Acknowledgement
이 논문은 2023년도 정부(경찰청)의 재원으로 과학치안진흥센터의 지원을 받아 수행하였습니다. (No.092021C28S01000, 자율주행 혼재 시 도로교통 통합관제시스템 및 운영기술 개발)
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