標準編號:	T/CSAE 53-2017
中文名稱:	合作式智能運輸系統 車用通信系統應用層及應用數據交互標準
英文名稱:	Cooperative intelligent transportation system; vehicular communication;application layer specification and data exchange standard
行業分類:	T/    團體標準
發布機構:	中國汽車工程學會
發布日期:	2017-09-18
實施日期:	2017-9-18
標準狀態:	superseded
被新標準替代:	T/CSAE 53-2020 合作式智能運輸系統 車用通信系統應用層及應用數據交互標準（第一階段）
被替代日期:	2020-12-31
翻譯語言:	英文
文件格式:	PDF
中文字符數:	115000 字
翻譯價格(元):	6800.0
交付時間:	付款后 1 個工作日

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

合作式智能運輸系統 車用通信系統 應用層及應用數據交互標準 1 范圍 本標準規定了合作式智能運輸系統車用通信系統應用層的術語和定義，以及數據集和數據交互標準及接口規范等內容。 本標準適用于基于各種通信方式的車用通信系統應用場景開發、驗證及商用。 2規范性引用文件 下列文件對于本文件的應用是必不可少的。凡是注日期的引用文件，僅所注日期的版本適用于本文件。凡是不注日期的引用文件，其最新版本(包括所有的修改單)適用于本文件。 SAE J2735專用短程通信消息集字典(Dedicated Short Range Communications(DSRC)Message Set Dictionary) SAE J2945/1 V2V車載安全通信系統性能需求(On-Board System Requirements for V2V Safety Communications) ETSI TS 102 637智能交通系統 車輛通信系統 基本應用集(Intelligent Transportation Systems (ITS)：Vehicular Communications：Basic Set of Applications) GB 5768—2009道路交通標志與標線 GB 25280—2016道路交通信號控制機 GB/T 16262.1—2006信息技術 抽象語法記法一(ASN.1) 第1部分：基本記法規范 GB/T 16262.2—2006信息技術 抽象語法記法一(ASN.1) 第2部分：信息客體規范 GB/T 16262.3—2006信息技術 抽象語法記法一(ASN.1) 第3部分：約束規范 GB/T 16262.4—2006信息技術 抽象語法記法一(ASN.1) 第4部分：ASN.1規范的參數化 GB/T 16263.2—2006信息技術 ASN.1編碼規則 第2部分：緊縮編碼規則(PER)規范 3術語和定義 3.1 定義 3.1.1 合作式智能運輸系統cooperative intelligent transportation systems，C-ITS 合作式智能運輸系統是通過人、車、路信息交互，實現車輛和基礎設施之間、車輛與車輛之間、車輛與人之間的智能協同與配合的一種智能運輸系統。 3.1.2 系統延遲system delay 從遠車或路側單元等設備發送通信數據，到主車接收該數據并通過網絡層進行信息處理后傳遞給應用層的時間。本標準中特指應用層端到端的延遲時間。 3.1.3 主車 host vehicle，HV 裝有車載單元且運行應用程序的目標車輛。 3.1.4 遠車 remote vehicle，RV 與主車配合能定時廣播V2X 消息的背景車輛。 3.1.5 車載單元 on-board unit，OBU 安裝在車輛上的可實現V2X 通訊，支持V2X 應用的硬件單元。 3.1.6 路側單元 road side unit，RSU 安裝在路邊的可實現V2X 通訊，支持V2X 應用的硬件單元。 3.1.7 V2X 車載單元與其他設備通訊，包括但不限于車載單元之間通訊（V2V），車載單元與路側單元通訊（V2I），車載單元與行人設備通訊（V2P），車載單元與網絡之間通訊（V2N）。 3.2 縮略語 以下縮略語適用于本標準： 4G：第四代移動通信技術 the 4th Generation mobile communication technology 5G：第五代移動通信技術 the 5th Generation mobile communication technology ABS：制動防抱死系統 Anti-lock Braking System ADS：應用數據交換服務 Application Data-Exchange Service API：應用程序編程接口 Application Programming Interface ASN.1：抽象語法標記 Abstract Syntax Notation One AVW：異常車輛提醒 Abnormal Vehicle Warning BSM：基本安全消息 Basic Safety Message BSW/LCW：盲區預警/ 變道預警 Blind Spot Warning/Lane Change Warning CAV：防撞距離 Collision Avoidance Range C-ITS：中國智能交通產業聯盟 China ITS Industry Alliance CLW：車輛失控預警 Control Lost Warning CSAE：中國汽車工程學會 Society of Automotive Engineers of China DE：數據元素 Data Element DF：數據幀 Data Frame DME：專用短程通信管理實體 DSRC Management Entity DNPW：逆向超車預警 Do Not Pass Warning DSM：專用短程通信短消息 DSRC Short Message DSRC：專用短程通信 Dedicated Short Range Communications DTI：到交叉口的距離 Distance-to-Intersection HMI：人機交互界面 Human Machine Interface EBW：緊急制動預警 Emergency Brake Warning ESP：車身電子穩定系統 Electronic Stability Program ETC：電子不停車收費系統 Electronic Toll Collection ETSI：歐洲電信標準化協會 European Telecommunications Standards Institute EVW：緊急車輛提醒 Emergency Vehicle Warning FCW：前向碰撞預警 Forward Collision Warning GB：中國國家標準 Guo Biao （Nation Standard） GLOSA：綠波車速引導 Green Light Optimal Speed Advisory GNSS：全球導航衛星系統 Global Navigation Satellite System GPS：全球定位系統 Global Positioning System HLN：道路危險狀況預警 Hazardous Location Warning HV：主車 Host Vehicle ICW：交叉路口碰撞預警 Intersection Collision Warning ID：標識 Identification ISO：國際標準化組織 International Standards Organization ITS：智能交通系統 Intelligent Transport Systems IVS：車內標牌 In-Vehicle Signage LDW：車道偏離預警系統 Lane Departure Warning LTA：左轉輔助 Left Turn Assistant LTE-V2X：基于LTE 的車載設備與其他設備通訊 Long Term Evolution-Vehicle to Everything NHTSA：美國高速公路安全管理局 National Highway Traffic Safety Administration OBU：車載單元 On-Board Unit P2P：點對點 Point to Point RSA：路側單元發布的交通事件消息 Road Side Alert RSM：路側單元消息 Road Side Message RSU：路側單元 Road Side Unit RV：遠車 Remote Vehicle SAE：國際自動機工程師學會 Society of Automotive Engineers International SLW：限速預警 Speed Limit Warning SPAT：信號燈消息 Signal Phase and Timing Message SPI：服務提供者接口 Service Provider Interface SVW：闖紅燈預警 Signal Violation Warning TC：目標分類 Target Classification TCS：牽引力控制系統 Traction Control System TJW：前方擁堵提醒 Traffic Jam Warning TTC：碰撞預計時間 Time-to-Collision TTI：到達交叉口預計時間 Time-to-Intersection UPER：非對齊壓縮編碼規則 Unaligned Packet Encoding Rules V2I：車載單元與路側單元通訊 Vehicle to Infrastructure V2P：車載單元與行人設備通訊 Vehicle to Pedestrians V2V：車載單元之間通訊 Vehicle to Vehicle V2X：車載單元與其他設備通訊 Vehicle to Everything VIN：車輛識別碼 Vehicle ID Number VNFP：汽車近場支付 Vehicle Near-Field Payment VRUCW：弱勢交通參與者碰撞預警 Vulnerable Road User Collision Warning 4合作式智能運輸系統車用通信系統 4.1 系統介紹 合作式智能運輸系統車用通信系統(V2X)，旨在通過智能運輸系統各子系統之間的信息交互，實現道路安全、通行效率、信息服務等各類應用。為此，不同廠商車輛之間，以及這些車輛與其所能到達的區域范圍內的道路基礎設施之間，必須實現互聯互通。本標準的目的，是通過定義信息交互的消息集、數據幀與數據元素，來實現車用通信系統在應用層的互聯互通。 圖1以車用通信系統中的車載單元(OBU)為例說明該系統的架構。車載設備通常包括了以下子系統： ●無線電通信子系統：接收和發送空中信號。一個車載設備里可以裝配一個或者多個無線電通信子系統； ●定位系統：該子系統通常包含全球導航衛星系統(GNSS，Global Navigation Satellite System)接收器，用以提供車輛的位置、方向、速度和時間等信息。該子系統可以通過車速信號、慣性測量單元、差分定位系統等技術來實現增強定位； ●車載設備處理單元：運行程序以生成需要發送的空中信號，以及處理接收的空中信號； ●天線：實現射頻信號的接收和發送。 車載設備通過接口與應用電子控制單元相連，應用電子控制單元中運行程序實現車用通信系統的應用，并通過人機交互界面(HMI，Human Machine Interface)，以圖像、聲音、振動等方式，來實現對駕駛員的提醒。在某些場合，應用電子控制單元和車載設備處理單元在一個物理設備中實現。 車載設備單元(OBU) 天線 定位系統 車載設備處理單元 應用電子控制單元 天線 無線電通信子系統 車內總線 人機交互界面(DVI) 圖1 車用通信系統架構示意圖 4.2標準范圍 參考國際標準化組織(ISO)制定的通信系統七層參考模型，及美國、歐洲正在制定的車用通信系統相關標準的系統架構，車用通信系統通常可以分為系統應用、應用層、傳輸層、網絡層、數據鏈路層和物理層。本標準關注應用層及應用層與上下相鄰兩層的數據交互接口(如圖2)。應用層協議主要包括消息集和消息集內的數據幀與數據元素，以及消息的數據結構和編碼方式。本標準通過對道路安全、通行效率和信息服務等基礎應用的分析，定義在實現各種應用時，車輛與其他車輛、道路交通設施及其他交通參與者之間的信息交互內容、交互協議與接口等。本標準并不指定底層的通信技術，可以用于各種不同的傳輸層、網絡層和數據鏈路層、物理層。本標準通過向上制定與系統應用對接的應用編程接口(API)，可以讓不同的應用開發者獨立開發能實現互聯互通的應用，而無需擔心使用何種通信方式或者通信設備，同時通過向下制定與不同通信設備對接的服務提供接口(SPI)，以實現車用通信系統與不同通信方式或者通信設備的兼容，并滿足通信技術不斷更新的需求。 中國的安全、出行效率與環保應用 應用數據交換服務(ADS) 本標準范疇 傳輸層 國標草案 其他 通信協議 圖2本標準范圍示意圖 5車用通信系統基礎應用 5.1 需求分析 本標準選擇涵蓋安全、效率、信息服務三大類的17個典型應用作為一期應用。選擇過程詳見附錄A。表1為本標準選擇的17個一期應用列表。 表1一期應用列表 序號 類別 通信方式 應用名稱 1 安全 V2V 前向碰撞預警 2 V2V，V2I 交叉路口碰撞預警 3 V2V，V2I 左轉輔助 4 V2V 盲區預警/變道輔助 5 V2V 逆向超車預警 6 V2V—Event 緊急制動預警 7 V2V—Event 異常車輛提醒 8 V2V—Event 車輛失控預警 9 V2I 道路危險狀況提示 10 V2I 限速預警 11 V2I 闖紅燈預警 12 V2P，V2I 弱勢交通參與者碰撞預警 13 效率 V2I 綠波車速引導 14 V2I 車內標牌 15 V2I 前方擁堵提醒 16 V2V 緊急車輛提醒 17 信息服務 V2I 汽車近場支付 5.2 應用定義及基本要求 5.2.1 總則 本節從應用定義、主要場景、系統基本原理、通信方式、基本性能要求和數據交互需求六個方面對17 個一期應用分別進行描述，并根據各應用對通信頻率和時延的不同需求，對應用進行分類（見附錄B）。 5.2.2 前向碰撞預警 5.2.2.1 應用定義和預期效果 前向碰撞預警（FCW: Forward Collision Warning）是指，主車（HV）在車道上行駛，與在正前方同一車道的遠車（RV）存在追尾碰撞危險時，FCW 應用將對HV 駕駛員進行預警。本應用適用于普通道路或高速公路等車輛追尾碰撞危險的預警。 FCW 應用輔助駕駛員避免或減輕前向碰撞，提高道路行駛安全。 5.2.2.2 主要場景 FCW 包括如下主要場景： a）HV 行駛，RV 在HV 同一車道正前方停止（圖3）： 1）HV 正常行駛，RV 在位于HV 同一車道的正前方停止； 2）HV 和RV 需具備短程無線通信能力； 3）HV 行駛過程中在即將與RV 發生碰撞時，FCW 應用對HV 駕駛員發出預警，提醒駕駛員與位于正前方的車輛RV 存在碰撞危險； 4）預警時機需確保HV 駕駛員收到預警后，能有足夠時間采取措施，避免與RV 發生追尾碰撞。 圖3 FCW：HV 行駛，RV 在同一車道前方停止 HV RV b）HV 行駛，RV 在HV 相鄰車道前方停止（圖4）： 1）HV 正常行駛，RV 在位于HV 相鄰車道的前方停止； 2）HV 和RV 需具備短程無線通信能力； 3）HV 行駛過程中不會與RV 發生碰撞，HV 駕駛員不會收到FCW 預警信息。 圖4 FCW：HV 行駛，RV 在相鄰車道前方停止 c）HV 行駛，RV 在HV 同一車道正前方慢速或減速行駛（圖5）： 1）HV 正常行駛，RV 位于HV 同一車道的正前方慢速或減速行駛； 2）HV 和RV 需具備短程無線通信能力； 3）HV 行駛過程中在即將與RV 發生碰撞時，FCW 應用對HV 駕駛員發出預警，提醒駕駛員與位于正前方的車輛RV 存在碰撞危險； 4）預警時機需確保HV 駕駛員收到預警后，能有足夠時間采取措施，避免與RV 發生追尾碰撞。 圖5 FCW：HV 行駛，RV 在同一車道前方慢速或減速行駛 d）HV 行駛，HV 視線受阻，RV-1 在HV 同一車道正前方停止（圖6）： 1）HV 跟隨RV-2 正常行駛，RV-1 在同一車道上RV-2 的正前方停止，HV 的視線被RV-2所遮擋； 2）HV 和RV-1 需具備短程無線通信能力，RV-2 是否具備短程無線通信能力不影響應用場景的有效性； 3）RV-2 為了避開RV-1 進行變道行駛； 4）HV 行駛過程中在即將與RV-1 發生碰撞時，FCW 應用對HV 駕駛員發出預警，提醒駕駛員與位于正前方的RV-1 存在碰撞危險； 5）預警時機需確保HV駕駛員收到預警后，能有足夠時間采取措施，避免與RV-1發生追尾碰撞。 圖6 FCW：HV 行駛，視線受阻，RV 在同一車道慢速或減速行駛 5.2.2.3 系統基本原理 HV 行駛過程中，若與同一車道前方RV 存在碰撞危險時，FCW 應用對HV 駕駛員進行預警。 觸發FCW 功能的HV 和RV 位置關系如圖7，其中HV 和RV 在同一車道，RV 在HV 的前方。該應用在直線車道或彎道車道均有效。 FCW 基本工作原理如下： ●分析接收到的RV 消息，篩選出位于同一車道前方（前方同車道）區域的RV； ●進一步篩選處于一定距離范圍內的RV 作為潛在威脅車輛； ●計算每一個潛在威脅車輛碰撞時間（TTC：time-to-collision）或防撞距離（collision avoidance range），篩選出與HV 存在碰撞危險的威脅車輛； ●若有多個威脅車輛，則篩選出最緊急的威脅車輛； ●系統通過HMI對HV駕駛員進行相應的碰撞預警。 前方同車道 前方 左車道 前方 同車道 前方 右車道 圖7 FCW：HV和RV位置關系 5.2.2.4通信方式 HV和RV需具備短程無線通信能力，車輛信息通過短程無線通信在HV和RV之間傳遞(V2V)。 5.2.2.5基本性能要求 FCW基本性能要求如下(指標依據參見附錄C)： ●主車車速范圍0～130km/h； ●通信距離≥300m； ●數據更新頻率≤10Hz； ●系統延遲≤100ms ●定位精度≤1.5 m。 5.2.2.6數據交互需求 FCW數據交互需求如表2。 表2 FCW數據交互需求(遠車數據)