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Content for  TS 23.286  Word version:  18.4.0

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9.16 Support for HD map dynamic information  9.16.1 General  9.16.2 Information flows  9.16.2.1 Subscribe HD map dynamic information request  9.16.2.2 Subscribe HD map dynamic information response  9.16.2.3 Notify HD map dynamic information  9.16.2.4 Notification of dynamic information  9.16.3 Subscription for HD map dynamic information  9.16.4 Management of dynamic UE location based group  9.16.5 Obtaining dynamic information of the UEs in proximity range  9.16.5.1 Subscription procedure within V2X SP  9.16.5.2 Subscription procedure across V2X SPs  9.16.5.3 Notification procedure  9.16.6 Notification of HD map dynamic information 
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9.16  Support for HD map dynamic information |R17|  p. 75

9.16.1  General  p. 75

The V2X application specific server can be responsible for managing HD maps and providing the HD map information to the V2X application specific client on V2X UE (e.g host vehicle controlled by advanced/remote driving). As per a proximity range set by the application layer, the VAE layer support providing the dynamic information (i.e. location information) required for HD maps management to the V2X application specific server.
This feature is feasible for scenarios where host vehicle (V2X UE) is in advanced/remote driving mode with slow to moderate speed and deployed in areas like campus (e.g. autonomous shuttle vehicles), factories or ports (e.g. autonomous/remotely controlled guided vehicles).
This feature utilizes the following procedures:
  • V2X application specific server subscription for host vehicle's HD map dynamic information with VAE server.
  • VAE server tracking host vehicle's UE location with support from SEAL's location management server.
  • VAE server management of dynamic UE location based group.
  • VAE server obtaining dynamic information from the UEs in proximity range of the host vehicle.
  • VAE server notification of host vehicle's HD map dynamic information to V2X application specific server.
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9.16.2  Information flows  p. 75

9.16.2.1  Subscribe HD map dynamic information request  p. 75

Table 9.16.2.1-1 describes the information flow for a V2X application specific server to subscribe to HD map dynamic information at the VAE server.
Information element Status Description
V2X UE IDMIdentifier of the host V2X UE.
Application defined proximity range informationMDescription of the range information over which the HD map dynamic information is required.
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9.16.2.2  Subscribe HD map dynamic information response  p. 76

Table 9.16.2.2-1 describes the information flow for VAE server to respond for HD map dynamic subscription request from the V2X application specific server.
Information element Status Description
ResultMResult from the VAE server in response to subscription request indicating success or failure
Subscription ID (NOTE)OIdentifier of a successful subscription.
NOTE:
This IE is included when the Result indicates success
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9.16.2.3  Notify HD map dynamic information  p. 76

Table 9.16.2.3-1 describes the information flow for a V2X application specific server to receive notification about HD map dynamic information from the VAE server.
Information element Status Description
Subscription IDMIdentifier of the subscription for this notification.
Location of the host V2X UEMThe location of the host V2X UE during the HD map dynamic information subscription.
List of V2X UEs informationMThe information of the V2X UEs which were detected in the application defined proximity range.
>Nearby V2X UE IDMThe identifier of nearby V2X UE
>Location informationMLocation information of the nearby V2X UE within the application defined proximity range
>Distance informationMDistance information of the nearby V2X UE, relative to the host V2X UE.
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9.16.2.4  Notification of dynamic information  p. 76

Table 9.16.2.4-1 describes the information flow for notification of dynamic information from VAE client to the VAE server.
Information element Status Description
Subscription IDMIdentifier of the subscription for this notification.
List of V2X UEs informationMThe information of the V2X UEs which were detected in the proximity area of the reporting V2X UE.
>Nearby V2X UE IDMThe identifier of nearby V2X UE
>Local dynamic informationMThe local dynamic information of the nearby V2X UE (e.g. location)
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9.16.3  Subscription for HD map dynamic information  p. 76

Figure 9.16.3-1 describes the procedure for subscription for HD map dynamic information.
Pre-condition:
  • V2X application specific server has registered with VAE server 1 which is responsible for the host vehicle.
Copy of original 3GPP image for 3GPP TS 23.286, Fig. 9.16.3-1: Subscription for HD map dynamic information
Figure 9.16.3-1: Subscription for HD map dynamic information
(⇒ copy of original 3GPP image)
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Step 1.
The V2X application specific server sends a subscribe HD map dynamic information request to the VAE server 1. The request includes the V2X UE ID of the host vehicle, application defined proximity range information.
Step 2.
The VAE server 1 stores the subscription information.
Step 3.
The VAE server 1 sends subscription response to the V2X application specific server.
Step 4.
The VAE server 1 obtains and initiates tracking the host vehicle location from the location management server 1 as specified in TS 23.434.
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9.16.4  Management of dynamic UE location based group  p. 77

Figure 9.16.4-1 describes the procedure for management of dynamic UE location based group.
Pre-condition:
  • VAE server 1 has received an updated location of the host vehicle as per procedure specified in TS 23.434.
Copy of original 3GPP image for 3GPP TS 23.286, Fig. 9.16.4-1: Management of dynamic UE location group
Figure 9.16.4-1: Management of dynamic UE location group
(⇒ copy of original 3GPP image)
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Step 1.
Dynamic UE location based group creation or update is triggered (e.g. notified of the UE location of host vehicle) via the step 4 in clause 9.16.3 for the V2X UE ID of the host vehicle.
Step 2.
VAE server 1 uses its associated LMS 1 to obtain the dynamic UE list and the corresponding location information in the proximity area of the host vehicle by providing the application defined proximity range and the UE location of the host vehicle as specified in clause 9.3.10 of TS 23.434.
Step 3.
VAE server 1 determines the list of other VAE servers 2..N operating in the same location as per clause 9.10.2.1.
Step 4.
For each VAE server determined in step 4, VAE server 1 requests the dynamic UE list and its corresponding location information for the application defined proximity range by providing the UE location of the host vehicle.
Step 5.
The VAE server(s) 2..N obtain UE information corresponding to the UE location and application defined proximity range from its corresponding LMS 2..N as specified in TS 23.434.
Step 6.
As per the agreement between the V2X SPs, if the V2X UE IDs are not shareable, then VAE server(s) 2..N may replace the V2X UE IDs with temporary V2X UE IDs.
Step 7.
The VAE server(s) 2..N sends get response with UE list in the UE location and application defined proximity range to VAE server 1.
Step 8.
If VAE server 1 has no dynamic UE location group for the V2X UE ID, the VAE server 1 creates a dynamic UE location based group with the UE list received from its LMS and other VAE server(s) 2..N. Further VAE server 1 stores the dynamic UE location based group. Otherwise, the VAE server 1 updates the dynamic UE location group with the latest UE information. The V2X UEs whose locations are no more within the application defined proximity range are removed from the dynamic UE location group.
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9.16.5  Obtaining dynamic information of the UEs in proximity range  p. 79

9.16.5.1  Subscription procedure within V2X SP  p. 79

Figure 9.16.5.1-1 describes the subscription procedure within V2X SP to obtain dynamic information from the UEs in application defined proximity range.
Pre-condition:
  • VAE server 1 is tracking the host vehicle and has created the dynamic UE location based group as per procedure in clause 9.16.4.
Copy of original 3GPP image for 3GPP TS 23.286, Fig. 9.16.5.1-1: Subscription procedure within V2X SP
Figure 9.16.5.1-1: Subscription procedure within V2X SP
(⇒ copy of original 3GPP image)
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Step 1.
The VAE server 1 managing the dynamic UE location group sends subscribe dynamic information request to the VAE clients who are part of the dynamic UE location group. These VAE clients (V2X UEs) belong to the same V2X SP as the host vehicle. The request consists of reporting configuration (e.g. frequency of reporting, event based).
Step 2.
The VAE client(s) store the subscription information.
Step 3.
The VAE client(s) send a subscription response to the VAE server 1.

9.16.5.2  Subscription procedure across V2X SPs  p. 79

Figure 9.16.5.2-1 describes the subscription procedure across V2X SPs to obtain dynamic information from the UEs in application defined proximity range.
Pre-condition:
  • VAE server 1 has created the dynamic UE location based group as per procedure in clause 9.16.4.
Copy of original 3GPP image for 3GPP TS 23.286, Fig. 9.16.5.2-1: Subscription procedure across V2X SPs
Figure 9.16.5.2-1: Subscription procedure across V2X SPs
(⇒ copy of original 3GPP image)
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Step 1.
The VAE server 1 managing the dynamic UE location group sends subscribe dynamic information request to the VAE server(s) who's V2X UEs are part of the dynamic UE location group. The request consists of temporary V2X UE IDs, reporting configuration (e.g. frequency of reporting, event based).
Step 2.
As per the agreement between V2X SPs, if V2X UE IDs are not shareable, then VAE server 2 determines the V2X UE IDs corresponding to the temporary V2X UE IDs provided in step 1.
Step 3.
The VAE server 2 performs subscription procedure as specified in clause 9.16.5.1 with the VAE client(s).
Step 4.
The VAE server 2 sends a subscription response to the VAE server 1.
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9.16.5.3  Notification procedure  p. 80

Figure 9.16.5.3-1 describes the notification procedure of dynamic information from the UEs in application defined proximity range.
Pre-condition:
  • VAE server 2 has received the notification of dynamic information from its subscribed VAE client(s).
Copy of original 3GPP image for 3GPP TS 23.286, Fig. 9.16.5.3-1: Notification procedure
Figure 9.16.5.3-1: Notification procedure
(⇒ copy of original 3GPP image)
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Step 1.
As per subscription procedure in clause 9.16.5.1 and clause 9.16.5.2, the VAE client(s) and VAE server 2 (of another V2X SP) send notification of dynamic information to the VAE server 1. The notification includes the nearby UE information (e.g. vehicles, pedestrians), distance with nearby UEs, UEs location information. As per agreement between V2X SPs, if V2X UE IDs are not shareable, then VAE server 2 includes the temporary V2X UE IDs in the notification.
Step 2.
The VAE server 1 aggregates information from different VAE clients to create the HD map dynamic information.
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9.16.6  Notification of HD map dynamic information  p. 80

Pre-conditions:
  • V2X application specific server has performed subscription as per procedure in clause 9.16.3 with VAE server 1.
  • VAE server 1 has prepared the HD map dynamic information as per procedure in clause 9.16.5.3.
Copy of original 3GPP image for 3GPP TS 23.286, Fig. 9.16.6: Notification for HD map dynamic information
Figure 9.16.6: Notification for HD map dynamic information
(⇒ copy of original 3GPP image)
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Step 1.
The VAE server 1 sends notification of HD map dynamic information to the V2X application specific server. The notification includes the aggregated information of all the UEs in the application defined proximity range of the host vehicle and the location of the host vehicle.
Step 2.
The V2X application specific server updates the HD map information with the HD map dynamic information received in step 1.

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