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@@ -34,6 +34,8 @@ This type represents the Mim Container.
It shall include the following components:
It shall include the following components:
* _mimDataControlField_ of type [**MIMDataControlField**](#MIMDataControlField) OPTIONAL<br>
* _mimDataControlField_ of type [**MIMDataControlField**](#MIMDataControlField) OPTIONAL<br>
a container of specific Control Data for MIM.
* _systemManagementData_ of type [**SystemManagementData**](AVM-Commons.md#SystemManagementData) OPTIONAL<br>
* _systemManagementData_ of type [**SystemManagementData**](AVM-Commons.md#SystemManagementData) OPTIONAL<br>
a container of identification data
a container of identification data
@@ -60,9 +62,6 @@ This type represents the Mim Container.
* _controlInterface_ of type [**ControlInterface**](#ControlInterface) OPTIONAL<br>
* _controlInterface_ of type [**ControlInterface**](#ControlInterface) OPTIONAL<br>
This container offers different control methods for vehicle motion control VMC as a choice between .
This container offers different control methods for vehicle motion control VMC as a choice between .
* MIMDataControlField<br>
a container of specific Control Data for MIM.
```asn1
```asn1
Mim ::= SEQUENCE {
Mim ::= SEQUENCE {
mimDataControlField MIMDataControlField OPTIONAL,
mimDataControlField MIMDataControlField OPTIONAL,
@@ -294,15 +293,14 @@ The type PathControl sequeence represents the container with Path Snippet elemen
It shall include the following components:
It shall include the following components:
* _pathSnippet_ of type [**PathSnippet**](#PathSnippet) OPTIONAL<br>
* _pathSnippet_ of type [**PathSnippet**](#PathSnippet) OPTIONAL<br>
a sequence of up to 200 way points
* _clearedDistanceOnPath_ of type [**Centimetre**](AVM-Commons.md#Centimetre)<br>
* _clearedDistanceOnPath_ of type [**Centimetre**](AVM-Commons.md#Centimetre)<br>
the RVO can tell the vehicle to stop on the known PathSnippet without sending a new PathSnippet.
the RVO can tell the vehicle to stop on the known PathSnippet without sending a new PathSnippet.
* _situationalVelocityLimit_ of type [**VelocityComponentValue**](ETSI-ITS-CDD.md#VelocityComponentValue) OPTIONAL<br>
* _situationalVelocityLimit_ of type [**VelocityComponentValue**](ETSI-ITS-CDD.md#VelocityComponentValue) OPTIONAL<br>
the RVO can tell the vehicle to temporarily drive slower without sending a new PathSnippet.
the RVO can tell the vehicle to temporarily drive slower without sending a new PathSnippet.
* Pathsnippet<br>
a sequence of up to 200 way points
```asn1
```asn1
PathControl ::= SEQUENCE {
PathControl ::= SEQUENCE {
pathSnippet PathSnippet OPTIONAL,
pathSnippet PathSnippet OPTIONAL,
@@ -314,11 +312,7 @@ PathControl ::= SEQUENCE {
### <a name="PathSnippet"></a>PathSnippet
### <a name="PathSnippet"></a>PathSnippet
The type PathSnippet represents the container with Path Snippet elements.
The type PathSnippet represents the container with Path Snippet elements.
It shall include the following components:
It shall contain up to 200 way points of type [**WayPoint**](#WayPoint)
* WayPoint<br>
a sequence of up to 200 way points
```asn1
```asn1
PathSnippet ::= SEQUENCE (SIZE(0..200)) OF WayPoint
PathSnippet ::= SEQUENCE (SIZE(0..200)) OF WayPoint
```
```
@@ -362,16 +356,17 @@ The type TrajectoryControl represents the container with elements for the trajec
* _timeReference_ of type [**TimestampIts**](ETSI-ITS-CDD.md#TimestampIts)<br>
* _timeReference_ of type [**TimestampIts**](ETSI-ITS-CDD.md#TimestampIts)<br>
The reference time indicates the absolute time given in Vehicle Functional Clock
The reference time indicates the absolute time given in Vehicle Functional Clock
at which the first element of the ControlTrajectory vector and StateTrajectory vector is expected to be executed.
at which the first element of the [**ControlTrajectory**](#ControlTrajectory) vector and [**StateTrajectory**](#StateTrajectory) vector is expected to be executed.
* _driveDirection_ of type [**DriveDirectionEnum**](#DriveDirectionEnum) OPTIONAL<br>
* _driveDirection_ of type [**DriveDirectionEnum**](#DriveDirectionEnum) OPTIONAL<br>
The data element describes the desired driving direction of the vehicle in alignment with the signed value of the vehicle acceleration requests.
The data element describes the desired driving direction of the vehicle in alignment with the signed value of the vehicle acceleration requests.
* _controlTrajectory_ of type [**ControlTrajectory**](#ControlTrajectory)<br>
* _controlTrajectory_ of type [**ControlTrajectory**](#ControlTrajectory)<br>
This consists of a sequence of controlPoint containers with a maximum size of 50.
This consists of a sequence of [**ControlPoint**](#ControlPoint) elements with a maximum size of 50.
* _stateTrajectory_ of type [**StateTrajectory**](#StateTrajectory) OPTIONAL<br>
* _stateTrajectory_ of type [**StateTrajectory**](#StateTrajectory) OPTIONAL<br>
The elements in the optional field StateTrajectory vector are considered as odometry target values. These consist of a sequence of statePoint containers with a maximum size of 50.
The elements in the optional field [**StateTrajectory**](#StateTrajectory) vector are considered as odometry target values.
These consist of a sequence of [**StatePoint**](#StatePoint) elements with a maximum size of 50.
```asn1
```asn1
TrajectoryControl ::= SEQUENCE {
TrajectoryControl ::= SEQUENCE {
@@ -396,7 +391,7 @@ A ControlPoint container carries a set of ControlPoint elements,
The data element contains the target curvature that is requested in the according control Poiint
The data element contains the target curvature that is requested in the according control Poiint
* _controlParameter_ of type [**ControlParameter**](#ControlParameter)<br>
* _controlParameter_ of type [**ControlParameter**](#ControlParameter)<br>
The field controlParameter selects the method how to represent a controlPoint container .
This field selects the method how to represent a [**ControlPoint**](#ControlPoint) container .
The ControlAcceleration data element is a single data element when choosing the ControlParameter controlAcceleration
The [**ControlAcceleration**](#ControlAcceleration) data element is a single data element when choosing the [**ControlParameter**](#ControlParameter) controlAcceleration
The ControlVelocity container consists of 2 data elements belonging to the according controlPoint,
The ControlVelocity container consists of 2 data elements belonging to the according [**ControlPoint**](#ControlPoint),
It includes the following components:
It includes the following components:
* _velocity_ of type [**VelocityComponentValue**](ETSI-ITS-CDD.md#VelocityComponentValue)<br>
* _velocity_ of type [**VelocityComponentValue**](ETSI-ITS-CDD.md#VelocityComponentValue)<br>
The data element represents the target speed of the vehicle. It is a signed velocity value.
The data element represents the target speed of the vehicle. It is a signed velocity value.
It deals with a signed velocity value. Positive: drive forwards / Negative: driving reverse.
It deals with a signed velocity value.
- Positive: drive forwards
- Negative: driving reverse.
* _distanceToStop_ of type [**Centimetre**](AVM-Commons.md#Centimetre) OPTIONAL<br>
* _distanceToStop_ of type [**Centimetre**](AVM-Commons.md#Centimetre) OPTIONAL<br>
The data element represents the unsigned maximum distance that the vehicle can drive before a standstill.
The data element represents the unsigned maximum distance that the vehicle can drive before a standstill.
@@ -461,7 +458,7 @@ A StatePoint container carries a set of SatePoint elements,
It shall include the following components:
It shall include the following components:
* _statePose_ of type [**Pose**](AVM-Commons.md#Pose)<br>
* _statePose_ of type [**Pose**](AVM-Commons.md#Pose)<br>
This field implements the sequence of data elements for the vehicle' positioning in the according statePoint.
This field implements the sequence of data elements for the vehicle's positioning in the according statePoint.
A point indicates an agreed reference point of the vehicle,e.g. the middle of the rear axle.
A point indicates an agreed reference point of the vehicle,e.g. the middle of the rear axle.
* _velocity_ of type [**VelocityComponentValue**](ETSI-ITS-CDD.md#VelocityComponentValue)<br>
* _velocity_ of type [**VelocityComponentValue**](ETSI-ITS-CDD.md#VelocityComponentValue)<br>
@@ -478,10 +475,10 @@ StatePoint ::= SEQUENCE {
Data element DriveCommandActionEnum describes the current state in the vehicle identification process .
Data element DriveCommandActionEnum describes the current state in the vehicle identification process .
It offers the following signal values:
It offers the following signal values:
- 0 - `sleep`- The vehicle is commanded to go into sleep mode for low power consumption.
- 0 - `sleep` - The vehicle is commanded to go into sleep mode for low power consumption
- 1 - `initialize` - The vehicle is awake and remains in standstill. It shall initialize and prepare for a driving job, including a sequence of power-on the engine system and the lights. ,
- 1 - `initialize` - The vehicle is awake and remains in standstill. It shall initialize and prepare for a driving job, including a sequence of power-on the engine system and the lights,
- 2 - `wait`- The vehicle shall wait in marshalling capable state.,
- 2 - `wait` - The vehicle shall wait in marshalling capable state,
- 3 - `drive`- The vehicle is commanded to actively drive and follow the according control commands. Standstill and pause situations are potentially included in this stage. ,
- 3 - `drive` - The vehicle is commanded to actively drive and follow the according control commands. Standstill and pause situations are potentially included in this stage,
- 4 - `terminate` - The vehicle shall disable the according control interface. After brining the vehicle to a safe standstill state it shuts down as soon as possible.
- 4 - `terminate` - The vehicle shall disable the according control interface. After brining the vehicle to a safe standstill state it shuts down as soon as possible.
