DEFINITIONS AUTOMATIC TAGS ::= BEGIN -- AVP-specific common data elements
UInt8 ::= INTEGER (0..255)
Int16 ::= INTEGER (-32768..32767)
Int20 ::= INTEGER (-524288..524287)
UInt16 ::= INTEGER (0..65535)
UInt32 ::= INTEGER (0..4294967295)
RollingCounter ::= UInt16
OEMSpecificData ::= UInt16
WaypointIndex ::= UInt16
Pose ::= SEQUENCE { -- Projected to the ground, elevation not considered
-- x and y are cartesian coordinates
x Centimetre,
y Centimetre, -- The reference point of the vehicle is in the center of the rear axle
psi Psi -- Attitude of the vehicle relative to the x axis.
-- Angle between the longitudinal axis of the vehicle and the
-- x (North) axis of the reference coordinate system
}
Psi ::= INTEGER {
xDirection (0) -- 0.0001 radian
} (0..62831) -- Counter-clockwise
-- Option: the range and enumerated values can be fine-tuned
-- 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
GearEnum ::= ENUMERATED {
neutral(0), -- N: Neutral / Driving direction is unknown
forwards(1), -- D: Vehicle is driving forwards
backwards(2), -- R: Vehicle is driving backwards
park(3) -- P: Vehicle is in secure standstill, e.g. in PARK gear
}
VehicleOperationModeEnum ::= ENUMERATED {
unknown(0),
initializing(1), -- The vehicle is preparing for the mission, but hasn’t entered automted mode yet.
prepared(2), -- The vehicle is in automted mode, but currently doesn’t follow one of the control interfaces (waypoints, direct control, ...).
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.
terminating(4) -- The vehicle left automated mode and is terminating related functions.
}
VidVehicleStateEnum ::= ENUMERATED {
vehicle-undefined(0), -- Default value
vehicle-ready(1), -- Vehicle is ready to get flashing code
vehicle-flashing-completed(2), -- Flashing is finished
vehicle-authorized(3) -- Vehicle identification was successful and vehicle has switched its state
}
SafetyViolationsEnum ::= ENUMERATED {
no-violation(0),
no-driving-permission-received(1),
last-driving-permission-too-old(2),
crc-violation-clock-sync-response(3),
crc-violation-driving-permission(4),
expiration-time-violation(5),
driving-direction-mismatch(6),
velocity-violation(7),
curvature-min-violation(8),
curvature-max-violation(9),
clocks-not-synchronized(10),
expiration-time-too-high(11),
monitoring(12)
}
SessionMissionID ::= IA5String (SIZE(17..32)) -- Session ID response, also suitable to carry VIN for special use cases!
* This type represents the optional container added to the PCVM message mainly as a surrogate for missing static vehicle data that RVO will possibly need.
*
* It includes the following components:
*
* @ field msgGenerationTime
*
* @ field sessionID: Represents a 32 character session ID.
*
* @ field missionID: Represents a 32 character mission ID.
*
* @ field rollingCounterFromPcim: Represents the rolling counter of last received PCIM.
*
* @ field vehicleState: Relevant vehicle state information.
*
* @ field vidResponse: Represents the current vehicle identification status.
*
* @ field safetyTimeSyncResponse: Represents a functional safety time related container.
*
* @ field safeVehicleTypeConfirmation: Represents a functional safety related container.
*
* @ field vehicleError: Error information. Depending on the given error, the infrastructure either tries to resolve the issue or aborts the mission.
*
* @ field vehicleDebug: Represents optional debug information.
*
* @ field vehicleSafetyFeedback: Represents relevant safety information from vehicle.
*
* @ field vehicleProperties: Represents vehicle-specific data elements as feedback from vehicle to external system.
*
* @ field oemSpecific. Represents an OEM specific 16 bit field for special purposes.
*/
Pcvm ::= SEQUENCE {
msgGenerationTime TimestampIts OPTIONAL,
sessionID SessionMissionID, -- 32 character ID
missionID SessionMissionID OPTIONAL, -- optional missionID 32 character ID
rollingCounterFromPcim RollingCounter, -- Rolling counter of last received PCIM
vidResponse VidResponse OPTIONAL, -- The current vehicle identification stat
safetyTimeSyncResponse SafetyTimeSyncResponse OPTIONAL, -- Functional Safety related container
safeVehicleTypeConfirmation SafeVehicleTypeConfirmation OPTIONAL, -- Functional Safety related container
vehicleError VehicleError OPTIONAL, -- Optional error information. Depending on the given error, the infrastructure either tries to resolve the issue or aborts the mission.
vehicleStateGenerationTime TimestampIts OPTIONAL, -- checks on the Data Freshness on receive side
operationMode VehicleOperationModeEnum, -- The current operation mode or state of the vehicle.
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.
currentCurvature HighResCurvature, -- Current vehicle curvature.
@@ -74,12 +105,24 @@ VehicleDebug ::= SEQUENCE { -- Optional information from the vehic
VehicleSafetyFeedback ::= SEQUENCE (SIZE(1..5)) OF VehicleSafetyFeedbackContainer -- up to 5 VehicleSafetyFeedback containers for 20 ms monitoring, logging and debugging
/**
* This type represents the optional container added to the PCVM message mainly as a surrogate for missing static vehicle data that RVO will possibly need.
*
* It includes the following components:
*
* @field remainingTimeToDrive: Represents the time which the vehicle is allowed to keep driving until brakes must be engaged. Signed value.
*
* @field drivingAllowed: True if the vehicle is currently allowed to drive, false if a safety stop happened.
*
* @field safetyViolations: Represents a list of violations which currently lead to stopping the vehicle.
*
* @field currentVehicleSafetyClockTime: Represents the time when safety component created this container
*/
VehicleSafetyFeedbackContainer ::= SEQUENCE {
remainingTimeToDrive Millisecond16, -- The time which the vehicle is allowed to keep driving until brakes must be engaged. Signed value.
-- Option: CPM's relative time unit could be used if -1500..1500 is enough
drivingAllowed BOOLEAN, -- True if the vehicle is currently allowed to drive, false if a safety stop happened.
safetyViolations SafetyViolationsContainer, -- List of violations which currently lead to stopping the vehicle.
currentVehicleSafetyClockTime TimestampIts -- Time when safety component created this container
remainingTimeToDrive Millisecond16, -- Option: CPM's relative time unit could be used if -1500..1500 is enough
drivingAllowed BOOLEAN,
safetyViolations SafetyViolationsContainer,
currentVehicleSafetyClockTime TimestampIts
}
SafetyViolationsContainer ::= SEQUENCE (SIZE(0..5)) OF SafetyViolationsEnum -- up to 5 safety violations can be reported per cycle
checksum UInt32 -- See safety checksum calculation
}
/**
* This type represents the optional container added to the PCVM message mainly as a surrogate for missing static vehicle data that RVO will possibly need.
*
* It includes the following components:
*
* @field basicVehicleClass: It shares the vehicle class information to the RVO.
*
* @field vehicleLength: Represents the overall vehicle length in (cm).
*
* @field vehicleWheelbase: Represents the wheelbase value (cm).
*
* @field vehicleRearOverhang: Represents the rear overhang value (cm).
*
* @field vehicleWidth: Represents the overall vehicle width value (cm).
*
* @field vehicleTireWidth: Represents a rough vehicle mass value imported fom the CDD.
*
* @field vehicleTrackWidth: Represents the specified width of tires value (cm).
*
* @field vehicleMass: Represents a rough vehicle mass value imported fom the CDD.
*
* @field vehicleSpeedLimit: Represents the limit value of the vehicle speed according to the use case, unit in (cm/s).
*
* @field vehicleCuvatureLimit: Represents the maximum curvature for left and right turning (assumed symmetrical).
*
* @field vehicleMaxAngularSteeringRate: Represents maximum steering rate for automated operation (rate of road wheel angle).
*/
VehicleProperties ::= SEQUENCE {
basicVehicleClass BasicVehicleClassEnum,
vehicleLength Centimetre, --
vehicleWheelbase Centimetre, --
vehicleRearOverhang Centimetre, --
vehicleWidth Centimetre, --
vehicleTireWidth Centimetre, --
vehicleTrackWidth Centimetre, --
vehicleLength Centimetre,
vehicleWheelbase Centimetre,
vehicleRearOverhang Centimetre,
vehicleWidth Centimetre,
vehicleTireWidth Centimetre,
vehicleTrackWidth Centimetre,
vehicleMass VehicleMass,
vehicleSpeedLimit CentimetrePerSecond, --
vehicleCuvatureLimit HighResCurvature, -- max. curvature for left and right turning (assumed symmetrical)
vehicleMaxAngularSteeringRate RadPerSecond, -- max steering rate for automated operation (rate of road wheel angle)
vehicleSpeedLimit CentimetrePerSecond,
vehicleCuvatureLimit HighResCurvature,
vehicleMaxAngularSteeringRate RadPerSecond,
...
}
-- ******************** PCVM specific ENUMs ***************************
VehicleOperationModeEnum ::= ENUMERATED {
/**
* This DE saves this state for logging purposes and forwards its content to the backend.
*
* The value shall be set to:
* - 0 - `unknown(0),
* - 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,
* - 7 - `human-in-control (7)` - Manual control of the vehicle has been taken over ,
* - 8 - `station-hold (8)` - The external mfg./customer environment interlocks have taken over and is holding the vehicle from marshalling.
*/
OperationModeEnum ::= ENUMERATED {
unknown (0),
initializing(1), -- The vehicle is preparing for the mission, but hasn’t entered automted mode yet.
prepared(2), -- The vehicle is in automted mode, but currently doesn’t follow one of the control interfaces (waypoints, direct control, ...).
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.
terminating(4), -- The vehicle left automated mode and is terminating related functions.
suspend (5), -- The vehicle is in a critical error state and requires external operator intervention
temp-error (6), -- The vehicle is in a non-critical error state and is initiating a deceleration into stop and hold, prior to suspend
human-in-control (7), -- Manual control of the vehicle has been taken over
station-hold (8), -- The external mfg./customer environment interlocks have taken over and is holding the vehicle from marshalling
initializing(1),
prepared (2),
driving (3),
terminating(4),
suspend (5),
temp-error (6),
human-in-control (7),
station-hold (8),
...
}
/**
* This DE saves this state for logging purposes and forwards its content to the backend.
*
* 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 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,
* - 4 - `vehicleEgressFault` - Failure during vehicle AVP egress or shutdown process.
*/
VehCodeEnum ::= ENUMERATED {
unspecified(0), -- Any kind of error that is not specified otherwise. Infrastructure aborts the mission.
path-not-driveable(1), -- 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.
onboard-vehicle-fault (2), -- fauld during vehicle onboarding
