BSI PD CEN ISO/TS 19091:2019 – TC:2020 Edition
$280.87
Tracked Changes. Intelligent transport systems. Cooperative ITS. Using V2I and I2V communications for applications related to signalized intersections
| Published By | Publication Date | Number of Pages |
| BSI | 2020 | 530 |
PDF Catalog
| PDF Pages | PDF Title |
|---|---|
| 1 | Tracked_Changes_Cover |
| 3 | 30374987_Final |
| 286 | undefined |
| 288 | European foreword Endorsement notice |
| 293 | Foreword |
| 294 | Introduction |
| 295 | Blank Page |
| 296 | 1 Scope 2 Normative references |
| 297 | 3 Terms and definitions |
| 305 | 4 Abbreviated terms |
| 307 | 5 General description (informative) 5.1 Overview 5.2 Functional model 5.2.1 Description |
| 308 | Figure 1 — Working model for use cases (functional) |
| 309 | 5.2.2 Architecture |
| 310 | Figure 2 — General architecture for V2I/I2V communications |
| 311 | 5.2.3 Message interactions 5.2.4 Common operational assumptions |
| 313 | 5.3 Safety use cases 5.3.1 Intent 5.3.2 Additional assumptions 5.3.3 Architecture implications |
| 314 | 5.4 Mobility/sustainability use cases 5.4.1 Intent 5.4.2 Additional assumptions 5.4.3 Architecture implications |
| 315 | 5.5 Priority/pre-emption use cases 5.5.1 Intent |
| 316 | 5.5.2 Additional assumptions 5.5.3 Architecture implications |
| 317 | 5.5.4 Public transport signal priority application |
| 318 | Operational constraints 5.5.5 Freight vehicle signal priority application |
| 319 | Figure 3 — FSP flow for a platoon of vehicles |
| 320 | 5.5.6 Emergency (public safety) vehicle pre-emption application 6 Function description (informative) |
| 321 | 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) |
| 322 | 6.2.3 Request signal pre-empt — Message identifier 6.2.4 Request signal pre-empt — Intersection identifier 6.2.5 Request signal pre-empt — Approach lane 6.2.6 Request signal pre-empt — Egress lane 6.2.7 Request signal pre-empt — Vehicle class 6.2.8 Request signal pre-empt — Time of service |
| 323 | 6.2.9 Request signal pre-empt — Vehicle identity 6.2.10 Request signal pre-empt — Vehicle location and speed 6.2.11 Request signal pre-empt — Cancellation 6.2.12 Request signal pre-empt — Transaction identifier 6.2.13 Request signal pre-empt — Duration 6.3 Public transport and commercial vehicle 6.3.1 Broadcast priority requesting vehicle information |
| 324 | 6.4 Signal priority requirements 6.4.1 Signal priority request 6.4.2 Request signal priority — Message identifier 6.4.3 Request signal priority — Intersection identifier 6.4.4 Request signal priority — Approach lane 6.4.5 Request signal priority — Egress lane |
| 325 | 6.4.6 Request signal priority — Vehicle class 6.4.7 Request signal priority — Time of service 6.4.8 Request signal priority — Vehicle identity 6.4.9 Request signal priority — Vehicle location and speed 6.4.10 Request signal priority — Service information |
| 326 | 6.4.11 Request signal priority cancellation 6.4.12 Request signal priority — Priority request level 6.4.13 Request signal priority — Transaction identifier 6.4.14 Request signal priority — Duration 6.4.15 Request signal priority — Transit schedule 6.5 Broadcast area’s geometrics 6.5.1 Broadcast roadway geometrics 6.5.2 Broadcast roadway geometrics — Message identifier |
| 327 | 6.5.3 Broadcast intersection — Identifier 6.5.4 Broadcast intersection — Reference point 6.5.5 Broadcast intersection — Lane/approach default width 6.5.6 Broadcast intersection — Egress lanes/approach 6.5.7 Broadcast intersection — Ingress lanes/approach 6.5.8 Broadcast intersection — Lane/approach number 6.5.9 Broadcast intersection — Lane/approach centerline coordinates |
| 328 | 6.5.10 Broadcast intersection — Vehicle lane/approach manoeuvres 6.5.11 Broadcast intersection — Pedestrian crossing lane/approach manoeuvres |
| 329 | 6.5.12 Broadcast intersection — Special lane/approach manoeuvres 6.5.13 Broadcast intersection — Version identifier 6.5.14 Broadcast intersection — Crossings 6.5.15 Broadcast intersection — Lane/approach width 6.5.16 Broadcast intersection — Node lane/approach width |
| 330 | 6.5.17 Broadcast intersection — Egress connection 6.5.18 Broadcast intersection — Traffic control 6.5.19 Broadcast intersection — Traffic control by lane/approach 6.5.20 Broadcast road conditions 6.5.21 Broadcast intersection — Signal group 6.6 Broadcast GNSS augmentation details 6.6.1 Broadcast GNSS augmentations |
| 331 | 6.6.2 Broadcast GNSS augmentation detail — NMEA 6.6.3 Broadcast GNSS augmentation detail — RTCM 6.7 Signalized intersection requirements 6.7.1 Broadcast signal phase and timing information 6.7.2 Broadcast signal phase and timing — Message identifier 6.7.3 Broadcast signal phase and timing — Intersection identifier 6.7.4 Broadcast signal phase and timing — Intersection status |
| 332 | 6.7.5 Broadcast signal phase and timing — Timestamp 6.7.6 Broadcast manoeuvre — Signal group 6.7.7 Broadcast manoeuvre — Manoeuvre state 6.7.8 Broadcast manoeuvre — Vehicular state 6.7.9 Broadcast manoeuvre — Pedestrian state 6.7.10 Broadcast manoeuvre — Special state 6.7.11 Broadcast manoeuvre — Time of change — Minimum |
| 333 | 6.7.12 Broadcast manoeuvre — Time of change — Maximum 6.7.13 Broadcast manoeuvre — Succeeding signal indications |
| 334 | 6.7.14 Broadcast manoeuvre — Succeeding signal indication time of change 6.7.15 Broadcast manoeuvre pending manoeuvre start time 6.7.16 Broadcast manoeuvre — Pedestrian detect 6.7.17 Broadcast manoeuvre — Pedestrian call 6.7.18 Broadcast manoeuvre — Optimal speed information 6.7.19 Broadcast manoeuvre — Signal progression information 6.7.20 Broadcast manoeuvre — Egress lane queue |
| 335 | 6.7.21 Broadcast manoeuvre — Egress lane storage availability 6.7.22 Broadcast manoeuvre — 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 — Signal status message |
| 336 | 6.11.2 Broadcast preferential treatment — Message identifier 6.11.3 Broadcast preferential treatment — Intersection identifier 6.11.4 Broadcast preferential treatment — Intersection status 6.11.5 Broadcast preferential treatment — Prioritization request status 6.11.6 Broadcast preferential treatment — Vehicle source 6.11.7 Broadcast preferential treatment — Transaction identifier 6.12 Message identifier |
| 337 | 6.13 System performance requirements 6.13.1 Broadcast intersection — Computed lane/approach 6.14 Transmission rates — Signal preferential treatment 6.14.1 Maximum transmission rate — Request signal preferential treatment 6.14.2 Maximum response time — Request signal preferential treatment 6.14.3 Minimum transmission rate — Signal status message 6.14.4 Minimum transmission period — Signal status message 6.15 Transmission rate requirements — Broadcast roadway geometrics information |
| 338 | 6.15.1 Minimum transmission rate — Broadcast roadway geometrics information 6.15.2 Maximum transmission rate — Broadcast roadway geometrics information 6.15.3 Default transmission rate — Broadcast roadway geometrics information 6.16 Transmission rate requirements — GNSS augmentations detail broadcasts 6.16.1 Minimum transmission rate — GNSS augmentation details broadcasts 6.16.2 Default transmission rate — GNSS augmentation details broadcasts 6.17 Transmission rate requirements — Broadcast signal phase and timing information 6.17.1 Minimum transmission rate — Broadcast signal phase and timing information 6.17.2 Maximum transmission rate — Broadcast signal phase and timing information 6.17.3 Default transmission rate — Broadcast signal phase and timing information |
| 339 | 6.18 Transmission rate requirements — Broadcast cross traffic sensor information 6.18.1 Minimum transmission rate — Broadcast cross traffic sensor information 6.18.2 Maximum transmission rate — Broadcast cross traffic sensor information 6.18.3 Default transmission rate — Broadcast cross traffic sensor information 6.19 Transmission rate requirements — Broadcast vulnerable road user sensor information 6.19.1 Transmission rate — Broadcast vulnerable road user sensor information 6.19.2 Maximum transmission rate — Broadcast vulnerable road user sensor information 6.19.3 Default transmission rate — Broadcast vulnerable road user sensor information 7 Messages |
| 340 | 8 Conformance |
| 341 | Annex A (informative) Use cases Table A.1 — Identified use cases |
| 345 | Table A.3 — PR1-a: Localized public transport signal priority — Near side stop |
| 348 | Table A.4 — PR2: Public transport signal priority along an arterial (group of intersections) |
| 352 | Table A.5 — PR3: Localized freight signal priority |
| 355 | Table A.6 — PR3-a: Localized freight signal priority with a platoon |
| 358 | Table A.7 — PR3-b: Arterial freight signal priority for a platoon |
| 362 | Table A.8 — PR4: Emergency vehicle single or multiple vehicles (normal power PSOBE) |
| 365 | Table A.9 — PR5: Emergency vehicle single or multiple vehicles (high-power PSOBE) |
| 369 | Table A.10 — PR6: Mixed emergency vehicle and other priority eligible vehicles |
| 372 | Table A.11 — SA1: Dilemma zone protection |
| 374 | Table A.12 — SA2: Red light violation warning |
| 376 | Table A.13 — SA3: Stop sign violation warning |
| 378 | Table A.14 — SA4: Turning assistant — Oncoming traffic |
| 380 | Table A.15 — SA5: Turning assistant — Vulnerable road user avoidance |
| 382 | Table A.16 — SA6: Non-signalized crossing traffic warning |
| 384 | Table A.17 — SA7: Crossing vulnerable road user advisory (non-signalized) |
| 386 | Table A.18 — MS1: Basic local traffic signal actuation |
| 388 | Table A.19 — MS2: Platoon detection for coordinated signals |
| 390 | Table A.20 — MS3: Congested intersection adjustment |
| 392 | Table A.21 — MS4: Traffic signal optimal speed advisory |
| 394 | Table A.22 — MS5: Signalized corridor eco-driving speed guidance |
| 396 | Table A.23 — MS6: Idling stop support |
| 398 | Table A.24 — MS7: Start delay prevention |
| 401 | Table A.25 — MS9: Inductive charging at signals |
| 402 | Table A.26 — MS10: Don’t block the box |
| 405 | Annex B (informative) Use case to requirements traceability B.1 General B.2 Symbols indicating requirement status Table B.1 — Symbols indicating requirement status B.3 Conditional status notation |
| 406 | Table B.2 — Predicate notations Table B.3 — Predicate mapping to this document’s subclauses |
| 407 | B.4 Prioritization and pre-emption use case to requirements table Table B.4 — Prioritization and pre-emption related use case to requirements matrix |
| 413 | B.5 Safety related use case to requirements matrix Table B.5 — Safety related use case to requirements matrix |
| 417 | B.6 Mobility/sustainability related use case to requirements matrix Table B.6 — Mobility/sustainability related use case to requirements matrix |
| 422 | Annex C (informative) Requirements traceability matrix Table C.1 — Requirements traceability matrix |
| 438 | Annex D (normative) Extension procedures |
| 439 | Annex E (normative) Profile A for J2735™ E.1 General E.2 MAP E.2.1 SAE J2735™ 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 J2735™ SPaT elements |
| 440 | 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 |
| 441 | E.3.4.4 Data element: DE_SpecialSignalState (SAE J2735™ Revised NOV2009 – 218 -) E.4 SRM E.4.1 SAE J2735™ 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 |
| 442 | E.5 SSM E.5.1 SAE J2735™ 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 — Profile A PICS |
| 443 | Annex F (normative) Profile B for J2735™ F.1 General Table F.1 — List of use cases related to this annex F.2 Normative references F.3 MAP message specification F.3.1 General |
| 444 | 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 J2735™ F.3.2.3 List of data elements contained in SAE J2735™ |
| 445 | 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 |
| 446 | F.3.3.5 DF_CommonHeader F.3.3.6 DF_DivergenceAttribute F.3.3.7 DF_DivergencePathway |
| 447 | F.3.3.8 DF_DownstreamIntersectionAttribute F.3.3.9 DF_EgressPathway F.3.3.10 DF_EgressIdentifier F.3.3.11 DF_IngressApproach |
| 448 | 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 |
| 449 | 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 |
| 450 | 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 |
| 451 | 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 |
| 452 | F.3.4.13 DE_NodeID F.3.4.14 DE_OperationMode F.3.4.15 DE_PrefectureID F.3.4.16 DE_RoadType |
| 453 | 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 |
| 454 | F.3.6 Requirements to message traceability matrix of map message |
| 458 | 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 J2735™ F.4.3 Definition of the data frames |
| 459 | F.4.3.1 General F.4.3.2 DF_ApproachState F.4.3.3 DF_GreenLightIndication F.4.3.4 DF_SignalGroupEvent_V |
| 460 | F.4.3.5 DF_SignalGroupEvent_P F.4.3.6 DF_SignalGroupIdentifier F.4.3.7 DF_SignalGroupState_V |
| 461 | 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 |
| 462 | F.4.4.4 DE_BallLight F.4.4.5 DE_CurrentGreenIndication F.4.4.6 DE_EventCount |
| 463 | 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 |
| 464 | F.4.6 Requirements to message traceability matrix of SPaT message Table F.3 — Requirements to message DE/DF traceability matrix |
| 467 | 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 |
| 468 | Annex G (normative) Profile C for J2735™ G.1 General G.2 Normative references G.3 Conformance G.4 Message content revision strategy |
| 469 | G.5 Data extensions “addGrpC” data extensions to SAE J2735™ G.5.1 “addGrpC” data frames G.5.1.1 ConnectionManeuverAssist-addGrpC G.5.1.2 ConnectionTrajectory-addGrpC |
| 470 | 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 |
| 471 | ASN.1 representation: G.5.1.7 NodeAttributeSet-addGrpC G.5.1.8 Position3D-addGrpC G.5.1.9 RestrictionUserType-addGrpC |
| 472 | 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 |
| 473 | G.5.2.2 Node G.5.2.3 NodeLink G.5.2.4 PrioritizationResponse |
| 474 | 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 |
| 475 | G.5.3.3 ExceptionalCondition ASN.1 representation: G.5.3.4 PtvRequestType G.5.3.5 RejectedReason |
| 476 | ASN.1 representation: G.5.3.6 TimeReference G.6 Framework for including data extensions to SAE J2735™ |
| 477 | G.7 “REGION” data extensions to SAE J2735™ G.7.1 Introduction G.7.2 Reg-ConnectionManeuverAssist G.7.3 Reg-GenericLane G.7.4 Reg-IntersectionState |
| 478 | 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 |
| 479 | 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 J2735™ messages, data frames, and elements G.8.1 Messages |
| 480 | G.8.1.1 Introduction G.8.1.2 MSG_MapData G.8.1.3 MSG_SignalPhaseAndTiming Message G.8.1.4 MSG_SignalRequestMessage |
| 481 | 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 |
| 482 | G.8.2.5 DF_GenericLane |
| 483 | Figure G.1 — ConnectionTrajectory G.8.2.6 ingressApproach, egressApproach G.8.2.7 DF_IntersectionGeometry |
| 484 | G.8.2.8 DF_NodeAttributeSetXY Figure G.2 — node attributes declaration example |
| 485 | Figure G.3 — “mergingPoint” attribute example |
| 486 | Figure G.4 — “dWidth” attribute example Figure G.5 — “nodeLink” attribute exampleexample G.8.2.9 DF_IntersectionState |
| 487 | 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 |
| 488 | 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 |
| 489 | Figure G.6 — basic vehicle lane example G.9.1.1.2 Adjacent intersection connection of egress lane to ingress lane |
| 490 | Figure G.7 — egress to ingress lane connection example G.9.1.1.3 Adjacent intersection connection of ingress lane to ingress lane |
| 491 | Figure G.8 — Ingress to ingress lane connection example G.9.1.1.4 Adjacent intersection connection of egress lane to egress lane |
| 492 | Figure G.9 — Egress to Egress lane connection example G.9.1.2 Crosswalk lane connections G.9.1.2.1 Crosswalk lane connections basic scenario |
| 493 | Figure G.10 —crosswalk lane connection basic example G.9.1.2.2 Crosswalk safe island lane connection scenario 1 |
| 494 | Figure G.11 —Crosswalk safety island connection scenario 1 example G.9.1.2.3 Crosswalk safe island lane connection scenario 2 |
| 495 | Figure G.12 — Crosswalk safety island connection scenario 2 example G.9.1.3 Bicycle lane connections G.9.1.3.1 Bicycle lane connections basic scenario |
| 496 | Figure G.13 — Basic bicycle lane example G.9.1.3.2 Bicycle lane connections complex scenario |
| 497 | Figure G.14 — 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 |
| 498 | 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 |
| 499 | G.10 ASN.1 specification for extensions of the SAE J2735™ ASN.1 module “DSRC” G.10.1 ASN.1 definition of extension data “AddGrpC” |
| 503 | G.10.2 ASN.1 definition of extension control structure “REGION” |
| 505 | G.10.3 ASN.1 definition of extension control structure “DSRC” |
| 528 | Bibliography |
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BSI PD CEN ISO/TS 19091:2019
Intelligent transport systems. Cooperative ITS. Using V2I and I2V communications for applications related to signalized…
