SAE J2735最新车联网标准解读

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"j2735最新版标准文件参考参考参" J2735标准是SAE（美国汽车工程师学会）发布的一项重要的行业规范，主要关注车联网（Vehicular Ad-hoc Networks, V2X）通信技术。该标准详细定义了车载通信设备之间的数据交换协议，以促进车辆与车辆、车辆与基础设施、车辆与行人等之间的信息交互，旨在提高交通安全、减少交通拥堵，并优化交通流。V2X（Vehicle-to-Everything）技术是智能交通系统的核心组成部分，它允许车辆与周围环境进行实时通信，从而实现先进的驾驶辅助系统（ADAS）和自动驾驶功能。 J2735标准文档遵循SAE的技术标准板规则，强调该报告的使用完全自愿，其适用性及可能产生的任何专利侵权责任由使用者自行承担。SAE定期每五年对这些技术报告进行审查，可能会进行修订、重申、稳定或取消，以确保标准与时俱进，适应不断发展的技术和工程科学。标准中涵盖了通信协议、消息结构、数据类型和安全方面，包括但不限于以下关键知识点： 1. 通信协议：J2735标准定义了基于IEEE 802.11p的无线通信协议，这是一种专为车辆通信设计的专用短距离通信（DSRC）标准，工作在5.9 GHz频段。 2. 消息结构：标准规定了V2X通信中的消息格式和内容，包括基本安全消息（Basic Safety Message, BSM）、预测行为消息（Predictive Vehicle Behavior Message, PVBM）和交通信号状态消息（Traffic Signal Status Message, TSSM）等，这些消息用于分享道路环境、车辆动态和交通信号等信息。 3. 数据类型：J2735定义了一系列数据类型，如车辆位置、速度、方向、刹车状态等，用于构建V2X消息。 4. 安全性：考虑到V2X通信的安全性至关重要，标准可能涉及认证、加密和完整性保护机制，以防止恶意攻击和信息篡改。 5. 应用实例：标准的实施可以支持各种应用，如碰撞预警、盲区监测、交通流量优化、紧急车辆警告等。 6. 兼容性和互操作性：J2735旨在确保不同制造商的V2X设备之间的兼容性和互操作性，这对于广泛部署和提升整体网络效率至关重要。 7. 更新与维护：SAE邀请公众提供书面评论和建议，以便在定期审查时考虑，这反映了标准制定的开放性和持续改进的特点。获取J2735标准文件可以通过联系SAE International，电话、传真或电子邮件订购，或者访问其官方网站http://www.sae.org进行在线访问。 J2735标准对于交通行业内的嵌入式系统开发者、汽车制造商、通信设备供应商以及智能交通系统的研究者和从业者来说，都是一个至关重要的参考资料。理解和遵循这一标准有助于推动车联网技术的发展和广泛应用。

SAE INTERNATIONAL J2735™ MAR2016 Page 16 of 267

3.1.7 Basic Encoding Rules: Rules laid out by the ASN.1 standard for encoding abstract information into a concrete data

stream. The 2009 DSRC message set standard used DER, a variant of BER for its encoding. This is no longer used.

3.1.8 BLOB: Binary Large OBject, a term used in software to describe sequences of octets or bytes where any inner

encoding or meaning is not visible.

3.1.9 Byte Type Encoding: A type of information encoding where units of information are handled in modular increments

of 8 bits (an octet).

3.1.10 Certificate Authority (CA): A Back Office Infrastructure element which interacts with the HV and the RD to enter

into a dialog with the HV and provide certification services. A primary goal of the CA is to manage the collection of

certificates for DSRC devices.

3.1.11 Commercial Motor Vehicle: Any self-propelled or towed vehicle used on public highways in interstate commerce

to transport passengers or property when: 1) The vehicle has a gross vehicle weight rating or gross combination weight

rating of 10,001 or more pounds; or 2) The vehicle is designed to transport more than 15 passengers, including the driver;

or 3) The vehicle is used in the transportation of hazardous materials in a quantity requiring placarding under regulations

issued by the Secretary of Transportation under the Hazardous Materials Transportation Act (49 U.S.C. App. 1801-1813).

(49CFR350) (49CFR390)

3.1.12 Computed Lane: A lane drivable by motorized vehicle traffic which shares its path definition with another nearby

lane at the same intersection. It is one of several types of basic lanes defined in the message set. The computed lane

allows saving of message bytes used to express the geometric path of multiple lanes approaching an intersection with the

same general path.

3.1.13 Conflict Monitor: A device used to detect and respond to improper or conflicting signal indications and improper

operating voltages in a traffic controller assembly.

3.1.14 Control Channel (CCH): The DSRC radio channel typically used in IEEE 1609 for transmitting service

annoucements and other control information in WAVE protocol.

3.1.15 Controller Assembly: A complete electrical device mounted in a cabinet for controlling the operation of a highway

traffic signal.

3.1.16 Controller Unit: That part of a controller assembly which is devoted to the selection and timing of the display of

signal indications.

3.1.17 Crossing Vehicle: An equipped vehicle whose trajectory will or may intersect the HV as the HV changes its own

trajectory to make a turning maneuver.

3.1.18 Cycle: One complete sequence of signal indications.

3.1.19 Cycle Length: The duration of one complete sequence of signal indications. The cycle length is not generally

fixed at actuated controllers.

3.1.20 Dark Mode: Dark mode indicates that all signal indications are off. Transmission of Dark Mode may commonly be

associated with signalized intersections, ramp meters, lane control, beacons, and power shutdown. When using a SPAT

message to convey a non-signalized all-way stop intersection, the dark mode indicates that the signage is missing for the

particular approach(es).

3.1.21 Data Concept: Any of a group of data dictionary structures defined in this Standard (e.g., data element, data

element concept, entity type, property, value domain, data frame, or message) referring to abstractions or things in the

natural world that can be identified with explicit boundaries and meaning and whose properties and behavior all follow the

same rules.

3.1.22 Data Consumer: Any entity in the ITS environment which consumes data.

SAE INTERNATIONAL J2735™ MAR2016 Page 17 of 267

3.1.23 Data Dictionary: An information technology for documenting, storing and retrieving the syntactical form (i.e.,

representational form) and some usage semantics of data elements and other data concepts.

3.1.24 Data Element: A syntactically formal representation of some single unit of information of interest (such as a fact,

proposition, observation, etc.) with a singular instance value at any point in time, about some entity of interest (e.g., a

person, place, process, property, object, concept, association, state, event). A data element is considered indivisible.

3.1.25 Data Frame: A data frame is a collection of two or more other data concepts in a known ordering. These data

concepts may be simple (data elements) or complex (data frames). A construct composed entirely of an octet string is

considered a data frame if the octet string represents two or more distinct data concepts.

3.1.26 Data Plane: The data plane is the component of an abstract telecommunications architecture containing the

entities that exchange protocol data units that contain application data units with their peers at the various layers in the

protocol stack.

3.1.27 Data Type: Classification of a data element based upon how value contained is to be interpreted in operations

defined for the data element.

3.1.28 Dialog: A sequence of two or more messages which are exchanged in a known sequence and format (typically of

a request followed by one or more replies) between the parties.

3.1.29 Disabled Vehicle: An equipped vehicle that has self-declared that it is not performing all designed/intended

functions and/or operations. Such a vehicle may be moving or may be stationary.

3.1.30 Distinguished Encoding Rules: A variant of ASN BER encoding used by the 2009 edition of this standard.

3.1.31 Driver: The human operating an equipped vehicle used in any role, typically the start or end point of a use case in

which the driver is alerted to an event or takes some action. The precise means of delivery for driver alerts within each

vehicle’s human-machine interface are beyond the scope of this effort. There is only one driver at any time within one

vehicle. At this time, only drivers of equipped vehicles are included, as none of the current use cases requires interaction

with non-equipped vehicles or their drivers.

3.1.32 Dual-Arrow Signal Section: A type of signal section designed to include both a yellow arrow and a green arrow.

3.1.33 Egress: Egress is the flow of vehicular or other types of traffic leaving an intersection on one or more of the

defined lanes of travel.

3.1.34 Encounter: In the context of this Standard, an encounter is an exchange of messages between two or more DSRC

equipped devices (OBUs or RSUs) lasting for a brief period of time.

3.1.35 Entity: Anything of interest (such as a person, place, process, property, object, concept, association, state, event,

etc.) within a given domain of discourse (in this case within the ITS domain of discourse).

3.1.36 Entity Type: An abstract type of structure defined in the ITS data registry but no longer used. There are no entity

types defined in this standard.

3.1.37 Flashing Mode: A mode of operation in which at least one traffic signal indication (but more typically all signal

indications of the entire signalized intersection) in each vehicular signal face of a highway traffic signal is turned on and off

repetitively. Refer to MUTCD 2009 for additional information, see http://mutcd.fhwa.dot.gov/. Expressed in the terminology

of the SPAT message, this is reflected in the descriptions of signal states of the affected lanes (in that movement) being

set to red or yellow flashing.

3.1.38 Fleet Vehicle: An equipped vehicle which is part of a collection of vehicles owned or operated by a common entity,

public or private.

3.1.39 Full-Actuated Operation: A type of traffic control signal operation in which all signal phases function on the basis

of actuation.

SAE INTERNATIONAL J2735™ MAR2016 Page 18 of 267

3.1.40 Functional-area Data Dictionary (FADD): A data dictionary that is intended to standardize data element syntax,

and semantics, within and among application areas within the same functional area. This DSRC Standard is a FADD.

3.1.41 Host Vehicle (HV): The equipped vehicle about which a given use case may be constructed. The Host Vehicle

(HV) can be a transmitting vehicle, or a receiving vehicle, or both – this distinction is made clear in the use case

description. There is typically only one Host Vehicle in any use case.

3.1.42 Infrastructure: Any roadside device which supports V2V/V2I communications flows (message exchanges),

including but not limited to DSRC RSU devices. At this time, the primary V2V uses cases and data flows require only

moderate interaction with the Infrastructure for activities such as security.

3.1.43 Ingress: In the context of this Standard, an ingress is a flow of vehicular or other types of traffic approaching an

intersection on one or more of the defined lanes of travel.

3.1.44 Intelligent Transportation Systems (ITS): Systems that apply information technology to transportation

challenges. Another meaning of the ITS acronym is integrated transportation systems, which stress that ITS systems will

often integrate components and users from many domains, both public and private. ITS improves transportation safety

and mobility and enhances productivity through the integration of advanced communications technologies into the

transportation infrastructure and in vehicles. Intelligent transportation systems (ITS) encompass a broad range of wireless

and wire line communications-based information and electronics technologies. - See more at:

http://www.its.dot.gov/faqs.htm#what

3.1.45 Interoperability: The ability to share information among heterogeneous applications and systems.

3.1.46 Intersection: In the context of this Standard, an intersection is a nexus where two or more approaches meet and

vehicles and other types of users may travel between the connecting links. If signalized, the modes of allowed travel are

reflected in the signal phases, the geometry of the intersection, and local regulatory environment. This standard conveys

some of this information in messages: specifically the MAP message conveys the road geometry, while the SPAT

message conveys the current signal indication to control movement in the intersection."

3.1.47 Intersection Control Beacon: A beacon used only at an intersection to control two or more directions of travel.

3.1.48 Interval: In the context of signal timing, the part of a signal cycle during which signal indications are stable and do

not change. In the SPAT message the current timing value for the remaining interval time estimate as well as the

anticipated interval for yellow change interval is provided for each lane. Because signal interval times commonly change

based on triggering events in many types of signaling systems, the value provided in the SPAT message may represent a

minimal value that is extended and updated as the message is re-issued each time.

3.1.49 Interval Sequence: The order of appearance of signal indications during successive intervals of a signal cycle.

3.1.50 International Traveler Information Systems (ITIS): The term commonly associated with the SAE J2540-2

standard for incident phrases developed by the SAE ATIS Committee in conjunction with ITE TMDD and other standards.

This work contains a wide variety of standard phrases to describe incidents (i.e., a traffic accident) and is used throughout

the ITS industry. The codes found there can be used for sorting and classifying types of incident events, as well as

creating uniform human-readable phrases. ITIS phrases can also be freely mixed with text and used to describe incidents,

accidents, weather reports, roadway signage, and other content types.

3.1.51 Lane: In the context of this Standard, a lane is a portion of the transportation network (typically a section of

roadway geometry) which is being described in terms of its centerline path and various attributes. In the DSRC message

set, the lane object is used to represent lanes. Lanes consist not only of sections of “drivable” roadway traversed by motor

vehicles, but other types of lanes including pedestrian and bicycle walkways, train tracks, transit lanes, and certain types

of dividers and barriers. When used in describing an intersection, a lane is often defined for each possible path into and

out of the intersection (e.g. within the MAP message). In use, the current signal phase (and therefore the allowed

movements) that is applicable to that lane or its approach at a given point in time is provided in the SPAT message.

3.1.52 Lane-Use Control Signal: A signal face displaying signal indications to permit or prohibit the use of specific lanes

of a roadway or to indicate the impending prohibition of such use.

SAE INTERNATIONAL J2735™ MAR2016 Page 19 of 267

3.1.53 Link (RF): A communications channel being used in support of application data transfer needs.

3.1.54 Link (Traffic): A segment of a road network. A highway type of link is generally separated by one data collection

node (such as an RSU or a vehicle detector station). Local road links tend to be defined by intersections with cross

streets. Other common usages of the word "link," such as those used in telecommunications, may also appear in the

document.

3.1.55 Local Deployment: A local deployment is an embodiment of the DSRC message set within a region that

implements one or more of the DSRC application groups defined in one or more other standards. Such deployments use

the messages of the standard in conformant ways to exchange data. Such deployments may have additional information

content defined in the regional extensions of the messages to handle needs which are unique.

3.1.56 Management Plane: The collection of functions performed in support of the communication system operation, but

not directly involved in passing application data.

3.1.57 Message: A well structured set of data elements and data frames that can be sent as a unit between devices to

convey some semantic meaning in the context of the in the context of pre-defined applications. applications. Within

Section 5 of this standard, each sub-section (e.g. 5.1) defines one message. The casual term "message type" often has

the same meaning as "message" in this standard.

3.1.58 Message Set: A collection of messages based on the ITS functional area they pertain to. The collection of

messages defined in this Standard is a message set.

3.1.59 Nearby Vehicle (NV): Those vehicles within the transmission range of the Host Vehicle and Receiving Vehicle(s),

and which can therefore monitor and react to the exchange of DSRC messages between the HV and RV. Such vehicles

are considered situationally aware of the use case exchange under consideration. The NV determines whether to address

or ignore the primary use case based on its own positional trajectory with respect to the event and/or other data.

3.1.60 Networking Services: The collection of management plane and data plane function at the network layer and

transport layer, supporting WAVE communications.

3.1.61 Notification: An indication of an event of interest, sent to an application. Also a term used by lower layers to inform

upper layers of an event of interest in a protocol stack.

3.1.62 Offset (Phase): Offset is the time lag for the cycle start of a coordinated signal. Quoting from the FHWA Signal

Timing Manual, Chapter 6, Section 6.1 Terminology (Draft 3 version, development currently underway): “The time

relationship between coordinated phases [and a] defined reference point and a defined master reference (master clock or

sync pulse)." In other words, a local signal controller setting that references the start of the green to a common clock so

the beginning of a green can be coordinated along a roadway to speed motorists along at a designed speed.

3.1.63 On-Board Unit: An On-Board Unit (OBU) is a vehicle-mounted DSRC device used to transmit and receive a

variety of message traffic to and from other DSRC devices (other OBUs and RSUs). Among the message types and

applications supported by this process are vehicle safety messages used to exchange information on each vehicle's

dynamic movements for coordination and safety, a primary subject of this standard. An OBU contains a station (STA).

3.1.64 Operator: The human user of infrastructure or a back office, typically the start or end point of a flow or an event in

which the operator is informed of some condition. Similar to the vehicle's human-machine interface, the interface of the

human operator with the physical equipment is beyond the scope of this effort. It is presumed that there will be multiple

operators interfacing to the physical equipment. In most of the current use cases, the operator is passive in the flow of

events; however, the use cases and flows support any business use case logic for the operator. Qualifiers such as

Road\Roadway\Infrastructure may be added.

3.1.65 Parked Vehicle: An equipped vehicle which is stationary, with a transmission state indicating that it will not move.

3.1.66 Pedestrian Change Interval: An interval during which the flashing UPRAISED HAND (symbolizing “DON’T

WALK”) signal indication is displayed, often also called the pedestrian clearance time. During this interval the SPAT

messages indicates a don’t walk state for that pedestrian lane (along with an optional period of time remaining for this

state).

SAE INTERNATIONAL J2735™ MAR2016 Page 20 of 267

3.1.67 Pedestrian Clearance Time: The minimum time provided for a pedestrian crossing in a crosswalk, after leaving

the curb or shoulder, to travel to the far side of the traveled way or to a median. During this interval the SPAT message

indicates a Flashing Don’t Walk indication for that pedestrian lane (along with an optional period of time remaining for this

state). The duration for such time intervals comes from MUTCD and is based on a rate of speed of 2 meters per second.

3.1.68 Pedestrian Phase: The time during which a walking figure or word “WALK” is presented and the flashing “DON’T

WALK” is presented. The pedestrian phase is the time interval of the pedestrian walk interval and the pedestrian change

interval combined.

3.1.69 Pedestrian Walk Interval: An interval during which the WALKING PERSON (symbolizing WALK) signal indication

is displayed. When a verbal message is provided at an accessible pedestrian signal, the verbal message is “walk sign.”

During this interval the SPAT messages indicates a walk state for that pedestrian lane (along with an optional period of

time remaining for this state and the subsequent pedestrian clearance state).

3.1.70 Permissive Mode: A mode of traffic control signal operation in which, when a CIRCULAR GREEN signal

indication is displayed, left and/or right turns are permitted to be made after yielding to pedestrians and/or oncoming

traffic.

3.1.71 Preemption Control: The transfer of normal operation of a traffic control signal to a special control mode of

operation.

3.1.72 Pre-timed Operation: A type of traffic control signal operation in which none of the signal phases function on the

basis of actuation. When such a signal operation is reflected in the SPAT message, the time intervals given for various

signal phases are fixed and do not vary based on any form of actuation. Pre-timed operation may be fixed or based on

time of day schedules.

3.1.73 Protected Mode: A mode of traffic control signal operation in which left or right turns are permitted to be made

when a left or right GREEN ARROW signal indication is displayed.

3.1.74 Provider Service Context (PSC): A field associated with a PSID containing supplementary information related to

the service. PSC is defined in IEEE Std 1609.3.

3.1.75 Provider Service Identifier (PSID): A number that identifies a service provided by an application. PSID is defined

in IEEE Std 1609.12.

3.1.76 Public Safety Vehicle: An equipped vehicle actively engaged in Public Safety operations and announcing so to

others. When not engaged in Public Safety operations, this role reverts to the behaviors associated with its basic vehicle

class and type (typically a passenger vehicle). This type of vehicle is presumed to be equipped with an On-Board Unit

specialized for Public Safety (“PSOBU”) device.

3.1.77 Receiving Vehicle (RV): An equipped vehicle receiving DSRC messages from other nearby vehicles or from

nearby infrastructure (e.g., an RSU).

3.1.78 Red Clearance Interval: An optional interval that follows a yellow change interval and precedes the next

conflicting green interval.

3.1.79 Reference Lane: A reference lane is a lane drivable by motorized vehicle traffic which also contains a detailed

path definition of the lane’s geometry (a center line path and width) as well as basic attributes (such as the allowed

maneuvers) about the lane. The provided path data may optionally be reused with another nearby lane (a “computed

lane”) in the same intersection. It is one of several basic types of lanes defined in the message set.

3.1.80 Reference Point: A reference point is a complete set of values for latitude – longitude – and height above the

reference ellipsoid which is used as an initial starting point for subsequent orthogonal offset X, Y, Z values from that point.

All roadway geometry, maps of intersections, lane and curve descriptions, and other geometrical data that are encoded in

this Standard use a system of local reference points to index and offset the data that follows. Also called an Anchor Point.

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