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A
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h
a
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w
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d
a
l
a
d
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u
s
t
m
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ts
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Ot
h
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A
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m
s
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c
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n
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e
l
l
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n
t
s
p
e
e
d
a
s
s
i
s
t
a
n
c
e
(
I
S
A
)
[
1
]
,
[
2
]
,
e
l
e
c
tr
o
n
i
c
s
t
a
b
i
li
t
y
c
o
n
t
r
o
l
(
E
SC
)
[
3
]
,
[
4
]
,
a
u
t
o
m
a
t
i
c
b
r
a
k
i
n
g
s
y
s
te
m
(
A
B
S
)
[
5
]
,
l
a
n
e
k
e
e
p
i
n
g
a
s
s
i
s
t
a
n
c
e
s
y
s
t
e
m
(
L
KA
S
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[
6
]
,
[
7
]
,
a
n
d
o
v
e
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t
a
k
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n
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a
s
s
is
t
a
n
c
e
s
y
s
te
m
(
O
AS
)
[
8
]
,
[
9
]
.
AC
C
tech
n
o
lo
g
y
is
a
n
ad
v
an
ce
m
en
t
o
f
th
e
cr
u
is
e
c
o
n
tr
o
l
s
y
s
tem
(
C
C
S).
T
h
e
ev
o
lu
tio
n
o
f
AC
C
,
f
r
o
m
its
ea
r
lies
t
f
o
r
m
to
th
e
co
o
p
er
ativ
e
ad
a
p
tiv
e
cr
u
is
e
co
n
tr
o
l
(
C
AC
C
)
,
is
il
lu
s
tr
ated
in
Fig
u
r
e
1
.
I
n
m
an
u
al
cr
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is
e
co
n
tr
o
l,
th
e
d
r
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r
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s
ts
th
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th
r
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b
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p
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a
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ased
o
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v
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al
o
b
s
er
v
ati
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n
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f
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o
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d
itio
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s
.
I
n
th
e
d
is
tan
ce
war
n
in
g
s
y
s
tem
(
DW
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[
1
0
]
,
[
1
1
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,
s
itu
atio
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m
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ito
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p
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b
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a
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an
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ly
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p
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o
m
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t
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b
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to
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.
I
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C
C
S,
th
e
d
r
iv
er
s
till
m
o
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ito
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s
tr
af
f
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co
n
d
itio
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s
m
an
u
ally
b
u
t
ca
n
ac
tiv
ate
th
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cr
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is
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co
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tr
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l
to
au
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m
ate
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a
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c
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wh
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r
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iate
[
1
2
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,
[
1
3
]
.
I
n
AC
C
,
b
o
th
m
o
n
it
o
r
in
g
o
f
th
e
s
u
r
r
o
u
n
d
in
g
e
n
v
ir
o
n
m
en
t
a
n
d
ad
ju
s
tm
en
t
o
f
th
e
t
h
r
o
ttle
an
d
b
r
ak
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p
e
d
als
ar
e
p
er
f
o
r
m
e
d
au
to
m
atica
lly
b
y
th
e
s
y
s
tem
[
1
4
]
,
[
1
5
]
.
W
ith
th
e
ad
v
en
t
o
f
co
n
n
ec
ted
v
e
h
icle
tech
n
o
lo
g
y
,
AC
C
h
as
ev
o
lv
ed
in
to
C
AC
C
.
At
C
A
C
C
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
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KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
2
,
Ap
r
il
20
26
:
6
8
5
-
6
9
5
686
l
ev
el
1
,
c
o
o
p
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r
atio
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b
etwe
en
v
eh
icles
o
cc
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s
in
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m
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ito
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s
tag
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wh
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C
AC
C
l
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co
o
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to
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o
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m
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ito
r
in
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co
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tr
o
l o
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t
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r
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ttle a
n
d
b
r
a
k
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in
p
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ts
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Fig
u
r
e
1
.
T
h
e
d
e
v
elo
p
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n
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f
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C
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h
e
d
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v
elo
p
m
e
n
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e
n
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ally
f
o
cu
s
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o
n
two
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ain
asp
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ts
:
alg
o
r
ith
m
s
an
d
s
en
s
o
r
s
.
Sev
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al
s
tu
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av
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an
ce
d
AC
C
alg
o
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ith
m
s
,
s
u
ch
as
[
1
6
]
,
[
1
7
]
.
R
esear
ch
er
s
[
1
6
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,
[
1
8
]
,
AC
C
wa
s
im
p
lem
en
ted
u
s
in
g
f
u
zz
y
l
o
g
ic,
w
h
ile
[
1
9
]
,
[
1
7
]
p
r
o
p
o
s
ed
o
p
er
atio
n
al
ch
ar
ac
ter
is
tic
esti
m
atio
n
an
d
p
er
s
o
n
alize
d
ad
ap
ti
v
e
cr
u
is
e
co
n
tr
o
l,
r
esp
ec
tiv
ely
.
AC
C
d
ev
elo
p
m
en
t
i
n
elec
tr
ic
v
eh
icles
h
as
also
tar
g
eted
e
n
er
g
y
ef
f
icien
c
y
,
as
s
tu
d
ied
in
[
2
0
]
.
Sen
s
o
r
-
f
o
c
u
s
ed
AC
C
im
p
r
o
v
e
m
en
ts
in
clu
d
e
th
e
wo
r
k
o
f
[
2
1
]
,
wh
ich
u
tili
ze
d
s
en
s
o
r
f
u
s
io
n
tech
n
iq
u
es.
I
n
th
e
co
n
n
ec
te
d
v
eh
icle
er
a,
C
A
C
C
d
ev
elo
p
m
en
t
h
as
ac
ce
ler
ated
d
u
e
to
ad
v
a
n
ce
m
en
ts
in
in
ter
-
v
eh
icle
co
m
m
u
n
icatio
n
.
T
r
in
i
d
ad
-
R
en
d
o
n
et
a
l
.
[
2
2
]
,
C
AC
C
was
im
p
lem
en
ted
u
s
in
g
th
e
ad
ap
tiv
e
Kalm
an
f
ilter
,
wh
ile
[
2
3
]
,
[
2
4
]
in
v
esti
g
ated
C
AC
C
in
r
ea
l
-
wo
r
ld
en
v
i
r
o
n
m
en
ts
an
d
co
n
d
u
cted
s
af
et
y
an
aly
s
es.
Stu
d
ies
[
2
5
]
,
[
2
6
]
ex
p
l
o
r
ed
C
AC
C
f
o
r
v
eh
icle
p
lato
o
n
in
g
a
p
p
licatio
n
s
.
I
n
th
is
s
tu
d
y
,
a
C
AC
C
h
ar
d
war
e
s
im
u
latio
n
is
d
e
v
elo
p
ed
u
s
in
g
f
u
zz
y
lo
g
ic
c
o
n
tr
o
l.
C
o
m
m
u
n
icatio
n
b
etwe
en
v
eh
icles
is
estab
lis
h
ed
v
ia
r
ad
io
f
r
eq
u
en
cy
(
R
F)
s
ig
n
als
tr
an
s
m
itted
f
r
o
m
t
h
e
lea
d
in
g
v
eh
icle
to
th
e
f
o
llo
win
g
v
e
h
icle.
T
h
e
r
em
ain
d
e
r
o
f
th
is
p
ap
er
i
s
o
r
g
an
ized
as
f
o
llo
ws:
s
ec
tio
n
2
p
r
o
v
id
es
an
o
v
er
v
iew
o
f
AC
C
an
d
C
AC
C
o
p
er
atio
n
s
,
h
ar
d
war
e
s
im
u
latio
n
,
an
d
th
e
co
n
d
u
cte
d
ex
p
er
im
en
ts
.
Sectio
n
3
p
r
esen
ts
th
e
ex
p
er
im
en
tal
r
esu
lts
an
d
an
aly
s
is
.
Fin
ally
,
s
ec
tio
n
4
co
n
clu
d
es th
e
p
ap
er
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
r
esear
ch
m
eth
o
d
o
lo
g
y
co
m
m
en
ce
s
with
an
ex
am
in
atio
n
o
f
th
e
o
p
er
atio
n
al
p
r
in
cip
les
o
f
C
AC
C
,
f
o
llo
wed
b
y
t
h
e
d
esig
n
o
f
a
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
f
o
r
v
eh
icle
s
p
ee
d
r
eg
u
latio
n
.
A
b
lo
ck
d
iag
r
a
m
is
s
u
b
s
eq
u
en
tly
d
ev
el
o
p
ed
to
s
u
p
p
o
r
t
th
e
im
p
lem
e
n
tatio
n
o
f
th
e
C
AC
C
h
ar
d
war
e
s
im
u
latio
n
.
Fin
ally
,
co
n
clu
s
io
n
s
ar
e
d
r
awn
b
ased
o
n
th
e
r
esu
lts
o
b
tain
ed
f
r
o
m
s
im
u
latio
n
an
d
an
aly
s
is
.
2
.
1
.
A
CC
Sy
s
t
em
AC
C
is
a
s
u
b
s
y
s
tem
o
f
th
e
ADAS
d
esig
n
ed
to
ass
is
t
d
r
iv
e
r
s
wh
en
tr
av
eli
n
g
o
n
r
elativ
ely
m
o
n
o
to
n
o
u
s
r
o
ad
s
[
2
7
]
.
On
s
u
ch
r
o
ad
s
,
f
o
r
ex
a
m
p
le
to
ll
h
ig
h
way
s
,
d
r
iv
er
s
m
ay
e
x
p
er
ien
ce
f
atig
u
e
o
r
d
r
o
wsi
n
ess
.
T
o
m
itig
ate
th
is
,
au
x
iliar
y
s
y
s
tem
s
ar
e
em
p
lo
y
ed
to
m
ain
tain
a
r
elativ
ely
co
n
s
tan
t
v
eh
icle
s
p
ee
d
with
o
u
t
r
eq
u
ir
i
n
g
co
n
tin
u
o
u
s
m
an
u
al
ad
ju
s
tm
en
t
o
f
th
e
th
r
o
ttle
an
d
b
r
ak
e
p
ed
als.
T
h
e
AC
C
s
y
s
tem
o
p
er
ates
b
y
r
ef
e
r
en
cin
g
th
e
v
e
h
icle
d
ir
e
ctly
ah
ea
d
,
as illu
s
tr
ated
in
Fig
u
r
e
2
.
Fig
u
r
e
2
.
Ad
a
p
tiv
e
CCS
T
h
e
AC
C
ad
ju
s
ts
s
o
th
at
(
)
r
em
ain
s
r
elativ
ely
co
n
s
tan
t
ev
en
wh
en
is
ch
an
g
ed
.
As
a
r
ef
er
en
ce
f
o
r
th
e
AC
C
s
y
s
tem
,
th
e
r
elativ
ely
co
n
s
tan
t d
is
tan
ce
(
)
ca
n
b
e
m
ain
tain
ed
an
d
th
e
s
p
ee
d
−
is
k
ep
t
r
elativ
ely
ze
r
o
.
T
h
e
A
C
C
s
y
s
tem
r
eg
u
lates
th
e
f
o
llo
win
g
v
eh
icle
’
s
s
p
ee
d
v
F
s
u
c
h
th
at
th
e
in
ter
-
v
eh
icle
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Ha
r
d
w
a
r
e
s
imu
la
tio
n
o
f c
o
o
p
e
r
a
tive
a
d
a
p
tive
cru
is
e
co
n
tr
o
l
b
a
s
ed
o
n
fu
z
z
y
lo
g
ic
(
E
d
i R
a
k
h
ma
n
)
687
d
is
tan
ce
(
)
r
em
ain
s
r
elativ
ely
c
o
n
s
tan
t,
ev
en
wh
en
th
e
lead
in
g
v
eh
icle
’
s
s
p
ee
d
ch
an
g
es.
As
a
co
n
tr
o
l
r
ef
er
en
ce
,
t
h
e
AC
C
m
ay
eith
er
m
ain
tain
a
p
r
ed
eter
m
i
n
ed
f
i
x
ed
d
is
tan
ce
(
)
o
r
m
o
n
ito
r
th
e
r
elativ
e
v
elo
city
−
F
to
en
s
u
r
e
it r
em
ain
s
ap
p
r
o
x
im
ately
ze
r
o
.
2
.
2
.
CACC
C
AC
C
is
an
ad
v
an
ce
m
e
n
t
o
f
t
h
e
AC
C
s
y
s
tem
,
wh
ich
o
p
e
r
at
es
o
n
a
s
im
ilar
p
r
in
ci
p
le.
I
n
a
d
d
itio
n
to
u
s
in
g
s
en
s
o
r
s
to
m
ea
s
u
r
e
th
e
d
is
tan
ce
b
etwe
en
v
eh
icles,
C
AC
C
also
in
teg
r
ates
v
eh
icle
-
to
-
v
eh
icle
(
V
2
V)
co
m
m
u
n
icatio
n
to
tr
an
s
m
it
s
p
ee
d
d
ata
f
r
o
m
th
e
lead
in
g
v
eh
icle
to
t
h
e
f
o
llo
win
g
v
eh
icle.
T
h
is
s
y
s
tem
m
ain
tain
s
th
e
d
esire
d
d
is
tan
ce
ac
co
r
d
in
g
to
th
e
d
r
iv
er
’
s
s
p
e
cif
icatio
n
s
.
T
h
e
o
p
er
atio
n
al
c
o
n
ce
p
t
o
f
C
AC
C
is
illu
s
tr
ated
in
Fig
u
r
e
3
.
T
h
e
d
ev
elo
p
m
e
n
t
o
f
C
AC
C
h
as
b
ee
n
en
a
b
led
b
y
t
h
e
av
ailab
i
lity
o
f
in
ter
-
v
eh
icle
co
m
m
u
n
icatio
n
tech
n
o
lo
g
ies,
s
u
ch
as
wir
eless
ac
ce
s
s
in
v
eh
icu
lar
en
v
ir
o
n
m
e
n
ts
(
W
AVE
)
.
Fig
u
r
e
3
.
C
AC
C
s
y
s
tem
2.
3
.
F
uzzy
lo
g
ic
co
ntr
o
ller
des
ig
n
I
n
th
e
C
AC
C
s
y
s
tem
s
im
u
lati
o
n
,
two
v
ar
iab
les
ar
e
u
s
ed
as
in
p
u
ts
f
o
r
f
u
zz
y
lo
g
ic
co
n
tr
o
l:
d
is
tan
ce
er
r
o
r
an
d
lead
in
g
v
eh
icle
s
p
ee
d
.
Dis
tan
ce
er
r
o
r
is
d
ef
in
ed
as th
e
d
if
f
er
e
n
ce
b
etwe
en
th
e
d
esire
d
s
etp
o
in
t
v
alu
e
an
d
th
e
ac
tu
al
in
ter
-
v
eh
icle
d
i
s
tan
ce
.
T
h
is
in
p
u
t
is
ca
teg
o
r
iz
ed
in
to
s
ix
f
u
zz
y
s
ets:
s
m
alles
t,
v
er
y
s
m
all,
s
m
all,
lar
g
e,
v
er
y
lar
g
e
,
an
d
lar
g
est.
T
h
e
s
ec
o
n
d
in
p
u
t,
th
e
s
p
ee
d
o
f
th
e
lead
in
g
v
eh
icle,
is
o
b
tain
ed
th
r
o
u
g
h
R
F
co
m
m
u
n
icatio
n
an
d
is
class
if
i
ed
in
to
two
f
u
zz
y
s
ets:
s
lo
w
a
n
d
f
ast.
T
h
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
f
o
r
th
ese
f
u
zz
y
in
p
u
ts
ar
e
s
h
o
wn
in
Fig
u
r
es
4
an
d
5
.
T
h
e
f
u
zz
y
in
f
e
r
en
ce
r
u
les
f
o
r
th
e
C
AC
C
s
y
s
tem
ar
e
f
o
r
m
ed
u
s
in
g
th
e
f
u
zz
y
ass
o
ciativ
e
m
em
o
r
y
(
F
AM
)
tab
le,
as
s
h
o
wn
in
T
ab
le
1
.
T
h
e
m
em
b
er
s
h
ip
f
u
n
cti
o
n
s
f
o
r
th
e
f
u
zz
y
o
u
tp
u
ts
ar
e
p
r
esen
ted
in
Fig
u
r
e
6
.
Fig
u
r
e
4
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
o
f
d
is
tan
ce
er
r
o
r
Fig
u
r
e
5
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
o
f
s
p
ee
d
Fig
u
r
e
6
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
o
f
o
u
tp
u
t sp
ee
d
T
ab
el
1
.
R
u
le
b
ase
D
i
st
a
n
c
e
S
p
e
e
d
M
o
s
t
sm
a
l
l
V
e
r
y
sm
a
l
l
S
mal
l
B
i
g
V
e
r
y
b
i
g
M
o
s
t
b
i
g
S
l
o
w
M
o
s
t
s
l
o
w
V
e
r
y
s
l
o
w
S
l
o
w
F
a
st
V
e
r
y
f
a
s
t
M
o
s
t
f
a
st
F
a
st
F
a
st
F
a
st
V
e
r
y
f
a
s
t
V
e
r
y
f
a
s
t
M
o
s
t
f
a
st
M
o
s
t
f
a
st
2
.
4
.
CACC
ha
rdwa
re
s
im
ula
t
io
n
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
lead
er
–
f
o
llo
wer
v
eh
icle
s
y
s
tem
is
illu
s
tr
ated
in
Fig
u
r
e
7
,
wh
e
r
e
Fig
u
r
e
7
(
a
)
s
h
o
ws
th
e
lead
in
g
v
eh
icle
co
n
tr
o
l
s
y
s
tem
an
d
Fig
u
r
e
7
(
b
)
p
r
esen
ts
th
e
f
o
llo
win
g
v
eh
icle
co
n
tr
o
l
s
y
s
tem
.
T
h
e
p
r
im
ar
y
f
u
n
ctio
n
o
f
th
e
C
AC
C
s
y
s
tem
is
to
m
ain
tain
a
s
p
e
cif
ied
f
o
llo
win
g
d
is
tan
ce
f
r
o
m
th
e
lead
in
g
v
e
h
icle
b
y
ad
ju
s
tin
g
th
e
s
p
ee
d
o
f
th
e
f
o
llo
win
g
v
eh
icle.
Sp
ee
d
r
eg
u
latio
n
is
b
ased
o
n
two
p
ar
a
m
eter
s
:
th
e
d
is
tan
ce
er
r
o
r
d
ef
in
ed
as
th
e
d
if
f
e
r
en
c
e
b
etwe
en
th
e
ac
tu
al
d
is
tan
ce
an
d
th
e
s
etp
o
i
n
t
an
d
t
h
e
s
p
ee
d
o
f
th
e
lead
in
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
2
,
Ap
r
il
20
26
:
6
8
5
-
6
9
5
688
v
eh
icle,
tr
an
s
m
itted
v
ia
a
R
F
co
m
m
u
n
icatio
n
d
e
v
ice.
Veh
ic
le
s
p
ee
d
ad
ju
s
tm
en
ts
ar
e
ac
h
i
ev
ed
b
y
co
n
tr
o
llin
g
b
o
th
ac
ce
ler
atio
n
an
d
b
r
a
k
in
g
.
I
n
th
is
r
esear
ch
,
th
e
s
im
u
latio
n
is
im
p
lem
en
ted
u
s
in
g
a
1
:1
0
s
ca
le
r
em
o
te
-
co
n
tr
o
l (
R
C
)
car
.
T
h
e
lin
e
s
en
s
o
r
f
u
n
ctio
n
s
as
a
lan
e
d
etec
to
r
d
u
r
in
g
s
im
u
la
tio
n
s
to
en
s
u
r
e
th
at
th
e
R
C
c
ar
m
o
v
es
s
tr
aig
h
t
an
d
r
em
ain
s
with
in
its
d
esig
n
ated
lan
e.
T
h
is
s
en
s
o
r
g
en
e
r
ates
a
lo
g
ic
“
1
”
o
u
tp
u
t
wh
en
d
etec
tin
g
a
wh
ite
lan
e,
wh
er
e
th
e
wh
ite
c
o
lo
r
is
u
s
ed
t
o
s
im
u
late
r
o
ad
l
an
e
m
ar
k
i
n
g
s
co
m
m
o
n
ly
f
o
u
n
d
o
n
ac
tu
al
s
tr
ee
ts
.
T
h
e
s
en
s
o
r
s
elec
ted
f
o
r
th
is
s
y
s
tem
is
th
e
lin
e
tr
ac
k
in
g
r
o
b
o
t
V4
s
en
s
o
r
.
I
t
is
ch
o
s
en
b
e
ca
u
s
e
it
p
r
o
d
u
ce
s
a
lo
g
ic
“
0
”
o
u
tp
u
t
wh
en
r
ea
d
in
g
g
r
ay
s
u
r
f
ac
es,
wh
er
ea
s
o
th
e
r
co
m
p
ar
ab
le
s
en
s
o
r
s
p
r
o
d
u
ce
a
lo
g
ic
“
1
”
o
u
tp
u
t.
T
h
e
d
etec
tio
n
d
is
tan
ce
ca
n
b
e
ad
ju
s
ted
b
y
r
o
tatin
g
th
e
o
n
b
o
a
r
d
p
o
te
n
tio
m
eter
.
R
a
d
i
o
F
re
q
u
e
n
c
y
T
ra
n
sm
i
t
t
e
r
Mi
c
ro
c
o
n
t
r
o
l
l
er
(
A
r
d
u
i
n
o
U
n
o
)
M
o
t
o
r
D
r
i
v
e
r
L2
9
8
A
c
t
u
a
t
o
r
1
(
M
o
t
o
r
D
r
i
v
e
)
A
c
t
u
a
t
o
r
2
(
M
o
t
o
r
S
t
e
e
r
i
n
g
i)
(
a)
D
F
R
O
B
O
T
L
i
n
e
T
r
a
c
k
i
n
g
S
e
n
so
r
D
i
s
t
a
n
c
e
S
e
n
so
r
(
U
l
t
r
a
so
n
i
c
U
S
-
1
0
0
)
Mi
c
ro
c
o
n
t
r
o
l
l
er
(
A
r
d
u
i
n
o
M
e
g
a
2
5
6
0
)
M
o
t
o
r
D
r
i
v
e
r
L
2
9
8
D
a
t
a
Lo
g
g
e
r
(
m
i
c
r
o
S
D
)
R
a
d
i
o
Fr
e
q
u
e
n
c
y
R
e
c
e
i
v
e
r
A
c
t
u
a
t
o
r
1
(
M
o
t
o
r
D
r
i
v
e
)
A
c
t
u
a
t
o
r
2
(
M
o
t
o
r
S
t
e
e
r
i
n
g
)
(
b
)
Fig
u
r
e
7
.
B
lo
ck
d
iag
r
am
o
f
th
e
lead
er
f
o
llo
wer
v
eh
icle
s
y
s
tem
: (
a)
b
lo
c
k
d
iag
r
am
o
f
th
e
le
ad
in
g
v
e
h
icle
co
n
tr
o
l sy
s
tem
an
d
(
b
)
b
lo
ck
d
iag
r
am
o
f
th
e
f
o
llo
win
g
v
e
h
icle
co
n
tr
o
l sy
s
tem
.
T
h
e
r
o
b
o
t
lin
e
tr
ac
k
in
g
s
en
s
o
r
f
o
r
Ar
d
u
in
o
is
ca
p
ab
le
o
f
d
et
ec
tin
g
wh
ite
lin
es
o
n
a
b
lack
b
ac
k
g
r
o
u
n
d
o
r
b
lack
lin
es
o
n
a
wh
ite
b
ac
k
g
r
o
u
n
d
.
I
t
p
r
o
v
i
d
es
a
s
tab
le
tr
an
s
is
to
r
-
tr
an
s
is
to
r
lo
g
ic
(
TTL
)
o
u
tp
u
t
s
ig
n
al
to
en
s
u
r
e
r
eliab
le
an
d
ac
cu
r
ate
lin
e
d
etec
tio
n
.
I
n
ad
d
itio
n
,
m
u
l
ti
-
ch
an
n
el
c
o
n
f
ig
u
r
atio
n
s
ca
n
b
e
im
p
lem
e
n
ted
i
f
m
o
r
e
co
m
p
lex
lin
e
-
tr
ac
k
in
g
r
e
q
u
ir
em
en
ts
ar
e
n
ee
d
ed
.
T
h
e
s
en
s
o
r
o
u
tp
u
ts
ar
e
f
ed
in
to
th
e
m
icr
o
co
n
tr
o
ller
,
wh
ich
p
r
o
ce
s
s
es
th
e
s
ig
n
als
in
to
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M
)
v
alu
es
an
d
lo
g
ic
o
u
tp
u
ts
.
T
h
e
PW
M
v
a
lu
es
d
eter
m
in
e
th
e
s
teer
in
g
a
n
g
le,
wh
ile
t
h
e
lo
g
ic
o
u
tp
u
ts
d
eter
m
in
e
th
e
d
ir
ec
tio
n
o
f
wh
ee
l
m
o
v
em
en
t.
T
wo
-
li
n
e
s
en
s
o
r
s
ar
e
p
lace
d
o
n
t
h
e
l
ef
t
s
id
e
an
d
two
o
n
th
e
r
ig
h
t
s
id
e
o
f
th
e
R
C
ca
r
.
Usi
n
g
two
s
en
s
o
r
s
o
n
ea
c
h
s
id
e
allo
ws
th
e
s
y
s
tem
t
o
d
eter
m
in
e
h
o
w
f
ar
th
e
ca
r
h
as
d
ev
iated
f
r
o
m
its
lan
e.
I
f
th
e
o
u
ter
lef
t
s
en
s
o
r
d
etec
ts
t
h
e
lan
e,
th
e
s
teer
in
g
s
y
s
tem
t
u
r
n
s
s
lig
h
tly
t
o
th
e
r
ig
h
t
to
g
u
id
e
th
e
v
eh
icle
b
ac
k
to
war
d
th
e
ce
n
ter
.
I
f
th
e
in
n
er
lef
t
s
en
s
o
r
d
etec
ts
th
e
lan
e,
th
e
R
C
ca
r
p
er
f
o
r
m
s
a
s
h
ar
p
er
r
i
g
h
t tu
r
n
.
T
h
e
s
am
e
co
n
tr
o
l p
r
in
cip
le
ap
p
lies
s
y
m
m
etr
ically
to
th
e
s
en
s
o
r
s
o
n
th
e
r
ig
h
t sid
e.
T
h
e
d
is
tan
ce
er
r
o
r
s
er
v
es
as
an
in
p
u
t
to
th
e
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
,
wh
ich
d
eter
m
in
es
th
e
co
n
tr
o
l
o
u
tp
u
t.
Dis
tan
ce
m
ea
s
u
r
em
en
ts
ar
e
o
b
tain
ed
u
s
in
g
u
ltra
s
o
n
ic
s
en
s
o
r
s
,
wh
ich
d
etec
t
o
b
jects
b
y
em
itti
n
g
u
ltra
s
o
n
ic
wav
es
an
d
p
r
o
ce
s
s
in
g
th
e
r
ef
lecte
d
s
ig
n
al.
T
h
e
s
en
s
o
r
o
u
t
p
u
t
is
co
n
v
er
ted
in
to
d
is
tan
ce
v
alu
es
in
ce
n
tim
eter
s
v
ia
a
m
icr
o
co
n
tr
o
ller
p
r
o
g
r
am
.
T
h
e
m
ax
im
u
m
d
etec
tio
n
r
an
g
e
o
f
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
is
3
m
eter
s
.
I
n
ad
d
itio
n
to
d
is
tan
ce
m
ea
s
u
r
em
en
t
s
en
s
o
r
s
,
th
e
C
AC
C
s
y
s
tem
is
eq
u
ip
p
ed
with
a
c
o
m
m
u
n
icatio
n
m
o
d
u
le
to
r
ec
eiv
e
s
p
ee
d
d
a
ta
f
r
o
m
th
e
lead
in
g
v
e
h
icle.
T
h
is
co
m
m
u
n
icatio
n
o
p
er
at
es
in
a
o
n
e
-
way
co
n
f
ig
u
r
atio
n
,
tr
an
s
m
itti
n
g
d
at
a
f
r
o
m
th
e
lead
in
g
v
eh
icle
to
th
e
f
o
llo
win
g
v
e
h
icle
v
ia
R
F
c
o
m
m
u
n
icatio
n
.
R
F
d
ev
ices
th
at
u
s
e
r
ad
io
wav
es
ar
e
th
e
tr
an
s
m
is
s
io
n
m
ed
iu
m
,
with
th
e
m
ax
im
u
m
r
an
g
e
d
ep
en
d
in
g
o
n
th
e
tr
an
s
m
itter
p
o
wer
an
d
an
ten
n
a
s
p
ec
if
icatio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Ha
r
d
w
a
r
e
s
imu
la
tio
n
o
f c
o
o
p
e
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a
tive
a
d
a
p
tive
cru
is
e
co
n
tr
o
l
b
a
s
ed
o
n
fu
z
z
y
lo
g
ic
(
E
d
i R
a
k
h
ma
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)
689
T
h
e
d
is
tan
ce
er
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o
r
an
d
lead
in
g
v
eh
icle
s
p
ee
d
ar
e
p
r
o
ce
s
s
ed
b
y
a
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
r
u
n
n
in
g
o
n
a
n
Ar
d
u
in
o
Me
g
a
2
5
6
0
.
T
h
e
c
o
n
tr
o
ller
o
u
tp
u
t
is
a
PW
M
s
ig
n
al,
wh
ich
r
eg
u
lates
th
e
f
o
llo
w
in
g
v
eh
icle
s
s
p
ee
d
th
r
o
u
g
h
an
L
2
9
8
m
o
to
r
d
r
iv
er
.
T
h
e
co
n
tr
o
l
o
u
t
p
u
t
m
ag
n
itu
d
e
is
d
eter
m
in
ed
b
y
b
o
th
th
e
d
is
tan
ce
er
r
o
r
an
d
th
e
s
p
ee
d
o
f
th
e
f
o
llo
win
g
v
eh
icle
.
T
o
en
s
u
r
e
lan
e
ad
h
er
en
ce
d
u
r
in
g
s
im
u
latio
n
,
an
ac
tiv
e
s
teer
in
g
ass
is
tan
ce
s
y
s
te
m
[
2
8
]
is
im
p
lem
en
ted
.
T
h
is
s
y
s
tem
u
t
ilizes
f
o
u
r
DFR
o
b
o
t
V
4
lin
e
-
tr
ac
k
in
g
s
en
s
o
r
s
,
ea
ch
p
r
o
v
i
d
in
g
b
in
ar
y
lo
g
ic
o
u
tp
u
ts
(
“1
”
o
r
“0
”)
.
T
h
ese
o
u
tp
u
ts
ar
e
p
r
o
ce
s
s
ed
b
y
th
e
m
icr
o
co
n
tr
o
ller
to
g
e
n
er
ate
b
o
th
PW
M
an
d
lo
g
ic
s
ig
n
als,
wh
ich
in
tu
r
n
d
eter
m
i
n
e
th
e
s
teer
in
g
a
n
g
le
an
d
d
ir
ec
tio
n
o
f
th
e
R
C
ca
r
.
T
h
e
o
p
e
r
atio
n
al
s
eq
u
en
ce
o
f
t
h
e
C
AC
C
s
y
s
tem
im
p
lem
en
ted
o
n
th
e
R
C
ca
r
is
as:
a.
T
h
e
R
C
ca
r
f
o
llo
ws a
p
r
ed
eter
m
in
ed
p
ath
u
s
in
g
an
ac
tiv
e
s
teer
in
g
ass
is
tan
ce
s
y
s
tem
.
b.
Du
r
in
g
s
im
u
latio
n
,
th
e
d
is
tan
ce
s
en
s
o
r
co
n
tin
u
o
u
s
ly
m
e
asu
r
es
th
e
g
ap
b
etwe
en
th
e
lead
in
g
an
d
f
o
llo
win
g
R
C
ca
r
s
.
c.
W
h
en
th
e
i
n
ter
-
v
e
h
icle
d
is
tan
ce
d
ec
r
ea
s
es,
th
e
f
o
llo
win
g
v
eh
icle
d
ec
eler
ates
b
y
r
ed
u
cin
g
th
e
PW
M
v
alu
e,
d
eter
m
i
n
ed
f
r
o
m
th
e
d
is
tan
ce
er
r
o
r
r
elativ
e
to
th
e
s
etp
o
in
t a
n
d
t
h
e
s
p
ee
d
o
f
th
e
lead
i
n
g
v
eh
icle.
d.
As
th
e
d
is
tan
ce
b
etwe
en
v
eh
icles
in
cr
ea
s
es,
th
e
f
o
llo
win
g
v
eh
icle
ac
ce
ler
ates
b
y
in
cr
ea
s
in
g
th
e
PW
M
v
alu
e,
wh
ich
is
b
ased
o
n
th
e
d
is
tan
ce
an
d
s
p
ee
d
er
r
o
r
o
f
th
e
v
eh
icle
in
f
r
o
n
t.
T
h
e
1
:1
0
s
ca
le
R
C
ca
r
d
ev
elo
p
ed
f
o
r
th
e
C
AC
C
h
ar
d
war
e
s
im
u
latio
n
in
Fig
u
r
es 8
an
d
Fig
u
r
e
.
Fig
u
r
e
8
.
Har
d
war
e
s
im
u
lato
r
o
f
th
e
f
o
llo
win
g
v
eh
icle
Fig
u
r
e
9
.
Har
d
war
e
s
im
u
lato
r
u
s
ed
in
test
in
g
3.
RE
SU
L
T
S AN
D
AN
AL
Y
SI
S
T
h
e
r
esu
lts
an
d
an
aly
s
is
s
ec
t
io
n
p
r
esen
ts
th
e
o
u
tco
m
es
o
f
th
r
ee
ex
p
er
im
e
n
ts
:
d
ata
tr
an
s
m
is
s
io
n
test
in
g
b
etwe
en
v
eh
icles,
C
AC
C
p
er
f
o
r
m
an
ce
test
in
g
at
a
co
n
s
tan
t
s
p
ee
d
,
an
d
C
AC
C
p
er
f
o
r
m
a
n
ce
test
in
g
u
n
d
er
v
ar
y
i
n
g
s
p
ee
d
c
o
n
d
itio
n
s
.
3
.
1
.
Da
t
a
t
r
a
ns
m
is
s
io
n t
esti
ng
Data
tr
an
s
m
is
s
io
n
test
in
g
was
co
n
d
u
cted
b
y
s
en
d
in
g
d
ata
f
r
o
m
th
e
tr
an
s
m
itter
to
th
e
r
ec
e
iv
er
.
T
h
e
d
ata
s
en
t
co
n
s
is
ted
o
f
in
teg
er
v
alu
es
o
b
tain
ed
f
r
o
m
th
e
Ar
d
u
in
o
’
s
an
alo
g
in
p
u
t.
T
h
is
test
aim
ed
to
ev
alu
ate
th
e
r
eliab
ilit
y
o
f
R
F
co
m
m
u
n
icatio
n
u
s
ed
f
o
r
d
ata
tr
a
n
s
m
is
s
io
n
b
etwe
en
v
eh
icles.
T
h
e
test
r
esu
lts
ar
e
p
r
esen
ted
in
Fig
u
r
es 1
0
an
d
1
1
.
Fig
u
r
e
10
.
Gr
ap
h
o
f
test
in
g
d
a
ta
tr
an
s
m
is
s
io
n
at
a
d
is
tan
ce
o
f
1
m
Fig
u
r
e
11
.
Gr
ap
h
o
f
test
in
g
d
a
ta
tr
an
s
m
is
s
io
n
at
a
d
is
tan
ce
o
f
3
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
2
,
Ap
r
il
20
26
:
6
8
5
-
6
9
5
690
3
.
2
.
C
ACC
t
esting
wit
h f
ix
e
d sp
ee
d
I
n
th
is
e
x
p
er
im
e
n
t,
th
e
s
p
ee
d
o
f
th
e
lead
in
g
v
e
h
icle
was
k
e
p
t
co
n
s
tan
t.
T
h
e
test
was
co
n
d
u
cted
b
y
p
lacin
g
th
e
f
o
llo
win
g
v
eh
icl
es
at
in
itial
d
is
tan
ce
s
o
f
5
0
cm
an
d
1
0
0
cm
f
r
o
m
th
e
le
ad
in
g
v
eh
icle.
An
illu
s
tr
atio
n
o
f
th
e
test
co
n
f
i
g
u
r
atio
n
in
Fig
u
r
e
1
2
.
Fig
u
r
e
12
.
I
llu
s
tr
atio
n
o
f
test
in
g
at
co
n
s
tan
t sp
ee
d
As
s
ee
n
f
r
o
m
th
e
d
ata,
wh
en
th
e
d
is
tan
ce
b
etwe
en
th
e
f
o
llo
wer
v
eh
icle
an
d
th
e
lead
er
v
eh
icle
ex
ce
ed
s
th
e
s
etp
o
in
t,
th
e
f
u
zz
y
lo
g
ic
co
n
t
r
o
ller
in
cr
ea
s
es
th
e
PW
M
o
u
tp
u
t
v
alu
e,
th
er
eb
y
in
cr
ea
s
in
g
th
e
s
p
ee
d
o
f
th
e
f
o
llo
wer
v
eh
icle
a
n
d
r
e
d
u
cin
g
th
e
d
is
tan
ce
b
etwe
en
t
h
e
two
R
C
ca
r
s
.
C
o
n
v
er
s
ely
,
wh
en
th
e
d
is
tan
ce
b
etwe
en
th
e
v
eh
icles
ap
p
r
o
ac
h
es
th
e
th
r
esh
o
ld
v
al
u
e,
th
e
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
r
ed
u
ce
s
th
e
PW
M
o
u
tp
u
t
v
alu
e
u
s
ed
to
r
ed
u
ce
th
e
s
p
ee
d
o
f
th
e
f
o
llo
win
g
v
eh
i
cle
s
o
th
at
th
e
d
is
tan
ce
ca
n
co
n
v
er
g
e
to
th
e
p
r
ed
eter
m
in
e
d
th
r
esh
o
ld
v
alu
e
.
T
h
e
test
r
esu
lts
ar
e
s
h
o
wn
in
Fig
u
r
e
s
1
3
an
d
1
4
.
Fig
u
r
e
13
.
Gr
ap
h
o
f
C
AC
C
s
y
s
tem
test
in
g
at
co
n
s
tan
t sp
ee
d
with
an
in
itial in
ter
-
v
eh
icle
d
is
tan
ce
o
f
5
0
cm
Fig
u
r
e
14
.
Gr
ap
h
o
f
C
AC
C
s
y
s
tem
test
in
g
at
co
n
s
tan
t sp
ee
d
with
an
in
itial in
ter
-
v
eh
icle
d
is
tan
ce
o
f
1
0
0
cm
3
.
3
.
C
ACC
t
esting
wit
h sp
ee
d c
ha
ng
ed
I
n
th
is
ex
p
er
im
en
t,
th
e
s
p
ee
d
o
f
th
e
lead
in
g
v
eh
icle
was
ch
an
g
ed
f
r
o
m
a
PW
M
v
alu
e
o
f
1
0
0
to
1
2
0
.
T
h
e
test
was
co
n
d
u
cted
u
n
d
er
two
co
n
d
itio
n
s
:
with
R
F
co
m
m
u
n
icatio
n
en
ab
le
d
an
d
with
o
u
t
R
F
co
m
m
u
n
icatio
n
.
T
h
is
test
was
co
n
d
u
cted
t
o
an
aly
ze
th
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
C
AC
C
s
y
s
tem
wh
en
th
er
e
was
a
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Ha
r
d
w
a
r
e
s
imu
la
tio
n
o
f c
o
o
p
e
r
a
tive
a
d
a
p
tive
cru
is
e
co
n
tr
o
l
b
a
s
ed
o
n
fu
z
z
y
lo
g
ic
(
E
d
i R
a
k
h
ma
n
)
691
ch
an
g
e
in
s
p
ee
d
i
n
th
e
lead
in
g
v
eh
icle.
I
n
th
is
co
n
f
ig
u
r
atio
n
,
th
e
lead
in
g
v
e
h
icle
m
o
v
es
at
a
s
p
ee
d
co
n
tr
o
lled
b
y
a
PW
M
s
ig
n
al
in
th
e
r
a
n
g
e
o
f
1
0
0
to
1
2
0
.
Me
a
n
wh
ile,
th
e
f
o
llo
win
g
v
eh
icle
ad
ju
s
ts
th
is
s
p
ee
d
b
y
m
ain
tain
in
g
a
s
af
e
d
is
tan
ce
m
ea
s
u
r
ed
b
y
an
u
ltra
s
o
n
i
c
s
en
s
o
r
.
I
n
ad
d
itio
n
to
r
e
ly
in
g
o
n
d
is
tan
ce
m
ea
s
u
r
em
en
ts
,
th
e
s
y
s
tem
als
o
u
tili
ze
s
V2
V
co
m
m
u
n
icatio
n
to
r
ec
eiv
e
ac
tu
al
s
p
ee
d
in
f
o
r
m
atio
n
f
r
o
m
th
e
lead
in
g
v
eh
icle,
as
s
h
o
wn
in
Fig
u
r
e
1
5
,
wh
er
e
Fig
u
r
e
1
5
(
a)
r
ep
r
esen
ts
th
e
co
n
d
itio
n
w
ith
co
m
m
u
n
icatio
n
en
ab
led
,
wh
ile
Fig
u
r
e
1
5
(
b
)
p
r
esen
ts
th
e
co
n
d
itio
n
with
o
u
t
co
m
m
u
n
icatio
n
[
1
8
]
.
T
h
e
r
e
s
u
lts
ar
e
s
h
o
wn
in
Fig
u
r
es 1
6
an
d
1
7
.
Fro
m
th
e
d
ata
s
h
o
w
n
in
Fig
u
r
e
1
6
,
it
ca
n
b
e
o
b
s
er
v
e
d
th
at
wh
en
th
e
v
eh
icle
b
eh
i
n
d
u
s
es
a
co
m
m
u
n
icatio
n
s
y
s
tem
to
r
ec
eiv
e
s
p
ee
d
d
ata
f
r
o
m
th
e
v
e
h
icle
in
f
r
o
n
t,
it
ca
n
q
u
ick
ly
a
d
ju
s
t
th
e
d
is
tan
ce
b
etwe
en
v
e
h
icles
to
m
atch
t
h
e
s
p
ec
if
ied
s
etp
o
in
t,
ev
en
wh
en
th
e
s
p
ee
d
o
f
th
e
v
eh
ic
le
in
f
r
o
n
t
ch
a
n
g
es.
C
o
n
v
er
s
ely
,
Fig
u
r
e
1
7
s
h
o
ws
th
at
with
o
u
t
co
m
m
u
n
icatio
n
,
th
e
f
o
llo
win
g
v
eh
icle
tak
es
m
u
ch
lo
n
g
e
r
to
ad
j
u
s
t
to
th
e
s
etp
o
in
t,
wh
ich
in
s
o
m
e
ca
s
es c
an
n
o
t a
ch
iev
e
th
e
d
esire
d
d
is
tan
ce
.
W
h
en
th
e
s
p
ee
d
o
f
th
e
lead
v
e
h
icle
(
₁
)
in
cr
ea
s
es,
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
o
n
th
e
f
o
llo
wer
v
e
h
icle
(
₂
)
d
etec
ts
an
in
cr
ea
s
e
in
th
e
d
is
tan
ce
(
)
b
etwe
en
th
e
two
v
eh
ic
les.
Sp
ee
d
in
f
o
r
m
atio
n
f
r
o
m
t
h
e
lead
v
e
h
icle
is
tr
an
s
m
itted
wir
eless
ly
an
d
p
r
o
ce
s
s
ed
b
y
a
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
to
g
en
er
ate
a
n
ew
co
n
tr
o
l
s
ig
n
al
in
th
e
f
o
r
m
o
f
an
i
n
cr
ea
s
e
in
th
e
PW
M
v
alu
e
o
f
th
e
f
o
llo
wer
v
e
h
icle
’
s
d
r
iv
e
m
o
to
r
.
As
a
r
esu
lt,
t
h
e
f
o
llo
wer
v
eh
icle
ac
ce
ler
ates
its
m
o
v
em
en
t
u
n
til
th
e
ac
t
u
al
d
is
tan
ce
r
etu
r
n
s
to
a
v
alu
e
clo
s
e
to
th
e
r
ef
er
e
n
ce
d
is
tan
ce
(
₀
)
.
T
h
is
r
esp
o
n
s
e
d
em
o
n
s
tr
ates
th
e
C
AC
C
s
y
s
tem
’
s
ab
ilit
y
to
s
y
n
ch
r
o
n
o
u
s
ly
a
d
ju
s
t
s
p
ee
d
with
o
u
t
ca
u
s
in
g
s
ig
n
if
ican
t
d
elay
s
in
th
e
s
p
ee
d
ch
an
g
es
o
f
th
e
lead
in
g
v
eh
icle.
C
o
n
v
er
s
e
ly
,
wh
en
th
e
s
p
ee
d
o
f
th
e
lead
v
eh
icle
d
ec
r
ea
s
es,
th
e
s
en
s
o
r
d
etec
ts
a
s
m
aller
d
is
tan
ce
b
etwe
en
th
e
two
v
e
h
icles.
T
h
e
f
u
zz
y
lo
g
ic
s
y
s
tem
th
en
c
o
m
m
an
d
s
a
r
ed
u
ctio
n
i
n
th
e
PW
M
v
alu
e
s
o
th
at
th
e
f
o
llo
wer
v
e
h
icle
s
lo
ws
d
o
wn
p
r
o
p
o
r
tio
n
ally
.
T
h
is
p
r
o
ce
s
s
co
n
tin
u
es
u
n
til
th
e
d
is
tan
ce
r
etu
r
n
s
to
th
e
d
esire
d
v
alu
e
o
f
₀
.
T
h
is
test
p
r
o
v
es
th
at
th
e
s
y
s
tem
is
ca
p
ab
le
o
f
ad
a
p
tiv
ely
co
n
tr
o
llin
g
th
e
s
p
ee
d
o
f
th
e
f
o
llo
wer
v
e
h
icle
d
u
r
in
g
b
o
th
a
cc
eler
atio
n
an
d
d
ec
ele
r
atio
n
o
f
th
e
lea
d
v
e
h
icle,
wh
ile
m
ain
tain
in
g
a
s
af
e
d
is
tan
ce
b
etwe
en
th
e
two
.
Ad
d
itio
n
al
test
in
g
is
p
er
f
o
r
m
e
d
with
a
s
p
ee
d
v
ar
iatio
n
p
atter
n
o
f
1
0
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2
0
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M.
T
h
e
r
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ltin
g
d
ata
ar
e
p
r
esen
ted
in
Fig
u
r
es
1
8
an
d
Fig
u
r
e
.
As
s
h
o
wn
in
Fig
u
r
e
1
8
,
wh
e
n
th
e
co
m
m
u
n
icatio
n
s
y
s
tem
is
ac
tiv
e,
th
e
f
o
llo
win
g
v
eh
icle
r
esp
o
n
d
s
r
ap
id
ly
to
ch
a
n
g
es
in
th
e
lead
in
g
v
eh
icle
’
s
s
p
ee
d
,
en
ab
lin
g
it
to
m
ain
tain
th
e
s
etp
o
in
t
d
is
tan
ce
m
o
r
e
ef
f
ec
tiv
el
y
.
W
h
en
th
e
lead
in
g
v
eh
icle
ac
ce
ler
ates,
th
e
f
o
llo
win
g
v
e
h
icle
in
cr
ea
s
es
its
s
p
ee
d
to
r
ed
u
ce
t
h
e
g
a
p
,
a
n
d
wh
en
th
e
lead
in
g
v
eh
icle
d
ec
eler
ates,
th
e
f
o
llo
w
in
g
v
e
h
icle
r
e
d
u
ce
s
its
s
p
ee
d
to
p
r
ev
e
n
t
a
co
llis
io
n
an
d
r
esto
r
e
th
e
s
etp
o
in
t
d
is
tan
ce
.
Ho
we
v
er
,
th
e
s
y
s
t
em
s
till
ex
h
ib
its
a
m
ax
im
u
m
d
ev
iatio
n
o
f
1
5
cm
f
r
o
m
th
e
s
etp
o
in
t d
u
r
in
g
t
h
ese
test
s
.
Ov
er
all,
th
e
test
r
esu
lts
s
h
o
w
th
at
co
m
b
in
in
g
u
ltra
s
o
n
ic
s
en
s
o
r
s
an
d
V2
V
co
m
m
u
n
icatio
n
im
p
r
o
v
e
s
th
e
p
er
f
o
r
m
an
c
e
o
f
co
n
v
en
tio
n
al
AC
C
s
y
s
tem
s
.
T
h
e
f
u
zz
y
lo
g
ic
-
b
ased
C
AC
C
s
y
s
tem
is
ab
le
to
an
ticip
ate
ch
an
g
es
in
th
e
s
p
ee
d
o
f
th
e
lead
v
eh
icle
with
a
f
aster
an
d
m
o
r
e
s
tab
le
r
esp
o
n
s
e,
th
er
e
b
y
m
in
im
izin
g
th
e
p
o
ten
tial
f
o
r
co
llis
io
n
s
.
T
h
es
e
r
esu
lts
in
d
icate
th
at
th
e
im
p
lem
en
tatio
n
o
f
C
AC
C
in
s
m
all
-
s
ca
le
h
ar
d
war
e
s
im
u
latio
n
ca
n
r
ep
r
esen
t
th
e
d
y
n
am
ics
o
f
th
e
ac
tu
al
v
eh
icl
e
s
y
s
tem
q
u
ite
well,
e
s
p
ec
iall
y
in
ter
m
s
o
f
s
p
ee
d
co
o
r
d
in
atio
n
b
etwe
en
v
eh
icles m
o
v
in
g
co
llab
o
r
ativ
ely
.
I
n
co
n
tr
ast,
as
s
h
o
wn
in
Fig
u
r
e
1
9
,
wh
en
co
m
m
u
n
icatio
n
i
s
n
o
t
u
s
ed
,
th
e
f
o
llo
win
g
v
eh
icle
r
ea
cts
m
o
r
e
s
lo
wly
to
ch
an
g
es
in
th
e
lead
in
g
v
eh
icle
’
s
s
p
ee
d
a
n
d
t
ak
es
lo
n
g
er
to
r
ea
c
h
th
e
d
esire
d
d
is
tan
ce
,
f
u
r
th
e
r
d
em
o
n
s
tr
atin
g
t
h
e
ad
v
a
n
tag
e
o
f
in
co
r
p
o
r
atin
g
R
F c
o
m
m
u
n
ic
atio
n
in
th
e
C
AC
C
s
y
s
tem
.
(
a)
(
b
)
Fig
u
r
e
15
.
I
llu
s
tr
atio
n
o
f
th
e
v
ar
iab
le
-
s
p
ee
d
test
: (
a)
with
co
m
m
u
n
icatio
n
e
n
ab
led
a
n
d
(
b
)
with
o
u
t
co
m
m
u
n
icatio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
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TEL
KOM
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elec
o
m
m
u
n
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o
m
p
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t E
l
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o
n
tr
o
l
,
Vo
l.
24
,
No
.
2
,
Ap
r
il
20
26
:
6
8
5
-
6
9
5
692
Fig
u
r
e
16
.
T
est r
esu
lts
f
o
r
v
ar
i
ab
le
s
p
ee
d
(
1
0
0
–
1
2
0
PW
M)
w
ith
RF
co
m
m
u
n
icatio
n
Fig
u
r
e
17
.
T
est r
esu
lts
f
o
r
v
ar
i
ab
le
s
p
ee
d
(
1
0
0
–
1
2
0
PW
M)
w
ith
o
u
t
RF
co
m
m
u
n
icatio
n
Fig
u
r
e
1
8
.
T
est r
esu
lts
f
o
r
v
ar
i
ab
le
s
p
ee
d
(
1
0
0
–
120
–
1
0
0
PW
M)
u
s
in
g
R
F c
o
m
m
u
n
icatio
n
Fig
u
r
e
1
9
.
T
est r
esu
lts
f
o
r
v
ar
i
ab
le
s
p
ee
d
(
1
0
0
–
120
–
1
0
0
PW
M)
with
o
u
t u
s
in
g
R
F c
o
m
m
u
n
icatio
n
Fo
r
a
1
:1
0
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ca
le
m
o
d
el
m
ea
n
s
th
at
ea
ch
lin
ea
r
d
im
en
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io
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g
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th
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ei
g
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ed
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ce
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y
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o
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Ho
we
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e
la
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h
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ass
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o
r
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er
tia,
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d
ae
r
o
d
y
n
a
m
ics)
ar
e
n
o
t
r
ed
u
ce
d
lin
ea
r
ly
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Ha
r
d
w
a
r
e
s
imu
la
tio
n
o
f c
o
o
p
e
r
a
tive
a
d
a
p
tive
cru
is
e
co
n
tr
o
l
b
a
s
ed
o
n
fu
z
z
y
lo
g
ic
(
E
d
i R
a
k
h
ma
n
)
693
ca
u
s
in
g
f
u
n
d
am
e
n
tal
d
if
f
er
e
n
ce
s
b
etwe
en
th
e
b
e
h
av
io
r
o
f
t
h
e
m
o
d
el
an
d
th
e
ac
tu
al
v
eh
i
cle.
T
h
is
s
im
u
latio
n
r
em
ain
s
u
s
ef
u
l
f
o
r
p
r
o
o
f
o
f
c
o
n
ce
p
t,
b
u
t
th
e
r
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lts
ca
n
n
o
t
b
e
d
ir
ec
tly
g
en
er
alize
d
with
o
u
t
co
n
s
id
er
in
g
s
ca
le
ef
f
ec
ts
.
T
h
e
s
ca
lin
g
ef
f
ec
t
o
n
v
e
h
icle
d
y
n
am
ics
af
f
ec
t
s
m
ass
an
d
in
er
tia.
T
h
e
m
ass
will
d
ec
r
ea
s
e
ap
p
r
o
x
im
ately
in
p
r
o
p
o
r
tio
n
to
3
.
C
lear
ly
,
a
1
:1
0
m
o
d
el
h
as
a
m
ass
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(
1
/1
0
)
3
=
1
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0
0
0
o
f
th
e
o
r
ig
in
al
v
eh
icle.
I
n
a
d
d
itio
n
,
th
e
m
o
m
en
t
o
f
in
er
tia
is
d
r
asti
ca
lly
r
e
d
u
ce
d
,
m
ak
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g
t
h
e
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tem
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u
ch
m
o
r
e
r
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iv
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d
r
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n
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elativ
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g
r
e
ater
tr
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tio
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tire
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r
ictio
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ce
s
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m
p
ar
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d
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th
e
m
ass
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o
r
a
r
esp
o
n
s
e
th
at
is
to
o
f
ast co
m
p
ar
e
d
to
th
e
r
ea
l w
o
r
ld
.
[
2
9
]
.
4.
CO
NCLU
SI
O
N
T
h
e
h
ar
d
war
e
s
im
u
latio
n
r
e
s
u
lts
d
em
o
n
s
tr
ate
th
at
th
e
C
AC
C
s
y
s
tem
o
p
er
ates
ef
f
ec
tiv
ely
an
d
im
p
r
o
v
es
th
e
r
esp
o
n
s
e
tim
e
o
f
th
e
f
o
llo
win
g
v
eh
icle
wh
en
th
e
lead
in
g
v
eh
icle
ch
an
g
es
its
s
p
ee
d
.
B
y
u
tili
zin
g
in
ter
-
v
eh
icle
co
m
m
u
n
icatio
n
,
th
e
C
AC
C
s
y
s
tem
s
u
cc
ess
f
u
ll
y
tr
an
s
m
its
s
p
ee
d
d
ata
f
r
o
m
t
h
e
lead
in
g
v
eh
icle
to
th
e
f
o
llo
win
g
v
eh
icle,
e
n
ab
li
n
g
th
e
latter
t
o
r
esp
o
n
d
ap
p
r
o
p
r
iately
b
y
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ju
s
tin
g
its
s
p
ee
d
to
m
ain
tain
a
r
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ely
co
n
s
tan
t
in
ter
-
v
eh
i
cle
d
is
tan
ce
.
T
h
e
r
esp
o
n
s
e
tim
e
o
f
th
e
f
o
llo
win
g
R
C
ca
r
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r
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ce
d
b
y
ap
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r
o
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ately
5
s
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o
n
d
s
wh
en
u
s
in
g
th
e
C
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C
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y
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tem
.
Sp
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ically
,
with
C
A
C
C
en
a
b
led
,
th
e
f
o
llo
win
g
v
eh
icle
r
eq
u
ir
es
ap
p
r
o
x
im
ately
1
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s
ec
o
n
d
s
to
ad
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t
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th
e
d
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d
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is
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ce
,
wh
er
ea
s
with
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C
alo
n
e,
th
e
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ju
s
tm
en
t tim
e
in
cr
ea
s
es to
a
p
p
r
o
x
im
ately
1
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s
ec
o
n
d
s
.
F
UNDING
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NF
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M
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th
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r
s
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e
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n
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g
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DATA AV
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Evaluation Warning : The document was created with Spire.PDF for Python.
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