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 and 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 at least one first free space area perceived by the first ITS station; an aggregator configured to aggregate said first sensor data with at least one second sensor data on at least one second free space area 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 or is determined by a sensor of the ITS service station; 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 at least one first free space area 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 at least one second free space area 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 or is determined by a sensor of the ITS service station; 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.
2. The ITS service station according to claim 1 , wherein the first sensor data includes a first confidence measure of said first free space area and the at least one second sensor data includes a second confidence measure of said second free space area, wherein the aggregator is configured to calculate a third confidence measure from said first and at least one second confidence measures and to include said third confidence measure in the third sensor data.
3. The ITS service station according to claim 1 , wherein the aggregator is configured to aggregate said first and second sensor data by geometrically intersecting the first and second free space areas indicated therein and by including the resulting intersection area in the third sensor data.
4. The ITS service station according to claim 1 , wherein the aggregator is configured to aggregate said first and second sensor data by geometrically merging the first and second free space areas indicated therein and by including the resulting merged area in the third sensor data.
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 at least one first free space area 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 at least one second free space area 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 or is determined by a sensor of the ITS service station; 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.
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 at least one first free space area 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 at least one second free space area 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 or is determined by a sensor of the ITS service station; 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.
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 at least one first free space area 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 at least one second free space area 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 or is determined by a sensor of the ITS service station; 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.
8. The ITS service station according to claim 1 , wherein the ITS service station is a roadside unit.
9. The ITS service station according to claim 5 , wherein the first sensor data includes a first confidence measure of said first free space area and the at least one second sensor data includes a second confidence measure of said second free space area, wherein the aggregator is configured to calculate a third confidence measure from said first and at least one second confidence measures and to include said third confidence measure in the third sensor data.
10. The ITS service station according to claim 5 , wherein the aggregator is configured to aggregate said first and second sensor data by geometrically intersecting the first and second free space areas indicated therein and by including the resulting intersection area in the third sensor data.
11. The ITS service station according to claim 5 , wherein the aggregator is configured to aggregate said first and second sensor data by geometrically merging the first and second free space areas indicated therein and by including the resulting merged area in the third sensor data.
12. The ITS service station according to claim 5 , wherein the ITS service station is a roadside unit.
13. The ITS service station according to claim 6 , wherein the first sensor data includes a first confidence measure of said first free space area and the at least one second sensor data includes a second confidence measure of said second free space area, wherein the aggregator is configured to calculate a third confidence measure from said first and at least one second confidence measures and to include said third confidence measure in the third sensor data.
14. The ITS service station according to claim 6 , wherein the aggregator is configured to aggregate said first and second sensor data by geometrically intersecting the first and second free space areas indicated therein and by including the resulting intersection area in the third sensor data.
15. The ITS service station according to claim 6 , wherein the aggregator is configured to aggregate said first and second sensor data by geometrically merging the first and second free space areas indicated therein and by including the resulting merged area in the third sensor data.
16. The ITS service station according to claim 6 , wherein the ITS service station is a roadside unit.
17. The ITS service station according to claim 7 , wherein the first sensor data includes a first confidence measure of said first free space area and the at least one second sensor data includes a second confidence measure of said second free space area, wherein the aggregator is configured to calculate a third confidence measure from said first and at least one second confidence measures and to include said third confidence measure in the third sensor data.
18. The ITS service station according to claim 7 , wherein the aggregator is configured to aggregate said first and second sensor data by geometrically intersecting the first and second free space areas indicated therein and by including the resulting intersection area in the third sensor data.
19. The ITS service station according to claim 7 , wherein the aggregator is configured to aggregate said first and second sensor data by geometrically merging the first and second free space areas indicated therein and by including the resulting merged area in the third sensor data.
20. The ITS service station according to claim 7 , wherein the ITS service station is a roadside unit.