1 Scope
This standard specifies the terms and definitions, data set and data exchange standard, interface specification and other contents of application layer of vehicular communication system in cooperative intelligent transportation systems.
This standard is applicable to the development, verification and commercial use of application scenarios of vehicular communication system based on various communication modes.
2 Normative References
The following documents for the application of this document are essential. Any dated reference, just dated edition applies to this document. For undated references, the latest edition (including any amendments) applies to this document.
SAE J2735 Dedicated Short Range Communications (DSRC) Message Set Dictionary
SAE J2945/1 On-board System Requirements for V2V Safety Communications
ETSI TS 102 637 Intelligent Transportation Systems (ITS): Vehicular Communications: Basic Set of Applications
GB 5768-2009 Road Traffic Signs and Markings
GB 25280-2016 Road Traffic Signal Controller
GB/T 16262.1-2006 Information technology - Abstract Syntax Notation One (ASN.1) - Part 1: Specification of Basic Notation
GB/T 16262.2-2006 Information technology - Abstract Syntax Notation One (ASN.1) - Part 2: Information Object Specification
GB/T 16262.3-2006 Information technology - Abstract Syntax Notation One (ASN.1) - Part 3: Constraint Specification
GB/T 16262.4-2006 Information technology - Abstract Syntax Notation One (ASN.1) - Part 4: Parameterization of ASN.1 Specifications
GB/T 16263.2-2006 Information Technology - ASN.1 Encoding Rules - Part 2: Specification of Packed Encoding Rules (PER)
3 Terms and Definitions
3.1 Definitions
3.1.1
cooperative intelligent transportation systems, C-ITS
a kind of intelligent transportation system which realizes the intelligent coordination and cooperation between vehicle and infrastructure, between vehicles and between vehicle and human through information exchange among human, vehicle and road
3.1.2
system delay
time since the equipment such as Remote Vehicle (RV) and Road Side Unit (RSU)send the communication data till the Host Vehicle (HV) receives the data and the data is subject to information processing via network layer and finally transferred to the application layer, which refers to the end-to-end delay of application layer in particular in this standard
3.1.3
host vehicle, HV
target vehicle equipped with On-Board Unit (OBU) and running applications
3.1.4
remote vehicle, RV
background vehicle being capable of regularly broadcasting V2X message in cooperation with the host vehicle
3.1.5
on-board unit, OBU
hardware unit which is installed on vehicle, is capable of realizing V2X communication, and supports V2X application
3.1.6
road side unit, RSU
hardware unit which is installed at road side, is capable of realizing V2X communication, and supports V2X application
3.1.7
V2X
Vehicle to Everything, including but not limited to Vehicle to Vehicle (V2V), Vehicle to Infrastructure (V2I), Vehicle to Pedestrians (V2P) and Vehicle to Network (V2N)
3.2 Abbreviations
For the purposes of this standard, the following abbreviations apply:
4G: the 4th Generation mobile communication technology
5G: the 5th Generation mobile communication technology
ABS: Anti-lock Braking System
ADS: Application Data-Exchange Service
API: Application Programming Interface
ASN.1: Abstract Syntax Notation One
AVW: Abnormal Vehicle Warning
BSM: Basic Safety Message
BSW/LCW: Blind Spot Warning/Lane Change Warning
CAV: Collision Avoidance Range
C-ITS: China ITS Industry Alliance
CLW: Control Lost Warning
CSAE: Society of Automotive Engineers of China
DE: Data Element
DF: Data Frame
DME: DSRC Management Entity
DNPW: Do Not Pass Warning
DSM: DSRC Short Message
DSRC: Dedicated Short Range Communications
DTI: Distance-to-Intersection
HMI: Human Machine Interface
EBW: Emergency Brake Warning
ESP: Electronic Stability Program
ETC: Electronic Toll Collection
ETSI: European Telecommunications Standards Institute
EVW: Emergency Vehicle Warning
FCW: Forward Collision Warning
GB: Guo Biao (Nation Standard)
GLOSA: Green Light Optimal Speed Advisory
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
HLW: Hazardous Location Warning
HV: Host Vehicle
ICW: Intersection Collision Warning
ID: Identification
ISO: International Standards Organization
ITS: Intelligent Transport Systems
IVS: In-Vehicle Signage
LDW: Lane Departure Warning
LTA: Left Turn Assistant
LTE-V2X: Long Term Evolution-Vehicle to Everything
NHTSA: National Highway Traffic Safety Administration
OBU: On-Board Unit
P2P: Point to Point
RSA: Road Side Alert
RSM: Road Side Message
RSU: Road Side Unit
RV: Remote Vehicle
SAE: Society of Automotive Engineers International
SLW: Speed Limit Warning
SPAT: Signal Phase and Timing Message
SPI: Service Provider Interface
SVW: Signal Violation Warning
TC: Target Classification
TCS: Traction Control System
TJW: Traffic Jam Warning
TTC: Time-to-Collision
TTI: Time-to-Intersection
UPER: Unaligned Packet Encoding Rules
V2I: Vehicle to Infrastructure
V2P: Vehicle to Pedestrians
V2V: Vehicle to Vehicle
V2X: Vehicle to Everything
VIN: Vehicle ID Number
VNFP: Vehicle Near-Field Payment
VRUCW: Vulnerable Road User Collision Warning
4 Cooperative Intelligent Transportation System - Vehicular Communication System
4.1 System Introduction
The vehicular communication system, i.e., Vehicle to Everything (V2X), in cooperative intelligent transportation systems aims to realize various applications such as road safety, traffic efficiency and information service through the information exchange among subsystems of intelligent transportation system. Therefore, interconnection and intercommunication must be realized between vehicles produced by different manufacturers and between these vehicles and the road infrastructure in the accessible area of these vehicles. This standard is formulated with a view to realizing interconnection and intercommunication of vehicular communication system at the application layer by defining the message set, data frame and data element of information exchange.
Figure 1 describes the architecture of this system by taking On-Board Unit (OBU) in vehicular communication system as an example. The on-board equipment generally includes the following subsystems:
Wireless communication subsystem: it receives and transmits aerial signals. One or multiple wireless communication subsystems may be installed in one on-board equipment;
Positioning system: this subsystem generally includes Global Navigation Satellite System (GNSS) receiver to provide the vehicle information such as position, direction, speed and time. It is capable of enhancing the positioning effect with such technologies as vehicle speed signal, inertial measurement unit and differential positioning system;
On-board equipment processing unit: it runs the programme to generate the aerial signals required to be transmitted and also processes the aerial signals received;
Antenna: it realizes the receiving and transmitting of RF signals.
On-board equipment is connected with the application electronic control unit via interface, and the programme in application electronic control unit is run to realize application of vehicular communication system, and the driver hereby is reminded via the Human Machine Interface (HMI) in such forms as image, sound and vibration. On some occasions, application electronic control unit and on-board equipment processing unit are realized in one physical equipment.
Figure 1 Schematic Diagram for Architecture of Vehicular Communication System
4.2 Scope of This Standard
With reference to the 7-layer reference model of communication system formulated by International Standards Organization (ISO) and the system architecture in the relevant standards of vehicular communication system being formulated by America and Europe, the vehicular communication system generally may be divided into system applications, application layer, transmission layer, network layer, data link layer and physical layer. This standard focuses on the application layer and the data exchange interfaces between application layer and the upper and lower layers adjacent to it (as shown in Figure 2). The application layer protocol mainly includes the message set, the data frame and data element in message set and the data structure and encoding mode of message. According to the analysis on such basic applications as road safety, traffic efficiency and information service, this standard defines the information exchange content, exchange protocol and interface, etc. between a vehicle and other vehicles, road traffic facilities and other traffic participants during realization of various applications. This standard does not specify the communication technology at bottom layer and it applies to various different transmission layers, network layers, data link layers and physical layers. This standard upward formulates the Application Programming Interface (API) connected with system applications to enable different application developers to independently develop the applications which are capable of realizing interconnection and intercommunication, without worrying about the kinds of communication mode or equipment to be used; moreover, this standard downward formulates the Service Provider Interface (SPI) connected with different communication equipment to realize the compatibility of vehicular communication system with different communication modes or equipment and to satisfy continuous update requirement of communication technology.
Foreword XII
1 Scope
2 Normative References
3 Terms and Definitions
3.1 Definitions
3.2 Abbreviations
4 Cooperative Intelligent Transportation System - Vehicular Communication System
4.1 System Introduction
4.2 Scope of This Standard
5 Basic Applications of Vehicular Communication System
5.1 Requirement Analysis
5.2 Definitions and Basic Requirements of Applications
5.2.1 General
5.2.2 Forward Collision Warning (FCW)
5.2.2.1 Definition and Expected Effect of the Application
5.2.2.2 Main Scenarios
5.2.2.3 Basic Principles of System
5.2.2.4 Communication Modes
5.2.2.5 Basic Performance Requirements
5.2.2.6 Data Exchange Requirements
5.2.3 Intersection Collision Warning (ICW)
5.2.3.1 Definition and Expected Effect of the Application
5.2.2.2 Main Scenarios
5.2.3.3 Basic Principles of System
5.2.3.4 Communication Modes
5.2.3.5 Basic Performance Requirements
5.2.3.6 Data Exchange Requirements
5.2.4 Left Turn Assistant (LTA)
5.2.4.1 Definition and Expected Effect of the Application
5.2.4.2 Main Scenarios
5.2.4.3 Basic Principles of System
5.2.4.4 Communication Modes
5.2.4.5 Basic Performance Requirements
5.2.4.6 Data Exchange Requirements
5.2.5 Blind Spot Warning/Lane Change Warning (BSW/LCW)
5.2.5.1 Definition and Expected Effect of the Application
5.2.5.2 Main Scenarios
5.2.5.3 Basic Principles of System
5.2.5.4 Communication Modes
5.2.5.5 Basic Performance Requirements
5.2.5.6 Data Exchange Requirements
5.2.6 Do Not Pass Warning (DNPW)
5.2.6.1 Definition and Expected Effect of the Application
5.2.6.2 Main Scenarios
5.2.6.3 Basic Principles of System
5.2.6.4 Communication Modes
5.2.6.5 Basic Performance Requirements
5.2.6.6 Data Exchange Requirements
5.2.7 Emergency Brake Warning (EBW)
5.2.7.1 Definition and Expected Effect of the Application
5.2.7.2 Main Scenarios
5.2.7.3 Basic Principles of System
5.2.7.4 Communication Modes
5.2.7.5 Basic Performance Requirements
5.2.7.6 Data Exchange Requirements
5.2.8 Abnormal Vehicle Warning (AVW)
5.2.8.1 Definition and Expected Effect of the Application
5.2.8.2 Main Scenarios
5.2.8.3 Basic Principles of System
5.2.8.4 Communication Modes
5.2.8.5 Basic Performance Requirements
5.2.8.6 Data Exchange Requirements
5.2.9 Control Lost Warning (CLW)
5.2.9.1 Definition and Expected Effect of the Application
5.2.9.2 Description to Main Scenarios
5.2.9.3 Basic Principles of System
5.2.9.4 Communication Modes
5.2.9.5 Basic Performance Requirements
5.2.9.6 Data Exchange Requirements
5.2.10 Hazardous Location Warning (HLW)
5.2.10.1 Definition and Expected Effect of the Application
5.2.10.2 Main Scenarios
5.2.10.3 Basic Principles of System
5.2.10.4 Communication Modes
5.2.10.5 Basic Performance Requirements
5.2.10.6 Data Exchange Requirements
5.2.11 Speed Limit Warning (SLW)
5.2.11.1 Definition and Expected Effect of the Application
5.2.11.2 Main Scenarios
5.2.11.3 Basic Principles of System
5.2.11.4 Communication Modes
5.2.11.5 Basic Performance Requirements
5.2.11.6 Data Exchange Requirements
5.2.12 Red Light Violation Warning (RLVW)
5.2.12.1 Definition and Expected Effect of the Application
5.2.12.2 Main Scenarios
5.2.12.3 Basic Principles of the System
5.2.12.4 Communication Modes
5.2.12.5 Basic Performance Requirements
5.2.12.6 Data Exchange Requirements
5.2.13 Vulnerable Road User Collision Warning (VRUCW)
5.2.13.1 Definition and Expected Effect of the Application
5.2.13.2 Main Scenarios
5.2.13.3 Basic Working Principles
5.2.13.4 Communication Modes
5.2.13.5 Basic Performance Requirements
5.2.13.6 Data Exchange Requirements
5.2.14 Green Light Optimal Speed Advisory (GLOSA)
5.2.14.1 Definition and Expected Effect of the Application
5.2.14.2 Main Scenarios
5.2.14.3 Basic Working Principles
5.2.14.4 Communication Modes
5.2.14.5 Basic Performance Requirements
5.2.14.6 Data Exchange Requirements
5.2.15 In-Vehicle Signage (IVS)
5.2.15.1 Definition and Expected Effect of the Application
5.2.15.2 Main Scenarios
5.2.15.3 Basic Working Principles
5.2.15.4 Communication Modes
5.2.15.5 Basic Performance Requirements
5.2.15.6 Data Exchange Requirements
5.2.16 Traffic Jam Warning (TJW)
5.2.16.1 Definition and Expected Effect of the Application
5.2.16.2 Main Scenarios
5.2.16.3 Basic Principles of the System
5.2.16.4 Communication Modes
5.2.16.5 Basic Performance Requirements
5.2.16.6 Data Exchange Requirements
5.2.17 Emergency Vehicle Warning (EVW)
5.2.17.1 Definition and Expected Effect of the Application
5.2.17.2 Main Scenarios
5.2.17.3 Basic Principles of the System
5.2.17.4 Communication Modes
5.2.17.5 Basic Performance Requirements
5.2.17.6 Data Exchange Requirements
5.2.18 Vehicle Near-Field Payment (VNFP)
5.2.18.1 Definition and Expected Effect of the Application
5.2.18.2 Main Scenarios
5.2.18.3 Basic Principles of the System
5.2.18.4 Communication Modes
5.2.18.5 Basic Performance Requirements
5.2.18.6 Data Exchange Requirements
6 Data Exchange Set of Application Layer
6.1 Basic Introduction and Requirements
6.2 Definition of Data Set
6.2.1 Message Set
6.2.1.1 General
6.2.1.2 Message Frame
6.2.1.3 Msg_BSM
6.2.1.4 Msg_MAP
6.2.1.5 Msg_RSI
6.2.1.6 Msg_RSM
6.2.1.7 Msg_SPAT
6.2.2 Data Frame (DF)
6.2.2.1 General
6.2.2.2 DF_AccelerationSet4Way
6.2.2.3 DF_BrakeSystemStatus
6.2.2.4 DF_ConnectingLane
6.2.2.5 DF_Connection
6.2.2.6 DF_ConnectsToList
6.2.2.7 DF_DDateTime
6.2.2.8 DF_FullPositionVector
6.2.2.9 DF_IntersectionState
6.2.2.10 DF_IntersectionStateList
6.2.2.11 DF_Lane
6.2.2.12 DF_LaneAttributes
6.2.2.13 DF_LaneList
6.2.2.14 DF_LaneTypeAttributes
6.2.2.15 DF_Link
6.2.2.16 DF_LinkList
6.2.2.17 DF_MotionConfidenceSet
6.2.2.18 DF_Movement
6.2.2.19 DF_MovementList
6.2.2.20 DF_Node
6.2.2.21 DF_NodeList
6.2.2.22 DF_NodeReferencelD
6.2.2.23 DF_ParticipantData
6.2.2.24 DF_ParticipantList
6.2.2.25 DF_PathHistory
6.2.2.26 DF_PathHistoryPoint
6.2.2.27 DF_PathHistoryPointList
6.2.2.28 DF_PathPointList
6.2.2.29 DF_PathPrediction
6.2.2.30 DF_Phase
6.2.2.31 DF_PhaseList
6.2.2.32 DF_PhaseState
6.2.2.33 DF_PhaseStateList
6.2.2.34 DF_PointList
6.2.2.35 DF_Position-LL-24B
6.2.2.36 DF_Position-LL-28B
6.2.2.37 DF_Position-LL-32B
6.2.2.38 DF_Position-LL-36B
6.2.2.39 DF_Position-LL-44B
6.2.2.40 DF_Position-LL-48B
6.2.2.41 DF_Position-LLmD-64b
6.2.2.42 DF_Position3D
6.2.2.43 DF_PositionConfidenceSet
6.2.2.44 DF_PositionOffsetLL
6.2.2.45 DF_PositionOffsetLLV
6.2.2.46 DF_RegulatorySpeedLimit
6.2.2.47 DF_RoadPoint
6.2.2.48 DF_SignalState
6.2.2.49 DF_SpeedLimitList
6.2.2.50 DF_TimeChangeDetails
6.2.2.51 DF_VehicleClassification
6.2.2.52 DF_VehicleSafetyExtensions
6.2.2.53 DF_VehicleSize
6.2.2.54 DF_VerticalOffset
6.2.3 Data Element (DE)
6.2.3.1 General
6.2.3.2 DE_Acceleration
6.2.3.3 DE_AlertType
6.2.3.4 DE_AllowedManeuvers
6.2.3.5 DE_AntiLockBrakeStatus
6.2.3.6 DE_AuxiliaryBrakeStatus
6.2.3.7 DE_BasicVehicleClass
6.2.3.8 DE_BrakeAppliedStatus
6.2.3.9 DE_BrakeBoostApplied
6.2.3.10 DE_BrakePedalStatus
6.2.3.11 DE_CoarseHeading
6.2.3.12 DE_Confidence
6.2.3.13 DE_DDay
6.2.3.14 DE_DescriptiveName
6.2.3.15 DE_DHour
6.2.3.16 DE_Dminute
6.2.3.17 DE_DMonth
6.2.3.18 E_DSecond
6.2.3.19 DE_DTimeOffset
6.2.3.20 DE_DYear
6.2.3.21 DE_Elevation
6.2.3.22 DE_ElevationConfidence
6.2.3.23 DE_ExteriorLights
6.2.3.24 DE_GNSSstatus
6.2.3.25 DE_Heading
6.2.3.26 DE_HeadingConIidence
6.2.3.27 DE_IntersectionStatusObject
6.2.3.28 DE_LaneAttributes-Barrier
6.2.3.29 DE_LaneAttributes-Bike
6.2.3.30 DE_LaneAttributes-Crosswalk
6.2.3.31 DE_LaneAttributes-Parking
6.2.3.32 DE_LaneAttributes-Sidewalk
6.2.3.33 DE_LaneAttributes-Striping
6.2.3.34 DE_LaneAttributes-TrackedVehicle
6.2.3.35 DE_LaneAttributes-Vehicle
6.2.3.36 DE_LaneID
6.2.3.37 DE_LaneSharing
6.2.3.38 DE_LaneWidth
6.2.3.39 DE_Latitude
6.2.3.40 DE_LightState
6.2.3.41 DE_Longitude
6.2.3.42 DE_MinuteOfTheYear
6.2.3.43 DE_MsgCount
6.2.3.44 DE_NodelD
6.2.3.45 DE_OffsetLL-B
6.2.3.46 DE_OffsetLL-B
6.2.3.47 DE_OffsetLL-B
6.2.3.48 DE_OffsetLL-B
6.2.3.49 DE_OffsetLL-B
6.2.3.50 DE_OffsetLL-B
6.2.3.51 DE_ParticipantType
6.2.3.52 DE_PhaseID
6.2.3.53 DE_PositionConfidence
6.2.3.54 DE_Priority
6.2.3.55 DE_Radius
6.2.3.56 DE_RadiusOfCurvation
6.2.3.57 DE_RoadRegulatorID
6.2.3.58 DE_SourceType
6.2.3.59 DE_Speed
6.2.3.60 DE_SpeedConIidence
6.2.3.61 DE_SpeedLimitType
6.2.3.62 DE_StabilityControlStatus
6.2.3.63 DE_SteeringWheelAngle
6.2.3.64 DE_SteeringWheelAngleConfidence
6.2.3.65 DE_TimeConfidence
6.2.3.66 DE_TimeMark
6.2.3.67 DE_TimeOffset
6.2.3.68 DE_TractionControlStatus
6.2.3.69 DE_TransmissionState
6.2.3.70 DE_VehicleEventFlags
6.2.3.71 DE_VehicleHeight
6.2.3.72 DE_VehicleLength
6.2.3.73 DE_VehicleWidth
6.2.3.74 DE_VerticalAcceleration
6.2.3.75 DE_VertOffset-B
6.2.3.76 DE_VertOffset-B
6.2.3.77 DE_VertOffset-B
6.2.3.78 DE_VertOffset-B
6.2.3.79 DE_VertOffset-B
6.2.3.80 DE_VertOffset-B
6.2.3.81 DE_YawRate
7 Data Exchange Standard and Interface Specification of Application Layer
7.1 Data Interfaces of Application Layer
7.2 API Interfaces
7.2.1 List of API Interfaces
7.2.2 Functional Description to API Interfaces
7.2.2.1 AppGetHostlnfo.request
7.2.2.2 AppGetHostInfo.confirm
7.2.2.3 AppGetHostStatus.request
7.2.2.4 AppGetHostStatus.confirm
7.2.2.5 AppSetCommCfg.request
7.2.2.6 AppSetCommCfg.confirm
7.2.2.7 AppGetCommStatus.request
7.2.2.8 AppGetCommStatus.confirm
7.2.2.9 AppDSMInit.request
7.2.2.10 AppDSMInit.confirm
7.2.2.11 AppDSMTerminate.request
7.2.2.12 AppDSMTerminate.request
7.2.2.13 AppSendDSMMsg.request
7.2.2.14 AppSendDSMMsg.confirm
7.2.2.15 AppDupBSM.request
7.2.2.16 AppDupBSM.confirm
7.2.2.17 AppDupBSM.indication
7.2.2.18 AppDupMap.request
7.2.2.19 AppDupMAP.confirm
7.2.2.20 AppDupMAP.indication
7.2.2.21 AppDupSPAT.request
7.2.2.22 AppDupSPAT.confirm
7.2.2.23 AppDupSPAT.indication
7.2.2.24 AppDupRSM.request
7.2.2.25 AppDupRSM.confirm
7.2.2.26 AppDupRSM.indication
7.2.2.27 AppGetTC.request
7.2.2.28 AppGetTC.confirm
7.2.2.29 AppGetTC.indication
7.2.2.30 AppGetRemoteVehicles.request
7.2.2.31 AppGetRemoteVehicles.confirm
7.2.2.32 AppGetRemoteVehicles.indication
7.2.2.33 AppGetEventVehicle.request
7.2.2.34 AppGetEventVehicle.confirm
7.2.2.35 AppGetEventVehicle.indication
7.2.2.36 AppRoadSideAlert.request
7.2.2.37 AppRoadSideAlert.confirm
7.2.2.38 AppRoadSideAlert.indication
7.2.2.39 AppSignal.request
7.2.2.40 AppSignal.confirm
7.2.2.41 AppSignal.indication
7.2.2.42 AppPedestrian.request
7.2.2.43 AppPedestrian.confirm
7.2.2.44 AppPedestrian.indication
7.2.2.45 AppGetServices.request
7.2.2.46 AppGetServices.confirm
7.2.2.47 AppProviderService.request
7.2.2.48 AppProviderService.confirm
7.2.2.49 AppUserService.request
7.2.2.50 AppUserService.confirm
7.2.2.51 AppPayment.request
7.2.2.52 AppPayment.confirm
7.3 SPI Interfaces
7.3.1 List of SPI Interfaces
7.3.2 Functional Description to SPI Interfaces
7.3.2.1 CommClientInit.request
7.3.2.2 CommClientInit.confirm
7.3.3.3 CommDSMSend.request
7.3.3.4 CommDSMSend.confirm
7.3.3.5 CommDSM.indication
7.3.3.6 CommDMESetCfg.request
7.3.3.7 CommDMESetCfg.confirm
7.2.3.8 CommDMEGetCfg.request
7.3.3.9 CommDMEGetCfg.confirm
7.3.3.10 CommDMEProviderService.reuqest
7.3.3.11 CommDMEProviderService.confirm
7.3.3.12 CommDMEUserService.request
7.3.3.13 CommDMEUserService.confirm
7.3.3.14 CommDMENotification.indication
Annex A (Informative) Evaluation Method of Phase 1 Applications
Annex B (Informative) Classification Table of Phase 1 Applications According to Communication Requirements
Annex C (Normative) Basic Performance Index Basis of Forward Collision Warning (FCW)
C.1 Exchange Flow of FCW
C.2 Description to Index Basis
Figure 1 Schematic Diagram for Architecture of Vehicular Communication System
Figure 2 Schematic Diagram for the Scope of This Standard
Figure 3 FCW: HV Is Running and RV Stops ahead on the Same Lane
Figure 4 FCW: HV Is Running and RV Stops ahead on the Adjacent Lane
Figure 5 FCW: HV Is Running and RV Is Running in Low Speed or Is Slowing Down right ahead on the Same Lane
Figure 6 FCW: HV Is Running with the Sightline Obstructed and RV Is Running in Low Speed or Is Slowing Down right ahead on the Same Lane
Figure 7 FCW: Positional Relation between HV and RV
Figure 8 ICW: HV Starts at An Intersection
Figure 9 ICW: HV and RV Are Running towards An Intersection at the Same Time
Figure 10 ICW: Positional Relation between HV and RV
Figure 11 LTA: HV Is Turning Left at An Intersection
Figure 12 LTA: Positional Relation between HV and RV
Figure 13 BSW/LCW: RV Is in the Blind Spot of HV
Figure 14 BSW/LCW: RV Is About to Enter the Blind Spot of HV
Figure 15 BSW/LCW: Positional Relation between HV and RV
Figure 16 DNPW: There Is Vehicle Running in Opposite Direction on the Reverse Lane
Figure 17 DNPW: Positional Relation between HV and RV
Figure 18 EBW: The Adjacent RV ahead of HV on the Same Lane Brakes Emergently
Figure 19 EBW: The Non-adjacent RV ahead of HV on the Same Lane Brakes Emergently
Figure 20 EBW: Positional Relation between HV and RV
Figure 21 AVW: Abnormal Vehicle Turns on Trouble Alarm Light
Figure 22 AVW: Abnormal Vehicle Does Not Turns on Trouble Alarm Light
Figure 23 AVW: Positional Relation between HV and RV
Figure 24 CLW: HV and RV Are Running in the Same Direction
Figure 25 CLW: HV and RV Are Running in the Opposite Directions
Figure 26 CLW: Positional Relation between HV and RV
Figure 27 Road Side Unit (RSU) Gives Hazardous Road Condition Information
Figure 28 RLVW: Red Light Violation Process
Figure 29 RLVW: Bus Obstructing Signal Light
Figure 30 RLVW: Positional Relation of RLVW for Vehicle at Intersection
Figure 31 VRUCW: Pedestrian (P) Appears Ahead on Left or Right during HV Running
Figure 32 VRUCW: HV Reversing Warning
Figure 33 GLOSA: Scenario of Green Light Optimal Speed Advisory
Figure 34 IVS: Scenario of In-Vehicle Signage
Figure 35 TJW: Typical Scenario of Traffic Jam Warning
Figure 36 EVW: Emergency Vehicle Approaches to HV
Figure 37 EVW: Positional Relation between HV and RV
Figure 38 VNFP: Vehicle Makes Payment during Running
Figure 39 VNFP: Vehicle Makes Payment Initiatively during Stopping
Figure 40 VNFP: Toll Payment Process of Vehicle during Running
Figure 41 Major Structure of MAP Message
Figure 42 Major Structure of SPAT Message
Figure 43 Schematic Diagram for Data Interfaces of Application Layer
Figure C.1 Vehicle Braking Flow
Table 1 List of Phase 1 Applications
Table 2 Data Exchange Requirements of FCW (RV Data)
Table 3 Data Exchange Requirements of ICW (RV Data)
Table 4 Data Exchange Requirements of LTA (RV Data)
Table 5 Data Exchange Requirements of BSW/LCW (RV Data)
Table 6 Data Exchange Requirements of DNPW (RV Data)
Table 7 Data Exchange Requirements of EBW (RV Data)
Table 8 Data Exchange Requirements of AVW (RV Data)
Table 9 Data Exchange Requirements of CLW (RV Data)
Table 10 Data Exchange Requirements of HLW (Road Side Data)
Table 11 Data Exchange Requirements of SLW (Road Side Data)
Table 12 Data Exchange Requirements of RLVW (Road Side Data)
Table 13 Data Exchange Requirements of VRUCW (Vehicle Data)
Table 14 Data Exchange Requirements of VRUCW (Pedestrian Data)
Table 15 Data Exchange Requirements of VRUCW (Road Side Data)
Table 16 Data Exchange Requirements of GLOSA (Road Side Data)
Table 17 Data Exchange Requirements of IVS (Road Side Data)
Table 18 Data Exchange Requirements of TJW (Road Side Data)
Table 19 Data Exchange Requirements of EVW (RV Data)
Table 20 Data Exchange Requirements of VNFP (Vehicle Data and Road Side Data)
Table 21 List of API Interfaces
Table 22 List of SPI Interfaces
Table A.1 Solicitation and Voting Results of Phase 1 Applications
Table B.1 Classification Table of Phase 1 Applications According to Communication Requirements
Table C.1 Exchange Flow of FCW
1 Scope
This standard specifies the terms and definitions, data set and data exchange standard, interface specification and other contents of application layer of vehicular communication system in cooperative intelligent transportation systems.
This standard is applicable to the development, verification and commercial use of application scenarios of vehicular communication system based on various communication modes.
2 Normative References
The following documents for the application of this document are essential. Any dated reference, just dated edition applies to this document. For undated references, the latest edition (including any amendments) applies to this document.
SAE J2735 Dedicated Short Range Communications (DSRC) Message Set Dictionary
SAE J2945/1 On-board System Requirements for V2V Safety Communications
ETSI TS 102 637 Intelligent Transportation Systems (ITS): Vehicular Communications: Basic Set of Applications
GB 5768-2009 Road Traffic Signs and Markings
GB 25280-2016 Road Traffic Signal Controller
GB/T 16262.1-2006 Information technology - Abstract Syntax Notation One (ASN.1) - Part 1: Specification of Basic Notation
GB/T 16262.2-2006 Information technology - Abstract Syntax Notation One (ASN.1) - Part 2: Information Object Specification
GB/T 16262.3-2006 Information technology - Abstract Syntax Notation One (ASN.1) - Part 3: Constraint Specification
GB/T 16262.4-2006 Information technology - Abstract Syntax Notation One (ASN.1) - Part 4: Parameterization of ASN.1 Specifications
GB/T 16263.2-2006 Information Technology - ASN.1 Encoding Rules - Part 2: Specification of Packed Encoding Rules (PER)
3 Terms and Definitions
3.1 Definitions
3.1.1
cooperative intelligent transportation systems, C-ITS
a kind of intelligent transportation system which realizes the intelligent coordination and cooperation between vehicle and infrastructure, between vehicles and between vehicle and human through information exchange among human, vehicle and road
3.1.2
system delay
time since the equipment such as Remote Vehicle (RV) and Road Side Unit (RSU)send the communication data till the Host Vehicle (HV) receives the data and the data is subject to information processing via network layer and finally transferred to the application layer, which refers to the end-to-end delay of application layer in particular in this standard
3.1.3
host vehicle, HV
target vehicle equipped with On-Board Unit (OBU) and running applications
3.1.4
remote vehicle, RV
background vehicle being capable of regularly broadcasting V2X message in cooperation with the host vehicle
3.1.5
on-board unit, OBU
hardware unit which is installed on vehicle, is capable of realizing V2X communication, and supports V2X application
3.1.6
road side unit, RSU
hardware unit which is installed at road side, is capable of realizing V2X communication, and supports V2X application
3.1.7
V2X
Vehicle to Everything, including but not limited to Vehicle to Vehicle (V2V), Vehicle to Infrastructure (V2I), Vehicle to Pedestrians (V2P) and Vehicle to Network (V2N)
3.2 Abbreviations
For the purposes of this standard, the following abbreviations apply:
4G: the 4th Generation mobile communication technology
5G: the 5th Generation mobile communication technology
ABS: Anti-lock Braking System
ADS: Application Data-Exchange Service
API: Application Programming Interface
ASN.1: Abstract Syntax Notation One
AVW: Abnormal Vehicle Warning
BSM: Basic Safety Message
BSW/LCW: Blind Spot Warning/Lane Change Warning
CAV: Collision Avoidance Range
C-ITS: China ITS Industry Alliance
CLW: Control Lost Warning
CSAE: Society of Automotive Engineers of China
DE: Data Element
DF: Data Frame
DME: DSRC Management Entity
DNPW: Do Not Pass Warning
DSM: DSRC Short Message
DSRC: Dedicated Short Range Communications
DTI: Distance-to-Intersection
HMI: Human Machine Interface
EBW: Emergency Brake Warning
ESP: Electronic Stability Program
ETC: Electronic Toll Collection
ETSI: European Telecommunications Standards Institute
EVW: Emergency Vehicle Warning
FCW: Forward Collision Warning
GB: Guo Biao (Nation Standard)
GLOSA: Green Light Optimal Speed Advisory
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
HLW: Hazardous Location Warning
HV: Host Vehicle
ICW: Intersection Collision Warning
ID: Identification
ISO: International Standards Organization
ITS: Intelligent Transport Systems
IVS: In-Vehicle Signage
LDW: Lane Departure Warning
LTA: Left Turn Assistant
LTE-V2X: Long Term Evolution-Vehicle to Everything
NHTSA: National Highway Traffic Safety Administration
OBU: On-Board Unit
P2P: Point to Point
RSA: Road Side Alert
RSM: Road Side Message
RSU: Road Side Unit
RV: Remote Vehicle
SAE: Society of Automotive Engineers International
SLW: Speed Limit Warning
SPAT: Signal Phase and Timing Message
SPI: Service Provider Interface
SVW: Signal Violation Warning
TC: Target Classification
TCS: Traction Control System
TJW: Traffic Jam Warning
TTC: Time-to-Collision
TTI: Time-to-Intersection
UPER: Unaligned Packet Encoding Rules
V2I: Vehicle to Infrastructure
V2P: Vehicle to Pedestrians
V2V: Vehicle to Vehicle
V2X: Vehicle to Everything
VIN: Vehicle ID Number
VNFP: Vehicle Near-Field Payment
VRUCW: Vulnerable Road User Collision Warning
4 Cooperative Intelligent Transportation System - Vehicular Communication System
4.1 System Introduction
The vehicular communication system, i.e., Vehicle to Everything (V2X), in cooperative intelligent transportation systems aims to realize various applications such as road safety, traffic efficiency and information service through the information exchange among subsystems of intelligent transportation system. Therefore, interconnection and intercommunication must be realized between vehicles produced by different manufacturers and between these vehicles and the road infrastructure in the accessible area of these vehicles. This standard is formulated with a view to realizing interconnection and intercommunication of vehicular communication system at the application layer by defining the message set, data frame and data element of information exchange.
Figure 1 describes the architecture of this system by taking On-Board Unit (OBU) in vehicular communication system as an example. The on-board equipment generally includes the following subsystems:
Wireless communication subsystem: it receives and transmits aerial signals. One or multiple wireless communication subsystems may be installed in one on-board equipment;
Positioning system: this subsystem generally includes Global Navigation Satellite System (GNSS) receiver to provide the vehicle information such as position, direction, speed and time. It is capable of enhancing the positioning effect with such technologies as vehicle speed signal, inertial measurement unit and differential positioning system;
On-board equipment processing unit: it runs the programme to generate the aerial signals required to be transmitted and also processes the aerial signals received;
Antenna: it realizes the receiving and transmitting of RF signals.
On-board equipment is connected with the application electronic control unit via interface, and the programme in application electronic control unit is run to realize application of vehicular communication system, and the driver hereby is reminded via the Human Machine Interface (HMI) in such forms as image, sound and vibration. On some occasions, application electronic control unit and on-board equipment processing unit are realized in one physical equipment.
Figure 1 Schematic Diagram for Architecture of Vehicular Communication System
4.2 Scope of This Standard
With reference to the 7-layer reference model of communication system formulated by International Standards Organization (ISO) and the system architecture in the relevant standards of vehicular communication system being formulated by America and Europe, the vehicular communication system generally may be divided into system applications, application layer, transmission layer, network layer, data link layer and physical layer. This standard focuses on the application layer and the data exchange interfaces between application layer and the upper and lower layers adjacent to it (as shown in Figure 2). The application layer protocol mainly includes the message set, the data frame and data element in message set and the data structure and encoding mode of message. According to the analysis on such basic applications as road safety, traffic efficiency and information service, this standard defines the information exchange content, exchange protocol and interface, etc. between a vehicle and other vehicles, road traffic facilities and other traffic participants during realization of various applications. This standard does not specify the communication technology at bottom layer and it applies to various different transmission layers, network layers, data link layers and physical layers. This standard upward formulates the Application Programming Interface (API) connected with system applications to enable different application developers to independently develop the applications which are capable of realizing interconnection and intercommunication, without worrying about the kinds of communication mode or equipment to be used; moreover, this standard downward formulates the Service Provider Interface (SPI) connected with different communication equipment to realize the compatibility of vehicular communication system with different communication modes or equipment and to satisfy continuous update requirement of communication technology.
Contents of T/CSAE 53-2017
Foreword XII
1 Scope
2 Normative References
3 Terms and Definitions
3.1 Definitions
3.2 Abbreviations
4 Cooperative Intelligent Transportation System - Vehicular Communication System
4.1 System Introduction
4.2 Scope of This Standard
5 Basic Applications of Vehicular Communication System
5.1 Requirement Analysis
5.2 Definitions and Basic Requirements of Applications
5.2.1 General
5.2.2 Forward Collision Warning (FCW)
5.2.2.1 Definition and Expected Effect of the Application
5.2.2.2 Main Scenarios
5.2.2.3 Basic Principles of System
5.2.2.4 Communication Modes
5.2.2.5 Basic Performance Requirements
5.2.2.6 Data Exchange Requirements
5.2.3 Intersection Collision Warning (ICW)
5.2.3.1 Definition and Expected Effect of the Application
5.2.2.2 Main Scenarios
5.2.3.3 Basic Principles of System
5.2.3.4 Communication Modes
5.2.3.5 Basic Performance Requirements
5.2.3.6 Data Exchange Requirements
5.2.4 Left Turn Assistant (LTA)
5.2.4.1 Definition and Expected Effect of the Application
5.2.4.2 Main Scenarios
5.2.4.3 Basic Principles of System
5.2.4.4 Communication Modes
5.2.4.5 Basic Performance Requirements
5.2.4.6 Data Exchange Requirements
5.2.5 Blind Spot Warning/Lane Change Warning (BSW/LCW)
5.2.5.1 Definition and Expected Effect of the Application
5.2.5.2 Main Scenarios
5.2.5.3 Basic Principles of System
5.2.5.4 Communication Modes
5.2.5.5 Basic Performance Requirements
5.2.5.6 Data Exchange Requirements
5.2.6 Do Not Pass Warning (DNPW)
5.2.6.1 Definition and Expected Effect of the Application
5.2.6.2 Main Scenarios
5.2.6.3 Basic Principles of System
5.2.6.4 Communication Modes
5.2.6.5 Basic Performance Requirements
5.2.6.6 Data Exchange Requirements
5.2.7 Emergency Brake Warning (EBW)
5.2.7.1 Definition and Expected Effect of the Application
5.2.7.2 Main Scenarios
5.2.7.3 Basic Principles of System
5.2.7.4 Communication Modes
5.2.7.5 Basic Performance Requirements
5.2.7.6 Data Exchange Requirements
5.2.8 Abnormal Vehicle Warning (AVW)
5.2.8.1 Definition and Expected Effect of the Application
5.2.8.2 Main Scenarios
5.2.8.3 Basic Principles of System
5.2.8.4 Communication Modes
5.2.8.5 Basic Performance Requirements
5.2.8.6 Data Exchange Requirements
5.2.9 Control Lost Warning (CLW)
5.2.9.1 Definition and Expected Effect of the Application
5.2.9.2 Description to Main Scenarios
5.2.9.3 Basic Principles of System
5.2.9.4 Communication Modes
5.2.9.5 Basic Performance Requirements
5.2.9.6 Data Exchange Requirements
5.2.10 Hazardous Location Warning (HLW)
5.2.10.1 Definition and Expected Effect of the Application
5.2.10.2 Main Scenarios
5.2.10.3 Basic Principles of System
5.2.10.4 Communication Modes
5.2.10.5 Basic Performance Requirements
5.2.10.6 Data Exchange Requirements
5.2.11 Speed Limit Warning (SLW)
5.2.11.1 Definition and Expected Effect of the Application
5.2.11.2 Main Scenarios
5.2.11.3 Basic Principles of System
5.2.11.4 Communication Modes
5.2.11.5 Basic Performance Requirements
5.2.11.6 Data Exchange Requirements
5.2.12 Red Light Violation Warning (RLVW)
5.2.12.1 Definition and Expected Effect of the Application
5.2.12.2 Main Scenarios
5.2.12.3 Basic Principles of the System
5.2.12.4 Communication Modes
5.2.12.5 Basic Performance Requirements
5.2.12.6 Data Exchange Requirements
5.2.13 Vulnerable Road User Collision Warning (VRUCW)
5.2.13.1 Definition and Expected Effect of the Application
5.2.13.2 Main Scenarios
5.2.13.3 Basic Working Principles
5.2.13.4 Communication Modes
5.2.13.5 Basic Performance Requirements
5.2.13.6 Data Exchange Requirements
5.2.14 Green Light Optimal Speed Advisory (GLOSA)
5.2.14.1 Definition and Expected Effect of the Application
5.2.14.2 Main Scenarios
5.2.14.3 Basic Working Principles
5.2.14.4 Communication Modes
5.2.14.5 Basic Performance Requirements
5.2.14.6 Data Exchange Requirements
5.2.15 In-Vehicle Signage (IVS)
5.2.15.1 Definition and Expected Effect of the Application
5.2.15.2 Main Scenarios
5.2.15.3 Basic Working Principles
5.2.15.4 Communication Modes
5.2.15.5 Basic Performance Requirements
5.2.15.6 Data Exchange Requirements
5.2.16 Traffic Jam Warning (TJW)
5.2.16.1 Definition and Expected Effect of the Application
5.2.16.2 Main Scenarios
5.2.16.3 Basic Principles of the System
5.2.16.4 Communication Modes
5.2.16.5 Basic Performance Requirements
5.2.16.6 Data Exchange Requirements
5.2.17 Emergency Vehicle Warning (EVW)
5.2.17.1 Definition and Expected Effect of the Application
5.2.17.2 Main Scenarios
5.2.17.3 Basic Principles of the System
5.2.17.4 Communication Modes
5.2.17.5 Basic Performance Requirements
5.2.17.6 Data Exchange Requirements
5.2.18 Vehicle Near-Field Payment (VNFP)
5.2.18.1 Definition and Expected Effect of the Application
5.2.18.2 Main Scenarios
5.2.18.3 Basic Principles of the System
5.2.18.4 Communication Modes
5.2.18.5 Basic Performance Requirements
5.2.18.6 Data Exchange Requirements
6 Data Exchange Set of Application Layer
6.1 Basic Introduction and Requirements
6.2 Definition of Data Set
6.2.1 Message Set
6.2.1.1 General
6.2.1.2 Message Frame
6.2.1.3 Msg_BSM
6.2.1.4 Msg_MAP
6.2.1.5 Msg_RSI
6.2.1.6 Msg_RSM
6.2.1.7 Msg_SPAT
6.2.2 Data Frame (DF)
6.2.2.1 General
6.2.2.2 DF_AccelerationSet4Way
6.2.2.3 DF_BrakeSystemStatus
6.2.2.4 DF_ConnectingLane
6.2.2.5 DF_Connection
6.2.2.6 DF_ConnectsToList
6.2.2.7 DF_DDateTime
6.2.2.8 DF_FullPositionVector
6.2.2.9 DF_IntersectionState
6.2.2.10 DF_IntersectionStateList
6.2.2.11 DF_Lane
6.2.2.12 DF_LaneAttributes
6.2.2.13 DF_LaneList
6.2.2.14 DF_LaneTypeAttributes
6.2.2.15 DF_Link
6.2.2.16 DF_LinkList
6.2.2.17 DF_MotionConfidenceSet
6.2.2.18 DF_Movement
6.2.2.19 DF_MovementList
6.2.2.20 DF_Node
6.2.2.21 DF_NodeList
6.2.2.22 DF_NodeReferencelD
6.2.2.23 DF_ParticipantData
6.2.2.24 DF_ParticipantList
6.2.2.25 DF_PathHistory
6.2.2.26 DF_PathHistoryPoint
6.2.2.27 DF_PathHistoryPointList
6.2.2.28 DF_PathPointList
6.2.2.29 DF_PathPrediction
6.2.2.30 DF_Phase
6.2.2.31 DF_PhaseList
6.2.2.32 DF_PhaseState
6.2.2.33 DF_PhaseStateList
6.2.2.34 DF_PointList
6.2.2.35 DF_Position-LL-24B
6.2.2.36 DF_Position-LL-28B
6.2.2.37 DF_Position-LL-32B
6.2.2.38 DF_Position-LL-36B
6.2.2.39 DF_Position-LL-44B
6.2.2.40 DF_Position-LL-48B
6.2.2.41 DF_Position-LLmD-64b
6.2.2.42 DF_Position3D
6.2.2.43 DF_PositionConfidenceSet
6.2.2.44 DF_PositionOffsetLL
6.2.2.45 DF_PositionOffsetLLV
6.2.2.46 DF_RegulatorySpeedLimit
6.2.2.47 DF_RoadPoint
6.2.2.48 DF_SignalState
6.2.2.49 DF_SpeedLimitList
6.2.2.50 DF_TimeChangeDetails
6.2.2.51 DF_VehicleClassification
6.2.2.52 DF_VehicleSafetyExtensions
6.2.2.53 DF_VehicleSize
6.2.2.54 DF_VerticalOffset
6.2.3 Data Element (DE)
6.2.3.1 General
6.2.3.2 DE_Acceleration
6.2.3.3 DE_AlertType
6.2.3.4 DE_AllowedManeuvers
6.2.3.5 DE_AntiLockBrakeStatus
6.2.3.6 DE_AuxiliaryBrakeStatus
6.2.3.7 DE_BasicVehicleClass
6.2.3.8 DE_BrakeAppliedStatus
6.2.3.9 DE_BrakeBoostApplied
6.2.3.10 DE_BrakePedalStatus
6.2.3.11 DE_CoarseHeading
6.2.3.12 DE_Confidence
6.2.3.13 DE_DDay
6.2.3.14 DE_DescriptiveName
6.2.3.15 DE_DHour
6.2.3.16 DE_Dminute
6.2.3.17 DE_DMonth
6.2.3.18 E_DSecond
6.2.3.19 DE_DTimeOffset
6.2.3.20 DE_DYear
6.2.3.21 DE_Elevation
6.2.3.22 DE_ElevationConfidence
6.2.3.23 DE_ExteriorLights
6.2.3.24 DE_GNSSstatus
6.2.3.25 DE_Heading
6.2.3.26 DE_HeadingConIidence
6.2.3.27 DE_IntersectionStatusObject
6.2.3.28 DE_LaneAttributes-Barrier
6.2.3.29 DE_LaneAttributes-Bike
6.2.3.30 DE_LaneAttributes-Crosswalk
6.2.3.31 DE_LaneAttributes-Parking
6.2.3.32 DE_LaneAttributes-Sidewalk
6.2.3.33 DE_LaneAttributes-Striping
6.2.3.34 DE_LaneAttributes-TrackedVehicle
6.2.3.35 DE_LaneAttributes-Vehicle
6.2.3.36 DE_LaneID
6.2.3.37 DE_LaneSharing
6.2.3.38 DE_LaneWidth
6.2.3.39 DE_Latitude
6.2.3.40 DE_LightState
6.2.3.41 DE_Longitude
6.2.3.42 DE_MinuteOfTheYear
6.2.3.43 DE_MsgCount
6.2.3.44 DE_NodelD
6.2.3.45 DE_OffsetLL-B
6.2.3.46 DE_OffsetLL-B
6.2.3.47 DE_OffsetLL-B
6.2.3.48 DE_OffsetLL-B
6.2.3.49 DE_OffsetLL-B
6.2.3.50 DE_OffsetLL-B
6.2.3.51 DE_ParticipantType
6.2.3.52 DE_PhaseID
6.2.3.53 DE_PositionConfidence
6.2.3.54 DE_Priority
6.2.3.55 DE_Radius
6.2.3.56 DE_RadiusOfCurvation
6.2.3.57 DE_RoadRegulatorID
6.2.3.58 DE_SourceType
6.2.3.59 DE_Speed
6.2.3.60 DE_SpeedConIidence
6.2.3.61 DE_SpeedLimitType
6.2.3.62 DE_StabilityControlStatus
6.2.3.63 DE_SteeringWheelAngle
6.2.3.64 DE_SteeringWheelAngleConfidence
6.2.3.65 DE_TimeConfidence
6.2.3.66 DE_TimeMark
6.2.3.67 DE_TimeOffset
6.2.3.68 DE_TractionControlStatus
6.2.3.69 DE_TransmissionState
6.2.3.70 DE_VehicleEventFlags
6.2.3.71 DE_VehicleHeight
6.2.3.72 DE_VehicleLength
6.2.3.73 DE_VehicleWidth
6.2.3.74 DE_VerticalAcceleration
6.2.3.75 DE_VertOffset-B
6.2.3.76 DE_VertOffset-B
6.2.3.77 DE_VertOffset-B
6.2.3.78 DE_VertOffset-B
6.2.3.79 DE_VertOffset-B
6.2.3.80 DE_VertOffset-B
6.2.3.81 DE_YawRate
7 Data Exchange Standard and Interface Specification of Application Layer
7.1 Data Interfaces of Application Layer
7.2 API Interfaces
7.2.1 List of API Interfaces
7.2.2 Functional Description to API Interfaces
7.2.2.1 AppGetHostlnfo.request
7.2.2.2 AppGetHostInfo.confirm
7.2.2.3 AppGetHostStatus.request
7.2.2.4 AppGetHostStatus.confirm
7.2.2.5 AppSetCommCfg.request
7.2.2.6 AppSetCommCfg.confirm
7.2.2.7 AppGetCommStatus.request
7.2.2.8 AppGetCommStatus.confirm
7.2.2.9 AppDSMInit.request
7.2.2.10 AppDSMInit.confirm
7.2.2.11 AppDSMTerminate.request
7.2.2.12 AppDSMTerminate.request
7.2.2.13 AppSendDSMMsg.request
7.2.2.14 AppSendDSMMsg.confirm
7.2.2.15 AppDupBSM.request
7.2.2.16 AppDupBSM.confirm
7.2.2.17 AppDupBSM.indication
7.2.2.18 AppDupMap.request
7.2.2.19 AppDupMAP.confirm
7.2.2.20 AppDupMAP.indication
7.2.2.21 AppDupSPAT.request
7.2.2.22 AppDupSPAT.confirm
7.2.2.23 AppDupSPAT.indication
7.2.2.24 AppDupRSM.request
7.2.2.25 AppDupRSM.confirm
7.2.2.26 AppDupRSM.indication
7.2.2.27 AppGetTC.request
7.2.2.28 AppGetTC.confirm
7.2.2.29 AppGetTC.indication
7.2.2.30 AppGetRemoteVehicles.request
7.2.2.31 AppGetRemoteVehicles.confirm
7.2.2.32 AppGetRemoteVehicles.indication
7.2.2.33 AppGetEventVehicle.request
7.2.2.34 AppGetEventVehicle.confirm
7.2.2.35 AppGetEventVehicle.indication
7.2.2.36 AppRoadSideAlert.request
7.2.2.37 AppRoadSideAlert.confirm
7.2.2.38 AppRoadSideAlert.indication
7.2.2.39 AppSignal.request
7.2.2.40 AppSignal.confirm
7.2.2.41 AppSignal.indication
7.2.2.42 AppPedestrian.request
7.2.2.43 AppPedestrian.confirm
7.2.2.44 AppPedestrian.indication
7.2.2.45 AppGetServices.request
7.2.2.46 AppGetServices.confirm
7.2.2.47 AppProviderService.request
7.2.2.48 AppProviderService.confirm
7.2.2.49 AppUserService.request
7.2.2.50 AppUserService.confirm
7.2.2.51 AppPayment.request
7.2.2.52 AppPayment.confirm
7.3 SPI Interfaces
7.3.1 List of SPI Interfaces
7.3.2 Functional Description to SPI Interfaces
7.3.2.1 CommClientInit.request
7.3.2.2 CommClientInit.confirm
7.3.3.3 CommDSMSend.request
7.3.3.4 CommDSMSend.confirm
7.3.3.5 CommDSM.indication
7.3.3.6 CommDMESetCfg.request
7.3.3.7 CommDMESetCfg.confirm
7.2.3.8 CommDMEGetCfg.request
7.3.3.9 CommDMEGetCfg.confirm
7.3.3.10 CommDMEProviderService.reuqest
7.3.3.11 CommDMEProviderService.confirm
7.3.3.12 CommDMEUserService.request
7.3.3.13 CommDMEUserService.confirm
7.3.3.14 CommDMENotification.indication
Annex A (Informative) Evaluation Method of Phase 1 Applications
Annex B (Informative) Classification Table of Phase 1 Applications According to Communication Requirements
Annex C (Normative) Basic Performance Index Basis of Forward Collision Warning (FCW)
C.1 Exchange Flow of FCW
C.2 Description to Index Basis
Figure 1 Schematic Diagram for Architecture of Vehicular Communication System
Figure 2 Schematic Diagram for the Scope of This Standard
Figure 3 FCW: HV Is Running and RV Stops ahead on the Same Lane
Figure 4 FCW: HV Is Running and RV Stops ahead on the Adjacent Lane
Figure 5 FCW: HV Is Running and RV Is Running in Low Speed or Is Slowing Down right ahead on the Same Lane
Figure 6 FCW: HV Is Running with the Sightline Obstructed and RV Is Running in Low Speed or Is Slowing Down right ahead on the Same Lane
Figure 7 FCW: Positional Relation between HV and RV
Figure 8 ICW: HV Starts at An Intersection
Figure 9 ICW: HV and RV Are Running towards An Intersection at the Same Time
Figure 10 ICW: Positional Relation between HV and RV
Figure 11 LTA: HV Is Turning Left at An Intersection
Figure 12 LTA: Positional Relation between HV and RV
Figure 13 BSW/LCW: RV Is in the Blind Spot of HV
Figure 14 BSW/LCW: RV Is About to Enter the Blind Spot of HV
Figure 15 BSW/LCW: Positional Relation between HV and RV
Figure 16 DNPW: There Is Vehicle Running in Opposite Direction on the Reverse Lane
Figure 17 DNPW: Positional Relation between HV and RV
Figure 18 EBW: The Adjacent RV ahead of HV on the Same Lane Brakes Emergently
Figure 19 EBW: The Non-adjacent RV ahead of HV on the Same Lane Brakes Emergently
Figure 20 EBW: Positional Relation between HV and RV
Figure 21 AVW: Abnormal Vehicle Turns on Trouble Alarm Light
Figure 22 AVW: Abnormal Vehicle Does Not Turns on Trouble Alarm Light
Figure 23 AVW: Positional Relation between HV and RV
Figure 24 CLW: HV and RV Are Running in the Same Direction
Figure 25 CLW: HV and RV Are Running in the Opposite Directions
Figure 26 CLW: Positional Relation between HV and RV
Figure 27 Road Side Unit (RSU) Gives Hazardous Road Condition Information
Figure 28 RLVW: Red Light Violation Process
Figure 29 RLVW: Bus Obstructing Signal Light
Figure 30 RLVW: Positional Relation of RLVW for Vehicle at Intersection
Figure 31 VRUCW: Pedestrian (P) Appears Ahead on Left or Right during HV Running
Figure 32 VRUCW: HV Reversing Warning
Figure 33 GLOSA: Scenario of Green Light Optimal Speed Advisory
Figure 34 IVS: Scenario of In-Vehicle Signage
Figure 35 TJW: Typical Scenario of Traffic Jam Warning
Figure 36 EVW: Emergency Vehicle Approaches to HV
Figure 37 EVW: Positional Relation between HV and RV
Figure 38 VNFP: Vehicle Makes Payment during Running
Figure 39 VNFP: Vehicle Makes Payment Initiatively during Stopping
Figure 40 VNFP: Toll Payment Process of Vehicle during Running
Figure 41 Major Structure of MAP Message
Figure 42 Major Structure of SPAT Message
Figure 43 Schematic Diagram for Data Interfaces of Application Layer
Figure C.1 Vehicle Braking Flow
Table 1 List of Phase 1 Applications
Table 2 Data Exchange Requirements of FCW (RV Data)
Table 3 Data Exchange Requirements of ICW (RV Data)
Table 4 Data Exchange Requirements of LTA (RV Data)
Table 5 Data Exchange Requirements of BSW/LCW (RV Data)
Table 6 Data Exchange Requirements of DNPW (RV Data)
Table 7 Data Exchange Requirements of EBW (RV Data)
Table 8 Data Exchange Requirements of AVW (RV Data)
Table 9 Data Exchange Requirements of CLW (RV Data)
Table 10 Data Exchange Requirements of HLW (Road Side Data)
Table 11 Data Exchange Requirements of SLW (Road Side Data)
Table 12 Data Exchange Requirements of RLVW (Road Side Data)
Table 13 Data Exchange Requirements of VRUCW (Vehicle Data)
Table 14 Data Exchange Requirements of VRUCW (Pedestrian Data)
Table 15 Data Exchange Requirements of VRUCW (Road Side Data)
Table 16 Data Exchange Requirements of GLOSA (Road Side Data)
Table 17 Data Exchange Requirements of IVS (Road Side Data)
Table 18 Data Exchange Requirements of TJW (Road Side Data)
Table 19 Data Exchange Requirements of EVW (RV Data)
Table 20 Data Exchange Requirements of VNFP (Vehicle Data and Road Side Data)
Table 21 List of API Interfaces
Table 22 List of SPI Interfaces
Table A.1 Solicitation and Voting Results of Phase 1 Applications
Table B.1 Classification Table of Phase 1 Applications According to Communication Requirements
Table C.1 Exchange Flow of FCW
