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3
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K
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Mic
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m
a
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d
o
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v
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h
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h
as
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o
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r
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d
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[4
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T
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u
m
er
o
u
s
a
u
to
m
o
b
ile
a
n
ti
t
h
e
f
t
d
ev
ice
s
h
av
e
b
ee
n
d
esig
n
ed
w
it
h
m
an
y
ad
v
an
ce
d
f
ea
t
u
r
es,
h
o
wev
er
th
e
r
e
s
u
l
t
r
e
m
ai
n
s
d
is
ap
p
o
in
tin
g
d
u
e
to
th
e
f
ac
t
all
t
h
e
s
e
d
ev
ices
h
a
v
e
it
s
d
r
a
w
b
ac
k
s
.
Do
m
est
ic
an
d
d
is
tan
t
p
lace
s
ca
r
an
ti
-
r
o
b
b
er
y
p
r
o
d
u
cts
ar
e
p
r
im
ar
il
y
tec
h
n
o
lo
g
icall
y
clas
s
if
ied
in
to
th
r
ee
ca
teg
o
r
ies
w
h
ic
h
ar
e
m
ec
h
a
n
ical
lo
ck
d
ev
ice
s
,
au
to
m
o
b
ile
alar
m
g
ad
g
et
s
,
an
d
au
to
m
o
b
ile
tr
ac
k
i
n
g
s
y
s
te
m
s
,
ch
ie
f
l
y
ai
m
i
n
g
at
s
to
p
p
in
g
v
e
h
icle
s
to
b
e
b
r
o
k
en
in
an
d
d
r
iv
en
a
w
a
y
.
T
h
e
m
o
s
t
g
e
n
er
all
y
u
s
ed
m
ec
h
an
ica
l
lo
ck
to
o
l
is
a
co
m
m
o
n
w
h
ee
l
lo
ck
,
w
h
ich
is
e
x
tr
ao
r
d
in
ar
il
y
r
ea
s
o
n
ab
l
y
-
p
r
iced
b
u
t
in
co
n
v
en
ie
n
t
to
u
s
e
a
n
d
at
th
e
s
a
m
e
ti
m
e
ca
n
ea
s
il
y
b
e
d
is
ass
e
m
b
led
b
y
th
e
p
r
o
f
e
s
s
io
n
a
ls
.
T
h
ese
m
ec
h
an
ica
l
d
ev
ices
ar
e
o
f
te
n
v
er
y
b
u
lk
y
to
h
a
n
d
le
a
n
d
o
f
te
n
v
er
y
m
u
c
h
in
co
n
v
en
ien
t.
A
r
eso
lu
tio
n
to
th
is
p
r
o
b
le
m
w
o
u
ld
b
e
to
u
s
e
Veh
icle
alar
m
g
ad
g
ets
w
h
ic
h
ar
e
v
er
y
co
m
m
o
n
th
ese
d
a
y
s
.
T
h
is
i
s
m
o
s
tl
y
b
ec
au
s
e
f
ac
ts
s
h
o
w
th
a
t
m
o
s
t
o
f
t
h
e
p
u
b
lic
ar
e
co
n
s
cio
u
s
w
h
en
th
e
y
lis
te
n
a
n
alar
m
an
d
also
th
i
s
m
a
k
es
t
h
e
r
esid
e
n
t
n
ei
g
h
b
o
u
r
s
aler
ted
as
w
ell.
T
h
es
e
v
eh
icle
alar
m
s
y
s
te
m
s
d
o
h
av
e
a
m
as
s
iv
e
r
an
g
e
a
s
w
ell,
s
o
m
e
w
ell
d
es
i
g
n
ed
ca
n
r
ea
c
h
u
p
to
d
i
s
tan
ce
s
o
f
u
p
to
4
0
0
m
eter
s
f
r
o
m
t
h
e
s
o
u
r
ce
o
f
t
h
e
a
lar
m
h
en
ce
m
a
k
i
n
g
it
v
er
y
h
ar
d
f
o
r
s
o
m
eo
n
e
to
s
tea
l
a
ca
r
w
i
th
a
m
o
tio
n
d
etec
tio
n
alar
m
a
n
tith
e
f
t
s
y
s
te
m
[
7
]
.
I
n
cities
as
s
o
o
n
as
t
h
e
au
to
m
o
b
ile
is
tr
ied
to
ac
ce
s
s
,
th
e
p
o
lice
w
i
ll
ea
s
il
y
b
e
n
o
ti
f
ied
b
y
th
e
an
t
ith
e
f
t
alar
m
s
o
u
n
d
i
n
g
f
r
o
m
t
h
e
d
ev
ice
an
d
th
e
lo
ca
tio
n
o
f
s
u
c
h
a
d
is
tu
r
b
an
ce
h
en
ce
m
ak
in
g
it
i
m
p
o
s
s
ib
le
f
o
r
an
y
o
n
e
to
s
teal
t
h
e
v
e
h
icle.
I
n
ad
d
itio
n
t
o
th
is
h
a
v
in
g
a
ca
r
alar
m
ca
n
ad
d
ad
d
itio
n
al
b
en
ef
it
s
to
th
e
s
y
s
te
m
w
h
ich
w
o
u
ld
in
cl
u
d
e
a
f
all
in
th
e
in
s
u
r
a
n
c
e
ex
p
en
d
itu
r
e
f
o
r
th
e
v
e
h
icle
as
s
ec
u
r
it
y
is
o
n
e
o
f
th
e
m
aj
o
r
co
n
s
tr
ain
t
th
at
au
th
o
r
itie
s
lo
o
k
in
to
w
h
ile
p
r
o
v
id
in
g
in
s
u
r
a
n
ce
to
an
y
c
u
s
t
o
m
er
v
eh
icle.
Mo
r
eo
v
er
,
th
is
w
il
l
to
tall
y
p
r
ev
e
n
t
th
e
v
e
h
icle
f
r
o
m
t
h
e
m
aj
o
r
r
is
k
o
f
b
ei
n
g
s
to
len
.
A
l
s
o
it
w
o
u
ld
i
m
p
r
o
v
e
t
h
e
r
esale
v
a
lu
e
o
f
t
h
e
v
e
h
icle.
T
h
ese
d
ay
s
s
ec
u
r
it
y
alar
m
d
e
v
ices
ca
n
b
e
co
n
n
ec
ted
to
s
m
ar
t
p
h
o
n
e
ap
p
licatio
n
s
an
d
t
h
u
s
th
e
u
s
er
ca
n
ea
s
il
y
m
o
n
ito
r
t
h
e
ac
tiv
i
t
y
o
f
th
e
v
eh
icle
f
r
o
m
a
n
y
w
h
er
e
ar
o
u
n
d
m
a
k
in
g
it e
a
s
y
a
n
d
co
n
v
e
n
ie
n
t.
T
h
e
d
ev
ice
t
h
at
'
s
s
et
u
p
co
n
s
is
ts
o
f
a
p
ass
i
v
e
in
f
r
a
r
ed
(
P
I
R
)
m
o
tio
n
d
etec
tio
n
s
en
s
o
r
w
h
ic
h
i
s
attac
h
ed
to
th
e
s
y
s
te
m
.
T
h
e
P
I
R
m
o
tio
n
d
etec
tio
n
s
e
n
s
o
r
ess
e
n
tiall
y
ca
lc
u
late
s
th
e
I
n
f
r
a
r
ed
lig
h
t
w
h
ic
h
is
g
iv
e
n
o
u
t
f
r
o
m
t
h
i
n
g
s
t
h
at
ar
e
k
ep
t
in
its
f
ie
ld
o
f
v
ie
w
.
W
it
h
i
n
t
h
e
P
I
R
s
e
n
s
o
r
s
y
s
te
m
a
p
y
r
o
elec
tr
ic
cr
y
s
tal
is
p
lace
d
w
h
ich
w
o
u
ld
m
ea
s
u
r
e
t
h
e
h
ea
t
t
h
at
i
s
g
iv
e
n
o
u
t
f
r
o
m
an
y
o
b
j
ec
t,
an
d
in
ca
s
e
o
f
h
u
m
an
s
t
h
e
h
ea
t
t
h
at
's
g
iv
e
n
o
u
t
f
r
o
m
t
h
e
h
u
m
a
n
b
o
d
y
.
T
h
e
h
ea
t
e
n
er
g
y
is
in
f
ac
t
e
m
itted
as
r
ad
iatio
n
s
f
r
o
m
an
y
o
b
j
ec
t.
T
h
e
h
o
tter
th
e
o
b
j
ec
t
o
r
a
b
o
d
y
th
e
m
o
r
e
th
e
r
ad
iatio
n
s
o
r
h
ea
t
en
er
g
y
t
h
at
'
s
d
is
s
ip
ated
f
r
o
m
t
h
e
b
o
d
y
a
n
d
t
h
ese
ar
e
tr
an
s
m
itted
i
n
in
f
r
a
r
ed
w
av
e
len
g
th
s
.
On
ce
t
h
e
s
e
i
n
f
r
a
r
ed
w
a
v
es
en
ter
th
e
s
e
n
s
o
r
it
ca
n
ess
e
n
tial
l
y
d
etec
t
th
e
p
r
esen
ce
o
f
a
n
o
b
j
ec
t
in
its
v
ic
in
i
t
y
.
A
P
I
R
s
en
s
o
r
w
o
u
ld
r
ec
o
r
d
th
e
m
o
v
e
m
en
t
s
f
r
o
m
p
eo
p
le
ar
o
u
n
d
it.
On
ce
a
p
er
s
o
n
co
m
e
s
n
ea
r
t
h
e
s
en
s
o
r
t
h
er
e
w
o
u
ld
b
e
a
k
i
n
d
o
f
v
ar
iatio
n
w
it
h
i
n
th
e
te
m
p
e
r
atu
r
e
th
at
is
s
e
n
s
ed
b
y
t
h
e
s
e
n
s
o
r
as t
h
er
e
w
o
u
ld
b
e
d
if
f
er
en
ce
b
et
w
ee
n
t
h
e
b
o
d
y
te
m
p
er
at
u
r
e
an
d
th
e
r
o
o
m
te
m
p
er
at
u
r
e,
a
n
d
o
n
ce
th
is
d
if
f
er
en
ce
is
d
etec
ted
w
it
h
in
th
e
s
e
n
s
o
r
s
f
ield
o
f
r
an
g
e
it
ca
n
s
ti
m
u
late
a
c
h
a
n
g
e
in
v
o
ltag
e
w
it
h
in
it
s
o
u
tp
u
t
w
h
ich
w
o
u
l
d
r
esu
l
t
in
p
r
o
d
u
cin
g
alar
m
.
A
d
if
f
er
e
n
t
ial
d
etec
tio
n
m
et
h
o
d
is
i
m
p
le
m
en
ted
b
y
t
h
e
P
I
R
s
en
s
o
r
.
Usu
al
l
y
t
h
e
cr
y
s
tal
s
a
n
d
th
e
s
e
n
s
o
r
s
ar
e
co
v
er
ed
b
y
Fre
s
n
el
len
s
es
w
h
ic
h
i
s
tr
an
s
p
ar
en
t
to
I
R
w
a
v
es
an
d
w
o
u
ld
p
r
ev
e
n
t t
h
e
c
h
an
ce
o
f
g
et
tin
g
a
n
y
f
a
ls
e
alar
m
s
th
a
t
ca
n
b
e
ca
u
s
ed
d
u
e
to
u
n
w
an
t
ed
p
ar
ticles g
etti
n
g
n
ea
r
th
e
s
e
n
s
o
r
.
An
d
also
a
f
r
esn
el
le
n
s
ca
n
h
elp
to
f
o
cu
s
th
e
I
R
w
av
e
s
to
th
e
s
e
n
s
o
r
s
o
u
r
ce
.
T
h
e
v
ar
iet
y
o
f
th
e
ac
cid
en
t
s
th
at
's
o
cc
u
r
r
in
g
w
o
r
ld
w
id
e
is
in
cr
ea
s
in
g
v
er
y
r
ap
id
ly
b
u
t
t
h
e
a
m
o
u
n
t
o
f
f
at
alities
h
a
s
r
ed
u
ce
d
b
ec
au
s
e
o
f
d
ev
elo
p
m
en
t
o
f
n
e
w
g
e
n
er
atio
n
d
ev
ice
s
d
ev
elo
p
ed
b
y
t
h
e
a
u
to
m
o
b
ile
i
n
d
u
s
tr
y
[
8
]
,
E
n
g
i
n
ee
r
s
h
ad
b
ee
n
ch
ip
p
in
g
a
w
a
y
o
n
th
e
s
u
r
p
r
is
in
g
n
u
m
b
er
s
o
f
ce
n
tr
es
f
o
r
a
lo
n
g
ter
m
b
y
d
esig
n
i
n
g
air
lu
g
g
a
g
e
an
d
s
ea
t
b
elts
,
m
o
r
e
p
o
ten
t
f
r
a
m
e
a
n
d
s
p
ec
ial
in
d
o
o
r
s
d
esi
g
n
s
to
in
cr
ea
s
e
th
e
p
r
o
tectio
n
o
f
v
eh
ic
les.
Ho
w
e
v
er
,
th
e
m
o
s
t
ef
f
ec
ti
v
e
w
a
y
to
s
ec
u
r
e
a
v
eh
icle
is
to
p
r
eser
v
e
v
eh
icles
f
r
o
m
s
m
as
h
i
n
g
i
n
to
ea
ch
o
th
er
in
th
e
f
ir
s
t
p
lace
.
T
o
s
er
v
e
th
i
s
p
u
r
p
o
s
e
a
n
o
b
s
tacle
d
etec
tio
n
g
ad
g
et
ca
n
b
e
attac
h
ed
to
th
e
v
e
h
icle
to
p
r
ev
en
t a
n
y
k
i
n
d
o
f
co
llis
io
n
s
u
c
h
th
at
i
t c
an
d
etec
t it
w
a
y
b
ef
o
r
e
th
e
i
n
cid
en
t h
a
p
p
en
s
[9
-
1
0
]
.
Ob
s
tacle
d
etec
tio
n
g
ad
g
et
u
s
es
Ultr
a
s
o
n
ic
s
e
n
s
o
r
f
o
r
d
is
tan
ce
ca
lc
u
latio
n
.
A
d
v
an
c
ed
d
r
iv
er
ass
is
tan
ce
m
ac
h
in
e
u
s
e
r
ad
ar
b
ec
au
s
e
o
f
it
s
m
er
i
ts
li
k
e
lo
n
g
er
d
etec
tio
n
r
an
g
e,
an
g
u
lar
p
o
s
itio
n
,
v
ar
iet
y
a
n
d
en
s
u
r
ed
s
af
et
y
.
A
v
is
io
n
p
r
i
m
ar
il
y
b
ased
s
e
n
s
o
r
is
i
m
p
la
n
ted
f
o
r
d
etec
tin
g
th
e
o
b
s
tac
le
an
d
f
e
n
d
in
g
o
f
f
co
llis
io
n
.
T
h
e
t
w
o
cr
u
cial
p
ar
ts
,
w
h
ich
is
th
e
n
a
v
i
g
atio
n
a
n
d
th
e
o
b
s
tacle
a
v
o
id
an
ce
p
a
r
t
ar
e
p
r
o
ce
s
s
ed
o
n
th
e
eq
u
al
ti
m
e
g
r
o
w
i
n
g
t
h
e
ef
f
icien
c
y
o
f
th
e
s
y
s
te
m
.
T
h
e
i
m
p
o
r
tan
t
o
b
j
ec
tiv
e
is
to
d
etec
t
th
e
o
b
s
tacle
s
p
r
esen
t
b
ef
o
r
eh
an
d
o
f
t
h
e
a
u
to
m
o
b
il
e.
T
h
e
d
ev
ice
alar
m
s
t
h
e
tr
an
s
f
er
r
in
g
ca
r
to
p
r
ev
e
n
t
co
lli
s
io
n
.
I
n
t
h
is
s
y
s
te
m
u
ltra
s
o
n
ic
s
e
n
s
o
r
i
s
i
m
p
lan
ted
f
o
r
t
h
e
d
etec
tio
n
p
u
r
p
o
s
e
as
th
e
y
ca
n
s
t
u
m
b
le
o
n
th
e
o
b
j
e
ct
f
r
o
m
th
e
s
h
i
f
ti
n
g
v
eh
ic
le
e
v
en
as
t
h
e
d
i
s
tan
ce
a
m
o
n
g
t
h
e
a
u
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m
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ile
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n
d
o
b
s
tacle
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ted
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d
t
h
e
g
a
p
is
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r
atel
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m
ea
s
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r
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T
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o
b
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tacle
d
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tio
n
s
y
s
te
m
is
in
ter
f
ac
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with
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s
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te
m
w
h
ic
h
w
o
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ld
v
o
ice
co
m
m
a
n
d
s
a
t
th
e
o
u
tp
u
t
s
u
ch
t
h
e
u
s
er
w
il
l
b
e
a
w
ar
e
o
f
th
e
s
u
r
r
o
u
n
d
i
n
g
s
w
h
ile
d
r
iv
i
n
g
a
n
d
if
a
n
y
o
b
s
tacle
is
f
o
u
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
9
,
No
.
6
,
Dec
em
b
er
201
9
:
4
7
8
8
-
4
7
9
7
4790
p
ar
ticu
lar
v
o
ice
co
m
m
an
d
s
ca
n
h
elp
th
e
d
r
iv
er
to
ea
s
il
y
n
a
v
ig
a
te
t
h
e
v
eh
ic
le.
T
h
is
ca
n
b
e
o
f
i
m
m
en
s
e
h
elp
p
ar
ticu
lar
l
y
w
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ile
tr
y
in
g
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h
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p
ar
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e
v
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ic
le
in
a
s
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r
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lo
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d
also
w
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r
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n
g
th
r
o
u
g
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h
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a
f
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ic.
T
h
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ac
h
ie
v
ed
b
y
co
n
n
ec
t
in
g
th
e
m
icr
o
co
n
tr
o
ller
to
an
Ar
d
u
in
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d
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id
s
h
ield
w
h
ic
h
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h
e
n
co
n
n
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ted
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A
n
d
r
o
id
d
ev
ice
th
r
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u
g
h
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lu
eto
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g
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v
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t
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m
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d
s
t
h
r
o
u
g
h
th
e
co
n
n
ec
te
d
s
p
ea
k
er
[
1
1
-
1
2
]
.
T
o
b
e
ab
le
to
av
o
id
co
llis
io
n
b
et
w
ee
n
t
h
e
v
e
h
icles
th
e
s
en
s
o
r
th
at
is
s
et
u
p
s
h
o
u
ld
m
ea
s
u
r
e
th
e
ac
c
u
r
ate
d
is
ta
n
ce
f
r
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m
t
h
e
o
b
s
tacle
a
n
d
tr
an
s
m
it
t
h
e
m
ea
s
u
r
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r
ea
d
in
g
s
to
t
h
e
m
ai
n
co
m
p
o
n
e
n
t
o
f
th
e
g
ad
g
et.
T
h
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
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h
o
o
k
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u
p
i
n
a
m
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n
er
in
s
u
c
h
t
h
at
b
o
u
n
d
ar
ies
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d
o
b
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s
w
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h
ar
e
p
r
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t
i
n
th
e
f
r
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n
t
s
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e
o
f
t
h
e
v
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h
icle
ar
e
b
ei
n
g
d
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ted
.
T
h
e
o
b
s
tacle
s
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d
o
b
j
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ts
w
h
ic
h
ar
e
p
r
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t
i
n
th
e
r
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r
s
id
e
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also
d
etec
ted
b
y
th
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
s
.
On
e
o
f
th
e
p
r
ed
o
m
i
n
a
n
t
p
ar
t
o
f
th
i
s
co
n
ce
p
t
is
to
an
al
y
s
e
a
n
y
t
y
p
e
o
f
o
b
s
tacle
o
n
t
h
e
r
o
ad
.
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r
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n
s
ta
n
ce
,
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es
k
b
o
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n
d
o
b
j
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ts
,
h
u
m
an
b
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g
s
tr
av
e
lli
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h
at
g
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th
e
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ass
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g
e
o
f
th
e
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icle
ca
n
also
b
e
ad
d
itio
n
ally
ta
k
e
n
in
to
co
n
s
id
er
atio
n
as
o
b
s
t
ac
les.
T
h
o
s
e
o
b
j
ec
ts
ar
e
d
etec
ted
v
ia
th
e
s
y
s
te
m
a
n
d
s
ig
n
al
s
th
e
ca
r
f
o
r
s
ec
u
r
e
an
d
ea
s
y
n
a
v
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g
atio
n
.
T
h
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r
ief
p
r
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s
s
aler
ts
th
e
d
r
iv
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to
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Ho
wev
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th
er
e
ar
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f
e
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r
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w
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ac
k
s
w
it
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n
t
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k
e
f
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r
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n
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t
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p
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o
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[
1
3
-
1
4
]
.
2.
RE
S
E
ARCH
M
E
T
H
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D
2
.
1
.
T
he
ha
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a
re
re
qu
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de
-
A
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Mic
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Dis
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1
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2
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So
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qu
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1
S
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A
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its
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As
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m
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r
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p
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V
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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2
0
8
8
-
8708
I
n
t J
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&
C
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p
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,
Vo
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9
,
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Dec
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9
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4792
s
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Fo
r
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8708
R
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imp
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mb
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4793
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u
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R
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m
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f
t
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a
m
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m
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ld
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6
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Dec
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er
201
9
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7
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4794
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ig
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s
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9
,
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6
,
Dec
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er
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9
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S
[1
]
T
.
W
o
ll
in
g
e
r
a
n
d
M
.
W
o
lf
,
“
S
tate
o
f
th
e
A
rt :
E
m
b
e
d
d
in
g
S
e
c
u
rit
y
in
V
e
h
icle
s,”
EURA
S
IP
J
o
u
rn
a
l
o
n
Emb
e
d
d
e
d
S
y
ste
ms
,
v
o
l.
2
0
0
7
,
2
0
0
7
.
[2
]
Y.
El
h
i
ll
a
li
,
e
t
a
l
.
,
“
Em
b
e
d
d
e
d
L
o
c
a
li
z
a
ti
o
n
a
n
d
Co
m
m
u
n
ica
ti
o
n
S
y
ste
m
D
e
sig
n
e
d
f
o
r
In
telli
g
e
n
t
Em
b
e
d
d
e
d
L
o
c
a
li
z
a
ti
o
n
a
n
d
C
o
m
m
u
n
ica
ti
o
n
S
y
st
e
m
,
”
EURA
S
IP
J
o
u
r
n
a
l
o
n
E
mb
e
d
d
e
d
S
y
ste
ms
,
2
0
0
7
.
[3
]
S
.
Bo
u
a
z
iz,
e
t
a
l.
,
“
Em
b
e
d
d
e
d
S
y
ste
m
s
f
o
r
In
telli
g
e
n
t
V
e
h
icl
e
s,”
EURA
S
IP
J
o
u
r
n
a
l
o
n
Emb
e
d
d
e
d
S
y
ste
ms
,
v
o
l.
2
0
0
7
,
2
0
0
7
.
[4
]
J.
Yu
a
n
d
B.
M
.
W
il
a
m
o
w
s
k
i,
“
Re
c
e
n
t
A
d
v
a
n
c
e
s
in
In
-
v
e
h
i
c
le
e
m
b
e
d
d
e
d
s
y
ste
m
s,”
IECON
2
0
1
1
-
3
7
t
h
An
n
u
a
l
Co
n
fer
e
n
c
e
o
f
th
e
IEE
E
In
d
u
stri
a
l
El
e
c
tro
n
ics
S
o
c
iety
,
2
0
1
1
p
p
.
4
6
2
3
-
4
6
2
5
.
[5
]
E.
C.
G
u
e
v
a
rra
,
e
t
a
l.
,
“
De
v
e
lo
p
m
e
n
t
o
f
G
u
id
in
g
Ca
n
e
w
it
h
V
o
ic
e
No
ti
f
ica
ti
o
n
f
o
r
V
isu
a
ll
y
I
m
p
a
i
re
d
in
d
iv
id
u
a
ls,”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
E
lec
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
(
IJ
ECE
)
,
v
o
l.
8
,
n
o
.
1
,
p
p
.
1
0
4
-
1
1
2
,
2
0
1
8
.
[6
]
F
.
Co
r
n
o
,
e
t
a
l.
,
“
S
m
a
rtBi
k
e
:
a
n
Io
T
Cro
w
d
S
e
n
sin
g
P
latf
o
rm
f
o
r
M
o
n
it
o
ri
n
g
Cit
y
A
ir
P
o
ll
u
t
io
n
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
t
e
r E
n
g
i
n
e
e
rin
g
(
IJ
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)
,
v
o
l.
7
,
n
o
.
6
,
p
p
.
3
6
0
2
-
3
6
1
2
,
2
0
1
7
.
[7
]
Y.
Ch
e
n
,
e
t
a
l.
,
“
A
n
E
m
b
e
d
d
e
d
S
y
st
e
m
f
o
r
V
e
h
icle
S
u
rro
u
n
d
i
n
g
M
o
n
i
to
ri
n
g
,
”
2
0
0
9
2
n
d
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
P
o
we
r E
lec
tro
n
ics
a
n
d
I
n
telli
g
e
n
t
T
ra
n
sp
o
rta
ti
o
n
S
y
ste
m (
PE
IT
S
)
,
2
0
0
9
,
p
p
.
9
2
-
95.
[8
]
X
.
L
in
,
e
t
a
l.
,
“
S
e
c
u
ri
ty
in
V
e
h
icu
lar A
d
Ho
c
Ne
tw
o
rk
s,”
IEE
E
Co
mm
u
n
ica
ti
o
n
s M
a
g
a
zi
n
e
,
v
o
l.
6
4
,
n
o
.
4
,
2
0
0
8
.
[9
]
Z.
L
iu
,
“
V
e
h
icle
A
n
ti
-
th
e
f
t
T
ra
c
k
i
n
g
S
y
ste
m
Ba
se
d
o
n
In
tern
e
t
o
f
Th
in
g
s,”
Pro
c
e
e
d
in
g
s o
f
2
0
1
3
IEE
E
In
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
Veh
ic
u
la
r E
lec
tro
n
ics
a
n
d
S
a
fety
,
2
0
1
3
,
p
p
.
4
8
-
5
2
.
[1
0
]
H.
Nic
a
n
fa
r,
e
t
a
l.
,
“
S
e
c
u
rit
y
a
n
d
P
riv
a
c
y
o
f
El
e
c
tri
c
V
e
h
icle
s
in
t
h
e
S
m
a
rt
G
rid
Co
n
tex
t
:
P
r
o
b
lem
a
n
d
S
o
lu
ti
o
n
,
”
P
r
o
c
e
e
d
in
g
s
o
f
th
e
th
ird
A
CM
in
tern
a
ti
o
n
a
l
sy
m
p
o
siu
m
o
n
De
si
g
n
a
n
d
a
n
a
ly
sis
o
f
in
telli
g
e
n
t
v
e
h
i
c
u
lar
n
e
tw
o
rk
s
a
n
d
a
p
p
li
c
a
ti
o
n
s
,
2
0
1
3
,
p
p
.
4
5
-
53.
[1
1
]
J.
S
u
n
,
e
t
a
l.
,
“
A
n
Id
e
n
ti
t
y
-
Ba
s
e
d
S
e
c
u
rit
y
S
y
ste
m
f
o
r
Us
e
r
P
riv
a
c
y
in
V
e
h
icu
lar
A
d
Ho
c
N
e
tw
o
rk
s,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Pa
r
a
ll
e
l
a
n
d
Dis
trib
u
ted
S
y
ste
ms
,
v
o
l.
2
1
,
n
o
.
9
,
p
p
.
1
2
2
7
-
1
2
3
9
,
2
0
1
0
.
[1
2
]
J.
W
u
,
e
t
a
l.
,
“
De
sig
n
o
f
a
n
In
-
V
e
h
icle
A
n
ti
-
T
h
e
f
t
Co
m
p
o
n
e
n
t,
”
2
0
0
8
Ei
g
h
t
h
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
telli
g
e
n
t
S
y
ste
ms
De
sig
n
a
n
d
A
p
p
li
c
a
ti
o
n
s
,
2
0
0
8
.
[1
3
]
V
.
G
o
u
d
a
n
d
V
.
P
a
d
m
a
ja
,
“
V
e
h
icle
Ac
c
id
e
n
t
A
u
to
m
a
ti
c
De
tec
ti
o
n
a
n
d
Re
m
o
t
e
A
lar
m
De
v
ice
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Rec
o
n
fi
g
u
ra
b
le a
n
d
E
mb
e
d
d
e
d
S
y
ste
ms
(
IJ
RE
S
)
,
v
o
l.
1
,
n
o
.
2
,
p
p
.
4
9
-
5
4
,
2
0
1
2
.
[1
4
]
P
.
E.
A
n
,
a
n
d
C.
J.
Ha
rris,
“
An
In
telli
g
e
n
t
Driv
e
r
W
a
rn
in
g
S
y
ste
m
f
o
r
V
e
h
icle
C
o
ll
isi
o
n
A
v
o
id
a
n
c
e
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
S
y
ste
ms
,
M
a
n
,
a
n
d
Cy
b
e
rn
e
ti
c
s
-
Pa
rt
A:
S
y
ste
ms
a
n
d
Hu
ma
n
s
,
v
o
l
.
2
6
,
1
9
9
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.