The fuzzy system proposed for CARTIM also uses vehicle
speed and density as input parameters. Speed is an easily
obtainable attribute and can be calculated from the distance
traveled in a short time interval. However, measuring vehicle
density is a complex task. Based on the number of received
beacon messages, each vehicle estimates the number of neighboring
vehicles at a time. Thus, it is possible to calculate
vehicle density, which corresponds to the number of vehicles
per kilometer per lane.