DEFINITIONS AUTOMATIC TAGS ::= BEGIN -- Park Control Infrastucture Message
IMPORTS
@@ -31,7 +29,6 @@ FROM ETSI-ITS-CDD {
*
* @field pcim: the payload of the PCIM PDU.
*/
PCIM ::= SEQUENCE {
header ItsPduHeader,
e2eProtection ParkingControlE2EProtection,
@@ -45,10 +42,9 @@ PCIM ::= SEQUENCE {
*
* @field vehicles: the Vehicles Container which carries min 1 and max. 32 vehicles in one PCIM container
*/
Pcim ::= SEQUENCE {
vehicles SEQUENCE (SIZE(1..32)) OF VehicleContainer,
... -- extension marker
...
}
/**
@@ -60,26 +56,34 @@ Pcim ::= SEQUENCE {
*
* @field msgGenerationTime: the time at which the vehicle container was fully assembled.
*
* @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 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 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 rollingCounterFromPcvm: It serves as a mirror of the rolling counter that was received with the latest PCVM of the corresponding vehicle.
* @field rollingCounterFromPcvm: It serves as a mirror of the rolling counter that was
* received with the latest PCVM of the corresponding vehicle.
*
* @field vehicleIdentification: It allows the selection of the mechanism for visual vehicle identification.
*
* @field drivingPermission: 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.
* @field drivingPermission: 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.
*
* @field safetyTimeSyncRequest: 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.
* @field safetyTimeSyncRequest: 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.
*
* @field driveCommand: It addresses the specific vehicle and determines the actual state request to the vehicle, especially the active drive request for the overall VCM operation.
* @field driveCommand: It addresses the specific vehicle and determines the actual state
* request to the vehicle, especially the active drive request for the overall VCM operation.
*
* @field detectedVehiclePose: The RVO permanently senses the vehicle’s position in a proprietary two-dimensional coordinate system (X and Y).
* @field detectedVehiclePose: The RVO permanently senses the vehicle's position
* in a proprietary two-dimensional coordinate system (X and Y).
*
* @field controlInterface: This container offers different control methods for vehicle motion control VMC as a choice between .
*
* @field OEMSpecificData: This data element defines optionally 2 bytes are used to carry specific information or request from an RVO system to a specific OEM vehicle.
*
* @field OEMSpecificData: This data element defines optionally 2 bytes are used to carry
* specific information or request from an RVO system to a specific OEM vehicle.
* @field vidRvoPublicKey : A 64-bit public key is transmitted from the RVO to the vehicle in order to derive the vehicle identification secret.
* @field vidRvoPublicKey : A 64-bit public key is transmitted from the RVO to the vehicle
* in order to derive the vehicle identification secret.
*
* @field codeLength : 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.
* @field codeLength : 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.
*
* @field currentState : This data element mirrors the current authorization/identification request status from the perspective of the RVO system.
* @field currentState : This data element mirrors the current authorization/identification
* request status from the perspective of the RVO system.
*
*/
Blinking ::= SEQUENCE {
@@ -205,7 +212,7 @@ DriveCommand ::= SEQUENCE {
/**
* This type represents the container with a report of the vehicle's localization.
*
* The RVO permanently senses the vehicle’s position in a relative two-dimensional coordinate system (X and Y).
* The RVO permanently senses the vehicle's position in a relative two-dimensional coordinate system (X and Y).
*
* It shall include the following components:
*
@@ -314,7 +321,7 @@ ControlPoint ::= SEQUENCE {
*
* It shall include the following components:
*
* @field controlAcceleration: The data element represents the vehicles’s target acceleration in the according control point.
* @field controlAcceleration: The data element represents the vehicles's target acceleration in the according control point.
*
* @field controlVelocity: The field controlVelocity is selected the according ControlPoint uses speed values instead of acceleration.
* 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.
* 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.
* - 0 - `unknown(0)` - The vehicle operation mode is not defined,
* - 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,
* - 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,
* - 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,
* - 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,
