Update CAM-PDU-Descriptions.asn

Yann Garciarequested to merge
release2 into TTF_T036

Added the Vehicle Movement Controls Container

Merge request reports

docs/CAM-PDU-Descriptions.md

+280 −4
Changes for docs/CAM-PDU-Descriptions.md: 280 added lines, 4 removed lines.
Original line number Diff line number Diff line 
# <a name="CAM-PDU-Descriptions"></a>ASN.1 module CAM-PDU-Descriptions

OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) camPduRelease2 (103900) major-version-2 (2) minor-version-1 (1)}_

OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) camPduRelease2 (103900) major-version-2 (2) minor-version-2 (2)}_

CAM module for TS 103 900 V2.2.1 (0.0.5) integrating:

- ITSWG1(24)000011r8 containing the following:

	ExtensionContainers: 

	- GeneralizedLanePositionsContainer

	- eHorizonLocationSharingContainer

	- PathPredictionContainer

	- TwoWheelerContainer

- ITSWG1(24)000002r1 containing the Very Low Frequency Container

- ITSWG1(24)000163r1 VehicleMovementControlContainer



## Imports:

* **[ETSI-ITS-CDD](ETSI-ITS-CDD.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-4 (4) minor-version-1 (1)} WITH SUCCESSORS*<br/>

* **[ETSI-ITS-CDD](ETSI-ITS-CDD.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-4 (4) minor-version-2 (2)} WITH SUCCESSORS*<br/>

## Data Elements:

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

This type represents the CAM PDU.



 It shall include the following componenets:



Fields:

* _header_ of type [**ItsPduHeader**](ETSI-ITS-CDD.md#ItsPduHeader)  (WITH COMPONENTS {... , protocolVersion (2), messageId(cam)})<br>

  the header of the CAM PDU.
@@ -27,6 +37,7 @@ This type represents the CAM payload. 


 It shall include the following components:



Fields:

* _generationDeltaTime_ of type [**GenerationDeltaTime**](ETSI-ITS-CDD.md#GenerationDeltaTime) <br>

  Time corresponding to the time of the reference position in the CAM, considered as time of the CAM generation.
@@ -42,6 +53,7 @@ CamPayload ::= SEQUENCE { 


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



Fields:

* _basicContainer_ of type [**BasicContainer**](ETSI-ITS-CDD.md#BasicContainer) <br>

  the mandatory basic container of the CAM.
@@ -55,13 +67,17 @@ CamPayload ::= SEQUENCE { 
  The special container of the CAM shall be present as defined in clause 6.1.2. 

   The content of the container shall be set according to the value of the vehicleRole component as specified in Table 5. 



* _extensionContainers_ of type [**WrappedExtensionContainers**](#WrappedExtensionContainers)  OPTIONAL<br>

  the list of CAM extension containers, including its container type identifier and the container itself.



```asn1

CamParameters ::= SEQUENCE {

	basicContainer           BasicContainer,

	highFrequencyContainer   HighFrequencyContainer,

	lowFrequencyContainer    LowFrequencyContainer OPTIONAL,

	specialVehicleContainer  SpecialVehicleContainer OPTIONAL,

	...

	...,

	extensionContainers		 WrappedExtensionContainers OPTIONAL

}

```
@@ -70,6 +86,7 @@ This type represents the high frequency container. 
 

 It shall include the following components:



Fields:

* _basicVehicleContainerHighFrequency_ of type [**BasicVehicleContainerHighFrequency**](#BasicVehicleContainerHighFrequency) <br>

  The mandatory high frequency container of the CAM when the originating ITS-S is of the type vehicle ITS-S.
@@ -91,6 +108,7 @@ This type represents the low frequency container. 


 The low frequency container of the CAM when the originating ITS-S is of the type vehicle ITS-S. It shall be present as defined in clause 6.1.2.



Fields:

* _basicVehicleContainerLowFrequency_ of type [**BasicVehicleContainerLowFrequency**](#BasicVehicleContainerLowFrequency)  (WITH COMPONENTS {..., pathHistory (SIZE (0..23))})<br>

```asn1

LowFrequencyContainer ::= CHOICE {
@@ -104,6 +122,7 @@ This type represent the Special Vehicle Container. 


 It shall include the following components:



Fields:

* _publicTransportContainer_ of type [**PublicTransportContainer**](#PublicTransportContainer) <br>

  If the vehicleRole component is set to publicTransport(1) this container shall be present.
@@ -143,6 +162,7 @@ This type contains detaild information of the Basic Vehicle Container High Frequ 


 It shall include the following components:



Fields:

* _heading_ of type [**Heading**](ETSI-ITS-CDD.md#Heading) <br>

  It represent the heading and heading accuracy of the vehicle movement of the originating ITS-S with regards to the true north. 

   The heading accuracy provided in the heading Confidence value shall provide the accuracy of the measured vehicle heading with a confidence level
@@ -231,6 +251,7 @@ This type contains detaild information of the Basic Vehicle Container Low Freque 


 It shall include the following components:



Fields:

* _vehicleRole_ of type [**VehicleRole**](ETSI-ITS-CDD.md#VehicleRole) <br>

  represent the role of the vehicle ITS-S that originates the CAM. Only values 0 to 7 shall be used.
@@ -254,6 +275,7 @@ This type contains detaild information of the Public Transport Container. 


 It shall include the following components:



Fields:

* _embarkationStatus_ of type [**EmbarkationStatus**](ETSI-ITS-CDD.md#EmbarkationStatus) <br>

  It indicates whether the passenger embarkation is currently ongoing.
@@ -272,6 +294,7 @@ This type contains detaild information of the Special Transport Container. 


 It shall include the following components:



Fields:

* _specialTransportType_ of type [**SpecialTransportType**](ETSI-ITS-CDD.md#SpecialTransportType) <br>

  which indicates whether the originating ITS-S is mounted on a special transport vehicle with heavy or oversized load

   or both. It shall be present if the data is available in originating ITS-S.
@@ -291,6 +314,7 @@ This type contains detaild information of the Dangerous Goods Container. 


 It shall include the following components:



Fields:

* _dangerousGoodsBasic_ of type [**DangerousGoodsBasic**](ETSI-ITS-CDD.md#DangerousGoodsBasic) <br>

  identifies the type of the dangerous goods transported by the vehicle that originates the CAM. It shall be present if

   the data is available in the originating ITS S.
@@ -306,6 +330,7 @@ This type contains detaild information of the Road Works Container Basic. 


 It shall include the following components:



Fields:

* _roadworksSubCauseCode_ of type [**RoadworksSubCauseCode**](ETSI-ITS-CDD.md#RoadworksSubCauseCode)  OPTIONAL<br>

  The optional component, in case the originating ITS-S is mounted to a vehicle ITS-S participating to roadwork. It 

   provides information on the type of roadwork that it is currently undertaking. This component shall be present if the data is available in
@@ -316,7 +341,7 @@ This type contains detaild information of the Road Works Container Basic. 


* _closedLanes_ of type [**ClosedLanes**](ETSI-ITS-CDD.md#ClosedLanes)  OPTIONAL<br>

  an optional component which provides information about the opening/closure status of the lanes ahead. Lanes are counted from

   the outside boarder of the road. If a lane is closed to traffic, the corresponding bit shall be set to 1.

   the inside boarder of the road. If a lane is closed to traffic, the corresponding bit shall be set to 1.



```asn1

RoadWorksContainerBasic ::= SEQUENCE {
@@ -331,6 +356,7 @@ This type contains detaild information of the Rescue Container. 


 It shall include the following components:



Fields:

* _lightBarSirenInUse_ of type [**LightBarSirenInUse**](ETSI-ITS-CDD.md#LightBarSirenInUse) <br>

  it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
@@ -345,6 +371,7 @@ This type contains detaild information of the Emergency Container. 


 It shall include the following components:



Fields:

* _lightBarSirenInUse_ of type [**LightBarSirenInUse**](ETSI-ITS-CDD.md#LightBarSirenInUse) <br>

  it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
@@ -367,6 +394,7 @@ This type contains detaild information of the Safety Car Container. 


 It shall include the following components:



Fields:

* _lightBarSirenInUse_ of type [**LightBarSirenInUse**](ETSI-ITS-CDD.md#LightBarSirenInUse) <br>

  it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
@@ -393,6 +421,7 @@ This type contains detaild information of the RSU Container High Frequency. 


 It shall include the following components:



Fields:

* _protectedCommunicationZonesRSU_ of type [**ProtectedCommunicationZonesRSU**](ETSI-ITS-CDD.md#ProtectedCommunicationZonesRSU)  OPTIONAL<br>

  an optional Information about position of a CEN DSRC Tolling Station operating in the 5,8 GHz frequency 

   band. If this information is provided by RSUs a receiving vehicle ITS-S is prepared to adopt mitigation techniques when being in the vicinity of
@@ -405,5 +434,252 @@ RSUContainerHighFrequency ::= SEQUENCE { 
}

```



### <a name="EXTENSION-CONTAINER-ID-AND-TYPE"></a>EXTENSION-CONTAINER-ID-AND-TYPE

This information object class is an abstract template to instantiate containers.



 It shall include the following components:



Fields:

* _id_ of type [**ExtensionContainerId**](#ExtensionContainerId)  UNIQUE<br>

  the identifier of the container type.



* Type<br>

  the container content.



```asn1

EXTENSION-CONTAINER-ID-AND-TYPE ::= CLASS {

    &id     ExtensionContainerId UNIQUE,

    &Type

} WITH SYNTAX {&Type IDENTIFIED BY &id}

```



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

This DE represents the identifier of the container type.

```asn1

ExtensionContainerId ::= INTEGER (1..16,...)

```



These value assignments represent specific values of the container type identifier.



```asn1

twoWheelerContainer ExtensionContainerId ::= 1

eHorizonLocationSharingContainer ExtensionContainerId ::= 2

veryLowFrequencyContainer ExtensionContainerId ::= 3

pathPredictionContainer ExtensionContainerId ::= 4

generalizedLanePositionsContainer ExtensionContainerId ::= 5

vehicleMovementControlContainer ExtensionContainerId ::= 6

```



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

This information object set represents the association between the container type and the container content.

```asn1

ExtensionContainers EXTENSION-CONTAINER-ID-AND-TYPE ::= {

    {TwoWheelerContainer IDENTIFIED BY twoWheelerContainer} |

    {EHorizonLocationSharingContainer IDENTIFIED BY eHorizonLocationSharingContainer} |

    {VeryLowFrequencyContainer IDENTIFIED BY veryLowFrequencyContainer} |

    {PathPredictionContainer IDENTIFIED BY pathPredictionContainer} |

    {GeneralizedLanePositionsContainer IDENTIFIED BY generalizedLanePositionsContainer} |

    {VehicleMovementControlContainer IDENTIFIED BY vehicleMovementControlContainer},

	...

}

```



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

This DF represents a CAM container preceded by its type identifier and a length indicator.



 It shall include the following components:



Fields:

* _containerId_ of type [**EXTENSION-CONTAINER-ID-AND-TYPE**](#EXTENSION-CONTAINER-ID-AND-TYPE) .&id( {ExtensionContainers} )<br>

  the identifier of the container type.



* _containerData_ of type [**EXTENSION-CONTAINER-ID-AND-TYPE**](#EXTENSION-CONTAINER-ID-AND-TYPE) .&Type( {ExtensionContainers}{@containerId} )<br>

  the container content consistent with the container type.



```asn1

WrappedExtensionContainer ::= SEQUENCE {

   containerId     EXTENSION-CONTAINER-ID-AND-TYPE.&id( {ExtensionContainers} ),

   containerData   EXTENSION-CONTAINER-ID-AND-TYPE.&Type( {ExtensionContainers}{@containerId} )

}

```



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

This DF represents a list of CAM containers, each with their type identifier.

```asn1

WrappedExtensionContainers ::= SEQUENCE SIZE(1..8,...) OF WrappedExtensionContainer

```



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

This type contains detailed information about two wheelers. It is meant to use for StationType

 cyclist, moped and motorcycle.



 It shall include the following components:



Fields:

* _typeSpecificInformation_ of type [**TwoWheelerTypeSpecificInformation**](#TwoWheelerTypeSpecificInformation)  OPTIONAL<br>

  this data field contains type specific information about two wheelers.



* _rollAngle_ of type [**CartesianAngle**](ETSI-ITS-CDD.md#CartesianAngle)  OPTIONAL<br>

  this data field describes the roll angle of the two wheeler.



* _orientation_ of type [**Wgs84Angle**](ETSI-ITS-CDD.md#Wgs84Angle)  OPTIONAL<br>

  this data field describes the orientation of the two wheeler.



* _stabilityChangeIndication_ of type [**StabilityChangeIndication**](ETSI-ITS-CDD.md#StabilityChangeIndication)  OPTIONAL<br>

  this data field describes if the two wheeler is about to lose control.



```asn1

TwoWheelerContainer ::= SEQUENCE {

    typeSpecificInformation     TwoWheelerTypeSpecificInformation OPTIONAL,

    rollAngle                   CartesianAngle OPTIONAL,

    orientation                 Wgs84Angle OPTIONAL,

    stabilityChangeIndication   StabilityChangeIndication OPTIONAL,

    ...

}

```



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

This type contains type specific information about a two wheeler.



 It includes one of the following components:



Fields:

* _cyclist_ of type [**CyclistTypeSpecificInformation**](#CyclistTypeSpecificInformation) <br>

  it contains cyclist-specific information.



```asn1

TwoWheelerTypeSpecificInformation ::= CHOICE {

    cyclist CyclistTypeSpecificInformation,

    ...

}

```



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

This type contains type-specific information about cyclists.



 It shall include the following components:



Fields:

* _vruSubProfileBicyclist_ of type [**VruSubProfileBicyclist**](ETSI-ITS-CDD.md#VruSubProfileBicyclist)  (unavailable | bicyclist | e-scooter | pedelec | speed-pedelec | roadbike | childrensbike) OPTIONAL<br>

  it indicates the detailed type of the cyclist.



* _vruMovementControl_ of type [**VruMovementControl**](ETSI-ITS-CDD.md#VruMovementControl)  OPTIONAL<br>

  it includes information about the movement control of the bicycle.



```asn1

CyclistTypeSpecificInformation ::= SEQUENCE {

    vruSubProfileBicyclist  VruSubProfileBicyclist (unavailable | bicyclist | e-scooter | pedelec | speed-pedelec | roadbike | childrensbike) OPTIONAL,

    vruMovementControl      VruMovementControl OPTIONAL,

    ...

}

```



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

This type contains contextual, map-based location information.

 eHorizon is defined as a tool to convey the part of the road network and its characteristics derived from map data located in front of and behind the vehicle along the road.



 It shall include the following components:



Fields:

* _segmentAhead_ of type [**PolygonalLine**](ETSI-ITS-CDD.md#PolygonalLine) <br>

  the road segment that the vehicle is predicted to reach, starting from the reference position.

   At least one node must be filled in so that the current map position can be calculated on the receiver side.



* _nodeProbabilities_ of type [**ConfidenceLevels**](ETSI-ITS-CDD.md#ConfidenceLevels)  OPTIONAL<br>

  confidence values for each node in segmentAhead, indicating how confident we are that the ITS station will reach that point.



* _segmentBehind_ of type [**PolygonalLine**](ETSI-ITS-CDD.md#PolygonalLine) <br>

  the road segment that the vehicle has passed, based on the collected data, starting from the reference position.

   At least one node must be filled in so that the current map position can be calculated on the receiver side.



* _laneLevelDetails_ of type [**BasicLaneConfiguration**](ETSI-ITS-CDD.md#BasicLaneConfiguration)  OPTIONAL<br>

  provides information about the configuration of the road at the position indicated by the component referencePosition of the Basic Container and for a given reference direction.



* _segmentSource_ of type [**MetaInformation**](ETSI-ITS-CDD.md#MetaInformation)  (WITH COMPONENTS {..., confidenceValue ABSENT}) OPTIONAL<br>

  it represents the origin of the map-specific data.



```asn1

EHorizonLocationSharingContainer ::= SEQUENCE {

    segmentAhead        PolygonalLine,

    nodeProbabilities   ConfidenceLevels OPTIONAL,

    segmentBehind       PolygonalLine,

    laneLevelDetails    BasicLaneConfiguration OPTIONAL,

    segmentSource       MetaInformation (WITH COMPONENTS {..., confidenceValue ABSENT}) OPTIONAL,

    ...

}

```



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

This type represents the very low frequency container.



 It shall include the following components:



Fields:

* _vehicleHeight_ of type [**VehicleHeight2**](ETSI-ITS-CDD.md#VehicleHeight2)  OPTIONAL<br>

  this component represents the height of the vehicle that originates the CAM.



* _wiperStatus_ of type [**WiperStatus**](ETSI-ITS-CDD.md#WiperStatus)  OPTIONAL<br>

  this component represents the status of the wipers of the vehicle that originates the CAM, at the time indicated by generationDeltaTime.



* _brakeControl_ of type [**BrakeControl**](ETSI-ITS-CDD.md#BrakeControl)  OPTIONAL<br>

  this component represents the status of the brake control system of the vehicle that originates the CAM, 

   at the time indicated by generationDeltaTime and during the period 10 seconds before that time.



```asn1

VeryLowFrequencyContainer ::= SEQUENCE {

    vehicleHeight  VehicleHeight2 OPTIONAL,

    wiperStatus    WiperStatus OPTIONAL,

    brakeControl   BrakeControl OPTIONAL,

    ...

}

```



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

This type represents the path prediction container.



 Contains information about the possible future paths of ITS station.



Fields:

* _pathPredictedList_ of type [**PathPredictedList**](ETSI-ITS-CDD.md#PathPredictedList) <br>

```asn1

PathPredictionContainer ::= SEQUENCE {   

	pathPredictedList	PathPredictedList,

	...

}

```



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

This type represents the generalized lane positions container.



 Contains detailed information about the transversal position of the ITS station with respect to the road and potentially about the lane type.



Fields:

* _generalizedLanePositions_ of type [**GeneralizedLanePositions**](ETSI-ITS-CDD.md#GeneralizedLanePositions) <br>

```asn1

GeneralizedLanePositionsContainer ::= SEQUENCE {   

	generalizedLanePositions	GeneralizedLanePositions,

	...

}

```



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

This type represents the vehicle movement control container.



 Contains information about the current vehicle movement control status 

 of ITS station.

  This contains: 

	- brake and acceleration pedal position status information

 	- mechanism for lateral, longitudinal movements dimensions 

	  of the vehicle



Fields:

* _vehicleMovementControl_ of type [**VehicleMovementControl**](ETSI-ITS-CDD.md#VehicleMovementControl) <br>

```asn1

VehicleMovementControlContainer ::= SEQUENCE {   

	vehicleMovementControl	VehicleMovementControl,

	...

}

```

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CAM-PDU-Descriptions.asn

+218 −6
Changes for CAM-PDU-Descriptions.asn: 218 added lines, 6 removed lines.
Original line number Diff line number Diff line 
CAM-PDU-Descriptions  {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) camPduRelease2 (103900) major-version-2 (2) minor-version-1 (1)} 

/** CAM module for TS 103 900 V2.2.1 (0.0.5) integrating:

- ITSWG1(24)000011r8 containing the following:

	ExtensionContainers: 

	- GeneralizedLanePositionsContainer

	- eHorizonLocationSharingContainer

	- PathPredictionContainer

	- TwoWheelerContainer

- ITSWG1(24)000002r1 containing the Very Low Frequency Container

- ITSWG1(24)000163r1 VehicleMovementControlContainer

*/



CAM-PDU-Descriptions  {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) camPduRelease2 (103900) major-version-2 (2) minor-version-2 (2)} 



DEFINITIONS AUTOMATIC TAGS ::=
@@ -8,9 +19,11 @@ IMPORTS 
ItsPduHeader, CauseCodeV2, ReferencePosition, AccelerationControl, Curvature, CurvatureCalculationMode, Heading, LanePosition, EmergencyPriority, EmbarkationStatus, Speed, 

DriveDirection, AccelerationComponent, StationType, ExteriorLights, DangerousGoodsBasic, SpecialTransportType, LightBarSirenInUse, 

VehicleRole, VehicleLength, VehicleWidth, Path, RoadworksSubCauseCode, ClosedLanes, TrafficRule, SpeedLimit, SteeringWheelAngle, PerformanceClass, YawRate, 

PtActivation, ProtectedCommunicationZonesRSU, CenDsrcTollingZone, GenerationDeltaTime, BasicContainer

PtActivation, ProtectedCommunicationZonesRSU, CenDsrcTollingZone, GenerationDeltaTime, BasicContainer, BrakeControl, VehicleHeight2, WiperStatus,

GeneralizedLanePositions, PathPredictedList, CartesianAngle, Wgs84Angle, StabilityChangeIndication, VruSubProfileBicyclist, VruMovementControl,

BasicLaneConfiguration, PolygonalLine, MetaInformation, ConfidenceLevels, VehicleMovementControl



FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-4 (4) minor-version-1 (1)} WITH SUCCESSORS

FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-4 (4) minor-version-2 (2)} WITH SUCCESSORS

;
@@ -55,13 +68,16 @@ CamPayload ::= SEQUENCE { 
*

* @field specialVehicleContainer: The special container of the CAM shall be present as defined in clause 6.1.2. 

* The content of the container shall be set according to the value of the vehicleRole component as specified in Table 5. 

*

* @field extensionContainers: the list of CAM extension containers, including its container type identifier and the container itself.

*/

CamParameters ::= SEQUENCE {

	basicContainer           BasicContainer,

	highFrequencyContainer   HighFrequencyContainer,

	lowFrequencyContainer    LowFrequencyContainer OPTIONAL,

	specialVehicleContainer  SpecialVehicleContainer OPTIONAL,

	...

	...,

	extensionContainers		 WrappedExtensionContainers OPTIONAL

}



/**
@@ -262,7 +278,7 @@ SpecialTransportContainer ::= SEQUENCE { 
* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.

*

* @field closedLanes: an optional component which provides information about the opening/closure status of the lanes ahead. Lanes are counted from

* the outside boarder of the road. If a lane is closed to traffic, the corresponding bit shall be set to 1.

* the inside boarder of the road. If a lane is closed to traffic, the corresponding bit shall be set to 1.

*/

 RoadWorksContainerBasic ::= SEQUENCE {

  roadworksSubCauseCode RoadworksSubCauseCode OPTIONAL,
@@ -326,11 +342,207 @@ SafetyCarContainer ::= SEQUENCE { 
* @field protectedCommunicationZonesRSU: an optional Information about position of a CEN DSRC Tolling Station operating in the 5,8 GHz frequency 

* band. If this information is provided by RSUs a receiving vehicle ITS-S is prepared to adopt mitigation techniques when being in the vicinity of

* CEN DSRC tolling stations. 



*/

RSUContainerHighFrequency ::= SEQUENCE {

	protectedCommunicationZonesRSU ProtectedCommunicationZonesRSU OPTIONAL,

	...	

}



/**

* This information object class is an abstract template to instantiate containers.

*

* It shall include the following components:

*

* @field &id: the identifier of the container type.

*

* @field &Type: the container content.

*

*/

EXTENSION-CONTAINER-ID-AND-TYPE ::= CLASS {

    &id     ExtensionContainerId UNIQUE,

    &Type

} WITH SYNTAX {&Type IDENTIFIED BY &id}



/**

* This DE represents the identifier of the container type.

*/

ExtensionContainerId ::= INTEGER (1..16,...)



/**

* These value assignments represent specific values of the container type identifier. 

*/

twoWheelerContainer ExtensionContainerId ::= 1

eHorizonLocationSharingContainer ExtensionContainerId ::= 2

veryLowFrequencyContainer ExtensionContainerId ::= 3

pathPredictionContainer ExtensionContainerId ::= 4

generalizedLanePositionsContainer ExtensionContainerId ::= 5

vehicleMovementControlContainer ExtensionContainerId ::= 6



/**

* This information object set represents the association between the container type and the container content.

*/

ExtensionContainers EXTENSION-CONTAINER-ID-AND-TYPE ::= {

    {TwoWheelerContainer IDENTIFIED BY twoWheelerContainer} |

    {EHorizonLocationSharingContainer IDENTIFIED BY eHorizonLocationSharingContainer} |

    {VeryLowFrequencyContainer IDENTIFIED BY veryLowFrequencyContainer} |

    {PathPredictionContainer IDENTIFIED BY pathPredictionContainer} |

    {GeneralizedLanePositionsContainer IDENTIFIED BY generalizedLanePositionsContainer} |

    {VehicleMovementControlContainer IDENTIFIED BY vehicleMovementControlContainer},

	...

}



/**

* This DF represents a CAM container preceded by its type identifier and a length indicator.

*

* It shall include the following components:

*

* @field containerId: the identifier of the container type.

*

* @field containerData: the container content consistent with the container type.

*

*/

WrappedExtensionContainer ::= SEQUENCE {

   containerId     EXTENSION-CONTAINER-ID-AND-TYPE.&id( {ExtensionContainers} ),

   containerData   EXTENSION-CONTAINER-ID-AND-TYPE.&Type( {ExtensionContainers}{@containerId} )

}



/**

* This DF represents a list of CAM containers, each with their type identifier.

*/

WrappedExtensionContainers ::= SEQUENCE SIZE(1..8,...) OF WrappedExtensionContainer



/**

* This type contains detailed information about two wheelers. It is meant to use for StationType

* cyclist, moped and motorcycle.

*

* It shall include the following components:

*

* @field typeSpecificInformation: this data field contains type specific information about two wheelers.

*

* @field rollAngle: this data field describes the roll angle of the two wheeler.

*

* @field orientation: this data field describes the orientation of the two wheeler.

*

* @field stabilityChangeIndication: this data field describes if the two wheeler is about to lose control.

*

*/

TwoWheelerContainer ::= SEQUENCE {

    typeSpecificInformation     TwoWheelerTypeSpecificInformation OPTIONAL,

    rollAngle                   CartesianAngle OPTIONAL,

    orientation                 Wgs84Angle OPTIONAL,

    stabilityChangeIndication   StabilityChangeIndication OPTIONAL,

    ...

}



/**

* This type contains type specific information about a two wheeler.

*

* It includes one of the following components:

*

* @field cyclist: it contains cyclist-specific information.

*

*/

TwoWheelerTypeSpecificInformation ::= CHOICE {

    cyclist CyclistTypeSpecificInformation,

    ...

}



/**

* This type contains type-specific information about cyclists.

*

* It shall include the following components:

*

* @field vruSubProfileBicyclist: it indicates the detailed type of the cyclist.

*

* @field vruMovementControl: it includes information about the movement control of the bicycle.

*

*/

CyclistTypeSpecificInformation ::= SEQUENCE {

    vruSubProfileBicyclist  VruSubProfileBicyclist (unavailable | bicyclist | e-scooter | pedelec | speed-pedelec | roadbike | childrensbike) OPTIONAL,

    vruMovementControl      VruMovementControl OPTIONAL,

    ...

}



/**

* This type contains contextual, map-based location information.

* eHorizon is defined as a tool to convey the part of the road network and its characteristics derived from map data located in front of and behind the vehicle along the road.

*

* It shall include the following components:

*

* @field segmentAhead: the road segment that the vehicle is predicted to reach, starting from the reference position.

* At least one node must be filled in so that the current map position can be calculated on the receiver side.

*

* @field nodeProbabilities: confidence values for each node in segmentAhead, indicating how confident we are that the ITS station will reach that point.

*

* @field segmentBehind: the road segment that the vehicle has passed, based on the collected data, starting from the reference position.

* At least one node must be filled in so that the current map position can be calculated on the receiver side.

*

* @field laneLevelDetails: provides information about the configuration of the road at the position indicated by the component referencePosition of the Basic Container and for a given reference direction.

*

* @field segmentSource: it represents the origin of the map-specific data.

*

*/

EHorizonLocationSharingContainer ::= SEQUENCE {

    segmentAhead        PolygonalLine,

    nodeProbabilities   ConfidenceLevels OPTIONAL,

    segmentBehind       PolygonalLine,

    laneLevelDetails    BasicLaneConfiguration OPTIONAL,

    segmentSource       MetaInformation (WITH COMPONENTS {..., confidenceValue ABSENT}) OPTIONAL,

    ...

}



/**

* This type represents the very low frequency container.

*

* It shall include the following components:

*

* @field vehicleHeight: this component represents the height of the vehicle that originates the CAM.

*

* @field wiperStatus: this component represents the status of the wipers of the vehicle that originates the CAM, at the time indicated by generationDeltaTime.

*

* @field brakeControl: this component represents the status of the brake control system of the vehicle that originates the CAM, 

* at the time indicated by generationDeltaTime and during the period 10 seconds before that time.

*/

VeryLowFrequencyContainer ::= SEQUENCE {

    vehicleHeight  VehicleHeight2 OPTIONAL,

    wiperStatus    WiperStatus OPTIONAL,

    brakeControl   BrakeControl OPTIONAL,

    ...

}



/**

* This type represents the path prediction container.

*

* Contains information about the possible future paths of ITS station.

*/

PathPredictionContainer ::= SEQUENCE {   

	pathPredictedList	PathPredictedList,

	...

}



/**

* This type represents the generalized lane positions container.

*

* Contains detailed information about the transversal position of the ITS station with respect to the road and potentially about the lane type.

*/

GeneralizedLanePositionsContainer ::= SEQUENCE {   

	generalizedLanePositions	GeneralizedLanePositions,

	...

}



/**

* This type represents the vehicle movement control container.

*

* Contains information about the current vehicle movement control status 

* of ITS station.

*  This contains: 

*	- brake and acceleration pedal position status information

* 	- mechanism for lateral, longitudinal movements dimensions 

*	  of the vehicle 

*/

VehicleMovementControlContainer ::= SEQUENCE {   

	vehicleMovementControl	VehicleMovementControl,

	...

}



END

README.md

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# ASN.1 module for Cooperative Awareness Basic Service [ETSI TS 103 900]



This repository contains the ASN.1 module for ETSI ITS Cooperative Awareness Basic Service (CAM) in the **CAM-PDU-Descriptions.asn** file.

* The module is published with the **[ETSI TS 103 900 v2.1.1](https://www.etsi.org/deliver/etsi_ts/103900_103999/103900/02.01.01_60/ts_103900v020101p.pdf)**.

* The module is published with the **[ETSI TS 103 900 v2.2.1](https://www.etsi.org/deliver/etsi_ts/103900_103999/103900/02.02.01_60/ts_103900v020201p.pdf)**.



## License
@@ -11,6 +11,6 @@ See the attached LICENSE file or visit https://forge.etsi.org/legal-matters. 


## Dependencies



- The **[ETSI-ITS-CDD](https://forge.etsi.org/rep/ITS/asn1/cdd_ts102894_2)** module from [ETSI TS 102 894-2 v2.2.1](https://www.etsi.org/deliver/etsi_ts/102800_102899/10289402/02.02.01_60/ts_10289402v020201p.pdf) - Common Data Dictionary

- The **[ETSI-ITS-CDD](https://forge.etsi.org/rep/ITS/asn1/cdd_ts102894_2)** module from [ETSI TS 102 894-2 v2.3.1](https://www.etsi.org/deliver/etsi_ts/102800_102899/10289402/02.03.01_60/ts_10289402v020301p.pdf) - Common Data Dictionary



*NOTE: Please use  `--recurse-submodules` option in order to clone the module including all necessary dependencies.*