Commit c5b40d08 authored by Hendrik-Joern Guenther's avatar Hendrik-Joern Guenther
Browse files

Replaced Acceleration field according to proposal from Ignacio

parent e808cb48

asn/CPM.asn

+43 −32
Original line number Diff line number Diff line
@@ -10,13 +10,15 @@ DEFINITIONS AUTOMATIC TAGS ::= 
BEGIN



IMPORTS

-- @brief Include ETSI TS 102 894-2

-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn

/** @brief Include ETSI TS 102 894-2 v1.3.1

Include references from @url https://forge.etsi.org/rep/ITS/asn1/cdd_ts102894_2/blob/v1.3.1/ITS-Container.asn

*/

ItsPduHeader, ReferencePosition, StationType

FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }



-- @brief Include ETSI EN 302 637-2

-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CAM_EN302637-2/CAM.asn

/** @brief Include ETSI EN 302 637-2 v1.4.1

Include references from @url https://forge.etsi.org/rep/ITS/asn1/cam_en302637_2/blob/v1.4.1/CAM-PDU-Descriptions.asn

*/

GenerationDeltaTime

FROM CAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg1(1) en(302637) cam(2) version(2)}
@@ -87,53 +89,62 @@ freeSpaceAdddendumCpmContainer CpmContainerId ::= 3 


-- Collective Perception Message



-- @brief Collective Perception Message Root

-- This DF includes DEs for the CPM protocolVersion, the CP message type identifier _messageID_ and

-- the station identifier _stationID_ of the originating ITS-S.

/** @brief Collective Perception Message Root

This DF includes DEs for the CPM protocolVersion, the CP message type identifier _messageID_ and

the station identifier _stationID_ of the originating ITS-S.

*/

CPM ::= SEQUENCE {

    -- @details header

    -- The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving

    -- ITS-S. It shall be set to @todo cpm(15).

    -- The DE _messageID_ shall be harmonized with other V2X message identifier definitions.

    /** @details header

    The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving

    ITS-S. It shall be set to @todo cpm(15).

    The DE _messageID_ shall be harmonized with other V2X message identifier definitions.

    */

    header ItsPduHeader,

    cpm CollectivePerceptionMessage

}



-- @brief Collective Perception Message

-- This is the actual CPM Payload. It shall include the time stamp of the CPM and the applicable

-- containers of type _PerceptionData_. The selection of the StationDataContainer type container

-- depends on the _StationType_ as selected in the @see CpmManagementContainer

/** Collective Perception Message

This is the actual CPM Payload. It shall include the time stamp of the CPM and the applicable

containers of type _PerceptionData_. The selection of the StationDataContainer type container

depends on the _StationType_ as selected in the @see CpmManagementContainer

*/

CollectivePerceptionMessage ::= SEQUENCE {

    generationDeltaTime GenerationDeltaTime,

    cpmParameters       CpmParameters

}



-- @brief CPM Parameters

-- The sequence of mandatory and optional containers. Other containers may be added in the future.

/** CPM Parameters

The sequence of mandatory and optional containers. Other containers may be added in the future.

*/

CpmParameters ::= SEQUENCE {

    -- @details managementContainer

    -- The managementContainer comprises basic information about the originating ITS-S, which are

    -- not specific to vehicles or RSUs.

    /** managementContainer

    The managementContainer comprises basic information about the originating ITS-S, which are

    not specific to vehicles or RSUs.

    */

    managementContainer     CpmManagementContainer,

    -- @details stationDataContainer

    -- The stationDataContainer comprises ITS-S type specific information about the sending station.

    /** stationDataContainer

    The stationDataContainer comprises ITS-S type specific information about the sending station.

    */

    stationDataContainer    CpmStationDataContainer {{OriginatingStationData}} OPTIONAL,

    -- @details perceptionData

    -- The perceptionData comprises different container types for describing the sensory properties

    -- of the transmitting ITS-S, its detected objects and free space estimates.

    /** perceptionData

    The perceptionData comprises different container types for describing the sensory properties

    of the transmitting ITS-S, its detected objects and free space estimates.

    */

    perceptionData          SEQUENCE SIZE(1..255) OF CpmPerceptionDataContainer {{PerceptionData}} OPTIONAL,

    ...

}



-- @brief CPM Management Container

-- The managementContainer comprises basic information about the originating ITS-S, which are not

-- specific to vehicles or RSUs.

/** CPM Management Container

The managementContainer comprises basic information about the originating ITS-S, which are not

specific to vehicles or RSUs.

*/

CpmManagementContainer ::= SEQUENCE {

    stationType                             StationType,

    -- @details messageSegmentInfo

    -- The perceived object container segment info describes the segmentation information in case

    -- the data for CPM transmission needs to be split up into multiple messages due to

    -- message size constraints.

    /** @brief messageSegmentInfo

    The perceived object container segment info describes the segmentation information in case

    the data for CPM transmission needs to be split up into multiple messages due to

    message size constraints.

    */

    messageSegmentInfo     MessageSegmentInfo OPTIONAL,

    referencePosition      ReferencePosition,

    ...

asn/CPM_CommonDataTypes.asn

+415 −316

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asn/FreeSpaceAddendum.asn

+41 −30
Original line number Diff line number Diff line
@@ -10,50 +10,61 @@ IMPORTS 
AreaCircular, AreaEllipse,  AreaPolygon, AreaRectangle, FreeSpaceConfidence, SensorIdList, ShadowingApplies

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



-- @brief Free Space Addendum Container

-- A list of provided free space addendums. Each addendum shall be described asa provided by

-- @see FreeSpaceAddendum.

/** Free Space Addendum Container

A list of provided free space addendums. Each addendum shall be described asa provided by

@see FreeSpaceAddendum.

*/

FreeSpaceAddendumContainer ::= SEQUENCE SIZE(1..128, ...) OF FreeSpaceAddendum



-- @brief Free Space Addendum

-- This container shall only be added if the confidence indication needs to be altered with respect

-- to the isotropic @see FreeSpaceConfidence confidence level indication provided in the

-- @see SensorInformation.

/** Free Space Addendum

This container shall only be added if the confidence indication needs to be altered with respect

to the isotropic @see FreeSpaceConfidence confidence level indication provided in the

@see SensorInformation.

*/

FreeSpaceAddendum ::= SEQUENCE {

    -- @detailsfreeSpaceConfidence

    -- Describes an isotropic free space confidence that applies to the entire area as defined in

    -- the @see freeSpaceArea of a particular free space addendum container.

    /** @detailsfreeSpaceConfidence

    Describes an isotropic free space confidence that applies to the entire area as defined in

    the @see freeSpaceArea of a particular free space addendum container.

    */

    freeSpaceConfidence    FreeSpaceConfidence,

    -- @details freeSpaceArea

    -- Describes the free space area for which the free space confidence of this addendum

    -- container is valid.

    /** @details freeSpaceArea

    Describes the free space area for which the free space confidence of this addendum

    container is valid.

    */

    freeSpaceArea          FreeSpaceArea,

	-- @details sensorIDList

    -- Provides a list of pseudonym sensor IDs which performed the measurement to indicate the

    -- free space.

	/** @details sensorIDList

    Provides a list of pseudonym sensor IDs which performed the measurement to indicate the

    free space.

    */

    sensorIDList           SensorIdList OPTIONAL,

    -- @details shadowingApplies

    -- Indicates if the simple shadowing mechanism  applies within the area described

    -- by @see freeSpaceArea.

    /**@details shadowingApplies

    Indicates if the simple shadowing mechanism  applies within the area described

    by @see freeSpaceArea.

    */

    shadowingApplies       ShadowingApplies DEFAULT TRUE,

	...

}



-- @brief Free Space Area

-- The described area that is considered as not occupied by any traffic participant or obstacle by

-- the disseminating ITS-S.

/** Free Space Area

The described area that is considered as not occupied by any traffic participant or obstacle by

the disseminating ITS-S.

*/

FreeSpaceArea ::= CHOICE {

    -- @details freeSpacePolygon

    -- A sequence of node points from a given offset point to describe an arbitrary area shape.

    /** @details freeSpacePolygon

    A sequence of node points from a given offset point to describe an arbitrary area shape.

    */

    freeSpacePolygon     AreaPolygon,

    -- @details freeSpaceCircular

    -- A description of a circular area.

    /**@details freeSpaceCircular

    A description of a circular area.

    */

    freeSpaceCircular    AreaCircular,

    -- @details freeSpaceEllipse

    -- A description of an elliptical area.

    /** @details freeSpaceEllipse

    A description of an elliptical area.

    */

    freeSpaceEllipse     AreaEllipse,

    -- @details freeSpaceRectangle

    -- A description of a rectangular area.

    /** @details freeSpaceRectangle

    A description of a rectangular area.

    */

    freeSpaceRectangle   AreaRectangle,

    ...

}

asn/OriginatingStationdata.asn

+49 −37
Original line number Diff line number Diff line
@@ -7,72 +7,84 @@ DEFINITIONS AUTOMATIC TAGS ::= 
BEGIN



IMPORTS

-- @brief Include ETSI TS 102 894-2

-- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn

/** @brief Include ETSI TS 102 894-2

Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn

*/

DriveDirection, Heading, LateralAcceleration, LongitudinalAcceleration, Speed, VehicleLength,

VehicleWidth, VerticalAcceleration, YawRate

FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)}



-- @brief Include ISO 19091

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

/** @brief Include ISO 19091

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

*/

IntersectionReferenceID, RoadSegmentReferenceID

FROM DSRC {iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2)}



CartesianAngle, TrailerDataContainer, VehicleHeight, WGS84Angle

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



-- @brief Originating Vehicle Container

-- The _originatingVehicleContainer_ provides detailed information about the vehicle ITS-S

-- disseminating the CPM.

/** @brief Originating Vehicle Container

The _originatingVehicleContainer_ provides detailed information about the vehicle ITS-S

disseminating the CPM.

*/

OriginatingVehicleContainer ::= SEQUENCE {

    -- @details heading

    -- Heading and heading accuracy of the vehicle movement of the originating ITS-S with regards to

    -- the true north. The heading accuracy provided in the DE @see headingConfidence value shall

    -- provide the accuracy of the measured vehicle heading with a confidence level of 95 %.

    /** @details heading

    Heading and heading accuracy of the vehicle movement of the originating ITS-S with regards to

    the true north. The heading accuracy provided in the DE @see headingConfidence value shall

    provide the accuracy of the measured vehicle heading with a confidence level of 95 %.

    */

    heading                     Heading,

    -- @details speed

    -- Driving speed and speed accuracy of the originating ITS-S. The speed accuracy provided in the

    -- DE speedConfidence shall provide the accuracy of the speed value with a confidence level of 95 %.

    /** @details speed

    Driving speed and speed accuracy of the originating ITS-S. The speed accuracy provided in the

    DE speedConfidence shall provide the accuracy of the speed value with a confidence level of 95 %.

    */

    speed                       Speed,

    -- @details vehicleOrientationAngle

    -- Angle and angle accuracy of the absolute orientation of the disseminating vehicle in the

    -- WGS84 coordinate system with respect to true North. This is opposed to the vehicle heading

    -- which is calculated taking into account the speed vector. The confidence denotes the accuracy

    -- of the measured angle value for a confidence level of 95 %.

    /** @details vehicleOrientationAngle

    Angle and angle accuracy of the absolute orientation of the disseminating vehicle in the

    WGS84 coordinate system with respect to true North. This is opposed to the vehicle heading

    which is calculated taking into account the speed vector. The confidence denotes the accuracy

    of the measured angle value for a confidence level of 95 %.

    */

    vehicleOrientationAngle     WGS84Angle OPTIONAL,

    driveDirection              DriveDirection DEFAULT forward,

    longitudinalAcceleration    LongitudinalAcceleration OPTIONAL,

    lateralAcceleration         LateralAcceleration OPTIONAL,

    verticalAcceleration        VerticalAcceleration OPTIONAL,

    yawRate                     YawRate OPTIONAL,

    -- @details pitchAngle

    -- Angle and angle accuracy between the ground plane and the current orientation of a vehicle's

    -- x-axis with respect to the ground plane about the y-axis according to the ISO 8855.

    pitchAngle                  CartesianAngle OPTIONAL,

    -- @details rollAngle

    -- 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

    /** @details pitchAngle

    Angle and angle accuracy between the ground plane and the current orientation of a vehicle's

    x-axis with respect to the ground plane about the y-axis according to the ISO 8855.

    */pitchAngle                  CartesianAngle OPTIONAL,



    /** @details rollAngle

    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

    */

    rollAngle                   CartesianAngle OPTIONAL,

    vehicleLength               VehicleLength OPTIONAL,

    vehicleWidth                VehicleWidth OPTIONAL,

    vehicleHeight               VehicleHeight OPTIONAL,

    -- @details trailerDataContainer

    -- Provides detailed information about the trailers dimensions and orientation in case a trailer is present.

    /** @details trailerDataContainer

    Provides detailed information about the trailers dimensions and orientation in case a trailer is present.

    */

    trailerDataContainer        TrailerDataContainer OPTIONAL,

    ...

}



-- @brief Originating RSU Container

-- The _originatingRSUContainer_ provides information about the RSU type ITS-S disseminating the CPM.

/** @brief Originating RSU Container

The _originatingRSUContainer_ provides information about the RSU type ITS-S disseminating the CPM.

*/

OriginatingRSUContainer ::= CHOICE {

    -- @details intersectionReferenceId

    -- Conveys the combination of an optional RoadRegulatorID and of an IntersectionID that is

    -- unique within that region. When the RoadRegulatorID is present, the IntersectionReferenceID

    -- is guaranteed to be globally unique.

    /** @details intersectionReferenceId

    Conveys the combination of an optional RoadRegulatorID and of an IntersectionID that is

    unique within that region. When the RoadRegulatorID is present, the IntersectionReferenceID

    is guaranteed to be globally unique.

    */

    intersectionReferenceId     IntersectionReferenceID,

    -- @details roadSegmentReferenceId

    -- Conveys the RoadSegmentReferenceID which is unique to a given road segment of interest, and

    -- also the RoadRegulatorID assigned to the region in which it is operating

    /** @details roadSegmentReferenceId

    Conveys the RoadSegmentReferenceID which is unique to a given road segment of interest, and

    also the RoadRegulatorID assigned to the region in which it is operating

    */

    roadSegmentReferenceId      RoadSegmentReferenceID,

    ...

}

asn/PerceivedObject.asn

+142 −112

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