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