标准编号:	T/CSAE 53-2017
中文名称:	合作式智能运输系统 车用通信系统应用层及应用数据交互标准
英文名称:	Cooperative intelligent transportation system; vehicular communication;application layer specification and data exchange standard
行业分类:	T/    团体标准
发布机构:	中国汽车工程学会
发布日期:	2017-09-18
实施日期:	2017-9-18
标准状态:	superseded
被新标准替代:	T/CSAE 53-2020 合作式智能运输系统 车用通信系统应用层及应用数据交互标准（第一阶段）
被替代日期:	2020-12-31
翻译语言:	英文
文件格式:	PDF
中文字符数:	115000 字
翻译价格(元):	6800.0
交付时间:	付款后 1 个工作日

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

合作式智能运输系统 车用通信系统 应用层及应用数据交互标准 1 范围 本标准规定了合作式智能运输系统车用通信系统应用层的术语和定义，以及数据集和数据交互标准及接口规范等内容。 本标准适用于基于各种通信方式的车用通信系统应用场景开发、验证及商用。 2规范性引用文件 下列文件对于本文件的应用是必不可少的。凡是注日期的引用文件，仅所注日期的版本适用于本文件。凡是不注日期的引用文件，其最新版本(包括所有的修改单)适用于本文件。 SAE J2735专用短程通信消息集字典(Dedicated Short Range Communications(DSRC)Message Set Dictionary) SAE J2945/1 V2V车载安全通信系统性能需求(On-Board System Requirements for V2V Safety Communications) ETSI TS 102 637智能交通系统 车辆通信系统 基本应用集(Intelligent Transportation Systems (ITS)：Vehicular Communications：Basic Set of Applications) GB 5768—2009道路交通标志与标线 GB 25280—2016道路交通信号控制机 GB/T 16262.1—2006信息技术 抽象语法记法一(ASN.1) 第1部分：基本记法规范 GB/T 16262.2—2006信息技术 抽象语法记法一(ASN.1) 第2部分：信息客体规范 GB/T 16262.3—2006信息技术 抽象语法记法一(ASN.1) 第3部分：约束规范 GB/T 16262.4—2006信息技术 抽象语法记法一(ASN.1) 第4部分：ASN.1规范的参数化 GB/T 16263.2—2006信息技术 ASN.1编码规则 第2部分：紧缩编码规则(PER)规范 3术语和定义 3.1 定义 3.1.1 合作式智能运输系统cooperative intelligent transportation systems，C-ITS 合作式智能运输系统是通过人、车、路信息交互，实现车辆和基础设施之间、车辆与车辆之间、车辆与人之间的智能协同与配合的一种智能运输系统。 3.1.2 系统延迟system delay 从远车或路侧单元等设备发送通信数据，到主车接收该数据并通过网络层进行信息处理后传递给应用层的时间。本标准中特指应用层端到端的延迟时间。 3.1.3 主车 host vehicle，HV 装有车载单元且运行应用程序的目标车辆。 3.1.4 远车 remote vehicle，RV 与主车配合能定时广播V2X 消息的背景车辆。 3.1.5 车载单元 on-board unit，OBU 安装在车辆上的可实现V2X 通讯，支持V2X 应用的硬件单元。 3.1.6 路侧单元 road side unit，RSU 安装在路边的可实现V2X 通讯，支持V2X 应用的硬件单元。 3.1.7 V2X 车载单元与其他设备通讯，包括但不限于车载单元之间通讯（V2V），车载单元与路侧单元通讯（V2I），车载单元与行人设备通讯（V2P），车载单元与网络之间通讯（V2N）。 3.2 缩略语 以下缩略语适用于本标准： 4G：第四代移动通信技术 the 4th Generation mobile communication technology 5G：第五代移动通信技术 the 5th Generation mobile communication technology ABS：制动防抱死系统 Anti-lock Braking System ADS：应用数据交换服务 Application Data-Exchange Service API：应用程序编程接口 Application Programming Interface ASN.1：抽象语法标记 Abstract Syntax Notation One AVW：异常车辆提醒 Abnormal Vehicle Warning BSM：基本安全消息 Basic Safety Message BSW/LCW：盲区预警/ 变道预警 Blind Spot Warning/Lane Change Warning CAV：防撞距离 Collision Avoidance Range C-ITS：中国智能交通产业联盟 China ITS Industry Alliance CLW：车辆失控预警 Control Lost Warning CSAE：中国汽车工程学会 Society of Automotive Engineers of China DE：数据元素 Data Element DF：数据帧 Data Frame DME：专用短程通信管理实体 DSRC Management Entity DNPW：逆向超车预警 Do Not Pass Warning DSM：专用短程通信短消息 DSRC Short Message DSRC：专用短程通信 Dedicated Short Range Communications DTI：到交叉口的距离 Distance-to-Intersection HMI：人机交互界面 Human Machine Interface EBW：紧急制动预警 Emergency Brake Warning ESP：车身电子稳定系统 Electronic Stability Program ETC：电子不停车收费系统 Electronic Toll Collection ETSI：欧洲电信标准化协会 European Telecommunications Standards Institute EVW：紧急车辆提醒 Emergency Vehicle Warning FCW：前向碰撞预警 Forward Collision Warning GB：中国国家标准 Guo Biao （Nation Standard） GLOSA：绿波车速引导 Green Light Optimal Speed Advisory GNSS：全球导航卫星系统 Global Navigation Satellite System GPS：全球定位系统 Global Positioning System HLN：道路危险状况预警 Hazardous Location Warning HV：主车 Host Vehicle ICW：交叉路口碰撞预警 Intersection Collision Warning ID：标识 Identification ISO：国际标准化组织 International Standards Organization ITS：智能交通系统 Intelligent Transport Systems IVS：车内标牌 In-Vehicle Signage LDW：车道偏离预警系统 Lane Departure Warning LTA：左转辅助 Left Turn Assistant LTE-V2X：基于LTE 的车载设备与其他设备通讯 Long Term Evolution-Vehicle to Everything NHTSA：美国高速公路安全管理局 National Highway Traffic Safety Administration OBU：车载单元 On-Board Unit P2P：点对点 Point to Point RSA：路侧单元发布的交通事件消息 Road Side Alert RSM：路侧单元消息 Road Side Message RSU：路侧单元 Road Side Unit RV：远车 Remote Vehicle SAE：国际自动机工程师学会 Society of Automotive Engineers International SLW：限速预警 Speed Limit Warning SPAT：信号灯消息 Signal Phase and Timing Message SPI：服务提供者接口 Service Provider Interface SVW：闯红灯预警 Signal Violation Warning TC：目标分类 Target Classification TCS：牵引力控制系统 Traction Control System TJW：前方拥堵提醒 Traffic Jam Warning TTC：碰撞预计时间 Time-to-Collision TTI：到达交叉口预计时间 Time-to-Intersection UPER：非对齐压缩编码规则 Unaligned Packet Encoding Rules V2I：车载单元与路侧单元通讯 Vehicle to Infrastructure V2P：车载单元与行人设备通讯 Vehicle to Pedestrians V2V：车载单元之间通讯 Vehicle to Vehicle V2X：车载单元与其他设备通讯 Vehicle to Everything VIN：车辆识别码 Vehicle ID Number VNFP：汽车近场支付 Vehicle Near-Field Payment VRUCW：弱势交通参与者碰撞预警 Vulnerable Road User Collision Warning 4合作式智能运输系统车用通信系统 4.1 系统介绍 合作式智能运输系统车用通信系统(V2X)，旨在通过智能运输系统各子系统之间的信息交互，实现道路安全、通行效率、信息服务等各类应用。为此，不同厂商车辆之间，以及这些车辆与其所能到达的区域范围内的道路基础设施之间，必须实现互联互通。本标准的目的，是通过定义信息交互的消息集、数据帧与数据元素，来实现车用通信系统在应用层的互联互通。 图1以车用通信系统中的车载单元(OBU)为例说明该系统的架构。车载设备通常包括了以下子系统： ●无线电通信子系统：接收和发送空中信号。一个车载设备里可以装配一个或者多个无线电通信子系统； ●定位系统：该子系统通常包含全球导航卫星系统(GNSS，Global Navigation Satellite System)接收器，用以提供车辆的位置、方向、速度和时间等信息。该子系统可以通过车速信号、惯性测量单元、差分定位系统等技术来实现增强定位； ●车载设备处理单元：运行程序以生成需要发送的空中信号，以及处理接收的空中信号； ●天线：实现射频信号的接收和发送。 车载设备通过接口与应用电子控制单元相连，应用电子控制单元中运行程序实现车用通信系统的应用，并通过人机交互界面(HMI，Human Machine Interface)，以图像、声音、振动等方式，来实现对驾驶员的提醒。在某些场合，应用电子控制单元和车载设备处理单元在一个物理设备中实现。 车载设备单元(OBU) 天线 定位系统 车载设备处理单元 应用电子控制单元 天线 无线电通信子系统 车内总线 人机交互界面(DVI) 图1 车用通信系统架构示意图 4.2标准范围 参考国际标准化组织(ISO)制定的通信系统七层参考模型，及美国、欧洲正在制定的车用通信系统相关标准的系统架构，车用通信系统通常可以分为系统应用、应用层、传输层、网络层、数据链路层和物理层。本标准关注应用层及应用层与上下相邻两层的数据交互接口(如图2)。应用层协议主要包括消息集和消息集内的数据帧与数据元素，以及消息的数据结构和编码方式。本标准通过对道路安全、通行效率和信息服务等基础应用的分析，定义在实现各种应用时，车辆与其他车辆、道路交通设施及其他交通参与者之间的信息交互内容、交互协议与接口等。本标准并不指定底层的通信技术，可以用于各种不同的传输层、网络层和数据链路层、物理层。本标准通过向上制定与系统应用对接的应用编程接口(API)，可以让不同的应用开发者独立开发能实现互联互通的应用，而无需担心使用何种通信方式或者通信设备，同时通过向下制定与不同通信设备对接的服务提供接口(SPI)，以实现车用通信系统与不同通信方式或者通信设备的兼容，并满足通信技术不断更新的需求。 中国的安全、出行效率与环保应用 应用数据交换服务(ADS) 本标准范畴 传输层 国标草案 其他 通信协议 图2本标准范围示意图 5车用通信系统基础应用 5.1 需求分析 本标准选择涵盖安全、效率、信息服务三大类的17个典型应用作为一期应用。选择过程详见附录A。表1为本标准选择的17个一期应用列表。 表1一期应用列表 序号 类别 通信方式 应用名称 1 安全 V2V 前向碰撞预警 2 V2V，V2I 交叉路口碰撞预警 3 V2V，V2I 左转辅助 4 V2V 盲区预警/变道辅助 5 V2V 逆向超车预警 6 V2V—Event 紧急制动预警 7 V2V—Event 异常车辆提醒 8 V2V—Event 车辆失控预警 9 V2I 道路危险状况提示 10 V2I 限速预警 11 V2I 闯红灯预警 12 V2P，V2I 弱势交通参与者碰撞预警 13 效率 V2I 绿波车速引导 14 V2I 车内标牌 15 V2I 前方拥堵提醒 16 V2V 紧急车辆提醒 17 信息服务 V2I 汽车近场支付 5.2 应用定义及基本要求 5.2.1 总则 本节从应用定义、主要场景、系统基本原理、通信方式、基本性能要求和数据交互需求六个方面对17 个一期应用分别进行描述，并根据各应用对通信频率和时延的不同需求，对应用进行分类（见附录B）。 5.2.2 前向碰撞预警 5.2.2.1 应用定义和预期效果 前向碰撞预警（FCW: Forward Collision Warning）是指，主车（HV）在车道上行驶，与在正前方同一车道的远车（RV）存在追尾碰撞危险时，FCW 应用将对HV 驾驶员进行预警。本应用适用于普通道路或高速公路等车辆追尾碰撞危险的预警。 FCW 应用辅助驾驶员避免或减轻前向碰撞，提高道路行驶安全。 5.2.2.2 主要场景 FCW 包括如下主要场景： a）HV 行驶，RV 在HV 同一车道正前方停止（图3）： 1）HV 正常行驶，RV 在位于HV 同一车道的正前方停止； 2）HV 和RV 需具备短程无线通信能力； 3）HV 行驶过程中在即将与RV 发生碰撞时，FCW 应用对HV 驾驶员发出预警，提醒驾驶员与位于正前方的车辆RV 存在碰撞危险； 4）预警时机需确保HV 驾驶员收到预警后，能有足够时间采取措施，避免与RV 发生追尾碰撞。 图3 FCW：HV 行驶，RV 在同一车道前方停止 HV RV b）HV 行驶，RV 在HV 相邻车道前方停止（图4）： 1）HV 正常行驶，RV 在位于HV 相邻车道的前方停止； 2）HV 和RV 需具备短程无线通信能力； 3）HV 行驶过程中不会与RV 发生碰撞，HV 驾驶员不会收到FCW 预警信息。 图4 FCW：HV 行驶，RV 在相邻车道前方停止 c）HV 行驶，RV 在HV 同一车道正前方慢速或减速行驶（图5）： 1）HV 正常行驶，RV 位于HV 同一车道的正前方慢速或减速行驶； 2）HV 和RV 需具备短程无线通信能力； 3）HV 行驶过程中在即将与RV 发生碰撞时，FCW 应用对HV 驾驶员发出预警，提醒驾驶员与位于正前方的车辆RV 存在碰撞危险； 4）预警时机需确保HV 驾驶员收到预警后，能有足够时间采取措施，避免与RV 发生追尾碰撞。 图5 FCW：HV 行驶，RV 在同一车道前方慢速或减速行驶 d）HV 行驶，HV 视线受阻，RV-1 在HV 同一车道正前方停止（图6）： 1）HV 跟随RV-2 正常行驶，RV-1 在同一车道上RV-2 的正前方停止，HV 的视线被RV-2所遮挡； 2）HV 和RV-1 需具备短程无线通信能力，RV-2 是否具备短程无线通信能力不影响应用场景的有效性； 3）RV-2 为了避开RV-1 进行变道行驶； 4）HV 行驶过程中在即将与RV-1 发生碰撞时，FCW 应用对HV 驾驶员发出预警，提醒驾驶员与位于正前方的RV-1 存在碰撞危险； 5）预警时机需确保HV驾驶员收到预警后，能有足够时间采取措施，避免与RV-1发生追尾碰撞。 图6 FCW：HV 行驶，视线受阻，RV 在同一车道慢速或减速行驶 5.2.2.3 系统基本原理 HV 行驶过程中，若与同一车道前方RV 存在碰撞危险时，FCW 应用对HV 驾驶员进行预警。 触发FCW 功能的HV 和RV 位置关系如图7，其中HV 和RV 在同一车道，RV 在HV 的前方。该应用在直线车道或弯道车道均有效。 FCW 基本工作原理如下： ●分析接收到的RV 消息，筛选出位于同一车道前方（前方同车道）区域的RV； ●进一步筛选处于一定距离范围内的RV 作为潜在威胁车辆； ●计算每一个潜在威胁车辆碰撞时间（TTC：time-to-collision）或防撞距离（collision avoidance range），筛选出与HV 存在碰撞危险的威胁车辆； ●若有多个威胁车辆，则筛选出最紧急的威胁车辆； ●系统通过HMI对HV驾驶员进行相应的碰撞预警。 前方同车道 前方 左车道 前方 同车道 前方 右车道 图7 FCW：HV和RV位置关系 5.2.2.4通信方式 HV和RV需具备短程无线通信能力，车辆信息通过短程无线通信在HV和RV之间传递(V2V)。 5.2.2.5基本性能要求 FCW基本性能要求如下(指标依据参见附录C)： ●主车车速范围0～130km/h； ●通信距离≥300m； ●数据更新频率≤10Hz； ●系统延迟≤100ms ●定位精度≤1.5 m。 5.2.2.6数据交互需求 FCW数据交互需求如表2。 表2 FCW数据交互需求(远车数据)