From d9df7df5899bbef51ecd61fc1be9e3117e27f1c8 Mon Sep 17 00:00:00 2001 From: Ignacio Llatser Marti Date: Thu, 25 Jun 2020 16:14:15 +0200 Subject: [PATCH 1/3] Add Acceleration data type in CPM_CommonDataTypes to replace Longitudinal/Lateral/VerticalAcceleration from CDD --- asn/CPM_CommonDataTypes.asn | 24 +++++++++++++++++++++++- asn/PerceivedObject.asn | 11 ++++------- 2 files changed, 27 insertions(+), 8 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index 5fe7781..acb3c4e 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -9,7 +9,7 @@ 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 -SpeedConfidence, VehicleWidth +SpeedConfidence, AccelerationConfidence, VehicleWidth 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 @@ -187,6 +187,19 @@ SpeedExtended ::= SEQUENCE { confidence SpeedConfidence } +-- @brief Acceleration +-- A general Data Frame to describe an acceleration component along with a confidence with a predefined +-- confidence level of 95% for the component. +Acceleration ::= SEQUENCE { + -- @details value + -- The acceleration value which can be estimated as the mean of the current distribution. + value AccelerationValue, + -- @details confidence + -- The accuracy associated to the provided value at a predefined confidence level + -- of 95% for the component. + confidence AccelerationConfidence +} + -- @brief Sensor ID List -- List of sensor IDs. SensorIdList ::= SEQUENCE SIZE(1..128, ...) OF Identifier @@ -652,6 +665,15 @@ SpeedValueExtended ::= INTEGER { unavailable (16383) -- shall be set if information is not available } (-16383..16383) +-- @brief Acceleration Value +-- Acceleration value for perceived object described in ITS Reference Frame. +-- @unit 0,1 m/s2 +AccelerationValue ::= INTEGER { + pointOneMeterPerSecSquared (1), + minusPointOneMeterPerSecSquared (-1), + unavailable (161) -- shall be set if information is not available +} (-160 .. 161) + -- @brief Time of Measurement -- Time difference with respect to the @see generationDeltaTime for the provided measurement for the -- object. Negative values indicate that the provided object state refers to a point in time after diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn index fbacf69..e397186 100644 --- a/asn/PerceivedObject.asn +++ b/asn/PerceivedObject.asn @@ -9,12 +9,9 @@ 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 -LongitudinalAcceleration, LateralAcceleration, VerticalAcceleration -FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) } - CartesianAngle, DynamicStatus, Identifier, MatchedPosition, NumberOfPerceivedObjects, ObjectAge, ObjectConfidence, ObjectClassDescription, ObjectDimension, -ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, TimeOfMeasurement +ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, Acceleration, 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 @@ -95,21 +92,21 @@ PerceivedObject ::= SEQUENCE { -- coordinate system as provided by ISO 8855. 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 LongitudinalAcceleration OPTIONAL, + xAcceleration Acceleration OPTIONAL, -- @details yAcceleration -- Relative 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 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 LateralAcceleration OPTIONAL, + yAcceleration Acceleration OPTIONAL, -- @details zAcceleration -- Relative 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 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 VerticalAcceleration OPTIONAL, + zAcceleration Acceleration 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 -- GitLab From cc5a977c5d68e6bc17491bf9340409741f7c63d6 Mon Sep 17 00:00:00 2001 From: Ignacio Llatser Marti Date: Tue, 7 Jul 2020 09:23:44 +0200 Subject: [PATCH 2/3] Add comment explaining reference frame for data type AccelerationValue --- asn/CPM_CommonDataTypes.asn | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index acb3c4e..a31e39e 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -666,7 +666,10 @@ SpeedValueExtended ::= INTEGER { } (-16383..16383) -- @brief Acceleration Value --- Acceleration value for perceived object described in ITS Reference Frame. +-- Acceleration value for perceived object described in the reference frame of the disseminating ITS-S. +-- For a vehicle, the acceleration is reported in a body-fixed coordinate system as provided by ISO 8855. +-- 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. -- @unit 0,1 m/s2 AccelerationValue ::= INTEGER { pointOneMeterPerSecSquared (1), -- GitLab From e5a4dcfd653051800d93fddb907fb059ce3fd2df Mon Sep 17 00:00:00 2001 From: Ignacio Llatser Marti Date: Tue, 7 Jul 2020 11:00:29 +0200 Subject: [PATCH 3/3] Simplify comments of x/y/zAcceleration in PerceivedObject --- asn/PerceivedObject.asn | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn index e397186..6bea817 100644 --- a/asn/PerceivedObject.asn +++ b/asn/PerceivedObject.asn @@ -89,23 +89,20 @@ PerceivedObject ::= SEQUENCE { -- @details xAcceleration -- Relative 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 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. + -- coordinate system as provided by ISO 8855. For a RSU, the acceleration x-axis corresponds to + -- the East direction. xAcceleration Acceleration OPTIONAL, -- @details yAcceleration -- Relative 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 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. + -- coordinate system as provided by ISO 8855. For a RSU, the acceleration y-axis corresponds to + -- the North direction. yAcceleration Acceleration OPTIONAL, -- @details zAcceleration -- Relative 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 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. + -- coordinate system as provided by ISO 8855. For a RSU, the acceleration z-axis corresponds to + -- the vertical direction. zAcceleration Acceleration OPTIONAL, -- @details yawAngle -- Relative yaw angle of object from the ITS-S's reference point. For a vehicle, the angle is -- GitLab