- PCIM CentimeterPerSecond deleted

IMPORTS

RollingCounter, OEMSpecificData, GearEnum, CentimetrePerSecond, Centimetre, RadPerSecond, HighResCurvature, WaypointIndex, Pose, SessionMissionID, Description, ParkingControlE2EProtection, VidVehicleStateEnum , UInt8, UInt16, UInt32, UInt64, Millisecond16, SafetyViolationsEnum 

RollingCounter, OEMSpecificData, GearEnum, Centimetre, RadPerSecond, HighResCurvature, WaypointIndex, Pose, SessionMissionID, Description, ParkingControlE2EProtection, VidVehicleStateEnum , UInt8, UInt16, UInt32, UInt64, Millisecond16, SafetyViolationsEnum 

FROM AVP-Commons-PDU-Descriptions {

  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1)

}

ItsPduHeader, TimestampIts, VehicleMass

ItsPduHeader, TimestampIts, VehicleMass, VelocityComponentValue

FROM ETSI-ITS-CDD {

  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-3 (3) minor-version-1 (1)

}

  vehicleStateGenerationTime  TimestampIts OPTIONAL,  -- checks on the Data Freshness on receive side 

  operationMode OperationModeEnum,                    -- The current operation mode or state of the vehicle.

  gearSelected GearEnum,                              -- Direction in which the vehicle is currently driving or about to drive.

  currentVelocity CentimetrePerSecond,                -- Current vehicle velocity. Negative when driving backwards.

  currentVelocity VelocityComponentValue,                -- Current vehicle velocity. Negative when driving backwards.

  currentCurvature HighResCurvature,                  -- Current vehicle curvature.

  secureStandstill BOOLEAN,                           -- True if the vehicle is currently in secure standstill (i.e. standstill and secured against rolling, even when vehicle is powered down and even on ramps).

  idxLastWayPoint WaypointIndex OPTIONAL,             -- Index of last WayPoint that has been received from infrastucture. 0 if not applicable.

VehicleDebug ::= SEQUENCE {               -- Optional information from the vehicle that might help debugging and analysis

  requestedVelocity CentimetrePerSecond,  -- The currently requested velocity sent to the vehicle. Negative when driving backwards.

  requestedVelocity VelocityComponentValue,  -- The currently requested velocity sent to the vehicle. Negative when driving backwards.

  requestedCurvature HighResCurvature,    -- The currently requested curvature sent to the vehicle.

  powertrainActive BOOLEAN                -- True if the power train is active, e.g. the engine is running/e-motor ready.

}

  vehicleTireWidth  Centimetre, 

  vehicleTrackWidth Centimetre,  

  vehicleMass VehicleMass,

  vehicleSpeedLimit  CentimetrePerSecond, 

  vehicleSpeedLimit  VelocityComponentValue, 

  vehicleCuvatureLimit  HighResCurvature,   	

  vehicleMaxAngularSteeringRate RadPerSecond,  

  ...

  * This DE saves this state for logging purposes and forwards its content to the backend.

  *

  * The value shall be set to:

  * - 0 - `unknown(0),

  * - 0 - `unknown(0)`            - The vehicle operation mode is not defined, 

  * - 1 - `initializing(1)`  		  - The vehicle is preparing for the mission, but hasn’t entered automted mode yet,

  * - 2 - `prepared(2)`      		  - The vehicle is in automted mode, but currently doesn’t follow one of the control interfaces (waypoints, direct control, ...),

  * - 3 - `driving(3)`       		  - The vehicle is in automted mode and actively follows one of the control interfaces (waypoints, direct control, ...). It hasn’t reached the end of the given path yet. Also applies if the vehicle stopped temporarily,