Intelligent transportation system and information transmission method therein

Abstract

An embodiment of the present invention provides an intelligent transportation system and an information transmission method therein. The intelligent transportation system includes a series of roadside nodes, each of which includes one or more sensors, wherein at least one roadside node in the series of roadside nodes is configured to: assign weights to the sensors of the roadside node and generate fusion information representing the fusion result of the sensing information of the sensors of the roadside node based on the assigned weights, and the fusion information at least includes the assigned weight information; and at least another roadside node in the series of roadside nodes is communicatively connected to the roadside node and is configured to: receive the fusion information from the roadside node, determine the weights of the sensors of the other roadside node based on the received fusion information, and generate fusion information representing the fusion result of the sensing information of the sensors of the other roadside node based on the determined weights.

Description

Technical Field

[0001] The present invention relates to the technical field of interconnected transportation, and 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 Art

[0002] Nowadays, 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 equipped with sensors. The sensors of each roadside node can sense traffic information in a certain area. By fusing the information sensed at multiple roadside nodes, the traffic conditions of the entire traffic area can be obtained. However, the scheme of obtaining traffic information using this existing method has the problem of low accuracy and even serious deviation in the results. Summary of the invention

[0003] The following summary is provided to introduce selected concepts in a simplified form that are further described in the detailed description that follows. This summary 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.

[0004] According to one aspect of the present invention, an intelligent transportation system is provided, which includes a series of roadside nodes, each of which includes one or more sensors, wherein at least one roadside node in the series of roadside nodes is configured to: assign weights to the sensors of the one roadside node and generate fusion information representing the fusion result of the sensing information of the sensors of the one roadside node based on the assigned weights, and the fusion information at least includes the assigned weight information; and at least another 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, determine the weights of the sensors of the another roadside node based on the received fusion information, and generate fusion information representing the fusion result of the sensing information of the sensors of the another roadside node based on the determined weights.

[0005] According to one embodiment, another roadside node is also 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 traffic conditions of the traffic area that can be sensed by the sensors of the one roadside node and the other roadside node.

[0006] According to one embodiment, the intelligent transportation system also includes a central node that is communicatively connected to each roadside node, and the central node is configured to: receive fusion information from each roadside node, and calculate 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.

[0007] 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.

[0008] According to one embodiment, the another roadside node is configured to determine the weight of each sensor thereof with reference to the weight information in the received fusion information.

[0009] According to one embodiment, when 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.

[0010] According to one embodiment, two roadside nodes are the same type of nodes when they meet at least one of the following conditions: (1) the distance between the two is less than a distance threshold; (2) the types of sensors contained in the two are the same; (3) the surrounding environment and / or weather conditions of the two are the same.

[0011] According to one embodiment, when the other roadside node and the one roadside node are the same type of nodes, the other roadside node requests the one roadside node for its fusion information, and the one roadside node sends the fusion information to the other roadside node in response to the request.

[0012] According to one embodiment, information transmission between roadside nodes and information transmission between a roadside node and a central node include: periodic transmission and transmission in response to a request.

[0013] According to one embodiment, 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.

[0014] According to one embodiment, the sensing environment includes at least one of the following: weather conditions, lighting conditions, and measurement interference conditions.

[0015] According to one embodiment, the sensor of the roadside node includes at least one of the following: a millimeter wave radar, a laser radar, a camera, and a thermal detector.

[0016] According to one embodiment, the fusion information of the roadside node includes: a timestamp indicating a sensing time; an identifier of a sensed object; weight information; and an object state derived based on the sensing information of the sensor and the weight of the sensor.

[0017] According to one embodiment, the object state includes at least one of the following: position, speed, orientation, volume, classification and acceleration of the object.

[0018] 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 comprising a series of roadside nodes, each roadside node comprising one or more sensors, the method comprising: executing at least one roadside node in the series of roadside nodes: assigning weights to the sensors of the one roadside node and generating fusion information representing the fusion result of the sensing information of the sensors of the one roadside node based on the assigned weights, the fusion information at least including the assigned weight information; and executing at least another roadside node in the series of roadside nodes that is communicatively connected to the one roadside node: receiving the fusion information from the one roadside node, determining the weights of the sensors of the another roadside node based on the received fusion information, and generating fusion information representing the fusion result of the sensing information of the sensors of the another roadside node based on the determined weights.

[0019] According to one embodiment, the method also includes executing at the at least another roadside node: calculating 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 traffic conditions of the traffic area that can be sensed by the sensors of the one roadside node and the other roadside node.

[0020] According to one embodiment, the intelligent transportation system also includes a central node communicatively connected to each roadside node, and the method also includes executing at the central node: receiving fusion information from each roadside node, and calculating 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.

[0021] According to yet another aspect of the present invention, a machine-readable storage medium is provided, which stores executable instructions. When the instructions are executed, one or more processors execute the method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The implementation of the present invention is illustrated by way of example and not by way of limitation in the accompanying drawings, in which like reference numerals indicate the same or similar components, and in which:

[0023] Figure 1Some exemplary interaction modes for exchanging information between roadside nodes in an intelligent transportation system according to a feasible implementation mode of the present invention are shown.

[0024] Figure 2 is a schematic block diagram of an intelligent transportation system according to a feasible implementation mode of the present invention;

[0025] Figure 3 is a process of transmitting information in an intelligent transportation system according to a feasible implementation of the present invention;

[0026] Figure 4 is a schematic block diagram of an intelligent transportation system according to another possible implementation mode of the present invention; and

[0027] Figure 5 It is a process of transmitting information in an intelligent transportation system according to another feasible implementation manner of the present invention. DETAILED DESCRIPTION

[0028] An important aspect of the present invention is to discover the cause of inaccurate multi-sensor fusion information at a single roadside node in a traffic system and the total fusion information of multiple roadside nodes, that is, the weight allocation to sensors at each roadside node is different.

[0029] To this end, an embodiment of the present invention provides an improved intelligent transportation system and a method for transmitting information therein, wherein a roadside node transmits its information fusion basis, such as weight allocation information, to another roadside node so that the other roadside node can adjust its own sensor weight allocation based on this. In a further embodiment, another roadside node or a central node can calculate total fusion information based on the weight allocation information of other roadside nodes to represent the traffic conditions of the traffic area that the sensors of multiple roadside nodes can sense.

[0030] Based on the ability to accurately obtain the sensor fusion information of the roadside nodes and the overall fusion information, it is beneficial to many aspects of intelligent transportation. For example, it can improve the rationality of traffic diversion and vehicle scheduling by the intelligent transportation system; by knowing the accurate traffic conditions on the vehicle side through vehicle-to-everything communication (V2X), it can optimize the multiple driving assistance functions on the vehicle side.

[0031] The term "weight" or "weight of a sensor" used in the present invention can be understood as the importance of a sensor's sensed information in information fusion. The weight of a sensor can be related to its own reliability and / or the sensing environment. The weight of a sensor can be adjusted and is not always constant.

[0032] In one case, the weight of a sensor can be related to its sensing environment (e.g., weather) and the properties of the sensor itself. For example, in foggy weather, the sensing ability of a camera will be affected, so the weight of the camera in foggy weather is set to be lower, and conversely, in clear weather, the weight of the camera is set to be higher. For example, a radar performs better than a camera in bad weather and dim light, so in such a case, the weight of the radar is set to be higher, while the weight of the camera is set to be lower.

[0033] It is understandable that, for multiple sensors of the same roadside node, the sum of their weights is not necessarily 1, and their respective weight values ​​can be adaptively set based on the above definition.

[0034] Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

[0035] According to an embodiment of one aspect of the present invention, there is provided an intelligent transportation system, which includes 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 (for example, by pole holding, laying or burying, etc.). Each roadside node can capture environmental information within the sensing range of its sensor, and generate node fusion information with the captured sensor information and the assigned sensor weights. By interacting with these node fusion information, the total fusion information can be obtained, thereby knowing the traffic conditions of the entire traffic area.

[0036] The information transmission between these roadside nodes may occur at a predetermined frequency, may occur in response to a request from one node to another node, may occur in response to a predetermined event, or any combination of the above.

[0037] Information exchange can be performed between these roadside nodes. The exchanged information may include one or more of the following: object information captured by various sensors at the node, sensor weight information, and fusion information after the captured object information is fused based on the weight information.

[0038] In one embodiment, the fusion information generated at a roadside node may include: a timestamp indicating the time of sensor sensing, an identifier of the sensed object, weight information (i.e., the weight assigned to each sensor at the node), and an object state derived based on the sensor sensing information and the sensor assigned weight. The object state may include at least one of the following: the position, speed, orientation, volume, classification, and acceleration of the object. The fusion information may be transmitted from a roadside node to another roadside node.

[0039] The following table shows an example of the fused information transmitted between roadside nodes.

[0040]

[0041] There are many ways to exchange information between these roadside nodes. Figure 1 Some exemplary interaction modes for exchanging information between roadside nodes in an intelligent transportation system are shown. Figure 1 As shown, an intelligent transportation system including five roadside nodes (ie, nodes 1 to 5) is taken as an example to illustrate some information interaction methods.

[0042] See also Figure 1 In (a), nodes 1 to 5 transmit information in sequence, 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 obtain its own node information and the node information of the node preceding it.

[0043] See also Figure 1 In (b), node 1 transmits information to its adjacent node 2, node 5 transmits information to its adjacent node 4, and both node 2 and node 4 transmit information to node 3.

[0044] See also Figure 1 (c) 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.

[0045] See also Figure 1 In (d), node 1 and node 3 both transmit information to node 2, node 2 transmits information to node 4, and node 4 transmits information to node 5.

[0046] See also Figure 1 In (e), nodes 1, 2, 4, and 5 all transmit information to node 3. In this example, node 3 is similar to a central node.

[0047] It is understandable that, although the above shows an example of a node transmitting information to another node, the information transmission between nodes can be bidirectional. For example, another node can send a request to a node to request the transmission of node information. For example, after another node receives the information and generates new fusion information at its own node, the new fusion information can be transmitted back to the node receiving the information.

[0048] Understandably, Figure 1 The examples in (a) to (e) may be applicable to different application scenarios. According to the embodiment of the present invention, the information interaction method may also include other methods, but is not limited thereto.

[0049] Figure 2 The following schematically shows an intelligent transportation system 100 according to a possible implementation of the present invention. Figure 2 Only two roadside nodes are shown, namely, one roadside node 10 and another roadside node 20 .

[0050] like Figure 2 As shown, 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 a millimeter wave radar, a laser radar, a camera and a thermal detector. The processing unit 12 is used to assign weights to each sensor and process the information sensed by the sensor based on the assigned weights to obtain fused information. The communication unit 13 is used to communicate with other nodes, for example, to send information to other nodes and receive information from other nodes. Communication between nodes can be implemented as wireless communication or wired communication or a combination of wireless and wired communication.

[0051] 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 may be implemented in the same manner as the corresponding unit of the roadside node 10, and will not be described in detail herein.

[0052] Figure 3 The figure shows a process 300 of transmitting information in an intelligent transportation system according to a feasible implementation of the present invention. The process 300 can be implemented in the intelligent transportation system 100 described above.

[0053] See also Figure 3 In box 302 , the processing unit 12 of the roadside node 10 assigns weights to each sensor of the roadside node 10 .

[0054] The weight distribution of the sensor may be related to the reliability of the sensor itself and / or the sensing environment. The weight distribution is adjustable, for example, when at least one of the weather conditions, the lighting conditions and the measurement conditions changes, the weight distribution may be adjusted accordingly.

[0055] For example, the roadside node 10 is provided with a camera and a radar. After the calibration of the sensor is completed, the camera has a higher reliability than the radar, and the camera is assigned a higher weight than the radar. After the weights of the camera and the radar are assigned as above, if the lighting conditions change, for example, from day to night, the weight of the radar will increase and the weight of the camera will decrease.

[0056] 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.

[0057] It is to be understood that the execution order of the blocks 302 and 304 is not limited. In one embodiment, the sensor of the roadside node 10 can sense the environment information and the object information in real time.

[0058] Next, in box 306, the processing unit 12 of the roadside node 10 fuses the information sensed by each sensor based on the assigned weights and generates fused information. The fused information at least includes the weight allocation information of each sensor at the node 10. The fused information may also include other information as described above, which will not be described in detail here.

[0059] It is understandable that the greater the weight of a sensor, the greater the weight of the information sensed by the sensor in the fusion process. The present invention does not limit the specific fusion algorithm.

[0060] In block 308 , the communication unit 13 of the roadside node 10 sends the fused information to another roadside node 20 .

[0061] In one embodiment, the roadside node 10 sends the fusion information to the roadside node 20 at a predetermined frequency.

[0062] In another embodiment, another roadside node 20 sends a request to the roadside node 10 to request the fusion information of the node 10. In response to receiving the request, the node 10 sends the fusion information to the roadside node 20.

[0063] One scenario of this embodiment is that the roadside node 20 and the roadside node 10 are similar nodes. Similar nodes can be understood as nodes that can be subject to the same or similar weight allocation because the sensor type or environment they are in is almost the same. For example, when the two nodes meet at least one of the following conditions, they can be considered to be similar nodes: (1) The distance between the two nodes is less than the distance threshold. (2) The sensor types contained in the two nodes are the same. For example, the sensor type and brand are the same. (3) The surrounding environment and / or weather conditions of the two nodes are the same.

[0064] In another embodiment, the roadside node 10 sends the fusion information to the roadside node 20 at a predetermined frequency. Furthermore, the roadside node 10 sends the fusion information to the roadside node 20 upon receiving a request from the roadside node 20 or in response to a preset trigger event.

[0065] In block 310 , the communication unit 23 of the roadside node 20 receives the fused information from the roadside node 10 .

[0066] In block 312 , the processing unit 22 of the roadside node 20 determines the weights of the sensors provided therein based on the received fusion information.

[0067] In one embodiment, the processing unit 22 of the roadside node 20 takes the received weight allocation of the node 10 into consideration when allocating weights to the sensors of the roadside node 20. In addition, the weight allocation of the sensors of the node 20 may be determined in combination with the reliability of the sensors of the node itself and the environmental factors in which they are located.

[0068] In another embodiment, the roadside node 20 is a node of the same type as the roadside node 10. The roadside node 20 directly applies the weight distribution of the roadside node 10 to the weight distribution of its own node, or only performs simple adjustments based on the weight distribution of the roadside node 10 without performing sensor calibration and complex calculations.

[0069] 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.

[0070] It is understandable that block 314 may be executed before, after, or simultaneously with the above blocks. In one embodiment, the sensors of the roadside node 20 sense environmental information and objects in real time.

[0071] In box 316, the processing unit 22 of the roadside node 20 performs fusion processing on the sensed information based on the determined weight distribution and generates fusion information. The fusion information at least includes the weight distribution information of each sensor at the node 20. The fusion information may also include the weight distribution information of the sensor of the node 10. The fusion information may also include other information as described above, which will not be repeated here.

[0072] In block 318, the processing unit 22 of the node 20 calculates total fusion information based on the fusion information of the roadside node 10 and the fusion information of the roadside node 20, which is used to represent the traffic conditions of the traffic area that can be sensed by the sensors of the roadside node 10 and the roadside node 20. 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.

[0073] It can be seen that the weight distribution information is always transmitted during the information exchange process between nodes. Therefore, when performing weight distribution and fusion calculation, the node can take the weight distribution of other nodes into consideration, thereby making more accurate weight distribution and fusion calculation.

[0074] Figure 4 An intelligent transportation system 200 according to another possible embodiment of the present invention is schematically shown. Figure 4 The intelligent transportation system 200 shown is Figure 2 Compared with the intelligent transportation system 100 shown in the figure, the only difference is that the intelligent transportation system 200 also includes a central node 30. The central node 30 can be a cloud server, an edge server or a roadside server. The central node 30 can also be a roadside node, that is, a roadside node can be set as a central node to play the role of a central node.

[0075] 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 node, for example, to send information to the roadside node and receive information from the roadside node. The communication between the central node and the roadside node can be implemented as wireless communication or wired communication or a combination of wireless and wired communication. The processing unit 32 is used to process and analyze the information received from multiple nodes to obtain the traffic conditions of the entire traffic area.

[0076] Figure 5 The figure shows a process 500 of transmitting information in an intelligent transportation system according to a feasible embodiment of the present invention. The process 500 can be implemented in the intelligent transportation system 200 described above.

[0077] See also Figure 5 , the processes performed by boxes 502, 504 and 506 are the same as those performed by boxes 302, 304 and 306 respectively, and are not repeated here.

[0078] In block 508 , the communication unit 13 of the roadside node 10 sends the fusion information of the node 10 to the central node 30 in addition to sending the fusion information of the node 10 to the roadside node 20 .

[0079] The processes performed by blocks 510 , 512 , 514 and 516 are the same as those performed by blocks 310 , 312 , 314 and 316 , respectively, and are not described in detail here.

[0080] At block 518 , the communication unit of the roadside node 20 sends the fusion information of the node 20 to the central node 20 .

[0081] In block 520 , the communication unit 31 of the central node 30 receives the fused information from the node 10 and the fused information from the node 20 .

[0082] In box 522 , the processing unit 32 of the central node 30 calculates 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 the roadside node 10 and the roadside node 20 .

[0083] It is understandable that, although process 500 mainly involves information interaction between roadside nodes and central nodes, process 500 may also include information interaction between roadside nodes as in process 300 .

[0084] Another embodiment of the present invention provides a method for transmitting information in the intelligent transportation system 100 or 200 as described above. Therefore, the above related description is also applicable here.

[0085] The method includes: executing at least one roadside node in a series of roadside nodes of the intelligent transportation system: allocating weights of each sensor of the one roadside node and generating fusion information representing the fusion result of the sensed information of each sensor of the one roadside node based on the allocated weights, wherein the fusion information at least includes the allocated weight information.

[0086] The method also includes executing at least another 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, determining weights of each sensor of the other roadside node based on the received fusion information, and generating fusion information representing a fusion result of the sensing information of each sensor of the other roadside node based on the determined weights.

[0087] The present invention also provides a machine-readable storage medium storing executable instructions, which, when executed, enable the machine to perform the method or process described above.

[0088] It is understood that all operations in the method or process described above are exemplary, and the present invention is not limited to any operation in the method or process or the order of these operations, but should cover all other equivalent changes under the same or similar concept.

[0089] It is understandable that the roadside nodes and central nodes described above may be implemented in a variety of ways, for example, as hardware, software, or a combination thereof.

[0090] The 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, the processor, any part of the processor, or any combination of processors provided in the present invention may be implemented as a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a state machine, a gate logic, a discrete hardware circuit, and other suitable processing components configured to perform the various functions described in the present invention. The functions of the processor, any part of the processor, or any combination of processors provided in the present invention may be implemented as software executed by a microprocessor, a microcontroller, a DSP or other suitable platforms.

[0091] Software can be broadly considered to represent instructions, instruction sets, codes, code segments, program codes, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, running threads, processes, functions, etc. Software can reside in a computer-readable medium. A computer-readable medium can include, for example, a memory, which can be, for example, a magnetic storage device (e.g., a hard disk, a floppy disk, a magnetic stripe), an optical disk, a smart card, a flash memory device, a random access memory (RAM), a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), a register, or a removable disk. Although the memory is shown as being separated from the processor in the various aspects provided by the present invention, the memory can also be located inside the processor (e.g., a cache or a register).

[0092] The above description is provided to enable any person skilled in the art to implement the various aspects described herein. Various modifications to these aspects are apparent to those skilled in the art, and the general 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 of elements of the various aspects described herein that are known or to be known to those skilled in the art will be expressly included herein by reference and are intended to be covered by the claims.

Claims

1. An intelligent transportation system, comprising a series of roadside nodes, each of which comprises one or more sensors, wherein: At least one roadside node among the series of roadside nodes is configured to: assign weights to the sensors of the roadside node and generate fusion information representing a fusion result of sensing information of the sensors of the roadside node based on the assigned weights, wherein the fusion information at least includes 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, determine weights of each sensor of the other roadside node based on the received fusion information, and generate fusion information representing the fusion results of the sensing information of each sensor of the other roadside node based on the determined weights.

2. The intelligent transportation system according to claim 1, wherein: The other roadside node is also 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 traffic conditions of the traffic area that can be sensed by the sensors of the one roadside node and the other roadside node.

3. The intelligent transportation system according to claim 1 or 2, wherein: The intelligent transportation system also includes a central node that is communicatively connected to each roadside node, and The central node is configured to receive fusion information from each roadside node, and calculate 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.

4. The intelligent transportation system according to claim 3, wherein: The central node is one of the roadside nodes, or The central node is a node independent of each roadside node.

5. The intelligent transportation system according to claim 1, wherein: The other roadside node is configured to determine the weight of each sensor thereof with reference to the weight information in the received fusion information.

6. The intelligent transportation system according to claim 1, wherein: 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.

7. The intelligent transportation system as claimed in claim 6, wherein: Two roadside nodes are considered to be of the same type if they satisfy at least one of the following conditions: (1) the distance between them is less than a distance threshold; (2) the types of sensors contained in them are the same; and (3) the surrounding environment and / or weather conditions of them are the same.

8. The intelligent transportation system according to claim 6, wherein: In the case that the other roadside node and the one roadside node are the same type of nodes, the other roadside node requests the one roadside node for its fusion information, and the one roadside node sends the fusion information to the other roadside node in response to the request.

9. The intelligent transportation system according to claim 1, wherein: The information transmission between roadside nodes and the information transmission between the roadside nodes and the central node include: periodic transmission and transmission in response to a request.

10. The intelligent transportation system according to claim 1, 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.

11. The intelligent transportation system according to claim 10, wherein: The sensed environment includes weather conditions.

12. The intelligent transportation system according to claim 10, wherein: The sensed environment includes lighting conditions.

13. The intelligent transportation system according to claim 10, wherein: The sensing of the environment includes measuring interference conditions.

14. The intelligent transportation system according to claim 1, wherein: The sensors of the roadside nodes include at least one of the following: millimeter wave radar, laser radar, camera, and thermal detector.

15. The intelligent transportation system according to claim 1, wherein: The fusion information of the roadside nodes includes: A timestamp indicating the sensing time; an identifier of the sensed object; Weight information; and The object state is derived based on the sensing information of the sensor and the weight of the sensor.

16. The intelligent transportation system according to claim 15, wherein: The object state includes at least one of the following: position, speed, orientation, volume, classification and acceleration of the object.

17. A method for transmitting information in an intelligent transportation system according to any one of claims 1 to 16, wherein the intelligent transportation system comprises a series of roadside nodes, each roadside node comprises one or more sensors, the method comprising: At least one of the series of roadside nodes is performed: assigning weights to the sensors of the roadside node and generating fusion information representing a fusion result of the sensing information of the sensors of the roadside node based on the assigned weights, wherein the fusion information at least includes the assigned weight information; and At at least another roadside node in the series of roadside nodes that is communicatively connected to the one roadside node, the following steps are performed: receiving fusion information from the one roadside node, determining weights of each sensor of the another roadside node based on the received fusion information, and generating fusion information representing a fusion result of sensing information of each sensor of the another roadside node based on the determined weights.

18. The method of claim 17, wherein: The method further comprises executing, at the at least another roadside node: 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 represent the traffic conditions of the traffic area that can be sensed by the sensors of the one roadside node and the other roadside node.

19. The method according to claim 17 or 18, wherein: The intelligent transportation system further includes a central node that is communicatively connected to each roadside node, and the method further includes 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.

20. A machine-readable storage medium storing executable instructions, which, when executed, cause one or more processors to perform the method of any one of claims 17-19.

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