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BSI PD CEN ISO/TS 19091:2019

BSI PD CEN ISO/TS 19091:2019

$215.11

Intelligent transport systems. Cooperative ITS. Using V2I and I2V communications for applications related to signalized intersections

Published By Publication Date Number of Pages
BSI 2019 246
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This document defines the message, data structures, and data elements to support exchanges between the roadside equipment and vehicles to address applications to improve safety, mobility and environmental efficiency. In order to verify that the defined messages will satisfy these applications, a systems engineering process has been employed that traces use cases to requirements and requirements to messages and data concepts.

This document consists of a single document that contains the base specification and a series of annexes. The base specification lists the derived information requirements (labelled informative) and references to other standards for message definitions where available. Annex A contains descriptions of the use cases addressed by this document. Annexes B and C contain traceability matrices that relate use cases to requirements and requirements to the message definitions (i.e. data frames and data elements). The next annexes list the base message requirements and application-oriented specific requirements (requirements traceability matrix) that map to the message and data concepts to be implemented. As such, an implementation consists of the base plus an additional group of extensions within this document.

Details on information requirements, for other than SPaT, MAP, SSM, and SRM messages are provided in other International Standards. The focus of this document is to specify the details of the SPaT, MAP, SSM, and SRM supporting the use cases defined in this document. Adoption of these messages varies by region and their adoption can occur over a significant time period.

This document covers the interface between roadside equipment and vehicles. Applications, their internal algorithms, and the logical distribution of application functionality over any specific system architecture are outside the scope of this document.

PDF Catalog

PDF Pages PDF Title
2 undefined
4 European foreword
Endorsement notice
9 Foreword
10 Introduction
11 Blank Page
12 1 Scope
2 Normative references
13 3 Terms and definitions
21 4 Abbreviated terms
23 5 General description (informative)
5.1 Overview
5.2 Functional model
5.2.1 Description
24 Figure 1 โ€” Working model for use cases (functional)
25 5.2.2 Architecture
26 Figure 2 โ€” General architecture for V2I/I2V communications
27 5.2.3 Message interactions
5.2.4 Common operational assumptions
29 5.3 Safety use cases
5.3.1 Intent
5.3.2 Additional assumptions
5.3.3 Architecture implications
30 5.4 Mobility/sustainability use cases
5.4.1 Intent
5.4.2 Additional assumptions
5.4.3 Architecture implications
31 5.5 Priority/pre-emption use cases
5.5.1 Intent
32 5.5.2 Additional assumptions
5.5.3 Architecture implications
33 5.5.4 Public transport signal priority application
34 Operational constraints
5.5.5 Freight vehicle signal priority application
35 Figure 3 โ€” FSP flow for a platoon of vehicles
36 5.5.6 Emergency (public safety) vehicle pre-emption application
6 Function description (informative)
37 6.1 Public safety vehicle
6.1.1 Broadcast public safety vehicle information
6.1.2 Broadcast emergency response indication
6.2 Signal pre-emption
6.2.1 Signal pre-empt request (normal power)
6.2.2 Signal pre-empt request (high power)
38 6.2.3 Request signal pre-empt โ€” Message identifier
6.2.4 Request signal pre-empt โ€” Intersection identifier
6.2.5 Request signal pre-empt โ€” Approach lane
6.2.6 Request signal pre-empt โ€” Egress lane
6.2.7 Request signal pre-empt โ€” Vehicle class
6.2.8 Request signal pre-empt โ€” Time of service
39 6.2.9 Request signal pre-empt โ€” Vehicle identity
6.2.10 Request signal pre-empt โ€” Vehicle location and speed
6.2.11 Request signal pre-empt โ€” Cancellation
6.2.12 Request signal pre-empt โ€” Transaction identifier
6.2.13 Request signal pre-empt โ€” Duration
6.3 Public transport and commercial vehicle
6.3.1 Broadcast priority requesting vehicle information
40 6.4 Signal priority requirements
6.4.1 Signal priority request
6.4.2 Request signal priority โ€” Message identifier
6.4.3 Request signal priority โ€” Intersection identifier
6.4.4 Request signal priority โ€” Approach lane
6.4.5 Request signal priority โ€” Egress lane
41 6.4.6 Request signal priority โ€” Vehicle class
6.4.7 Request signal priority โ€” Time of service
6.4.8 Request signal priority โ€” Vehicle identity
6.4.9 Request signal priority โ€” Vehicle location and speed
6.4.10 Request signal priority โ€” Service information
42 6.4.11 Request signal priority cancellation
6.4.12 Request signal priority โ€” Priority request level
6.4.13 Request signal priority โ€” Transaction identifier
6.4.14 Request signal priority โ€” Duration
6.4.15 Request signal priority โ€” Transit schedule
6.5 Broadcast area’s geometrics
6.5.1 Broadcast roadway geometrics
6.5.2 Broadcast roadway geometrics โ€” Message identifier
43 6.5.3 Broadcast intersection โ€” Identifier
6.5.4 Broadcast intersection โ€” Reference point
6.5.5 Broadcast intersection โ€” Lane/approach default width
6.5.6 Broadcast intersection โ€” Egress lanes/approach
6.5.7 Broadcast intersection โ€” Ingress lanes/approach
6.5.8 Broadcast intersection โ€” Lane/approach number
6.5.9 Broadcast intersection โ€” Lane/approach centerline coordinates
44 6.5.10 Broadcast intersection โ€” Vehicle lane/approach manoeuvres
6.5.11 Broadcast intersection โ€” Pedestrian crossing lane/approach manoeuvres
45 6.5.12 Broadcast intersection โ€” Special lane/approach manoeuvres
6.5.13 Broadcast intersection โ€” Version identifier
6.5.14 Broadcast intersection โ€” Crossings
6.5.15 Broadcast intersection โ€” Lane/approach width
6.5.16 Broadcast intersection โ€” Node lane/approach width
46 6.5.17 Broadcast intersection โ€” Egress connection
6.5.18 Broadcast intersection โ€” Traffic control
6.5.19 Broadcast intersection โ€” Traffic control by lane/approach
6.5.20 Broadcast road conditions
6.5.21 Broadcast intersection โ€” Signal group
6.6 Broadcast GNSS augmentation details
6.6.1 Broadcast GNSS augmentations
47 6.6.2 Broadcast GNSS augmentation detail โ€” NMEA
6.6.3 Broadcast GNSS augmentation detail โ€” RTCM
6.7 Signalized intersection requirements
6.7.1 Broadcast signal phase and timing information
6.7.2 Broadcast signal phase and timing โ€” Message identifier
6.7.3 Broadcast signal phase and timing โ€” Intersection identifier
6.7.4 Broadcast signal phase and timing โ€” Intersection status
48 6.7.5 Broadcast signal phase and timing โ€” Timestamp
6.7.6 Broadcast manoeuvre โ€” Signal group
6.7.7 Broadcast manoeuvre โ€” Manoeuvre state
6.7.8 Broadcast manoeuvre โ€” Vehicular state
6.7.9 Broadcast manoeuvre โ€” Pedestrian state
6.7.10 Broadcast manoeuvre โ€” Special state
6.7.11 Broadcast manoeuvre โ€” Time of change โ€” Minimum
49 6.7.12 Broadcast manoeuvre โ€” Time of change โ€” Maximum
6.7.13 Broadcast manoeuvre โ€” Succeeding signal indications
50 6.7.14 Broadcast manoeuvre โ€” Succeeding signal indication time of change
6.7.15 Broadcast manoeuvre pending manoeuvre start time
6.7.16 Broadcast manoeuvre โ€” Pedestrian detect
6.7.17 Broadcast manoeuvre โ€” Pedestrian call
6.7.18 Broadcast manoeuvre โ€” Optimal speed information
6.7.19 Broadcast manoeuvre โ€” Signal progression information
6.7.20 Broadcast manoeuvre โ€” Egress lane queue
51 6.7.21 Broadcast manoeuvre โ€” Egress lane storage availability
6.7.22 Broadcast manoeuvre โ€” Wait indication
6.8 Broadcast cross traffic sensor information
6.9 Broadcast vulnerable road user sensor information
6.10 Broadcast dilemma zone violation warning
6.11 Broadcast signal preferential treatment status
6.11.1 Broadcast preferential treatment โ€” Signal status message
52 6.11.2 Broadcast preferential treatment โ€” Message identifier
6.11.3 Broadcast preferential treatment โ€” Intersection identifier
6.11.4 Broadcast preferential treatment โ€” Intersection status
6.11.5 Broadcast preferential treatment โ€” Prioritization request status
6.11.6 Broadcast preferential treatment โ€” Vehicle source
6.11.7 Broadcast preferential treatment โ€” Transaction identifier
6.12 Message identifier
53 6.13 System performance requirements
6.13.1 Broadcast intersection โ€” Computed lane/approach
6.14 Transmission rates โ€” Signal preferential treatment
6.14.1 Maximum transmission rate โ€” Request signal preferential treatment
6.14.2 Maximum response time โ€” Request signal preferential treatment
6.14.3 Minimum transmission rate โ€” Signal status message
6.14.4 Minimum transmission period โ€” Signal status message
6.15 Transmission rate requirements โ€” Broadcast roadway geometrics information
54 6.15.1 Minimum transmission rate โ€” Broadcast roadway geometrics information
6.15.2 Maximum transmission rate โ€” Broadcast roadway geometrics information
6.15.3 Default transmission rate โ€” Broadcast roadway geometrics information
6.16 Transmission rate requirements โ€” GNSS augmentations detail broadcasts
6.16.1 Minimum transmission rate โ€” GNSS augmentation details broadcasts
6.16.2 Default transmission rate โ€” GNSS augmentation details broadcasts
6.17 Transmission rate requirements โ€” Broadcast signal phase and timing information
6.17.1 Minimum transmission rate โ€” Broadcast signal phase and timing information
6.17.2 Maximum transmission rate โ€” Broadcast signal phase and timing information
6.17.3 Default transmission rate โ€” Broadcast signal phase and timing information
55 6.18 Transmission rate requirements โ€” Broadcast cross traffic sensor information
6.18.1 Minimum transmission rate โ€” Broadcast cross traffic sensor information
6.18.2 Maximum transmission rate โ€” Broadcast cross traffic sensor information
6.18.3 Default transmission rate โ€” Broadcast cross traffic sensor information
6.19 Transmission rate requirements โ€” Broadcast vulnerable road user sensor information
6.19.1 Transmission rate โ€” Broadcast vulnerable road user sensor information
6.19.2 Maximum transmission rate โ€” Broadcast vulnerable road user sensor information
6.19.3 Default transmission rate โ€” Broadcast vulnerable road user sensor information
7 Messages
56 8 Conformance
57 Annex A (informative) Use cases
Table A.1 โ€” Identified use cases
61 Table A.3 โ€” PR1-a: Localized public transport signal priority โ€” Near side stop
64 Table A.4 โ€” PR2: Public transport signal priority along an arterial (group of intersections)
68 Table A.5 โ€” PR3: Localized freight signal priority
71 Table A.6 โ€” PR3-a: Localized freight signal priority with a platoon
74 Table A.7 โ€” PR3-b: Arterial freight signal priority for a platoon
78 Table A.8 โ€” PR4: Emergency vehicle single or multiple vehicles (normal power PSOBE)
81 Table A.9 โ€” PR5: Emergency vehicle single or multiple vehicles (high-power PSOBE)
85 Table A.10 โ€” PR6: Mixed emergency vehicle and other priority eligible vehicles
88 Table A.11 โ€” SA1: Dilemma zone protection
90 Table A.12 โ€” SA2: Red light violation warning
92 Table A.13 โ€” SA3: Stop sign violation warning
94 Table A.14 โ€” SA4: Turning assistant โ€” Oncoming traffic
96 Table A.15 โ€” SA5: Turning assistant โ€” Vulnerable road user avoidance
98 Table A.16 โ€” SA6: Non-signalized crossing traffic warning
100 Table A.17 โ€” SA7: Crossing vulnerable road user advisory (non-signalized)
102 Table A.18 โ€” MS1: Basic local traffic signal actuation
104 Table A.19 โ€” MS2: Platoon detection for coordinated signals
106 Table A.20 โ€” MS3: Congested intersection adjustment
108 Table A.21 โ€” MS4: Traffic signal optimal speed advisory
110 Table A.22 โ€” MS5: Signalized corridor eco-driving speed guidance
112 Table A.23 โ€” MS6: Idling stop support
114 Table A.24 โ€” MS7: Start delay prevention
117 Table A.25 โ€” MS9: Inductive charging at signals
118 Table A.26 โ€” MS10: Donโ€™t block the box
121 Annex B (informative) Use case to requirements traceability
B.1 General
B.2 Symbols indicating requirement status
Table B.1 โ€” Symbols indicating requirement status
B.3 Conditional status notation
122 Table B.2 โ€” Predicate notations
Table B.3 โ€” Predicate mapping to this documentโ€™s subclauses
123 B.4 Prioritization and pre-emption use case to requirements table
Table B.4 โ€” Prioritization and pre-emption related use case to requirements matrix
129 B.5 Safety related use case to requirements matrix
Table B.5 โ€” Safety related use case to requirements matrix
133 B.6 Mobility/sustainability related use case to requirements matrix
Table B.6 โ€” Mobility/sustainability related use case to requirements matrix
138 Annex C (informative) Requirements traceability matrix
Table C.1 โ€” Requirements traceability matrix
154 Annex D (normative) Extension procedures
155 Annex E (normative) Profile A for J2735โ„ข
E.1 General
E.2 MAP
E.2.1 SAE J2735โ„ข MAP elements
E.2.2 Profile A MAP elements
E.2.3 Profile A MAP performance requirements
E.2.4 Profile A MAP ASN.1
E.3 SPaT
E.3.1 SAE J2735โ„ข SPaT elements
156 E.3.2 Profile A SPaT elements
E.3.3 Profile A SPaT performance requirements
E.3.4 Profile A SPaT ASN.1
E.3.4.1 Data frame: DF_ConnectionManeuverAssist-addGrpA
E.3.4.2 Data frame: DF_ MovementState-addGrpA
E.3.4.3 Data element: DE_PedestrianBicycleCall
157 E.3.4.4 Data element: DE_SpecialSignalState (SAE J2735โ„ข Revised NOV2009 – 218 -)
E.4 SRM
E.4.1 SAE J2735โ„ข SRM elements
E.4.2 Profile A SRM elements
E.4.3 Profile A SRM performance requirements
E.4.4 Profile A SRM ASN.1
158 E.5 SSM
E.5.1 SAE J2735โ„ข SSM elements
E.5.2 Profile A SSM elements
E.5.3 Profile A SSM performance requirements
E.5.4 Profile A SSM ASN.1
E.6 Examples โ€” Profile A PICS
159 Annex F (normative) Profile B for J2735โ„ข
F.1 General
Table F.1 โ€” List of use cases related to this annex
F.2 Normative references
F.3 MAP message specification
F.3.1 General
160 F.3.2 Identification of the data elements and data frames
F.3.2.1 General
F.3.2.2 List of data frames contained in SAE J2735โ„ข
F.3.2.3 List of data elements contained in SAE J2735โ„ข
161 F.3.3 Definition of the data frames
F.3.3.1 General
F.3.3.2 DF_ApproachAttribute
F.3.3.3 DF_BranchAttribute
F.3.3.4 DF_BranchSublink
162 F.3.3.5 DF_CommonHeader
F.3.3.6 DF_DivergenceAttribute
F.3.3.7 DF_DivergencePathway
163 F.3.3.8 DF_DownstreamIntersectionAttribute
F.3.3.9 DF_EgressPathway
F.3.3.10 DF_EgressIdentifier
F.3.3.11 DF_IngressApproach
164 F.3.3.12 DF_IngressIdentifier
F.3.3.13 DF_IntersectionIdentifier
F.3.3.14 DF_MergeSublink
F.3.3.15 DF_Node_OpB
165 F.3.3.16 DF_RSEIdentifier
F.3.3.17 DF_SublinkIdentifier
F.3.4 Definition of the data elements
F.3.4.1 General
F.3.4.2 DE_ApproachType
166 F.3.4.3 DE_BranchSublinkID
F.3.4.4 DE_CommunicationType
F.3.4.5 DE_DivergencePathwayID
F.3.4.6 DE_EgressPathwayID
F.3.4.7 DE_IngressID
F.3.4.8 DE_IntersectionID_OpB
167 F.3.4.9 DE_MergeSublinkID
F.3.4.10 DE_MessageID_OpB
F.3.4.11 DE_MessageSize
F.3.4.12 DE_NodeAttribute_OpB
168 F.3.4.13 DE_NodeID
F.3.4.14 DE_OperationMode
F.3.4.15 DE_PrefectureID
F.3.4.16 DE_RoadType
169 F.3.4.17 DE_StorageAddress
F.3.4.18 DE_SublinkID
F.3.4.19 DE_VersionIdentifier
F.3.5 Performance requirements of MAP message related to this annex
F.3.5.1 Transmission rate requirements
F.3.5.1.1 Minimum transmission rate
F.3.5.1.2 Maximum transmission rate
F.3.5.2 Nodes design requirements
170 F.3.6 Requirements to message traceability matrix of map message
174 F.4 SPaT message specification
F.4.1 General
F.4.2 Identification of the data elements and data frames
F.4.2.1 General
F.4.2.2 List of data elements contained in SAE J2735โ„ข
F.4.3 Definition of the data frames
175 F.4.3.1 General
F.4.3.2 DF_ApproachState
F.4.3.3 DF_GreenLightIndication
F.4.3.4 DF_SignalGroupEvent_V
176 F.4.3.5 DF_SignalGroupEvent_P
F.4.3.6 DF_SignalGroupIdentifier
F.4.3.7 DF_SignalGroupState_V
177 F.4.3.8 DF_SignalGroupState_P
F.4.4 Definition of the data elements
F.4.4.1 General
F.4.4.2 DE_AvailableStatus
F.4.4.3 DE_ArrowLightIndication
178 F.4.4.4 DE_BallLight
F.4.4.5 DE_CurrentGreenIndication
F.4.4.6 DE_EventCount
179 F.4.4.7 DE_IntersectionStatusObject_OpB
F.4.4.8 DE_PedSignalPhaseState
F.4.5 Performance requirements of SPaT message related to this annex
180 F.4.6 Requirements to message traceability matrix of SPaT message
Table F.3 โ€” Requirements to message DE/DF traceability matrix
183 F.5 SRM message specification
F.6 SSM message specification
F.6.1 General
F.6.2 Requirements to message traceability matrix of SSM message
F.7 PICS list for this annex
184 Annex G (normative) Profile C for J2735โ„ข
G.1 General
G.2 Normative references
G.3 Conformance
G.4 Message content revision strategy
185 G.5 Data extensions โ€œaddGrpCโ€ data extensions to SAE J2735โ„ข
G.5.1 “addGrpC” data frames
G.5.1.1 ConnectionManeuverAssist-addGrpC
G.5.1.2 ConnectionTrajectory-addGrpC
186 G.5.1.3 IntersectionState-addGrpC
G.5.1.4 LaneAttributes-addGrpC
ASN.1 representation:
G.5.1.5 MapData-addGrpC
G.5.1.6 MovementEvent-addGrpC
187 ASN.1 representation:
G.5.1.7 NodeAttributeSet-addGrpC
G.5.1.8 Position3D-addGrpC
G.5.1.9 RestrictionUserType-addGrpC
188 G.5.1.10 RequestorDescription-addGrpC
ASN.1 representation:
G.5.1.11 SignalStatusPackage-addGrpC
G.5.2 Data frames
G.5.2.1 ItsStationPosition
189 G.5.2.2 Node
G.5.2.3 NodeLink
G.5.2.4 PrioritizationResponse
190 G.5.2.5 PrioritizationResponseList
G.5.2.6 SignalHeadLocation
G.5.2.7 SignalHeadLocationList
G.5.3 Data elements
G.5.3.1 BatteryStatus
ASN.1 representation:
G.5.3.2 EmissionType
191 G.5.3.3 ExceptionalCondition
ASN.1 representation:
G.5.3.4 PtvRequestType
G.5.3.5 RejectedReason
192 ASN.1 representation:
G.5.3.6 TimeReference
G.6 Framework for including data extensions to SAE J2735โ„ข
193 G.7 โ€œREGIONโ€ data extensions to SAE J2735โ„ข
G.7.1 Introduction
G.7.2 Reg-ConnectionManeuverAssist
G.7.3 Reg-GenericLane
G.7.4 Reg-IntersectionState
194 G.7.5 Reg-LaneDataAttribute
ASN.1 representation:
G.7.6 Reg-MapData
G.7.7 Reg-MovementEvent
ASN.1 representation:
G.7.8 Reg- NodeAttributeSetXY
G.7.9 Reg-Position3D
195 G.7.10 Reg-RequestorDescription
ASN.1 representation:
G.7.11 Reg-RestrictionUserType
G.7.11.1 Reg-SignalStatusPackage
G.8 Special usage of the SAE J2735โ„ข messages, data frames, and elements
G.8.1 Messages
196 G.8.1.1 Introduction
G.8.1.2 MSG_MapData
G.8.1.3 MSG_SignalPhaseAndTiming Message
G.8.1.4 MSG_SignalRequestMessage
197 G.8.1.5 MSG_SignalStatusMessage
G.8.2 Data frames
G.8.2.1 Introduction
G.8.2.2 DF_ConnectingLane
G.8.2.3 DF_ConnectionManeuverAssist
G.8.2.4 DF_Connection
198 G.8.2.5 DF_GenericLane
199 Figure G.1 โ€” ConnectionTrajectory
G.8.2.6 ingressApproach, egressApproach
G.8.2.7 DF_IntersectionGeometry
200 G.8.2.8 DF_NodeAttributeSetXY
Figure G.2 โ€” node attributes declaration example
201 Figure G.3 โ€” โ€œmergingPointโ€ attribute example
202 Figure G.4 โ€” โ€œdWidthโ€ attribute example
Figure G.5 โ€” โ€œnodeLinkโ€ attribute exampleexample
G.8.2.9 DF_IntersectionState
203 G.8.2.10 DF_Position3D
G.8.2.11 DF_RestrictionUserType
G.8.3 Data elements
G.8.3.1 Introduction
G.8.3.2 DE_LayerID
204 G.9 Basic interpretation of the messages
G.9.1 Connection of lanes
G.9.1.1 Vehicle lane connections
G.9.1.1.1 Vehicle lane connections basic scenario
205 Figure G.6 โ€” basic vehicle lane example
G.9.1.1.2 Adjacent intersection connection of egress lane to ingress lane
206 Figure G.7 โ€” egress to ingress lane connection example
G.9.1.1.3 Adjacent intersection connection of ingress lane to ingress lane
207 Figure G.8 โ€” Ingress to ingress lane connection example
G.9.1.1.4 Adjacent intersection connection of egress lane to egress lane
208 Figure G.9 โ€” Egress to Egress lane connection example
G.9.1.2 Crosswalk lane connections
G.9.1.2.1 Crosswalk lane connections basic scenario
209 Figure G.10 โ€”crosswalk lane connection basic example
G.9.1.2.2 Crosswalk safe island lane connection scenario 1
210 Figure G.11 โ€”Crosswalk safety island connection scenario 1 example
G.9.1.2.3 Crosswalk safe island lane connection scenario 2
211 Figure G.12 โ€” Crosswalk safety island connection scenario 2 example
G.9.1.3 Bicycle lane connections
G.9.1.3.1 Bicycle lane connections basic scenario
212 Figure G.13 โ€” Basic bicycle lane example
G.9.1.3.2 Bicycle lane connections complex scenario
213 Figure G.14 โ€” Complex bicycle lane example
G.9.2 SpaT/Map interpretation example within an intersection for usage in the vehicle
G.9.2.1 Analysis of relevant connections and signals
214 G.9.2.2 Analysis of dynamic state and of signal
G.9.2.3 Time mark representation within UTC
G.9.3 Prioritization handling
215 G.10 ASN.1 specification for extensions of the SAE J2735โ„ข ASN.1 module โ€œDSRCโ€
G.10.1 ASN.1 definition of extension data โ€œAddGrpCโ€
219 G.10.2 ASN.1 definition of extension control structure โ€œREGIONโ€
221 G.10.3 ASN.1 definition of extension control structure โ€œDSRCโ€
244 Bibliography

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