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itio
n
all
y
ta
k
e
n
u
p
as
a
c
h
allen
g
e
an
d
m
an
y
r
esear
ch
es
h
ap
p
en
ed
to
s
o
lv
e
th
e
ex
i
s
te
n
t
cr
is
i
s
.
Hen
ce
it
’
s
h
ig
h
ti
m
e
to
p
r
o
p
o
s
e
an
em
b
e
d
d
ed
s
y
s
te
m
w
h
ic
h
co
u
ld
b
e
i
m
p
le
m
en
ted
as
a
u
n
iv
er
s
al
m
o
d
el
ac
r
o
s
s
all
a
u
t
o
m
o
b
ile
s
(
Hig
h
e
n
d
to
L
o
w
e
n
d
)
.
T
o
b
eg
in
w
ith
,
w
e
w
o
u
ld
k
n
o
w
t
h
e
v
ar
io
u
s
p
r
ev
alen
t
m
et
h
o
d
o
lo
g
ies i
m
p
le
m
en
ted
ac
r
o
s
s
d
if
f
er
en
t a
u
to
m
o
b
iles
.
2.
RE
L
AT
E
D
WO
RK
T
h
e
cu
r
r
en
t s
y
s
te
m
s
ca
p
tu
r
e
t
h
e
i
n
ten
s
it
y
o
f
h
ea
d
li
g
h
ts
o
f
th
e
o
n
co
m
i
n
g
tr
af
f
ic
o
r
d
etec
t t
h
e
p
r
esen
ce
o
f
in
co
m
i
n
g
v
e
h
icle
a
n
d
co
n
tr
o
l
th
e
h
ea
d
li
g
h
ts
o
f
th
e
ir
o
w
n
s
y
s
te
m
[
5
]
.
Su
c
h
e
x
a
m
p
les
to
f
o
llo
w
,
Me
r
ce
d
es
B
en
z
h
as
in
t
r
o
d
u
ce
d
a
tech
n
o
lo
g
y
n
a
m
ed
“
A
d
ap
tiv
e
H
ig
h
b
ea
m
a
s
s
i
s
t
–
t
h
e
I
n
t
elli
g
e
n
t
Hea
d
la
m
p
”,
w
h
e
n
an
o
n
co
m
in
g
v
e
h
icle
’
s
h
ea
d
lig
h
t
is
d
etec
ted
u
s
i
n
g
th
e
in
s
talled
ca
m
er
a,
th
e
v
e
h
icle
au
to
m
a
t
icall
y
lo
w
er
s
t
h
e
in
te
n
s
it
y
o
f
it
s
o
w
n
h
ea
d
li
g
h
t
s
.
T
o
y
o
ta
h
as
i
n
tr
o
d
u
ce
d
a
tech
n
o
lo
g
y
n
a
m
ed
“
Hea
d
lig
h
t
r
eg
u
latio
n
u
s
i
n
g
ca
m
er
a”
,
w
h
e
n
th
e
ca
m
er
a
d
etec
ts
th
e
p
r
e
s
en
ce
o
f
an
o
n
-
co
m
i
n
g
v
e
h
icle,
a
m
ec
h
a
n
ical
b
lo
ck
en
s
u
r
e
s
th
at
th
e
o
n
co
m
i
n
g
v
e
h
icle
i
s
n
o
t
af
f
ec
ted
.
[
5
]
-
8
]
Ma
n
y
s
y
s
te
m
s
p
r
o
p
o
s
ed
to
i
d
en
tify
t
h
e
p
r
esen
ce
o
f
th
e
o
n
co
m
i
n
g
v
e
h
icle
u
s
i
n
g
t
h
e
lig
h
t
s
e
n
s
o
r
,
w
h
e
n
th
e
s
e
n
s
o
r
r
ea
d
in
g
cr
o
s
s
es
a
th
r
es
h
o
ld
v
alu
e
,
t
h
e
in
te
n
s
it
y
o
f
its
o
w
n
v
eh
icle
’
s
h
ea
d
lig
h
t
is
b
r
o
u
g
h
t
d
o
w
n
.
[
6
]
T
h
r
esh
o
ld
v
alu
e
o
f
t
h
e
in
ten
s
it
y
b
r
ea
ch
is
f
o
u
n
d
u
s
i
n
g
ex
p
er
i
m
e
n
tal
s
e
tu
p
s
.
C
MO
S
c
a
m
er
a
w
as
u
s
ed
to
id
en
ti
f
y
t
h
e
s
o
u
r
ce
o
f
li
g
h
ts
a
n
d
v
ar
io
u
s
s
ig
n
al
p
r
o
ce
s
s
i
n
g
tech
n
iq
u
es
u
s
ed
to
d
if
f
er
en
t
ia
te
th
e
s
a
m
e.
[
7
]
Fu
zz
y
lo
g
ic
i
m
p
le
m
e
n
tat
io
n
u
s
in
g
a
p
h
o
to
d
etec
to
r
an
d
laser
d
etec
t
s
th
e
p
r
esen
ce
o
f
a
v
eh
i
cle,
f
u
zz
if
ier
r
ec
eiv
e
in
p
u
ts
f
r
o
m
ab
o
v
e
s
e
n
s
o
r
s
an
d
a
n
in
te
r
p
o
latio
n
tab
le
th
at
r
elate
s
i
n
ten
s
it
y
to
d
is
ta
n
ce
w
a
s
d
er
iv
ed
[
1
0
]
.
T
h
u
s
th
e
a
b
o
v
e
m
et
h
o
d
o
lo
g
ies
o
n
l
y
f
o
c
u
s
ed
o
n
th
e
ir
o
w
n
h
ea
d
lig
h
t
in
ten
s
it
y
co
n
tr
o
l
th
an
to
co
n
tr
o
l
t
h
e
h
ea
d
lig
h
t
s
o
f
p
ee
r
v
eh
icles
o
n
r
o
ad
w
h
ic
h
ca
u
s
ed
t
h
e
g
lar
e.
Ma
n
y
w
ir
eles
s
ap
p
r
o
ac
h
es
to
o
k
t
h
e
i
s
s
u
e
o
n
h
a
n
d
a
n
d
co
n
tr
o
lled
th
e
in
te
n
s
it
y
o
f
th
e
in
co
m
in
g
v
e
h
icle
s
r
at
h
er
th
an
its
o
w
n
,
b
u
t
lac
k
ed
m
an
y
k
e
y
p
ar
a
m
eter
s
s
u
ch
as
d
ir
ec
tio
n
,
s
p
ee
d
,
lo
ca
tio
n
o
f
t
h
e
i
n
d
iv
id
u
al
v
e
h
icle
o
n
m
ak
in
g
ac
cu
r
ate
d
ec
is
io
n
f
o
r
th
e
h
ea
d
lig
h
t
co
n
tr
o
l
[
1
0
]
-
[
1
]
-
[
3
]
.
T
h
u
s
th
e
ex
i
s
ti
n
g
w
o
r
k
o
n
th
e
w
ir
eless
ap
p
r
o
ac
h
is
th
e
m
o
ti
v
atio
n
o
f
b
u
ild
in
g
u
p
t
h
e
u
n
i
v
er
s
al
m
o
d
el
f
o
r
h
ea
d
lig
h
t c
o
n
tr
o
l.
As
i
n
th
e
tr
ad
itio
n
al
s
y
s
te
m
s
,
ev
er
y
v
e
h
icle
w
o
u
ld
s
en
s
e
t
h
e
in
co
m
in
g
h
ea
d
lig
h
t
’
s
i
n
te
n
s
it
y
b
r
ea
ch
an
d
r
eg
u
late
s
th
e
ir
o
w
n
h
ea
d
li
g
h
t
ac
co
r
d
in
g
l
y
.
As
a
r
esu
l
t
o
f
th
i
s
,
th
e
i
n
co
m
in
g
v
e
h
icle
s
(
o
p
p
o
s
ite)
w
o
u
ld
b
e
b
en
ef
ited
,
b
u
t
th
e
h
i
g
h
b
ea
m
o
f
th
e
in
co
m
i
n
g
v
e
h
icle
w
o
u
ld
s
til
l
r
e
m
ai
n
ca
u
s
i
n
g
te
m
p
o
r
ar
y
b
lin
d
n
ess
to
th
e
s
o
u
r
ce
v
eh
icle.
Hen
ce
t
h
e
p
r
o
b
lem
o
f
te
m
p
o
r
ar
y
b
li
n
d
n
es
s
is
n
o
t
co
m
p
le
t
el
y
er
ad
ic
ated
.
So
th
e
ab
o
v
e
s
y
s
te
m
s
f
ai
l
to
av
o
id
p
r
o
b
le
m
o
f
te
m
p
o
r
ar
y
b
lin
d
n
e
s
s
,
So
a
n
e
w
er
s
y
s
te
m
w
a
s
th
o
u
g
h
t
u
p
o
n
w
h
ich
w
o
u
ld
s
en
s
e
th
e
in
ten
s
it
y
o
f
th
e
h
e
ad
lig
h
t
s
as
in
t
h
e
ea
r
lier
s
y
s
t
e
m
b
u
t
in
s
tead
o
f
r
ed
u
cin
g
t
h
eir
o
w
n
h
ea
d
li
g
h
t
in
te
n
s
it
y
w
it
h
r
esp
ec
t
to
th
e
o
th
er
v
eh
ic
le
,
it
w
o
u
ld
r
ed
u
ce
th
e
in
te
n
s
i
t
y
o
f
t
h
e
o
n
co
m
i
n
g
v
eh
icle
an
d
v
ic
e
v
er
s
a
s
o
th
e
p
r
o
b
le
m
o
f
te
m
p
o
r
ar
y
b
li
n
d
n
es
s
is
co
m
p
le
tel
y
a
v
o
id
ed
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
s
ca
n
s
t
h
e
in
ten
s
it
y
o
f
th
e
h
ea
d
lig
h
t
s
f
r
o
m
t
h
e
o
n
co
m
in
g
v
e
h
icle
i
n
a
n
alo
g
f
o
r
m
v
ia
p
h
o
to
tr
a
n
s
i
s
to
r
(
lig
h
t
s
e
n
s
o
r
s
)
an
d
id
en
ti
f
ie
s
t
h
e
i
n
te
n
s
it
y
b
r
ea
ch
.
T
h
en
,
th
e
Un
i
v
er
s
al
h
ea
d
li
g
h
t
co
n
tr
o
l
m
o
d
u
le
p
itch
e
s
i
n
to
tr
an
s
m
it
th
e
cu
r
r
en
t
d
ir
ec
tio
n
,
s
p
ee
d
an
d
lo
ca
tio
n
o
f
t
h
e
v
e
h
icle
m
ea
s
u
r
ed
v
ia
v
ar
io
u
s
s
en
s
o
r
s
to
th
e
n
ea
r
b
y
p
ee
r
v
eh
icles;
t
h
is
i
s
d
o
n
e
i
m
m
ed
iatel
y
as
a
w
ir
eless
b
r
o
ad
ca
s
t.
T
h
u
s
an
X
-
B
ee
w
ir
ele
s
s
m
ed
iu
m
is
s
o
u
g
h
t
to
h
a
v
e
t
h
e
i
m
m
ed
iate
co
n
n
ec
tiv
it
y
to
t
h
e
p
ee
r
m
o
d
u
le
in
s
talled
i
n
t
h
e
in
co
m
in
g
v
e
h
icle
s
.
T
h
e
m
o
d
u
le
lo
ca
ted
at
ev
er
y
au
to
m
o
b
ile
s
h
all
ac
ti
v
el
y
l
is
t
en
to
all
th
e
in
te
n
s
it
y
b
r
ea
ch
aler
ts
an
d
n
ee
d
s
to
ev
alu
a
te
b
y
th
eir
o
w
n
o
f
t
h
e
p
o
s
s
ib
le
i
n
ten
s
it
y
b
r
ea
ch
a
n
d
ta
k
e
a
n
ac
tio
n
to
co
n
tr
o
l
t
h
eir
h
ea
d
lig
h
t
s
v
ia
p
u
ls
e
w
id
t
h
m
o
d
u
la
ted
s
ig
n
al.
T
h
e
s
y
s
te
m
ca
lls
f
o
r
th
e
in
ter
co
n
n
ec
ted
v
e
h
icle
s
o
n
r
o
ad
v
ia
th
e
in
ter
co
n
n
ec
ti
n
g
ad
ap
to
r
m
o
d
u
le.
T
h
e
s
y
s
te
m
u
s
es X
-
B
ee
tr
an
s
m
itter
a
n
d
r
ec
eiv
er
b
ec
au
s
e
t
h
e
tr
an
s
m
is
s
io
n
o
f
s
i
g
n
al
u
s
i
n
g
t
h
is
is
m
o
r
e
ef
f
icie
n
t
an
d
f
as
ter
.
T
h
e
f
ix
atio
n
o
f
i
n
te
n
s
it
y
le
v
e
l
ca
u
s
i
n
g
b
r
ea
ch
is
as
s
u
m
ed
f
r
o
m
th
e
p
r
ev
io
u
s
w
o
r
k
s
.
T
h
e
s
y
s
te
m
is
b
u
il
t
u
p
o
n
to
h
av
e
a
r
o
b
u
s
t
ac
tiv
atio
n
o
f
h
ea
d
lig
h
ts
w
h
en
e
v
er
th
e
t
e
m
p
o
r
ar
y
b
li
n
d
n
es
s
ca
u
s
ed
b
ec
au
s
e
o
f
t
h
e
p
ee
r
v
eh
icles
o
n
l
y
a
n
d
h
e
n
ce
t
h
e
l
u
m
in
o
u
s
in
ten
s
it
y
f
r
o
m
o
t
h
er
li
g
h
t
s
o
u
r
ce
s
ar
e
n
o
t
i
n
th
e
s
co
p
e
o
f
th
e
d
es
ig
n
p
r
o
p
o
s
al.
T
h
e
Ma
in
f
o
cu
s
w
a
s
laid
u
p
o
n
th
e
id
en
tific
atio
n
o
f
g
lar
e
s
ce
n
ar
io
,
ef
f
ec
t
iv
e
h
an
d
li
n
g
o
f
g
lar
e
s
ce
n
ar
io
s
ca
u
s
ed
b
y
m
u
ltip
le
v
eh
ic
les
an
d
id
en
t
if
icatio
n
o
f
v
eh
icle
s
in
f
lic
tin
g
th
e
b
r
ea
ch
.
T
h
e
s
y
s
te
m
r
e
s
p
o
n
s
e
o
f
in
ter
co
n
n
ec
ted
v
e
h
icles
d
u
r
in
g
a
g
lar
e
s
ce
n
ar
io
o
cc
u
r
r
en
ce
a
n
d
th
e
ti
m
e
to
r
ev
er
t
b
ac
k
to
h
i
g
h
b
ea
m
i
s
also
ta
k
e
n
u
p
in
th
e
d
esig
n
.
T
h
e
d
esig
n
g
iv
e
s
i
m
p
o
r
tan
ce
to
th
e
q
u
ic
k
d
ata
ac
q
u
is
itio
n
o
f
t
h
e
co
n
n
ec
ted
s
en
s
o
r
s
to
th
e
m
o
d
u
le
an
d
h
en
ce
th
e
u
p
d
ated
v
eh
icle
in
f
o
r
m
at
io
n
is
al
w
a
y
s
av
ailab
le
at
all
m
o
d
u
les
to
m
a
k
e
th
e
s
u
itab
le
h
ea
d
li
g
h
t
ac
tu
a
tio
n
.
Fi
g
u
r
e
1
s
h
o
w
t
h
e
i
n
ter
c
o
n
n
ec
ted
b
lo
ck
s
f
o
r
th
e
co
n
s
tr
u
ctio
n
o
f
th
e
m
o
d
u
le
an
d
th
e
F
i
g
u
r
e
2
d
ep
icts
th
e
p
icto
r
ial
r
ep
r
esen
tatio
n
o
f
th
e
o
p
er
atio
n
o
f
th
e
in
ter
co
n
n
ec
ted
m
o
d
u
les.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
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S
V
o
l.
7
,
No
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1
,
Ma
r
et
2
0
1
8
:
34
–
42
36
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
a
m
o
f
U
n
iv
er
s
al
Au
to
m
o
b
ile
Hea
d
lig
h
t c
o
n
tr
o
l
m
o
d
u
le
Fig
u
r
e
2
.
P
icto
r
ial
r
e
p
r
esen
tati
o
n
o
f
th
e
o
p
er
atio
n
o
f
u
n
i
v
er
s
al
au
to
m
o
b
ile
h
ea
d
li
g
h
t c
o
n
tr
o
l
m
o
d
u
le
3.
P
RO
P
O
SE
D
SYS
T
E
M
& AP
P
RO
ACH
T
h
e
Fin
al
p
r
o
p
o
s
ed
s
y
s
te
m
th
r
iv
es
o
n
t
h
e
in
ter
co
n
n
ec
tio
n
o
f
v
ar
io
u
s
s
y
s
te
m
b
lo
ck
s
as
in
th
e
F
i
g
u
r
e
1
,
ea
ch
an
d
ev
er
y
b
l
o
ck
h
as
th
eir
o
w
n
p
u
r
p
o
s
e
s
o
r
ted
o
u
t
in
co
llecti
n
g
t
h
e
r
ea
l
t
i
m
e
d
ata
to
s
u
p
r
es
s
th
e
te
m
p
o
r
ar
y
b
li
n
d
co
n
d
itio
n
s
.
T
h
e
v
ar
io
u
s
b
lo
c
k
s
to
b
e
ex
p
lain
ed
a
n
d
t
h
e
i
n
ter
ac
tio
n
b
et
w
ee
n
t
h
e
m
s
h
al
l
also
m
ar
k
t
h
e
f
ea
tu
r
e
o
f
t
h
i
s
m
o
d
u
le’
s
f
u
n
ct
io
n
alit
y
.
3
.
1
.
M
icro
Co
ntr
o
ller
T
h
e
m
icr
o
co
n
tr
o
ller
w
h
ic
h
i
s
u
s
ed
in
t
h
e
s
y
s
te
m
b
elo
n
g
s
t
o
th
e
A
T
m
e
g
a1
6
2
,
8
-
b
it
Mic
r
o
co
n
tr
o
ller
w
it
h
1
6
K
B
y
te
s
in
-
S
y
s
te
m
P
r
o
g
r
a
m
m
ab
le
Fla
s
h
.
[
1
1
]
T
h
e
Mic
r
o
co
n
tr
o
ller
s
h
all
b
e
i
n
te
r
f
ac
ed
s
er
iall
y
w
it
h
th
e
X
-
B
ee
T
r
an
s
ce
i
v
er
an
d
GP
S
m
o
d
u
le
f
o
r
th
e
tr
an
s
f
er
o
f
v
eh
ic
le
d
ata
a
n
d
lo
ca
tio
n
r
esp
ec
ti
v
el
y
T
h
e
m
icr
o
co
n
tr
o
ller
is
f
u
r
t
h
e
r
in
ter
f
ac
ed
to
elec
tr
o
n
ic
co
m
p
a
s
s
s
en
s
o
r
at
its
8
b
it
b
i
d
ir
ec
tio
n
al
I
O
p
o
r
t.
T
h
e
d
ir
ec
tio
n
d
ata
is
o
b
tain
e
d
s
y
n
ch
r
o
n
o
u
s
l
y
to
k
n
o
w
th
e
v
eh
icle
d
ir
ec
tio
n
at
an
y
ti
m
e
v
ia
s
tan
d
a
r
d
I
2
C
p
r
o
to
co
l.
T
h
e
Mic
r
o
co
n
tr
o
ller
f
u
r
th
er
r
ea
d
s
th
e
cu
r
r
e
n
t
v
eh
icle
s
p
ee
d
as
a
n
in
p
u
t,
f
u
r
t
h
er
co
n
tr
o
ls
P
W
M
o
p
er
ated
L
E
D
an
d
L
C
D
m
o
d
u
le.
T
h
e
p
er
ip
h
er
als
w
h
ich
ar
e
i
n
ter
f
ac
ed
to
t
h
e
m
icr
o
co
n
tr
o
ller
u
n
it
ar
e
d
ea
lt
i
n
th
e
co
m
i
n
g
ch
ap
ter
s
.
F
u
r
th
er
c
h
ap
ter
s
g
i
v
e
m
o
r
e
d
etails o
n
t
h
e
h
a
n
d
s
h
ak
e
o
f
d
ata
f
lo
w
ac
r
o
s
s
v
ar
io
u
s
b
lo
ck
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
I
SS
N:
2089
-
4864
Un
ivers
a
l A
u
to
mo
b
ile
Hea
d
lig
h
t Co
n
tr
o
l Mo
d
u
le
fo
r
Hig
h
B
ea
m
A
d
a
p
t
a
tio
n
d
u
r
in
g
…
(
M S
u
b
r
a
ma
n
i
a
S
iva
)
37
3
.
2
.
P
ho
t
o
dio
de/Pho
t
o
T
ra
n
s
is
t
o
r
A
p
h
o
to
d
io
d
e
/
p
h
o
to
t
r
an
s
is
to
r
lig
h
t
s
e
n
s
o
r
is
in
ter
f
ac
ed
v
ia
an
an
alo
g
i
n
p
u
t
to
th
e
co
n
tr
o
ller
.
T
h
e
in
ten
s
it
y
o
f
t
h
e
i
n
cid
en
t
l
ig
h
t
i
s
d
ir
ec
tl
y
c
o
n
v
er
ted
to
a
n
a
n
alo
g
v
al
u
e
b
y
t
h
e
s
e
n
s
o
r
.
T
h
e
v
o
ltag
e
d
r
o
p
at
th
e
co
n
tr
o
ller
i
s
co
n
t
in
u
o
u
s
l
y
m
ea
s
u
r
ed
an
d
m
ap
s
to
t
h
e
s
tan
d
ar
d
lu
m
i
n
o
u
s
in
ten
s
it
y
v
alu
e
s
.
T
h
e
th
r
esh
o
ld
f
o
r
g
lar
e
s
ce
n
ar
io
is
f
ix
ed
f
r
o
m
t
h
e
ch
ar
ac
ter
i
s
tics
o
f
t
h
e
li
g
h
t
s
en
s
o
r
an
d
th
e
s
tan
d
a
r
d
h
i
g
h
b
ea
m
co
n
d
itio
n
s
.
T
h
e
L
ig
h
t
s
en
s
o
r
co
n
ti
n
u
o
u
s
l
y
m
o
n
ito
r
s
t
h
e
d
i
f
f
er
e
n
ce
i
n
i
n
ten
s
it
y
le
v
els
e
x
p
o
s
ed
an
d
tr
ig
g
er
s
a
g
lar
e
s
ce
n
ar
io
ac
co
r
d
in
g
l
y
.
3
.
3
.
Vehicle
Sp
ee
d Sens
o
r
T
h
e
v
eh
icle
s
p
ee
d
is
o
b
tain
ed
b
ased
o
n
th
e
co
n
n
ec
ted
d
ig
ital
in
p
u
t
to
t
h
e
m
icr
o
co
n
tr
o
ller
.
T
h
e
r
o
tar
y
s
etu
p
ap
p
lies
th
e
h
i
g
h
/lo
w
v
o
ltag
e
lev
el
s
at
th
e
p
o
r
t
p
in
co
n
tin
u
o
u
s
l
y
.
A
cc
o
r
d
in
g
l
y
t
h
e
ex
ter
n
al
in
ter
r
u
p
t
tr
ig
g
er
i
s
co
n
f
ig
u
r
ed
at
th
e
co
n
tr
o
ller
,
R
P
Ms
ar
e
co
n
v
er
ted
to
th
e
k
m
p
h
a
n
d
th
e
v
eh
icle
s
p
ee
d
is
o
b
tain
ed
at
th
e
co
n
tr
o
ll
er
.
3
.
4
.
Vehicle
lo
ca
t
i
o
n sens
o
r
Veh
icle
lo
ca
tio
n
s
en
s
o
r
f
etc
h
es
cu
r
r
en
t
p
o
s
itio
n
o
f
t
h
e
v
e
h
i
cle
in
ter
m
s
o
f
lat
itu
d
e
a
n
d
lo
n
g
i
tu
d
i
n
al
co
o
r
d
in
ates
o
f
t
h
e
ea
r
t
h
.
A
GP
S
(
Glo
b
al
P
o
s
itio
n
i
n
g
S
y
s
te
m
)
m
o
d
u
le
is
f
it
ted
to
th
e
s
y
s
te
m
v
ia
t
h
e
s
er
ial
p
o
r
t
o
f
t
h
e
m
icr
o
co
n
tr
o
ller
as
y
n
ch
r
o
n
o
u
s
l
y
.
H
ig
h
s
en
s
iti
v
it
y
an
d
s
m
ar
t
GP
S
a
n
ten
n
a
is
th
e
n
ee
d
o
f
t
h
e
h
o
u
r
s
i
n
ce
th
e
r
ef
r
es
h
r
ate
o
f
t
h
e
GP
S
p
la
y
s
a
n
i
m
p
o
r
ta
n
t
r
o
le.
GP
S
lo
ca
tio
n
s
o
f
t
h
e
eit
h
er
o
f
t
h
e
v
eh
ic
le
is
u
s
ed
f
o
r
co
m
p
u
ti
n
g
t
h
e
d
is
ta
n
ce
o
f
s
e
p
ar
atio
n
b
et
w
ee
n
t
h
e
m
.
GP
S
d
ata
ac
q
u
is
itio
n
f
o
r
th
e
f
a
s
t
m
o
v
i
n
g
v
eh
ic
les
i
s
s
tu
d
ied
,
s
ee
T
ab
le
1
an
d
Fig
u
r
e
3
w
h
ic
h
s
h
o
w
ca
s
e
s
th
e
t
i
m
e
to
r
ef
r
es
h
t
h
e
GP
S
d
ata
v
er
s
u
s
u
p
d
ate
r
ate
o
f
th
e
ch
o
s
e
n
GP
S a
t
1
0
0
Km
/Hr
[
12]
.
T
ab
le
1
.
Up
d
ate
r
ate
Vs d
is
tan
ce
to
r
ef
r
esh
n
e
x
t G
P
S d
ata
at
1
0
0
Km
/
h
r
.
(
2
7
.
7
7
8
m
/s
)
U
p
d
a
t
e
r
a
t
e
= (
1
Hz)
D
i
st
a
n
c
e
(
c
m
)
1
2
7
7
7
.
7
7
8
5
5
5
5
.
5
5
6
10
2
7
7
.
7
7
8
20
1
3
8
.
8
8
9
Fig
u
r
e
3
.
Gr
ap
h
ical
r
ep
r
esen
ta
tio
n
o
f
Up
d
ate
r
ate
Vs d
is
tan
c
e
an
d
b
lin
d
d
is
tan
ce
s
b
ef
o
r
e
n
e
x
t G
P
S u
p
d
ate
at
1
0
0
Km
/Hr
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
E
S
V
o
l.
7
,
No
.
1
,
Ma
r
et
2
0
1
8
:
34
–
42
38
W
ith
th
e
p
r
o
p
er
GP
S
m
o
d
u
le
s
elec
ted
,
th
e
d
is
tan
ce
b
et
w
ee
n
t
w
o
GP
S
lo
ca
tio
n
s
w
ill
b
e
u
s
ed
as
an
i
m
p
o
r
tan
t
p
ar
am
eter
to
k
n
o
w
v
eh
ic
le’
s
d
is
tan
ce
o
f
s
ep
ar
atio
n
.
T
h
e
s
a
m
e
i
s
d
o
n
e
as
eq
u
at
io
n
(
1
)
,
r
ef
er
T
a
b
le
2
f
o
r
co
n
v
er
ted
v
al
u
es.
Sp
h
er
ical
L
a
w
o
f
co
s
i
n
es:
D
= a
co
s
(
s
in
φ1
⋅
s
i
n
φ2
+
co
s
φ1
⋅
co
s
φ2
⋅
co
s
Δ
λ
)
⋅
R
--
(
1
)
φ1
–
L
atitu
d
e
1
v
al
u
e
in
r
ad
ia
n
s
φ2
–
L
atitu
d
e
2
v
al
u
e
in
r
ad
ia
n
s
Δλ
–
Dif
f
er
e
n
ce
b
et
w
ee
n
lo
n
g
itu
d
es i
n
r
ad
ian
s
R
–
R
ad
iu
s
o
f
th
e
ea
r
t
h
(
6
3
7
1
e
3
m
eter
s
)
D
–
Dis
tan
ce
b
et
w
ee
n
GP
S c
o
o
r
d
in
ates
in
m
eter
s
T
ab
le
2
.
Dis
tan
ce
co
m
p
u
ted
f
r
o
m
GP
S L
atit
u
d
e
an
d
L
o
n
g
it
u
d
e
v
alu
es
L
a
t
i
t
u
d
e
L
o
n
g
i
t
u
d
e
L
o
c
a
t
i
o
n
1
1
1
.
0
8
0
7
4
7
6
.
9
6
6
8
9
7
L
o
c
a
t
i
o
n
2
1
1
.
0
8
0
2
4
7
6
.
9
6
6
9
5
2
D
i
st
a
n
c
e
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o
m
p
u
t
e
d
5
5
.
0
3
6
1
1
3
7
8
m
3
.
5
.
Dire
ct
io
n
o
f
t
he
v
ehicle
A
d
i
g
ital
co
m
p
a
s
s
m
o
d
u
le
F
i
g
u
r
e
4
is
i
n
ter
f
ac
ed
v
ia
s
tan
d
ar
d
I
2
C
p
r
o
to
c
o
l.
T
h
e
s
en
s
o
r
s
h
all
co
n
v
er
t
an
y
m
ag
n
etic
f
ield
to
a
d
if
f
er
en
tia
l
v
o
lta
g
e
o
u
tp
u
t
o
n
3
ax
es.
T
h
e
Dig
ital
o
u
tp
u
t
v
alu
e
i
s
m
ea
s
u
r
ed
co
n
tin
u
o
u
s
l
y
a
s
th
e
v
eh
ic
le
m
o
v
es
an
d
th
e
co
r
r
esp
o
n
d
in
g
d
ir
ec
tio
n
(
0
-
3
6
0
d
eg
r
ee
s
)
is
o
b
t
ain
ed
.
T
h
e
d
ec
is
io
n
w
h
et
h
er
an
y
t
w
o
v
e
h
icles
ar
e
in
o
p
p
o
s
ite
d
ir
ec
tio
n
is
s
o
lel
y
b
ased
o
n
th
e
1
6
p
o
in
t
co
m
p
a
s
s
R
o
s
s
s
ca
le
.
An
y
d
ir
ec
tio
n
s
w
h
ic
h
ar
e
lin
ea
r
l
y
ap
ar
t
b
y
(
1
8
0
d
eg
+_
1
0
d
eg
)
is
tak
en
as
an
o
p
p
o
s
ite
d
ir
ec
tio
n
.
G
Y2
7
1
el
ec
tr
o
n
ic
co
m
p
ass
m
o
d
u
le
i
s
ch
o
s
e
n
f
o
r
th
e
i
m
p
le
m
en
ta
tio
n
an
d
n
ee
d
s
to
f
it
i
n
a
p
o
s
itio
n
p
o
in
ted
to
th
e
f
o
r
w
ar
d
m
o
tio
n
o
f
th
e
v
eh
i
cle.
Fig
u
r
e
4
.
GY2
7
1
elec
tr
o
n
ic
co
m
p
a
s
s
s
en
s
o
r
Fig
u
r
e
5
.
X
-
B
ee
w
ir
ele
s
s
m
o
d
u
le
3
.
6
.
X
-
B
ee
T
ra
ns
m
it
t
er
& Re
ce
iv
er
An
X
-
B
ee
tr
an
s
m
itter
a
n
d
r
ec
eiv
er
in
F
ig
u
r
e
5
is
s
et
u
p
s
er
iall
y
to
th
e
m
icr
o
co
n
tr
o
ller
o
f
ev
er
y
m
o
d
u
le.
T
h
e
X
-
B
ee
tr
an
s
f
er
s
t
h
e
in
d
icatio
n
o
f
g
lar
e
ev
e
n
t to
th
e
p
ee
r
v
eh
ic
les a
n
d
it is
a
b
r
o
ad
ca
s
t
m
ess
a
g
e
to
all
th
e
n
ea
r
b
y
m
o
d
u
les.
X
-
B
e
e
tr
an
s
ce
i
v
er
s
y
s
te
m
i
s
m
u
c
h
s
u
p
er
io
r
an
d
ef
f
icie
n
t
to
t
h
e
Z
i
g
B
ee
s
y
s
te
m
s
i
n
ter
m
s
o
f
r
a
n
g
e
an
d
l
in
e
o
f
s
i
g
h
t.
T
h
e
X
-
B
ee
m
o
d
u
les
ca
n
s
e
n
d
o
r
r
ec
eiv
e
th
e
d
ata
w
it
h
i
n
t
h
e
r
an
g
e
o
f
1
0
0
m
o
r
3
0
0
f
t
an
d
h
as
a
lin
e
o
f
s
ig
h
t
o
f
1
.
6
Km
s
.
T
h
e
X
-
B
ee
is
i
n
co
r
p
o
r
ated
in
all
th
e
h
ea
d
lig
h
t
m
o
d
u
les
o
f
v
e
h
icle
a
n
d
t
y
p
icall
y
s
h
ar
es th
e
v
e
h
icle
lo
ca
tio
n
v
ia
GP
S,
d
ir
ec
tio
n
,
s
p
e
ed
to
th
e
n
ea
r
b
y
v
e
h
icles.
3
.
7
.
L
CD
Dis
pla
y
& P
WM
Co
ntr
o
lled L
E
D
L
iq
u
id
C
r
y
s
tal
Di
s
p
la
y
as
s
h
o
w
n
i
n
F
i
g
u
r
e
6
m
o
d
u
le
is
i
n
ter
f
ac
ed
w
ith
th
e
Mic
r
o
co
n
tr
o
lle
r
,
th
e
d
ata
lin
es
f
r
o
m
t
h
e
L
C
D
ar
e
co
n
t
in
u
o
u
s
l
y
w
r
i
tten
w
it
h
t
h
e
c
u
r
r
en
t
w
o
r
k
i
n
g
s
tat
u
s
o
f
t
h
e
m
o
d
u
le
li
k
e
s
p
ee
d
,
d
ir
ec
tio
n
,
o
n
s
et
o
f
a
n
y
i
n
co
m
i
n
g
g
lar
e
ev
e
n
t a
n
d
ti
m
e
to
k
ee
p
th
e
h
i
g
h
b
ea
m
ON
etc.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
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SS
N:
2089
-
4864
Un
ivers
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to
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d
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fo
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M S
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39
Fig
u
r
e
6
.
L
C
D
2
*
1
6
d
is
p
la
y
s
h
o
w
in
g
t
h
e
s
p
ee
d
,
d
ir
ec
tio
n
an
d
o
n
s
et
o
f
g
lar
e
e
v
en
t
A
P
W
M
w
id
th
m
o
d
u
lated
L
E
D
is
i
n
ter
f
ac
ed
to
i
n
d
icate
th
e
lo
w
b
ea
m
an
d
h
ig
h
b
ea
m
s
ta
tu
s
.
T
h
e
b
r
ig
h
tn
e
s
s
o
f
th
e
L
E
D
is
co
n
tr
o
lled
v
ia
P
W
M
f
r
o
m
t
h
e
m
o
d
u
le.
T
h
e
s
tate
o
f
th
e
L
E
D
i
s
d
eter
m
i
n
ed
b
ased
o
n
th
e
v
ar
io
u
s
p
ar
am
eter
s
.
4
.
DE
S
I
G
N
AND
ARCH
I
T
E
C
T
UR
E
T
h
e
p
r
ev
io
u
s
ch
ap
ter
d
ea
lt
w
i
th
t
h
e
f
u
n
ctio
n
alit
y
o
f
t
h
e
ea
c
h
i
n
ter
co
n
n
ec
ted
b
lo
ck
s
.
T
h
e
d
esig
n
f
o
r
ev
alu
a
tin
g
t
h
e
h
ig
h
b
ea
m
co
n
d
itio
n
s
w
it
h
co
r
r
esp
o
n
d
in
g
ac
tu
atio
n
s
h
all
b
e
d
is
cu
s
s
ed
h
er
e.
T
h
e
ch
ap
ter
also
d
ea
ls
w
it
h
th
e
d
esig
n
d
ec
is
io
n
s
an
d
c
h
alle
n
g
e
s
i
n
b
u
ild
i
n
g
u
p
th
e
s
y
s
te
m
.
T
h
e
f
u
n
ctio
n
a
lit
y
o
f
t
h
e
e
m
b
ed
d
ed
m
o
d
u
le
t
h
r
iv
e
s
o
n
th
e
3
s
o
f
t
war
e
r
o
u
tin
es,
t
h
e
y
ar
e,
a.
Un
i
v
er
s
al
h
ea
d
lig
h
t a
d
ap
to
r
m
o
d
u
le
J
o
b
r
o
u
tin
e.
b.
Un
i
v
er
s
al
h
ea
d
lig
h
t a
d
ap
to
r
m
o
d
u
le
X
-
B
ee
r
ec
ep
tio
n
r
o
u
tin
e
.
c.
Un
i
v
er
s
al
h
ea
d
lig
h
t a
d
ap
to
r
m
o
d
u
le
ev
en
t
h
a
n
d
ler
r
o
u
tin
e.
4
.
1
.
Univ
er
s
a
l hea
dli
g
ht
a
da
pto
r
m
o
du
le
J
o
b r
o
utine
T
h
e
I
O
p
er
ip
h
er
als
n
ee
d
s
to
b
e
in
itia
lized
b
ef
o
r
e
th
e
ca
l
l
o
f
th
e
m
ai
n
r
o
u
ti
n
e
.
I
n
t
h
e
m
ai
n
j
o
b
r
o
u
tin
e
o
f
t
h
e
d
esi
g
n
i
n
F
ig
u
r
e
7
,
t
h
e
e
m
b
ed
d
ed
m
o
d
u
le
co
n
ti
n
o
u
s
l
y
e
v
al
u
ates
th
e
h
ig
h
b
ea
m
s
tat
u
s
at
t
h
e
co
n
n
ec
ted
p
h
o
to
tr
an
s
is
to
r
/p
h
o
to
d
io
d
e
s
en
s
o
r
,
s
p
ee
d
o
f
th
e
v
e
h
icle
(
R
P
M
to
K
m
p
h
)
,
d
ir
ec
tio
n
o
f
th
e
v
e
h
icle,
lo
ca
tio
n
o
f
th
e
v
eh
ic
le
in
ter
m
s
o
f
lat
itu
d
e
an
d
lo
n
g
it
u
d
e.
I
n
ca
s
e
o
f
a
b
r
ea
ch
in
in
te
n
s
i
t
y
t
h
e
b
r
o
ad
ca
s
t
v
ia
X
-
b
ee
tr
an
s
ce
i
v
er
s
h
al
l
b
e
tr
ig
g
er
ed
to
th
e
n
ea
r
b
y
m
o
d
u
les
v
ia
a
s
t
an
d
ar
d
f
o
r
m
a
t.T
h
e
X
-
b
ee
b
r
o
a
d
ca
s
t
s
h
all
co
n
s
is
t
o
f
af
f
ec
ted
v
e
h
icle
’
s
c
u
r
r
en
t s
p
ee
d
,
d
ir
ec
tio
n
an
d
lo
ca
tio
n
.
4
.
2
.
Univ
er
s
a
l hea
dli
g
ht
a
da
pto
r
m
o
du
le
X
-
B
ee
re
ce
ptio
n r
o
utine
A
s
s
h
o
w
n
i
n
F
ig
u
r
e
8
,
T
h
e
X
-
B
ee
tr
an
s
ce
i
v
er
ac
ti
v
el
y
li
s
ten
s
to
t
h
e
m
e
s
s
a
g
es
f
r
o
m
t
h
e
n
ea
r
b
y
co
n
n
ec
ted
m
o
d
u
les
a
n
d
th
e
r
ec
eiv
e
i
n
ter
r
u
p
t
is
tr
i
g
g
er
ed
o
n
w
h
e
n
a
v
al
id
f
r
a
m
e
is
r
ec
eiv
ed
in
t
h
e
U
AR
T
s
er
ial
p
o
r
t.
T
h
e
ty
p
e
o
f
f
r
a
m
e
is
p
ar
s
ed
an
d
co
r
r
esp
o
n
d
in
g
a
c
tio
n
is
tak
e
n
.
A
b
r
o
ad
ca
s
t
X
-
B
ee
f
r
a
m
e
t
y
p
icall
y
o
f
a
f
ix
ed
s
ize
(
u
n
i
f
o
r
m
s
ta
n
d
ar
d
)
an
d
th
e
co
n
ten
ts
ar
e
f
ix
ed
.
T
h
e
r
ec
eiv
ed
X
-
B
ee
f
r
a
m
e
co
n
s
i
s
ts
o
f
th
e
af
f
ec
ted
v
e
h
icles
d
ir
ec
tio
n
,
s
p
ee
d
an
d
lo
ca
tio
n
.
A
p
p
ar
en
t
l
y
th
e
r
ec
eiv
ed
v
e
h
icle
n
ee
d
s
to
ev
alu
ate
w
h
e
t
h
er
th
e
g
lar
e
is
ca
u
s
ed
b
y
it
s
o
wn
h
ig
h
b
ea
m
,
i
f
y
e
s
t
h
en
th
e
co
n
tr
o
l
tr
an
s
f
er
s
to
th
e
e
v
e
n
t
h
a
n
d
lin
g
r
o
u
t
in
e.
T
h
e
id
en
tif
icatio
n
o
f
th
e
g
lar
e
ev
en
t
at
th
e
a
f
f
ec
ted
is
d
ec
id
ed
b
ased
o
n
its
o
w
n
h
i
g
h
b
ea
m
s
tat
u
s
,
ev
a
lu
atio
n
o
f
o
p
p
o
s
ite
d
ir
ec
tio
n
s
ce
n
ar
io
w
r
t
o
n
e
a
n
o
th
er
a
n
d
d
is
tan
ce
o
f
s
ep
ar
atio
n
b
et
w
ee
n
th
e
v
eh
icles.
I
f
t
h
e
cu
r
r
e
n
t
h
ig
h
b
ea
m
s
tatu
s
is
ON,
th
e
d
ir
ec
tio
n
o
f
v
eh
ic
les
ar
e
o
p
p
o
s
ite
an
d
d
is
tan
ce
o
f
s
ep
ar
atio
n
is
w
it
h
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u
r
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XP
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R
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UP
& RES
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ex
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h
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ata
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3
,
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s
p
ee
d
o
f
th
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v
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h
icles
ar
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
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S
I
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N:
2089
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4864
Un
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a
l A
u
to
mo
b
ile
Hea
d
lig
h
t Co
n
tr
o
l Mo
d
u
le
fo
r
Hig
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B
ea
m
A
d
a
p
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a
tio
n
d
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r
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g
…
(
M S
u
b
r
a
ma
n
i
a
S
iva
)
41
s
i
m
u
lated
to
f
i
x
ed
v
alu
e
s
,
p
o
s
itio
n
o
f
t
h
e
d
ir
ec
tio
n
s
en
s
o
r
is
p
r
e
-
d
eter
m
i
n
ed
,
th
e
GP
S
m
o
d
u
les
al
s
o
r
ea
d
cu
r
r
en
t
lat
itu
d
e
a
n
d
lo
n
g
it
u
d
i
n
al
v
alu
e
s
.
An
e
x
ter
n
al
li
g
h
t
s
o
u
r
ce
is
u
s
ed
to
ill
u
m
in
a
te
th
e
v
e
h
icle
2
a
n
d
v
eh
ic
le
1
h
i
g
h
b
ea
m
is
al
w
a
y
s
h
ig
h
.
Si
n
ce
t
h
e
g
lar
e
i
s
p
u
r
p
o
s
ef
u
l
l
y
i
n
d
u
ce
d
i
n
th
e
v
eh
ic
le
2
,
it
s
en
d
s
an
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-
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ee
b
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ad
ca
s
t
o
f
v
eh
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le
2
d
ata
to
th
e
v
e
h
icle
1
.
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o
w
t
h
e
v
e
h
icle
1
r
ea
d
s
t
h
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v
alu
es
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v
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d
co
m
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ar
es
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th
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ts
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w
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v
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h
icl
e
d
ata,
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alu
ate
t
h
e
p
o
s
s
ib
le
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lar
e
s
ce
n
ar
io
f
r
o
m
it
s
o
w
n
h
ea
d
lig
h
t
s
.
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f
YE
S,
is
tak
es
t
h
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tio
n
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co
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tr
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lled
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d
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h
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s
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m
th
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ig
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n
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ti
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s
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ated
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ter
n
all
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t
v
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h
icle
1
.
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h
e
ab
o
v
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r
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ce
d
u
r
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ied
o
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t
f
o
r
d
if
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er
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t
v
alu
e
s
at
ea
ch
o
f
th
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v
eh
icles
af
ter
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n
d
u
ce
d
h
i
g
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b
ea
m
s
c
en
ar
io
at
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eh
icle
2
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d
r
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in
g
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e
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u
lated
.
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u
r
e
1
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x
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er
im
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tal
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etu
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p
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m
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ab
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et
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p
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p
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t
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o
n
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/
n
)
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w
b
e
a
m
d
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r
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t
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(
s)
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d
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6
0
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p
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r
:
2
0
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g
(
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N
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o
c
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1
1
.
0
8
0
7
3
6
,
7
6
.
9
6
6
8
9
7
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e
a
m:
H
i
g
h
S
p
e
e
d
:
7
0
k
p
h
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r
:
2
1
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e
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S
W
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o
c
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1
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0
8
0
2
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4
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7
6
.
9
6
6
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5
2
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e
a
m:
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o
w
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5
.
0
3
y
5
5
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3
/
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6
0
+
7
0
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=
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5
2
S
p
e
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d
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0
k
p
h
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r
:
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c
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1
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0
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7
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6
.
9
6
6
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7
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e
a
m:
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:
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r
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c
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1
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8
0
7
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6
,
7
6
.
9
6
6
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7
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e
a
m:
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w
5
5
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0
3
n
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(
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h
i
c
l
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7
6
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6
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7
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e
a
m:
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p
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e
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m:
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w
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2
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e
h
i
c
l
e
s
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r
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f
a
r
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p
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o
m h
i
g
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m ra
n
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)
6
.
CO
NCLU
SI
O
N
T
h
e
p
r
o
p
o
s
ed
em
b
ed
d
ed
d
e
s
ig
n
s
y
s
te
m
s
tr
i
v
es
to
r
e
m
o
v
e
t
h
e
te
m
p
o
r
ar
y
b
li
n
d
n
es
s
ca
u
s
ed
to
th
e
d
r
iv
er
s
d
u
r
in
g
t
h
e
n
i
g
h
t
v
is
io
n
tr
a
v
el.
T
h
e
u
n
iv
er
s
a
l
e
m
b
ed
d
ed
m
o
d
u
le
a
u
to
m
atica
l
l
y
s
w
i
tch
e
s
t
h
e
h
i
gh
b
ea
m
i
n
to
lo
w
b
ea
m
an
d
r
etu
r
n
s
b
ac
k
s
to
h
i
g
h
b
ea
m
b
ased
o
n
r
o
ad
c
o
n
d
itio
n
s
,
th
u
s
r
ed
u
ci
n
g
t
h
e
s
u
d
d
en
g
lar
e
ef
f
e
ct
.
T
h
e
in
ter
co
n
n
ec
ted
m
o
d
u
les
co
n
n
ec
ted
w
ir
e
less
l
y
a
t
ev
er
y
v
e
h
icle
i
n
d
ep
en
d
en
tl
y
c
o
n
tr
o
l
th
e
h
ea
d
li
g
h
t
b
y
e
v
al
u
ati
n
g
v
ar
io
u
s
p
ar
a
m
et
er
s
lik
e
v
e
h
icle
s
p
ee
d
,
cu
r
r
en
t
GP
S lo
ca
tio
n
,
d
ir
ec
tio
n
o
f
v
eh
icle
etc.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
E
S
V
o
l.
7
,
No
.
1
,
Ma
r
et
2
0
1
8
:
34
–
42
42
RE
F
E
R
E
NC
E
S
[1
]
Am
i
y
a
Ku
m
a
r
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rip
a
th
y
1
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De
e
p
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i
Ka
y
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3
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ro
m
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h
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Be
jo
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se
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,
“
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ts
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W
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In
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sity
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,
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ter
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[2
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J
y
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De
,
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Un
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p
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0
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IEE
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ter
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ti
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fety
(
ICVE
S
)
De
c
e
m
b
e
r
1
6
-
1
7
,
2
0
1
4
.
Hy
d
e
ra
b
a
d
,
In
d
ia.
[3
]
K.A
.
Un
n
ik
rish
n
a
M
e
n
o
n
,
A
li
n
De
v
a
s
s
y
A
n
a
n
y
a
s
e
,
P
re
e
ja
P
ra
d
e
e
p
,
“
Co
n
se
n
su
a
l
a
n
d
C
o
-
o
r
d
i
n
a
ted
V
e
h
ic
u
lar
He
a
d
li
g
h
t
A
tt
e
n
u
a
ti
o
n
u
sin
g
W
irele
ss
S
e
n
so
r
n
e
tw
o
rk
s
”
,
IEE
E
-
3
3
0
4
4
,
5
t
h
ICCNT
–
2
0
1
4
,
J
u
ly
1
1
-
1
3
,
2
0
1
4
,
He
if
e
i,
C
h
i
n
a
,
Am
rit
a
Ce
n
ter
f
o
r
W
irele
ss
Ne
tw
o
rk
s
&
A
p
p
li
c
a
ti
o
n
s,A
m
rit
a
V
ish
w
a
V
id
y
a
p
e
e
th
a
m
,
Ko
ll
a
m
,
In
d
ia.
[4
]
S
h
re
y
a
s
S
1
,
Kirth
a
n
a
a
Ra
g
h
u
r
a
m
a
n
1
,
P
a
d
m
a
v
a
th
y
A
P
1
,
S
A
ru
n
P
ra
sa
d
2
,
G
.
De
v
a
ra
d
jan
e
3
,
"
A
d
a
p
ti
v
e
He
a
d
li
g
h
t
S
y
st
e
m
f
o
r
A
c
c
id
e
n
t
P
re
v
e
n
ti
o
n
"
,
2
0
1
4
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Rec
e
n
t
T
re
n
d
s
i
n
I
n
fo
rm
a
ti
o
n
T
e
c
h
n
o
lo
g
y
,
978
-
1
-
4
7
9
9
-
4
9
8
9
-
2
/1
4
/
2
0
1
4
I
EE
E,
M
a
d
ra
s I
n
stit
u
te
o
f
T
e
c
h
n
o
lo
g
y
,
A
n
n
a
Un
iv
e
rsit
y
Ch
e
n
n
a
i,
In
d
i
a
.
[5
]
Ye
n
-
L
in
Ch
e
n
*
De
p
t.
o
f
Co
m
p
u
ter
S
c
ien
c
e
a
n
d
In
f
o
rm
a
ti
o
n
,
Ch
u
a
n
-
Ye
n
C
h
ian
g
De
p
a
rtm
e
n
t
o
f
Co
m
p
u
ter
S
c
ien
c
e
–
2
0
1
0
,
“
Em
b
e
d
d
e
d
V
i
sio
n
-
b
a
se
d
Nig
h
tt
im
e
Driv
e
r
A
s
sista
n
c
e
S
y
ste
m
”
,
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m
o
n
Co
mp
u
ter
,
C
o
mm
u
n
ica
ti
o
n
,
Co
n
t
ro
l
a
n
d
Au
t
o
ma
ti
o
n
.
[6
]
V
icto
r
N
u
tt
A
rk
a
n
sa
s
S
tate
Un
iv
e
rsit
y
,
S
tu
d
e
n
t
m
e
m
b
e
r,
IEE
E,
S
h
u
b
h
a
lax
m
i
Kh
e
r
A
r
k
a
n
sa
s
S
tate
Un
iv
e
rsit
y
,
S
tu
d
e
n
t
m
e
m
b
e
r,
IEE
E,
"
He
a
d
li
g
h
t
I
n
ten
sity
Co
n
tr
o
ll
e
r
De
sig
n
u
si
n
g
W
irele
ss
S
e
n
so
rs
(HIC
-
W
S
N)"
,
S
p
e
c
ia
l
Iss
u
e
o
f
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Co
mp
u
ter
Ap
p
li
c
a
ti
o
n
s
(
0
9
7
5
–
8
8
8
7
)
On
Iss
u
e
s
a
n
d
Ch
a
ll
e
n
g
e
s
in
Ne
two
rk
in
g
,
In
telli
g
e
n
c
e
a
n
d
Co
m
p
u
t
in
g
T
e
c
h
n
o
l
o
g
ies
–
ICNICT
2
0
1
2
,
No
v
e
mb
e
r 2
0
1
2
.
[7
]
W
e
i
Zh
a
n
g
,
Q.
M
.
J.
W
u
,
S
e
n
io
r
M
e
m
b
e
r,
IEE
E,
G
u
a
n
g
h
u
i
W
a
n
g
,
a
n
d
X
in
g
e
Yo
u
,
S
e
n
io
r
M
e
m
b
e
r,
IEE
E,
"
T
r
a
c
k
in
g
a
n
d
P
a
iri
n
g
V
e
h
icle
He
a
d
li
g
h
t
in
Nig
h
t
S
c
e
n
e
s"
,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
telli
g
e
n
t
T
ra
n
sp
o
rta
ti
o
n
S
y
ste
ms
,
Vo
l.
1
3
,
No
.
1
,
M
a
rc
h
2
0
1
2
[8
]
Jo
n
a
th
a
n
H.
Co
n
n
e
ll
,
Be
n
jam
in
W
.
He
rta,
Ho
lg
e
r
He
ss
,
S
e
b
a
s
ti
a
n
P
li
e
f
k
e
,
"
A
F
a
st
a
n
d
Ro
b
u
st
In
telli
g
e
n
t
He
a
d
li
g
h
t
Co
n
tro
ll
e
r
f
o
r
V
e
h
icle
s"
,
2
0
1
1
IEE
E
In
telli
g
e
n
t
Veh
icle
s
S
y
mp
o
siu
m
(
IV)
Ba
d
e
n
-
Ba
d
e
n
,
G
e
r
m
a
n
y
,
Ju
n
e
5
-
9
,
2
0
1
1
[9
]
A
li
n
De
v
a
ss
y
,
Nith
y
a
G
o
p
in
a
th
y
,
V
ish
n
u
Na
ra
y
a
n
a
n
,
A
n
a
n
d
Ra
m
a
c
h
a
n
d
ra
n
y
,
A
n
a
lo
g
De
v
ice
s,
In
c
.
,
"
Co
o
rd
i
n
a
ted
,
P
ro
g
re
ss
iv
e
V
e
h
icu
lar
He
a
d
li
g
h
t
G
lare
Re
d
u
c
ti
o
n
f
o
r
Driv
e
r
S
a
f
e
t
y
u
sin
g
W
irele
ss
S
e
n
so
r
Ne
tw
o
rk
s"
,
2
0
1
4
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Co
n
n
e
c
ted
Ve
h
icle
s
a
n
d
Ex
p
o
(
ICCVE
)
,
Am
rit
a
Ce
n
t
e
r
f
o
r
W
irele
ss
Ne
tw
o
rk
s
a
n
d
A
p
p
li
c
a
ti
o
n
s,
A
m
rit
a
Un
iv
e
rsit
y
,
De
p
a
rt
m
e
n
t
o
f
El
e
c
tro
n
ics
a
n
d
Co
m
m
u
n
ica
ti
o
n
En
g
in
e
e
ri
n
g
,
Am
rit
a
Un
iv
e
rsit
y
[1
0
]
V
icto
r
Nu
tt
,
S
h
u
b
h
a
lax
m
i
Kh
e
r,
M
e
h
u
l
Ra
v
a
l,
"
F
u
z
z
y
He
a
d
li
g
h
t
In
ten
sity
Co
n
tr
o
ll
e
r
u
sin
g
W
irele
ss
S
e
n
so
r
Ne
tw
o
rk
"
,
Un
ive
r
sity
Fa
c
u
lt
y
re
s
e
a
rc
h
a
wa
rd
g
r
a
n
t
2
0
1
0
A
n
d
M
c
Na
ir
re
se
a
rc
h
Fo
u
n
d
a
ti
o
n
p
ro
g
r
a
m
a
t
Ark
a
n
sa
s
S
ta
te U
n
ive
rs
it
y
.
[1
1
]
S
p
e
c
if
ica
ti
o
n
o
f
A
t
m
e
l
-
2513
-
8
-
b
i
t
-
A
V
RM
icro
n
tr
o
ll
e
r
A
Tme
g
a
1
6
2
_
Da
tas
h
e
e
t
[1
2
]
A
h
m
a
d
A
b
b
a
s
A
l
-
Am
e
e
n
S
a
li
h
,
Nu
r
L
i
y
a
n
a
Af
iq
a
h
Ch
e
A
h
m
a
d
Zain
i,
a
n
d
Am
z
a
ri
Zh
a
h
ir,
"
T
h
e
S
u
it
a
b
il
it
y
o
f
G
P
S
Re
c
e
iv
e
rs
Up
d
a
te
Ra
tes
f
o
r
Na
v
ig
a
ti
o
n
A
p
p
li
c
a
ti
o
n
s”
,
W
o
rld
Ac
a
d
e
my
o
f
S
c
ie
n
c
e
,
En
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l,
Aer
o
sp
a
c
e
,
In
d
u
stri
a
l,
M
e
c
h
a
tro
n
ic
a
n
d
M
a
n
u
fa
c
t
u
rin
g
E
n
g
in
e
e
rin
g
Vo
l:
7
,
No
:6
,
2
0
1
3
.
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