* - `0` if the position is on the inner hard shoulder, i.e. the hard should adjacent to the rightmost lane,
* - `n` (`n > 0` and `n < 14`), if the position is on the n-th driving lane counted from the rightmost lane to the leftmost lane of a specific traffic direction,
* - `14` if the position is on the outer hard shoulder, i.e. the hard should adjacent to leftmost lane (if present).
*
* @note: in practice this means that the position is counted from "inside" to "outside" no matter which traffic practice is used.
*
* If the carriageway allows only traffic in one direction (e.g. in case of dual or multiple carriageway roads), the position is counted from the physical border of the carriageway.
* If the carriageway allows traffic in both directions and there is no physical delimitation between traffic directions (e.g. on a single carrriageway road),
* the position is counted from the legal (i.e. optical) separation between traffic directions (horizontal marking).
*
* If not indicated otherwise (by lane markings or traffic signs), the legal separation on carriageways allowing traffic on both directions is identified as follows:
* - If the total number of lanes N is even, the lanes are divided evenly between the traffic directions starting from the outside of the carriageway on both sides and the
* imaginary separation between traffic directions is on the border between the even number of lanes N/2.
* - If the total number of lanes N is odd, the lanes are divided evenly between traffic direction starting from the outside of the carriageway on both sides.
* The remaining middle lane is assigned to both traffic directions as innermost lane.
*
* @category: Road topology information
* @revision: Description revised in V2.1.1
* @revision: Description of the legal separation of carriageways added in V2.2.1
* - 19 - `verge` - Lane representing the verge, i.e. a narrow strip of grass or plants and sometimes also trees located between
the road surface edge and the boundary of a road,
* - 20 `minimumRiskManoeuvre` - Lane dedicated to automated vehicles making a minimum risk manoeuvre.
* - 21 `exclusiveCycleLane` - Lane dedicated exclusively for bicycles and similar that is phyisically separated from the vehicle-traffic lanes, e.g. by a verge,
* - values 21 to 30 reserved for future use.
*
* @category: Road topology information
* @revision: Created in V2.1.1
* @revision: Created in V2.1.1, value 21 assigned in V2.2.1
*/
LaneType::= INTEGER{
traffic (0),
@@ -1838,6 +1848,7 @@ LaneType::= INTEGER{
emergency (18),
verge (19),
minimumRiskManoeuvre (20),
exclusiveCycleLane (21),
unknown (31)
}(0..31)
@@ -2769,6 +2780,47 @@ SensorType ::= INTEGER {
itsAggregation (13)
} (0..31)
/**
* This DE indicates the type of sensor(s).
* The corresponding bit shall be set to 1 under the following conditions:
*
* - 0 `undefined` - in case the sensor type is undefined.
* - 1 `radar` - in case the sensor is a radar,
* - 2 `lidar` - in case the sensor is a lidar,
* - 3 `monovideo` - in case the sensor is mono video,
* - 4 `stereovision` - in case the sensor is stereo vision,
* - 5 `nightvision` - in case the sensor is night vision,
* - 6 `ultrasonic` - in case the sensor is ultrasonic,
* - 7 `pmd` - in case the sensor is photonic mixing device,
* - 8 `inductionLoop` - in case the sensor is an induction loop,
* - 9 `sphericalCamera` - in case the sensor is a spherical camera,
* - 10 `uwb` - in case the sensor is ultra wide band,
* - 11 `acoustic` - in case the sensor is acoustic,
* - 12 `localAggregation` - in case the information is provided by a system that aggregates information from different local sensors. Aggregation may include fusion,
* - 13 `itsAggregation` - in case the information is provided by a system that aggregates information from other received ITS messages.
* - 14-15 - are reserved for future usage.
*
* @note: If all bits are set to 0, then no sensor type is used
*
* @category: Sensing Information
* @revision: created in V2.2.1
*/
SensorTypes ::= BIT STRING {
undefined (0),
radar (1),
lidar (2),
monovideo (3),
stereovision (4),
nightvision (5),
ultrasonic (6),
pmd (7),
fusion (8),
inductionloop (9),
sphericalCamera (10),
itssaggregation (11),
uwb (12)
} (SIZE (16,... ))
/**
* This DE represents a sequence number.
*
@@ -2905,6 +2957,31 @@ SpeedValue ::= INTEGER {
unavailable (16383)
} (0..16383)
/**
* This DE indicates the type of stored information.
*
* The corresponding bit shall be set to 1 under the following conditions:
*
* - `0` undefined - in case the stored information type is undefined.
* - `1` staticDb - in case the stored information type is a static database.
* - `2` dynamicDb - in case the stored information type is a dynamic database
* - `3` realTimeDb - in case the stored information type is a real time updated database.
* - `4` map - in case the stored information type is a road topology map.
* - Bits 5 to 7 - are reserved for future use
*
* @note: If all bits are set to 0, then no stored information type is used
*
* @category: Basic Information
* @revision: created in V2.2.1
*/
StoredInformationType::= BIT STRING {
undefined (0),
staticDb (1),
dynamicDb (2),
realTimeDb (3),
map (4)
} (SIZE (1..168,... ))
/**
* This DE represents the value of a velocity component in a defined coordinate system.
*
@@ -3217,6 +3294,16 @@ Temperature ::= INTEGER {
*/
TimestampIts ::= INTEGER (0..4398046511103)
/**
* This DE indicates an ordinal number that represents the position of a component in the list @ref Traces (values 1..7 for instances 1..7 respectively) or @ref TracesExtended (values 8..14 for instances 1..7 respectively).
*
* @category: Road topology information
* @revision: Created in V2.2.1
*/
TraceId ::= INTEGER {
noTrace (0)
} (0..14)
/**
* This DE represents the value of the sub cause codes of the @ref CauseCode `trafficCondition`.
* This DF indicates a transversal position in relation to the different lanes of the road.
* It is an extension of DE_LanePosition to cover locations (sidewalks, bicycle paths), where Vehicle ITS-S would normally not be present.
* This DF indicates a geographical position.
*
* The following options are available:
* It shall include the following components:
*
* @field trafficLanePosition: a position on a traffic lane.
* @field latitude: the latitude of the geographical position.
*
* @field nonTrafficLanePosition: a position on a lane which is not a traffic lane.
* @field longitude: the longitude of the geographical position.
*
* @field trafficIslandPosition: a position on a traffic island
* @field altitude: the altitude of the geographical position with default value unavailable.
*
* @field mapPosition: a position on a lane identified in a MAPEM.
*/
GeoPosition::= SEQUENCE{
latitude Latitude,
longitude Longitude,
altitude AltitudeValue DEFAULT unavailable
}
/**
* This DF represents the top-level DF to represent a lane position. A lane position is a transversal position on the carriageway at a specific longitudinal position, in resolution of lanes of the carriageway.
*
* @note: This DF is the most general way to represent a lane position: it provides a complete set of information regarding a transversal (dimensionless) position on the carriageway at a specific
* reference position, i.e. it provides different options and synonyms to represent the lane at which the reference position (the point) is located. A confidence is used to describe the probability
* that the object is located in the provided lane. The dimension of the object or extension of an area are not considered: See @ref OccupiedLanesWithConfidence for describing the occupation of lanes,
* where the dimensions of an object or the extension of an area is considered.
*
* It shall include the following components:
*
* @field lanePositionBased: lane position information for a defined reference position.
*
* @field mapBased: optional lane position information described in the context of a MAPEM as specified in ETSI TS 103 301 [15].
* If present, it shall describe the same reference position using the lane identification in the MAPEM. This component can be used only if a MAPEM is available for the reference position
* (e.g. on an intersection): In this case it is used as a synonym to the mandatory component lanePositionBased.
*
* @field confidence: confidence information for expressing the probability that the object is located at the indicated lane.
* If the value of the component lanePositionBased is generated directly from the absolute reference position and reference topology information,
* no sensor shall be indicated in the component usedDetectionInformation of the @ref MetaInformation.
*
* @category: Road Topology information
* @revision: created in V2.1.1
* @revision: newly created in V2.2.1. The previous DF GeneralizedLanePosition is now renamed to @ref LanePositionOptions.
*/
GeneralizedLanePosition::= CHOICE {
trafficLanePosition LanePosition,
nonTrafficLanePosition LanePositionAndType,
trafficIslandPosition TrafficIslandPosition,
mapPosition MapPosition,
GeneralizedLanePosition ::= SEQUENCE {
lanePositionBased LanePositionOptions,
mapBased MapPosition OPTIONAL,
confidence MetaInformation,
...
}
/**
* This DF represents set of up to `4` @ref GeneralizedLanePosition.
* Multiple entries can be used to describe several lane positions with the associated confidence, in cases where the reference position cannot be mapped to a single lane.
*
* @category: Road Topology information
* @revision: Created in V2.2.1
*/
GeneralizedLanePositions ::= SEQUENCE (SIZE(1..4)) OF GeneralizedLanePosition
/**
* This DF represents the Heading in a WGS84 co-ordinates system.
* The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
* This DF indicates a transversal position in resolution of lanes and the associated lane type.
* This DF indicates a transversal position in resolution of lanes and other associated details.
*
* It shall include the following components:
*
* @field transversalPosition: the transversal position.
*
* @field laneType: the type of the lane identified in the component transversalPosition.
* @field laneType: the type of the lane identified in the component transversalPosition. By default set to `traffic`.
*
* @field direction: the traffic direction for the lane position relative to a defined reference direction. By default set to `sameDirection`, i.e. following the reference direction.
*
* @field laneWidth: the width of the lane, optional.
*
* @category Road topology information
* @revision: Created in V2.1.1
* @revision: direction and laneWidth added in V2.2.1
*/
LanePositionAndType::= SEQUENCE {
transversalPosition LanePosition,
laneType LaneType,
laneType LaneType DEFAULT traffic,
direction Direction DEFAULT sameDirection,
laneWidth LaneWidth OPTIONAL,
...
}
/**
* This DF represents a set of options to describe a lane position and is the second level DF to represent a lane position. The top-level DFs are @ref GeneralizedLanePosition or @ref OccupiedLanesWithConfidence.
* A lane position is a transversal position on the carriageway at a specific longitudinal position, in resolution of lanes of the carriageway.
*
* The following options are available:
*
* @field simplelanePosition: a single lane position without any additional context information.
*
* @field simpleLaneType: a lane type, to be used when the lane position is unknown but the type of lane is known. This can be used in scenarios where a certain confidence about the used lane type is given
* but no or limited knowledge about the absolute lane number is available. For example, a cyclist on a cycle-lane or vehicles on a specific lane that is unique for the part of the road (e.g. a bus lane).
*
* @field detailedlanePosition: a single lane position with additional lane details.
*
* @field lanePositionWithLateralDetails: a single lane position with additional details and the lateral position within the lane.
*
* @field trafficIslandPosition: a position on a traffic island, i.e. between two lanes.
*
* @category: Road Topology information
* @revision: Created in V2.2.1 from the DF GeneralizedLanePosition of V2.1.1.
* This DF is a third-level DF that represents a lane position and is an extended version of @ref LanePositionAndType that adds the distances to the left and right lane border.
*
* It shall additionally include the following components:
*
* @field distanceToLeftBorder: the distance of the transversal position to the left lane border. The real value shall be rounded to the next lower encoding-value.
*
* @field distanceToRightBorder: the distance of the transversal position to the right lane border. The real value shall be rounded to the next lower encoding-value.
LowerTriangularPositiveSemidefiniteMatrixColumns ::= SEQUENCE SIZE (1..13,...) OF CorrelationColumn
/**
* This DF provides information about the configuration of a road section in terms of MAPEM lanes or connections using a list of @ref MapemExtractedElementReference.
* @category: Road topology information
* @revision: Created in V2.2.1
*/
MapemConfiguration::= SEQUENCE(SIZE(1..16,...)) OF MapemElementReference
/**
* This DF provides references to an element described in a MAPEM according to ETSI TS 103 301 [i.15], such as a lane or connection at a specific intersection or road segment.
*
* It shall include the following components:
*
* @field mapReference: the optional reference to a MAPEM that describes the intersection or road segment. It is absent if the MAPEM topology is known from the context.
*
* @field laneIds: the optional list of the identifiers of the lanes to be referenced.
*
* @field connectionIds: the optional list of the identifiers of the connections to be referenced.
*
* @category: Road topology information
* @revision: Created in V2.2.1
*/
MapemElementReference::= SEQUENCE {
mapReference MapReference OPTIONAL,
laneIds MapemLaneList OPTIONAL,
connectionIds MapemConnectionList OPTIONAL,
...
}
((WITH COMPONENTS {..., laneIds PRESENT}) |
(WITH COMPONENTS {..., connectionIds PRESENT }))
/**
* This DF provides references to MAPEM lanes using a list of @ref Identifier1B.
*
* @category: Road topology information
* @revision: Created in 2.2.1
*/
MapemLaneList ::= SEQUENCE (SIZE(1..8,...)) OF Identifier1B
/**
* This DF provides references to MAPEM connections using a list of @ref Identifier1B.
* Note: connections are allowed maneuvers (e.g. an ingress / egress relation) on an intersection.
*
* @category: Road topology information
* @revision: Created in ?2.2.1
*/
MapemConnectionList ::= SEQUENCE (SIZE(1..8,...)) OF Identifier1B
/**
* This DF indicates a position on a topology description transmitted in a MAPEM according to ETSI TS 103 301 [15].
* This DF represents a set of lanes which are partially or fully occupied by an object or event.
*
* @note: In contrast to @ref GeneralizedLanePosition, the dimension of the object or event area (width and length) is taken into account to determine the occupancy,
* i.e. this DF describes the lanes which are blocked by an object or event and not the position of the object / event itself. A confidence is used to describe the
* probability that exactly all the provided lanes are occupied.
*
* It shall include the following components:
*
* @field lanePositionBased: a set of up to `4` lanes that are partially or fully occupied by an object or event, ordered by increasing value of @ref LanePosition.
* Lanes that are partially occupied can be described using the component lanePositionWithLateralDetails of @ref Options, with the following constraints:
* The distance to lane borders which are covered by the object / event shall be set to 0. Only the distances to the leftmost and/or rightmost border which are not covered by
* the object / event shall be provided with values > 0. Those values shall be added to the respective instances of @ref LanePositionOptions, i.e. the first entry shall contain the component distanceToLeftBorder > 0 ,
* and/or the last entry shall contain the component distanceToRightBorder > 0; the respective other components of these entries shall be set to 0.
*
* @field mapBased: optional lane information described in the context of a MAPEM as specified in ETSI TS 103 301 [15].
* If present, it shall describe the same lane(s) as listed in the component lanePositionBased, but using the lane identification of the MAPEM. This component can be used only if a
* MAPEM is available for the reference position (e.g. on an intersection): In this case it is used as a synonym to the mandatory component lanePositionBased.
*
* @field confidence: mandatory confidence information for expressing the probability that all the provided lanes are occupied. It also provides information on how the lane
* information were generated. If none of the sensors were used, the lane information is assumed to be derived directly from the absolute reference position and the related dimension.
*
* @category: Road Topology information
* @revision: Created in V2.2.1
*/
OccupiedLanesWithConfidence::= SEQUENCE {
lanePositionBased SEQUENCE (SIZE(1..4)) OF LanePositionOptions,
mapBased SEQUENCE (SIZE(1..4)) OF MapPosition OPTIONAL,
confidence MetaInformation,
...
}
/**
* This DF represents a path with a set of path points.
* This DF shall contain a list of @ref RoadConfigurationSection.
*
* @category: Road Topology information
* @revision: Created in V2.2.1
*/
RoadConfigurationSectionList::= SEQUENCE (SIZE(1..8,...)) OF RoadConfigurationSection
/**
* This DF provides the basic topological definition of a road section.
*
* It shall include the following components:
*
* @field startingPointSection: the position of the starting point of the section.
*
* @field lengthOfSection: the optional length of the section along the road profile (i.e. including curves).
*
* @field endingPointSection: the optional position of the ending point of the section.
* If this component is absent, the ending position is implicitly defined by other means, e.g. the starting point of the next RoadConfigurationSection, or the sections length.
*
* @field connectedTraces: the identifier(s) of the trace(s) having one or an ordered subset of waypoints located upstream of the RoadConfigurationSection starting point.
*
* @field includedTraces: the identifier(s) of the trace(s) that covers (either with all its length or with a part of it) a RoadConfigurationSection.
*
* @field isEventZoneIncluded: indicates, if set to TRUE, that the eventZone (either with all its length or with a part of it) covers a RoadConfigurationSection.
*
* @field isEventZoneConnected: indicates, if set to TRUE, that the eventZone has one or an ordered subset of waypoints located upstream of the RoadConfigurationSection starting point.
*
* @category: Road topology information
* @revision: Created in V2.2.1
*/
RoadSectionDefinition::= SEQUENCE {
startingPointSection GeoPosition,
lengthOfSection StandardLength2B OPTIONAL,
endingPointSection GeoPosition OPTIONAL,
connectedTraces TraceReferences,
includedTraces TraceReferences,
isEventZoneIncluded BOOLEAN,
isEventZoneConnected BOOLEAN,
...
}
/**
* This DF represents a unique id for a road segment
