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ADASIS v2 接口协议 (Advanced Driver Assistance Systems Interface Spe....pdf
ADASIS Forum
ADASIS v2 Protocol
July 2012
ADASIS v2 Protocol
Version 2.0.2.0
July 2012
Proprietary and Confidential
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
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Copyright © 2002-2012 ADASIS Forum All Rights Reserved
ADASIS Forum
ADASIS v2 Protocol
July 2012
Document control sheet
ERTICO project title:
Advanced Driver Assistance Systems Interface Specifications
Document title:
Deliverable number:
ADASIS v2 Protocol
D2.2
Electronic reference:
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
Main author(s) or editor(s): Sinisa Durekovic (NAVTEQ)
Other author(s):
Alexander Bracht (Daimler), Bernd Raichle (Daimler), Manuel Rauch (Continental),
Julian Requejo (Ford), Dmitri Toropov (Ford), Axel Varchmin (Bosch)
Contributing author(s):
Dirk Balzer (OPEL/GM), Martin Griesbeck (Continental), Jan Löwenau (BMW), Sabine Marwitz (TeleAtlas), Michel Mittaz
(Bosch/Blaupunkt), Christian Ress (Ford), Nic Smith (NAVTEQ), Stephen T´Siobbel (TeleAtlas), Michael Wagner
(OPEL/GM)
Special thanks to the peer reviewers: Klaus Mezger (Daimler), André Rossbach (Elektrobit), Thilo Schaper (Carmeq), Ingolf Schönherr (Bosch), Stefan
Hillenbrand (Bosch), Anja Wahl (Bosch), Thomas App (Bosch), Johannes Stille (Navteq)
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
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Copyright © 2002-2012 ADASIS Forum All Rights Reserved
ADASIS Forum
ADASIS v2 Protocol
July 2012
Document history:
Version
Status
2.0.0.0
Release
Date
April 13th, 2010
2.0.0.1
Release
2.0.1.0
Release
August 12th, 2010
Feb 23rd, 2011
Main author
Organization
Summary of changes
META-DATA message revised
CAN layouts revised
Document structure modified
Number of smaller changes in text
Changed ERTICO logo
S.Durekovic
A. Bracht
Navteq
Daimler
Added proposal for ALTITUDE profile.
Added proposal for Bezier PROFILE (section 10.6).
Added proposal for Permanent Link Id PROFILE (section 10.7).
Updated color coding in table 30, “Curvature Coding” in section 10.1. Color
coding in line 831 does now follow the regular scheme.
Reformatted inequations of curvature decoding in section 10.1.2.
Mathematical meaning did not change, but reformatting shows better the
regular scheme with powers of two.
Corrected typo in Table 14 “Stub Message”. Turn Angle value 126 was
defined twice.
Limited allowed number range of Altitude profile (Table 22) to -1000m to
+10.000m
Corrected typo in right boundary value “value 1” in Table 26
The version 2.0.1.0 is completely compatible to 2.0.0.0.
All changes were additions of profile types or typo corrections.
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
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Copyright © 2002-2012 ADASIS Forum All Rights Reserved
ADASIS Forum
ADASIS v2 Protocol
July 2012
2.0.2.0
Release
July 10th , 2012
A. Bracht
S. Durekovic
M. Rauch
Daimler
Nokia L&C
Continental
Table 12: Effective Speed Limit (5-bit), value 31: interpretation changed from
“N/A” to Invalid.
Section 6.8 Change of Speed Limit units in run-time: explanation reworked
and recommendation added to re-start horizon
Section 5.9 ADASIS v2 Mini: Added table of default values
Section 4.8 PROFILE LONG Message: added that altitude shall be above
WG84 reference ellipsoid
Section 4.9 META-DATA Message: Added IPC and NavInfo to map provider
list. Changed name of TeleAtlas to TomTom.
Introduced new section 4.10 SYSTEM SPECIFIC Message
Added specification for truck specific speed limits
Added section 8.3 Long-Range Horizon with decreased Offset Resolution
Added section 9 Current Usage of ADASIS by Different Partners
Moved section “Clothoid Profiles”, “Cubic Bezier Spline Profile”, “Link
Identifier Profile” and “Truck Speed Limit profile” from section 8 to section 9
Added Copyright notice
The version 2.0.2.0 is completely compatible to 2.0.1.0.
All changes were additions or editorial improvements.
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
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Copyright © 2002-2012 ADASIS Forum All Rights Reserved
ADASIS Forum
ADASIS v2 Protocol
July 2012
Review / Circulation:
Recipient
Date
ADASIS forum members v0.60
ADASIS forum members v2.0.0.0
ADASIS forum members v2.0.1.0
ADASIS forum members v2.0.2.0
July 15, 2009
April 27, 2010
Feb 23, 2011
July 10, 2012
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
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Copyright © 2002-2012 ADASIS Forum All Rights Reserved
ADASIS Forum
ADASIS v2 Protocol
July 2012
Abstract:
The ADASIS forum seeks to standardize the interface to predict the road geometry with its related attributes ahead of a vehicle based on the vehicle's
position and a digital map, so called ADAS Horizon.
Copyright:
This specification is protected by copyright laws and contains material proprietary to the ADASIS Forum, a Forum coordinated by ERTICO - ITS
Europe.It or any components may not be reproduced, republished, distributed, transmitted, displayed, broadcast, or otherwise exploited in any manner
without the express prior written permission of the ADASIS Forum. You may use this specification for implementing the functionality therein, without
altering or removing any trademark, copyright or other notice from the specification, but the receipt or possession of this specification does not convey
any rights to reproduce, disclose, or distribute its contents, or to manufacture, use, or sell anything that it may describe, in whole or in part.
The usage, implementation or distribution of this specification is only allowed when following the rules as defined in the ADASIS Terms of Reference
(as available on http://www.ertico.com/adasisforum/).
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
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Copyright © 2002-2012 ADASIS Forum All Rights Reserved
Table of Contents
ADASIS Forum
ADASIS v2 Protocol
July 2012
1
2
INTRODUCTION ........................................................................................................................................................................................................................................... 16
VERSIONING ................................................................................................................................................................................................................................................ 19
2.1 PROTOCOL VERSIONING ......................................................................................................................................................................................................................................... 19
2.2 API VERSIONING ..................................................................................................................................................................................................................................................... 19
2.3 VERSIONING FOR THIS DOCUMENT ........................................................................................................................................................................................................................ 19
3
ADASIS V2 CONCEPT ................................................................................................................................................................................................................................ 21
3.1 ADASIS V2 OR OPTIMIZED PATH REPRESENTATION OF THE ADAS HORIZON ................................................................................................................................................... 25
3.2 ADASIS V2 BUILDING BLOCKS ............................................................................................................................................................................................................................. 27
3.3 POSSIBLE CONFIGURATIONS OF THE ADASIS V2 HORIZON PROVIDER .............................................................................................................................................................. 27
3.4 PATHS AND OFFSETS ............................................................................................................................................................................................................................................. 30
3.4.1 Definition of Offsets .................................................................................................................................................................................................................................... 30
3.4.2 Cyclic Offset Value ..................................................................................................................................................................................................................................... 31
3.4.3 Path Length Limits ..................................................................................................................................................................................................................................... 32
3.4.4 Unlimited Horizon Length .......................................................................................................................................................................................................................... 34
3.5 PATH PROFILES ...................................................................................................................................................................................................................................................... 37
4 MESSAGES................................................................................................................................................................................................................................................... 40
4.1 MESSAGE TYPES AND CAN FRAME MULTIPLEXING .............................................................................................................................................................................................. 41
4.2
INTEL CAN MESSAGE LAYOUTS ............................................................................................................................................................................................................................. 45
4.3 ALTERNATIVE BUS CONFIGURATIONS..................................................................................................................................................................................................................... 45
4.4 POSITION MESSAGE ............................................................................................................................................................................................................................................ 46
4.5 SEGMENT MESSAGE ........................................................................................................................................................................................................................................... 52
4.6 STUB MESSAGE ..................................................................................................................................................................................................................................................... 61
4.7 PROFILE SHORT MESSAGE ............................................................................................................................................................................................................................... 66
4.8 PROFILE LONG MESSAGE ................................................................................................................................................................................................................................. 73
4.9 META-DATA MESSAGE ........................................................................................................................................................................................................................................ 77
SYSTEM SPECIFIC MESSAGE ...................................................................................................................................................................................................................... 82
4.10
5
USE OF ADASIS V2 PROTOCOL .............................................................................................................................................................................................................. 83
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
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Copyright © 2002-2012 ADASIS Forum All Rights Reserved
ADASIS Forum
ADASIS v2 Protocol
July 2012
5.1 REQUIRED MESSAGES ............................................................................................................................................................................................................................................ 83
5.2 STUB TYPES .......................................................................................................................................................................................................................................................... 84
5.3
IMPLICIT STUBS ..................................................................................................................................................................................................................................................... 85
5.4
IMPLICIT ENTITY REMOVAL ON CLIENT .................................................................................................................................................................................................................... 86
5.5 ADAS HORIZON PATH CREATION IN CASE OF VEHICLE POSITION JUMPS AND U-TURNS ................................................................................................................................... 91
5.5.1 Backward Jump of Position Offset ........................................................................................................................................................................................................... 91
5.5.2 Vehicle makes a U-Turn Maneuver ......................................................................................................................................................................................................... 91
5.5.3 Vehicle drives backward ........................................................................................................................................................................................................................... 91
5.6 UPDATING OF CONTENT AFTER TRANSMISSION ..................................................................................................................................................................................................... 91
5.7 SOLUTIONS FOR UNLIMITED HORIZONS ................................................................................................................................................................................................................. 92
5.7.1 Absolute path identifiers and path indices .............................................................................................................................................................................................. 93
5.7.2 Offsets .......................................................................................................................................................................................................................................................... 94
Offset correction ........................................................................................................................................................................................................................................................... 97
5.8 PROFILE INTERPOLATION USING ANALYTIC CURVES ............................................................................................................................................................................................ 98
5.8.1 Basic approach ........................................................................................................................................................................................................................................... 98
5.8.2 Complex interpolation functions ............................................................................................................................................................................................................. 101
5.9 ADASIS V2 MINI .................................................................................................................................................................................................................................................. 105
5.7.2.1
6
GUIDELINES AND RECOMMENDATIONS ............................................................................................................................................................................................. 107
6.1 ADAS V2 HORIZON PROVIDER (AV2HP) ............................................................................................................................................................................................................ 107
6.2 MESSAGE TIMINGS ............................................................................................................................................................................................................................................... 109
6.3 POSITION MESSAGE PRIORITY .......................................................................................................................................................................................................................... 109
6.4 USE OF ALTERNATIVE POSITIONS IN PREVENTION OF ADAS HORIZON RE-INITIALIZATION ............................................................................................................................... 111
6.5 PROFILE INTERPOLATION: PRE-CALCULATED DATA OR REAL-TIME APPROXIMATION .......................................................................................................................................... 114
6.6 ABSOLUTE ROAD GEOMETRY .............................................................................................................................................................................................................................. 116
6.7 SAMPLE SYSTEM-SPECIFIC PROFILES............................................................................................................................................................................................................... 117
6.8 CHANGE OF SPEED LIMIT UNITS IN RUN-TIME ...................................................................................................................................................................................................... 118
7
ERROR DETECTION AND RECOVERY .................................................................................................................................................................................................. 119
7.1 MISSING POSITION MESSAGE ........................................................................................................................................................................................................................... 119
7.2 MISSING SEGMENT MESSAGE ........................................................................................................................................................................................................................... 119
7.3 MISSING STUB MESSAGE .................................................................................................................................................................................................................................... 120
7.4 MISSING PROFILE MESSAGE ............................................................................................................................................................................................................................. 120
7.5 MISSING META-DATA A MESSAGE .................................................................................................................................................................................................................... 120
200v2.0.2-D2.2-ADASIS_v2_Specification.0.doc
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Copyright © 2002-2012 ADASIS Forum All Rights Reserved
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