Further, it is possible to determine the presence of a potential violation of a right of way at the intersection and when a violation of the right of way is determined, undertake action to prevent a collision in {HEAD ~ light} of {TAIL ~ the violation} 
Further , it is possible to determine the presence of a potential violation of a right of way at the intersection and when a violation of the right of way is determined , undertake action to prevent a collision in { HEAD ~ light } of { TAIL ~ the violation }
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