ADASIS v3 Protocol v3.1.0: 智能驾驶辅助系统规范

ADAS

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"ADASIS v3 Protocol v3.1.0 英文版本是ADASIS论坛发布的关于高级驾驶辅助系统（ADAS）通信协议的详细规范文档，旨在为汽车行业的开发人员提供一个标准，以实现不同ADAS系统的互操作性。此文档版权归ADASIS论坛所有，仅供实施其中功能时参考，不能未经许可进行复制或分发。" ADASIS（Advanced Driver Assistance Systems Interface Specifications）v3协议是一个开放的标准，它定义了车载传感器和车载信息娱乐系统之间交换数据的框架，以支持更高级别的自动驾驶功能。在ADASIS v3 Protocol v3.1.0中，我们可能会找到以下几个关键知识点： 1. **协议结构**：ADASIS v3协议可能包括一系列的消息类型、数据结构和传输协议，这些都用于确保车辆上的各个ADAS系统（如自适应巡航控制、盲点检测、碰撞预警等）能够有效地共享和处理信息。 2. **数据模型**：协议可能定义了一种标准化的数据模型，允许不同来源的数据（如雷达、摄像头、激光雷达等）被统一表示，以便于系统间的数据交换和处理。这可能包括地理信息、道路特征、交通标志和其他驾驶环境数据。 3. **消息格式**：ADASIS v3可能规定了特定的消息格式和编码规则，以确保数据在传输过程中的完整性和准确性。这些消息可能包含实时的动态信息，如车辆位置、速度和方向。 4. **安全性**：由于涉及到驾驶安全，协议可能涵盖了数据安全和隐私保护的措施，以防止数据被篡改或非法获取。 5. **互操作性**：ADASIS v3协议的目标是提高不同制造商的ADAS系统的兼容性，使得车辆可以接收并处理来自其他车辆或基础设施的ADAS信息，形成V2X（Vehicle-to-Everything）通信。 6. **版本更新**：v3.1.0表示这是协议的第三个主要版本的第一次次要更新，可能包含了对前一版本的改进、错误修复和新功能的添加。 7. **版权与许可**：文档强调了知识产权的重要性，表明只有在获得ADASIS论坛的明确许可后才能使用其内容进行产品开发或分发。通过深入研究ADASIS v3 Protocol v3.1.0，开发者可以了解如何构建符合该标准的ADAS系统，从而促进更高效、安全的智能交通系统的发展。这个协议规范对于推动汽车行业迈向自动化驾驶的未来至关重要。

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ADASIS v3 Protocol

ADASIS v3 Protocol Specification v3.1.0

4.1.3 Separation between path life time and path-data life time......................................... 39

4.1.4 Dynamic lifetime calculation ...................................................................................... 41

4.2 Update and Erasure Mechanisms....................................................................................... 41

4.2.1 Value Update ............................................................................................................. 42

4.2.2 Range Update ............................................................................................................ 43

4.3 [FORECAST] Memory Management ................................................................................... 45

4.4 [FORECAST] AHR Feedback ................................................................................................ 47

4.5 Coexistence with ADASIS v2 ............................................................................................... 48

4.6 [FORECAST] Auxiliary Data Providers and Sensor Fusion .................................................... 49

4.7 Communication Schemes .................................................................................................. 53

4.7.1 Broadcast................................................................................................................... 53

4.7.2 [FORECAST] Multicast ................................................................................................ 54

4.7.3 [FORECAST] Unicast ................................................................................................... 54

4.7.4 [FORECAST] Request/Response .................................................................................. 54

4.7.5 [FORECAST] Publish/ Subscribe .................................................................................. 54

5 Use of ADASIS v3 Protocol ......................................................................................................... 55

5.1 ADASIS v3 Messages .......................................................................................................... 55

5.2 Profiles .............................................................................................................................. 55

5.2.1 Custom Profiles .......................................................................................................... 55

6 Guidelines and Recommendations ............................................................................................ 57

6.1 Bandwidth Saving .............................................................................................................. 57

6.2 Implementation recommendations ................................................................................... 57

6.2.1 Number of paths ........................................................................................................ 57

6.2.2 Message with identical profile type at same offset ..................................................... 57

7 Error Detection and Recovery ................................................................................................... 57

7.1 Error Detection .................................................................................................................. 57

7.1.1 Missing or Reordered Messages ................................................................................. 58

7.1.2 Gap Detection ............................................................................................................ 58

7.2 Error Recovery ................................................................................................................... 59

8 Examples of Use ........................................................................................................................ 59

8.1 Lane Connectivity .............................................................................................................. 59

8.1.1 Standard case of a lane forming over a significant distance ........................................ 59

8.1.2 Special case of a lane forming abruptly ...................................................................... 61

8.1.3 Special case of a lane splitting .................................................................................... 62

ADASIS v3 Protocol

ADASIS v3 Protocol Specification v3.1.0

1 Introduction

The potential of digital map data, normally used only by a navigation system, is of greater purpose if

the map data is made accessible for other in-vehicle applications. An increasing number of vehicle

functions can make use of information on the road ahead. In contrast to a camera or a radar system,

digital maps can provide additional information of a much greater range and of predictive character.

Further, the map data can complement the information provided by radar, camera, ultrasound, or

LiDaR sensors.

1.1 ADASIS v3 Specification

ADASIS (Advanced Driver Assistance Systems Interface Specification) defines the concept of an “ADAS

Horizon” as a means to convey the part of the road network and its characteristics originating from

map data along the road ahead of the vehicle. To achieve this, an “ADAS Horizon” is constructed using

the current vehicle position and possible paths through the road network. This results in a hierarchy

of ways through the network of roads. Furthermore, road geometry is derived and related attributes

are added to the vehicle’s set of possible paths. This “ADAS Horizon” can be serialized and transmitted

over the vehicle communication network.

Figure 1 ADAS Concept and Components

The ADASIS Forum [1] is standardizing the ADASIS protocol for interoperability of different

implementations. Based on the experience of the previous versions and the increasing demand for

resolution and detail for future applications, the ADASIS v3 specification has been developed.

The purpose of the ADASIS v3 standard is to facilitate the distribution of this ADASIS v3 Horizon data

from a horizon provider to clients connected via some communication medium. To achieve this, the

ADASIS v3 standard defines data structures for containing this data, using a formal language. Franca

IDL was chosen as this formal language. The description file “ADASISv3Messages.fidl” (written in this

ADASIS v3 Protocol

ADASIS v3 Protocol Specification v3.1.0

language) is normative part of the ADASIS v3 standard, together with this document which - besides

general and background information - defines the exact semantics of the data structures described in

the Franca IDL file.

Thus, the ADASIS v3 standard solely deals with the logical structure of ADASIS v3 Horizon data. In terms

of the OSI reference model, it is a layer-7 standard.

At a later point in time, ADASIS may standardize the encoding of ADASIS v3 Horizon data for

transmission from a provider to a client (OSI layer 6) and may standardize the actual transmission of

ADASIS v3 Horizon data (lower OSI layers). At the time of the creation of this ADASIS v3 standard,

though, it just exists non-normative proposals for these layers.

While ADASIS v2 was designed for CAN bus communication restricted to 8 byte messages, ADASIS v3

will make use of higher bandwidth communication means. This allows additional data with more

detailed content without the need to use special coding schemes. Messages with a larger payload size

facilitate packing a sequence of entity values or to include the representation of a more complex entity

in a single payload.

Major improvements of ADASIS v3 are:

 Resolution 0.01 meter instead of 1.0 meter

 Profile entries have an explicit end offset describing the validity or extent of an entry value or the

point the next entry is expected on the path representation.

 Multiple profile entries can be packed into one message.

 PathControl, ProfileControl mechanisms

 Dynamic behavior

 Vehicle position message now contains the most probable position and all alternative positions in

a single message instead of a set of individual position messages.

 Detailed lane and line geometry

 Additional data (e.g. flow speed)

 Support of detailed information (e.g. HD maps)

The general architecture of systems using ADAS horizon consists of:

 Horizon Provider.

 Horizon Reconstructor.

 ADASIS v3 Protocol.

 ADAS Application.

1.2 The Specification, and the Franca IDL

ADASIS v3 aims at full interoperability between components from different suppliers based on this

protocol. To achieve this, it is necessary to define the protocol in detail down to the level of bits and

bytes, both syntactically (how is the protocol data structured) and semantically (what is the actual

meaning of the protocol data).

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ADASIS v3 Protocol v3.1.0: 智能驾驶辅助系统规范

ADASIS v3 Protocol

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