Cooperative intelligent transport systems (C-ITS) — Position, velocity and time functionality in the ITS station

This document specifies a generic position, velocity and time (PVT) service. It further specifies the PVT service within the ITS station (ITS-S) facilities layer (ISO 21217) and its interface to other functionalities in an ITS-S such as: — ITS-S application processes (ITS-S-APs), defined in ISO 21217; — the generic facilities service handler (FSH) functionality of the ITS station facilities layer, defined in ISO/TS 17429. This document specifies: — a PVT service which, dependent on a specific implementation, uses a variety of positioning-related sources such as global navigation satellite systems (GNSSs, e.g. GALILEO, GLONASS and GPS), roadside infrastructure, cellular infrastructure, kinematic state sensors, vision sensors; — a PVT service which merges data from the above-mentioned positioning-related sources and provides the PVT output parameters (carrying the PVT information) including the associated quality (e.g. accuracy); — how the PVT service is integrated as an ITS-S capability of the ITS station facilities layer; — the interface function calls and responses (Service Access Point ? service primitives) between the PVT ITS-S capability and other functionalities of the ITS station architecture; — optionally, the PVT service as a capability of the ITS-S facilities layer; see ISO 24102-6; — an ASN.1 module C-itsPvt, providing ASN.1 type and value definitions (in Annex A); — an implementation conformance statement proforma (in Annex B), as a basis for assessment of conformity to this document. NOTE It is outside the scope of this document to define the associated conformance evaluation test procedures.

Systèmes de transport intelligents coopératifs (C-ITS) – Fonctionnalité de position, de vitesse et de temps dans la Station ITS

General Information

Status

Published

Publication Date

16-Sep-2020

ICS

03.220.01 - Transport in general

35.240.60 - IT applications in transport

Technical Committee

ISO/TC 204 - Intelligent transport systems

Drafting Committee

ISO/TC 204/WG 18 - Cooperative systems

Current Stage

6060 - International Standard published

Start Date

17-Sep-2020

Due Date

31-May-2020

Completion Date

17-Sep-2020

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TECHNICAL ISO/TS
SPECIFICATION 21176
First edition
2020-09
Cooperative intelligent transport
systems (C-ITS) — Position, velocity
and time functionality in the ITS station
Systèmes de transport intelligents coopératifs (STI-C) –
Fonctionnalités de position, de vitesse et de temps dans la station STI
Reference number
ISO/TS 21176:2020(E)
ISO 2020
---------------------- Page: 1 ----------------------
ISO/TS 21176:2020(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2020

be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting

on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address

below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2020 – All rights reserved
---------------------- Page: 2 ----------------------
ISO/TS 21176:2020(E)
Contents Page

Foreword ........................................................................................................................................................................................................................................iv

Introduction ..................................................................................................................................................................................................................................v

1 Scope ................................................................................................................................................................................................................................. 1

2 Normative references ...................................................................................................................................................................................... 1

3 Terms and definitions ..................................................................................................................................................................................... 2

4 Abbreviated terms .............................................................................................................................................................................................. 4

5 Conformance ............................................................................................................................................................................................................. 5

6 PVT service in the ITS station and communication architecture....................................................................... 5

6.1 ITS station and communication architecture ............................................................................................................... 5

6.2 ITS-S application processes (ITS-S-APs) ........................................................................................................................... 6

6.3 ITS-S facilities layer services ....................................................................................................................................................... 6

6.4 PVT service provided by the ITS-S facilities layer .................................................................................................... 8

6.5 Access to the PVT service............................................................................................................................................................... 8

6.6 PVT-augmented ADUs ....................................................................................................................................................................... 9

7 PVT service ................................................................................................................................................................................................................. 9

7.1 PVT service reference model ...................................................................................................................................................... 9

7.2 PVT-related input parameters ................................................................................................................................................10

7.3 PVT output parameters ................................................................................................................................................................11

7.3.1 General...................................................................................................................................................................................11

7.3.2 PvtInfoEcdd .......................................................................................................................................................................12

7.3.3 PvtInfoEcdd-PosVelocityTime ...........................................................................................................................16

7.3.4 PvtInfoEcdd-PosTime ...............................................................................................................................................16

7.3.5 PvtInfoEcdd-VelocityAccelerationTime ....................................................................................................16

7.3.6 PvtInfoEcdd-VelocityTime ....................................................................................................................................16

7.3.7 PvtInfoEcdd-SpeedTime .........................................................................................................................................16

7.3.8 PvtInfoNmeaData .........................................................................................................................................................17

8 PVT-SAP service primitives .....................................................................................................................................................................17

8.1 General ........................................................................................................................................................................................................17

8.1.1 Overview ..............................................................................................................................................................................17

8.1.2 PVTinit ...................................................................................................................................................................................18

8.1.3 Return codes .....................................................................................................................................................................18

8.2 Get-PVT .......................................................................................................................................................................................................18

8.3 Subscribe-PVT-related service primitives ....................................................................................................................19

8.3.1 Subscribe-PVT .................................................................................................................................................................19

8.3.2 Notify-PVT ..........................................................................................................................................................................20

8.3.3 Cancel-PVT .........................................................................................................................................................................20

9 PVT capability ......................................................................................................................................................................................................20

Annex A (normative) PVT data type specifications ............................................................................................................................22

Annex B (normative) Implementation conformance statement proforma ...............................................................23

Bibliography .............................................................................................................................................................................................................................27

ISO (the International Organization for Standardization) is a worldwide federation of national standards

bodies (ISO member bodies). The work of preparing International Standards is normally carried out

through ISO technical committees. Each member body interested in a subject for which a technical

committee has been established has the right to be represented on that committee. International

organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.

ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of

electrotechnical standardization.

The procedures used to develop this document and those intended for its further maintenance are

described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the

different types of ISO documents should be noted. This document was drafted in accordance with the

editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/ directives).

Attention is drawn to the possibility that some of the elements of this document may be the subject of

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expressions related to conformity assessment, as well as information about ISO's adherence to the

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iso/ foreword .html.

This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems, in

collaboration with the European Committee for Standardization (CEN) Technical Committee CEN/TC

278, Intelligent transport systems, in accordance with the Agreement on technical cooperation between

ISO and CEN (Vienna Agreement).

Any feedback or questions on this document should be directed to the user’s national standards body. A

complete listing of these bodies can be found at www .iso .org/ members .html.
iv © ISO 2020 – All rights reserved
---------------------- Page: 4 ----------------------
ISO/TS 21176:2020(E)
Introduction
Context of C-ITS

This document is part of a family of deliverables from Standard Development Organizations (SDOs)

for Cooperative Intelligent Transport Systems (C-ITS), a subset of standards for Intelligent Transport

Systems (ITS).
ITS aims at improving surface transportation in terms of:

— safety, e.g. crash avoidance, obstacle detection, emergency call, dangerous goods;

— efficiency, e.g. navigation, green wave, priority, lane access control, contextual speed limits, car

sharing;
— comfort, e.g. telematics, parking, electric vehicle charging, infotainment;
by applying information and communication technologies (ICT).

To support interoperability, C-ITS specifications are developed to exchange and share information

within a given ITS application domain, or between ITS application domains.

C-ITS services are based on the exchange of data between vehicles of any category, the roadside and

urban infrastructure (e.g. traffic lights, road tolls, variable message signs), control and services centres

(e.g. traffic control centre, map providers), and other road users (e.g. pedestrians, cyclists).

Many ITS services require the cooperation of vehicles with their surrounding environment (e.g.

other vehicles, other road users, roadside and urban infrastructure), whilst other services require

connectivity to remote service platforms (e.g. road traffic control centres, map providers, service

providers, fleet managers, equipment manufacturers).
In order to support:
— a large variety of C-ITS services with diverging requirements, and

— efficient sharing of information maintained by individual service applications,

it is necessary to combine multiple access technologies and communication protocols with distinct

performance characteristics (communication range, available bandwidth, end-to-end transmission

delay, quality of service, security, etc.).

Combining multiple access technologies and communication protocols requires a common approach

to the way communications and data are managed in a secure way. A functional architecture (the ITS

station architecture) has therefore been specified to manage security, communications and data related

to C-ITS services.

For more detail on C-ITS, see the ITS station and communication architecture specified in ISO 21217,

and the multi-part technical report CEN/TR 21186 providing guidelines on the usage of C-ITS; see also

https:// www .itsstandards .eu/ cits.
Need for position, velocity and time (PVT) information in C-ITS

Many ITS services, particularly those where vehicles or other mobile devices such as smartphones are

involved, require position, velocity and time (PVT) information. Such PVT information is needed for

various purposes. It is notably used by navigation systems, any related ITS service where position is

needed (e.g. car-sharing, taxi ride booking, fleet management), advanced driver assistance or automated

driving systems. The information transmitted between ITS stations or between components of an ITS

station can be required to be marked with position or time information (geo- or time stamping).

PVT-related information can originate from various sources, such as a global navigation satellite system

or systems (GNSSs). Accuracy and reliability can be improved by usage of serval sources, such as anti-

spoofing flags used for GNSS signal authentication, inertial measurement units (IMUs), light detection

and ranging (LIDAR)-based sensors, video camera-based sensors, digital maps and differential

correction systems. Input from the various sources needs to be properly merged and the output be

associated with a defined accuracy.

The provision of PVT information in a standardized form that can be used by all types of C-ITS services

(e.g. road safety, traffic efficiency, public transport, freight and logistics, emergency call and other

value-added services) is urgently needed, particularly in pilots and pre-deployment of C-ITS standards

in Europe (e.g. ITS Corridor, ECo-AT, SCOOP@F, C-Roads), North America (e.g. Connected Vehicle Pilot

Deployments) and Asia (e.g. Anting Project). In addition, PVT information is applicable to forthcoming

deployments of the European emergency call (eCall) service. Further, high resolution and accurate PVT

information is essential for automated driving.

High availability, precision and integrity of PVT information is essential for some C-ITS services, notably

for advanced driver assistance or automated driving (e.g. lane keeping, platooning).

A major challenge in defining and assessing the (GNSS) positioning performance, is that it is highly

influenced by the environment and the operational scenario. Research projects, standardization

activities and pilot projects are on-going to address open issues and to define a common and broadly

adopted framework, including the definition of relevant quality parameters and associated test

procedures for conformance assessment.

SaPPART, an Action under the European Cooperation in Science and Technology programme, brought

together experts in GNSSs, ITS and mobility to address the open issues. SaPPART defined a framework

[22][23][24]

for the assessment of the performances of GNSS-based positioning terminals , whose concepts

have been integrated in leading ongoing research projects (e.g. inLANE and ESCAPE).

Context of use of this document

This document aims to define a functionality providing the PVT information and the interface between

this new functionality and other existing functionalities of the ITS station so that it can be used in a

uniform, flexible and future-proof extensible way by ITS-S application processes complying with the

ITS station and communication architecture and related standards.

This document makes provision for any kind of quality parameter definitions, for example, the accuracy

levels for predefined confidence levels, associated with PVT information.

It is outside the scope of this document to define the associated conformance evaluation test procedures.

[11]

The EN 16803 series defines a framework for assessing the performance of ITS GNSS-based

terminals. It defines so-called protection levels of position and velocity (i.e. error bounds around

the estimated position and velocity provided by the positioning module), of which each is associated

with an integrity risk (i.e. probability that the actual error for a given position or velocity exceeds

[11]

the associated protection level). EN 16803-2 defines a test methodology based on replay in the

laboratory of real data sets recorded during fields tests. It may be used to assess the accuracy of the

position and velocity of the positioning terminal and underpin the confidence levels of the position and

the velocity as defined in this document.
vi © ISO 2020 – All rights reserved
---------------------- Page: 6 ----------------------
TECHNICAL SPECIFICATION ISO/TS 21176:2020(E)
Cooperative intelligent transport systems (C-ITS) —
Position, velocity and time functionality in the ITS station
1 Scope

This document specifies a generic position, velocity and time (PVT) service. It further specifies

the PVT service within the ITS station (ITS-S) facilities layer (ISO 21217) and its interface to other

functionalities in an ITS-S such as:
— ITS-S application processes (ITS-S-APs), defined in ISO 21217;

— the generic facilities service handler (FSH) functionality of the ITS station facilities layer, defined in

ISO/TS 17429.
This document specifies:

— a PVT service which, dependent on a specific implementation, uses a variety of positioning-related

sources such as global navigation satellite systems (GNSSs, e.g. GALILEO, GLONASS and GPS),

roadside infrastructure, cellular infrastructure, kinematic state sensors, vision sensors;

— a PVT service which merges data from the above-mentioned positioning-related sources and

provides the PVT output parameters (carrying the PVT information) including the associated

quality (e.g. accuracy);

— how the PVT service is integrated as an ITS-S capability of the ITS station facilities layer;

— the interface function calls and responses (Service Access Point – service primitives) between the

PVT ITS-S capability and other functionalities of the ITS station architecture;

— optionally, the PVT service as a capability of the ITS-S facilities layer; see ISO 24102-6;

— an ASN.1 module C-itsPvt, providing ASN.1 type and value definitions (in Annex A);

— an implementation conformance statement proforma (in Annex B), as a basis for assessment of

conformity to this document.

NOTE It is outside the scope of this document to define the associated conformance evaluation test

procedures.
2 Normative references

The following documents are referred to in the text in such a way that some or all of their content

constitutes requirements of this document. For dated references, only the edition cited applies. For

undated references, the latest edition of the referenced document (including any amendments) applies.

ISO/IEC 8824-1, Information technology — Abstract Syntax Notation One (ASN.1): Specification of basic

notation

ISO 17423, Intelligent transport systems — Cooperative systems — Application requirements and objectives

ISO/TS 17429, Intelligent transport systems — Cooperative ITS — ITS station facilities for the transfer of

information between ITS stations

ISO 17575-1:2016, Electronic fee collection — Application interface definition for autonomous systems —

Part 1: Charging

ISO 21217, Intelligent Transport Systems — Communications access for land mobiles (CALM — Architecture

ISO 24102-6:2018, Intelligent Transport Systems — Communications access for land mobiles (CALM) — ITS

station management — Part 6: Path and flow management

EN 16803-1, Space — Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) — Part 1:

Definitions and system engineering procedures for the establishment and assessment of performances

ETSI TS 102 894-2 V1.3.1 (2018-08), Intelligent Transport Systems (ITS) — Users and applications

requirements — Part 2: Applications and facilities layer common data dictionary

ETSI prEN 302 890-2 , Intelligent Transport Systems (ITS); Facilities Layer function Part 2: Facility

Position and Time management (POTI)
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.

ISO and IEC maintain terminological databases for use in standardization at the following addresses:

— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
3.1
acceleration
rate of change of velocity (3.19) of an object with respect to time

Note 1 to entry: Acceleration is a physical vector quantity; both magnitude and direction are needed to define it.

The unit of the scalar absolute value (magnitude) of acceleration is measured in the international system of units

as metres per second squared (m/s ).
3.2
confidence level

probability that the actual PVT information (3.15) is within the error bounds of the estimated PVT

information

Note 1 to entry: Confidence level represents the confidence that the estimated position does not exceed the error

bounds, referred to as protection level (3.13) in EN 16803-1.

Note 2 to entry: Confidence level, the term used in ETSI TS 102 894-2 V1.3.1 (2018-08), is the complementary

probability of the integrity risk (3.3) (i.e. confidence level = 1 – integrity risk).

3.3
integrity risk

probability that, for positioning terminals providing a protection level (3.13) as integrity-related

quantity, the actual error on a given output component exceeds its associated protection level

Note 1 to entry: Integrity risk is the complementary probability of the confidence level (3.2) (i.e. integrity risk =

1 – confidence level).
[SOURCE: EN 16803-1:2020, 3.2.8]
3.4
ITS-S application
ITS-S application process (3.5) residing in the ITS-S application entity
[SOURCE: ISO 21217:2014, 3.18]
1) Under preparation.
2 © ISO 2020 – All rights reserved
---------------------- Page: 8 ----------------------
ISO/TS 21176:2020(E)
3.5
ITS-S application process
ITS-S-AP

element in an ITS station that performs information processing for a particular application and uses

ITS-S services to transmit and receive information
[SOURCE: ISO 21217:2014, 3.19]
3.6
ITS-S capability

uniquely addressable protocol or functionality that is part of an ITS-S managed service entity (3.8)

Note 1 to entry: Examples of ITS-S capabilities in the ITS station facilities layer are generic ITS-S facilities

layer services specified in ISO/TS 17429 (Communication Profile Handler, Facilities Services Handler, Content

Subscription Handler), the position and time service defined in ISO/TS 21176, the security service defined in

ISO/TS 21177; examples of ITS-S capabilities in the ITS-S networking and transport layer are IPv6 functionalities

defined in ISO 21210 (IPv6 neighbour discovery, IPv6 forwarding, IPv6 mobility support, ...), the fast service

announcement protocol defined in ISO 22418, etc.
[SOURCE: ISO 24102-6:2018, 3.6]
3.7
ITS-S facilities layer protocol data unit
ITS-FPDU
protocol data unit exchanged between peer ITS-S facility layers
[SOURCE: ISO 21217:2014, 3.23]
3.8
ITS-S managed service entity
ITS-S MSE

uniquely addressable entity in an ITS-S layer comprised of a set of related ITS-S capabilities

Note 1 to entry: Examples of ITS-S managed service entities are: a communication module in the ITS-S access

technologies layer (M5, cellular, etc.), a protocol suite in the ITS-S networking and transport layer (IPv6, FNTP,

GeoNetworking, 6LoWPAN, etc.), the generic facilities MSE at the ITS-S facilities layer.

[SOURCE: ISO 24102-6:2018, 3.14]
3.9
ITS-S facilities header
header used to form an “ITS-S facilities layer protocol data unit”
[SOURCE: ISO/TS 17429:2017, 3.13]
3.10
ITS-S facilities service

ITS-S capability of the ITS-S facilities layer providing a service that may be applied to ADUs at the

request of the source ITS-S-AP

Note 1 to entry: Examples of ITS-S facilities services are “time stamping”, “geo-stamping”.

[SOURCE: ISO/TS 17429:2017, 3.14]
3.11
kinematics
motion of an object

Note 1 to entry: Kinematics does not consider the forces that cause an object to move.

3.11.1
kinematics state vector

set of parameters describing the kinematics (3.11) of an object, including its position

© ISO 2020 – All rights reserved 3
---------------------- Page: 9 ----------------------
ISO/TS 21176:2020(E)
3.12
position
terrestrial absolute geographical location

Note 1 to entry: The absolute geographical location is defined according to a global coordinate reference system,

[25] [26]

such as the World Geodetic System 84 (WGS84) or the International Terrestrial Reference System (ITRS) .

Note 2 to entry: The CEN/TR 17297 series presents a tutorial on location referencing methods, applicable location

[12]
systems and translation methods between different system .
3.13
protection level

estimation of an upper bound for the error made on a position (3.12) or velocity (3.19) component (e.g.

the plane position) associated with a given probability called integrity risk (3.3)

[SOURCE: EN 16803-1:2020, 3.2.18]
3.14
PVT capability
ITS-S capability of the ITS-S facilities layer providing the PVT service
3.15
PVT information
information related to kinematics (3.11) of an ITS-SU

Note 1 to entry: Examples of such information are position, velocity, speed or acceleration as a function of time.

3.16
PVT service
station-internal service providing PVT information (3.15)
3.17
PVT stamp

addendum of PVT information (3.15) to the ADUs, by the ITS-S facilities layer, for each FPDU of a specific

ITS-S flow

Note 1 to entry: This feature by which the ITS-S facilities layer augments ADUs by adding data to FPDUs is defined

in ISO 24102-6.
3.18
speed
rate of change of an object's position with respect to a frame of reference
Note 1 to entry: Speed is a function of time.
3.19
velocity
an object's speed (3.18) and direction of motion

Note 1 to entry: Velocity is a physical vector quantity; both magnitude and direction are needed to define it.

The scalar absolute value (magnitude) of velocity is called speed (3.18), a unit whose quantity is measured in the

international system of units as metres per second (m/s).
4 Abbreviated terms
ADU Application Data Unit (ISO 21217)
C-ITS Cooperative ITS (ISO 21217)
CPH Communication Profile Handler (ISO/TS 17429)
4 © ISO 2020 – All rights reserved
---------------------- Page: 10 ----------------------
ISO/TS 21176:2020(E)
CSH Content Subscription Handler (ISO/TS 17429)
FA-SAP Service access point between facilities and application layer (ISO 21217)
ITS-FSDU ITS Station Facility layer Service Data Unit (ISO 21217)
FSH Facilities Service Handler (ISO/TS 17429)

Galileo A Global Navigation Satellite System (GNSS) by the European Global Navigation Satellite

Systems Agency (GSA)

GLONASS Globalnaja nawigazionnaja sputnikowaja Sistema – a GNSS operated by the Russian

Federal Space Agency
GNSS Global Navigation Satellite System

GPS Global Positioning System – a GNSS operated by the Air Force of the United States of

America
LDM Local Dynamic Map (ISO 18750)
ICS Implementation Conformance Statement
ITS Intelligent Transport Systems (ISO 21217)
ITS-S MSE ITS-S Managed Service Entity (ISO/TS 17429)
ITS-S ITS Station (ISO 21217)
ITS-S-AP ITS Station Application Process (ISO 24102-6)
PVT Position, Velocity and Time
SAP Service Access Point (ISO 21217)
SBAS Satellite-Based Augmentation System
5 Conformance

To evaluate conformance of an implementation to this document, it is necessary to have an

implementation conformance statement (ICS), i.e. a statement of which capabilities and options have

been implemented. Annex B provides an ICS proforma that shall be completed by an implementer or its

representative that claims that its implementation conforms with requirements of this document.

The evaluation of an implementation for conformance to this document shall be based on the ICS and

the execution of the associated conformance evaluation test procedures.

NOTE It is outside the scope of this document to define the associated conformance evaluation test

procedures.
6 PVT s
...

TECHNICAL ISO/TS
SPECIFICATION 21176
First edition
Cooperative intelligent transport
systems (C-ITS) — Position, velocity
and time functionality in the ITS station
Systèmes de transport intelligents coopératifs (STI-C) –
Fonctionnalités de position, de vitesse et de temps dans la station STI
PROOF/ÉPREUVE
Reference number
ISO/TS 21176:2020(E)
ISO 2020
---------------------- Page: 1 ----------------------
ISO/TS 21176:2020(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2020

be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting

on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address

below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii PROOF/ÉPREUVE © ISO 2020 – All rights reserved
---------------------- Page: 2 ----------------------
ISO/TS 21176:2020(E)
Contents Page

6 PVT service in the ITS station and communication architecture....................................................................... 5

6.1 ITS station and communication architecture ............................................................................................................... 5

6.2 ITS-S application processes (ITS-S-APs) ........................................................................................................................... 6

6.3 ITS-S facilities layer services ....................................................................................................................................................... 7