I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
pu
t
er
E
ng
ineering
(
I
J
E
CE
)
Vo
l.
15
,
No
.
3
,
J
u
n
e
20
25
,
p
p
.
2928
~
2
9
3
7
I
SS
N:
2088
-
8
7
0
8
,
DOI
: 1
0
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1
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5
9
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v
15
i
3
.
pp
2
9
2
8
-
2
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2928
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traffic
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ts o
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ly
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e
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LOv
1
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d
e
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i
n
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p
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a
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ta
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fo
rm
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d
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lati
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t
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th
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sim
u
latio
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o
f
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r
b
a
n
m
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b
il
it
y
(S
UMO)
to
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l
t
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x
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rio
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s
m
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le
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stra
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ies
.
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h
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stu
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y
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t
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te
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re
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ly
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th
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ica
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o
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g
e
sti
o
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n
d
sm
o
o
th
e
r
traffic
fl
o
ws
.
T
h
e
se
fin
d
in
g
s
h
ig
h
li
g
h
t
th
e
c
rit
ica
l
ro
le
o
f
stra
teg
ic
m
o
to
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le
p
o
siti
o
n
in
g
in
e
n
h
a
n
c
i
n
g
u
rb
a
n
traffic
e
fficie
n
c
y
a
n
d
s
u
g
g
e
st
th
a
t
d
e
d
i
c
a
ted
m
o
to
rc
y
c
le
lan
e
s
c
o
u
l
d
si
g
n
ifi
c
a
n
t
ly
imp
ro
v
e
o
v
e
ra
ll
traffic m
a
n
a
g
e
m
e
n
t.
K
ey
w
o
r
d
s
:
Mo
to
r
cy
cle
tr
af
f
ic
Simu
latio
n
o
f
Ur
b
an
Mo
b
ilit
y
T
r
af
f
ic
s
im
u
latio
n
Ur
b
an
co
n
g
esti
o
n
YOL
Ov
1
0
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
:
Ay
o
u
b
C
h
ar
e
f
L
AM
I
GE
P R
esear
ch
L
ab
o
r
ato
r
y
,
E
MSI
Mo
r
o
cc
an
Sch
o
o
l o
f
E
n
g
in
ee
r
i
n
g
Scien
ce
s
Ma
r
r
ak
ec
h
,
M
o
r
o
cc
o
E
m
ail:
ay
o
u
b
.
c
h
ar
ef
@
ce
d
.
u
ca
.
m
a
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
b
u
r
g
e
o
n
in
g
n
u
m
b
e
r
o
f
m
o
to
r
cy
cles
in
u
r
b
an
ce
n
ter
s
p
r
es
en
ts
u
n
iq
u
e
ch
allen
g
es
an
d
o
p
p
o
r
tu
n
ities
f
o
r
tr
af
f
ic
m
a
n
ag
em
e
n
t
s
y
s
tem
s
.
Desp
ite
th
eir
s
m
all
s
ize
an
d
h
ig
h
m
an
e
u
v
er
a
b
ilit
y
,
m
o
to
r
c
y
cles
ex
h
ib
it
tr
af
f
ic
b
eh
av
io
r
s
th
at
d
if
f
e
r
s
ig
n
if
ica
n
tly
f
r
o
m
th
o
s
e
o
f
lar
g
er
v
e
h
icles,
cr
ea
tin
g
co
m
p
lex
tr
af
f
ic
p
atter
n
s
,
p
ar
ticu
lar
ly
at
in
ter
s
ec
tio
n
s
.
T
h
ese
d
if
f
e
r
e
n
ce
s
o
f
ten
ex
ac
e
r
b
ate
tr
a
f
f
ic
c
o
n
g
esti
o
n
an
d
in
cr
ea
s
e
s
af
ety
r
is
k
s
,
esp
ec
ially
in
s
ig
n
alize
d
in
ter
s
ec
tio
n
s
wh
er
e
in
ter
ac
tio
n
s
b
etwe
en
m
o
to
r
cy
c
les
an
d
o
th
er
v
eh
icle
ty
p
es
ar
e
m
o
r
e
p
r
o
n
o
u
n
ce
d
.
E
x
is
tin
g
tr
af
f
ic
m
an
ag
em
e
n
t stra
teg
ies,
wh
ile
ef
f
ec
tiv
e
f
o
r
lar
g
er
v
eh
icles,
o
f
ten
f
ail
to
ad
e
q
u
ately
ad
d
r
ess
th
e
u
n
iq
u
e
d
y
n
a
m
ics in
tr
o
d
u
ce
d
b
y
m
o
to
r
c
y
cles
[
1
]
.
T
o
d
ate,
r
esear
ch
h
as
f
o
c
u
s
ed
o
n
g
en
er
al
tr
a
f
f
ic
f
lo
w
o
r
th
e
i
m
p
ac
t
o
f
m
o
to
r
cy
cles
o
n
s
af
et
y
,
leav
in
g
g
ap
s
in
u
n
d
er
s
tan
d
in
g
th
eir
r
o
l
e
in
tr
af
f
ic
d
y
n
am
ics
at
in
ter
s
ec
tio
n
s
[
2
]
.
Ad
d
r
ess
in
g
th
is
g
ap
,
th
is
s
tu
d
y
aim
s
to
in
v
esti
g
ate
th
e
s
tr
ateg
ic
in
te
g
r
atio
n
o
f
m
o
t
o
r
cy
cles
at
s
ig
n
alize
d
in
ter
s
ec
tio
n
s
,
with
t
h
e
s
p
ec
if
ic
g
o
al
o
f
m
in
im
izin
g
s
tar
t
-
u
p
d
elay
s
a
n
d
im
p
r
o
v
in
g
b
o
th
tr
af
f
ic
f
l
u
id
ity
an
d
s
af
ety
.
B
y
e
x
am
in
i
n
g
th
e
p
lace
m
en
t
o
f
m
o
to
r
cy
cles
at
a
k
ey
in
ter
s
ec
tio
n
in
Ma
r
r
a
k
ec
h
,
th
is
r
esear
c
h
p
r
o
p
o
s
es
d
ata
-
d
r
iv
en
s
o
l
u
tio
n
s
f
o
r
o
p
tim
izin
g
u
r
b
an
t
r
af
f
ic
s
y
s
tem
s
[
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
A
n
a
lyzi
n
g
th
e
imp
a
ct
o
f m
o
to
r
cy
cle
tr
a
ffic o
n
r
o
a
d
co
n
g
esti
o
n
a
n
d
ve
h
icle
flo
w
(
A
yo
u
b
C
h
a
r
ef
)
2929
I
n
th
is
s
tu
d
y
,
we
tac
k
le
a
s
ig
n
if
ican
t
ch
allen
g
e
in
u
r
b
an
tr
a
f
f
ic
m
an
ag
em
e
n
t:
th
e
s
tr
ateg
ic
p
lace
m
en
t
o
f
m
o
to
r
cy
cles
at
s
ig
n
alize
d
i
n
ter
s
ec
tio
n
s
in
Ma
r
r
ak
ec
h
.
O
u
r
g
o
al
is
to
q
u
an
tif
y
s
tar
t
-
u
p
d
elay
s
an
d
en
h
an
ce
b
o
th
th
e
f
lu
id
ity
a
n
d
s
af
ety
o
f
in
ter
s
ec
tio
n
tr
af
f
ic.
C
o
n
f
r
o
n
t
ed
with
th
e
in
itial
s
h
o
r
tag
e
o
f
em
p
ir
ical
d
ata,
we
em
p
lo
y
ed
m
o
b
ile
p
h
o
n
e
v
id
e
o
r
ec
o
r
d
in
g
s
at
a
cr
u
cial
in
ter
s
ec
tio
n
as
o
u
r
p
r
im
ar
y
d
ata
c
o
llectio
n
m
eth
o
d
.
T
h
ese
r
ec
o
r
d
in
g
s
wer
e
an
aly
ze
d
u
s
in
g
cu
ttin
g
-
e
d
g
e
co
m
p
u
ter
v
is
io
n
tech
n
o
lo
g
ies.
W
ith
th
is
d
ataset
in
h
an
d
,
we
co
n
d
u
cte
d
a
s
er
ies
o
f
tr
af
f
ic
s
im
u
latio
n
s
u
s
in
g
t
h
e
s
im
u
latio
n
o
f
u
r
b
a
n
m
o
b
ilit
y
(
SUMO)
s
o
f
twar
e
to
test
v
ar
io
u
s
tr
af
f
ic
co
n
f
ig
u
r
atio
n
s
.
T
h
e
p
ap
er
is
o
r
g
an
ized
in
to
f
o
u
r
m
ain
s
ec
tio
n
s
f
o
llo
win
g
th
e
in
tr
o
d
u
ctio
n
.
I
n
s
ec
tio
n
2
,
"Related
W
o
r
k
s
,
"
a
co
m
p
r
eh
e
n
s
iv
e
r
e
v
iew
o
f
ex
is
tin
g
liter
atu
r
e
o
n
v
e
h
icle
s
tar
t
-
u
p
tim
es
an
d
tr
af
f
ic
d
y
n
a
m
ics
is
p
r
esen
ted
,
h
ig
h
lig
h
tin
g
k
e
y
s
tu
d
ies
an
d
id
en
tify
in
g
g
a
p
s
th
at
th
is
p
ap
er
aim
s
to
ad
d
r
ess
.
Sectio
n
3
,
"M
eth
o
d
o
lo
g
y
,
"
d
etails
th
e
d
ata
co
llectio
n
a
n
d
an
aly
tical
tech
n
iq
u
es
em
p
lo
y
e
d
,
in
cl
u
d
i
n
g
th
e
cr
iter
ia
f
o
r
s
elec
tin
g
s
tu
d
y
tim
es
an
d
th
e
p
r
o
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s
s
f
o
r
m
ea
s
u
r
in
g
s
tar
t
-
u
p
d
elay
s
.
Sectio
n
4
,
"SUM
O
Si
m
u
latio
n
,
"
d
esc
r
ib
es
th
e
s
im
u
latio
n
en
v
ir
o
n
m
en
t
an
d
p
ar
am
eter
s
u
s
ed
to
m
o
d
el
tr
a
f
f
ic
s
ce
n
ar
io
s
an
d
v
alid
ate
th
e
em
p
ir
ical
f
in
d
in
g
s
.
T
h
e
p
a
p
er
c
o
n
clu
d
es
with
a
s
u
m
m
ar
y
o
f
t
h
e
k
e
y
in
s
ig
h
ts
,
im
p
licatio
n
s
f
o
r
tr
af
f
ic
m
an
ag
e
m
en
t,
an
d
s
u
g
g
esti
o
n
s
f
o
r
f
u
tu
r
e
r
esear
c
h
d
ir
ec
tio
n
s
.
2.
R
E
L
AT
E
D
W
O
R
K
I
n
r
e
c
e
n
t
y
e
a
r
s
,
t
h
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g
r
o
w
i
n
g
p
r
ev
a
l
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n
c
e
o
f
m
o
t
o
r
c
y
c
l
es
i
n
u
r
b
a
n
t
r
a
f
f
i
c
s
y
s
te
m
s
h
as
s
p
a
r
k
e
d
c
o
n
s
i
d
e
r
a
b
le
r
e
s
e
a
r
c
h
i
n
te
r
e
s
t
,
g
i
v
e
n
t
h
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i
r
s
i
g
n
i
f
i
c
a
n
t
i
m
p
a
ct
o
n
t
r
a
f
f
i
c
f
l
o
w
,
s
a
f
e
t
y
,
a
n
d
e
n
v
i
r
o
n
m
e
n
t
a
l
o
u
t
co
m
e
s
.
T
h
i
s
s
e
g
m
e
n
t
o
f
r
e
l
a
t
e
d
w
o
r
k
c
o
n
s
o
l
i
d
a
t
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s
a
d
i
v
e
r
s
e
r
a
n
g
e
o
f
s
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d
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s
t
h
a
t
ex
p
l
o
r
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t
h
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d
y
n
a
m
i
c
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f
m
o
t
o
r
c
y
c
l
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s
i
n
v
a
r
i
o
u
s
u
r
b
a
n
c
o
n
t
e
x
t
s
.
T
h
e
c
o
m
p
i
l
at
i
o
n
i
n
c
l
u
d
e
s
i
n
v
e
s
t
i
g
a
ti
o
n
s
i
n
t
o
th
e
m
o
d
e
l
i
n
g
o
f
m
o
t
o
r
c
y
c
le
b
eh
a
v
i
o
r
,
a
s
s
e
s
s
m
e
n
ts
o
f
t
r
a
f
f
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c
s
a
f
e
t
y
a
n
d
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f
f
i
c
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e
n
cy
,
a
n
d
e
v
a
l
u
a
t
i
o
n
s
o
f
p
o
l
i
c
y
m
e
a
s
u
r
e
s
ai
m
e
d
a
t
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n
t
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g
r
at
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n
g
m
o
t
o
r
c
y
c
l
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m
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r
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f
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t
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v
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y
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n
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o
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h
e
b
r
o
a
d
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t
r
an
s
p
o
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t
i
o
n
f
r
a
m
e
w
o
r
k
.
T
h
r
o
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g
h
a
s
y
n
t
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s
i
s
o
f
s
i
m
u
l
a
t
i
o
n
s
tu
d
i
e
s
[
4
]
,
f
i
e
l
d
d
a
t
a
a
n
a
l
y
s
es
,
a
n
d
t
e
c
h
n
o
l
o
g
i
c
al
i
n
te
r
v
e
n
t
i
o
n
s
,
t
h
is
s
e
c
t
i
o
n
p
r
es
e
n
ts
a
c
o
m
p
r
e
h
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n
s
i
v
e
o
v
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r
v
ie
w
o
f
h
o
w
m
o
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r
c
y
c
l
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s
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n
f
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n
d
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d
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h
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o
m
p
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t
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o
f
u
r
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n
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r
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f
f
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el
e
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e
n
ts
.
T
h
e
ai
m
is
t
o
p
r
o
v
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d
e
a
g
r
o
u
n
d
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d
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n
d
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s
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p
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th
e
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m
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t
o
f
t
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tr
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f
f
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a
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m
e
n
t
s
t
r
at
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g
i
es
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n
d
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n
f
r
a
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t
r
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t
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r
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t
s
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c
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o
m
m
o
d
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te
t
h
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n
c
r
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as
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n
g
d
o
m
i
n
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n
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o
f
m
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t
o
r
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c
l
e
s
i
n
u
r
b
a
n
l
a
n
d
s
c
a
p
e
s
[
5
]
,
[
6
]
.
T
h
i
s
p
a
p
e
r
s
y
n
t
h
es
i
ze
s
a
v
a
r
ie
ty
o
f
s
t
u
d
i
e
s
f
o
c
u
s
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n
g
o
n
t
h
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m
p
a
c
t
o
f
m
o
t
o
r
c
y
c
l
e
s
o
n
u
r
b
a
n
tr
a
f
f
i
c
f
l
o
w
a
n
d
s
a
f
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t
y
a
c
r
o
s
s
d
i
f
f
e
r
e
n
t
r
e
g
io
n
s
.
I
n
i
t
i
a
ll
y
,
S
U
MO
s
i
m
u
l
a
t
i
o
n
s
r
e
v
e
a
l
h
o
w
m
o
t
o
r
c
y
c
l
e
m
o
b
il
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t
y
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f
f
e
c
ts
v
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i
c
u
l
a
r
t
r
a
f
f
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d
y
n
a
m
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c
s
,
w
i
t
h
a
f
o
c
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s
o
n
e
n
v
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r
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m
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f
i
c
e
f
f
i
c
i
e
n
c
y
o
u
t
c
o
m
e
s
[
7
]
.
C
o
n
c
u
r
r
e
n
t
l
y
,
t
h
e
a
d
o
p
t
i
o
n
o
f
e
l
e
c
t
r
ic
m
o
t
o
r
c
y
c
l
es
i
s
i
n
v
es
t
i
g
at
e
d
f
o
r
it
s
p
o
te
n
t
i
al
t
o
r
e
d
u
c
e
t
r
a
f
f
i
c
n
o
i
s
e
,
w
it
h
v
a
r
i
e
d
r
e
s
u
l
ts
d
e
p
e
n
d
i
n
g
o
n
u
r
b
a
n
a
r
e
a
c
h
a
r
a
c
t
e
r
is
t
i
cs
[
8
]
.
I
n
I
n
d
o
n
e
s
i
a
,
w
h
e
r
e
m
o
t
o
r
c
y
c
le
s
d
o
m
i
n
a
t
e
t
r
a
f
f
i
c
,
s
t
u
d
i
es
h
av
e
i
d
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n
t
i
f
i
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d
s
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n
i
f
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c
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n
t
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h
o
r
t
co
m
i
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s
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t
r
a
d
i
t
i
o
n
a
l
t
r
a
f
f
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c
m
o
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s
,
p
a
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l
a
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r
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c
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a
v
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s
.
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o
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n
a
l
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z
ed
i
n
t
e
r
s
e
ct
i
o
n
s
[
9
]
.
F
u
r
t
h
e
r
a
d
v
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n
c
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es
[
1
0
]
.
C
o
m
p
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t
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(
M
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s
)
t
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il
[
1
1
]
,
[
1
2
]
.
S
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m
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la
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y
,
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n
T
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(
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o
n
[
1
3
]
.
T
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i
m
e
s
o
f
t
h
e
d
a
y
.
S
i
m
u
l
a
t
e
d
d
a
ta
o
f
t
e
n
f
ai
ls
t
o
c
a
p
t
u
r
e
th
e
s
p
o
n
t
a
n
e
o
u
s
d
e
c
is
i
o
n
s
a
n
d
m
a
n
e
u
v
e
r
s
o
f
r
i
d
e
r
s
,
s
u
c
h
a
s
s
u
d
d
e
n
l
a
n
e
c
h
a
n
g
es
o
r
v
a
r
i
e
d
r
e
s
p
o
n
s
e
s
t
o
t
r
a
f
f
ic
s
i
g
n
a
ls
,
w
h
i
c
h
a
r
e
c
r
u
c
i
al
f
o
r
a
c
c
u
r
a
t
e
b
e
h
a
v
i
o
r
al
a
n
a
l
y
s
is
.
A
d
d
it
i
o
n
a
l
l
y
,
t
h
e
l
ac
k
o
f
r
e
a
l
-
w
o
r
l
d
v
a
li
d
a
t
i
o
n
m
e
a
n
s
t
h
a
t
a
n
y
p
r
o
p
o
s
e
d
t
r
a
f
f
i
c
m
an
a
g
e
m
e
n
t
s
o
l
u
ti
o
n
s
m
a
y
n
o
t
b
e
a
s
e
f
f
e
c
ti
v
e
w
h
e
n
im
p
l
e
m
e
n
t
e
d
i
n
a
c
t
u
al
s
ce
n
a
r
i
o
s
.
3.
M
E
T
H
O
D
I
n
th
is
s
tu
d
y
,
we
u
tili
ze
d
th
e
s
im
u
latio
n
o
f
u
r
b
an
m
o
b
ilit
y
(
SUMO)
.
T
h
is
wa
s
ch
o
s
en
f
o
r
th
is
s
tu
d
y
d
u
e
to
its
o
p
e
n
-
s
o
u
r
ce
n
at
u
r
e,
s
ca
lab
ilit
y
,
an
d
a
b
ilit
y
to
m
o
d
el
co
m
p
lex
tr
af
f
ic
s
ce
n
ar
io
s
w
ith
p
r
ec
is
e
v
e
h
icle
b
eh
av
io
r
.
I
t
was
u
s
ed
to
an
aly
ze
th
e
im
p
ac
t
o
f
m
o
to
r
c
y
cle
p
o
s
itio
n
s
o
n
u
r
b
an
tr
af
f
ic
f
lo
w
[
2
5
]
.
Ou
r
m
eth
o
d
o
l
o
g
y
in
v
o
lv
ed
cr
ea
ti
n
g
m
u
ltip
le
tr
af
f
ic
s
ce
n
ar
io
s
,
ea
ch
with
v
ar
y
in
g
n
u
m
b
er
s
o
f
m
o
to
r
c
y
cles
an
d
d
if
f
er
en
t
p
o
s
itio
n
in
g
s
tr
ateg
ies.
I
n
itially
,
we
d
esig
n
ed
a
b
ase
s
ce
n
ar
io
with
a
s
tan
d
ar
d
m
ix
o
f
v
eh
icles,
in
clu
d
in
g
ca
r
s
,
b
u
s
es,
an
d
m
o
to
r
c
y
cles,
t
o
estab
lis
h
a
co
n
tr
o
l
m
o
d
el
.
Su
b
s
eq
u
en
tly
,
we
in
cr
em
e
n
tally
in
cr
ea
s
ed
th
e
n
u
m
b
er
o
f
m
o
to
r
c
y
cles
in
ea
ch
s
ce
n
ar
io
to
o
b
s
er
v
e
th
e
r
e
s
u
ltin
g
ch
an
g
es
in
tr
a
f
f
ic
d
y
n
am
ics.
T
o
en
s
u
r
e
a
co
m
p
r
eh
e
n
s
iv
e
an
aly
s
is
,
we
c
o
n
s
id
er
ed
s
ev
er
al
p
o
s
itio
n
in
g
s
tr
ateg
ies
f
o
r
m
o
to
r
cy
cles,
s
u
ch
as
lan
e
s
p
lit
tin
g
,
r
id
in
g
in
d
ed
icate
d
m
o
t
o
r
cy
c
le
lan
es,
an
d
in
teg
r
atin
g
with
g
en
er
al
tr
af
f
ic.
Fo
r
ea
ch
s
ce
n
ar
io
,
k
ey
tr
af
f
ic
p
ar
am
eter
s
,
in
clu
d
in
g
av
er
a
g
e
s
p
ee
d
,
tr
af
f
ic
d
en
s
ity
,
an
d
tr
av
el
tim
e,
wer
e
r
ec
o
r
d
e
d
an
d
an
aly
ze
d
.
T
h
is
ap
p
r
o
ac
h
allo
wed
u
s
to
s
y
s
te
m
atica
lly
ev
alu
ate
th
e
ef
f
ec
ts
o
f
m
o
to
r
c
y
cle
p
o
s
itio
n
in
g
an
d
d
en
s
ity
o
n
o
v
er
all
tr
af
f
ic
p
er
f
o
r
m
a
n
ce
,
p
r
o
v
id
in
g
in
s
ig
h
ts
in
to
p
o
ten
tial tr
af
f
ic
m
an
ag
em
en
t stra
teg
ies f
o
r
u
r
b
an
en
v
ir
o
n
m
en
ts
.
3
.
1
.
Da
t
a
co
llect
io
n
T
o
en
s
u
r
e
t
h
e
ac
cu
r
a
c
y
a
n
d
r
e
l
iab
ilit
y
o
f
o
u
r
s
im
u
l
ati
o
n
r
esu
l
ts
,
we
d
e
ci
d
e
d
t
o
c
o
ll
ec
t
r
ea
l
t
r
af
f
ic
d
a
ta
to
u
n
d
er
s
ta
n
d
th
e
b
e
h
a
v
i
o
r
o
f
m
o
to
r
c
y
cles
an
d
o
t
h
e
r
v
e
h
i
cle
s
a
t
i
n
te
r
s
e
cti
o
n
s
.
W
e
d
e
p
l
o
y
e
d
tw
o
c
am
er
as
a
t
a
b
u
s
y
u
r
b
a
n
i
n
t
e
r
s
ec
ti
o
n
.
T
h
e
f
i
r
s
t
ca
m
e
r
a
was
s
tr
at
eg
ica
ll
y
p
o
s
it
io
n
e
d
t
o
c
o
u
n
t
an
d
d
ete
ct
t
h
e
t
y
p
e
o
f
v
e
h
ic
les
,
ca
t
eg
o
r
iz
in
g
th
em
i
n
t
o
m
o
t
o
r
cy
cles
,
c
a
r
s
,
b
u
s
es
,
a
n
d
o
t
h
e
r
r
e
le
v
a
n
t
ty
p
es.
T
h
e
s
ec
o
n
d
ca
m
e
r
a
f
o
c
u
s
e
d
o
n
ca
p
t
u
r
in
g
t
h
e
s
ta
r
t
-
u
p
l
o
s
t
t
im
e
f
o
r
e
ac
h
v
eh
icl
e
ty
p
e,
p
a
r
ti
c
u
la
r
l
y
at
t
h
e
m
o
m
en
t
w
h
en
t
h
e
t
r
a
f
f
ic
l
ig
h
t
t
u
r
n
s
g
r
ee
n
.
T
h
is
s
e
tu
p
all
o
we
d
u
s
t
o
g
at
h
e
r
p
r
ec
is
e
d
at
a
o
n
t
h
e
r
e
ac
ti
o
n
ti
m
es
an
d
ac
c
el
er
ati
o
n
p
at
te
r
n
s
o
f
d
i
f
f
er
en
t
v
e
h
i
cles
.
B
y
a
n
a
ly
zi
n
g
t
h
e
s
t
ar
t
-
u
p
l
o
s
t
t
im
e,
we
c
o
u
l
d
i
d
en
t
if
y
a
n
y
d
e
la
y
s
o
r
i
n
e
f
f
ici
e
n
ci
es
ca
u
s
e
d
b
y
t
h
e
p
r
ese
n
c
e
o
f
m
o
to
r
c
y
cles
o
r
o
t
h
e
r
v
e
h
ic
les
.
T
o
e
n
s
u
r
e
th
e
a
c
cu
r
a
cy
o
f
t
h
e
c
o
l
lec
te
d
d
at
a,
c
ar
ef
u
l
c
ali
b
r
a
ti
o
n
o
f
th
e
ca
m
e
r
as
was
c
o
n
d
u
cte
d
p
r
io
r
t
o
d
e
p
l
o
y
m
en
t,
an
d
t
h
e
r
e
c
o
r
d
i
n
g
ti
m
es
we
r
e
s
y
n
c
h
r
o
n
i
ze
d
t
o
a
v
o
i
d
d
is
c
r
ep
an
ci
es.
T
h
is
r
ea
l
-
w
o
r
l
d
d
at
a
was th
e
n
u
s
e
d
to
v
ali
d
ate
an
d
r
e
f
i
n
e
o
u
r
s
im
u
l
ati
o
n
s
ce
n
ar
i
o
s
,
en
s
u
r
i
n
g
t
h
a
t
th
e
y
ac
c
u
r
ate
ly
r
ef
le
ct
ac
t
u
al
t
r
a
f
f
ic
c
o
n
d
iti
o
n
s
a
n
d
b
eh
av
io
r
s
.
T
h
is
d
u
al
-
ca
m
e
r
a
ap
p
r
o
ac
h
p
r
o
v
i
d
ed
co
m
p
r
eh
e
n
s
i
v
e
i
n
s
i
g
h
ts
in
to
v
e
h
i
cle
i
n
t
er
ac
t
i
o
n
s
a
t
in
te
r
s
e
cti
o
n
s
,
e
n
h
a
n
c
in
g
t
h
e
r
o
b
u
s
t
n
ess
o
f
o
u
r
s
t
u
d
y
'
s
f
i
n
d
in
g
s
.
Fig
u
r
e
1
illu
s
tr
ates
th
e
c
h
o
s
e
n
lo
ca
tio
n
f
o
r
d
ata
c
o
llectio
n
,
h
ig
h
lig
h
tin
g
t
h
e
p
o
s
itio
n
s
o
f
th
e
two
ca
m
er
as
u
s
ed
in
o
u
r
s
tu
d
y
.
T
h
e
b
lack
p
o
in
t
(
A)
is
s
itu
ated
clo
s
e
to
th
e
s
ig
n
alize
d
in
ter
s
ec
tio
n
,
s
p
ec
if
ically
p
o
s
itio
n
ed
to
ca
lcu
late
th
e
s
tar
t
-
u
p
lo
s
t
tim
e
f
o
r
ea
ch
m
o
to
r
cy
cle
an
d
o
th
er
v
e
h
icles.
T
h
is
p
lace
m
en
t
en
s
u
r
es
ac
cu
r
ate
m
ea
s
u
r
em
e
n
t
o
f
t
h
e
r
ea
ctio
n
tim
es
an
d
ac
ce
ler
atio
n
as
v
eh
icles
b
eg
in
to
m
o
v
e
wh
en
th
e
tr
af
f
ic
lig
h
t
tu
r
n
s
g
r
ee
n
.
T
h
e
r
e
d
p
o
i
n
t
(
B
)
is
s
tr
ateg
ically
lo
ca
ted
to
co
u
n
t
th
e
v
eh
icles
en
ter
in
g
th
e
in
t
er
s
ec
tio
n
,
allo
win
g
u
s
to
ca
lcu
late
th
e
tr
af
f
ic
f
lo
w.
T
h
is
ca
m
er
a
ca
p
tu
r
es
all
in
co
m
in
g
tr
af
f
ic,
p
r
o
v
id
in
g
ess
en
tial
d
ata
o
n
th
e
n
u
m
b
er
an
d
ty
p
es
o
f
v
e
h
icles,
in
clu
d
i
n
g
m
o
to
r
cy
cles,
ca
r
s
,
an
d
b
u
s
es.
T
o
g
eth
er
,
th
ese
two
p
o
in
ts
en
ab
le
u
s
to
g
ath
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
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n
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I
SS
N:
2088
-
8
7
0
8
A
n
a
lyzi
n
g
th
e
imp
a
ct
o
f m
o
to
r
cy
cle
tr
a
ffic o
n
r
o
a
d
co
n
g
esti
o
n
a
n
d
ve
h
icle
flo
w
(
A
yo
u
b
C
h
a
r
ef
)
2931
co
m
p
r
eh
e
n
s
iv
e
d
ata
o
n
b
o
th
v
eh
icle
b
eh
a
v
io
r
at
th
e
in
ter
s
ec
tio
n
an
d
th
e
o
v
er
all
tr
af
f
ic
f
lo
w,
f
ac
ilit
atin
g
a
d
etailed
an
aly
s
is
o
f
tr
af
f
ic
d
y
n
am
ics an
d
th
e
im
p
ac
t
o
f
m
o
to
r
cy
cle
p
o
s
itio
n
in
g
.
Fig
u
r
e
1
.
I
ll
u
s
tr
atio
n
o
f
r
esear
ch
s
ite
an
d
ca
m
er
a
p
lace
m
en
t
3
.
2
.
Da
t
a
a
na
ly
t
ic
Fo
llo
win
g
th
e
co
llectio
n
o
f
tr
a
f
f
ic
d
ata,
we
co
n
d
u
cte
d
a
d
etailed
an
aly
s
is
to
ev
alu
ate
th
e
s
t
ar
t
-
u
p
lo
s
t
tim
e
f
o
r
ea
c
h
v
e
h
icle.
T
h
is
p
r
o
ce
s
s
in
v
o
lv
ed
c
o
u
n
tin
g
v
e
h
icles
an
d
d
etec
tin
g
th
e
s
tar
t
-
u
p
lo
s
t
tim
e
s
eq
u
en
tially
f
o
r
th
e
f
ir
s
t
v
e
h
icle,
th
e
s
ec
o
n
d
v
eh
i
cle,
th
e
th
i
r
d
v
eh
icle,
a
n
d
s
o
o
n
,
as
th
ey
m
o
v
e
d
th
r
o
u
g
h
t
h
e
in
ter
s
ec
tio
n
.
T
o
ac
cu
r
ately
id
en
tify
an
d
tr
a
ck
ea
ch
v
eh
icle
an
d
th
e
tr
a
f
f
i
c
lig
h
t
s
tatu
s
,
we
em
p
lo
y
ed
t
h
e
YOL
Ov
1
0
[
2
6
]
alg
o
r
ith
m
,
a
s
tate
-
of
-
th
e
-
a
r
t
o
b
ject
d
etec
tio
n
m
o
d
el
k
n
o
wn
f
o
r
its
h
ig
h
p
r
ec
is
io
n
a
n
d
r
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
.
YOL
Ov
1
0
allo
wed
u
s
t
o
e
f
f
e
ctiv
ely
d
etec
t
v
ar
io
u
s
ty
p
es
o
f
v
eh
icles
a
n
d
t
r
af
f
ic
lig
h
ts
in
th
e
co
llected
v
id
e
o
f
o
o
tag
e.
B
y
lev
er
ag
i
n
g
th
is
ad
v
an
ce
d
d
etec
tio
n
ca
p
ab
ilit
y
,
we
co
u
ld
p
r
ec
is
ely
m
ea
s
u
r
e
th
e
s
tar
t
-
u
p
lo
s
t
tim
e
f
o
r
ea
ch
v
eh
icle
as
th
ey
r
esp
o
n
d
ed
to
th
e
tr
a
f
f
ic
s
ig
n
als.
T
h
is
an
aly
s
is
p
r
o
v
id
ed
u
s
with
cr
u
c
ial
in
s
ig
h
ts
in
to
th
e
d
elay
s
an
d
ac
ce
ler
atio
n
b
e
h
av
io
r
s
o
f
d
if
f
e
r
en
t
v
eh
icle
t
y
p
es,
en
ab
li
n
g
a
th
o
r
o
u
g
h
u
n
d
er
s
tan
d
in
g
o
f
th
e
im
p
ac
t
o
f
m
o
to
r
cy
cle
p
o
s
itio
n
in
g
o
n
i
n
ter
s
ec
tio
n
p
er
f
o
r
m
an
ce
.
Fig
u
r
e
2
p
r
esen
ts
th
e
a
r
ch
it
ec
tu
r
e
f
o
r
o
u
r
d
ata
an
al
y
tic
p
r
o
ce
s
s
.
T
h
e
p
r
o
ce
s
s
b
eg
in
s
with
th
e
p
r
ep
r
o
ce
s
s
in
g
o
f
v
id
e
o
d
ata,
w
h
ich
in
v
o
lv
es
p
r
ep
ar
in
g
th
e
r
a
w
v
id
eo
f
o
o
tag
e
f
o
r
an
aly
s
is
b
y
en
h
an
cin
g
im
ag
e
q
u
ality
an
d
ex
tr
ac
tin
g
r
elev
a
n
t
f
r
am
es.
T
h
is
p
r
ep
r
o
ce
s
s
ed
v
id
eo
is
th
en
f
ed
in
to
th
e
YOL
Ov
1
0
m
o
d
el,
an
ad
v
an
ce
d
o
b
ject
d
etec
tio
n
alg
o
r
ith
m
.
T
h
e
YOL
Ov
1
0
m
o
d
el
s
er
v
es
as
th
e
f
o
u
n
d
atio
n
f
o
r
o
b
jec
t
d
etec
tio
n
,
ac
c
u
r
ately
id
e
n
tify
in
g
a
n
d
lo
ca
lizin
g
k
ey
elem
en
ts
with
in
th
e
v
id
eo
f
o
o
tag
e,
in
clu
d
in
g
v
eh
icles
(
s
u
ch
as
m
o
to
r
cy
cles,
ca
r
s
,
an
d
b
u
s
es)
an
d
tr
af
f
ic
lig
h
ts
.
B
u
ild
in
g
u
p
o
n
th
ese
d
etec
tio
n
s
,
th
e
B
y
te
T
r
ac
k
alg
o
r
ith
m
[
2
7
]
is
em
p
l
o
y
ed
to
tr
ac
k
th
e
m
o
v
e
m
en
t
o
f
th
ese
o
b
jects
ac
r
o
s
s
co
n
s
ec
u
tiv
e
v
id
e
o
f
r
am
es,
e
n
s
u
r
in
g
c
o
n
s
is
ten
t
id
en
tific
atio
n
a
n
d
r
e
d
u
cin
g
er
r
o
r
s
ca
u
s
ed
b
y
o
cc
lu
s
io
n
s
o
r
tem
p
o
r
ar
y
d
is
ap
p
ea
r
an
ce
s
.
T
h
is
co
m
b
i
n
ed
d
etec
tio
n
an
d
t
r
ac
k
in
g
a
p
p
r
o
ac
h
m
ain
tain
s
co
n
tin
u
ity
in
o
b
ject
tr
ajec
to
r
i
es,
wh
ich
is
e
s
s
en
tial
f
o
r
r
eli
ab
le
tr
af
f
ic
an
aly
s
is
.
Simu
lta
n
eo
u
s
ly
,
th
e
s
y
s
tem
class
if
ies
th
e
d
etec
ted
o
b
jects
in
to
s
p
ec
if
ic
v
e
h
icle
ca
teg
o
r
ies
(
e.
g
.
,
m
o
to
r
c
y
cles,
ca
r
s
,
b
u
s
es)
an
d
t
r
af
f
ic
s
ig
n
als.
Fo
r
tr
af
f
ic
lig
h
ts
,
an
a
d
d
itio
n
a
l
c
o
lo
r
d
etec
tio
n
m
o
d
u
le
a
n
al
y
ze
s
th
eir
cu
r
r
en
t
s
tate
(
r
e
d
,
y
ello
w,
o
r
g
r
ee
n
)
,
a
cr
itical
s
tep
f
o
r
ev
alu
atin
g
s
tar
t
-
u
p
lo
s
t
tim
e
at
s
ig
n
alize
d
i
n
ter
s
ec
tio
n
s
.
T
h
is
m
u
lti
-
s
tag
e
p
r
o
ce
s
s
in
g
p
ip
elin
e
en
ab
les
co
m
p
r
eh
e
n
s
iv
e
tr
af
f
ic
b
eh
av
io
r
an
al
y
s
is
b
y
in
teg
r
atin
g
d
etec
tio
n
,
tr
ac
k
in
g
,
class
if
icatio
n
,
an
d
s
ig
n
al
s
tate
r
ec
o
g
n
itio
n
in
to
a
co
h
esi
v
e
f
r
am
ewo
r
k
.
T
h
e
tr
ac
k
e
d
o
b
jects,
alo
n
g
wit
h
th
eir
class
if
icatio
n
an
d
co
lo
r
d
etec
tio
n
d
ata,
a
r
e
th
e
n
u
s
ed
t
o
g
e
n
er
ate
s
ev
er
al
o
u
tp
u
ts
.
T
h
e
d
r
aw
tr
ac
k
in
g
tr
ails
o
u
tp
u
t
p
r
o
v
id
es
v
is
u
al
tr
ac
k
in
g
tr
ails
f
o
r
ea
ch
d
etec
ted
o
b
ject,
illu
s
tr
atin
g
th
eir
m
o
v
em
e
n
t
p
a
th
s
.
T
h
e
v
id
eo
o
u
tp
u
t
is
an
an
n
o
tated
v
er
s
io
n
o
f
t
h
e
o
r
ig
i
n
al
v
id
eo
,
s
h
o
wca
s
in
g
th
e
d
etec
ted
o
b
jects a
n
d
th
eir
class
if
icatio
n
s
in
r
ea
l
-
tim
e.
Star
t
-
u
p
lo
s
t
tim
e
is
a
cr
itical
m
etr
ic
in
in
ter
s
ec
tio
n
p
e
r
f
o
r
m
an
ce
an
aly
s
is
,
m
ea
s
u
r
ed
b
y
e
v
alu
atin
g
th
e
d
elay
b
etwe
en
a
tr
af
f
ic
lig
h
t
t
u
r
n
in
g
g
r
ee
n
an
d
th
e
m
o
m
e
n
t
ea
ch
v
eh
icle
b
eg
in
s
m
o
v
in
g
.
T
h
is
ca
lcu
latio
n
is
ac
h
iev
ed
b
y
p
r
ec
is
ely
co
r
r
elat
in
g
th
e
tr
af
f
i
c
lig
h
t'
s
s
tate
(
d
etec
ted
v
ia
co
lo
r
r
ec
o
g
n
itio
n
)
with
th
e
m
o
v
em
e
n
t
p
atter
n
s
o
f
tr
ac
k
ed
v
e
h
icles
(
m
o
n
ito
r
ed
th
r
o
u
g
h
B
y
teT
r
ac
k
)
.
T
h
e
r
esu
ltin
g
d
ata
p
r
o
v
id
es
v
alu
ab
le
in
s
ig
h
ts
in
to
d
r
iv
er
r
ea
ctio
n
tim
es
an
d
b
e
h
a
v
io
r
al
d
if
f
er
e
n
ce
s
ac
r
o
s
s
v
eh
icle
ty
p
es
(
e.
g
.
,
m
o
to
r
c
y
cles
ty
p
ically
ex
h
ib
it
f
aster
r
esp
o
n
s
e
tim
es
th
an
lar
g
er
v
e
h
icles),
h
ig
h
lig
h
tin
g
h
o
w
v
eh
icle
co
m
p
o
s
itio
n
af
f
ec
ts
in
ter
s
ec
tio
n
ef
f
icien
cy
.
Fu
r
th
er
m
o
r
e
,
th
is
an
aly
s
is
en
ab
les
co
m
p
ar
ativ
e
s
tu
d
ies
o
f
s
t
ar
t
-
u
p
lo
s
t
tim
e
ac
r
o
s
s
v
ar
io
u
s
tr
af
f
ic
co
n
d
itio
n
s
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
3
,
J
u
n
e
20
25
:
2
9
2
8
-
2
9
3
7
2932
r
ev
ea
lin
g
h
o
w
f
ac
to
r
s
lik
e
v
eh
icle
m
ix
,
i
n
ter
s
ec
tio
n
d
esig
n
,
an
d
tr
a
f
f
ic
v
o
lu
m
e
in
f
l
u
en
ce
d
r
iv
er
r
esp
o
n
s
es.
B
y
q
u
an
tify
in
g
th
ese
d
elay
s
,
tr
an
s
p
o
r
tatio
n
p
la
n
n
er
s
ca
n
id
en
tif
y
p
r
o
b
lem
atic
in
ter
s
ec
tio
n
s
an
d
im
p
lem
en
t
tar
g
eted
im
p
r
o
v
em
e
n
ts
to
r
ed
u
ce
co
n
g
esti
o
n
an
d
en
h
an
ce
tr
af
f
ic
f
lo
w.
T
h
e
in
teg
r
atio
n
o
f
co
m
p
u
te
r
v
is
io
n
(
YOL
Ov
1
0
)
with
ad
v
an
ce
d
tr
ac
k
in
g
(
B
y
teT
r
ac
k
)
cr
ea
tes
a
r
o
b
u
s
t
f
r
am
ewo
r
k
f
o
r
o
b
jectiv
ely
ass
ess
in
g
th
ese
tr
af
f
ic
d
y
n
am
ics
at
s
ca
le.
Fig
u
r
e
2
.
An
al
y
zin
g
tr
a
f
f
ic
d
y
n
am
ics an
d
s
tar
t
-
u
p
lo
s
t tim
e
at
in
ter
s
ec
tio
n
s
: A
co
m
p
r
eh
e
n
s
iv
e
s
tu
d
y
u
s
in
g
YOL
Ov
1
0
3
.
3
.
Sim
ula
t
io
n
s
ce
na
rio
s
I
n
th
e
s
ec
tio
n
d
ed
icate
d
to
s
im
u
latio
n
s
ce
n
ar
io
s
,
th
e
m
eth
o
d
o
lo
g
y
was stru
ctu
r
ed
to
co
m
p
r
e
h
en
s
iv
ely
ev
alu
ate
tr
af
f
ic
d
y
n
am
ics
u
n
d
e
r
v
ar
i
o
u
s
c
o
n
d
itio
n
s
.
T
h
e
s
im
u
latio
n
s
wer
e
m
eticu
l
o
u
s
ly
d
esig
n
ed
to
r
ef
lect
r
ea
l
-
wo
r
ld
tr
a
f
f
ic
s
itu
atio
n
s
,
with
d
ata
ca
p
tu
r
e
d
d
u
r
in
g
k
ey
tim
e
i
n
ter
v
als:
1
0
:0
0
-
1
0
:3
0
,
1
2
:0
0
-
1
2
:3
0
,
1
5
:0
0
-
1
5
:3
0
,
an
d
1
8
:3
0
-
1
9
:0
0
.
E
ac
h
o
f
th
es
e
tim
e
p
er
io
d
s
was
s
u
b
jecte
d
to
a
5
-
m
in
u
te
s
im
u
latio
n
,
en
s
u
r
in
g
a
d
etailed
an
d
co
n
s
is
ten
t a
n
aly
s
is
ac
r
o
s
s
d
if
f
er
en
t scen
ar
io
s
.
T
h
e
s
tu
d
y
em
p
lo
y
e
d
a
s
er
ies
o
f
ca
r
ef
u
lly
d
esig
n
e
d
s
im
u
lated
s
ce
n
ar
io
s
to
s
y
s
tem
atica
lly
i
n
v
esti
g
ate
h
o
w
m
o
to
r
cy
cle
p
o
s
itio
n
in
g
an
d
d
e
n
s
ity
in
f
lu
en
ce
tr
af
f
ic
f
lo
w
d
y
n
a
m
ics.
As
illu
s
tr
ated
in
Fig
u
r
e
3
,
th
ese
s
im
u
latio
n
s
en
co
m
p
ass
ed
:
(
1
)
v
ar
y
in
g
m
o
to
r
cy
cle
p
en
etr
atio
n
r
ates
f
r
o
m
2
0
%
to
8
0
%
o
f
t
o
tal
tr
af
f
ic
v
o
l
u
m
e,
(
2
)
d
if
f
e
r
en
t
s
p
atial
d
is
tr
ib
u
tio
n
s
in
clu
d
in
g
clu
s
ter
ed
an
d
d
is
p
er
s
ed
f
o
r
m
atio
n
s
,
an
d
(
3
)
m
u
ltip
le
lan
e
co
n
f
ig
u
r
atio
n
s
with
an
d
with
o
u
t
d
ed
icate
d
m
o
to
r
cy
cle
lan
es.
E
ac
h
s
ce
n
ar
io
was
d
ev
elo
p
ed
to
is
o
late
s
p
ec
if
ic
b
eh
av
io
r
al
p
atter
n
s
,
s
u
ch
as
m
o
to
r
cy
cles'
ten
d
en
cy
f
o
r
later
al
f
ilter
in
g
o
r
q
u
e
u
e
-
ju
m
p
in
g
at
i
n
ter
s
ec
tio
n
s
,
wh
ich
ar
e
p
ar
ticu
l
ar
ly
r
elev
an
t to
So
u
th
ea
s
t A
s
ian
u
r
b
an
c
o
n
tex
ts
.
3
.
3
.
1
.
M
o
t
o
rc
y
cles
po
s
it
io
ned in f
ro
nt
o
f
ca
rs a
nd
bet
wee
n la
nes
I
n
SUMO,
th
is
s
ce
n
a
r
io
ca
n
b
e
co
n
f
ig
u
r
ed
b
y
p
r
o
g
r
a
m
m
i
n
g
m
o
to
r
c
y
cle
en
titi
es
to
r
ec
o
g
n
ize
an
d
u
tili
ze
th
e
s
p
ac
e
av
ailab
le
b
etwe
en
lan
es.
T
h
e
s
im
u
latio
n
a
llo
ws
m
o
to
r
cy
cles
to
f
ilter
th
r
o
u
g
h
s
tatio
n
ar
y
o
r
s
lo
w
-
m
o
v
in
g
tr
af
f
ic,
m
o
v
in
g
to
war
d
s
th
e
f
r
o
n
t
o
f
th
e
q
u
eu
e
at
in
ter
s
ec
tio
n
s
.
T
h
is
i
s
ty
p
ically
ac
h
iev
ed
b
y
s
ettin
g
s
p
ec
if
ic
r
o
u
tin
g
d
ec
is
io
n
s
an
d
lan
e
ch
a
n
g
e
p
ar
am
eter
s
th
at
ar
e
m
o
r
e
a
g
g
r
ess
iv
e
f
o
r
m
o
t
o
r
cy
cles
co
m
p
ar
ed
t
o
ca
r
s
.
T
h
e
p
o
ten
tia
l
im
p
ac
t
o
n
tr
af
f
ic
f
lo
w
in
clu
d
e
s
r
ed
u
ce
d
wait
tim
es
f
o
r
m
o
to
r
cy
cles
an
d
p
o
s
s
ib
ly
im
p
r
o
v
e
d
o
v
er
all
in
ter
s
ec
tio
n
ef
f
icien
cy
.
Ho
wev
er
,
it
also
r
eq
u
ir
es
ca
r
ef
u
l
ca
lib
r
atio
n
to
ac
cu
r
ately
m
o
d
el
th
e
r
is
k
ier
m
an
e
u
v
e
r
s
ass
o
ciate
d
with
lan
e
-
s
p
litt
in
g
.
3
.
3
.
2
.
M
o
t
o
rc
y
cles
s
ea
rc
hin
g
f
o
r
a
pla
ce
in f
r
o
nt
o
f
a
ll c
a
r
s
T
h
is
s
etu
p
in
v
o
lv
es
co
n
f
ig
u
r
i
n
g
th
e
SUMO
p
ar
am
eter
s
to
p
r
io
r
itize
m
o
to
r
cy
cles
m
o
v
in
g
to
th
e
m
o
s
t
ad
v
an
tag
e
o
u
s
p
o
s
itio
n
at
tr
af
f
i
c
s
to
p
s
,
ty
p
ically
th
e
f
r
o
n
t
o
f
th
e
q
u
e
u
e.
T
h
is
co
u
ld
b
e
ac
c
o
m
p
lis
h
ed
b
y
ad
ju
s
tin
g
th
e
d
esire
d
s
p
ee
d
s
an
d
lan
e
-
ch
an
g
in
g
b
eh
av
i
o
r
to
b
e
m
o
r
e
ag
g
r
ess
iv
e
d
u
r
in
g
s
lo
wer
tr
af
f
ic
co
n
d
itio
n
s
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
A
n
a
lyzi
n
g
th
e
imp
a
ct
o
f m
o
to
r
cy
cle
tr
a
ffic o
n
r
o
a
d
co
n
g
esti
o
n
a
n
d
ve
h
icle
flo
w
(
A
yo
u
b
C
h
a
r
ef
)
2933
p
ar
ticu
lar
ly
as
v
e
h
icles
ap
p
r
o
ac
h
r
e
d
lig
h
ts
o
r
s
to
p
s
ig
n
s
.
T
h
e
r
atio
n
ale
is
to
s
im
u
la
te
th
e
b
eh
a
v
io
r
o
f
m
o
to
r
cy
clis
ts
in
m
an
y
u
r
b
an
e
n
v
ir
o
n
m
en
ts
,
wh
er
e
th
ey
te
n
d
to
ad
v
an
ce
to
th
e
f
r
o
n
t
to
m
in
i
m
ize
th
eir
wait
tim
e
an
d
ac
ce
ler
ate
q
u
ick
ly
wh
e
n
t
h
e
lig
h
t tu
r
n
s
g
r
ee
n
.
3
.
3
.
3
.
M
o
t
o
rc
y
cles
po
s
it
io
ned bet
wee
n c
a
rs
Un
lik
e
s
ce
n
ar
io
s
wh
e
r
e
m
o
to
r
cy
cles
ar
e
at
th
e
f
r
o
n
t
o
r
in
a
d
ed
icate
d
lan
e,
th
is
co
n
f
ig
u
r
atio
n
in
v
o
lv
es
m
o
to
r
cy
cles
m
ix
ed
with
i
n
th
e
ca
r
tr
af
f
ic.
T
h
is
r
e
q
u
ir
es
tu
n
i
n
g
th
e
SUMO
s
im
u
latio
n
to
allo
w
m
o
to
r
cy
cles
to
o
cc
u
p
y
th
e
s
am
e
s
p
ac
e
as
ca
r
s
,
r
ef
lectin
g
a
l
ess
d
y
n
am
ic
r
id
i
n
g
s
ty
le
th
at
m
i
g
h
t
b
e
s
ee
n
in
less
co
n
g
ested
ar
ea
s
o
r
wh
er
e
lan
e
-
s
p
litt
in
g
is
ille
g
al.
T
h
is
s
ce
n
ar
io
'
s
s
ig
n
if
ica
n
ce
lies
in
it
s
ab
ilit
y
to
m
o
d
el
th
e
b
eh
av
io
r
o
f
m
o
to
r
cy
cles in
s
tan
d
a
r
d
tr
af
f
ic
f
lo
w
an
d
e
v
alu
ate
th
e
im
p
ac
t
o
n
s
af
ety
an
d
ca
r
tr
a
f
f
ic
d
y
n
a
m
ics.
3
.
3
.
4
.
M
o
t
o
rc
y
cles in a
dedica
t
ed
la
ne
s
epa
ra
t
e
f
ro
m
ca
rs
I
n
th
is
s
ce
n
ar
io
,
SUMO
is
co
n
f
ig
u
r
e
d
to
s
im
u
late
a
d
e
d
ica
ted
lan
e
f
o
r
m
o
to
r
cy
cles,
s
ep
ar
ate
f
r
o
m
th
o
s
e
u
s
ed
b
y
ca
r
s
.
T
h
is
ca
n
b
e
r
ep
r
esen
ted
b
y
a
s
p
ec
ial
lan
e
ty
p
e
ex
clu
s
iv
ely
f
o
r
m
o
to
r
cy
c
les,
with
it
s
o
wn
s
e
t
o
f
r
u
les
an
d
b
eh
av
io
r
s
.
T
h
e
f
o
cu
s
h
er
e
is
o
n
t
h
e
p
o
ten
tial
b
en
ef
its
o
f
s
u
ch
an
ar
r
an
g
em
en
t,
s
u
ch
as
r
ed
u
ce
d
co
n
f
licts
b
etwe
en
ca
r
s
an
d
m
o
to
r
cy
cles,
p
o
ten
tially
lo
w
er
co
n
g
esti
o
n
le
v
els,
an
d
i
m
p
r
o
v
e
d
s
af
ety
f
o
r
m
o
to
r
cy
clis
ts
.
C
h
allen
g
es
m
ig
h
t
in
clu
d
e
th
e
im
p
lem
en
tatio
n
in
r
ea
l
-
wo
r
ld
s
ettin
g
s
an
d
th
e
ef
f
ec
ts
o
n
ca
r
lan
es,
s
u
ch
as r
ed
u
ce
d
s
p
ac
e
o
r
i
n
cr
e
ased
co
n
g
esti
o
n
f
o
r
ca
r
s
.
3
.
3
.
5
.
M
o
t
o
rc
y
cles in
t
he
s
a
m
e
la
ne
a
s
ca
rs
A
co
n
v
en
tio
n
al
p
o
s
itio
n
in
g
s
ce
n
ar
io
in
SUMO,
wh
er
e
m
o
to
r
cy
cles
f
o
llo
w
th
e
s
am
e
r
u
les
an
d
b
eh
av
io
r
s
as
ca
r
s
,
with
o
u
t
a
n
y
s
p
ec
ial
tr
ea
tm
en
t
o
r
r
o
u
ti
n
g
.
T
h
is
s
ce
n
ar
io
is
v
alu
ab
le
f
o
r
ass
ess
in
g
h
o
w
m
o
to
r
cy
cles
af
f
ec
t
th
e
f
lo
w
o
f
tr
af
f
ic
wh
en
th
ey
d
o
n
o
t
h
a
v
e
t
h
e
o
p
tio
n
to
lan
e
-
s
p
lit
o
r
m
o
v
e
to
th
e
f
r
o
n
t
o
f
th
e
q
u
eu
e.
I
t p
r
o
v
id
es in
s
ig
h
ts
in
t
o
th
e
in
teg
r
atio
n
o
f
m
ix
ed
v
eh
icle
ty
p
es u
n
d
er
ty
p
ical
tr
af
f
ic
r
eg
u
latio
n
s
.
3
.
3
.
6
.
T
ra
f
f
ic
wit
ho
ut
mo
t
o
r
cy
cles
(
o
nly
ca
rs
)
Ser
v
in
g
as
a
b
aselin
e
s
ce
n
ar
io
,
SUMO
o
n
ly
s
im
u
lates
ca
r
tr
a
f
f
ic
with
o
u
t
th
e
p
r
esen
ce
o
f
m
o
to
r
cy
cles.
T
h
is
s
ce
n
ar
io
allo
ws
f
o
r
a
clea
r
co
m
p
ar
is
o
n
o
f
h
o
w
tr
af
f
ic
f
lo
w
an
d
co
n
g
esti
o
n
ar
e
a
f
f
ec
te
d
b
y
th
e
a
b
s
en
ce
o
r
p
r
esen
ce
o
f
m
o
to
r
cy
cles.
I
t
s
e
r
v
es
as
a
co
n
tr
o
l
to
h
i
g
h
lig
h
t
th
e
s
p
ec
if
ic
im
p
ac
ts
th
at
m
o
to
r
cy
cles
h
av
e
wh
en
th
ey
ar
e
in
clu
d
ed
in
th
e
s
im
u
l
atio
n
s
ce
n
ar
io
s
.
Fig
u
r
e
3
.
T
r
af
f
ic
f
l
o
w
s
ce
n
ar
i
o
s
with
v
ar
ied
m
o
to
r
cy
cles p
o
s
itio
n
s
[
2
8
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
3
,
J
u
n
e
20
25
:
2
9
2
8
-
2
9
3
7
2934
T
o
ca
lcu
late
th
e
a
v
er
ag
e
tr
av
e
l
tim
e
f
r
o
m
a
s
im
u
latio
n
s
ce
n
ar
io
th
at
d
ep
e
n
d
s
o
n
s
tar
t
-
u
p
l
o
s
t
tim
e,
it
is
es
s
en
tial
to
co
n
s
id
er
s
ev
er
al
f
ac
to
r
s
.
T
h
ese
in
clu
d
e
th
e
s
tar
t
-
u
p
lo
s
t
tim
e,
th
e
tr
av
el
tim
e
u
n
d
er
n
o
r
m
al
co
n
d
itio
n
s
,
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d
an
y
ad
d
itio
n
al
d
elay
s
th
at
m
ig
h
t
o
cc
u
r
d
u
r
i
n
g
th
e
tr
i
p
.
B
y
in
teg
r
atin
g
th
e
s
e
f
ac
to
r
s
,
y
o
u
ca
n
ac
cu
r
ately
d
eter
m
i
n
e
th
e
o
v
er
all
av
er
ag
e
tr
av
el
tim
e
f
o
r
t
h
e
s
ce
n
ar
io
[
2
9
]
,
[
3
0
]
.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
s
ec
tio
n
p
r
esen
ts
th
e
r
esu
lts
an
d
d
is
cu
s
s
io
n
o
f
o
u
r
s
tu
d
y
,
f
o
cu
s
in
g
o
n
th
e
im
p
ac
t
o
f
m
o
to
r
cy
cl
e
p
o
s
itio
n
in
g
o
n
tr
a
f
f
ic
f
lo
w
an
d
s
tar
t
-
u
p
lo
s
t
tim
e
at
in
ter
s
ec
t
io
n
s
.
T
h
r
o
u
g
h
d
etailed
s
im
u
la
tio
n
s
u
s
in
g
SUMO,
we
an
aly
ze
d
v
ar
io
u
s
s
ce
n
ar
io
s
to
u
n
d
er
s
tan
d
h
o
w
d
if
f
er
en
t
m
o
to
r
cy
cle
b
e
h
av
io
r
s
an
d
in
te
r
ac
tio
n
s
with
o
th
er
v
eh
icles
af
f
ec
t
o
v
er
all
tr
af
f
ic
d
y
n
am
ics.
B
y
s
y
s
tem
atica
l
ly
ev
alu
atin
g
th
ese
s
ce
n
ar
io
s
,
we
aim
to
p
r
o
v
id
e
v
alu
ab
le
in
s
ig
h
ts
in
to
o
p
tim
izin
g
tr
af
f
ic
m
an
ag
e
m
en
t
s
y
s
tem
s
,
en
h
an
cin
g
in
ter
s
ec
tio
n
p
er
f
o
r
m
a
n
ce
,
an
d
d
ev
elo
p
in
g
s
tr
ateg
ies
to
r
ed
u
c
e
co
n
g
esti
o
n
an
d
im
p
r
o
v
e
s
af
ety
f
o
r
all
r
o
a
d
u
s
er
s
.
T
h
e
f
o
llo
win
g
s
ec
tio
n
s
will
d
etail
o
u
r
f
i
n
d
in
g
s
an
d
d
is
cu
s
s
th
eir
im
p
licatio
n
s
f
o
r
u
r
b
an
p
l
an
n
in
g
a
n
d
tr
a
f
f
ic
en
g
i
n
ee
r
in
g
.
T
ab
le
1
p
r
o
v
id
es
a
co
m
p
ar
ati
v
e
an
aly
s
is
o
f
m
u
ltip
le
tr
af
f
ic
s
ce
n
ar
io
s
,
ev
alu
atin
g
th
eir
p
e
r
f
o
r
m
a
n
ce
th
r
o
u
g
h
f
o
u
r
k
ey
m
etr
ics:
tr
av
el
tim
e
(
s
)
,
av
er
ag
e
v
eh
icle
s
p
ee
d
(
k
m
/h
)
,
s
to
p
-
an
d
-
g
o
ev
en
t
s
(
f
r
eq
u
en
c
y
)
,
an
d
q
u
eu
e
len
g
th
(
m
)
.
T
h
ese
p
ar
a
m
eter
s
wer
e
s
elec
ted
to
ass
ess
b
o
th
tr
af
f
ic
ef
f
icien
c
y
(
v
ia
tr
a
v
el
tim
e
an
d
s
p
ee
d
)
an
d
s
af
ety
im
p
licatio
n
s
(
t
h
r
o
u
g
h
s
to
p
-
an
d
-
g
o
f
r
e
q
u
en
c
y
a
n
d
q
u
eu
e
len
g
th
)
.
T
h
e
co
m
p
ar
is
o
n
r
ev
ea
ls
h
o
w
d
if
f
er
en
t
t
r
af
f
ic
c
o
n
f
ig
u
r
atio
n
s
-
s
u
ch
as
v
ar
y
in
g
m
o
to
r
cy
cle
d
en
s
ities
,
s
ig
n
al
tim
in
g
s
,
o
r
l
an
e
d
esig
n
s
-
im
p
ac
t
o
v
er
all
in
ter
s
ec
tio
n
p
er
f
o
r
m
an
ce
.
B
y
q
u
an
tif
y
in
g
t
h
ese
r
elatio
n
s
h
ip
s
,
th
e
a
n
aly
s
is
o
f
f
er
s
ac
t
io
n
ab
le
in
s
ig
h
ts
f
o
r
u
r
b
an
p
la
n
n
er
s
s
ee
k
in
g
to
o
p
ti
m
ize
tr
af
f
ic
f
lo
w
wh
ile
m
in
im
izin
g
co
n
g
esti
o
n
an
d
co
llis
io
n
r
is
k
s
.
Fo
r
in
s
tan
ce
,
s
ce
n
ar
io
s
with
s
h
o
r
ter
q
u
eu
e
len
g
th
s
an
d
f
ewe
r
s
to
p
-
an
d
-
g
o
ev
e
n
ts
ty
p
ically
in
d
icate
s
m
o
o
th
er
tr
af
f
ic
p
r
o
g
r
ess
io
n
,
wh
er
ea
s
in
cr
ea
s
e
d
tr
av
el
tim
es
m
ay
s
ig
n
al
b
o
ttl
en
ec
k
s
r
eq
u
ir
i
n
g
in
f
r
astru
ctu
r
e
ad
ju
s
tm
en
ts
.
T
h
is
d
ata
-
d
r
iv
e
n
ap
p
r
o
ac
h
en
ab
les
ev
id
en
ce
-
b
ased
d
ec
is
io
n
-
m
ak
i
n
g
f
o
r
tr
a
n
s
p
o
r
tatio
n
p
o
licies
in
m
o
to
r
cy
cle
-
d
en
s
e
u
r
b
an
e
n
v
ir
o
n
m
en
ts
.
T
ab
le
1
.
T
h
e
r
esu
lt o
f
t
h
e
s
u
m
o
s
im
u
latio
n
S
c
e
n
a
r
i
o
s
Ti
me
Tr
a
v
e
l
t
i
m
e
(
s)
A
v
e
r
a
g
e
s
p
e
e
d
S
t
o
p
-
a
n
d
-
g
o
e
v
e
n
t
s
Q
u
e
u
e
l
e
n
g
t
h
(
m)
Tr
a
f
f
i
c
w
i
t
h
o
u
t
mo
t
o
r
c
y
c
l
e
s (
o
n
l
y
c
a
r
s)
1
0
:
0
0
-
1
0
:
3
0
5
4
.
8
9
4
9
.
2
5
3
41
1
2
:
0
0
-
1
2
:
3
0
5
3
.
3
9
50
2
63
1
5
:
0
0
-
1
5
:
3
0
5
7
.
4
9
3
5
.
8
2
38
M
o
t
o
r
c
y
c
l
e
s
i
n
t
h
e
S
a
me
l
i
n
e
a
s
c
a
r
s
1
0
:
0
0
-
1
0
:
3
0
5
5
.
8
9
44
2
52
1
2
:
0
0
-
1
2
:
3
0
5
4
.
3
9
5
1
.
8
3
78
1
5
:
0
0
-
1
5
:
3
0
5
8
.
5
1
3
0
.
6
3
50
M
o
t
o
r
c
y
c
l
e
s
p
o
s
i
t
i
o
n
e
d
b
e
t
w
e
e
n
c
a
r
s
1
0
:
0
0
-
1
0
:
3
0
5
6
.
8
2
3
8
.
9
6
45
1
2
:
0
0
-
1
2
:
3
0
5
5
.
3
0
4
6
.
6
4
68
1
5
:
0
0
-
1
5
:
3
0
5
9
.
4
9
2
5
.
5
5
42
M
o
t
o
r
c
y
c
l
e
s
s
e
a
r
c
h
i
n
g
f
o
r
a
p
l
a
c
e
i
n
f
r
o
n
t
o
f
A
l
l
c
a
r
s
1
0
:
0
0
-
1
0
:
3
0
5
7
.
8
0
3
3
.
7
3
44
1
2
:
0
0
-
1
2
:
3
0
5
4
.
3
0
4
1
.
5
3
65
1
5
:
0
0
-
1
5
:
3
0
5
4
.
4
0
27
3
45
M
o
t
o
r
c
y
c
l
e
s
i
n
a
D
e
d
i
c
a
t
e
d
l
i
n
e
se
p
a
r
a
t
e
f
r
o
m c
a
r
s
1
0
:
0
0
-
1
0
:
3
0
5
8
.
8
9
2
8
.
6
4
39
1
2
:
0
0
-
1
2
:
3
0
5
1
.
3
9
5
0
.
7
4
65
1
5
:
0
0
-
1
5
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3
0
5
7
.
4
9
1
5
.
1
7
2
32
M
o
t
o
r
c
y
c
l
e
s
p
o
s
i
t
i
o
n
e
d
i
n
f
r
o
n
t
o
f
c
a
r
s
a
n
d
b
e
t
w
e
e
n
l
a
n
e
s
1
0
:
0
0
-
1
0
:
3
0
5
9
.
8
0
2
3
.
4
5
5
50
1
2
:
0
0
-
1
2
:
3
0
5
8
.
3
0
4
0
.
2
5
73
1
5
:
0
0
-
1
5
:
3
0
6
0
.
3
0
12
6
40
W
h
en
m
o
to
r
cy
cles
s
h
ar
e
lan
es
with
ca
r
s
o
r
ar
e
p
o
s
itio
n
ed
b
etwe
en
th
em
,
as
o
b
s
er
v
ed
in
s
ce
n
ar
io
s
lik
e
"
m
o
to
r
cy
cles
in
th
e
s
am
e
lin
e
as
ca
r
s
"
an
d
"m
o
to
r
c
y
cles
p
o
s
itio
n
ed
b
etwe
en
ca
r
s
",
th
er
e
is
a
n
o
ticea
b
le
in
cr
ea
s
e
in
tr
av
el
tim
es
an
d
s
to
p
-
an
d
-
g
o
ev
en
ts
.
Fo
r
in
s
tan
ce
,
d
u
r
in
g
p
ea
k
h
o
u
r
s
(
1
8
:3
0
-
1
9
:0
0
)
,
tr
av
el
tim
es
r
an
g
e
f
r
o
m
5
8
.
4
4
to
6
0
.
4
4
s
ec
o
n
d
s
,
in
d
ic
atin
g
s
lo
wer
tr
af
f
ic
f
lo
w
a
n
d
h
ig
h
er
c
o
n
g
esti
o
n
co
m
p
ar
ed
t
o
s
ce
n
ar
io
s
with
o
u
t
m
o
to
r
cy
cles.
Av
er
a
g
e
v
eh
icle
s
p
ee
d
s
also
d
ec
r
ea
s
e
s
ig
n
if
ican
tly
,
with
s
p
ee
d
s
r
an
g
in
g
f
r
o
m
2
0
.
6
to
2
1
.
7
k
m
/h
,
h
ig
h
lig
h
tin
g
th
e
im
p
ac
t
o
f
m
i
x
ed
tr
a
f
f
ic
o
n
o
v
er
all
t
r
af
f
ic
ef
f
icien
cy
.
Sto
p
-
an
d
-
g
o
ev
e
n
t
s
in
cr
ea
s
e
as
well,
v
ar
y
in
g
f
r
o
m
4
to
7
in
s
tan
ce
s
p
er
tim
e
s
lo
t,
wh
ich
r
e
f
lects
d
is
r
u
p
ted
tr
af
f
ic
f
lo
w
an
d
in
c
r
ea
s
ed
p
o
ten
tial
f
o
r
ac
cid
en
ts
o
r
d
elay
s
.
Qu
eu
e
len
g
th
s
at
in
ter
s
ec
tio
n
s
s
im
ilar
ly
ex
ten
d
,
r
an
g
in
g
f
r
o
m
6
9
t
o
9
2
m
eter
s
d
u
r
i
n
g
t
h
ese
p
ea
k
p
er
i
o
d
s
,
in
d
icatin
g
p
r
o
lo
n
g
ed
waitin
g
tim
es a
n
d
h
eig
h
ten
ed
co
n
g
esti
o
n
lev
els.
C
o
n
v
er
s
ely
,
s
ce
n
ar
io
s
wh
er
e
m
o
to
r
cy
cles
h
av
e
d
ed
icate
d
la
n
es,
s
u
ch
as
"
m
o
to
r
cy
cles
in
a
d
ed
icate
d
lin
e
s
ep
ar
ate
f
r
o
m
ca
r
s
",
d
em
o
n
s
tr
ate
im
p
r
o
v
e
d
tr
a
f
f
ic
co
n
d
it
io
n
s
.
I
n
th
ese
s
ce
n
ar
io
s
,
tr
a
v
el
tim
es
ar
e
g
en
er
ally
lo
wer
,
r
an
g
in
g
f
r
o
m
5
1
.
3
9
to
6
3
.
4
0
s
ec
o
n
d
s
ac
r
o
s
s
d
if
f
er
en
t
tim
e
s
lo
t
s
,
in
d
icatin
g
s
m
o
o
th
er
tr
af
f
ic
f
lo
w
an
d
r
ed
u
ce
d
co
n
g
esti
o
n
.
Av
er
a
g
e
v
eh
icle
s
p
ee
d
s
ar
e
co
m
p
ar
ati
v
ely
h
ig
h
er
,
r
a
n
g
in
g
f
r
o
m
1
4
to
5
0
.
7
k
m
/h
,
wh
ich
s
ig
n
if
ies less
d
is
r
u
p
tio
n
to
tr
af
f
ic
f
lo
w
an
d
im
p
r
o
v
ed
ef
f
icien
cy
.
Sto
p
-
a
n
d
-
g
o
ev
en
ts
a
r
e
f
e
wer
,
r
an
g
in
g
f
r
o
m
2
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
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&
C
o
m
p
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I
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N:
2088
-
8
7
0
8
A
n
a
lyzi
n
g
th
e
imp
a
ct
o
f m
o
to
r
cy
cle
tr
a
ffic o
n
r
o
a
d
co
n
g
esti
o
n
a
n
d
ve
h
icle
flo
w
(
A
yo
u
b
C
h
a
r
ef
)
2935
to
4
o
cc
u
r
r
en
ce
s
p
er
tim
e
s
lo
t,
in
d
icatin
g
m
o
r
e
c
o
n
s
is
ten
t
tr
af
f
ic
f
lo
w
an
d
r
e
d
u
ce
d
p
o
ten
tial
f
o
r
s
u
d
d
e
n
b
r
a
k
in
g
o
r
ac
ce
ler
atio
n
.
Q
u
eu
e
len
g
th
s
at
in
ter
s
ec
tio
n
s
ar
e
also
s
h
o
r
ter
,
r
a
n
g
in
g
f
r
o
m
3
2
to
7
6
m
eter
s
,
s
u
g
g
esti
n
g
m
in
im
ized
waitin
g
tim
es a
n
d
i
m
p
r
o
v
e
d
in
ter
s
ec
tio
n
e
f
f
icien
c
y
.
T
h
ese
f
in
d
in
g
s
ar
e
co
n
s
is
ten
t
with
p
r
io
r
r
esear
c
h
th
at
s
u
g
g
e
s
ts
d
ed
icate
d
lan
es
f
o
r
m
o
t
o
r
c
y
cles
ca
n
im
p
r
o
v
e
tr
a
f
f
ic
f
lo
w
an
d
s
af
ety
.
Stu
d
ies
lik
e
[
30
]
h
av
e
also
s
h
o
wn
th
at
lan
e
s
ep
ar
atio
n
f
o
r
m
o
to
r
cy
cles
r
ed
u
ce
s
co
n
g
esti
o
n
,
p
a
r
ticu
lar
ly
in
u
r
b
an
en
v
ir
o
n
m
en
ts
wh
er
e
tr
af
f
ic
d
en
s
ity
is
h
ig
h
.
Ho
wev
er
,
o
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r
s
tu
d
y
ex
ten
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s
th
is
k
n
o
wled
g
e
b
y
e
x
am
in
in
g
s
p
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if
ic
m
o
to
r
c
y
cle
p
o
s
itio
n
in
g
s
tr
ateg
ies
with
in
s
im
u
latio
n
s
,
o
f
f
e
r
in
g
a
d
etailed
lo
o
k
at
h
o
w
d
if
f
er
en
t
b
eh
a
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io
r
s
,
s
u
ch
as
lan
e
s
p
litt
in
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d
m
o
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g
to
th
e
f
r
o
n
t
o
f
t
h
e
q
u
eu
e,
im
p
ac
t
o
v
er
all
tr
af
f
ic
d
y
n
am
ics.
W
h
ile
t
h
e
s
im
u
latio
n
m
o
d
el
p
r
o
v
id
ed
v
alu
a
b
le
in
s
ig
h
ts
,
o
n
e
lim
itatio
n
o
f
th
e
s
tu
d
y
is
t
h
at
it
is
b
ased
o
n
s
y
n
t
h
etic
tr
af
f
ic
d
ata
an
d
ass
u
m
p
tio
n
s
in
th
e
SUMO
m
o
d
el,
wh
ich
m
ay
n
o
t
ca
p
tu
r
e
all
r
ea
l
-
wo
r
ld
co
m
p
lex
ities
.
Ad
d
itio
n
ally
,
w
e
en
co
u
n
ter
ed
u
n
ex
p
ec
te
d
r
es
u
lts
wh
en
a
n
aly
zin
g
th
e
“m
o
t
o
r
cy
cles
p
o
s
itio
n
ed
b
etwe
en
c
ar
s
”
s
ce
n
ar
io
,
wh
er
e
th
e
an
ticip
ated
n
eg
ativ
e
im
p
a
ct
o
n
tr
af
f
ic
f
lo
w
was
less
p
r
o
n
o
u
n
ce
d
in
ce
r
tain
ca
s
es,
lik
ely
d
u
e
to
th
e
s
p
ec
if
i
c
tr
af
f
ic
co
n
d
itio
n
s
d
u
r
in
g
th
o
s
e
tim
e
s
lo
ts
.
I
n
s
u
m
m
a
r
y
,
t
h
is
s
tu
d
y
aim
e
d
to
u
n
d
er
s
tan
d
t
h
e
ef
f
ec
ts
o
f
m
o
to
r
cy
cle
p
o
s
itio
n
in
g
o
n
tr
af
f
ic
f
lo
w
an
d
s
tar
t
-
u
p
lo
s
t
tim
e
at
in
ter
s
ec
ti
o
n
s
,
r
ev
ea
lin
g
t
h
e
s
ig
n
if
ican
t
b
en
ef
its
o
f
d
ed
icate
d
m
o
to
r
c
y
cle
lan
es
in
u
r
b
an
s
ettin
g
s
.
T
h
e
f
in
d
in
g
s
em
p
h
asize
th
e
im
p
o
r
tan
ce
o
f
co
n
s
id
er
i
n
g
m
o
to
r
cy
clis
ts
'
b
eh
av
io
r
wh
en
d
esig
n
in
g
u
r
b
a
n
tr
af
f
ic
s
y
s
tem
s
to
im
p
r
o
v
e
s
af
ety
an
d
ef
f
icien
cy
.
H
o
wev
er
,
u
n
an
s
wer
ed
q
u
esti
o
n
s
r
em
ain
,
p
ar
ticu
la
r
ly
co
n
ce
r
n
in
g
h
o
w
th
ese
r
esu
lts
tr
an
s
late
to
r
ea
l
-
wo
r
ld
en
v
ir
o
n
m
en
ts
with
v
ar
y
in
g
tr
a
f
f
ic
c
o
n
d
itio
n
s
an
d
d
r
iv
er
b
eh
av
io
r
s
.
Fu
tu
r
e
r
esear
ch
s
h
o
u
ld
f
o
c
u
s
o
n
f
ield
s
tu
d
ies
an
d
f
u
r
th
er
s
im
u
latio
n
s
with
ad
d
itio
n
al
v
ar
iab
les,
s
u
ch
as
v
ar
y
in
g
tr
a
f
f
ic
s
ig
n
al
tim
in
g
s
an
d
d
if
f
er
en
t
v
eh
icle
ty
p
es,
to
b
u
ild
o
n
th
ese
f
in
d
in
g
s
an
d
r
ef
in
e
tr
a
f
f
ic
m
an
ag
em
en
t stra
teg
ies f
o
r
m
i
x
ed
-
u
s
e
en
v
ir
o
n
m
en
ts
.
5.
CO
NCLU
SI
O
N
T
h
is
co
m
p
r
e
h
en
s
iv
e
s
tu
d
y
i
n
v
esti
g
ates
th
e
s
ig
n
if
ican
t
im
p
a
ct
o
f
m
o
to
r
c
y
cle
p
o
s
itio
n
in
g
o
n
s
tar
t
-
u
p
lo
s
t
tim
e
at
s
ig
n
alize
d
in
ter
s
ec
tio
n
s
in
Ma
r
r
ak
ec
h
,
a
city
k
n
o
wn
f
o
r
its
co
m
p
lex
tr
af
f
ic
d
y
n
am
ics.
Ou
r
r
esear
ch
em
p
lo
y
s
an
in
teg
r
ate
d
m
eth
o
d
o
lo
g
y
co
m
b
i
n
in
g
:
i
)
s
tr
ateg
ic
f
ield
d
ata
co
llectio
n
at
a
r
ep
r
ese
n
tativ
e
in
ter
s
ec
tio
n
u
s
in
g
m
o
b
ile
v
id
eo
r
ec
o
r
d
in
g
ac
r
o
s
s
f
o
u
r
c
r
itical
tim
e
p
er
io
d
s
(
m
o
r
n
in
g
p
ea
k
,
m
id
d
ay
o
f
f
-
p
ea
k
,
e
v
en
in
g
r
u
s
h
,
an
d
wee
k
en
d
co
n
d
itio
n
s
)
to
ca
p
tu
r
e
v
ar
y
in
g
tr
a
f
f
ic
p
atter
n
s
;
ii
)
ad
v
an
ce
d
co
m
p
u
ter
v
is
io
n
a
n
aly
s
is
th
r
o
u
g
h
t
h
e
YOL
Ov
1
0
alg
o
r
ith
m
f
o
r
p
r
ec
is
e
d
etec
tio
n
an
d
tr
ac
k
in
g
o
f
m
o
to
r
cy
cle
p
o
s
itio
n
in
g
b
eh
av
io
r
s
;
an
d
iii
)
tr
af
f
i
c
m
icr
o
s
im
u
latio
n
u
s
in
g
SUMO
to
v
alid
ate
f
in
d
in
g
s
.
T
h
is
m
u
l
ti
-
m
eth
o
d
ap
p
r
o
ac
h
p
r
o
v
id
es
r
o
b
u
s
t
in
s
ig
h
ts
i
n
to
h
o
w
d
if
f
er
en
t
m
o
t
o
r
cy
cle
p
o
s
itio
n
in
g
s
tr
ateg
ies
in
f
lu
en
ce
b
o
th
in
ter
s
ec
tio
n
ef
f
icien
c
y
an
d
s
af
ety
,
with
p
ar
ticu
lar
atten
tio
n
to
th
ei
r
ef
f
ec
t
s
o
n
s
tar
t
-
u
p
lo
s
t
tim
e
d
u
r
in
g
s
ig
n
al
p
h
ase
tr
an
s
itio
n
s
.
T
h
e
co
m
b
in
atio
n
o
f
em
p
ir
ical
o
b
s
er
v
atio
n
an
d
s
im
u
latio
n
m
o
d
elin
g
en
s
u
r
es
th
e
r
eliab
ilit
y
an
d
p
r
ac
tical
a
p
p
lica
b
ilit
y
o
f
o
u
r
f
i
n
d
in
g
s
f
o
r
u
r
b
an
tr
af
f
ic
m
a
n
ag
em
en
t i
n
m
o
to
r
c
y
cle
-
d
e
n
s
e
en
v
ir
o
n
m
en
ts
.
Simu
latio
n
s
in
SUMO,
in
f
o
r
m
ed
b
y
th
e
c
o
llected
d
ata,
ev
alu
ated
tr
af
f
ic
d
y
n
am
ics
u
n
d
e
r
s
ce
n
ar
io
s
r
an
g
in
g
f
r
o
m
s
h
ar
e
d
lan
es
f
o
r
m
o
to
r
cy
cles
an
d
ca
r
s
to
d
e
d
i
ca
ted
m
o
to
r
cy
cle
lan
es.
Key
f
in
d
in
g
s
r
ev
ea
l
th
at
wh
en
m
o
to
r
c
y
cles
ar
e
p
o
s
itio
n
ed
clo
s
ely
b
etwe
en
ca
r
s
,
tr
af
f
ic
co
n
g
esti
o
n
in
cr
ea
s
es,
lead
in
g
to
lo
n
g
e
r
tr
av
el
tim
es,
r
ed
u
ce
d
av
er
ag
e
v
e
h
icle
s
p
ee
d
s
,
m
o
r
e
f
r
eq
u
en
t
s
to
p
-
an
d
-
g
o
ev
e
n
ts
,
an
d
lo
n
g
er
q
u
eu
e
len
g
th
s
.
C
o
n
v
er
s
ely
,
s
ce
n
ar
i
o
s
in
co
r
p
o
r
atin
g
d
ed
icate
d
m
o
to
r
cy
cle
la
n
es
co
n
s
is
ten
tly
d
e
m
o
n
s
tr
ated
r
ed
u
ce
d
co
n
g
esti
o
n
an
d
s
m
o
o
th
e
r
tr
af
f
ic
f
lo
w,
e
m
p
h
asizin
g
th
e
b
en
ef
its
o
f
m
o
to
r
cy
cle
-
ca
r
s
ep
ar
atio
n
f
o
r
o
p
tim
izin
g
tr
af
f
ic
ef
f
icien
cy
a
n
d
r
o
ad
s
af
ety
.
T
h
is
s
tu
d
y
co
n
tr
ib
u
tes
to
th
e
e
x
is
tin
g
b
o
d
y
o
f
k
n
o
wled
g
e
b
y
o
f
f
er
in
g
em
p
ir
ical
ev
id
en
ce
o
f
h
o
w
m
o
to
r
cy
cle
p
o
s
itio
n
in
g
im
p
ac
ts
tr
af
f
ic
p
er
f
o
r
m
an
ce
at
in
ter
s
ec
tio
n
s
.
T
h
e
f
in
d
in
g
s
h
ig
h
lig
h
t
th
e
cr
itical
r
o
le
o
f
d
e
d
icate
d
m
o
to
r
cy
cle
lan
es in
u
r
b
a
n
tr
a
f
f
ic
m
an
ag
e
m
en
t a
n
d
p
r
o
v
id
e
ac
tio
n
ab
le
i
n
s
ig
h
ts
f
o
r
u
r
b
an
p
lan
n
e
r
s
an
d
p
o
licy
m
ak
er
s
to
en
h
an
ce
in
ter
s
ec
tio
n
ef
f
i
cien
cy
an
d
s
af
ety
in
d
e
n
s
ely
p
o
p
u
lated
cities.
Fu
tu
r
e
r
esear
ch
co
u
ld
e
x
ten
d
th
is
s
tu
d
y
b
y
ex
p
lo
r
in
g
th
e
im
p
ac
t
o
f
m
o
to
r
cy
cle
p
o
s
itio
n
in
g
u
n
d
e
r
d
iv
er
s
e
en
v
i
r
o
n
m
e
n
tal
an
d
in
f
r
astru
ctu
r
al
co
n
d
itio
n
s
,
s
u
c
h
a
s
v
ar
y
in
g
in
ter
s
ec
tio
n
d
esig
n
s
,
wea
th
er
s
ce
n
ar
io
s
,
an
d
tr
af
f
ic
d
en
s
ities
.
I
n
v
esti
g
a
tin
g
th
e
in
teg
r
at
io
n
o
f
em
er
g
i
n
g
tech
n
o
lo
g
ies,
s
u
ch
as
co
n
n
ec
ted
v
eh
icles
an
d
in
tellig
en
t
tr
af
f
ic
s
y
s
tem
s
,
co
u
ld
f
u
r
th
er
r
ef
in
e
s
tr
ateg
ies
f
o
r
o
p
tim
izin
g
tr
af
f
ic
f
lo
w.
Ad
d
itio
n
ally
,
a
b
r
o
ad
e
r
g
eo
g
r
a
p
h
ical
an
aly
s
is
en
co
m
p
ass
in
g
m
u
ltip
le
cities
with
d
is
tin
ct
tr
af
f
ic
p
atter
n
s
wo
u
ld
p
r
o
v
i
d
e
a
m
o
r
e
co
m
p
r
eh
e
n
s
iv
e
u
n
d
er
s
tan
d
in
g
o
f
th
ese
d
y
n
am
ics,
c
o
n
tr
ib
u
tin
g
to
g
l
o
b
ally
a
p
p
licab
le
tr
af
f
ic
m
an
ag
e
m
en
t
s
o
lu
tio
n
s
.
ACK
NO
WL
E
DG
M
E
N
T
S
T
h
e
au
th
o
r
s
g
r
atef
u
lly
ac
k
n
o
wled
g
e
th
e
a
ca
d
em
ic
a
n
d
tech
n
ical
s
u
p
p
o
r
t
p
r
o
v
id
ed
b
y
E
MSI
Sch
o
o
l
th
r
o
u
g
h
o
u
t
th
is
r
esear
ch
e
n
d
e
av
o
r
.
W
e
ex
te
n
d
o
u
r
s
in
ce
r
e
ap
p
r
ec
iatio
n
t
o
o
u
r
c
o
lleag
u
e
s
at
th
e
L
AM
I
GE
P
R
esear
ch
L
ab
o
r
ato
r
y
f
o
r
th
eir
in
s
ig
h
tf
u
l f
ee
d
b
ac
k
a
n
d
c
o
n
s
t
r
u
ctiv
e
d
is
cu
s
s
io
n
s
d
u
r
in
g
th
e
d
ev
elo
p
m
e
n
t o
f
th
is
wo
r
k
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
3
,
J
u
n
e
20
25
:
2
9
2
8
-
2
9
3
7
2936
F
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Evaluation Warning : The document was created with Spire.PDF for Python.