t
elec
tr
o
n
ic
c
o
m
p
en
en
ts
,
d
etec
t,
lo
ca
te
th
e
v
eh
icle
ac
cid
en
t
an
d
s
en
d
th
e
war
n
in
g
m
ess
ag
e
d
u
e
to
th
e
GPS
an
d
GSM
n
etw
o
r
k
s
[
1
5
]
,
[
1
6
]
.
Fu
r
th
er
m
o
r
e,
b
o
th
m
o
b
ile
p
h
o
n
e
an
d
b
lack
-
box
s
o
lu
tio
n
s
h
av
e
a
m
a
jo
r
in
s
u
f
f
icien
cy
as lo
n
g
as
th
ey
ar
e
n
o
t u
s
in
g
th
e
in
-
v
e
h
icle
s
en
s
o
r
s
d
ata
in
th
e
ac
cid
en
t d
etec
tio
n
p
h
ase.
3.
P
RO
P
O
SE
D
SYS
T
E
M
B
lack
-
b
o
x
a
p
p
r
o
ac
h
p
r
esen
te
d
in
th
is
s
tu
d
y
ca
n
s
ig
n
if
ican
t
ly
r
ed
u
ce
r
ea
ctio
n
tim
e
b
y
a
u
t
o
m
atica
lly
s
en
d
in
g
a
n
alar
m
m
ess
ag
e
i
n
d
icatin
g
th
e
v
eh
icle'
s
lo
ca
tio
n
t
h
r
o
u
g
h
GPS.
T
h
is
m
ess
ag
e
w
ill
b
e
f
o
r
war
d
e
d
to
in
ter
v
en
tio
n
s
er
v
ices,
wh
o
w
ill
d
eter
m
in
e
th
e
ap
p
r
o
p
r
iate
co
u
r
s
e
o
f
ac
tio
n
in
r
esp
o
n
s
e
to
th
e
war
n
in
g
.
B
ec
au
s
e
tim
e
is
cr
it
ical
in
th
es
e
ty
p
es
o
f
cir
cu
m
s
tan
ce
s
,
th
is
s
tr
ateg
y
will
s
av
e
s
ig
n
if
ican
t
t
im
e.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
d
esig
n
is
d
ep
icted
in
Fig
u
r
e
1
.
I
n
th
e
ca
s
e
o
f
a
tr
a
f
f
ic
co
llis
io
n
,
an
alg
o
r
ith
m
f
o
r
d
etec
tin
g
ac
cid
e
n
ts
will
p
r
o
ce
s
s
m
u
ltip
le
d
ata
s
o
u
r
ce
s
an
d
in
s
tr
u
ct
th
e
R
asp
b
er
r
y
Pi
to
g
en
er
ate
an
d
d
eliv
e
r
a
war
n
in
g
m
ess
ag
e
to
in
ter
v
en
tio
n
s
er
v
ices v
ia
th
e
G
SM
m
o
d
u
le
ca
r
r
y
in
g
t
h
e
v
eh
ic
le’
s
ac
cid
en
t in
f
o
r
m
atio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
:
1
8
3
8
-
1
8
4
6
1840
Fig
u
r
e
1
.
Diag
r
a
m
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
3
.
1
.
H
a
rdwa
re
a
rc
hite
ct
ure
T
h
e
b
lack
b
o
x
tech
n
o
lo
g
y
s
h
o
wn
in
th
is
ar
ticle
ca
n
d
ec
r
ea
s
e
th
e
r
ea
ctio
n
tim
e
b
y
c
r
ea
tin
g
an
au
to
m
atic
war
n
in
g
m
ess
ag
e
th
at
id
e
n
tifie
s
th
e
v
e
h
icle
g
eo
g
r
a
p
h
ic
p
o
s
itio
n
u
s
in
g
a
GPS
d
ev
ice.
T
h
is
n
o
tific
atio
n
will
b
e
f
o
r
war
d
e
d
to
in
ter
v
en
tio
n
s
er
v
ices,
wh
o
wil
l
d
eter
m
in
e
th
e
ap
p
r
o
p
r
iate
co
u
r
s
e
o
f
ac
tio
n
to
tak
e
in
r
esp
o
n
s
e
to
th
e
aler
t.
Du
e
o
f
th
e
c
r
itical
n
atu
r
e
o
f
ti
m
e
in
t
h
ese
ty
p
es
o
f
tr
ea
tm
e
n
t
s
,
th
is
s
tr
ateg
y
s
av
es
co
n
s
id
er
ab
le
tim
e.
T
h
e
h
ar
d
war
e
ar
ch
itetu
r
e
o
f
th
e
p
r
o
p
o
s
ed
b
lack
b
o
x
s
y
s
tem
is
s
h
o
wn
in
Fig
u
r
e
2
.
T
h
e
s
y
s
tem
is
in
ten
d
ed
as a
tr
an
s
p
o
r
tab
le
u
n
it,
allo
win
g
f
o
r
ea
s
y
r
elo
ca
tio
n
an
d
m
ain
ten
a
n
ce
.
Fig
u
r
e
2
.
Pro
p
o
s
ed
h
ar
d
war
e
a
r
ch
itectu
r
e
4.
G
P
S F
O
R
ACCIDE
NT
D
E
T
E
CT
I
O
N
SY
ST
E
M
T
h
e
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
is
a
n
av
ig
atio
n
al
s
atellite
n
et
wo
r
k
s
y
s
tem
estab
lis
h
ed
an
d
o
p
er
ated
f
o
r
m
ilit
ar
y
an
d
civ
il
u
s
es
b
y
th
e
Un
ited
States
Dep
ar
tm
en
t
o
f
Def
e
n
s
e
[
1
7
]
.
T
h
e
GPS
d
ev
ice
in
d
icate
s
th
e
g
eo
g
r
a
p
h
ic
lo
ca
tio
n
o
f
th
e
c
r
a
s
h
b
y
c
o
m
p
ar
i
n
g
th
e
m
o
m
e
n
t
wh
en
a
n
u
m
b
e
r
o
f
s
atellit
es
r
ec
eiv
ed
s
ig
n
als
an
d
tr
ian
g
u
latin
g
o
n
th
e
alr
ea
d
y
k
n
o
wn
s
atellites
'
lo
ca
tio
n
s
.
T
h
e
p
lace
o
f
th
e
ac
ci
d
en
t
m
ay
b
e
d
eter
m
in
ed
ac
cu
r
ately
with
GPS
tech
n
o
lo
g
y
[
1
8
]
.
I
n
lin
e
with
wu
th
N
ME
A
s
p
ec
if
icatio
n
s
,
th
e
GPS
r
ec
ep
to
r
s
en
d
s
d
ata
v
ia
u
n
iv
e
r
s
al
asy
n
ch
r
o
n
o
u
s
r
ec
eiv
er
tr
an
s
m
itter
(
UART)
an
d
th
e
NM
E
A
d
ef
in
es
co
m
m
u
n
icatio
n
u
s
in
g
a
v
ar
iety
o
f
d
is
tin
ct
ex
p
r
ess
io
n
s
[
1
9
]
.
T
h
e
$
GPR
MC
p
h
r
ase
o
f
th
e
NM
E
A
0
1
8
3
co
m
m
u
n
icat
io
n
s
p
r
o
to
co
l
is
o
f
ten
u
s
ed
f
o
r
d
ata
tr
an
s
m
is
s
io
n
o
n
GPS
d
ev
ices
.
T
h
e
tim
e,
p
lace
an
d
s
p
ee
d
o
f
th
e
$
GPR
M
C
p
h
r
ase
ca
n
b
e
r
em
o
v
ed
.
Fig
u
r
e
3
s
h
o
w
s
th
e
$
GPR
MC
s
en
ten
ce
s
tr
u
ctu
r
e
[
2
0
]
,
[
2
1
]
.
B
ef
o
r
e
u
s
in
g
th
e
d
ata,
it
is
n
ec
ess
ar
y
to
co
n
v
er
t
it
f
r
o
m
th
e
f
o
r
m
at
s
u
p
p
lie
d
b
y
th
e
$
GPR
MC
ex
p
r
ess
io
n
(
d
e
g
r
ee
s
,
m
in
u
tes,
an
d
s
ec
o
n
d
s
:
d
d
m
m
.
s
s
s
s
)
to
d
ec
im
al
co
o
r
d
in
ates.
T
h
e
lo
n
g
itu
d
e
an
d
latitu
d
e
m
u
s
t
b
e
c
o
n
v
e
r
ted
f
r
o
m
th
e
f
o
r
m
at
s
u
p
p
lied
b
y
th
e
$
GPR
MC
s
en
ten
ce
(
d
eg
r
ee
s
,
m
in
u
tes,
an
d
s
ec
o
n
d
s
:
d
d
m
m
.
s
s
s
s
)
to
d
ec
im
al
co
o
r
d
i
n
ates (
d
d
.
m
m
s
s
s
s
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
cc
elera
tio
n
b
a
s
ed
b
l
a
ck
-
b
o
x
a
cc
id
en
t d
etec
tio
n
a
n
d
w
a
r
n
in
g
s
ystem
(
K
a
d
r
i I
b
r
a
h
im
)
1841
Fig
u
r
e
3
.
T
h
e
$
GPR
MC sen
te
n
ce
5.
ACCID
E
N
T
DE
T
E
CT
I
O
N
P
RO
CE
DUR
E
E
x
ce
s
s
i
v
e
s
p
ee
d
is
o
n
e
o
f
t
h
e
p
r
in
cip
al
ca
u
s
es
o
f
tr
af
f
ic
ac
cid
en
ts
,
th
e
d
is
tan
ce
b
etwe
en
th
e
s
tar
t
o
f
b
r
ak
in
g
u
n
til
th
e
co
m
p
lete
s
tan
d
in
g
o
f
th
e
v
eh
icle
in
cr
ea
s
es
p
r
o
p
o
r
tio
n
ally
b
y
s
p
ee
d
i
n
g
u
p
.
Acc
o
r
d
in
g
to
th
e
law
o
f
co
n
s
er
v
atio
n
o
f
en
er
g
y
,
a
m
o
v
in
g
b
o
d
y
h
as
k
i
n
etic
en
er
g
y
(
1
)
.
W
h
en
an
ac
ci
d
e
n
t
h
ap
p
en
s
,
k
in
etic
en
er
g
y
is
tr
an
s
f
o
r
m
ed
to
d
estr
u
ctiv
e
f
o
r
ce
s
,
r
esu
ltin
g
in
d
a
m
ag
e
to
b
o
th
th
e
p
ass
en
g
er
s
an
d
th
e
v
eh
icle
[
2
2
]
.
2
1
2
K
i
n
e
t
i
c
E
n
e
r
g
y
m
v
=
(
1
)
T
h
e
ac
ce
ler
atio
n
in
f
o
r
m
atio
n
ca
n
b
e
ex
tr
ac
te
d
f
r
o
m
th
r
ee
d
if
f
er
en
t
s
o
u
r
ce
s
:
Acc
eler
o
m
eter
,
GPS
d
ata
an
d
th
e
in
-
v
eh
icle
s
en
s
o
r
s
[
2
3
]
.
Sin
ce
th
e
ac
ce
ler
o
m
e
ter
an
d
th
e
GPS
d
ata
ar
e
n
o
t
ac
cu
r
ate
en
o
u
g
h
t
o
allo
w
d
is
tin
g
u
is
h
in
g
b
etwe
en
r
ea
l
ac
cid
en
ts
an
d
o
th
er
ty
p
es
o
f
ev
en
ts
,
th
e
p
er
f
ec
t
s
o
lu
tio
n
is
to
u
s
e
th
e
s
p
ee
d
d
ata
o
b
tai
n
ed
f
r
o
m
th
e
in
-
v
eh
icle
s
en
s
o
r
s
,
an
d
ca
lcu
late
ac
c
eler
atio
n
b
ased
o
n
th
at
d
ata.
Gen
er
ally
,
ac
cid
e
n
t
o
cc
u
r
s
wh
en
th
e
d
etec
ted
d
e
ce
ler
atio
n
is
b
ig
g
er
th
a
n
5
Gs.
I
f
th
e
f
o
r
ce
is
ab
o
v
e
2
0
Gs,
th
e
ac
cid
en
t
is
c
o
n
s
id
er
ed
s
er
io
u
s
.
Fatal
ca
s
es
tak
e
p
lace
in
im
p
ac
t a
b
o
v
e
5
0
Gs [
2
4
]
.
T
h
e
p
r
o
p
o
s
ed
p
r
o
ce
d
u
r
e
to
d
et
ec
t th
e
o
cc
u
r
r
en
ce
o
f
v
e
h
icle
cr
ash
es in
o
u
r
s
y
s
tem
is
b
ased
o
n
th
e
u
s
e
o
f
th
e
OB
D
-
I
I
s
tan
d
ar
d
.
T
h
e
R
asp
b
er
r
y
Pi
o
b
tain
s
s
p
ee
d
in
f
o
r
m
atio
n
b
y
co
n
n
ec
tin
g
t
o
t
h
e
ca
r
’
s
OB
D
-
I
I
th
r
o
u
g
h
th
e
b
lu
eto
o
th
co
n
n
ec
tio
n
,
ac
ce
ler
atio
n
/d
ec
ele
r
atio
n
was e
s
tim
ated
f
r
o
m
th
e
s
p
ee
d
d
ata
ac
q
u
ir
ed
ev
e
r
y
1
4
0
m
illi
s
ec
o
n
d
s
u
s
in
g
(
2
)
[
2
5
]
,
[
2
6
]
.
12
2
12
t
vv
d
tt
−
=
−
(
2
)
wh
er
e
,
2
t
d
is
d
ec
eler
atio
n
at
tim
e
2
t
an
d
1
v
an
d
2
v
ar
e
th
e
s
p
ee
d
s
at
1
t
tim
e
an
d
2
t
r
esp
ec
tiv
ely
[
2
7
]
.
6.
DATA
T
RANS
M
I
SS
I
O
N
P
RO
CE
DUR
E
W
h
en
an
ac
cid
en
t
o
cc
u
r
s
,
th
e
ac
cid
en
t
war
n
in
g
s
y
s
tem
m
u
s
t
b
r
o
ad
ca
s
t
th
e
ac
cid
en
t
d
ata
to
th
e
in
ter
v
en
tio
n
s
er
v
ices
in
r
ea
l
tim
e
in
o
r
d
er
to
p
r
o
v
id
e
f
ast
in
ter
v
en
tio
n
.
B
ased
o
n
th
e
esti
m
ated
ac
ce
ler
atio
n
v
alu
e,
a
s
h
o
r
t
m
ess
ag
e
s
er
v
i
c
e
(
SMS)
is
d
eliv
er
ed
u
s
in
g
a
GSM
m
o
d
em
th
at
p
r
o
v
id
es
th
e
lo
n
g
itu
d
e
an
d
latitu
d
e
o
f
th
e
in
cid
en
t a
s
well
as th
e
tim
e
o
f
o
cc
u
r
r
e
n
ce
,
s
p
e
ed
,
ac
cid
en
t ty
p
e,
an
d
s
ev
er
ity
o
f
th
e
ac
cid
e
n
t.
T
h
e
R
asp
b
er
r
y
Pi
ca
n
co
m
m
u
n
icate
with
th
e
GSM
m
o
d
em
b
y
s
en
d
in
g
AT
co
m
m
an
d
s
to
it.
T
h
e
‘
AT
E
0
'
co
m
m
an
d
is
u
s
ed
to
tu
r
n
o
f
f
th
e
ec
h
o
f
o
r
th
e
f
ir
s
t
tim
e.
I
n
o
r
d
er
to
e
n
ab
le
tex
t
m
o
d
e
(
SMS)
,
th
e
co
m
m
an
d
‘
AT
+CMGF=1
'
m
u
s
t
b
e
en
ter
e
d
,
a
n
d
th
e
c
o
m
m
an
d
‘
AT
+CMGS'
m
u
s
t
b
e
en
ter
e
d
in
o
r
d
er
t
o
s
en
d
s
th
e
SMS to
a
r
ec
ip
ien
t n
u
m
b
er
th
at
h
as b
ee
n
p
r
e
-
s
elec
ted
.
7.
DATA
T
RANS
M
I
SS
I
O
N
P
RO
CE
DUR
E
I
n
th
is
p
ap
er
,
th
e
v
eh
icle
ac
c
eler
atio
n
is
u
s
ed
as
a
m
ain
f
ac
to
r
to
p
r
ed
ict
wh
eth
er
o
r
n
o
t
ac
cid
en
t
o
cc
u
r
s
.
I
n
s
ev
e
r
ac
cid
e
n
t
,
t
h
e
s
p
ee
d
d
ec
r
ea
s
es
f
r
o
m
a
h
ig
h
v
alu
e
to
ze
r
o
in
a
v
er
y
s
h
o
r
t
t
im
e
lap
s
e
[
2
8
]
.
T
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
:
1
8
3
8
-
1
8
4
6
1842
R
asp
b
er
r
y
Pi
m
o
n
ito
r
s
th
e
ac
ce
ler
atio
n
d
ata
o
b
tain
e
d
th
r
o
u
g
h
th
e
OB
D
-
I
I
p
r
o
to
co
l
in
r
e
al
-
tim
e.
T
h
e
s
y
s
tem
co
n
s
id
er
s
th
e
in
s
tan
ce
ac
ce
ler
atio
n
/d
ec
eler
atio
n
as a
n
ac
ci
d
e
n
t w
h
en
it e
x
ce
e
d
s
±
5
g
.
T
h
e
s
y
s
tem
co
m
p
r
is
es
b
o
th
g
y
r
o
s
co
p
es
an
d
f
lam
e
s
en
s
o
r
s
in
th
e
ca
s
e
o
f
a
u
to
m
o
b
ile
o
v
er
t
u
r
n
o
r
f
ir
e.
As
a
r
esu
lt,
th
e
g
eo
g
r
a
p
h
ic
l
o
ca
tio
n
p
h
ase
will
b
e
tr
ig
g
er
ed
,
wh
ich
allo
ws
GPS
tech
n
o
lo
g
y
to
ca
p
tu
r
e
th
e
ex
ac
t
lo
ca
tio
n
an
d
tim
e
o
f
th
e
ac
cid
en
t,
wh
i
ch
will
s
u
b
s
eq
u
en
tly
b
e
tr
a
n
s
m
itted
to
e
m
er
g
en
cy
s
er
v
ices
v
ia
GSM
co
n
n
ec
tio
n
.
Fig
u
r
e
4
d
i
s
p
lay
s
a
f
lo
w
d
iag
r
am
o
f
t
h
e
alg
o
r
ith
m
f
o
r
th
e
ac
cid
en
t
d
et
ec
tio
n
an
d
wa
r
n
in
g
s
y
s
tem
th
at
h
as b
ee
n
p
r
o
p
o
s
ed
b
y
th
e
a
u
th
o
r
.
Fig
u
r
e
4
.
Diag
r
a
m
o
f
th
e
ac
cid
en
t d
etec
tio
n
alg
o
r
ith
m
8.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
A
r
eliab
le
ac
cid
e
n
t
d
etec
tio
n
an
d
war
n
in
g
s
y
s
tem
h
as
b
ee
n
d
esig
n
ed
a
n
d
p
r
esen
ted
in
th
is
s
tu
d
y
,
th
e
im
p
o
r
tan
ce
o
f
s
u
ch
s
y
s
tem
is
s
u
m
m
ar
ized
in
th
e
u
s
e
o
f
th
e
a
cc
eler
atio
n
as
a
p
r
im
a
r
y
f
ac
to
r
in
d
eter
m
in
in
g
th
e
o
cc
u
r
r
e
n
ce
of
r
o
ad
ac
cid
en
ts
.
I
t
also
co
m
b
in
es
t
h
e
m
ai
n
ad
v
an
tag
es
o
f
s
m
ar
tp
h
o
n
es
-
b
ased
s
o
lu
tio
n
an
d
b
u
ilt
-
in
u
n
it sy
s
tem
s
,
b
o
th
lo
w
-
c
o
s
t a
n
d
a
p
r
ec
is
e
way
to
ex
tr
ac
t th
e
r
ea
l
-
tim
e
v
eh
icle
s
p
ee
d
.
T
o
d
eter
m
i
n
e
th
e
ac
ce
ler
atio
n
o
f
t
h
e
v
e
h
icle,
an
ac
cid
en
t
d
etec
tio
n
s
y
s
tem
was
cr
ea
ted
a
n
d
test
ed
.
T
wo
v
ar
iab
les
ar
e
u
tili
ze
d
to
r
ec
o
r
d
th
e
b
e
g
in
n
in
g
an
d
f
in
al
s
p
ee
d
s
,
wh
ile
th
e
in
itial
v
ar
iab
le
tak
es
af
ter
1
4
0
m
illi
s
ec
o
n
d
s
th
e
v
alu
e
o
f
th
e
p
r
ev
i
o
u
s
f
in
al
v
elo
city
,
w
h
ich
in
tu
r
n
u
p
d
ates
its
v
alu
e,
b
o
th
s
p
ee
d
s
ar
e
n
ec
ess
ar
y
to
ca
lcu
late
ac
ce
le
r
atio
n
u
s
in
g
an
(
2
)
.
T
h
e
s
y
s
tem
h
as
b
ee
n
ass
ess
ed
at
d
if
f
er
en
t
v
elo
cities
b
y
m
ea
n
s
o
f
a
m
ed
iu
m
v
eh
icl
e
b
r
ak
in
g
,
th
e
f
o
llo
win
g
s
tatis
tics
in
d
icate
s
p
ee
d
ch
an
g
e
an
d
ca
lcu
lated
ac
ce
ler
atio
n
f
o
llo
win
g
t
h
e
ap
p
licatio
n
o
f
th
e
b
r
ak
in
g
test
at
v
ar
io
u
s
f
o
u
r
s
p
ee
d
s
with
a
Kia
C
ar
en
s
5
-
d
o
o
r
2
0
1
5
(
4
0
k
p
h
,
6
0
k
p
h
,
8
0
k
p
h
a
n
d
1
0
0
k
p
h
)
.
Fig
u
r
e
s
5
-
8
d
ep
i
cted
th
e
v
alu
es
o
f
th
e
in
itial
an
d
th
e
f
in
al
s
p
ee
d
s
en
r
eg
is
tr
ed
af
ter
ap
p
l
y
in
g
a
m
ed
iu
m
b
r
a
k
e
at
th
e
s
p
ee
d
s
o
f
4
0
k
p
h
,
6
0
k
p
h
,
8
0
k
p
h
an
d
1
0
0
k
p
h
r
esp
ec
tiv
ely
.
Fig
u
r
e
s
9
-
12
p
r
esen
t th
e
r
esu
lt o
f
th
e
c
o
m
p
u
te
d
ac
ce
ler
atio
n
u
s
in
g
th
e
p
r
ev
io
u
s
s
p
ee
d
s
v
al
u
es
.
T
h
e
m
in
im
u
m
s
p
ee
d
c
h
an
g
e
n
ee
d
ed
to
ac
h
iev
e
th
e
ac
cid
e
n
t
ca
s
e
wh
ich
is
5
g
in
1
4
0
m
illi
s
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RE
F
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R
E
NC
E
S
[1
]
A.
M
e
e
n
a
,
S
.
Iy
e
r
,
M
.
Nim
je
,
S
.
Jo
g
je
k
a
r
,
S
.
Ja
g
tap
,
a
n
d
M
.
Ra
h
m
a
n
,
“
Au
to
m
a
ti
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Ac
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id
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t
De
tec
ti
o
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d
Re
p
o
rti
n
g
F
ra
m
e
wo
rk
fo
r
Tw
o
Wh
e
e
lers
,
”
In
:
IEE
E
In
ter
n
a
ti
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l
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fer
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e
o
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Ad
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mp
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T
e
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h
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(ICACCCT
)
,
2
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p
.
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0
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/ICACCCT
.
2
0
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4
.
7
0
1
9
2
3
7
.
[2
]
C
.
R
.
Ke
e
rth
i,
G
.
S
h
a
n
m
u
k
h
,
R.
S
iv
a
ra
m
,
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Va
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s
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t
De
tec
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Tec
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o
lo
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Re
c
o
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e
ry
S
y
ste
m
s
wi
th
Vic
ti
m
An
a
ly
sis
,
"
I
n
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
Ad
v
a
n
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T
re
n
d
s
in
Co
mp
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ter
S
c
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c
e
a
n
d
En
g
i
n
e
e
rin
g
(/JA
T
CS
E)
,
S
p
e
c
ial
Iss
u
e
o
f
ICC
S
IE
2
0
1
3
-
He
ld
d
u
rin
g
2
4
M
a
y
,
2
0
1
3
Ba
n
g
a
l
o
re
,
In
d
ia
.
[3
]
Wo
rld
He
a
lt
h
Org
a
n
iza
ti
o
n
,
“
G
lo
p
a
l
S
tatu
s Re
p
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rt
o
n
Ro
a
d
S
a
fe
ty
,
”
Ge
n
e
v
a
,
2
0
0
9
.
[4
]
A.
Bo
n
y
á
r
,
A.
G
é
c
z
y
,
O.
Kra
m
m
e
r
,
H.
S
á
n
th
a
,
B.
Ill
é
s
,
a
n
d
J
Ká
m
á
n
,
“
A
Re
v
iew
o
n
C
u
rre
n
t
e
Ca
ll
S
y
ste
m
s
fo
r
Au
t
o
n
o
m
o
u
s
Ca
r
Ac
c
id
e
n
t
De
tec
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o
n
,
”
I
n
:
4
0
th
In
ter
n
a
ti
o
n
a
l
S
p
rin
g
S
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m
in
a
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.
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o
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S
E.
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0
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7
.
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0
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0
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.
[5
]
C
.
Th
o
m
p
so
n
,
J
.
W
h
it
e
,
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.
Do
u
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h
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rt
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,
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.
Al
b
ri
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t
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a
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d
D
.
C
.
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c
h
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id
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,
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Us
in
g
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m
a
rtp
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s
to
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tec
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Ca
r
Ac
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id
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ts
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d
P
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S
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tu
a
ti
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a
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Aw
a
re
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to
Eme
rg
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c
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Re
sp
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,
"
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ter
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ti
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M
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id
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ms
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a
n
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s
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p
p
.
2
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-
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_
3
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[6
]
R
.
K
.
M
e
g
a
li
n
g
a
m
,
R
.
N
.
Na
ir,
a
n
d
S
.
M
.
P
ra
k
h
y
a
,
“
Wi
re
les
s
Ve
h
icu
lar
Ac
c
id
e
n
t
De
tec
ti
o
n
a
n
d
Re
p
o
r
ti
n
g
S
y
ste
m
,
”
In
:
2
0
1
0
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
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c
h
a
n
ica
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a
n
d
El
e
c
trica
l
T
e
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h
n
o
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p
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.
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8
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.
[7
]
D
.
A.
W
h
it
n
e
y
a
n
d
J
.
J
P
isa
n
o
T
ASC,
In
c
.
,
Re
a
d
in
g
,
M
a
ss
a
c
h
u
se
tt
s,
"
A
u
to
Ale
rt:
Au
to
m
a
ted
Ac
o
u
stic
De
tec
ti
o
n
o
fIn
c
id
e
n
ts,"
ID
EA
p
r
o
jec
t
,
1
9
9
5
.
[8
]
P
.
Kre
m
o
n
a
s
a
n
d
J
.
P
â
ris,
“
Ev
e
r
y
th
in
g
y
o
u
wa
n
ted
t
o
a
sk
,
b
u
t
d
id
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o
t
k
n
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w
h
o
w
.
.
.
,
”
I
n
:
th
e
Eu
r
o
p
e
a
n
Eme
rg
e
n
c
y
Nu
mb
e
r A
ss
o
c
ia
t
io
n
(EE
NA)
,
2
0
1
5
.
[9
]
J.
Wh
it
e
,
C.
Th
o
m
p
so
n
,
H.
T
u
rn
e
r
,
B.
Do
u
g
h
e
rt
y
,
a
n
d
D.
C.
S
c
h
m
id
t
,
“
Wr
e
c
k
Watc
h
:
A
u
to
m
a
ti
c
Traffic
Ac
c
id
e
n
t
De
tec
ti
o
n
a
n
d
No
t
ifi
c
a
ti
o
n
with
S
m
a
rtp
h
o
n
e
s
,
”
In
:
S
p
rin
g
e
r
S
c
ie
n
c
e
+
Bu
sin
e
ss
M
e
d
i
a
,
L
LC
,
p
p
.
2
8
5
-
3
0
3
,
2
0
1
1
,
doi
:
1
0
.
1
0
0
7
/s1
1
0
3
6
-
0
1
1
-
0
3
0
4
-
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
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4
7
5
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i I
b
r
a
h
im
)
1845
[1
0
]
F
.
Alo
u
l
,
I
.
Zu
a
lk
e
rn
a
n
,
R.
A
b
u
-
sa
lma
,
Al
-
a
li
H,
a
n
d
Al
-
m
e
rri
M
,
“
iBu
m
p
:
S
m
a
rtp
h
o
n
e
a
p
p
li
c
a
ti
o
n
t
o
d
e
tec
t
c
a
r
a
c
c
id
e
n
ts
,
”
In
:
Co
m
p
u
ter
a
n
d
El
e
c
trica
l
E
n
g
i
n
e
e
rin
g
,
v
o
l
.
4
3
,
p
p
.
6
6
-
75
,
2
0
1
5
,
d
o
i
:
1
0
.
1
0
1
6
/
j.
c
o
m
p
e
lec
e
n
g
.
2
0
1
5
.
0
3
.
0
0
3
.
[1
1
]
J.
R.
Kw
a
p
isz
,
G
.
M
.
Weiss
,
a
n
d
S
.
A.
M
o
o
re
,
“
Ac
ti
v
it
y
re
c
o
g
n
it
i
o
n
u
sin
g
c
e
ll
p
h
o
n
e
a
c
c
e
ler
o
m
e
ters
,
”
ACM
S
IGKD
D E
x
p
lo
r
a
ti
o
n
s Ne
wsle
tt
e
r
,
v
o
l.
1
2
,
n
o
.
2
,
p
p
.
7
4
-
8
2
,
De
c
e
m
b
e
r
2
0
1
1
.
[1
2
]
M
.
F
a
z
e
e
n
,
B
.
G
o
z
ick
,
R
.
Da
n
tu
,
M
.
Bh
u
k
h
iy
a
,
a
n
d
M
.
C.
G
o
n
z
á
lez
,
“
S
a
fe
d
riv
i
n
g
u
si
n
g
m
o
b
il
e
p
h
o
n
e
s,”
I
EE
E
T
ra
n
s.
In
tell
ig
e
n
t
T
ra
n
sp
o
rta
t
io
n
S
y
ste
ms
,
v
o
l.
1
3
,
n
o
.
3
,
p
p
.
1
4
6
2
-
1
4
6
8
,
S
e
p
tem
b
e
r
2
0
1
2
,
d
o
i
:
1
0
.
1
1
0
9
/
TIT
S
.
2
0
1
2
.
2
1
8
7
6
4
0
.
[1
3
]
B.
F
e
rn
a
n
d
e
s
,
M
.
Ala
m
,
V.
G
o
m
e
s
,
J.
F
e
rre
ira
,
a
n
d
A.
Oli
v
e
ira
,
“
Au
to
m
a
ti
c
a
c
c
id
e
n
t
d
e
tec
ti
o
n
wit
h
m
u
lt
i
-
m
o
d
a
l
a
lert
sy
ste
m
imp
lem
e
n
tatio
n
fo
r
ITS
,
”
In
:
Ve
h
icu
l
a
r
Co
m
mu
n
ica
t
io
n
s
,
v
o
l.
3
,
p
p
.
1
-
11
,
2
0
1
6
,
d
o
i
:
1
0
.
1
0
1
6
/
j.
v
e
h
c
o
m
.
2
0
1
5
.
1
1
.
0
0
1
.
[1
4
]
S
.
Ch
a
k
lad
e
r,
J.
Ala
m
,
M
.
Isla
m
,
a
n
d
A.
S
.
S
a
b
b
ir,
“
Blac
k
b
o
x
:
a
n
e
m
e
rg
e
n
c
y
re
sc
u
e
d
isp
a
tch
sy
ste
m
fo
r
ro
a
d
v
e
h
icle
s
fo
r
in
sta
n
t
n
o
ti
fica
ti
o
n
o
f
ro
a
d
a
c
c
id
e
n
ts
a
n
d
p
o
st
c
ra
sh
a
n
a
ly
sis,
”
i
n
:
2
0
1
4
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
fo
rm
a
t
ics
,
El
e
c
tro
n
-
ics
&
Vi
si
o
n
(ICIE
V)
,
IEE
E,
2
0
1
4
,
p
p
.
1
-
6
,
d
o
i:
1
0
.
1
1
0
9
/
TIT
S
.
2
0
1
2
.
2
1
8
7
6
4
0
.
[1
5
]
J.
L.
M
a
z
h
e
r
Iq
b
a
l
a
n
d
S.
He
e
n
a
Ko
u
sa
r,
“
Au
to
m
a
ti
c
Ve
h
icle
Ac
c
id
e
n
t
De
tec
ti
o
n
a
n
d
Re
p
o
r
ti
n
g
Wi
th
Blac
k
Bo
x
,
”
In
:
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
A
p
p
li
e
d
En
g
in
e
e
rin
g
Res
e
a
rc
h
,
v
o
l
.
1
0
,
n
o
.
8
7
,
1
3
9
-
1
45
,
2
0
1
5
.
[1
6
]
S
.
Am
in
a
n
d
J.
Ja
li
l
,
“
Ac
c
id
e
n
t
De
tec
ti
o
n
a
n
d
Re
p
o
rti
n
g
S
y
ste
m
u
sin
g
G
P
S
,
G
P
RS
a
n
d
G
S
M
T
e
c
h
n
o
l
o
g
y
,
”
In
:
IEE
E/
OS
A/
I
AP
R
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
f
o
rm
a
ti
c
s,
El
e
c
tro
n
ics
&
Vi
sio
n
,
2
0
1
2
,
6
4
0
-
6
4
3
,
d
o
i:
1
0
.
1
1
0
9
/ICI
EV.
2
0
1
2
.
6
3
1
7
3
8
2
.
[1
7
]
B.
K
.
Dro
s
o
s
a
n
d
C
.
M
a
les
io
s,
“
M
e
a
su
rin
g
th
e
Ac
c
u
ra
c
y
a
n
d
P
re
c
isio
n
o
f
t
h
e
G
a
rm
in
G
P
S
p
o
siti
o
n
in
g
i
n
F
o
re
ste
d
Are
a
s:
A
Ca
s
e
S
tu
d
y
in
Tax
iar
c
h
is
-
Vra
sta
m
a
Un
iv
e
rsity
F
o
re
st
,”
In
:
J
o
u
rn
a
l
o
f
En
v
iro
n
me
n
t
a
l
S
c
ien
c
e
a
n
d
En
g
i
n
e
e
rin
g
,
v
o
l.
1
,
n
o
.
4
,
5
6
6
-
5
7
6
,
2
0
1
2
.
[1
8
]
M
.
S
y
e
d
u
l
Am
in
,
M
.
B
.
I
b
n
e
R
e
a
z
,
S
.
S
.
Na
sir
a
n
d
M
.
A
.
S
o
b
h
a
n
B
h
u
iy
a
n
,
“
L
o
w
C
o
st
G
P
S
/
I
M
U
In
teg
ra
ted
Ac
c
id
e
n
t
De
tec
ti
o
n
a
n
d
L
o
c
a
ti
o
n
S
y
ste
m
,
”
In
:
In
d
i
a
n
J
o
u
r
n
a
l
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
,
v
o
l
.
9
,
n
o
.
1
0
,
1
-
9
,
2
0
1
6
,
doi
:
1
0
.
1
7
4
8
5
/
ij
st/2
0
1
6
/
v
9
i
1
0
/
8
0
2
2
1
.
[1
9
]
M
.
S
.
Am
in
,
M
.
A
.
S
.
B
h
u
i
y
a
n
,
M
.
B.
I.
Re
a
z
,
S
.
a
n
s
S
.
S
.
Na
sir
,
“
G
P
S
a
n
d
m
a
p
m
a
tch
in
g
b
a
se
d
v
e
h
icle
a
c
c
id
e
n
t
d
e
tec
ti
o
n
sy
ste
m
,
”
IEE
E
2
0
1
3
S
tu
d
e
n
t
Co
n
fer
e
n
c
e
o
n
Res
e
a
r
c
h
a
n
d
De
v
e
lo
p
me
n
t
(
S
CORe
D)
,
Ku
a
la
Lu
m
p
u
r,
M
a
lay
sia
.
2
0
1
3
De
c
1
6
-
1
7
,
p
.
5
2
0
-
3
,
d
o
i:
1
0
.
1
1
0
9
/S
CORe
D.2
0
1
3
.
7
0
0
2
6
4
5
.
[2
0
]
A
.
EI
-
Ra
b
b
a
n
,
“
In
tr
o
d
u
c
ti
o
n
t
o
G
PS
:
T
h
e
Glo
b
a
l
Po
sit
io
n
in
g
S
y
ste
m
,
”
2
n
d
Ed
,
Arte
c
h
Ho
u
se
,
2
0
0
9
.
[2
1
]
H.
M
o
t
te
,
J.
Wy
ffe
ls
,
De
S
try
c
k
e
r
L,
a
n
d
J.
G
o
e
m
a
e
re
,
“
Ev
a
lu
a
ti
n
g
G
P
S
Da
ta
in
In
d
o
o
r
E
n
v
iro
n
m
e
n
ts,”
In
Ad
v
a
n
c
e
s i
n
El
e
c
trica
l
a
n
d
Co
m
p
u
ter
En
g
in
e
e
rin
g
,
v
o
l
.
1
1
,
n
o
.
3,
p
p
.
25
-
28
,
2
0
1
1
,
d
o
i:
1
0
.
4
3
1
6
/ae
c
e
.
2
0
1
1
.
0
3
0
0
4
.
[2
2
]
S
.
G
.
F
e
rn
a
n
d
e
z
,
R.
P
a
lan
isa
m
y
,
a
n
d
K.
Vijay
a
k
u
m
a
r,
“
G
P
S
&
G
S
M
Ba
se
d
Ac
c
id
e
n
t
De
tec
ti
o
n
An
d
Au
t
o
In
ti
m
a
ti
o
n
,
”
In
:
In
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
E
n
g
in
e
e
rin
g
a
n
d
Co
mp
u
ter
S
c
ien
c
e
(IJ
EE
CS
)
,
v
o
l.
1
1
,
n
o
.
1
,
3
3
6
-
361
,
2
0
1
8
,
d
o
i
:
1
0
.
1
1
5
9
1
/i
jee
c
s.v
1
1
.
i
1
.
p
p
3
5
6
-
3
6
1
.
[2
3
]
J.
Zald
iv
a
r,
C
.
T.
Ca
lafa
te,
Ju
a
n
Ca
rlo
s
Ca
n
o
a
n
d
P
ietr
o
M
a
n
z
o
n
i
,
“
P
ro
v
id
in
g
Ac
c
id
e
n
t
De
tec
ti
o
n
in
Ve
h
icu
lar
Ne
two
rk
s
Th
r
o
u
g
h
OBD
-
II
De
v
i
c
e
s
a
n
d
An
d
r
o
i
d
-
b
a
se
d
S
m
a
rtp
h
o
n
e
s,”
In
:
5
th
IEE
E
W
o
rk
sh
o
p
On
Us
e
r
M
Ob
il
it
y
a
n
d
VE
h
icu
l
a
r
Ne
two
rk
s
,
p
p
.
8
1
3
-
8
1
9
,
2
0
1
1
,
d
o
i:
1
0
.
1
1
0
9
/
LCN.
2
0
1
1
.
6
1
1
5
5
5
6
.
[2
4
]
C.
S
p
e
lt
a
,
V.
M
a
n
z
o
n
i,
A.
C
o
rti
,
A.
G
o
g
g
i,
a
n
d
S
.
S
a
v
a
re
si,
“
S
m
a
rtp
h
o
n
e
-
b
a
se
d
v
e
h
icle
-
to
-
d
riv
e
r/en
v
iro
n
m
e
n
t
in
tera
c
ti
o
n
sy
ste
m
fo
r
m
o
t
o
rc
y
c
les
,
”
Emb
e
d
d
e
d
S
y
ste
ms
L
e
tt
e
rs
,
IEE
E,
v
o
l.
2
,
n
o
.
2
,
p
p
.
39
-
4
2
,
2
0
1
0
,
d
o
i
:
1
0
.
1
1
0
9
/
LE
S
.
2
0
1
0
.
2
0
5
2
0
1
9
.
[2
5
]
P.
S
.
Bo
k
a
re
a
n
d
A.
K.
M
a
u
ry
a
,
“
Ac
c
e
lera
ti
o
n
-
De
c
e
lera
ti
o
n
Be
h
a
v
io
u
r
o
f
Va
rio
u
s
Ve
h
i
c
le
Ty
p
e
s,”
In
:
T
ra
n
sp
o
rta
ti
o
n
Res
e
a
rc
h
Pr
o
c
e
d
i
a
,
v
o
l.
2
5
,
n
o
.
1
,
2
0
1
7
,
4
7
3
3
-
4
7
4
9
,
d
o
i
:
1
0
.
1
0
1
6
/J
.
TRP
RO.
2
0
1
7
.
0
5
.
4
8
6
.
[2
6
]
S.
S
a
m
u
e
ls,
a
n
d
J.
Ja
rv
is
,
“
Ac
c
e
lera
ti
o
n
a
n
d
d
e
c
e
lera
ti
o
n
o
f
m
o
d
e
rn
v
e
h
icle
s
,”
T
e
c
h
n
ica
l
Rep
o
rt
,
Au
stra
li
a
n
r
o
a
d
re
se
a
rc
h
in
stit
u
te,
Re
p
o
rt
8
6
,
1
9
7
8
.
[2
7
]
J.
S
e
a
rle,
“
Eq
u
a
ti
o
n
s
o
f
sp
e
e
d
,
ti
m
e
a
n
d
d
istan
c
e
fo
r
v
e
h
icle
s
u
n
d
e
r
m
a
x
imu
m
a
c
c
e
ler
a
ti
o
n
,
”
Ad
v
a
n
c
e
s
in
S
a
fety
T
e
c
h
n
o
l
o
g
y
,
SP
-
1
4
3
3
,
p
p
,
1
-
7
,
1
9
9
9
.
[2
8
]
W.
T.
Ho
ll
o
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a
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stu
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in
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m
u
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ica
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s.
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a
re
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o
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x
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m
b
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d
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sy
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m
s
a
n
d
tele
c
o
m
m
u
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ica
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n
s.
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g
ra
d
u
a
ted
fr
o
m
t
h
e
Un
iv
e
rsit
y
o
f
Be
c
h
a
r,
Al
g
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ria,
in
2
0
1
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with
a
m
a
ste
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m
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e
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b
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g
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m
m
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n
ica
ti
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n
s (L
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)
is l
o
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a
ted
a
t
th
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Un
i
v
e
rsity
o
f
Ta
h
ri
M
o
h
a
m
e
d
,
Be
c
h
a
r,
Al
g
e
ria.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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3
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Sep
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rn
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ji
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iate
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at
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m
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,
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g
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ria,
fo
ll
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we
d
b
y
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ls
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th
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sa
m
e
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n
i
v
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rsity
,
a
ll
in
2
0
1
2
.
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sta
rted
a
s
a
n
As
so
c
iate
P
ro
fe
ss
o
r
a
t
Alg
e
ria
'
s
Be
c
h
a
r
Un
iv
e
rsity
.
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tl
y
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e
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tri
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rin
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t
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h
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ra
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Ta
h
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M
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m
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d
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in
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ima
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m
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ica
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g
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io
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tri
c
s
y
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s,
tran
sfo
rm
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n
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o
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m
a
l
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n
c
o
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rs.
In
fo
rm
a
ti
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a
b
o
u
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th
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c
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n
tac
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b
e
lad
g
h
a
m
.
tl
m
@g
m
a
il
.
c
o
m
Mr.
Da
h
m
a
n
e
O
u
ss
a
m
a
wa
s
b
o
rn
in
t
h
e
Alg
e
rian
c
it
y
o
f
Be
c
h
a
r.
In
2
0
1
7
,
h
e
e
a
rn
e
d
a
M
a
ste
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s
d
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g
re
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in
n
u
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rica
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m
m
u
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m
s
fro
m
Alg
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s
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h
ri
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o
u
h
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m
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c
h
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is
c
u
rre
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tl
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k
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g
o
n
h
is
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o
c
to
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te
a
t
th
e
Un
iv
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rsit
y
o
f
Be
c
h
a
r
in
Alg
e
ria.
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a
g
e
a
n
d
v
i
d
e
o
p
ro
c
e
ss
in
g
,
ima
g
e
se
g
m
e
n
tatio
n
,
m
e
d
ica
l
ima
g
e
c
o
m
p
re
ss
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,
b
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m
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d
ica
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g
in
g
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n
d
d
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e
p
lea
rn
in
g
a
re
a
m
o
n
g
h
is
k
e
y
in
tere
sts.
Ema
il
:
d
a
h
m
a
n
e
.
o
u
ss
a
m
a
@u
n
iv
-
b
e
c
h
a
r.
d
z
C
o
rre
sp
o
n
d
e
n
c
e
a
d
d
re
ss
:
Be
c
h
a
r
Un
iv
e
rsit
y
,
De
p
a
rtme
n
t
o
f
E
lec
tro
n
ics
,
Be
c
h
a
r,
Al
g
e
ria
Evaluation Warning : The document was created with Spire.PDF for Python.