1、 _ SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising ther
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3、publication 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: +1 724-776-49
4、70 (outside USA) Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.org SAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/J2945/1_201603 SURFACE VEHICLE STANDARD J2945 /1 MAR2016 Issued 2016-03 On-Board
5、 System Requirements for V2V Safety Communications RATIONALE This standard is the first edition of on-board system requirements for V2V safety communications. It provides the information necessary to build interoperable systems that support select safety applications, which rely on the exchange of B
6、asic Safety Messages. TABLE OF CONTENTS 1. SCOPE . 4 1.1 Purpose 4 2. REFERENCES . 5 2.1 Applicable Documents . 5 2.2 Related Publications 5 3. TERMS AND DEFINITIONS 6 3.1 DEFINITIONS 6 3.2 ABBREVIATIONS AND ACRONYMS 7 3.3 Requirement Numbering Convention . 10 4. V2V SAFETY SYSTEMS CONCEPT OF OPERAT
7、IONS AND SYSTEM DESCRIPTION . 11 4.1 V2V System Overview . 11 4.2 V2V Safety Features 13 4.2.1 Critical Crash Scenarios for V2V Safety 13 4.2.2 Mapping Between Critical Crash Scenarios and the Selection of V2V Safety Applications 13 4.2.3 Emergency Electronic Brake Lights (EEBL) 14 4.2.4 Forward Cra
8、sh Warning (FCW) . 15 4.2.5 Blind Spot Warning/Lane Change Warning (BSW/LCW) 18 4.2.6 Intersection Movement Assist (IMA) 21 4.2.7 Left Turn Assist (LTA) 23 4.2.8 Control Loss Warning (CLW) . 25 5. INTERFACE DESCRIPTION . 27 5.1 V2V Over-the-Air Data Description 27 5.1.1 Basic Safety Message Exchange
9、 27 5.1.2 Positioning 27 5.1.3 Security and Privacy 28 5.1.4 Startup and Shutdown 28 SAE INTERNATIONAL SAE J2945/1 MAR2016 Page 2 of 127 5.1.5 Mapping to the V2V Over-the-Air Data 28 5.1.6 Objective Tests Conducted for V2V Safety Applications (informative) 30 5.2 System Interfaces 30 5.2.1 Vehicle t
10、o Vehicle Communications Interface 30 5.2.2 System to SCMS Communications Interface . 31 5.2.3 System to Positioning Subsystem Interface. 31 6. MINIMUM REQUIREMENTS . 31 6.1 Standards Profiles (STD) . 31 6.1.1 IEEE 802.11 (802.11). 31 6.1.2 IEEE 1609.2 (1609.2). 35 6.1.3 IEEE 1609.3 (1609.3). 48 6.1
11、.4 IEEE 1609.4 (1609.4). 51 6.1.5 IEEE 1609.12 (1609.12). 52 6.1.6 SAE J2735 (J2735) 52 6.1.7 FCC 47 CFR, Parts 0, 1, 2, and 95 (Informative) 54 6.2 Positioning and Timing Requirements (POSTIM) 55 6.2.1 Position Determination (POSDETER) 55 6.2.2 Wide Area Augmentation System (WAAS) 55 6.2.3 Coordina
12、te System and Reference (COORDSYSREF) 55 6.2.4 System Time Coordination (SYSTIMCOORD) 56 6.3 BSM Transmission Requirements on Channel vChannelNumber (BSMTX) . 56 6.3.1 BSM Contents (BSMCONT) 56 6.3.2 Channel and Data Rate (CHDATARATE) 57 6.3.3 Generation of the First BSM after System Device Startup
13、and Generation Timing (GENTIM) . 57 6.3.4 User Priority and EDCA Settings (UPEDCA) . 58 6.3.5 Minimum Transmission Criteria (MINTX) . 58 6.3.6 Data Element Accuracy (DATAACC) . 60 6.3.7 Data Persistency (DATAPERSIST) . 65 6.3.8 BSM Scheduling and Congestion Control (BSMCONGCTRL) 65 6.4 RF Performanc
14、e Requirements (RFPERF) . 71 6.4.1 DSRC Radiated Power and Transmit Power Accuracy (DSRCTX) . 71 6.4.2 DSRC Receiver Sensitivity (DSRCRXSENS) 73 6.5 Security and Privacy Requirements (SECPRIV) . 73 6.5.1 Identification Randomization (IDRAND) . 73 6.5.2 BSM Signing (BSMSIGN) 74 6.5.3 Certificate Chan
15、ge (CERTCHG) 74 6.5.4 BSM Cryptographic Verification (BSMVERIFY) . 74 6.5.5 Certificate Revocation (CERTREV) . 75 6.6 Security Management (SECMGMT) 75 6.6.1 Bootstrap: Initialization and Enrollment Processing (Informative) . 75 6.6.2 Certificate Loading (CERTLOAD) 76 6.6.3 Certificate Storage (CERTS
16、TORE) 76 6.6.4 Certificate Revocation List Loading (CRLLOAD) . 76 6.6.5 Secure Hardware (SECHW) 77 SAE INTERNATIONAL SAE J2945/1 MAR2016 Page 3 of 127 7. Parameter settings . 77 8. NOTES . 80 8.1 Revision Indicator . 80 APPENDIX A . 81 Figure 1 On board V2V system 12 Figure 2 EEBL abruptly slowing R
17、V 14 Figure 3 Relevant RV zones for the EEBL feature. 15 Figure 4 FCW stopped RV in same lane . 16 Figure 5 FCW stopped RV in adjacent lane 16 Figure 6 FCW slow-moving RV in same lane . 17 Figure 7 FCW stopped and Obstructed RV 17 Figure 8 Relevant RV zones for FCW feature 18 Figure 9 BSW RV in blin
18、d-spot zone . 19 Figure 10 LCW approaching RV in adjacent lane . 19 Figure 11 Relevant RV zones for BSW/LCW feature. 20 Figure 12 IMA - stopped HV at the intersection . 21 Figure 13 IMA both vehicles approaching intersection . 22 Figure 14 Relevant RV zones for IMA feature . 22 Figure 15 LTA left tu
19、rn across path . 23 Figure 16 Relevant RV zones for LTA feature . 24 Figure 17 CLW RV same direction of travel 25 Figure 18 CLW RV traveling in opposite direction 26 Figure 19 Relevant RV zones for CLW feature 26 Figure 20 Safety feature logic 29 Figure 21 BSM position reference 56 Figure 22 Relatio
20、nship between Computational Intervals: vCBPMeasInt, vPERSubInterval, vPERInterval and vTxRateCntrlInt . 66 Figure 23 Sliding Window . 67 Figure 24 RF Sectors for Antenna Gain Measurements 72 Figure 25 Vehicle Coordinate Frame . 87 Figure 26 GNSS Position Extrapolation . 87 Figure 27 Concise and actu
21、al path history representation . 90 Figure 28 Representation of Error 91 Figure 29 Representation of . 91 Figure 30 Representation of estimated radius calculation . 95 Figure 31 Representation of PH Error for Method Three . 96 Figure 32 Shortest distance from a point to a line segment . 97 Figure 33
22、 Vehicle actual path . 99 Figure 34 Method one representation of vehicle path . 100 Figure 35 Method two representation of vehicle path . 100 Figure 36 Method three representation of vehicle path 101 Figure 37 Methods one and three radii of curvature for curved road 101 Figure 38 Method two radii of
23、 curvature for curved road 102 Figure 39 Methods one and three radii of curvature for straight road . 102 Figure 40 Method two radii of curvature for straight road . 103 Figure 41 Method one ph representation of curved road 103 Figure 42 Method two ph representation of curved road 104 Figure 43 Meth
24、od three ph representation of curved road 104 Figure 44 Method one ph representation of straight road . 105 Figure 45 Method two ph representation of straight road . 106 Figure 46 Method three ph representation of straight road . 106 Figure 47 Method one ph error analysis . 107 Figure 48 Method two
25、ph error analysis 107 Figure 49 Method three ph error analysis . 108 Figure 50 Vehicle projected path 109 Figure 51 Discretized second order low-pass filter 110 SAE INTERNATIONAL SAE J2945/1 MAR2016 Page 4 of 127 Figure 52 Vehicle Path Radius Calculation 111 Figure 53 Discretized Second Order Low-Pa
26、ss Filter with Differentiator . 112 Figure 54 Vehicle Predicted Path Confidence Calculation 112 Figure 55 PER calculation example 1 116 Figure 56 PER calculation example 2 116 Figure 57 Traceability requirements of this standard . 118 Table 1 Requirement numbering abbreviations 10 Table 2 Selected c
27、rash-imminent scenarios . 13 Table 3 Crash-imminent scenario to V2V safety application mapping . 13 Table 4 Mapping crash scenarios to the V2V over-the-air data 29 Table 5 IEEE 802.11 requirements . 31 Table 6 IEEE 1609.2 Security Services Conformance Statement 35 Table 7 IEEE 1609.2 CRL verificatio
28、n entity conformance statement 43 Table 8 IEEE 1609.2 peer to peer certificate distribution conformance statement . 44 Table 9 Security Profile Identification 45 Table 10 Security Profile for Transmitting BSMs 46 Table 11 Security profile for receiving BSMs 47 Table 12 Security mangement profile . 4
29、7 Table 13 Fields Subject to Policy Updates . 48 Table 14 IEEE 1609.3 requirements (PICS Proforma) . 48 Table 15 IEEE 1609.4 requirements (PICS Proforma) . 51 Table 16 IEEE 1609.12 requirements . 52 Table 17 SAE J2735 Requirements 52 Table 18 EDCA parameter set 58 Table 19 BSM Part I: Minimum criter
30、ia for BSM transmission 58 Table 20 BSM Part II: Minimum criteria for BSM transmission . 59 Table 21 Parameter settings for this standard 77 Table 22 Implementation conformance table 81 Table 23 PP Calibration Parameters 113 Table 24 Confidence lookup table. 113 1. SCOPE This standard specifies the
31、system requirements for an on-board vehicle-to-vehicle (V2V) safety communications system for light vehicles1, including standards profiles, functional requirements, and performance requirements. The system is capable of transmitting and receiving the Society of Automotive Engineers (SAE) J2735-defi
32、ned Basic Safety Message (BSM) 1 over a Dedicated Short Range Communications (DSRC) wireless communications link as defined in the Institute of Electrical and Electronics Engineers (IEEE) 1609 suite and IEEE 802.11 standards 2 6. 1.1 Purpose This standard addresses the on-board system needs for ensu
33、ring that the exchange of BSMs in V2V safety communications provides the desired interoperability and data integrity to support the performance of the envisioned safety applications. 1 Refer to section 3.1 for the definition of light vehicle. Other vehicle classes and trailers will be addressed in f
34、uture revisions of this standard, or in other standards within the SAE J2945 family of standards. These revisions or additional standards are expected to be compatible with the requirements of this standard and may define additional capabilities beyond the requirements for light vehicles. SAE INTERN
35、ATIONAL SAE J2945/1 MAR2016 Page 5 of 127 2. REFERENCES 2.1 Applicable Documents The 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 Publications Available from SAE Intern
36、ational, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Tel: 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 Dictionary (5th Edition - March 2016) 2.1.2 IEEE Publications Available from IEEE O
37、perations Center, 445 Hoes Lane, Piscataway, NJ 08854-4141, Tel: 732-981-0060, www.ieee.org. 2 IEEE Std 802.11-2012 Standard for LAN/MAN - Specific requirements Part 11: Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications 3 IEEE Std 1609.2-2016 IEEE Standard for Wireless
38、 Access in Vehicular Environments - Security Services for Applications and Management Messages 4 IEEE Std 1609.3-2016 IEEE Standard for Wireless Access in Vehicular Environments (WAVE) - Networking Services 5 IEEE Std 1609.4-2016 IEEE Standard for Wireless Access in Vehicular Environments (WAVE) - M
39、ulti-channel Operation 6 IEEE Std 1609.12-2016 IEEE Standard for Wireless Access in Vehicular Environments (WAVE) - Identifier Allocations 2.2 Related Publications The following publications are provided for information purposes only and are not a required part of this SAE Technical Report. 7 Federa
40、l Communications Commission (FCC) 47 Code of Federal Regulations (CFR) Parts 0, 1, 2, and 95 amendments for Dedicated Short Range Communications Services and Mobile Service for Dedicated Short Range Communications of Intelligent Transportation Service in the 5.850-5.925 GHz Band (5.9 GHz Band) http:
41、/www.gpo.gov/fdsys/pkg/FR-2006-09-07/pdf/E6-14795.pdf 8 Mitigation Strategies for Design Exceptions. Federal Highway Administration, October 15, 2014 http:/safety.fhwa.dot.gov/geometric/pubs/mitigationstrategies/chapter3/3_lanewidth.cfm 9 CAMP Vehicle Safety Communications Security Studies: Study 3
42、Final Report: Definition of Communication Protocols between SCMS Components and Specification of the Components Pseudonym Certificate Authority, Registration Authority, and Linkage Authority: National Highway Traffic Safety Administration (Cooperative Agreement Number DTFH61-01-X-00014). July 31, 20
43、14 10 CAMP Vehicle Safety Communications Security Studies: Study 1: Security Credential Management System (DTFH61-01-X-00014): National Highway Traffic Safety Administration. July 31, 2014 11 National Highway Traffic Safety Administration, “Vehicle Safety Communications Applications (VSC-A) Final Re
44、port,” DOT HS 811 492A, September 2011 http:/www.nhtsa.gov/DOT/NHTSA/NVS/Crash%20Avoidance/Technical%20Publications/2011/811492A.pdf SAE INTERNATIONAL SAE J2945/1 MAR2016 Page 6 of 127 12 National Highway Traffic Safety Administration: Vehicle-to-Vehicle Safety System and Vehicle Build for Safety Pi
45、lot (V2V-SP) Final Report, Volume 1 of 2, Driver Acceptance Clinics: National Highway Traffic Safety Administration (Cooperative Agreement Number DTFH61-01-X-00014). April 10, 2014 http:/www.regulations.gov/contentStreamer?documentId=NHTSA-2014-0022-0042&attachmentNumber=1&disposition=attachment&con
46、tentType=pdf 13 Vehicle Safety Communications Applications Final Report: Appendix Volume 1 System Design and Objective Test,” DOT HS 811 492B, September 2011 http:/www.nhtsa.gov/DOT/NHTSA/NVS/Crash%20Avoidance/Technical%20Publications/2011/811492B.pdf 14 Vehicle-to-Vehicle Safety System Light Vehicl
47、e Builds and Model Deployment Support (V2V-MD): Test Plan and Test Procedures for Vehicle Awareness Devices and Aftermarket Safety Devices: National Highway Traffic Safety Administration (Cooperative Agreement Number DTFH61-01-X-00014). March 4, 2014 15 ITU-R TF.460-6: Standard-frequency and time-si
48、gnal emissions 16 FIPS PUB 140-2: Federal Information Processing Standards Publication: Security Requirements for Cryptographic Modules 17 H. Krishnan, A. Weimerskirch, “Verify-on-Demand - A Practical and Scalable Approach for Broadcast Authentication in Vehicle-to-Vehicle Communication,” SAE Int. J
49、. of Passeng. Cars Mech. Syst., June 2011, 4:536-546 18 Interoperability Issues of Vehicle-to-Vehicle Based Safety Systems Project: Phase 1 Final Report: National Highway Traffic Safety Administration (Cooperative Agreement Number DTFH61-01-X-00014). September 12, 2014 19 Interoperability Issues of Vehicle-to-Vehicle Base
