# V2C
V2C基于《智能网联汽车云控系统》的第2部分。这个标准适用于智能网联汽车云控系统中智能网联汽车车载终端与云控基础平台的数据交互
# 启动服务
V2C协议插件启动支持6种认证方式,如果默认不加密报文则不需要传AES-128、RSA、SM2、SM4的密钥，具体加密方式由客户端决定。服务端解析协议拿到加密方式后，再动态解密报文
# 上行消息
# 结构体
{
"type": 0x15,
"version": 1,
"data": {}
}
# 车辆注册
{
"type": 0x62,
"version": 1,
"data": {
"vehicleBrand": "qm123456",
"vehicleType": 1,
"fuelType": 1,
"adLevel": 1,
"conLevel": 1,
"plateNumber": "苏A123456",
"terminalType": "123456",
"userdefinedData": null
}
}
# 车辆准静态参数信息
{
"type": 0x34,
"version": 1,
"data": {
"vehicleId": "123456789",
"swVersion": "1.0.0",
"hwVersion": "2.0.0",
"adVersion": "3.0.0",
"comType": 1,
"posConfidence": 90,
"timeSync": 1,
"gnssType": 2,
"userdefinedData": "Test Data" }
}
# 车辆运行状态信息
# 车辆基础信息
# 车辆辅助驾驶系统信息
# 自动驾驶系统信息
{
"type": 0x15,
"version": 1,
"data": [{
"vehicleId": "123456789",
"messageId": 12345,
"timestampGNSS": 1629372000000,
"velocityGNSS": 80,
"position": {
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 100
},
"heading": 90,
"tapPos": 2,
"steeringAngle": 45,
"velocityCAN": 60,
"accelerationLon": 5,
"accelerationLat": 2,
"accelerationVer": 1,
"yawRate": 30,
"accelPos": 70,
"engineSpeed": 3000,
"engineTorque": 250,
"brakeFlag": 1,
"brakePos": 50,
"brakePressure": 100,
"fuelConsumtion": 20,
"driveMode": 1,
"destLocation": {
"latitude": 37.987654,
"longitude": -122.123456
}
}]
{
"type": 0x15,
"version": 2,
"data": [
{
"vehicleId": "123456789",
"messageId": 12345,
"timestampGNSS": 1629372000000,
"velocityGNSS": 80,
"position": {
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 100
},
"heading": 90,
"tapPos": 2,
"steeringAngle": 45,
"velocityCAN": 60,
"accelerationLon": 5,
"accelerationLat": 2,
"accelerationVer": 1,
"yawRate": 30,
"accelPos": 70,
"engineSpeed": 3000,
"engineTorque": 250,
"brakeFlag": 1,
"brakePos": 50,
"brakePressure": 100,
"fuelConsumtion": 20,
"driveMode": 1,
"destLocation": {
"latitude": 37.987654,
"longitude": -122.123456
}
},
{
"absFlag": 1,
"tcsFlag": 0,
"espFlag": 1,
"lkaFlag": 0,
"accMode": 2,
"fcwFlag": 1,
"ldwFlag": 0,
"aebFlag": 1,
"lcaFlag": 0,
"dmsFlag": 1,
"mileage": 50000,
"fuelGauge": 75,
"soc": 50,
"temperature": 25,
"endurance": 200,
"vehFault": 3,
"motorspeed": 3000,
"motortorque": 250,
"vehMode": 2,
"chargeState": 1,
"battVol": 12,
"battCur": 20,
"hornState": 1,
"wheelVelocity": [
60,
55,
65,
60
],
"tirePressure": [
30,
32,
31,
30
],
"lights": 7,
"doors": 4,
"userdefinedData": "Test Data"
}
]
}
{
"type": 0x15,
"version": 3,
"data": [{
"vehicleId": "123456789",
"messageId": 12345,
"timestampGNSS": 1629372000000,
"velocityGNSS": 80,
"position": {
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 100
},
"heading": 90,
"tapPos": 2,
"steeringAngle": 45,
"velocityCAN": 60,
"accelerationLon": 5,
"accelerationLat": 2,
"accelerationVer": 1,
"yawRate": 30,
"accelPos": 70,
"engineSpeed": 3000,
"engineTorque": 250,
"brakeFlag": 1,
"brakePos": 50,
"brakePressure": 100,
"fuelConsumtion": 20,
"driveMode": 1,
"destLocation": {
"latitude": 37.987654,
"longitude": -122.123456
}
},{
"absFlag": 1,
"tcsFlag": 0,
"espFlag": 1,
"lkaFlag": 0,
"accMode": 2,
"fcwFlag": 1,
"ldwFlag": 0,
"aebFlag": 1,
"lcaFlag": 0,
"dmsFlag": 1,
"mileage": 50000,
"fuelGauge": 75,
"soc": 50,
"temperature": 25,
"endurance": 200,
"vehFault": 3,
"motorspeed": 3000,
"motortorque": 250,
"vehMode": 2,
"chargeState": 1,
"battVol": 12,
"battCur": 20,
"hornState": 1,
"wheelVelocity": [60, 55, 65, 60],
"tirePressure": [30, 32, 31, 30],
"lights": 7,
"doors": 4,
"userdefinedData": "Test Data"
},{
"cloudMessageId": 123456789,
"accelCmd": 50,
"torqueCmd": 200,
"velocityCmd": 70,
"planningLocs": [{
"expLongitude": 37.123456,
"expLatitude": -122.987654,
"expSpeed": 60,
"expAcceleration": 5,
"expHeading": 90
}, {
"expLongitude": 37.987654,
"expLatitude": -122.123456,
"expSpeed": 65,
"expAcceleration": 7,
"expHeading": 100
}],
"decisionLaneChange": 1,
"decisionAccel": 2,
"decisionTurnSignal": 0,
"decisionVehicleStatus": 3,
"detectionData": [{
"objectType": "Car",
"distance": 10,
"velocity": 30
}, {
"objectType": "Pedestrian",
"distance": 5,
"velocity": 10
}],
"autoDrivingSysFault": 2,
"EPB": 1,
"userdefinedData": "Test Data"
}]
# 车辆运行状态信息补发
{
"type": 0x60,
"version": 1,
"data": [{
"vehicleId": "123456789",
"messageId": 12345,
"timestampGNSS": 1629372000000,
"velocityGNSS": 80,
"position": {
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 100
},
"heading": 90,
"tapPos": 2,
"steeringAngle": 45,
"velocityCAN": 60,
"accelerationLon": 5,
"accelerationLat": 2,
"accelerationVer": 1,
"yawRate": 30,
"accelPos": 70,
"engineSpeed": 3000,
"engineTorque": 250,
"brakeFlag": 1,
"brakePos": 50,
"brakePressure": 100,
"fuelConsumtion": 20,
"driveMode": 1,
"destLocation": {
"latitude": 37.987654,
"longitude": -122.123456
}
},{
"vehicleId": "123456789",
"messageId": 12345,
"timestampGNSS": 1629372000000,
"velocityGNSS": 80,
"position": {
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 100
},
"heading": 90,
"tapPos": 2,
"steeringAngle": 45,
"velocityCAN": 60,
"accelerationLon": 5,
"accelerationLat": 2,
"accelerationVer": 1,
"yawRate": 30,
"accelPos": 70,
"engineSpeed": 3000,
"engineTorque": 250,
"brakeFlag": 1,
"brakePos": 50,
"brakePressure": 100,
"fuelConsumtion": 20,
"driveMode": 1,
"destLocation": {
"latitude": 37.987654,
"longitude": -122.123456
}
}]
# 心跳信息
{
"type": 0x0C,
"version": 1,
"data": {}
}
# 自定义上行数据
{
"type": 0x5C,
"version": 1,
"data": {
"vehicleId": "123456789",
"data": [72, 101, 108, 108, 111, 44, 32, 87, 111, 114, 108, 100]
}
}
# 下行
下行指令通过MQTT下发给具体的设备
{
"type": 0x5C,
"version": 1,
"controllerData": 24,
"data": {
}
}
# 车辆功能订阅信息
{
"type": 0x36,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"data": [72, 101, 108, 108]
}
}
# 实时决策建议
# 信号灯路口车速引导
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 63,
"adviceType": 1,
"seq": 12345,
"uuid": "abcdefg123456",
"timestamp": 1628765432,
"valid": 1,
"type": 2,
"spdMax": 100,
"spdMin": 30,
"spdExp": 60,
"d2StopLine": 50
}
}
# 无信号灯路口右转
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 55,
"adviceType": 3,
"seq": 12345,
"uuid": "ijklmnop123456",
"timestamp": 1628765432,
"adviceFlag": 1,
"level": 2
}
}
# 动态车道级限速
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 120,
"adviceType": 5,
"seq": 12345,
"uuid": "qrstuvwx123456",
"timestamp": 1628765432,
"alertRadius": 100,
"pointNum": 2,
"alertPath": [{
"expLongitude": 37.123456,
"expLatitude": -122.987654,
"expSpeed": 60,
"expAcceleration": 5,
"expHeading": 90
}, {
"expLongitude": 37.987654,
"expLatitude": -122.123456,
"expSpeed": 65,
"expAcceleration": 7,
"expHeading": 100
}],
"laneNum": 3,
"speedLmt": [{
"laneId": 1,
"speedLimit": 40
}, {
"laneId": 2,
"speedLimit": 50
}, {
"laneId": 3,
"speedLimit": 60
}]
}
}
# 匝道汇回预警
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 128,
"adviceType": 7,
"seq": 12345,
"uuid": "yzabcdef123456",
"timestamp": 1628765432,
"alertRadius": 50,
"pointNum": 3,
"alertPath": [{
"latitude": 37.123456,
"longitude": -122.987654,
"elevation":34
}, {
"latitude": 37.987654,
"longitude": -122.123456,
"elevation":34
}, {
"latitude": 38.765432,
"longitude": -121.234567,
"elevation":34
}],
"dtc": 10,
"ttc": 5
}
}
# 前向碰撞预警
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen":123,
"adviceType": 9,
"seq": 12345,
"uuid": "abcdefg123456",
"timestamp": 1628765432,
"alertRadius": 100,
"pointNum": 2,
"alertPath": [{
"latitude": 37.123456,
"longitude": -122.987654,
elevation:34
}, {
"latitude": 37.987654,
"longitude": -122.123456,
elevation:34
}],
"objType": 1,
"fcwLevel": 2,
"fcwDistance": 50,
"fcwLaneId": 1
}
}
# 异常车辆预警
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 123,
"adviceType": 11,
"seq": 12345,
"uuid": "hijklmno123456",
"timestamp": 1628765432,
"alertType": 1,
"alertRadius": 200,
"pointNum": 3,
"alertPath": [{
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 100
}, {
"latitude": 37.987654,
"longitude": -122.123456,
"elevation": 200
}, {
"latitude": 38.765432,
"longitude": -121.234567,
"elevation": 300
}],
"velocity": 80,
"heading": 90
}
}
# 紧急车辆预警
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 0,
"adviceType": 13,
"seq": 12345,
"uuid": "pqrstuvwxyz123456",
"timestamp": 1628765432,
"alertRadius": 150,
"alertType": 2,
"pointNum": 2,
"alertPath": [{
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 200
}, {
"latitude": 37.987654,
"longitude": -122.123456,
"elevation": 200
}],
"type": 1,
"velocity": 100,
"heading": 180
}
}
# 匝道辅助功能
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 78,
"adviceType": 15,
"seq": 12345,
"uuid": "abcdefg123456",
"timestamp": 1628765432,
"alertRadius": 100,
"pointNum": 2,
"alertPath": [{
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 200
}, {
"latitude": 37.987654,
"longitude": -122.123456,
"elevation": 200
}],
"velocity": 80,
"direction": 1
}
}
# 通用 RSI
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 0,
"adviceType": 17,
"seq": 12345,
"rsisNum": 2,
"rsis": [{
"uuid": "abcdefg123456",
"timestamp": 1628765432,
"eventPosition": {
"latitude": 37.123456,
"longitude": -122.987654,
"elevation": 100
},
"eventType": 1,
"eventSource": 2,
"eventRadius": 200,
"referenceLinksNum": 1,
"referenceLinks": [{
"upstreamNodeId": 123,
"downstreamNodeId": 456,
"referenceLanesNum": 2,
"referenceLanes": [1, 2]
}],
"priority": 1,
"alertPath": {
"latitude": 37.765432,
"longitude": -121.234567,
"elevation": 300
},
"pathRadius": 150,
"status": 1,
"userdefinedData": "Example data"
}, {
"uuid": "hijklmno123456",
"timestamp": 1628765432,
"eventPosition": {
"latitude": 38.123456,
"longitude": -123.987654,
"elevation": 200
},
"eventType": 2,
"eventSource": 1,
"eventRadius": 300,
"referenceLinksNum": 2,
"referenceLinks": [{
"upstreamNodeId": 789,
"downstreamNodeId": 12,
"referenceLanesNum": 3,
"referenceLanes": [3, 4, 5]
}, {
"upstreamNodeId": 345,
"downstreamNodeId": 678,
"referenceLanesNum": 1,
"referenceLanes": [6]
}],
"priority": 2,
"alertPath": {
"latitude": 38.543210,
"longitude": -121.345678,
"elevation": 500
},
"pathRadius": 200,
"status": 2,
"userdefinedData": "Another example data"
}]
}
}
# 路线规划功能
{
"type": 0x3C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 78,
"adviceType": 21,
"seq": 12345,
"uuid": "abcdefg123456",
"timestamp": 1628765432,
"pathLength": 5000,
"destLocation": {
"latitude": 37.123456,
"longitude": -122.987654
},
"destinationHeading": 180,
"roadNum": 3,
"roadName": [123456789, 987654321, 456789123]
}
}
# 实时控制建议
{
"type": 0x1E,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"instructMode": 1,
"cloudMessageId": 12345,
"workState": 2,
"errCode": 0,
"instructCommand": 3,
"instructDirection": 1,
"minFollowDist": 100,
"instructDataLen": 0,
"instructData": {
"expNum": 2,
"expSpeed": [60, 80],
"expAcceleration": [10, 15],
"equationNum": 2,
"equation": [{
"coefficientA": 1,
"coefficientB": 2,
"coefficientC": 3
}, {
"coefficientA": 4,
"coefficientB": 5,
"coefficientC": 6
}]
}
}
}
{
"type": 0x1E,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"instructMode": 2,
"cloudMessageId": 12345,
"workState": 2,
"errCode": 0,
"instructCommand": 3,
"instructDirection": 1,
"minFollowDist": 100,
"instructDataLen": 0,
"instructData": {
"traceLength": 1000,
"GNSSPointNum": 5,
"GNSSPoint": [{
"expLongitude": 123456789,
"expLatitude": 987654321,
"expSpeed": 60,
"expAcceleration": 10,
"expHeading": 180
}, {
"expLongitude": 987654321,
"expLatitude": 123456789,
"expSpeed": 80,
"expAcceleration": 15,
"expHeading": 270
}, {
"expLongitude": 456789123,
"expLatitude": 789123456,
"expSpeed": 70,
"expAcceleration": 12,
"expHeading": 90
}, {
"expLongitude": 789123456,
"expLatitude": 456789123,
"expSpeed": 90,
"expAcceleration": 18,
"expHeading": 135
}, {
"expLongitude": 234567890,
"expLatitude": 567890123,
"expSpeed": 75,
"expAcceleration": 11,
"expHeading": 45
}]
}
}
}
# 远程控制
{
"type": 0x1F,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"cloudMessageId": 12345,
"controlType": 0,
"controlData": {
"steeringAngle": 30,
"steeringAngularVelocity": 10,
"accelPos": 50,
"brakeFlag": 0,
"brakePos": 0,
"tapPos": 2
}
}
}
{
"type": 0x1F,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"cloudMessageId": 12345,
"controlType": 1,
"controlData": {
"lights": 5,
"wipers": 2,
"doors": 7,
"windows": 3
}
}
}
# 辅助功能
# 云端请求车辆视频流
{
"type": 0x3E,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 36,
"assistantFunctionData": {
"astFuncType": 1,
"uuid": "abcdefg123456789",
"astFuncFlag": 1,
"protoType": 2,
"camId": "camera1",
"videoQual": 720,
"urlAddr": "https://example.com/stream"
}
}
}
# 车辆历史视频上传
{
"type": 0x3E,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 0,
"assistantFunctionData": {
"astFuncType": 3,
"uuid": "abcdefg123456789",
"videoType": 1,
"fileFormat": 2,
"camId": "camera1",
"startTime": 1635331200000,
"endTime": 1635417599000,
"urlAddr": "https://example.com/history"
}
}
}
# 车端事件数据记录系统数据
{
"type": 0x3E,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 0,
"assistantFunctionData": {
"astFuncType": 5,
"uuid": "abcdefg123456789",
"startTime": 1635331200000,
"endTime": 1635417599000,
}
}
}
# 云端下发信号灯信息
{
"type": 0x3E,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 0,
"assistantFunctionData": {
"astFuncType": 7,
"seq": 12345,
"lightType": 1,
"phaseNumber": 4,
"phaseState": [{
"phaseID": 1,
"lightState": 2,
"timeLeft": 10,
"nextLightState": 3,
"nextLightTime": 5
}, {
"phaseID": 2,
"lightState": 3,
"timeLeft": 8,
"nextLightState": 1,
"nextLightTime": 7
}, {
"phaseID": 3,
"lightState": 1,
"timeLeft": 12,
"nextLightState": 2,
"nextLightTime": 6
}, {
"phaseID": 4,
"lightState": 2,
"timeLeft": 15,
"nextLightState": 3,
"nextLightTime": 10
}]
}
}
}
# 云端下发定位增强信息
{
"type": 0x3E,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 0,
"assistantFunctionData": {
"astFuncType": 9,
"timestamp": 1635417599000,
"seq": 12345,
"rtcmVersion": 3,
"rtcmPayload": [1, 2, 3, 4, 5]
}
}
}
# 云端下发实时感知信息
{
"type": 0x3E,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 0,
"assistantFunctionData": {
"astFuncType": 11,
"timestamp": 1635417599000,
"seq": 12345,
"source": 1,
"objNum": 2,
"detectionData": [{
"uuid": "abcdefg123456789",
"objId": 1,
"type": 2,
"status": 3,
"len": 4,
"width": 5,
"height": 6,
"position": {
"longitude": 123456789,
"latitude": 987654321
},
"locEast": 12345,
"locNorth": 67890,
"posConfidence": 7,
"elevation": 54321,
"elevConfidence": 8,
"speed": 9,
"speedConfidence": 10,
"speedEast": 11,
"speedEastConfidence": 12,
"speedNorth": 13,
"speedNorthConfidence": 14,
"heading": 15,
"headConfidence": 16,
"accelVert": 17,
"accelVertConfidence": 18,
"trackedTimes": 19,
"histLocs": [{
"position": {
"longitude": 123456789,
"latitude": 987654321
},
"posConfidence": 7,
"speed": 9,
"speedConfidence": 10,
"heading": 15,
"headConfidence": 16
}],
"predLocs": [{
"position": {
"longitude": 123456789,
"latitude": 987654321
},
"posConfidence": 7,
"speed": 9,
"speedConfidence": 10,
"heading": 15,
"headConfidence": 16
}],
"laneId": 20,
"filterInfoType": 21,
"filterInfo": {
"varIndex": [1, 2, 3],
"covs": [4, 5, 6],
"covsPred": [7, 8, 9]
},
"plateNo": "ABC123",
"plateType": 22,
"plateColor": 23,
"objColor": 24
}]
}
}
}
# 上行自定义
{
"type": 0x5C,
"version": 1,
"controllerData": 24,
"data": {
"vehicleId": "123456789",
"dataLen": 0,
"data": []
}
}