1. Scope
1.1Purpose
2. References
3. Terms and definitions
3.1 Definitions
3.2 Abbreviations and acronyms
4The use of DSRC messages in Applications
4.1Introduction to DSRC Goals and Objectives
4.2 DSRC Overview
4.3Philosophy of Message Design
5. Message Sets
5.1 Message: MSG_Ala Carte
5.2 Message: MSG_BasicSafetyMessage_Verbose
5.3 Message: MSG_BasicSafetyMessage
5.4 Message: MSG_EmergencyVehicleAlert
5.5 Message: MSG_IntersectionCollisionAvoidance
5.6 Message: MSG_NMEA_Corrections
5.7 Message: MSG_ProbeVehicleData
5.8 Message: MSG_RoadSideAlert
5.9 Message: MSG_RTCM_Corrections
5.10 Message: MSG_TravelerInformation
6. Data Frames
6.1 Data Element: DF_AccelerationSet4Way
6.2 Data Frame: DF_AccelSteerYawRateConfidence
6.3 Data Frame: DF_Approach
6.4 Data Frame: DF_ApproachesObject
6.5 Data Frame: DF_BarrierLane
6.6 Data Frame: DF_BreadCrumbVersion-1
6.7 Data Element: DF_BSM_Blob
6.8 Data Frame: DF_BumperHeights
6.9 Data Frame: DF_Circle
6.10 Data Frame: DF_ConfidenceSet
6.11 Data Element: DF_ConnectsTo
6.12 Data Frame: DF_CrosswalkLane
6.13 Data Frame: DF_DataParameters
6.14 Data Frame: DF_DDate
6.15 Data Frame: DF_DDateTime
6.16 Data Frame: DF_DFullTime
6.17 Data Frame: DF_DMonthDay
6.18 Data Frame: DF_DTime
6.19 Data Frame: DF_DYearMonth
6.20 Data Frame: DF_FullPositionVector
6.21 Data Frame: DF_Intersection
6.22 Data Frame: DF_ITIS_Phrase_ExitService
6.23 Data Frame: DF_ITIS_Phrase_GenericSignage
6.24 Data Frame: DF_ITIS_Phrase_SpeedLimit
6.25 Data Frame: DF_ITIS_Phrase_WorkZone
6.26 Data Frame: DF_J1939-Data Items
6.27 Data Frame: DF_MovementState
6.28 Data Frame: DF_NodeList
6.29 Data Frame: DF_Offsets
6.30 Data Frame: DF_Position2D
6.31 Data Frame: DF_Position3D
6.32 Data Element: DF_PositionConfidenceSet
6.33 Data Frame: DF_ReferencePoint
6.34 Data Frame: DF_RoadSignID
6.35 Data Frame: DF_Sample
6.36 Data Frame: DF_ShapePointSet
6.37 Data Frame: DF_SignalControlZone
6.38 Data Frame: DF_SignalRequest
6.39 Data Frame: DF_SnapshotDistance
6.40 Data Frame: DF_Snapshot
6.41 Data Frame: DF_SnapshotTime
6.42 Data Frame: DF_SpecialLane
6.43 Data Element: DF_SpeedandHeadingConfidence
6.44 Data Frame: DF_UpdateVector
6.45 Data Frame: DF_ValidRegion
6.46 Data Frame: DF_VehicleComputedLane
6.47 Data Frame: DF_VehicleIdent
6.48 Data Frame: DF_VehicleMotionTrail
6.49 Data Frame: DF_VehicleReferenceLane
6.50 Data Frame: DF_VehicleSize
6.51 Data Frame: DF_VehicleStatusRequest
6.52 Data Frame: DF_VehicleStatus
6.53 Data Frame: DF_WiperStatus
7. Data Elements
7.1 Data Element: DE_Acceleration
7.2 Data Element: DE_AccelerationConfidence
7.3 Data Element: DE_AmbientAirPressure (Barometric Pressure)
7.4 Data Element: DE_AmbientAirTemperature
7.5 Data Element: DE_AntiLockBrakeStatus
7.6 Data Element: DE_ApproachNumber
7.7 Data Element: DE_BarrierAttributes
7.8 Data Element: DE_BrakeAppliedPressure
7.9 Data Element: DE_BrakeAppliedStatus
7.10 Data Element: DE_BrakeBoostApplied
7.11 Data Element: DE_BrakeSystemStatus
7.12 Data Element: DE_BreadCrumbVersion-10
7.13 Data Element: DE_BreadCrumbVersion-2
7.14 Data Element: DE_BreadCrumbVersion-3
7.15 Data Element: DE_BreadCrumbVersion-4
7.16 Data Element: DE_BreadCrumbVersion-5
7.17 Data Element: DE_BreadCrumbVersion-6
7.18 Data Element: DE_BreadCrumbVersion-7
7.19 Data Element: DE_BreadCrumbVersion-8
7.20 Data Element: DE_BreadCrumbVersion-9
7.21 Data Element: DE_BumperHeightFront
7.22 Data Element: DE_BumperHeightRear
7.23 Data Element: DE_CodeWord
7.24 Data Element: DE_CoefficientOfFriction
7.25 Data Element: DE_Collision Event Flag (remove now, use event flags)
7.26 Data Element: DE_ColorState
7.27 Data Element: DE_CrosswalkLaneAttributes
7.28 Data Element: DE_DDay
7.29 Data Element: DE_DescriptiveName
7.30 Data Element: DE_DHour
7.31 Data Element: DE_DMinute
7.32 Data Element: DE_DMonth
7.33 Data Element: DE_DOffset
7.34 Data Element: DE_DrivenLineOffset
7.35 Data Element: DE_DrivingWheelAngle
7.36 Data Element: DE_DSecond
7.37 Data Element: DE_DSignalSeconds
7.38 Data Element: DE_DSRC MessageID
7.39 Data Element: DE_DYear
7.40 Data Element: DE_ElectronicStablityControlStatus REMOVE (dupe)
7.41 Data Element: DE_ElevationConfidence
7.42 Data Element: DE_Elevation
7.43 Data Element: DE_EmergencyDetails
7.44 Data Element: DE_EventFlags
7.45 Data Element: DE_Extent
7.46 Data Element: DE_ExteriorLights
7.47 Data Element: DE_FurtherInfoID
7.48 Data Element: DE_GPSstatus
7.49 Data Element: DE_HeadingConfidence
7.50 Data Element: DE_Heading
7.51 Data Element: DE_HeadingSlice
7.52 Data Element: DE_Intersection Status Object
7.53 Data Element: DE_IntersectionID
7.54 Data Element: DE_J1939-71-Axle Location
7.55 Data Element: DE_J1939-71-Axle Weight
7.56 Data Element: DE_J1939-71-Cargo Weight
7.57 Data Element: DE_J1939-71-Drive Axle Lift Air Pressure
7.58 Data Element: DE_J1939-71-Drive Axle Location
7.59 Data Element: DE_J1939-71-Drive Axle Lube Pressure
7.60 Data Element: DE_J1939-71-Drive Axle Temperature
7.61 Data Element: DE_J1939-71-Steering Axle Lube Pressure
7.62 Data Element: DE_J1939-71-Steering Axle Temperature
7.63 Data Element: DE_J1939-71-Tire Leakage Rate
7.64 Data Element: DE_J1939-71-Tire Location
7.65 Data Element: DE_J1939-71-Tire Pressure Threshold Detection
7.66 Data Element: DE_J1939-71-Tire Pressure
7.67 Data Element: DE_J1939-71-Tire Temp
7.68 Data Element: DE_J1939-71-Trailer Weight
7.69 Data Element: DE_J1939-71-Wheel End Elect. Fault
7.70 Data Element: DE_J1939-71-Wheel Sensor Status
7.71 Data Element: DE_LaneManeuverCode
7.72 Data Element: DE_LaneNumber
7.73 Data Element: DE_LaneSet
7.74 Data Element: DE_LaneWidth
7.75 Data Element: DE_Latitude
7.76 Data Element: DE_LayerID
7.77 Data Element: DE_LayerType
7.78 Data Element: DE_LightbarInUse
7.79 Data Element: DE_Longitude
7.80 Data Element: DE_MAYDAY_Location_quality_code
7.81 Data Element: DE_MAYDAY_Location_tech_code
7.82 Data Element: DE_MinuteOfTheYear
7.83 Data Element: DE_MinutesDuration
7.84 Data Element: DE_MsgCount
7.85 Data Element: DE_MsgCRC
7.86 Data Element: DE_MultiVehicleReponse
7.87 Data Element: DE_MUTCDCode
7.88 Data Element: DE_NEMA_Revision
7.89 Data Element: DE_NMEA_MsgType
7.90 Data Element: DE_NMEA_Payload
7.91 Data Element: DE_NTCIPVehicleclass,
7.92 Data Element: DE_ObstacleDirection
7.93 Data Element: DE_ObstacleDistance
7.94 Data Element: DE_PayloadData
7.95 Data Element: DE_Payload
7.96 Data Element: DE_PedestrianDetect
7.97 Data Element: DE_PedestrianSignalState
7.98 Data Element: DE_PositionalAccuracy
7.99 Data Element: DE_PositionConfidence
7.100 Data Element: DE_PreemptState
7.101 Data Element: DE_Priority
7.102 Data Element: DE_PriorityState
7.103 Data Element: DE_ProbeSegmentNumber
7.104 Data Element: DE_RainSensor
7.105 Data Element: DE_RequestedItem
7.106 Data Element: DE_ResponseType
7.107 Data Element: DE_RTCM_ID
7.108 Data Element: DE_RTCM_Payload (REMOVE)
7.109 Data Element: DE_RTCM_Revision (REMOVE)
7.110 Data Element: DE_SignalLightState
7.111 Data Element: DE_SignalReqScheme
7.112 Data Element: DE_SignalState
7.113 Data Element: DE_SignPrority
7.114 Data Element: DE_SirenInUse
7.115 Data Element: DE_SpecialLaneAttributes
7.116 Data Element: DE_SpecialSignalState
7.117 Data Element: DE_SpeedConfidence
7.118 Data Element: DE_Speed
7.119 Data Element: DE_StabilityControlStatus (DUPE)
7.120 Data Element: DE_StateConfidence
7.121 Data Element: DE_StdTagList OUTDATED
7.122 Data Element: DE_SteeringWheelAngleConfidence
7.123 Data Element: DE_SteeringWheelAngleRateOfChange
7.124 Data Element: DE_SteeringWheelAngle
7.125 Data Element: DE_SunSensor
7.126 Data Element: DE_TemporaryID
7.127 Data Element: DE_TerminationDistance
7.128 Data Element: DE_TerminationTime
7.129 Data Element: DE_ThrottleConfidence
7.130 Data Element: DE_ThrottlePosition
7.131 Data Element: DE_TimeConfidence
7.132 Data Element: DE_TimeToChange,
7.133 Data Element: DE_TractionControlState
7.134 Data Element: DE_TransistStatus
7.135 Data Element: DE_TransitPreEmptionRequest
7.136 Data Element: DE_TransmitInterval
7.137 Data Element: DE_TravelerInfoType
7.138 Data Element: DE_UniqueMSG_ID
7.139 Data Element: DE_URL_Base
7.140 Data Element: DE_URL_Link
7.141 Data Element: DE_URL_Short
7.142 Data Element: DE_VehicleHeight
7.143 Data Element: DE_VehicleLaneAttributes
7.144 Data Element: DE_VehicleLength
7.145 Data Element: DE_VehicleMass
7.146 Data Element: DE_VehicleRequestStatus
7.147 Data Element: DE_VehicleStatusDeviceTypeTag
7.148 Data Element: DE_VehicleType
7.149 Data Element: DE_VehicleWidth
7.150 Data Element: DE_VerticalAccelerationThreshold
7.151 Data Element: DE_VerticalAcceleration
7.152 Data Element: DE_VINstring,
7.153 Data Element: DE_WiperRate
7.154 Data Element: DE_WiperStatusFront
7.155 Data Element: DE_WiperStatusRear
7.156 Data Element: DE_YawRateConfidence
7.157 Data Element: DE_YawRate
8. External Data Entries
8.1 Data Element: DE_Incident Response Equipment [ITIS]
8.2 Data Element: DE_ITIS_Text [ITIS]
8.3 Data Element: DE_Responder Group Affected [ITIS]
8.4 Data Element: DE_Vehicle Groups Affected [ITIS]
8.5 Data Frame: DF_ITIS-Codes_And_Text [ITIS]
8.6 Data Element: ESS_EssMobileFriction [NTCIP]
8.7 Data Element: ESS_EssPrecipRate_quantity [NTCIP]
8.8 Data Element: ESS_EssPrecipSituation_code [NTCIP]
8.9 Data Element: ESS_EssPrecipYesNo_code [NTCIP]
8.10 Data Element: ESS_EssSolarRadiation_quantity [NTCIP]
8.11 Data Element: EXT_ITIS_Codes [ITIS]
9. Coming Attractions, Data Concepts
9.1 Message: MSG_CommonSafetyRequest
9.2 Message: MSG_MapData (GID Layer)
9.3 Message: MSG_ProbeDataManagement
9.4 Message: MSG_SignalPhaseAndTimingMessage (SPAT)
9.5 Message: MSG_SignalRequestMessage
9.6 Message: MSG_SignalStatusMessage
10. Conformance
11.Other Application Notes (Informative)
11.1On the use of TIME
11.2Persistence of the temporary MAC ID field
11.3URLs used in the standard
Annex A Message Framework
Introduction
Priority Related Terms
Message Priority Enforcement
Message Priority Table
Adjusting Priority
Latency Ranges
General Message Priority Scheme
Message Priority Table
Annex B The Safety Message Handler (Informative)
Annex C Operation with the Vehicle Basic Safety Message
1.Application Background
2.Applicable documents
3.Application message sequences
4.Application use with DSRC
Annex C-1 Intersection Collision Warning
Application Description
Concept of Operations
Sensors and Other System Needs
Annex C-2 Emergency Electronic Brake Lights
Application Description
Flow of Events
Concept of Operation
Sensors and Other System Needs
Annex C-3 Pre-crash Sensing
Application Description
Concept of Operations
Sensors and Other System Needs
Annex C-4 Cooperative Forward Collision Warning
Application Description
Concept of Operations
Sensors and Other System Needs
Annex C-5 Left Turn Assistant
Application Description
Concept of Operations
Sensors and Other System Needs
Annex C-6 Stop Sign Movement Assistance
Application Description
Concept of Operations
Sensors and Other System Needs
Annex C-7 Lane Change Warning
Application Description
Concept of Operations
Sensors and Other System Needs
Annex D: Traveler Information Message Use and Operation
Traveler Information Introduction
Traveler Information Packet Structure
Packet Format Diagram
Traveler Advisory Example
Road Sign Example
Application and Use with DSRC
Handling Repeated Packets
Handling Newly Received Data Frames
Replacement Policy for Locally-Stored Messages
Pruning Messages by In-vehicle Housekeeping
Updated Messages from Network
Deleting Messages as Directed by Network User
Vehicle Power-Up Events
Presentation of Signs & Advisories in Vehicle
Valid Time
Valid Region
Circular Region
Polygon Region
Shape Point Set Region
Extremely Large Regions
Annex E Traffic Probe Message Use and Operation
Probe Data Introduction
Probe Message Structure
Application and Use with DSRC
Probe Snapshot Generation
Periodic Snapshots
Event Triggered Snapshots
Starts and Stops Snapshots
Message Transmission Order
Probe Data Message Sets Received By an RSU
Vehicle Anonymity
Probe Data Security
Probe Data Message Management
Probe Message Management: Time or Distance Periodic Snapshot Generation
Probe Message Management: Interval between Probe Message Broadcasts
Probe Message Management: Termination
Probe Message Management: Vehicle Status Element Triggers
Probe Message Management: Vehicle Sampling
Probe Message Management: Managed Vehicle Heading
Probe Message Management: Start and Stop Threshold Settings
Annex F Emergency Vehicle Message Use and Operation
1. Application Description
2. Preconditions for operation:
3. Flow of Events
4. System Architecture and Concept of Operation
5. Application use with DSRC
Annex G Roadside Alerting Message Use and Operation
1. Application Description
2. Preconditions for operation:
3. Flow of Events
4. System Architecture and Concept of Operation
5. Application use with DSRC
Annex H Map and SPAT Message Use and Operation
1.Introduction
2.The overall framework of the SPAT
3.The overall framework of the MAP
4. Additional details of message use
Annex I Cooperative Cruse Control (CCC) Use and Operation
1. Introduction
2. Operational Concept
3. Cooperative Cruise Control Message Set
4. Form and Join Message Operations
Join Message Request/Response
Form Message Request
5. RSE Broadcast Operations
Roadside Broadcast Message
6. Leave Team Message Operations
Leave Message Broadcast
6. Team Status Message Operations
7. Conclusion
8. Developer Notes
Vehicle Class Compatibility
Leader to Team Communications
Broadcast Strategy
Teaming Speed Limit
FHWA Vehicle Classes
9. Message Set Human Interaction