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Method based on cooperative-sensing has many advantages on safety monitoring of high-speed vehicles, meanwhile, to handle cooperative-sensing data is crucial. Data fusion is a good way on cooperative-sensing data-processing level. Under distributed circumstances, improved dynamic square-error way on calculating weight-coefficient was proposed. As a result, data volatility is reduced , and the consistency is enhanced. Under concentrated circumstances, correlation matrix method was extended to vector aspect. Finally, simulation analysis testifies that the performance has promoted by new algorithms, and algorithm capability with different exponent of distance function is compared as well.