@@ -19,6 +19,7 @@ This type represents the PCIM PDU.
* _pcim_ of type [**Pcim**](#Pcim)<br>
the payload of the PCIM PDU.
```asn1
PCIM ::= SEQUENCE {
header ItsPduHeader,
@@ -54,35 +55,45 @@ This type represents the VehicleContainer.
the time at which the vehicle container was fully assembled.
* _sessionID_ of type [**SessionMissionID**](AVP-Commons-PDU-Descriptions.md#SessionMissionID)<br>
It is a unique identifier that is known by the infrastructure and the vehicle side at the same time. It is valid for a complete parking/marshalling task.
It is a unique identifier that is known by the infrastructure and
the vehicle side at the same time. It is valid for a complete parking/marshalling task.
* _missionID_ of type [**SessionMissionID**](AVP-Commons-PDU-Descriptions.md#SessionMissionID) OPTIONAL<br>
It is a unique identifier that is known by the infrastructure and the vehicle side at the same time. It identifies a subtask within a sessionID.
It is a unique identifier that is known by the infrastructure and
the vehicle side at the same time. It identifies a subtask within a sessionID.
* _rollingCounterFromPcvm_ of type [**RollingCounter**](AVP-Commons-PDU-Descriptions.md#RollingCounter)<br>
It serves as a mirror of the rolling counter that was received with the latest PCVM of the corresponding vehicle.
It serves as a mirror of the rolling counter that was
received with the latest PCVM of the corresponding vehicle.
* _vehicleIdentification_ of type [**VidRequest**](#VidRequest) OPTIONAL<br>
It allows the selection of the mechanism for visual vehicle identification.
* _drivingPermission_ of type [**DrivingPermission**](#DrivingPermission) OPTIONAL<br>
The driving permission container offers a safety concept to allow or deny vehicle motion. It defines the bounds within which the vehicle is allowed to drive.
The driving permission container offers a safety concept to allow or deny vehicle motion.
It defines the bounds within which the vehicle is allowed to drive.
* _safetyTimeSyncRequest_ of type [**SafetyTimeSyncRequest**](#SafetyTimeSyncRequest) OPTIONAL<br>
The Remote Vehicle Operation needs to be able to continuously determine the current time in which the Subject Vehicle operates. This container supports functional safety concepts.
The Remote Vehicle Operation needs to be able to continuously
determine the current time in which the Subject Vehicle operates.
This container supports functional safety concepts.
* _driveCommand_ of type [**DriveCommand**](#DriveCommand)<br>
It addresses the specific vehicle and determines the actual state request to the vehicle, especially the active drive request for the overall VCM operation.
It addresses the specific vehicle and determines the actual state
request to the vehicle, especially the active drive request for the overall VCM operation.
* _detectedVehiclePose_ of type [**DetectedVehiclePose**](#DetectedVehiclePose) OPTIONAL<br>
The RVO permanently senses the vehicleâs position in a proprietary two-dimensional coordinate system (X and Y).
The RVO permanently senses the vehicle's position
in a proprietary two-dimensional coordinate system (X and Y).
* _controlInterface_ of type [**ControlInterface**](#ControlInterface)<br>
This container offers different control methods for vehicle motion control VMC as a choice between .
* _oemSpecific_ of type [**OEMSpecificData**](AVP-Commons-PDU-Descriptions.md#OEMSpecificData) OPTIONAL<br>
* OEMSpecificData<br>
This data element defines optionally 2 bytes are used to carry specific information or request from an RVO system to a specific OEM vehicle.
This data element defines optionally 2 bytes are used to carry
specific information or request from an RVO system to a specific OEM vehicle.
```asn1
VehicleContainer ::= SEQUENCE {
@@ -123,13 +134,16 @@ This type represents the container with data elements for the blinking vehicle i
It shall include the following components:
* _vidRvoPublicKey_ of type [**UInt64**](AVP-Commons-PDU-Descriptions.md#UInt64)<br>
A 64-bit public key is transmitted from the RVO to the vehicle in order to derive the vehicle identification secret.
A 64-bit public key is transmitted from the RVO to the vehicle
in order to derive the vehicle identification secret.
* _codeLength_ of type [**UInt8**](AVP-Commons-PDU-Descriptions.md#UInt8)<br>
The codelength data element sends a value that indicates how many bits (8 - 20) from the seed shall be used for generating the blinking pattern.
The codelength data element sends a value that indicates how many bits (8 - 20)
from the seed shall be used for generating the blinking pattern.
* _currentState_ of type [**VidRequestStateEnum**](#VidRequestStateEnum)<br>
This data element mirrors the current authorization/identification request status from the perspective of the RVO system.
This data element mirrors the current authorization/identification
request status from the perspective of the RVO system.
This type represents the container theat carries signals about the actual status of the vehicleâs condition with reference to the driving task. This return signals from the vehicle is usable in the RVO system for correction and refinement of the vehicle motion control VMC.
This type represents the container theat carries signals about the actual status of the vehicle's condition with reference to the driving task. This return signals from the vehicle is usable in the RVO system for correction and refinement of the vehicle motion control VMC.
It includes the following components:
@@ -341,9 +341,9 @@ This DE saves this state for logging purposes and forwards its content to the ba
The value shall be set to:
- 0 - `unknown(0)` - The vehicle operation mode is not defined,
- 1 - `initializing(1)` - The vehicle is preparing for the mission, but hasnât entered automted mode yet,
- 2 - `prepared(2)` - The vehicle is in automted mode, but currently doesnât 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 hasnât reached the end of the given path yet. Also applies if the vehicle stopped temporarily,
- 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,
- 4 - `terminating(4)` - The vehicle left automated mode and is terminating related functions,
- 5 - `suspend (5)` - The vehicle is in a critical error state and requires external operator intervention,
- 6 - `temp-error (6)` - The vehicle is in a non-critical error state and is initiating a deceleration into stop and hold, prior to suspend,
@@ -380,7 +380,7 @@ This DE saves this state for logging purposes and forwards its content to the ba
The value shall be set to:
- 0 - `unspecified` - Any kind of error that is not specified otherwise. Infrastructure aborts the mission,
- 1 - `pathNotDriveable` - The vehicle canât follow the given waypoints, based on the given DetectedVehiclePose. Infrastructure tries to plan a different path or aborts the mission otherwise,
- 1 - `pathNotDriveable` - The vehicle can't follow the given waypoints, based on the given DetectedVehiclePose. Infrastructure tries to plan a different path or aborts the mission otherwise,
- 2 - `onboardVehicleFault` - Failure during vehicle onboarding,
