ETSI TS 103 324 V2.1.1 (2023-06)

Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Collective Perception Service; Release 2

DTS/ITS-00167

General Information

• Status: Not Published
• Technical Committee: ITS WG1 - Application Requirements and Services
• Current Stage: 12 - Completion
• Due Date: 22-May-2023
• Completion Date: 05-Jun-2023

Standards Content (Sample)

ETSI TS 103 324 V2.1.1 (2023-06)






TECHNICAL SPECIFICATION
Intelligent Transport System (ITS);
Vehicular Communications;
Basic Set of Applications;
Collective Perception Service;
Release 2

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2 ETSI TS 103 324 V2.1.1 (2023-06)

Reference
DTS/ITS-00167
Keywords
ITS, protocol
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All rights reserved.

ETSI

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3 ETSI TS 103 324 V2.1.1 (2023-06)
Contents
Intellectual Property Rights . 5
Foreword . 5
Modal verbs terminology . 5
Introduction . 5
1 Scope . 6
2 References . 6
2.1 Normative references . 6
2.2 Informative references . 6
3 Definition of terms, symbols and abbreviations . 7
3.1 Terms . 7
3.2 Symbols . 8
3.3 Abbreviations . 8
4 CPS introduction . 9
5 CPS functional specification . 9
5.1 CPS in the ITS architecture . 9
5.2 CPS functional architecture . 10
5.3 Interfaces of the CPS . 11
5.3.1 Interface to ITS applications . 11
5.3.2 Interface to data provisioning facilities . 11
5.3.3 Interface to MCO_FAC . 11
5.3.4 Interface to the Networking & Transport layer . 13
5.3.5 Interface to the IPv6 stack and the combined IPv6/GeoNetworking stack . 13
5.3.6 Interface to the ITS management entity . 13
5.3.7 Interface to the security entity. 14
6 CPM dissemination . 14
6.1 CPM generation . 14
6.1.1 CPM generation management . 14
6.1.2 CPM data inclusion . 15
6.1.2.1 CPM generation events . 15
6.1.2.2 Sensor Information Container Inclusion Management . 16
6.1.2.3 Perceived Object Inclusion Management . 16
6.1.3 CPM assembly . 18
6.1.3.1 General . 18
6.1.3.2 Object utility function . 19
6.1.3.3 Perception region based . 20
6.2 CPM dissemination constraints . 20
6.2.1 Security constraints . 20
6.2.1.1 Introduction . 20
6.2.1.2 Service Specific Permissions (SSP) . 21
6.2.2 General priority constraints. 21
7 CPM Specification . 21
7.1 CPM structure . 21
7.1.1 General structure of a CPM PDU . 21
7.1.2 ITS PDU Header . 23
7.1.3 Management Container . 23
7.1.4 Originating Vehicle Container . 23
7.1.5 Originating RSU Container . 24
7.1.6 Sensor Information Container . 24
7.1.7 Perception Region Container . 27
7.1.8 Perceived Object Container . 28
7.1.8.1 General . 28
7.1.8.2 Object ID and time management . 29
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4 ETSI TS 103 324 V2.1.1 (2023-06)
7.1.8.3 Kinematic and attitude state description . 30
7.1.8.4 Object dimensions and age . 30
7.1.8.5 Link to Sensor Information Container. 30
7.1.8.6 Object perception quality . 30
7.1.8.7 Object classification . 31
7.1.8.8 Link to MAPEM . 32
7.2 CPM format specification . 32
Annex A (normative): ASN.1 modules . 33
Annex B (informative): Specification of CPM in readable format . 35
Annex C (informative): Interpretation of the kinematic and attitude state description . 36
Annex D (normative): Frequency and Content Management . 37
Annex E (informative): Object Inclusion Rate Control . 38
Annex F (normative): Configuration parameter values . 39
History . 42


ETSI

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5 ETSI TS 103 324 V2.1.1 (2023-06)
Intellectual Property Rights
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Foreword
This Technical Specification (TS) has been produced by ETSI Technical Committee Intelligent Transport Systems
(ITS).
Modal verbs terminology
In the present document "shall", "shall not", "should", "should not", "may", "need not", "will", "will not", "can" and
"cannot" are to be interpreted as described in clause 3.2 of the ETSI Drafting Rules (Verbal forms for the expression of
provisions).
"must" and "must not" are NOT allowed in ETSI deliverables except when used in direct citation.
Introduction
The present document specifies the Collective Perception Service (CPS) and how a transmitting ITS station (ITS-S) can
inform other ITS-Ss about the kinematic and attitude dynamics and other attributes of objects (e.g. vehicles, pedestrians,
animals and others) detected by sensors such as radars, lidars and cameras to which the transmitting ITS-S has access.
The CPS increases awareness among ITS-Ss by sharing information about perceived objects in the local environment.
The Collective Perception Message (CPM) enables the interoperable sharing of basic information about the
disseminating ITS-S (required for the interpretation of the transmitted data), its sensory capabilities, perceived objects
and road-related perception regions. CPMs are generated quasi-periodically as determined by CPM generation events.

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6 ETSI TS 103 324 V2.1.1 (2023-06)
1 Scope
The present document specifies the CPS. Conceptually, Collective Perception involves sharing safety-relevant
information about the current context of the ITS-S's environment. This includes the definition of the syntax and
semantics of the CPM and the specification of the data and message handling of the CPM to increase the awareness of
the environment in a cooperative manner.
2 References
2.1 Normative references
References are either specific (identified by date of publication and/or edition number or version number) or
non-specific. For specific references, only the cited version applies. For non-specific references, the latest version of the
referenced document (including any amendments) applies.
Referenced documents which are not found to be publicly available in the expected location might be found at
https://docbox.etsi.org/Reference/.
NOTE: While any hyperlinks included in this clause were valid at the time of publication, ETSI cannot guarantee
their long-term validity.
The following referenced documents are necessary for the application of the present document.
[1] ETSI TS 103 097: "Intelligent Transport Systems (ITS); Security; Security header and certificate
formats; Release 2".
[2] Recommendation ITU-T X.691 (2021-02): "Information technology - ASN.1 encoding rules:
Specification of Packed Encoding Rules (PER)".
[3] ETSI TS 102 894-2 (V2.1.1): "Intelligent Transport Systems (ITS); Users and applications
requirements; Part 2: Applications and facilities layer common data dictionary; Release 2".
[4] ETSI EN 302 890-2: "Intelligent Transport Systems (ITS); Facilities Layer function;
Part 2: Position and Time management (PoTi); Release 2".
[5] ETSI TS 103 836-4-1: "Intelligent Transport Systems (ITS); Vehicular Communications;
GeoNetworking; Part 4: Geographical addressing and forwarding for point-to-point and
point-to-multipoint communications; Sub-part 1: Media-Independent Functionality; Release 2".
[6] ETSI TS 103 836-5-1: "Intelligent Transport Systems (ITS); Vehicular Communications;
GeoNetworking; Part 5: Transport Protocols; Sub-part 1: Basic Transport Protocol; Release 2".
[7] ETSI TS 103 141: "Intelligent Transport Systems (ITS); Facilities layer function; Multi-Channel
Operation (MCO) for Cooperative ITS (C-ITS); Release 2".
2.2 Informative references
References are either specific (identified by date of publication and/or edition number or version number) or
non-specific. For specific references, only the cited version applies. For non-specific references, the latest version of the
referenced document (including any amendments) applies.
NOTE: While any hyperlinks included in this clause were valid at the time of publication, ETSI cannot guarantee
their long-term validity.
The following referenced documents are not necessary for the application of the present document, but they assist the
user with regard to a particular subject area.
[i.1] ETSI TR 103 562: "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of
Applications; Analysis of the Collective Perception Service (CPS); Release 2".
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7 ETSI TS 103 324 V2.1.1 (2023-06)
[i.2] ETSI TS 103 898: "Intelligent Transport Systems (ITS); Communications Architecture;
Release 2".
[i.3] ETSI EN 302 895: "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of
Applications; Local Dynamic Map (LDM)".
[i.4] Car 2 Car Communication Consortium: "Technical Report on CPM Object Quality".
[i.5] ISO EN 17419: "Intelligent Transport Systems -- Cooperative Systems -- Classification and
management of ITS applications in a global context" Definition of terms, symbols and
abbreviations".
[i.6] ETSI TS 103 836-3: "Intelligent Transport Systems (ITS); Vehicular Communications;
GeoNetworking; Part 3: Network Architecture; Release 2".
[i.7] ETSI TS 102 723-5: "Intelligent Transport Systems (ITS); OSI cross-layer topics; Part 5: Interface
between management entity and facilities layer; Release 2".
[i.8] ETSI TR 102 965: "Intelligent Transport Systems (ITS); Application Object Identifier (ITS-AID);
Registration list".
[i.9] ETSI TS 102 940: "Intelligent Transport Systems (ITS); Security; ITS communications security
architecture and security management; Release 2".
[i.10] ETSI TR 103 460: "Intelligent Transport Systems (ITS); Security; Pre-standardization study on
Misbehavior Detection; Release 2".
[i.11] ETSI TS 102 890-1: "Intelligent Transport Systems (ITS); Facilities layer function;
Part 1: Services Announcement (SA) specification".
[i.12] ETSI TS 103 300-3: "Intelligent Transport Systems (ITS); Vulnerable Road Users (VRU)
awareness; Part 3: Specification of VRU awareness basic service; Release 2".
[i.13] ETSI TS 103 301: "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of
Applications; Facilities layer protocols and communication requirements for infrastructure
services; Release 2".
3 Definition of terms, symbols and abbreviations
3.1 Terms
For the purposes of the present document, the following terms apply:
central ITS-S: ITS-S in a backend, e.g. traffic control centre, traffic management centre, or cloud system from road
authorities, ITS application suppliers or automotive OEMs
classification confidence level: measure related to the certainty, generally a probability, with which a perceived object
can be linked to a specific object class or type (e.g. with X % probability the object is of type A)
NOTE: The sum of the object classification confidence levels for each perceived object may not exceed 100 %
(e.g. in the example above, the classification confidence for an object to be of type B will not exceed
(100-X) %).
Collective Perception (CP): concept involving sharing of information (generated by sensor systems) about the
perceived environment of an ITS-S
Collective Perception Message (CPM): message generated by the CPS
Collective Perception Message (CPM) data: some or all data included in a CPM
Collective Perception Service (CPS): functionality in the ITS-S facilities layer to support ITS-S applications, CPM
management and CPM dissemination
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8 ETSI TS 103 324 V2.1.1 (2023-06)
Collective Perception Service (CPS) protocol: ITS facilities layer protocol for CPM dissemination and reception
confidence level: probability with which the estimate of a statistical parameter (e.g. an arithmetic mean) in a sample
survey is also true for the entire population from which the samples were taken
confidence value: estimated absolute accuracy (i.e. closeness of a measured value to a standard or known value) of a
measured value of a parameter with a specified confidence level (generally 95 % in the present document)
ITS station (ITS-S): functional entity specified by the ITS station (ITS-S) reference architecture
object: material thing that can be seen and touched and therefore detected and with which parameters can be associated
that can be measured and/or estimated
object list: collection of objects
object perception quality: quantification of the estimated likelihood that a detected object exists, i.e. has been detected
previously and has continuously been detected by a sensor
perception region confidence: quantification of the estimated likelihood that objects or unoccupied regions may be
detected within a perception region
roadside ITS-S: ITS-S operating in the context of roadside ITS equipment
state space representation: mathematical description of a detected object consisting of state variables such as position,
velocity, attitude, angular rate, etc.
Vehicle-to-Everything (V2X): type of communication that includes Vehicle-to-Vehicle (V2V), Vehicle-to-
Infrastructure (V2I), Infrastructure-to-Vehicle (I2V), or Vehicle-to-Network (V2N), and Network-to-Vehicle (N2V)
communications
Vehicle ITS-S: ITS-S operating in the context of vehicular ITS equipment
3.2 Symbols
For the purposes of the present document, the following symbols apply:
IF.CPS Interface between CPS and LDM or ITS applications
IF.APP Interface between CPS and ITS applications
IF.FAC Interface between CPS and other facilities layer entities
IF.MCO Interface between CPS and the MCO facility layer entity
IF.Mng Interface between CPS and ITS management entity
IF.N&T Interface between CPS and ITS network & transport layer
IF.SEC Interface between CPS and ITS security entity
3.3 Abbreviations
For the purposes of the present document, the following abbreviations apply:
API Application Programming Interface
ASN.1 Abstract Syntax Notation One
CAM Cooperative Awareness Message
CP Collective Perception
CPM Collective Perception Message
CPS Collective Perception Service
DCC Decentralized Congestion Control
DDP Device Data Provider
DE Data Element
DF Data Frame
FoV Field of View
I2V Infrastructure to Vehicle
ITS Intelligent Transport Systems
ITS-S Intelligent Transport Systems Station
LDM Local Dynamic Map
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9 ETSI TS 103 324 V2.1.1 (2023-06)
MCI MCO Control Information
MCO Multi Channel Operations
MIB Management Information Base
MTU Maximum Transmission Unit
PCI Protocol Control Information
R-ITS-S Roadside ITS Station
SA Service Announcement
SCH Service Channel
SCO Single Channel Operations
UPER Unaligned Packed Encoding Rule
V2I Vehicle-to-Infrastructure
V2V Vehicle-to-Vehicle
VAM VRU Awareness Message
VoI Value of Information
VRU Vulnerable Road User
4 CPS introduction
Collective Perception Messages (CPMs) are transmitted by ITS-Ss in order to share information about perceived objects
(such as vehicles, pedestrians, animals and other collision relevant objects) and perception regions (road regions that
allow receiving ITS-Ss to determine unoccupied regions) in the local environment. This enhances the environmental
perception of CPS-enabled ITS-Ss by providing information about non-V2X-equipped road users, other collision
relevant objects, unoccupied regions and also increases the number of information sources for V2X-equipped road
users. The availability of multiple sources of information associated with an object or an unoccupied region allows
ITS-Ss to perform data fusion which generally leads to lower uncertainty in both the classification of objects and in
their properties such as their sizes and their kinematic and attitude states. Even if data manipulated or corrupted at the
source are received, a sufficient number of independent sources that maintain integrity may allow identification of such
data.
A CPM contains a set of perceived objects and regions, along with their observed status and attributes. The content may
vary depending on the type of the road user or object and the detection capabilities of the originating ITS-S. For
perceived objects, the status information is expected to include at least the detection time, position, and optionally other
elements of the kinematic and attitude state. To support the CPM interpretation at any receiving ITS-S, a sender can
also include information about its sensors, such as sensor types and fields of view.
On reception of a CPM, receiving ITS-Ss become aware of the presence, type, and status of a recognized road user,
object or region that was detected by the transmitting ITS-S. The received information can then be used by the receiving
ITS-S to support ITS applications that increase safety and improve traffic efficiency thereby generally decreasing travel
time. For example, by monitoring the status of a detected road user or object, a receiving ITS-S can estimate the
collision risk with that road user or object and can inform the user via the HMI of the receiving ITS-S or take corrective
actions automatically. Data distributed by the CPS is clearly useful for a large number of ITS safety and efficiency-
related applications making the CPS an essential component of any ITS deployment, especially where any form of
autonomous activity is anticipated.
ETSI TR 103 562 [i.1] provides an analysis of the Collective Perception Service with further information and
simulation results.
5 CPS functional specification
5.1 CPS in the ITS architecture
The CPS is a facilities layer entity in the ITS-S architecture as defined in ETSI TS 103 898 [i.2]. It may interface with
other entities of the Facilities layer and with ITS applica
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