1、 ETSI TS 102 637-2 V1.2.1 (2011-03)Technical Specification Intelligent Transport Systems (ITS);Vehicular Communications;Basic Set of Applications;Part 2: Specification of CooperativeAwareness Basic ServiceETSI ETSI TS 102 637-2 V1.2.1 (2011-03)2Reference RTS/ITS-0010018 Keywords ITS, application, ba
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8、red and owned by the GSM Association. ETSI ETSI TS 102 637-2 V1.2.1 (2011-03)3Contents Intellectual Property Rights 4g3Foreword . 4g3Introduction 4g31 Scope 5g32 References 5g32.1 Normative references . 5g32.2 Informative references 5g33 Definitions and abbreviations . 6g33.1 Definitions 6g33.2 Abbr
9、eviations . 6g34 General Overview. 7g34.1 Description . 7g34.2 Usage 8g35 Quality Requirements . 8g35.1 Timing Requirements . 8g35.2 General Confidence Constraints . 9g36 Interfaces 9g36.1 Interface to Applications 9g36.2 Interface to Data Provisioning Services . 10g37 Message Format Specification .
10、 10g37.1 General Structure 10g37.2 ITS Station Profiles 11g3Annex A (normative): Basic Data Elements 12g3Annex B (informative): CAM generation rules . 17g3History 18g3ETSI ETSI TS 102 637-2 V1.2.1 (2011-03)4Intellectual Property Rights IPRs essential or potentially essential to the present document
11、may have been declared to ETSI. The information pertaining to 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
12、 standards“, which is available from the ETSI Secretariat. Latest updates are available on the ETSI Web server (http:/webapp.etsi.org/IPR/home.asp). 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
13、of other IPRs not referenced in ETSI SR 000 314 (or the updates on the ETSI Web server) which are, or may be, or may become, essential to the present document. Foreword This Technical Specification (TS) has been produced by ETSI Technical Committee Intelligent Transport System (ITS). The present doc
14、ument is part 2 of a multi-part deliverable covering Vehicular Communications; Basic Set of Applications, as identified below: Part 1: “Functional Requirements“; Part 2: “Specification of Cooperative Awareness Basic Service“; Part 3: “Specification of Decentralized Environmental Notification Basic S
15、ervice“; Part 4: “Operational Requirements“. Introduction V2X systems are supported by wireless networks for exchange of information between vehicles (V2V) and road side infrastructure (V2I). The V2X system enables a wide range of beneficial use cases. Road safety and traffic efficiency use cases ar
16、e appealing as they hold potentials for meeting European Union i.1 societal objectives. Interoperability is an important aspect to be ensured by the V2X system at different OSI layers. At the facilities layer in particular, basic common functionalities are defined in order to ensure the correct syst
17、em functioning and to satisfy the interoperability requirement. Respecting common functionalities allows correct and efficient information exchange between nodes participating in V2X networks. This requirement is met by identifying a set of basic functional components at facilities layer. The presen
18、t document specifies the Cooperative Awareness Basic Service, which provides by means of periodic sending of status data a cooperative awareness to neighbouring nodes. Quality requirements are also proposed for this mandatory facility in order to provide reliable component performance for applicatio
19、n development. The Basis Set of Applications (BSA) are defined in i.2. Each application implements one or more use cases. BSA are applications that are considered as deployable with reasonable efforts within 3 years after the complete standardization of the system. This requires efforts from differe
20、nt stakeholders. The quality requirements are identified based on analysis of the BSA. ETSI ETSI TS 102 637-2 V1.2.1 (2011-03)51 Scope The present document provides: general overview of the Cooperative Awareness Basic Service; quality requirements; messages formats and specifications. This includes
21、definition of the syntax and semantics of the Cooperative Awareness Message (CAM) and detailed specifications on the message handling. Furthermore, the present document considers the CAM specifications defined by CAR 2 CAR Communication Consortium i.3. 2 References References are either specific (id
22、entified 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 reference document (including any amendments) applies. Referenced documents which are not found to
23、 be publicly available in the expected location might be found at http:/docbox.etsi.org/Reference. NOTE: While any hyperlinks included in this clause were valid at the time of publication ETSI cannot guarantee their long term validity. 2.1 Normative references The following referenced documents are
24、necessary for the application of the present document. 1 ETSI EN 302 665: “Intelligent Transport Systems (ITS); Communications Architecture“. 2 ETSI TS 102 637-3: “Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 3: Specifications of Decentralized Enviro
25、nmental Notification Basic Service“. 3 ISO/TS 18234-4: 2006: “Traffic and Travel Information (TTI) - TTI via Transport Protocol Expert Group (TPEG) data-streams - Part 4: Road Traffic Message (RTM) application“. 4 SAE J2735: “Dedicated Short Range Communications (DSRC) message set dictionary“. NOTE:
26、 Available at: http:/ 2.2 Informative references The following referenced documents are not necessary for the application of the present document but they assist the user with regard to a particular subject area. i.1 European Union:. NOTE: Available at http:/europa.eu/. i.2 ETSI TR 102 638: “Intelli
27、gent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Definitions“. i.3 CAR 2 CAR Communication Consortium (C2CCC). . NOTE: Available at http:/www.car-to-car.org/. ETSI ETSI TS 102 637-2 V1.2.1 (2011-03)6i.4 ETSI TR 102 863: “Intelligent Transport System (ITS); Vehicular
28、 Communications; Basic Set of Applications; Local Dynamic Map (LDM); Rationale for and guidance on standardization“. i.5 ETSI TS 102 636-4-1: “Intelligent Transport System (ITS); Vehicular communications; GeoNetworking; Part 4: Geographical addressing and forwarding for point-to-point and point-to-m
29、ultipoint communications; Sub-part 1: Media independent functionalities“. 3 Definitions and abbreviations 3.1 Definitions For the purposes of the present document, the terms and definitions given in 1 and the following apply: application support: sub set of facilities, providing support elements for
30、 applications basic set of applications: group of applications, supported by vehicular communication system NOTE: Basic set of applications can be deployed simultaneously at a targeted time (day 1) after the standard completion with the objective to serve societal and business objectives of private
31、and public road transport stakeholders. BSA definition is provided in 1. communication support: sub set of facilities, providing support for communications cooperative awareness messages management: implementation of the cooperative awareness basic service within facility layer facilities: functiona
32、lities, services or data provided by the facilities layer NOTE: These application functionalities and data are gathered into the Facilities layer which contains some generic application elements (middleware), presentation and session layers of the OSI (Open System Interconnection) Reference Model. i
33、nformation support: sub set of facilities, providing support for data management ITS application: system that defines and implements an ITS service to users of the system ITS use cases: procedure of executing an ITS application in a particular situation with a specific purpose LDM: local georeferenc
34、ed database containing a C2X-relevant image of the real world. Applications retrieve these data by means of the LDM Management i.4 V2I, I2V: in the present document context, it means direct Vehicle to road Infrastructure communication using a wireless local area network V2V: in the present document
35、context, it means direct Vehicle(s) to Vehicle(s) communication using a wireless local area network NOTE: Other radio access technology can be used for use case development. The selection of the best network in term of cost-efficiency will be dynamically achieved, in the future, according to the loc
36、al availability of networks, their respective costs and performances. 3.2 Abbreviations For the purposes of the present document, the following abbreviations apply: BSA Basic Set of Applications C2CCC Car to Car Communication Consortium CAM Cooperative Awareness Message CAN Controller Area Network D
37、ENM Decentralized Environmental Notification Message I2V Infrastructure-to-Vehicle ETSI ETSI TS 102 637-2 V1.2.1 (2011-03)7ITS Intelligent Transportation Systems ITS-G5 5 GHz wireless communication LDM Local Dynamic Map OSI Open System Interconnection V2I Vehicle-to-Infrastructure V2V Vehicle-to-Veh
38、icle V2X V2V and/or V2I 4 General Overview 4.1 Description The Cooperative Awareness Messages (CAMs) are distributed within the ITS-G5 (802.11p) network and provide information of presence, positions as well as basic status of communicating ITS stations to neighbouring ITS stations that are located
39、within a single hop distance. All ITS stations shall be able to generate, send and receive CAMs, as long as they participate in V2X networks. By receiving CAMs, the ITS station is aware of other stations in its neighbourhood area as well as their positions, movement, basic attributes and basic senso
40、r information. At receiver side, reasonable efforts can be taken to evaluate the relevance of the messages and the information. This allows ITS stations to get information about its situation and act accordingly. Information distributed by CAM Management is commonly used by related use cases and the
41、refore the CAM Management is a mandatory facility. The Approaching Emergency Vehicle and Slow Vehicle Warning are just two use cases which benefit from CAM. Figure 1: ITS Station Reference Architecture ETSI ETSI TS 102 637-2 V1.2.1 (2011-03)8Within the ITS Station Reference Architecture (see Figure
42、1), the CAM Management belongs to the Facilities Application Support and more detailed it is assigned to the Messages Management (see Figure 2). Figure 2: Facilities Layer Architecture 4.2 Usage Observing several rules, the CAM Management generates CAMs using the facilities time management, station
43、state monitoring and/or mobile station dynamic as data sources. In order to send out the CAM, the communication support hands the CAM to the layer below. The CAM Management passes the valid CAMs to the LDM management, which analyses the messages and updates in real time the LDM data base. The LDM is
44、 in principle a local georeferenced database containing a C2X-relevant image of the real world. Applications retrieve these data by means of the LDM Management. 5 Quality Requirements Based on the use case requirements of the BSA, following quality requirements for the CAM Management were derived. 5
45、.1 Timing Requirements Table 1 contains the BSA use cases based on CAMs and the corresponding timing requirements. Some use cases require high frequency in order to ensure low reception latency after first contact. In this case DENM with situation specific communication attributes shall be used. The
46、se communication attributes might include forwarding. ETSI ETSI TS 102 637-2 V1.2.1 (2011-03)9Table 1: Overview Use Cases based on CAM Use Case min Frequency (Hz) min Latency (ms) Emergency Vehicle Warning 10 100 Slow Vehicle Indication 2 100 Intersection Collision Warning 10 100 Motorcycle Approach
47、ing Indication 2 100 Collision Risk Warning 10 100 Speed Limits Notification 1 to 10 100 Traffic Light Optimal Speed Advisory 2 100 CAMs are generated by the CAM Management and passed to lower layers according to following rules: maximum time interval between CAM generations: 1 s minimum time interv
48、al between CAM generations is 0,1 s More detailed generation rules are provided for information in Annex B. The system shall ensure that processing time of CAM construction does not exceed 50 ms. If no other channel load is present, the system transmission time between message construction and messa
49、ge being sent shall neither exceed 50 ms. tAttDtAtDtCStart of data acquisitionData acquisition complete - time stamp setCooperative awareness message sentFigure 2a: time requirements for CAM generation and CAM processing The above requirements are set as: tA 50 ms; tD 50 ms. 5.2 General Confidence Constraints The following accuracy description method shall apply: The data element “Confidence“ provides the symmetric interval of 95 % confidence level for a current reported value. If no
