Detail of T/CSAE 53-2017

Introduction of T/CSAE 53-2017

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