Algorithm 1: Algorithm to find the accident zone

1: procedure ACCIDENT ZONE (xs(t), ys(t), R, xr, yr)

// location of vehicle in accident, R-Range and Range coordinates

2:  ds(t) = $\sqrt{{\left((x_r-x_s\left(t\right)\right)}^2+{\left(y_r-y_s\left(t\right)\right)}^2)}$

3:  while ds(t) ⇐ R/2 do

4:    Read Accident Zone from $[(x_s\left(t\right),y_s\left(t\right),\left(x_s\left(t\right)-\frac{R}{2},y_s\left(t\right)-\frac{R}{2}\right)]$

5:  while ds(t) > R/2 do

6:    B(t) = R − ds(t);

7:    Get $B_x\left(t\right)$ and $B_y\left(t\right)$;

8:    Read Accident Zone from $\left[\left(x_s\left(t\right),y_s\left(t\right),B_x\left(t\right),B_y\left(t\right)\right)\right]$