ISO/TS 19091:2017
(Main)Intelligent transport systems — Cooperative ITS — Using V2I and I2V communications for applications related to signalized intersections
Intelligent transport systems — Cooperative ITS — Using V2I and I2V communications for applications related to signalized intersections
ISO/TS 19091:2017 defines the message, data structures, and data elements to support exchanges between the roadside equipment and vehicles to address applications to improve safety, mobility and environmental efficiency. In order to verify that the defined messages will satisfy these applications, a systems engineering process has been employed that traces use cases to requirements and requirements to messages and data concepts. This document consists of a single document that contains the base specification and a series of annexes. The base specification lists the derived information requirements (labelled informative) and references to other standards for message definitions where available. Annex A contains descriptions of the use cases addressed by this document. Annex B and Annex C contain traceability matrices that relate use cases to requirements and requirements to the message definitions (i.e. data frames and data elements). The next annexes list the base message requirements and application-oriented specific requirements (requirements traceability matrix) that map to the message and data concepts to be implemented. As such, an implementation consists of the base plus an additional group of extensions within this document. Details on information requirements, for other than SPaT, MAP, SSM, and SRM messages are provided in other International Standards. The focus of this document is to specify the details of the SPaT, MAP, SSM, and SRM supporting the use cases defined in this document. Adoption of these messages varies by region and their adoption may occur over a significant time period. ISO/TS 19091:2017 covers the interface between roadside equipment and vehicles. Applications, their internal algorithms, and the logical distribution of application functionality over any specific system architecture are outside the scope of this document.
Systèmes intelligents de transport — Coopérative ITS — Utilisation de communications V2I et I2V pour des applications relatives aux intersections signalées
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Standards Content (Sample)
TECHNICAL ISO/TS
SPECIFICATION 19091
First edition
2017-03
Intelligent transport systems —
Cooperative ITS — Using V2I and I2V
communications for applications
related to signalized intersections
Systèmes intelligents de transport — Coopérative ITS — Utilisation
de communications V2I et I2V pour des applications relatives aux
intersections signalées
Reference number
ISO/TS 19091:2017(E)
©
ISO 2017
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ISO/TS 19091:2017(E)
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ISO/TS 19091:2017(E)
Contents Page
Foreword .vi
Introduction .vii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 Abbreviated terms . 9
5 General description (informative) .11
5.1 Overview .11
5.2 Functional model .11
5.2.1 Description . . .11
5.2.2 Architecture .13
5.2.3 Message interactions .15
5.2.4 Common operational assumptions .15
5.3 Safety use cases .16
5.3.1 Intent .16
5.3.2 Additional assumptions .17
5.3.3 Architecture implications .17
5.4 Mobility/sustainability use cases .17
5.4.1 Intent .17
5.4.2 Additional assumptions .18
5.4.3 Architecture implications .18
5.5 Priority/pre-emption use cases .18
5.5.1 Intent .18
5.5.2 Additional assumptions .20
5.5.3 Architecture implications .20
5.5.4 Public transport signal priority application .21
5.5.5 Freight vehicle signal priority application.22
5.5.6 Emergency (public safety) vehicle pre-emption application .23
6 Function description (informative) .24
6.1 Public safety vehicle .24
6.1.1 Broadcast public safety vehicle information .24
6.1.2 Broadcast emergency response indication .24
6.2 Signal pre-emption .24
6.2.1 Signal pre-empt request (normal power) .25
6.2.2 Signal pre-empt request (high power) .25
6.2.3 Request signal pre-empt — Message identifier .25
6.2.4 Request signal pre-empt — Intersection identifier .25
6.2.5 Request signal pre-empt — Approach lane .25
6.2.6 Request signal pre-empt — Egress lane .26
6.2.7 Request signal pre-empt — Vehicle class .26
6.2.8 Request signal pre-empt — Time of service .26
6.2.9 Request signal pre-empt — Vehicle identity .26
6.2.10 Request signal pre-empt — Vehicle location and speed.26
6.2.11 Request signal pre-empt — Cancellation .26
6.2.12 Request signal pre-empt — Transaction identifier .27
6.2.13 Request signal pre-empt — Duration .27
6.3 Public transport and commercial vehicle .27
6.3.1 Broadcast priority requesting vehicle information .27
6.4 Signal priority requirements .27
6.4.1 Signal priority request .27
6.4.2 Request signal priority — Message identifier .27
6.4.3 Request signal priority — Intersection identifier .28
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ISO/TS 19091:2017(E)
6.4.4 Request signal priority — Approach lane .28
6.4.5 Request signal priority — Egress lane .28
6.4.6 Request signal priority — Vehicle class .28
6.4.7 Request signal priority — Time of service .28
6.4.8 Request signal priority — Vehicle identity .28
6.4.9 Request signal priority — Vehicle location and speed.29
6.4.10 Request signal priority — Service information .29
6.4.11 Request signal priority cancellation .29
6.4.12 Request signal priority — Priority request level .29
6.4.13 Request signal priority — Transaction identifier .29
6.4.14 Request signal priority — Duration .29
6.4.15 Request signal priority — Transit schedule .29
6.5 Broadcast area’s geometrics.30
6.5.1 Broadcast roadway geometrics .30
6.5.2 Broadcast roadway geometrics — Message identifier .30
6.5.3 Broadcast intersection — Identifier .30
6.5.4 Broadcast intersection — Reference point .30
6.5.5 Broadcast intersection — Lane/approach default width .30
6.5.6 Broadcast intersection — Egress lanes/approach .30
6.5.7 Broadcast intersection — Ingress lanes/approach .31
6.5.8 Broadcast intersection — Lane/approach number.31
6.5.9 Broadcast intersection — Lane/approach centerline coordinates .31
6.5.10 Broadcast intersection — Vehicle lane/approach manoeuvres.31
6.5.11 Broadcast intersection — Pedestrian crossing lane/approach manoeuvres .32
6.5.12 Broadcast intersection — Special lane/approach manoeuvres .32
6.5.13 Broadcast intersection — Version identifier .32
6.5.14 Broadcast intersection — Crossings .32
6.5.15 Broadcast intersection — Lane/approach width .33
6.5.16 Broadcast intersection — Node lane/approach width .33
6.5.17 Broadcast intersection — Egress connection .33
6.5.18 Broadcast intersection — Traffic control .33
6.5.19 Broadcast intersection — Traffic control by lane/approach .33
6.5.20 Broadcast road conditions .33
6.5.21 Broadcast intersection — Signal group .34
6.6 Broadcast GNSS augmentation details .34
6.6.1 Broadcast GNSS augmentations .34
6.6.2 Broadcast GNSS augmentation detail — NMEA .34
6.6.3 Broadcast GNSS augmentation detail — RTCM.34
6.7 Signalized intersection requirements .34
6.7.1 Broadcast signal phase and timing information .34
6.7.2 Broadcast signal phase and timing — Message identifier .35
6.7.3 Broadcast signal phase and timing — Intersection identifier .35
6.7.4 Broadcast signal phase and timing — Intersection status .35
6.7.5 Broadcast signal phase and timing — Timestamp .35
6.7.6 Broadcast manoeuvre — Signal group .35
6.7.7 Broadcast manoeuvre — Manoeuvre state .35
6.7.8 Broadcast manoeuvre — Vehicular state .35
6.7.9 Broadcast manoeuvre — Pedestrian state .35
6.7.10 Broadcast manoeuvre — Special state .36
6.7.11 Broadcast manoeuvre — Time of change — Minimum .36
6.7.12 Broadcast manoeuvre — Time of change — Maximum .36
6.7.13 Broadcast manoeuvre — Succeeding signal indications .36
6.7.14 Broadcast manoeuvre — Succeeding signal indication time of change .37
6.7.15 Broadcast manoeuvre pending manoeuvre start time .37
6.7.16 Broadcast manoeuvre — Pedestrian detect .37
6.7.17 Broadcast manoeuvre — Pedestrian call .37
6.7.18 Broadcast manoeuvre — Optimal speed information .38
6.7.19 Broadcast manoeuvre — Signal progression information .38
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6.7.20 Broadcast manoeuvre — Egress lane queue .38
6.7.21 Broadcast manoeuvre — Egress lane storage availability .38
6.7.22 Broadcast manoeuvre — Wait indication .38
6.8 Broadcast cross traffic sensor information .38
6.9 Broadcast vulnerable road user sensor information .38
6.10 Broadcast dilemma zone violation warning .38
6.11 Broadcast signal preferential treatment status .38
6.11.1 Broadcast preferential treatment — Signal status message .39
6.11.2 Broadcast preferential treatment — Message identifier .39
6.11.3 Broadcast preferential treatment — Intersection identifier .39
6.11.4 Broadcast preferential treatment — Intersection status .39
6.11.5 Broadcast preferential treatment — Prioritization request status .39
6.11.6 Broadcast preferential treatment — Vehicle source.39
6.11.7 Broadcast preferential treatment — Transaction identifier .40
6.12 Message identifier .40
6.13 System performance requirements .40
6.13.1 Broadcast intersection — Computed lane/approach .40
6.14 Transmission rates — Signal preferential treatment .40
6.14.1 Maximum transmission rate — Request signal preferential treatment .40
6.14.2 Maximum response time — Request signal preferential treatment .40
6.14.3 Minimum transmission rate — Signal status message .40
6.14.4 Minimum transmission period — Signal status message .41
6.15 Transmission rate requirements — Broadcast roadway geometrics information .41
6.15.1 Minimum transmission rate — Broadcast roadway geometrics information .41
6.15.2 Maximum transmission rate — Broadcast roadway geometrics information .41
6.15.3 Default transmission rate — Broadcast roadway geometrics information .41
6.16 Transmission rate requirements — GNSS augmentations detail broadcasts .41
6.16.1 Minimum transmission rate — GNSS augmentation details broadcasts .41
6.16.2 Default transmission rate — GNSS augmentation details broadcasts .41
6.17 Transmission rate requirements — Broadcast signal phase and timing information .41
6.17.1 Minimum transmission rate — Broadcast signal phase and timing information 42
6.17.2 Maximum transmission rate — Broadcast signal phase and timing information 42
6.17.3 Default transmission rate — Broadcast signal phase and timing information .42
6.18 Transmission rate requirements — Broadcast cross traffic sensor information .42
6.18.1 Minimum transmission rate — Broadcast cross traffic sensor information .42
6.18.2 Maximum transmission rate — Broadcast cross traffic sensor information .42
6.18.3 Default transmission rate — Broadcast cross traffic sensor information .42
6.19 Transmission rate requirements — Broadcast vulnerable road user sensor information 42
6.19.1 Transmission rate — Broadcast vulnerable road user sensor information .42
6.19.2 Maximum transmission rate — Broadcast vulnerable road user
sensor information.43
6.19.3 Default transmission rate — Broadcast vulnerable road user
sensor information.43
7 Messages .43
8 Conformance .43
Annex A (informative) Use cases.44
Annex B (informative) Use case to requirements traceability .102
Annex C (informative) Requirements traceability matrix .119
Annex D (normative) Extension procedures .133
Annex E (normative) Profile A for J2735™.134
Annex F (normative) Profile B for J2735™ .138
Annex G (normative) Profile C for J2735™ .162
Bibliography .211
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ISO/TS 19091:2017(E)
Foreword
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
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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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The committee responsible for this document is ISO/TC 204, Intelligent transport systems.
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ISO/TS 19091:2017(E)
Introduction
Cooperative-ITS (C-ITS) is a promising and remarkable advancement of intelligent transport systems
(ITS). Numerous cooperative applications are specified that open up new possibilities to make traffic
safer, more efficient, and smarter. Technologies are developed and improved to realize and support
those new services and applications. To enable those applications, information needs to be reliably
communicated between the stationary infrastructure and mobile vehicles.
This document describes the use cases for several applications that address safety, mobility, and
ecological sustainability. Each use case has information needs that communication between vehicles
and the infrastructure facilitate. It then identifies the information needs for the applications and the
requirements to satisfy them. In turn, it maps the requirements into data frames and data elements to
fulfil the requirements within the specified message set.
ISO 22951 has a relationship to this document. PRESTO addresses its user needs through the
implementation of a specific system architecture similar to that described in NTCIP 1211. This
architecture includes traffic signals, message signs, routing systems, human machine interfaces,
and fixed detection locations. Many of PRESTO’s data value details are “left undefined to allow for
discretional definition by each country.” The PRESTO architecture detects priority requesting vehicles
by installing specific detection equipment at these locations.
This document uses a similar set of user needs to develop the message set between vehicles and the
roadside equipment they interface. This document does not address the system architecture other than
data needed to fulfil the user needs that will be managed elsewhere in the architecture. It details data
values and structures in order to define the interface between these two devices. Routing information
is supported in the architecture through other mechanisms and is not a need supported by the vehicle
to roadside equipment information flows. The user needs also provide for priority by approach,
a preconfigured strategy, and ingress/egress lane requests. This document is based on vehicles
periodically broadcasting their location and trajectory information to other vehicles and the roadside
infrastructure. This document compliments ISO 22951 as it provides for vehicle location and request
information directly from connected vehicles rather than the detection of the vehicles from other fixed
sensing equipment. It does not address the architecture data flows and operations that are detailed
within ISO 2
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