“…Current highway warning systems have already exploited advanced sensor technologies [4] [21] [22] , such as microwave presence-detecting radar, doppler microwave radar, laser radar, active/passive infrared, ultrasound, acoustic array, magnetic, video image processor, inductive loop detector, fog sensing, etc., for intersection control [3], freeway incident detection [26], traffic congestion monitoring [16], ramp and freeway-to-freeway metering [38], lateral control [23], traffic data collection [34], weather and highway condition detection [7], etc. These systems rely on the data collected by sensors for their management and control.…”