SAE J 2945 9-2017 Vulnerable Road User Safety Message Minimum Performance Requirements.pdf

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3、cation may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE.TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada)Tel: +1 724-776-4970 (out

4、side USA)Fax: 724-776-0790Email: CustomerServicesae.orgSAE WEB ADDRESS: http:/www.sae.orgSAE values your input. To provide feedback on thisTechnical Report, please visithttp:/standards.sae.org/J2945/9_201703SURFACE VEHICLERECOMMENDED PRACTICEJ2945/9 MAR2017Issued 2017-03Vulnerable Road User Safety M

5、essage Minimum Performance RequirementsRATIONALEAccording to NHTSA, in 2012 traffic crashes in the United States claimed 4743 pedestrian fatalities and resulted in 76000 pedestrian injuries. NHTSA reports that 726 pedalcyclists were killed and 49000 were injured in traffic crashes. In addition, in 2

6、012,106 road workers were killed by traffic crashes in the United States. Vehicle-to-Vehicle (V2V) safety systems usingDedicated Short Range Communications (DSRC) have been researched and have been undergoing standardization for more than a decade. In the near future deployments are likely. Leveragi

7、ng these developments and prospective deployment, research has been conducted using DSRC portable devices to extend the potential safety benefit to Vulnerable Road Users (VRU) such as pedestrians, bicyclists and road workers. In order to achieve interoperability between vehicle-based andportable DSR

8、C safety devices for experimental use, there is a need to establish a VRU safety message minimumperformance recommendations to support VRU safety applications.TABLE OF CONTENTS1. SCOPE. 3 2. REFERENCES. 3 2.1 Applicable Documents . 3 2.1.1 SAE Publications 3 2.1.2 IEEE Publications. 3 2.2 Related Pu

9、blications 4 3. TERMS AND DEFINITIONS 4 3.1 Definitions 4 3.1.1 Road User 4 3.1.2 Vulnerable Road User 4 3.1.3 VRU Device 4 3.2 Abbreviations and Acronyms . 4 3.3 Requirement Numbering Convention. 5 4. VRU SAFETY COMMUNICATION CONCEPT OF OPERATION AND SYSTEM DESCRIPTION. 6 4.1 VRU Safety Communicati

10、on System Overview . 6 4.2 VRU Safety Scenarios . 8 4.3 Personal Safety Message Over-the-Air Transmission and Data Description 9 4.3.1 Personal Safety Message Transmission 9 4.3.2 Positioning 9 4.3.3 Security and Privacy 9 5. INTERFACE TO SECURITY CREDENTIAL MANAGEMENT SYSTEM (SCMS). 9 SAE INTERNATI

11、ONAL J2945/9 MAR2017 Page 2 of 216. MINIMUM REQUIREMENTS RECOMMENDATIONS 9 6.1 Standards Conformance (STD) . 9 6.1.1 IEEE 802.11 (802.11). 10 6.1.2 IEEE 1609.2 (1609.2). 10 6.1.3 IEEE 1609.3 (1609.3). 10 6.1.4 IEEE 1609.4 (1609.4). 10 6.1.5 SAE J2735 (J2735) 10 6.1.6 FCC 47 CFR, Parts 0, 1, 2, 90 an

12、d 95. 12 6.2 Positioning and Timing Requirements (POSTIM)12 6.2.1 Position Determination (POSDETER) 12 6.2.2 GNSS Correction System (WAAS) 12 6.2.3 Coordinate System and Reference (COORDSYSREF) 12 6.2.4 System Time Coordination (SYSTIMCOORD) 13 6.3 PSM Transmission Requirements on Channel vruChannel

13、 Number (PSMTX). 13 6.3.1 PSM Contents (PSMCONT) 13 6.3.2 Channel and Data Rate (CHDATARATE) 13 6.3.3 Transmission Timing (TXTIM) 13 6.3.4 Minimum Transmission Criteria (MINTX). 14 6.3.5 Data Element Accuracy (DATAACC). 15 6.3.6 Data Persistency (DATAPERSIST) . 18 6.3.7 Congestion Control (CONGCTRL)

14、. 18 6.4 RF Performance Requirements Recommendations (RFPERF) 18 6.5 Security and Privacy Tx Requirements (SECPRIV) 19 6.6 Security Management (SECMGMT) 19 7. PARAMETER SETTINGS FOR VRU SAFETY . 19 8. NOTES. 20 8.1 Revision Indicator. 20 APPENDIX A . 21FIGURE 1 V2P SYSTEM. 7FIGURE 2 . 12TABLE 1 REQU

15、IREMENT NUMBERING ABBREVIATIONS . 6TABLE 2 TOP 4 PRE-CRASH SCENARIOS BY FUNCTIONAL YEARS LOST (FYL) GROUPED INTO 4 GENERAL SCENARIOS . 8TABLE 3 SAE J2735 REQUIREMENT RECOMMENDATIONS. 10TABLE 4 PSM PART I: MINIMUM CRITERIA FOR PSM TRANSMISSION 15TABLE 5 PRELIMINARY PARAMETER SETTINGS FOR VRU SAFETY 1

16、9TABLE 6 IMPLEMENTATION CONFORMANCE TABLE. 21SAE INTERNATIONAL J2945/9 MAR2017 Page 3 of 211. SCOPEThis document provides recommendations of safety message minimum performance requirements between a Vulnerable Road User (VRU) and a vehicle. It addresses the transmission of Personal Safety Messages (

17、PSM) from road user devices carried by pedestrians, bicycle riders and public safety personnel, to provide driver and vehicle system awareness and potentially offer safety alerts to VRUs.This document includes the recommendation of standards profiles, function descriptions and minimum performance re

18、quirements for transmitting the SAE J2735-defined PSM 1 over a Dedicated Short Range Communications (DSRC)Wireless communication link as defined in the Institute of Electrical and Electronics Engineers (IEEE) 1609 and the IEEE 802.11 Standards 1-5. While other wireless media may be used to deliver t

19、he PSM, DSRC is explicitly assumed in this document, because of anticipated regulatory ruling in the United States and other countries requiring vehicles to be equipped with a DSRC-based safety system using V2V communication.This recommended practice is limited at this time to communications between

20、 the VRU device carried by walking pedestrians and DSRC equipped vehicles. Later versions may incorporate improvements based on field experience with this recommended practice and may include other provisions for communicating with other DSRC equipped devices, and with other VRUs.2. REFERENCES2.1 Ap

21、plicable DocumentsThe following publications form a part of this specification to the extent specified herein. Unless otherwise indicated, the latest issue of SAE publications shall apply.2.1.1 SAE PublicationsAvailable from SAE International, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Tel:

22、877-606-7323 (inside USA and Canada) or +1 724-776-4970 (outside USA), www.sae.org.1 SAE J2735 Dedicated Short Range Communications (DSRC) Message Set Dictionary2 SAE J2945/1 On-Board System Requirements for V2V Safety Communications2.1.2 IEEE PublicationsAvailable from IEEE Operations Center, 445 a

23、nd 501 Hoes Lane, Piscataway, NJ 08854-4141, Tel: 732-981-0060, www.ieee.org.3 IEEE Std 802.11TM-2016 Standard for LAN/MAN - Specific Requirements Part 11: Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications.https:/standards.ieee.org/findstds/standard/802.11-2016.html4 I

24、EEE Std 1609.2 2016 IEEE Standard for Wireless Access in Vehicular Environments - Security Services for Applications and Management Messages.https:/standards.ieee.org/findstds/standard/1609.2-2016.html5 IEEE Std 1609.3 2016 IEEE Standard for Wireless Access in Vehicular Environments (WAVE) - Network

25、ing Services. http:/standards.ieee.org/findstds/standard/1609.3-2016.html6 IEEE Std 1609.4 2016 IEEE Standard for Wireless Access in Vehicular Environments (WAVE) - Multi-channel Operation. https:/standards.ieee.org/findstds/standard/1609.4-2016.html7 IEEE Std 1609.12 2016 IEEE Standard for Wireless

26、 Access in Vehicular Environments (WAVE) - Identifier Allocations. https:/standards.ieee.org/findstds/standard/1609.12-2016.htmlSAE INTERNATIONAL J2945/9 MAR2017 Page 4 of 212.2 Related PublicationsThe following publications are provided for information purposes only and are not a required part of t

27、his SAE Technical Report.8 Federal Communications Commission (FCC) 47 Code of Federal Regulations (CFR) Parts 0, 1, 2, 90 and 95 amendments for Dedicated Short Range Communications Services and Mobile Service for Dedicated Short Range Communications of Intelligent Transportation Service in the 5.850

28、-5.925 GHz Band (5.9 GHz Band), http:/www.gpo.gov/fdsys/pkg/FR-2006-09-07/pdf/E6-14795.pdf, accessed February 16, 2016Mitigation Strategies for Design9 Objective Tests for Forward Looking Pedestrian Crash Avoidance/Mitigation Systems Final Report, June, 2014, https:/www.nhtsa.gov/DOT/NHTSA/NVS/Publi

29、c%20Meetings/SAE/2015/2015SAE-Barickman-PCAMupdate.pdf,accessed December, 201610 American Association of State Highway and Transportation Officials. A Policy on Geometric Design of Highways and Streets, AASHTO, 20113. TERMS AND DEFINITIONS3.1 Definitions3.1.1 ROAD USERAny entity who uses a road, suc

30、h as a pedestrian, cyclist, a passenger in a motorized vehicle, or a motorist.3.1.2 VULNERABLE ROAD USERA road user, who is not occupying a vehicle such as a passenger car, a motorcycle, a public transit vehicle, or a train.Pedestrians, cyclists, children, elderly, disabled people and road workers a

31、re particularly vulnerable to serious injury or death when involved in a motor-vehicle-related collision.3.1.3 VRU DEVICEA device that transmits Personal Safety Messages as defined in SAE J2735, and optionally is capable of receiving Basic Safety Messages (BSM). The device may be capable of receivin

32、g other message types, however it is outside the scope of this document.3.2 Abbreviations and AcronymsASN.1 Abstract Syntax Notation OneBSM Basic Safety MessageCAMP Crash Avoidance Metrics PartnershipCAN Controller Area NetworkCFR Code of Federal RegulationsCRL Certificate Revocation ListDE Data Ele

33、mentDF Data FrameDOT Department of TransportationDSRC Dedicated Short Range CommunicationsECU Electronic Control UnitFCC Federal Communications CommissionFYL Functional Years LostGHz GigahertzGNSS Global Navigation Satellite SystemHSM Hardware Security ModuleHz HertzIEEE Institute of Electrical and

34、Electronics EngineersSAE INTERNATIONAL J2945/9 MAR2017 Page 5 of 21kph Kilometers per hourMAC Medium Access ControlMHz Megahertzmph Miles per hourMPR Minimum Performance RequirementsNHTSA National Highway Traffic Safety AdministrationNMEA National Marine Electronics AssociationOBE On Board Equipment

35、OFDM Orthogonal Frequency Division MultiplexingOTA Over The AirPCAM Pedestrian Crash Avoidance/MitigationPH Path HistoryPHY Physical LayerPOSTIM Positioning and TimingPP Path PredictionPSID Provider Service IdentifierPSM Personal Safety MessagePSMTX Personal Safety Message TransmissionRF Radio Frequ

36、encyRFPERF Radio Frequency Performance Requirements RecommendationRSE Roadside EquipmentRV Remote VehicleSCMS Security Credential Management SystemSCMGMT Security ManagementSCPRIV Security and Privacy STD Standards Compliance3D Three-DimensionalTi Transmission Interval Tx TransmitV2P Vehicle to Pede

37、strianV2VVp Vehicle to VehicleVRU Velocity of VRUVulnerable Road UserV2V Vehicle-to-VehicleWAAS Wide Area Augmentation SystemWAVE Wireless Access in Vehicular EnvironmentsWGS World Geodetic System3.3 Requirement Numbering ConventionEach requirement in this recommended practice is tagged with a requi

38、rement number of the form:-VRU-For example, if the requirement number is 6.3.1 VRU-PSMTX-PSMCONT-005, the subsection is 6.3.1, the category is PSM Transmission, the subcategory is PSM Contents, and it is requirement number 5 in the subcategory. Table 1 identifies the sections in this recommended pra

39、ctice and the corresponding subsections and abbreviations that are used. The abbreviation is also in parentheses following each section heading in this standard. The requirement numbering convention applies to both mandatory and optional features.SAE INTERNATIONAL J2945/9 MAR2017 Page 6 of 21Table 1

40、 - Requirement numbering abbreviationsSection Subsection Category CategoryAbbreviationSubcategory SubcategoryAbbreviation6.1 6.1.1 Standards Conformance STD IEEE 802.11 802.116.1.2 IEEE 1609.2 1609.26.1.3 IEEE 1609.3 1609.36.1.4 IEEE 1609.4 1609.46.1.5 SAE J2735 SAE J27356.2 6.2.1 Positioning and Ti

41、ming POSTIM Position Determination POSDETER6.2.2 Wide Area Augmentation SystemWAAS6.2.3 Coordinate System and ReferenceCOORDSYSREF6.2.4 System Time CoordinationSYSTIMCOORD6.3 6.3.1 PSM Transmission PSMTX PSM Contents PSMCONT6.3.2 Channel and Data Rate CHDATARATE6.3.3 Transmit Timing TXTIM6.3.4 Minim

42、um Transmission Criterial MINTX6.3.5 Data Element Accuracy DATAACC6.3.6 Data Persistency DATAPERSIST6.4 RF Performance Requirements RecommendationRFPERF6.5 Security and Privacy Tx SECPRIV6.6 Security Management SECMGMT4. VRU SAFETY COMMUNICATION CONCEPT OF OPERATION AND SYSTEM DESCRIPTION4.1 VRU Saf

43、ety Communication System OverviewVRU safety communications are designed for a personal safety device to broadcast PSMs which can be received by approaching vehicles and other connected devices such as roadside equipment (RSE), to support detection of collision threats and alerting the driver and not

44、ifying relevant devices. The PSM includes the VRUs position, speed, heading, and other VRU-specific information. Upon receiving PSMs, vehicles would use the information to detect potential safety threats and take appropriate action, e.g., alert the driver. VRU communications can enable improved safe

45、ty system effectiveness by complementing or providing an alternative to the existing in-vehicle pedestrian detection systems. VRU communications can provide 360rawareness at a greater distance than other types of sensors, as well as detecting potential threats to some degree when the VRU is not in d

46、irect line of sight with the approaching vehicles. This enables an approaching vehicle and its driver to receive alerts earlier and have more time to take action and avoid conflicts with VRUs. The VRU devices will need to be able to sign the PSMs before transmitting. The V2V security system requirem

47、ents described in SAE J2945/1 Section 5.1.3, Section 5.2.2, and Section 6.5.5 are used in this document with supplemental description if different from SAE J2945/1. This document does not make an assumption on whether a hardware security module is required.SAE INTERNATIONAL J2945/9 MAR2017 Page 7 of

48、 21A VRU device (the device of interest for this document) typically consists of multiple subsystem components, behaving as an integrated system. Figure 1 illustrates the following subsystems within the VRU device: x DSRC Radio Supports the transmission of PSMs. Support of BSM receptions is optional

49、. In this document a DSRC radio subsystem is assumed to be a single-channel-at-a-time with channel switching device. The OBE can include one or more DSRC radio subsystems and still comply with this recommended practice.x Global Navigation Satellite System (GNSS) receiver The positioning subsystem that provides position, heading, speed, and time information. The VRU device may be augmented