Please take the example to give me the SOTIF improvement requirement by using STPA with parameters according to the following sentences: "When ego vehicle pilot on highway and the leading vehicle speeds down and then keep the driving speed. The (perception of) ADS could not detect the speed of leading vehicle correctly which could lead to front collision."Example: 
1)The ADS shall ensure sensor detection coverage [XXX %] under different driving maneuvers, driving speeds and driving conditions
2) The ADS shall ensure [max. estimated speed] from sensor detection under different driving maneuvers, driving speed and driving conditions is over [Threshold_SpeedDetection_Tolerance]
3)Vehicle speed of the ego vehicle and targeted object shall be constrained according to system processing refresh rate
