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Submitted on: 24 September 2016.
Revised on: 14 January 2017.
Accepted on: 04 March 2017.
___________________IEEE Transactions on Intelligent Vehicles
Submitted on: 19 February 2010.
Revised on: 15 May 2010.
Accepted on: 19 June 2010.
___________________IEEE Transactions on Intelligent Vehicles
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