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Measures to protect vulnerable road users during low-speed maneuvers are required. For example, systems that use cameras to display the vehicle's rearview are popular. However, some vehicles are difficult to equip with a rear view camera system. To avoid a crash when driving in reverse, it is also effective to identify the presence of pedestrians via an audible warning using a device (e.g., clearance sonar). It may be cheaper to install than a rearview camera system. Installation cost is also important for the spread of equipment that