A Cooperative Intelligent Transportation System (C-ITS) includes reporting and/or receiving collective perception messages (CPM). The CPM 400 includes an element 401 (e.g. a space container) which describes a space (e.g. an area of a road topology) and comprises a field 402 indicating the space state. (Alternatively the element merely describes a space representing a specific area of a road topology.) The space state field may depend on a rule corresponding to a type of the space (e.g. lane (Fig.1), merge lane (Fig.8), parking (Fig.9) or pedestrian crosswalk (Fig.14)) and may indicate occupancy of the space as an object count. The element may include an identifier of another space indicating that the space (171a,Fig.1) is a sub part of another space (171,Fig.1). It may include fields of a free space container or may be a container which can represent a space or a free space. An ITS station receiving the CPM may determine a global perception of the road situation from information in the element.
Road space collective perception message within an intelligent transport system
2023-05-10
Patent
Elektronische Ressource
Englisch
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