SAE J3216
Taxonomy and Definitions for Terms Related to Cooperative Driving Automation for On-Road Motor Vehicles
| Issuing body | SAE |
|---|---|
| Committees | SAE International |
| First issued | 2020 |
| Latest revision | 2021 |
| Status | active |
| Category | industry |
| Topics | automation, situational_awareness |
| Reference | https://www.sae.org/standards/content/j3216/ |
Scope
Standard building on SAE J3016 to provide terms, definitions, and a taxonomy for cooperative driving automation (CDA): machine-to-machine communication enabling cooperation among two or more entities to support or enable the dynamic driving task for a subject vehicle with automation engaged. Defines four cooperation classes (A status-sharing, B intent-sharing, C agreement-seeking, D prescriptive) aimed at improving safety, mobility, and situational awareness.
Related Papers (20)
- Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles ↗ · 2021 · paper relates to standard · 0.74 (embedding)
- Opportunities and Challenges in Cooperative Road Vehicle Automation · 2021 · paper relates to standard · 0.73 (embedding)
- Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles ↗ · 2016 · paper relates to standard · 0.72 (embedding)
- Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles ↗ · 2018 · paper relates to standard · 0.72 (embedding)
- Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems ↗ · 2014 · paper relates to standard · 0.72 (embedding)
- Automation · 2020 · paper relates to standard · 0.70 (embedding)
- Detailed Concept of Operations: Transportation Systems Management and Operations/Cooperative Driving Automation Use Cases and Scenarios · 2020 · paper relates to standard · 0.69 (embedding)
- 2022 CDA Annual Report · 2024 · paper relates to standard · 0.69 (embedding)
- Cooperative Driving Automation (CDA) at Stop-Controlled Intersections · 2024 · paper relates to standard · 0.68 (embedding)
- Recent International Activity in Cooperative Vehicle–Highway Automation Systems · 2012 · paper relates to standard · 0.68 (embedding)
- Cooperative Automation Research: CARMA Proof-of-Concept TSMO Use Case Testing: CARMA Cooperative Perception Concept of Operations · 2022 · paper relates to standard · 0.68 (embedding)
- Concept of Operations for CARMA Integrated Highway Prototype 2 · 2022 · paper relates to standard · 0.67 (embedding)
- Cooperative Driving Automation — Highway Driving Simulator Architecture: High-Level Architecture Design · 2025 · paper relates to standard · 0.67 (embedding)
- A multimodal interaction concept for cooperative driving ↗ · 2013 · paper relates to standard · 0.67 (embedding)
- Cooperative Automation Research: CARMA Proof-of-Concept Transportation System Management and Operations Use Case 1 - Basic Arterial Travel–Stop-Controlled Intersections · 2021 · paper relates to standard · 0.67 (embedding)
- A critique of the SAE conditional driving automation definition, and analyses of options for improvement · 2018 · paper relates to standard · 0.67 (embedding)
- Literature review on recent international activity in cooperative vehicle–highway automation systems. · 2012 · paper relates to standard · 0.67 (embedding)
- How to Design Human-Vehicle Cooperation for Automated Driving: A Review of Use Cases, Concepts, and Interfaces ↗ · 2024 · paper relates to standard · 0.67 (embedding)
- Optimizing Vehicle Trajectories at Fixed-Time Traffic Signal Intersections Using Cooperative Driving Automation (CDA) · 2025 · paper relates to standard · 0.66 (embedding)
- Interactive Traffic Management for Highly Automated Vehicles · 2023 · paper relates to standard · 0.65 (embedding)