Weifeng Wang Qing Wu Xiumin Chu Yong Wu Discussion to Information Acquisition Technology and Safety Identification Method of Traffic Environment. 874-878 2008 PACIIA (1) http://doi.ieeecomputersociety.org/10.1109/PACIIA.2008.29 conf/paciia/2008-1 db/conf/paciia/paciia2008-1.html#WangWCW08