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In recent years, ITS projects in Japan, Europe and the US have been characterized by a strong emphasis on safe driver assistance systems designed to prevent traffic accidents. As it has become clear that eradicating accidents will be impossible by means of vehicle passive safety and single-vehicle active safety efforts alone, research and development of systems for preventing accidents through road-vehicle cooperation and vehicle-vehicle cooperation have been promoted in Japan (ASV, AHS),doi:10.1016/s0386-1112(14)60165-5 fatcat:u2rzvgixsnbshffxlxb4rw6ism