WO2022109776A1

WO2022109776A1 - Intelligent traffic system, and method for transmitting information therein

Info

Publication number: WO2022109776A1
Application number: PCT/CN2020/131107
Authority: WO
Inventors: 梁津垚; 查普夫M.P.; 任博琦
Original assignee: 罗伯特·博世有限公司; 梁津垚; 查普夫M.P.; 任博琦
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2022-06-02
Also published as: CN116490910A; DE112020007424T5

Abstract

An intelligent traffic system, and a method for transmitting information therein. The intelligent traffic system comprises a series of roadside nodes. Each roadside node respectively comprises one or more sensors, wherein at least one of the series of roadside nodes is configured to assign a weight of each sensor of the roadside node and generate fusion information representing a fusion result of sensing information of each sensor of the roadside node on the basis of the assigned weight, the fusion information at least including information of the assigned weight; and at least one other roadside node in the series of roadside nodes is in communication connection with the roadside node and is configured to receive the fusion information from the roadside node, determine a weight of each sensor of the other roadside node on the basis of the received fusion information, and generate fusion information representing a fusion result of sensing information of each sensor of the other roadside node on the basis of the determined weight.

Description

Intelligent transportation system and information transmission method therein

technical field

The present invention relates to the technical field of interconnected transportation, in particular to an intelligent transportation system and a method for transmitting information in the intelligent transportation system, and also to a corresponding machine-readable storage medium.

Background technique

Today, intelligent transportation systems based on sensor technology, computer technology and data communication technology are widely used. Common intelligent transportation systems usually include multiple roadside nodes with sensors. The sensors of each roadside node can sense traffic information in a certain area, and fuse the information sensed at multiple roadside nodes. , so as to obtain the traffic situation of the entire traffic area. However, the solution of obtaining traffic information in this existing way has problems of low accuracy and even serious deviation of results.

SUMMARY OF THE INVENTION

The following introduction is provided to introduce a selection of concepts in a simplified form that are further described in the detailed description that follows. This introduction is not intended to highlight key features or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter.

According to an aspect of the present invention, an intelligent transportation system is provided, which includes a series of roadside nodes, each roadside node includes one or more sensors, wherein at least one roadside in the series of roadside nodes The node is configured to: assign a weight of each sensor of the one roadside node and generate, based on the assigned weight, fusion information representing a fusion result of sensing information of each sensor of the one roadside node, the fusion information at least including assigned weight information; and at least one other roadside node in the series of roadside nodes is communicatively connected to the one roadside node and is configured to: receive the fusion information from the one roadside node, based on the The received fusion information determines the weight of each sensor of the other roadside node, and generates fusion information representing a fusion result of the sensing information of each sensor of the other roadside node based on the determined weight.

According to one embodiment, the other roadside node is further configured to: calculate total fusion information based on the fusion information of the one roadside node and the fusion information of the other roadside node, which is used to represent the one roadside node The traffic conditions of the traffic area that can be sensed by sensors of the node and said another roadside node.

According to one embodiment, the intelligent transportation system further includes a central node communicatively connected to each roadside node, and the central node is configured to: receive fusion information from each roadside node, and calculate based on the received fusion information The total fusion information is obtained, which is used to represent the traffic conditions of the traffic area that can be sensed by the sensors of each roadside node.

According to one embodiment, the central node is one of the roadside nodes, or the central node is a node independent of the roadside nodes.

According to one embodiment, the other roadside node is configured to determine the weight of its respective sensors with reference to the weight information in the received fusion information.

According to one embodiment, in the case that the other roadside node and the one roadside node are the same type of nodes, the other roadside node applies the weight distribution of the one roadside node to the weight distribution of each of its sensors. Weight distribution.

According to one embodiment, the two roadside nodes are the same type of nodes when the two roadside nodes satisfy at least one of the following: (1) the distance between the two is less than the distance threshold; (2) the sensors contained in the two are of the same type ; (3) The surrounding environment and/or weather conditions where both are located are the same.

According to one embodiment, when the other roadside node and the one roadside node are of the same type, the other roadside node requests the one roadside node for its fusion information, and the one roadside node The roadside node sends fusion information to the other roadside node in response to the request.

According to an embodiment, the information transmission between the roadside nodes and the information transmission mode between the roadside nodes and the central node include: periodic transmission and transmission in response to a request.

According to one embodiment, the weight assignment of the sensor is related to the reliability of the sensor itself and/or the sensing environment, and the weight assignment is adjustable.

According to one embodiment, the sensing environment includes at least one of the following: weather conditions, lighting conditions, and measurement interference conditions.

According to one embodiment, the sensors of the roadside node include at least one of the following: millimeter-wave radar, lidar, camera, and heat detector.

According to one embodiment, the fusion information of the roadside node includes: a timestamp representing the sensing time; an identifier of the sensing object; weight information; and an object state derived based on the sensing information of the sensor and the weight of the sensor.

According to one embodiment, the object state includes at least one of the following: the object's position, velocity, orientation, size, classification, and acceleration.

According to another aspect of the present invention, there is provided a method for transmitting information in an intelligent transportation system as described above, the intelligent transportation system including a series of roadside nodes, each roadside node including one or more a sensor, the method comprising: performing at at least one roadside node in the series of roadside nodes: assigning weights for each sensor of the one roadside node and generating a representation representing the one roadside based on the assigned weights fusion information of the fusion result of the sensing information of each sensor of the node, the fusion information at least includes the assigned weight information; and at least another roadside node in the series of roadside nodes that is communicatively connected to the one roadside node Executed at the roadside node: receiving the fusion information from the one roadside node, determining the weight of each sensor of the other roadside node based on the received fusion information, and generating a representation representing the other roadside based on the determined weight. The fusion information of the fusion result of the sensing information of each sensor of the side node.

According to one embodiment, the method further includes performing at the at least another roadside node: calculating the total fusion information based on the fusion information of the one roadside node and the fusion information of the other roadside node, using to represent the traffic conditions of the traffic area that the sensors of the one roadside node and the other roadside node can sense.

According to one embodiment, the intelligent transportation system further includes a central node communicatively connected to each roadside node, and the method further includes performing at the central node: receiving the fusion information from each roadside node, and based on the received The total fusion information is calculated from the fusion information, which is used to represent the traffic conditions of the traffic area that can be sensed by the sensors of each roadside node.

According to yet another aspect of the present invention, there is provided a machine-readable storage medium storing executable instructions which, when executed, cause one or more processors to perform the method as described above.

Description of drawings

By way of example and not of limitation, implementations of the present invention are illustrated in the accompanying drawings, in which like reference numerals refer to the same or similar parts, wherein:

FIG. 1 shows some exemplary interaction manners for exchanging information among roadside nodes of an intelligent transportation system according to a feasible implementation manner of the present invention.

Fig. 2 is a schematic block diagram of an intelligent transportation system according to a possible embodiment of the present invention;

3 is a process of transmitting information in an intelligent transportation system according to a feasible embodiment of the present invention;

4 is a schematic block diagram of an intelligent transportation system according to another possible embodiment of the present invention; and

FIG. 5 is a process of transmitting information in an intelligent transportation system according to another possible embodiment of the present invention.

Detailed ways

An important aspect of the present invention is to discover the cause of the inaccuracy of the multi-sensor fusion information at a single roadside node and the total fusion information of multiple roadside nodes in a traffic system, that is, the weight of sensors at each roadside node Allocation is different.

To this end, embodiments of the present invention provide an improved intelligent transportation system and a method of transmitting information therein, wherein a roadside node transmits its information fusion basis, eg, weight assignment information, to another roadside node so that another roadside node can The side nodes can adjust their own sensor weight assignments based on this. In a further embodiment, another roadside node or the central node may calculate total fusion information based on the learned weight distribution information of other roadside nodes, which is used to represent the traffic area that can be sensed by the sensors of the plurality of roadside nodes. traffic condition.

On the basis of accurately obtaining the sensor fusion information of roadside nodes and the total fusion information, it is beneficial to many aspects of intelligent transportation, such as improving the rationality of the intelligent transportation system for traffic guidance and vehicle scheduling; Vehicle-to-everything communication (V2X) can optimize multiple functions of driving assistance on the vehicle side when the vehicle side knows the exact traffic situation.

The term "weight" or "sensor's weight" used in the present invention can be understood as the importance of a sensor's sensing information in information fusion. The weight of the sensor may be related to its own reliability and/or to the sensing environment. The weight of the sensor is adjustable, not constant.

In one case, a sensor's weight may be related to its sensing environment (eg, weather) and the properties of the sensor itself. For example, in foggy weather, the sensing ability of the camera will be affected, and the weight of the camera in foggy weather is set to be lower, on the contrary, in sunny weather, the weight of the camera is set to be higher. For example, radars perform better than cameras in bad weather and dim light, so in such cases the radar weights are set higher and the cameras lower.

It can be understood that, for multiple sensors on the same roadside node, the sum of their weights is not necessarily 1, and their respective weight values can be set adaptively based on the above definition.

Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

According to an embodiment of an aspect of the present invention, there is provided an intelligent transportation system comprising a series of roadside nodes. These roadside nodes can be deployed at different locations in the traffic environment (traffic area), and each roadside node is provided with one or more (one or more types) of sensors. For example, a series of roadside nodes are continuously arranged on the roadside (eg, poled, laid or buried, etc.). Each roadside node can capture the environmental information within the sensing range of its sensor, and generate node fusion information from the captured sensor information and the assigned sensor weight. By interacting with these node fusion information, the total fusion information can be obtained. traffic conditions in the area.

Information transmission between these roadside nodes can occur at a predetermined frequency, or in response to a request from one node to another, or in response to a predetermined event, or any combination of the above.

Between these roadside nodes, information can be exchanged. The interactive information may include one or more of the following: object information captured by a variety of sensors at the node, weight information of the sensors, and fusion information after fusing the captured object information based on the weight information.

In one embodiment, the fusion information generated at the one-way-side node may include: a timestamp representing the sensing time of the sensor, an identifier of the sensing object, and weight information (ie, the weight assigned to each sensor at the node) , and the object state based on the sensing information of the sensor and the assigned weight of the sensor. The object state may include at least one of the following: the object's position, velocity, orientation, size, classification, and acceleration. The fusion information can be transmitted from one wayside node to another wayside node.

The following table shows an example of fusion information transmitted between roadside nodes.

The ways in which these roadside nodes exchange information can include various ways. FIG. 1 illustrates some exemplary interaction ways of exchanging information between roadside nodes of an intelligent transportation system. As shown in FIG. 1 , the intelligent transportation system includes five roadside nodes (ie, nodes 1 to 5) as an example to illustrate some ways of information interaction.

1(a), nodes 1 to 5 transmit information sequentially, that is, node 1 transmits information to node 2, node 2 transmits information to node 3, and so on, and finally node 4 transmits information to node 5. In this example, each node can learn its own node information and node information of nodes preceding its own node.

Referring to (b) of FIG. 1 , node 1 transmits information to its immediately adjacent node 2 , node 5 transmits information to its immediately adjacent node 4 , and both node 2 and node 4 transmit information to node 3 .

Referring to (c) of FIG. 1 , the nodes 1 to 5 all transmit information to the central node 6 . In this example, the central node may be a cloud server, an edge server or a roadside server.

Referring to (d) of FIG. 1 , both node 1 and node 3 transmit information to node 2 , node 2 transmits information to node 4 , and node 4 transmits information to node 5 .

Referring to (e) of FIG. 1 ,

nodes

1 , 2 , 4 , and 5 all transmit information to node 3 . In this example, node 3 is similar to the central node.

It will be appreciated that although the above shows an example of one node transmitting information to another node. However, the information transfer between nodes can be bidirectional. For example, another node may send a request to a node requesting the transfer of node information. For example, after another node receives the information and generates new fused information at its own node, the new fused information may be transmitted back to the node from which it received the information.

It can be understood that the examples in (a) to (e) of FIG. 1 may be applicable to different application scenarios. According to the embodiment of the present invention, the manner of information interaction may also include other manners, which are not limited thereto.

FIG. 2 schematically shows an intelligent transportation system 100 according to a possible embodiment of the present invention. For clarity, only two roadside nodes are shown in FIG. 2 , ie, one roadside node 10 and the other roadside node 20 .

As shown in FIG. 2 , the roadside node 10 may include a sensor unit 11 , a processing unit 12 and a communication unit 13 . The sensor unit 11 may include one or more sensors. In one embodiment, the sensor unit includes one or more of millimeter wave radar, lidar, cameras, and thermal detectors. The processing unit 12 is configured to assign weights to each sensor and process information sensed by the sensors based on the assigned weights to obtain fusion information. The communication unit 13 is used to communicate with other nodes, eg, to send and receive information to and from other nodes. Communication between nodes may be implemented as wireless communication or wired communication or a combination of both wireless and wired communication.

Similarly, the roadside node 20 may include a sensor unit 21 , a processing unit 22 and a communication unit 23 . Each unit of the roadside node 20 can be implemented in the same manner as the corresponding units of the roadside node 10, and details are not described here.

FIG. 3 shows a process 300 for transmitting information in an intelligent transportation system according to one possible embodiment of the present invention. The process 300 may be implemented in the intelligent transportation system 100 described above.

Referring to Figure 3, in block 302, the processing unit 12 of the roadside node 10 assigns a weight to each sensor of the roadside node 10.

The weight assignment of the sensors may be related to the reliability of the sensors themselves and/or the sensing environment. The weight distribution is adjustable, eg, when at least one of weather conditions, lighting conditions, and measurement conditions changes, the weight distribution can be adjusted accordingly.

For example, the roadside node 10 is provided with cameras and radars. After the calibration of the sensor, the camera has higher reliability than the radar, then the camera is assigned a higher weight than the radar. After the weights of the camera and radar are assigned as above, if the lighting situation changes, such as from day to night, the weight of the radar will increase and the weight of the camera will decrease.

In block 304, the sensing unit 11 of the roadside node 10 senses the environment and objects within its sensing range, and generates sensing information. For example, the radar and the camera sense object information respectively, and based on the sensing results, the radar generates object information 1, and the camera generates object information 2.

It is understood that the execution order of block 302 and block 304 is not limited. In one embodiment, the sensors of the roadside node 10 may sense environmental information and object information in real time.

Next, in block 306, the processing unit 12 of the roadside node 10 performs fusion processing on the information sensed by each sensor based on the assigned weight, and generates fusion information. The fusion information at least includes the weight distribution information of each sensor at the node 10 . The fusion information may also include other information as described above, which will not be repeated here.

It can be understood that the greater the weight of the sensor, the greater the component of the information sensed by it in the fusion process. The present invention does not limit the specific fusion algorithm.

In block 308 , the communication unit 13 of the roadside node 10 transmits the fusion information to another roadside node 20 .

In one embodiment, the roadside node 10 sends the fusion information to the roadside node 20 at a predetermined frequency.

In another embodiment, another roadside node 20 sends a request to the roadside node 10 for requesting the fusion information of the node 10 . The node 10 sends the fusion information to the roadside node 20 in response to receiving the request.

A situation of this embodiment is that the roadside node 20 and the roadside node 10 are the same type of nodes. The same type of nodes can be understood as the same or similar weight distribution for two nodes due to almost the same sensor type or environment. For example, when the two meet at least one of the following, they can be considered as nodes of the same type: (1) The distance between the two is less than the distance threshold. (2) The sensor types included in both are the same. For example, the sensor type and brand are the same. (3) The surrounding environment and/or weather conditions in which both are located are the same.

In yet another embodiment, the roadside node 10 sends the fusion information to the roadside node 20 at a predetermined frequency. Moreover, the roadside node 10 sends the fusion information to the roadside node 20 after receiving a request from the roadside node 20 or in response to a preset trigger event.

In block 310 , the communication unit 23 of the roadside node 20 receives the fusion information from the roadside node 10 .

In block 312, the processing unit 22 of the roadside node 20 determines the weights of the sensors it provides based on the received fusion information.

In one embodiment, the processing unit 22 of the roadside node 20 takes the received weight distribution of the node 10 as a consideration when assigning weights to the sensors of the roadside node 20, and may also combine the reliability of the sensors of its own node and environmental factors to determine the weight distribution of the sensors of the node 20 .

In another embodiment, the roadside node 20 and the roadside node 10 are the same type of nodes. The roadside node 20 directly applies the weight assignment of the roadside node 10 to the weight assignment of its own node, or performs simple adjustment on the basis of the weight assignment of the roadside node 10 without performing sensor calibration and complex calculations.

In block 314, the sensing unit 21 of the roadside node 20 senses the environment and objects within its sensing range and generates sensing information.

It will be appreciated that block 314 may be performed before or after or concurrently with the above blocks. In one embodiment, the sensors of the roadside node 20 sense environmental information and objects in real-time.

In block 316, the processing unit 22 of the roadside node 20 fuses the sensed information based on the determined weight assignments and generates fused information. The fusion information at least includes the weight distribution information of each sensor at the node 20 . The fusion information may also include weight assignment information of the sensors of the node 10 . The fusion information may also include other information as described above, which will not be repeated here.

In block 318, the processing unit 22 of the node 20 calculates the total fusion information based on the fusion information of the roadside node 10 and the fusion information of the roadside node 20, indicating that the sensors of the roadside node 10 and the roadside node 20 are capable of sensing Traffic conditions in the traffic area to which you are arriving. The present invention does not limit the specific algorithm for fusing the fusion information of the roadside node 10 and the roadside node 20 to obtain the total fusion information.

It can be seen that the weight allocation information is always transmitted in the information exchange process between nodes, so the nodes can take the weight allocation of other nodes as a consideration when performing weight allocation and fusion calculation, so as to make more accurate weights Allocation and fusion computing.

FIG. 4 schematically shows an intelligent transportation system 200 according to another possible embodiment of the present invention. The difference between the intelligent transportation system 200 shown in FIG. 4 and the intelligent transportation system 100 shown in FIG. 2 is only that the intelligent transportation system 200 further includes the central node 30 . The central node 30 may be a cloud server, an edge server or a roadside server. The central node 30 may also be a roadside node, that is, a roadside node may be set as a central node to function as a central node.

The central node 30 may include a communication unit 31 and a processing unit 32 . The communication unit 31 is used to communicate with the roadside nodes, eg, to send and receive information to and from the roadside nodes. The communication between the central node and the roadside node may be implemented as wireless communication or wired communication or a combination of both wireless and wired communication. The processing unit 32 is used for processing and analyzing the information received from the multiple nodes, so as to obtain the traffic situation of the entire traffic area.

FIG. 5 illustrates a process 500 for transmitting information in an intelligent transportation system according to one possible embodiment of the present invention. The process 500 may be implemented in the intelligent transportation system 200 described above.

Referring to FIG. 5 , blocks 502 , 504 and 506 perform the same processes as

blocks

302 , 304 and 306 , respectively, and will not be repeated here.

In block 508 , the communication unit 13 of the roadside node 10 transmits the fusion information of the node 10 to the central node 30 in addition to the fusion information of the node 10 to the roadside node 20 .

Blocks

510 , 512 , 514 and 516 perform the same processes as

blocks

310 , 312 , 314 and 316 , respectively, and will not be repeated here.

At block 518 , the communication unit of the roadside node 20 transmits the fusion information of the node 20 to the central node 20 .

At block 520 , the communication unit 31 of the central node 30 receives the fusion information from the node 10 and the fusion information from the node 20 .

In block 522, the processing unit 32 of the central node 30 calculates the total fusion information based on the received fusion information, representing the traffic conditions of the traffic area that the sensors of the roadside node 10 and the roadside node 20 can sense.

It can be understood that although the process 500 mainly involves the information exchange between the roadside nodes and the central node, the process 500 may also include the information exchange between the roadside nodes as in the process 300 .

An embodiment of another aspect of the present invention provides a method of transmitting information in the

intelligent transportation system

100 or 200 as described above. Therefore, the above related descriptions also apply here.

The method includes: performing at at least one roadside node in a series of roadside nodes of an intelligent transportation system: assigning weights to sensors of the one roadside node and generating a representation representing the one roadside node based on the assigned weights The fusion information of the fusion result of the sensing information of each sensor, where the fusion information at least includes the assigned weight information.

The method also includes performing at at least one other roadside node in the series of roadside nodes that is communicatively connected to the one roadside node: receiving fusion information from the one roadside node, based on the received fusion The information determines the weight of each sensor of the other roadside node, and based on the determined weight, the fusion information representing the fusion result of the sensing information of each sensor of the other roadside node is generated.

The present invention also provides a machine-readable storage medium storing executable instructions that, when executed, cause a machine to perform a method or process as described above.

It is to be understood that all operations in the above-described methods or processes are exemplary and the present invention is not limited to any operations in a method or process or the order of these operations, but should cover all operations under the same or similar concepts other equivalent transformations.

It will be appreciated that the roadside nodes and central nodes described above may be implemented in various ways. For example, it may be implemented in hardware, software, or a combination thereof.

A roadside node or central node may include one or more processors. These processors may be implemented using electronic hardware, computer software, or any combination thereof. Whether these processors are implemented as hardware or software will depend on the specific application and the overall design constraints imposed on the system. As an example, a processor, any portion of a processor, or any combination of processors presented in this disclosure may be implemented as a microprocessor, microcontroller, digital signal processor (DSP), field programmable gate array (FPGA) ), programmable logic devices (PLDs), state machines, gate logic, discrete hardware circuits, and other suitable processing components configured to perform the various functions described in this disclosure. The functions of a processor, any portion of a processor, or any combination of processors presented herein may be implemented as software executed by a microprocessor, microcontroller, DSP, or other suitable platform.

Software can be broadly viewed as representing instructions, sets of instructions, code, code segments, program code, programs, subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, threads of execution, processes , functions, etc. Software may reside on computer readable media. Computer readable media may include, for example, memory, which may be, for example, magnetic storage devices (eg, hard disks, floppy disks, magnetic stripes), optical disks, smart cards, flash memory devices, random access memory (RAM), read only memory (ROM), memory Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), Register or Removable Disk. Although memory is shown as separate from the processor in the aspects presented herein, the memory may also be located within the processor (eg, a cache or register).

The above description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein. All structural and functional equivalents to the elements of the described aspects of the invention that are known or come to be known to those skilled in the art are expressly incorporated herein by reference and are intended to be covered by the claims .

Claims

An intelligent transportation system includes a series of roadside nodes, each roadside node includes one or more sensors, wherein,

At least one roadside node in the series of roadside nodes is configured to: assign a weight of each sensor of the one roadside node and generate each sensor sensing information representing the one roadside node based on the assigned weight The fusion information of the fusion result, the fusion information contains at least the assigned weight information; and

At least one other roadside node in the series of roadside nodes is communicatively connected to the one roadside node and is configured to: receive fusion information from the one roadside node, and determine the fusion information based on the received fusion information. weights of the sensors of the other roadside node, and based on the determined weights, fusion information representing a fusion result of the sensing information of the sensors of the other roadside node is generated.
The intelligent transportation system of claim 1, wherein the other roadside node is further configured to: calculate a total fusion based on the fusion information of the one roadside node and the fusion information of the other roadside node Information for representing the traffic conditions of the traffic area that can be sensed by the sensors of the one roadside node and the other roadside node.
The intelligent transportation system according to claim 1 or 2, wherein the intelligent transportation system further comprises a central node communicatively connected with each roadside node, and

The central node is configured to: receive the fusion information from each roadside node, and calculate the total fusion information based on the received fusion information, which is used to represent the traffic conditions of the traffic area that can be sensed by the sensors of each roadside node .
The intelligent transportation system of claim 3, wherein the central node is one of the roadside nodes, or

The central node is a node independent of each roadside node.
The intelligent transportation system of any of claims 1-4, wherein the other roadside node is configured to determine the weights of its sensors with reference to weight information in the received fusion information.
The intelligent transportation system according to any one of claims 1-4, wherein, in the case that the another roadside node and the one roadside node are the same type of nodes, the other roadside node will The weight distribution of a roadside node is applicable to the weight distribution of its sensors,

Optionally, when the two roadside nodes satisfy at least one of the following, the two roadside nodes are the same type of nodes: (1) the distance between the two is less than the distance threshold; (2) the sensor types included in the two are the same; (3) The surrounding environment and/or weather conditions in which both are located are the same.
The intelligent transportation system according to claim 6, wherein in the case that the other roadside node and the one roadside node are of the same type, the other roadside node requests the one roadside node its fusion information, and the one roadside node sends the fusion information to the other roadside node in response to the request.
The intelligent transportation system according to any one of claims 1-7, wherein the information transmission between the roadside nodes and the information transmission mode between the roadside nodes and the central node include: periodically transmitting and responding to requests transmission.
The intelligent transportation system of any one of claims 1-8, wherein the weight distribution of the sensors is related to the reliability of the sensors themselves and/or the sensing environment, and the weight distribution is adjustable,

Optionally, the sensing environment includes at least one of the following: weather conditions, lighting conditions, and measurement interference conditions.
The intelligent transportation system according to any one of claims 1-9, wherein the sensors of the roadside nodes include at least one of the following: millimeter-wave radar, lidar, camera, and heat detector.
The intelligent transportation system according to any one of claims 1-10, wherein the fusion information of roadside nodes includes:

Timestamp representing the sensing time;

the identifier of the sensing object;

weight information;

The object state based on the sensing information of the sensor and the weight of the sensor;

Optionally, the object state includes at least one of the following: the object's position, speed, orientation, volume size, classification and acceleration.
A method for transmitting information in an intelligent transportation system according to any one of claims 1-11, the intelligent transportation system comprising a series of roadside nodes, each roadside node comprising one or more sensors, respectively, The method includes:

performing at at least one roadside node in the series of roadside nodes: assigning weights for each sensor of the one roadside node and generating sensor sensing information representing the one roadside node based on the assigned weights The fusion information of the fusion result, the fusion information contains at least the assigned weight information; and

performing at at least another roadside node in the series of roadside nodes that is communicatively connected to the one roadside node: receiving fused information from the one roadside node, determining the fused information based on the received fused information The weight of each sensor of the other roadside node, and based on the determined weight, the fusion information representing the fusion result of the sensing information of each sensor of the other roadside node is generated.
The method of claim 12, wherein the method further comprises performing at the at least another roadside node:

The total fusion information is calculated based on the fusion information of the one roadside node and the fusion information of the other roadside node, which is used to indicate that the sensors of the one roadside node and the other roadside node can sense the traffic conditions in the traffic area.
The method according to claim 12 or 13, wherein the intelligent transportation system further comprises a central node communicatively connected with each roadside node, and the method further comprises executing at the central node:

The fusion information from each roadside node is received, and the total fusion information is calculated based on the received fusion information, which is used to represent the traffic conditions of the traffic area that can be sensed by the sensors of each roadside node.
A machine-readable storage medium storing executable instructions which, when executed, cause one or more processors to perform the method of any of claims 12-14.