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L
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[
8
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ata
co
llectio
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w
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ca
r
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ied
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t
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s
in
g
a
r
ea
l
tim
e
lo
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i
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g
s
y
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te
m
eq
u
ip
p
ed
o
n
a
s
elec
ted
v
eh
icle
alo
n
g
th
e
p
r
ed
eter
m
in
ed
r
o
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te.
L
a
s
tl
y
,
co
m
b
i
n
atio
n
o
f
o
n
-
b
o
ar
d
m
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s
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r
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m
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t
a
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d
cir
cu
lat
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d
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g
a
ls
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k
n
o
w
n
as
h
y
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id
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d
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th
e
co
m
b
i
n
atio
n
o
f
t
h
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t
w
o
tech
n
iq
u
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[
1
2
]
.
Fo
r
KT
d
r
iv
in
g
c
y
c
le,
o
n
-
b
o
ar
d
m
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m
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tec
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n
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ill
b
e
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s
e
d
f
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th
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s
in
ce
it
is
m
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s
u
itab
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f
o
r
KT
d
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’
ir
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b
eh
av
i
o
r
to
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id
a
r
is
k
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as
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id
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d
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d
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en
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l.
T
h
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m
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o
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c
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ased
o
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m
icr
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t
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at
w
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e
v
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h
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v
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cit
y
i
s
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o
[
1
3
]
.
E
ac
h
m
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tr
ip
s
tar
ts
w
it
h
a
n
id
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to
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m
ea
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m
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tio
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ler
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,
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n
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d
ec
eler
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m
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d
es.
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h
e
w
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ata
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a
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to
b
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ep
ar
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in
to
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m
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m
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lar
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2
.
3
.
K
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m
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cl
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t
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m
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d
As
m
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tio
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ea
r
lier
,
in
th
i
s
s
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d
y
,
k
-
m
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s
ap
p
r
o
ac
h
w
ill
b
e
u
s
ed
in
o
r
d
er
to
clu
s
ter
th
e
m
icr
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-
tr
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s
in
ce
it
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s
i
m
p
le
a
n
d
f
ast
m
eth
o
d
y
et
ea
s
y
to
i
m
p
le
m
e
n
t
.
K
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m
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s
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m
p
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al
g
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ith
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s
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ter
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p
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m
.
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p
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d
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f
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w
s
a
s
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d
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w
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class
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f
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m
b
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c
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ter
s
(
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m
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s
ter
s
)
f
i
x
ed
a
p
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io
r
i.
T
h
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s
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s
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e
k
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m
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ith
m
s
ar
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d
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cr
ib
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b
r
ief
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elo
w
[
1
4
]:
Step
1
:
Dec
id
e
o
n
a
v
alu
e
f
o
r
k
.
I
n
th
is
s
tu
d
y
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th
e
v
al
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e
o
f
k
is
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ased
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n
tr
af
f
ic
co
n
d
itio
n
.
Step
2
: I
n
itialize
th
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k
cl
u
s
ter
ce
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ter
s
(
r
an
d
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m
l
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,
i
f
n
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es
s
ar
y
)
Step
3
: D
ec
i
d
e
th
e
class
m
e
m
b
er
s
h
ip
s
o
f
t
h
e
to
tal
d
ata,
N
b
y
ass
ig
n
i
n
g
t
h
e
m
to
th
e
n
ea
r
es
t c
lu
s
ter
ce
n
ter
.
Step
4
: Re
-
es
ti
m
ate
th
e
k
-
clu
s
t
er
ce
n
ter
s
,
b
y
ass
u
m
i
n
g
t
h
e
m
e
m
b
er
s
h
ip
s
f
o
u
n
d
ab
o
v
e
ar
e
co
r
r
ec
t.
Step
5
: I
f
n
o
n
e
o
f
t
h
e
N
d
ata
ch
an
g
ed
m
e
m
b
er
s
h
ip
s
i
n
th
e
la
s
t ite
r
atio
n
,
ex
it.
Oth
er
w
i
s
e
g
o
to
Step
3
.
2
.
4
.
F
ea
t
ure
ex
t
ra
ct
io
n a
nd
m
icr
o
-
t
rips
clus
t
er
ing
T
h
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
in
d
ev
elo
p
in
g
t
h
e
d
r
iv
in
g
c
y
cle
i
s
b
y
m
icr
o
-
tr
ip
s
cl
u
s
ter
in
g
.
I
n
o
r
d
er
to
clu
s
ter
th
e
m
icr
o
-
tr
ip
s
,
d
r
iv
i
n
g
f
ea
t
u
r
es
m
u
s
t
b
e
ex
tr
ac
ted
f
ir
s
t.
T
h
er
e
a
r
e
a
lo
t
o
f
d
r
iv
in
g
f
ea
t
u
r
es
th
at
ca
n
b
e
ex
tr
ac
ted
f
r
o
m
th
e
m
icr
o
-
tr
ip
s
as
m
e
n
tio
n
ed
ea
r
lier
in
T
ab
le
1
.
B
u
t,
f
o
r
th
is
p
u
r
p
o
s
e,
o
n
l
y
t
w
o
f
ea
tu
r
e
s
w
ill b
e
u
s
ed
w
h
ich
ar
e
av
er
a
g
e
s
p
ee
d
an
d
also
p
er
ce
n
tag
e
o
f
id
le.
T
h
ese
t
w
o
f
ea
t
u
r
es
h
av
e
b
ee
n
ch
o
s
en
s
in
ce
t
h
e
y
w
il
l
g
i
v
e
g
r
ea
te
s
t
ef
f
ec
t
o
n
t
h
e
e
m
is
s
io
n
[
1
5
]
.
A
f
ter
th
e
ex
t
r
ac
tio
n
o
f
th
e
p
ar
a
m
eter
s
,
th
e
av
er
ag
e
s
p
ee
d
an
d
p
er
ce
n
tag
e
o
f
id
le
is
p
lo
tted
i
n
2
-
d
i
m
e
n
s
io
n
al
f
ea
t
u
r
e
s
p
ac
e
as
i
n
Fi
g
u
r
e
3
.
As
s
h
o
w
n
i
n
Fig
u
r
e
3
,
it
ca
n
b
e
p
r
o
v
ed
th
at
th
er
e
is
a
r
elatio
n
b
et
w
ee
n
av
er
ag
e
s
p
ee
d
an
d
p
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r
ce
n
tag
e
o
f
id
le.
W
h
e
n
th
e
a
v
e
r
ag
e
s
p
ee
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is
h
ig
h
,
th
e
p
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n
ta
g
e
o
f
id
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w
ill b
e
l
o
w
an
d
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ice
v
er
s
a.
Fig
u
r
e
4
s
h
o
w
s
t
h
e
m
icr
o
-
tr
i
p
s
ar
e
cl
u
s
ter
ed
i
n
to
t
h
r
ee
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r
o
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s
u
s
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n
g
k
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m
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ter
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m
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h
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E
ac
h
g
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o
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p
h
as
it
s
o
w
n
c
h
a
r
ac
te
r
is
tics
a
n
d
s
ta
n
d
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f
o
r
d
i
f
f
er
en
t
tr
a
f
f
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itio
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clea
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af
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itio
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,
m
ed
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m
tr
a
f
f
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itio
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a
n
d
co
n
g
es
ted
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af
f
ic
co
n
d
itio
n
.
Fig
u
r
e
3
.
Av
er
ag
e
s
p
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d
o
f
m
i
cr
o
-
tr
ip
s
VS
P
er
ce
n
tag
e
id
le
o
f
m
icr
o
-
tr
ip
s
Fig
u
r
e
4
.
C
lu
s
ter
in
g
o
f
m
icr
o
-
tr
ip
s
0
5
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[6
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[7
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G
.
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RAP
H
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AUTH
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.
Evaluation Warning : The document was created with Spire.PDF for Python.