Update SensorInformation.asn

-- Date: 25.11.2022

CPM-SensorInformationContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)}

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN

IMPORTS

Shape, ConfidenceLevel, Identifier1B, SensorType

FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1) }

;

/**

 * This DF  represents the Sensor Information Container as a list of information objects about the sensors or data fusion systems from which the station provides information about detected objects.

*/

SensorInformationContainer ::= SEQUENCE SIZE(1..128, ...) OF SensorInformation

/**

 * This DF  represents the characteristics of a single sensor or data fusion system.

 *

 * It shall include the following components: 

 *

 * @field sensorId: identifier of the sensor or data fusion system used to relate the perceived object in the Perceived Object Container to the sensor that detected it.

 * this identifier shall uniquely identify the sensor inside the CPM, but may be changed from one CPM to the next.

 *

 * @field sensorType: the type of the sensor.

 *

 * @field detectionRegion: the detection region of the sensor.

 *

 * @field detectionRegionConfidence: the isotropic detection region confidence that can be assumed for the entire detection region of this sensor. 

 *

*/

SensorInformation ::= SEQUENCE {

    sensorId          		    Identifier1B,

    sensorType        		    SensorType,

    detectionRegion		        Shape OPTIONAL,

    detectionRegionConfidence   ConfidenceLevel OPTIONAL,

   ...

}

END

CPM-SensorInformation-Descriptions {

itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformation (4) version1 (1)

}

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN

IMPORTS

AreaCircular, AreaEllipse, AreaRectangle, AreaPolygon, AreaRadial, CartesianAngleValue, FreeSpaceConfidence,

Identifier, Range, RefPointId, SensorType, XSensorOffset, YSensorOffset, ZSensorOffset

FROM CPM-CommonDataTypes-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)};

/** @brief Sensor Information Container

This container contains a list of sensor-types or data fusion systems from which the station

provides information about detected objects.

*/

SensorInformationContainer ::= SEQUENCE SIZE(1..128, ...) OF SensorInformation

SensorInformation ::= SEQUENCE {

    /** @details sensorID

    Sensor pseudonym ID used to relate which measurement has been received by which sensor.

    This ID is referred to in the @see PerceivedObject.

    */

    sensorID          		Identifier,

    type        		    SensorType,

    detectionArea		    DetectionArea,

    /** @details freeSpaceConfidence

    Describes the isotropic free space confidence that can be assumed for the entire detection

    area of this sensor. Shadowed areas can be derived from provided objects. Deviations from

    this free space derivation can be expressed in the @see FreeSpaceAddendumContainer.

	*/

    freeSpaceConfidence		FreeSpaceConfidence OPTIONAL,

   ...

}

/** @brief Detection Area

Choice of DFs to detail the sensor information.

*/

DetectionArea ::= CHOICE {

    /** @details vehicleSensor

    The _vehicleSensor_ shall be used for describing non-stationary sensors attached to vehicles.

    */

    vehicleSensor               VehicleSensor,

    /** @details stationarySensorRadial

    The _stationarySensorRadial_ can be used to provide details for describing sensors mounted to

    road-side units

    */

    stationarySensorRadial      AreaRadial,

    /** @details stationarySensorPolygon

    The _stationarySensorPolygon_ can be used to describe a polygonal detection area associated

    to a single sensor or to describe the union of multiple polygonal areas expressed as one

    combined polygon.

    */

    stationarySensorPolygon     AreaPolygon,

    /** @details stationarySensorCircular

    The _stationarySensorCircular_ describes a circular perception area for a stationary sensor.

    The position offset refers to the center point of the circular area.

    */

    stationarySensorCircular    AreaCircular,

    /** @details stationarySensorEllipse

    The _stationarySensorEllipse_ describes an ellipse-shaped perception area for a stationary

    sensor.The position offset refers to the center point of the ellipse.

    */

    stationarySensorEllipse     AreaEllipse,

    /** @details stationarySensorRectangle

    The _stationarySensorRectangle_ describes a rectangle as a perception area for a stationary

    sensor. The position offset refers to the center point of the rectangle.

    */

    stationarySensorRectangle   AreaRectangle,

    ...

}

/** @brief Vehicle Sensor

Describes the perception capabilities of mobile sensors mounted to vehicles.

*/

VehicleSensor ::= SEQUENCE {

    /** @details refPointId

    An identification of the reference point in case of a sensor mounted to trailer.

    Defaults to ITS ReferencePoint (0).

    */

    refPointId                      RefPointId DEFAULT 0,

    /** @details xSensorOffset

    Mounting position of sensor in negative x-direction from Reference Point indicated by the @see refPointId.

    */

    xSensorOffset                   XSensorOffset,

    /** @details ySensorOffset

    Mounting position of sensor in y-direction from Reference Point indicated by the @see refPointId.

    */

    ySensorOffset                   YSensorOffset,

    /** @details zSensorOffset

    Mounting position of sensor in z-direction from Reference Point indicated by the @see refPointId.

    */

    zSensorOffset                   ZSensorOffset OPTIONAL,

    /** @details vehicleSensorPropertyList

    The actual extension of the area covered by the specific vehicle sensor. In case of multiple

    perception areas for a sensor, a list of areas covered by this sensor can be added.

    */

    vehicleSensorPropertyList       VehicleSensorPropertyList,

    ...

}

--! @brief Vehicle Sensor Property List

VehicleSensorPropertyList ::= SEQUENCE SIZE(1..10) OF VehicleSensorProperties

/** @brief Vehicle Sensor Properties

The actual extension of the area covered by the specific vehicle sensor. In case of multiple

perception areas for a sensor, a list of areas covered by this sensor can be added.

*/

VehicleSensorProperties ::= SEQUENCE {

    range                           Range,

    horizontalOpeningAngleStart     CartesianAngleValue,

    horizontalOpeningAngleEnd       CartesianAngleValue,

    verticalOpeningAngleStart       CartesianAngleValue OPTIONAL,

    verticalOpeningAngleEnd         CartesianAngleValue OPTIONAL,

    ...

}

END

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