A traffic sensing system for sensing traffic at a roadway includes a first sensor having a first field of view, a second sensor having a second field of view, and a controller. The first and second fields of view at least partially overlap in a common field of view over a portion of the roadway, and the first sensor and the second sensor provide different sensing modalities. The controller is configured to select a sensor data stream for at least a portion of the common field of view from the first and/or second sensor as a function of operating conditions at the roadway.