I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l En
g
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
3
9
,
No
.
1
,
Ju
ly
2
0
2
5
,
p
p
.
1
31
~
1
38
I
SS
N:
2502
-
4
7
5
2
,
DOI
: 1
0
.
1
1
5
9
1
/ijeecs.v
3
9
.i
1
.
pp
1
31
-
1
38
131
J
o
ur
na
l ho
m
ep
a
g
e
:
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ttp
:
//ij
ee
cs.ia
esco
r
e.
co
m
Autono
mo
us
driv
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sy
stem an
d sy
stem ha
cking
p
ro
tect
io
n
using
V2X
c
o
mm
unica
tion
E
ug
ene
Rhee,
J
un
hee
Cho
D
e
p
a
r
t
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o
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e
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AB
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ticle
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to
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y:
R
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ed
Au
g
26
,
2
0
2
4
R
ev
is
ed
Feb
24
,
2
0
2
5
Acc
ep
ted
Mar
26
,
2
0
2
5
In
th
is
p
a
p
e
r,
a
n
e
w
a
u
to
n
o
m
o
u
s
d
riv
i
n
g
s
y
ste
m
is
p
ro
p
o
se
d
a
n
d
p
ro
b
lem
s
su
c
h
a
s
sy
ste
m
a
ti
c
e
rro
rs
th
a
t
m
a
y
o
c
c
u
r
i
n
th
e
a
u
to
n
o
m
o
u
s
d
ri
v
i
n
g
sy
ste
m
we
re
so
lv
e
d
th
r
o
u
g
h
v
e
h
icle
to
e
v
e
ry
t
h
in
g
(
V2
X
)
c
o
m
m
u
n
ica
ti
o
n
tec
h
n
o
l
o
g
y
.
I
n
t
h
e
a
c
tu
a
l
d
riv
i
n
g
e
n
v
ir
o
n
m
e
n
t,
a
c
c
id
e
n
ts
c
a
u
s
e
d
b
y
th
e
a
b
se
n
c
e
o
f
c
o
m
m
u
n
ica
ti
o
n
b
e
t
we
e
n
d
riv
e
rs
a
n
d
c
o
m
m
u
n
ica
ti
o
n
wi
t
h
in
fra
stru
c
tu
re
a
re
fre
q
u
e
n
t
ly
e
x
p
o
se
d
.
To
so
l
v
e
t
h
e
se
p
ro
b
lem
s,
a
s
y
ste
m
wa
s
e
sta
b
li
sh
e
d
th
a
t
li
n
k
e
d
V2
X
c
o
m
m
u
n
ica
ti
o
n
with
a
v
e
h
icle
sy
ste
m
.
In
o
r
d
e
r
to
p
re
d
ict
a
n
d
stu
d
y
h
o
w
t
h
is
tec
h
n
o
lo
g
y
w
o
rk
s
i
n
re
a
l
traffic
sit
u
a
ti
o
n
s,
it
re
q
u
ires
a
l
o
t
o
f
ti
m
e
,
m
a
n
p
o
we
r
,
a
n
d
fu
n
d
s
b
e
c
a
u
se
it
re
q
u
ires
b
u
il
d
i
n
g
a
n
e
n
v
iro
n
m
e
n
t
sim
il
a
r
to
re
a
l
traffic
situ
a
ti
o
n
s
a
n
d
u
sin
g
m
e
a
su
rin
g
e
q
u
ip
m
e
n
t
.
F
o
r
t
h
is
re
a
so
n
,
t
h
e
s
y
ste
m
wa
s
b
u
il
t
with
sim
p
le
m
o
d
e
l,
a
n
d
th
e
re
se
a
rc
h
wa
s
c
o
n
d
u
c
ted
th
r
o
u
g
h
sim
p
le
sim
u
latio
n
.
In
a
d
d
it
i
o
n
,
a
s
n
e
two
r
k
tec
h
n
o
l
o
g
y
a
n
d
se
n
si
n
g
tec
h
n
o
l
o
g
y
f
o
r
a
u
t
o
n
o
m
o
u
s
v
e
h
icle
s
d
e
v
e
lo
p
,
t
h
e
risk
o
f
h
a
c
k
in
g
is
a
ls
o
in
c
re
a
si
n
g
.
I
n
t
h
is
p
a
p
e
r,
v
a
ri
o
u
s
e
x
p
e
c
ted
a
tt
a
c
k
p
a
th
s
a
n
d
m
e
t
h
o
d
s
t
h
a
t
c
a
n
h
a
c
k
a
u
t
o
n
o
m
o
u
s
v
e
h
icle
s
a
re
e
x
p
l
a
in
e
d
,
a
n
d
m
e
th
o
d
s f
o
r
d
e
fe
n
d
in
g
t
h
e
m
a
re
p
re
se
n
ted
.
K
ey
w
o
r
d
s
:
Au
to
n
o
m
o
u
s
d
r
iv
in
g
C
o
m
m
u
n
icatio
n
Netwo
r
k
Sy
s
tem
h
ac
k
in
g
V2
X
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
J
u
n
h
ee
C
h
o
Dep
ar
tm
en
t o
f
E
lectr
o
n
ic
E
n
g
in
ee
r
in
g
,
C
o
lleg
e
o
f
E
n
g
in
ee
r
i
n
g
,
San
g
m
y
u
n
g
Un
iv
e
r
s
ity
C
h
eo
n
an
,
R
ep
u
b
lic
o
f
Ko
r
ea
E
m
ail: jh
_
ch
o
@
s
m
u
.
ac
.
k
r
1.
I
NT
RO
D
UCT
I
O
N
T
r
af
f
ic
ac
cid
e
n
ts
d
u
e
to
tr
af
f
ic
co
n
g
esti
o
n
with
th
e
in
c
r
ea
s
e
in
v
e
h
icles,
lack
s
o
f
co
m
m
u
n
icatio
n
b
etwe
en
d
r
iv
er
s
an
d
d
r
iv
er
s
,
an
d
lack
s
o
f
co
m
m
u
n
icatio
n
b
etwe
en
in
f
r
astru
ctu
r
e
a
n
d
d
r
iv
er
s
ar
e
in
cr
ea
s
in
g
ev
er
y
y
ea
r
.
As
a
r
esu
lt,
en
o
r
m
o
u
s
h
u
m
a
n
an
d
p
r
o
p
er
ty
d
a
m
ag
e
ar
e
o
cc
u
r
r
in
g
.
A
r
ep
r
es
en
tativ
e
ex
am
p
le
is
a
ca
s
e
in
wh
ich
a
tr
af
f
ic
lig
h
t
c
h
an
g
es
f
r
o
m
a
g
r
ee
n
lig
h
t,
w
h
ich
m
ea
n
s
d
r
iv
i
n
g
p
o
s
s
ib
ilit
y
,
to
a
y
ello
w
lig
h
t,
wh
ich
m
ea
n
s
ca
u
tio
n
,
wh
ile
t
h
e
v
eh
icle
is
m
o
v
in
g
.
I
n
t
h
is
ca
s
e,
th
e
d
r
iv
in
g
d
r
iv
er
m
a
y
t
h
in
k
ab
o
u
t
s
to
p
p
in
g
an
d
ac
ce
ler
ati
n
g
u
n
til
t
h
e
last
m
o
m
en
t,
an
d
m
a
y
ca
u
s
e
a
b
ig
p
r
o
b
lem
d
u
e
to
th
e
d
elay
in
ju
d
g
m
en
t.
I
n
o
r
d
er
to
s
o
lv
e
th
e
p
r
o
b
lem
in
clu
d
in
g
t
h
is
ex
am
p
le,
v
a
r
io
u
s
tech
n
o
lo
g
ies
ar
e
s
till
b
ein
g
s
tu
d
ied
an
d
d
ev
elo
p
e
d
ar
o
u
n
d
th
e
wo
r
ld
,
an
d
v
eh
icle
to
e
v
e
r
y
th
in
g
(
V2
X)
co
m
m
u
n
icatio
n
tech
n
o
lo
g
y
h
as
r
ec
e
n
tly
b
e
en
in
th
e
s
p
o
tlig
h
t
[1
]
-
[
3
]
.
V
2
X
co
m
m
u
n
icatio
n
is
a
tech
n
o
lo
g
y
th
at
p
r
o
v
id
es
in
f
o
r
m
atio
n
th
r
o
u
g
h
wir
ed
o
r
wir
eless
n
etwo
r
k
s
ar
o
u
n
d
th
e
v
eh
icle.
V2
X
is
co
llectiv
ely
r
ef
er
r
ed
t
o
as
v
eh
icle
to
v
eh
ic
le
(
V2
V)
[
4
]
-
[
6
]
,
v
e
h
icle
to
in
f
r
astru
ctu
r
e
(
V2
I
)
[
7
]
-
[
9
]
,
esp
ec
ially
in
-
v
eh
icle
n
etw
o
r
k
in
g
(
I
VN)
[
1
0
]
-
[
1
2
]
,
V2
V
an
d
v
eh
icle
t
o
p
ed
estrian
s
(
V2
P)
[
1
3
]
-
[
1
5
]
.
B
y
u
s
in
g
V
2
X
co
m
m
u
n
icat
io
n
tech
n
o
lo
g
y
,
in
f
o
r
m
atio
n
o
n
v
e
h
icles,
r
o
a
d
s
,
en
v
ir
o
n
m
en
t,
s
tab
ilit
y
,
a
n
d
c
o
n
v
en
ie
n
ce
m
ay
b
e
im
p
r
o
v
e
d
.
V2
X
c
o
m
m
u
n
icatio
n
tec
h
n
o
lo
g
y
is
cu
r
r
en
tly
b
ein
g
d
ev
el
o
p
ed
b
ased
o
n
I
E
E
E
wir
eless
ac
ce
s
s
in
v
eh
icu
lar
en
v
ir
o
n
m
en
ts
(
W
AVE
)
s
tan
d
ar
d
s
,
an
d
co
u
n
tr
ies
ar
o
u
n
d
th
e
wo
r
ld
,
in
cl
u
d
in
g
No
r
th
Am
er
ica
an
d
E
u
r
o
p
e
,
a
r
e
in
v
esti
n
g
a
lo
t
o
f
m
o
n
e
y
as
f
u
tu
r
e
tech
n
o
lo
g
ies
to
d
ev
elo
p
tech
n
o
lo
g
ies an
d
b
u
ild
test
b
ed
s
[
1
6
]
-
[
1
8
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
9
,
No
.
1
,
Ju
ly
20
25
:
1
31
-
1
38
132
2.
AUTON
O
M
US D
R
I
VING
S
YST
E
M
Au
to
n
o
m
o
u
s
d
r
iv
in
g
ca
r
s
r
ef
e
r
to
v
eh
icles
th
o
s
e
m
o
v
e
o
n
t
h
eir
o
wn
with
o
u
t
d
ir
ec
tly
m
a
n
ip
u
latin
g
h
an
d
les
o
r
p
e
d
als.
Var
io
u
s
s
en
s
o
r
s
m
u
s
t
b
e
attac
h
ed
to
e
n
a
b
le
th
ese
ca
r
s
to
m
o
v
e
o
n
t
h
ei
r
o
wn
.
Au
to
m
o
b
iles
co
llect
d
r
iv
in
g
d
ata
th
at
is
ess
en
tial
f
o
r
d
r
iv
i
n
g
f
r
o
m
th
ese
v
ar
io
u
s
ty
p
es
o
f
s
en
s
o
r
s
an
d
a
n
aly
ze
th
e
co
llected
d
ata.
T
h
ese
an
aly
ze
d
d
ata
r
ep
lace
th
e
d
r
iv
e
r
’
s
ey
es
an
d
ea
r
s
.
T
h
er
e
ar
e
s
ix
lev
els
o
f
d
ev
el
o
p
m
en
t
o
f
au
to
n
o
m
o
u
s
d
r
i
v
in
g
v
eh
icles.
L
ev
el
ze
r
o
is
a
war
n
in
g
o
f
a
d
an
g
er
o
u
s
s
itu
atio
n
.
I
t
s
o
u
n
d
s
a
war
n
in
g
wh
en
a
v
eh
icle
cr
o
s
s
es
a
lan
e
o
r
wh
en
a
v
e
h
icle
ex
is
ts
in
a
b
lin
d
s
p
o
t
o
f
a
s
id
e
lan
e
th
at
is
n
o
t
v
is
i
b
le
in
a
s
id
e
m
ir
r
o
r
.
T
h
is
lev
el
is
f
ar
f
r
o
m
a
u
to
n
o
m
o
u
s
d
r
iv
in
g
b
ec
au
s
e
th
e
d
r
iv
er
d
ir
ec
tly
m
ak
es
all
th
e
in
p
u
t
s
f
o
r
th
e
ca
r
to
r
u
n
.
L
ev
el
o
n
e
is
p
a
r
tially
an
au
to
m
atic
co
n
tr
o
l.
L
ev
el
o
n
e
in
clu
d
es
a
cr
u
is
e
m
o
d
e
in
wh
ich
a
ca
r
tr
av
els
at
a
s
p
ee
d
s
p
ec
if
ied
b
y
its
elf
with
o
u
t
s
te
p
p
in
g
o
n
an
ac
ce
ler
ato
r
p
e
d
al,
an
d
a
lan
e
k
ee
p
i
n
g
ass
is
t
th
at
r
etu
r
n
s
a
v
eh
icle
to
th
e
o
r
ig
in
al
lan
e
wh
e
n
th
e
v
eh
icle
cr
o
s
s
es
th
e
lan
e
with
o
u
t
a
tu
r
n
s
ig
n
al.
Alth
o
u
g
h
le
v
el
o
n
e
h
as
b
ee
n
im
p
r
o
v
e
d
tech
n
ically
c
o
m
p
ar
e
d
to
lev
el
ze
r
o
,
it
is
a
lev
el
th
a
t
h
as
an
au
x
iliar
y
te
n
d
en
c
y
in
th
a
t
cr
u
is
e
m
o
d
e
is
d
esig
n
ated
o
r
d
ir
ec
tio
n
al
in
d
i
ca
to
r
s
s
h
o
u
ld
b
e
p
u
t
in
p
er
s
o
n
.
L
ev
el
two
is
al
s
o
a
p
ar
tial
au
to
m
atic
co
n
tr
o
l
lev
el,
lik
e
lev
el
o
n
e.
I
f
o
n
ly
th
e
ac
ce
ler
atio
n
p
ed
al
was
au
to
m
ated
in
lev
el
o
n
e,
lev
el
two
au
to
m
atica
lly
in
ter
v
en
es
with
th
e
b
r
ak
e
in
a
d
d
itio
n
to
th
e
ac
ce
ler
atio
n
p
ed
al.
L
ev
els
th
r
ee
an
d
f
o
u
r
in
clu
d
e
all
o
f
th
e
lev
els
ze
r
o
to
two
d
escr
ib
ed
a
b
o
v
e
,
m
in
im
izin
g
d
r
iv
er
i
n
ter
v
en
t
io
n
b
y
id
en
tify
in
g
r
o
ad
co
n
d
itio
n
s
an
d
tak
in
g
ap
p
r
o
p
r
iate
ac
tio
n
th
r
o
u
g
h
th
e
in
itiated
s
en
s
o
r
[
1
9
]
-
[
2
1
]
.
Ho
wev
er
,
th
e
s
teer
in
g
wh
ee
l
e
x
is
ts
an
d
leav
es
r
o
o
m
f
o
r
th
e
d
r
i
v
er
t
o
in
ter
v
en
e
i
n
ti
m
es
o
f
em
e
r
g
en
c
y
o
r
d
i
f
f
icu
lt
y
.
T
h
e
d
is
tin
ctio
n
b
etwe
en
lev
el
th
r
ee
a
n
d
f
o
u
r
is
th
e
d
if
f
er
en
ce
in
th
e
co
n
ce
n
tr
atio
n
o
f
th
e
d
r
iv
er
o
n
d
r
iv
in
g
th
e
v
eh
icle
an
d
wh
eth
er
th
e
p
r
io
r
ity
o
f
v
e
h
icle
co
n
tr
o
l
is
o
n
th
e
v
eh
icle
o
r
o
n
th
e
d
r
iv
er
.
I
n
le
v
el
f
iv
e,
all
co
n
tr
o
ls
s
u
ch
as
h
an
d
les,
b
r
ak
e
s
,
an
d
ac
ce
ler
atio
n
p
ad
s
ar
e
r
em
o
v
ed
an
d
all
ca
n
b
e
co
n
tr
o
lled
with
o
n
e
m
o
n
it
o
r
.
N
o
w,
th
e
co
n
ce
p
t
o
f
ca
llin
g
a
v
e
h
icle
d
r
iv
er
d
is
ap
p
ea
r
s
an
d
o
n
ly
th
e
co
n
ce
p
t
o
f
a
p
ass
en
g
er
r
em
ai
n
s
.
I
n
an
y
em
e
r
g
en
c
y
,
th
e
v
eh
icle
’
s
ar
tific
ial
in
tellig
en
ce
id
en
tifie
s
th
e
s
itu
atio
n
,
r
esp
o
n
d
s
ap
p
r
o
p
r
iately
,
a
n
d
g
iv
es n
o
r
o
o
m
f
o
r
p
ass
en
g
e
r
s
to
in
ter
v
en
e.
3.
SE
NSO
R
S
Var
io
u
s
s
en
s
o
r
s
ar
e
attac
h
ed
to
au
to
n
o
m
o
u
s
d
r
iv
in
g
v
eh
icles
to
h
elp
au
to
n
o
m
o
u
s
d
r
iv
in
g
.
R
ep
r
esen
tativ
e
o
n
es
in
clu
d
e
u
ltra
s
o
n
ic
s
en
s
o
r
s
[
2
2
]
-
[
2
4
]
,
ca
m
er
as
[
2
5
]
-
[
2
7
]
,
r
ad
i
o
d
ete
ctio
n
an
d
r
a
n
g
in
g
(
R
ADAR)
[
2
8
]
-
[
3
0
]
,
lig
h
t
d
etec
tio
n
an
d
r
a
n
g
in
g
(
L
iDA
R
)
[
3
1
]
-
[
3
3
]
,
a
n
d
o
th
er
s
.
T
a
b
le
1
co
m
p
a
r
es
th
e
tech
n
ical
ch
ar
ac
ter
is
tics
o
f
r
ep
r
esen
tativ
e
s
en
s
o
r
s
o
f
an
a
u
to
n
o
m
o
u
s
d
r
i
v
in
g
v
eh
icle.
T
ab
le
1
.
C
h
ar
ac
ter
is
tics
o
f
au
t
o
n
o
m
o
u
s
d
r
iv
in
g
v
e
h
icle
s
en
s
o
r
S
e
n
s
o
r
F
u
n
c
t
i
o
n
C
h
a
r
a
c
t
e
r
i
s
t
i
c
s
U
l
t
r
a
s
o
n
i
c
W
a
v
e
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U
ses
u
l
t
r
a
so
n
i
c
w
a
v
e
s t
o
d
e
t
e
c
t
n
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a
r
-
f
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l
d
o
b
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r
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t
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o
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a
n
d
mea
s
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r
e
d
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c
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s
*
M
a
t
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r
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a
g
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c
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o
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p
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h
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C
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mer
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r
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)
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c
h
n
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l
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y
R
A
D
A
R
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ses
e
l
e
c
t
r
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c
w
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v
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o
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r
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s
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n
r
e
st
r
i
c
t
e
d
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se
o
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ses
l
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t
s
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t
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e
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t
p
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i
g
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p
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c
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si
o
n
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c
a
p
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b
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f
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m
p
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e
n
t
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3
D
i
ma
g
e
s
*
Le
ss
d
e
t
e
c
t
i
o
n
c
o
m
p
a
r
e
d
t
o
R
A
D
A
R
a
n
d
m
o
r
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w
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a
t
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r
-
sen
s
i
t
i
v
e
4.
CO
M
M
UNIC
AT
I
O
N
SYS
T
E
M
4
.
1
.
V2
X
c
o
mm
un
ica
t
io
n sy
s
t
em
V2
X
co
m
m
u
n
icatio
n
s
y
s
tem
is
th
e
n
e
x
t
g
e
n
er
atio
n
s
y
s
tem
o
f
tr
af
f
ic
co
n
tr
o
l
an
d
m
an
ag
em
en
t
[
3
4
]
-
[
3
6
]
.
V
2
X
co
m
m
u
n
icati
o
n
s
y
s
tem
p
r
o
v
id
es
p
e
d
estrian
s
with
a
s
af
e
r
o
ad
,
v
e
h
icle
d
r
iv
er
s
with
s
af
ety
,
co
n
v
en
ie
n
ce
an
d
e
f
f
icien
t
d
r
i
v
in
g
,
an
d
,
last
ly
,
co
u
n
tr
y
wit
h
t
h
e
im
p
r
o
v
em
en
t
o
f
r
o
a
d
e
n
v
ir
o
n
m
en
t,
lik
e
as
r
ed
u
ctio
n
o
f
air
p
o
llu
tio
n
th
r
o
u
g
h
th
e
estab
lis
h
m
en
t
o
f
an
i
m
p
r
o
v
e
d
tr
af
f
ic
c
o
n
tr
o
l
s
y
s
te
m
,
an
d
th
e
ac
tiv
atio
n
o
f
th
e
au
to
m
o
tiv
e
cu
ltu
r
e
in
d
u
s
tr
y
.
V2
X
co
m
m
u
n
icatio
n
s
y
s
tem
p
r
o
v
id
es
a
s
af
e
an
d
co
m
f
o
r
ta
b
le
d
r
iv
in
g
en
v
ir
o
n
m
en
t
f
o
r
f
u
tu
r
e
s
m
ar
t
ca
r
s
th
r
o
u
g
h
r
ea
l
-
tim
e
in
ter
c
o
m
m
u
n
icatio
n
with
o
t
h
er
th
in
g
s
s
u
ch
as
d
r
iv
er
’
s
o
wn
ca
r
an
d
o
th
e
r
d
r
iv
e
r
’
s
v
e
h
icle
V2
V
[
3
7
]
-
[
3
9
]
,
r
o
ad
in
f
r
astru
ctu
r
e
(
V2
I
)
[
4
0
]
-
[
4
2
]
,
a
n
d
p
ed
estrian
(
V
2
P)
[
4
3
]
-
[
4
5
]
in
th
e
v
icin
ity
.
T
h
e
s
en
s
o
r
s
m
en
tio
n
ed
ab
o
v
e
ar
e
v
u
ln
er
ab
le
to
n
atu
r
al
p
h
en
o
m
en
a
s
u
ch
as
s
n
o
w,
r
ain
,
an
d
f
o
g
,
an
d
th
er
e
is
n
o
s
ig
n
if
ican
t
d
if
f
e
r
en
ce
in
th
e
r
an
g
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o
f
n
o
r
m
al
o
p
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o
f
th
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d
th
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ce
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r
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m
th
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b
y
d
r
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d
r
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r
s
in
r
ea
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Un
lik
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m
an
y
s
en
s
o
r
s
wit
h
th
ese
wea
k
n
ess
es,
V2
X
co
m
m
u
n
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n
s
y
s
tem
h
as
a
f
air
l
y
wid
e
r
an
g
e
o
f
c
o
m
m
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n
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d
h
as
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ab
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to
d
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p
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with
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s
r
is
k
s
b
ef
o
r
e
th
e
s
en
s
o
r
o
p
e
r
ates.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
u
to
n
o
mo
u
s
d
r
ivin
g
s
ystem
a
n
d
s
ystem
h
a
ck
in
g
p
r
o
tectio
n
u
s
in
g
V
2
X
c
o
mmu
n
ica
tio
n
(
E
u
g
en
e
R
h
ee
)
133
As
s
h
o
wn
in
Fig
u
r
e
1
,
V2
X
c
o
m
m
u
n
icatio
n
s
y
s
tem
h
as
a
m
u
ch
wid
er
d
etec
tio
n
r
ad
i
u
s
co
m
p
ar
ed
to
s
ev
er
al
d
etec
tio
n
s
en
s
o
r
s
s
u
ch
as
R
ADA
R
an
d
L
iDAR
an
d
o
th
er
co
m
p
u
ter
v
is
io
n
s
en
s
o
r
s
.
T
h
e
ad
v
an
tag
e
o
f
th
is
V2
X
co
m
m
u
n
icatio
n
s
y
s
tem
alo
n
e
ca
n
b
e
ef
f
icien
tly
u
s
ed
in
s
itu
atio
n
s
s
u
ch
as
in
ter
s
ec
tio
n
s
an
d
c
u
r
v
e
d
p
ath
s
.
Fig
u
r
e
1
.
R
an
g
e
co
m
p
a
r
is
o
n
o
f
v
eh
icle
s
en
s
o
r
a
n
d
V2
X
co
m
m
u
n
icatio
n
s
y
s
tem
4
.
2
.
Cellula
r
-
V2
X
co
mm
un
ica
t
io
n sy
s
t
em
C
ellu
lar
-
V2
X
(
C
-
V2
X)
co
m
m
u
n
icatio
n
s
y
s
tem
is
a
ce
llu
lar
-
b
ased
v
e
h
icle
co
m
m
u
n
icatio
n
tech
n
o
lo
g
y
th
at
ca
n
ac
ce
ler
at
e
th
e
em
er
g
e
n
ce
o
f
au
to
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m
o
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s
v
eh
icles
[
4
6
]
-
[
4
8
]
.
C
-
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co
m
m
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tem
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ates
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en
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atio
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tin
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v
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ates
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in
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en
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ick
ly
id
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tifie
s
th
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u
r
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en
v
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er
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ter
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s
,
b
lin
d
s
p
o
ts
in
f
r
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n
t
o
f
p
r
ec
ed
i
n
g
v
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h
icles,
an
d
n
o
n
-
lin
e
o
f
s
ig
h
t
(
NL
OS)
co
n
d
i
tio
n
s
s
o
th
at
d
r
iv
er
s
ca
n
m
ak
e
co
r
r
ec
t
an
d
s
af
e
ju
d
g
m
e
n
ts
[
4
9
]
,
[
5
0
]
.
C
-
V2
X
co
m
m
u
n
icatio
n
s
y
s
tem
h
as
two
tr
an
s
m
is
s
io
n
m
o
d
es
as
s
h
o
wn
in
Fig
u
r
e
2
.
T
h
e
f
ir
s
t
tr
an
s
m
is
s
io
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m
o
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en
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d
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t
c
o
m
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n
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n
b
etwe
en
v
eh
icles,
p
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estrian
s
,
an
d
r
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ad
in
f
r
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e
b
ased
o
n
lo
n
g
ter
m
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v
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lu
tio
n
(
L
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E
)
d
ir
ec
t
tech
n
o
lo
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.
T
h
e
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Sin
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L
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n
etwo
r
k
is
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estab
li
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av
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S
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ce
th
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cu
r
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en
tly
estab
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h
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L
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E
n
etwo
r
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b
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ilt
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s
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it
th
e
m
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ile
c
o
m
m
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en
v
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L
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n
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f
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n
d
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iz
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it f
o
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icles.
Fig
u
r
e
2
.
T
wo
tr
an
s
m
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s
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m
eth
o
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s
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f
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co
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in
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m
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in
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cr
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icles
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an
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with
th
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b
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ac
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co
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t
ar
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PC
5
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Uu
in
ter
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T
h
ese
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te
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ess
en
tial
co
m
p
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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d
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J
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&
C
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Sci
,
Vo
l.
3
9
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No
.
1
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Ju
ly
20
25
:
1
31
-
1
38
134
co
m
m
u
n
icatio
n
f
r
am
ewo
r
k
,
wh
ich
is
a
f
o
u
n
d
atio
n
al
tech
n
o
lo
g
y
f
o
r
co
n
n
ec
ted
a
n
d
au
to
n
o
m
o
u
s
v
eh
icles
(
C
AVs).
T
h
e
PC
5
in
ter
f
ac
e
is
a
d
ir
ec
t
co
m
m
u
n
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n
lin
k
b
etwe
en
v
eh
icles
V2
V
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r
b
et
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a
v
e
h
icle
an
d
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ad
s
id
e
in
f
r
astru
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V2
I
,
o
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o
th
er
r
o
ad
u
s
er
s
V2
P.
T
h
e
PC
5
in
ter
f
ac
e
allo
ws
d
ev
ices
to
co
m
m
u
n
icate
d
ir
ec
tly
with
o
u
t
n
ee
d
in
g
to
g
o
th
r
o
u
g
h
a
ce
llu
lar
b
ase
s
tatio
n
(
with
o
u
t
th
e
in
v
o
l
v
em
en
t
o
f
th
e
ce
llu
lar
n
etwo
r
k
co
r
e)
.
T
h
is
in
ter
f
a
ce
o
p
er
ates
in
two
m
o
d
es:
b
r
o
ad
ca
s
t
m
o
d
e
(
f
o
r
s
en
d
in
g
m
e
s
s
ag
es
to
m
u
ltip
le
r
ec
eiv
er
s
in
th
e
v
icin
ity
)
an
d
u
n
icast m
o
d
e
(
f
o
r
d
ir
ec
t c
o
m
m
u
n
icatio
n
with
a
s
p
ec
if
ic
d
ev
ic
e)
.
I
t ty
p
ically
u
s
es
th
e
5
.
9
GHz
in
tellig
en
t
tr
a
n
s
p
o
r
tatio
n
s
y
s
tem
s
(
I
T
S)
b
an
d
f
o
r
co
m
m
u
n
icatio
n
,
en
s
u
r
in
g
l
o
w
laten
cy
an
d
h
ig
h
r
eliab
ilit
y
,
wh
ich
ar
e
c
r
itical
f
o
r
s
af
ety
-
r
elate
d
ap
p
licatio
n
s
.
T
h
e
PC
5
in
ter
f
ac
e
is
u
s
ed
f
o
r
e
x
ch
an
g
in
g
in
f
o
r
m
atio
n
s
u
ch
as
v
eh
icle
p
o
s
itio
n
,
s
p
ee
d
,
d
ir
ec
tio
n
,
an
d
o
th
er
s
en
s
o
r
d
ata
in
r
ea
l
-
tim
e
.
T
h
is
en
ab
les
v
eh
icles
to
co
o
r
d
in
ate
m
an
eu
v
er
s
lik
e
lan
e
ch
an
g
es,
in
ter
s
ec
tio
n
cr
o
s
s
in
g
,
an
d
co
llis
io
n
av
o
id
an
ce
.
I
t
also
s
u
p
p
o
r
ts
ap
p
licatio
n
s
lik
e
c
o
o
p
er
ativ
e
ad
a
p
tiv
e
cr
u
is
e
co
n
tr
o
l
(
C
-
AC
C
)
,
wh
er
e
v
eh
icles
ca
n
au
to
n
o
m
o
u
s
ly
ad
ju
s
t
th
eir
s
p
ee
d
b
ased
o
n
t
h
e
ac
tio
n
s
o
f
o
th
er
v
eh
icles
in
th
e
v
icin
ity
.
On
th
e
o
th
er
h
an
d
s
,
th
e
Uu
in
ter
f
ac
e
is
th
e
s
tan
d
ar
d
ce
llu
lar
co
m
m
u
n
icatio
n
lin
k
b
etwe
en
a
v
eh
i
cle
an
d
th
e
ce
llu
lar
n
etwo
r
k
b
ase
s
tat
io
n
(
4
G
L
T
E
o
r
5
G)
.
Un
lik
e
th
e
PC
5
in
ter
f
a
ce
,
th
e
Uu
i
n
ter
f
ac
e
r
elies
o
n
t
h
e
ex
is
tin
g
ce
llu
lar
i
n
f
r
astru
ct
u
r
e.
I
t
c
o
n
n
ec
ts
th
e
v
eh
icle
to
th
e
ce
llu
lar
n
etwo
r
k
,
en
ab
lin
g
lo
n
g
-
r
a
n
g
e
co
m
m
u
n
icatio
n
with
clo
u
d
s
er
v
er
s
,
o
th
er
v
eh
icles,
o
r
in
f
r
astru
ctu
r
e
th
at
ar
e
n
o
t
with
in
d
ir
ec
t
c
o
m
m
u
n
icatio
n
r
a
n
g
e
.
T
h
e
U
u
in
ter
f
ac
e
s
u
p
p
o
r
ts
h
i
g
h
-
b
a
n
d
wi
d
th
d
ata
ex
ch
an
g
e
a
n
d
ca
n
p
r
o
v
id
e
v
eh
icles
with
ac
ce
s
s
to
b
r
o
ad
er
n
etwo
r
k
s
er
v
ices,
in
clu
d
in
g
r
ea
l
-
tim
e
tr
af
f
ic
u
p
d
ates,
HD
m
a
p
s
,
an
d
ev
e
n
o
v
e
r
-
th
e
-
air
s
o
f
twar
e
u
p
d
a
tes.
T
h
e
Uu
i
n
ter
f
ac
e
is
c
r
u
cial
f
o
r
n
o
n
-
s
af
ety
ap
p
licatio
n
s
th
at
r
eq
u
ir
e
m
o
r
e
d
ata
a
n
d
ca
n
t
o
ler
ate
s
lig
h
tly
h
ig
h
e
r
laten
cies,
s
u
c
h
as
in
f
o
tain
m
en
t,
f
leet
m
an
ag
em
en
t,
o
r
cl
o
u
d
-
b
ased
AI
p
r
o
ce
s
s
in
g
f
o
r
d
ec
is
io
n
-
m
ak
in
g
.
I
t
also
p
lay
s
a
r
o
le
in
en
ab
lin
g
a
d
v
an
ce
d
d
r
iv
er
ass
is
tan
ce
s
y
s
tem
s
(
ADAS)
to
r
ec
eiv
e
u
p
d
ates
an
d
ad
d
itio
n
al
d
ata
f
r
o
m
th
e
c
lo
u
d
,
s
u
c
h
as
h
ig
h
-
d
ef
in
itio
n
m
a
p
s
an
d
r
ea
l
-
tim
e
tr
af
f
ic
co
n
d
itio
n
s
.
I
n
s
u
m
m
ar
y
,
T
h
e
PC
5
in
ter
f
ac
e
is
f
o
r
s
h
o
r
t
-
r
a
n
g
e,
d
ir
ec
t
co
m
m
u
n
icatio
n
,
ty
p
ically
with
in
a
f
ew
h
u
n
d
r
ed
m
eter
s
,
with
o
u
t
r
e
q
u
ir
in
g
ce
llu
lar
in
f
r
astru
ctu
r
e
.
I
n
co
n
tr
ast,
th
e
Uu
in
ter
f
ac
e
p
r
o
v
id
es
lo
n
g
-
r
a
n
g
e
co
m
m
u
n
icatio
n
th
r
o
u
g
h
th
e
ce
llu
lar
n
etwo
r
k
in
f
r
astru
ct
u
r
e.
An
d
th
e
PC
5
in
ter
f
ac
e
is
o
p
tim
ized
f
o
r
lo
w
-
laten
cy
,
s
af
ety
-
cr
itical
co
m
m
u
n
icatio
n
(
co
llis
io
n
av
o
id
an
ce
)
,
wh
ile
th
e
Uu
in
ter
f
ac
e
is
u
s
e
d
f
o
r
b
r
o
a
d
er
,
less
tim
e
-
s
en
s
itiv
e
ap
p
licatio
n
s
(
c
l
o
u
d
d
ata
r
etr
iev
al,
r
ea
l
-
tim
e
tr
af
f
ic
u
p
d
ates)
.
I
n
th
e
c
o
n
t
ex
t
o
f
a
u
to
n
o
m
o
u
s
d
r
iv
in
g
,
th
ese
in
ter
f
ac
es
co
m
p
lem
en
t
ea
ch
o
th
e
r
.
T
h
e
PC
5
i
n
ter
f
ac
e
en
s
u
r
es
r
a
p
id
,
d
ir
ec
t
co
m
m
u
n
icatio
n
f
o
r
im
m
ed
iate,
lo
ca
l
d
ec
is
io
n
s
,
wh
ile
th
e
Uu
in
ter
f
ac
e
co
n
n
e
cts
th
e
v
eh
icle
to
th
e
b
r
o
ad
er
n
etwo
r
k
,
en
ab
lin
g
m
o
r
e
co
m
p
lex
an
d
d
ata
-
i
n
ten
s
iv
e
ap
p
licatio
n
s
.
5.
H
ACK
I
NG
As
au
to
n
o
m
o
u
s
d
r
iv
in
g
ca
r
s
d
ev
elo
p
,
t
h
e
r
is
k
o
f
h
ac
k
in
g
is
also
in
cr
ea
s
in
g
.
I
n
th
e
ca
s
e
o
f
s
h
o
r
t
-
r
an
g
e
R
ADARs
u
s
ed
in
au
to
n
o
m
o
u
s
d
r
iv
in
g
v
e
h
icles,
th
ey
ar
e
u
s
ed
in
f
r
e
q
u
en
c
y
p
u
ls
es
th
at
r
eq
u
ir
e
p
er
m
is
s
io
n
.
T
h
is
f
r
eq
u
e
n
cy
p
u
ls
e
h
as
th
e
d
is
ad
v
an
tag
e
o
f
b
ein
g
v
u
l
n
er
ab
le
to
h
ac
k
in
g
b
ec
au
s
e
it
d
o
es
n
o
t
h
av
e
a
s
ep
ar
ate
e
n
co
d
in
g
o
r
p
ass
wo
r
d
.
Hac
k
er
s
ca
n
u
s
e
th
e
R
ADA
R
’
s
f
r
eq
u
en
cy
to
h
ac
k
au
to
n
o
m
o
u
s
d
r
i
v
in
g
ca
r
s
,
m
an
ip
u
late
t
h
e
s
teer
in
g
wh
ee
l
o
f
th
e
v
eh
icle,
o
r
f
o
ld
s
id
e
m
ir
r
o
r
s
to
d
is
r
u
p
t
d
r
i
v
in
g
.
I
n
f
ac
t,
t
h
er
e
was
a
ca
s
e
o
f
b
ein
g
h
ac
k
ed
a
n
d
d
a
m
ag
ed
b
y
C
h
in
ese
h
ac
k
er
s
w
h
ile
test
-
d
r
iv
in
g
an
a
u
to
n
o
m
o
u
s
ca
r
at
T
esla
in
t
h
e
U.
S.
T
h
er
e
ar
e
two
m
ain
way
s
to
h
ac
k
au
to
n
o
m
o
u
s
d
r
i
v
in
g
ca
r
s
.
T
h
e
f
ir
s
t
is
v
eh
icle
co
n
tr
o
l
u
s
in
g
a
s
m
ar
tp
h
o
n
e
in
f
ec
ted
b
y
a
v
i
r
u
s
,
an
d
th
e
s
ec
o
n
d
is
a
m
e
th
o
d
o
f
ea
v
esd
r
o
p
p
in
g
an
d
an
aly
zin
g
n
etwo
r
k
co
m
m
u
n
icatio
n
s
u
ch
as B
lu
eto
o
th
,
W
i
-
Fi,
an
d
wir
eless
co
m
m
u
n
icatio
n
n
etwo
r
k
s
.
5
.
1
.
Vehicle
co
ntr
o
l us
ing
a
v
irus
-
inf
ec
t
ed
s
m
a
rt
ph
o
ne
I
n
th
e
ca
s
e
o
f
au
to
n
o
m
o
u
s
d
r
i
v
in
g
v
eh
icles,
v
ar
i
o
u
s
s
en
s
o
r
s
co
n
n
ec
ted
to
th
e
v
eh
icle
ar
e
co
n
tr
o
lled
th
r
o
u
g
h
s
m
ar
tp
h
o
n
es
a
n
d
a
u
d
io
v
id
eo
n
av
i
g
atio
n
(
AVN)
,
a
n
d
v
a
r
io
u
s
ty
p
es
o
f
i
n
f
o
r
m
atio
n
f
r
o
m
t
h
e
v
e
h
icle
ar
e
co
llected
an
d
u
tili
ze
d
b
y
lin
k
i
n
g
with
t
h
e
s
m
ar
t c
ar
m
a
n
a
g
em
en
t sy
s
tem
.
T
h
e
ex
p
ec
ted
p
r
o
ce
s
s
o
f
co
n
tr
o
llin
g
an
d
o
p
e
r
atin
g
au
to
n
o
m
o
u
s
d
r
iv
in
g
v
e
h
icles
u
s
in
g
v
ir
u
s
-
in
f
ec
ted
s
m
ar
tp
h
o
n
es
is
as
f
o
llo
ws
;
i
)
t
h
e
attac
k
er
in
s
er
ts
a
m
alicio
u
s
v
ir
u
s
in
to
th
e
s
m
ar
tp
h
o
n
e
ap
p
licatio
n
in
ad
v
an
ce
an
d
in
d
u
ce
s
th
e
d
r
iv
er
to
d
o
wn
lo
ad
an
d
in
s
tall
th
e
s
u
b
tr
a
cted
s
m
ar
tp
h
o
n
e
a
p
p
licatio
n
,
an
d
ii
)
t
h
e
in
s
talled
ap
p
licatio
n
ca
n
f
u
r
th
er
in
f
ec
t
th
e
en
tire
s
m
ar
tp
h
o
n
e
an
d
m
an
ip
u
late
th
e
v
eh
icle
to
m
alf
u
n
ct
io
n
co
n
tr
ar
y
to
th
e
d
r
iv
er
’
s
in
ten
tio
n
th
r
o
u
g
h
th
e
ap
p
licatio
n
.
5
.
2
.
Vehicle
co
ntr
o
l
t
hro
ug
h r
a
dio
co
mm
un
ica
t
io
n v
uln
er
a
bil
it
ies a
nd
da
t
a
m
o
du
la
t
io
n
Mo
d
er
n
v
e
h
icles,
esp
ec
ially
au
to
n
o
m
o
u
s
an
d
co
n
n
ec
ted
v
e
h
icles,
r
ely
o
n
wir
eless
co
m
m
u
n
icatio
n
s
y
s
tem
s
f
o
r
v
ar
io
u
s
f
u
n
ctio
n
s
,
in
clu
d
in
g
V2
V
an
d
V2
I
co
m
m
u
n
i
ca
tio
n
u
n
d
er
th
e
V2
X
f
r
a
m
ewo
r
k
.
Ho
wev
e
r
,
th
ese
wir
eless
co
m
m
u
n
icatio
n
s
y
s
tem
s
in
tr
o
d
u
ce
s
ev
er
al
v
u
l
n
er
ab
ilit
ies.
Data
m
o
d
u
latio
n
p
lay
s
a
c
r
u
cial
r
o
le
in
en
s
u
r
in
g
s
ec
u
r
e
a
n
d
ef
f
ici
en
t
co
m
m
u
n
icatio
n
b
etwe
en
v
eh
icles
an
d
in
f
r
astru
ctu
r
e.
I
t
d
eter
m
in
es
h
o
w
d
ig
i
tal
s
ig
n
als
ar
e
en
co
d
ed
f
o
r
tr
an
s
m
is
s
io
n
o
v
er
r
a
d
io
f
r
e
q
u
en
cy
(
R
F)
ch
an
n
els.
I
n
o
r
d
er
f
o
r
a
u
to
n
o
m
o
u
s
d
r
iv
in
g
ca
r
s
to
co
m
m
u
n
icate
with
o
th
er
o
b
jects,
in
clu
d
in
g
th
em
s
elv
es,
wir
eless
co
m
m
u
n
icatio
n
s
u
c
h
as
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
u
to
n
o
mo
u
s
d
r
ivin
g
s
ystem
a
n
d
s
ystem
h
a
ck
in
g
p
r
o
tectio
n
u
s
in
g
V
2
X
c
o
mmu
n
ica
tio
n
(
E
u
g
en
e
R
h
ee
)
135
B
lu
eto
o
th
,
W
i
-
Fi,
an
d
m
o
b
ile
n
etwo
r
k
s
m
u
s
t
b
e
u
s
ed
.
T
h
is
co
m
m
u
n
icatio
n
m
eth
o
d
ex
p
o
s
es
v
u
ln
er
ab
ilit
ies
in
th
e
au
to
n
o
m
o
u
s
d
r
iv
in
g
v
e
h
icle
n
etwo
r
k
,
an
d
attac
k
er
s
o
f
th
e
au
to
n
o
m
o
u
s
d
r
iv
in
g
v
eh
icle
s
y
s
tem
ca
n
u
s
e
th
e
v
u
ln
er
ab
ilit
ies
o
f
wir
eless
co
m
m
u
n
icatio
n
to
o
b
tain
c
o
n
tr
o
l
o
f
th
e
v
e
h
icle
u
s
in
g
s
ig
n
al
ea
v
esd
r
o
p
p
in
g
,
an
aly
s
is
,
an
d
p
ac
k
et
m
o
d
u
latio
n
,
an
d
ca
u
s
e
illeg
al
m
alf
u
n
ctio
n
.
6.
CO
UNT
E
RM
E
A
SURE
S AN
D
RE
SU
L
T
S
T
h
er
e
ar
e
two
s
er
io
u
s
p
r
o
b
le
m
s
with
au
to
n
o
m
o
u
s
d
r
iv
in
g
ca
r
s
.
T
h
e
f
ir
s
t
is
th
e
v
u
ln
er
ab
ilit
y
o
f
s
ec
u
r
ity
.
As
ca
r
s
b
ec
o
m
e
‘
s
m
ar
t
’
,
th
e
r
is
k
o
f
h
ac
k
in
g
also
i
n
c
r
ea
s
es,
an
d
to
s
o
lv
e
th
is
p
r
o
b
lem
,
s
ec
u
r
ity
co
d
e
m
u
s
t
b
e
ad
o
p
ted
a
n
d
d
e
v
elo
p
ed
,
an
d
s
o
f
twar
e
f
ir
m
war
e
m
u
s
t
b
e
co
n
tin
u
o
u
s
ly
u
p
d
ate
d
.
I
n
ad
d
itio
n
,
it
is
n
ec
ess
ar
y
to
d
ev
elo
p
a
n
i
n
d
ep
en
d
en
t
co
m
p
u
ter
o
p
er
atin
g
s
y
s
tem
f
o
r
au
to
n
o
m
o
u
s
d
r
iv
in
g
v
eh
icles
to
p
r
ev
e
n
t
v
ir
u
s
es
p
r
im
ar
ily
,
s
u
ch
as
f
ir
e
walls.
T
h
e
s
ec
o
n
d
is
th
e
et
h
ical
ju
d
g
m
e
n
t
o
f
au
t
o
n
o
m
o
u
s
d
r
iv
in
g
ca
r
s
.
Am
o
n
g
th
e
th
eo
r
ies
r
elate
d
to
au
t
o
n
o
m
o
u
s
d
r
iv
i
n
g
ca
r
s
is
th
e
th
eo
r
y
o
f
tr
o
lley
d
ilem
m
a.
T
h
e
tr
o
lley
d
ilem
m
a
is
a
th
eo
r
y
t
h
at
ask
s
p
eo
p
le
wh
eth
er
th
e
b
r
ak
es
ca
n
s
ac
r
if
ice
a
f
ew
to
s
av
e
th
e
m
ajo
r
ity
b
y
p
r
esen
tin
g
a
b
r
o
k
e
n
tr
o
lley
s
itu
atio
n
.
W
h
at
ch
o
ic
e
s
h
o
u
ld
a
ca
r
m
a
k
e
wh
e
n
a
n
au
to
n
o
m
o
u
s
d
r
iv
in
g
ca
r
f
a
ce
s
an
ac
cid
e
n
t
th
at
ca
n
n
o
t b
e
av
o
id
e
d
wh
ile
d
r
i
v
in
g
?
T
h
er
e
ca
n
b
e
th
r
ee
ca
s
es f
o
r
tr
o
lley
d
ilem
m
a
;
i
)
t
h
e
c
ase
is
th
at
if
y
o
u
g
o
s
tr
aig
h
t,
y
o
u
will h
it sev
er
al
p
ed
estrian
s
,
an
d
if
y
o
u
tu
r
n
a
way
,
y
o
u
will h
it o
n
e
p
er
s
o
n
.
C
an
th
e
v
alu
e
o
f
th
e
m
ajo
r
ity
t
ak
e
p
r
ec
ed
e
n
ce
o
v
er
th
e
v
alu
e
o
f
th
e
in
d
iv
id
u
al?
ii
)
t
h
e
ca
s
e
is
th
at
if
y
o
u
g
o
s
tr
aig
h
t,
y
o
u
h
it o
n
e
p
e
d
estrian
,
an
d
if
y
o
u
tu
r
n
awa
y
,
th
e
p
ass
en
g
er
o
f
th
e
ca
r
is
i
n
d
an
g
er
.
I
n
th
is
ca
s
e,
s
h
o
u
ld
au
to
n
o
m
o
u
s
d
r
i
v
in
g
ca
r
s
p
r
o
tect
p
ass
en
g
er
s
o
r
p
ed
estrian
s
?
iii
)
t
h
e
ca
s
e
is
th
at
if
y
o
u
g
o
s
tr
aig
h
t,
y
o
u
h
it
s
ev
er
al
p
ed
estrian
s
,
an
d
if
y
o
u
tu
r
n
awa
y
,
th
e
p
ass
en
g
er
o
f
t
h
e
ca
r
is
in
d
an
g
er
.
Sh
o
u
ld
au
to
n
o
m
o
u
s
d
r
iv
i
n
g
ca
r
s
p
r
i
o
r
itize
th
e
p
r
o
tectio
n
o
f
p
ass
en
g
er
s
o
r
p
r
o
tect
p
e
d
estrian
s
?
T
h
e
tr
o
ll
ey
d
ilem
m
a
is
n
o
t
a
s
y
s
tem
ic
en
g
in
ee
r
in
g
f
law,
b
u
t
a
m
atter
o
f
v
alu
e
th
at
m
u
s
t
b
e
ju
d
g
e
d
in
ter
m
s
o
f
eth
ics
a
n
d
m
o
r
ality
,
an
d
th
e
r
e
i
s
n
o
a
n
s
wer
.
B
ef
o
r
e
au
to
n
o
m
o
u
s
d
r
i
v
in
g
ca
r
s
b
ec
o
m
e
a
r
ea
lity
,
s
o
cial
co
n
s
en
s
u
s
m
u
s
t
b
e
r
ea
ch
ed
o
n
th
ese
is
s
u
es.
I
t
is
n
ec
ess
ar
y
to
e
s
tab
li
s
h
clea
r
p
r
o
tectio
n
m
ea
s
u
r
es
f
o
r
th
e
th
r
ee
m
ajo
r
a
r
ea
s
o
f
v
eh
icles,
n
etwo
r
k
s
,
an
d
ap
p
licatio
n
s
f
o
r
t
h
e
a
u
to
n
o
m
o
u
s
d
r
i
v
in
g
v
eh
icle
en
v
ir
o
n
m
en
t.
T
h
is
p
ap
er
p
r
o
p
o
s
es
a
co
u
n
ter
m
ea
s
u
r
e
f
o
r
th
i
s
.
A
m
eth
o
d
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ticatio
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d
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