ETSI TR 103 562 V2.1.1 (2019-12)

ETSI TR 103 562 V2.1.1 (2019-12)






TECHNICAL REPORT
Intelligent Transport Systems (ITS);
Vehicular Communications;
Basic Set of Applications;
Analysis of the Collective Perception Service (CPS);
Release 2

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2 ETSI TR 103 562 V2.1.1 (2019-12)



Reference
DTR/ITS-00183
Keywords
ITS, network, protocol
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3 ETSI TR 103 562 V2.1.1 (2019-12)
Contents
Intellectual Property Rights . 9
Foreword . 9
Modal verbs terminology . 9
Introduction . 9
1 Scope . 10
2 References . 10
2.1 Normative references . 10
2.2 Informative references . 10
3 Definition of terms, symbols and abbreviations . 13
3.1 Terms . 13
3.2 Symbols . 13
3.3 Abbreviations . 13
4 The Concept of Collective Perception . 14
4.1 Background and Use-Cases . 14
4.1.1 Introduction. 14
4.1.2 Detection of Non-Connected Road Users . 14
4.1.3 Detection of Safety-Critical Objects . 15
4.1.4 CAM Information Aggregation . 16
4.1.4.1 Introduction . 16
4.1.4.2 Increasing Awareness. 17
4.1.4.3 Awareness about ITS-communication enabled persons on the road . 18
4.2 Terminology for sharing object information . 18
4.3 CPM Dissemination Concept . 19
4.3.1 Introduction. 19
4.3.2 CPM Dissemination Considerations . 20
4.3.2.1 CPM transmission . 20
4.3.2.2 Considerations for Modulation Schemes for CP Message Transmission . 20
4.3.3 CP Service Activation and Termination . 20
4.3.4 CPM Generation Frequency Management . 20
4.3.4.1 General considerations . 20
4.3.4.2 Perceived Object Container Inclusion Management . 20
4.3.4.3 Sensor Information Container Inclusion Management . 21
4.3.4.4 Free Space Addendum Container Inclusion Management . 21
4.3.5 Considerations for Decentralized Congestion Control Mechanisms . 22
4.3.6 CP Message Segmentation . 22
4.4 Quality and Confidence Indication of Provided Data . 23
4.4.1 Object Inclusion and Confidence . 23
4.4.2 Free Space Confidence . 23
4.5 Redundancy Mitigation Techniques . 23
4.5.1 General Considerations . 23
4.5.2 Frequency-based Redundancy Mitigation Rule . 24
4.5.3 Dynamics-based Redundancy Mitigation Rule . 25
4.5.4 Confidence-based Redundancy Mitigation Rule . 25
4.5.5 Entropy-based Redundancy Mitigation Rule . 25
4.5.6 Object Self-Announcement Redundancy Mitigation Rule. 26
4.5.7 Distance-based Redundancy Mitigation Rule . 27
5 Simulation Study . 27
5.1 Introduction . 27
5.2 Research Domains . 28
5.2.1 Introduction. 28
5.2.2 Assessment of Different Message Generation Rules . 28
5.2.3 Variation of DCC Parameters and Radio Configurations . 28
5.2.4 Message Segmentation . 28
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4 ETSI TR 103 562 V2.1.1 (2019-12)
5.3 Simulation Environments . 28
5.3.1 Introduction. 28
5.3.2 Simulation Framework of Study S1 . 28
5.3.2.1 Introduction . 28
5.3.2.2 Local Perception Sensors . 29
5.3.2.3 Scenarios . 29
5.3.2.3.1 Introduction . 29
5.3.2.3.2 Luxemburg Scenario . 30
5.3.2.3.3 Spider Scenario . 30
5.3.2.4 Parameterization of Simulation Study S1 . 31
5.3.3 Simulation Framework of Study S2 . 32
5.3.3.1 Introduction . 32
5.3.3.2 Local Perception Sensors . 32
5.3.3.3 Scenario . 33
5.3.3.4 Parameterization of Simulation Study S2 . 33
5.4 Evaluation/Aggregation Methodology . 35
5.5 Results . 36
5.5.1 Assessing the Generation Rules . 36
5.5.1.1 General Considerations . 36
5.5.1.2 Message rate and size . 36
5.5.1.3 Channel Load . 40
5.5.1.4 Awareness . 45
5.5.1.5 Summary . 53
5.5.2 Variation of DCC Parameters and Radio Configurations . 54
5.5.2.1 General Considerations . 54
5.5.2.2 Effect of DCC operations on the CP Service . 55
5.5.2.3 Effect of CP Service operation on other (prospective) ITS Messages . 56
5.5.2.4 Summary . 57
5.5.3 Message Segmentation . 58
6 CP Message Format and Data Elements . 58
6.1 General Structure of a CPM PDU . 58
6.2 ITS PDU header . 59
6.3 Management Container . 59
6.4 Station Data Container . 60
6.4.1 Introduction. 60
6.4.2 Originating Vehicle Container . 60
6.4.3 Originating RSU Container . 61
6.5 Sensor Information Container . 62
6.6 Perceived Object Container . 65
6.7 Free Space Addendum Container . 67
6.8 CPM format and coding rules. 68
6.8.1 Common data dictionary . 68
6.8.2 CEN ISO/TS 19091 reference . 68
6.8.3 CPM data representation . 69
Annex A: ASN.1 Proposal for CP Message syntax. 70
Annex B: Description of data elements and data frames . 76
B.1 General Requirements . 76
B.2 CPM header and management container . 76
B.2.1 Introduction . 76
B.2.2 header . 76
B.2.3 cpm . 76
B.2.4 generationDeltaTime . 76
B.2.5 cpmParameters . 77
B.2.6 managementContainer . 77
B.2.7 stationType . 77
B.2.8 referencePosition . 77
B.2.9 perceivedObjectContainerSe gmentInfo . 77
B.2.10 numberOfPerceivedObjects . 77
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5 ETSI TR 103 562 V2.1.1 (2019-12)
B.3 Station Data Container . 78
B.3.1 stationDataContainer . 78
B.3.2 originatingVehicleContainer . 78
B.3.3 heading . 78
B.3.4 speed . 78
B.3.5 vehicleOrientationAngle . 78
B.3.6 driveDirection . 79
B.3.7 longitudinalAcceleration . 79
B.3.8 lateralAcceleration. 79
B.3.9 verticalAcceleration. 79
B.3.10 yawRate . 79
B.3.11 pitchAngle . 80
B.3.12 rollAngle. 80
B.3.13 vehicleLength . 80
B.3.14 vehicleWidth . 80
B.3.15 vehicleHeight . 80
B.3.16 trailerData . 80
B.3.17 refPointId . 81
B.3.18 hitchPointOffset . 81
B.3.19 frontOverhang . 81
B.3.20 rearOverhang . 81
B.3.21 trailerWidth . 81
B.3.22 hitchAngle . 81
B.3.23 originatingRSUContainer . 82
B.3.24 intersectionReferenceId . 82
B.3.25 roadSegmentReferenceId . 82
B.4 Sensor Information Container . 82
B.4.1 sensorInformationContainer . 82
B.4.2 sensorID . 82
B.4.3 type . 82
B.4.4 detectionArea . 83
B.4.5 vehicleSensor . 83
B.4.6 refPointId (SensorInformationContainer) . 83
B.4.7 xSensorOffset . 83
B.4.8 ySensorOffset . 84
B.4.9 zSensorOffset . 84
B.4.10 vehicleSensorProperties . 84
B.4.11 range . 84
B.4.12 horizontalOpeningAngleStart . 84
B.4.13 horizontalOpeningAngleEnd . 85
B.4.14 stationaryHorizontalOpeningAngleStart . 85
B.4.15 stationaryHorizontalOpeningAngleEnd . 85
B.4.16 verticalOpeningAngleStart . 85
B.4.17 verticalOpeningAngleEnd . 85
B.4.18 stationarySensorRadial . 86
B.4.19 sensorPositionOffset . 86
B.4.20 sensorHeight . 86
B.4.21 stationarySensorPolygon . 86
B.4.22 polyPoint . 86
B.4.23 stationarySensorCircular . 86
B.4.24 nodeCenterPoint . 87
B.4.25 radius . 87
B.4.26 stationarySensorEllipse . 87
B.4.27 semiMinorRangeLength . 87
B.4.28 semiMajorRangeLength . 87
B.4.29 semiMajorRangeOrientation . 87
B.4.30 stationarySensorRectangle . 88
B.4.31 freeSpaceConfidence . 88
B.5 Perceived Object Container .
...