Loading asn/CPM_CommonDataTypes.asn +120 −2 Original line number Diff line number Diff line Loading @@ -180,7 +180,7 @@ ObjectDimension ::= SEQUENCE { } /** @brief Cartesian Angle A general Data Frame to describe an angular component along with a confidence with a predefined A general Data Frame to describe an angle component along with a confidence with a predefined confidence level of 95% for the component in a Cartesian coordinate system. */ CartesianAngle ::= SEQUENCE { Loading @@ -195,6 +195,38 @@ CartesianAngle ::= SEQUENCE { confidence AngleConfidence } /** @brief CartesianAngularSpeed A general Data Frame to describe an angular speed component along with a confidence with a predefined confidence level of 95% for the component in a Cartesian coordinate system. */ CartesianAngularSpeed ::= SEQUENCE { /** @details value The angular speed (rate) value which can be estimated as the mean of the current distribution. */ value CartesianAngularSpeedValue, /** @details confidence The accuracy associated to the provided value at a predefined confidence level of 95% for the component. */ confidence AngularSpeedConfidence } /** @brief CartesianAngularAcceleration A general Data Frame to describe an angular acceleration component along with a confidence with a predefined confidence level of 95% for the component in a Cartesian coordinate system. */ CartesianAngularAcceleration ::= SEQUENCE { /** @details value The angular acceleration value which can be estimated as the mean of the current distribution. */ value CartesianAngularAccelerationValue, /** @details confidence The accuracy associated to the provided value at a predefined confidence level of 95% for the component. */ confidence AngularAccelerationConfidence } /** @brief WGS 84 Angle A general Data Frame to describe an angular component along with a confidence with a predefined confidence level of 95% for the component in the WGS84 coordinate system. Loading Loading @@ -315,6 +347,32 @@ MessageSegmentInfo ::= SEQUENCE { thisSegmentNum SegmentCount } /** @brief Lower Triangular Positive Semi-Definite Matrix A general data frame to express the elements of a lower triangular positive semi-definite matrix, not including the main diagonal elements of the matrix. Given a matrix "A" of size n x n, the number of columns to be included in the lower triangular matrix is k=n-1. */ LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE SIZE (1..17) OF CorrelationColumn /** @brief Correlation Column The column of the lower triangular positive semi-definite matrix consists of correlation row values. Given a matrix "A" of size n x n, the number of columns to be included in the lower triangular matrix is k=n-1. Each column "i" of the lower triangular then contains k-(i-1) values, where "i" refers to the column number count starting at 1 from the left. */ CorrelationColumn ::= SEQUENCE SIZE (1..17) OF CorrelationRowValue /** @brief Correlation Row Value The Bravais-Pearson correlation value for each cell of the lower triangular correlation matrix. Scaled by 100. @unit: None */ CorrelationRowValue ::= INTEGER { not-correlated (0), point-one (10), fully-correlated (100) } (0..100) /** @brief Object Class Description A list of object classes. */ Loading Loading @@ -462,7 +520,7 @@ WGS84AngleValue ::= INTEGER { } (0..3601) /** @brief Cartesian Angle Value An angle value in degrees described in a local Cartesian coordinate system, counted positive in An angle value described in a local Cartesian coordinate system, counted positive in a right-hand local coordinate system from the abscissa. @unit 0,1 degrees */ Loading @@ -472,6 +530,29 @@ CartesianAngleValue ::= INTEGER { unavailable (3601) } (0..3601) /** @brief Cartesian Angular Speed Value An angular speed value described in a local Cartesian coordinate system, counted positive in a right-hand local coordinate system from the abscissa. @unit 0,01 degrees/s */ CartesianAngularSpeedValue ::= INTEGER { noSpeed (0), oneDegreePerSecondAntiClockwise (100), oneDegreePerSecondClockwise (-100) } (-32766..32767) /** @brief Cartesian Angular Acceleration Value An angular acceleration value described in a local Cartesian coordinate system, counted positive in a right-hand local coordinate system from the abscissa. @unit 0,01 degrees/s^2 (degrees per second squared) */ CartesianAngularAccelerationValue ::= INTEGER { noAcceleration (0), oneDegreePerSecondSquaredAntiClockwise (100), oneDegreePerSecondSquaredClockwise (-100) } (-32766..32767) /** @brief Angle Confidence The absolute accuracy of a reported angle value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. Loading @@ -486,6 +567,43 @@ AngleConfidence ::= INTEGER { unavailable (127) -- if the heading accuracy information is not available } (1..127) /** @brief Angular Speed Confidence The absolute accuracy of a reported angular speed value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. For correlation computation, maximum interval levels shall be assumed. @ N/A */ AngularSpeedConfidence ::= ENUMERATED { degSec-000-01 (0), -- if the accuracy is equal to or less than 0,01 degree/second degSec-000-05 (1), -- 1 if the accuracy is equal to or less than 0,05 degrees/second degSec-000-10 (2), -- if the accuracy is equal to or less than 0,1 degree/second degSec-001-00 (3), -- 3 if the accuracy is equal to or less than 1 degree/second degSec-005-00 (4), -- if the accuracy is equal to or less than 5 degrees/second degSec-010-00 (5), -- if the accuracy is equal to or less than 10 degrees/second degSec-100-00 (6), -- if the accuracy is equal to or less than 100 degrees/second outOfRange (7), -- if the accuracy is out of range, i.e. greater than 100 degrees/second unavailable (8) -- if the accuracy information is unavailable } /** @brief Angular Acceleration Confidence The absolute accuracy of a reported angular acceleration value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. For correlation computation, maximum interval levels shall be assumed. @ N/A */ AngularAccelerationConfidence ::= ENUMERATED { degSecSquared-000-01 (0), -- if the accuracy is equal to or less than 0,01 degree/second^2 degSecSquared-000-05 (1), -- 1 if the accuracy is equal to or less than 0,05 degrees/second^2 degSecSquared-000-10 (2), -- if the accuracy is equal to or less than 0,1 degree/second^2 degSecSquared-001-00 (3), -- 3 if the accuracy is equal to or less than 1 degree/second^2 degSecSquared-005-00 (4), -- if the accuracy is equal to or less than 5 degrees/second^2 degSecSquared-010-00 (5), -- if the accuracy is equal to or less than 10 degrees/second^2 degSecSquared-100-00 (6), -- if the accuracy is equal to or less than 100 degrees/second^2 outOfRange (7), -- if the accuracy is out of range, i.e. greater than 100 degrees/second^2 unavailable (8) -- if the accuracy information is unavailable } /** @brief Semi Range Length The length of an axis of an ellipsoid or rectangle, used to describe the extension in a particular direction. Loading asn/PerceivedObject.asn +147 −43 Original line number Diff line number Diff line Loading @@ -8,9 +8,9 @@ BEGIN IMPORTS Acceleration, CartesianAngle, DynamicStatus, Identifier, MatchedPosition, NumberOfPerceivedObjects, ObjectAge, ObjectConfidence, ObjectClassDescription, ObjectDimension, ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, TimeOfMeasurement Acceleration, CartesianAngle, CartesianAngularAcceleration, CartesianAngularSpeed, DynamicStatus, Identifier, LowerTriangularPositiveSemidefiniteMatrix, MatchedPosition, NumberOfPerceivedObjects, ObjectAge, ObjectConfidence, ObjectClassDescription, ObjectDimension, ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, TimeOfMeasurement FROM CPM-CommonDataTypes-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)}; /** @brief Perceived Object Container Loading Loading @@ -46,86 +46,190 @@ PerceivedObject ::= SEQUENCE { */ timeOfMeasurement TimeOfMeasurement, /** @details xDistance Absolute distance to detected object from the ITS-S's reference point in x-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system Distance to detected object from the ITS-S's reference point in x-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the distance is reported in a 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. */ xDistance ObjectDistance, /** @details yDistance Absolute distance to detected object from the ITS-S's reference point in y-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system Distance to detected object from the ITS-S's reference point in y-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the distance is reported in a 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. axis to the vertical direction */ yDistance ObjectDistance, /** @details zDistance Absolute distance to detected object from the ITS-S's reference point in z-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system Distance to detected object from the ITS-S's reference point in z-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the distance is reported in a 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. axis to the vertical direction */ zDistance ObjectDistance OPTIONAL, /** @details xSpeed Relative speed of the detected object from the ITS-S's reference point in x-direction for the time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the speed is reported in a 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. Speed of the detected object in the detecting ITS-S’s reference system in x-direction for the time of measurement (i.e. speed of the object relative to the origin of the station’s reference system). For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the speed is reported in a 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. */ xSpeed SpeedExtended, /** @details ySpeed Relative speed of the detected object from the ITS-S's reference point in y-direction for the time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the speed is reported in a 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. Speed of the detected object in the detecting ITS-S’s reference system in y-direction for the time of measurement (i.e. speed of the object relative to the origin of the station’s reference system). For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the speed is reported in a 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. */ ySpeed SpeedExtended, /** @details zSpeed Relative speed of the detected object from the ITS-S's reference point in z-direction for the time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the speed is reported in a 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. Speed of the detected object in the detecting ITS-S’s reference system in z-direction for the time of measurement (i.e. speed of the object relative to the origin of the station’s reference system). For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the speed is reported in a 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. */ zSpeed SpeedExtended OPTIONAL, /** @details xAcceleration Relative acceleration of the detected object from the ITS-S's reference point in x-direction Acceleration of the detected object from the ITS-S's reference point in x-direction for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the acceleration x-axis corresponds to the East direction. coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the acceleration is reported in a 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. */ xAcceleration Acceleration OPTIONAL, /** @details yAcceleration Relative acceleration of the detected object from the ITS-S's reference point in y-direction Acceleration of the detected object from the ITS-S's reference point in y-direction for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the acceleration y-axis corresponds to the North Direction. coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the acceleration is reported in a 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. */ yAcceleration Acceleration OPTIONAL, /** @details zAcceleration Relative acceleration of the detected object from the ITS-S's reference point in z-direction Acceleration of the detected object from the ITS-S's reference point in z-direction for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the acceleration z-axis corresponds to the vertical direction. coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the acceleration is reported in a 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. */ zAcceleration Acceleration OPTIONAL, /** @details rollAngle Roll angle of object from the ITS-S's reference point. For a vehicle, the angle is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angle is reported in a 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. The angle is measured with positive values considering the object orientation turning counter-clockwise around the x-axis. */ rollAngle CartesianAngle OPTIONAL, /** @details pitchAngle Pitch angle of object from the ITS-S's reference point. For a vehicle, the angle is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angle is reported in a 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. The angle is measured with positive values considering the object orientation turning counter-clockwise around the y-axis. */ pitchAngle CartesianAngle OPTIONAL, /** @details yawAngle Relative yaw angle of object from the ITS-S's reference point. For a vehicle, the angle is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the angle is reported in a 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. Yaw angle of object from the ITS-S's reference point. For a vehicle, the angle is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angle is reported in a 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. The angle is measured with positive values considering the object orientation turning counter-clockwise starting from the x-direction. A value of 3601 shall be set if the value is unavailable. The yaw angle confidence is described with a predefined confidence level of 95% for the component. counter-clockwise around the z-axis. */ yawAngle CartesianAngle OPTIONAL, /** @details rollRate Roll rate of object from the ITS-S's reference point. For a vehicle, the angular rate is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular rate is reported in a 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. The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the x-axis. */ rollRate CartesianAngularSpeed OPTIONAL, /** @details pitchRate Pitch rate of object from the ITS-S's reference point. For a vehicle, the angular rate is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular rate is reported in a 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. The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the y-axis. */ pitchRate CartesianAngularSpeed OPTIONAL, /** @details yawRate Yaw rate of object from the ITS-S's reference point. For a vehicle, the angular rate is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular rate is reported in a 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. The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the z-axis. */ yawRate CartesianAngularSpeed OPTIONAL, /** @details rollAcceleration Roll acceleration of object from the ITS-S's reference point. For a vehicle, the angular acceleration is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular acceleration is reported in a 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. The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the x-axis. */ rollAcceleration CartesianAngularAcceleration OPTIONAL, /** @details pitchAcceleration Pitch acceleration of object from the ITS-S's reference point. For a vehicle, the angular acceleration is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular acceleration is reported in a 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. The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the y-axis. */ pitchAcceleration CartesianAngularAcceleration OPTIONAL, /** @details yawAcceleration Yaw acceleration of object from the ITS-S's reference point. For a vehicle, the angular acceleration is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular acceleration is reported in a 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. The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the z-axis. */ yawAcceleration CartesianAngularAcceleration OPTIONAL, /** @details lowerTriangularCorrelationMatrixColumns Provides the columns of a lower triangular positive semi definite correlation matrix for the kinematic state and attitude space provided for this object. The order of the columns and rows of the correlation matrix is as follows: - xDistance - yDistance - zDistance - xSpeed - ySpeed - zSpeed - xAcceleration - yAcceleration - zAcceleration - rollAngle - pitchAngle - yawAngle - rollRate - pitchRate - yawRate - rollAcceleration - pitchAcceleration - yawAcceleration The number of lowerTriangularCorrelationMatrixColumns to be included "k" is thereby the number of provided values "n" of the kinematic state and attitude space minus 1: k = n-1. Each column "i" of the lowerTriangularCorrelationMatrixColumns contains k-(i-1) values. In case certain values of the kinematic state and attitude space are not provided, they are omitted from the lowerTriangularCorrelationMatrixColumns. */ lowerTriangularCorrelationMatrixColumns LowerTriangularPositiveSemidefiniteMatrix OPTIONAL, /** @details planarObjectDimension1 First dimension of object as provided by the sensor or environment model. This dimension is always contained in the plane which is oriented perpendicular to the direction of the angle Loading Loading
asn/CPM_CommonDataTypes.asn +120 −2 Original line number Diff line number Diff line Loading @@ -180,7 +180,7 @@ ObjectDimension ::= SEQUENCE { } /** @brief Cartesian Angle A general Data Frame to describe an angular component along with a confidence with a predefined A general Data Frame to describe an angle component along with a confidence with a predefined confidence level of 95% for the component in a Cartesian coordinate system. */ CartesianAngle ::= SEQUENCE { Loading @@ -195,6 +195,38 @@ CartesianAngle ::= SEQUENCE { confidence AngleConfidence } /** @brief CartesianAngularSpeed A general Data Frame to describe an angular speed component along with a confidence with a predefined confidence level of 95% for the component in a Cartesian coordinate system. */ CartesianAngularSpeed ::= SEQUENCE { /** @details value The angular speed (rate) value which can be estimated as the mean of the current distribution. */ value CartesianAngularSpeedValue, /** @details confidence The accuracy associated to the provided value at a predefined confidence level of 95% for the component. */ confidence AngularSpeedConfidence } /** @brief CartesianAngularAcceleration A general Data Frame to describe an angular acceleration component along with a confidence with a predefined confidence level of 95% for the component in a Cartesian coordinate system. */ CartesianAngularAcceleration ::= SEQUENCE { /** @details value The angular acceleration value which can be estimated as the mean of the current distribution. */ value CartesianAngularAccelerationValue, /** @details confidence The accuracy associated to the provided value at a predefined confidence level of 95% for the component. */ confidence AngularAccelerationConfidence } /** @brief WGS 84 Angle A general Data Frame to describe an angular component along with a confidence with a predefined confidence level of 95% for the component in the WGS84 coordinate system. Loading Loading @@ -315,6 +347,32 @@ MessageSegmentInfo ::= SEQUENCE { thisSegmentNum SegmentCount } /** @brief Lower Triangular Positive Semi-Definite Matrix A general data frame to express the elements of a lower triangular positive semi-definite matrix, not including the main diagonal elements of the matrix. Given a matrix "A" of size n x n, the number of columns to be included in the lower triangular matrix is k=n-1. */ LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE SIZE (1..17) OF CorrelationColumn /** @brief Correlation Column The column of the lower triangular positive semi-definite matrix consists of correlation row values. Given a matrix "A" of size n x n, the number of columns to be included in the lower triangular matrix is k=n-1. Each column "i" of the lower triangular then contains k-(i-1) values, where "i" refers to the column number count starting at 1 from the left. */ CorrelationColumn ::= SEQUENCE SIZE (1..17) OF CorrelationRowValue /** @brief Correlation Row Value The Bravais-Pearson correlation value for each cell of the lower triangular correlation matrix. Scaled by 100. @unit: None */ CorrelationRowValue ::= INTEGER { not-correlated (0), point-one (10), fully-correlated (100) } (0..100) /** @brief Object Class Description A list of object classes. */ Loading Loading @@ -462,7 +520,7 @@ WGS84AngleValue ::= INTEGER { } (0..3601) /** @brief Cartesian Angle Value An angle value in degrees described in a local Cartesian coordinate system, counted positive in An angle value described in a local Cartesian coordinate system, counted positive in a right-hand local coordinate system from the abscissa. @unit 0,1 degrees */ Loading @@ -472,6 +530,29 @@ CartesianAngleValue ::= INTEGER { unavailable (3601) } (0..3601) /** @brief Cartesian Angular Speed Value An angular speed value described in a local Cartesian coordinate system, counted positive in a right-hand local coordinate system from the abscissa. @unit 0,01 degrees/s */ CartesianAngularSpeedValue ::= INTEGER { noSpeed (0), oneDegreePerSecondAntiClockwise (100), oneDegreePerSecondClockwise (-100) } (-32766..32767) /** @brief Cartesian Angular Acceleration Value An angular acceleration value described in a local Cartesian coordinate system, counted positive in a right-hand local coordinate system from the abscissa. @unit 0,01 degrees/s^2 (degrees per second squared) */ CartesianAngularAccelerationValue ::= INTEGER { noAcceleration (0), oneDegreePerSecondSquaredAntiClockwise (100), oneDegreePerSecondSquaredClockwise (-100) } (-32766..32767) /** @brief Angle Confidence The absolute accuracy of a reported angle value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. Loading @@ -486,6 +567,43 @@ AngleConfidence ::= INTEGER { unavailable (127) -- if the heading accuracy information is not available } (1..127) /** @brief Angular Speed Confidence The absolute accuracy of a reported angular speed value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. For correlation computation, maximum interval levels shall be assumed. @ N/A */ AngularSpeedConfidence ::= ENUMERATED { degSec-000-01 (0), -- if the accuracy is equal to or less than 0,01 degree/second degSec-000-05 (1), -- 1 if the accuracy is equal to or less than 0,05 degrees/second degSec-000-10 (2), -- if the accuracy is equal to or less than 0,1 degree/second degSec-001-00 (3), -- 3 if the accuracy is equal to or less than 1 degree/second degSec-005-00 (4), -- if the accuracy is equal to or less than 5 degrees/second degSec-010-00 (5), -- if the accuracy is equal to or less than 10 degrees/second degSec-100-00 (6), -- if the accuracy is equal to or less than 100 degrees/second outOfRange (7), -- if the accuracy is out of range, i.e. greater than 100 degrees/second unavailable (8) -- if the accuracy information is unavailable } /** @brief Angular Acceleration Confidence The absolute accuracy of a reported angular acceleration value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. For correlation computation, maximum interval levels shall be assumed. @ N/A */ AngularAccelerationConfidence ::= ENUMERATED { degSecSquared-000-01 (0), -- if the accuracy is equal to or less than 0,01 degree/second^2 degSecSquared-000-05 (1), -- 1 if the accuracy is equal to or less than 0,05 degrees/second^2 degSecSquared-000-10 (2), -- if the accuracy is equal to or less than 0,1 degree/second^2 degSecSquared-001-00 (3), -- 3 if the accuracy is equal to or less than 1 degree/second^2 degSecSquared-005-00 (4), -- if the accuracy is equal to or less than 5 degrees/second^2 degSecSquared-010-00 (5), -- if the accuracy is equal to or less than 10 degrees/second^2 degSecSquared-100-00 (6), -- if the accuracy is equal to or less than 100 degrees/second^2 outOfRange (7), -- if the accuracy is out of range, i.e. greater than 100 degrees/second^2 unavailable (8) -- if the accuracy information is unavailable } /** @brief Semi Range Length The length of an axis of an ellipsoid or rectangle, used to describe the extension in a particular direction. Loading
asn/PerceivedObject.asn +147 −43 Original line number Diff line number Diff line Loading @@ -8,9 +8,9 @@ BEGIN IMPORTS Acceleration, CartesianAngle, DynamicStatus, Identifier, MatchedPosition, NumberOfPerceivedObjects, ObjectAge, ObjectConfidence, ObjectClassDescription, ObjectDimension, ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, TimeOfMeasurement Acceleration, CartesianAngle, CartesianAngularAcceleration, CartesianAngularSpeed, DynamicStatus, Identifier, LowerTriangularPositiveSemidefiniteMatrix, MatchedPosition, NumberOfPerceivedObjects, ObjectAge, ObjectConfidence, ObjectClassDescription, ObjectDimension, ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, TimeOfMeasurement FROM CPM-CommonDataTypes-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)}; /** @brief Perceived Object Container Loading Loading @@ -46,86 +46,190 @@ PerceivedObject ::= SEQUENCE { */ timeOfMeasurement TimeOfMeasurement, /** @details xDistance Absolute distance to detected object from the ITS-S's reference point in x-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system Distance to detected object from the ITS-S's reference point in x-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the distance is reported in a 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. */ xDistance ObjectDistance, /** @details yDistance Absolute distance to detected object from the ITS-S's reference point in y-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system Distance to detected object from the ITS-S's reference point in y-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the distance is reported in a 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. axis to the vertical direction */ yDistance ObjectDistance, /** @details zDistance Absolute distance to detected object from the ITS-S's reference point in z-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system Distance to detected object from the ITS-S's reference point in z-direction for the time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the distance is reported in a 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. axis to the vertical direction */ zDistance ObjectDistance OPTIONAL, /** @details xSpeed Relative speed of the detected object from the ITS-S's reference point in x-direction for the time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the speed is reported in a 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. Speed of the detected object in the detecting ITS-S’s reference system in x-direction for the time of measurement (i.e. speed of the object relative to the origin of the station’s reference system). For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the speed is reported in a 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. */ xSpeed SpeedExtended, /** @details ySpeed Relative speed of the detected object from the ITS-S's reference point in y-direction for the time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the speed is reported in a 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. Speed of the detected object in the detecting ITS-S’s reference system in y-direction for the time of measurement (i.e. speed of the object relative to the origin of the station’s reference system). For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the speed is reported in a 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. */ ySpeed SpeedExtended, /** @details zSpeed Relative speed of the detected object from the ITS-S's reference point in z-direction for the time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the speed is reported in a 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. Speed of the detected object in the detecting ITS-S’s reference system in z-direction for the time of measurement (i.e. speed of the object relative to the origin of the station’s reference system). For a vehicle, the speed is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the speed is reported in a 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. */ zSpeed SpeedExtended OPTIONAL, /** @details xAcceleration Relative acceleration of the detected object from the ITS-S's reference point in x-direction Acceleration of the detected object from the ITS-S's reference point in x-direction for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the acceleration x-axis corresponds to the East direction. coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the acceleration is reported in a 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. */ xAcceleration Acceleration OPTIONAL, /** @details yAcceleration Relative acceleration of the detected object from the ITS-S's reference point in y-direction Acceleration of the detected object from the ITS-S's reference point in y-direction for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the acceleration y-axis corresponds to the North Direction. coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the acceleration is reported in a 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. */ yAcceleration Acceleration OPTIONAL, /** @details zAcceleration Relative acceleration of the detected object from the ITS-S's reference point in z-direction Acceleration of the detected object from the ITS-S's reference point in z-direction for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the acceleration z-axis corresponds to the vertical direction. coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the acceleration is reported in a 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. */ zAcceleration Acceleration OPTIONAL, /** @details rollAngle Roll angle of object from the ITS-S's reference point. For a vehicle, the angle is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angle is reported in a 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. The angle is measured with positive values considering the object orientation turning counter-clockwise around the x-axis. */ rollAngle CartesianAngle OPTIONAL, /** @details pitchAngle Pitch angle of object from the ITS-S's reference point. For a vehicle, the angle is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angle is reported in a 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. The angle is measured with positive values considering the object orientation turning counter-clockwise around the y-axis. */ pitchAngle CartesianAngle OPTIONAL, /** @details yawAngle Relative yaw angle of object from the ITS-S's reference point. For a vehicle, the angle is reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the angle is reported in a 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. Yaw angle of object from the ITS-S's reference point. For a vehicle, the angle is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angle is reported in a 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. The angle is measured with positive values considering the object orientation turning counter-clockwise starting from the x-direction. A value of 3601 shall be set if the value is unavailable. The yaw angle confidence is described with a predefined confidence level of 95% for the component. counter-clockwise around the z-axis. */ yawAngle CartesianAngle OPTIONAL, /** @details rollRate Roll rate of object from the ITS-S's reference point. For a vehicle, the angular rate is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular rate is reported in a 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. The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the x-axis. */ rollRate CartesianAngularSpeed OPTIONAL, /** @details pitchRate Pitch rate of object from the ITS-S's reference point. For a vehicle, the angular rate is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular rate is reported in a 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. The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the y-axis. */ pitchRate CartesianAngularSpeed OPTIONAL, /** @details yawRate Yaw rate of object from the ITS-S's reference point. For a vehicle, the angular rate is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular rate is reported in a 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. The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the z-axis. */ yawRate CartesianAngularSpeed OPTIONAL, /** @details rollAcceleration Roll acceleration of object from the ITS-S's reference point. For a vehicle, the angular acceleration is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular acceleration is reported in a 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. The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the x-axis. */ rollAcceleration CartesianAngularAcceleration OPTIONAL, /** @details pitchAcceleration Pitch acceleration of object from the ITS-S's reference point. For a vehicle, the angular acceleration is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular acceleration is reported in a 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. The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the y-axis. */ pitchAcceleration CartesianAngularAcceleration OPTIONAL, /** @details yawAcceleration Yaw acceleration of object from the ITS-S's reference point. For a vehicle, the angular acceleration is reported in a body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. For a RSU, the angular acceleration is reported in a 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. The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the z-axis. */ yawAcceleration CartesianAngularAcceleration OPTIONAL, /** @details lowerTriangularCorrelationMatrixColumns Provides the columns of a lower triangular positive semi definite correlation matrix for the kinematic state and attitude space provided for this object. The order of the columns and rows of the correlation matrix is as follows: - xDistance - yDistance - zDistance - xSpeed - ySpeed - zSpeed - xAcceleration - yAcceleration - zAcceleration - rollAngle - pitchAngle - yawAngle - rollRate - pitchRate - yawRate - rollAcceleration - pitchAcceleration - yawAcceleration The number of lowerTriangularCorrelationMatrixColumns to be included "k" is thereby the number of provided values "n" of the kinematic state and attitude space minus 1: k = n-1. Each column "i" of the lowerTriangularCorrelationMatrixColumns contains k-(i-1) values. In case certain values of the kinematic state and attitude space are not provided, they are omitted from the lowerTriangularCorrelationMatrixColumns. */ lowerTriangularCorrelationMatrixColumns LowerTriangularPositiveSemidefiniteMatrix OPTIONAL, /** @details planarObjectDimension1 First dimension of object as provided by the sensor or environment model. This dimension is always contained in the plane which is oriented perpendicular to the direction of the angle Loading
