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d
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Field
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th
p
ass
ag
e
o
f
e
m
er
g
e
n
c
y
v
e
h
icles
[
7
]
.
T
h
ese
e
m
er
g
e
n
c
y
v
e
h
icle
s
r
eq
u
ir
e
a
s
y
s
te
m
t
h
at
w
il
l
allo
w
t
h
e
m
to
cr
o
s
s
th
e
t
r
a
f
f
ic
li
g
h
ts
s
af
el
y
a
n
d
w
it
h
o
u
t
d
ela
y
[
8
]
.
B
ad
ir
u
za
m
an
e
t
a
l.
[
8
]
p
u
b
lis
h
ed
a
r
esear
ch
ar
ticle
t
h
at
r
ev
ie
w
s
th
e
p
er
f
o
r
m
a
n
ce
o
f
e
m
er
g
e
n
c
y
r
esp
o
n
s
e
tea
m
s
(
E
R
T
)
in
Ma
la
y
s
ia.
E
x
is
tin
g
e
m
er
g
e
n
c
y
v
e
h
icle
p
r
io
r
ities
s
y
s
te
m
in
Ma
la
y
s
ia
u
n
ab
le
to
allev
iate
tr
af
f
ic
co
n
g
esti
o
n
is
s
u
es
[
8
]
,
[
9
]
.
T
h
e
ar
ticle
p
u
t
f
o
r
w
ar
d
a
r
ec
o
m
m
en
d
at
io
n
to
en
h
a
n
ce
th
e
e
m
er
g
e
n
c
y
r
esp
o
n
s
e
s
y
s
te
m
,
w
it
h
t
h
e
g
o
al
o
f
aid
in
g
e
m
er
g
en
c
y
p
r
o
v
id
er
s
in
m
ee
t
in
g
in
t
er
n
atio
n
al
s
ta
n
d
ar
d
s
f
o
r
e
m
er
g
e
n
c
y
r
esp
o
n
s
e
ti
m
e
s
[
8
]
.
T
h
e
is
s
u
e
o
f
e
m
er
g
e
n
c
y
v
e
h
icles
b
ein
g
o
b
s
tr
u
cted
m
a
y
b
e
av
o
id
ed
b
y
estab
lis
h
in
g
a
tr
af
f
ic
li
g
h
t
s
y
s
t
e
m
th
a
t
h
as
t
h
e
ca
p
ab
ilit
y
o
f
d
etec
tin
g
e
m
er
g
e
n
c
y
v
e
h
icle
s
an
d
co
n
tr
o
llin
g
th
e
tr
af
f
ic
lig
h
t
co
n
d
it
io
n
s
.
T
h
er
e
ar
e
a
lo
ts
o
f
r
esear
ch
o
n
th
e
tr
af
f
ic
l
ig
h
t
c
o
n
tr
o
ller
i
n
v
e
s
t
ig
ated
f
o
r
m
u
lt
ip
le
j
u
n
ctio
n
s
tr
af
f
ic
li
g
h
t s
u
ch
as t
h
r
ee
-
j
u
n
ctio
n
s
(
T
-
j
u
n
ctio
n
)
[
1
0
]
–
[
1
2
]
an
d
f
o
u
r
-
j
u
n
ctio
n
s
[
1
3
]
–
[
1
9
]
.
I
n
2
0
2
1
,
Sh
a
m
s
u
d
d
in
et
a
l.
[
2
0
]
p
u
b
lis
h
ed
a
r
esear
ch
p
ap
er
ab
o
u
t
tr
af
f
ic
li
g
h
t
co
n
tr
o
ller
(
T
L
C
)
u
s
i
n
g
DE
-
1
0
Nan
o
in
te
g
r
ated
w
it
h
E
SP
8
2
6
6
W
i
-
Fi
m
o
d
u
le
f
o
r
in
ter
n
et
o
f
th
i
n
g
s
(
I
o
T
)
im
p
le
m
en
ta
tio
n
.
T
h
e
co
n
tr
o
ller
d
etec
ts
e
m
er
g
e
n
c
y
v
eh
ic
le
u
s
i
n
g
a
u
d
io
an
d
v
id
eo
,
w
h
ile
e
m
er
g
en
c
y
v
e
h
icle
d
r
iv
er
ca
n
v
ie
w
t
h
e
in
ter
s
ec
tio
n
s
tat
u
s
u
s
in
g
B
l
y
n
k
A
p
p
s
to
g
u
id
e
d
r
iv
er
eit
h
er
s
av
e
to
p
ass
th
r
o
u
g
h
t
h
e
i
n
ter
s
ec
tio
n
o
r
n
o
t.
Ho
w
e
v
er
,
th
e
d
etails
o
n
h
o
w
th
e
au
d
io
an
d
v
id
eo
d
etec
tio
n
f
o
r
em
er
g
en
c
y
v
eh
icle
i
s
n
o
t
clea
r
ly
p
r
ese
n
ted
.
Han
an
d
L
in
[
2
1
]
h
as
d
ev
e
lo
p
ed
an
in
tellig
e
n
t
tr
a
f
f
ic
l
ig
h
t
co
n
tr
o
ller
(
I
T
L
C
)
u
s
in
g
Ver
ilo
g
h
ar
d
w
ar
e
d
escr
ip
tio
n
lan
g
u
a
g
e
(
Ver
ilo
g
HDL
)
t
h
at
s
av
e
s
ti
m
e
b
y
d
is
p
er
s
in
g
s
i
g
n
al
ti
m
in
g
b
ased
o
n
r
o
ad
w
id
t
h
.
Ho
w
e
v
er
,
th
er
e
is
n
o
p
r
o
v
is
io
n
to
d
etec
t
th
e
p
r
ese
n
ce
o
f
an
a
m
b
u
la
n
ce
to
e
n
s
u
r
e
s
m
o
o
th
a
m
b
u
lan
ce
tr
an
s
p
o
r
tatio
n
.
Dilip
et
a
l.
[
2
2
]
d
ev
elo
p
ed
an
in
n
o
v
at
iv
e
tr
af
f
ic
lig
h
t
co
n
tr
o
ller
b
ased
o
n
f
ield
p
r
o
g
r
a
m
m
ab
l
e
g
ate
ar
r
a
y
(
FP
G
A
)
t
h
at
co
n
tr
o
ls
tr
af
f
i
c
li
g
h
t
s
b
ased
o
n
tr
af
f
i
c
d
en
s
it
y
.
T
h
is
p
ap
er
,
h
o
w
e
v
e
r
,
d
o
es
n
o
t
p
r
o
v
id
e
an
ac
ce
p
tab
le
d
u
r
atio
n
f
o
r
th
e
g
r
ee
n
s
i
g
n
al
d
ep
en
d
in
g
o
n
t
h
e
d
en
s
it
y
.
A
co
n
d
itio
n
f
o
r
t
w
o
o
r
m
o
r
e
r
o
ad
s
h
av
e
th
e
s
a
m
e
v
o
lu
m
e
o
f
tr
af
f
ic
w
a
s
n
o
t
f
u
ll
y
co
n
s
id
er
ed
.
Sab
r
i
et
a
l.
[
6
]
h
as
cr
ea
ted
a
tr
af
f
ic
lig
h
t
co
n
tr
o
ller
s
y
s
te
m
t
h
at
u
tili
s
es
FP
G
A
tech
n
o
lo
g
y
to
co
n
tr
o
l
an
d
allo
ca
t
e
ef
f
ec
ti
v
e
p
er
io
d
s
o
f
tim
e
to
v
ar
io
u
s
u
s
er
s
w
it
h
th
e
g
o
al
o
f
r
ed
u
cin
g
o
r
eli
m
in
atin
g
d
if
f
ic
u
ltie
s
at
j
u
n
ctio
n
s
.
T
h
e
s
y
s
te
m
r
ep
r
esen
t
s
a
s
li
g
h
t
ad
v
an
ce
o
v
er
t
h
e
cu
r
r
en
t
b
asic
f
i
x
ed
-
ti
m
e
ap
p
r
o
ac
h
tr
af
f
ic
li
g
h
t
co
n
tr
o
ller
,
it
o
n
l
y
co
n
v
er
ts
to
a
f
le
x
ib
le
-
ti
m
e
b
ased
tr
af
f
ic
lig
h
t.
Sin
g
h
an
d
Dan
ie
l
[
2
3
]
cr
ea
ted
an
FP
GA
i
m
p
le
m
e
n
tatio
n
o
f
a
2
4
-
h
o
u
r
ad
v
an
ce
d
tr
a
f
f
ic
li
g
h
t
co
n
tr
o
ller
s
y
s
te
m
b
ased
o
n
r
o
ad
in
ter
s
ec
tio
n
co
n
g
e
s
tio
n
.
Ho
w
ev
er
,
th
e
tec
h
n
o
lo
g
y
to
d
etec
t
tr
af
f
ic
an
d
allo
ca
te
tim
e
f
o
r
ea
ch
s
ig
n
al
at
tr
a
f
f
ic
l
ig
h
t
s
w
as n
o
t
p
r
esen
ted
.
T
h
e
ti
m
e
zo
n
e
is
al
s
o
b
ased
o
n
ass
u
m
p
tio
n
s
.
Hu
m
a
y
u
n
et
a
l.
[
2
4
]
in
tr
o
d
u
ce
d
an
e
m
er
g
en
c
y
v
eh
ic
le
m
a
n
ag
e
m
e
n
t
s
o
l
u
tio
n
(
E
VM
S)
t
h
at
u
tili
ze
s
I
o
T
s
en
s
o
r
s
,
GP
S,
5
G,
an
d
cl
o
u
d
co
m
p
u
t
in
g
to
d
eter
m
i
n
e
an
ef
f
icie
n
t
v
eh
icle
-
p
a
s
s
i
n
g
s
e
q
u
en
ce
,
p
r
io
r
itizin
g
e
m
er
g
e
n
c
y
v
e
h
icle
s
at
j
u
n
ct
io
n
s
to
m
in
i
m
ize
d
ela
y
s
wh
ile
m
i
n
i
m
izi
n
g
t
h
e
i
m
p
ac
t
o
n
r
eg
u
lar
tr
a
f
f
ic.
Ho
s
s
ei
n
za
d
eh
et
a
l.
[
2
5
]
p
r
esen
t
s
a
tr
af
f
ic
co
n
tr
o
l
s
ch
e
m
e,
w
it
h
b
o
th
ce
n
tr
alize
d
an
d
d
ec
en
tr
alize
d
ap
p
r
o
ac
h
es.
T
h
e
r
esear
ch
aim
ed
at
m
iti
g
ati
n
g
co
n
g
esti
o
n
in
a
n
e
t
w
o
r
k
o
f
i
n
ter
co
n
n
ec
ted
lan
es
/r
o
ad
s
,
p
r
io
r
itizin
g
ef
f
icie
n
t
r
o
u
ti
n
g
f
o
r
em
er
g
en
c
y
v
e
h
icle
s
,
an
d
th
r
o
u
g
h
s
i
m
u
lat
io
n
s
,
d
e
m
o
n
s
tr
ate
s
s
ig
n
i
f
ica
n
t
r
ed
u
ctio
n
s
i
n
e
m
er
g
en
c
y
v
e
h
i
cle
tr
av
el
ti
m
e
s
o
f
u
p
to
5
0
%
f
o
r
th
e
ce
n
tr
alize
d
s
c
h
e
m
e
a
n
d
u
p
to
3
0
%
f
o
r
th
e
d
ec
en
tr
alize
d
s
ch
e
m
e
w
ith
o
u
t
ca
u
s
i
n
g
co
n
g
es
tio
n
i
n
o
th
er
lan
es.
T
h
is
p
ap
er
in
tr
o
d
u
ce
s
E
MV
lig
h
t
,
a
d
ec
en
tr
alize
d
r
ein
f
o
r
ce
m
e
n
t
l
ea
r
n
in
g
f
r
a
m
e
w
o
r
k
t
h
at
s
i
m
u
l
tan
eo
u
s
l
y
o
p
ti
m
izes
d
y
n
a
m
ic
r
o
u
tin
g
an
d
tr
af
f
ic
s
ig
n
al
co
n
tr
o
l
f
o
r
e
m
er
g
e
n
c
y
v
eh
icle
s
in
r
ea
l
ti
m
e,
s
ig
n
i
f
i
ca
n
tl
y
r
ed
u
c
in
g
tr
av
el
ti
m
es
f
o
r
b
o
th
e
m
er
g
e
n
c
y
v
eh
ic
les
an
d
n
o
n
-
e
m
er
g
e
n
c
y
v
eh
ic
les
w
h
i
le
o
u
tp
er
f
o
r
m
i
n
g
tr
ad
itio
n
al
tr
an
s
p
o
r
tatio
n
en
g
in
ee
r
in
g
tech
n
iq
u
e
s
an
d
ex
is
tin
g
r
ein
f
o
r
ce
m
e
n
t le
a
r
n
in
g
-
b
ased
s
i
g
n
al
co
n
tr
o
l
m
et
h
o
d
s
in
e
x
p
er
i
m
e
n
ts
[
2
6
]
.
I
n
th
i
s
p
ap
er
,
a
s
m
ar
t
tr
af
f
ic
lig
h
t
co
n
tr
o
ller
w
it
h
e
m
er
g
e
n
c
y
v
eh
ic
le
d
etec
tio
n
is
d
esi
g
n
ed
u
s
i
n
g
Ver
ilo
g
HD
L
a
n
d
i
m
p
le
m
e
n
te
d
o
n
A
l
ter
a
DE
2
-
1
1
5
FP
GA
.
FP
GA
i
s
s
u
p
er
io
r
to
m
icr
o
co
n
tr
o
ller
in
t
er
m
s
o
f
in
p
u
t
an
d
o
u
tp
u
t
p
o
r
t
c
o
u
n
t,
im
p
r
o
v
ed
p
er
f
o
r
m
a
n
ce
,
h
i
g
h
s
p
ee
d
,
an
d
d
esig
n
f
le
x
ib
ilit
y
[
2
2
]
.
T
h
is
d
esig
n
ed
s
y
s
te
m
d
etec
t
s
a
s
in
g
le
e
m
er
g
en
c
y
v
eh
ic
le
at
a
f
o
u
r
-
w
a
y
tr
a
f
f
ic
lig
h
t
i
n
ter
s
ec
tio
n
an
d
co
n
t
r
o
ls
th
e
tr
af
f
ic
lig
h
t
co
n
d
itio
n
s
f
o
r
s
m
o
o
th
tr
a
f
f
i
c
f
lo
w
.
T
h
e
d
esig
n
’
s
f
u
n
cti
o
n
alit
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I
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I
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2.
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th
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s
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u
r
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ased
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t
w
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th
r
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T
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it
co
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ter
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-
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
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f
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I
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N:
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4864
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ased
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u
r
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d
1
co
r
r
esp
o
n
d
to
No
r
th
L
a
n
e,
I
R
b
its
2
an
d
3
co
r
r
esp
o
n
d
to
E
ast
L
a
n
e,
I
R
b
its
4
a
n
d
5
co
r
r
esp
o
n
d
to
So
u
th
L
an
e,
a
n
d
I
R
b
its
6
an
d
7
co
r
r
esp
o
n
d
to
W
est L
an
e.
T
ab
le
2
.
I
R
an
d
R
FID
b
its
s
eg
m
en
tatio
n
ac
co
r
d
in
g
to
lan
e
I
n
p
u
t
si
g
n
a
l
s
B
i
t
s
se
g
me
n
t
a
t
i
o
n
(
b
y
L
a
n
e
)
W
e
st
L
a
n
e
S
o
u
t
h
L
a
n
e
Ea
st
L
a
n
e
N
o
r
t
h
L
a
n
e
8
-
b
i
t
s I
R
IR
[
7
]
IR
[
6
]
IR
[
5
]
IR
[
4
]
IR
[
3
]
IR
[
2
]
IR
[
1
]
IR
[
0
]
4
-
b
i
t
s
R
F
I
D
R
F
I
D
[
3
]
R
F
I
D
[
2
]
R
F
I
D
[
1
]
R
F
I
D
[
0
]
Fig
u
r
e
3
d
ep
icts
th
e
p
r
o
j
ec
t'
s
f
lo
w
c
h
ar
t.
T
h
is
f
lo
w
ch
ar
t
s
h
o
w
s
t
h
e
p
r
o
j
ec
t'
s
o
p
er
atin
g
f
l
o
w
,
w
h
ic
h
b
eg
in
s
w
it
h
d
etec
tin
g
th
e
R
FI
D
tag
(
e
m
er
g
en
c
y
v
e
h
icle
i
n
s
t
alled
w
it
h
R
FID
tag
)
at
all
lan
es,
b
eg
in
n
i
n
g
w
i
t
h
No
r
th
,
f
o
llo
w
ed
b
y
E
ast,
So
u
t
h
,
an
d
f
i
n
all
y
W
est.
T
h
e
p
r
esen
ce
o
f
an
e
m
er
g
en
c
y
v
e
h
icle
w
il
l
b
e
d
etec
ted
b
y
an
R
FID
r
ea
d
er
.
I
f
a
n
R
FID
r
ea
d
er
d
etec
ted
em
er
g
e
n
c
y
v
e
h
icle
at
o
n
e
la
n
e,
th
e
tr
af
f
ic
li
g
h
t
f
o
r
th
e
d
etec
ted
lan
e
w
i
ll
t
u
r
n
g
r
ee
n
f
o
r
5
0
s
e
co
n
d
s
an
d
th
e
o
th
er
la
n
es
w
il
l
tu
r
n
r
ed
f
o
r
th
e
s
a
m
e
p
er
io
d
.
I
f
n
o
e
m
er
g
e
n
c
y
v
eh
ic
le
is
p
r
esen
t,
th
e
tr
af
f
ic
li
g
h
t
co
n
tr
o
ller
w
ill
co
n
tr
o
l
th
e
tr
af
f
ic
lig
h
t
co
n
d
itio
n
b
ased
o
n
th
e
tr
af
f
ic
d
en
s
it
y
(
d
etec
ted
u
s
in
g
I
R
s
e
n
s
o
r
s
)
.
E
ac
h
lan
e
h
a
s
in
s
talled
w
i
th
t
wo
I
R
s
en
s
o
r
s
.
A
s
i
n
d
icate
d
in
T
ab
le
1
,
th
e
n
u
m
b
e
r
o
f
ac
tiv
a
ted
I
R
s
e
n
s
o
r
s
o
n
ea
c
h
lan
e
i
n
d
icate
th
e
tr
af
f
ic
d
en
s
it
y
an
d
ar
e
u
s
ed
to
d
eter
m
in
e
t
h
e
ti
m
in
g
d
u
r
atio
n
o
f
th
e
g
r
ee
n
li
g
h
t
f
o
r
th
e
lan
e.
T
h
e
d
u
r
atio
n
o
f
th
e
g
r
ee
n
lig
h
t
o
n
a
h
ig
h
tr
af
f
ic
d
en
s
it
y
is
3
0
s
ec
o
n
d
s
,
w
h
i
le
o
n
a
lo
w
tr
af
f
ic
d
en
s
it
y
i
t
is
1
5
s
ec
o
n
d
s
.
I
f
th
e
No
r
th
tr
a
f
f
ic
lig
h
t
lan
e
h
a
s
a
h
i
g
h
tr
a
f
f
ic
d
e
n
s
it
y
,
th
e
No
r
th
tr
a
f
f
ic
lig
h
t
lan
e
w
i
ll
t
u
r
n
g
r
ee
n
f
o
r
3
0
s
ec
o
n
d
s
an
d
th
e
o
th
er
lan
e
s
w
ill
t
u
r
n
r
ed
f
o
r
th
e
s
a
m
e
le
n
g
t
h
o
f
t
i
m
e.
I
f
t
h
e
No
r
th
tr
af
f
ic
li
g
h
t
lan
e
h
as
a
l
o
w
tr
af
f
ic
d
en
s
it
y
,
th
e
No
r
th
tr
af
f
ic
lig
h
t
lan
e
w
ill
t
u
r
n
g
r
ee
n
f
o
r
1
5
s
ec
o
n
d
s
an
d
th
e
o
th
er
la
n
es
w
ill
t
u
r
n
r
ed
f
o
r
th
e
s
a
m
e
le
n
g
th
o
f
ti
m
e.
T
h
en
,
if
th
e
No
r
th
la
n
e
is
e
m
p
t
y
,
t
h
e
I
R
s
en
s
o
r
s
w
il
l
ex
a
m
in
e
t
h
e
f
o
llo
w
in
g
lan
e.
T
h
e
ch
ec
k
in
g
o
r
d
er
s
tar
t
f
r
o
m
No
r
t
h
,
th
en
E
ast,
th
e
n
So
u
th
,
an
d
f
in
a
ll
y
W
est.
Up
o
n
co
m
p
letio
n
o
f
ea
ch
ac
tio
n
,
th
e
s
y
s
te
m
w
il
l
co
n
ti
n
u
o
u
s
l
y
lo
o
p
b
ac
k
to
th
e
R
FI
D
r
ea
d
er
d
etec
tio
n
,
in
d
icati
n
g
t
h
at
it i
s
co
n
ti
n
u
o
u
s
l
y
m
o
n
ito
r
th
e
p
r
ese
n
ce
o
f
e
m
er
g
en
c
y
v
e
h
icle.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
,
Vo
l.
14
,
No
.
1
,
Ma
r
c
h
2
0
2
5
:
48
-
59
52
Fig
u
r
e
3
.
Flo
w
c
h
ar
t o
f
s
m
ar
t t
r
af
f
ic
l
ig
h
t
co
n
tr
o
ller
f
o
r
e
m
er
g
en
c
y
v
e
h
icle
d
etec
tio
n
FS
Ms
ar
e
s
eq
u
e
n
tial
cir
cu
its
u
s
ed
in
a
w
id
e
r
an
g
e
o
f
d
ig
ital
s
y
s
te
m
s
to
m
a
n
ag
e
s
y
s
te
m
b
e
h
av
io
r
an
d
d
ata
f
lo
w
r
o
u
tes
[
2
7
]
,
[
2
8
]
.
T
h
e
FS
M
e
m
p
lo
y
ed
in
d
es
ig
n
i
n
g
th
e
FS
M
o
p
er
atio
n
s
u
b
-
m
o
d
u
le
is
r
esp
o
n
s
ib
le
f
o
r
d
eter
m
i
n
in
g
a
n
d
s
to
r
i
n
g
th
e
o
p
er
atio
n
s
tates.
F
ig
u
r
e
4
illu
s
tr
ates
t
h
e
F
SM
f
o
r
th
e
s
m
ar
t
tr
af
f
ic
l
ig
h
t
co
n
tr
o
ller
.
T
h
e
o
p
er
atio
n
s
tar
ts
in
t
h
e
ch
ec
k
R
FID
s
ta
te.
I
f
an
e
m
er
g
e
n
c
y
v
eh
ic
le
(
E
V)
is
d
etec
ted
(
R
FID
≠
0
0
0
0
)
,
th
e
lan
e
w
it
h
t
h
e
E
V
is
tu
r
n
ed
g
r
ee
n
f
o
r
at
least 5
0
s
ec
o
n
d
s
.
On
ce
t
h
e
5
0
s
ec
o
n
d
s
h
a
v
e
elap
s
ed
,
an
d
if
th
e
E
V
is
n
o
lo
n
g
er
d
etec
ted
,
th
e
lig
h
t
tr
a
n
s
it
io
n
s
to
y
ello
w
f
o
r
5
s
ec
o
n
d
s
b
ef
o
r
e
r
etu
r
n
i
n
g
to
th
e
ch
ec
k
R
FID
s
tate.
I
f
n
o
E
V
is
d
etec
ted
(
R
FID
=0
0
0
0
)
,
th
e
s
y
s
te
m
m
o
v
es
to
th
e
c
h
ec
k
I
R
s
t
ate.
Her
e,
tr
af
f
ic
is
ev
alu
a
ted
s
eq
u
en
tia
ll
y
f
o
r
th
e
No
r
th
(
N)
,
E
ast
(
E
)
,
So
u
th
(
S),
an
d
W
est
(
W
)
lan
es.
Dep
en
d
in
g
o
n
tr
af
f
ic
d
en
s
it
y
,
th
e
g
r
ee
n
l
i
g
h
t
is
ac
t
iv
ated
f
o
r
eit
h
er
3
0
s
ec
o
n
d
s
(
f
o
r
lo
w
tr
a
f
f
ic
d
en
s
it
y
)
o
r
1
5
s
ec
o
n
d
s
(
f
o
r
h
ig
h
tr
af
f
ic
d
en
s
it
y
)
.
A
f
ter
t
h
e
d
esi
g
n
ated
g
r
ee
n
li
g
h
t
d
u
r
atio
n
,
th
e
lan
e
tu
r
n
s
y
e
llo
w
f
o
r
5
s
ec
o
n
d
s
b
ef
o
r
e
r
ev
er
tin
g
to
th
e
ch
ec
k
R
FID
s
ta
te.
W
h
ile
a
lan
e
i
s
g
r
ee
n
,
th
e
R
FID
s
tatu
s
is
co
n
ti
n
u
o
u
s
l
y
m
o
n
it
o
r
ed
.
I
f
an
E
V
is
d
etec
ted
in
an
y
lan
e
d
u
r
i
n
g
t
h
is
p
er
io
d
,
th
e
cu
r
r
en
t
g
r
ee
n
la
n
e
w
ill
s
w
itc
h
to
y
ello
w
f
o
r
5
s
ec
o
n
d
s
an
d
r
etu
r
n
to
th
e
c
h
ec
k
R
FID
s
tate.
T
h
e
s
y
s
te
m
t
h
en
i
m
m
ed
iate
l
y
ac
tiv
ates
t
h
e
g
r
ee
n
lig
h
t
f
o
r
t
h
e
la
n
e
w
i
th
t
h
e
d
etec
ted
E
V,
en
s
u
r
in
g
th
a
t e
m
er
g
en
c
y
v
eh
ic
les al
w
a
y
s
r
ec
ei
v
e
p
r
io
r
ity
.
Fig
u
r
e
4
.
FS
M
o
f
s
m
ar
t tr
af
f
ic
lig
h
t c
o
n
tr
o
ller
f
o
r
e
m
er
g
en
c
y
v
eh
icle
d
etec
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
s
ma
r
t tra
ffic lig
h
t c
o
n
tr
o
ller
w
ith
…
(
N
o
r
S
h
a
h
a
n
im
Mo
h
a
ma
d
Ha
d
is
)
53
As
d
ep
icted
in
Fig
u
r
e
5
,
th
e
h
ar
d
w
ar
e
o
f
t
h
e
s
m
ar
t
tr
af
f
ic
lig
h
t
co
n
tr
o
ller
f
o
r
em
er
g
e
n
c
y
v
e
h
icle
d
etec
tio
n
is
i
m
p
le
m
en
ted
u
tili
zin
g
a
n
Alter
a
DE
2
-
1
1
5
b
o
a
r
d
.
On
a
b
r
ea
d
b
o
ar
d
,
f
o
u
r
tr
af
f
ic
lig
h
t
s
m
o
d
u
le
s
ar
e
attac
h
ed
to
t
h
e
FP
GA
b
o
ar
d
to
s
i
m
u
la
te
t
h
e
tr
a
f
f
i
c
li
g
h
t
c
o
n
tr
o
ller
at
a
f
o
u
r
-
w
a
y
tr
af
f
ic
lig
h
t
in
ter
s
ec
tio
n
,
n
a
m
e
l
y
No
r
th
,
E
ast,
W
est,
an
d
So
u
th
.
T
h
e
f
u
n
ctio
n
o
f
th
e
p
u
s
h
b
u
tto
n
is
to
r
eset
th
e
o
p
er
atio
n
.
S
w
itch
0
to
s
w
itc
h
7
o
n
th
e
b
o
ar
d
ar
e
u
s
ed
to
r
ep
r
esen
t
eig
h
t
I
R
s
e
n
s
o
r
i
n
p
u
t
s
,
w
h
er
ea
s
s
w
itc
h
1
4
t
o
s
w
itc
h
1
7
ar
e
u
s
ed
to
r
ep
r
esen
t
th
e
f
o
u
r
R
FID
in
p
u
t
s
.
On
e
p
u
s
h
b
u
tto
n
is
u
s
ed
as
r
eset
in
p
u
t
an
d
all
lig
h
t
s
(
led
s
)
ar
e
c
o
n
n
ec
ted
v
ia
4
0
p
in
GP
I
O
ex
p
an
s
io
n
h
ea
d
e
r
.
Fig
u
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ased
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u
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u
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last
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Fig
u
r
e
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d
e
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ate
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t r
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Fig
u
r
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.
R
an
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w
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Evaluation Warning : The document was created with Spire.PDF for Python.
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in
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er
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icle
s
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f
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as
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,
t
h
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f
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ill
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o
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n
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m
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af
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ic
s
eq
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e
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ce
(
No
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th
>
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as
t
>
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u
t
h
>
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est).
T
h
en
,
No
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th
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an
e
ta
k
e
t
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Fig
u
r
e
1
0
d
em
o
n
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ate
s
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r
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o
m
tr
af
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s
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y
(
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R
=
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0
0
1
1
)
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n
all
lan
es
w
it
h
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e
p
r
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ce
o
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icle
at
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ast
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(
R
FID
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1
0
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.
T
h
e
I
R
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itio
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icate
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th
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as
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it
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So
u
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h
a
s
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w
tr
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ic
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en
s
it
y
.
B
ef
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r
e
th
e
d
etec
tio
n
o
f
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m
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ates
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lled
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A
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2
6
9
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to
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ter
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to
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at
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s
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r
em
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ed
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m
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c
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v
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icle
to
p
ass
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j
u
n
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Fig
u
r
e
9
.
Hig
h
tr
a
f
f
ic
d
en
s
it
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o
n
all
lan
e
s
w
it
h
an
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icle
Fig
u
r
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1
0
.
R
an
d
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tr
af
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en
s
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y
o
n
all
lan
e
s
w
it
h
an
e
m
er
g
en
c
y
v
eh
icle
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
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r
ab
le
&
E
m
b
ed
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Sy
s
t
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l.
14
,
No
.
1
,
Ma
r
c
h
2
0
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5
:
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56
3
.
2
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rdwa
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P
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m
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e
nta
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n r
esu
lt
Fig
u
r
es
1
1
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d
1
2
s
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o
w
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tr
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n
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p
r
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Alter
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2
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ar
t
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t
in
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t
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n
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itio
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s
.
Fig
u
r
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s
1
1
(
a)
to
(
d
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d
em
o
n
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tr
ate
lo
w
tr
af
f
ic
d
en
s
i
t
y
o
n
all
l
an
e
s
(
I
R
=
0
1
0
1
0
1
0
1
)
w
it
h
o
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t
t
h
e
p
r
ese
n
ce
o
f
a
n
e
m
e
r
g
en
c
y
v
e
h
icle.
T
h
e
No
r
th
L
an
e
t
u
r
n
s
g
r
ee
n
f
o
r
1
5
s
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o
n
d
s
w
h
ile
t
h
e
o
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er
l
an
es
t
u
r
n
r
ed
as
in
Fig
u
r
e
1
1
(
a)
,
an
d
th
en
t
h
e
No
r
th
L
an
e
tu
r
n
s
y
ello
w
f
o
r
5
s
ec
o
n
d
s
w
h
ile
t
h
e
o
th
er
lan
e
s
r
e
m
ain
r
ed
as
i
n
Fi
g
u
r
e
1
1
(
b
)
.
T
h
e
E
ast
L
an
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t
h
e
n
g
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es
g
r
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n
f
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r
1
5
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n
d
s
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t
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r
th
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a
n
e
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r
n
s
r
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an
d
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r
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ai
n
i
n
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lan
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r
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m
ain
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ed
as
in
Fig
u
r
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1
1
(
c)
.
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h
en
,
E
ast
L
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t
u
r
n
s
y
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w
f
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r
5
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n
d
s
w
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n
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m
ai
n
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ed
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in
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g
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r
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d
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t,
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e
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ai
n
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la
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es r
e
m
ain
r
ed
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
1
1
.
T
r
af
f
ic
li
g
h
t c
o
n
d
iti
o
n
o
f
p
r
o
to
ty
p
e
f
o
r
I
R
=
0
1
0
1
0
1
0
1
an
d
R
FID
=
0000
;
(
a)
No
r
th
L
a
n
e
g
r
ee
n
,
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th
er
s
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e
r
ed
,
(
b
)
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r
th
L
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e
y
e
llo
w
,
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t
h
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s
la
n
e
r
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,
(
c)
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ast L
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n
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g
r
ee
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,
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th
er
s
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n
e
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ed
,
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d
(
d
)
E
ast
L
a
n
e
y
ello
w
,
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th
er
s
lan
e
r
ed
Fig
u
r
e
1
2
d
em
o
n
s
tr
ate
s
th
e
co
n
d
itio
n
f
o
r
lo
w
tr
af
f
ic
d
en
s
it
y
(
I
R
=
0
1
0
0
0
0
0
0
)
w
it
h
th
e
p
r
esen
ce
o
f
an
e
m
er
g
e
n
c
y
v
eh
icle
at
E
ast
L
an
e
(
R
FID
=
0
0
1
0
)
.
A
s
a
r
e
s
u
lt,
th
e
c
u
r
r
en
t
lan
e,
w
h
ic
h
is
th
e
So
u
t
h
L
a
n
e,
co
m
p
lete
s
its
g
r
ee
n
li
g
h
t
co
u
n
ti
n
g
an
d
b
ec
o
m
e
s
y
ello
w
f
o
r
5
s
ec
o
n
d
s
,
as
s
ee
n
in
Fig
u
r
e
1
2
(
a)
.
T
h
e
So
u
th
L
a
n
e
is
s
u
b
s
eq
u
e
n
tl
y
f
o
llo
w
e
d
b
y
t
h
e
W
est
L
a
n
e,
h
o
w
e
v
er
th
er
e
is
an
e
m
er
g
e
n
c
y
v
e
h
icl
e
in
th
e
E
as
t
L
a
n
e,
th
u
s
t
h
e
E
ast
L
a
n
e
t
u
r
n
s
g
r
ee
n
f
o
r
5
0
s
ec
o
n
d
s
w
h
ile
th
e
o
t
h
er
lan
e
s
t
u
r
n
r
ed
as
i
n
Fi
g
u
r
e
1
2
(
b
)
,
an
d
th
en
th
e
E
ast
g
r
ee
n
t
u
r
n
s
y
e
llo
w
f
o
r
5
s
ec
o
n
d
s
w
h
ile
t
h
e
o
t
h
er
lan
e
s
r
e
m
ai
n
r
ed
as
i
n
Fi
g
u
r
e
1
2
(
c)
.
Fig
u
r
es
1
2
(
a)
-
(
d
)
d
em
o
n
s
tr
ate
th
at
n
o
w
t
h
e
No
r
th
,
E
ast,
a
n
d
So
u
t
h
L
a
n
es
ar
e
n
o
w
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id
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a
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e
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,
w
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er
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s
o
n
l
y
th
e
W
est
L
an
e
h
a
s
v
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icles
p
r
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as
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e
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R
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w
0
1
0
0
0
0
0
0
.
T
h
er
e
is
n
o
R
FID
d
etec
tio
n
as
in
Fig
u
r
es
1
2
(
c)
an
d
(
d
)
b
ec
au
s
e
th
e
e
m
er
g
e
n
c
y
v
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h
icle
h
a
s
p
as
s
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,
s
o
th
at
a
f
ter
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E
a
s
t
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r
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T
R
F
I
D
[3]
R
F
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R
F
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[1]
R
F
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[0]
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[7]
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F
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[3]
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[2]
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[1]
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R
[0]
R
ES
ET
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
s
ma
r
t tra
ffic lig
h
t c
o
n
tr
o
ller
w
ith
…
(
N
o
r
S
h
a
h
a
n
im
Mo
h
a
ma
d
Ha
d
is
)
57
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
1
2
.
T
r
af
f
ic
li
g
h
t c
o
n
d
iti
o
n
o
f
p
r
o
to
ty
p
e
f
o
r
I
R
=
0
1
0
0
0
0
0
0
;
(
a
)
R
FID
=
0010
-
So
u
th
L
a
n
e
y
ello
w
,
o
th
er
s
lan
e
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ed
,
(
b
)
R
FID
=
0
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1
0
-
E
ast L
a
n
e
g
r
ee
n
,
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t
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,
(
c)
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FID
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0000
-
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a
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lo
w
,
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th
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d
(
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FID
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est L
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,
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th
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la
n
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ed
4.
CO
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SI
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n
co
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cl
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s
io
n
,
t
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e
Ver
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DL
-
d
esi
g
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a
n
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FP
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m
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ted
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RE
F
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R
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NC
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S
[
1
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M
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ET
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