PCIM AVPcommons latest status for markdown (3a0306e3) · Commits · ITS - Intelligent Transport Systems / ASN1 / AVM TS 103 882

AVP_Commons.asn

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		@@ -4,19 +4,79 @@ AVP-Commons-PDU-Descriptions {

		DEFINITIONS AUTOMATIC TAGS ::= BEGIN -- AVP-specific common data elements


		/**
		* This DE represents with an unsigned interger value.
		* Size: 8 bit, 1 Byte
		*
		*/
		UInt8 ::= INTEGER (0..255)


		/**
		* This DE represents with a signed interger value.
		* Size: 16 bit, 2 Bytes
		*
		*/
		Int16 ::= INTEGER (-32768..32767)
		Int20 ::= INTEGER (-524288..524287)

		/**
		* This DE represents with an unsigned interger value.
		* Size: 16 bit, 2 Bytes
		*
		*/
		UInt16 ::= INTEGER (0..65535)

		/**
		* This DE represents with an unsigned interger value.
		* Size: 32 bit, 4 Bytes
		*
		*/
		UInt32 ::= INTEGER (0..4294967295)

		/**
		* This DE represents with an unsigned interger value.
		* Size: 64 bit, 8 Bytes
		*
		*/
		UInt64 ::= INTEGER(0..18446744073709551615)

		/**
		* This DE represents a rolling counter
		* The value shall be set to 0 when starting an application:
		* This DE is incremented by 1 for each consecutive message. In case of overflow due to the size limit it restarts at 0.
		*
		*/
		RollingCounter ::= UInt16

		/**
		* This DE represents a waypoint index
		* The value shall be set according to the sequence of a path snippet or a complete driving trajectory.
		* In case of overflow due to the size limit it restarts at 0.
		*
		*/
		WaypointIndex ::= UInt16

		/**
		* This DE represents a 2 byte unspecified
		* The value shall be set due to specific requirements between a RVO sytem and vehicles of a dedicated OEM.
		*
		*/
		OEMSpecificData ::= UInt16

		WaypointIndex ::= UInt16

		/**
		* This type represents the container of data elements to indicate the vehicle's overall position in a cartesian coordinate system
		*
		* It includes the following components:
		*
		* @field x: The position in x direction
		*
		* @field y: The position in x direction
		*
		* @field psi: The orientation of the vehicle's driving direction
		*
		*/
		Pose ::= SEQUENCE { -- Projected to the ground, elevation not considered
		-- x and y are cartesian coordinates
		x Centimetre,
		@@ -26,35 +86,159 @@ Pose ::= SEQUENCE { -- Projected to the ground, elevation not considered
		-- x (North) axis of the reference coordinate system
		}


		/**
		* This DE represents the vehicle's Counter-clockwise orientation in a cartesian coordinate system
		*
		* The value shall be set to:
		* - `n` (`n >= 0` and `n <= 62831`) to indicate positive orientation equal to or less than n, and greater than (n-1),
		* - `62832` if the radian is out of range, i.e. greater than 524287 cm,
		* - `-62833` when the data is unavailable. Remark: 2* Pi = 6.28318
		*
		* @unit: 0.0001 radian
		*/
		Psi ::= INTEGER {
		xDirection (0) -- 0.0001 radian
		} (0..62831) -- Counter-clockwise
		-- Option: the range and enumerated values can be fine-tuned
		xDirection (0),
		outOfRange (62832),
		unavailable (62833)
		} (0..62833)

		/**
		* This DE represents a distance in cm
		*
		* The value shall be set to:
		* - `n` (`n > -524287` and `n <= 0`) to indicate negative distance equal to or less than n x 1 cm, and greater than (n-1) x 1 cm,
		* - `n` (`n > 0` and `n < 524287`) to indicate positive distance equal to or less than n x 1 cm, and greater than (n-1) x 1 cm,
		* - `-524287` if the distance is out of negative range
		* - `524287` if the distance is out of positive range
		* - `-524288` when the data is unavailable.
		*
		* @unit: 1 centimeter
		*/
		Centimetre ::= INTEGER {
		negativeOutOfRange (-524287),
		positiveOutOfRange (524287),
		unavailable (-524288)
		}
		(-524288..524287)

		-- UNIT FACTOR
		CentimetrePerSecond ::= Int16 -- [cm/s] Option: the range and enumerated values can be fine-tuned
		Centimetre ::= Int20 -- [cm] Option: the range and enumerated values can be fine-tuned
		HighResCurvature ::= Int16 -- [1/m] 0.00001 Option: CAM's curvature was not precise enough
		Millisecond16 ::= Int16 -- [ms] 1 Option: CPM's relative time might not precise enough
		RadPerSecond ::= Int16 -- [rad/s] 0.0001
		/**
		* This DE describes vehicle turning curve with the following information:
		* ```
		* Value = 1 / Radius * 100000
		* ```
		* wherein radius is the vehicle turning curve radius in metres.
		*
		* Positive values indicate a turning curve to the left hand side of the driver.
		* It corresponds to the vehicle coordinate system as defined in ISO 8855 [21].
		*
		* The value shall be set to:
		* - `-32767` for values smaller than -32767,
		* - `n` (`n > -32767` and `n < 0`) for negative values equal to or less than `n`, and greater than `(n-1)`,
		* - `0` when the vehicle is moving straight,
		* - `n` (`n > 0` and `n < 32767`) for positive values equal to or less than `n`, and greater than `(n-1)`,
		* - `32767`, for values greater than 1021,
		* - `-32768`, if the information is not available.
		*
		* @note: The present DE is limited to vehicle types as defined in ISO 8855 [21].
		*
		* @unit: 1 over 100 000 metres
		*/
		HighResCurvature ::= INTEGER {
		outOfRangeNegative (-32767),
		straight (0),
		outOfRangePositive (32767),
		unavailable (-32768)
		} (-32768..32767)


		/**
		* This DE represents the rotational speed of a steering wheel movement
		*
		* The value shall be set to:
		* - `-32 766` to indicate that the rotational speed is equal to or greater than 3.2766 [rad/s] to the right,
		* - `n` (`n > -32 766` and `n <= 0`) to indicate that the rotation is clockwise (i.e. to the right) and is equal to or less than n x 0,01 rad/s,
		and greater than (n-1) x 0,01 rad/s,
		* - `n` (`n > 0` and `n < 32 766`) to indicate that the rotation is anti-clockwise (i.e. to the left) and is equal to or less than n x 0,01 rad/s,
		and greater than (n-1) x 0,01 rad/s,
		* - `32 766` to indicate that the rotational speed is greater than 3.2765 rad/second to the left,
		* - `32 767` to indicate that the information is not available.
		*
		* @unit:0.0001 [rad/s].
		*/
		RadPerSecond ::= INTEGER {
		negativeOutOfRange (-32766),
		positiveOutOfRange (32766),
		unavailable (-32767)
		} (-32767..32766)

		/**
		* This DE represents a signed time value, size 2 Bytes.
		*
		* @unit: 0,001 s (1 ms)
		*/
		Millisecond16 ::= Int16

		/**
		* Data element GearEnum optionally describes the desired or actual driving direction of the vehicle in alignment with the signed value of the vehicle speed .
		* It offers the following signal values:
		*
		* - 0 - `park` - P: Vehicle engages P ,
		* - 1 - `backwards` - R: Vehicle drives backwards ,
		* - 2 - `neutral` - N: Vehicle engages neutral gear,
		* - 3 - `forwards` - D: Vehicle drives forwards,
		* - 4 - `unknown` - unknown gear status. Not used for commanding a vehicle gear position.
		*
		*/
		GearEnum ::= ENUMERATED {
		park(0), -- P: Vehicle is in secure standstill, e.g. in PARK gear
		backwards(1), -- R: Vehicle is driving backwards
		neutral(2), -- N: Neutral / Driving direction is unknown
		forwards(3), -- D: Vehicle is driving forwards
		unknown (4) -- Do not use as a command: Unknown or faulted gear state from vehicle
		park(0),
		backwards(1),
		neutral(2),
		forwards(3),
		unknown (4)
		}

		/**
		* Data element VidVehicleStateEnum describes the current state in the vehicle identification process .
		* It offers the following signal values:
		*
		* - 0 - `vehicle-undefined` - Default value ,
		* - 1 - `vehicle-ready` - Vehicle is ready to get flashing code ,
		* - 2 - `vehicle-lightflashing-inprogress` - Vehicle flashing is in progress,
		* - 3 - `vehicle-lightflashing-completed` - Flashing is finished,
		* - 4 - `vehicle-lightflashing-failed` - This indicates that the vehicle can’t flash because of vehicle error,
		* - 5 - `vehicle-authorized` - Vehicle identification was successful and vehicle has switched its state.
		*
		*/
		VidVehicleStateEnum ::= ENUMERATED {
		vehicle-undefined(0), -- Default value
		vehicle-ready(1), -- Vehicle is ready to get flashing code
		vehicle-lightflashing-inprogress (2), -- Vehicle flashing in progress
		vehicle-lightflashing-completed(3), -- Flashing is finished
		vehicle-lightflashing-failed (4), -- indicating vehicle can’t flash because of vehicle error
		vehicle-authorized(5) -- Vehicle identification was successful and vehicle has switched its state
		vehicle-undefined(0),
		vehicle-ready(1),
		vehicle-lightflashing-inprogress (2),
		vehicle-lightflashing-completed(3),
		vehicle-lightflashing-failed (4),
		vehicle-authorized(5)
		}

		/**
		* Data element SafetyViolationsEnum reports the outcome of a specific safety cycle.
		* As a result a violation leads to stopping the vehicle.
		*
		* It offers the following signal values:
		*
		* - 0 - `no-violation` - Default value ,
		* - 1 - `no-driving-permission-received` - Vehicle has not received a driving permission ,
		* - 2 - `last-driving-permission-too-old` - The driving permission is outdated,
		* - 3 - `crc-violation-clock-sync-response` - The time synchronization response has an invalid checksum,
		* - 4 - `crc-violation-driving-permission` - The driving permission has an invalid checksum,
		* - 5 - `expiration-time-violation` - the allowed time is expired.
		* - 6 - `driving-direction-mismatch` - wrong driving direction is indcated, plausibility error with speed signal,
		* - 7 - `velocity-violation` - The speed value is out of the allowed range ,
		* - 8 - `curvature-min-violation` - The allowed minimal curvature is out of range ,
		* - 9 - `curvature-max-violation` - The allowed maximal curvature is out of range ,
		* - 10 - `clocks-not-synchronized` - RVO and vehicle clocks are not synchrionized,
		* - 11 - `expiration-time-too-high` - The experiation time is out of the allowed range,
		* - 12 - `monitoring` - Violation monitoring is ongoing.
		*/
		SafetyViolationsEnum ::= ENUMERATED {
		no-violation(0),
		no-driving-permission-received(1),
		@@ -71,15 +255,44 @@ SafetyViolationsEnum ::= ENUMERATED {
		monitoring(12),
		...
		}
		SessionMissionID ::= IA5String (SIZE(17..32)) -- Session ID response, also suitable to carry VIN for special use cases!

		Description ::= IA5String (SIZE(1..200)) -- for detailed description, eg. of an error
		/**
		* This DE represents a the identification of an driving session or mission
		* The value be freely selected as a string of 17 to 32 characters.
		*
		*/
		SessionMissionID ::= IA5String (SIZE(17..32))

		/**
		* This DE represents a detailed description.
		* It can serve to generate a more extensive, user-friendly description e.g. of an error.
		* The value be freely selected as a string of 1 to 200 characters.
		*
		*/
		Description ::= IA5String (SIZE(1..200))

		ParkingControlE2EProtection ::= SEQUENCE { -- AUTOSAR Profile 4 e2e protection
		/**
		* This type represents the container of data elements supporting E2E protection mechanisms for the Parking Control messages
		* It complies with AUTOSAR Profile 4 e2e protection. It protects the body of the message and starts in a byte aligned position in the BTP stream.
		*
		* It includes the following components:
		*
		* @field length: represents the overall payload of the body container in the Park Control message. Starting point is this data element.
		*
		* @field rollingCounter: This is a recurring identifier of a Park control message. This identifier is incremented by 1 for the consecutive message.
		* In case of overflow due to the size limit it restarts at 0.
		*
		* @field dataID: The data element is usable to identify the originating system (RVO or vehicle). It is of free choice;
		* It is negotiated between the RVO and the vehicle OEM in case they want to identify each other with this signal
		*
		* @field crc32: The CRC is calculated in byte limits of the body container, considering the data element length. The signal crc32 itself is excluded from the payload
		*
		*/
		ParkingControlE2EProtection ::= SEQUENCE {
		length UInt16,
		rollingCounter UInt16,
		dataID UInt32,
		crc32 UInt32 -- Cyclic redundency check, hamming distance >= 6
		crc32 UInt32
		}

		END

PCIM.asn

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