* This DF represents the actual perception capabilities available to the transmitting ITS-S, offering additional (often dynamic) details to the information provided in the sensor information container.
*
* It shall include the following components:
* @field measurementDeltaTime: difference between the time of estimation of the perception region and the reference time. Positive values indicates that the provided information refers to a point in time after the reference time.
*
* @field perceivedObjectFalseNegativesRate: estimated rate of false negative object detections in the perception region, i.e. the proportion of objects that are not suvvesfully detected.
* @field regionId: t.b.d
*
* @field measurementDeltaTime: the difference between the time of estimation of the perception region and the reference time. Positive values indicates that the provided information refers to a point in time after the reference time.
*
* @field perceptionRegionConfidence: the perception confidence.
*
* @field perceptionRegionShape: the specification of the shape of the perception region.
*
* @field perceptionRegionShape: specification of the shape of the perception region.
* @field coordinateSystemType: the type of coordinate system used to specify the @ref shape.
*
* @field shadowingApplies: indicates if the standard shadowing approach applies to the described perception region.
* @field shadowingApplies: indication if the standard shadowing approach applies to the described perception region.
*
* @field dominatedRegionIds: t.b.d
*
* @field sensorIdList: the optional list of identifiers of the sensors which are involved in perceiving the region.
*
* @field numberOfPerceivedObjects: the optional number of perceived objects contained in the perception region specified in the component perceptionRegionShape.
* @field clearanceProfile: the assertion of the clearance profile.
*
* @field perceivedObjectIds: the optional list of identifiers of the objects specified in the Perceived Object Container that are contained in the perception region specified in the component perceptionRegionShape.
* @field perceivedObjectIds: the list of identifiers of the objects specified in the Perceived Object Container that are contained in the perception region specified in the component perceptionRegionShape.
*
*/
PerceptionRegion ::= SEQUENCE {
regionId Identifier1B, -- comment: again to be discussed if needed.
measurementDeltaTime DeltaTimeMilliSecondSigned,
perceivedObjectFalseNegativesRate Ratio,
perceptionRegionType ReportingType,
perceptionRegionConfidence ConfidenceLevel, --comment: to be discussed if to be kept or not
perceptionRegionShape Shape,
coordinateSystemType CoordinateSystemType, -- comment: introduced due to statement in clause 7.1.7.3
dominatedRegionIds SequenceOfIdentifier1B OPTIONAL, --comment: to be discussed should we explicitly list the Ids of dominated perception regions?
sensorIdList SequenceOfIdentifier1B OPTIONAL, -- comment: shall this be a list or a single entry, since aggregated systems are declared in the SIC?
clearanceProfile ClearanceProfileAssertion, -- comment: introduced based on content of 7.1.7.4 and 7.1.7.5
perceivedObjectIds PerceivedObjectIds, -- comment: shall this be optional or mandatory? these ids are 2 Bytes each so this is potentially huge!
...
}
---------- CPS-specific DFs----------------
/**
* This DF represents a list of identifiers of perceived objects.
* This DF represents the clearance profile assertion as a list of single clearance profiles.
*/
PerceivedObjectIds::= SEQUENCE SIZE(0..255, ...) OF Identifier2B
ClearanceProfileAssertion::= SEQUENCE OF ClearanceProfile -- comment: i believe a sequence is needed to be able to declare more than one proffile that may be operated in parallel with different characteristics
/**
* This DF indicates the type of objects that are reported by the perception region along with their characteristics.
* This DF represents a clearance profile.
*
* It shall include the following components:
*
* @field reportingType: the reporting policy to which the profile applies
*
* @field falseNegativeRate: the probability that an object with a cross-section larger than the profile defined by @ref prclearanceDimensions exists within the region but was not detected
--comment: what is meant by "cross-section"
*
* @field clearanceDimensions: the dimensional profile for which the transmitting ITS-S asserts that no larger objects are contained in the corresponding perception region
-- coment: no larger, or no larger ones, except the ones listed in the POC?
*
* @field sotifValidationLevel: the validation status of the safety of the intended functionality of the clearance profile.
*
*/
ClearanceProfile::= SEQUENCE { -- comment: grouping of fields described in 7.1.7.4 and 7.1.7.5
reportingType ReportingType,
falseNegativeRate Ratio, --comment: should we not rather express it as a probability in %?
clearanceDimensions ObjectShape,
sotifValidationLevel SotifValidationLevel,
...
}
/**
* This DF represents the shape of an object.
*
* The following options are available:
*
* @field reportingAllObjects - in case all objects of the indicated minimum size are reported
* @field sphere: the specification of the shape as a sphere characterised by its radius
*
* @field reportingAllNonPermanentObjects - in case all objects that are not permanently static (i.e. generally dynamic) of the indicated minimum size are reported
* @field cube: the specification of the shape as a cube characterised by its side length.
*
* @field rectangle: the specification of the shape as right a rectangular prism.
*
* @field cylinder: the specification of the shape as a right cylinder
* This DF represents a list of identifiers of perceived objects.
*/
PerceivedObjectIds::= SEQUENCE SIZE(0..255, ...) OF Identifier2B
/**
* This DF indicates a ratio, i.e. a comparision of two quantities.
*
* @field mantissa: indicates the mantissa.
*
* @field exponent: indicates the exponent.
*
* The specified rate is: mantissa*(10^exponent)
* The specified ratio is: mantissa*(10^exponent)
*/
Ratio::= SEQUENCE {
mantissa INTEGER (1..100),
exponent INTEGER (-10..-3)
mantissa INTEGER (1..100), --comment: should it be (1..1000)?
exponent INTEGER (-10..-3) --comment: should it be (-10..-2)?
}
---------- CPS-specific DEs----------------
/**
* This DE represents the type of a coordinate system .
*
* The value shall be set to:
* - 1 - `enu` - in case a East-North-Up coordinate system is used,
* - 2 - `bodyFixed` - in case a body-fixed coordinate system is used.
*/
CoordinateSystemType::= INTEGER{
enu (1),
bodyFixed (2)
} (1..2)
/**
* This DE indicates the type of objects that are reported by the perception region along with their characteristics.
*
* The following options are available:
*
* @field reportingAllObjects - in case all objects of the indicated minimum size are reported
*
* @field reportingAllNonPermanentObjects - in case all objects that are not permanently static (i.e. generally dynamic) of the indicated minimum size are reported
*
*/
ReportingType::= INTEGER{
reportingAllObjects (1),
reportingAllNonPermanentObjects (2)
}(1..16, ...)
/**
* This DE represents the validation type of a safety of the intended functionality .
*
* The value shall be set to:
* - 0 - `unavailable` - in case no SOTIF assessment is available for the clearance profile assertion,
* - 1 - `assessedInformative` - in case a SOTIF analysis (e.g., via simulation or data analysis) has been performed,
* - 2 - `validatedOperational` - in case the CPA has been fully validated for SOTIF.
