继续上一次的哦~ 这里仅是1阶段的map,2阶段稍有修改,这里未体现~~~
V2X 地图
定义：地图消息。由路侧单元广播，向车辆传递局部区域的地图信息。包括局部区域的路口信息、路段信息、车道信息，道路之间的连接关系等。单个地图消息可以包含多个路口或区域的地图数据。路口处的信号灯信息则在 SPAT 消息中详细定义。
MAP 消息的主体结构，是一个层层嵌套的形式。其中实线框为必有项，虚线框为可选项。
示例json文件
{
"msgCnt": "1",
// MsgCount
"nodes": {
"Node": [ // NodeList
// Node
{
"name": "YiZhuang-QuanQu", // DescriptiveName
"id": { //NodeReferenceID
"region": "10", // RoadRegulatorID
"id": "19" // NodeID
},
"refPos": { // Position3D
"lat": "397870006", // Latitude
"long": "1165119042", // Longitude
"elevation": "0" // Elevation
},
"inLinks": {
"Link": [ //LinkList
// Link
{
"name": "18-19", // DescriptiveName
"upstreamNodeId": { // NodeReferenceID
"region": "10",
"id": "18"
},
"speedLimits": {
"RegulatorySpeedLimit": [ // SpeedLimitList,
// RegulatorySpeedLimit
{
"type": { // SpeedLimitType
"vehicleMaxSpeed": null
},
"speed": "833" // Speed
}
]
},
"linkWidth": "660", // LaneWidth
"points": {
"RoadPoint": [ // PointList
// RoadPoint
{
"posOffset": { // PositionOffsetLLV
"offsetLL": { //PositionOffsetLL
"position-LatLon": { // Position-LLmD-64b
"lon": "1165142774", // Longitude
"lat": "397841165" // Latitude
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165129744",
"lat": "397857197"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165120283",
"lat": "397868872"
}
}
}
}
]
},
"lanes": {
"Lane": [ // LaneList
// Lane
{
"laneID": "1", // LaneID
"laneWidth": "330", // LaneWidth
"laneAttributes": { // LaneAttributes
"shareWith": "0000000000", // LaneSharing
"laneType": { // LaneTypeAttributes
"vehicle": "00000000"
}
},
"maneuvers": "110000000000", // AllowedManeuvers
"connectsTo": {
"Connection": [ // ConnectsToList
// Connection
{
"remoteIntersection": { // NodeReferenceID
"region": "10",
"id": "12"
},
"connectingLane": { // ConnectingLane
"lane": "1", // LaneID
"maneuver": "010000000000" // AllowedManeuvers
},
"phaseId": "7" // PhaseID
},
{
"remoteIntersection": {
"region": "10",
"id": "20"
},
"connectingLane": {
"lane": "1",
"maneuver": "100000000000"
},
"phaseId": "6"
}
]
},
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165142774",
"lat": "397841165"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165129744",
"lat": "397857197"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165120283",
"lat": "397868872"
}
}
}
}
]
}
},
{
"laneID": "2",
"laneWidth": "330",
"laneAttributes": {
"shareWith": "0000000000",
"laneType": {
"vehicle": "00000000"
}
},
"maneuvers": "001000000000",
"connectsTo": {
"Connection": {
"remoteIntersection": {
"region": "10",
"id": "29"
},
"connectingLane": {
"lane": "1",
"maneuver": "001000000000"
},
"phaseId": "8"
}
},
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165142774",
"lat": "397841165"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165129744",
"lat": "397857197"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165120622",
"lat": "397869034"
}
}
}
}
]
}
}
]
}
},
{
"name": "12-19",
"upstreamNodeId": {
"region": "10",
"id": "12"
},
"speedLimits": {
"RegulatorySpeedLimit": {
"type": {
"vehicleMaxSpeed": null
},
"speed": "833"
}
},
"linkWidth": "800",
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165093456",
"lat": "397857496"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165102631",
"lat": "397862082"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165117219",
"lat": "397869139"
}
}
}
}
]
},
"lanes": {
"Lane": [
{
"laneID": "1",
"laneWidth": "400",
"laneAttributes": {
"shareWith": "0000000000",
"laneType": {
"vehicle": "00000000"
}
},
"maneuvers": "110000000000",
"connectsTo": {
"Connection": [
{
"remoteIntersection": {
"region": "10",
"id": "20"
},
"connectingLane": {
"lane": "1",
"maneuver": "010000000000"
},
"phaseId": "17"
},
{
"remoteIntersection": {
"region": "10",
"id": "29"
},
"connectingLane": {
"lane": "1",
"maneuver": "100000000000"
},
"phaseId": "16"
}
]
},
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165093456",
"lat": "397857496"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165102631",
"lat": "397862082"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165117219",
"lat": "397869139"
}
}
}
}
]
}
},
{
"laneID": "2",
"laneWidth": "400",
"laneAttributes": {
"shareWith": "0000000000",
"laneType": {
"vehicle": "00000000"
}
},
"maneuvers": "101000000000",
"connectsTo": {
"Connection": [
{
"remoteIntersection": {
"region": "10",
"id": "29"
},
"connectingLane": {
"lane": "1",
"maneuver": "100000000000"
},
"phaseId": "16"
},
{
"remoteIntersection": {
"region": "10",
"id": "18"
},
"connectingLane": {
"lane": "1",
"maneuver": "001000000000"
},
"phaseId": "18"
}
]
},
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165093858",
"lat": "397856990"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165102839",
"lat": "397861774"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165117469",
"lat": "397868830"
}
}
}
}
]
}
}
]
}
},
{
"name": "20-19",
"upstreamNodeId": {
"region": "10",
"id": "20"
},
"speedLimits": {
"RegulatorySpeedLimit": {
"type": {
"vehicleMaxSpeed": null
},
"speed": "833"
}
},
"linkWidth": "660",
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165095240",
"lat": "397899027"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165105845",
"lat": "397885982"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165117636",
"lat": "397871423"
}
}
}
}
]
},
"lanes": {
"Lane": [
{
"laneID": "1",
"laneWidth": "330",
"laneAttributes": {
"shareWith": "0000000000",
"laneType": {
"vehicle": "00000000"
}
},
"maneuvers": "110000000000",
"connectsTo": {
"Connection": [
{
"remoteIntersection": {
"region": "10",
"id": "29"
},
"connectingLane": {
"lane": "1",
"maneuver": "010000000000"
},
"phaseId": "27"
},
{
"remoteIntersection": {
"region": "10",
"id": "18"
},
"connectingLane": {
"lane": "1",
"maneuver": "100000000000"
},
"phaseId": "26"
}
]
},
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165095240",
"lat": "397899027"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165105845",
"lat": "397885982"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165117636",
"lat": "397871423"
}
}
}
}
]
}
},
{
"laneID": "2",
"laneWidth": "330",
"laneAttributes": {
"shareWith": "0000000000",
"laneType": {
"vehicle": "00000000"
}
},
"maneuvers": "001000000000",
"connectsTo": {
"Connection": {
"remoteIntersection": {
"region": "10",
"id": "12"
},
"connectingLane": {
"lane": "1",
"maneuver": "001000000000"
},
"phaseId": "28"
}
},
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165095240",
"lat": "397899027"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165105845",
"lat": "397885982"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165117292",
"lat": "397871274"
}
}
}
}
]
}
}
]
}
},
{
"name": "129-19",
"upstreamNodeId": {
"region": "10",
"id": "29"
},
"speedLimits": {
"RegulatorySpeedLimit": {
"type": {
"vehicleMaxSpeed": null
},
"speed": "833"
}
},
"linkWidth": "780",
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165153657",
"lat": "397887241"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165136723",
"lat": "397878978"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165120695",
"lat": "397871234"
}
}
}
}
]
},
"lanes": {
"Lane": [
{
"laneID": "1",
"laneWidth": "390",
"laneAttributes": {
"shareWith": "0000000000",
"laneType": {
"vehicle": "00000000"
}
},
"maneuvers": "110000000000",
"connectsTo": {
"Connection": [
{
"remoteIntersection": {
"region": "10",
"id": "18"
},
"connectingLane": {
"lane": "1",
"maneuver": "010000000000"
},
"phaseId": "37"
},
{
"remoteIntersection": {
"region": "10",
"id": "12"
},
"connectingLane": {
"lane": "1",
"maneuver": "100000000000"
},
"phaseId": "36"
}
]
},
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165153657",
"lat": "397887241"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165136723",
"lat": "397878978"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165120695",
"lat": "397871234"
}
}
}
}
]
}
},
{
"laneID": "2",
"laneWidth": "390",
"laneAttributes": {
"shareWith": "0000000000",
"laneType": {
"vehicle": "00000000"
}
},
"maneuvers": "101000000000",
"connectsTo": {
"Connection": [
{
"remoteIntersection": {
"region": "10",
"id": "12"
},
"connectingLane": {
"lane": "1",
"maneuver": "100000000000"
},
"phaseId": "36"
},
{
"remoteIntersection": {
"region": "10",
"id": "20"
},
"connectingLane": {
"lane": "1",
"maneuver": "001000000000"
},
"phaseId": "38"
}
]
},
"points": {
"RoadPoint": [
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165153184",
"lat": "397887780"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165136426",
"lat": "397879247"
}
}
}
},
{
"posOffset": {
"offsetLL": {
"position-LatLon": {
"lon": "1165120459",
"lat": "397871540"
}
}
}
}
]
}
}
]
}
}
]
}
}
]
}
}根据示例，初步画出路口图为：
问题：目前根据标准无法确定如何画出弧形路口。
数据帧、数据元素
上述示例中注释为数据类型，参考下述数据帧、数据元素：
- MinuteOfTheYear
数值用来表示当前年份，已经过去的总分钟数（UTC 时间）。其分辨率为 1 分钟。该数值配合 DSecond 数值，则可以表示以毫秒记的全年已过去的总时间。
MinuteOfTheYear ::= INTEGER (0..527040)
-- the value 527040 shall be used for invalid- DSecond
定义 1 分钟内的毫秒级时刻。分辨率为 1 ms，有效范围是 0～59999。60000 及以上表示未知或无效数值。
DSecond ::= INTEGER (0..65535)
-- units of milliseconds- MsgCount
发送方为自己发送的同类消息，依次进行编号。编号数值为 0～127，循环使用。该数据字段用于接收方对来自同一发送方的同一类消息，进行连续收包的监控和丢包的统计。
MsgCount ::= INTEGER (0..127)- NodeList
定义地图节点列表。
NodeList ::= SEQUENCE (SIZE(1..63)) OF Node- Node
地图节点。节点是地图的最基本组成部分，可以是交叉路口，也可以是一个路段的端点。在地图上，顺序的两个节点确定一条有向路段。节点属性包括名称、ID、位置以及节点相连的上游路段集合。一个节点中包含的路段，均以该节点作为下游端点。而从该节点出发的路段，则归属于路段下游节点的数据中。Node 数据帧中，refPos 字段用来提供当前数据帧作用范围内的参考三维位置坐标，帧中所有的位置偏移量，均基于该参考坐标计算。真实位置坐标等于偏移量加上参考坐标。
Node ::= SEQUENCE {
-- Node can be an intersection, or a road endpoint
name DescriptiveName OPTIONAL,
-- Node name
id NodeReferenceID,
-- A globally unique value set,
-- consisting of a regionID and
-- node ID assignment
refPos Position3D,
-- 3D position of the center of this Node.
-- This position is also the reference position for the elements inside
inLinks LinkList OPTIONAL,
-- all the links enter this Node
...
}- DescriptiveName
定义名称字符串类型。
DescriptiveName ::= IA5String (SIZE(1..63))- NodeReferenceID
定义节点 ID。节点 ID 是由一个全局唯一的地区 ID 和一个地区内部唯一的节点 ID 组成。
NodeReferenceID ::= SEQUENCE {
region RoadRegulatorID OPTIONAL,
-- a globally unique regional assignment value
-- typical assigned to a regional DOT authority
-- the value zero shall be used for testing needs
id NodeID
-- a unique mapping to the node
-- in question within the above region of use
}- RoadRegulatorID
定义地图中各个划分区域的 ID 号。数值 0 仅用于测试。
RoadRegulatorID ::= INTEGER (0..65535)
-- The value zero shall be used for testing only- NodeID
定义节点 ID。路网最基本的构成即节点和节点之间连接的路段。节点可以是路口，也可以是一条路的端点。一个节点的 ID 在同一个区域内是唯一的。数值 0～255 预留为测试使用。
NodeID ::= INTEGER (0..65535)
-- The values zero through 255 are allocated for testing purposes
-- Note that the value assigned to a node will be
-- unique within a given regional ID only- Position3D
三维的坐标位置，经纬度和高程。
Position3D ::= SEQUENCE {
lat Latitude,
-- in 1/10th micro degrees
long Longitude,
-- in 1/10th micro degrees
elevation Elevation OPTIONAL
-- in 10 cm units
}- Latitude
定义纬度数值，北纬为正，南纬为负。分辨率 1e-7°。
Latitude ::= INTEGER (-900000000..900000001)
-- Units of 1/10 micro degree
-- Providing a range of plus-minus 90 degrees- Longitude
定义经度数值。东经为正，西经为负。分辨率为 1e-7°。
Longitude ::= INTEGER (-1799999999..1800000001)
-- Units of 1/10 micro degree
-- Providing a range of plus-minus 180 degrees- Elevation
定义车辆海拔高程。分辨率为 0.1 m。数值 -4096 表示无效数值。
Elevation ::= INTEGER (-4096..61439)
-- In units of 10 cm steps above or below the reference ellipsoid
-- Providing a range of -409.5 to + 6143.9 meters
-- The value -4096 shall be used when Unknown is to be sent- LinkList
定义路段列表。
LinkList ::= SEQUENCE (SIZE(1..32)) OF Link- Link
定义路段。从一个节点到相邻另一个节点的道路称为一个有向路段。其属性包含名称、上游节点 ID、限速集合、车道宽度，以及该路段包含的车道集合与交通标志标牌集合。
Link ::= SEQUENCE {
name DescriptiveName OPTIONAL,
-- Link name
upstreamNodeId NodeReferenceID,
-- this link is from upstreamNode to the Node it belongs to
speedLimits SpeedLimitList OPTIONAL,
-- List all the speed limits
linkWidth LaneWidth OPTIONAL,
-- Width of this link
points PointList OPTIONAL,
-- Define road points along the center of this link
movements MovementList OPTIONAL,
-- Define movements at intersection
lanes LaneList,
-- Lanes belong to this link
...
}- SpeedLimitList
定义路段或车道的限速列表。
SpeedLimitList ::= SEQUENCE (SIZE(1..9)) OF RegulatorySpeedLimit- RegulatorySpeedLimit
定义限速属性。包括限速类型以及所规定的限制速度。
RegulatorySpeedLimit ::= SEQUENCE {
type SpeedLimitType,
-- The type of regulatory speed which follows
speed Speed
-- The speed in units of 0.02 m/s
-- See Section 11 for converting and translating
-- speed expressed in mph into units of m/s
}- SpeedLimitType
定义限速类型，指示给出的限速大小对应的参考类型。
SpeedLimitType ::= ENUMERATED {
unknown, -- Speed limit type not available
maxSpeedInSchoolZone, -- Only sent when the limit is active
maxSpeedInSchoolZoneWhenChildrenArePresent, -- Sent at any time
maxSpeedInConstructionZone, -- Used for work zones, incident zones, etc.
-- where a reduced speed is present
vehicleMinSpeed,
vehicleMaxSpeed, -- Regulatory speed limit for general traffic
vehicleNightMaxSpeed,
truckMinSpeed,
truckMaxSpeed,
truckNightMaxSpeed,
vehiclesWithTrailersMinSpeed,
vehiclesWithTrailersMaxSpeed,
vehiclesWithTrailersNightMaxSpeed,
...
}- Speed
车辆或其他交通参与者的速度大小。分辨率为 0.02 m/s。数值 8191 表示无效数值。
Speed ::= INTEGER (0..8191)
-- Units of 0.02 m/s
-- The value 8191 indicates that
-- speed is unavailable- LaneWidth
定义车道宽度。分辨率为 1 cm。
LaneWidth ::= INTEGER (0..32767)
-- units of 1 cm- PointList
定义一个有向路段上的中间位置点列表，用来表达路段上截面或片段的特殊属性。列表中所有位置点需按上游至下游顺序排列。
PointList ::= SEQUENCE (SIZE(2..31)) OF RoadPoint
-- At least 2 points of 1 lane
-- entry line and exit line
-- points need to be listed sequentially
-- from upstream to downstream- RoadPoint
表示完整道路上标记的一个位置点属性。包括相对位置、位置点处路段截面的特殊属性集合、以及该位置点到下游相邻位置点之间局部路段的特殊属性集合。当位置点为路段最下游的点，则其包含的下游截取路段属性为无效数据。
RoadPoint ::= SEQUENCE {
posOffset PositionOffsetLLV,
-- Position offset to the reference position
...
}- PositionOffsetLLV
定义三维的相对位置（相对经纬度和相对高程）。约定偏差值等于真实值减去参考值。
PositionOffsetLLV ::= SEQUENCE {
offsetLL PositionOffsetLL,
-- offset in lon/lat
offsetV VerticalOffset OPTIONAL
-- offset in elevation
}- PositionOffsetLL
经纬度偏差，来描述一个坐标点的相对位置。约定偏差值等于真实值减去参考值。提供了 7 种尺度的描述方式。
PositionOffsetLL ::= CHOICE {
-- Locations with LL content Span at the equator when using a zoom of
one:
position-LL1 Position-LL-24B,
-- within +- 22.634554 meters of the reference position
position-LL2 Position-LL-28B,
-- within +- 90.571389 meters of the reference position
position-LL3 Position-LL-32B,
-- within +- 362.31873 meters of the reference position
position-LL4 Position-LL-36B,
-- within +- 01.449308 Kmeters of the reference position
position-LL5 Position-LL-44B,
-- within +- 23.189096 Kmeters of the reference position
position-LL6 Position-LL-48B,
-- within +- 92.756481 Kmeters of the reference position
position-LatLon Position-LLmD-64b
-- node is a Lat/Lon absolute coordinates
-- not a reference position
}- Position-LL-24B
24 比特相对经纬度位置，表示当前位置点关于参考位置点的经纬度偏差。由两个 12 比特的经度、纬度偏差值组成。
Position-LL-24B ::= SEQUENCE {
-- ranges of +- 0.0002047 degrees
-- ranges of +- 22.634554 meters at the equator
lon OffsetLL-B12,
lat OffsetLL-B12
}- OffsetLL-B12
12 比特数值，表示当前位置点关于参考位置点的经纬度偏差。值得注意的是，根据纬度的不同，相同的经纬度偏差值对应的实际球面距离可能不同。关于参考点，向东或向北偏移，数值为正，反之为负。分辨率为 1e-7°。
OffsetLL-B12 ::= INTEGER (-2048..2047)
-- A range of +- 0.0002047 degrees
-- Units of 0.1 microdegrees- Position-LL-28B
28 比特相对经纬度位置，表示当前位置点关于参考位置点的经纬度偏差。由两个 14 比特的经度、纬度偏差值组成。
Position-LL-24B ::= SEQUENCE {
-- ranges of +- 0.0002047 degrees
-- ranges of +- 22.634554 meters at the equator
lon OffsetLL-B12,
lat OffsetLL-B12
}- OffsetLL-B14
14 比特数值，表示当前位置点关于参考位置点的经纬度偏差。值得注意的是，根据纬度的不同，相同的经纬度偏差值对应的实际球面距离可能不同。关于参考点，向东或向北偏移，数值为正，反之为负。分辨率为 1e-7°。
OffsetLL-B14 ::= INTEGER (-8192..8191)
-- A range of +- 0.0008191 degrees
-- Units of 0.1 microdegrees- Position-LL-32B
32 比特相对经纬度位置，表示当前位置点关于参考位置点的经纬度偏差。由两个 16 比特的经度、纬度偏差值组成。
Position-LL-32B ::= SEQUENCE {
-- ranges of +- 0.0032767 degrees
-- ranges of +- 362.31873 meters at the equator
lon OffsetLL-B16,
lat OffsetLL-B16
}- OffsetLL-B16
16 比特数值，表示当前位置点关于参考位置点的经纬度偏差。值得注意的是，根据纬度的不同，相同的经纬度偏差值对应的实际球面距离可能不同。关于参考点，向东或向北偏移，数值为正，反之为负。分辨率为 1e-7°。
OffsetLL-B16 ::= INTEGER (-32768..32767)
-- A range of +- 0.0032767 degrees
-- Units of 0.1 microdegrees- Position-LL-36B
36 比特相对经纬度位置，表示当前位置点关于参考位置点的经纬度偏差。由两个 18 比特的经度、纬度偏差值组成。
Position-LL-36B ::= SEQUENCE {
-- ranges of +- 0.0131071 degrees
-- ranges of +- 01.449308 Kmeters at the equator
lon OffsetLL-B18,
lat OffsetLL-B18
}- OffsetLL-B18
18 比特数值，表示当前位置点关于参考位置点的经纬度偏差。值得注意的是，根据纬度的不同，相同的经纬度偏差值对应的实际球面距离可能不同。关于参考点，向东或向北偏移，数值为正，反之为负。分辨率为 1e-7°。
OffsetLL-B18 ::= INTEGER (-131072..131071)
-- A range of +- 0.0131071 degrees
-- Units of 0.1 microdegrees- Position-LL-44B
44 比特相对经纬度位置，表示当前位置点关于参考位置点的经纬度偏差。由两个 22 比特的经度、纬度偏差值组成。
Position-LL-44B ::= SEQUENCE {
-- ranges of +- 0.2097151 degrees
-- ranges of +- 23.189096 Kmeters at the equator
lon OffsetLL-B22,
lat OffsetLL-B22
}- OffsetLL-B22
22 比特数值，表示当前位置点关于参考位置点的经纬度偏差。值得注意的是，根据纬度的不同，相同的经纬度偏差值对应的实际球面距离可能不同。关于参考点，向东或向北偏移，数值为正，反之为负。分辨率为 1e-7°。
OffsetLL-B22 ::= INTEGER (-2097152..2097151)
-- A range of +- 0.2097151 degrees
-- Units of 0.1 microdegrees- Position-LL-48B
48 比特相对经纬度位置，表示当前位置点关于参考位置点的经纬度偏差。由两个 24 比特的经度、纬度偏差值组成。
Position-LL-48B ::= SEQUENCE {
-- ranges of +- 0.8388607 degrees
-- ranges of +- 92.756481 Kmeters at the equator
lon OffsetLL-B24,
lat OffsetLL-B24
}- OffsetLL-B24
24 比特数值，表示当前位置点关于参考位置点的经纬度偏差。值得注意的是，根据纬度的不同，相同的经纬度偏差值对应的实际球面距离可能不同。关于参考点，向东或向北偏移，数值为正，反之为负。分辨率为 1e-7°。
OffsetLL-B24 ::= INTEGER (-8388608..8388607)
-- A range of +- 0.8388607 degrees
-- Units of 0.1 microdegrees- Position-LLmD-64b
64 比特经纬度位置。实际上，该尺度采用了真实经纬度数据进行描述，非相对位置。
Position-LLmD-64b ::= SEQUENCE {
-- a full 32b Lat/Lon range
lon Longitude,
lat Latitude
}- VerticalOffset
定义垂直方向位置偏差。提供了7种尺度范围的偏差表示方式。
VerticalOffset ::= CHOICE {
-- Vertical Offset
-- All below in steps of 10cm above or below the reference ellipsoid
offset1 VertOffset-B07, -- with a range of +- 6.3 meters vertical
offset2 VertOffset-B08, -- with a range of +- 12.7 meters vertical
offset3 VertOffset-B09, -- with a range of +- 25.5 meters vertical
offset4 VertOffset-B10, -- with a range of +- 51.1 meters vertical
offset5 VertOffset-B11, -- with a range of +- 102.3 meters vertical
offset6 VertOffset-B12, -- with a range of +- 204.7 meters vertical
elevation Elevation -- with a range of -409.5 to + 6143.9 meters
}- MovementList
描述一条路段与下游路段的连接关系列表。
MovementList ::= SEQUENCE (SIZE(1..32)) OF Movement- Movement
描述道路与下游路段的连接关系，以及该连接对应的本地路口处信号灯相位 ID。此处的相位 ID 事实上也是 MAP 消息与 SPAT 消息的唯一关联。车辆在确定了转向行为后，能够通过该相位 ID 数据，查看到 SPAT 中对应的相位实时状态，从而获得行车过程中的信号灯数据辅助。
Movement ::= SEQUENCE {
remoteIntersection NodeReferenceID,
-- This entry indicates the downstream intersection of the link this lane connects to.
-- This provides a means to create meshes of lanes
phaseId PhaseID OPTIONAL
-- The matching signal group send by
-- the SPAT message for this lane/maneuver.
-- Shall be present unless the connectingLane
-- has no signal group (is un-signalized)
}- LaneList
定义一个路段中包含的车道列表。
LaneList ::= SEQUENCE (SIZE(1..32)) OF Lane- Lane
定义车道。包含 ID、共享属性、车道出口的允许转向行为、车道与下游路段车道的连接关系列表以及车道中间点列表。
Lane ::= SEQUENCE {
laneID LaneID,
-- The unique ID number assigned
-- to this lane object
laneWidth LaneWidth OPTIONAL,
laneAttributes LaneAttributes OPTIONAL,
-- Define basic attribute of lane
maneuvers AllowedManeuvers OPTIONAL,
-- the permitted maneuvers for this lane
connectsTo ConnectsToList OPTIONAL,
-- connection to downsteam lanes
speedLimits SpeedLimitList OPTIONAL,
-- List all the speed limits
points PointList OPTIONAL,
-- Define road points and segments
...
}- LaneWidth
定义车道宽度。分辨率为 1 cm。
LaneWidth ::= INTEGER (0..32767)
-- units of 1 cm- LaneAttributes
定义车道属性。包括车道共享情况以及车道本身所属的类别特性。
LaneAttributes ::= SEQUENCE {
shareWith LaneSharing OPTIONAL,
laneType LaneTypeAttributes
}- LaneSharing
定义车道被共享的情况。在已有的车道属性定义基础上，该数据表示此车道还会有其他的交通参与者者出现，并可能拥有相同的路权。数据中每一位置“1”表示对应的车道共享属性生效。
LaneSharing ::= BIT STRING {
-- With bits as defined:
overlappingLaneDescriptionProvided (0),
-- Assert when another lane object is present to describe the
-- path of the overlapping shared lane
-- this construct is not used for lane objects which simply cross
multipleLanesTreatedAsOneLane (1),
-- Assert if the lane object path and width details represents
-- multiple lanes within it that are not further described
-- Various modes and type of traffic that may share this lane:
otherNonMotorizedTrafficTypes (2), -- horse drawn etc.
individualMotorizedVehicleTraffic (3),
busVehicleTraffic (4),
taxiVehicleTraffic (5),
pedestriansTraffic (6),
cyclistVehicleTraffic (7),
trackedVehicleTraffic (8),
pedestrianTraffic (9)
} (SIZE (10))
-- All zeros would indicate 'not shared' and 'not overlapping- LaneTypeAttributes
定义不同类别车道的属性集合。
LaneTypeAttributes ::= CHOICE {
vehicle LaneAttributes-Vehicle, -- motor vehicle lanes
crosswalk LaneAttributes-Crosswalk, -- pedestrian crosswalks
bikeLane LaneAttributes-Bike, -- bike lanes
sidewalk LaneAttributes-Sidewalk, -- pedestrian sidewalk paths
median LaneAttributes-Barrier, -- medians & channelization
striping LaneAttributes-Striping, -- roadway markings
trackedVehicle LaneAttributes-TrackedVehicle, -- trains and trolleys
parking LaneAttributes-Parking, -- parking and stopping lanes
...
}- LaneAttributes-Vehicle
车辆行驶车道的属性定义。用来描述一条车用车道的特殊属性和其允许行驶的汽车种类。
LaneAttributes-Vehicle ::= BIT STRING {
-- With bits as defined:
isVehicleRevocableLane (0),
-- this lane may be activated or not based
-- on the current SPAT message contents
-- if not asserted, the lane is ALWAYS present
isVehicleFlyOverLane (1),
-- path of lane is not at grade
hovLaneUseOnly (2),
restrictedToBusUse (3),
restrictedToTaxiUse (4),
restrictedFromPublicUse (5),
hasIRbeaconCoverage (6),
permissionOnRequest (7) -- e.g. to inform about a lane for e-cars
} (SIZE (8,...))- LaneAttributes-Crosswalk
人行横道的属性定义。指示车道的一系列通过属性和人行辅助设施。
LaneAttributes-Crosswalk ::= BIT STRING {
-- With bits as defined:
-- MUTCD provides no suitable "types" to use here
crosswalkRevocableLane (0),
-- this lane may be activated or not based
-- on the current SPAT message contents
-- if not asserted, the lane is ALWAYS present
bicyleUseAllowed (1),
-- The path allows bicycle traffic,
-- if not set, this mode is prohibited
isXwalkFlyOverLane (2),
-- path of lane is not at grade
fixedCycleTime (3),
-- ped walk phases use preset times
-- i.e. there is not a 'push to cross' button
biDirectionalCycleTimes (4),
-- ped walk phases use different SignalGroupID
-- for each direction. The first SignalGroupID
-- in the first Connection represents 'inbound'
-- flow (the direction of travel towards the first
-- node point) while second SignalGroupID in the
-- next Connection entry represents the 'outbound'
-- flow. And use of RestrictionClassID entries
-- in the Connect follow this same pattern in pairs.
hasPushToWalkButton (5),
-- Has a demand input
audioSupport (6),
-- audio crossing cues present
rfSignalRequestPresent (7),
-- Supports RF push to walk technologies
unsignalizedSegmentsPresent (8)
-- The lane path consists of one of more segments
-- which are not part of a signal group ID
-- Bits 9~15 reserved and set to zero
} (SIZE (16))- LaneAttributes-Bike
自行车道的属性定义。
LaneAttributes-Crosswalk ::= BIT STRING {
-- With bits as defined:
-- MUTCD provides no suitable "types" to use here
crosswalkRevocableLane (0),
-- this lane may be activated or not based
-- on the current SPAT message contents
-- if not asserted, the lane is ALWAYS present
bicyleUseAllowed (1),
-- The path allows bicycle traffic,
-- if not set, this mode is prohibited
isXwalkFlyOverLane (2),
-- path of lane is not at grade
fixedCycleTime (3),
-- ped walk phases use preset times
-- i.e. there is not a 'push to cross' button
biDirectionalCycleTimes (4),
-- ped walk phases use different SignalGroupID
-- for each direction. The first SignalGroupID
-- in the first Connection represents 'inbound'
-- flow (the direction of travel towards the first
-- node point) while second SignalGroupID in the
-- next Connection entry represents the 'outbound'
-- flow. And use of RestrictionClassID entries
-- in the Connect follow this same pattern in pairs.
hasPushToWalkButton (5),
-- Has a demand input
audioSupport (6),
-- audio crossing cues present
rfSignalRequestPresent (7),
-- Supports RF push to walk technologies
unsignalizedSegmentsPresent (8)
-- The lane path consists of one of more segments
-- which are not part of a signal group ID
-- Bits 9~15 reserved and set to zero
} (SIZE (16))- LaneAttributes-Sidewalk
人行道的属性定义。
LaneAttributes-Sidewalk ::= BIT STRING { -- With bits as defined:
sidewalk-RevocableLane (0),
-- this lane may be activated or not based
-- on the current SPAT message contents
-- if not asserted, the lane is ALWAYS present
bicyleUseAllowed (1),
-- The path allows bicycle traffic,
-- if not set, this mode is prohibited
isSidewalkFlyOverLane (2),
-- path of lane is not at grade
walkBikes (3)
-- bike traffic must dismount and walk
-- Bits 4~15 reserved and set to zero
} (SIZE (16))- LaneAttributes-Barrier
车道隔离的属性定义。主要指示车道隔离的物理形式。
LaneAttributes-Barrier ::= BIT STRING {
-- With bits as defined:
median-RevocableLane (0),
-- this lane may be activated or not based
-- on the current SPAT message contents
-- if not asserted, the lane is ALWAYS present
median (1),
whiteLineHashing (2),
stripedLines (3),
doubleStripedLines (4),
trafficCones (5),
constructionBarrier (6),
trafficChannels (7),
lowCurbs (8),
highCurbs (9) -- Bits 10~15 reserved and set to zero
} (SIZE (16))- LaneAttributes-Striping
标线车道的属性定义。指示了车道上网纹或者标志标线所传达的道路信息，如禁行、路线标识等，辅助驾驶员通过一些复杂的路口或路段，提高驾驶安全性。
LaneAttributes-Striping ::= BIT STRING {
-- With bits as defined:
stripeToConnectingLanesRevocableLane (0),
-- this lane may be activated or not activated based
-- on the current SPAT message contents
-- if not asserted, the lane is ALWAYS present
stripeDrawOnLeft (1),
stripeDrawOnRight (2),
-- which side of lane to mark
stripeToConnectingLanesLeft (3),
stripeToConnectingLanesRight (4),
stripeToConnectingLanesAhead (5)
-- the stripe type should be
-- presented to the user visually
-- to reflect stripes in the
-- intersection for the type of
-- movement indicated
-- Bits 6~15 reserved and set to zero
} (SIZE (16))- LaneAttributes-TrackedVehicle
轨道车辆车道的属性定义。用来描述一条轨道车辆车道的特殊属性和其允许行驶的车辆种类。
LaneAttributes-TrackedVehicle ::= BIT STRING {
-- With bits as defined:
spec-RevocableLane (0),
-- this lane may be activated or not based
-- on the current SPAT message contents
-- if not asserted, the lane is ALWAYS present
spec-commuterRailRoadTrack (1),
spec-lightRailRoadTrack (2),
spec-heavyRailRoadTrack (3),
spec-otherRailType (4) -- Bits 5~15 reserved and set to zero
} (SIZE (16))- LaneAttributes-Parking
停车车道的属性定义。指示车道允许停车的种类和停靠方式。
LaneAttributes-Parking ::= BIT STRING {
-- With bits as defined:
-- Parking use details, note that detailed restrictions such as
-- allowed hours are sent by way of ITIS codes in the TIM message
parkingRevocableLane (0),
-- this lane may be activated or not based
-- on the current SPAT message contents
-- if not asserted, the lane is ALWAYS present
parallelParkingInUse (1),
headInParkingInUse (2),
doNotParkZone (3),
-- used to denote fire hydrants as well as
-- short disruptions in a parking zone
parkingForBusUse (4),
parkingForTaxiUse (5),
noPublicParkingUse (6)
-- private parking, as in front of
-- private property
-- Bits 7~15 reserved and set to zero
} (SIZE (16))- AllowedManeuvers
定义一个（机动车）车道的允许转向行为。
AllowedManeuvers ::= BIT STRING {
-- With bits as defined:
-- Allowed maneuvers at path end (stop line)
-- All maneuvers with bits not set are therefore prohibited
-- A value of zero shall be used for unknown, indicating no Maneuver
76
T/CSAE 53—2020
maneuverStraightAllowed (0),
-- a Straight movement is allowed in this lane
maneuverLeftAllowed (1),
-- a Left Turn movement is allowed in this lane
maneuverRightAllowed (2),
-- a Right Turn movement is allowed in this lane
maneuverUTurnAllowed (3),
-- a U turn movement is allowed in this lane
maneuverLeftTurnOnRedAllowed (4),
-- a Stop, and then proceed when safe movement
-- is allowed in this lane
maneuverRightTurnOnRedAllowed (5),
-- a Stop, and then proceed when safe movement
-- is allowed in this lane
maneuverLaneChangeAllowed (6),
-- a movement which changes to an outer lane
-- on the egress side is allowed in this lane
-- (example: left into either outbound lane)
maneuverNoStoppingAllowed (7),
-- the vehicle should not stop at the stop line
-- (example: a flashing green arrow)
yieldAllwaysRequired (8),
-- the allowed movements above are not protected
-- (example: an permanent yellow condition)
goWithHalt (9),
-- after making a full stop, may proceed
caution (10),
-- proceed past stop line with caution
reserved1 (11)
-- used to align to 12 Bit Field
} (SIZE(12))- ConnectsToList
定义路段中每条车道，在下游路口处与下游路段中车道的转向连接关系列表。
ConnectsToList ::= SEQUENCE (SIZE(1..16)) OF Connection- Connection
定义当前车道与下游路段中车道的连接关系。包括下游路段出口节点ID、连接的下游路段车道基本信息以及对应的信号灯相位号。在车道连接中定义的相位号，是对 DF_Movement 中定义转向的相位号的一个补充。当某一些车道在转向时需要参考一些特殊的信号灯相位（而不是 DF_Movement 中定义的默认相位），则应该将其定义在本数据帧中。
Connection::= SEQUENCE {
remoteIntersection NodeReferenceID,
-- This entry indicates the downstream intersection of the link this lane connects to.
-- This provides a means to create meshes of lanes
connectingLane ConnectingLane OPTIONAL,
-- The index of the connecting lane and also
-- the maneuver from the current lane to it
-- When we want to list the allowed lanes of the next link
-- this lane can lead to, we use this entry
phaseId PhaseID OPTIONAL
-- The matching signal group send by
-- the SPAT message for this lane/maneuver.
-- Shall be present unless the connectingLane
-- has no signal group (is un-signalized)
}- ConnectingLane
用于定位上游车道转向连接的下游车道。包括下游车道 ID 以及该转向的允许行驶行为，下游车道 ID 的作用范围是该车道所在的路段。
ConnectingLane ::= SEQUENCE {
lane LaneID,
-- Index of the connecting lane
maneuver AllowedManeuvers OPTIONAL
-- The Maneuver between
-- the enclosing lane and this lane
-- at the stop line to connect them
}- PhaseID
定义信号灯相位 ID。数值 0 表示无效 ID。
PhaseID ::= INTEGER (0..255)
-- The value 0 shall be used when the ID is not available or not known参考标准：T/CSAE53-2020 合作式智能运输系统车用通信系统应用层及应用数据交互标准第一阶段
