- Changes from comment resolution meeting after stable draft remote consensus. (8f2ad17a) · Commits · ITS - Intelligent Transport Systems / ASN1 / AVM TS 103 882

AVP_Commons.asn→AVM_Commons.asn

+98 −34

Original line number	Diff line number	Diff line
		AVP-Commons {
		itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1)
		AVM-Commons {
		itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avmCommons (5) major-version-1 (1) minor-version-1(1)
		}

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


		/**
		@@ -62,7 +62,7 @@ WaypointIndex ::= UInt16
		* The value shall be set due to specific requirements between a RVO sytem and vehicles of a dedicated OEM.
		*
		*/
		OEMSpecificData ::= UInt16
		ProprietaryExtensionField ::= UInt16


		/**
		@@ -195,25 +195,58 @@ GearEnum ::= ENUMERATED {
		unknown (4)
		}

		/**
		* Data element directionIndicatorEnum describes the use of vehicle direction indicator system during VMC .
		* It offers the following signal values:
		*
		* - 0 - `off` - The vehicle does not flash indicator lights at this stage. ,
		* - 1 - `right` - Flash right indicator lights. ,
		* - 2 - `left` - Flash left indicator lights. ,
		* - 3 - `both` - Flash right and left indicator lights. ,
		* - 4 - `unknown` - Direction indicator request is unknown. (Do not use for drive command).
		*/
		DirectionIndicatorEnum ::= ENUMERATED {
		off(0),
		right(1),
		left(2),
		both(3),
		unknown(4)
		}

		/**
		* Data element MotorSystemEnum optionally describes the desired or system stae of the vehicle's propulsion motor (engine).
		* It offers the following signal values:
		*
		* - 0 - `off` - Propulsion motor off
		* - 1 - `on` - Propulsion motor on
		* - 2 - `unknown` - The propulsion motor state is unknown.
		*
		*/
		MotorSystemEnum ::= ENUMERATED {
		off(0),
		on(1),
		unknown (2)
		}

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

		/**
		@@ -232,27 +265,51 @@ VidVehicleStateEnum ::= ENUMERATED {
		* - 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.
		* - 10 - `expiration-time-too-high` - The experiation time is out of the allowed range,
		* - 11 - `monitoring` - Violation monitoring is ongoing.
		*/
		SafetyViolationsEnum ::= ENUMERATED {
		no-violation(0),
		no-driving-permission-received(1),
		last-driving-permission-too-old(2),
		crc-violation-clock-sync-response(3),
		crc-violation-clock-sync-request(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),
		expiration-time-too-high(10),
		monitoring(11),
		...
		}

		/**
		* This type represents a container of system management data, i.e. identification labels.
		*
		* It shall include the following components:
		*
		* @field sessionID: 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.
		*
		* @field missionID: 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.
		*
		* @field vehicleID: It is a unique identifier that is known by the infrastructure and vehicle The vehicle needs to know its own vehicleID.
		* This can serve as a safety check for the RVO regarding vehicle parameters, as it receives them from the vehicle backend,
		* and it can then verify that it is communicating to the right vehicle through MVM (as the vehicle sends its vehicleID there).
		*
		* @field facilityID: It is a unique identifier that describes the infrastructure in which the vehicle operates.
		* It is used for documentation purposes. The vehicle does not respond to this data element
		*
		*/
		SystemManagementData ::= SEQUENCE {
		sessionID SessionMissionID OPTIONAL,
		missionID SessionMissionID OPTIONAL,
		vehicleID VehicleID OPTIONAL,
		facilityID FacilityID OPTIONAL
		}

		/**
		* 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.
		@@ -261,12 +318,19 @@ VidVehicleStateEnum ::= ENUMERATED {
		SessionMissionID ::= IA5String (SIZE(17..32))

		/**
		* This DE serves for the identification of specified vehicle
		* This DE serves for the identification of the specified vehicle
		* The value be freely selected as a string of 1 to 17 characters.
		*
		*/
		VehicleID ::= IA5String (SIZE(1..17))

		/**
		* This DE serves for the identification of infrastructure facility
		* The value be freely selected as a string of 1 to 32 characters.
		*
		*/
		FacilityID ::= IA5String (SIZE(1..32))

		/**
		* This DE represents a detailed description.
		* It can serve to generate a more extensive, user-friendly description e.g. of an error.
		@@ -292,7 +356,7 @@ Description ::= IA5String (SIZE(1..200))
		* @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 {
		AvmE2EProtection ::= SEQUENCE {
		length UInt16,
		rollingCounter UInt16,
		dataID UInt32,

PCIM-PDU-Descriptions.asn→MIM-PDU-Descriptions.asn

+531 −507

File changed and moved.

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PCVM-PDU-Descriptions.asn→MVM-PDU-Descriptions.asn

+382 −364

Original line number	Diff line number	Diff line
		PCVM-PDU-Descriptions {
		itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) pcvm (4) major-version-1 (1) minor-version-1(1)
		MVM-PDU-Descriptions {
		itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) mvm (4) major-version-1 (1) minor-version-1(1)
		}

		DEFINITIONS AUTOMATIC TAGS ::= BEGIN -- Park Control Vehicle Message

		IMPORTS

		RollingCounter, OEMSpecificData, GearEnum, Centimetre, RadPerSecond, HighResCurvature, WaypointIndex, Pose, SessionMissionID, VehicleID, Description, ParkingControlE2EProtection, VidVehicleStateEnum , UInt8, UInt16, UInt32, UInt64, Millisecond16, SafetyViolationsEnum
		FROM AVP-Commons {
		RollingCounter, ProprietaryExtensionField, GearEnum, DirectionIndicatorEnum, MotorSystemEnum, Centimetre, RadPerSecond, HighResCurvature, WaypointIndex, Pose, SystemManagementData, Description, AvmE2EProtection, VidVehicleStateEnum , UInt8, UInt16, UInt32, UInt64, Millisecond16, SafetyViolationsEnum
		FROM AVM-Commons {
		itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1)
		}

		@@ -18,36 +18,30 @@ FROM ETSI-ITS-CDD {
		;

		/**
		* This type represents the PCVM PDU.
		* This type represents the MVM PDU.
		*
		* It shall include the following components:
		*
		* @field header: The header of the PCVM PDU.
		* @field header: The header of the MVM PDU.
		*
		* @field e2eProtection: A mandatory container for E2E Protection by Autosar Profile 4.
		*
		* @field pcvm: The payload of the PCVM PDU.
		* @field mvm: The payload of the MVM PDU.
		*/
		PCVM ::= SEQUENCE {
		MVM ::= SEQUENCE {
		header ItsPduHeader,
		e2eProtection ParkingControlE2EProtection,
		pcvm Pcvm
		e2eProtection AvmE2EProtection,
		mvm Mvm
		}

		/**
		* 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.
		* This type represents the optional container added to the MVM message mainly as a surrogate for missing static vehicle data that RVO will possibly need.
		*
		* It includes the following components:
		*
		* @field msgGenerationTime: Represents the time when the PCVM was genaerated.
		* @field mvmDataControlField: It contains specific Control Data for MVM
		*
		* @field sessionID: Represents a 32 character session ID.
		*
		* @field missionID: Represents a 32 character mission ID.
		*
		* @field vehicleID: It is a unique identifier that is known by the infrastructure and the specific vehicle
		*
		* @field rollingCounterFromPcim: Represents the rolling counter of last received PCIM.
		* @field systemManagementData: It contains system management data, i.e. identification labels
		*
		* @field vehicleState: Relevant vehicle state information.
		*
		@@ -59,29 +53,42 @@ PCVM ::= SEQUENCE {
		*
		* @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,
		missionID SessionMissionID OPTIONAL,
		vehicleID VehicleID OPTIONAL,
		rollingCounterFromPcim RollingCounter,
		vehicleState VehicleState,
		Mvm ::= SEQUENCE {
		mvmDataControlField MVMDataControlField OPTIONAL,
		systemManagementData SystemManagementData OPTIONAL,
		vehicleState VehicleState OPTIONAL,
		vidResponse VidResponse OPTIONAL,
		safetyTimeSyncResponse SafetyTimeSyncResponse OPTIONAL,
		safeVehicleTypeConfirmation SafeVehicleTypeConfirmation OPTIONAL,
		vehicleError VehicleError OPTIONAL,
		vehicleDebug VehicleDebug OPTIONAL,
		vehicleSafetyFeedback VehicleSafetyFeedback OPTIONAL,
		vehicleProperties VehicleProperties OPTIONAL,
		oemSpecific OEMSpecificData OPTIONAL,
		...
		}

		/**
		* This type represents a container of specific Control Data for MVM.
		*
		* It shall include the following components:
		*
		* @field mvmGenerationTime: the time at which the mvm container was fully assembled.
		*
		* @field rollingCounterFromMim: It serves as a mirror of the rolling counter that was
		* received with the latest MIM of the corresponding vehicle.
		*
		* @field proprietaryExtensionField: This data element defines optionally 2 bytes are used to carry
		* specific information or request from a specific OEM vehicle to the RVO system .
		*/
		MVMDataControlField ::= SEQUENCE {
		mvmGenerationTime TimestampIts OPTIONAL,
		rollingCounterFromMim SEQUENCE (SIZE(0..10)) OF RollingCounter,
		proprietaryExtensionField ProprietaryExtensionField OPTIONAL,
		...
		}

		@@ -94,7 +101,13 @@ Pcvm ::= SEQUENCE {
		*
		* @field operationMode: The current operation mode or state of the vehicle.
		*
		* @field gearSelected: Direction in which the vehicle is currently driving or about to drive.
		* @field gearState: Direction in which the vehicle is currently driving or about to drive.
		*
		* @field directionIndicatorState: State of vehicle blinking and direction indication
		*
		* @field parkingBrakeState: Status of the vehicle's electric parking brake system.
		*
		* @field motorSystemState: State of vehicle's propulsion motor system
		*
		* @field currentVelocity: Current vehicle velocity. Negative when driving backwards.
		*
		@@ -104,12 +117,15 @@ Pcvm ::= SEQUENCE {
		*
		* @field idxLastWayPoint: Index of last WayPoint that has been received from infrastucture. 0 if not applicable.
		*
		* @field localizedPose: The current vehicle pose estimated by the vehicle. (Usually close to the pose estimated by the GMS, prediction by the vehicle)
		* @field localizedPose: The current vehicle pose estimated by the vehicle. (Usually close to the pose estimated by the RVO, prediction by the vehicle)
		*/
		VehicleState ::= SEQUENCE {
		vehicleStateGenerationTime TimestampIts OPTIONAL,
		operationMode OperationModeEnum,
		gearSelected GearEnum,
		gearState GearEnum,
		directionIndicatorState DirectionIndicatorEnum,
		parkingBrakeState ParkingBrakeStateEnum,
		motorSystemState MotorSystemEnum,
		currentVelocity VelocityComponentValue,
		currentCurvature HighResCurvature,
		secureStandstill BOOLEAN,
		@@ -132,7 +148,7 @@ VidResponse ::= SEQUENCE {
		}

		/**
		* This type represents the optional container supporting the calculation of the ITS timestamp given in the expirationTime data element from the DrivingPermission container in the PCIM message.
		* This type represents the optional container supporting the calculation of the ITS timestamp given in the expirationTime data element from the DrivingPermission container in the MIM message.
		*
		* It includes the following components:
		*
		@@ -158,15 +174,19 @@ SafetyTimeSyncResponse ::= SEQUENCE {
		*
		* @field vehicleType: Vehicle type identifier.
		*
		* @field safetyProfile: VehicleBackend and OperatorBackend negotiate which version of an interface specification
		* or which profile is to be used for the communication between RVO and Vehicle.
		*
		* @field checksum: Safety checksum calculation.
		*/
		SafeVehicleTypeConfirmation ::= SEQUENCE {
		vehicleType IA5String (SIZE(1..32)),
		safetyProfile IA5String (SIZE(1..32)),
		checksum UInt32
		}

		/**
		* This type represents the optional container data carrier and is added to the PCVM message in case an error appears during VMC of the vehicle.
		* This type represents the optional container data carrier and is added to the MVM message in case an error appears during VMC of the vehicle.
		*
		* It includes the following components:
		*
		@@ -186,43 +206,23 @@ VehicleError ::= SEQUENCE {
		}

		/**
		* This type represents the optional container added to the PCVM message mainly for development purposes. It is used during VMC of the vehicle.
		*
		* It includes the following components:
		*
		* @field requestedVelocity: The currently requested velocity sent to the vehicle. Negative when driving backwards.
		*
		* @field requestedCurvature: The currently requested curvature sent to the vehicle.
		*
		* @field powertrainActive: True if the power train is active, e.g. the engine is running/e-motor ready.
		* Up to 20 VehicleSafetyFeedback containers for down to 5 ms monitoring, logging and debugging.
		*/
		VehicleDebug ::= SEQUENCE {
		requestedVelocity VelocityComponentValue,
		requestedCurvature HighResCurvature,
		powertrainActive BOOLEAN
		}
		VehicleSafetyFeedback ::= SEQUENCE (SIZE(1..20)) OF VehicleSafetyFeedbackContainer

		/**
		* Up to 5 VehicleSafetyFeedback containers for 20 ms monitoring, logging and debugging.
		*/
		VehicleSafetyFeedback ::= SEQUENCE (SIZE(1..5)) OF VehicleSafetyFeedbackContainer

		/**
		* 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.
		* This type represents the optional container added to the MVM 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 remainingTimeToStartBraking: Represents the time which the vehicle is allowed to keep driving until brakes must be engaged.
		*
		* @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, -- Option: CPM's relative time unit could be used if -1500..1500 is enough
		drivingAllowed BOOLEAN,
		remainingTimeToStartBraking Millisecond16,
		safetyViolations SafetyViolationsContainer,
		currentVehicleSafetyClockTime TimestampIts
		}
		@@ -233,7 +233,7 @@ VehicleSafetyFeedbackContainer ::= SEQUENCE {
		SafetyViolationsContainer ::= SEQUENCE (SIZE(0..5)) OF SafetyViolationsEnum

		/**
		* 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.
		* This type represents the optional container added to the MVM message mainly as a surrogate for missing static vehicle data that RVO will possibly need.
		*
		* It includes the following components:
		*
		@@ -275,7 +275,25 @@ VehicleProperties ::= SEQUENCE {
		}

		/**
		* This DE saves this state for logging purposes and forwards its content to the backend.
		* Data element ParkingBrakeStateEnum describes the status of the electric parking brake .
		* It offers the following signal values:
		*
		* - 0 - `unknown` - The status of the electric parking brake is not known.
		* - 1 - `engaging` - The parking brake is processing to become engaged .
		* - 2 - `engaged` - The The parking brake is fully engaged .
		* - 3 - `disengaging` - The parking brake is processing to become disengaged .
		* - 4 - `disengaged` - The The parking brake is fully disengaged .
		*/
		ParkingBrakeStateEnum ::= ENUMERATED {
		unknown(0),
		engaging(1),
		engaged(2),
		disengaging(3),
		disengaged(4)
		}

		/**
		* The data element OperationModeEnum reports the vehicle' general state. It can also be used for logging purposes and forwarding its content to the backend.
		*
		* The value shall be set to:
		* - 0 - `unknown(0)` - The vehicle operation mode is not defined,

xml/ASNV_Configuration.xml

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		<?xml version="1.0" encoding="UTF-8" standalone="no" ?><asnv><protocol name="PCIM"><encoding entry-point="PCIM" method="per"/><lower-layer name="btp" value2="2018"/><source path="ASNV_Module_PCIM.xml"/></protocol><protocol name="PCVM"><encoding entry-point="PCVM" method="per"/><lower-layer name="btp" value2="2019"/><source path="ASNV_Module_PCVM.xml"/></protocol></asnv>
		No newline at end of file
		<?xml version="1.0" encoding="UTF-8" standalone="no" ?><asnv><protocol name="MIM"><encoding entry-point="MIM" method="per"/><lower-layer name="btp" value2="2028"/><source path="ASNV_Module_MIM.xml"/></protocol><protocol name="MVM"><encoding entry-point="MVM" method="per"/><lower-layer name="btp" value2="2019"/><source path="ASNV_Module_MVM.xml"/></protocol></asnv>
		No newline at end of file

xml/ASNV_Module_MIM.xml

0 → 100644

+1 −0

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