Merge branch 'VRU_Class_alignment' into 'master' (b576d441) · Commits · ITS - Intelligent Transport Systems / ASN1 / CPM TS 103 324

.gitlab-ci.mk

+1 −1

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		ASN1_SRC := $(wildcard asn/.asn asn/cam/.asn asn/cdd/*.asn)
		ASN1_SRC := $(wildcard asn/.asn asn/cam/.asn asn/cdd/*.asn asn/vam/VAM-PDU-Descriptions.asn asn/vam/VAM-Temp-Imports.asn)

		ASN1_SRC_VALIDATE := \
		iso/iso19091_2018.asn \

.gitmodules

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		@@ -4,3 +4,6 @@
		[submodule "asn/cam"]
		path = asn/cam
		url = https://forge.etsi.org/rep/ITS/asn1/cam_en302637_2.git
		[submodule "asn/vam"]
		path = asn/vam
		url = https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3.git

asn/CPM_CommonDataTypes.asn

+52 −50

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		@@ -17,7 +17,15 @@ FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5)
		Include references from @url https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn
		*/
		LaneID, NodeOffsetPointXY, Offset-B10, Offset-B11, Offset-B12, Offset-B13, Offset-B14, Offset-B16
		FROM DSRC {iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2)};
		FROM DSRC {iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2)}


		/** @brief Include ETSI TS 103 300-3 V2.1.1
		Include references from https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3/tree/v2.1.1/
		*/
		VruProfileAndSubprofile, ClusterId, ClusterProfiles, ClusterCardinalitySize
		FROM VAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)
		wg1(1) ts(103300) vam(1) version1(1)};

		/** @brief Area Circular
		Describes a circular area. The circle is centred about the reference point of the ITS-S or about
		@@ -380,8 +388,7 @@ A list of object classes.
		ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClassWithConfidence

		/** @brief Object Class with Confidence
		Describes the classification of a detected object. The object can be classified into one of four
		categories: vehicle, person, animal and other. The classification is provided with a
		Describes the classification of a detected object. The classification is provided with a
		confidence indication.
		*/
		ObjectClassWithConfidence ::= SEQUENCE {
		@@ -390,16 +397,44 @@ ObjectClassWithConfidence ::= SEQUENCE {
		}

		/** @brief Object Class
		The class that best describes the detected object. Each class provides optional subclasses.
		The class that best describes the detected object. The object can be classified into one of three
		categories: vehicle, VRU and other. Each class provides optional subclasses.
		*/
		ObjectClass ::= CHOICE {
		vehicleSubclass VehicleSubclassType,
		personSubclass PersonSubclassType,
		animalSubclass AnimalSubclassType,
		vruSubclass VruSubclassType,
		otherSubclass OtherSubclassType,
		...
		}

		/** @brief VRU Subclass Type
		Describes if a detected object is a single VRU or a group of VRUs.
		*/
		VruSubclassType ::= CHOICE {
		singleVru VruProfileAndSubprofile,
		vruGroupSubclass VruGroupSubClassType
		}

		/** @brief VruGroup Subclass Type
		Describes the composition of a group of VRUs.
		*/
		VruGroupSubClassType ::= SEQUENCE {
		/** @details groupType
		Indicates the profiles of the VRUs detected in the group.
		A group of VRUs may be composed of VRUs of several different profiles.
		*/
		groupType ClusterProfiles,
		/** @details groupSize
		Indicates an estimation of the number of VRUs in the group.
		*/
		groupSize ClusterCardinalitySize,
		/** @details clusterID
		If the group is associated to a VRU cluster, this element indicates the ID of the associated cluster.
		The ClusterId can only be assigned if a VRU cluster which is transmitting VAMs has been detected.
		*/
		clusterID ClusterId OPTIONAL
		}

		/** @brief Offset Point
		Describes an offset position in a two- or three-dimensional plane as imported from
		CEN ISO/TS 19091. Excludes the node-LatLon DF and regional DF defined therein.
		@@ -422,63 +457,30 @@ NodeOffsetPointZ ::= CHOICE {
		node-Z6 Offset-B16 --< node is within 327.67m of last node
		}

		/** @brief Animal Subclass Type
		Describes the subclass of a detected object for class animal.
		@unit n/a
		*/
		AnimalSubclassType ::= INTEGER {
		unknown (0) --< the kind of animal is not known
		} (0..255)

		/** @brief Person Subclass Type
		Describes the subclass of a detected object for class persons. Persons are a subset of the
		vulnerable road users as defined in Section 4.2 of ETSI TR 103 300-2 as well as in the
		classification provided in Annex 1 of Regulation EU 168/2013.
		@unit n/a
		*/
		PersonSubclassType ::= INTEGER {
		unknown (0), --< the vru type for the detected object is unknown
		pedestrian (1), --< the detected object is a pedestrian travelling on foot
		personInWheelchair (2), --< the detected object is a person travelling in a wheelchair
		cyclist (3), --< the detected object is one or multiple persons travelling on
		--< non-motorized unicycles, bicycles, tricycles or quadricycle
		personWithStroller (4), --< the detected object is a person travelling on foot pushing or
		--< pulling a stroller potentially carrying by one or
		--< multiple other persons
		personOnSkates (5), --< the detected object is a person travelling on skates, skateboards
		--< or a small electric or foot operated scooter
		personGroup (6) --< the detected object is a group of persons with similar
		--< movement characteristics
		} (0..255)

		/** @brief Vehicle Subclass Type
		Describes the subclass of a detected object for class vehicle.
		@unit n/a
		*/
		VehicleSubclassType ::= INTEGER {
		unknown (0), --< the type of vehicle is unknown
		moped (1), --< the detected object is a light motor vehicle with less than four
		--< wheels as defined in UNECE/TRANS/WP.29/78/Rev.4 class L1, L2
		motorcycle (2), --< the detected object is a light motor vehicle with less than four
		--< wheels as defined in UNECE/TRANS/WP.29/78/Rev.4 class L3, L4, L5, L6, L7
		passengerCar (3), --< the detected object is a small passenger car as defined in
		passengerCar (1), --< the detected object is a small passenger car as defined in
		--< UNECE/TRANS/WP.29/78/Rev.4 class M1
		bus (4), --< the detected object is a large passenger vehicle as defined
		bus (2), --< the detected object is a large passenger vehicle as defined
		--< in UNECE/TRANS/WP.29/78/Rev.4 class M2, M3
		lightTruck (5), --< the detected object is a light goods vehicle as defined
		lightTruck (3), --< the detected object is a light goods vehicle as defined
		--< in UNECE/TRANS/WP.29/78/Rev.4 class N1
		heavyTruck (6), --< the detected object is a heavy goods vehicle as defined
		heavyTruck (4), --< the detected object is a heavy goods vehicle as defined
		--< in UNECE/TRANS/WP.29/78/Rev.4 class N2, N3
		trailer (7), --< the detected object is an unpowered vehicle that is intended
		trailer (5), --< the detected object is an unpowered vehicle that is intended
		--< to be towed by a powered vehicle as defined in
		--< UNECE/TRANS/WP.29/78/Rev.4 class O
		specialVehicles (8), --< the detected object is a vehicle which has a special purpose
		specialVehicles (6), --< the detected object is a vehicle which has a special purpose
		--< other than the above (e.g. moving road works vehicle)
		tram (9), --< the detected object is a vehicle running on tracks along
		tram (7), --< the detected object is a vehicle running on tracks along
		--< public streets
		emergencyVehicle (10), --< the detected object is a vehicle used in an emergency situation
		emergencyVehicle (8), --< the detected object is a vehicle used in an emergency situation
		--< such as an ambulance, police car or fire engine
		agricultural (11) --< the detected object is a vehicle used for agricultural purposes
		agricultural (9) --< the detected object is a vehicle used for agricultural purposes
		} (0..255)

		/** @brief Other Subclass Type

vam @ aa7e1dfa

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		Subproject commit aa7e1dfaf471fa9f464baa26f525f54866e0acd2

docs/CPM-CommonDataTypes-Descriptions.md

+72 −92

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		@@ -10,6 +10,10 @@
		Include ISO 19091
		Include references from https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn

		* [VAM-PDU-Descriptions](VAM-PDU-Descriptions.md) {itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg1(1) ts(103300) vam(1) version1(1)}<br/>
		Include ETSI TS 103 300-3 V2.1.1
		Include references from https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3/tree/v2.1.1/

		## Data Elements:
		### <a name="AreaCircular"></a>Area Circular

		@@ -542,8 +546,7 @@ ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClassWithConfidence

		### <a name="ObjectClassWithConfidence"></a>Object Class with Confidence

		Describes the classification of a detected object. The object can be classified into one of four
		categories: vehicle, person, animal and other. The classification is provided with a
		Describes the classification of a detected object. The classification is provided with a
		confidence indication.


		@@ -559,24 +562,66 @@ ObjectClassWithConfidence ::= SEQUENCE {

		### <a name="ObjectClass"></a>Object Class

		The class that best describes the detected object. Each class provides optional subclasses.
		The class that best describes the detected object. The object can be classified into one of three
		categories: vehicle, VRU and other. Each class provides optional subclasses.


		Fields:
		* vehicleSubclass [VehicleSubclassType](#VehicleSubclassType) <br>
		* personSubclass [PersonSubclassType](#PersonSubclassType) <br>
		* animalSubclass [AnimalSubclassType](#AnimalSubclassType) <br>
		* vruSubclass [VruSubclassType](#VruSubclassType) <br>
		* otherSubclass [OtherSubclassType](#OtherSubclassType) <br>
		```asn1
		ObjectClass ::= CHOICE {
		vehicleSubclass VehicleSubclassType,
		personSubclass PersonSubclassType,
		animalSubclass AnimalSubclassType,
		vruSubclass VruSubclassType,
		otherSubclass OtherSubclassType,
		...
		}
		```

		### <a name="VruSubclassType"></a>VRU Subclass Type

		Describes if a detected object is a single VRU or a group of VRUs.


		Fields:
		* singleVru [VruProfileAndSubprofile](VAM-PDU-Descriptions.md#VruProfileAndSubprofile) <br>
		* vruGroupSubclass [VruGroupSubClassType](#VruGroupSubClassType) <br>
		```asn1
		VruSubclassType ::= CHOICE {
		singleVru VruProfileAndSubprofile,
		vruGroupSubclass VruGroupSubClassType
		}
		```

		### <a name="VruGroupSubClassType"></a>VruGroup Subclass Type

		Describes the composition of a group of VRUs.


		Fields:
		* groupType [ClusterProfiles](VAM-PDU-Descriptions.md#ClusterProfiles) <br>

		Indicates the profiles of the VRUs detected in the group.
		A group of VRUs may be composed of VRUs of several different profiles.

		* groupSize [ClusterCardinalitySize](VAM-PDU-Descriptions.md#ClusterCardinalitySize) <br>

		Indicates an estimation of the number of VRUs in the group.

		* clusterID [ClusterId](VAM-PDU-Descriptions.md#ClusterId) OPTIONAL<br>

		If the group is associated to a VRU cluster, this element indicates the ID of the associated cluster.
		The ClusterId can only be assigned if a VRU cluster which is transmitting VAMs has been detected.

		```asn1
		VruGroupSubClassType ::= SEQUENCE {
		groupType ClusterProfiles,
		groupSize ClusterCardinalitySize,
		clusterID ClusterId OPTIONAL
		}
		```

		### <a name="OffsetPoint"></a>Offset Point

		Describes an offset position in a two- or three-dimensional plane as imported from
		@@ -623,63 +668,6 @@ NodeOffsetPointZ ::= CHOICE {
		}
		```

		### <a name="AnimalSubclassType"></a>Animal Subclass Type

		Describes the subclass of a detected object for class animal.


		Unit: _n/a_

		Values:
		* unknown (0) <br>
		the kind of animal is not known
		```asn1
		AnimalSubclassType ::= INTEGER {
		unknown (0)
		} (0..255)
		```

		### <a name="PersonSubclassType"></a>Person Subclass Type

		Describes the subclass of a detected object for class persons. Persons are a subset of the
		vulnerable road users as defined in Section 4.2 of ETSI TR 103 300-2 as well as in the
		classification provided in Annex 1 of Regulation EU 168/2013.


		Unit: _n/a_

		Values:
		* unknown (0)<br>
		the vru type for the detected object is unknown
		* pedestrian (1)<br>
		the detected object is a pedestrian travelling on foot
		* personInWheelchair (2)<br>
		the detected object is a person travelling in a wheelchair
		* cyclist (3)<br>
		the detected object is one or multiple persons travelling on
		non-motorized unicycles, bicycles, tricycles or quadricycle
		* personWithStroller (4)<br>
		the detected object is a person travelling on foot pushing or
		pulling a stroller potentially carrying by one or
		multiple other persons
		* personOnSkates (5)<br>
		the detected object is a person travelling on skates, skateboards
		or a small electric or foot operated scooter
		* personGroup (6) <br>
		the detected object is a group of persons with similar
		movement characteristics
		```asn1
		PersonSubclassType ::= INTEGER {
		unknown (0),
		pedestrian (1),
		personInWheelchair (2),
		cyclist (3),
		personWithStroller (4),
		personOnSkates (5),
		personGroup (6)
		} (0..255)
		```

		### <a name="VehicleSubclassType"></a>Vehicle Subclass Type

		Describes the subclass of a detected object for class vehicle.
		@@ -690,53 +678,45 @@ Describes the subclass of a detected object for class vehicle.
		Values:
		* unknown (0)<br>
		the type of vehicle is unknown
		* moped (1)<br>
		the detected object is a light motor vehicle with less than four
		wheels as defined in UNECE/TRANS/WP.29/78/Rev.4 class L1, L2
		* motorcycle (2)<br>
		the detected object is a light motor vehicle with less than four
		wheels as defined in UNECE/TRANS/WP.29/78/Rev.4 class L3, L4, L5, L6, L7
		* passengerCar (3)<br>
		* passengerCar (1)<br>
		the detected object is a small passenger car as defined in
		UNECE/TRANS/WP.29/78/Rev.4 class M1
		* bus (4)<br>
		* bus (2)<br>
		the detected object is a large passenger vehicle as defined
		in UNECE/TRANS/WP.29/78/Rev.4 class M2, M3
		* lightTruck (5)<br>
		* lightTruck (3)<br>
		the detected object is a light goods vehicle as defined
		in UNECE/TRANS/WP.29/78/Rev.4 class N1
		* heavyTruck (6)<br>
		* heavyTruck (4)<br>
		the detected object is a heavy goods vehicle as defined
		in UNECE/TRANS/WP.29/78/Rev.4 class N2, N3
		* trailer (7)<br>
		* trailer (5)<br>
		the detected object is an unpowered vehicle that is intended
		to be towed by a powered vehicle as defined in
		UNECE/TRANS/WP.29/78/Rev.4 class O
		* specialVehicles (8)<br>
		* specialVehicles (6)<br>
		the detected object is a vehicle which has a special purpose
		other than the above (e.g. moving road works vehicle)
		* tram (9)<br>
		* tram (7)<br>
		the detected object is a vehicle running on tracks along
		public streets
		* emergencyVehicle (10)<br>
		* emergencyVehicle (8)<br>
		the detected object is a vehicle used in an emergency situation
		such as an ambulance, police car or fire engine
		* agricultural (11) <br>
		* agricultural (9) <br>
		the detected object is a vehicle used for agricultural purposes
		```asn1
		VehicleSubclassType ::= INTEGER {
		unknown (0),
		moped (1),
		motorcycle (2),
		passengerCar (3),
		bus (4),
		lightTruck (5),
		heavyTruck (6),
		trailer (7),
		specialVehicles (8),
		tram (9),
		emergencyVehicle (10),
		agricultural (11)
		passengerCar (1),
		bus (2),
		lightTruck (3),
		heavyTruck (4),
		trailer (5),
		specialVehicles (6),
		tram (7),
		emergencyVehicle (8),
		agricultural (9)
		} (0..255)
		```