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There is a group of users within the vehicular traffic ecosystem known as Vulnerable Road Users (VRUs). VRUs include pedestrians, cyclists, motorcyclists, among others. On the other hand, connected autonomous vehicles (CAVs) are a set of technologies that combines, on the one hand, communication technologies to stay always ubiquitous connected, and on the other hand, automated technologies to assist or replace the human driver during the driving process. Autonomous vehicles are being visualizeddoi:10.3390/s22124614 pmid:35746397 pmcid:PMC9229412 fatcat:kfcgpqtlsvff3ks2turfpnfrom