SIST EN 302 637-2 V1.3.2:2015
(Main)Intelligent Transport Systems (ITS) - Vehicular Communications - Basic Set of Applications - Part 2: Specification of Cooperative Awareness Basic Service
Intelligent Transport Systems (ITS) - Vehicular Communications - Basic Set of Applications - Part 2: Specification of Cooperative Awareness Basic Service
The present document provides the specifications of the Cooperative Awareness basic service (CA basic service), which
is in support of the BSA road safety application.
This includes definition of the syntax and semantics of the Cooperative Awareness Message (CAM) and detailed
specifications on the message handling.
Inteligentni transportni sistemi - Komunikacija med vozili - Osnovni nabor aplikacij - 2. del: Specifikacija osnovne storitve kooperativne izmenjave podatkov o vozilih
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2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.Inteligentni transportni sistemi - Komunikacija med vozili - Osnovni nabor aplikacij - 2. del: Specifikacija osnovne storitve kooperativne izmenjave podatkov o vozilihIntelligent Transport Systems (ITS) - Vehicular Communications - Basic Set of Applications - Part 2: Specification of Cooperative Awareness Basic Service35.240.60Uporabniške rešitve IT v transportu in trgoviniIT applications in transport and tradeICS:Ta slovenski standard je istoveten z:EN 302 637-2 V1.3.2SIST EN 302 637-2 V1.3.2:2015en01-julij-2015SIST EN 302 637-2 V1.3.2:2015SLOVENSKI
STANDARD
SIST EN 302 637-2 V1.3.2:2015
ETSI EN 302 637-2 V1.3.2 (2014-11) Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic Service
EUROPEAN STANDARD SIST EN 302 637-2 V1.3.2:2015
ETSI ETSI EN 302 637-2 V1.3.2 (2014-11) 2
Reference REN/ITS-0010019 Keywords application, ITS, safety, service, transport 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 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 only prevailing document is the print of the Portable Document Format (PDF) version kept on a specific network drive within ETSI Secretariat. 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 http://portal.etsi.org/tb/status/status.asp If you find errors in the present document, please send your comment to one of the following services: http://portal.etsi.org/chaircor/ETSI_support.asp 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.
© European Telecommunications Standards Institute 2014. All rights reserved.
DECTTM, PLUGTESTSTM, UMTSTM and the ETSI logo are Trade Marks of ETSI registered for the benefit of its Members. 3GPPTM and LTE™ are Trade Marks of ETSI registered for the benefit of its Members and of the 3GPP Organizational Partners. GSM® and the GSM logo are Trade Marks registered and owned by the GSM Association. SIST EN 302 637-2 V1.3.2:2015
ETSI ETSI EN 302 637-2 V1.3.2 (2014-11) 3 Contents Intellectual Property Rights . 6 Foreword . 6 Modal verbs terminology . 6 Introduction . 7 1 Scope . 8 2 References . 8 2.1 Normative references . 8 2.2 Informative references . 8 3 Definitions, symbols and abbreviations . 9 3.1 Definitions . 9 3.2 Symbols . 10 3.3 Abbreviations . 10 4 CA basic service introduction . 11 4.1 Background . 11 4.2 Services provided by CA basic service . 11 4.3 Sending CAMs . 11 4.4 Receiving CAMs . 11 5 CA basic service functional description . 12 5.1 CA basic service in the ITS architecture . 12 5.2 CA basic service functional architecture . 12 5.3 Interfaces of the CA basic service . 13 5.3.1 Interface to ITS applications . 13 5.3.2 Interface to data provisioning facilities . 14 5.3.3 Interface to the Networking & Transport Layer . 14 5.3.4 Interfaces protocol stacks of the Networking & Transport Layer . 14 5.3.4.1 Interface to the GeoNetworking/BTP stack . 14 5.3.4.2 Interface to the IPv6 stack and the combined IPv6/GeoNetworking stack . 16 5.3.5 Interface to the Management entity . 16 5.3.6 Interface to the Security entity . 16 6 CAM dissemination . 16 6.1 CAM dissemination concept . 16 6.1.1 CAM dissemination requirements . 16 6.1.2 CA basic service activation and termination . 16 6.1.3 CAM generation frequency management for vehicle ITS-Ss . 17 6.1.4 CAM generation frequency management for RSU ITS-Ss . 18 6.1.5 CAM time requirement . 18 6.1.5.1 CAM generation time . 18 6.1.5.2 CAM Time stamp . 18 6.2 CAM dissemination constraints . 18 6.2.1 General Confidence Constraints . 18 6.2.2 Security constraints . 19 6.2.2.1 Introduction . 19 6.2.2.2 Service Specific Permissions (SSP) . 19 6.2.3 General priority constraints. 20 7 CAM Format Specification . 20 7.1 General Structure of a CAM PDU . 20 7.2 ITS PDU header . 21 7.3 Basic container . 21 7.4 Vehicle ITS-S containers . 21 7.5 RSU ITS-S containers . 22 7.6 CAM format and coding rules . 22 SIST EN 302 637-2 V1.3.2:2015
ETSI ETSI EN 302 637-2 V1.3.2 (2014-11) 4 7.6.1 Common data dictionary . 22 7.6.2 CAM data presentation . 22 Annex A (normative): ASN.1 specification of CAM . 23 Annex B (normative): Description for data elements and data frames. 25 B.0 General requirements . 25 B.1 header . 25 B.2 cam . 25 B.3 generationDeltaTime . 25 B.4 camParameters . 26 B.5 basicContainer . 26 B.6 highFrequencyContainer . 26 B.7 lowFrequencyContainer . 26 B.8 specialVehicleContainer . 26 B.9 basicVehicleContainerHighFrequency . 26 B.10 basicVehicleContainerLowFrequency . 27 B.11 publicTransportContainer . 27 B.12 specialTransportContainer . 27 B.13 dangerousGoodsContainer . 27 B.14 roadWorksContainerBasic . 27 B.15 rescueContainer . 27 B.16 emergencyContainer . 28 B.17 safetyCarContainer . 28 B.18 stationType . 28 B.19 referencePosition . 28 B.20 performanceClass . 28 B.21 heading . 29 B.22 speed . 29 B.23 vehicleRole . 29 B.24 lanePosition . 29 B.25 driveDirection . 29 B.26 longitudinalAcceleration . 30 B.27 accelerationControl . 30 B.28 lateralAcceleration. 30 B.29 verticalAcceleration. 30 B.30 embarkationStatus . 30 B.31 curvature . 31 B.32 curvatureCalculationMode . 31 B.33 yawRate . 31 SIST EN 302 637-2 V1.3.2:2015
ETSI ETSI EN 302 637-2 V1.3.2 (2014-11) 5 B.34 steeringWheelAngle . 31 B.35 vehicleLength . 32 B.36 vehicleWidth . 32 B.37 exteriorLights . 32 B.38 pathHistory . 32 B.39 ptActivation . 32 B.40 specialTransportType . 33 B.41 dangerousGoodsBasic . 33 B.42 roadworksSubCauseCode . 33 B.43 closedLanes . 33 B.44 trafficRule . 33 B.45 speedLimit . 34 B.46 lightBarSirenInUse . 34 B.47 incidentIndication . 34 B.48 emergencyPriority . 34 B.49 rsuContainerHighFrequency . 34 B.50 protectedCommunicationZoneRSU . 35 B.51 cenDsrcTollingZone . 35 B.52 protectedZoneLatitude. 35 B.53 protectedZoneLongitude . 35 Annex C (informative): Protocol operation of the CA basic service . 36 C.1 Introduction . 36 C.2 Originating ITS-S operation . 36 C.2.1 Protocol data setting rules . 36 C.2.2 T_CheckCamGen . 36 C.2.3 Originating ITS-S message table . 36 C.2.4 General protocol operation . 37 C.2.5 CAM construction exception . 37 C.3 Receiving ITS-S operation . 37 C.3.1 Protocol data setting rules . 37 C.3.2 General protocol operation . 37 C.3.3 Exception handling . 38 C.3.3.1 CAM decoding exception . 38 Annex D (informative): Flow chart for CAM generation frequency management . 39 Annex E (informative): Extended CAM generation . 43 History . 44
SIST EN 302 637-2 V1.3.2:2015
ETSI ETSI EN 302 637-2 V1.3.2 (2014-11) 6 Intellectual Property Rights IPRs essential or potentially essential to the present document may have been declared to ETSI. The information pertaining to these essential IPRs, if any, is publicly available for ETSI members and non-members, and can be found in ETSI SR 000 314: "Intellectual Property Rights (IPRs); Essential, or potentially Essential, IPRs notified to ETSI in respect of ETSI standards", which is available from the ETSI Secretariat. Latest updates are available on the ETSI Web server (http://ipr.etsi.org). Pursuant to the ETSI IPR Policy, no investigation, including IPR searches, has been carried out by ETSI. No guarantee can be given as to the existence of other IPRs not referenced in ETSI SR 000 314 (or the updates on the ETSI Web server) which are, or may be, or may become, essential to the present document. Foreword This European Standard (EN) has been produced by ETSI Technical Committee Intelligent Transport Systems (ITS). The present document is part 2 of a multi-part deliverable covering Vehicular Communications; Basic Set of Applications, as identified below: TS 102 637-1: "Functional Requirements"; EN 302 637-2: "Specification of Cooperative Awareness Basic Service"; EN 302 637-3: "Specifications of Decentralized Environmental Notification Basic Service". The specification of the CA basic service was initially developed by the European Car-to-Car Communication Consortium, see Car2Car Communication Consortium Manifesto [i.2]. The service was evaluated by several initiatives such as the C2C-CC demonstration in 2008, ETSI Plugtests events and European projects including PRE-DRIVE C2X, DRIVE C2X, SafeSpot, CVIS, CoVeL, eCoMove, SCOR@F and simTD. These evaluation efforts have provided feedback to ETSI TC ITS.
The present document replaces ETSI TS 102 637-2 in whole. It includes improvements and enhancements of the CA basic service specifications in ETSI TS 102 637-2 according to the feedback provided by the various initiatives.
National transposition dates Date of adoption of this EN: 18 November 2014 Date of latest announcement of this EN (doa): 28 February 2015 Date of latest publication of new National Standard or endorsement of this EN (dop/e):
31 August 2015 Date of withdrawal of any conflicting National Standard (dow): 31 August 2016
Modal verbs terminology In the present document "shall", "shall not", "should", "should not", "may", "may not", "need", "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. SIST EN 302 637-2 V1.3.2:2015
ETSI ETSI EN 302 637-2 V1.3.2 (2014-11) 7 Introduction Cooperative awareness within road traffic means that road users and roadside infrastructure are informed about each other's position, dynamics and attributes. Road users are all kind of road vehicles like cars, trucks, motorcycles, bicycles or even pedestrians and roadside infrastructure equipment including road signs, traffic lights or barriers and gates. The awareness of each other is the basis for several road safety and traffic efficiency applications with many use cases as described in ETSI TR 102 638 [i.1]. It is achieved by regular exchange of information among vehicles (V2V, in general all kind of road users) and between vehicles and road side infrastructure (V2I and I2V) based on wireless networks, called V2X network and as such is part of Intelligent Transport Systems (ITS). The information to be exchanged for cooperative awareness is packed up in the periodically transmitted Cooperative Awareness Message (CAM). The construction, management and processing of CAMs is done by the Cooperative Awareness basic service (CA basic service), which is part of the facilities layer within the ITS communication architecture ETSI EN 302 665 [1] supporting several ITS applications. The CA basic service is a mandatory facility for all kind of ITS-Stations (ITS-S), which take part in the road traffic (vehicle ITS-S, personal ITS-S, etc.). The present document focuses on the specifications for CAMs transmitted by all vehicle ITS-Ss participating in the V2X network. Nevertheless, the present document defines the CAM format with flexibility in order to be easily extendable for the support of other types of ITS-Ss or future ITS applications. The requirements on the performance of the CA basic service, the content of the CAM and the quality of its data elements are derived from the Basic Set of Applications (BSA) as defined in ETSI TR 102 638 [i.1] and in particular from the road safety applications as defined in ETSI TS 101 539-1 [i.8], ETSI TS 101 539-2 [i.9], and ETSI TS 101 539-3 [i.10]. SIST EN 302 637-2 V1.3.2:2015
ETSI ETSI EN 302 637-2 V1.3.2 (2014-11) 8 1 Scope The present document provides the specifications of the Cooperative Awareness basic service (CA basic service), which is in support of the BSA road safety application. This includes definition of the syntax and semantics of the Cooperative Awareness Message (CAM) and detailed specifications on the message handling. 2 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 reference document (including any amendments) applies. Referenced documents which are not found to be publicly available in the expected location might be found at http://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. 2.1 Normative references The following referenced documents are necessary for the application of the present document. [1] ETSI EN 302 665 (V1.1.1): "Intelligent Transport Systems (ITS); Communications Architecture". [2] ETSI TS 102 894-2 (V1.2.1): "Intelligent Transport Systems (ITS); Users and applications requirements; Part 2: Applications and facilities layer common data dictionary". [3] SAE J2735 (2009-11-19): "Dedicated Short Range Communications (DSRC) Message Set Dictionary". NOTE: Available at http://standards.sae.org/j2735_200911/. [4] Recommendation ITU-T X.691/ISO/IEC 8825-2 (1997-12): "Information technology - ASN.1 encoding rules: Specification of Packed Encoding Rules (PER)". [5] ETSI EN 302 663 (V1.2.1): "Intelligent Transport Systems (ITS); Access layer specification for Intelligent Transport Systems operating in the 5 GHz frequency band". 2.2 Informative references 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 102 638 (V1.1.1) (2009-06): "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Definitions". [i.2] Car2Car Communication Consortium (2007-08): "Car2Car Communication Consortium Manifesto", Version 1.1. NOTE: Available at http://www.car-to-car.org/. [i.3] ETSI TR 102 863 (V1.1.1) (2011-06): "Intelligent Transport Systems
...
ETSI EN 302 637-2 V1.3.2 (2014-11)
EUROPEAN STANDARD
Intelligent Transport Systems (ITS);
Vehicular Communications;
Basic Set of Applications;
Part 2: Specification of Cooperative
Awareness Basic Service
---------------------- Page: 1 ----------------------
2 ETSI EN 302 637-2 V1.3.2 (2014-11)
Reference
REN/ITS-0010019
Keywords
application, ITS, safety, service, transport
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
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 only prevailing document is the
print of the Portable Document Format (PDF) version kept on a specific network drive within ETSI Secretariat.
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
http://portal.etsi.org/tb/status/status.asp
If you find errors in the present document, please send your comment to one of the following services:
http://portal.etsi.org/chaircor/ETSI_support.asp
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.
© European Telecommunications Standards Institute 2014.
All rights reserved.
TM TM TM
DECT , PLUGTESTS , UMTS and the ETSI logo are Trade Marks of ETSI registered for the benefit of its Members.
TM
3GPP and LTE™ are Trade Marks of ETSI registered for the benefit of its Members and
of the 3GPP Organizational Partners.
GSM® and the GSM logo are Trade Marks registered and owned by the GSM Association.
ETSI
---------------------- Page: 2 ----------------------
3 ETSI EN 302 637-2 V1.3.2 (2014-11)
Contents
Intellectual Property Rights . 6
Foreword . 6
Modal verbs terminology . 6
Introduction . 7
1 Scope . 8
2 References . 8
2.1 Normative references . 8
2.2 Informative references . 8
3 Definitions, symbols and abbreviations . 9
3.1 Definitions . 9
3.2 Symbols . 10
3.3 Abbreviations . 10
4 CA basic service introduction . 11
4.1 Background . 11
4.2 Services provided by CA basic service . 11
4.3 Sending CAMs . 11
4.4 Receiving CAMs . 11
5 CA basic service functional description . 12
5.1 CA basic service in the ITS architecture . 12
5.2 CA basic service functional architecture . 12
5.3 Interfaces of the CA basic service . 13
5.3.1 Interface to ITS applications . 13
5.3.2 Interface to data provisioning facilities . 14
5.3.3 Interface to the Networking & Transport Layer . 14
5.3.4 Interfaces protocol stacks of the Networking & Transport Layer . 14
5.3.4.1 Interface to the GeoNetworking/BTP stack . 14
5.3.4.2 Interface to the IPv6 stack and the combined IPv6/GeoNetworking stack . 16
5.3.5 Interface to the Management entity . 16
5.3.6 Interface to the Security entity . 16
6 CAM dissemination . 16
6.1 CAM dissemination concept . 16
6.1.1 CAM dissemination requirements . 16
6.1.2 CA basic service activation and termination . 16
6.1.3 CAM generation frequency management for vehicle ITS-Ss . 17
6.1.4 CAM generation frequency management for RSU ITS-Ss . 18
6.1.5 CAM time requirement . 18
6.1.5.1 CAM generation time . 18
6.1.5.2 CAM Time stamp . 18
6.2 CAM dissemination constraints . 18
6.2.1 General Confidence Constraints . 18
6.2.2 Security constraints . 19
6.2.2.1 Introduction . 19
6.2.2.2 Service Specific Permissions (SSP) . 19
6.2.3 General priority constraints. 20
7 CAM Format Specification . 20
7.1 General Structure of a CAM PDU . 20
7.2 ITS PDU header . 21
7.3 Basic container . 21
7.4 Vehicle ITS-S containers . 21
7.5 RSU ITS-S containers . 22
7.6 CAM format and coding rules . 22
ETSI
---------------------- Page: 3 ----------------------
4 ETSI EN 302 637-2 V1.3.2 (2014-11)
7.6.1 Common data dictionary . 22
7.6.2 CAM data presentation . 22
Annex A (normative): ASN.1 specification of CAM . 23
Annex B (normative): Description for data elements and data frames. 25
B.0 General requirements . 25
B.1 header . 25
B.2 cam . 25
B.3 generationDeltaTime . 25
B.4 camParameters . 26
B.5 basicContainer . 26
B.6 highFrequencyContainer . 26
B.7 lowFrequencyContainer . 26
B.8 specialVehicleContainer . 26
B.9 basicVehicleContainerHighFrequency . 26
B.10 basicVehicleContainerLowFrequency . 27
B.11 publicTransportContainer . 27
B.12 specialTransportContainer . 27
B.13 dangerousGoodsContainer . 27
B.14 roadWorksContainerBasic . 27
B.15 rescueContainer . 27
B.16 emergencyContainer . 28
B.17 safetyCarContainer . 28
B.18 stationType . 28
B.19 referencePosition . 28
B.20 performanceClass . 28
B.21 heading . 29
B.22 speed . 29
B.23 vehicleRole . 29
B.24 lanePosition . 29
B.25 driveDirection . 29
B.26 longitudinalAcceleration . 30
B.27 accelerationControl . 30
B.28 lateralAcceleration. 30
B.29 verticalAcceleration. 30
B.30 embarkationStatus . 30
B.31 curvature . 31
B.32 curvatureCalculationMode . 31
B.33 yawRate . 31
ETSI
---------------------- Page: 4 ----------------------
5 ETSI EN 302 637-2 V1.3.2 (2014-11)
B.34 steeringWheelAngle . 31
B.35 vehicleLength . 32
B.36 vehicleWidth . 32
B.37 exteriorLights . 32
B.38 pathHistory . 32
B.39 ptActivation . 32
B.40 specialTransportType . 33
B.41 dangerousGoodsBasic . 33
B.42 roadworksSubCauseCode . 33
B.43 closedLanes . 33
B.44 trafficRule . 33
B.45 speedLimit . 34
B.46 lightBarSirenInUse . 34
B.47 incidentIndication . 34
B.48 emergencyPriority . 34
B.49 rsuContainerHighFrequency . 34
B.50 protectedCommunicationZoneRSU . 35
B.51 cenDsrcTollingZone . 35
B.52 protectedZoneLatitude. 35
B.53 protectedZoneLongitude . 35
Annex C (informative): Protocol operation of the CA basic service . 36
C.1 Introduction . 36
C.2 Originating ITS-S operation . 36
C.2.1 Protocol data setting rules . 36
C.2.2 T_CheckCamGen . 36
C.2.3 Originating ITS-S message table . 36
C.2.4 General protocol operation . 37
C.2.5 CAM construction exception . 37
C.3 Receiving ITS-S operation . 37
C.3.1 Protocol data setting rules . 37
C.3.2 General protocol operation . 37
C.3.3 Exception handling . 38
C.3.3.1 CAM decoding exception . 38
Annex D (informative): Flow chart for CAM generation frequency management . 39
Annex E (informative): Extended CAM generation . 43
History . 44
ETSI
---------------------- Page: 5 ----------------------
6 ETSI EN 302 637-2 V1.3.2 (2014-11)
Intellectual Property Rights
IPRs essential or potentially essential to the present document may have been declared to ETSI. The information
pertaining to these essential IPRs, if any, is publicly available for ETSI members and non-members, and can be found
in ETSI SR 000 314: "Intellectual Property Rights (IPRs); Essential, or potentially Essential, IPRs notified to ETSI in
respect of ETSI standards", which is available from the ETSI Secretariat. Latest updates are available on the ETSI Web
server (http://ipr.etsi.org).
Pursuant to the ETSI IPR Policy, no investigation, including IPR searches, has been carried out by ETSI. No guarantee
can be given as to the existence of other IPRs not referenced in ETSI SR 000 314 (or the updates on the ETSI Web
server) which are, or may be, or may become, essential to the present document.
Foreword
This European Standard (EN) has been produced by ETSI Technical Committee Intelligent Transport Systems (ITS).
The present document is part 2 of a multi-part deliverable covering Vehicular Communications; Basic Set of
Applications, as identified below:
TS 102 637-1: "Functional Requirements";
EN 302 637-2: "Specification of Cooperative Awareness Basic Service";
EN 302 637-3: "Specifications of Decentralized Environmental Notification Basic Service".
The specification of the CA basic service was initially developed by the European Car-to-Car Communication
Consortium, see Car2Car Communication Consortium Manifesto [i.2]. The service was evaluated by several initiatives
such as the C2C-CC demonstration in 2008, ETSI Plugtests events and European projects including PRE-DRIVE C2X,
DRIVE C2X, SafeSpot, CVIS, CoVeL, eCoMove, SCOR@F and simTD. These evaluation efforts have provided
feedback to ETSI TC ITS.
The present document replaces ETSI TS 102 637-2 in whole. It includes improvements and enhancements of the CA
basic service specifications in ETSI TS 102 637-2 according to the feedback provided by the various initiatives.
National transposition dates
Date of adoption of this EN: 18 November 2014
Date of latest announcement of this EN (doa): 28 February 2015
Date of latest publication of new National Standard
or endorsement of this EN (dop/e): 31 August 2015
Date of withdrawal of any conflicting National Standard (dow): 31 August 2016
Modal verbs terminology
In the present document "shall", "shall not", "should", "should not", "may", "may not", "need", "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.
ETSI
---------------------- Page: 6 ----------------------
7 ETSI EN 302 637-2 V1.3.2 (2014-11)
Introduction
Cooperative awareness within road traffic means that road users and roadside infrastructure are informed about each
other's position, dynamics and attributes. Road users are all kind of road vehicles like cars, trucks, motorcycles, bicycles
or even pedestrians and roadside infrastructure equipment including road signs, traffic lights or barriers and gates. The
awareness of each other is the basis for several road safety and traffic efficiency applications with many use cases as
described in ETSI TR 102 638 [i.1]. It is achieved by regular exchange of information among vehicles (V2V, in general
all kind of road users) and between vehicles and road side infrastructure (V2I and I2V) based on wireless networks,
called V2X network and as such is part of Intelligent Transport Systems (ITS).
The information to be exchanged for cooperative awareness is packed up in the periodically transmitted Cooperative
Awareness Message (CAM). The construction, management and processing of CAMs is done by the Cooperative
Awareness basic service (CA basic service), which is part of the facilities layer within the ITS communication
architecture ETSI EN 302 665 [1] supporting several ITS applications.
The CA basic service is a mandatory facility for all kind of ITS-Stations (ITS-S), which take part in the road traffic
(vehicle ITS-S, personal ITS-S, etc.). The present document focuses on the specifications for CAMs transmitted by all
vehicle ITS-Ss participating in the V2X network. Nevertheless, the present document defines the CAM format with
flexibility in order to be easily extendable for the support of other types of ITS-Ss or future ITS applications.
The requirements on the performance of the CA basic service, the content of the CAM and the quality of its data
elements are derived from the Basic Set of Applications (BSA) as defined in ETSI TR 102 638 [i.1] and in particular
from the road safety applications as defined in ETSI TS 101 539-1 [i.8], ETSI TS 101 539-2 [i.9], and ETSI
TS 101 539-3 [i.10].
ETSI
---------------------- Page: 7 ----------------------
8 ETSI EN 302 637-2 V1.3.2 (2014-11)
1 Scope
The present document provides the specifications of the Cooperative Awareness basic service (CA basic service), which
is in support of the BSA road safety application.
This includes definition of the syntax and semantics of the Cooperative Awareness Message (CAM) and detailed
specifications on the message handling.
2 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
reference document (including any amendments) applies.
Referenced documents which are not found to be publicly available in the expected location might be found at
http://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.
2.1 Normative references
The following referenced documents are necessary for the application of the present document.
[1] ETSI EN 302 665 (V1.1.1): "Intelligent Transport Systems (ITS); Communications Architecture".
[2] ETSI TS 102 894-2 (V1.2.1): "Intelligent Transport Systems (ITS); Users and applications
requirements; Part 2: Applications and facilities layer common data dictionary".
[3] SAE J2735 (2009-11-19): "Dedicated Short Range Communications (DSRC) Message Set
Dictionary".
NOTE: Available at http://standards.sae.org/j2735_200911/.
[4] Recommendation ITU-T X.691/ISO/IEC 8825-2 (1997-12): "Information technology - ASN.1
encoding rules: Specification of Packed Encoding Rules (PER)".
[5] ETSI EN 302 663 (V1.2.1): "Intelligent Transport Systems (ITS); Access layer specification for
Intelligent Transport Systems operating in the 5 GHz frequency band".
2.2 Informative references
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 102 638 (V1.1.1) (2009-06): "Intelligent Transport Systems (ITS); Vehicular
Communications; Basic Set of Applications; Definitions".
[i.2] Car2Car Communication Consortium (2007-08): "Car2Car Communication Consortium
Manifesto", Version 1.1.
NOTE: Available at http://www.car-to-car.org/.
[i.3] ETSI TR 102 863 (V1.1.1) (2011-06): "Intelligent Transport Systems (ITS); Vehicular
Communications; Basic Set of Applications; Local Dynamic Map (LDM); Rationale for and
guidance on standardization".
[i.4] ETSI TS 102 636-3 (V1.1.1): "Intelligent Transport Systems (ITS); Vehicular Communications
...
Final draft ETSI EN 302 637-2 V1.3.1 (2014-09)
EUROPEAN STANDARD
Intelligent Transport Systems (ITS);
Vehicular Communications;
Basic Set of Applications;
Part 2: Specification of Cooperative
Awareness Basic Service
---------------------- Page: 1 ----------------------
2 Final draft ETSI EN 302 637-2 V1.3.1 (2014-09)
Reference
REN/ITS-0010019
Keywords
application, ITS, safety, service, transport
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
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 only prevailing document is the
print of the Portable Document Format (PDF) version kept on a specific network drive within ETSI Secretariat.
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
http://portal.etsi.org/tb/status/status.asp
If you find errors in the present document, please send your comment to one of the following services:
http://portal.etsi.org/chaircor/ETSI_support.asp
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.
© European Telecommunications Standards Institute 2014.
All rights reserved.
TM TM TM
DECT , PLUGTESTS , UMTS and the ETSI logo are Trade Marks of ETSI registered for the benefit of its Members.
TM
3GPP and LTE™ are Trade Marks of ETSI registered for the benefit of its Members and
of the 3GPP Organizational Partners.
GSM® and the GSM logo are Trade Marks registered and owned by the GSM Association.
ETSI
---------------------- Page: 2 ----------------------
3 Final draft ETSI EN 302 637-2 V1.3.1 (2014-09)
Contents
Intellectual Property Rights . 6
Foreword . 6
Modal verbs terminology . 6
Introduction . 7
1 Scope . 8
2 References . 8
2.1 Normative references . 8
2.2 Informative references . 8
3 Definitions symbols and abbreviations . 9
3.1 Definitions . 9
3.2 Symbols . 10
3.3 Abbreviations . 10
4 CA basic service introduction . 11
4.1 Background . 11
4.2 Services provided by CA basic service . 11
4.3 Sending CAMs . 11
4.4 Receiving CAMs . 11
5 CA basic service functional description . 12
5.1 CA basic service in the ITS architecture . 12
5.2 CA basic service functional architecture . 12
5.3 Interfaces of the CA basic service . 13
5.3.1 Interface to ITS applications . 13
5.3.2 Interface to data provisioning facilities . 14
5.3.3 Interface to the Networking & Transport Layer . 14
5.3.4 Interfaces protocol stacks of the Networking & Transport Layer . 14
5.3.4.1 Interface to the GeoNetworking/BTP stack . 14
5.3.4.2 Interface to the IPv6 stack and the combined IPv6/GeoNetworking stack . 16
5.3.5 Interface to the Management entity . 16
5.3.6 Interface to the Security entity . 16
6 CAM dissemination . 16
6.1 CAM dissemination concept . 16
6.1.1 CAM dissemination requirements . 16
6.1.2 CA basic service activation and termination . 16
6.1.3 CAM generation frequency management for vehicle ITS-Ss . 17
6.1.4 CAM generation frequency management for RSU ITS-Ss . 18
6.1.5 CAM time requirement . 18
6.1.5.1 CAM generation time . 18
6.1.5.2 CAM Time stamp . 18
6.2 CAM dissemination constraints . 18
6.2.1 General Confidence Constraints . 18
6.2.2 Security constraints . 19
6.2.2.1 Introduction . 19
6.2.2.2 Service Specific Permissions (SSP) . 19
6.2.3 General priority constraints. 20
7 CAM Format Specification . 20
7.1 General Structure of a CAM PDU . 20
7.2 ITS PDU header . 21
7.3 Basic container . 21
7.4 Vehicle ITS-S containers . 21
7.5 RSU ITS-S containers . 22
7.6 CAM format and coding rules . 22
ETSI
---------------------- Page: 3 ----------------------
4 Final draft ETSI EN 302 637-2 V1.3.1 (2014-09)
7.6.1 Common data dictionary . 22
7.6.2 CAM data presentation . 22
Annex A (normative): ASN.1 specification of CAM . 23
Annex B (normative): Description for data elements and data frames. 25
B.0 General requirements . 25
B.1 header . 25
B.2 cam . 25
B.3 generationDeltaTime . 25
B.4 camParameters . 26
B.5 basicContainer . 26
B.6 highFrequencyContainer . 26
B.7 lowFrequencyContainer . 26
B.8 specialVehicleContainer . 26
B.9 basicVehicleContainerHighFrequency . 26
B.10 basicVehicleContainerLowFrequency . 27
B.11 publicTransportContainer . 27
B.12 specialTransportContainer . 27
B.13 dangerousGoodsContainer . 27
B.14 roadWorksContainerBasic . 27
B.15 rescueContainer . 27
B.16 emergencyContainer . 28
B.17 safetyCarContainer . 28
B.18 stationType . 28
B.19 referencePosition . 28
B.20 performanceClass . 28
B.21 heading . 29
B.22 speed . 29
B.23 vehicleRole . 29
B.24 lanePosition . 29
B.25 driveDirection . 29
B.26 longitudinalAcceleration . 30
B.27 accelerationControl . 30
B.28 lateralAcceleration. 30
B.29 verticalAcceleration. 30
B.30 embarkationStatus . 30
B.31 curvature . 31
B.32 curvatureCalculationMode . 31
B.33 yawRate . 31
ETSI
---------------------- Page: 4 ----------------------
5 Final draft ETSI EN 302 637-2 V1.3.1 (2014-09)
B.34 steeringWheelAngle . 31
B.35 vehicleLength . 32
B.36 vehicleWidth . 32
B.37 exteriorLights . 32
B.38 pathHistory . 32
B.39 ptActivation . 32
B.40 specialTransportType . 33
B.41 dangerousGoodsBasic . 33
B.42 roadworksSubCauseCode . 33
B.43 closedLanes . 33
B.44 trafficRule . 33
B.45 speedLimit . 34
B.46 lightBarSirenInUse . 34
B.47 incidentIndication . 34
B.48 emergencyPriority . 34
B.49 rsuContainerHighFrequency . 34
B.50 protectedCommunicationZoneRSU . 35
B.51 cenDsrcTollingZone . 35
B.52 protectedZoneLatitude. 35
B.53 protectedZoneLongitude . 35
Annex C (informative): Protocol operation of the CA basic service . 36
C.1 Introduction . 36
C.2 Originating ITS-S operation . 36
C.2.1 Protocol data setting rules . 36
C.2.2 T_CheckCamGen . 36
C.2.3 Originating ITS-S message table . 36
C.2.4 General protocol operation . 37
C.2.5 CAM construction exception . 37
C.3 Receiving ITS-S operation . 37
C.3.1 Protocol data setting rules . 37
C.3.2 General protocol operation . 37
C.3.3 Exception handling . 38
C.3.3.1 CAM decoding exception . 38
Annex D (informative): Flow chart for CAM generation frequency management . 39
Annex E (informative): Extended CAM generation . 43
History . 44
ETSI
---------------------- Page: 5 ----------------------
6 Final draft ETSI EN 302 637-2 V1.3.1 (2014-09)
Intellectual Property Rights
IPRs essential or potentially essential to the present document may have been declared to ETSI. The information
pertaining to these essential IPRs, if any, is publicly available for ETSI members and non-members, and can be found
in ETSI SR 000 314: "Intellectual Property Rights (IPRs); Essential, or potentially Essential, IPRs notified to ETSI in
respect of ETSI standards", which is available from the ETSI Secretariat. Latest updates are available on the ETSI Web
server (http://ipr.etsi.org).
Pursuant to the ETSI IPR Policy, no investigation, including IPR searches, has been carried out by ETSI. No guarantee
can be given as to the existence of other IPRs not referenced in ETSI SR 000 314 (or the updates on the ETSI Web
server) which are, or may be, or may become, essential to the present document.
Foreword
This final draft European Standard (EN) has been produced by ETSI Technical Committee Intelligent Transport
Systems (ITS), and is now submitted for the Vote phase of the ETSI standards EN Approval Procedure.
The present document is part 2 of a multi-part deliverable covering Vehicular Communications; Basic Set of
Applications, as identified below:
TS 102 637-1: "Functional Requirements";
EN 302 637-2: "Specification of Cooperative Awareness Basic Service";
EN 302 637-3: "Specifications of Decentralized Environmental Notification Basic Service".
The specification of the CA basic service was initially developed by the European Car-to-Car Communication
Consortium, see Car2Car Communication Consortium Manifesto [i.2]. The service was evaluated by several initiatives
such as the C2C-CC demonstration in 2008, ETSI Plugtests events and European projects including PRE-DRIVE C2X,
DRIVE C2X, SafeSpot, CVIS, CoVeL, eCoMove, SCOR@F and simTD. These evaluation efforts have provided
feedback to ETSI TC ITS.
The present document replaces ETSI TS 102 637-2 in whole. It includes improvements and enhancements of the CA
basic service specifications in ETSI TS 102 637-2 according to the feedback provided by the various initiatives.
Proposed national transposition dates
Date of latest announcement of this EN (doa): 3 months after ETSI publication
Date of latest publication of new National Standard
or endorsement of this EN (dop/e): 6 months after doa
Date of withdrawal of any conflicting National Standard (dow): 18 months after doa
Modal verbs terminology
In the present document "shall", "shall not", "should", "should not", "may", "may not", "need", "need not", "will",
(Verbal forms
"will not", "can" and "cannot" are to be interpreted as described in clause 3.2 of the ETSI Drafting Rules
for the expression of provisions).
"must" and "must not" are NOT allowed in ETSI deliverables except when used in direct citation.
ETSI
---------------------- Page: 6 ----------------------
7 Final draft ETSI EN 302 637-2 V1.3.1 (2014-09)
Introduction
Cooperative awareness within road traffic means that road users and roadside infrastructure are informed about each
other's position, dynamics and attributes. Road users are all kind of road vehicles like cars, trucks, motorcycles, bicycles
or even pedestrians and roadside infrastructure equipment including road signs, traffic lights or barriers and gates. The
awareness of each other is the basis for several road safety and traffic efficiency applications with many use cases as
described in ETSI TR 102 638 [i.1]. It is achieved by regular exchange of information among vehicles (V2V, in general
all kind of road users) and between vehicles and road side infrastructure (V2I and I2V) based on wireless networks,
called V2X network and as such is part of Intelligent Transport Systems (ITS).
The information to be exchanged for cooperative awareness is packed up in the periodically transmitted Cooperative
Awareness Message (CAM). The construction, management and processing of CAMs is done by the Cooperative
Awareness basic service (CA basic service), which is part of the facilities layer within the ITS communication
architecture ETSI EN 302 665 [1] supporting several ITS applications.
The CA basic service is a mandatory facility for all kind of ITS-Stations (ITS-S), which take part in the road traffic
(vehicle ITS-S, personal ITS-S, etc.). The present document focuses on the specifications for CAMs transmitted by all
vehicle ITS-Ss participating in the V2X network. Nevertheless, the present document defines the CAM format with
flexibility in order to be easily extendable for the support of other types of ITS-Ss or future ITS applications.
The requirements on the performance of the CA basic service, the content of the CAM and the quality of its data
elements are derived from the Basic Set of Applications (BSA) as defined in ETSI TR 102 638 [i.1] and in particular
from the road safety applications as defined in ETSI TS 101 539-1 [i.8], ETSI TS 101 539-2 [i.9], and
ETSI TS 101 539-3 [i.10].
ETSI
---------------------- Page: 7 ----------------------
8 Final draft ETSI EN 302 637-2 V1.3.1 (2014-09)
1 Scope
The present document provides the specifications of the Cooperative Awareness basic service (CA basic service), which
is in support of the BSA road safety application.
This includes definition of the syntax and semantics of the Cooperative Awareness Message (CAM) and detailed
specifications on the message handling.
2 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
reference document (including any amendments) applies.
Referenced documents which are not found to be publicly available in the expected location might be found at
http://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.
2.1 Normative references
The following referenced documents are necessary for the application of the present document.
[1] ETSI EN 302 665 (V1.1.1): "Intelligent Transport Systems (ITS); Communications Architecture".
[2] ETSI TS 102 894-2 (V1.2.1): "Intelligent Transport Systems (ITS); Users and applications
requirements; Part 2: Applications and facilities layer common data dictionary".
[3] SAE J2735 (2009-11-19): "Dedicated Short Range Communications (DSRC) Message Set
Dictionary".
NOTE: Available at: http://standards.sae.org/j2735_200911/.
[4] Recommendation ITU-T X.691/ISO/IEC 8825-2 (1997-12): "Information technology - ASN.1
encoding rules: Specification of Packed Encoding Rules (PER)".
[5] ETSI EN 302 663 (V1.2.1): "Intelligent Transport Systems (ITS); Access layer specification for
Intelligent Transport Systems operating in the 5 GHz frequency band".
2.2 Informative references
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 102 638 (V1.1.1) (2009-06): "Intelligent Transport Systems (ITS); Vehicular
Communications; Basic Set of Applications; Definitions".
[i.2] Car2Car Communication Consortium (2007-08): "Car2Car Communication Consortium
Manifesto", Version 1.1.
NOTE: Available at http://www.car-to-car.org/.
[i.3] ETSI TR 102 863 (V1.1.1) (2011-06): "Intelligent Transport Systems (ITS); Vehicular
Communications; Basic Set of A
...
Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
European Standard
Intelligent Transport Systems (ITS);
Vehicular Communications;
Basic Set of Applications;
Part 2: Specification of Cooperative
Awareness Basic Service
---------------------- Page: 1 ----------------------
2 Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
Reference
REN/ITS-0010019
Keywords
application, ITS, safety, service, transport
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
Individual copies of the present document can be downloaded from:
http://www.etsi.org
The present document may be made available in more than one electronic version or in print. In any case of existing or
perceived difference in contents between such versions, the reference version is the Portable Document Format (PDF).
In case of dispute, the reference shall be the printing on ETSI printers of the PDF version kept on a specific network drive
within ETSI Secretariat.
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
http://portal.etsi.org/tb/status/status.asp
If you find errors in the present document, please send your comment to one of the following services:
http://portal.etsi.org/chaircor/ETSI_support.asp
Copyright Notification
No part may be reproduced except as authorized by written permission.
The copyright and the foregoing restriction extend to reproduction in all media.
© European Telecommunications Standards Institute 2013.
All rights reserved.
TM TM TM
DECT , PLUGTESTS , UMTS and the ETSI logo are Trade Marks of ETSI registered for the benefit of its Members.
TM
3GPP and LTE™ are Trade Marks of ETSI registered for the benefit of its Members and
of the 3GPP Organizational Partners.
GSM® and the GSM logo are Trade Marks registered and owned by the GSM Association.
ETSI
---------------------- Page: 2 ----------------------
3 Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
Contents
Intellectual Property Rights . 6
Foreword . 6
Introduction . 6
1 Scope . 8
2 References . 8
2.1 Normative references . 8
2.2 Informative references . 8
3 Definitions and abbreviations . 9
3.1 Definitions . 9
3.2 Abbreviations . 10
4 CA basic service introduction . 10
4.1 Background . 10
4.2 Services provided by CA basic service . 11
4.2.1 Sending CAMs . 11
4.2.2 Receiving CAMs . 11
5 CA basic service functional description . 11
5.1 CA basic service in the ITS architecture . 11
5.2 CA basic service functional architecture . 12
5.3 Interfaces of the CA basic service . 13
5.3.1 Interface to ITS applications . 13
5.3.2 Interface to data provisioning facilities . 13
5.3.3 Interface to the Networking & Transport Layer . 13
5.3.3.1 Interface to the GeoNetworking/BTP stack . 14
5.3.3.2 Interface to the IPv6 stack and the combined IPv6/GeoNetworking stack . 15
5.3.4 Interface to the Management entity . 16
5.3.5 Interface to the Security entity . 16
6 CAM dissemination . 16
6.1 CAM dissemination concept . 16
6.1.1 CAM dissemination requirements . 16
6.1.2 CA basic service activation and termination . 16
6.1.3 CAM generation frequency management . 16
6.1.4 CAM time requirement . 17
6.1.4.1 CAM generation time . 17
6.1.4.2 CAM Time stamp . 18
6.2 CAM dissemination constraints . 18
6.2.1 General Confidence Constraints . 18
6.2.2 General security constraints . 18
6.2.3 General priority constraints. 18
7 CAM Format Specification . 18
7.1 General Structure of a CAM PDU . 18
7.1.1 ITS PDU header . 19
7.1.2 Basic container . 19
7.1.3 Vehicle ITS-S containers . 19
7.2 CAM format and coding rules . 20
7.2.1 Common data dictionary . 20
7.2.2 CAM data presentation . 20
7.2.3 Future CAM extension. 20
Annex A (normative): ASN.1 specification of CAM . 21
Annex B (normative): Description for data elements and data frames. 23
ETSI
---------------------- Page: 3 ----------------------
4 Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
B.1 header . 23
B.2 cam . 23
B.3 generationDeltaTime . 23
B.4 camParameters . 23
B.5 basicContainer . 24
B.6 highFrequencyContainer . 24
B.7 lowFrequencyContainer . 24
B.8 specialVehicleContainer . 24
B.9 basicVehicleContainerHighFrequency . 24
B.10 basicVehicleContainerLowFrequency . 24
B.11 publicTransportContainer . 25
B.12 specialTransportContainer . 25
B.13 dangerousGoodsContainer . 25
B.14 roadWorksContainerBasic . 25
B.15 rescueContainer . 25
B.16 emergencyContainer . 26
B.17 safetyCarContainer . 26
B.18 stationType . 26
B.19 referencePosition . 26
B.20 performanceClass . 27
B.21 heading . 27
B.22 speed . 27
B.23 vehicleRole . 27
B.24 laneNumber . 27
B.25 driveDirection . 28
B.26 longitudinalAcceleration . 28
B.27 accelerationControl . 28
B.28 lateralAcceleration. 28
B.29 verticalAcceleration. 28
B.30 embarkationStatus . 28
B.31 curvature . 29
B.32 curvatureCalculationMode . 29
B.33 yawRate . 29
B.34 steeringWheelAngle . 29
B.35 vehicleLength . 30
B.36 vehicleWidth . 30
B.37 exteriorLights . 30
B.38 pathHistory . 30
ETSI
---------------------- Page: 4 ----------------------
5 Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
B.39 ptActivation . 30
B.40 specialTransportType . 31
B.41 dangerousGoodsBasic . 31
B.42 roadworksSubCauseCode . 31
B.43 closedLanes . 31
B.44 trafficRule . 31
B.45 speedLimit . 32
B.45 lightBarSireneInUse . 32
B.46 incidentIndication . 32
B.47 emergencyPriority . 32
Annex C (informative): Protocol operation of the CA basic service . 33
C.1 Originating ITS-S operation . 33
C.1.1 Protocol data setting rules . 33
C.1.1.1 T_CheckCamGen . 33
C.1.1.2 Originating ITS-S message table . 33
C.1.2 General protocol operation . 33
C.1.3 Exception handling . 34
C.1.3.1 CAM construction exception . 34
C.2 Receiving ITS-S operation . . 34
C.2.1 Protocol data setting rules . 34
C.2.2 General protocol operation . 34
C.2.3 Exception handling . 35
C.2.3.1 CAM decoding exception. . 35
Annex D (informative): Flow chart for CAM generation frequency management . 36
Annex E (informative): Extended CAM generation . 40
History . 41
ETSI
---------------------- Page: 5 ----------------------
6 Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
Intellectual Property Rights
IPRs essential or potentially essential to the present document may have been declared to ETSI. The information
pertaining to these essential IPRs, if any, is publicly available for ETSI members and non-members, and can be found
in ETSI SR 000 314: "Intellectual Property Rights (IPRs); Essential, or potentially Essential, IPRs notified to ETSI in
respect of ETSI standards", which is available from the ETSI Secretariat. Latest updates are available on the ETSI Web
server (http://ipr.etsi.org).
Pursuant to the ETSI IPR Policy, no investigation, including IPR searches, has been carried out by ETSI. No guarantee
can be given as to the existence of other IPRs not referenced in ETSI SR 000 314 (or the updates on the ETSI Web
server) which are, or may be, or may become, essential to the present document.
Foreword
This draft European Standard (EN) has been produced by ETSI Technical Committee Intelligent Transport System
(ITS), and is now submitted for the combined Public Enquiry and Vote phase of the ETSI standards EN Approval
Procedure.
The present document is part 2 of a multi-part deliverable covering Vehicular Communications; Basic Set of
Applications, as identified below:
Part 1: "Functional Requirements";
Part 2: "Specification of Cooperative Awareness Basic Service";
Part 3: "Specification of Decentralized Environmental Notification Basic Service";
The specification of the CA basic service was initially developed by the European Car-to-Car Communication
Consortium [i.2]. The service was evaluated by several initiatives such as the C2C-CC demonstration in 2008, ETSI
Plugtests events and European projects including PRE-DRIVE C2X, DRIVE C2X, SafeSpot, CVIS, CoVeL, eCoMove,
SCOR@F and simTD. These evaluation efforts have provided feedback to ETSI TC ITS.
The present document replaces TS 102 637-2 in whole. It includes improvements and enhancements of the CA basic
service specifications in TS 102 637-2 according to the feedback provided by the various initiatives.
Proposed national transposition dates
Date of latest announcement of this EN (doa): 3 months after ETSI publication
Date of latest publication of new National Standard
or endorsement of this EN (dop/e): 6 months after doa
Date of withdrawal of any conflicting National Standard (dow): 18 months after doa
Introduction
Cooperative awareness within road traffic means that road users and roadside infrastructure are informed about each
other's position, dynamics and attributes. Road users are all kind of road vehicles like cars, trucks, motorcycles, bicycles
or even pedestrians and roadside infrastructure equipment are road signs, traffic lights or barriers and gates. The
awareness of each other is the basis for several road safety and traffic efficiency applications with many use cases as
described in [i.1]. It is achieved by regular exchange of information among vehicles (V2V, in general all kind of road
users) and between vehicles and road side infrastructure (V2I and I2V) based on wireless networks, called V2X
network and as such is part of Intelligent Transport Systems (ITS).
ETSI
---------------------- Page: 6 ----------------------
7 Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
The information to be exchanged for cooperative awareness is packed up in the periodically transmitted Cooperative
Awareness Message (CAM). The construction, management and processing of CAMs is done by the Cooperative
Awareness basic service (CA basic service), which is part of the facilities layer within the ITS communication
architecture [1] supporting several ITS applications.
The CA basic service is a mandatory facility for all kind of ITS-Stations (ITS-S), which take part in the road traffic
(vehicle ITS-S, personal ITS-S, etc.). The present document focuses on the specifications for CAMs transmitted by all
vehicle ITS-Ss participating in the V2X network. Nevertheless, the present document defines the CAM format with
flexibility in order to be easily extendable for the support of other types of ITS-Ss or future ITS applications.
The requirements on the performance of the CA basic service, the content of the CAM and the quality of its data
elements are derived from the Basic Set of Applications (BSA) as defined in [i.1] and in particular from the road safety
applications as defined in [i.8], [i.9], and [i.10].
ETSI
---------------------- Page: 7 ----------------------
8 Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
1 Scope
The present document provides the specifications of the Cooperative Awareness basic service (CA basic service), which
is in support of e.g. the BSA road safety application.
This includes definition of the syntax and semantics of the Cooperative Awareness Message (CAM) and detailed
specifications on the message handling.
2 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
reference document (including any amendments) applies.
Referenced documents which are not found to be publicly available in the expected location might be found at
http://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.
2.1 Normative references
The following referenced documents are necessary for the application of the present document.
[1] ETSI EN 302 665 (V1.1.1): "Intelligent Transport Systems (ITS); Communications Architecture".
[2] ETSI TS 102 894-2 (V1.1.1): "Intelligent Transport Systems (ITS); Users and applications
requirements; Part2: Applications and facilities layer common data dictionary".
[3] SAE J2735 (2009-11-19): "Dedicated Short Range Communications (DSRC) Message Set
Dictionary".
NOTE: Available at: http://standards.sae.org/j2735_200911/
[4] Recommendation ITU-T X.691/ISO/IEC 8825-2 (1997-12): "Information technology - ASN.1
encoding rules: Specification of Packed Encoding Rules (PER)".
[5] ETSI EN 302 663 (V1.2.1): "Intelligent Transport Systems (ITS); Access layer specification for
Intelligent Transport Systems operating in the 5 GHz frequency band".
2.2 Informative references
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 102 638 (V1.1.1) (2009-06): "Intelligent Transport Systems (ITS); Vehicular
Communications; Basic Set of Applications; Definitions".
[i.2] Car2Car Communication Consortium: "Car2Car Communication Consortium Manifesto",
Version 1.1. (2007-08).
NOTE: Available at http://www.car-to-car.org/.
[i.3] ETSI TR 102 863 (V1.1.1) (2011-06): "Intelligent Transport Systems (ITS); Vehicular
Communications; Basic Set of Applications; Local Dynamic Map (LDM); Rationale for and
guidance on standardization".
[i.4] ETSI EN 302 636-3: "Intelligent Transport Systems (ITS); Vehicular Communications;
GeoNetworking; Part 3: Network architecture".
ETSI
---------------------- Page: 8 ----------------------
9 Draft ETSI EN 302 637-2 V1.3.0 (2013-08)
[i.5] ETSI EN 302 636-4-1 (V0.0.2): "Intelligent Transport System (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".
[i.6] ETSI TS 102 894-1 (V1.0.2): Intelligent Transport System (ITS); Users & Applications
requirements; "Facility layer structure, functional requirements and specifications".
[i.7] ETSI EN 302 636-5-1 (V0.0.4): "Intelligent Transport System (ITS); Vehicular communications;
GeoNetworking; Part 5: Transport Protocols; Sub-part 1: Basic Transport Protocol".
[i.8] ETSI TS 101 539-1 (V1.1.1): "Intelligent Transport Systems (ITS); V2X Application; Part 1: Road
Hazard Signaling (RHS) application requirements specification".
[i.9] ETSI TS 101 539-2 (V0.0.5): "Intelligent Transport Systems (ITS); V2X Application;
Part 2: Intersection Collision Risk Warning (ICRW) Application Specification".
[i.10] ETSI TS 101 539-3 (V0.0.5): "Intelligent Transport Systems (ITS); V2X Application;
Part 3: Longitudinal Collision Risk Warning (LCRW) Application Specification".
[i.11] ETSI TS 102 723-5: "Intelligent Transport Systems; OSI cross-layer topics; Part 5: Interface
between management entity and facilities layer".
[i.12] ETSI TS 102 723-9: "Intelligent Transport Systems; OSI cross-layer topics; Part 9: Interface
between security entity and facilities layer".
[i.13] ETSI TS 102 723-11: "Intelligent Transport Systems; OSI cross-layer topics; Part 11: Interface
between networking & transport layer and facilities layer".
[i.14] ETSI TS 102 890-3: "Intelligent Transport Systems (ITS); Facilities layer function; Facility
Position and time management".
[i.15] ISO EN 17419: "Intelligent Transport Systems -- Cooperative Systems -- Classification and
management of ITS applications in a global context".
[i.16] ETSI TS 102 724 (V1.1.1): "Intelligent Transport Systems (ITS); Harmonized Channel
Specifications for Intelligent Transport Systems operating in the 5 GHz frequency band".
[i.17] ETSI TS 103 097 (V1.1.1): "Intelligent Transport Systems (ITS); Security; Security header and
certificate formats".
3 Definitions and abbreviations
3.1 Definitions
For the purposes of the present document, the terms and definitions given in EN 302 665 [1], EN 302 663 [5], LDM
given in TR 102 863 [i.3] and DE and DF given in SAE
...
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