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 {HEAD ~ a collision} in {TAIL ~ light} of the violation 
in
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 { HEAD ~ a collision } in { TAIL ~ light } of the violation
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH