1、 ETSI TS 101 539-2 V1.1.1 (2018-06) Intelligent Transport Systems (ITS); V2X Applications; Part 2: Intersection Collision Risk Warning (ICRW) application requirements specification TECHNICAL SPECIFICATION ETSI ETSI TS 101 539-2 V1.1.1 (2018-06)2 Reference DTS/ITS-0010015 Keywords application, intero
2、perability, ITS ETSI 650 Route des Lucioles F-06921 Sophia Antipolis Cedex - FRANCE Tel.: +33 4 92 94 42 00 Fax: +33 4 93 65 47 16 Siret N 348 623 562 00017 - NAF 742 C Association but non lucratif enregistre la Sous-Prfecture de Grasse (06) N 7803/88 Important notice The present document can be dow
3、nloaded from: http:/www.etsi.org/standards-search The present document may be made available in electronic versions and/or in print. The content of any electronic and/or print versions of the present document shall not be modified without the prior written authorization of ETSI. In case of any exist
4、ing or perceived difference in contents between such versions and/or in print, the only prevailing document is the print of the Portable Document Format (PDF) version kept on a specific network drive within ETSI Secretariat. Users of the present document should be aware that the document may be subj
5、ect to revision or change of status. Information on the current status of this and other ETSI documents is available at https:/portal.etsi.org/TB/ETSIDeliverableStatus.aspx If you find errors in the present document, please send your comment to one of the following services: https:/portal.etsi.org/P
6、eople/CommiteeSupportStaff.aspx Copyright Notification No part may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm except as authorized by written permission of ETSI. The content of the PDF version shall not be modified without th
7、e written authorization of ETSI. The copyright and the foregoing restriction extend to reproduction in all media. ETSI 2018. All rights reserved. DECTTM, PLUGTESTSTM, UMTSTMand the ETSI logo are trademarks of ETSI registered for the benefit of its Members. 3GPPTM and LTETMare trademarks of ETSI regi
8、stered for the benefit of its Members and of the 3GPP Organizational Partners. oneM2M logo is protected for the benefit of its Members. GSMand the GSM logo are trademarks registered and owned by the GSM Association. ETSI ETSI TS 101 539-2 V1.1.1 (2018-06)3 Contents Intellectual Property Rights 4g3Fo
9、reword . 4g3Modal verbs terminology 4g31 Scope 5g32 References 5g32.1 Normative references . 5g32.2 Informative references 5g33 Definitions and abbreviations . 6g33.1 Definitions 6g33.2 Abbreviations . 6g34 Conforming ITS-S performance class definition . 7g35 Intersection Collision Risk Warning appl
10、ication overview 8g35.1 ICRW in the ITS architecture . 8g35.1.1 Overview 8g35.1.2 Crossing collision warning . 10g35.1.3 Traffic sign violation warning 11g35.2 ICRW originating mode functionalities . 14g35.2.1 CAM transmission 14g35.2.2 DENM transmission: signalling of a traffic sign violation risk
11、14g35.2.3 DENM transmission: signalling of an intersection collision risk . 14g35.2.4 Interaction with other ITS-S layers . 14g35.3 ICRW receiving mode functionalities 15g35.3.1 Detection of risk . 15g35.3.1.1 Traffic sign violation risk detection 15g35.3.1.2 Intersection collision risk detection .
12、15g35.3.2 Application priority management . 15g35.3.3 Issuing warning to vehicle driver 16g36 Application functional requirements 16g36.1 Introduction 16g36.2 Crossing collision risk detection requirements . 16g36.3 Traffic sign violation detection requirements . 17g36.4 Warning triggering requireme
13、nts . 18g36.5 DENM transmission requirements . 18g36.6 Message processing requirements 20g37 Application operational requirements 21g37.1 Introduction 21g37.2 Security and reliability requirements 21g37.3 System minimum performance requirements . 21g37.3.1 Event position accuracy 21g37.3.2 Communica
14、tion coverage . 21g37.3.3 System end to end latency time 22g37.3.4 Message processing 22g3Annex A (informative): CAMs interval adjustment based on critical safety situation 23g3Annex B (informative): Application state machine . 24g3Annex C (informative): Safety Shield . 26g3Annex D (informative): Dr
15、iver HMI considerations . 28g3Annex E (informative): Bibliography . 29g3History 30g3ETSI ETSI TS 101 539-2 V1.1.1 (2018-06)4 Intellectual Property Rights Essential patents IPRs essential or potentially essential to normative deliverables may have been declared to ETSI. The information pertaining to
16、these essential IPRs, if any, is publicly available for ETSI members and non-members, and can be found in ETSI SR 000 314: “Intellectual Property Rights (IPRs); Essential, or potentially Essential, IPRs notified to ETSI in respect of ETSI standards“, which is available from the ETSI Secretariat. Lat
17、est updates are available on the ETSI Web server (https:/ipr.etsi.org/). Pursuant to the ETSI IPR Policy, no investigation, including IPR searches, has been carried out by ETSI. No guarantee can be given as to the existence of other IPRs not referenced in ETSI SR 000 314 (or the updates on the ETSI
18、Web server) which are, or may be, or may become, essential to the present document. Trademarks The present document may include trademarks and/or tradenames which are asserted and/or registered by their owners. ETSI claims no ownership of these except for any which are indicated as being the propert
19、y of ETSI, and conveys no right to use or reproduce any trademark and/or tradename. Mention of those trademarks in the present document does not constitute an endorsement by ETSI of products, services or organizations associated with those trademarks. Foreword This Technical Specification (TS) has b
20、een produced by ETSI Technical Committee Intelligent Transport Systems (ITS). The present document is part 2 of a multi-part deliverable. Fulls details of the entire series can be found in part 1 i.4. Modal verbs terminology In the present document “shall“, “shall not“, “should“, “should not“, “may“
21、, “need not“, “will“, “will not“, “can“ and “cannot“ are to be interpreted as described in clause 3.2 of the ETSI Drafting Rules (Verbal forms for the expression of provisions). “must“ and “must not“ are NOT allowed in ETSI deliverables except when used in direct citation. ETSI ETSI TS 101 539-2 V1.
22、1.1 (2018-06)5 1 Scope The present document provides Intersection Collision Risk Warning Application requirements and specifies the necessary parameters and conditions to operate the application using CAM 1, DENM 2 and the intersection service messages 4. It includes the specifications of functional
23、 requirements and operational requirements of the LCRW application. 2 References 2.1 Normative references References are either specific (identified by date of publication and/or edition number or version number) or non-specific. For specific references, only the cited version applies. For non-speci
24、fic references, the latest version of the referenced document (including any amendments) applies. Referenced documents which are not found to be publicly available in the expected location might be found at https:/docbox.etsi.org/Reference. NOTE: While any hyperlinks included in this clause were val
25、id at the time of publication, ETSI cannot guarantee their long term validity. The following referenced documents are necessary for the application of the present document. 1 ETSI EN 302 637-2 (V1.3.2): “Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 2
26、: Specification of Cooperative Awareness Basic Service“. 2 ETSI EN 302 637-3 (V1.2.2): “Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 3: Specifications of Decentralized Environmental Notification Basic Service“. 3 ETSI TS 101 539-3 (V1.1.1): “Intellig
27、ent Transport Systems (ITS); V2X Applications; Part 3: Longitudinal Collision Risk Warning (LCRW) application requirements specification“. 4 ETSI TS 103 301 (V1.1.1): “Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Facilities layer protocols and communicati
28、on requirements for infrastructure services“. 5 ETSI TS 102 636-4-2 (V1.1.1): “Intelligent Transport Systems (ITS); Vehicular Communications; GeoNetworking; Part 4: Geographical addressing and forwarding for point-to-point and point-to-multipoint communications; Sub-part 2: Media-dependent functiona
29、lities for ITS-G5“. 2.2 Informative references References are either specific (identified by date of publication and/or edition number or version number) or non-specific. For specific references, only the cited version applies. For non-specific references, the latest version of the referenced docume
30、nt (including any amendments) applies. NOTE: While any hyperlinks included in this clause were valid at the time of publication, ETSI cannot guarantee their long term validity. The following referenced documents are not necessary for the application of the present document but they assist the user w
31、ith regard to a particular subject area. i.1 ETSI TR 102 638: “Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Definitions“. i.2 ETSI EN 302 665 (V1.1.1): “Intelligent Transport Systems (ITS); Communications Architecture“. i.3 ETSI TS 102 894-1 (V1.1.1): “In
32、telligent Transport Systems (ITS); Users and applications requirements; Part 1: Facility layer structure, functional requirements and specifications“. ETSI ETSI TS 101 539-2 V1.1.1 (2018-06)6 i.4 ETSI TS 101 539-1 (V1.1.1): “Intelligent Transport Systems (ITS); V2X Applications; Part 1: Road Hazard
33、Signalling (RHS) application requirements specification“. 3 Definitions and abbreviations 3.1 Definitions For the purposes of the present document, the following terms and definitions apply: age of data: difference between the time of a data element value setting at the originating ITS-S and the tim
34、e the same data element value is used to undertake an appropriate action at a receiving ITS-S NOTE: The age of data is an important quality parameter reflecting the freshness of highly dynamic data elements in particular when a collision risk is assessed at vehicles receiving levels. conflict zone:
35、zone of an intersection where the trajectory paths of vehicles and other traffic participants (e.g. pedestrian, bicycles, vehicles) may cross primary road safety application: ITS-S application which purpose is to prevent a collision stop line: pavement marking line extending across lanes to indicate
36、 the point at which a stop is intended or required to be made 3.2 Abbreviations For the purposes of the present document, the following abbreviations apply: BSA Basic Set of Applications CA Co-operative AwarenessCAM Co-operative Awareness Message CCH Control Channel DCC Decentralized Congestion Cont
37、rol DEN Decentralized Environmental Notification DENM Decentralized Environmental Notification Message HMI Human Machine Interface ICRW Intersection Collision Risk Warning ITS Intelligent Transport Systems ITS-S ITS Station IVI Infrastructure to Vehicle Information IVIEM In Vehicle Information Exten
38、ded Message IVIM Infrastructure to Vehicle Information Message LCRW Longitudinal Collision Risk Warning MAPEM Message with detailed road topology information used by RLT service MAT Maximum Action Time MDRT Maximum Driver Reaction Time MLT Maximum Latency Time OEM Original Equiment Manufacturer OR O
39、perational Requirements RHS Road Hazard Signalling RLT Road and Lane Topology SPAT Signal Phase And Timing SPATEM Signal Phase And Timing Extended Message TLM Traffic Light Maneuver TTC Time To Collision VRU Vulnerable Road User ETSI ETSI TS 101 539-2 V1.1.1 (2018-06)7 4 Conforming ITS-S performance
40、 class definition Intersection Collision Risk Warning (ICRW) application is considered as a primary road safety application. As introduced in clause 4 of ETSI TS 101 539-3 3, primary road safety applications are ITS applications that target at reducing the risk of collision and thus improving the ro
41、ad safety. An ICRW application provides intersection collision risk warning to drivers. The warning indicates the risk of potential intersection collision risk that requires an immediate action of the driver. NOTE: It is not excluded to implement the ICRW with automatic assistance system, such as au
42、tomatic braking system. In this case, the automatic assistance system will react directly on the braking system for the driver, enabling a quicker reaction towards the collision risk. The ICRW application relies on the processing of Cooperative Awareness Message (CAM) as specified in ETSI EN 302 637
43、-2 1 and Decentralized Environmental Notification Message (DENM) as specified ETSI EN 302 637-3 2 transmitted from vehicle ITS-Ss or road side ITS-S. If applicable, an ICRW application may in addition rely on the roadside infrastructure services such as Traffic Light Maneuver (TLM) service, Road and
44、 Lane Topology (RLT) service and Infrastructure to Vehicle Information (IVI) service as specified in ETSI TS 103 301 4. These messages enable a receiving vehicle ITS-S be informed of the movement status of other vehicles in the intersection as well as the traffic light status, intersection access pr
45、iority status, and topology of the intersection. This receiving ITS-S is therefore able to estimate the potential collision risk and inform driver when necessary. The ICRW application requires a short end-to-end latency time. This latency time is the time difference between T0 and T6 and shall be as
46、 defined in ETSI TS 101 539-3 3 and illustrated in Figure 1, in order to provide timely warning to driver. T0 is denoted as time at which the vehicle data is available at the vehicle electronic systems. For message transmitted from road side ITS-S, T0 is denoted as time at which the data is availabl
47、e at data source e.g. traffic light status data available at traffic light controller system. T6 is denoted as time at which the warning is presented on the vehicle HMI or time at which a direct action is requested to the vehicle electronic system, if applicable. Typically, 300 ms end to end latency
48、 time is required. Figure 1: Application end to end latency time In particular, time difference from T0 to T1 reflects the freshness of the data provided by a message with regards to the message time stamp. ETSI TS 101 539-3 3 has defined two performance classes (class A and class B) based on this t
49、ime difference, indicating the capability of a vehicle ITS-S to provide up-to-date information in CAM and DENM within a threshold value (e.g. 150 ms). ETSI ETSI TS 101 539-2 V1.1.1 (2018-06)8 Road side ITS-S mounted within an intersection provides up-to-date information on intersection traffic light status (SPATEM), road topology (MAPEM) and infrastructure to vehicle Information (IVIM) in order to enable the receiving ITS-S be informed about the allowed maneuvers, the access rights to execute the maneuvers (e.g. “green“, “yellow“, “red“).
