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.
7
,
No
.
2
,
A
p
r
il
201
7
,
p
p
.
775
~
7
8
3
I
SS
N:
2088
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v
7
i
2
.
p
p
7
7
5
-
7
8
3
775
J
o
ur
na
l
ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
JE
C
E
I
m
ple
m
e
ntatio
n o
f
Alg
o
rith
m
for
V
ehicle A
nti
-
Co
llisi
o
n Alert
Sy
ste
m
in
FP
G
A
Ai
m
a
n
Z
a
k
w
a
n J
idi
n
,
L
i
m
S
ia
u L
i,
Ah
m
a
d F
a
uza
n K
a
d
m
i
n
F
a
c
u
lt
y
o
f
En
g
in
e
e
rin
g
T
e
c
h
n
o
lo
g
y
,
Un
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
la
y
si
a
M
e
lak
a
,
M
a
la
y
sia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
u
n
9
,
2
0
1
6
R
ev
i
s
ed
No
v
2
0
,
2
0
1
6
A
cc
ep
ted
Dec
1
1
,
2
0
1
6
V
e
h
icle
sa
f
e
t
y
h
a
s
b
e
c
o
m
in
g
o
n
e
o
f
th
e
im
p
o
rtan
t
issu
e
s
n
o
w
a
d
a
y
s,
d
u
e
to
th
e
f
a
c
t
th
e
n
u
m
b
e
r
o
f
ro
a
d
a
c
c
i
d
e
n
ts,
w
h
ich
c
a
u
se
in
j
u
ries
,
d
e
a
t
h
s
a
n
d
a
lso
d
a
m
a
g
e
s,
k
e
e
p
s
o
n
in
c
re
a
sin
g
.
O
n
e
o
f
th
e
m
a
in
f
a
c
to
rs
w
h
ich
c
o
n
tri
b
u
te
to
th
e
se
a
c
c
id
e
n
ts
a
re
h
u
m
a
n
'
s
lac
k
o
f
a
wa
re
n
e
ss
a
n
d
a
lso
c
a
re
les
s
n
e
ss
.
T
h
is
p
a
p
e
r
p
re
se
n
ts
t
h
e
d
e
v
e
lo
p
m
e
n
t
a
n
d
im
p
lem
e
n
tatio
n
o
f
a
n
a
lg
o
ri
th
m
to
b
e
u
ti
li
z
e
d
f
o
r
v
e
h
icle
a
n
ti
-
c
o
ll
isio
n
a
lert
s
y
ste
m
,
w
h
ich
m
a
y
b
e
u
se
f
u
l
to
re
d
u
c
e
th
e
o
c
c
u
rre
n
c
e
o
f
a
c
c
id
e
n
ts.
T
h
is
a
lg
o
rit
h
m
,
w
h
ich
is
to
b
e
d
e
p
lo
y
e
d
w
it
h
th
e
f
ro
n
t
se
n
so
rs
o
f
th
e
v
e
h
icle
,
is
c
a
p
a
b
le
o
f
a
lert
in
g
a
n
y
o
c
c
u
rre
n
c
e
o
f
su
d
d
e
n
slo
w
in
g
o
r
sta
ti
c
v
e
h
icle
s
a
h
e
a
d
,
b
y
se
n
sin
g
th
e
ra
te
o
f
d
istan
c
e
c
h
a
n
g
e
.
F
u
rth
e
rm
o
re
,
it
a
lso
tri
g
g
e
rs
a
n
a
lert
if
th
e
d
riv
e
r
is
b
re
a
c
h
in
g
th
e
sa
f
e
d
istan
c
e
f
ro
m
th
e
v
e
h
icle
a
h
e
a
d
.
T
h
is
a
lg
o
rit
h
m
h
a
s
b
e
e
n
su
c
c
e
ss
f
u
ll
y
im
p
le
m
e
n
ted
in
A
lt
e
ra
DE0
F
P
GA
a
n
d
it
s
f
u
n
c
ti
o
n
a
li
ty
w
a
s
v
a
li
d
a
ted
v
ia
h
a
rd
w
a
re
e
x
p
e
rime
n
tal
tes
ts
.
K
ey
w
o
r
d
:
An
ti
-
co
llis
io
n
Fas
t a
l
g
o
r
ith
m
FP
GA
R
an
g
e
s
e
n
s
o
r
Veh
icle
s
a
f
et
y
Co
p
y
rig
h
t
©
2
0
1
7
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
:
A
i
m
a
n
Z
ak
w
a
n
J
id
in
,
Facu
lt
y
o
f
E
n
g
i
n
ee
r
i
n
g
T
ec
h
n
o
lo
g
y
,
Un
i
v
er
s
iti T
ek
n
ik
al
Ma
la
y
s
ia
Me
lak
a,
Han
g
T
u
ah
J
a
y
a,
7
6
1
0
0
Du
r
ian
T
u
n
g
g
al,
Me
la
k
a,
Ma
la
y
s
ia.
E
m
ail: a
i
m
a
n
za
k
w
a
n
@
u
te
m
.
e
d
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
No
w
ad
a
y
s
,
w
e
h
av
e
s
ee
n
a
n
in
cr
ea
s
e
in
t
h
e
n
u
m
b
er
o
f
tr
af
f
ic
ac
cid
en
ts
.
Fo
r
ex
a
m
p
le,
in
Ma
la
y
s
ia
,
t
h
er
e
w
er
e
ab
o
u
t
6
5
,
8
8
3
ac
cid
en
t
ca
s
es
o
n
Ma
la
y
s
ia
n
r
o
ad
s
in
v
o
lv
i
n
g
ca
r
d
r
iv
er
s
an
d
m
o
to
r
cy
cli
s
ts
w
h
ic
h
w
er
e
r
ec
o
r
d
ed
in
2
0
1
4
.
T
h
is
n
u
m
b
er
is
in
f
ac
t
5
.
4
p
er
ce
n
t
h
i
g
h
er
th
a
n
th
e
6
2
,
5
1
9
ca
s
es
r
ec
o
r
d
ed
in
th
e
p
r
ev
io
u
s
y
ea
r
[
1
]
.
T
r
af
f
ic
ac
cid
en
ts
o
cc
u
r
d
u
e
to
s
ev
er
al
r
ea
s
o
n
s
,
s
u
c
h
as
th
e
h
ea
v
y
tr
af
f
ic
an
d
w
ea
t
h
er
co
n
d
itio
n
s
,
v
eh
ic
le
an
d
r
o
ad
c
o
n
d
itio
n
s
,
a
n
d
n
o
tab
l
y
t
h
e
h
u
m
an
er
r
o
r
[
2
]
.
A
cc
o
r
d
in
g
to
an
ar
ticle
in
[
3
]
,
t
h
er
e
w
er
e
9
0
%
o
f
r
o
ad
ac
cid
en
ts
w
er
e
ca
u
s
ed
b
y
b
ad
d
r
iv
in
g
b
eh
av
io
r
li
k
e
d
r
iv
i
n
g
to
o
f
as
t
an
d
r
ec
k
le
s
s
l
y
,
d
r
iv
i
n
g
u
n
d
e
r
alco
h
o
l
in
f
l
u
en
ce
,
c
h
a
n
g
i
n
g
th
e
la
n
es
w
it
h
o
u
t
s
ig
n
ali
n
g
,
an
d
b
r
ea
ch
i
n
g
t
h
e
s
af
e
d
is
tan
ce
b
et
w
ee
n
t
w
o
v
eh
icles.
T
h
e
latter
m
a
y
ca
u
s
e
a
s
ev
er
e
ac
cid
en
t
esp
ec
iall
y
w
h
e
n
a
v
e
h
icle
a
h
ea
d
b
r
ak
e
s
u
d
d
en
l
y
,
w
h
er
e
t
h
e
d
r
iv
er
u
n
ab
le
to
b
r
ak
e
in
ti
m
e
a
n
d
t
h
u
s
,
t
h
e
co
llis
io
n
m
a
y
b
e
in
e
v
itab
le.
B
esid
es,
m
a
n
y
ac
cid
e
n
ts
also
o
cc
u
r
d
u
e
to
th
e
d
r
iv
er
’
s
f
ail
u
r
e
to
r
ec
o
g
n
ize
th
e
d
an
g
er
.
Fo
r
e
x
a
m
p
le,
t
h
e
y
m
a
y
n
o
t
n
o
tice
w
h
e
n
a
v
e
h
icle
in
f
r
o
n
t
o
f
t
h
e
m
is
s
u
d
d
en
l
y
b
r
a
k
in
g
o
r
ch
a
n
g
in
g
to
th
eir
lan
e
s
.
So
m
eti
m
es,
t
h
eir
d
r
iv
in
g
a
w
ar
en
e
s
s
m
a
y
b
e
d
eg
r
ad
ed
w
h
en
t
h
e
y
h
a
v
e
b
ee
n
d
r
iv
in
g
f
o
r
to
o
lo
n
g
f
o
r
th
e
ir
j
o
u
r
n
e
y
,
d
u
e
to
s
lee
p
in
ess
a
n
d
f
ati
g
u
e
f
ac
to
r
s
.
T
h
er
ef
o
r
e,
an
aler
t
s
y
s
te
m
i
s
r
eq
u
ir
ed
to
aler
t
th
e
d
r
iv
er
w
i
th
a
w
ar
n
i
n
g
w
h
e
n
t
h
e
s
y
s
te
m
d
etec
t
s
t
h
at
t
h
er
e
i
s
a
p
o
s
s
ib
ilit
y
o
f
co
ll
is
io
n
an
d
also
to
r
e
m
in
d
t
h
e
d
r
iv
er
to
k
ee
p
a
s
af
e
d
is
ta
n
ce
w
it
h
t
h
e
v
e
h
icle
a
h
ea
d
.
T
h
er
e
w
er
e
m
an
y
id
ea
s
an
d
r
esear
ch
es
wh
ic
h
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
to
r
ed
u
ce
th
e
o
cc
u
r
r
en
ce
o
f
r
o
ad
ac
cid
en
ts
esp
ec
ial
l
y
ac
cid
e
n
ts
ca
u
s
ed
b
y
h
u
m
a
n
er
r
o
r
,
s
u
c
h
as
an
a
n
ti
-
co
llis
io
n
s
y
s
te
m
w
i
th
B
L
I
NDE
R
la
s
er
d
etec
to
r
[
4
]
,
an
an
ti
-
co
lli
s
io
n
an
d
in
ter
co
m
m
u
n
icatio
n
s
y
s
te
m
u
s
in
g
co
m
m
u
n
icatio
n
p
r
o
to
co
l
[
5
]
an
d
an
an
ti
-
co
llis
io
n
s
y
s
te
m
u
s
in
g
elec
tr
o
m
a
g
n
et
an
d
u
ltra
s
o
n
ic
s
e
n
s
o
r
[
6
].
W
h
ile
th
e
ar
ticle
in
[
7
]
p
r
o
p
o
s
ed
th
e
i
m
p
le
m
en
ta
tio
n
o
f
v
eh
icle
f
r
o
n
t
s
e
n
s
o
r
s
y
s
te
m
,
w
h
ich
is
b
ased
o
n
A
r
d
u
i
n
,
b
y
u
s
in
g
t
h
e
u
ltra
s
o
n
ic
s
en
s
o
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
mp
leme
n
ta
tio
n
o
f
A
lg
o
r
ith
m
fo
r
V
eh
icle
A
n
ti
-
C
o
llis
io
n
A
lert
S
ystem
in
F
P
GA
(
A
ima
n
Za
kwa
n
Jid
in
)
776
M
o
s
t
o
f
t
h
ese
an
t
i
-
co
lli
s
io
n
s
y
s
te
m
s
w
er
e
co
n
tr
o
lled
b
y
u
s
i
n
g
th
e
m
icr
o
co
n
tr
o
ller
.
Ho
w
e
v
er
,
f
o
r
a
n
ap
p
licatio
n
o
r
a
s
y
s
te
m
w
h
ic
h
n
ee
d
a
v
er
y
h
ig
h
p
r
o
ce
s
s
i
n
g
s
p
ee
d
,
th
e
m
icr
o
co
n
tr
o
ller
ca
n
b
e
r
ep
lace
d
b
y
a
h
ig
h
er
p
er
f
o
r
m
an
ce
d
e
v
ice
li
k
e
FP
GA
,
d
u
e
to
t
h
e
f
o
r
m
er
’
s
i
n
ab
ilit
y
to
p
er
f
o
r
m
v
er
y
f
ast
c
o
m
p
u
tatio
n
s
s
i
n
ce
all
o
f
th
e
i
n
s
tr
u
ctio
n
s
ar
e
ex
ec
u
ted
s
eq
u
e
n
tiall
y
i
n
s
id
e
t
h
e
m
i
cr
o
co
n
tr
o
ller
s
[
8
]
,
[
9
]
.
Field
p
r
o
g
r
am
m
ab
le
g
ate
ar
r
ay
(
FP
G
A
)
i
s
a
d
ig
i
tal
i
n
te
g
r
at
ed
cir
cu
it
th
at
i
s
d
esi
g
n
ed
to
p
er
f
o
r
m
a
v
ar
iet
y
o
f
tas
k
s
s
u
c
h
as
co
m
b
in
atio
n
a
l
f
u
n
ctio
n
s
,
o
r
s
i
m
p
l
y
lo
g
ic.
I
t
ca
n
b
e
co
n
f
ig
u
r
ed
o
r
r
ep
r
o
g
r
am
m
ed
b
y
cu
s
to
m
er
s
o
r
d
esig
n
er
en
g
in
e
er
s
af
ter
m
an
u
f
ac
t
u
r
in
g
[
10
]
.
FP
GA
h
ar
d
w
ar
e
d
esig
n
is
in
c
r
ea
s
in
g
l
y
p
o
p
u
lar
in
ap
p
licatio
n
s
li
k
e
g
r
ap
h
ic
p
r
o
ce
s
s
i
n
g
[
1
1
]
,
d
ig
ital
s
ig
n
al
f
ilte
r
in
g
[
1
2
]
,
cr
y
p
to
g
r
ap
h
y
[
1
3
]
,
an
d
al
s
o
th
e
elec
tr
ic
m
o
to
r
d
r
iv
es
[
8
]
,
[
9
]
.
T
h
is
is
o
w
i
n
g
to
it
s
f
lex
ib
il
it
y
,
v
er
y
f
a
s
t
co
m
p
u
tat
io
n
ti
m
e
w
it
h
lo
w
l
aten
c
y
,
lo
w
p
o
w
er
co
n
s
u
m
p
tio
n
an
d
its
co
n
tin
u
al
i
m
p
r
o
v
e
m
en
t o
f
th
e
tec
h
n
o
lo
g
y
,
w
h
ic
h
m
ak
e
it e
v
e
n
b
etter
in
th
e
f
u
tu
r
e.
T
h
e
n
ee
d
f
o
r
a
v
er
y
f
ast
co
m
p
u
tat
io
n
is
e
s
s
e
n
tial
f
o
r
th
i
s
s
y
s
te
m
b
ec
au
s
e
th
e
s
lo
w
er
th
e
s
y
s
te
m
d
etec
ts
a
p
o
s
s
ib
le
co
llis
io
n
,
th
e
later
th
e
d
r
iv
er
w
ill
r
ea
ct
an
d
th
u
s
,
th
e
e
f
f
ec
t
o
f
co
llis
io
n
w
il
l
b
e
m
o
r
e
s
ev
er
e.
Fo
r
ex
a
m
p
le,
i
f
t
w
o
ca
r
s
,
wh
ich
ar
e
i
n
itia
ll
y
3
0
m
f
r
o
m
ea
ch
o
th
er
,
ar
e
m
o
v
in
g
f
ast
at
1
0
0
k
m
/h
o
n
a
h
ig
h
w
a
y
.
T
h
en
,
i
m
a
g
in
e
i
f
th
e
ca
r
at
th
e
f
r
o
n
t
s
u
d
d
en
l
y
s
l
o
w
s
d
o
w
n
to
7
0
k
m
/
h
.
W
ith
i
n
o
n
e
s
ec
o
n
d
,
if
th
e
d
r
iv
er
o
f
th
e
s
ec
o
n
d
ca
r
d
o
esn
’
t a
p
p
l
y
an
y
b
r
ak
i
n
g
,
h
e
ca
n
f
i
n
d
h
i
m
s
el
f
j
u
s
t 3
m
b
e
h
i
n
d
th
e
ca
r
at
th
e
f
r
o
n
t.
T
h
is
p
ap
er
p
r
esen
ts
t
h
e
d
e
v
e
lo
p
m
e
n
t
o
f
a
n
al
g
o
r
ith
m
f
o
r
th
e
v
e
h
icle
a
n
ti
-
co
lli
s
io
n
al
er
t
s
y
s
te
m
,
w
h
ic
h
i
s
i
m
p
le
m
en
ted
in
FP
G
A
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
i
s
ab
le
to
d
etec
t
a
p
o
s
s
ib
ilit
y
o
f
co
llis
io
n
b
y
d
etec
t
in
g
th
e
r
ate
o
f
ch
a
n
g
e
o
f
d
i
s
tan
ce
b
et
w
ee
n
t
w
o
v
eh
ic
les
a
n
d
t
h
u
s
,
tr
ig
g
er
i
n
g
t
h
e
aler
t.
F
u
r
th
er
m
o
r
e,
it a
ls
o
ca
p
ab
le
o
f
aler
tin
g
th
e
d
r
iv
er
in
th
e
c
ase
w
h
er
e
th
e
s
a
f
e
d
is
tan
ce
h
as
b
ee
n
b
r
ea
ch
ed
.
T
h
e
p
r
o
ce
s
s
o
f
d
etec
tio
n
an
d
n
o
tific
atio
n
i
s
d
o
n
e
w
it
h
i
n
a
v
er
y
s
h
o
r
t
ti
m
e,
o
w
i
n
g
to
FP
GA
h
ar
d
w
ar
e
ab
ilit
y
to
p
er
f
o
r
m
a
v
er
y
f
a
s
t
co
m
p
u
tatio
n
.
Fo
r
th
e
s
y
s
te
m
t
est
p
u
r
p
o
s
e,
an
u
ltra
s
o
n
ic
r
a
n
g
e
s
en
s
o
r
is
u
ti
lized
in
o
r
d
er
to
d
etec
t
th
e
d
is
tan
c
e
b
et
w
ee
n
t
w
o
v
e
h
icles.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Sy
s
t
em
Arc
hite
ct
ure
Fig
u
r
e
1
s
h
o
w
s
t
h
e
b
lo
ck
d
iag
r
a
m
o
f
th
e
s
y
s
te
m
d
e
v
elo
p
ed
.
As
ca
n
b
e
s
ee
n
f
r
o
m
t
h
is
f
i
g
u
r
e,
i
t
co
n
s
is
ts
o
f
t
w
o
m
ai
n
s
u
b
co
m
p
o
n
en
ts
:
d
etec
to
r
an
d
co
m
p
ar
ato
r
.
T
h
e
d
etec
to
r
in
itiates
t
h
e
d
etec
tio
n
o
f
t
h
e
ex
is
te
n
ce
o
f
a
n
y
o
b
j
ec
ts
ah
ea
d
,
w
h
er
ea
s
t
h
e
co
m
p
ar
ato
r
w
il
l
u
s
e
t
h
e
d
ata
r
ec
eiv
ed
f
r
o
m
t
h
e
d
etec
to
r
in
o
r
d
er
to
d
eter
m
i
n
e
i
f
t
h
er
e
ar
e
an
y
o
cc
u
r
r
en
ce
o
f
s
lo
w
i
n
g
v
e
h
ic
les
o
r
s
tatic
o
b
j
ec
ts
ah
ea
d
,
o
r
th
e
s
a
f
e
d
is
ta
n
ce
b
et
w
ee
n
t
w
o
v
e
h
icles
h
as b
ee
n
b
r
ea
ch
ed
.
Fig
u
r
e
1
.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
p
r
o
p
o
s
ed
v
eh
icle
a
n
ti
-
co
l
lis
io
n
aler
t s
y
s
te
m
I
n
t
h
is
r
esear
ch
,
f
o
r
te
s
ti
n
g
p
u
r
p
o
s
e,
th
e
d
etec
to
r
d
ep
lo
y
ed
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
r
an
g
e
d
etec
tio
n
m
ec
h
a
n
i
s
m
.
An
u
ltra
s
o
n
ic
s
en
s
o
r
s
en
d
s
o
u
t
a
s
o
n
ic
b
u
r
s
t
at
4
0
KHz
an
d
its
v
elo
cit
y
is
th
e
s
a
m
e
a
s
t
h
e
s
p
ee
d
o
f
s
o
u
n
d
,
w
h
ic
h
is
ap
p
r
o
x
i
m
a
tel
y
3
4
0
m
s
-
1
.
T
h
is
s
ig
n
al
w
ill
b
e
r
ef
lecte
d
b
ac
k
b
y
t
h
e
o
b
j
ec
t
ah
ea
d
a
n
d
t
h
u
s
,
th
e
s
i
g
n
a
l
tr
av
eli
n
g
ti
m
e,
w
h
i
ch
is
th
e
t
i
m
e
i
n
ter
v
a
l
b
et
w
ee
n
th
e
tr
i
g
g
er
s
i
g
n
al
is
s
e
n
t
an
d
th
e
ec
h
o
s
ig
n
al
i
s
r
ec
eiv
ed
,
is
ca
lc
u
lated
.
T
h
er
ef
o
r
e,
th
e
d
is
tan
ce
(
i
n
m
eter
)
b
etw
ee
n
t
w
o
o
b
j
ec
ts
ca
n
b
e
d
eter
m
i
n
ed
b
y
u
s
i
n
g
th
e
f
o
ll
o
w
in
g
f
o
r
m
u
la:
d
is
tan
ce
=
tr
av
el
lin
g
ti
m
e
*
3
4
0
/ 2
I
n
t
h
e
ca
lc
u
latio
n
,
t
h
e
tr
a
v
eli
n
g
ti
m
e
n
ee
d
s
to
b
e
d
i
v
id
ed
b
y
2
,
s
i
n
ce
t
h
e
tr
a
v
eli
n
g
ti
m
e
in
clu
d
es
t
h
e
ti
m
e
it
to
o
k
f
r
o
m
t
h
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
to
r
ea
ch
th
e
o
b
j
ec
t
ah
ea
d
an
d
al
s
o
t
h
e
ti
m
e
t
h
e
ec
h
o
s
i
g
n
al
n
ee
d
ed
to
r
ea
ch
b
ac
k
at
th
e
s
e
n
s
o
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
2
,
A
p
r
il 2
0
1
7
:
7
7
5
–
783
777
2
.
2
.
Det
ec
t
io
n a
nd
Co
m
pa
ri
s
o
n P
ro
ce
s
s
T
h
e
s
tates
m
ac
h
in
e
i
n
Fi
g
u
r
e
2
illu
s
tr
ates
t
h
e
d
etec
tio
n
m
ec
h
an
i
s
m
w
h
ic
h
h
as
b
ee
n
o
p
er
ated
b
y
th
e
d
etec
to
r
.
I
t
c
o
n
s
is
ts
o
f
f
i
v
e
d
if
f
er
en
t
s
tate
s
:
I
D
L
E
,
I
NI
T
,
W
A
I
T
,
R
E
C
E
I
VE
,
an
d
ST
O
P
.
I
n
I
DL
E
s
tate,
th
e
m
ac
h
in
e
is
w
a
iti
n
g
f
o
r
t
h
e
co
m
p
ar
ato
r
to
b
e
r
ea
d
y
to
ac
q
u
i
r
e
a
n
e
w
co
m
p
ar
i
s
o
n
f
ir
s
t,
w
h
ich
i
s
i
n
d
icate
d
b
y
t
he
co
m
pa
re
_
do
ne
f
la
g
.
Ne
x
t,
i
n
I
NI
T
s
tate,
th
e
d
etec
t
o
r
w
ill
s
en
d
a
h
i
g
h
-
le
v
el
tr
ig
g
er
s
ig
n
al
to
th
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
,
i
n
o
r
d
er
to
in
itiate
th
e
s
o
n
ic
b
u
r
s
t.
T
h
is
tr
i
g
g
er
s
i
g
n
al
is
m
ai
n
tai
n
ed
at
h
i
g
h
lev
el
f
o
r
at
least
1
0
µs.
Af
ter
th
e
W
A
I
T
s
tate,
th
e
s
o
n
ic
b
u
r
s
t
s
h
o
u
ld
b
e
r
ea
d
y
an
d
tr
an
s
m
it
ted
.
Du
r
i
n
g
t
h
e
R
E
C
E
I
VE
s
tate,
th
er
e
is
a
co
u
n
ter
i
n
s
id
e
t
h
e
d
etec
to
r
w
h
ic
h
co
u
n
ts
th
e
n
u
m
b
er
o
f
clo
ck
c
y
cles
b
et
w
ee
n
t
h
e
m
o
m
e
n
t
th
e
s
o
n
ic
b
u
r
s
t
is
tr
a
n
s
m
itted
an
d
t
h
e
t
i
m
e
w
h
en
t
h
e
s
e
n
s
o
r
r
ec
eiv
e
s
th
e
ec
h
o
(
w
h
en
ec
ho
f
la
g
is
b
ec
o
m
in
g
lo
w
)
.
Ho
w
e
v
er
,
in
t
h
e
ca
s
e
o
f
th
e
in
ex
is
te
n
ce
o
f
a
n
y
o
b
j
ec
ts
ah
ea
d
,
it
w
ill
d
ir
ec
tl
y
tr
an
s
it
to
t
h
e
ST
OP
s
tate
b
u
t
n
o
co
m
p
ar
is
o
n
w
ill b
e
p
er
f
o
r
m
ed
af
ter
w
ar
d
.
Fin
all
y
,
d
u
r
in
g
t
h
e
ST
OP
s
tate,
th
e
co
u
n
ter
v
al
u
e
is
s
en
t
to
t
h
e
co
m
p
ar
ato
r
to
g
et
h
er
w
i
th
a
cnt
_
do
ne
f
la
g
,
i
n
d
icatin
g
th
at
t
h
e
co
u
n
ti
n
g
p
r
o
ce
s
s
i
s
co
m
p
le
ted
a
n
d
t
h
e
co
m
p
ar
is
o
n
ca
n
b
e
c
o
m
m
e
n
ce
d
.
B
ef
o
r
e
r
etu
r
n
i
n
g
b
ac
k
to
t
h
e
I
D
L
E
s
tate,
th
e
d
etec
to
r
w
ill
s
ta
y
in
th
e
s
a
m
e
s
tate
u
n
til
th
e
end_
6
0
m
s
f
lag
is
h
ig
h
,
s
ig
n
ali
n
g
th
a
t
th
e
d
etec
to
r
h
as
r
ea
ch
ed
its
co
m
p
lete
m
e
asu
r
e
m
en
t
c
y
cle,
w
h
ic
h
is
s
et
at
6
0
m
s
.
T
h
is
m
ea
s
u
r
e
m
e
n
t
c
y
cle
p
er
io
d
,
w
h
ic
h
is
t
h
e
ti
m
e
i
n
ter
v
al
b
et
w
ee
n
t
w
o
co
n
s
ec
u
ti
v
e
tr
ig
g
er
s
ig
n
al,
h
ad
b
ee
n
r
ec
o
m
m
e
n
d
ed
b
y
t
h
e
s
e
n
s
o
r
m
an
u
f
ac
t
u
r
er
,
in
o
r
d
er
to
p
r
ev
en
t tr
ig
g
er
s
ig
n
al
to
th
e
ec
h
o
s
i
g
n
al
[
1
4
]
.
Fig
u
r
e
2
.
States
m
ac
h
i
n
e
w
h
ic
h
r
ep
r
esen
t t
h
e
d
etec
to
r
’
s
o
p
er
atio
n
Fig
u
r
e
3
s
h
o
w
s
t
h
e
s
ta
tes
m
ac
h
in
e
w
h
ic
h
r
ep
r
esen
t
s
th
e
o
p
er
atio
n
s
ex
ec
u
ted
b
y
t
h
e
c
o
m
p
ar
ato
r
.
I
n
itiall
y
,
it
r
e
m
ain
s
i
n
th
e
I
D
L
E
s
ta
te
u
n
til
i
t
r
ec
eiv
e
s
a
h
i
g
h
-
le
v
el
cnt
_
do
ne
f
la
g
,
w
h
ic
h
in
d
icate
s
t
h
at
t
h
e
d
etec
tio
n
p
r
o
ce
s
s
is
d
o
n
e
in
th
e
d
etec
to
r
.
Nex
t,
in
th
e
R
E
A
D
s
tate,
th
e
n
e
w
d
is
ta
n
ce
v
al
u
e
co
u
n
ted
in
s
id
e
th
e
d
etec
to
r
is
u
p
d
ated
in
s
id
e
th
e
co
m
p
ar
ato
r
.
A
t
t
h
is
s
tag
e,
t
h
is
n
e
w
l
y
u
p
d
ated
v
alu
e
is
co
m
p
ar
ed
to
th
e
d
is
tan
ce
v
alu
e
f
r
o
m
th
e
p
r
ev
io
u
s
m
ea
s
u
r
e
m
e
n
t
c
y
cle.
A
t
t
h
e
C
OM
P
AR
E
s
tate,
i
t
w
ill
d
ec
id
e
to
p
er
f
o
r
m
o
n
e
o
f
th
e
f
o
llo
w
in
g
ac
tio
n
s
:
a.
I
f
th
e
d
i
f
f
er
en
ce
b
et
w
ee
n
t
h
e
n
e
w
d
is
ta
n
ce
v
alu
e
a
n
d
t
h
e
p
r
ev
io
u
s
d
i
s
tan
ce
v
al
u
e
i
s
s
i
g
n
if
ica
n
t,
t
h
en
i
t
w
il
l tr
an
s
it to
T
R
I
GGE
R
_
C
O
L
L
in
o
r
d
er
to
ac
tiv
ate
th
e
co
ll
is
io
n
aler
t
b.
I
f
th
e
d
i
f
f
er
en
ce
b
et
w
ee
n
t
h
e
n
e
w
d
is
ta
n
ce
v
alu
e
a
n
d
t
h
e
p
r
ev
io
u
s
d
is
ta
n
ce
v
al
u
e
is
s
m
al
l
an
d
t
h
e
co
llis
io
n
a
ler
t
i
s
c
u
r
r
en
tl
y
ac
tiv
ated
,
t
h
e
n
it
w
ill
tr
an
s
m
it
to
UNT
R
I
G_
C
OL
L
s
ta
te
to
d
ea
ctiv
ate
t
h
e
co
llis
io
n
aler
t
c.
I
f
th
e
n
e
w
d
i
s
ta
n
ce
v
al
u
e
i
s
g
r
ea
ter
th
a
n
t
h
e
s
a
f
e
d
i
s
ta
n
ce
t
h
r
esh
o
ld
,
t
h
en
it
w
ill
t
r
an
s
m
it
to
t
h
e
T
R
I
GGE
R
_
P
R
OX
s
tate
in
o
r
d
er
to
ac
tiv
ate
th
e
s
a
f
e
d
is
ta
n
ce
aler
t
d.
I
f
t
h
e
n
e
w
d
is
tan
ce
v
al
u
e
is
le
s
s
er
t
h
an
t
h
e
s
a
f
e
d
is
ta
n
ce
t
h
r
esh
o
ld
a
n
d
th
e
s
a
f
e
d
i
s
tan
ce
a
ler
t
is
c
u
r
r
en
tl
y
ac
tiv
ated
,
th
e
n
it
w
il
l tr
an
s
it to
th
e
UNT
R
I
G_
P
R
OX
s
tate
to
d
ea
ctiv
ate
th
e
s
af
e
d
is
tan
ce
al
er
t
e.
I
f
n
o
n
e
o
f
t
h
e
ab
o
v
e
ca
s
e
s
,
it
w
il
l d
ir
ec
tl
y
tr
an
s
it to
th
e
W
AI
T
s
tate.
Af
ter
t
h
e
W
A
I
T
s
tate,
it
w
ill
r
etu
r
n
b
ac
k
to
th
e
I
D
L
E
s
tat
e.
At
t
h
is
s
ta
g
e,
t
h
e
co
m
p
ar
ato
r
s
en
d
s
a
co
m
p
ar
e_
d
o
n
e
f
lag
to
t
h
e
d
ete
cto
r
,
in
o
r
d
er
to
in
d
icate
th
e
la
tter
th
at
t
h
e
co
m
p
ar
i
s
o
n
i
s
co
m
p
le
ted
an
d
it
m
a
y
n
o
w
p
r
o
ce
ed
w
it
h
t
h
e
n
e
w
d
et
ec
tio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
mp
leme
n
ta
tio
n
o
f
A
lg
o
r
ith
m
fo
r
V
eh
icle
A
n
ti
-
C
o
llis
io
n
A
lert
S
ystem
in
F
P
GA
(
A
ima
n
Za
kwa
n
Jid
in
)
778
Fig
u
r
e
3
.
States
m
ac
h
i
n
e
w
h
ic
h
r
ep
r
esen
t t
h
e
co
m
p
ar
ato
r
'
s
o
p
er
atio
n
2
.
3
.
P
a
ra
m
et
er
s
Set
t
ing
As t
h
e
m
atter
o
f
f
ac
t,
t
h
er
e
ar
e
s
ev
er
al
p
ar
a
m
eter
s
w
h
ich
n
ee
d
to
b
e
s
et
f
o
r
th
i
s
s
y
s
te
m
.
Fo
r
ex
a
m
p
le,
in
th
e
d
etec
to
r
,
a
p
ar
am
eter
ca
lled
MA
X_
C
NT
is
u
s
ed
to
s
et
th
e
m
a
x
i
m
u
m
co
u
n
t
v
al
u
e
b
y
th
e
co
u
n
ter
;
b
ey
o
n
d
th
is
v
alu
e,
w
e
ca
n
as
s
u
m
e
th
at
t
h
er
e
ar
e
n
o
o
b
j
ec
ts
o
r
v
eh
icles
w
h
ic
h
ex
is
t
in
f
r
o
n
t
o
f
u
s
.
I
f
t
h
e
m
ax
i
m
u
m
d
etec
tio
n
i
s
s
et
at
d
(
in
m
eter
)
,
th
e
M
A
X_
C
NT
s
h
all
b
e
s
et
eq
u
al
to
2
d
/
(
3
4
0
*
T
cl
k
)
,
w
h
er
e
T
clk
is
th
e
p
er
io
d
o
f
th
e
clo
ck
u
t
ilized
f
o
r
th
e
co
u
n
ter
.
Fo
r
ex
a
m
p
le,
if
d
=
1
0
m
a
n
d
T
cl
k
=
2
0
n
s
,
th
en
:
MA
X_
C
NT
=
(
2
*
1
0
)
/ (
3
4
0
*
2
0
x
1
0
-
9
)
≈
2
9
4
1
1
7
6
.
I
n
th
e
co
m
p
ar
ato
r
,
th
er
e
ar
e
t
w
o
p
ar
am
eter
s
t
h
at
n
ee
d
to
b
e
d
eter
m
i
n
ed
,
w
h
ic
h
ar
e
S
A
FE_
DI
ST
A
N
C
E
_
T
HOL
D
an
d
DI
FF
_
DI
ST
A
N
C
E
_
T
HOL
D.
T
h
e
f
o
r
m
er
i
s
t
h
e
s
a
f
e
d
i
s
tan
ce
th
r
es
h
o
ld
f
o
r
th
e
co
u
n
ted
d
is
tan
ce
v
al
u
e;
i
f
th
e
co
u
n
ted
v
alu
e
is
le
s
s
er
th
a
n
th
e
th
r
e
s
h
o
ld
,
it
i
n
d
icate
s
t
h
at
th
e
s
af
e
d
is
ta
n
ce
is
b
r
ea
ch
ed
.
W
h
ile
th
e
latter
is
th
e
m
in
i
m
u
m
d
i
f
f
er
en
ce
b
et
w
ee
n
th
e
c
u
r
r
en
t
d
is
ta
n
ce
v
al
u
e
an
d
th
e
p
r
ev
io
u
s
v
alu
e.
I
f
th
eir
d
i
f
f
er
e
n
ce
s
ar
e
b
ig
g
er
t
h
an
t
h
e
t
h
r
esh
o
ld
v
a
lu
e,
th
en
t
h
e
s
y
s
te
m
w
il
l tr
ig
g
er
th
e
co
llis
io
n
aler
t.
B
o
th
o
f
t
h
e
s
e
p
ar
a
m
eter
s
c
an
b
e
d
eter
m
in
ed
b
y
u
s
i
n
g
th
e
s
a
m
e
f
o
r
m
u
la
a
s
t
h
e
MA
X_
C
NT
d
eter
m
in
at
io
n
.
Fo
r
ex
a
m
p
le,
i
f
th
e
s
a
f
e
d
is
ta
n
ce
is
f
ix
ed
at
2
m
,
th
e
n
S
A
FE_
DI
ST
A
N
C
E
_
T
HOL
D
=
(
2
*
2
)
/ (
3
4
0
*
2
0
x
1
0
-
9
)
≈
5
8
8
2
3
5
.
Me
an
w
h
ile,
if
t
h
e
m
i
n
i
m
u
m
d
i
s
tan
ce
co
u
n
t d
i
f
f
er
e
n
ce
is
s
e
t a
t 0
.
5
m
ev
er
y
m
ea
s
u
r
e
m
e
n
t c
y
cle,
th
en
DI
FF
_
DI
ST
A
NC
E
_
T
HOL
D
=
(
0
.
5
*
2
)
/ (
3
4
0
*
2
0
x
1
0
-
9
)
≈
1
4
7
0
5
9
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
T
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
w
as
s
u
cc
e
s
s
f
u
ll
y
i
m
p
le
m
e
n
ted
o
n
A
lter
a
DE
0
Dev
elo
p
m
e
n
t
B
o
ar
d
,
w
h
ic
h
eq
u
ip
p
ed
w
i
th
C
y
clo
n
e
I
I
I
FP
GA
De
v
ice.
I
t
h
ad
b
ee
n
d
esig
n
ed
b
y
u
s
i
n
g
Ver
ilo
g
HD
L
co
d
e.
Fig
u
r
e
4
s
h
o
ws
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
’
s
h
ar
d
w
a
r
e
test
s
etu
p
.
I
t
ca
n
b
e
s
ee
n
t
h
at
th
e
d
esi
g
n
ed
s
y
s
te
m
i
n
FP
GA
is
co
n
n
ec
ted
to
th
e
H
C
-
S
R
0
4
u
l
tr
aso
n
ic
s
e
n
s
o
r
v
ia
in
p
u
t
-
o
u
tp
u
t p
o
r
ts
.
Mo
r
e
o
v
er
,
a
r
u
ler
is
p
u
t
at
th
e
s
e
n
s
o
r
,
in
o
r
d
er
to
ea
s
il
y
f
i
x
th
e
d
is
ta
n
ce
b
et
w
ee
n
th
e
s
e
n
s
o
r
an
d
th
e
o
b
s
tacle
d
u
r
i
n
g
t
h
e
test
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
2
,
A
p
r
il 2
0
1
7
:
7
7
5
–
783
779
Fig
u
r
e
4
.
FP
GA
h
ar
d
w
ar
e
test
s
etu
p
Fo
r
th
e
test
in
t
h
e
lab
o
r
ato
r
y
p
u
r
p
o
s
e,
th
e
s
af
e
d
i
s
ta
n
ce
th
r
es
h
o
ld
is
5
c
m
w
h
i
le
th
e
d
is
tan
ce
d
if
f
er
e
n
ce
th
r
e
s
h
o
ld
is
s
et
to
2
c
m
.
T
h
er
ef
o
r
e,
SA
FE_
DI
ST
A
N
C
E
_
T
HOL
D
an
d
DI
FF
_
D
I
ST
A
NC
E
_
T
HOL
D
ar
e
f
ix
ed
at
1
4
7
0
0
an
d
5
8
8
2
,
r
esp
ec
tiv
el
y
.
Me
an
w
h
i
le,
th
e
m
a
x
i
m
u
m
d
etec
t
io
n
r
an
g
e
is
s
et
at
3
0
c
m
(
MA
X_
C
NT
=
8
8
2
3
5
)
.
3
.
1
.
H
a
rdwa
re
E
x
peri
m
e
nta
l R
esu
lt
s
Fig
u
r
e
5
s
h
o
w
s
a
n
o
b
s
tac
le,
w
h
ic
h
r
ep
r
esen
ts
a
v
e
h
icle
i
n
f
r
o
n
t,
is
s
et
at
a
d
is
tan
ce
o
f
7
cm
f
r
o
m
t
h
e
s
en
s
o
r
.
T
h
e
r
esu
lt
o
f
t
h
e
d
etec
tio
n
i
n
FP
GA
is
o
b
s
er
v
ed
i
n
t
h
e
S
ig
n
alT
ap
I
I
w
i
n
d
o
w
,
a
s
s
h
o
w
n
i
n
F
ig
u
r
e
6
.
I
n
th
is
ca
s
e,
th
e
d
etec
to
r
co
u
n
ted
a
v
alu
e
eq
u
al
to
2
0
5
2
0
,
w
h
ic
h
is
co
r
r
esp
o
n
d
in
g
to
7
c
m
,
ap
p
r
o
x
i
m
ate
l
y
.
As ca
n
b
e
s
ee
n
h
er
e,
t
h
e
a
lert
_
pro
x
s
ig
n
al
r
e
m
a
in
s
L
OW
,
as
ex
p
ec
ted
s
in
ce
t
h
e
d
is
ta
n
ce
is
g
r
ea
ter
th
an
t
h
e
s
a
f
e
d
is
tan
ce
s
et.
Fig
u
r
e
5
.
An
o
b
s
tacle
is
s
et
at
7
cm
f
r
o
m
t
h
e
s
e
n
s
o
r
Fig
u
r
e
6
.
W
av
ef
o
r
m
s
o
b
s
er
v
e
d
in
Sig
n
alT
ap
I
I
w
i
n
d
o
w
w
h
e
n
an
o
b
s
tacle
is
s
et
at
7
c
m
f
r
o
m
th
e
s
en
s
o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
mp
leme
n
ta
tio
n
o
f
A
lg
o
r
ith
m
fo
r
V
eh
icle
A
n
ti
-
C
o
llis
io
n
A
lert
S
ystem
in
F
P
GA
(
A
ima
n
Za
kwa
n
Jid
in
)
780
Me
an
w
h
ile,
Fi
g
u
r
e
7
s
h
o
w
s
t
h
at
th
e
o
b
s
tacle
h
ad
b
ee
n
m
o
v
e
d
clo
s
er
to
th
e
s
en
s
o
r
,
w
ith
in
a
d
is
tan
c
e
o
f
4
.
5
c
m
.
T
h
e
co
u
n
ter
v
a
lu
e
p
r
o
d
u
ce
d
in
s
id
e
t
h
e
d
etec
to
r
is
1
3
4
3
2
,
w
h
ic
h
i
s
co
r
r
esp
o
n
d
in
g
to
a
d
i
s
tan
c
e
eq
u
al
to
4
.
5
cm
,
ap
p
r
o
x
i
m
atel
y
.
I
n
t
h
is
ca
s
e,
s
i
n
ce
t
h
e
d
is
ta
n
ce
is
s
m
aller
th
a
n
t
h
e
s
a
f
e
d
i
s
tan
ce
s
et,
th
e
n
t
h
e
a
lert
_
pro
x
s
ig
n
al
is
s
et
to
HI
GH,
as c
an
b
e
o
b
s
er
v
ed
in
Fi
g
u
r
e
8
.
Fig
u
r
e
7
.
An
o
b
s
tacle
is
s
et
at
4
.
5
cm
f
r
o
m
th
e
s
en
s
o
r
Fig
u
r
e
8
.
W
av
ef
o
r
m
s
o
b
s
er
v
e
d
in
Sig
n
alT
ap
I
I
w
i
n
d
o
w
w
h
e
n
an
o
b
s
tacle
is
s
et
at
4
.
5
c
m
f
r
o
m
t
h
e
s
e
n
s
o
r
Fig
u
r
e
9
s
h
o
w
s
th
e
r
esu
lts
o
b
s
er
v
ed
in
th
e
Si
g
n
a
lT
ap
w
in
d
o
w
w
h
en
th
e
o
b
s
tacle
a
h
ea
d
h
ad
b
ee
n
m
o
v
ed
v
er
y
q
u
ick
l
y
a
n
d
t
h
u
s
,
its
d
is
tan
ce
f
r
o
m
th
e
s
e
n
s
o
r
w
a
s
d
r
asti
ca
ll
y
c
h
an
g
ed
b
et
wee
n
t
w
o
co
n
s
ec
u
tiv
e
m
ea
s
u
r
e
m
e
n
t
s
.
A
s
ca
n
b
e
s
ee
n
f
r
o
m
t
h
e
r
esu
lts
s
h
o
w
n
,
t
h
e
d
is
tan
ce
w
a
s
r
ed
u
ce
d
f
r
o
m
9
.
6
c
m
(
co
r
r
esp
o
n
d
in
g
to
cn
t_
v
al
=2
8
3
4
8
)
to
6
.
7
c
m
(
co
r
r
esp
o
n
d
in
g
to
cn
t_
v
al
=1
9
9
0
7
)
.
I
t
m
ea
n
s
th
at
t
h
e
d
is
tan
ce
b
et
w
ee
n
t
h
e
o
b
s
tacle
an
d
th
e
s
e
n
s
o
r
w
a
s
r
ed
u
ce
d
b
y
2
.
9
c
m
w
it
h
i
n
t
wo
co
n
s
ec
u
ti
v
e
m
ea
s
u
r
e
m
e
n
t
s
.
C
o
n
s
eq
u
en
t
l
y
,
t
h
e
a
lert
_
co
l
s
ig
n
al
is
s
et
to
HI
GH
in
o
r
d
er
to
tr
ig
g
er
th
e
an
t
i
-
c
o
llis
io
n
aler
t.
Fig
u
r
e
9
.
W
av
ef
o
r
m
s
o
b
s
er
v
e
d
in
Sig
n
alT
ap
I
I
w
i
n
d
o
w
w
h
e
n
th
e
d
is
tan
ce
b
et
w
ee
n
th
e
s
en
s
o
r
an
d
t
h
e
o
b
s
tacle
ch
an
g
ed
d
r
asti
ca
ll
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
2
,
A
p
r
il 2
0
1
7
:
7
7
5
–
783
781
I
n
Fig
u
r
e
1
0
,
it
s
h
o
w
s
t
h
at
th
e
s
y
s
te
m
to
o
k
o
n
l
y
5
clo
ck
c
y
c
les
f
r
o
m
t
h
e
r
ec
ep
tio
n
o
f
th
e
ec
h
o
s
ig
n
a
l
h
as
b
ee
n
co
m
p
leted
to
t
h
e
ale
r
t_
co
l
s
ig
n
al
i
s
tr
i
g
g
er
ed
.
Si
n
ce
th
e
5
0
MH
z
clo
c
k
i
s
u
s
ed
f
o
r
th
is
test
(
clo
ck
p
er
io
d
is
eq
u
al
to
2
0
n
s
)
,
th
e
ti
m
e
tak
e
n
f
o
r
th
is
d
etec
tio
n
is
1
0
0
n
s
.
Fig
u
r
e
1
0
.
W
av
ef
o
r
m
s
o
b
s
er
v
ed
in
Sig
n
alT
ap
I
I
w
i
n
d
o
w
s
h
o
w
i
n
g
t
h
e
n
u
m
b
er
o
f
clo
ck
c
y
cles it
to
o
k
to
tr
ig
g
er
t
h
e
co
llis
io
n
aler
t
W
h
en
co
m
p
ar
i
n
g
th
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
w
i
th
th
e
p
er
f
o
r
m
an
c
e
o
f
th
e
m
icr
o
co
n
tr
o
ller
-
b
ased
s
y
s
te
m
[
7
]
,
it
clea
r
ly
s
h
o
w
s
t
h
at
t
h
e
d
etec
tio
n
o
f
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
is
al
m
o
s
t
4
0
0
ti
m
e
f
aster
th
a
n
t
h
e
d
etec
tio
n
o
f
th
e
lat
ter
,
w
h
ich
w
a
s
m
ea
s
u
r
ed
at
4
0
u
s
.
T
h
is
p
e
r
f
o
r
m
an
ce
ca
n
b
e
s
ig
n
i
f
ica
n
tl
y
i
m
p
r
o
v
ed
i
f
t
h
e
u
s
a
g
e
o
f
t
h
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
is
r
ep
lace
d
b
y
t
h
e
la
s
er
r
an
g
e
d
etec
to
r
d
u
e
to
th
e
g
r
ea
ter
s
p
ee
d
o
f
lig
h
t,
as p
r
o
p
o
s
ed
in
[
4
]
.
3.
2
.
Desig
n P
er
f
o
rm
a
nce
An
a
ly
s
is
T
ab
le
1
s
h
o
w
s
t
h
e
h
ar
d
w
ar
e
r
eso
u
r
ce
s
u
tili
za
tio
n
a
n
d
al
s
o
th
e
an
al
y
s
is
o
n
th
e
ti
m
i
n
g
a
n
d
p
o
w
er
co
n
s
u
m
p
tio
n
o
f
t
h
e
i
m
p
le
m
en
ted
al
g
o
r
ith
m
in
FP
G
A
.
T
h
ese
d
ata
ar
e
o
b
tain
ed
f
r
o
m
t
h
e
Qu
ar
t
u
s
I
I
co
m
p
ila
tio
n
r
ep
o
r
t,
w
h
ile
th
e
ti
m
in
g
p
er
f
o
r
m
a
n
ce
a
n
d
t
h
e
p
o
w
er
d
is
s
ip
atio
n
ar
e
e
x
tr
ac
ted
f
r
o
m
t
h
e
T
im
eQ
u
est ti
m
i
n
g
an
al
y
s
is
r
e
p
o
r
t a
n
d
Po
w
er
P
la
y
An
al
y
ze
r
r
ep
o
r
t,
r
esp
ec
tiv
el
y
.
T
ab
le
1
.
T
h
e
o
v
er
all
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
i
m
p
le
m
e
n
ted
s
y
s
te
m
in
FP
GA
L
o
g
i
c
El
e
me
n
t
s
F
max
(
M
H
z
)
P
o
w
e
r
D
i
ssi
p
a
t
i
o
n
(
mW
)
1
3
9
9
7
2
.
4
1
2
8
.
9
3
B
ased
o
n
t
h
e
f
ig
u
r
es
in
T
ab
le
1
,
th
e
w
h
o
le
s
y
s
te
m
o
n
l
y
co
n
s
u
m
ed
1
3
9
9
f
r
o
m
t
h
e
to
tal
1
5
4
0
8
lo
g
ic
ele
m
e
n
ts
w
h
ich
ar
e
a
v
ailab
le
in
th
e
FP
G
A
u
s
ed
.
I
n
ter
m
s
o
f
t
h
e
ti
m
i
n
g
p
er
f
o
r
m
a
n
ce
,
t
h
e
m
ax
i
m
u
m
clo
c
k
f
r
eq
u
en
c
y
w
h
ic
h
ca
n
b
e
u
s
ed
t
o
o
p
er
ate
th
is
s
y
s
te
m
is
7
2
.
4
MH
z.
T
h
u
s
,
th
e
co
m
p
u
tatio
n
t
i
m
e
o
f
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
ca
n
b
e
i
m
p
r
o
v
ed
b
y
r
ep
lacin
g
th
e
5
0
MH
z
clo
c
k
w
it
h
a
f
a
s
ter
clo
ck
,
w
h
ic
h
f
r
eq
u
en
c
y
is
u
p
to
t
h
e
s
tated
F
m
a
x
.
I
n
f
ac
t,
t
h
e
p
o
w
er
co
n
s
u
m
p
tio
n
is
n
o
t
th
e
m
ai
n
f
o
c
u
s
o
f
th
i
s
p
ap
er
.
Ho
w
ev
er
,
it
ca
n
b
e
i
m
p
r
o
v
ed
in
th
e
f
u
t
u
r
e
b
y
i
m
p
le
m
e
n
ti
n
g
s
e
v
er
al
p
o
w
er
m
an
a
g
e
m
en
t
tec
h
n
iq
u
e
s
s
u
c
h
a
s
t
h
e
clo
c
k
g
ati
n
g
,
o
r
b
y
ch
a
n
g
in
g
th
e
p
o
w
er
-
o
p
ti
m
ized
s
ta
te
m
a
ch
in
e
e
n
co
d
in
g
li
k
e
Gr
a
y
e
n
co
d
in
g
i
n
s
tead
o
f
B
i
n
ar
y
en
co
d
i
n
g
.
4.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
h
as
p
r
esen
ted
an
i
m
p
le
m
e
n
tat
io
n
o
f
t
h
e
al
g
o
r
ith
m
f
o
r
v
e
h
icle
a
n
ti
-
co
lli
s
io
n
al
er
t
s
y
s
te
m
,
w
h
ic
h
h
ad
b
ee
n
s
u
cc
e
s
s
f
u
ll
y
i
m
p
le
m
en
ted
in
A
l
ter
a
DE
0
FP
GA
B
o
ar
d
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
i
s
ca
p
ab
le
o
f
d
etec
tin
g
a
d
ec
eler
atin
g
o
r
ev
en
a
s
tatic
o
b
j
ec
t
ah
ea
d
an
d
t
h
u
s
,
aler
ti
n
g
a
p
o
s
s
ib
le
co
llis
i
o
n
.
B
esid
es,
it
al
s
o
h
as
t
h
e
ab
ilit
y
to
r
e
m
in
d
d
r
iv
er
s
to
k
ee
p
t
h
e
d
is
tan
ce
b
et
w
ee
n
t
w
o
v
e
h
icle
s
w
it
h
i
n
a
s
af
e
r
an
g
e.
T
h
e
ex
p
er
i
m
e
n
tal
tes
ts
w
er
e
p
er
f
o
r
m
ed
b
y
u
s
i
n
g
t
h
e
tar
g
e
ted
FP
GA
h
ar
d
w
ar
e,
an
d
th
e
r
es
u
lt
s
f
r
o
m
t
h
ese
te
s
ts
h
ad
v
alid
ated
th
e
f
u
n
ctio
n
al
it
y
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
.
F
u
r
th
er
m
o
r
e,
t
h
e
d
ata
f
r
o
m
th
e
an
al
y
s
is
s
h
o
w
s
th
a
t
it
ca
n
p
er
f
o
r
m
a
v
er
y
f
ast
d
etec
tio
n
w
h
ile
co
n
s
u
m
in
g
lo
w
h
ar
d
w
ar
e
r
eso
u
r
ce
s
.
T
h
i
s
r
es
u
lt
m
a
y
co
n
tr
ib
u
t
to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
mp
leme
n
ta
tio
n
o
f
A
lg
o
r
ith
m
fo
r
V
eh
icle
A
n
ti
-
C
o
llis
io
n
A
lert
S
ystem
in
F
P
GA
(
A
ima
n
Za
kwa
n
Jid
in
)
782
i
m
p
r
o
v
i
n
g
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
s
y
s
te
m
s
w
h
ich
ar
e
co
n
s
id
er
ed
as
ti
m
e
-
cr
itical
s
y
te
m
s
a
n
d
w
h
ic
h
r
eq
u
ir
e
v
er
y
h
ig
h
-
s
p
ee
d
ex
ec
u
tio
n
a
n
d
v
er
y
lo
w
co
m
p
u
tin
g
ti
m
e.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
w
i
s
h
to
ac
k
n
o
w
l
ed
g
e
Un
i
v
er
s
it
i
T
ek
n
i
k
al
Ma
l
a
y
s
ia
Me
la
k
a
(
UT
eM
)
f
o
r
th
e
f
i
n
an
cia
l
f
u
n
d
i
n
g
u
n
d
er
Gr
an
t
No
.
P
J
P
/
2
0
1
5
/F
T
K(
2
8
D)
/S0
1
4
5
2
an
d
p
r
o
v
id
in
g
i
n
s
tr
u
m
en
tatio
n
d
e
v
ices
s
u
p
p
o
r
t
f
o
r
th
is
p
r
o
j
ec
t.
RE
F
E
R
E
NC
E
S
[1
]
W
il
l
y
A
.
“
5
c
o
m
m
o
n
c
a
u
se
s
o
f
ro
a
d
a
c
c
id
e
n
ts
in
M
a
la
y
sia
”
,
[
In
tern
e
t]
.
M
o
to
rm
e
-
M
a
la
y
sia
C
a
rs Bi
k
e
s
T
ru
c
k
s
On
e
S
to
p
A
u
to
m
o
ti
v
e
W
e
b
site.
2
0
1
5
.
Av
a
il
a
b
le
f
r
o
m
:
h
tt
p
:/
/www
.
m
o
to
rm
e
.
m
y
/5
-
c
o
m
m
o
n
-
c
a
u
se
s
-
of
-
ro
a
d
-
a
c
c
id
e
n
ts
-
in
-
m
a
la
y
si
a
/
[2
]
S
.
G
o
th
a
n
e
a
n
d
M
.
V
.
S
a
r
o
d
e
,
"
A
n
a
lyz
in
g
F
a
c
to
rs
,
C
o
n
str
u
c
ti
o
n
o
f
Da
ta
se
t,
Esti
ma
ti
n
g
Imp
o
rta
n
c
e
o
f
F
a
c
to
r,
a
n
d
Ge
n
e
ra
ti
o
n
o
f
Asso
c
ia
ti
o
n
Ru
les
fo
r
In
d
i
a
n
Ro
a
d
Acc
id
e
n
t
"
,
2
0
1
6
I
EE
E
6
th
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
A
d
v
a
n
c
e
d
Co
m
p
u
ti
n
g
(IA
CC)
,
Bh
im
a
v
a
ra
m
,
2
0
1
6
,
p
p
.
1
5
-
1
8
.
[3
]
“
Hu
m
a
n
Err
o
r
A
c
c
o
u
n
ts
F
o
r
9
0
%
Of
Ro
a
d
A
c
c
id
e
n
ts”
,
[
I
n
tern
e
t]
In
tern
a
t
io
n
a
l
Ne
w
s.
2011
.
A
v
a
il
a
b
le:
h
tt
p
:
//
c
h
a
n
n
e
l.
sta
g
in
g
.
a
lertd
riv
in
g
.
c
o
m
/h
o
m
e
/
f
le
e
t
-
a
lert
-
m
a
g
a
z
in
e
/i
n
tern
a
ti
o
n
a
l/
h
u
m
a
n
-
e
rro
r
-
a
c
c
o
u
n
t
s
-
90
-
ro
a
d
-
a
c
c
id
e
n
ts
[4
]
Ku
m
a
r
A
,
Ja
i
s
w
a
l
A
,
Ja
is
wa
l
N,
S
h
a
rm
a
R.
V
e
h
icle
s
A
n
ti
-
c
o
ll
isio
n
S
y
ste
m
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
mp
u
te
r
Ap
p
li
c
a
ti
o
n
s
.
2
0
1
4
;
9
9
(1
9
):
7
-
9.
[5
]
T
riv
e
n
i
S
h
in
d
e
a
n
d
P
ro
f
.
B.
V
.
P
a
wa
r.
“
C
a
r
A
n
ti
-
Co
ll
isio
n
a
n
d
In
terc
o
m
m
u
n
ica
ti
o
n
S
y
ste
m
u
sin
g
Co
m
m
u
n
ica
ti
o
n
P
r
o
to
c
o
l
(A
P
r
o
to
ty
p
e
M
o
d
e
l)”
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
rin
g
S
c
ien
c
e
s
&
Res
e
a
rc
h
T
e
c
h
n
o
l
o
g
y
,
2
(8
):
25
-
3
2
,
2
0
1
3
.
[6
]
S
h
iv
a
l
Du
b
e
y
a
n
d
A
b
d
u
l
W
a
h
id
A
n
sa
ri.
“
De
sig
n
a
n
d
De
v
e
lo
p
m
e
n
t
o
f
V
e
h
icle
a
n
ti
-
c
o
ll
isi
o
n
S
y
ste
m
u
sin
g
El
e
c
tro
m
a
g
n
e
t
a
n
d
Ultras
o
n
ic
S
e
n
so
rs”
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
n
T
h
e
o
re
ti
c
a
l
a
n
d
Ap
p
li
e
d
Res
e
a
rc
h
in
M
e
c
h
a
n
ic
a
l
En
g
i
n
e
e
rin
g
(
IJ
T
AR
M
E),
V
o
lu
m
e
2
,
Iss
u
e
1
,
2
0
1
3
.
[7
]
Zu
lk
if
li
A
S
,
A
rd
u
in
o
Ba
se
d
A
u
to
m
o
b
il
e
F
ro
n
t
S
e
n
so
r
,
Un
iv
e
rsiti
T
e
k
n
ik
a
l
M
a
la
y
sia
M
e
la
k
a
,
2015
.
[8
]
S
u
ti
k
n
o
T
,
Id
ris
NR,
Jid
i
n
A
Z,
Ji
d
in
A
.
A
M
o
d
e
l
o
f
F
P
GA
-
b
a
se
d
Dire
c
t
T
o
rq
u
e
Co
n
tro
ll
e
r.
In
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
Co
m
p
u
ter
S
c
ien
c
e
.
2
0
1
3
F
e
b
1
;
1
1
(2
):
7
4
7
-
53.
[9
]
M
.
A
.
Ka
c
o
u
,
F
.
G
h
a
ff
a
ri,
O.
Ro
m
a
in
a
n
d
B.
Co
n
d
a
m
in
,
"
In
fl
u
e
n
c
e
o
f
h
ig
h
-
p
o
we
r
e
lec
tric
mo
to
r
o
n
a
n
FP
GA
u
se
d
in
t
h
e
d
riv
e
sy
ste
m
o
f
e
lec
tric
c
a
r
"
,
I
ECON
2
0
1
6
-
4
2
n
d
A
n
n
u
a
l
Co
n
f
e
re
n
c
e
o
f
th
e
IEE
E
In
d
u
st
rial
El
e
c
tro
n
ics
S
o
c
iety
,
F
lo
re
n
c
e
,
Italy
,
2
0
1
6
,
p
p
.
4
7
9
6
-
4
8
0
1
.
[1
0
]
M
a
x
f
i
e
ld
C.
F
P
G
A
s.
1
st ed
.
Am
st
e
rd
a
m
:
Ne
w
n
e
s; 2
0
0
8
.
[1
1
]
D.
Ch
e
n
a
n
d
D.
S
in
g
h
,
"
Pa
ra
ll
e
li
zin
g
FP
GA
T
e
c
h
n
o
lo
g
y
M
a
p
p
i
n
g
Us
in
g
Gr
a
p
h
ics
Pro
c
e
ss
in
g
Un
it
s
(
GPUs
)
"
,
2
0
1
0
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
F
ield
P
ro
g
ra
m
m
a
b
le
L
o
g
ic
a
n
d
A
p
p
li
c
a
ti
o
n
s
,
M
il
a
n
o
,
2
0
1
0
,
pp.
1
2
5
-
1
3
2
.
[1
2
]
C.
Zh
a
o
a
n
d
Z.
Zh
a
n
g
,
"
Di
g
it
a
l
fi
lt
e
r
d
e
si
g
n
a
n
d
p
e
rfo
rm
a
n
c
e
a
n
a
lys
is
o
f
d
y
n
a
mic
tem
p
e
ra
t
u
re
sig
n
a
l
d
e
n
o
ise
b
a
se
d
o
n
FP
GA
"
,
2
0
1
6
1
0
t
h
In
t
e
rn
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
S
e
n
si
n
g
T
e
c
h
n
o
lo
g
y
(ICS
T
)
,
Na
n
ji
n
g
,
Ch
in
a
,
2
0
1
6
,
p
p
.
1
-
7.
[1
3
]
G
.
Wern
e
r,
S
.
F
a
rris,
A
.
Ka
m
in
sk
y
,
M
.
Ku
rd
z
iel,
M
.
L
u
k
o
w
iak
a
n
d
S
.
Ra
d
z
isz
o
w
sk
i,
"
Imp
lem
e
n
ti
n
g
a
u
t
h
e
n
ti
c
a
ted
en
c
ry
p
ti
o
n
a
l
g
o
rit
h
m
M
K
-
3
o
n
FP
GA
"
,
M
IL
COM
2
0
1
6
-
2
0
1
6
IEE
E
M
il
it
a
ry
Co
m
m
u
n
ica
ti
o
n
s
Co
n
f
e
re
n
c
e
,
Ba
lt
im
o
re
,
M
D,
USA
,
2
0
1
6
,
p
p
.
1
2
2
5
-
1
2
3
0
.
[1
4
]
Ultras
o
n
ic Ra
n
g
in
g
M
o
d
u
le HC
-
S
R0
4
[In
tern
e
t
].
A
v
a
il
a
b
le f
ro
m
:
h
tt
p
:
//
ww
w
.
m
icro
p
ik
.
c
o
m
/P
DF/
HCSR0
4
.
p
d
f
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Ai
m
a
n
Z
a
k
w
a
n
J
id
in
o
b
tain
e
d
h
is
M
En
g
in
El
e
c
tro
n
ic
a
n
d
M
icro
e
lec
tro
n
ic
S
y
ste
m
En
g
in
e
e
rin
g
f
ro
m
ES
IEE
En
g
in
e
e
rin
g
P
a
ris
F
ra
n
c
e
in
2
0
1
1
.
He
h
a
s
2
y
e
a
rs
o
f
w
o
r
k
in
g
e
x
p
e
rien
c
e
in
d
e
sig
n
in
g
d
ig
it
a
l
I
C
a
n
d
d
ig
it
a
l
s
y
ste
m
in
F
P
G
A
a
t
A
lt
e
r
a
Co
rp
o
ra
ti
o
n
M
a
lay
sia
(n
o
w
p
a
rt
o
f
In
tel),
b
e
f
o
re
jo
in
i
n
g
Un
iv
e
rsiti
Tek
n
ik
a
l
M
a
la
y
sia
M
e
lak
a
(U
T
e
M
)
a
s
l
e
c
tu
re
r
a
n
d
re
se
a
rc
h
e
r,
in
El
e
c
tro
n
ics
a
n
d
Co
m
p
u
ter
En
g
in
e
e
rin
g
.
His
re
s
e
a
rc
h
in
tere
sts
in
c
lu
d
e
F
P
GA
De
sig
n
a
n
d
Dig
it
a
l
S
y
ste
m
De
sig
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
2
,
A
p
r
il 2
0
1
7
:
7
7
5
–
783
783
Li
m
S
ia
u
Li
is
c
u
rre
n
tl
y
a
f
in
a
l
y
e
a
r
stu
d
e
n
t
o
f
Ba
c
h
e
lo
r
o
f
Co
m
p
u
ter
E
n
g
in
e
e
rin
g
T
e
c
h
n
o
l
o
g
y
(Co
m
p
u
ter
S
y
st
e
m
s
)
a
t
Un
iv
e
rs
it
i
T
e
c
h
n
ica
l
M
a
la
y
sia
M
e
la
k
a
(UT
e
M
),
M
a
la
y
sia
.
S
h
e
h
a
d
re
c
e
n
tl
y
c
o
m
p
lete
d
h
e
r
f
in
a
l
y
e
a
r
p
ro
jec
t
o
n
d
e
v
e
lo
p
i
n
g
th
e
a
lg
o
rit
h
m
f
o
r
th
e
v
e
h
icle
a
n
ti
-
c
o
ll
isio
n
a
lert
sy
ste
m
b
y
u
sin
g
F
P
GA
a
n
d
A
lt
e
r
a
Qu
a
rtu
s
I
I
so
f
t
w
a
re
.
S
h
e
is
c
u
rre
n
tl
y
u
n
d
e
rg
o
i
n
g
a
n
e
n
g
in
e
e
ri
n
g
in
tern
sh
ip
a
t
I
n
tel
M
icro
e
lec
tro
n
ics
(
M
)
S
d
n
.
Bh
d
.
Ahm
a
d
Fa
u
z
a
n
B
.
K
a
d
m
in
h
a
s
o
v
e
r
1
3
y
e
a
rs
o
f
e
x
p
e
rien
c
e
in
c
o
m
p
u
ter
&
c
o
m
m
u
n
ica
ti
o
n
e
n
g
in
e
e
rin
g
f
ield
w
it
h
tec
h
n
ica
l
e
x
p
e
rt
in
m
o
b
il
e
c
o
m
p
u
ti
n
g
a
n
d
w
irele
ss
c
o
m
m
u
n
ica
ti
o
n
s
y
ste
m
.
He
G
ra
d
u
a
ted
w
it
h
M
En
g
in
Co
m
p
u
ter
&
c
o
m
m
u
n
ica
ti
o
n
En
g
in
e
e
rin
g
f
ro
m
Un
iv
e
r
siti
Ke
b
a
n
g
sa
a
n
M
a
la
y
si
a
.
P
re
v
io
u
sl
y
,
h
e
w
o
rk
e
d
a
s
a
n
En
g
in
e
e
r
w
it
h
M
e
g
a
ste
e
l
S
d
n
.
Bh
d
.
,
S
a
m
su
n
g
S
DI(M
)
S
d
n
.
Bh
d
.
a
n
d
Ag
e
n
si
A
n
g
k
a
sa
Ne
g
a
ra
.
Cu
rre
n
tl
y
a
tt
a
c
h
e
d
w
it
h
U
T
e
M
a
s
lec
tu
re
r.
Evaluation Warning : The document was created with Spire.PDF for Python.