2022-03-022022-03-022009978-1-4244-5520-1978-1-4244-5519-5978-1-4244-5518-8978-1-4244-5521-8https://publica.fraunhofer.de/handle/publica/14901312th International IEEE Conference on Intelligent Transportation Systems, ITSC 2009. Proceedings. Vol.1