Documentation update (4efc9f2d) · Commits · ITS - Intelligent Transport Systems / ASN1 / CPM TS 103 324

docs/CPM-OriginatingStationContainers.md

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		# ASN.1 module CPM-OriginatingStationContainers
		# <a name="CPM-OriginatingStationContainers"></a>ASN.1 module CPM-OriginatingStationContainers
		OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}_

		## Imports:
		* [ETSI-ITS-CDD](ETSI-ITS-CDD.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1)}<br/>

		## Data Elements:
		### <a name="OriginatingVehicleContainer"></a>OriginatingVehicleContainer
		This DF represents the Originating Vehicle Container

		It shall include the following components:

		Fields:
		* _orientationAngle_ of type [Wgs84Angle](ETSI-ITS-CDD.md#Wgs84Angle) <br>
		the angle and angle accuracy of the absolute orientation of the disseminating vehicle in the WGS84 coordinate system with respect to true North.


		* _pitchAngle_ of type [CartesianAngle](ETSI-ITS-CDD.md#CartesianAngle) OPTIONAL<br>
		the optional angle and angle accuracy between the ground plane and the current orientation of the vehicle's x-axis with respect to the ground plane about the y-axis according to the ISO 8855.



		* _rollAngle_ of type [CartesianAngle](ETSI-ITS-CDD.md#CartesianAngle) OPTIONAL<br>
		the optional angle and angle accuracy between the ground plane and the current orientation of a vehicle's y-axis with respect to the ground plane about the x-axis according to the ISO 8855



		* _trailerDataSet_ of type [TrailerDataSet](#TrailerDataSet) OPTIONAL<br>
		* trailerData<br>
		information about the trailer dimensions and orientation in case a trailer is present.

		```asn1
		OriginatingVehicleContainer ::= SEQUENCE {
		@@ -42,11 +37,9 @@ This DF represents the Originating RSU Container.

		It shall include the following components:

		Fields:
		* _mapReference_ of type [MapReference](ETSI-ITS-CDD.md#MapReference) OPTIONAL<br>
		identifies the MAPEM containing the topology information reference in the Perceived Object Container


		```asn1
		OriginatingRsuContainer ::= SEQUENCE{
		mapReference MapReference OPTIONAL,
		@@ -54,7 +47,6 @@ OriginatingRsuContainer ::= SEQUENCE{
		}
		```


		### <a name="TrailerDataSet"></a>TrailerDataSet
		This DF represents a list of trailer data.
		```asn1
		@@ -63,6 +55,3 @@ TrailerDataSet::= SEQUENCE SIZE(1..8,...) OF TrailerData (WITH COMPONENTS {... ,



		This DF represents a list of trailer data.

docs/CPM-PDU-Descriptions.md

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		# ASN.1 module CPM-PDU-Descriptions
		# <a name="CPM-PDU-Descriptions"></a>ASN.1 module CPM-PDU-Descriptions
		OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) cpm (1) major-version-1 (1) minor-version-1(1)}_

		## Imports:
		* [ETSI-ITS-CDD](ETSI-ITS-CDD.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1)} WITH SUCCESSORS<br/>

		* [CPM-OriginatingStationContainers](CPM-OriginatingStationContainers.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)} WITH SUCCESSORS<br/>

		* [CPM-SensorInformationContainer](CPM-SensorInformationContainer.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)} WITH SUCCESSORS<br/>

		* [CPM-PerceptionRegionContainer](CPM-PerceptionRegionContainer.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceptionRegionContainer (5) major-version-1 (1) minor-version-1(1)} WITH SUCCESSORS<br/>

		* [CPM-PerceivedObject-Descriptions](CPM-PerceivedObject-Descriptions.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObjectContainer (4) major-version-1 (1) minor-version-1(1)} WITH SUCCESSORS<br/>

		## Data Elements:
		### <a name="CollectivePerceptionMessage"></a>CollectivePerceptionMessage
		This DF represents the Collective Perception Message (CPM) and is the top level Protocol Data Unit.

		It shall include the following components:

		Fields:
		* _header_ of type [ItsPduHeader](ETSI-ITS-CDD.md#ItsPduHeader) (WITH COMPONENTS {... , protocolVersion (2), messageId(cpm)})<br>
		the common message header for the facilities layer message.


		* _payload_ of type [CpmPayload](#CpmPayload) <br>
		the payload of the message.



		```asn1
		CollectivePerceptionMessage ::= SEQUENCE {
		header ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(cpm)}),
		@@ -40,16 +31,12 @@ This DF represents the payload of the CPM.

		It shall include the following components:

		Fields:
		* _managementContainer_ of type [ManagementContainer](#ManagementContainer) <br>
		the management container.


		* _cpmContainers_ of type [ConstraintWrappedCpmContainers](#ConstraintWrappedCpmContainers) <br>
		the list of CPM containers, including its container type identifier and including either one or none of originatingVehicleContainer and/or originatingRsuContainer.



		```asn1
		CpmPayload ::= SEQUENCE {
		managementContainer ManagementContainer,
		@@ -64,26 +51,18 @@ This DF represents the management container of the CPM.

		It shall include the following components:

		Fields:
		* _referenceTime_ of type [TimestampIts](ETSI-ITS-CDD.md#TimestampIts) <br>
		the reference time for all time related information in the CPM.


		* _referencePosition_ of type [ReferencePosition](ETSI-ITS-CDD.md#ReferencePosition) <br>
		the reference position for all position related information in the CPM.



		* _segmentationInfo_ of type [MessageSegmentationInfo](ETSI-ITS-CDD.md#MessageSegmentationInfo) OPTIONAL<br>
		information regarding the message segmentation on facility layer.



		* _messageRateRange_ of type [MessageRateRange](#MessageRateRange) OPTIONAL<br>
		the planned or expected range of the CPM generation rate.



		```asn1
		ManagementContainer ::= SEQUENCE {
		referenceTime TimestampIts,
		@@ -99,16 +78,11 @@ This information object class is an abstract template to instantiate containers.

		It shall include the following components:

		Fields:
		* _&id_ of type [CpmContainerId](#CpmContainerId) UNIQUE<br>
		the identifier of the container type.


		* _&Type_ <br>
		the container content.

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

		@field &Type: the container content.

		* _id_ of type [CpmContainerId](#CpmContainerId) UNIQUE<br>
		```asn1
		CPM-CONTAINER-ID-AND-TYPE ::= CLASS {
		&id CpmContainerId UNIQUE,
		@@ -116,13 +90,14 @@ CPM-CONTAINER-ID-AND-TYPE ::= CLASS {
		} WITH SYNTAX {&Type IDENTIFIED BY &id}
		```


		### <a name="CpmContainerId"></a>CpmContainerId
		This DE represents the identifier of the container type.
		```asn1
		CpmContainerId ::= INTEGER (1..16)
		```

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

		```asn1
		originatingVehicleContainer CpmContainerId ::= 1
		originatingRsuContainer CpmContainerId ::= 2
		@@ -131,7 +106,6 @@ perceptionRegionContainer CpmContainerId ::= 4
		perceivedObjectContainer CpmContainerId ::= 5
		```


		### <a name="CpmContainers"></a>CpmContainers
		This information object set represents the association between the container type and the container content.
		```asn1
		@@ -150,16 +124,12 @@ This DF represents a CPM container preceded by its type identifier and a lenght

		It shall include the following components:

		Fields:
		* _containerId_ of type [CPM-CONTAINER-ID-AND-TYPE.&id](#CPM-CONTAINER-ID-AND-TYPE.&id) ( {CpmContainers} )<br>
		* _containerId_ of type [CPM-CONTAINER-ID-AND-TYPE](#CPM-CONTAINER-ID-AND-TYPE) .&id( {CpmContainers} )<br>
		the identifier of the container type.


		* _containerData_ of type [CPM-CONTAINER-ID-AND-TYPE.&Type](#CPM-CONTAINER-ID-AND-TYPE.&Type) ( {CpmContainers}{@containerId} )<br>
		* _containerData_ of type [CPM-CONTAINER-ID-AND-TYPE](#CPM-CONTAINER-ID-AND-TYPE) .&Type( {CpmContainers}{@containerId} )<br>
		the container content consistent with the container type.



		```asn1
		WrappedCpmContainer ::= SEQUENCE {
		containerId CPM-CONTAINER-ID-AND-TYPE.&id( {CpmContainers} ),
		@@ -167,14 +137,12 @@ WrappedCpmContainer ::= SEQUENCE {
		}
		```


		### <a name="WrappedCpmContainers"></a>WrappedCpmContainers
		This DF represents a list of CPM containers, each with their type identifier.
		```asn1
		WrappedCpmContainers::= SEQUENCE SIZE(1..8,...) OF WrappedCpmContainer
		```


		### <a name="ConstraintWrappedCpmContainers"></a>ConstraintWrappedCpmContainers
		This DF represents a list of CPM containers, each with their type identifier with an additional constraint.
		```asn1
		@@ -188,16 +156,12 @@ This DF represents the planned or expected range of the message generation rate

		It shall include the following components:

		Fields:
		* _messageRateMin_ of type [MessageRateHz](ETSI-ITS-CDD.md#MessageRateHz) <br>
		the minimum planned or expected message rate.


		* _messageRateMax_ of type [MessageRateHz](ETSI-ITS-CDD.md#MessageRateHz) <br>
		the maximum planned or expected message rate.



		```asn1
		MessageRateRange::= SEQUENCE{
		messageRateMin MessageRateHz,
		@@ -207,14 +171,3 @@ MessageRateRange::= SEQUENCE{



		This DF represents a list of CPM containers, each with their type identifier.
		This DF represents a list of CPM containers, each with their type identifier with an additional constraint.
		This DF represents the planned or expected range of the message generation rate.

		It shall include the following components:

		@field messageRateMin: the minimum planned or expected message rate.

		@field messageRateMax: the maximum planned or expected message rate.

docs/CPM-PerceivedObjectContainer.md

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		# ASN.1 module CPM-PerceivedObjectContainer
		# <a name="CPM-PerceivedObjectContainer"></a>ASN.1 module CPM-PerceivedObjectContainer
		OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObjectContainer (4) major-version-1 (1) minor-version-1(1)}_

		## Imports:
		* [ETSI-ITS-CDD](ETSI-ITS-CDD.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1)}<br/>

		## Data Elements:
		### <a name="PerceivedObjectContainer"></a>PerceivedObjectContainer
		This DF represents the Perceived Object Container

		It shall include the following components:

		Fields:
		* _numberOfPerceivedObjects_ of type [CardinalNumber1B](ETSI-ITS-CDD.md#CardinalNumber1B) <br>
		the total number of perceived objects at the time of generating the message.


		* _perceivedObjects_ of type [PerceivedObjects](#PerceivedObjects) <br>
		the list of perceived objects.



		```asn1
		PerceivedObjectContainer ::= SEQUENCE {
		numberOfPerceivedObjects CardinalNumber1B,
		@@ -28,10 +23,9 @@ PerceivedObjectContainer ::= SEQUENCE {
		}
		```


		### <a name="PerceivedObjects"></a>Perceived Objects
		Perceived Objects
		This DF provides a list of perceived objects represented in the coordinate system in which the y-axis corresponds to the North direction, the x-axis to the East direction, and the z- axis to the vertical direction.

		```asn1
		PerceivedObjects::= SEQUENCE SIZE(0..255, ...) OF PerceivedObject (WITH COMPONENTS {... ,objectId PRESENT})
		```

docs/CPM-PerceptionRegionContainer.md

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		# ASN.1 module CPM-PerceptionRegionContainer
		# <a name="CPM-PerceptionRegionContainer"></a>ASN.1 module CPM-PerceptionRegionContainer
		OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceptionRegionContainer (5) major-version-1 (1) minor-version-1(1)}_

		## Imports:
		* [ETSI-ITS-CDD](ETSI-ITS-CDD.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1)}<br/>

		## Data Elements:

		### <a name="PerceptionRegionContainer"></a>PerceptionRegionContainer
		This DF represents the Perception Region Container as a list of perception region information objects.
		```asn1
		@@ -17,41 +15,27 @@ This DF represents the actual perception capabilities available to the transmitt

		It shall include the following components:

		Fields:
		* _measurementDeltaTime_ of type [DeltaTimeMilliSecondSigned](ETSI-ITS-CDD.md#DeltaTimeMilliSecondSigned) <br>
		difference between the time of estimation of the perception region and the reference time. Positive values indicates that the provided information refers to a point in time after the reference time.


		* _perceptionRegionConfidence_ of type [ConfidenceLevel](ETSI-ITS-CDD.md#ConfidenceLevel) <br>
		the perception confidence.



		* _perceptionRegionShape_ of type [Shape](ETSI-ITS-CDD.md#Shape) (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT})<br>
		specification of the shape of the perception region.



		* _shadowingApplies_ of type BOOLEAN <br>
		indicates if the standard shadowing approach applies to the described perception region.



		* _sensorIdList_ of type [SequenceOfIdentifier1B](ETSI-ITS-CDD.md#SequenceOfIdentifier1B) OPTIONAL<br>
		the optional list of identifiers of the sensors which are involved in perceiving the region.



		* _numberOfPerceivedObjects_ of type [CardinalNumber1B](ETSI-ITS-CDD.md#CardinalNumber1B) OPTIONAL<br>
		the optional number of perceived objects contained in the perception region specified in the component perceptionRegionShape.



		* _perceivedObjectIds_ of type [PerceivedObjectIds](#PerceivedObjectIds) OPTIONAL<br>
		the optional list of identifiers of the objects specified in the Perceived Object Container that are contained in the perception region specified in the component perceptionRegionShape.



		```asn1
		PerceptionRegion ::= SEQUENCE {
		measurementDeltaTime DeltaTimeMilliSecondSigned,
		@@ -65,7 +49,6 @@ PerceptionRegion ::= SEQUENCE {
		}
		```


		### <a name="PerceivedObjectIds"></a>PerceivedObjectIds
		This DF represents a list of identifiers of perceived objects.
		```asn1
		@@ -74,6 +57,3 @@ PerceivedObjectIds::= SEQUENCE SIZE(0..255, ...) OF Identifier2B



		This DF represents a list of identifiers of perceived objects.

docs/CPM-SensorInformationContainer.md

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		# ASN.1 module CPM-SensorInformationContainer
		# <a name="CPM-SensorInformationContainer"></a>ASN.1 module CPM-SensorInformationContainer
		OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)}_

		## Imports:
		* [ETSI-ITS-CDD](ETSI-ITS-CDD.md) {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1) }<br/>

		## Data Elements:

		### <a name="SensorInformationContainer"></a>SensorInformationContainer
		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.
		```asn1
		@@ -17,32 +15,22 @@ This DF represents the characteristics of a single sensor or data fusion system

		It shall include the following components:

		Fields:
		* _sensorId_ of type [Identifier1B](ETSI-ITS-CDD.md#Identifier1B) <br>
		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.


		* _sensorType_ of type [SensorType](ETSI-ITS-CDD.md#SensorType) <br>
		the type of the sensor.



		* _perceptionRegionShape_ of type [Shape](ETSI-ITS-CDD.md#Shape) OPTIONAL<br>
		the perception region of the sensor.



		* _perceptionRegionConfidence_ of type [ConfidenceLevel](ETSI-ITS-CDD.md#ConfidenceLevel) OPTIONAL<br>
		the homogeneous perception region confidence that can be assumed for the entire perception region shape of this sensor.



		* _shadowingApplies_ of type BOOLEAN <br>
		indicates if the standard shadowing approach applies to the described perception region.



		```asn1
		SensorInformation ::= SEQUENCE {
		sensorId Identifier1B,