T
E
L
KO
MNIK
A
, V
ol
.
17
,
No.
2
,
A
pril
20
19
,
pp
.9
56
~
9
64
IS
S
N: 1
69
3
-
6
93
0
,
accr
ed
ited
F
irst
Gr
ad
e b
y K
em
en
r
istekdikti,
Decr
ee
No: 2
1/E/
K
P
T
/20
18
DOI:
10.12928/TE
LK
OM
N
IK
A
.v
1
7
i
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11759
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m
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to
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.
Key
w
ords
:
d
ro
w
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s
s
d
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ti
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HM
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Copy
righ
t
©
2
0
1
9
Uni
v
e
rsi
t
a
s
Ahm
a
d
D
a
hl
a
n.
All
rig
ht
s
r
e
s
e
rve
d
.
1.
Int
r
o
d
u
ctio
n
Dr
ows
i
ne
s
s
wh
i
l
e
driv
i
ng
i
s
c
on
s
i
de
r
ed
as
o
ne
m
ai
n
c
au
s
e
of
tr
a
ffi
c
ac
c
i
d
en
ts
.
In
ge
ne
r
al
,
r
oa
d
ac
c
i
de
n
ts
a
r
e
c
au
s
ed
by
hu
ma
n
fac
t
ors
,
en
v
i
r
o
nm
en
t,
r
oa
d
c
o
nd
i
t
i
o
ns
,
a
nd
v
eh
i
c
l
e
c
h
arac
teri
s
ti
c
s
[1]
.
A
c
c
ordi
n
g
to
[2]
,
the
c
au
s
e
of
r
oa
d
ac
c
i
de
nts
i
s
driv
i
ng
at
hi
gh
s
pe
e
d,
al
c
oh
ol
c
on
s
um
pti
on
,
no
s
afe
ty
t
oo
l
s
,
r
oa
d
d
es
i
gn
c
o
nd
i
t
i
o
ns
,
an
d
l
ac
k
of
att
en
t
i
on
to
ha
z
ard
fac
tors
.
Re
ferr
i
n
g
t
o
[
2]
the
c
au
s
e
of
tr
aff
i
c
ac
c
i
de
nts
i
s
do
m
i
n
ate
d
by
hu
ma
n
f
ac
tors
.
How
ev
er,
as
pe
c
ts
of
hu
m
an
fac
tors
ma
y
be
i
n
fl
u
en
c
e
d
by
c
og
ni
ti
v
e
ab
i
l
i
ty
,
ha
z
ard
p
erc
ep
ti
on
,
r
es
po
ns
e
t
o
driv
i
n
g
en
v
i
r
on
m
en
ts
(
w
ea
the
r
,
tr
af
fi
c
d
en
s
i
ty
,
r
oa
d
c
on
di
t
i
o
ns
)
,
an
d
th
e
eff
ec
t
s
of
ph
y
s
i
c
a
l
c
on
di
t
i
o
ns
s
uc
h
as
fat
i
gu
e
an
d
drows
i
ne
s
s
.
F
urth
ermor
e,
th
e
US
Nat
i
on
al
S
l
ee
p
F
o
un
d
ati
on
r
ep
ort
a
bo
u
t
5
4%
o
f
a
d
u
l
t
driv
ers
drov
e
t
he
v
e
hi
c
l
e
i
n
a
dro
ws
y
s
tat
e
an
d
28
%
w
ere
as
l
ee
p
[3]
.
T
hi
s
prov
es
tha
t
drows
y
d
r
i
v
ers
are
on
e
of
th
e
ma
i
n
c
au
s
es
of
r
oa
d
ac
c
i
de
nts
[4]
.
A
prom
pt
de
tec
t
i
on
of
dr
ows
y
dri
v
ers
i
s
th
eref
ore v
ery
us
ef
ul
.
Dr
ows
i
ne
s
s
de
t
ec
ti
o
n
c
a
n
b
e
me
as
ur
ed
by
s
u
bj
ec
ti
v
e
an
d
o
bj
ec
ti
v
e
i
n
di
c
ato
r
s
.
S
ub
j
ec
ti
v
e
me
as
ur
em
e
nts
wer
e
us
i
n
g
K
aro
l
i
ns
k
a
S
l
e
ep
i
ne
s
s
S
c
al
e
qu
es
ti
on
na
i
r
e
[5
-
7]
.
O
bj
ec
ti
v
e
me
as
ur
em
e
nts
c
an
be
pe
r
f
orme
d
ba
s
ed
on
h
um
a
n
ph
y
s
i
o
l
o
g
y
i
nd
i
c
ato
r
s
,
v
eh
i
c
l
e
-
ba
s
ed
,
an
d
p
erfo
r
ma
nc
e
-
ba
s
e
d
dr
i
v
i
ng
.
H
um
an
ph
y
s
i
ol
o
gy
-
ba
s
ed
me
as
ure
me
n
ts
c
on
s
i
s
t
of
br
ai
n
s
i
gn
al
pa
r
a
me
ters
[8
-
1
1]
;
oc
ul
o
mo
t
or
[
6,
12
,
13
]
he
art
r
ate
c
h
an
g
es
[12
,
14
]
an
d
mu
s
c
l
e
ac
ti
v
i
ty
[8]
.
T
hi
s
m
e
tho
d
c
l
a
i
m
ed
h
as
r
el
i
a
bi
l
i
ty
an
d
ac
c
urac
y
i
n
de
t
ec
ti
ng
d
r
ows
i
ne
s
s
bu
t
ha
s
l
i
mi
t
ati
on
s
.
V
eh
i
c
l
e
-
b
as
ed
m
e
as
urem
en
ts
c
on
s
i
s
t
of
pa
r
a
me
ters
of
s
t
ee
r
i
n
g
c
ha
n
ge
[4]
,
[1
5
-
17]
p
ath
way
c
ha
n
ge
s
[17
-
1
9]
;
a
nd
g
as
pe
d
al
c
ha
ng
es
[2
0]
.
T
h
is
me
t
ho
d
h
as
no
n
-
i
ntrus
i
v
e
a
dv
an
t
ag
es
,
a
b
l
e
to
de
tec
t
c
ha
n
ge
s
i
n
m
i
c
r
o
-
c
orr
ec
ti
on
s
on
th
e
s
te
eri
ng
whe
el
,
c
an
de
tec
t
ga
s
pe
da
l
c
ha
n
ge
s
an
d
al
s
o
de
t
ec
t
l
a
ne
tr
an
s
fers
.
V
eh
i
c
l
e
-
b
as
ed
me
as
ureme
nts
are
us
efu
l
i
n
s
l
ee
p
i
ne
s
s
me
as
u
r
em
en
ts
whe
n
r
e
du
c
ed
a
l
er
tne
s
s
du
e
t
o
dro
ws
i
ne
s
s
eff
ec
t
of
v
e
hi
c
l
e
c
on
tr
ol
or
d
ev
i
at
i
o
n
of
v
eh
i
c
l
e
fun
c
t
i
on
(
l
ate
r
a
l
p
os
i
ti
o
n,
s
tee
r
i
ng
wh
ee
l
c
ha
n
ge
,
ga
s
pe
d
al
)
[2
1]
.
O
n
the
oth
er
ha
nd
v
e
hi
c
l
e
-
ba
s
ed
me
t
ho
d
s
ti
l
l
h
a
s
d
i
s
a
dv
an
ta
ge
c
a
n
no
t
b
e
s
ure
when
c
h
an
ge
s
to
th
e
v
e
h
i
c
l
e's
eq
ui
pm
e
n
t
c
an
b
e
du
e
to
eff
ec
ts
oth
er
t
ha
n
drows
i
ne
s
s
s
uc
h
as
driv
er'
s
em
ot
i
on
al
c
on
d
i
t
i
on
,
r
o
ad
c
on
di
t
i
o
ns
,
r
ou
t
es
an
d
h
i
gh
l
y
d
ep
e
nd
e
nt
o
n
dr
i
v
er'
s
ha
b
i
ts
[15
, 1
6
, 1
8
, 2
0
,
22
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
MNIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Non
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n
t
me
t
ho
ds
ha
s
be
en
w
i
d
el
y
prac
t
i
c
ed
.
T
hi
s
s
tud
y
wi
l
l
de
v
e
l
op
a
prototy
pe
to
m
ea
s
ure
dro
ws
i
ne
s
s
by
i
n
di
c
ato
r
s
of
s
tee
r
i
ng
c
ha
ng
es
,
an
d
c
ha
n
ge
s
i
n
g
as
pe
da
l
an
d
brak
e
pe
da
l
.
T
he
o
bj
ec
ti
v
es
i
s
to
prov
i
de
the
s
u
i
tab
l
e
s
en
s
ors
tha
t
m
ee
t
th
e
c
r
i
t
eria
o
f
ac
c
urac
y
a
nd
i
nte
grati
on
b
etwe
en
driv
i
ng
s
i
mu
l
ato
r
s
(
r
ea
l
v
e
hi
c
l
e
u
ni
t)
an
d
s
i
m
ul
ati
on
s
oft
war
e
“
Ci
ty
Car
Dr
i
v
i
ng
”
to
ga
i
n
hi
g
he
r
fi
de
l
i
ty
.
2.
On
-
V
ehicle
Dr
o
w
sin
e
ss
De
t
e
ctio
n
S
ys
t
em
2
.1.
S
ys
t
em De
sign
T
he
v
eh
i
c
l
e
-
ba
s
ed
driv
i
ng
s
i
mu
l
at
or
for
drows
i
ne
s
s
de
t
ec
ti
o
n
ma
i
nl
y
c
o
mp
o
s
e
of
ha
r
dware
a
nd
s
o
ftware.
Mo
d
i
fi
ed
of
a
r
e
al
v
eh
i
c
l
e/c
ar
by
pl
ac
i
ng
s
ev
eral
s
en
s
ors
an
d
mi
c
r
oc
on
tr
o
l
l
er
wi
l
l
b
e
p
art
of
t
he
ha
r
dw
are.
T
h
e
h
ar
dware
c
o
nfi
gu
r
at
i
o
n
c
on
s
i
s
ts
of
s
ev
era
l
ma
j
or
c
om
po
ne
nts
.
T
h
ere
i
nc
l
ud
e
a
s
et
of
bu
tto
ns
c
o
ns
i
s
ti
n
g
of
the
f
i
v
e
bu
tto
ns
to
en
ab
l
e
u
p
tr
an
s
mi
s
s
i
o
n,
d
own
tr
an
s
mi
s
s
i
on
,
s
ea
t
be
l
t,
s
tart
e
ng
i
n
e,
an
d
ha
nd
br
ak
e
r
el
ea
s
e.
T
he
ot
he
r
are
on
e
HM
C58
83
L
s
e
ns
or
mo
un
te
d
on
s
tee
r
i
ng
r
o
d,
an
d
two
MP
U60
50
s
en
s
ors
m
ou
nt
ed
on
t
he
ga
s
pe
da
l
an
d
brak
e
pe
da
l
.
A
r
du
i
no
P
r
oM
i
c
r
o
wh
i
c
h
i
s
a
pr
og
r
am
mi
ng
c
o
ntrol
un
i
t
th
at
g
ets
i
np
ut
s
i
gn
a
l
s
fr
o
m
al
l
b
utt
on
s
a
nd
s
e
ns
ors
,
an
d
a
P
C
un
i
t
c
on
tai
ni
ng
the
“
C
i
ty
Car
Dr
i
v
i
ng
”
s
i
mu
l
ati
on
s
oft
w
are.
F
i
gu
r
e
1
s
ho
ws
the
bl
oc
k
di
ag
r
a
m
of
al
l
c
om
p
on
e
nts
tha
t
bu
i
l
ds
v
eh
i
c
l
e
-
ba
s
ed
driv
i
n
g s
i
m
ul
ato
r
.
F
i
gu
r
e
1.
B
l
oc
k
d
i
a
gram
of
t
he
s
y
s
tem
T
he
s
y
s
tem
c
on
s
i
s
ts
of
th
r
ee
ma
i
n
c
om
po
n
en
ts
are
s
y
s
tem
i
np
ut
,
s
i
gn
al
pr
oc
es
s
i
ng
,
an
d
ap
pl
i
c
ati
on
s
oft
w
are.
T
he
s
y
s
tem
i
np
ut
c
on
s
i
s
ts
of
5
s
ett
i
ng
bu
t
ton
s
,
an
H
MC
58
83
L
s
e
ns
or
for
s
tee
r
i
ng
wh
ee
l
,
two
M
P
U605
0
s
e
ns
ors
for
ga
s
pe
d
al
an
d
br
ak
e
pe
d
al
.
T
he
s
i
g
na
l
proc
es
s
i
n
g
of
s
y
s
tem
i
n
pu
t
i
s
pe
r
for
me
d
by
A
r
du
i
no
P
r
om
i
c
r
o,
wh
i
c
h
i
s
us
ed
as
the
i
nt
erfac
e
b
etw
ee
n
s
en
s
or
an
d
ap
pl
i
c
at
i
on
s
oft
war
e.
T
he
ap
pl
i
c
ati
on
s
oft
war
e
us
ed
h
ere
i
s
Ci
ty
Car
Dr
i
v
i
ng
s
i
mu
l
ati
on
s
oft
war
e
.
T
h
e
p
r
oc
es
s
tha
t
oc
c
urs
i
n
t
hi
s
s
y
s
tem
i
s
as
fol
l
o
ws
,
wh
en
e
v
er
the
r
e
i
s
a
c
ha
ng
e
i
n
po
s
i
ti
on
on
th
e
s
tee
r
i
ng
w
he
e
l
,
or
the
g
as
pe
da
l
,
or
the
brak
e
pe
d
al
,
wi
l
l
be
r
ea
d
by
the
s
en
s
ors
.
T
he
s
e
ns
or
th
en
s
en
ds
th
e
c
ha
n
ge
d
ata
t
o
the
A
r
du
i
no
P
r
om
i
c
r
o.
A
r
du
i
no
P
r
om
i
c
r
o
the
n
proc
es
s
es
the
da
t
a
a
nd
s
en
ds
i
t
t
o
t
he
c
o
mp
ut
er.
T
he
c
o
mp
u
ter,
t
hroug
h
the
s
i
mu
l
at
i
on
s
oft
war
e d
i
s
p
l
ay
s
th
e
da
t
a i
n t
he
fo
r
m
of
i
ma
ge
s
th
at
a
pp
r
ox
i
m
ate
the
ac
tua
l
c
on
di
ti
on
s
.
a
b
u
t
o
n
s
e
n
s
o
r
f
o
r
t
r
a
n
s
mi
s
s
ion
g
e
a
r
u
p
a
b
u
t
o
n
s
e
n
s
o
r
f
o
r
mou
n
t
ing
s
e
a
t
b
e
lt
o
n
/
o
f
f
an
H
MC
5883L
s
e
n
s
o
r
f
o
r
d
e
t
e
c
t
ing
s
t
e
e
r
ing
w
h
e
e
l
c
h
a
n
g
e
A
r
d
u
ino
P
r
o
Mi
c
r
o
t
w
o
M
P
U
s
e
n
s
o
r
s
f
o
r
d
e
t
e
c
t
in
g
g
a
s
&
b
r
a
k
e
p
e
d
a
ls
The
c
o
mpu
t
e
r
w
i
t
h
s
im
u
la
t
ion
s
o
f
t
w
a
r
e
C
it
y
C
a
r
D
r
iv
ing
a
b
u
t
o
n
s
e
n
s
o
r
f
o
r
h
a
n
d
b
r
e
a
k
s
e
t
/
r
e
lea
s
e
a
b
u
t
o
n
s
e
n
s
o
r
f
o
r
t
r
a
n
s
mi
s
s
ion
g
e
a
r
d
o
w
n
a
b
u
t
o
n
s
e
n
s
o
r
f
o
r
s
t
a
r
t
ing
e
n
g
ine
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
MNIK
A
V
ol
.
17
,
No
.
2,
A
pri
l
2
01
9
:
95
6
-
96
4
958
2
.2.
S
o
f
t
w
ar
e D
es
ign
F
i
gu
r
e
2
s
h
own
th
e
a
l
go
r
i
thm
de
v
e
l
o
pe
d
i
n
th
e
v
eh
i
c
l
e
-
ba
s
ed
driv
i
n
g
s
i
mu
l
a
to
r
.
T
he
progr
am
w
i
l
l
s
tart
fr
o
m
s
e
n
s
ors
r
ea
di
ng
th
e
c
ha
ng
es
c
om
e
fr
om
s
te
erin
g
w
he
e
l
r
od
,
ga
s
pe
d
al
,
an
d
brak
e
p
ed
a
l
i
n
s
i
mu
l
at
or
v
eh
i
c
l
e
u
ni
t.
In
ad
d
i
t
i
on
,
A
r
du
i
no
as
a
progr
a
mm
i
n
g
c
on
tr
o
l
u
ni
t
al
s
o
r
ec
ei
v
e
d
r
ea
d
i
ng
s
fr
o
m
fi
v
e
k
ey
s
r
ep
r
es
en
ti
n
g
t
he
ac
ti
v
at
i
on
of:
en
gi
n
e
s
tar
t,
s
ea
t
be
l
t,
hand
-
brak
e
off
,
tr
a
ns
mi
s
s
i
o
n
up
,
a
nd
tr
an
s
mi
s
s
i
o
n
do
wn.
T
he
r
e
ad
i
ng
r
es
u
l
ts
fr
o
m
the
A
r
du
i
no
wi
l
l
h
av
e a
n
i
mp
ac
t
on
t
he
s
i
mu
l
ati
on
s
o
ftware “
C
i
ty
Ca
r
Dr
i
v
i
ng
”
.
F
i
gu
r
e
2.
P
r
og
r
a
m f
l
owc
ha
r
t
S
oft
w
are
d
ev
el
op
m
en
t
i
n
the
A
r
du
i
no
progr
am
m
i
n
g
to
proc
es
s
da
ta
de
r
i
v
e
d
fr
om
HMC58
83
L
a
nd
M
P
U6
05
0
s
en
s
ors
to
e
na
b
l
e
s
i
m
ul
a
ti
on
s
oft
w
are
ba
s
e
d
o
n
c
h
an
ge
s
i
n
d
ata
i
np
ut
fr
om
s
te
erin
g
whe
el
,
ga
s
pe
d
al
,
an
d
brak
e
pe
da
l
.
T
he
f
i
r
s
t
prob
l
em
t
o
ov
er
c
om
e
i
s
to
f
i
n
d
ou
t
wh
i
c
h
pa
r
t
of
th
e
Ci
ty
C
arD
r
i
v
i
ng
s
i
mu
l
at
i
on
s
oft
w
a
r
e
as
s
oc
i
ate
d
w
i
th
th
e
r
el
e
v
an
t
v
aria
b
l
es
mu
s
t
be
s
et
v
i
a
the
M
P
U605
0
s
en
s
or.
T
he
n
ex
t
progr
am
mi
ng
i
s
A
r
du
i
no
P
r
oM
i
c
r
o
whi
c
h
r
ec
ei
v
es
i
np
ut
fr
om
f
i
v
e
bu
tto
ns
,
on
e
HMC
58
8
3L
,
a
nd
two
MP
U
60
50
s
en
s
ors
.
S
pe
c
i
f
i
c
ati
on
of
A
r
du
i
no
us
ed
i
s
A
r
du
i
no
P
r
oM
i
c
r
o
5
V
-
16
MHz
.
T
hi
s
s
tu
dy
us
ed
Ar
d
u
in
o
s
en
s
ors
an
d
i
n
teg
r
a
tes
the
m
wi
t
h
dr
i
v
i
ng
s
i
m
ul
ati
on
s
oft
w
are
(
C
i
ty
Car
Dr
i
v
i
n
g).
S
ev
er
al
s
tu
di
es
us
ed
the
s
i
mu
l
at
i
on
s
oft
war
e
(
C
i
ty
Car
Dr
i
v
i
ng
)
c
om
b
i
n
ed
wi
t
h
u
nrea
l
v
eh
i
c
l
e
as
a
ha
r
dw
are
[
5,
1
8,
20
-
2
2]
.
T
he
di
ff
erent
p
oi
nt
prop
os
ed
i
n
th
i
s
s
tud
y
i
s
the
i
n
te
grati
o
n
be
t
wee
n
the
r
ea
l
c
ar
un
i
t
a
nd
the
s
i
mu
l
ati
on
s
o
ftware
to
g
ai
n
hi
g
he
r
fi
de
l
i
ty
i
n
a d
r
i
v
i
ng
s
i
mu
l
ato
r
.
2
.
3
.
E
le
ctron
ic
and
Int
er
f
a
ce
De
sign
T
he
s
c
he
ma
t
i
c
c
i
r
c
ui
t
of
el
ec
tr
on
i
c
an
d
i
nt
erfac
e
d
ev
i
c
es
of
v
eh
i
c
l
e
-
ba
s
ed
d
r
i
v
i
ng
s
i
mu
l
ato
r
s
h
own
i
n F
i
gu
r
e 3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
MNIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Non
-
i
ntrus
i
v
e v
eh
i
c
l
e
-
ba
s
e
d m
e
as
urem
en
t s
y
s
te
for…
(
Ign
at
i
us
Der
ad
j
ad
P
r
an
ow
o
)
959
F
i
gu
r
e
3.
(
a)
S
c
he
m
ati
c
c
i
r
c
ui
t
of
e
l
ec
tr
on
i
c
an
d i
nte
r
fac
e
F
i
gu
r
e
3.
(
b)
S
i
mu
l
ati
on
s
of
tware “
Ci
ty
Car Dr
i
v
i
ng
”
v
er
s
i
on
1
.5.
2
2
.
4
.
D
r
ivi
n
g
S
imu
l
atio
n
S
o
f
t
w
ar
e
T
he
driv
i
ng
s
i
m
ul
a
ti
on
s
oft
war
e
us
ed
i
s
C
i
ty
Car
Dr
i
v
i
ng
c
om
m
on
l
y
us
ed
as
s
i
mu
l
ate
d
driv
i
n
g
s
oft
w
are
o
n
a
driv
i
n
g
s
i
m
ul
a
tor.
F
i
gu
r
e
4
s
h
ow
s
the
d
i
s
p
l
ay
of
the
Ci
ty
Car
Dr
i
v
i
ng
v
ers
i
on
1.5
.2
.
T
he
C
i
ty
Car
Dr
i
v
i
ng
r
ec
om
me
nd
e
d
pl
atf
or
m
r
eq
u
i
r
em
e
nts
are:
1G
B
fr
e
e
di
s
k
s
pa
c
e,
Cor
e
2
D
uo
3G
Hz
/
A
MD
3G
Hz
,
nV
i
d
i
a
A
T
I
Ra
de
o
n,
2G
B
,
O
S
X
P
/
V
i
s
t
a/7
.
T
hi
s
s
i
mu
l
at
i
o
n
s
oft
war
e
w
i
l
l
be
i
nt
eg
r
at
e
d
wi
t
h
a
r
ea
l
v
eh
i
c
l
e
u
ni
t
i
n
th
e
form
of
a
mo
d
i
f
i
ed
c
ar.
T
h
e
c
on
s
i
de
r
a
ti
o
n
of
us
i
n
g
t
he
Ci
ty
Car
Dr
i
v
i
ng
s
i
m
ul
ati
on
s
oft
war
e
i
s
be
c
a
us
e
thi
s
s
tu
dy
i
s
s
t
i
l
l
i
n
th
e
ea
r
l
y
s
tag
es
, wh
ere th
e t
ar
ge
t
i
n t
hi
s
s
tag
e i
s
t
he
us
e
of
ap
propr
i
ate
an
d
ad
eq
u
at
e s
oft
war
e
.
2
.
5
.
H
ar
d
w
a
r
e Con
f
igu
r
ati
o
n
T
he
de
v
e
l
op
me
n
t
of
a
v
eh
i
c
l
e
-
ba
s
ed
dr
i
v
i
n
g
s
i
mu
l
at
or
ha
s
be
en
ac
h
i
ev
e
d
as
s
ho
wn
i
n
F
i
gu
r
e
4
an
d
F
i
g
ure
5
.
T
he
mo
un
t
i
ng
r
es
u
l
ts
o
f
t
hree
MP
U
s
en
s
ors
(
F
i
gu
r
e
5c
-
5d
)
s
uc
c
es
s
ful
l
y
prov
i
de
d
ata
r
ea
di
n
gs
of
c
ha
ng
es
th
e
s
te
erin
g
an
g
l
e,
g
as
pe
d
al
c
ha
n
ge
s
,
an
d
brak
e
p
ed
al
.
T
he
r
e
are
p
ate
nts
on
th
e
u
s
e
of
s
en
s
ors
i
n
th
e
v
eh
i
c
l
e
for
the
driv
i
n
g
de
t
ec
ti
o
n
s
y
s
tem
[23
-
24]
;
but
th
e
s
tud
i
es
tha
t
us
e
d
A
r
du
i
no
s
e
ns
ors
an
d
c
om
b
i
ne
t
he
m
wi
t
h
driv
i
ng
s
i
m
ul
ati
o
n
s
oft
war
e
ha
v
e
n
ot
b
ee
n
mu
c
h
or
ev
e
n
no
t
y
e
t
do
ne
.
T
he
i
nt
eg
r
a
ti
on
of
h
ardwar
e
(
the
i
ns
ta
l
l
ed
s
en
s
ors
on
s
tee
r
i
ng
r
od
,
g
as
p
e
da
l
,
br
ak
e
pe
da
l
)
a
nd
s
of
tware
(
d
r
i
v
i
ng
s
i
m
ul
a
ti
o
n
a
pp
l
i
c
at
i
o
n
an
d
A
r
du
i
no
A
R
D
U
I
N
O
P
R
O
M
I
C
R
O
TX
1
RX
2
G
N
D
3
G
N
D
4
D2
5
D3
6
D
4
/A
6
7
D5
8
D
6
/A
7
9
D7
10
D
8
/A
8
11
D
9
/A
9
12
R
A
W
24
G
N
D
23
R
S
T
22
V
C
C
21
A3
20
A2
19
A1
18
A0
17
D
1
5
16
D
1
4
15
D
1
6
14
D
1
0
/A
1
0
13
A
R
D
U
I
N
O
S
D
A
S
C
L
S
C
L
S
D
A
M
P
U
6
0
5
0
V
C
C
1
G
N
D
2
S
C
L
3
S
D
A
4
X
D
A
5
X
C
L
6
A
D
0
7
I
N
T
8
G
A
S
P
E
D
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L
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6
0
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1
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2
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3
S
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A
4
X
D
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5
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L
6
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D
0
7
I
N
T
8
B
R
A
K
E
S
D
A
S
C
L
R
X
D
R
T
S
T
X
D
C
T
S
C
O
M
P
U
T
E
R
H
M
C
5
8
8
3
L
V
C
C
1
G
N
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2
S
C
L
3
S
D
A
4
DRDY
5
S
T
E
E
E
R
I
N
G
W
H
E
E
L
S
E
N
S
O
R
S
E
N
S
O
R
P
E
D
A
L
S
E
N
S
O
R
R1
1K
R2
2K
P
R
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M
I
C
R
O
0
x
6
8
0
x
6
9
T
R
A
N
S
M
-
U
P
D5
S
E
A
T
_
B
E
L
T
D6
S
T
A
R
T
_
E
N
G
D7
H
A
N
D
_
B
R
E
A
K
D8
T
R
A
N
M
S
-
D
O
W
N
D9
D5
D6
D7
D8
D9
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
MNIK
A
V
ol
.
17
,
No
.
2,
A
pri
l
2
01
9
:
95
6
-
96
4
960
pro
mi
c
r
o
pro
gram)
on
t
h
e
s
i
mu
l
ato
r
us
i
ng
e
as
i
l
y
ac
c
es
s
i
bl
e
an
d
r
el
at
i
v
e
l
y
i
ne
x
pe
ns
i
v
e
c
om
po
n
en
ts
,
op
e
ns
op
p
ort
un
i
t
i
es
to
s
u
pp
ort
the
s
tu
dy
of
drows
i
ne
s
s
de
t
ec
ti
o
n
us
i
ng
s
i
mu
l
at
ors
.
B
as
ed
o
n
t
hi
s
fi
nd
i
ng
,
r
e
l
ate
d
s
tud
i
es
are
no
l
on
g
e
r
c
on
s
tr
ai
ne
d
a
nd
ev
en
a
bl
e
to
b
ui
l
d
a
l
ow
-
c
os
t d
r
i
v
i
ng
s
i
mu
l
at
or o
n t
he
i
r
ow
n f
or t
he
be
n
efi
t
o
f a
r
es
ea
r
c
h
l
ab
oratory
.
F
i
gu
r
e
4.
W
i
r
i
ng
c
i
r
c
ui
t o
f fi
v
e b
utt
on
s
, a
r
d
ui
no
pro
mi
c
r
o,
HMC
58
83
L
an
d
two
MP
U605
0 s
en
s
ors
(
a)
(
b)
(
c
)
(
d)
F
i
gu
r
e
5.
a)
mo
d
i
f
i
ed
c
ar
as
a
fi
x
e
d
-
ba
s
e
d d
r
i
v
i
ng
s
i
mu
l
ato
r
; b
)
s
t
e
erin
g wh
ee
l
&
5
bu
tto
ns
on
the
d
as
hb
o
ard; c
)
HM
C58
8
3L
s
en
s
or
mo
u
nti
ng
o
n s
te
erin
g r
od
;
d) MP
U
60
50
s
en
s
or
ou
n
ti
n
g o
n
ga
s
p
ed
a
l
3.
R
es
u
lt
s
a
nd
Dis
cussi
o
n
3.1.
R
es
u
lt
T
he
fi
r
s
t
s
tep
i
n
t
he
d
e
v
el
op
me
n
t
of
v
eh
i
c
l
e
-
b
as
ed
me
as
urem
en
t
f
or
dro
ws
i
ne
s
s
de
tec
t
i
on
i
s
to
c
ho
os
e
the
r
i
gh
t
ty
p
e
o
f
s
en
s
or.
T
h
e
c
r
i
teri
on
t
ha
t
mu
s
t
b
e
m
et
by
the
s
e
ns
or
i
s
D5
G
ND
D6
G
ND
D7
G
ND
D8
G
ND
D9
G
ND
G
ND
G
ND
D5
D6
D7
D8
D9
V
C
C
G
ND
S
C
L
S
D
A
G
ND
V
C
C
A1
A0
A2
S
D
A
S
C
L
V
C
C
G
ND
S
C
L
S
D
A
UN
IV
E
RS
A
L
S
W
IT
CH
(
5
B
UT
T
ON)
A
RD
UIN
O
P
RO
M
ICR
O
(
L
E
ONA
RD
O)
M
P
U60
5
0
B
RA
K
E
P
E
DA
L
M
P
U60
5
0
GA
S
P
E
DA
L
HM
C58
8
3
L
S
E
NS
OR
S
E
NS
OR
S
E
NS
OR
UP
S
E
A
T
B
S
T
A
R
T
HA
ND
B
D
O
W
N
V
C
C
G
ND
S
C
L
S
D
A
3
V
3
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
MNIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Non
-
i
ntrus
i
v
e v
eh
i
c
l
e
-
ba
s
e
d m
e
as
urem
en
t s
y
s
te
for…
(
Ign
at
i
us
Der
ad
j
ad
P
r
an
ow
o
)
961
ab
l
e
to
r
ea
d
th
e
po
s
i
ti
o
n
o
f
the
s
tee
r
i
ng
an
g
l
e,
the
pres
s
i
ng
p
os
i
ti
on
o
f
th
e
ga
s
pe
da
l
a
nd
th
e
brak
e
pe
da
l
.
O
f
t
he
ma
ny
av
ai
l
ab
l
e
s
e
ns
ors
i
n
the
m
ark
et,
3
s
e
n
s
ors
me
e
t
th
e
ab
ov
e
c
r
i
t
eria
,
na
me
l
y
MP
U
60
5
0
s
e
ns
or,
HMC58
83
L
s
e
ns
or
a
nd
M
ul
t
i
turn
L
i
ne
ar
P
ote
nti
om
et
er
as
s
h
own
i
n
F
i
gu
r
e
6
.
T
h
e
R
ota
r
y
E
nc
od
er
s
e
ns
or
i
s
n
ot
s
e
l
ec
t
e
d
b
ec
au
s
e
d
i
ffi
c
u
l
t
to
b
e
mo
un
ted
o
n
t
he
s
tee
r
i
ng
r
od
.
MP
U
6
0
5
0
H
M58
8
3
L
Mult
i
-
t
u
r
n
P
r
e
c
is
ion
L
ine
a
r
P
o
t
e
n
t
iometer
F
i
gu
r
e
6.
T
hre
e s
en
s
ors
A
l
l
thr
ee
s
e
ns
ors
are
t
he
n
mo
un
t
ed
on
the
s
tee
r
i
ng
r
o
d.
E
s
pe
c
i
al
l
y
for
M
ul
t
i
turn
P
ote
nti
om
ete
r
,
ad
de
d
c
l
a
mp
i
ng
s
tr
uc
tures
an
d
g
ea
r
s
to
r
ota
te
the
k
no
b
o
f
P
ote
nti
om
ete
r
fol
l
ow
i
ng
t
he
s
te
erin
g
wh
e
el
.
F
i
gu
r
e
7
i
s
a
c
i
r
c
u
i
t
to
ob
s
erv
e
the
three
s
e
ns
or
s
,
r
el
ati
ng
t
he
r
ea
di
ng
pe
r
form
an
c
e
of
th
e
s
tee
r
i
n
g a
n
ge
l
p
os
i
ti
on
of
e
ac
h s
en
s
or.
F
i
gu
r
e
7.
S
c
he
m
ati
c
of
th
e
c
i
r
c
ui
t to
ob
s
erv
e t
he
r
e
ad
i
ng
of
th
e
s
tee
r
i
ng
an
g
l
e
po
s
i
ti
o
n
In
order
for
th
e
s
tee
r
i
ng
an
g
l
e
po
s
i
t
i
on
c
an
be
e
s
ti
ma
t
ed
,
a
s
i
n
e
wav
e
s
i
gn
a
l
i
s
ge
ne
r
ate
d
.
T
ab
l
e
1
was
th
e
r
es
ul
ts
of
th
es
e
ex
pe
r
i
me
nts
.
It
i
s
ex
pe
c
te
d
tha
t
t
he
s
te
erin
g
an
g
l
e
po
s
i
t
i
on
c
a
n
fo
l
l
ow
th
e
s
i
n
e
wav
e
s
i
g
na
l
,
by
r
ota
ti
ng
to
the
l
eft
(
c
c
w)
or
r
i
g
ht
(
c
w)
of
the
s
tee
r
i
ng
whee
l
,
s
uc
h
t
ha
t
t
he
s
i
gn
al
i
s
s
ue
d
by
t
he
t
hree
s
e
ns
ors
ap
proac
h
es
the
s
i
ne
wav
e
s
i
gn
al
,
wh
i
c
h
i
s
th
e
target
po
s
i
ti
on
f
or the
s
tee
r
i
n
g.
T
ab
l
e
1.
T
he
C
om
p
aris
on
a
mo
ng
T
hree
S
e
ns
ors
: P
o
te
ns
i
o
, H
MC5
88
3
L,
a
nd
MP
U
60
50
P
o
s
.
o
f
s
t
e
e
r
w
h
.
P
o
s
.
a
n
g
le
L
inie
r
P
o
t
e
n
s
io
H
MC5
8
8
3
L
MP
U
6
0
5
0
I
n
t
h
e
mi
d
d
le
0°
300
0
0
L
e
f
t
r
o
t
a
t
e
d
,
6
0
°
-
60°
350
3
0
1
/
(
-
59)
-
55
R
igh
t
r
o
t
a
t
e
d
,
6
0
°
+6
0
°
440
59
56
L
e
f
t
r
o
t
a
t
e
d
,
6
0
°
-
60°
150
3
0
2
/
(
-
58)
-
56
R
igh
t
r
o
t
a
t
e
d
,
6
0
°
+6
0
°
430
61
57
L
e
f
t
r
o
t
a
t
e
d
,
6
0
°
-
60°
288
3
0
2
/
(
-
58)
-
56
R
igh
t
r
o
t
a
t
e
d
,
6
0
°
+6
0
°
341
61
57
L
e
f
t
r
o
t
a
t
e
d
,
9
0
°
-
90°
279
2
7
1
/
(
-
89)
-
88
R
igh
t
r
o
t
a
t
e
d
,
1
2
0
°
+1
2
0
°
355
121
118
P
B
0
/I
C
P
1
/CLK
O
/P
C
I
N
T
0
12
P
B
1
/O
C
1
A
/P
C
I
N
T
1
13
P
B
3
/M
O
S
I
/O
C
2
A
/P
C
I
N
T
3
15
P
B
2
/S
S
/O
C
1
B
/P
C
I
N
T
2
14
P
D
6
/A
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N
0
/O
C
0
A
/P
C
I
N
T
2
2
10
P
D
5
/T
1
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C
0
B
/P
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I
N
T
2
1
9
P
D
4
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0
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C
K
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C
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N
T
2
0
2
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D
3
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T
1
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C
2
B
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C
I
N
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1
9
1
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D
2
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N
T
0
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I
N
T
1
8
32
P
D
1
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X
D
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C
I
N
T
1
7
31
P
D
0
/RX
D
/P
C
I
N
T
1
6
30
P
B
4
/M
I
S
O
/P
C
I
N
T
4
16
P
B
5
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C
K
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C
I
N
T
5
17
P
B
7
/T
O
S
C
2
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T
A
L
2
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C
I
N
T
7
8
P
B
6
/T
O
S
C
1
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T
A
L
1
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C
I
N
T
6
7
P
C
6
/RE
S
E
T
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C
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N
T
1
4
29
P
C
5
/A
D
C
5
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C
L
/P
C
I
N
T
1
3
28
P
C
4
/A
D
C
4
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D
A
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C
I
N
T
1
2
27
P
C
3
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D
C
3
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N
T
1
1
26
P
C
2
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D
C
2
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N
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1
0
25
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C
1
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C
1
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C
I
N
T
9
24
P
C
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C
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N
T
8
23
A
V
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18
A
R
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F
20
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2
3
11
A
D
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19
A
D
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22
U1
A
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1
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V
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C
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DRDY
5
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D4
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D5
D4
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X
D
R
T
S
T
X
D
C
T
S
C
O
M
P
U
T
E
R
A0
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
MNIK
A
V
ol
.
17
,
No
.
2,
A
pri
l
2
01
9
:
95
6
-
96
4
962
O
bs
erv
ati
on
s
are
m
ad
e
by
c
om
pa
r
i
ng
ea
c
h
s
i
gn
a
l
for
me
d
by
the
thr
ee
s
en
s
ors
t
o
e
ac
h
po
s
i
t
i
on
of
the
s
tee
r
i
ng
a
ng
l
e.
F
i
gu
r
e
8
i
s
a
grap
h
ge
n
erate
d
by
the
thre
e
s
en
s
ors
on
the
r
ea
di
ng
s
of
th
e
s
tee
r
i
ng
a
n
gl
e
p
os
i
t
i
on
.
F
i
g
ure
9
s
ho
w
s
a
graph
g
en
erat
ed
o
f
s
i
n
e
w
av
e
s
i
g
na
l
,
an
d
th
e
pe
r
form
an
c
e
of
t
he
three
s
en
s
ors
on
the
r
ea
di
ng
of
th
e
s
tee
r
i
n
g
an
g
l
e
p
o
s
i
ti
o
n.
S
t
arti
n
g
fr
om
the
to
p
s
i
gn
al
,
i
t
a
pp
ea
r
s
tha
t
t
he
grap
h
g
en
erat
ed
by
P
r
ec
i
s
i
on
(
M
ul
t
i
turn
L
i
n
i
er)
P
ote
nti
om
ete
r
i
s
no
t
s
mo
ot
h,
w
i
th
a
fa
i
r
l
y
na
r
r
ow
r
a
ng
e
wi
dth
,
an
d
ev
e
n
s
ma
l
l
er
t
ha
n
the
no
i
s
e.
Me
an
wh
i
l
e
,
f
or
th
e
s
ec
o
nd
s
i
gn
al
,
wh
i
c
h
i
s
g
en
erated
by
t
he
HMC5
88
3L
s
e
ns
or
l
o
ok
s
s
mo
ot
h
an
d
fo
l
l
ows
the
s
i
ne
wav
e
pa
tte
r
n.
S
i
mi
l
arly
,
t
he
M
P
U605
0
s
en
s
or
l
o
ok
s
s
mo
o
th
an
d
al
mo
s
t
c
oi
nc
i
d
es
wi
t
h t
h
e s
i
n
e w
av
e.
F
i
gu
r
e
10
i
s
an
os
c
i
l
l
ato
r
y
ob
s
erv
at
i
on
c
ha
r
t
of
t
he
HMC58
83
L
s
en
s
or
fol
l
o
wi
ng
t
he
target
o
f
th
e
s
i
ne
wav
e
a
l
mo
s
t
ex
ac
tl
y
.
F
i
gu
r
e
1
1
i
s
a
grap
hi
c
ob
s
erv
at
i
o
n
of
t
he
HM
C58
83
L
s
en
s
or
th
at
os
c
i
l
l
ate
s
r
ath
er
r
ou
g
hl
y
fol
l
ow
i
n
g
t
he
targe
t
s
i
n
e
w
av
e.
T
hi
s
i
s
b
ec
au
s
e
th
e
t
arget
of
the
s
i
ne
wav
e
mo
v
es
f
as
ter
tha
n
n
orma
l
s
o
tha
t
th
e
os
c
i
l
l
at
i
o
n
r
es
u
l
ts
m
ore
r
ou
gh
l
y
.
It
c
an
ha
pp
en
on
l
y
i
f
th
e
driv
er
i
s
i
n
a
s
l
ee
py
c
on
di
t
i
on
or
ot
he
r
r
ea
s
on
.
A
t
l
ea
s
t
th
i
s
i
n
di
c
ato
r
c
an
b
e
us
ed
to
i
d
en
t
i
fy
s
l
e
ep
i
ne
s
s
de
s
pi
t
e t
h
e n
ee
d
for ot
he
r
s
tud
i
es
to
prov
e i
t
.
F
i
gu
r
e
8.
T
h
e rea
di
n
gs
of
t
he
th
r
e
e s
en
s
ors
F
i
gu
r
e
9.
T
h
e s
i
n
e wa
v
e
ta
r
ge
t a
nd
pe
r
forma
nc
e o
f th
e t
hre
e s
en
s
ors
at
th
e
s
tee
r
i
ng
po
s
i
ti
on
F
i
gu
r
e
10
. T
he
s
i
ne
w
av
e p
erfor
ma
nc
e
of
HMC
58
83
L
F
i
gu
r
e
11
. T
he
s
i
ne
w
av
e
t
arget a
nd
pe
r
forma
nc
e o
f HMC
58
83
L
r
ou
gh
l
y
as
c
i
l
l
at
i
o
n
3.2.
D
isc
u
s
sion
F
r
om
th
e
r
es
u
l
ts
of
th
e
ex
p
erim
e
nt,
the
driv
i
ng
s
i
mu
l
at
or
ha
s
be
e
n
a
bl
e
to
be
driv
en
w
el
l
an
d
s
mo
o
thl
y
.
In
i
t
i
al
l
y
,
t
he
s
en
s
or
de
v
i
c
es
us
e
d
w
as
3
M
P
U6
05
0
s
en
s
ors
,
to
r
e
ad
t
he
s
tee
r
i
ng
an
g
l
e
po
s
i
ti
on
,
t
he
po
s
i
ti
on
of
the
g
as
pe
d
al
a
nd
th
e
b
r
ak
e
pe
da
l
.
S
i
nc
e
t
he
thr
ee
s
en
s
ors
bo
th
us
e
I2C
c
om
m
un
i
c
ati
on
wi
th
A
r
du
i
n
o,
i
t
i
s
ne
c
es
s
ary
to
us
e
the
c
orr
ec
t
r
e
ad
i
ng
me
th
od
.
T
he
prob
l
e
m
tha
t
aris
es
i
s
,
the
I2C
prov
i
d
ed
i
n
M
P
U60
50
on
l
y
ha
s
2
ad
dres
s
,
na
me
l
y
0x
6
8
an
d
0x
69
.
B
ec
a
us
e
the
r
e
are
o
nl
y
2
a
dd
r
es
s
es
,
on
l
y
2
M
P
U
60
60
s
en
s
ors
c
a
n
be
r
ea
d
at
o
nc
e.
S
o
to
r
ea
d
the
th
i
r
d
s
en
s
or,
i
t
tak
es
a
d
el
ay
of
5
mi
l
l
i
s
e
c
on
ds
.
T
hi
s
t
i
m
e
d
el
ay
i
s
us
ed
to
ma
k
e
A
r
du
i
no
s
e
t
th
e
ad
dres
s
on
the
t
hi
r
d
s
e
ns
or
wi
th
t
he
s
am
e
ad
dres
s
as
t
he
f
i
r
s
t
s
en
s
or.
Howev
er,
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
MNIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Non
-
i
ntrus
i
v
e v
eh
i
c
l
e
-
ba
s
e
d m
e
as
urem
en
t s
y
s
te
for…
(
Ign
at
i
us
Der
ad
j
ad
P
r
an
ow
o
)
963
thi
s
s
ol
u
ti
o
n
c
au
s
es
the
s
i
mu
l
ato
r
r
es
po
ns
e
to
s
l
o
w
d
own.
Dur
i
ng
t
he
ex
p
erim
en
t,
es
pe
c
i
a
l
l
y
f
or
s
pe
ed
s
ab
ov
e
20
k
m
/
h,
th
e
s
i
mu
l
ato
r
b
ec
om
es
d
i
ff
i
c
ul
t
to
driv
e
b
ec
au
s
e
th
e
s
oft
w
are
r
es
po
ns
e
at
th
e s
tee
r
i
ng
wh
ee
l
i
s
q
ui
t
e s
l
ow.
Fr
om
the
r
es
ul
ts
of
r
ep
ea
t
ed
ex
pe
r
i
me
n
ts
, th
e
t
i
me
de
l
ay
o
f
5
mi
l
l
i
s
ec
on
ds
i
s
t
he
s
m
al
l
es
t
de
l
ay
ti
m
e
for
A
r
du
i
no
c
an
r
ea
d
a
l
l
three
s
e
ns
ors
c
orr
ec
tl
y
,
an
d
c
an
no
t b
e red
uc
ed
an
y
mo
r
e
.
T
o
ov
erc
om
e
t
he
pro
bl
e
m
of
r
ea
d
i
ng
ab
ov
e
,
the
t
hi
r
d
s
en
s
or
MP
U
60
5
0
was
r
e
pl
ac
e
d
wi
th
an
H
MC58
83
L
s
e
ns
or,
whi
c
h
w
as
mo
u
nte
d
on
t
he
s
tee
r
i
ng
whe
el
.
A
l
tho
ug
h
t
he
HMC
58
83
L
s
en
s
or
al
s
o
us
es
I2
C
c
om
mu
n
i
c
ati
on
,
b
ut
b
ec
au
s
e
t
he
I2C
ad
dres
s
of
H
MC5
8
83
L
i
s
d
i
ff
erent
fr
om
the
I
2C
ad
dres
s
of
MP
U60
50
,
t
he
r
ea
d
i
n
g
of
th
e
three
s
en
s
ors
at
the
s
am
e
ti
me
b
ec
om
es
no
pro
bl
em
.
Cons
i
de
r
at
i
o
n
of
c
ho
os
i
n
g
H
M
C58
83
L
ma
gn
eto
me
t
er
s
en
s
or
c
om
pa
r
ed
to
o
the
r
s
i
mi
l
ar
m
ag
n
eto
me
t
er
s
en
s
ors
,
s
om
e
of
wh
i
c
h
s
uc
h
as
M
A
G
31
1
0,
LIS
3M
D
L,
LS
M
30
3
DLHC,
MP
U
92
5
0,
H
MC5
98
3
a
nd
L3
G
42
00
D
ha
v
e
no
t
b
ee
n
c
arr
i
ed
ou
t.
F
utu
r
e
r
es
e
arc
h
w
i
l
l
c
om
pa
r
e
the
p
erfor
ma
nc
e
of
a
l
l
ex
i
s
t
i
ng
ma
g
ne
to
me
t
er
s
en
s
ors
,
an
d
c
ho
os
e
the
be
s
t
p
erfo
r
ma
nc
e.
W
i
t
h
an
HMC
58
8
3L
to
r
e
ad
th
e
s
tee
r
i
n
g
an
g
l
e
p
os
i
t
i
on
,
an
d
two
MP
U
60
5
0
s
en
s
ors
to
r
ea
d
the
po
s
i
t
i
on
o
f
the
ga
s
pe
da
l
an
d
brak
e
p
ed
al
,
t
he
dri
v
i
ng
s
i
m
ul
ato
r
c
an
b
e
s
te
ered
we
l
l
a
nd
s
mo
oth
l
y
, a
n
d t
h
e s
i
mu
l
ato
r
r
es
p
on
s
e
i
s
be
tt
er.
4.
Co
n
clus
ion
F
i
na
l
l
y
,
t
he
de
v
e
l
op
me
nt
o
f
v
eh
i
c
l
e
-
ba
s
e
d
dr
i
v
i
n
g
s
i
m
ul
at
ors
for
dr
ows
i
n
es
s
de
t
ec
ti
on
an
d
v
a
l
i
da
t
i
on
ha
s
b
ee
n
c
om
pl
ete
d.
It
i
s
c
ha
r
ac
t
eriz
ed
by
t
wo
t
hi
n
gs
:
m
od
i
f
i
c
at
i
on
an
d
i
nte
grati
on
of
h
ardwar
e
a
n
d
s
i
mu
l
at
i
on
s
oft
w
are
(
Ci
ty
Car
Dr
i
v
i
n
g).
In
ad
d
i
t
i
on
,
t
h
es
e
r
es
ul
ts
c
an
he
l
p
a
ny
on
e
w
ho
want
s
t
o
d
o
r
es
e
arc
h
us
i
ng
a
v
eh
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