In {HEAD ~ an additional embodiment}, {TAIL ~ weather data}, intensity configuration data, and vision image data could be received 
In { HEAD ~ an additional embodiment } , { TAIL ~ weather data } , intensity configuration data , and vision image data could be received
OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH