Update PerceivedObject.asn

-- Date: 29.11.2022

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

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN

IMPORTS

CardinalNumber1B, PerceivedObject

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 Perceived Object Container 

 *

 * It shall include the following components: 

 *

 * @field numberOfPerceivedObjects: the total number of perceived objects at the time of generating the message. 

 *

 * @field perceivedObjects: the list of perceived objects.

 *

*/

PerceivedObjectContainer ::= SEQUENCE {

    numberOfPerceivedObjects    CardinalNumber1B,

    perceivedObjects            PerceivedObjects,

    ...

}

/** @brief Perceived Objects

 * This DF provides a list of perceived objects represented in the coordinate system of the originating station:

 * - For a vehicle, the  body-fixed coordinate system as provided by ISO 8855 originating at the ITS-station’s reference point. 

 * - For an RSU 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.

*/

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

END

CPM-PerceivedObject-Descriptions {

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

}

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN

IMPORTS

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

A list of perceived objects. Each object shall be described as defined in @see PerceivedObject.

*/

PerceivedObjectContainer ::= SEQUENCE {

    /** @details numberOfPerceivedObjects

    The total number of detected objects by the station at the time of generating the message.

    Due to the dynamic message generation rules, this number does not have to reflect the number

    of objects included in this message but states the number of objects known to the sender at

    the time of generating the message.

    */

    numberOfPerceivedObjects    NumberOfPerceivedObjects DEFAULT 0,

    perceivedObjects            SEQUENCE SIZE(1..128, ...) OF PerceivedObject

}

/** @brief Perceived Object

An object in the context of the CP Service refers to the kinematic and attitude representation of

a detected object within a sensor’s perception range. An object may be reported directly by a

sensor or a sensor fusion system.

*/

PerceivedObject ::= SEQUENCE {

    /** @details objectID

    Identifier assigned to a detected object which remains constant as long as the object is

    perceived by the disseminating ITS-S. Numbers are assigned in an increasing round-robin

    fashion. When the last identifier in the allowed range has been used, the first counter for

    the identifier starts from the beginning of the range again.

    */

    objectID                Identifier,

    /** @details timeOfMeasurement

    Provides the time difference from the message’s generation delta time to the time of the

    measurement of the object.

    */

    timeOfMeasurement       TimeOfMeasurement,

    /** @details xDistance

    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

    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

    */

    yDistance               ObjectDistance,

    /** @details zDistance

    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

    */

    zDistance               ObjectDistance OPTIONAL,

    /** @details xSpeed

    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

    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

    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

    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 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

    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 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

    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 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

    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 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

    indicated by the yawAngle and which contains the object's reference point.

    */

    planarObjectDimension1  ObjectDimension OPTIONAL,

    /** @details planarObjectDimension2

    Second dimension of the object as provided by the sensor environment model. This dimension is

    contained in the plane oriented in the direction of the angle indicated by the yawAngle and

    the object's reference point.

    */

    planarObjectDimension2  ObjectDimension OPTIONAL,

    /** @details verticalObjectDimension

    Vertical dimension of object as provided by the sensor or object model.

    */

    verticalObjectDimension ObjectDimension OPTIONAL,

    /** @details objectRefPoint

    The reference point on the perceived object. The kinematic attitude and state data provided

    for this object are valid for this reference point of the object. In case no object reference

    point can be determined, it is assumed to be the center point of the detected object.

    */

    objectRefPoint          ObjectRefPoint DEFAULT 0,

    /** @details objectAge

    Provides the age of the detected and described object.

    */

    objectAge               ObjectAge,

    /** @details objectConfidence

    The confidence associated to the object. The computation of the object confidence is based on a sensor's or

    fusion system's specific detection confidence, the binary detection success that is, if an object

    has been successfully detected by the last measurement and the object age.

    */

    objectConfidence        ObjectConfidence OPTIONAL,

    /** @details sensorIDList

    List of sensor-IDs which provided the measurement data. Refers to the sensorID in the

    @see SensorInformationContainer.

    If the @see SensorInformationContainer is never provided by the disseminating ITS-S, the list shall be

    populated with random numbers, where each number is assigned to a sensor of the transmitting station.

    */

    sensorIDList            SensorIdList OPTIONAL,

    /** @details dynamicStatus

    Indicated the dynamic capabilities of a detected object.

    */

    dynamicStatus           DynamicStatus OPTIONAL,

    /** @details classification

    Provides the classification of the described object. Multi-dimensional classification may be

    provided.

    */

    classification          ObjectClassDescription OPTIONAL,

    /** @details matchedPosition

    The optional map-matched position of an object. This requires that a MAP-message is provided.

    */

    matchedPosition         MatchedPosition OPTIONAL,

    ...

}

END