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Infrastructure systems such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2X) communication can theoretically prevent nearly all accidents by gathering the speed, locations, and travel directions of traffic participants, and intervening to control vehicle motion as required to help prevent collisions. However, during the phase-in of the communication systems, there will be many vehicles and many roads that do not have the communication systems in place, and therefore the system will not be effective in those cases. This lack of availability is likely the main disadvantage. On-board sensing (autonomous) systems such as cameras and radar sensors may not detect all potential hazards (e.g. due to weather, or hidden hazards), but they are effective in many situations and can help prevent crashes without depending on communication with infrastructure or other vehicles.