Service station for an intelligent transportation system
An Intelligent Transportation System, ITS, service station is disclosed. The ITS service station has: a receiver, having an area of radio coverage, configured to receive a first Collective Perception Message, CPM, from a first ITS station at a first position within the coverage area, the first CPM including first sensor data on an object perceived by the first ITS station; an aggregator connected to the receiver and configured to aggregate said first sensor data with at least one second sensor data on the same object into a third sensor data, which second sensor data either is received via the receiver in a second CPM from a second ITS station at a second position within the coverage area perceiving the same object or is determined by a sensor of the ITS service station perceiving the same object; and a transmitter configured to broadcast said third sensor data in a third CPM.
1. An Intelligent Transportation System (ITS) service station, comprising:
a receiver having an area of radio coverage and being configured to receive a first Collective Perception Message (CPM) from a first ITS station at a first position within the coverage area, the first CPM including first sensor data on an object perceived by the first ITS station;
an aggregator connected to the receiver and configured to aggregate said first sensor data with at least one second sensor data on the same object into a third sensor data, which second sensor data is received via the receiver in a second CPM from a second ITS station at a second position within the coverage area perceiving the same object; and
a transmitter connected to the aggregator and configured to broadcast said third sensor data in a third CPM.
2. The ITS service station according to claim 1 , wherein the first sensor data includes a first data value and a first confidence measure of said first data value and the at least one second sensor data includes a second data value and a second confidence measure of said second data value, wherein the aggregator is configured to calculate a third data value from said first and at least one second data values and a third confidence measure from said first and at least one second confidence measures and to include said third data value and third confidence measure in the third sensor data.
3. The ITS service station according to claim 1 , wherein the aggregator is configured to determine objects in relation to sensor data to be the same when the objects match in one or more of object positions, speeds, headings, and accelerations.
4. The ITS service station according to claim 1 , wherein the aggregator is configured to determine objects in relation to sensor data to be the same when the objects match at least in object appearance characteristics.
5. An Intelligent Transportation System (ITS) service station, comprising:
a receiver having an area of radio coverage and being configured to receive a first Collective Perception Message (CPM) from a first ITS station at a first position within the coverage area, the first CPM including first sensor data on an object perceived by the first ITS station:
an aggregator connected to the receiver and configured to aggregate said first sensor data with at least one second sensor data on the same object into a third sensor data, which second sensor data either is received via the receiver in a second CPM from a second ITS station at a second position within the coverage area perceiving the same object or is determined by a sensor of the ITS service station perceiving the same object; and
a transmitter connected to the aggregator and configured to broadcast said third sensor data in a third CPM;
wherein the third sensor data includes a count of first and second sensor data from which the third sensor data has been aggregated.
6. An Intelligent Transportation System (ITS) service station, comprising:
a receiver having an area of radio coverage and being configured to receive a first Collective Perception Message (CPM) from a first ITS station at a first position within the coverage area, the first CPM including first sensor data on an object perceived by the first ITS station:
an aggregator connected to the receiver and configured to aggregate said first sensor data with at least one second sensor data on the same object into a third sensor data, which second sensor data either is received via the receiver in a second CPM from a second ITS station at a second position within the coverage area perceiving the same object or is determined by a sensor of the ITS service station perceiving the same object; and
a transmitter connected to the aggregator and configured to broadcast said third sensor data in a third CPM;
wherein the third sensor data includes a count of first and second ITS stations from whose CPMs the third sensor data has been aggregated.
7. An Intelligent Transportation System (ITS) service station, comprising:
a receiver having an area of radio coverage and being configured to receive a first Collective Perception Message (CPM) from a first ITS station at a first position within the coverage area, the first CPM including first sensor data on an object perceived by the first ITS station:
an aggregator connected to the receiver and configured to aggregate said first sensor data with at least one second sensor data on the same object into a third sensor data, which second sensor data either is received via the receiver in a second CPM from a second ITS station at a second position within the coverage area perceiving the same object or is determined by a sensor of the ITS service station perceiving the same object; and
a transmitter connected to the aggregator and configured to broadcast said third sensor data in a third CPM;
wherein each sensor data includes a local identifier of the object related to said sensor data, wherein the aggregator is configured to assign a global identifier to all local identifiers relating to the same object and to include that global identifier in the third CPM.
8. The ITS service station according to claim 7 , wherein the aggregator is configured to store the assignment between the global identifier and the local identifiers in an assignment table and to broadcast said assignment table in the third CPM or in a separate message.
9. An Intelligent Transportation System (ITS) service station, comprising:
a receiver having an area of radio coverage and being configured to receive a first Collective Perception Message (CPM) from a first ITS station at a first position within the coverage area, the first CPM including first sensor data on an object perceived by the first ITS station:
an aggregator connected to the receiver and configured to aggregate said first sensor data with at least one second sensor data on the same object into a third sensor data, which second sensor data either is received via the receiver in a second CPM from a second ITS station at a second position within the coverage area perceiving the same object or is determined by a sensor of the ITS service station perceiving the same object; and
a transmitter connected to the aggregator and configured to broadcast said third sensor data in a third CPM;
wherein the aggregator has a memory for storing first and second CPMs including timestamps of the sensor data therein and is configured to retrieve, for aggregating said third CPM, all sensor data from the memory having timestamps falling within a selected period of time.
10. An Intelligent Transportation System (ITS) service station, comprising:
a receiver having an area of radio coverage and being configured to receive a first Collective Perception Message (CPM) from a first ITS station at a first position within the coverage area, the first CPM including first sensor data on an object perceived by the first ITS station:
an aggregator connected to the receiver and configured to aggregate said first sensor data with at least one second sensor data on the same object into a third sensor data, which second sensor data either is received via the receiver in a second CPM from a second ITS station at a second position within the coverage area perceiving the same object or is determined by a sensor of the ITS service station perceiving the same object; and
a transmitter connected to the aggregator and configured to broadcast said third sensor data in a third CPM;
wherein the third CPM is flagged with a higher priority than the first and second CPMs.
11. The ITS service station according to claim 5 , wherein the ITS service station is a roadside unit.
12. The ITS service station according to claim 5 , wherein the first sensor data includes a first data value and a first confidence measure of said first data value and the at least one second sensor data includes a second data value and a second confidence measure of said second data value, wherein the aggregator is configured to calculate a third data value from said first and at least one second data values and a third confidence measure from said first and at least one second confidence measures and to include said third data value and third confidence measure in the third sensor data.
13. The ITS service station according to claim 6 , wherein the first sensor data includes a first data value and a first confidence measure of said first data value and the at least one second sensor data includes a second data value and a second confidence measure of said second data value, wherein the aggregator is configured to calculate a third data value from said first and at least one second data values and a third confidence measure from said first and at least one second confidence measures and to include said third data value and third confidence measure in the third sensor data.
14. The ITS service station according to claim 6 , wherein the ITS service station is a roadside unit.
15. The ITS service station according to claim 7 , wherein the first sensor data includes a first data value and a first confidence measure of said first data value and the at least one second sensor data includes a second data value and a second confidence measure of said second data value, wherein the aggregator is configured to calculate a third data value from said first and at least one second data values and a third confidence measure from said first and at least one second confidence measures and to include said third data value and third confidence measure in the third sensor data.
16. The ITS service station according to claim 7 , wherein the ITS service station is a roadside unit.
17. The ITS service station according to claim 9 , wherein the first sensor data includes a first data value and a first confidence measure of said first data value and the at least one second sensor data includes a second data value and a second confidence measure of said second data value, wherein the aggregator is configured to calculate a third data value from said first and at least one second data values and a third confidence measure from said first and at least one second confidence measures and to include said third data value and third confidence measure in the third sensor data.
18. The ITS service station according to claim 9 , wherein the ITS service station is a roadside unit.
19. The ITS service station according to claim 10 , wherein the first sensor data includes a first data value and a first confidence measure of said first data value and the at least one second sensor data includes a second data value and a second confidence measure of said second data value, wherein the aggregator is configured to calculate a third data value from said first and at least one second data values and a third confidence measure from said first and at least one second confidence measures and to include said third data value and third confidence measure in the third sensor data.
20. The ITS service station according to claim 10 , wherein the ITS service station is a roadside unit.