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

DTR/ITS-00183

General Information

Status
Published
Publication Date
17-Dec-2019
Current Stage
12 - Completion
Due Date
31-Jan-2020
Completion Date
18-Dec-2019
Ref Project

Buy Standard

Standard
ETSI TR 103 562 V2.1.1 (2019-12) - Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Analysis of the Collective Perception Service (CPS); Release 2
English language
119 pages
sale 15% off
Preview
sale 15% off
Preview

Standards Content (Sample)

ETSI TR 103 562 V2.1.1 (2019-12)






TECHNICAL REPORT
Intelligent Transport Systems (ITS);
Vehicular Communications;
Basic Set of Applications;
Analysis of the Collective Perception Service (CPS);
Release 2

---------------------- Page: 1 ----------------------
2 ETSI TR 103 562 V2.1.1 (2019-12)



Reference
DTR/ITS-00183
Keywords
ITS, network, protocol
ETSI
650 Route des Lucioles
F-06921 Sophia Antipolis Cedex - FRANCE

Tel.: +33 4 92 94 42 00  Fax: +33 4 93 65 47 16

Siret N° 348 623 562 00017 - NAF 742 C
Association à but non lucratif enregistrée à la
Sous-Préfecture de Grasse (06) N° 7803/88

Important notice
The present document can be downloaded from:
http://www.etsi.org/standards-search
The present document may be made available in electronic versions and/or in print. The content of any electronic and/or
print versions of the present document shall not be modified without the prior written authorization of ETSI. In case of any
existing or perceived difference in contents between such versions and/or in print, the prevailing version of an ETSI
deliverable is the one made publicly available in PDF format at www.etsi.org/deliver.
Users of the present document should be aware that the document may be subject to revision or change of status.
Information on the current status of this and other ETSI documents is available at
https://portal.etsi.org/TB/ETSIDeliverableStatus.aspx
If you find errors in the present document, please send your comment to one of the following services:
https://portal.etsi.org/People/CommiteeSupportStaff.aspx
Copyright Notification
No part may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying
and microfilm except as authorized by written permission of ETSI.
The content of the PDF version shall not be modified without the written authorization of ETSI.
The copyright and the foregoing restriction extend to reproduction in all media.

© ETSI 2019.
All rights reserved.

DECT™, PLUGTESTS™, UMTS™ and the ETSI logo are trademarks of ETSI registered for the benefit of its Members.

3GPP™ and LTE™ are trademarks of ETSI registered for the benefit of its Members and
of the 3GPP Organizational Partners.
oneM2M™ logo is a trademark of ETSI registered for the benefit of its Members and
of the oneM2M Partners.
®
GSM and the GSM logo are trademarks registered and owned by the GSM Association.
ETSI

---------------------- Page: 2 ----------------------
3 ETSI TR 103 562 V2.1.1 (2019-12)
Contents
Intellectual Property Rights . 9
Foreword . 9
Modal verbs terminology . 9
Introduction . 9
1 Scope . 10
2 References . 10
2.1 Normative references . 10
2.2 Informative references . 10
3 Definition of terms, symbols and abbreviations . 13
3.1 Terms . 13
3.2 Symbols . 13
3.3 Abbreviations . 13
4 The Concept of Collective Perception . 14
4.1 Background and Use-Cases . 14
4.1.1 Introduction. 14
4.1.2 Detection of Non-Connected Road Users . 14
4.1.3 Detection of Safety-Critical Objects . 15
4.1.4 CAM Information Aggregation . 16
4.1.4.1 Introduction . 16
4.1.4.2 Increasing Awareness. 17
4.1.4.3 Awareness about ITS-communication enabled persons on the road . 18
4.2 Terminology for sharing object information . 18
4.3 CPM Dissemination Concept . 19
4.3.1 Introduction. 19
4.3.2 CPM Dissemination Considerations . 20
4.3.2.1 CPM transmission . 20
4.3.2.2 Considerations for Modulation Schemes for CP Message Transmission . 20
4.3.3 CP Service Activation and Termination . 20
4.3.4 CPM Generation Frequency Management . 20
4.3.4.1 General considerations . 20
4.3.4.2 Perceived Object Container Inclusion Management . 20
4.3.4.3 Sensor Information Container Inclusion Management . 21
4.3.4.4 Free Space Addendum Container Inclusion Management . 21
4.3.5 Considerations for Decentralized Congestion Control Mechanisms . 22
4.3.6 CP Message Segmentation . 22
4.4 Quality and Confidence Indication of Provided Data . 23
4.4.1 Object Inclusion and Confidence . 23
4.4.2 Free Space Confidence . 23
4.5 Redundancy Mitigation Techniques . 23
4.5.1 General Considerations . 23
4.5.2 Frequency-based Redundancy Mitigation Rule . 24
4.5.3 Dynamics-based Redundancy Mitigation Rule . 25
4.5.4 Confidence-based Redundancy Mitigation Rule . 25
4.5.5 Entropy-based Redundancy Mitigation Rule . 25
4.5.6 Object Self-Announcement Redundancy Mitigation Rule. 26
4.5.7 Distance-based Redundancy Mitigation Rule . 27
5 Simulation Study . 27
5.1 Introduction . 27
5.2 Research Domains . 28
5.2.1 Introduction. 28
5.2.2 Assessment of Different Message Generation Rules . 28
5.2.3 Variation of DCC Parameters and Radio Configurations . 28
5.2.4 Message Segmentation . 28
ETSI

---------------------- Page: 3 ----------------------
4 ETSI TR 103 562 V2.1.1 (2019-12)
5.3 Simulation Environments . 28
5.3.1 Introduction. 28
5.3.2 Simulation Framework of Study S1 . 28
5.3.2.1 Introduction . 28
5.3.2.2 Local Perception Sensors . 29
5.3.2.3 Scenarios . 29
5.3.2.3.1 Introduction . 29
5.3.2.3.2 Luxemburg Scenario . 30
5.3.2.3.3 Spider Scenario . 30
5.3.2.4 Parameterization of Simulation Study S1 . 31
5.3.3 Simulation Framework of Study S2 . 32
5.3.3.1 Introduction . 32
5.3.3.2 Local Perception Sensors . 32
5.3.3.3 Scenario . 33
5.3.3.4 Parameterization of Simulation Study S2 . 33
5.4 Evaluation/Aggregation Methodology . 35
5.5 Results . 36
5.5.1 Assessing the Generation Rules . 36
5.5.1.1 General Considerations . 36
5.5.1.2 Message rate and size . 36
5.5.1.3 Channel Load . 40
5.5.1.4 Awareness . 45
5.5.1.5 Summary . 53
5.5.2 Variation of DCC Parameters and Radio Configurations . 54
5.5.2.1 General Considerations . 54
5.5.2.2 Effect of DCC operations on the CP Service . 55
5.5.2.3 Effect of CP Service operation on other (prospective) ITS Messages . 56
5.5.2.4 Summary . 57
5.5.3 Message Segmentation . 58
6 CP Message Format and Data Elements . 58
6.1 General Structure of a CPM PDU . 58
6.2 ITS PDU header . 59
6.3 Management Container . 59
6.4 Station Data Container . 60
6.4.1 Introduction. 60
6.4.2 Originating Vehicle Container . 60
6.4.3 Originating RSU Container . 61
6.5 Sensor Information Container . 62
6.6 Perceived Object Container . 65
6.7 Free Space Addendum Container . 67
6.8 CPM format and coding rules. 68
6.8.1 Common data dictionary . 68
6.8.2 CEN ISO/TS 19091 reference . 68
6.8.3 CPM data representation . 69
Annex A: ASN.1 Proposal for CP Message syntax. 70
Annex B: Description of data elements and data frames . 76
B.1 General Requirements . 76
B.2 CPM header and management container . 76
B.2.1 Introduction . 76
B.2.2 header . 76
B.2.3 cpm . 76
B.2.4 generationDeltaTime . 76
B.2.5 cpmParameters . 77
B.2.6 managementContainer . 77
B.2.7 stationType . 77
B.2.8 referencePosition . 77
B.2.9 perceivedObjectContainerSe gmentInfo . 77
B.2.10 numberOfPerceivedObjects . 77
ETSI

---------------------- Page: 4 ----------------------
5 ETSI TR 103 562 V2.1.1 (2019-12)
B.3 Station Data Container . 78
B.3.1 stationDataContainer . 78
B.3.2 originatingVehicleContainer . 78
B.3.3 heading . 78
B.3.4 speed . 78
B.3.5 vehicleOrientationAngle . 78
B.3.6 driveDirection . 79
B.3.7 longitudinalAcceleration . 79
B.3.8 lateralAcceleration. 79
B.3.9 verticalAcceleration. 79
B.3.10 yawRate . 79
B.3.11 pitchAngle . 80
B.3.12 rollAngle. 80
B.3.13 vehicleLength . 80
B.3.14 vehicleWidth . 80
B.3.15 vehicleHeight . 80
B.3.16 trailerData . 80
B.3.17 refPointId . 81
B.3.18 hitchPointOffset . 81
B.3.19 frontOverhang . 81
B.3.20 rearOverhang . 81
B.3.21 trailerWidth . 81
B.3.22 hitchAngle . 81
B.3.23 originatingRSUContainer . 82
B.3.24 intersectionReferenceId . 82
B.3.25 roadSegmentReferenceId . 82
B.4 Sensor Information Container . 82
B.4.1 sensorInformationContainer . 82
B.4.2 sensorID . 82
B.4.3 type . 82
B.4.4 detectionArea . 83
B.4.5 vehicleSensor . 83
B.4.6 refPointId (SensorInformationContainer) . 83
B.4.7 xSensorOffset . 83
B.4.8 ySensorOffset . 84
B.4.9 zSensorOffset . 84
B.4.10 vehicleSensorProperties . 84
B.4.11 range . 84
B.4.12 horizontalOpeningAngleStart . 84
B.4.13 horizontalOpeningAngleEnd . 85
B.4.14 stationaryHorizontalOpeningAngleStart . 85
B.4.15 stationaryHorizontalOpeningAngleEnd . 85
B.4.16 verticalOpeningAngleStart . 85
B.4.17 verticalOpeningAngleEnd . 85
B.4.18 stationarySensorRadial . 86
B.4.19 sensorPositionOffset . 86
B.4.20 sensorHeight . 86
B.4.21 stationarySensorPolygon . 86
B.4.22 polyPoint . 86
B.4.23 stationarySensorCircular . 86
B.4.24 nodeCenterPoint . 87
B.4.25 radius . 87
B.4.26 stationarySensorEllipse . 87
B.4.27 semiMinorRangeLength . 87
B.4.28 semiMajorRangeLength . 87
B.4.29 semiMajorRangeOrientation . 87
B.4.30 stationarySensorRectangle . 88
B.4.31 freeSpaceConfidence . 88
B.5 Perceived Object Container .
...

Questions, Comments and Discussion

Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.