2024基于车路协同的自动驾驶实车在环测试系统 应用数据交互信息集

统应用数据交互信息集 数据帧（Data 数据元素（Data 附录 附录 V2XGB5768-2009GB/T16262.1信息技术抽象语法记法一(ASN.1)第1部分:基本记法规范GB/T16262.2信息技术抽象语法记法一(ASN.1)第2部分:信息客体规范GB/T16262.3信息技术抽象语法记法一(ASN.1)第3部分:约束规范GB/T16262.4信息技术抽象语法记法一(ASN.1)第4部分:ASN.1YD/T3709-2020基于LTET/ITS0058-2017on-board[来源：ITS/T0058-2017，3.1.5]roadside[来源：ITS/T0058-2017，3.1.6]车载单元与其他设备通讯，包括但不限于车载单元之间通讯（V2V（V2I（V2P（V2NASN.1：抽象语法标记（AbstractSyntaxNotationOne）DE：数据元素（DataElement）DF：数据帧（DataFrame）OBU：车载单元（On-boardPCM：过程控制消息（ProcessControlPIM：交通参与者信息消息（ParticipantInformationMessage）RMM：道路交通消息（RoadMarkMessage）RSM：路侧单元消息（RoadSideMessage）RSU：路侧单元（RoadSideUnit）SPAT：信号灯消息（SignalPhaseandTimingUPER：非对齐压缩编码规则（UnalignedPacketEncodingRules）V2X：车载单元与其他设备通讯（VehicletoEverything）VSM：车辆状态消息（VehicleStatusGB/T16262.1GB/T16262.2,约束规范依据GB/T16262.3，ASN.1规范的参数化依据GB/T16262.4。Rules元素组成。其中，SPAT消息体的定义遵循现有的YD/T3709-2020中已有的定义，可以用于为测试车辆息体中的数据帧和数据元素中，除了本文件中新定义的之外，其他的数据帧和数据元素遵循YD/T3【ASN.1--MainmessageframeMessageFrame::=CHOICE{bsmFrameBasicSafetyMessage,mapFrameMapData,rsmFrameRoadsideSafetyMessage,spatFrameSPAT,rsiFrameRoadSideInformation,msgFrameIIMsgDayII,//二阶段消息集--newmessageframes-----------------,//MsgFrameVIL::=SEQUENCEMESSAGE-ID-AND-TYPE::=CLASS&idEXmsgIDUNIQUE,}WITHSYNTAX{&TypeIDENTIFIEDBYMessageTypesMESSAGE-ID-AND-TYPE::={ParticipantInformationMessageIDENTIFIEDBYpimData{ProcessControlMessageIDENTIFIEDBY{VehicleStatusMessageIDENTIFIEDBYvsmData{RoadMarkMessageIDENTIFIEDBYrmmDataEXmsgID::=INTEGERpimDataEXmsgID::=30pcmDataEXmsgID::=31vsmDataEXmsgID::=32rmmDataEXmsgID::=1【ASN.1ParticipantInformationMessage::=SEQUENCE{msgIdMsgIdentification,parSet测试车辆的测试过程控制指令包括测试车辆测试过程的启动或停止。车载单元可识别指令中的身份标【ASN.1ProcessControlMessage::=SEQUENCE{msgIdMsgIdentification,ptcIdINTEGERctrlcmd,【ASN.1VehicleStatusMessage::=SEQUENCE{msgIdMsgIdentification,vehinfoParticipantInfo,cmdIdMsgIdentification,vehSensingParticipantSet,注1：消息体中，alertTyperefPosalertPath及alertRadius参见YD/T3709-2020【ASN.1RoadMarkMessage::=SEQUENCE{msgIdMsgIdentification,alertTypeAlertTypeOPTIONAL,refPosPosition3D,alertPathPathPointList,alertRadiusRadius,rmExtOCTETSTRING(SIZE(0..20))数据帧（Data2。2交通参与者时间信息（总分钟数交通参与者时间信息（总毫秒数（车辆）ptcIdpossize heading speed 【ASN.1ParticipantInfo::=SEQUENCE{ptcIdINTEGER(0..65535),--IDofthespecificparticipantminMarkMinuteOfTheYear,secMarkDSecond,posPosition3D,sizeVehicleSize,headingHeading,speedSpeed,ptcExtOCTETSTRING(SIZE(0..120))ParticipantInfo【ASN.1ParticipantSet::=SEQUENCE(SIZE(1..16))OFdst:【ASN.1ControlCommandand::=SEQUENCE{cmdCommandType,dstPosition3DptcExt中。该字段内容由仿真器:rpy【ASN.1SimExtenion::=SEQUENCE{heading3wayHeadingSet3Way,angularvelocityAngularVelocitySet3Way,rpyRollPitchYawSet3Way,speed2waySpeedSet2WayOPTIONAL,speed3waySpeedSet3WayOPTIONAL,vehicleClassVehicleClassificationOPTIONAL,--VehicleClassificationincludesBasicVehicleClassandotherextendiblermExt【ASN.1RdMarkExtenion::= ENUMERATED{pedestrian-line(0),stop-lineplastic-zoneslow-down注3：DF_RdMarkExtenion可由车内控制单元及仿真测试平台处理解析，而不必由OBU或RSUDF_【ASN.1HeadingSet3Way::=SEQUENCE{longHeading,--AlongtheVehicleLongitudinalaxislatHeading,--AlongtheVehicleLateralaxisvertHeading--AlongtheVehicleVertical【ASN.1SpeedSet3Way::=SEQUENCE{longSpeed,--AlongtheVehicleLongitudinalaxislatSpeed,--AlongtheVehicleLateralaxisvertSpeed,--AlongtheVehicleVertical【ASN.1AngularVelocitySet3Way::=SEQUENCE{longAngularVelocity,--AlongtheVehicleLongitudinalaxislatAngularVelocity,--AlongtheVehicleLateralaxisvertAngularVelocity--AlongtheVehicleVertical【ASN.1RollPitchYawSet3Way::=SEQUENCE{rollAngular,--AlongtheVehicleLongitudinalaxispitchAngular,--AlongtheVehicleLateralaxisyawAngular--AlongtheVehicleVertical【ASN.1SpeedSet2Way::=SEQUENCE{longSpeed,--AlongtheVehicleLongitudinalaxislatSpeed,--AlongtheVehicleLateral3。3DE_ID0~65535。可以唯一识别一条报文。用于管理追溯以及测试车辆回复测【ASN.1MsgIdentification::=INTEGERDE_（1）（move（2）（stop【ASN.1CommandType::=ENUMERATED{move(0),stopDE_【ASN.1AngularVelocity::=INTEGER(---LSBunitsof0.0