2023合作式智能運(yùn)輸系統(tǒng)車用通信系統(tǒng)應(yīng)用層及應(yīng)用數(shù)據(jù)交互標(biāo)準(zhǔn)

GB/T31024.3-20193YD/T3709-2020基于LTET/ITS0058-2017cooperativeintelligenttransportationsystemsC-dedicatedshortrangevehicleto（V2V（V2I，（V2P（V2NASN.1：抽象語法記法一（AbstractSyntaxNotationOne）BSM：基本安全消息（BasicSafetyMessage）CHPVP:協(xié)作式優(yōu)先車輛通行（CooperativeHighPriorityVehiclePassing）CIP:協(xié)作式交叉口通行（CooperativeIntersectionPassing）CLC:協(xié)作式變道（CooperativeLaneCPM:協(xié)作式車輛編隊(duì)管理（CooperativePlatooningManagement）CVM:協(xié)作式車輛匯入（CooperativeVehicleMerge）DDS:差分?jǐn)?shù)據(jù)服務(wù)（DifferentialDataService）DE：數(shù)據(jù)元素（DataElement）DF：數(shù)據(jù)幀（DataDLM:動(dòng)態(tài)車道管理（DynamicLaneManagement）DSM：專用短程通信短消息（DedicatedShortMessage）DSMP：專用短程通信短消息協(xié)議（DedicatedShortMessageProtocol）EV：裝載通信系統(tǒng)的車輛（EquippedVehicle）GSPA:場(chǎng)站路徑引導(dǎo)服務(wù)（GuidanceServiceinParkingArea）NV：未裝載通信系統(tǒng)的普通車輛（NormalVehicle）OBU：車載單元（On-BoardUnit）PDC:浮動(dòng)車數(shù)據(jù)采集（ProbeDataPMM：編隊(duì)管理消息（PlatooningManagementMessage）PSM：個(gè)體安全消息（PersonalSafetyMessage）RSC：路側(cè)協(xié)調(diào)消息（RoadSideCoordination）RSM：路側(cè)單元消息（RoadSideMessage）RSU：路側(cè)單元（RoadSideUnit）RTCM：國(guó)際海運(yùn)事業(yè)無線電技術(shù)委員會(huì)(RadioTechnicalCommissionforMaritimeServices)RTS:道路收費(fèi)服務(wù)（RoadTollingService）SDS：感知數(shù)據(jù)共享（SensorDataSSM：感知共享消息（SensorSharingMessage）UPER：非對(duì)齊壓縮編碼規(guī)則（UnalignedPacketEncodingRules）VIR：車輛意圖和請(qǐng)求（VehicleIntentionAndRequest）VRU：弱勢(shì)交通參與者（VulnerableRoadUser）VRUSP:弱勢(shì)交通參與者安全通行（VulnerableRoadUserSafe息交互方式與交互流程，即采用組播或者單播通信方式。以下圖1、圖2、圖3412345階段應(yīng)用。具體應(yīng)用參見表1。1Event/，67891011232請(qǐng)求目標(biāo)OBU、RSU33（Msg_SSM）（續(xù)3D（如果目標(biāo)是機(jī)動(dòng)車）（如果目標(biāo)是非機(jī)動(dòng)車）目標(biāo)121314RSUEV15RSUEV454（OBU、RSU5（5（Msg_RSC）（續(xù)16RSU17EV；V2X6（7（7（Msg_RSC）（續(xù)8（SPAT協(xié)作式交叉口通行是指裝備有OBU的車輛EV和路側(cè)設(shè)備（RSU）協(xié)作，安全、高效通過交叉口。EVRSURSEE，調(diào)度E18RSUEV19RSU209119（10（表11RSUSPATRSUGNSS2112（DLM22。RSUEVEV；RSUEV22DLMDLMBSM（V2I；（I2V131513DLM（14DLM（15DLM（232425RSU1619表Linklane17（Msg_RSC（18（19（車輛場(chǎng)站路徑引導(dǎo)服務(wù)是指在場(chǎng)站內(nèi)部區(qū)域（如停車場(chǎng)，高速路服務(wù)站，加油站等，RSU26202120（21（V2XMsg_PAM（27RSU22PVDC（浮動(dòng)車數(shù)據(jù)車輛臨時(shí)28VRU29VRUEVVRU23VRU（如果目標(biāo)是非機(jī)動(dòng)車）3031（單播）ID，并向隊(duì)內(nèi)車輛廣播更新后的32（單播） 33B3435ABBB和A的動(dòng)作如下：36B37B38；38394041422424（續(xù)2526BSMID26（續(xù)車隊(duì)ID27BSMID27段收費(fèi)、停車場(chǎng)收費(fèi)V2XRSUV2XOBU444528路側(cè)ASN.1YD/T3709-2020。4647--MainmessageframeMessageFrame::=CHOICE{--Day1messageframes------------------bsmFrameBasicSafetyMessage,mapFramersmFrameRoadsideSafetyMessage,spatFrameSPAT,rsiFrame--Day2messageframes------------------msgFrameExtMessageFrameExt,MessageFrameExt::=SEQUENCEmessageIdMESSAGE-ID-AND-valueMESSAGE-ID-AND-MESSAGE-ID-AND-TYPE::=CLASS&idExtMsgID}WITHSYNTAX{&TypeIDENTIFIEDBYMessageTypesMESSAGE-ID-AND-TYPE::={TestMsgIDENTIFIEDBYtestData}{RTCMcorrectionsIDENTIFIEDBYrtcmData}{PAMDataIDENTIFIEDBYpamData}{PlatooningManagementMessageIDENTIFIEDBYpmmData}{PersonalSafetyMessageIDENTIFIEDBYpsmData}{RoadsideCoordinationIDENTIFIEDBYrscData}{SensorSharingMsgIDENTIFIEDBYssmData}{VehIntentionAndRequestIDENTIFIEDBYvirData}{VehiclePaymentMessageIDENTIFIEDBYvpmDataExtMsgID::=INTEGER--TestMessagetestDataExtMsgID::=--DAYIIMessages*********************rtcmDataExtMsgID::=10rscDataExtMsgID::=11ssmDataExtMsgID::=12virDataExtMsgID::=13pamDataExtMsgID::=14psmDataExtMsgID::=15pmmDataExtMsgID::=16vpmDataExtMsgID::=在第一階段MAP消息基礎(chǔ)上，進(jìn)行兼容性擴(kuò)展，支持更復(fù)雜的道路結(jié)構(gòu)表達(dá)，以及更精確的車道級(jí)地圖數(shù)據(jù)。增加了對(duì)路段中車道數(shù)增減的情況，信號(hào)燈待轉(zhuǎn)區(qū)、右轉(zhuǎn)專用道、公交?？寇嚨赖葒?guó)內(nèi)道路常見場(chǎng)景的支持，擴(kuò)展了轉(zhuǎn)向信息以及路口車道間連接關(guān)系等。MapData SEQUENCEmsgCnttimeStampMinuteOfTheYearOPTIONAL,nodesNodeList,--intersectionsorroad場(chǎng)站內(nèi)部地圖的消息。包含了場(chǎng)站內(nèi)道路信息、車位信息等，以及路側(cè)向車輛提供的場(chǎng)站內(nèi)引導(dǎo)信息。PAMData SEQUENCEmsgCnttimeStampMinuteOfTheYearOPTIONAL,parkingLotInfoParkingLotInfo,--BasicinfoofthisparkingareapamNodesPAMNodeList,--intersectionsorroadendpointsinparkingparkingAreaGuidanceSEQUENCE(SIZE(1..16))OFParkingGuide--parkingareapathguidanceforindividual--arelist車隊(duì)管理消息。用來進(jìn)行車隊(duì)場(chǎng)景下的管理信息交互。該消息可由車隊(duì)領(lǐng)航車、跟隨車或參與車隊(duì)的自由車廣播，可用于車隊(duì)建立、加入、離開、解散等過程。PlatooningManagementMessage::=SEQUENCE{msgCntMsgCount,idOCTETSTRING--temperaryvehicleIDsecMarkDSecond,pidOCTETSTRING--Platooningrole--vehiclestatus--vehicleleadingExtMemberManagement--Platooningmanagement--sentbytheleading弱勢(shì)交通參與者（行人、非機(jī)動(dòng)車）的基礎(chǔ)安全消息，由VRU自身所攜帶的通信設(shè)備發(fā)送。PersonalSafetyMessage::=SEQUENCE--BasicInfo--msgCntidOCTETSTRING--temperaryIDsecMarkDSecond,timeConfidenceTimeConfidenceOPTIONAL,posPosition3D,posAccuracy--AccuracyforGNSSsystemspeedSpeed,headingaccelSetAccelerationSet4WayOPTIONAL,pathHistoryPathHistoryOPTIONAL,path-PlanningPathPlanningOPTIONAL,overallRadiusINTEGER(0..200),--Inunitsofone--Radiusconsideringclusteror--Type-relatedData-non-motorDataNon-路側(cè)單元進(jìn)行車輛協(xié)作或引導(dǎo)的消息，通常用于廣播、組播或單播，給車輛提供引導(dǎo)信息和駕駛決策支持。消息可以針對(duì)單車進(jìn)行引導(dǎo)，也可以面向特定的路段和車道符合條件的車輛進(jìn)行引導(dǎo)。RoadsideCoordination::=SEQUENCE{msgCntMsgCount,idOCTETSTRING--temperaryRSUIDsecMarkDSecond,refPosPosition3D,--ReferencepositionofthisRSCcoordinatesSEQUENCE(SIZE(1..16))OFVehicleCoordination--CoordinationwithsinglelaneCoordinatesSEQUENCE(SIZE(1..8))OFLaneCoordination--LaneorlinklevelRTCMcorrections::=SEQUENCE{msgCntMsgCount,correctionsSEQUENCE(SIZE(1..5))OF交通參與者、道路障礙物和交通事件的感知共享消息，可由OBU、RSU以及VRU發(fā)布。Msg_SSM由RSU發(fā)送時(shí)，能夠完全覆蓋所有Msg_RSM中的信息，因此在一些條件允許或者應(yīng)用場(chǎng)景要求較高的地方，可以替代Msg_rsm使用。SensorSharingMsg::=SEQUENCEmsgCntidOCTETSTRING--temperaryvehicleID/RSU--whoprovidesthesensorsharinginfo.equipmentTypeEquipmentType,--TypeofthesendersecMarkDSecond,sensorPosPosition3D,--PositionoftheRSUorOBUthatsendsthis--UsedasthereferencepositionwithinthisVSSmessagedetectedRegionDetectedRegionOPTIONAL,--detectionareaparticipantsDetectedPTCListOPTIONAL,--AllorpartofthetrafficparticipantsobstaclesDetectedObstacleListOPTIONAL,--AllorpartofObstaclesrtesRTEListOPTIONAL,--Allthertedatapackedinthis車輛意圖及請(qǐng)求消息。用來進(jìn)行車輛駕駛意圖、優(yōu)先請(qǐng)求、協(xié)作請(qǐng)求等信息的傳遞。VehIntentionAndRequest::=SEQUENCEmsgCntidOCTETSTRING--temperaryvehicle--sameasidinBSMsecMarkDSecond,refPosPosition3D,--vehiclerealpositionrelatestosecMarkintAndReqIARData,--vehicleintentionand車輛支付消息。用來提供車輛和道路實(shí)現(xiàn)道路收費(fèi)和支付信息的交互。VehiclePaymentMessage::=SEQUENCE{msgCntMsgCount,payment --RoadsideServiceTalbe --VehicleService 在第一階段RSI消息基礎(chǔ)上，進(jìn)行兼容性擴(kuò)展。增加道路的輔助標(biāo)志信息。RoadSideInformation::=SEQUENCE{msgCntMsgCount,moyMinuteOfTheYearOPTIONAL,idOCTETSTRING(SIZE(8)),--RSUrefPos--ReferencepositionofthisRSImessagertesRTEListOPTIONAL,--AllthertedatapackedinthismessagertssRTSListOPTIONAL,--Allthertsdatapackedinthis提供測(cè)試使用的私有消息格式。TestMsg::=SEQUENCEmsgCntuserDataOCTETSTRING定義賬戶信息。AccountInfo::=SEQUENCE{accountOCTETSTRING(SIZE(2..32)),定義四軸加速度置信度。AccSet4WayConfidence::=SEQUENCE{lonAccConfidenceAccConfidence,latAccConfidenceAccConfidence,vertAccConfidenceAccConfidence,yawRateConAngularVConfidence定義RSU向車輛發(fā)起的支付請(qǐng)求消息。包括請(qǐng)求模式、目標(biāo)車輛ID、支付信息以及RSU的認(rèn)證信息。 --Mode1needsconfirm;Mode0needsnot OCTETSTRING(SIZE(8)),--RsutargetIdOCTETSTRING(SIZE(8))--TargetOBUID,necessaryinbroadcastmode actionParameteraccessCredentialsOCTETSTRING(SIZE(8))--CONETCSEC--RSU'scertificationtovisitOBU,calculatedfromrndOBUin定義車輛對(duì)RSU發(fā)起的支付請(qǐng)求信息的回應(yīng)消息。包括本車ID、目標(biāo)RSUID、支付信息以及請(qǐng)求消息的操作狀態(tài)。 OCTETSTRING--HostOBUtargetIdOCTETSTRING(SIZE(8))--TargetRSUId,necessaryinbroadcastmode responseParameterTransInfoOPTIONAL,retReturnStatus,定義姿態(tài)角速度。包括俯仰角、滾轉(zhuǎn)角和偏航角。AngularVelocity::=SEQUENCE{pitchRatePitchRate,rollRateRollRate,yawRateYawRate定義姿態(tài)角速度置信度。包括俯仰角速度置信度、滾轉(zhuǎn)角速度置信度、橫擺角速度置信度。AngularVelocityConfidence::=SEQUENCE{pitchRateAngularVConfidence,rollRateAngularVConfidence,yawRateAngularVConfidence定義道路通行或服務(wù)收費(fèi)的信息。包括收費(fèi)類型和收費(fèi)的細(xì)節(jié)信息。pidPaymentEntityID,--PaymenttypeofroadtollorservicespaymentInfoPaymentInfo,--Paymentdetailed定義車輛的姿態(tài)角。包括俯仰角、滾轉(zhuǎn)角、橫擺角。Attitude::=SEQUENCE{pitchPitch,rollRoll,yawYaw定義車輛姿態(tài)角置信度。包括俯仰角置信度、滾轉(zhuǎn)角置信度、橫擺角置信度。AttitudeConfidence::=SEQUENCE{pitchConfidenceHeadingConfidence,rollRateConfidenceHeadingConfidence,yawRateHeadingConfidenceChannelRq::=SEQUENCE{ ChannelRq::=SEQUENCE{ AuxiliarySign::=signWithVehicleTypeAuxiliarySignVehicleTypesignDirectionAuxiliarySignDirectionOPTIONAL,ConnectingLaneEx::=SEQUENCE{target-sectionSectionId,target-laneLaneRefID,--IndexoftheconnectingconnectingLaneWidthLaneWidth--IndicatingthewidthoftherealorvirtualconnectinglaneconnectingLanePointsPointListOPTIONAL,--IndicatingthepositionoftherealorvirtualconnectinglaneisolatedConnectingLaneBOOLEANOPTIONAL--Arealisolatedconnectinglaneisseperatedfromanyother--UsuallyexistsinrightID、連接的下游路段車道擴(kuò)展信息以及對(duì)應(yīng)的信號(hào)燈相位號(hào)和某些信號(hào)燈ConnectionEx::=SEQUENCE{remoteIntersectionNodeReferenceID,--Thisentryindicatesthedownstreamintersectionofthelinkthislaneconnects--ThisprovidesameanstocreatemeshesofswlSignalWaitingLane--waitingareaforcertainsignal--usuallysetforleftconnectingLaneSEQUENCE(SIZE(1..16))OFConnectingLaneEx--Theindexoftheconnectinglaneand--themaneuverfromthecurrentlaneto--Whenwewanttolisttheallowedlanesofthenext--thislanecanleadto,weusethisphaseIdPhaseID--Thematchingsignalgroupsend--theSPATmessageforthis--Shallbepresentunlessthe--hasnosignalgroup(isun-turn-directionManeuver--IndicatingtheturndirectioncorrespondingtothisConnectsToExList::=SEQUENCE(SIZE(1..32))OFId、物體大小、形狀、移動(dòng)速度、航向角、加速度等信息，DetectedObstacleData::=SEQUENCE{obsTypeObstacleType,objTypeConfidenceConfidenceOPTIONAL,obsIdINTEGER(0..65535),--temporaryIDsetbythemessage--0is--1..255representdifferentdetected--obsIdofdifferentparticipantneedstobeuniquelocallysourceSourceType,secMarkposposConfidencePositionConfidenceSet,speedSpeed,speedCfdSpeedConfidenceOPTIONAL,headingHeading,headingCfdHeadingConfidenceOPTIONAL,verSpeedSpeedOPTIONAL,verSpeedConfidenceSpeedConfidenceOPTIONAL,accelSetAccelerationSet4WayOPTIONAL,sizeobjSizeConfidenceObjectSizeConfidenceOPTIONAL,trackingINTEGER(1..65535)OPTIONAL,--trackingtimeofthis--inpolygonPolygon--3DvertexDetectedObstacleList::=SEQUENCE(SIZE(1..64))OFDetectedPTCData::=SEQUENCE{ptcParticipantData,--BasicinformationoftrafficparticipantobjSizeConfidenceObjectSizeConfidenceOPTIONAL,detectedPTCTypeDetectedPTCType--DayIParticipantTypeParticipantTypetypeConfidenceConfidenceacc4WayConfidenceAccSet4WayConfidencestatusDurationTimeOffset--Timelengthforwhichptckeepsthesame--MainlyusedforstationaryvehiclepathHistoryPathHistoryOPTIONAL,planningListPlanningListOPTIONAL,trackingINTEGER(1..65535)OPTIONAL,--trackingtimeofthis--inpolygonPolygon--3Dvertextype-relatedExtCHOICEmotorExt--DataExtensionfornon-motorExtNon---DataExtensionforDetectedPTCList::=SEQUENCE(SIZE(1..512))OF300DetectedRegion::=SEQUENCE(SIZE(1..8))OFID、請(qǐng)求消息的操作狀態(tài)，可選字段包括請(qǐng)求的優(yōu)先級(jí)、目標(biāo)車輛的臨RSUDriveRequest::=SEQUENCE{reqIDINTEGER(0..255),--localIDofthis--samerequestinserialVIRmessagesshouldkeepthesamereqIDstatusReqStatus,reqPriorityOCTETSTRING(SIZE(1))--Thelowerfivebitsarereservedandshallbesetto--ValuefromB00000000toB11100000representsthelowesttothehighestleveltargetVehOCTETSTRING(SIZE(8))OPTIONAL,--thetemporaryIDoftargetvehicletargetRSUOCTETSTRING(SIZE(8))OPTIONAL,--thetemporaryIDoftargetRSUinfoReqInfoOPTIONAL,lifeTimeTimeOffset--Lifetimeofthis--TimeoffsetiscalculatedfromsecMarkofthisDriveSuggestion::=SEQUENCE{suggestion--Drivebehaviorallowedor--withinthetimerange--ifmatchestherelatedlinkorpathlifeTimeTimeOffsetOPTIONAL,--Lifetimeofthis--TimeoffsetiscalculatedfromsecMarkofthismessagerelatedLinkReferenceLinkOPTIONAL,--ExtrajudgementconditionforvehicletodecidewhethertofollowthesuggestionornotrelatedPathReferencePathOPTIONAL,--ExtrajudgementconditionforvehicletodecidewhethertofollowthesuggestionorFullPositionVector::=SEQUENCEutcTimeDDateTimeOPTIONAL,--timewithmSecprecisionposPosition3D,headingHeadingtransmissionTransmissionStateOPTIONAL,speedSpeedOPTIONAL,posAccuracyPositionalAccuracyOPTIONAL,posConfidencePositionConfidenceSetOPTIONAL,timeConfidenceTimeConfidenceOPTIONAL,motionCfdMotionConfidenceSetOPTIONAL,GBICCInfo::=iccIssueInfoOCTET OCTET OCTET RangeOfFile INTEGER(0..255) FileGetSecureRq::= INTEGER(0..255)GetSecureRs::=SEQUENCE{fileRangeOfFile,authenticatorOCTETSTRINGIARData::=SEQUENCEcurrentPosPathPlanningPoint--currentpositioninpath-PlanningPathPlanning--realtimepathplanningthatissharedwith--listinchronologicalordercurrentBehaviorDriveBehaviorOPTIONAL,--drivebehaviorrelatedtothepathreqsSEQUENCE(SIZE(1..8))OFDriveRequestLaneCoordination::=SEQUENCE{targetLaneReferenceLink,--ThetargetlinkorlanethatRSUtriestocontrolrelatedPathReferencePathOPTIONAL,--referencepathifexistedtohelpvehiclesto--whethertheyshouldfollowthecoordinationornottBeginDDateTimeOPTIONAL,tEndDDateTimeOPTIONAL,recommendedSpeedSpeedOPTIONAL,recommendedBehaviorDriveBehaviorOPTIONAL,infoCoordinationInfoOPTIONAL,--DetailedusecasesrelatedtocurrentdescriptionDescription--AdditionaldescriptionID、車道寬度、車道屬性、車道出口的允許轉(zhuǎn)向行為、車道與下游路段車道的STLaneEx::=SEQUENCElaneRefID--Lanereferenceidrelatedtoreferencelineofthis--Ref.linebelongstolaneref.id--Laneref.idsontheleftsideofref.lineshouldbe1,2,3...in--Ref.idsontherightsideshouldbe-1,-2,-3...insequencelaneWidthLaneWidthOPTIONAL,laneAttributesLaneAttributes--DefinebasicattributeoflanemaneuversAllowedManeuversOPTIONAL,--thepermittedmaneuversforthislaneconnectsTo-exConnectsToExList--connectiontodownsteamlanesspeedLimitsSpeedLimitListOPTIONAL,--Listallthespeedlimitsst-pointsSTPointListOPTIONAL,--Pointslistofthecenterofthis--usingSTLaneExList::=SEQUENCE(SIZE(1..32))OFLaneLineType::=leftLaneLineDotted-SolidMarkingLineType,rightLaneLineDotted-ID、限速集合、車道寬度、此路段的參考線信息、該路段的交叉口轉(zhuǎn)LinkEx::=SEQUENCEnameDescriptiveName--LinkupstreamNodeId--thislinkisfromupstreamNodetotheNodeitbelongsspeedLimitsSpeedLimitList--ListallthespeedlinkWidthLaneWidth--WidthofthisrefLinePointList--Definereferencelineofthis--Usingthepointslistfromupstreamto--alongthecenteroflane0ofthis--Ref.linemustcoverthewholelink,fromthelinkentrancetothestopmovements-exMovementExList--Definemovementsatsections--Linksectionsbelongtothis--listedfromupstreamto--DifferentsectionsaregenerallyseperatedaccordingtolaneincreaseorLinkExList::=SEQUENCE(SIZE(1..32))OFMemberList::=SEQUENCE(SIZE(1..32))OFMemberManagement::=SEQUENCE{memberListMemberList,--memberlistofplatooningjoiningListMemberListOPTIONAL,--listofvehiclethatisallowedtojointhe--andisoperatingthejoiningprocedureleavingListMemberListOPTIONAL,--listofvehiclethatisallowedtoleavingthe--andisoperatingtheleavingprocedurecapacityINTEGER(1..32),--thecapacityofplatooningopenToJoinBOOLEAN,MemberNode::=SEQUENCEvidOCTETSTRING--vehicleMotorDataExtension::=SEQUENCE{lightsExteriorLightsOPTIONAL,vehAttitudeAttitudeOPTIONAL,vehAttitudeConfidenceAttitudeConfidenceOPTIONAL,vehAngVelAngularVelocityOPTIONAL,vehAngVelConfidenceAngularVelocityConfidenceMovementEx::=SEQUENCE{remoteIntersectionNodeReferenceID,--Thisentryindicatesthedownstreamintersectionofthelinkthislaneconnects--ThisprovidesameanstocreatemeshesofphaseIdPhaseID--Thematchingsignalgroupsend--theSPATmessageforthis--Shallbepresentunlessthe--hasnosignalgroup(isun-turn-directionManeuver--IndicatingtheturndirectioncorrespondingtothisNode::=SEQUENCE--intersectionorroadendpointnameDescriptiveNameOPTIONAL,--Nodeid--Agloballyuniquevalue--consistingofaregionID--nodeIDassignmentrefPosPosition3D,--3Dpositionofthecenterofthis--ThispositionisalsothereferencepositionfortheelementsLinklistusingDayIformatinLinksLinkListOPTIONAL,--allthelinksenterthisDayIIExtensioninLinks-exLinkExList--allthelinksenterthisNodeprohibitedzoneProhibitedZoneOPTIONAL,MovementExList::=SEQUENCE(SIZE(1..32))OFNon-motorData::=SEQUENCE--Type-relatedData--basicTypePersonalDeviceUserType,propulsionPropelledInformationOPTIONAL,clusterSizeNumberOfParticipantsInClusterOPTIONAL,attachmentAttachmentOPTIONAL,personalExtPersonalExtensionsOPTIONAL,roadWorkerExtRoadWorkerExtensionsOPTIONAL,personalReqPersonalRequestOPTIONAL,Non-motorDataExtension::=SEQUENCE{overallRadiusINTEGER(0..200),--Inunitsofone--Radiusconsideringclusteror--Type-relatedData-non-motorDataNon-ObjectSize::=SEQUENCE{widthSizeValue,lengthSizeValue,heightSizeValueObjectSizeConfidence::=SEQUENCE{widthConfSizeValueConfidence,lengthConfSizeValueConfidence,heightConfSizeValueConfidenceOPTIONAL OBUMotionStatus Position3D Heading Speed equipmentClassEquipmentClassOPTIONAL,gbiCCInfo --ICsysInfoSysInfovehicleInfoVehicleInfoOPTIONAL,passedSitesInfoPassedSitesInfoOPTIONAL,ID、限速和限高、車道寬度、車到數(shù)目，以及行駛PAMDrive::=SEQUENCEupstreamPAMNodeId--thisdriveisfromupstreamPAMNodetothePAMNodeitbelongstodriveIDINTEGER(0..255)OPTIONAL,--localidofthisdrivewithsameupsttramPAMNodeandPAMNodetwowaySeprationBOOLEANOPTIONAL,--whetheristhisdriveseparatedwiththeopposite--ifnot,thentheparkingslotsoftheopposite--isalsoavailableforvehiclesinthisdrivedirectionspeedLimitSpeedOPTIONAL,--SpeedheightRestrictionINTEGER(0..100)--Heightrestriction,Unit=0.1mdriveWidthLaneWidthOPTIONAL,--WidthofthislaneNumINTEGER(0..100)--NumberofpointsPointList--DefineroadpointsalongthecenterofthislinkmovementsPAMMovementListOPTIONAL,--DefinemovementsatintersectionparkingSlotsParkingSlots--InformationofparkingplacesofthisPAMDriveList::=SEQUENCE(SIZE(1..63))OFPAMMovementList::=SEQUENCE(SIZE(1..32))OF樓層信息，PAMNodeAttributesPAMDriveListPAMNode::=SEQUENCE--intersectionorroadendpointinparkingareaidPAMNodeID,--AlocaluniquevaluesetrefPosPosition3D,--3Dpositionofthecenterofthis--ThispositionisalsothereferencepositionfortheelementsinsidefloorINTEGER(-128..128)OPTIONAL,attributesPAMNodeAttributesOPTIONAL,inDrivesPAMDriveListOPTIONAL,--allthelinksenterthis定義場(chǎng)站內(nèi)部的地圖節(jié)點(diǎn)列表。PAMNodeList::=SEQUENCE(SIZE(1..63))OFParkingGuide::=SEQUENCEvehIdOCTETSTRING--temperaryvehicledrivePathSEQUENCE(SIZE(1..32))OF--theplannedpathforthis--representedbyaseriesofPAMNode--inorderfromorigintotargetParkingSlotINTEGER(0..65535)--ifthevehicleislookingforaparking--thenhereistherecommendedparkingslot--whichshouldbebythelastdriveroadinabove--ifatargetParkingSlotisnotincludedina--thenprobablythevehicleisgoingtothelast--whatevertypethePAMNodeParkingLotInfo::=SEQUENCEidINTEGER(0..65535)--Uniqueidofthisparking--ifnameDescriptiveName--NameofthisparkingnumberINTEGER(0..65535)--TotalnumberofparkingslotsbuildingLayerNumINTEGER(0..256)OPTIONAL,--LayernumberofthisparkinglotavpTypeAVPTypeOPTIONAL,--AVPParkingSlot::=SEQUENCE{slotIDINTEGER(0..65535),positionParkingSlotPositionOPTIONAL,signDescriptiveNameOPTIONAL,--Parkingslotsignlike"B101"parkingTypeParkingType,statusparkingSpaceThetaParkingSpaceTheta,parkingLockParkingLock,ParkingSlotPosition::=SEQUENCE{topLeftPositionOffsetLLV,topRightPositionOffsetLLV,bottomLeftPositionOffsetLLV--Atypicalparkingslotisa--withfourcornersandfour--ThetopedgeisdefinedastheedgewhereaparkingvehicleParkingSlots::=SEQUENCE(SIZE(1..16))OF PassedPos::= OCTETSTRING(SIZE(4))entranceInfoPassedPospassedPosSEQUENCE(SIZE(2..512))OFPassedPosPathPlanning::=SEQUENCE(SIZE(1..100))OF8s1s1080100PathPlanningPoint::=SEQUENCE{posInMapReferenceLinkOPTIONAL,--LaneandLinklocationrelatedtoMAPposPositionOffsetLLV,--TargetlocationintheposAccuracyPositionConfidenceSetOPTIONAL,speedSpeedOPTIONAL,--TargetspeedorrecommendedspeedwhenpassingthetargetpositionspeedCfdSpeedConfidenceOPTIONAL,--ConsideringtheacceptablerangeoftheabovetargetspeedheadingHeadingOPTIONAL,headingCfdHeadingConfidenceOPTIONAL,accelSetAccelerationSet4Wayacc4WayConfidenceAccSet4WayConfidenceOPTIONAL,estimatedTimeTimeOffsetOPTIONAL,--Estimatedtimewhenvehiclereachesthetarget--TimeoffsetiscalculatedfromsecMarkofthismessagetimeConfidenceConfidenceOPTIONAL,--Consideringtheacceptablerangeoftheaboveestimated tollingNodeInfoTollingNodeInfoOPTIONAL,tollInfoTollInfoOPTIONAL,serviceInfoOCTETSTRING(SIZE(1..512))--ReservedformorepaymentPaymentList::=SEQUENCE(SIZE(1..16))OFPersonalExtensions::=SEQUENCEuseStatePersonalDeviceUsageStateOPTIONAL,assistTypePersonalAssistiveOPTIONAL,PersonalRequest::=SEQUENCEcrossingPersonalCrossingdurationPlanningDuration--timedurationforthisplanplanConfidenceConfidenceOPTIONAL,drivingBehaviorDriveBehaviorOPTIONAL,pathPlanningPathPlanningPlanningList::=SEQUENCE(SIZE(1..8))OFPolygon::=SEQUENCE(SIZE(4..32))OFProhibitedZone::=SEQUENCE{centralCircleProhibitedZonePolygonOPTIONAL,non-motorVehicleProhibitedZonesSEQUENCE(SIZE(1..16))OFPolygonOPTIONAL,gridLineMarkingProhibitedZonesSEQUENCE(SIZE(2..16))OFPolygonOPTIONAL,--Girdlinemarkingprohibited--insidethenode(intersection)oratthein-linksofthisPropelledInformation::=CHOICEhumanHumanPropelledType,--PersonalDeviceUserTypewouldbeaaPEDESTRIANanimalAnimalPropelledType,motor IDID、相關(guān)聯(lián)的路徑區(qū)域以及道路清空的開始時(shí)Req-ClearTheWay::=SEQUENCE{upstreamNodeNodeReferenceID,downstreamNodeNodeReferenceID,targetLaneLaneID,--TargetlanetoclearthewayrelatedPathReferencePathOPTIONAL,--DescribethedetailedroadareatotBeginDDateTime--ThebeginningtimerequiredtoclearingthewaytEndDDateTimeOPTIONAL,--ThetimetoendclearingtheReq-LaneChange::=SEQUENCE{upstreamNodeNodeReferenceID,--UpstreamnodeofthetargetlinkdownstreamNodeNodeReferenceID,--DownstreamnodeofthetargetlinktargetLaneLaneID,--TargetlanetochangeReq-ParkingArea::=SEQUENCE{vehicleClassVehicleClassification,reqParkingRequest,--requestfromthisvehiclefortheparking--ortrafficparkingTypeParkingType--ifthevehicleneedsaparkingslotofcertaintypeexpectedParkingSlotIDINTEGER(0..65535)OPTIONAL,--ifthevehiclealreadyhasatargetparkingReq-SensorSharing::=SEQUENCE{detectAreaReferencePathList,Req-SignalPriority::=SEQUENCE{intersectionIdNodeReferenceID,--IntersectionidindicatingthetargettrafficsignalrequiredMovMovementEx,--Movementinfo.requiredincludingremoteintersectionid,targetphaseidandturningdirectionestimatedArrivalTimeTimeOffsetOPTIONAL,--Estimatedarrivaltimetotheintersectiondistance2IntersectionINTEGER(0..10000)OPTIONAL,--UnitReqInfo::=CHOICElaneChangeReq-LaneChange,clearTheWayReq-ClearTheWay,signalPriorityReq-SignalPriority,sensorSharingReq-SensorSharing,parkingReq-ParkingArea,RoadWorkerExtensions::=SEQUENCE{workerTypeRoadWorkerTypeOPTIONAL,activityTypeRoadWorkerActivityType包括時(shí)間、RSUID、收費(fèi)信息。RST::= OCTETSTRING--RSU --Payment/serviceRTCMmsg::=SEQUENCErevRTCM-Revision--themessageandsub-messagetype,--definedintheRTCMrevisionbeingusedrtcmIDRTCM-IDOPTIONAL,--RTCMversionnumberpayloadRTCM---thepayloadRTSData::=SEQUENCE{rtsIdINTEGER(0..255),--localIDofthisrtsinformationsetbyRSUsignTypeSignType,--Typeofsign,accordingtoChinaGB5768.2signPosPositionOffsetLLVOPTIONAL,--Positionofthetrafficsign,ifexistsdescriptionDescriptionOPTIONAL,--AdditionaldescriptiontothesigntimeDetailsRSITimeDetailsOPTIONAL,--starttimeorendtimewhenthissignisactive,ifexistedpriorityRSIPriorityOPTIONAL,--theurgencyofthisRSIdata,a--degreeofmeritcomparedwithotherRSIdatareferencePathsReferencePathListOPTIONAL,--RelatedpathsofthistrafficsignreferenceLinksReferenceLinkListOPTIONAL,--Relatedlinksofthistraffic--DAYIIauxiliarySignAuxiliarySign--RefertoGB5768.2-2009--AuxiliarySection::=SEQUENCE{secIdSectionId,--Sectionidisdistributedfromupstreamto--with1,2,3,...,sequentiallylanesLaneExList,--LanesbelongtothisSectionList::=SEQUENCE(SIZE(1..16))OFSetMMIRq::=toll PSAM8 TransPara PartOfFile --CONETCSEC TollingPos INTEGER(0..255) --CONETCSECTAC OCTETSTRING(SIZE(4))OPTIONAL,--CONETCSEC OCTETSTRING(SIZE(8))OPTIONAL,--CONETCSEC AccountInfoOPTIONAL, --CONLTE-VSECMode TransCredential --CONLTE-VSECSignalWaitingLane::=SEQUENCE{laneWidthLaneWidth,pointsallowedPhaseIdsSEQUENCE(SIZE(1..7))OFPhaseIDST-Point::=SEQUENCEs-axisINTEGER(---Unit--Longitudinallengthrelatedtotheref.linet-axisINTEGER(-32768..32767),--Unit--Latitudinaldistanceinst--Positiveintheleftofref.--Negativeintherightofref.STPointList::=SEQUENCE(SIZE(2..63))OFST-contractProviderOCTETSTRING(SIZE(8)),contractTypeINTEGER(0..127,...),contractVersionINTEGER(0..127,...),contractSerialNumerOCTETSTRING(SIZE(8)),contractSignedDateDate,contractExpiredDateDate,reservedOCTETTransCredential::=SEQUENCEtcOCTETSTRING(SIZE(32,...))TransInfo::= getTollDataRsGetTollDataRs, transferChannelRsChannelRs, transAmountOCTETtransTypeOCTETterminalIDOCTETtransSNOCTETtransTimeOCTET OCTET INTEGER(0..424967295)--Estimatedprice,value1=￥0.01entrancePosPositionOffsetLLVOPTIONAL,--EntranceofthetollroadexitPosPositionOffsetLLVOPTIONAL,--ExitofthetolltollRoadSEQUENCE(SIZE(2..256))OFNodeReferenceID--TollroadrepresentedbyalistofnodeidsortedfromupstreamtodownstreamtollPathReferencePathOPTIONAL,--TollpathrepresentedbyapointlistfromupstreamtodownstreamtimeBeginDDateTimeOPTIONAL,--BeginningofchargingtimetimeEndDDateTimeOPTIONAL,--EndofchargingTollingPos::=id Position3DIdStationOrGantryId--TollingStationorTollingGantryIdPosPosition3DOPTIONAL,tollingNodeTypeTollingNodeTypeOPTIONAL,tollingDirectionTollingDirectionOPTIONAL,VehicleCoordination::=SEQUENCE{vehIdOCTETSTRING(SIZE(8)),--TempIDofthetargetvehicledriveSuggestionDriveSuggestionOPTIONAL,pathGuidancePathPlanningOPTIONAL,--CoordinationusingpathguidanceinfoCoordinationInfoOPTIONAL,--Detailedusecasesrelatedtocurrent VehicleInfo::=SEQUENCE{vehicleLicencePlateNumberOCTETSTRING(SIZE(12)),--車牌號(hào)碼，全牌照（漢字+字母+數(shù)字）GB/T2312ASCIIvehicleLicencePlateColorOCTETSTRING(SIZE(2)),vehicleTollingClassvehicleUserTypeINTEGER(0..127,...),vehicleDimensionsVehicleDimensions,vehicleWheelsINTEGER0..127),vehicleAxlesINTEGERvehicleWheelBasesINTEGERvehicleWeightLimitsINTEGERvehicleSpecificInformationOCTETSTRING(SIZE(16)),vehicleEngineNumberOCTETSTRING(SIZE(16)),descriptionOCTETSTRING(SIZE(1..256))--OtherinformationdescriptionoftheVPApplicationList::=SEQUENCE(SIZE(1..16))OF obuIdOCTETSTRING--HostOBUtargetIdOCTETSTRING(SIZE(8))--TargetRSUId,necessaryinbroadcastmode OBUInfoOPTIONAL,vpapplicationListVPApplicationListOPTIONAL, RandStr8OPTIONAL,--CONETCSEC--Randstringoflength(8)fromAccConfidence::=ENUMERATEDunavailable(0),--NotEquippedorunavailableprec100deg(1),--100m/s2prec10deg(2),--10prec5deg(3),--5prec1deg(4),--1prec0-1deg(5),--0.1prec0-05deg(6),--0.05m/s2prec0-01deg(7)--0.01m/s2}--Encodedasa3bitAngularVConfidence::=ENUMERATEDunavailable(0),--NotEquippedorunavailableprec100deg(1),--100degree/secprec10deg(2),--10degree/secprec5deg(3),--5degree/secprec1deg(4),--1degree/secprec0-1deg(5),--0.1degree/secprec0-05deg(6),--0.05degree/secprec0-01deg(7)--0.01degree/sec}--Encodedasa3bitAnimalPropelledType::=ENUMERATED{unavailable(0),otherTypesanimalMountedanimalDrawnCarriageApduList::=SEQUENCEOFOCTETAttachment::=ENUMERATED{unavailable(0),strollerbicycleTrailercartwheelchairotherWalkAssistAttachmentspetAuxiliarySignDirection::=ENUMERATED{AuxiliarySignVehicleType::=BITSTRING{--貨車--拖拉機(jī)}(SIZE(5,定義場(chǎng)站支持的自動(dòng)泊車類型。AVPType::=ENUMERATED{--Originalparkinglot--Standardparkinglot--Parkinglotwithspecialidentification--Parkinglotwithroadsideinfrastructure--ParkinglotwithroadsideinfrastructureandV2X--AVPdedicatedparkingChannelID::= 1.5°。CoarseHeading::=INTEGER--Unitsof1.5--overarangeof0~358.5--thevalue240shallbeusedforCoordinationInfo::=BITSTRING{}DetectedPTCType::=ENUMERATED{unknown(0),--未知障礙