I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
9
,
No
.
6
,
Dec
em
b
er
201
9
,
p
p
.
4
7
9
8
~
4
8
0
3
I
SS
N:
2088
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v
9
i
6
.
p
p
4
7
9
8
-
4803
4798
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
co
r
e
.
co
m/
jo
u
r
n
a
ls
/in
d
ex
.
p
h
p
/
I
JE
C
E
Dev
elo
p
m
e
nt
o
f
d
riv
ing
c
y
cle unde
r
r
ea
l
w
o
rld
t
ra
ff
i
c
c
o
ndition
s:
a
c
a
se
s
tudy
A
.
G
ee
t
ha
,
C
.
Su
bra
m
a
ni
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
in
c
is
E
n
g
in
e
e
rin
g
,
S
R
M
I
n
stit
u
te o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
In
d
ia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
an
1
8
,
2
0
19
R
ev
i
s
ed
A
p
r
3
0
,
2
0
1
9
A
cc
ep
ted
J
u
n
26
,
2
0
1
9
T
h
e
m
o
d
e
li
n
g
o
f
a
c
a
r
is
e
ss
e
n
ti
a
ll
y
d
o
n
e
b
y
tak
in
g
in
to
c
o
n
sid
e
ra
ti
o
n
th
e
d
riv
in
g
terra
in
,
traf
f
ic
c
o
n
d
i
ti
o
n
s,
d
riv
e
r’s
b
e
h
a
v
io
r
a
n
d
v
a
rio
u
s
o
th
e
r
f
a
c
to
rs
w
h
ich
m
a
y
d
irec
tl
y
o
r
i
n
d
irec
tl
y
a
ff
e
c
t
th
e
v
e
h
icle
’s
p
e
rf
o
r
m
a
n
c
e
.
A
v
e
h
icle
is
m
o
d
e
led
f
o
r
g
iv
e
n
sp
e
c
if
ica
ti
o
n
s
a
n
d
c
o
n
stra
in
ts
li
k
e
m
a
x
i
m
u
m
sp
e
e
d
,
m
a
x
i
m
u
m
a
c
c
e
ler
a
ti
o
n
,
a
n
d
b
ra
k
in
g
ti
m
e
,
a
p
p
ro
p
riate
su
s
p
e
n
sio
n
f
o
r
th
e
g
ra
d
ien
t
o
f
th
e
ro
a
d
a
n
d
f
u
e
l
c
o
n
su
m
p
ti
o
n
.
He
n
c
e
f
o
rth
,
a
p
ro
f
o
u
n
d
st
u
d
y
a
n
d
a
n
a
ly
sis
o
f
d
iff
e
re
n
t
d
riv
e
c
y
c
les
a
re
e
ss
e
n
ti
a
l.
A
ti
m
e
d
e
p
e
n
d
e
n
t
d
r
iv
e
c
y
c
le
is
a
c
o
n
d
e
n
se
d
f
o
rm
o
f
d
a
ta
th
a
t
h
e
l
p
s
u
s
to
d
e
term
in
e
th
e
ti
m
e
tak
e
n
to
c
o
n
d
u
c
t
th
e
d
riv
in
g
tes
t
o
n
th
e
ro
a
d
.
T
h
is
a
rti
c
le
h
ig
h
li
g
h
ts
t
h
e
d
e
v
e
lo
p
m
e
n
t
o
f
a
re
a
l
d
riv
in
g
c
y
c
le
in
th
e
a
r
e
a
o
f
Ta
m
il
n
a
d
u
,
In
d
ia.
On
-
ro
a
d
v
e
h
icle
’s
sp
e
e
d
s
v
e
rsu
s
ti
m
e
d
a
ta
we
re
o
b
tain
e
d
a
l
o
n
g
th
e
se
lec
ted
ro
u
te
.
T
h
e
d
a
ta
o
b
tai
n
e
d
w
e
re
a
n
a
l
y
z
e
d
f
irst
a
n
d
t
h
e
n
a
n
e
w
d
riv
in
g
c
y
c
le
wa
s d
e
v
e
lo
p
e
d
.
K
ey
w
o
r
d
s
:
Dr
iv
i
n
g
c
h
ar
ac
ter
is
tic
s
Dr
iv
i
n
g
c
y
cle
E
le
ctr
ic
v
eh
ic
le
I
R
s
en
s
o
r
T
r
af
f
ic
co
n
d
itio
n
s
Co
p
y
rig
h
t
©
2
0
1
9
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
C.
Su
b
r
a
m
an
i
,
Dep
ar
t
m
en
t o
f
E
lectr
ical
an
d
E
lectr
o
n
ics E
n
g
i
n
ee
r
in
g
,
SR
M
I
n
s
tit
u
te
o
f
Sc
ien
ce
a
n
d
T
ec
h
n
o
lo
g
y
,
Kan
c
h
ee
p
u
r
a
m
,
I
n
d
ia.
E
m
ail:
cs
m
s
r
m
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
au
to
m
o
b
ile
s
ec
to
r
s
ar
e
s
e
ek
in
g
f
o
r
an
alter
n
at
iv
e
w
h
ic
h
is
m
o
r
e
ef
f
icie
n
t
i
n
th
e
r
ed
u
c
tio
n
o
f
o
il
co
n
s
u
m
p
tio
n
an
d
g
lo
b
al
w
a
r
m
in
g
.
P
o
llu
tan
t
f
r
ee
elec
tr
ic
v
eh
icle
s
(
E
Vs)
ar
e
th
e
b
etter
s
o
lu
tio
n
[
1
]
.
E
lectr
ic
ca
r
s
ar
e
th
e
f
u
t
u
r
e
o
f
th
e
u
p
co
m
i
n
g
au
to
m
o
b
i
le
in
d
u
s
tr
y
.
I
t
is
p
r
o
p
elled
b
y
a
n
e
lectr
ic
m
o
to
r
w
h
ic
h
d
r
iv
es
en
er
g
y
f
r
o
m
a
b
atter
y
s
o
u
r
ce
o
r
f
u
el
ce
lls
.
T
h
e
p
r
o
b
le
m
w
ith
i
n
ter
n
al
co
m
b
u
s
tio
n
en
g
in
e
s
is
n
o
t
s
o
m
u
c
h
i
n
th
eir
ef
f
icie
n
c
y
b
u
t
th
at
th
e
y
b
u
r
n
f
o
s
s
il
f
u
el
s
w
h
o
s
e
b
y
p
r
o
d
u
cts
ar
e
in
th
e
f
o
r
m
o
f
c
ar
b
o
n
d
i
o
x
id
e
an
d
ca
r
b
o
n
m
o
n
o
x
id
e
w
h
ich
ar
e
s
lo
w
l
y
d
e
s
tr
o
y
i
n
g
t
h
e
o
zo
n
e
la
y
er
an
d
tr
ap
p
in
g
h
ea
t
in
t
h
e
at
m
o
s
p
h
er
e
lead
in
g
to
g
lo
b
al
w
ar
m
i
n
g
.
E
l
ec
tr
ic
ca
r
s
d
o
n
o
t
u
s
e
f
u
el
a
n
d
ten
d
to
b
e
v
er
y
q
u
iet
as
co
m
p
ar
ed
to
g
aso
lin
e
o
r
d
iesel
-
p
o
w
er
ed
ca
r
s
.
B
ef
o
r
e
m
o
d
e
lin
g
an
y
ca
r
with
ce
r
tai
n
ch
ar
ac
ter
is
tics
,
a
lo
t
o
f
th
i
n
g
s
h
av
e
to
b
e
t
ak
en
i
n
to
co
n
s
id
er
atio
n
.
A
d
r
iv
e
c
y
cle
is
o
n
e
s
u
c
h
i
m
p
o
r
ta
n
t
ar
ea
.
A
“
d
r
iv
e
c
y
cle”
b
as
icall
y
r
ep
r
esen
ts
a
v
e
h
icle
o
n
th
e
r
o
ad
.
T
h
e
d
r
iv
e
c
y
cle
s
ar
e
g
en
er
all
y
u
s
ed
to
s
i
m
u
late
t
h
e
r
ea
l
-
li
f
e
ex
p
er
ie
n
ce
o
f
a
ca
r
t
est
o
n
t
h
e
s
o
f
t
w
ar
e.
T
h
is
r
ed
u
ce
s
th
e
co
s
t
o
f
r
o
ad
test
s
,
ti
m
e
in
co
n
d
u
cti
n
g
t
h
e
test
s
an
d
t
h
e
s
tr
es
s
an
d
f
ati
g
u
e
o
f
th
e
e
n
g
in
ee
r
.
T
h
e
b
asic
id
ea
is
to
tr
an
s
f
o
r
m
th
e
r
ea
l
-
li
f
e
d
r
iv
i
n
g
e
x
p
er
ien
ce
in
th
e
test
lab
to
s
i
m
u
lat
io
n
.
T
h
e
d
r
iv
e
cy
cle
s
ca
n
b
e
o
f
d
is
tan
ce
-
d
ep
en
d
en
t o
r
tim
e
-
d
ep
en
d
en
t.
T
h
e
d
r
iv
e
c
y
cle
g
iv
e
s
u
s
t
h
e
p
r
ac
tical
r
u
n
n
i
n
g
co
n
d
itio
n
s
o
f
a
ce
r
tain
ar
ea
.
T
h
e
d
r
iv
i
n
g
c
y
cle
s
co
m
p
r
is
e
s
o
f
m
an
y
s
tar
ts
,
s
t
o
p
s
an
d
g
o
co
n
d
it
io
n
s
w
h
ic
h
s
ee
k
s
b
o
th
a
v
er
ag
e
a
n
d
i
n
s
tan
ta
n
eo
u
s
p
o
w
er
s
u
p
p
lies
.
W
ith
t
h
e
h
elp
o
f
a
d
r
iv
e
c
y
cle,
w
e
ca
n
a
s
s
es
s
th
e
d
r
iv
i
n
g
co
n
d
it
io
n
s
o
f
a
n
ar
ea
an
d
w
e
ca
n
co
n
cl
u
d
e
w
h
et
h
er
a
ce
r
tain
ca
r
is
ap
p
r
o
p
r
iate
f
o
r
a
r
eg
io
n
o
r
n
o
t.
Dr
iv
e
c
y
cle
s
g
i
v
e
u
s
in
f
o
r
m
a
tio
n
ab
o
u
t
th
e
f
u
el
e
m
is
s
io
n
s
r
eq
u
ir
ed
f
o
r
a
ca
r
an
d
th
e
p
o
llu
ta
n
ts
e
m
i
tted
.
T
h
u
s
m
ak
in
g
d
r
iv
e
c
y
cle
a
v
er
y
i
m
p
o
r
ta
n
t
f
ac
to
r
w
h
ile
m
o
d
eli
n
g
a
ca
r
[
2
]
.
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
Dev
elo
p
men
t o
f d
r
ivin
g
cy
cle
u
n
d
er rea
l wo
r
ld
tr
a
ffic c
o
n
d
itio
n
s
:
a
ca
s
e
s
tu
d
y
(
A
.
Gee
th
a
)
4799
2.
DRIVI
NG
C
YCL
E
B
ACK
G
RO
UND
T
h
e
d
r
iv
in
g
c
y
cle
d
en
o
te
s
t
h
e
s
er
ies
o
f
d
r
iv
i
n
g
v
e
h
icle
b
eh
av
io
r
o
n
t
h
e
g
iv
e
n
r
eg
i
o
n
i.e
.
p
lo
t
d
en
o
tin
g
th
e
s
p
ee
d
o
f
th
e
d
r
i
v
in
g
v
eh
ic
le
w
ith
r
esp
ec
t
to
t
i
m
e.
T
h
e
d
ev
elo
p
m
en
t
o
f
d
r
iv
in
g
c
y
cle
in
a
r
ea
l
ti
m
e
s
itu
at
io
n
is
m
u
ch
e
s
s
e
n
tial
f
o
r
ce
r
tain
r
ea
s
o
n
s
li
k
e
v
eh
icle
p
o
ll
u
tio
n
co
n
tr
o
l,
f
u
el
a
n
d
en
er
g
y
co
n
s
u
m
p
tio
n
s
t
u
d
y
etc.
t
h
e
s
ev
er
al
o
p
er
atin
g
co
n
d
it
io
n
s
t
h
at
ar
e
ca
teg
o
r
ized
in
a
n
y
d
r
iv
i
n
g
c
y
cle
ar
e
id
le
m
o
d
e,
ac
ce
ler
ati
n
g
m
o
d
e,
cr
u
i
s
e
m
o
d
e
an
d
d
ec
eler
atin
g
m
o
d
e
[
3
-
5
]
.
S
y
n
t
h
esized
d
r
iv
in
g
c
y
cle
is
t
h
e
s
tan
d
ar
d
o
n
e
w
h
ic
h
co
m
p
r
is
es
o
f
co
n
s
ta
n
t
ac
ce
ler
atio
n
an
d
s
p
ee
d
p
h
ases
a
lo
n
e.
T
h
ese
tr
a
n
s
i
tio
n
s
ar
e
m
o
s
tl
y
ar
ti
f
icial
w
h
e
n
co
m
p
ar
ed
w
i
th
th
e
n
a
tu
r
al
d
r
i
v
in
g
c
y
cle.
T
h
e
g
r
ap
h
th
at
r
ep
r
esen
t
s
t
h
e
v
e
h
icle
s
p
e
ed
(
k
m
/
h
)
o
v
er
a
p
er
io
d
o
f
tr
av
elli
n
g
ti
m
e
(
s
)
is
d
r
i
v
in
g
c
y
cl
e.
T
h
e
co
m
p
o
n
e
n
ts
o
f
E
V
ar
e
d
esi
g
n
ed
b
y
k
n
o
w
i
n
g
th
e
d
r
iv
i
n
g
c
y
cle
p
atter
n
.
Gen
er
all
y
t
h
e
d
r
iv
i
n
g
p
atter
n
r
elies
o
n
r
o
ad
t
y
p
e
an
d
its
co
n
d
itio
n
,
tr
af
f
ic
co
n
d
itio
n
s
an
d
b
eh
av
io
r
o
f
th
e
d
r
iv
er
.
T
h
er
e
ex
is
ts
m
an
y
s
ta
n
d
ar
d
d
r
iv
in
g
c
y
cles
b
ased
o
n
d
if
f
er
en
t c
o
u
n
tr
iesS
o
m
e
o
f
t
h
e
p
o
p
u
lar
s
tan
d
ar
d
d
r
iv
in
g
c
y
cles a
r
e
d
ep
icted
in
F
i
g
u
r
e
1
[
6
-
9
]
.
Fig
u
r
e
1
.
Stan
d
ar
d
d
r
iv
in
g
c
y
c
les
I
n
th
e
ca
s
e
o
f
r
ea
l
w
o
r
ld
tr
af
f
ic
co
n
d
itio
n
s
,
th
e
ac
tu
al
d
r
iv
e
c
y
cle
ca
n
b
e
g
en
er
ate
d
b
ased
o
n
th
e
m
o
v
e
m
e
n
t
o
f
a
v
e
h
icle
u
n
d
er
te
s
t.
T
h
e
m
ai
n
u
s
e
o
f
g
e
n
er
atio
n
is
to
s
i
m
u
late
t
h
e
v
eh
icle
d
r
iv
i
n
g
ch
ar
ac
ter
is
tic
s
o
n
t
h
e
s
elec
te
d
ar
ea
in
r
ea
l
an
d
to
an
al
y
ze
its
en
er
g
y
co
n
s
u
m
p
t
io
n
.
T
h
is
w
o
r
k
m
a
k
es
an
atte
m
p
t to
g
en
er
ate
a
r
ea
l ti
m
e
d
r
iv
i
n
g
c
y
cle
f
o
r
a
h
eter
o
g
en
eo
u
s
tr
a
f
f
ic
co
n
d
itio
n
s
.
2
.
1
.
Vehicle
dy
na
m
ic
s
B
ased
o
n
th
e
d
y
n
a
m
ic
s
o
f
v
eh
icle,
th
e
f
o
r
ce
(
F)
r
eq
u
ir
ed
to
r
u
n
t
h
e
v
e
h
icle
s
h
o
u
ld
o
v
er
co
m
e
r
o
llin
g
r
esis
ta
n
ce
f
o
r
ce
(
F
roll
)
,
cli
m
b
i
n
g
f
o
r
ce
(
F
cli
m
b
)
an
d
ae
r
o
d
y
n
a
m
ic
d
r
ag
g
i
n
g
f
o
r
ce
(
F
drag
)
as
g
i
v
en
in
(
1
)
.
F
=
F
r
o
l
l
+
F
cl
i
m
b
+
F
d
r
ag
(
1
)
T
h
e
f
o
r
ce
r
eq
u
ir
ed
to
o
v
er
co
m
e
t
h
e
tire
a
n
d
r
o
ad
f
r
ictio
n
lo
s
s
es
i
s
F
roll
as
r
ep
r
ese
n
ted
in
(
2
)
.
T
o
p
o
lo
g
ical
in
f
lu
e
n
ce
s
o
n
t
h
e
v
e
h
icle
s
h
o
u
ld
o
v
er
co
m
e
b
y
F
cli
m
b
g
iv
e
n
i
n
(
3
)
.
Veh
ic
le
n
e
ed
s
s
o
m
e
e
n
er
g
y
to
o
v
er
co
m
e
th
e
air
f
r
ictio
n
o
n
t
h
e
f
r
o
n
tal,
r
ea
r
an
d
b
o
u
n
d
ar
y
ar
ea
o
f
th
e
v
e
h
icle
F
dra
g
as
g
iv
e
n
in
(
4
)
.
F
r
o
l
l
=
m
v
ehi
∗
g
acc
∗
C
r
o
l
l
(
2
)
F
cl
i
m
b
=
m
v
ehi
∗
g
acc
∗
s
in
∝
i
n
c
(
3
)
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
9
8
-
4
8
0
3
4800
F
d
r
ag
=
(
ρ
∗
A
f
r
o
nt
∗
C
dr
ag
∗
v
v
eh
2
)
2
(
4
)
Her
e,
m
vehi
-
v
eh
icle
m
a
s
s
(
k
g
)
.
g
acc
-
ac
ce
ler
atio
n
d
u
e
to
g
r
av
it
y
(
m
/
s
2
)
.
C
roll
-
co
-
e
f
f
icien
t
o
f
r
o
llin
g
r
esis
ta
n
ce
.
∝
inc
-
a
n
g
le
o
f
in
clin
atio
n
(
r
ad
ian
)
.
C
dra
g
-
d
r
ag
co
-
e
f
f
ic
ien
t.
ρ
-
air
d
en
s
i
t
y
in
k
g
/
m
3
.
A
front
-
v
eh
ic
le’
s
f
r
o
n
tal
ar
ea
(
m
2
)
.
v
v
e
h
-
s
p
ee
d
(
k
m
/
h
)
.
T
h
e
v
eh
ic
le
s
p
ee
d
d
ata
f
r
o
m
t
h
e
d
r
iv
i
n
g
c
y
cle
p
la
y
s
a
cr
u
ci
al
r
o
le
in
d
ec
id
in
g
t
h
e
f
o
r
ce
r
eq
u
ir
ed
to
d
r
iv
e
th
e
v
e
h
icle.
A
l
l lo
ca
tio
n
s
d
o
esn
’
t
h
av
e
s
i
m
ilar
p
atter
n
o
f
d
r
iv
i
n
g
a
s
m
e
n
tio
n
ed
i
n
s
ta
n
d
ar
d
d
r
iv
in
g
c
y
c
le.
Hen
c
e
it is
n
ec
es
s
ar
y
to
d
ev
el
o
p
a
r
ea
l tim
e
d
r
iv
i
n
g
c
y
cle
to
u
n
d
er
s
ta
n
d
th
e
v
eh
icle
p
er
f
o
r
m
an
ce
s
[
9
-
11]
.
3.
M
E
T
H
O
DO
L
O
G
Y
3
.
1
.
Ro
ute
s
elec
t
io
n
T
h
e
p
r
o
m
i
n
en
t
asp
ec
t
o
f
d
ev
elo
p
in
g
a
r
ea
l
ti
m
e
d
r
iv
i
n
g
c
y
cle
i
s
s
elec
tin
g
a
r
o
u
te.
I
n
T
am
il
n
ad
u
,
th
e
m
aj
o
r
r
o
ad
o
f
7
k
m
d
is
ta
n
ce
w
as
s
elec
ted
as
a
r
o
u
te
f
o
r
th
is
s
t
u
d
y
s
i
n
ce
it
p
o
s
s
es
s
m
o
d
er
ate
an
n
u
al
d
ail
y
tr
af
f
ic
M
A
DT
.
T
h
e
r
o
u
te
m
ap
is
d
ep
icted
in
F
ig
u
r
e
2
an
d
t
h
e
r
o
u
te
d
etails
ar
e
s
h
o
w
n
i
n
T
ab
le
1
.
T
h
e
r
o
u
te
w
a
s
s
elec
ted
b
ased
o
n
th
e
tr
a
f
f
ic
d
en
s
it
y
th
a
t
m
a
y
r
es
u
lt in
tr
an
s
ie
n
t d
r
iv
i
n
g
ch
ar
ac
ter
is
t
ics
o
f
a
v
eh
icle.
Fig
u
r
e
2
.
R
o
u
te
m
ap
T
ab
le
1
.
R
o
u
te
d
etails
S
i
.
N
o
.
C
h
a
r
a
c
t
e
r
i
st
i
c
s
D
e
t
a
i
l
s
1
O
r
i
g
i
n
S
R
M
I
S
T
,
C
h
e
n
n
a
i
,
T
a
m
i
l
n
a
d
u
,
I
n
d
i
a
2
D
e
st
i
n
a
t
i
o
n
U
r
a
p
a
k
k
a
m,
C
h
e
n
n
a
i
,
T
a
mi
l
n
a
d
u
,
I
n
d
i
a
3
D
r
i
v
i
n
g
D
i
s
t
a
n
c
e
6
.
9
k
m
4
D
r
i
v
i
n
g
D
u
r
a
t
i
o
n
6
0
0
se
c
o
n
d
s
3
.
2
.
Co
llect
io
n o
f
da
t
a
Her
e
o
n
-
b
o
ar
d
m
et
h
o
d
o
f
m
e
asu
r
e
m
en
t
is
ad
o
p
ted
i.e
.
a
d
ev
ice
i
s
i
n
s
talled
i
n
th
e
test
v
eh
icle
a
n
d
a
s
ec
o
n
d
b
y
s
ec
o
n
d
d
etails
o
f
th
e
v
e
h
icle
s
p
ee
d
is
r
ec
o
r
d
ed
w
h
e
n
t
h
e
v
e
h
icle
i
s
d
r
i
v
en
in
a
s
elec
ted
r
o
u
te.
T
h
e
d
ata
is
co
llected
f
o
r
a
p
er
io
d
o
f
3
0
d
ay
s
a
s
m
icr
o
-
t
r
ip
s
.
T
h
o
s
e
m
icr
o
-
tr
ip
d
ata
w
er
e
p
r
o
ce
s
s
ed
a
n
d
an
al
y
ze
d
f
u
r
t
h
er
f
o
r
th
e
g
e
n
er
atio
n
o
f
r
ea
l
w
o
r
ld
d
r
iv
i
n
g
c
y
c
le
[
1
2
-
1
4
]
.
3
.
3
.
G
ener
a
t
io
n o
f
driv
ing
cy
cle
T
h
e
b
asic
o
b
j
ec
tiv
e
o
f
th
is
ar
t
icle
is
to
g
en
er
ate
a
m
o
n
o
s
p
e
ed
v
er
s
u
s
ti
m
e
g
r
ap
h
o
f
a
r
o
u
t
e
s
elec
ted
w
h
ic
h
is
co
n
s
id
er
ed
to
r
ep
r
esen
t
t
h
e
tr
a
f
f
ic
co
n
d
itio
n
s
o
f
p
ar
t
o
f
a
d
is
tr
ict
i
n
T
a
m
il
n
ad
u
s
tate
o
f
a
co
u
n
tr
y
I
n
d
ia.
T
h
e
u
lti
m
ate
s
co
p
e
o
f
g
en
er
ati
n
g
t
h
is
d
r
i
v
in
g
c
y
cle
is
to
o
f
f
er
a
g
e
n
er
al
m
ea
n
s
o
f
ca
lc
u
lati
n
g
th
e
v
e
h
icle
’
s
e
n
er
g
y
co
n
s
u
m
p
t
io
n
an
d
its
e
m
is
s
io
n
s
.
T
h
e
d
if
f
icu
lt
th
i
n
g
in
t
h
e
g
en
er
atio
n
o
f
d
r
iv
i
n
g
g
r
ap
h
u
n
d
er
r
ea
l
w
o
r
ld
tr
af
f
ic
c
o
n
d
itio
n
is
th
e
co
n
d
en
s
i
n
g
t
h
e
lar
g
er
a
m
o
u
n
t
o
f
s
p
ee
d
d
ata
in
t
o
a
d
r
iv
in
g
c
y
cle
w
it
h
r
ea
s
o
n
a
b
le
ti
m
e
d
u
r
atio
n
.
T
h
er
e
w
er
e
m
a
n
y
r
ec
en
t
tech
n
iq
u
es
d
is
cu
s
s
ed
in
t
h
e
liter
atu
r
es.
Mo
s
t
o
f
th
e
m
d
ea
l
w
ith
t
h
e
s
to
r
ag
e
o
f
d
ata
o
f
a
m
icr
o
tr
ip
s
i.e
.
s
p
ee
d
v
er
s
u
s
ti
m
e
s
e
g
m
e
n
ts
.
T
h
ese
d
ata
wer
e
r
ec
o
r
d
e
d
f
r
o
m
t
h
e
v
eh
ic
le
s
test
r
u
n
s
.
Fu
r
t
h
er
,
it is
p
r
o
ce
s
s
ed
s
tatis
t
icall
y
to
g
et
th
e
d
esire
d
c
y
cle
[
1
5
-
1
7
]
.
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
Dev
elo
p
men
t o
f d
r
ivin
g
cy
cle
u
n
d
er rea
l wo
r
ld
tr
a
ffic c
o
n
d
itio
n
s
:
a
ca
s
e
s
tu
d
y
(
A
.
Gee
th
a
)
4801
T
h
e
DA
C
,
d
ata
ac
q
u
is
itio
n
co
n
tr
o
l
s
y
s
te
m
is
co
n
s
id
er
ed
as
s
h
o
w
n
i
n
F
i
g
u
r
e
3
.
I
t
is
c
o
m
p
o
s
ed
o
f
an
i
n
f
r
ar
ed
o
p
tical
s
e
n
s
o
r
t
h
at
is
p
o
in
ti
n
g
to
w
ar
d
s
t
h
e
v
e
h
icl
e
w
h
ee
l a
x
le.
T
h
is
s
en
s
o
r
m
ea
s
u
r
es
th
e
n
u
m
b
er
o
f
r
o
tatio
n
s
m
ad
e
b
y
t
h
e
ax
le
an
d
p
r
o
d
u
ce
s
d
ata
p
u
ls
es
i
n
th
e
elec
tr
ical
f
o
r
m
f
o
r
ea
c
h
o
f
t
h
e
r
o
tatio
n
.
T
h
e
A
r
d
u
i
n
o
i
n
co
r
p
o
r
ated
D
AC
s
y
s
te
m
w
ill
co
llect
t
h
e
d
a
ta
an
d
a
n
al
y
ze
it.
T
h
u
s
t
h
e
a
n
al
y
ze
d
d
ata
is
s
to
r
ed
in
m
icr
o
-
co
m
p
u
ter
.
Fig
u
r
e
3
.
B
lo
ck
d
iag
r
a
m
o
f
D
AC
s
y
s
te
m
4.
E
XP
E
R
I
M
E
NT
A
L
SE
T
UP
AND
RE
SUL
T
S
T
h
e
w
h
o
le
s
y
s
te
m
is
d
iv
id
ed
in
to
f
o
u
r
p
ar
ts
.
T
h
e
f
ir
s
t
p
ar
t
is
to
r
ea
d
th
e
v
al
u
es
f
r
o
m
t
h
e
I
R
s
en
s
o
r
.
T
h
e
I
R
s
e
n
s
o
r
h
as
t
h
r
ee
p
i
n
s
.
T
w
o
p
i
n
s
ar
e
u
s
ed
to
s
u
p
p
l
y
p
o
w
er
to
t
h
e
i
n
f
r
a
r
ed
m
o
d
u
l
e.
T
h
e
th
ir
d
p
in
i
s
th
e
d
ata
p
in
.
T
h
e
d
ata
p
in
s
en
d
s
a
d
ig
ital
h
i
g
h
to
t
h
e
A
r
d
u
in
o
ea
c
h
ti
m
e
it
s
e
n
s
e
s
th
e
o
b
s
tacle
w
h
ic
h
i
s
th
e
w
h
ee
l.
A
t
h
in
s
h
ee
t
o
f
al
u
m
i
n
iu
m
f
o
il
is
b
o
lted
to
th
e
in
n
er
p
ar
t
o
f
th
e
w
h
ee
l.
T
h
is
m
a
k
es
it
d
if
f
er
en
t
f
r
o
m
th
e
r
es
t
o
f
t
h
e
cir
cu
m
f
er
e
n
ce
.
W
h
en
t
h
e
in
f
r
ar
ed
s
en
s
o
r
p
ass
es
th
r
o
u
g
h
t
h
i
s
p
ar
t
o
f
th
e
w
h
e
el,
it
s
en
d
s
a
s
i
g
n
a
l
to
th
e
A
r
d
u
in
o
.
Fi
g
u
r
e
4
s
h
o
ws th
e
s
e
n
s
o
r
as
s
e
m
b
l
y
i
n
th
e
v
eh
icle.
Fig
u
r
e
4
.
Sen
s
o
r
ass
e
m
b
l
y
in
t
h
e
v
e
h
icle
a
x
le
T
h
e
ti
m
e
d
u
r
atio
n
b
et
w
ee
n
t
w
o
r
o
tatio
n
s
is
m
ea
s
u
r
ed
i
n
m
icr
o
s
ec
o
n
d
s
.
Fro
m
t
h
is
,
t
h
e
r
p
m
is
m
ea
s
u
r
ed
an
d
h
e
n
ce
t
h
e
s
p
ee
d
.
T
h
e
n
ex
t
p
ar
t
o
f
i
t
is
to
s
t
o
r
e
th
ese
v
al
u
es.
T
h
i
s
w
a
s
d
o
n
e
b
y
a
n
SD
ca
r
d
m
o
d
u
le.
T
h
e
v
alu
e
s
o
b
tain
ed
b
y
t
h
e
A
r
d
u
i
n
o
w
er
e
w
r
itte
n
i
n
to
th
i
s
SD
ca
r
d
.
T
h
e
v
alu
e
s
w
r
itte
n
i
n
to
th
i
s
SD
ca
r
d
w
as
la
ter
v
ie
w
ed
u
s
i
n
g
a
lap
to
p
.
T
h
e
v
al
u
es
t
h
at
w
er
e
w
r
itte
n
w
er
e
s
to
r
ed
in
o
r
d
er
w
h
ich
is
o
f
t
h
e
ti
m
e,
d
ate
an
d
th
e
r
esp
ec
tiv
e
s
p
ee
d
at
th
at
i
n
s
ta
n
t.
T
h
e
r
ea
l
-
ti
m
e
clo
ck
w
a
s
an
o
t
h
er
m
o
d
u
le
u
s
ed
to
n
o
te
d
o
w
n
th
e
ti
m
e.
I
t
b
eh
av
e
s
lik
e
a
clo
ck
an
d
g
iv
e
s
t
h
e
ti
m
e
at
an
y
in
s
ta
n
t.
I
t
h
ad
to
b
e
s
et
u
p
f
ir
s
t.
T
h
e
cu
r
r
en
t
d
ate
an
d
ti
m
e
w
er
e
u
p
lo
ad
ed
in
to
th
e
A
r
d
u
i
n
o
w
i
th
t
h
e
r
ea
l
-
ti
m
e
clo
ck
co
n
n
ec
ted
.
Sin
ce
t
h
e
m
o
d
u
le
h
a
s
an
ad
d
itio
n
al
3
-
v
o
lt
b
atter
y
,
it
r
u
n
s
ev
en
w
h
e
n
it is
n
o
t c
o
n
n
ec
ted
to
th
e
A
r
d
u
in
o
a
n
d
m
ai
n
tai
n
s
t
h
e
ca
lcu
la
tio
n
o
f
ti
m
e.
A
to
tal
o
f
t
h
r
ee
m
o
d
u
les
ar
e
co
n
n
ec
ted
to
th
e
A
r
d
u
in
o
.
Si
n
c
e
a
9
-
v
o
lt
b
atter
y
ca
n
n
o
t
s
u
p
p
l
y
al
th
e
s
e
m
o
d
u
les,
w
e
u
s
ed
a
p
o
w
er
b
an
k
to
s
u
p
p
l
y
t
h
e
A
r
d
u
i
n
o
w
i
t
h
p
o
w
er
.
T
h
e
p
o
w
er
b
an
k
s
u
p
p
lies
a
p
o
w
er
o
f
5
Vo
lts
a
n
d
1
a
m
p
er
e.
T
h
e
to
tal
s
etu
p
i
s
k
ep
t
i
n
a
b
o
x
w
h
ic
h
i
s
p
lace
d
o
n
t
h
e
f
r
o
n
t
s
id
e
o
f
t
h
e
ca
r
.
T
h
e
b
o
x
w
as
p
lace
d
n
ea
r
th
e
b
atter
y
to
a
v
o
id
h
ea
tin
g
o
f
th
e
co
m
p
o
n
en
t
s
.
Fig
u
r
e
5
d
ep
icts
t
h
e
o
v
er
al
l
h
ar
d
w
ar
e
s
et
u
p
o
f
th
e
ex
p
er
i
m
en
t.
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
9
8
-
4
8
0
3
4802
Fig
u
r
e
5
.
E
x
p
er
i
m
en
tal
s
et
u
p
T
h
e
s
a
m
p
le
d
ata
is
s
h
o
w
n
i
n
F
ig
u
r
e
6
a
n
d
t
h
e
g
r
ap
h
s
h
o
w
n
i
n
F
ig
u
r
e
7
i
s
t
h
e
o
u
tp
u
t
o
f
t
h
e
d
ata
o
b
tain
ed
f
r
o
m
th
e
h
ar
d
w
ar
e
f
o
r
a
p
er
io
d
o
f
o
n
e
d
ay
.
T
h
e
d
is
tan
ce
co
v
er
ed
w
as
f
o
r
s
ev
en
k
ilo
m
eter
s
.
T
h
e
s
p
ee
d
o
f
th
e
v
e
h
icle
f
all
s
to
ze
r
o
af
ter
th
r
ee
k
ilo
m
eter
s
d
u
e
to
a
s
i
g
n
a
l.
T
h
e
m
ax
i
m
u
m
s
p
ee
d
o
b
tain
ed
w
a
s
s
ev
e
n
t
y
k
m
/
h
r
.
T
h
e
g
r
ap
h
s
h
o
w
n
i
s
tak
e
n
f
o
r
a
p
er
io
d
o
f
ten
m
i
n
u
te
s
.
T
h
u
s
th
e
n
o
r
m
a
l
d
r
iv
in
g
p
atter
n
is
s
h
o
w
n
f
o
r
a
g
i
v
en
p
er
io
d
.
Fig
u
r
e
6
.
Sa
m
p
le
d
ata
co
llect
ed
Fig
u
r
e
7
.
Gen
er
ated
d
r
iv
in
g
c
y
cle
5.
CO
NCLU
SI
O
N
T
h
e
d
r
iv
in
g
c
y
cle
o
f
a
n
y
ar
ea
r
ep
r
esen
ts
t
h
e
r
o
ad
,
th
e
tr
af
f
i
c
co
n
d
itio
n
s
,
t
h
e
p
eo
p
le
an
d
t
h
e
d
r
iv
in
g
h
ab
its
o
f
t
h
e
h
ab
itan
t
s
o
f
t
h
at
ar
ea
.
E
ac
h
ar
ea
w
ill
h
a
v
e
a
u
n
iq
u
e
d
r
iv
in
g
c
y
c
le
t
h
er
eb
y
r
ep
r
esen
ti
n
g
th
e
co
n
d
itio
n
s
o
f
th
a
t
p
ar
ticu
l
ar
ar
ea
.
W
ith
t
h
is
i
n
f
o
r
m
atio
n
,
w
e
ca
n
d
esi
g
n
an
elec
tr
ic
v
e
h
icle
w
h
ic
h
w
ill
b
e
ca
p
ab
le
to
s
u
s
tain
d
u
r
in
g
li
v
e
d
r
iv
in
g
co
n
d
itio
n
s
.
W
e
ca
n
f
i
g
u
r
e
o
u
t
t
h
e
a
m
o
u
n
t
o
f
ti
m
e
f
o
r
w
h
ic
h
t
h
e
v
e
h
icl
e
attain
s
h
i
g
h
s
p
ee
d
s
a
n
d
th
e
f
r
eq
u
en
c
y
o
f
s
to
p
s
.
T
h
u
s
t
h
i
s
p
ap
er
d
is
cu
s
s
e
s
t
h
e
ex
p
er
i
m
e
n
t
al
s
etu
p
d
esi
g
n
ed
to
g
en
er
ate
a
d
r
iv
i
n
g
c
y
cle
u
n
d
er
r
ea
l
w
o
r
ld
d
r
iv
in
g
co
n
d
iti
o
n
s
in
t
h
e
r
o
u
te
s
elec
ted
.
A
ll
th
e
f
o
u
r
o
p
er
atin
g
m
o
d
e
s
o
f
d
r
iv
i
n
g
t
h
at
is
ac
ce
l
er
atio
n
,
d
ec
eler
atio
n
,
id
le
an
d
cr
u
is
in
g
w
er
e
r
ec
o
r
d
ed
f
o
r
a
p
er
io
d
o
f
ti
m
e
a
n
d
th
e
av
er
a
g
e
o
f
t
h
o
s
e
m
icr
o
tr
ip
s
w
er
e
p
r
o
ce
s
s
ed
to
d
ev
elo
p
a
r
ea
l d
r
iv
in
g
c
y
cle.
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
Dev
elo
p
men
t o
f d
r
ivin
g
cy
cle
u
n
d
er rea
l wo
r
ld
tr
a
ffic c
o
n
d
itio
n
s
:
a
ca
s
e
s
tu
d
y
(
A
.
Gee
th
a
)
4803
ACK
NO
WL
E
D
G
E
M
E
NT
Au
t
h
o
r
s
lik
e
to
th
a
n
k
S
R
M
I
n
s
tit
u
te
o
f
Scien
ce
a
n
d
T
e
ch
n
o
lo
g
y
(
SR
M
Selecti
v
e
E
x
ce
lle
n
ce
)
,
Kattan
k
u
lath
u
r
,
I
n
d
ia
f
o
r
s
u
p
p
o
r
tin
g
t
h
is
r
esear
c
h
w
o
r
k
.
RE
F
E
R
E
NC
E
S
[1
]
A
.
G
e
e
th
a
a
n
d
C.
S
u
b
ra
m
a
n
i,
“
A
c
o
m
p
re
h
e
n
siv
e
re
v
ie
w
o
n
e
n
e
rg
y
m
a
n
a
g
e
m
e
n
t
stra
teg
ies
o
f
h
y
b
rid
e
n
e
rg
y
sto
ra
g
e
s
y
s
te
m
f
o
r
e
lec
tri
c
v
e
h
icle
s
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
E
n
e
rg
y
Res
e
a
rc
h
,
v
o
l.
4
1
,
p
p
.
1
8
1
7
-
1
8
3
5
,
2
0
1
7
.
[2
]
A
.
M
o
m
e
n
im
o
v
a
h
e
d
,
e
t
a
l.
,
“
Re
a
l
-
T
i
m
e
Driv
in
g
C
y
c
le
M
e
a
su
re
m
e
n
ts
o
f
Ultra
f
in
e
P
a
rti
c
le
Em
is
sio
n
s
f
ro
m
Tw
o
W
h
e
e
lers
a
n
d
Co
m
p
a
riso
n
w
it
h
P
a
ss
e
n
g
e
r
Ca
rs
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
A
u
to
m
o
ti
v
e
T
e
c
h
n
o
lo
g
y
,
v
o
l.
1
5
,
p
p
.
1
0
5
3
-
1
0
6
1
,
2
0
1
4
.
[3
]
G
.
H.
T
z
e
n
g
a
n
d
J.
J.
C
h
e
n
,
“
De
v
e
lo
p
m
e
n
t
o
f
T
a
ip
ie
m
o
to
r
c
y
c
le
d
riv
in
g
c
y
c
le
f
o
r
e
m
issio
n
a
n
d
f
u
e
l
e
c
o
n
o
m
y
,”
T
ra
n
sp
o
rta
ti
o
n
Res
e
a
rc
h
P
a
rt D
,
v
o
l.
3
,
p
p
.
1
9
-
2
7
,
1
9
9
8
.
[4
]
A
.
Ge
e
th
a
a
n
d
C.
S
u
b
ra
m
a
n
i,
“
An
id
e
a
f
o
r
stu
d
e
n
ts
p
ro
jec
t
w
o
rk
:
En
e
rg
y
m
a
n
a
g
e
m
e
n
t
in
h
y
b
rid
iza
ti
o
n
o
f
e
n
e
rg
y
so
u
rc
e
s
f
o
r
t
ra
n
sp
o
rtatio
n
a
p
p
li
c
a
ti
o
n
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
Ed
u
c
a
ti
o
n
,
De
c
2
0
1
8
.
Av
a
il
a
b
le:
h
tt
p
s://
d
o
i.
o
rg
/
1
0
.
1
1
7
7
/0
0
2
0
7
2
0
9
1
8
8
1
5
9
9
6
.
[5
]
V
.
P
a
re
k
h
a
n
d
V
.
S
h
a
h
,
“
M
e
a
su
re
m
e
n
t
a
n
d
A
n
a
ly
sis
o
f
In
d
ian
Ro
a
d
Driv
e
Cy
c
le
s
f
o
r
Eff
ici
e
n
t
a
n
d
Ec
o
n
o
m
ic
De
sig
n
o
f
HEV
Co
m
p
o
n
e
n
t,
”
W
o
rld
El
e
c
tric V
e
h
icle
J
o
u
rn
a
l
,
v
o
l
.
7
,
p
p
.
1
-
1
2
,
2
0
1
5
.
[6
]
X
.
Zh
a
n
g
,
e
t
a
l.
,
“
A
S
y
n
th
e
sis
o
f
M
e
th
o
d
o
lo
g
ies
a
n
d
P
ra
c
ti
c
e
s
f
o
r
De
v
e
lo
p
in
g
Driv
in
g
C
y
c
l
e
s,”
En
e
rg
y
Pro
c
e
d
ia
,
v
o
l.
1
6
,
p
p
.
1
8
6
3
-
1
8
7
3
,
2
0
1
2
.
[7
]
G
.
Za
m
b
o
n
i,
e
t
a
l
.
,
“
On
-
Ro
a
d
In
sta
n
tan
e
o
u
s
S
p
e
e
d
M
e
a
su
re
m
e
n
ts
o
n
P
o
w
e
re
d
Tw
o
-
W
h
e
e
l
e
rs
f
o
r
Ex
h
a
u
st
Em
issio
n
s a
n
d
F
u
e
l
Co
n
su
m
p
ti
o
n
E
v
a
lu
a
ti
o
n
,
”
En
e
rg
y
,
v
o
l.
3
6
,
p
p
.
1
0
3
9
-
1
0
4
7
,
2
0
1
1
.
[8
]
Krith
ik
a
V
.
a
n
d
S
u
b
ra
m
a
n
i
C.
,
“
A
c
o
m
p
re
h
e
n
siv
e
re
v
ie
w
o
n
c
h
o
ice
o
f
h
y
b
rid
v
e
h
icle
s
a
n
d
p
o
w
e
r
c
o
n
v
e
rters
,
c
o
n
tro
l
stra
teg
ies
f
o
r
h
y
b
rid
e
lec
tri
c
v
e
h
icle
s
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
En
e
rg
y
Res
e
a
rc
h
,
v
o
l.
4
2
,
pp.
1
7
8
9
-
1
8
1
2
,
2
0
1
8
.
[9
]
M
.
S
taa
c
k
m
a
n
n
,
e
t
a
l.
,
“
D
y
n
a
m
ic
d
riv
in
g
c
y
c
le
a
n
a
l
y
s
e
s
u
sin
g
e
lec
tri
c
v
e
h
icle
ti
m
e
-
s
e
ries
d
a
t
a
,
”
In
ter
so
c
iety
En
e
rg
y
Co
n
v
e
rs
io
n
E
n
g
i
n
e
e
rin
g
Co
n
fer
e
n
c
e
,
IECE
C
1
9
9
7
.
T
h
irty
-
se
c
o
n
d
A
n
n
u
a
l
IEE
E
,
p
p
.
2
0
1
4
-
2
0
1
8
,
1
9
9
7
.
[1
0
]
T
.
D.
Ch
a
n
a
n
d
K.
T
.
Ch
a
u
,
“
M
o
d
e
rn
e
lec
tri
c
v
e
h
icle
tec
h
n
o
l
o
g
y
,
”
1
st
e
d
.
,
Ox
f
o
rd
Un
iv
e
rsity
P
re
ss
,
2
0
0
1
.
[1
1
]
M
.
Ka
m
a
c
h
i
,
e
t
a
l.
,
“
De
v
e
lo
p
m
e
n
t
o
f
p
o
w
e
r
m
a
n
a
g
e
m
e
n
t
sy
ste
m
f
o
r
e
lec
tri
c
v
e
h
icle
“
i
-
M
iE
V
”
,
”
In
ter
n
a
ti
o
n
a
l
Po
we
r
e
lec
tro
n
ics
c
o
n
fer
e
n
c
e
,
IP
EC
2
0
1
0
.
A
n
n
u
a
l
I
EE
E
,
p
p
.
2
9
4
9
-
2
9
5
5
,
2
0
1
0
.
[1
2
]
H.
S
a
n
g
h
p
riy
a
,
e
t
a
l
.,
“
De
v
e
lo
p
m
e
n
t
o
f
re
a
l
-
w
o
rld
d
riv
in
g
c
y
c
l
e
:
Ca
se
stu
d
y
o
f
P
u
n
e
,
In
d
ia,
”
T
ra
n
sp
o
rta
ti
o
n
Res
e
a
rc
h
Pa
rt D:
T
r
a
n
s
p
o
rt
a
n
d
En
v
iro
n
me
n
t
,
v
o
l.
1
4
,
p
p
.
1
3
2
-
1
4
0
,
2
0
0
9
.
[1
3
]
V
.
K.
A
n
a
n
d
,
e
t
a
l
.,
“
G
P
S
b
a
s
e
d
m
e
th
o
d
o
l
o
g
y
f
o
r
d
riv
e
c
y
c
le
d
e
term
in
a
ti
o
n
,
”
S
A
E
T
ra
n
sa
c
ti
o
n
s
,
v
o
l
.
1
1
4
,
p
p
.
2
3
3
-
2
3
9
,
2
0
0
5
.
[1
4
]
A
.
E
.
Bo
o
t
h
,
e
t
a
l
.,
“
A
re
v
ie
w
o
f
v
e
h
icu
lar
e
m
i
ss
io
n
m
o
d
e
ls
a
n
d
d
riv
in
g
c
y
c
l
e
s,”
Pro
c
e
e
d
in
g
s
o
f
t
h
e
In
stit
u
ti
o
n
o
f
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rs
:
Pa
rt C:
J
o
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
S
c
ien
c
e
,
v
o
l
.
2
1
6
,
p
p
.
7
7
7
-
7
9
7
,
2
0
0
2
.
[1
5
]
U.
G
a
l
g
a
m
u
w
a
,
e
t
a
l.
,
“
De
v
e
lo
p
in
g
a
G
e
n
e
ra
l
M
e
th
o
d
o
l
o
g
y
f
o
r
Driv
in
g
C
y
c
le
Co
n
stru
c
ti
o
n
:
Co
m
p
a
riso
n
o
f
V
a
rio
u
s
Estab
l
ish
e
d
Driv
i
n
g
Cy
c
les
in
th
e
W
o
rl
d
t
o
P
r
o
p
o
se
a
G
e
n
e
r
a
l
A
p
p
ro
a
c
h
,
”
J
o
u
rn
a
l
o
f
T
ra
n
sp
o
rta
ti
o
n
T
e
c
h
n
o
l
o
g
ies
,
v
o
l.
5
,
p
p
.
1
9
1
-
2
0
3
,
2
0
1
5
.
[1
6
]
H.
Y.
T
o
n
g
,
e
t
a
l.
,
“
De
v
e
lo
p
m
e
n
t
o
f
a
d
riv
in
g
c
y
c
l
e
f
o
r
Ho
n
g
Ko
n
g
,
”
At
mo
sp
h
e
ric
En
v
iro
n
me
n
t
,
v
o
l.
3
3
,
p
p
.
2
3
2
3
-
2
3
3
5
,
1
9
9
9
.
[1
7
]
M.
Erg
e
n
e
m
a
n
,
e
t
a
l
.
,
“
De
v
e
lo
p
m
e
n
t
o
f
a
d
riv
in
g
c
y
c
le
f
o
r
th
e
p
re
d
icti
o
n
o
f
p
o
ll
u
ta
n
t
e
m
is
sio
n
s
a
n
d
f
u
e
l
c
o
n
su
m
p
ti
o
n
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ve
h
icle
De
sig
n
,
v
o
l.
1
8
,
p
p
.
3
9
1
-
3
9
9
,
1
9
9
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.