I. Introduction
Intelligent transportation system (ITS) refers to the use of advanced information and communication technologies (like sensors, communications devices, computers, and control devices) to improve the efficiency, safety, and sustainability of transportation networks. It integrates both infrastructure and vehicles which includes traffic management, traveler information systems, electronic toll collection, and more. ITS can not only provide auxiliary intelligent decision-making for self-driving autonomous vehicles, but also provide intelligent information services for human-driving vehicles; Relying on various ITS components, such as data collection systems, communication networks, and traffic management systems, Autonomous Transportation Systems (ATS) aims to reduce or eliminate the need for human intervention in driving tasks. ITS serves as the foundation and infrastructure for ATS.