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Vo
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14
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Sep
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20
25
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p
p
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37
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N:
2722
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n
o
m
o
u
s
ly
h
alts
th
e
v
eh
i
cle,
ef
f
ec
tiv
ely
p
r
ev
en
tin
g
a
cc
id
en
ts
an
d
s
af
eg
u
a
r
d
in
g
b
o
th
th
e
ca
r
a
n
d
its
s
u
r
r
o
u
n
d
in
g
s
.
T
h
is
ca
p
a
b
ilit
y
is
esp
ec
ially
v
alu
ab
le
in
cr
o
wd
ed
u
r
b
a
n
s
ettin
g
s
o
r
u
n
p
r
ed
ict
ab
le
ter
r
ain
s
wh
er
e
q
u
ick
r
esp
o
n
s
es
ar
e
ess
en
tial.
T
h
e
E
SP
3
2
m
icr
o
co
n
t
r
o
ller
,
with
its
b
u
ilt
-
in
W
i
-
Fi
an
d
B
l
u
eto
o
th
ca
p
a
b
ilit
ies,
s
er
v
es
as
th
e
tech
n
o
lo
g
ical
b
ac
k
b
o
n
e
o
f
th
is
s
y
s
tem
.
T
h
ese
f
ea
tu
r
es
en
ab
le
ea
s
y
in
teg
r
atio
n
with
I
o
T
p
latf
o
r
m
s
,
allo
win
g
u
s
er
s
to
r
em
o
tely
co
n
tr
o
l
th
e
ca
r
’
s
m
o
v
em
en
ts
,
m
o
n
ito
r
its
o
p
e
r
atio
n
al
s
tatu
s
,
an
d
im
p
lem
en
t
ad
d
itio
n
al
f
u
n
ctio
n
alities
.
Fo
r
in
s
tan
ce
,
u
s
er
s
c
an
in
co
r
p
o
r
ate
GPS
tr
ac
k
in
g
to
m
o
n
ito
r
th
e
ca
r
’
s
lo
ca
tio
n
in
r
ea
l
-
tim
e
o
r
ad
d
v
o
ice
co
m
m
an
d
f
u
n
ctio
n
ali
ty
f
o
r
h
an
d
s
-
f
r
ee
o
p
er
atio
n
.
T
h
is
ad
ap
tab
ilit
y
u
n
d
er
s
co
r
es th
e
s
y
s
tem
’
s
p
o
ten
tial f
o
r
cu
s
to
m
izatio
n
,
m
ak
i
n
g
it a
f
lex
ib
le
s
o
lu
tio
n
f
o
r
v
ar
i
o
u
s
u
s
e
ca
s
es.
T
h
e
ca
r
’
s
v
e
r
s
atility
p
o
s
itio
n
s
it
as
an
id
ea
l
ca
n
d
id
ate
f
o
r
a
p
p
licatio
n
s
ac
r
o
s
s
m
u
ltip
le
d
o
m
ain
s
.
I
n
s
m
ar
t
tr
an
s
p
o
r
tatio
n
,
it
ca
n
s
er
v
e
as
a
p
r
o
to
ty
p
e
f
o
r
au
to
m
ated
v
eh
icles,
d
em
o
n
s
tr
atin
g
th
e
p
o
ten
tial
o
f
I
o
T
i
n
cr
ea
tin
g
s
af
er
an
d
m
o
r
e
ef
f
icien
t
m
o
b
ilit
y
s
o
lu
tio
n
s
.
Fo
r
au
t
o
m
ated
d
eliv
er
y
s
y
s
tem
s
,
th
e
ca
r
o
f
f
er
s
a
r
eliab
le
an
d
co
s
t
-
ef
f
ec
tiv
e
p
latf
o
r
m
f
o
r
task
s
lik
e
last
-
m
ile
d
eli
v
er
y
o
r
war
e
h
o
u
s
e
lo
g
is
tics
.
Ad
d
itio
n
ally
,
its
s
im
p
licity
an
d
ad
ap
tab
ilit
y
m
ak
e
it
an
ex
ce
llen
t
ed
u
ca
tio
n
a
l
to
o
l
in
th
e
f
ield
o
f
r
o
b
o
tics
an
d
I
o
T
,
allo
win
g
s
tu
d
en
ts
an
d
h
o
b
b
y
is
ts
to
e
x
p
lo
r
e
co
n
ce
p
ts
s
u
ch
as
s
en
s
o
r
in
teg
r
atio
n
,
wir
eless
co
m
m
u
n
icatio
n
,
a
n
d
au
to
n
o
m
o
u
s
s
y
s
tem
s
.
Fu
r
th
er
m
o
r
e,
th
e
L
E
D
-
b
ased
s
ig
n
alin
g
s
y
s
tem
n
o
t o
n
ly
en
h
an
ce
s
o
p
er
atio
n
al
s
af
ety
b
u
t
also
p
r
o
v
id
es
a
u
s
er
-
f
r
ien
d
ly
i
n
ter
f
ac
e
t
h
at
en
s
u
r
es
clar
ity
i
n
th
e
ca
r
’
s
ac
tio
n
s
.
T
h
is
atten
ti
o
n
to
d
etail
m
ak
es
th
e
s
y
s
tem
r
eliab
le
an
d
ac
ce
s
s
ib
le
in
v
ar
io
u
s
en
v
ir
o
n
m
en
ts
,
f
r
o
m
well
-
lit
u
r
b
an
ar
ea
s
to
p
o
o
r
ly
illu
m
in
ated
r
u
r
al
r
o
ad
s
.
T
h
e
in
teg
r
atio
n
o
f
I
o
T
tech
n
o
l
o
g
y
elev
ate
s
th
e
p
r
o
ject’
s
ca
p
ab
ilit
ies,
en
ab
lin
g
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
,
d
ata
co
llectio
n
,
a
n
d
p
o
ten
tial
s
ca
lab
ilit
y
f
o
r
a
d
v
an
ce
d
f
ea
tu
r
es
lik
e
p
r
e
d
ictiv
e
m
ain
ten
a
n
ce
o
r
f
leet
m
an
ag
em
e
n
t.
T
h
is
p
r
o
ject
ex
em
p
lifie
s
th
e
tr
an
s
f
o
r
m
ativ
e
p
o
ten
tial
o
f
I
o
T
in
r
esh
ap
in
g
m
o
d
er
n
m
o
b
ilit
y
s
o
lu
tio
n
s
.
B
y
co
m
b
in
in
g
c
o
s
t
-
ef
f
ec
tiv
e
n
ess
,
u
s
er
-
f
r
ien
d
lin
ess
,
an
d
cu
ttin
g
-
ed
g
e
tec
h
n
o
lo
g
y
,
th
e
I
o
T
-
b
ased
m
o
b
ile
-
co
n
tr
o
lled
ca
r
with
an
em
er
g
en
cy
p
ar
k
in
g
s
y
s
tem
s
tan
d
s
as
a
test
am
en
t
to
th
e
in
n
o
v
at
iv
e
p
o
s
s
ib
ilit
ies
o
f
in
tellig
en
t
v
eh
icle
m
a
n
ag
em
e
n
t.
I
t
n
o
t
o
n
ly
ad
d
r
ess
es
cu
r
r
e
n
t
ch
allen
g
es
in
tr
an
s
p
o
r
tatio
n
an
d
a
u
to
m
atio
n
b
u
t
also
p
av
es
th
e
way
f
o
r
f
u
t
u
r
e
ad
v
an
ce
m
en
ts
,
o
f
f
er
in
g
a
s
m
ar
ter
,
s
af
er
,
an
d
m
o
r
e
co
n
n
ec
ted
ap
p
r
o
ac
h
to
m
o
b
ilit
y
.
T
h
e
ev
alu
atio
n
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
d
em
o
n
s
tr
ates
its
ef
f
ec
tiv
en
ess
in
p
r
o
v
i
d
in
g
W
i
-
Fi
-
b
ased
r
em
o
te
-
co
n
tr
o
l
f
u
n
ctio
n
ality
,
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
,
a
n
d
en
h
an
ce
d
s
af
ety
th
r
o
u
g
h
its
em
er
g
e
n
cy
p
ar
k
in
g
s
y
s
tem
.
T
h
e
im
p
lem
en
tatio
n
o
f
th
e
E
SP
3
2
m
icr
o
c
o
n
tr
o
ller
en
s
u
r
es
s
ea
m
less
co
m
m
u
n
ic
atio
n
an
d
e
f
f
icien
t
o
p
er
atio
n
,
wh
ile
th
e
i
n
clu
s
io
n
o
f
L
E
D
in
d
icato
r
s
s
ig
n
if
ica
n
tly
im
p
r
o
v
es
v
is
ib
ilit
y
an
d
v
eh
icle
s
ig
n
alin
g
.
T
h
e
r
esu
lts
in
d
icate
th
at
th
e
s
y
s
tem
s
u
cc
ess
f
u
lly
in
teg
r
ates
I
o
T
tech
n
o
l
o
g
y
to
d
eliv
er
a
r
esp
o
n
s
iv
e
an
d
r
eliab
l
e
m
o
b
ile
-
co
n
t
r
o
lled
ca
r
with
au
to
n
o
m
o
u
s
p
ar
k
in
g
ca
p
ab
ilit
ies.
T
h
e
ex
p
er
im
e
n
tal
v
alid
atio
n
co
n
f
ir
m
s
th
at
th
e
s
y
s
tem
m
ee
ts
its
in
ten
d
ed
o
b
jectiv
es
with
a
f
aster
r
esp
o
n
s
e,
h
ig
h
e
r
s
p
ee
d
,
an
d
lo
wer
p
o
wer
co
n
s
u
m
p
tio
n
,
s
h
o
wca
s
in
g
its
p
o
ten
tial f
o
r
f
u
r
th
er
en
h
an
ce
m
en
ts
an
d
p
r
ac
ti
ca
l a
p
p
licatio
n
s
in
r
ea
l
-
wo
r
ld
s
ce
n
ar
io
s
.
T
h
e
r
em
ai
n
d
er
o
f
th
is
p
ap
er
is
s
tr
u
ctu
r
ed
as
f
o
llo
ws:
Sectio
n
2
p
r
esen
ts
th
e
r
elate
d
wo
r
k
a
v
ailab
le
in
th
e
liter
atu
r
e,
d
etailin
g
th
e
d
esig
n
an
d
im
p
lem
e
n
tatio
n
o
f
th
e
I
o
T
-
b
ased
m
o
b
ile
-
co
n
tr
o
lled
ca
r
a
n
d
th
e
em
er
g
en
cy
p
ar
k
i
n
g
s
y
s
tem
.
Sectio
n
3
p
r
esen
ts
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
m
ec
h
an
is
m
,
h
ig
h
lig
h
tin
g
its
k
e
y
o
p
er
atio
n
al
p
r
in
cip
les.
Sectio
n
4
co
v
er
s
th
e
im
p
lem
e
n
tatio
n
o
f
th
e
p
r
o
p
o
s
ed
s
ch
em
e,
a
n
aly
s
is
,
an
d
d
is
cu
s
s
io
n
o
f
th
e
p
er
f
o
r
m
an
ce
a
n
d
e
f
f
ec
tiv
en
ess
in
ter
m
s
o
f
r
esp
o
n
s
e
tim
e,
s
p
ee
d
,
an
d
p
o
wer
co
n
s
u
m
p
tio
n
.
Fin
ally
,
Sectio
n
5
co
n
clu
d
es
th
e
p
a
p
er
b
y
h
ig
h
lig
h
tin
g
th
e
f
in
d
in
g
s
an
d
th
e
d
is
cu
s
s
io
n
o
f
p
o
ten
tial
f
u
t
u
r
e
en
h
an
ce
m
e
n
ts
.
2.
RE
L
AT
E
D
WO
RK
T
h
e
I
o
T
h
as
b
r
o
u
g
h
t
tr
an
s
f
o
r
m
ativ
e
ch
an
g
es
to
th
e
a
u
to
m
o
tiv
e
in
d
u
s
tr
y
,
f
u
n
d
am
en
tally
r
esh
ap
in
g
h
o
w
v
eh
icles
o
p
er
ate
b
y
in
t
r
o
d
u
cin
g
ad
v
a
n
ce
d
r
em
o
te
c
o
n
tr
o
l
ca
p
a
b
ilit
ies
an
d
s
af
ety
f
ea
tu
r
es
[
2
]
.
B
y
in
teg
r
atin
g
I
o
T
tech
n
o
lo
g
y
i
n
to
v
eh
icles,
d
e
v
elo
p
er
s
h
a
v
e
en
ab
led
s
m
ar
te
r
,
s
af
er
,
an
d
m
o
r
e
ef
f
icien
t
tr
an
s
p
o
r
tatio
n
s
y
s
tem
s
[
3
]
.
On
e
n
o
tab
le
in
n
o
v
atio
n
in
t
h
is
s
p
ac
e
is
an
I
o
T
-
b
ased
m
o
b
ile
-
co
n
t
r
o
lled
ca
r
u
tili
zin
g
th
e
E
SP
3
2
m
icr
o
c
o
n
tr
o
ller
,
wh
ich
f
ea
tu
r
es
a
n
em
er
g
en
cy
p
ar
k
in
g
s
y
s
tem
an
d
L
E
D
in
d
icato
r
s
f
o
r
im
p
r
o
v
e
d
f
u
n
ctio
n
ality
an
d
s
a
f
ety
[
4
]
,
[
5
]
.
T
h
e
E
SP
3
2
m
icr
o
co
n
tr
o
ller
is
at
th
e
h
ea
r
t
o
f
t
h
is
s
y
s
tem
,
ch
o
s
en
f
o
r
its
r
em
a
r
k
ab
le
ef
f
icien
c
y
,
lo
w
p
o
wer
co
n
s
u
m
p
tio
n
,
an
d
b
u
ilt
-
in
W
i
-
Fi
an
d
B
lu
eto
o
th
ca
p
ab
ilit
ies
[
6
]
,
[
7
]
.
T
h
ese
f
ea
tu
r
es
en
ab
le
s
ea
m
less
an
d
r
eliab
le
co
m
m
u
n
icatio
n
b
etwe
en
th
e
ca
r
an
d
a
s
m
ar
tp
h
o
n
e
ap
p
licatio
n
,
wh
ich
s
er
v
es
as
th
e
u
s
er
in
ter
f
ac
e
[
8
]
.
T
h
is
co
n
n
ec
tiv
ity
em
p
o
wer
s
u
s
er
s
to
co
n
tr
o
l
th
e
ca
r
r
em
o
tely
,
m
o
n
ito
r
its
o
p
er
atio
n
al
s
tatu
s
,
an
d
r
ec
e
iv
e
r
ea
l
-
tim
e
u
p
d
ates
[
9
]
.
T
h
e
E
SP
3
2
'
s
v
er
s
atili
ty
also
s
u
p
p
o
r
ts
th
e
in
teg
r
atio
n
o
f
ad
d
itio
n
al
f
ea
tu
r
es
s
u
ch
as GPS
tr
ac
k
in
g
,
v
o
ice
c
o
m
m
an
d
s
,
an
d
cl
o
u
d
-
b
ased
a
n
aly
tics
,
m
ak
in
g
it
a
s
ca
lab
le
s
o
lu
tio
n
f
o
r
f
u
t
u
r
e
ad
v
a
n
ce
m
e
n
ts
[
1
0
]
,
[
1
1
]
.
T
h
e
s
y
s
tem
in
c
o
r
p
o
r
ates
ess
en
tial
v
eh
icle
f
u
n
ctio
n
s
to
p
r
o
v
id
e
a
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
37
0
-
38
0
372
co
m
p
r
eh
e
n
s
iv
e
d
r
iv
i
n
g
ex
p
er
i
en
ce
[
1
2
]
,
[
1
3
]
.
L
E
D
in
d
icat
o
r
s
f
o
r
r
ev
er
s
e,
lef
t,
a
n
d
r
ig
h
t
tu
r
n
s
,
as
well
as
b
r
ak
e
lig
h
ts
,
ar
e
in
clu
d
ed
t
o
e
n
h
an
ce
v
is
ib
ilit
y
an
d
e
n
s
u
r
e
c
lear
co
m
m
u
n
icatio
n
o
f
th
e
v
e
h
icle’
s
m
o
v
em
e
n
ts
to
its
s
u
r
r
o
u
n
d
i
n
g
s
.
T
h
ese
in
d
icato
r
s
ar
e
p
ar
ticu
lar
ly
b
en
e
f
icial
in
lo
w
-
lig
h
t
o
r
ad
v
er
s
e
wea
th
er
co
n
d
itio
n
s
,
wh
er
e
v
is
ib
ilit
y
is
o
f
ten
c
o
m
p
r
o
m
is
ed
.
Stu
d
ies
in
a
u
to
m
o
tiv
e
tech
n
o
l
o
g
y
em
p
h
asize
th
at
L
E
D
in
d
icato
r
s
s
ig
n
if
ican
tly
im
p
r
o
v
e
s
af
ety
d
u
r
in
g
v
e
h
icle
m
an
eu
v
e
r
s
b
y
p
r
o
v
id
in
g
clea
r
an
d
im
m
ed
iate
v
is
u
al
cu
es
to
o
th
er
d
r
iv
er
s
an
d
p
e
d
estrian
s
[
1
4
]
.
On
e
o
f
t
h
e
s
tan
d
o
u
t
f
ea
tu
r
es
o
f
th
is
s
y
s
tem
is
its
em
er
g
en
cy
p
ar
k
in
g
s
y
s
tem
,
wh
ich
p
r
io
r
itizes
s
af
ety
b
y
i
n
teg
r
atin
g
a
d
v
an
ce
d
s
en
s
o
r
s
s
u
ch
as
u
ltra
s
o
n
ic
o
r
i
n
f
r
ar
e
d
m
o
d
u
les.
T
h
ese
s
en
s
o
r
s
d
etec
t
o
b
s
tacle
s
,
s
u
d
d
en
s
to
p
s
,
o
r
o
th
er
cr
itical
s
itu
a
tio
n
s
in
t
h
e
ca
r
’
s
p
at
h
[
1
5
]
,
[
1
6
]
.
U
p
o
n
d
etec
tin
g
a
p
o
ten
tial
co
llis
io
n
o
r
h
az
ar
d
,
th
e
s
y
s
tem
a
u
to
m
atica
lly
h
alts
th
e
v
e
h
icle
an
d
tr
ig
g
er
s
th
e
L
E
D
s
ig
n
als
to
ale
r
t
th
e
u
s
er
a
n
d
th
e
s
u
r
r
o
u
n
d
in
g
en
v
ir
o
n
m
e
n
t.
T
h
is
q
u
ic
k
r
esp
o
n
s
iv
en
ess
is
v
ital
in
p
r
e
v
en
tin
g
ac
cid
en
ts
,
p
ar
ticu
lar
ly
in
cr
o
w
d
ed
u
r
b
an
ar
ea
s
o
r
d
u
r
i
n
g
c
o
m
p
lex
m
a
n
eu
v
er
s
.
Su
c
h
s
af
ety
m
ec
h
an
i
s
m
s
alig
n
with
th
e
au
to
m
o
tiv
e
i
n
d
u
s
tr
y
'
s
p
u
s
h
t
o
r
ed
u
ce
h
u
m
an
e
r
r
o
r
,
wh
ic
h
is
a
lead
in
g
ca
u
s
e
o
f
tr
af
f
i
c
ac
cid
en
ts
.
R
ec
en
t
r
esear
ch
an
d
liter
atu
r
e
h
ig
h
lig
h
t
th
e
in
cr
e
asin
g
ad
o
p
tio
n
o
f
I
o
T
in
au
to
m
o
tiv
e
ap
p
licatio
n
s
,
u
n
d
er
s
co
r
i
n
g
its
r
o
le
in
r
ed
u
cin
g
h
u
m
an
er
r
o
r
,
en
h
an
cin
g
r
ea
l
-
tim
e
co
n
t
r
o
l,
an
d
im
p
r
o
v
in
g
o
v
er
all
v
e
h
icle
s
af
ety
[
1
7
]
.
I
o
T
-
en
ab
led
s
y
s
tem
s
lik
e
th
is
o
n
e
co
n
tr
ib
u
te
to
th
e
b
r
o
a
d
er
v
is
io
n
o
f
c
o
n
n
ec
ted
v
eh
icles
,
wh
ich
f
o
r
m
th
e
b
ac
k
b
o
n
e
o
f
s
m
ar
t
city
in
f
r
astru
ctu
r
e.
B
y
allo
win
g
v
e
h
icle
s
to
co
m
m
u
n
icate
with
u
s
er
s
,
o
th
er
v
eh
icles,
an
d
tr
af
f
ic
m
an
ag
em
e
n
t sy
s
tem
s
,
I
o
T
f
o
s
ter
s
an
ec
o
s
y
s
tem
o
f
s
af
er
,
m
o
r
e
ef
f
icien
t tr
an
s
p
o
r
tatio
n
.
T
h
e
s
m
ar
tp
h
o
n
e
ap
p
licatio
n
d
esig
n
e
d
f
o
r
th
is
s
y
s
tem
p
lay
s
a
p
iv
o
tal
r
o
le
i
n
en
h
an
cin
g
u
s
er
c
o
n
v
e
n
ien
ce
[
1
8
]
,
[
1
9
]
.
W
ith
an
in
tu
itiv
e
in
ter
f
ac
e,
u
s
er
s
ca
n
co
n
tr
o
l
th
e
ca
r
’
s
m
o
v
em
en
ts
—
s
u
ch
as
f
o
r
war
d
,
r
ev
er
s
e,
le
f
t,
an
d
r
i
g
h
t
tu
r
n
s
—
wh
ile
s
im
u
ltan
eo
u
s
ly
m
o
n
ito
r
in
g
k
ey
m
etr
ics
lik
e
s
p
ee
d
,
b
a
tter
y
s
tatu
s
,
an
d
o
b
s
tacle
p
r
o
x
im
ity
.
T
h
is
lev
el
o
f
co
n
tr
o
l
an
d
f
ee
d
b
ac
k
n
o
t
o
n
l
y
im
p
r
o
v
es
th
e
u
s
er
ex
p
e
r
ien
ce
b
u
t
also
en
c
o
u
r
a
g
es
tr
u
s
t
a
n
d
co
n
f
id
en
ce
in
t
h
e
s
y
s
tem
’
s
r
eliab
ilit
y
.
T
h
e
ap
p
’
s
p
o
ten
tial
f
o
r
ex
p
a
n
s
io
n
in
clu
d
es
f
ea
tu
r
es
lik
e
r
ea
l
-
tim
e
lo
ca
tio
n
tr
ac
k
in
g
,
r
o
u
te
p
lan
n
in
g
,
an
d
p
r
e
d
ictiv
e
m
a
in
ten
an
ce
aler
ts
,
f
u
r
th
er
s
o
lid
if
y
in
g
its
r
o
le
as
a
ce
n
tr
a
l
h
u
b
f
o
r
v
eh
icle
m
an
ag
em
en
t.
T
h
e
in
teg
r
atio
n
o
f
I
o
T
tec
h
n
o
lo
g
y
in
th
is
m
o
b
ile
-
co
n
t
r
o
lled
ca
r
alig
n
s
with
th
e
g
r
o
win
g
d
em
an
d
f
o
r
s
m
ar
t,
a
u
to
n
o
m
o
u
s
s
y
s
tem
s
th
at
p
r
io
r
itize
s
af
ety
,
ef
f
icien
cy
,
an
d
u
s
er
-
f
r
ie
n
d
lin
ess
[
2
0
]
.
T
h
e
s
y
s
tem
’
s
em
p
h
asis
o
n
r
ea
l
-
tim
e
r
esp
o
n
s
iv
en
ess
,
co
m
b
in
ed
with
th
e
ad
v
an
ce
d
f
ea
tu
r
es
o
f
th
e
E
SP
3
2
m
icr
o
co
n
tr
o
ller
,
d
e
m
o
n
s
tr
ates
a
f
o
r
war
d
-
th
in
k
in
g
a
p
p
r
o
ac
h
to
m
o
d
er
n
izin
g
v
eh
icu
lar
s
y
s
tem
s
[
2
1
]
,
[
2
2
]
.
B
y
b
r
id
g
in
g
th
e
g
ap
b
etwe
en
tr
a
d
itio
n
al
v
eh
icle
f
u
n
ctio
n
s
a
n
d
n
ex
t
-
g
e
n
er
atio
n
I
o
T
ca
p
ab
ilit
ies,
th
is
in
n
o
v
atio
n
s
u
p
p
o
r
ts
th
e
b
r
o
ad
er
g
o
als
o
f
co
n
n
ec
ted
v
eh
icles
in
s
m
ar
t
cities,
co
n
tr
ib
u
tin
g
to
r
ed
u
ce
d
tr
af
f
ic
c
o
n
g
esti
o
n
,
lo
wer
em
is
s
io
n
s
,
an
d
im
p
r
o
v
e
d
tr
an
s
p
o
r
tatio
n
s
af
ety
[
2
3
]
.
I
n
co
n
clu
s
io
n
,
th
is
I
o
T
-
b
ased
m
o
b
ile
-
co
n
tr
o
lled
ca
r
with
an
em
er
g
en
c
y
p
ar
k
i
n
g
s
y
s
tem
ex
em
p
lifie
s
th
e
co
n
v
er
g
en
ce
o
f
c
u
ttin
g
-
ed
g
e
tech
n
o
lo
g
y
an
d
p
r
ac
tica
l
ap
p
licatio
n
in
th
e
a
u
to
m
o
tiv
e
in
d
u
s
tr
y
[
2
4
]
,
[
2
5
]
.
B
y
co
m
b
in
in
g
th
e
a
d
v
an
tag
es
o
f
I
o
T
,
r
e
al
-
tim
e
co
n
tr
o
l,
a
n
d
en
h
an
ce
d
s
af
ety
f
ea
tu
r
es,
it
r
e
p
r
esen
ts
a
s
ig
n
if
ican
t
s
tep
to
war
d
th
e
f
u
tu
r
e
o
f
tr
a
n
s
p
o
r
tati
o
n
.
T
h
is
in
n
o
v
ativ
e
ap
p
r
o
ac
h
n
o
t o
n
ly
m
ee
ts
th
e
c
u
r
r
en
t
d
em
an
d
s
f
o
r
s
m
ar
ter
,
s
a
f
er
v
e
h
icles
b
u
t
also
lay
s
th
e
f
o
u
n
d
atio
n
f
o
r
m
o
r
e
ad
v
an
ce
d
,
in
ter
co
n
n
ec
ted
s
y
s
t
em
s
th
at
will d
ef
in
e
th
e
m
o
b
ilit
y
lan
d
s
ca
p
e
in
y
ea
r
s
to
co
m
e
.
3.
M
E
T
H
O
D
An
I
o
T
-
b
ased
m
o
b
ile
-
co
n
t
r
o
ll
ed
ca
r
with
an
em
e
r
g
en
c
y
p
a
r
k
in
g
s
y
s
tem
is
a
s
m
ar
t
v
eh
icle
p
r
o
to
t
y
p
e
d
esig
n
ed
f
o
r
en
h
an
ce
d
f
u
n
ctio
n
ality
an
d
s
af
ety
u
s
in
g
th
e
E
SP
3
2
m
icr
o
co
n
tr
o
ller
.
T
h
is
in
n
o
v
ativ
e
s
y
s
tem
in
teg
r
ates
wir
eless
co
n
tr
o
l
an
d
r
ea
l
-
tim
e
o
p
er
atio
n
th
r
o
u
g
h
m
o
b
ile
ap
p
licatio
n
s
,
en
ab
lin
g
u
s
er
s
to
m
an
eu
v
er
th
e
ca
r
e
f
f
o
r
tles
s
ly
.
T
h
e
em
er
g
en
cy
p
ar
k
i
n
g
s
y
s
tem
is
a
k
e
y
f
ea
tu
r
e
,
en
s
u
r
in
g
th
e
ca
r
ca
n
au
to
m
atica
lly
p
ar
k
in
cr
itical
s
itu
atio
n
s
.
Ad
d
itio
n
ally
,
th
e
v
eh
icle
in
cl
u
d
es
L
E
D
in
d
icato
r
s
f
o
r
d
ir
ec
tio
n
al
an
d
s
af
ety
s
ig
n
als
s
u
ch
as
r
ev
er
s
e,
lef
t
tu
r
n
,
r
ig
h
t
tu
r
n
,
an
d
b
r
a
k
e
lig
h
ts
,
en
h
a
n
cin
g
o
p
er
atio
n
al
clar
ity
.
T
h
e
m
ath
e
m
atica
l
ex
p
r
ess
io
n
s
g
o
v
er
n
in
g
th
e
ca
r
’
s
m
o
ti
o
n
a
n
d
co
n
tr
o
l
ar
e
d
er
iv
e
d
f
r
o
m
b
asic
k
in
em
atic
eq
u
atio
n
s
an
d
s
ig
n
al
p
r
o
ce
s
s
in
g
p
r
in
cip
les.
Fo
r
in
s
tan
ce
,
t
h
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s
p
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d
o
f
th
e
ca
r
is
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lcu
lated
u
s
i
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g
th
e
r
elatio
n
,
=
(
1
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wh
er
e
d
is
th
e
d
is
tan
ce
co
v
er
e
d
an
d
t is th
e
tim
e
tak
en
.
T
h
is
eq
u
atio
n
allo
ws
f
o
r
p
r
e
cise
s
p
ee
d
r
eg
u
latio
n
.
Fo
r
tu
r
n
in
g
d
y
n
am
ics,
th
e
an
g
u
lar
v
elo
city
is
g
iv
en
b
y
(
2
)
,
ω=
(
2
)
wh
er
e
θ
is
th
e
s
teer
in
g
an
g
le
a
n
d
t is th
e
tu
r
n
in
g
tim
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
A
n
I
n
tern
et
o
f Th
in
g
s
b
a
s
ed
m
o
b
ile
-
co
n
tr
o
lled
r
o
b
o
t wi
th
eme
r
g
en
cy
p
a
r
kin
g
s
ystem
(
A
b
d
u
l Ka
r
ee
m
)
373
T
h
is
en
s
u
r
es
s
m
o
o
th
d
ir
ec
tio
n
al
ch
an
g
es.
T
h
e
E
SP
3
2
ac
ts
as
th
e
b
r
ain
o
f
th
e
s
y
s
tem
,
p
r
o
ce
s
s
in
g
co
m
m
an
d
s
r
ec
eiv
ed
v
ia
W
i
-
Fi
o
r
B
lu
eto
o
th
f
r
o
m
th
e
m
o
b
il
e
ap
p
licatio
n
.
T
h
e
L
E
D
in
d
ic
ato
r
s
ar
e
co
n
tr
o
lled
u
s
in
g
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
s
ig
n
als,
wh
er
e
th
e
in
ten
s
ity
an
d
b
lin
k
r
ate
ar
e
d
y
n
am
ically
ad
ju
s
te
d
b
ased
o
n
u
s
er
i
n
p
u
t
o
r
s
y
s
tem
-
tr
ig
g
er
e
d
ev
e
n
ts
.
T
h
e
b
r
a
k
in
g
s
y
s
tem
is
tied
t
o
an
em
er
g
en
cy
s
to
p
f
u
n
ctio
n
,
ac
tiv
atin
g
b
o
th
th
e
b
r
ak
e
lig
h
ts
an
d
th
e
p
ar
k
i
n
g
m
ec
h
a
n
i
s
m
u
p
o
n
d
etec
tin
g
o
b
s
tacle
s
o
r
h
az
ar
d
s
u
s
in
g
u
ltra
s
o
n
ic
s
en
s
o
r
s
.
T
h
e
p
a
r
k
in
g
alg
o
r
ith
m
r
elies
o
n
s
en
s
o
r
f
ee
d
b
ac
k
a
n
d
d
is
tan
ce
m
ea
s
u
r
em
en
ts
,
em
p
lo
y
in
g
th
e
f
o
r
m
u
la
g
iv
e
n
b
y
(
3
)
.
D
=
√
(
x
2
−
x
1
)
2
+
(
y
2
−
y
1
)
2
(
3
)
T
o
ca
lcu
late
s
af
e
s
to
p
p
in
g
d
is
tan
ce
s
.
T
h
e
in
teg
r
atio
n
o
f
I
o
T
en
ab
les
r
ea
l
-
tim
e
m
o
n
ito
r
i
n
g
an
d
co
n
tr
o
l
th
r
o
u
g
h
th
e
m
o
b
ile
ap
p
,
p
r
o
v
id
in
g
s
tatu
s
u
p
d
ates
o
n
v
e
h
icle
p
ar
a
m
eter
s
lik
e
s
p
ee
d
,
b
atter
y
le
v
el,
an
d
o
p
e
r
atio
n
a
l
m
o
d
e.
T
h
e
s
y
s
tem
p
r
io
r
itizes
en
er
g
y
e
f
f
icien
cy
,
en
s
u
r
in
g
m
in
im
al
p
o
wer
co
n
s
u
m
p
tio
n
o
f
th
e
E
SP
3
2
an
d
L
E
Ds.
T
h
is
co
m
p
ac
t,
co
s
t
-
ef
f
e
ctiv
e
d
esig
n
d
em
o
n
s
tr
ates
th
e
p
r
ac
tical
ap
p
licatio
n
o
f
I
o
T
in
au
to
m
ated
v
e
h
icle
s
y
s
tem
s
,
o
f
f
er
in
g
s
ca
lab
ilit
y
f
o
r
f
u
tu
r
e
en
h
an
ce
m
en
ts
s
u
ch
as
GPS
-
b
ased
n
av
ig
atio
n
an
d
v
o
ice
-
c
o
n
tr
o
lled
o
p
er
atio
n
s
.
B
y
co
m
b
i
n
in
g
m
o
b
ilit
y
,
s
af
ety
,
an
d
au
t
o
m
atio
n
,
th
is
p
r
o
ject
s
h
o
wca
s
es
th
e
p
o
ten
tial
o
f
I
o
T
in
r
ev
o
lu
tio
n
izin
g
s
m
ar
t v
e
h
icle
tech
n
o
lo
g
y
.
4.
RE
SU
L
T
S AN
D
D
I
SS
CUS
I
O
N
An
I
o
T
-
b
ased
m
o
b
ile
-
co
n
tr
o
ll
ed
ca
r
with
an
em
er
g
e
n
cy
p
a
r
k
in
g
s
y
s
tem
r
ep
r
esen
ts
a
g
r
o
u
n
d
b
r
ea
k
in
g
f
u
s
io
n
o
f
m
o
d
er
n
tech
n
o
lo
g
y
an
d
au
t
o
m
o
tiv
e
in
n
o
v
atio
n
,
o
f
f
e
r
in
g
en
h
an
ce
d
f
u
n
ctio
n
ality
,
s
af
ety
,
an
d
co
n
v
en
ie
n
ce
.
At
th
e
h
ea
r
t
o
f
th
is
s
y
s
tem
is
th
e
E
SP
3
2
m
icr
o
co
n
tr
o
ller
,
a
p
o
wer
f
u
l
y
et
co
s
t
-
ef
f
ec
tiv
e
I
o
T
m
o
d
u
le
k
n
o
wn
f
o
r
its
v
er
s
atili
ty
,
lo
w
p
o
wer
co
n
s
u
m
p
tio
n
,
an
d
b
u
ilt
-
in
W
i
-
Fi
an
d
B
lu
eto
o
th
ca
p
ab
ilit
ies.
T
h
e
E
SP
3
2
ac
ts
as
th
e
ce
n
tr
al
p
r
o
ce
s
s
in
g
u
n
it
(
C
PU)
,
o
r
c
h
estra
tin
g
th
e
v
ar
io
u
s
c
o
m
p
o
n
en
ts
o
f
th
e
s
y
s
tem
an
d
en
ab
lin
g
s
ea
m
less
wir
eless
co
n
tr
o
l
o
f
th
e
ca
r
v
ia
a
m
o
b
ile
a
p
p
licatio
n
.
T
h
is
m
o
b
ile
ap
p
,
le
v
er
ag
in
g
eith
er
W
i
-
Fi
o
r
B
lu
eto
o
th
co
n
n
ec
tiv
ity
,
allo
ws
u
s
er
s
to
in
ter
ac
t
with
th
e
v
eh
icle
in
r
ea
l
tim
e,
c
o
n
tr
o
llin
g
its
m
o
v
em
en
ts
an
d
ess
en
tial
f
u
n
ctio
n
s
with
r
em
ar
k
ab
le
p
r
ec
is
io
n
an
d
ea
s
e.
T
h
e
ca
r
’
s
L
E
D
in
d
icato
r
s
—
d
esig
n
ed
to
r
ep
licate
k
ey
r
ea
l
-
wo
r
ld
v
eh
icle
s
ig
n
ali
n
g
f
u
n
ctio
n
s
—
s
er
v
e
as
ess
en
tial
s
af
ety
an
d
n
a
v
ig
atio
n
to
o
l
s
.
T
h
ese
in
d
icato
r
s
in
clu
d
e
r
ev
er
s
e
lig
h
ts
,
lef
t
tu
r
n
,
r
ig
h
t
tu
r
n
,
an
d
b
r
ak
e
lig
h
ts
,
wh
ich
ar
e
all
co
n
tr
o
lled
b
y
E
SP
3
2
.
T
h
ese
L
E
D
s
ig
n
als
p
r
o
v
id
e
clea
r
v
is
u
al
f
ee
d
b
ac
k
to
b
o
th
th
e
ca
r
’
s
d
r
iv
er
an
d
th
e
s
u
r
r
o
u
n
d
in
g
en
v
i
r
o
n
m
en
t,
im
p
r
o
v
i
n
g
s
af
ety
b
y
aler
tin
g
p
ed
estrian
s
an
d
o
th
er
d
r
iv
e
r
s
o
f
th
e
v
eh
icle'
s
ac
t
io
n
s
,
p
ar
ticu
lar
ly
in
lo
w
-
v
is
ib
ilit
y
co
n
d
itio
n
s
.
T
h
e
s
y
n
c
h
r
o
n
izatio
n
o
f
th
ese
in
d
icato
r
s
with
t
h
e
ca
r
’
s
m
o
v
em
en
t
co
m
m
a
n
d
s
en
s
u
r
es
th
at
ea
c
h
s
ig
n
al
o
p
er
ates
at
th
e
co
r
r
ec
t
m
o
m
en
t,
m
ak
in
g
t
h
e
s
y
s
tem
i
n
tu
itiv
e
an
d
r
eliab
le.
On
e
o
f
t
h
e
s
tan
d
o
u
t
f
ea
t
u
r
es
o
f
th
is
p
r
o
ject
is
th
e
e
m
er
g
e
n
cy
p
a
r
k
in
g
s
y
s
tem
,
wh
ich
e
n
h
an
ce
s
th
e
ca
r
'
s
s
af
ety
p
r
o
f
i
le
b
y
a
u
to
n
o
m
o
u
s
ly
d
etec
tin
g
o
b
s
tacle
s
o
r
h
az
ar
d
o
u
s
s
itu
atio
n
s
in
its
p
ath
.
T
h
is
s
y
s
tem
u
s
es
ad
v
an
ce
d
s
en
s
o
r
s
,
s
u
ch
as
u
ltra
s
o
n
ic
o
r
in
f
r
ar
e
d
(
I
R
)
s
en
s
o
r
s
,
to
co
n
tin
u
o
u
s
ly
m
o
n
ito
r
th
e
v
eh
icle’
s
s
u
r
r
o
u
n
d
i
n
g
s
f
o
r
p
o
ten
tial
r
is
k
s
.
Up
o
n
d
etec
tin
g
an
o
b
s
tr
u
ctio
n
o
r
a
c
r
itical
s
itu
atio
n
,
th
e
s
y
s
tem
au
to
m
atica
lly
en
g
ag
es
th
e
b
r
a
k
e
m
ec
h
an
is
m
to
h
alt
th
e
ca
r
’
s
m
o
v
em
en
t,
r
e
d
u
cin
g
th
e
lik
elih
o
o
d
o
f
ac
cid
e
n
ts
an
d
p
r
o
v
i
d
in
g
a
cr
u
cial
s
af
ety
m
ea
s
u
r
e,
p
ar
ticu
lar
ly
in
h
ig
h
-
tr
af
f
ic
ar
ea
s
o
r
tig
h
t
s
p
ac
es.
T
h
e
ac
tiv
atio
n
o
f
th
e
L
E
D
b
r
ak
e
lig
h
t
d
u
r
in
g
th
ese
em
er
g
en
cy
s
to
p
s
f
u
r
th
er
en
h
an
ce
s
th
e
s
y
s
tem
’
s
s
af
ety
f
ea
tu
r
es,
ale
r
tin
g
o
th
er
d
r
iv
e
r
s
an
d
p
ed
estrian
s
to
th
e
v
eh
icle’
s
s
u
d
d
en
h
alt.
T
h
e
E
SP
3
2
m
icr
o
co
n
t
r
o
l
ler
m
an
ag
es
all
th
ese
f
u
n
ctio
n
s
with
p
r
ec
is
io
n
,
co
o
r
d
in
atin
g
th
e
m
o
v
em
e
n
t
o
f
th
e
ca
r
an
d
th
e
ac
tiv
atio
n
o
f
th
e
L
E
D
in
d
icato
r
s
b
ased
o
n
u
s
er
in
p
u
t
o
r
s
en
s
o
r
-
tr
i
g
g
er
ed
e
v
en
ts
.
T
h
e
m
icr
o
co
n
tr
o
ller
p
r
o
ce
s
s
es
th
e
d
ata
r
ec
eiv
ed
f
r
o
m
th
e
s
en
s
o
r
s
,
m
ak
es
r
ea
l
-
tim
e
d
ec
is
io
n
s
,
an
d
s
en
d
s
co
m
m
an
d
s
to
th
e
r
ele
v
an
t
a
ctu
ato
r
s
—
wh
eth
er
it’s
th
e
m
o
to
r
s
f
o
r
m
o
v
em
en
t
o
r
th
e
b
r
ak
in
g
s
y
s
tem
f
o
r
em
er
g
en
cy
s
to
p
s
.
T
h
is
h
i
g
h
l
ev
el
o
f
i
n
teg
r
atio
n
en
s
u
r
es
th
at
th
e
s
y
s
tem
is
b
o
th
r
esp
o
n
s
i
v
e
an
d
ad
ap
ta
b
le
to
d
if
f
er
en
t
d
r
iv
in
g
c
o
n
d
itio
n
s
a
n
d
en
v
ir
o
n
m
en
ts
.
I
n
ad
d
itio
n
to
its
p
r
im
ar
y
f
u
n
ctio
n
s
,
th
e
d
esig
n
o
f
th
e
ca
r
in
co
r
p
o
r
ates
ef
f
icien
t
p
o
wer
m
an
ag
e
m
en
t
a
n
d
c
o
m
p
ac
t
cir
cu
itry
,
e
n
s
u
r
in
g
o
p
tim
al
p
er
f
o
r
m
an
ce
w
h
ile
m
in
im
izin
g
e
n
er
g
y
co
n
s
u
m
p
ti
o
n
.
T
h
e
E
SP
3
2
o
p
e
r
ates
at
a
l
o
w
v
o
ltag
e,
ty
p
ically
3
.
3
V,
w
h
ile
th
e
L
E
Ds
an
d
s
en
s
o
r
s
ar
e
d
esig
n
ed
to
c
o
n
s
u
m
e
m
in
im
al
p
o
wer
.
T
h
e
m
o
to
r
s
d
r
iv
in
g
t
h
e
ca
r
’
s
m
o
v
em
en
t
,
h
o
we
v
er
,
r
eq
u
ir
e
m
o
r
e
p
o
wer
,
o
f
ten
s
u
p
p
lied
b
y
an
ex
ter
n
al
b
atter
y
s
o
u
r
ce
,
s
u
ch
as
a
7
.
4
V
L
i
-
io
n
b
atter
y
,
wh
ich
is
ch
o
s
en
f
o
r
its
ab
ilit
y
to
d
eliv
er
a
c
o
n
s
is
ten
t
p
o
wer
s
u
p
p
ly
with
o
u
t
s
ig
n
if
ican
tly
ad
d
in
g
to
th
e
s
y
s
tem
’
s
weig
h
t
o
r
co
m
p
lex
ity
.
T
h
e
ef
f
icien
t
m
a
n
ag
em
en
t
o
f
p
o
we
r
allo
ws
f
o
r
ex
ten
d
ed
o
p
er
atio
n
tim
es,
m
ak
in
g
th
e
s
y
s
tem
m
o
r
e
r
eliab
le
f
o
r
lo
n
g
-
ter
m
u
s
e.
T
h
e
co
m
p
ac
tn
ess
o
f
th
e
s
y
s
tem
’
s
d
esig
n
is
an
o
th
er
im
p
o
r
tan
t
f
ea
tu
r
e.
T
h
e
in
teg
r
atio
n
o
f
th
e
E
SP
3
2
,
s
en
s
o
r
s
,
m
o
to
r
s
,
a
n
d
L
E
D
i
n
d
ica
to
r
s
in
to
a
s
m
all,
u
n
if
ied
p
ac
k
ag
e
m
a
k
es
th
e
ca
r
ea
s
y
to
ass
em
b
le,
m
o
d
if
y
,
an
d
s
ca
le
f
o
r
v
ar
i
o
u
s
ap
p
licatio
n
s
.
T
h
is
m
o
d
u
lar
a
p
p
r
o
ac
h
al
s
o
allo
ws
f
o
r
f
u
tu
r
e
en
h
an
ce
m
e
n
ts
,
s
u
ch
as
th
e
ad
d
itio
n
o
f
GPS
tr
ac
k
in
g
,
clo
u
d
-
b
ased
m
o
n
ito
r
in
g
,
o
r
ev
e
n
v
o
i
ce
co
n
tr
o
l,
en
ab
lin
g
f
u
r
th
er
au
to
m
atio
n
an
d
u
s
er
in
ter
ac
tio
n
.
T
h
is
p
r
o
ject
h
ig
h
lig
h
ts
th
e
in
cr
ea
s
in
g
r
elev
an
ce
o
f
I
o
T
in
au
to
m
atio
n
an
d
s
af
ety
s
y
s
tem
s
,
d
em
o
n
s
tr
atin
g
h
o
w
c
o
n
n
ec
te
d
tech
n
o
lo
g
y
ca
n
b
e
lev
e
r
ag
ed
to
cr
ea
te
s
m
ar
ter
,
s
af
er
,
a
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
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8
6
I
AE
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J
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b
&
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u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
37
0
-
38
0
374
m
o
r
e
ef
f
icien
t
tr
a
n
s
p
o
r
tatio
n
s
o
lu
tio
n
s
.
T
h
e
in
teg
r
atio
n
o
f
r
ea
l
-
tim
e
wir
eless
co
n
tr
o
l,
au
t
o
m
ated
em
e
r
g
en
c
y
r
esp
o
n
s
es,
an
d
in
tu
itiv
e
s
ig
n
a
lin
g
m
ec
h
a
n
is
m
s
ex
em
p
lifie
s
th
e
p
o
ten
tial
o
f
I
o
T
in
tr
a
n
s
f
o
r
m
in
g
tr
ad
itio
n
al
v
eh
icu
lar
s
y
s
tem
s
in
to
m
o
d
e
r
n
,
i
n
tellig
en
t,
a
n
d
au
to
n
o
m
o
u
s
p
latf
o
r
m
s
.
B
y
s
h
o
wca
s
in
g
h
o
w
I
o
T
ca
n
b
e
ap
p
lied
to
en
h
a
n
ce
b
o
th
u
s
er
co
n
v
en
ien
ce
an
d
v
e
h
icle
s
af
ety
,
th
is
p
r
o
ject
c
o
n
tr
ib
u
tes
to
th
e
b
r
o
a
d
er
m
o
v
em
en
t
to
war
d
s
m
ar
t
cities
an
d
co
n
n
ec
ted
v
eh
icles,
wh
er
e
tech
n
o
lo
g
y
p
la
y
s
a
p
iv
o
ta
l
r
o
le
in
im
p
r
o
v
in
g
m
o
b
ilit
y
,
r
ed
u
cin
g
ac
cid
en
ts
,
an
d
o
p
tim
izin
g
tr
an
s
p
o
r
tatio
n
s
y
s
tem
s
.
Ultim
ately
,
th
is
I
o
T
-
b
ased
m
o
b
ile
-
co
n
tr
o
lled
ca
r
with
an
em
er
g
en
cy
p
a
r
k
in
g
s
y
s
tem
is
a
p
e
r
f
ec
t
ex
am
p
le
o
f
h
o
w
em
er
g
in
g
te
ch
n
o
lo
g
ies
ca
n
co
n
v
e
r
g
e
to
o
f
f
er
p
r
ac
tical
s
o
lu
tio
n
s
th
at
en
h
an
ce
th
e
s
af
ety
,
u
s
ab
ilit
y
,
an
d
ef
f
icien
cy
o
f
m
o
d
er
n
v
eh
icles.
W
h
eth
er
u
s
ed
as
a
h
o
b
b
y
is
t
p
r
o
ject,
an
e
d
u
ca
tio
n
al
to
o
l,
o
r
a
p
r
o
to
ty
p
e
f
o
r
m
o
r
e
ad
v
an
ce
d
au
to
n
o
m
o
u
s
s
y
s
tem
s
,
it
p
r
o
v
i
d
es
v
alu
ab
le
in
s
ig
h
ts
in
to
th
e
f
u
tu
r
e
o
f
a
u
to
m
o
tiv
e
tech
n
o
lo
g
y
an
d
th
e
p
o
ten
tial f
o
r
I
o
T
to
r
e
v
o
lu
tio
n
ize
t
h
e
wa
y
we
in
ter
ac
t w
ith
an
d
co
n
tr
o
l
v
eh
icles.
4
.
1
.
I
m
ple
m
ent
a
t
io
n
Fig
u
r
e
1
illu
s
tr
ates
th
e
s
y
s
tem
ar
ch
itectu
r
e
o
f
th
e
I
o
T
-
b
ased
m
o
b
ile
-
co
n
tr
o
lled
ca
r
with
an
em
er
g
en
cy
p
a
r
k
in
g
s
y
s
tem
.
K
ey
co
m
p
o
n
e
n
ts
in
clu
d
e
th
e
E
S
P3
2
m
icr
o
co
n
tr
o
ller
,
m
o
to
r
d
r
iv
er
s
,
s
en
s
o
r
s
(
e.
g
.
,
u
ltra
s
o
n
ic
o
r
I
R
)
,
L
E
D
in
d
icato
r
s
,
an
d
m
o
b
ile
co
n
tr
o
ller
.
T
h
is
d
iag
r
am
e
m
p
h
asizes
th
e
in
t
er
co
n
n
ec
ted
n
at
u
r
e
o
f
h
ar
d
war
e
co
m
p
o
n
e
n
ts
an
d
t
h
eir
r
o
les in
co
n
tr
o
l,
c
o
m
m
u
n
i
ca
tio
n
,
an
d
s
af
ety
f
u
n
ctio
n
alities
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
th
e
I
o
T
b
ased
m
o
b
ile
-
c
o
n
tr
o
lled
ca
r
with
em
er
g
e
n
cy
p
ar
k
in
g
s
y
s
tem
Fig
u
r
e
2
d
etails
th
e
elec
tr
ical
co
n
n
ec
tio
n
s
an
d
lay
o
u
t
o
f
th
e
s
y
s
tem
,
s
h
o
wca
s
in
g
h
o
w
co
m
p
o
n
e
n
ts
lik
e
m
o
to
r
s
,
L
E
Ds,
an
d
s
en
s
o
r
s
ar
e
p
o
wer
ed
an
d
c
o
n
tr
o
lled
v
ia
th
e
E
SP
3
2
.
I
t
h
ig
h
lig
h
ts
o
v
er
v
o
ltag
e
p
r
o
tectio
n
an
d
PW
M
-
d
r
iv
en
c
o
n
tr
o
l c
ir
cu
its
f
o
r
p
r
ec
is
e
o
p
er
atio
n
.
Fig
u
r
e
3
d
ep
icts
th
e
f
r
o
n
t a
n
d
r
ea
r
v
iews o
f
th
e
m
o
b
ile
-
c
o
n
tr
o
lled
ca
r
.
Fig
u
r
e
3
(
a
)
,
th
e
f
r
o
n
t
v
iew
,
d
is
p
lay
s
th
e
ar
r
a
n
g
em
en
t
o
f
L
E
D
t
u
r
n
in
d
icato
r
s
an
d
th
eir
r
o
le
in
s
ig
n
alin
g
v
eh
icle
d
ir
ec
tio
n
.
Fig
u
r
e
3
(
b
)
,
th
e
r
ea
r
v
iew:
h
ig
h
lig
h
ts
r
ev
e
r
s
e
lig
h
ts
,
b
r
ak
e
lig
h
ts
,
an
d
tu
r
n
in
d
icato
r
s
,
d
em
o
n
s
tr
atin
g
th
eir
in
teg
r
atio
n
f
o
r
en
h
a
n
c
ed
s
af
ety
an
d
clar
ity
d
u
r
i
n
g
o
p
er
atio
n
.
Fig
u
r
e
4
p
r
o
v
id
es
a
to
p
v
iew
o
f
th
e
I
o
T
-
b
ased
m
o
b
ile
-
co
n
tr
o
lled
ca
r
,
f
o
cu
s
in
g
o
n
th
e
o
v
er
all
d
esig
n
an
d
lay
o
u
t
o
f
th
e
co
m
p
o
n
en
ts
.
T
h
is
p
e
r
s
p
ec
tiv
e
u
n
d
e
r
s
co
r
es
th
e
co
m
p
ac
t
n
e
s
s
an
d
m
o
d
u
lar
ity
o
f
t
h
e
s
y
s
tem
,
allo
win
g
f
o
r
s
ca
lab
ilit
y
an
d
cu
s
to
m
izatio
n
f
o
r
v
ar
io
u
s
ap
p
licatio
n
s
.
T
h
ese
f
ig
u
r
es
co
llectiv
ely
s
h
o
wca
s
e
th
e
s
y
s
tem
'
s
d
esig
n
,
f
u
n
ctio
n
ality
,
an
d
s
af
ety
f
ea
tu
r
es,
em
p
h
asizin
g
its
p
r
ac
tical
im
p
lem
en
tatio
n
an
d
in
n
o
v
ativ
e
u
s
e
o
f
I
o
T
f
o
r
r
ea
l
-
tim
e
v
eh
icle
co
n
tr
o
l.
T
ab
le
1
co
m
p
a
r
es
th
e
p
r
o
p
o
s
ed
I
o
T
-
b
ased
m
o
b
ile
-
co
n
tr
o
lle
d
ca
r
with
an
em
er
g
e
n
cy
p
ar
k
in
g
s
y
s
tem
with
th
e
ex
is
tin
g
s
y
s
tem
s
.
T
h
e
co
m
p
ar
is
o
n
h
ig
h
lig
h
ts
th
e
k
e
y
f
u
n
ctio
n
alities
s
u
ch
as
E
SP
3
2
u
s
ag
e,
au
to
m
atic
p
ar
k
in
g
,
an
d
L
E
D
in
d
icato
r
s
.
Un
lik
e
th
e
ex
is
tin
g
s
y
s
tem
s
,
th
e
p
r
o
p
o
s
ed
s
y
s
tem
in
co
r
p
o
r
ates
all
th
ese
f
ea
tu
r
es,
m
ak
in
g
it
m
o
r
e
ad
v
an
ce
d
in
te
r
m
s
o
f
a
u
to
m
atio
n
an
d
s
af
ety
.
T
h
e
in
clu
s
io
n
o
f
L
E
D
in
d
icato
r
s
en
h
an
ce
s
v
is
ib
ilit
y
,
im
p
r
o
v
in
g
s
ig
n
alin
g
f
o
r
n
a
v
ig
atio
n
.
T
h
e
au
to
m
atic
p
a
r
k
in
g
f
ea
tu
r
e
en
s
u
r
es
o
b
s
tacle
d
etec
tio
n
an
d
e
m
er
g
en
c
y
b
r
a
k
in
g
,
in
c
r
ea
s
in
g
th
e
s
y
s
tem
'
s
r
eliab
ilit
y
.
T
h
is
tab
le
ef
f
ec
ti
v
ely
s
h
o
wca
s
es
th
e
tech
n
o
lo
g
ical
im
p
r
o
v
em
en
ts
a
n
d
ad
v
an
tag
es o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
o
v
er
th
e
tr
a
d
itio
n
al
m
o
d
els.
G
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
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b
&
A
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to
m
I
SS
N:
2722
-
2
5
8
6
A
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