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《合作式智能运输系统 车用通信系统应用层及应用数据交互标准》（TCSAE 53-2017）.pdf
中 国 汽 车 工 程 学 会 标 准
T/CSAE 53-2017
合作式智能运输系统 车用通信系统
应用层及应用数据交互标准
Cooperative intelligent transportation system; vehicular communication;
application layer specification and data exchange standard
2017-09-18 发布
2017-09-18 实施
中国汽车工程学会 发布
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由中国汽车工程学会发布的本标准，旨在提升产品研发、制造等的水平。
标准的采用完全自愿，其对于任何特定用途的可用性和适用性，包括可能
的其他风险，由采用者自行负责。
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目 次
前言 .............................................................................ⅩⅢ
1 范围 ............................................................................ 1
2 规范性引用文件 ................................................................. 1
3 术语和定义 ...................................................................... 1
3.1 定义 ........................................................................ 1
3.2 缩略语 ...................................................................... 2
4 合作式智能运输系统车用通信系统 .................................................. 4
4.1 系统介绍 .................................................................... 4
4.2 标准范围 .................................................................... 4
5 车用通信系统基础应用 ............................................................ 5
5.1 需求分析 .................................................................... 5
5.2 应用定义及基本要求 .......................................................... 6
5.2.1 总则 .................................................................... 6
5.2.2 前向碰撞预警 ............................................................ 6
5.2.2.1 应用定义和预期效果 .................................................. 6
5.2.2.2 主要场景 ............................................................ 6
5.2.2.3 系统基本原理 ........................................................ 7
5.2.2.4 通信方式 ............................................................ 8
5.2.2.5 基本性能要求 ........................................................ 8
5.2.2.6 数据交互需求 ........................................................ 8
5.2.3 交叉路口碰撞预警 ........................................................ 9
5.2.3.1 应用定义和预期效果 .................................................. 9
5.2.2.2 主要场景 ............................................................ 9
5.2.3.3 系统基本原理 ....................................................... 10
5.2.3.4 通信方式 ........................................................... 10
5.2.3.5 基本性能要求 ....................................................... 11
5.2.3.6 数据交互需求 ....................................................... 11
5.2.4 左转辅助 ............................................................... 11
5.2.4.1 应用定义和预期效果 ................................................. 11
5.2.4.2 主要场景 ........................................................... 11
5.2.4.3 系统基本原理 ....................................................... 12
5.2.4.4 通信方式 ........................................................... 13
5.2.4.5 基本性能要求 ....................................................... 13
5.2.4.6 数据交互需求 ....................................................... 13
5.2.5 盲区预警 / 变道预警 ..................................................... 13
I
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5.2.5.1 应用定义和预期效果 ................................................. 13
5.2.5.2 主要场景 ........................................................... 14
5.2.5.3 系统基本原理 ....................................................... 14
5.2.5.4 通信方式 ........................................................... 15
5.2.5.5 基本性能要求 ....................................................... 15
5.2.5.6 数据交互需求 ....................................................... 15
5.2.6 逆向超车预警 ........................................................... 16
5.2.6.1 应用定义和预期效果 ................................................. 16
5.2.6.2 主要场景 ........................................................... 16
5.2.6.3 系统基本原理 ....................................................... 17
5.2.6.4 通信方式 ........................................................... 17
5.2.6.5 基本性能要求 ....................................................... 17
5.2.6.6 数据交互需求 ....................................................... 17
5.2.7 紧急制动预警 ........................................................... 18
5.2.7.1 应用定义和预期效果 ................................................. 18
5.2.7.2 主要场景 ........................................................... 18
5.2.7.3 系统基本原理 ....................................................... 19
5.2.7.4 通信方式 ........................................................... 20
5.2.7.5 基本性能要求 ....................................................... 20
5.2.7.6 数据交互需求 ....................................................... 20
5.2.8 异常车辆提醒 ........................................................... 20
5.2.8.1 应用定义和预期效果 ................................................. 20
5.2.8.2 主要场景 ........................................................... 21
5.2.8.3 系统基本原理 ....................................................... 21
5.2.8.4 通信方式 ........................................................... 22
5.2.8.5 基本性能要求 ....................................................... 22
5.2.8.6 数据交互需求 ....................................................... 22
5.2.9 车辆失控预警 ........................................................... 23
5.2.9.1 应用定义和预期效果 ................................................. 23
5.2.9.2 主要场景描述 ....................................................... 23
5.2.9.3 系统基本原理 ....................................................... 24
5.2.9.4 通信方式 ........................................................... 24
5.2.9.5 基本性能要求 ....................................................... 24
5.2.9.6 数据交互需求 ....................................................... 25
5.2.10 道路危险状况提示 ...................................................... 25
5.2.10.1 应用定义和预期效果 ................................................ 25
5.2.10.2 主要场景 .......................................................... 25
5.2.10.3 系统基本原理 ...................................................... 26
5.2.10.4 通信方式 .......................................................... 26
5.2.10.5 基本性能要求 ...................................................... 26
5.2.10.6 数据交互需求 ...................................................... 26
5.2.11 限速预警 .............................................................. 27
5.2.11.1 应用定义和预期效果 ................................................ 27
II
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5.2.11.2 主要场景 .......................................................... 27
5.2.11.3 系统基本原理 ...................................................... 27
5.2.11.4 通信方式 .......................................................... 27
5.2.11.5 基本性能要求 ...................................................... 27
5.2.11.6 数据交互需求 ...................................................... 27
5.2.12 闯红灯预警 ............................................................ 28
5.2.12.1 应用定义和预期效果 ................................................ 28
5.2.12.2 主要场景 .......................................................... 28
5.2.12.3 系统基本原理 ...................................................... 29
5.2.12.4 通信方式 .......................................................... 29
5.2.12.5 基本性能要求 ...................................................... 29
5.2.12.6 数据交互需求 ...................................................... 29
5.2.13 弱势交通参与者碰撞预警 ................................................ 30
5.2.13.1 应用定义和预期效果 ................................................ 30
5.2.13.2 主要场景 .......................................................... 30
5.2.13.3 基本工作原理 ...................................................... 31
5.2.13.4 通信方式 .......................................................... 31
5.2.13.5 基本性能要求 ...................................................... 31
5.2.13.6 数据交互需求 ...................................................... 32
5.2.14 绿波车速引导 .......................................................... 33
5.2.14.1 应用定义和预期效果 ................................................ 33
5.2.14.2 主要场景 .......................................................... 34
5.2.14.3 基本工作原理 ...................................................... 34
5.2.14.4 通信方式 .......................................................... 34
5.2.14.5 基本性能要求 ...................................................... 35
5.2.14.6 数据交互需求 ...................................................... 35
5.2.15 车内标牌 .............................................................. 35
5.2.15.1 应用定义和预期效果 ................................................ 35
5.2.15.2 主要场景 .......................................................... 35
5.2.15.3 基本工作原理 ...................................................... 36
5.2.15.4 通信方式 .......................................................... 36
5.2.15.5 基本性能要求 ...................................................... 36
5.2.15.6 数据交互需求 ...................................................... 36
5.2.16 前方拥堵提醒 .......................................................... 37
5.2.16.1 应用定义和预期效果 ................................................ 37
5.2.16.2 主要场景 .......................................................... 37
5.2.16.3 系统基本原理 ...................................................... 38
5.2.16.4 通信方式 .......................................................... 38
5.2.16.5 基本性能要求 ...................................................... 38
5.2.16.6 数据交互需求 ...................................................... 38
5.2.17 紧急车辆提醒 .......................................................... 38
5.2.17.1 应用定义和预期效果 ................................................ 38
5.2.17.2 主要场景 .......................................................... 38
III
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5.2.17.3 系统基本原理 ...................................................... 39
5.2.17.4 通信方式 .......................................................... 39
5.2.17.5 基本性能要求 ...................................................... 40
5.2.17.6 数据交互需求 ...................................................... 40
5.2.18 汽车近场支付 .......................................................... 40
5.2.18.1 应用定义和预期效果 ................................................ 40
5.2.18.2 主要场景 .......................................................... 41
5.2.18.3 系统基本原理 ...................................................... 41
5.2.18.4 通信方式 .......................................................... 42
5.2.18.5 基本性能要求 ...................................................... 42
5.2.18.6 数据交互需求 ...................................................... 42
6 应用层交互数据集 ............................................................... 43
6.1 基本介绍和要求 ............................................................. 43
6.2 数据集定义 ................................................................. 43
6.2.1 消息集 ................................................................. 43
6.2.1.1 总则 ............................................................... 43
6.2.1.2 Message Frame ...................................................... 43
6.2.1.3 Msg_BSM ............................................................ 44
6.2.1.4 Msg_MAP ............................................................ 44
6.2.1.5 Msg_RSI ............................................................ 45
6.2.1.6 Msg_RSM ............................................................ 46
6.2.1.7 Msg_SPAT ........................................................... 47
6.2.2 数据帧 ................................................................. 48
6.2.2.1 总则 ............................................................... 48
6.2.2.2 DF_AccelerationSet4Way ............................................. 48
6.2.2.3 DF_BrakeSystemStatus ............................................... 48
6.2.2.4 DF_ConnectingLane .................................................. 49
6.2.2.5 DF_Connection ...................................................... 49
6.2.2.6 DF_ConnectsToList .................................................. 50
6.2.2.7 DF_DDateTime ....................................................... 50
6.2.2.8 DF_FullPositionVector .............................................. 50
6.2.2.9 DF_IntersectionState ............................................... 50
6.2.2.10 DF_IntersectionStateList .......................................... 51
6.2.2.11 DF_Lane ........................................................... 51
6.2.2.12 DF_LaneAttributes ................................................. 52
6.2.2.13 DF_LaneList ....................................................... 52
6.2.2.14 DF_LaneTypeAttributes ............................................. 52
6.2.2.15 DF_Link ........................................................... 52
6.2.2.16 DF_LinkList ....................................................... 53
6.2.2.17 DF_MotionConfidenceSet ............................................ 53
6.2.2.18 DF_Movement ....................................................... 53
6.2.2.19 DF_MovementList ................................................... 54
6.2.2.20 DF_Node ........................................................... 54
IV
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6.2.2.21 DF_NodeList ....................................................... 54
6.2.2.22 DF_NodeReferenceID ................................................ 55
6.2.2.23 DF_ParticipantData ................................................ 55
6.2.2.24 DF_ParticipantList ................................................ 56
6.2.2.25 DF_PathHistory .................................................... 56
6.2.2.26 DF_PathHistoryPoint ............................................... 56
6.2.2.27 DF_PathHistoryPointList ........................................... 56
6.2.2.28 DF_PathPointList .................................................. 57
6.2.2.29 DF_PathPrediction ................................................. 57
6.2.2.30 DF_Phase .......................................................... 57
6.2.2.31 DF_PhaseList ...................................................... 58
6.2.2.32 DF_PhaseState ..................................................... 58
6.2.2.33 DF_PhaseStateList ................................................. 58
6.2.2.34 DF_PointList ...................................................... 58
6.2.2.35 DF_Position-LL-24B ................................................ 59
6.2.2.36 DF_Position-LL-28B ................................................ 59
6.2.2.37 DF_Position-LL-32B ................................................ 59
6.2.2.38 DF_Position-LL-36B ................................................ 60
6.2.2.39 DF_Position-LL-44B ................................................ 60
6.2.2.40 DF_Position-LL-48B ................................................ 60
6.2.2.41 DF_Position-LLmD-64b .............................................. 60
6.2.2.42 DF_Position3D ..................................................... 61
6.2.2.43 DF_PositionConfidenceSet .......................................... 61
6.2.2.44 DF_PositionOffsetLL ............................................... 61
6.2.2.45 DF_PositionOffsetLLV .............................................. 62
6.2.2.46 DF_RegulatorySpeedLimit ........................................... 62
6.2.2.47 DF_RoadPoint ...................................................... 62
6.2.2.48 DF_SignalState .................................................... 63
6.2.2.49 DF_SpeedLimitList ................................................. 63
6.2.2.50 DF_TimeChangeDetails .............................................. 63
6.2.2.51 DF_VehicleClassification .......................................... 64
6.2.2.52 DF_VehicleSafetyExtensions ........................................ 65
6.2.2.53 DF_VehicleSize .................................................... 65
6.2.2.54 DF_VerticalOffset ................................................. 65
6.2.3 数据元素 ............................................................... 65
6.2.3.1 总则 ............................................................... 65
6.2.3.2 DE_Acceleration .................................................... 66
6.2.3.3 DE_AlertType ....................................................... 66
6.2.3.4 DE_AllowedManeuvers ................................................ 66
6.2.3.5 DE_AntiLockBrakeStatus ............................................. 67
6.2.3.6 DE_AuxiliaryBrakeStatus ............................................ 67
6.2.3.7 DE_BasicVehicleClass ............................................... 68
6.2.3.8 DE_BrakeAppliedStatus .............................................. 70
V
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6.2.3.9 DE_BrakeBoostApplied ............................................... 70
6.2.3.10 DE_BrakePedalStatus ............................................... 70
6.2.3.11 DE_CoarseHeading .................................................. 70
6.2.3.12 DE_Confidence ..................................................... 71
6.2.3.13 DE_DDay ........................................................... 71
6.2.3.14 DE_DescriptiveName ................................................ 71
6.2.3.15 DE_DHour .......................................................... 71
6.2.3.16 DE_Dminute ........................................................ 71
6.2.3.17 DE_DMonth ......................................................... 72
6.2.3.18 E_DSecond ......................................................... 72
6.2.3.19 DE_DTimeOffset .................................................... 72
6.2.3.20 DE_DYear .......................................................... 72
6.2.3.21 DE_Elevation ...................................................... 72
6.2.3.22 DE_ElevationConfidence ............................................ 73
6.2.3.23 DE_ExteriorLights ................................................. 73
6.2.3.24 DE_GNSSstatus ..................................................... 73
6.2.3.25 DE_Heading ........................................................ 74
6.2.3.26 DE_HeadingConfidence .............................................. 74
6.2.3.27 DE_IntersectionStatusObject ....................................... 74
6.2.3.28 DE_LaneAttributes-Barrier ......................................... 75
6.3.3.29 DE_LaneAttributes-Bike ............................................ 76
6.2.3.30 DE_LaneAttributes-Crosswalk ....................................... 76
6.2.3.31 DE_LaneAttributes-Parking ......................................... 77
6.2.3.32 DE_LaneAttributes-Sidewalk ........................................ 78
6.2.3.33 DE_LaneAttributes-Striping ........................................ 78
6.2.3.34 DE_LaneAttributes-TrackedVehicle .................................. 79
6.2.3.35 DE_LaneAttributes-Vehicle ......................................... 79
6.2.3.36 DE_LaneID ......................................................... 80
6.2.3.37 DE_LaneSharing .................................................... 80
6.2.3.38 DE_LaneWidth ...................................................... 80
6.2.3.39 DE_Latitude ....................................................... 81
6.2.3.40 DE_LightState ..................................................... 81
6.2.3.41 DE_Longitude ...................................................... 82
6.2.3.42 DE_MinuteOfTheYear ................................................ 83
6.2.3.43 DE_MsgCount ....................................................... 83
6.2.3.44 DE_NodeID ......................................................... 83
6.2.3.45 DE_OffsetLL-B12 ................................................... 83
6.2.3.46 DE_OffsetLL-B14 ................................................... 84
6.2.3.47 DE_OffsetLL-B16 ................................................... 84
6.2.3.48 DE_OffsetLL-B18 ................................................... 84
6.2.3.49 DE_OffsetLL-B22 ................................................... 84
6.2.3.50 DE_OffsetLL-B24 ................................................... 85
6.2.3.51 DE_ ParticipantType ............................................... 85
VI
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