2025營(yíng)運(yùn)車輛合作式自動(dòng)駕駛貨車編隊(duì)行駛第3部分：車輛通訊應(yīng)用層數(shù)據(jù)交互要求

營(yíng)運(yùn)車輛合作式自動(dòng)駕駛貨車編隊(duì)行駛3部分：車輛通訊應(yīng)用層數(shù)據(jù)交互要求 附錄A（資料性）數(shù)據(jù)內(nèi)容索 附錄B（資料性）行駛異常處 T/ITS0118-2020《合作式智能運(yùn)輸系統(tǒng)車用通信系統(tǒng)應(yīng)用營(yíng)運(yùn)車輛合作式自動(dòng)駕駛貨車編隊(duì)行駛YD/T3709-2020基于LTEYD/T3957-2021基于LTET/ITS0113.1-20191T/ITS0113.2-20192truck[來源：T/ITS0113.1-2019drivingasa[來源：T/ITS0113.1-2019carplatooningleading[來源：T/ITS0113.1-2019followingfollowingvehicleatthefollowingvehiclenotatthefreeplatooningplatooningmanagementplatooningprocessplatooningheartbeatcloudCOPMM：面向連接的編隊(duì)管理消息（ConnectionOrientedPlatooningManagementMessage）OBU：車載單元（On-BoardUnit）PCM：編隊(duì)控制消息（PlatooningControlMessage）RSU：路側(cè)單元（RoadSideUnit）123領(lǐng)航車的編隊(duì)心跳消息，如圖4所示。4方式二：使用PCM消息，以不低于20Hz發(fā)送編隊(duì)心跳消息，同時(shí)BSM消息仍保持注：根據(jù)T/CSAE53-2020標(biāo)準(zhǔn)，具備V2V通信功能的任何車輛應(yīng)周期性發(fā)送BSM過程主要對(duì)應(yīng)T/ITS0113.2-2019中編隊(duì)行為類的場(chǎng)景，編隊(duì)控制過程主要對(duì)應(yīng)T/ITS0113.2-2019中編隊(duì)51源1：編隊(duì)心跳消息使用BSM車輛出發(fā)地/車輛到達(dá)地/車輛途經(jīng)地/注1666所示，自由車發(fā)送COPMM(FreeVehicleBroadcasting)消息，當(dāng)隱私保護(hù)模式為開啟時(shí)，消息......在定時(shí)器T101有效期內(nèi)，若接收到領(lǐng)航車被發(fā)現(xiàn)廣播COPMM(LeaderBroadcasting且車隊(duì)ID符合應(yīng)用層要求1，則停止定時(shí)器T101，停止廣播COPMM(FreeVehicleBroadcasting)消息，停止監(jiān)聽COPMM(LeaderBroadcasting在定時(shí)器T101有效期內(nèi)，若接收到入隊(duì)邀請(qǐng)COPMM(JoiningInvitation)消息，且車隊(duì)停止監(jiān)聽COPMM(LeaderBroadcasting)消息和COPMM(JoiningInvitation當(dāng)定時(shí)器T101超時(shí)，停止廣播COPMM(FreeVehicleBroadcasting)消息，停止監(jiān)聽21：編隊(duì)心跳消息使用BSM2關(guān)閉/開啟-1/開啟-信息（續(xù)當(dāng)前總重量（含載重當(dāng)前總質(zhì)量（含載重車輛VINVIN7發(fā)送COPM(JinigReuesCOPM(JinigInitaion)消息TrasacionD）為COMM(oinngIvittioT21；若接收到的COPMM(JoiningCommand)消息中的內(nèi)容為拒絕入隊(duì)，則自由車回復(fù)接收到的COPMM(JoiningRequest)消息，且領(lǐng)航車正在發(fā)送（leaderPreceding）不填，（proPreAddModList注1：入隊(duì)過程可以是全部步驟重新執(zhí)行，也可領(lǐng)航車和自由車均保存雙方的信息后，只執(zhí)行入隊(duì)過程的部分步驟，本文件不做限定。3~5表JoiningInvitation最后一次接收到的領(lǐng)航車的當(dāng)前總重量（含載重（續(xù)車輛出發(fā)地/車輛到達(dá)地/車輛途經(jīng)地/VIN表源成員管理-同意入隊(duì)時(shí)用，包含領(lǐng)航車+緊鄰前車+ID成員管理-表源自由車的ID4IDa)領(lǐng)航車邀請(qǐng)入隊(duì)，自由車同 b)領(lǐng)航車邀請(qǐng)入隊(duì)，自由車拒88所示，領(lǐng)航車邀請(qǐng)入隊(duì)的過程采用“請(qǐng)求-確認(rèn)”機(jī)制，領(lǐng)航車邀請(qǐng)自由車入隊(duì)，若自由車T20COPM(JinigReues車輛ididCOPM(JinigInitaioT20聽COPMInvtatonRjec)消息和COPMJoiingequst)6.22.2的領(lǐng)67表表最后一次接收到的領(lǐng)航車的領(lǐng)航車廣播的車隊(duì)成員管理-99所示，領(lǐng)航車清退隊(duì)尾跟隨車的過程采用“請(qǐng)求-確認(rèn)”機(jī)制，包括離隊(duì)指令和離隊(duì)完成兩T304T301：為了保持領(lǐng)航車與跟隨車的超時(shí)結(jié)果同步，領(lǐng)航車的定時(shí)器T32與跟隨車的定時(shí)器T34取值接近，考慮到通信過程中的丟包及時(shí)延等，跟隨車的定時(shí)器T3可比領(lǐng)航車的302少T的時(shí)間。89表源IDID通用信息（續(xù)IDID表ID81010所示，隊(duì)尾跟隨車申請(qǐng)離隊(duì)的過程采用“請(qǐng)求-應(yīng)答-確認(rèn)”機(jī)制，隊(duì)尾跟隨車申請(qǐng)離隊(duì)的1011表IDID目標(biāo)車隊(duì)表源IDIDIDID1111所示，隊(duì)中跟隨車申請(qǐng)離隊(duì)過程采用“請(qǐng)求-應(yīng)答-確認(rèn)”機(jī)制。具體通信過程如下： 注1：若離隊(duì)跟隨車離隊(duì)失敗，領(lǐng)航車可重新觸發(fā)標(biāo)識(shí)更新過程，通知離隊(duì)跟隨車的緊鄰后車更新跟蹤的緊鄰前車，也可以將申請(qǐng)離隊(duì)的跟隨車看作是臨時(shí)切入車輛，當(dāng)做異常車輛處理，本文件不做限定。表跟隨車的IDID常/天氣不好/圖a)跟隨車接 12T303COPMM(LeavingRequest在定時(shí)器T303有效期內(nèi)，接收到COPMM(LeavingReject)消息，且T3031314表清退跟隨車的IDID常/天氣不好/表清退跟隨車的IDID13如圖15新對(duì)象的不同，消息中填寫的內(nèi)容不同，但是交互流程相同，如圖14所示：14車隊(duì)idCOPMM(IDUpdateCommand)消息中的相同，則停止定時(shí)器T401接收到COPM(IUpdteCmmad)消息后，更新存儲(chǔ)的車隊(duì)成員（領(lǐng)航車、緊鄰前車、自車）的ID集合，并且重復(fù)發(fā)送No_DUpateompete次COPM(IUpdteCmplte)消息，消息中的過程編號(hào)與COPM(IUpdteCmmad，如圖1516T前，針對(duì)需更新標(biāo)識(shí)的隊(duì)中跟隨車及其緊鄰的后6.2.5.2，具體過程如圖17所示：17成員列表（MemberIDInfoList）應(yīng)為需更新標(biāo)識(shí)的跟隨車（2）ID列表如圖18所示：181交互過程中，涉及的數(shù)據(jù)內(nèi)容如表16和表17所示：16領(lǐng)航車生成的過程編號(hào)或COPMM(LeavingRequest)消息或COPMM(KickOutCommand)ID集合{序號(hào)，ID列表ID17數(shù)值同表ID，選自領(lǐng)航車分配的ID領(lǐng)航車的ID161919所示：1818BSM-ex車隊(duì)GNSS制動(dòng)故障/檢測(cè)到障礙物/道路特性改變/（僅領(lǐng)航車發(fā)送號(hào)，時(shí)距加減速/轉(zhuǎn)向/8s19和表1920216.2.2.26.2.2.36.2.2.36.2.2.36.2.3.56.2.56.2.56.2.4領(lǐng)航車/6.3及定時(shí)器的觸發(fā)和停止條件如表22所示：226.2.1.36.2.2.26.2.2.26.2.2.36.2.2.26.2.3.56.2.523領(lǐng)航車過程優(yōu)先級(jí)（數(shù)字越大代表優(yōu)先級(jí)越高編隊(duì)解散（領(lǐng)航車觸發(fā)標(biāo)識(shí)更新過程（領(lǐng)航車觸發(fā)跟隨車申請(qǐng)離隊(duì)（領(lǐng)航車響應(yīng)領(lǐng)航車清退跟隨車（領(lǐng)航車觸發(fā)自由車申請(qǐng)入隊(duì)過程（領(lǐng)航車響應(yīng)領(lǐng)航車邀請(qǐng)入隊(duì)過程（領(lǐng)航車觸發(fā)ASN.1標(biāo)準(zhǔn)進(jìn)行定義，遵循“消息幀-消息體-數(shù)據(jù)幀-數(shù)據(jù)元素”層層嵌套的邏輯本文件的消息體在上述標(biāo)準(zhǔn)的基礎(chǔ)上擴(kuò)展而來，主要包括擴(kuò)展的BSMMsg_MessageFrame【ASN.1--MainmessageframeMessageFrame::=CHOICE{bsmFrameBasicSafetyMessage,mapFrameMapData,rsmFrameRoadsideSafetyMessage,spatFrameSPAT,rsiFrame--Day2&newaddedmessageMsg_MessageFrameExt【ASN.1MessageFrameExt::=SEQUENCE&idExmsgIDUNIQUE,}WITHSYNTAX{&TypeIDENTIFIEDBY{COPMMIDENTIFIEDBYcopmmDataEXmsgID::=22pcmDataEXmsgID::=23----CoTruckPlatooningCoTruckPlatooningDEFINITIONSAUTOMATICTAGS::=--Msg_BSMYD/T3709-2020T/ITS0135-2020BSM消息基礎(chǔ)上，進(jìn)行兼容性擴(kuò)展。idBSMID【ASN.1BasicSafetyMessageExtended::=SEQUENCE{msgCntMsgCount,id--temperaryvehicleIDorallocatedvehicleIDsecMarkDSecond,timeConfidenceTimeConfidenceOPTIONAL,posPosition3D,--AccuracyforGNSS--RealtimepositionconfidencetransmissionTransmissionState,speedSpeed,headingangleSteeringWheelAngleOPTIONAL,motionCfdMotionConfidenceSetOPTIONAL,accelSetAccelerationSet4Way,brakesBrakeSystemStatus,sizeVehicleSize,--VehicleClassificationincludesBasicVehicleClassandotherextendibletypesafetyExtVehicleSafetyExtensionsOPTIONAL,bsmExtSEQUENCE(SIZE(1..8))OFPartIIcontent{{BSMpartIIExtension}}--BSMPartIIcontent&idPartII-IdUNIQUE,}WITHSYNTAX{&TypeIDENTIFIEDBYPartIIcontent{PARTII-EXT-ID-AND-TYPE:Set}::=SEQUENCE{partII-IdPARTII-EXT-ID-AND-TYPE.&id({Set}),PartII-Id::=INTEGERAutonomousSafetyExtPartII-Id::=0----NOTE:newregisteredPartIIcontentIDswillbedenotedPlatooningSafetyExtPartII-Id::= ----NOTE:newregisteredPartIIcontentIDswillbedenoted--Inagivenmessagetheremaybemultipleextensions--butatmostoneinstanceofeachextensionAutonomousSafetyExtensions::=SEQUENCE{weightVehicleWeightOPTIONAL,platooningExtPlatooningExtensionsOPTIONALMsg_COPMM【ASN.1COPMM::=CHOICE--found--leadingvehicleissettobefoundfreeVehicleBroadcastingFreeVehicleBroadcasting,--freevehicleissettobe--freevehicleaskforjoiningRequest--freevehicleaskforjoiningjoiningCommandJoiningCommand,--leadingvehicleresponse,acceptorrejectjoiningCompleteJoiningComplete,--freevehiclecompletethejoining--leadingvehicleinviteto--leadingvehicleaskforjoininginvitationRejectInvitationReject,--freevehiclerejectto--followingvehicleasktoleavingRequest--followingvehicleasktoleaveleavingCommandLeavingCommand,--leadingvehicleapprovetoleaveleavingCompleteLeavingComplete,--followingvehiclecompleteto--leadingvehicleaskto--leadingvehicleasknon-tailfollowvehicletoleaveleavingrejectLeavingReject,--dismissdismiss--IDUpdate--usedbothinIDupdateprocess&non-tailfollowingvehicleasktoleaveprocessidUpdateCommandIDUpdateCommand,--leaderasktoupdateIDlistidUpdateCompleteIDUpdateComplete--followercompleteIDlistMsg_PCM包括BSM繼承的消息，以及油門深度、剎車深度、輪速、喇叭狀態(tài)、胎壓狀態(tài)、與前車間距、突發(fā)事【ASN.1--VehicleBasicmsgCntMsgCount,secMarkDSecond,idVehTempID,--temperaryvehiclepidOCTETSTRING--platooningidstatusReportStatusReport,DF_AccessParameters【ASN.1AccessParameters::=SEQUENCE{vehClassBasicVehicleClassOPTIONAL,--rangeofvehiclemaxVehSizeVehicleSizeOPTIONAL,minVehSizeVehicleSizemaxVehWheelsINTEGER(2..40)--rangeofvehiclemaxVehicleAxlesINTEGER(2..20)OPTIONAL,--rangeofvehiclemaxVehWeightVehicleGrossMassOPTIONAL,minVehWeightVehicleGrossMassminVehPowerINTEGER(0..2000000)--minimummaxSpeedSpeed--limitofmaximumspeedminTurnRadiusRadiusOPTIONAL,--smallestturnmaxDelayDSecond--maximumsteering-by-wire--rangeofmaxAccAccelerationOPTIONAL,minAccAccelerationvehBrandListVehicleBrandListOPTIONAL,vehModelListVehicleModelListOPTIONAL,affiliatedCompanyListAffiliatedCompanyListOPTIONAL,DF_AffiliatedCompanyList【ASN.1AffiliatedCompanyList::=SEQUENCE(SIZE(1..128))OFDF_AxleBase【ASN.1AxleBase::=SEQUENCE{axleNoINTEGER(1..20),axleNoBaseDF_AxleBaseList【ASN.1AxleBaseList::=SEQUENCE(SIZE(1..20))OFDF_DismissCommand【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofleader,whichcanbetemperaryvehicleIDorIDallocatedbyleader，pidOCTETSTRING(SIZE(17)),--PlatooningIDdismissReasonDismissReason,DF_DistanceGap【ASN.1DistanceGap::=SEQUENCE{distGapINTEGER(0..1023),--LSBunitsof50relativeErrorDF_DistGapConfig【ASN.1DistGapConfig::=SEQUENCE{numberINTEGER(1..31),--temporaryidoftargetedvehicleDF_DistanceGapControl【ASN.1DistanceGapControl::=SEQUENCE{targetDistanceGapDistanceGapOPTIONAL,--generaltargetdistancegapbetweenplatooningmembersdistanceGapConfigDistGapConfigListOPTIONAL--specificdistancegapconfigurationforcertain--onlyusedwhendifferentwithDF_DistGapConfigList【ASN.1DistGapConfigList::=SEQUENCE(SIZE(1..31))OFDF_EventDescription【ASN.1EventDescription::=SEQUENCE{absEspTcsStatusAbsEspTcsStatusOPTIONAL,--statusofabs,esp&--detectionarea--obstaclesoccurredintheplatooningparticipantsDetectedPTCListOPTIONAL,--otherparticipantsoccurredintheplatooninglaneAttributesLaneAttributesOPTIONAL,--definebasicattributeoflanechangedeventTypeEventTypeOPTIONAL,--Typeofevent,accordingtoChinaYD/T3709-2020AppendixDF_FreeVehicleBroadcasting1Hz，其中路線信息、身【ASN.1--BasicmsgCntMsgCount,secMarkcopmmVer--1represents1.0assetinthisversion,otherversionisreservedsrcIDVehTempID,--theidofcommTechMode--thetech.usedforcommunication,decidingthehighfrequencymessagetobeusedwithDriverBOOLEAN,--0isnodriver,1iswithdriver,privacyProModePrivacyProtectionMode,--choosewhethertoprotectprivacyorwhichmethodto--vehicle--pathpathInfoPathInfo--theinfoofdestination&listofpassing--indentityinformationofidentityInfoIdentityInfoDF_HighwayJT/T697.2-2014GB/T917-2014的規(guī)則，包括路線編號(hào)、路線名【ASN.1Highway::=SEQUENCE{routeOverviewRouteOverview,administrativeCodeIA5String--thecodeofadministrativearea,toidentifythehighway--accordingtoGB/TDF_HighwayList【ASN.1HighwayList::=SEQUENCE(SIZE(1..128))OFDF_IdentityInfo【ASN.1IdentityInfo::=SEQUENCElicencePlateNoLicencePlateNoOPTIONAL,engineIdNumEngineIdNumOPTIONAL,transCertNoTransCertNoOPTIONAL,vehVINOCTETSTRING(SIZE(17))--fixed17charactersornumbersvehBrandVehicleBrandOPTIONAL,vehModelVehicleModelOPTIONAL,DF_IDUpdateCommand【ASN.1--BasictransactionIDTransactionID,secMarkDSecondOPTIONAL,srcIDpidOCTETSTRING--Platooning--donotneededforfreevehicledestIDVehTempID,--thevehicleshouldbeinformedabouttheupdated--PlatooningmembermemberIDInfoList--Platooningmanagement--sentbytheleading--onlyuseenforceTimeDSecond--thetimewhentheidsetcomeinto--ifnull,meanscomeintoforceDF_IDUpdateComplete【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofsender,allocatedbyleaderdestIDVehTempID,--thevehicleshouldbeinformedabouttheupdatedIDpidOCTETSTRING(SIZE(17)),--PlatooningDF_InvitationReject【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidoffreevehicledestIDVehTempID,--leader’stemporarypidOCTETSTRING--PlatooningIDrejectReasonRejectReason,--usedinleaderinvitejoiningprocess,freevehiclewantstoDF_JoiningCommand【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofpidOCTETSTRING--PlatooningIDdestIDVehTempID,--memberIDInfoList&joiningRejectReasonwillnotbeusedatthesame--approveto--rejecttoDF_JoiningComplete【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofsender,allocatedbyleaderdestIDVehTempID,--usedforunicast--leader’stemporaryID,sameasBSMIDorIDallocatedpidOCTETSTRING(SIZE(17))--PlatooningDF_JoiningInvitation【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcIDVehTempID,destIDVehTempID,pidOCTETSTRING--Platooning--thetech.usedforcommunication,decidingthehighfrequencymessagetobeusedpathInfoPathInfoOPTIONAL,DF_JoiningRequest【ASN.1JoiningRequest::=SEQUENCE--requestto--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofsender,sameastemperaryvehicleIDdestIDVehTempID,--leader’sID,sameasBSMIDorIDallocatedbyitselfpidOCTETSTRING(SIZE(17)),--PlatooningwithDriverBOOLEANOPTIONAL,vehCapabilityInfoVehCapabilityInfo,pathInfoPathInfoOPTIONAL,--theinfoofdestination&listofpassinghighwaysidentityInfoIdentityInfoOPTIONAL,DF_KickOutCommand【ASN.1--BasictransactionIDTransactionID,secMarkDSecondOPTIONAL,srcIDVehTempID,--theidofleader,whichcanbetemperaryvehicleIDorIDallocatedbypidOCTETSTRING--PlatooningIDdestIDVehTempID,--thevehicleshouldbeinformedabouttheupdatedIDleavingReasonLeavingReason,DF_LeaderBroadcasting【ASN.1LeaderBroadcasting::=SEQUENCE--leaderissettobe--BasicmsgCntMsgCount,secMarkcopmmVer--1represents1.0assetinthisversion,otherversionisreservedsrcIDVehTempID,--theidofsender,whichcanbetemperaryvehicleIDorIDallocatedbypidOCTETSTRING--Platooning--donotneededforfreevehiclecommTechCommunicationTechnology,--thetech.usedforcommunication,decidingthehighfrequencymessagetobeusedprivacyProModePrivacyProtectionModeOPTIONAL,--choosewhethertoencryptorwhichmethodto--pathpathInfoPathInfo--theinfoofdestination&listofpassing--requierementstojointhe--theconditionstoenteraDF_LeavingCommand【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofleader,whichcanbetemperaryvehicleIDorIDallocatedbyleader，pidOCTETSTRING(SIZE(17)),--PlatooningIDdstIDVehTempID,--onlyusedinleadingvehicleaskfollowingvehicletoleaveDF_LeavingComplete【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofsender,allocatedbyleaderdestIDVehTempID,pidOCTETSTRING--PlatooningDF_LeavingReject【ASN.1--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofsender,allocatedbyleaderdestIDVehTempID,--thevehicleshouldbeinformedabouttheupdatedIDpidOCTETSTRING(SIZE(17)),--PlatooningrejectReasonDF_LeavingRequest【ASN.1LeavingRequest::=SEQUENCE--requestto--BasictransactionIDTransactionID,secMarkDSecond,srcID--theidofsender,sameastemperaryvehicleIDdestIDVehTempID,--leader’sID,sameasBSMIDorIDallocatedbyitselfpidOCTETSTRING(SIZE(17)),--PlatooningIDleavingReasonLeavingReason,DF_MemberIDInfo【ASN.1MemberIDInfo::=SEQUENCEnumberINTEGER(0..31)--mandatorywhenbeallocatedbyleader--0isreservedforleadingvehiclevidSetVehTempIDList,--vehicleIDDF_MemberIDInfoList【ASN.1MemberIDInfoList::=SEQUENCE{leaderAddModListMemberIDInfoOPTIONAL,leaderPrecedingBOOLEANOPTIONAL,--1representsleadervehicleistheonlyprecedingvehicle,proPreAddModListMemberIDInfoOPTIONAL,--ifleaderPrecedingisset1,thismustbevacantselfAddModListMemberIDInfoOPTIONAL,DF_PathInfo【ASN.1PathInfo::=SEQUENCEorigPosPathPositionOPTIONAL,destPosPathPosition,viaPosPathPositionListOPTIONAL,highwayListHighwayList,DF_PathPositionList【ASN.1PathPositionList::=SEQUENCE(SIZE(1..32))OFDF_PathPosition【ASN.1PathPosition::=SEQUENCEposNamePositionNameOPTIONAL,posPosItion3DOPTIONAL,DF_PlatooningControl【ASN.1PlatooningControl::=SEQUENCE--platooningcontrol--generallyoriginatedbyleading--platooningspeedconfigurationplatooningGapControlPlatooningGapControl,targetRadiusRadiusOPTIONAL, DriveBehaviorOPTIONAL,DF_PlatooningGapControl【ASN.1PlatooningGapControl::=CHOICE--distancegapandtimegapwillnotbeusedatthesamedistanceGapControlDistanceGapControl,timegGapControlTimeGapControlDF_TimegGapControl【ASN.1TimeGapControl::=SEQUENCE{--generaltargettimegapbetweenplatooningmemberstimeGapConfigTimeGapConfigListOPTIONAL--specifictimegapconfigurationforcertainDF_PlatooningExtensions據(jù)包括實(shí)時(shí)指定編隊(duì)車速、實(shí)時(shí)指定編隊(duì)車（ID，間距、實(shí)時(shí)指定編隊(duì)車間（ID，時(shí)間間隔、加減速/轉(zhuǎn)向/換道意圖或指令、路徑規(guī)劃等【ASN.1PlatooningExtensions::=SEQUENCE--platooningspecificstatus--vehicledynamicdataexceptBSM,sentbybothleader&followerplatooningControlPlatooningControlOPTIONAL,--platooningcontroldatasentonlybyDF_RouteOverviewJT/T697.1-2013JT/T697.2-2014的規(guī)則編制，包括路線編號(hào)、路線名【ASN.1RouteOverview::=SEQUENCE{highwayRouteNumberIA5String(SIZE(1..10)),--highwayroutenumber,suchasG32highwayRouteNameIA5String(SIZE(1..60))OPTIONAL,highwayRouteNameForShortIA5String(SIZE(1..30))OPTIONAL,highwaySectionLocalNameIA5String(SIZE(1..60)),overlappedHighwaySectionIA5String(SIZE(1..60))OPTIONAL,--usingthesectionofanotherhighwaydiscontinuousHighwaySectionIA5String(SIZE(1..60))OPTIONAL,startingPositionInMileageINTEGER(1..128)OPTIONAL,endingPositionInMileageINTEGER(1..128)OPTIONAL,startingPositionNameIA5String(SIZE(1..60))OPTIONAL,endingPositionNameIA5String(SIZE(1..60))OPTIONAL,DF_RSpeed【ASN.1RSpeed::=SEQUENCEcurveRadiusCRadius,turningSpeedSpeedDF_RSpeedList【ASN.1RSpeedList::=SEQUENCE(SIZE(1..16))OFDF_StatusPlatoonVeh【ASN.1StatusPlatoonVeh::=SEQUENCE{throttlePosThrottlePositionOPTIONAL,brakePosBrakePositionOPTIONAL,tiresTireDataListOPTIONAL,wheelSpeedSpeedOPTIONAL,lightsExteriorLightsOPTIONAL,sirenUseSirenInUsedistConfidenceConfidenceOPTIONAL,eventDesEventDescriptionDF_StatusReport【ASN.1StatusReport::=SEQUENCE--elementsinheritedfrompos--positionofmessage--AccuracyforGNSS--RealtimepositionconfidencetransmissionTransmissionState,headingHeading,speedspeedCfdSpeedConfidenceOPTIONAL,accelSetAccelerationSet4Way,angleSteeringWheelAngleOPTIONAL,motionCfdMotionConfidenceSetOPTIONAL,brakesBrakeSystemStatus,--platooningspecificstatusDF_TimeGap【ASN.1TimeGap::=SEQUENCEtimeGapINTEGER(0..255)--LSBunitsof10relativeErrorDF_TimeGapConfig【ASN.1TimeGapConfig::=SEQUENCE{numberINTEGER(1..31),--temporaryidoftargetedvehicleDF_TimeGapConfigList【ASN.1TimeGapConfigList::=SEQUENCE(SIZE(1..31))OFDF_TireDataList4kPa/bit,0offset,Range:0to【ASN.1TireDataList::=SEQUENCE(SIZE(1..16))OFDF_TireData4kPa/bit,0offset,Range:0to【ASN.1TireData::=locationTireLocationOPTIONAL,wheelSensorStatusWheelSensorStatusOPTIONAL,wheelEndElectFaultWheelEndElectFaultOPTIONAL,leakageRateTireLeakageRateOPTIONAL,DF_VehCapabilityInfo【ASN.1VehCapabilityInfo::=SEQUENCE{vehClassVehBasicClassOPTIONAL,vehSizeVehicleSizeOPTIONAL,vehWheelsINTEGER(4..40)OPTIONAL,vehAxlesINTEGER(2..20)OPTIONAL,vehAxleBaseListAxleBaseListOPTIONAL,vehGrossMassVehicleGrossMassOPTIONAL,vehPowerINTEGER(0..2000000)OPTIONAL,speedMaxSpeedOPTIONAL,radiusMinRadiusOPTIONAL,turnSpeedRSpeedListOPTIONAL,delayMaxDSecondOPTIONAL,--maximumsteering-by-wiredelayaccMaxAccelerationOPTIONAL,decBrakeMaxAccelerationOPTIONAL,--themaximumbrakingDF_VehicleBrandList【ASN.1DF_VehicleModelList【ASN.1DF_VehTempIDList【ASN.1VehTempIDList::=SEQUENCE(SIZE(1..128))OFJT/T1324-20202424JT/T1324-2020YD/T3709-20202525YD/T3709-2020T/CSAE157-20202626T/CSAE157-2020DE_AffiliatedCompany【ASN.1AffiliatedCompany::=IA5StringDE_BrakePosition【ASN.1BrakePosition::=INTEGER(0..201)--LSBunitsare0.5DE_CommTechMode【ASN.1mode1(0),--highfrequencymessageuseextendedBSMmode2(1),--highfrequencymessageusePCMreserved--usedforextensionsofDE_CRadius【ASN.1CRadius::=INTEGER--Definecurve--UnitisDE_DismissReason【ASN.1DismissReason::=ENUMERATED{--theroadconditonsareunfitforplatooning--dismissiscausedbycutin--arrivedthedst.--thecommunicationconditionsareunfitforplatooning--leadercan’tworknormally--weatherconditionsareunfitforplatooning--stopleadingbecauseofplanchanged--thesymmetrickeyisrevealedDE_JoiningRejectReason【ASN.1JoiningRejectReason::=ENUMERATED{--notreadytoleadornofunction--donotmeettheaccessparameters--otherprocessisongoing--theplatoonstoptojoinnewvehicle--theplatooncapacityisfull--waitmomentandtryagain--tryagainwhenroadsaregood--nottherightplacetojoin--thecommunicationperformanceisunfitforplatooning--thesymmetrickeyisrevealed--usedforextensionsofthisDE_LeavingReason【ASN.1LeavingReason::=ENUMERATED{--nonplatooningvehiclecutin--thevehiclehassthwrong,andcan’twork--askforleaving,becausehasarrivedthedst.--theroadconditionsisunfitforplatooning--thecommunicationperformanceis--joinafterprecedingvehicleleave--loststatusinformationofmonitoringobject--badweatherconditionsforplatooning--thesymmetrickeyisrevealed--usedforextensionsofthisDE_LeavingRejectReason【ASN.1LeavingRejectReason::=ENUMERATED{--trafficconditions/roadcondition