ADASIS v3协议规范3.1.0.RC1解读

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"ADASIS v3 Protocol Specifications 3.1.0.RC1.pdf" ADASIS（Advanced Driver Assistance Systems Information for Street Scenes）是一种开放标准，旨在促进车载传感器数据在车辆之间以及与基础设施之间的安全交换，以支持高级驾驶辅助系统（ADAS）和自动驾驶功能。ADASIS v3 协议规范是该标准的第三个主要版本，其3.1.0.RC1（Release Candidate 1）代表了该规范的一个候选版本，发布于2018年7月5日。 ADASIS v3 协议的核心目标是定义一种通信协议，使车载设备能够接收、处理并发送关于道路环境的详细信息，如交通标志、路况、障碍物、交通流量等。这种信息交换对于实现自动驾驶汽车的安全行驶至关重要，因为它允许车辆实时获取周围环境的详细数据，从而做出更准确的决策。 ADASIS v3 协议规范详细阐述了数据结构、消息格式、传输机制和安全要求。它包括以下几个关键部分： 1. **数据模型**：定义了描述道路环境和交通状况的各类对象，如地理坐标、道路特征、交通标志类型等。这些数据模型使得不同制造商的设备能以统一的方式交换信息。 2. **消息结构**：规定了数据包的构成，包括消息头、消息体以及可能的加密和签名机制，确保数据的完整性和安全性。 3. **传输层**：描述了如何通过不同的通信渠道（如V2X - 车车通信、车路通信）传递ADASIS信息，可能涉及到TCP/IP、UDP等网络协议。 4. **安全机制**：涵盖身份验证、加密和完整性保护，防止恶意干扰或数据篡改，确保通信的可靠性。 5. **接口与集成**：定义了与其他车载系统的接口，比如与车辆控制单元、传感器融合模块等的交互方式，以实现整个系统的无缝集成。 6. **性能要求**：规定了协议的实时性、延迟和容错能力，以满足高速移动中的汽车对即时信息的需求。由于ADASIS v3 是专有和机密的，任何使用该规范的人都必须遵守版权条款，未经许可不得复制、发布或分发其内容。但是，获得此规范的个人或组织可以使用它来实现规范中的功能，前提是不改变或去除任何商标、版权或其他通知。 ADASIS v3 协议规范是一个为ADAS和自动驾驶系统提供标准化信息交换的关键技术，它的实施将有助于推动智能交通系统的成熟和发展。

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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