Commit fa357370 authored by perezed's avatar perezed
Browse files

Merge remote-tracking branch 'remotes/origin/WI-001958' into WI-001958 

# Conflicts:
#	AVP_Commons.asn
#	xml/ASNV_Configuration.xml
#	xml/PCIM.asn1
#	xml/PCVM.asn1
parents 7159f6c3 fae9a57f

.gitlab-ci.yml

0 → 100755
+19 −0
Original line number Diff line number Diff line 
include:

  - project: 'forge-tools/asn2md'

    file: '/gitlab-ci/base.yml'



variables:

  ASN1_SRC: 'cdd/*.asn *.asn'

  

validate:

  extends: .validate

  only:

    changes:

      - '*.asn'





documentation:

  extends: .documentation

  only:

    changes:

      - '*.asn'

AVP_Commons.asn

+88 −0
Original line number Diff line number Diff line 
<<<<<<< HEAD

AVP-Commons-PDU-Descriptions {

  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1)

}
@@ -84,3 +85,90 @@ ParkingControlE2EProtection ::= SEQUENCE { -- AUTOSAR Profile 4 e2e protection 
}



END

=======

AVP-Commons-PDU-Descriptions {

  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1)

}



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)

UInt64 ::= INTEGER(0..18446744073709551615)



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

RadPerSecond ::= Int16          -- [rad/s]  0.0001



GearEnum ::= ENUMERATED {

  park(0),       -- P: Vehicle is in secure standstill, e.g. in PARK gear

  backwards(1),  -- R: Vehicle is driving backwards

  neutral(2),    -- N: Neutral / Driving direction is unknown

  forwards(3),   -- D: Vehicle is driving forwards

  unknown (4)	 -- Do not use as a command: Unknown or faulted gear state from vehicle

}



VidVehicleStateEnum ::= ENUMERATED {

  vehicle-undefined(0),           			-- Default value

  vehicle-ready(1),               			-- Vehicle is ready to get flashing code

  vehicle-lightflashing-inprogress (2), 	-- Vehicle flashing in progress

  vehicle-lightflashing-completed(3),  		-- Flashing is finished

  vehicle-lightflashing-failed (4), 		-- indicating vehicle can’t flash because of vehicle error

  vehicle-authorized(5)           			-- 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!



Description ::=  IA5String (SIZE(1..200)) -- for detailed  description, eg. of an error 



ParkingControlE2EProtection ::= SEQUENCE { -- AUTOSAR Profile 4 e2e protection

  length UInt16,

  rollingCounter UInt16,  

  dataID UInt32,

  crc32 UInt32                        -- Cyclic redundency check, hamming distance >= 6

}



END

>>>>>>> remotes/origin/WI-001958

PCIM.asn

+58 −29
Original line number Diff line number Diff line
@@ -6,7 +6,7 @@ DEFINITIONS AUTOMATIC TAGS ::= BEGIN -- Park Control Infrastucture Message 


IMPORTS



RollingCounter, CentimetrePerSecond, HighResCurvature, GearEnum, WaypointIndex, Pose, ParkingControlE2EProtection, OEMSpecificData, SessionMissionID, UInt8, UInt16, UInt32

RollingCounter, CentimetrePerSecond, Centimetre, HighResCurvature, GearEnum, WaypointIndex, Pose, ParkingControlE2EProtection, OEMSpecificData, SessionMissionID, UInt8, UInt16, UInt32, UInt64

FROM AVP-Commons-PDU-Descriptions {

  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1)

}
@@ -30,8 +30,10 @@ Pcim ::= SEQUENCE { 
}



VehicleContainer ::= SEQUENCE {

  currentSessionID SessionMissionID,					-- up to 32 character ID

  currentMissionID SessionMissionID OPTIONAL,           -- optional missionID 32 character ID

  checksum UInt32 OPTIONAL,

  msgGenerationTime  TimestampIts OPTIONAL,

  sessionID SessionMissionID,							-- up to 32 character ID

  missionID SessionMissionID OPTIONAL,           		-- optional missionID 32 character ID

														-- Option: smaller data size might be sufficient

  rollingCounterFromPcvm RollingCounter,             	-- PCVM Rolling counter signal paired with serverTimeAtPcvm

  vehicleIdentification VidRequest OPTIONAL,         	-- for generating a blinking pattern for the direction indicator lights
@@ -41,10 +43,10 @@ VehicleContainer ::= SEQUENCE { 
  detectedVehiclePose DetectedVehiclePose OPTIONAL,  	-- Contains the most recent pose of the vehicle in the fixed infrastructure coordinate system.

  controlInterface ControlInterface,                 	-- Specifies which interface is used to control the vehicle.

  oemSpecific OEMSpecificData OPTIONAL,                	-- OEM specific 16 bit container for special purposes.

  ...

  ...                                                   -- extension marker

}



VidRequest ::= CHOICE {     -- We proposed a change here: now we are flexible with identification technologies

VidRequest ::= CHOICE {     -- We proposed a change here: with extension marker we are flexible with identification technologies

  blinking Blinking,

  ...

}
@@ -55,10 +57,8 @@ SafetyTimeSyncRequest ::= SEQUENCE { 
  checksum UInt32   -- See safety checksum calculation

}



BlinkingSeed ::= INTEGER(0..18446744073709551615)



Blinking ::= SEQUENCE {

  seed BlinkingSeed,                         -- Seed for calculating codes for flashing indicator lights  .

  vidRvoPublicKey UInt64,					 -- Public Key used by RVO to derive vehicle identification secret

  codeLength UInt8,                          -- Value that indicated how many bits (8 - 20) from the seed shall be used for blinking. 

  currentState VidRequestStateEnum           -- current authorization request status

                                             -- For now, we kept the authorization state technology-agnostic.
@@ -80,7 +80,9 @@ DriveCommand ::= SEQUENCE { 
  selectGear GearEnum OPTIONAL,                     -- Requested gear (in line with the driving direction request), incl. request for neutral gear.

  directionIndicator VehicleDirIndicatorEnum,  		-- The currently requested direction indicator.

													-- Option: Using CDD's ExteriorLights can be considered as well. It would support multiple light request commands.

  emergencyStopRequest EmergencyStopEnum OPTIONAL	-- Signal for triggering an emergency stop or brake prefill.

  emergencyStopRequest EmergencyStopEnum OPTIONAL,	-- Signal for triggering an emergency stop or brake prefill.

  interlockRequest InterlockEnum OPTIONAL,          -- During interlock Vehicle can still receive/act on status commands (Gear, Park Brake...)

  hornRequest VehicleHornRequestEnum OPTIONAL   	-- The currently requested audible alarms

}



DetectedVehiclePose ::= SEQUENCE {
@@ -90,11 +92,10 @@ DetectedVehiclePose ::= SEQUENCE { 


ControlInterface ::= CHOICE {

  pathSnippet PathSnippet,

  directControl DirectControl,

  trajectoryControl TrajectoryControl

}



PathSnippet ::= SEQUENCE (SIZE(0..5)) OF WayPoint

PathSnippet ::= SEQUENCE (SIZE(0..50)) OF WayPoint



WayPoint ::= SEQUENCE {

  index WaypointIndex,              -- Index of 0 means that the WayPoint is not valid/not treated on vehicle side.
@@ -103,13 +104,9 @@ WayPoint ::= SEQUENCE { 
  curvature HighResCurvature        -- Signed curvature value.

}



DirectControl ::= SEQUENCE {

  velocityReq CentimetrePerSecond,  -- Signed velocity value. Positive: drive forwards / Negative: reverse.

  curvatureReq HighResCurvature     -- Signed curvature value.

}



TrajectoryControl ::= SEQUENCE {

  timeReference TimestampIts,

  driveDirection DriveDirectionEnum OPTIONAL,

  controlTrajectory ControlTrajectory,

  stateTrajectory StateTrajectory OPTIONAL

}
@@ -118,8 +115,19 @@ ControlTrajectory ::= SEQUENCE (SIZE(0..50)) OF ControlPoint 


ControlPoint ::= SEQUENCE {

  curvature HighResCurvature,                 			-- Signed curvature value.

  acceleration LongitudinalAccelerationValue  -- Signed acceleration value.

                                              -- To be discussed in the members groups

  controlParameter ControlParameter					  

}



ControlParameter ::= CHOICE {

controlAcceleration ControlAcceleration,

controlVelocity ControlVelocity

}



ControlAcceleration ::= LongitudinalAccelerationValue 	    -- Signed acceleration value.



ControlVelocity ::= SEQUENCE {

  velocity CentimetrePerSecond,  				-- Signed velocity value. Positive: drive forwards / Negative: reverse.

  distanceToStop Centimetre OPTIONAL			-- Unsigned distance-to-stop value

}



StateTrajectory ::= SEQUENCE (SIZE(0..50)) OF StatePoint
@@ -134,8 +142,9 @@ StatePoint ::= SEQUENCE { 
DriveCommandActionEnum ::= ENUMERATED {

  unknown(0),     -- No command given by the RVO.

  initialize(1),  -- The vehicle shall initialize and prepare for a driving job

  drive(2),       -- The vehicle shall actively drive and follow the path

  terminate(3)    -- The vehicle shall disable all interfaces and shutdown as soon as possible

  wait(2), 		  -- The vehicle shall wait in marshalling capable state

  drive(3),       -- The vehicle shall actively drive and follow the path

  terminate(4)    -- The vehicle shall disable all interfaces and shutdown as soon as possible

}



TerminateReasonEnum ::= ENUMERATED {
@@ -149,7 +158,22 @@ TerminateReasonEnum ::= ENUMERATED { 
EmergencyStopEnum ::= ENUMERATED {

  inactive(0),   	-- The vehicle shall not use EmergencyStop at this stage

  precharge(1),  	-- The vehicle shall stay in standby (brake prefill) and wait for an active command

  active(2)      -- The vehicle shall initiate an emergency stop using the maximum possible deceleration

  active(2),      	-- The vehicle shall initiate an emergency stop using the maximum possible deceleration

  temp-error(3),	-- Maturing Failures - Decel and hold, waiting for failure to clear or mature)

  suspend(4)		-- for Critical Failures - Decel and secure - not recoverable

} 



InterlockEnum ::= ENUMERATED {

  none(0),   			-- The vehicle shall not use Interlock at this stage

  zonal-interlock(1),  	-- Zonal Interlock (specific to plant case)

  global-stop(2)      	-- global stop for external operator intervention 

}



VehicleHornRequestEnum ::= ENUMERATED {

  none(0),   			-- no horn

  single-horn(1),		-- for alerting surroundings when marshalling of vehicle is starting

  double-horn(2),		-- For notifying pedestrians who pose obstacles

  hold-horn(3)			-- In event of ground staff intervention needed for vehicle

}



VehicleDirIndicatorEnum ::= ENUMERATED {
@@ -167,4 +191,9 @@ VidRequestStateEnum ::= ENUMERATED { 
  new-code(3) 		-- A new Subject Vehicle identification cycle was started.

}



DriveDirectionEnum ::= ENUMERATED {

  forwards(0),         -- D: Vehicle shall drive forwards

  backwards(1)		   -- R: Vehicle shall drive backwards

}



END
 
 No newline at end of file

PCVM.asn

+87 −21
Original line number Diff line number Diff line
@@ -6,16 +6,16 @@ DEFINITIONS AUTOMATIC TAGS ::= BEGIN -- Park Control Vehicle Message 


IMPORTS



ItsPduHeader, TimestampIts

FROM ETSI-ITS-CDD {

  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-3 (3) minor-version-1 (1)

}



RollingCounter, OEMSpecificData, GearEnum, CentimetrePerSecond, HighResCurvature, WaypointIndex, Pose, SessionMissionID, ParkingControlE2EProtection, VehicleOperationModeEnum, VidVehicleStateEnum , UInt8, UInt16, UInt32, Millisecond16, SafetyViolationsEnum 

RollingCounter, OEMSpecificData, GearEnum, CentimetrePerSecond, Centimetre, RadPerSecond, HighResCurvature, WaypointIndex, Pose, SessionMissionID, Description, ParkingControlE2EProtection, VidVehicleStateEnum , UInt8, UInt16, UInt32, UInt64, Millisecond16, SafetyViolationsEnum 

FROM AVP-Commons-PDU-Descriptions {

  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1)

}



ItsPduHeader, TimestampIts, VehicleMass

FROM ETSI-ITS-CDD {

  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-3 (3) minor-version-1 (1)

}



;



PCVM ::= SEQUENCE {
@@ -25,21 +25,25 @@ PCVM ::= SEQUENCE { 
}



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

  vehicleState VehicleState,                 						-- Relevant vehicle information.

  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.

  vehicleDebug VehicleDebug OPTIONAL,        						-- Optional debug information.

  vehicleSafetyFeedback VehicleSafetyFeedback OPTIONAL, 			-- Relevant safety information from vehicle

  vehicleProperties VehicleProperties OPTIONAL,         			-- Addition of vehicle-specific data elements as feedback from vehicle to external system

  oemSpecific OEMSpecificData OPTIONAL, 							-- OEM specific 16 bit container for special purposes.

  ...                                                               -- extension marker

}



VehicleState ::= SEQUENCE {

  vehicleStateGenerationTime  TimestampIts OPTIONAL,  -- checks on the Data Freshness on receive side 

  operationMode VehicleOperationModeEnum,             -- The current operation mode or state of the vehicle.

  vehicleAutorizationState VidVehicleStateEnum,       -- The current authorization/vehicle identification state

  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.
@@ -48,16 +52,18 @@ VehicleState ::= SEQUENCE { 
  localizedPose Pose OPTIONAL                         -- The current vehicle pose estimated by the vehicle. (Usually close to the pose estimated by the GMS, prediction by the vehicle) 

}



VidResponse ::= SEQUENCE {

 vidVehicleState VidVehicleStateEnum, 				  -- The current vehicle identification state

 vidVehiclePublicKey UInt64 						  -- Public Key used by vehicle to derive vehicle identification secret

}



VehicleError ::= SEQUENCE {

  time TimestampIts,    				-- Timestamp when the error occurred.

  vehCode VehCodeEnum,  				-- Depending on the given error, the infrastructure either tries to resolve the issue or aborts the mission, saves this message for logging and forwards its content to the backend.

  customCode UInt8      -- Customer specific error code. The infrastructure won't further interpret this value.

  customCode UInt8,     				-- Customer specific error code. The infrastructure won't further interpret this value.

  description Description OPTIONAL		-- optional description of the error with further details

}



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.

}



VehicleDebug ::= SEQUENCE {               -- Optional information from the vehicle that might help debugging and analysis

  requestedVelocity CentimetrePerSecond,  -- The currently requested velocity sent to the vehicle. Negative when driving backwards.
@@ -80,13 +86,73 @@ SafetyViolationsContainer ::= SEQUENCE (SIZE(0..5)) OF SafetyViolationsEnum -- u 


SafetyTimeSyncResponse ::= SEQUENCE {

  challenge UInt16,                           			-- Challenge received in the SafetyTimeSyncRequest message

  currentVehicleSafetyClockTime TimestampIts, -- Time of the Vehicle Safety Clock when SafetyTimeSyncRequest was received

  vehicleSafetyClockReceiveTimestamp TimestampIts,		-- Time of the Vehicle Safety Clock when SafetyTimeSyncRequest arrived in the vehicle

  vehicleSafetyClockTransmitTimestamp TimestampIts,		-- Time of the Vehicle Safety Clock when this response left for the RV

  checksum UInt32                             			-- See safety checksum calculation

}



SafeVehicleTypeConfirmation ::= SEQUENCE {

  vehicleType IA5String (SIZE(32)), -- vehicle type identifier

  vehicleType IA5String (SIZE(1..32)), 	-- vehicle type identifier

  checksum UInt32                   	-- See safety checksum calculation

}



VehicleProperties ::= SEQUENCE {

  basicVehicleClass BasicVehicleClassEnum,

  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)

  ...

}



-- ******************** PCVM specific ENUMs ***************************



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.

  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 

  ...

}



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

  communication-fault (3),		-- vehicle internal comms fault

  vehicle-egress-fault (4),		-- Failure during vehicle AVP egress or shutdown process

  ...

}



BasicVehicleClassEnum ::= ENUMERATED {

  none (0), -- Not Equipped, Not known or unavailable

  unknown (1), -- Does not fit any other category

  special (2), -- Special use

  moto (3), -- Motorcycle

  car (4), -- Passenger car

  carOther (5), -- Four tire single units

  bus (6), -- Buses

  axleCnt2 (7), -- Two axle, six tire single units

  axleCnt3 (8), -- Three axle, single units

  axleCnt4 (9), -- Four or more axle, single unit

  axleCnt4Trailer (10), -- Four or less axle, single trailer

  axleCnt5Trailer (11), -- Five or less axle, single trailer

  axleCnt6Trailer (12), -- Six or more axle, single trailer

  axleCnt5MultiTrailer (13), -- Five or less axle, multi-trailer

  axleCnt6MultiTrailer (14), -- Six axle, multi-trailer

  axleCnt7MultiTrailer (15), -- Seven or more axle, multi-trailer

  ...

}



END

docs/AVP-Commons-PDU-Descriptions.md

0 → 100644
+140 −0
Original line number Diff line number Diff line 
# <a name="AVP-Commons-PDU-Descriptions"></a>ASN.1 module AVP-Commons-PDU-Descriptions

OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1) }_



## Data Elements:

```asn1



UInt8 ::= INTEGER (0..255)

Int16 ::= INTEGER (-32768..32767)

Int20 ::= INTEGER (-524288..524287)

UInt16 ::= INTEGER (0..65535)

UInt32 ::= INTEGER (0..4294967295)

UInt64 ::= INTEGER(0..18446744073709551615)

```



### <a name="RollingCounter"></a>RollingCounter

```asn1

RollingCounter ::= UInt16

```



### <a name="OEMSpecificData"></a>OEMSpecificData

```asn1

OEMSpecificData ::= UInt16

```



### <a name="WaypointIndex"></a>WaypointIndex

```asn1

WaypointIndex ::= UInt16

```



### <a name="Pose"></a>Pose



Values:

* _--_ of type [**Projected**](#Projected)  to the ground<br>

* **--** x and y are cartesian coordinates<br>

* _x_ of type [**Centimetre**](#Centimetre) <br>

* _y_ of type [**Centimetre**](#Centimetre) <br>

* _psi_ of type [**Psi**](#Psi)            <br>

* _--_ of type [**Angle**](#Angle)  between the longitudinal axis of the vehicle and the <br>

* **--** x (North) axis of the reference coordinate system<br>

```asn1

Pose ::= SEQUENCE { 

  x Centimetre,

  y Centimetre,     

  psi Psi           

}

```



### <a name="Psi"></a>Psi



Values:

* **xDirection** (0) <br>

```asn1

Psi ::= INTEGER {

    xDirection  (0) 

} (0..62831)        

                    

```



```asn1

CentimetrePerSecond ::= Int16   

Centimetre ::= Int20            

HighResCurvature ::= Int16      

Millisecond16 ::= Int16         

RadPerSecond ::= Int16          

```



### <a name="GearEnum"></a>GearEnum



Values:

* **unknown** (4)	 <br>

```asn1

GearEnum ::= ENUMERATED {

  park(0),       

  backwards(1),  

  neutral(2),    

  forwards(3),   

  unknown (4)	 

}

```



### <a name="VidVehicleStateEnum"></a>VidVehicleStateEnum



Values:

* **vehicle-lightflashing-inprogress** (2)<br>

* **vehicle-lightflashing-failed** (4)<br>

```asn1

VidVehicleStateEnum ::= ENUMERATED {

  vehicle-undefined(0),           			

  vehicle-ready(1),               			

  vehicle-lightflashing-inprogress (2), 	

  vehicle-lightflashing-completed(3),  		

  vehicle-lightflashing-failed (4), 		

  vehicle-authorized(5)           			

}

```



### <a name="SafetyViolationsEnum"></a>SafetyViolationsEnum

```asn1

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)) 

```



### <a name="Description"></a>Description

```asn1

Description ::=  IA5String (SIZE(1..200)) 

```



### <a name="ParkingControlE2EProtection"></a>ParkingControlE2EProtection



* _--_ of type [**AUTOSAR**](#AUTOSAR)  Profile 4 e2e protection<br>

* _length_ of type [**UInt16**](#UInt16) <br>

* _rollingCounter_ of type [**UInt16**](#UInt16) <br>

* _dataID_ of type [**UInt32**](#UInt32) <br>

* _crc32_ of type [**UInt32**](#UInt32)                         <br>

```asn1

ParkingControlE2EProtection ::= SEQUENCE { 

  length UInt16,

  rollingCounter UInt16,  

  dataID UInt32,

  crc32 UInt32                        

}

```