From d815bf93d246f13c16f3c8740451175a6bb998df Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Thu, 7 Jan 2021 15:59:43 +0100 Subject: [PATCH 01/10] Add definition and description for ObjectConfidence --- asn/CPM_CommonDataTypes.asn | 14 +++++++------- asn/PerceivedObject.asn | 10 ++++++---- 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index ca3aeb7..48ef139 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -595,16 +595,16 @@ ObjectAge ::= INTEGER { } (0..1500) /** @brief Object Confidence -The confidence in the existence of the object and its characteristics as indicated by the -@see PerceivedObject container. +A single-value indication about the overall information quality of a perceived object. Its computation +is based on several scaling factors and moving averages. See Clause 7.6.4 of ETSI TS 103 324 for details +on the computation. @unit n/a */ ObjectConfidence ::= INTEGER { - unknown (0), -- Object confidence is unknown - onePercent (1), - oneHundredPercent (100), - unavailable (101) -- Confidence could not be computed and does not apply -} (0..101) + noConfidence (0), -- No confidence in detected object, e.g. for "ghost"-objects + fullConfidence (15), -- Full confidence in detected object + unavailable (16) -- Confidence could not be computed and does not apply +} (0..16) /** @brief Object Dimension Value A dimension for an object. diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn index 9da472a..d7f190d 100644 --- a/asn/PerceivedObject.asn +++ b/asn/PerceivedObject.asn @@ -45,10 +45,6 @@ PerceivedObject ::= SEQUENCE { measurement of the object. */ timeOfMeasurement TimeOfMeasurement, - /** @details objectConfidence - The confidence associated to the object. - */ - objectConfidence ObjectConfidence DEFAULT 0, /** @details xDistance Absolute 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 @@ -156,6 +152,12 @@ PerceivedObject ::= SEQUENCE { Provides the age of the detected and described object. */ objectAge ObjectAge OPTIONAL, + /** @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 and the binary detection success that is, if an object + has been successfully detected by the last measurement. + */ + objectConfidence ObjectConfidence, /** @details sensorIDList List of sensor-IDs which provided the measurement data. Refers to the sensorID in the @see SensorInformationContainer. -- GitLab From d2064e2ba9f8be02d22b389f67742f02551e0fd9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Thu, 7 Jan 2021 15:59:59 +0100 Subject: [PATCH 02/10] Make objectAge mandatory --- asn/PerceivedObject.asn | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn index d7f190d..90561ec 100644 --- a/asn/PerceivedObject.asn +++ b/asn/PerceivedObject.asn @@ -151,7 +151,7 @@ PerceivedObject ::= SEQUENCE { /** @details objectAge Provides the age of the detected and described object. */ - objectAge ObjectAge OPTIONAL, + 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 and the binary detection success that is, if an object -- GitLab From 6695c5b4fd6deb96b756a6bced92aab7a0571248 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Thu, 7 Jan 2021 16:00:42 +0100 Subject: [PATCH 03/10] Update description for "SensorObjectList" to add dummy values if SensorInformationContainer is not added --- asn/PerceivedObject.asn | 2 ++ 1 file changed, 2 insertions(+) diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn index 90561ec..3ed5ad4 100644 --- a/asn/PerceivedObject.asn +++ b/asn/PerceivedObject.asn @@ -161,6 +161,8 @@ PerceivedObject ::= SEQUENCE { /** @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 -- GitLab From 64ed16d4f22181bdcc61b551cbb6334527e35158 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Thu, 7 Jan 2021 16:02:37 +0100 Subject: [PATCH 04/10] Update kinematic state and attitude space description and include correlation matrix --- asn/CPM_CommonDataTypes.asn | 122 ++++++++++++++++++++++- asn/PerceivedObject.asn | 190 ++++++++++++++++++++++++++++-------- 2 files changed, 267 insertions(+), 45 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index 48ef139..389a214 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -180,7 +180,7 @@ ObjectDimension ::= SEQUENCE { } /** @brief Cartesian Angle -A general Data Frame to describe an angular component along with a confidence with a predefined +A general Data Frame to describe an angle component along with a confidence with a predefined confidence level of 95% for the component in a Cartesian coordinate system. */ CartesianAngle ::= SEQUENCE { @@ -195,6 +195,38 @@ CartesianAngle ::= SEQUENCE { confidence AngleConfidence } +/** @brief CartesianAngularSpeed +A general Data Frame to describe an angular speed component along with a confidence with a predefined +confidence level of 95% for the component in a Cartesian coordinate system. +*/ +CartesianAngularSpeed ::= SEQUENCE { + /** @details value + The angular speed (rate) value which can be estimated as the mean of the current distribution. + */ + value CartesianAngularSpeedValue, + /** @details confidence + The accuracy associated to the provided value at a predefined confidence level + of 95% for the component. + */ + confidence AngularSpeedConfidence +} + +/** @brief CartesianAngularAcceleration +A general Data Frame to describe an angular acceleration component along with a confidence with a predefined +confidence level of 95% for the component in a Cartesian coordinate system. +*/ +CartesianAngularAcceleration ::= SEQUENCE { + /** @details value + The angular acceleration value which can be estimated as the mean of the current distribution. + */ + value CartesianAngularAccelerationValue, + /** @details confidence + The accuracy associated to the provided value at a predefined confidence level + of 95% for the component. + */ + confidence AngularAccelerationConfidence +} + /** @brief WGS 84 Angle A general Data Frame to describe an angular component along with a confidence with a predefined confidence level of 95% for the component in the WGS84 coordinate system. @@ -315,6 +347,32 @@ MessageSegmentInfo ::= SEQUENCE { thisSegmentNum SegmentCount } +/** @brief Lower Triangular Positive Semi-Definite Matrix +A general data frame to express the elements of a lower triangular positive semi-definite matrix, not +including the main diagonal elements of the matrix. +Given a matrix "A" of size n x n, the number of columns to be included in the lower triangular matrix is k=n-1. +*/ +LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE SIZE (1..17) OF CorrelationColumn + +/** @brief Correlation Column +The column of the lower triangular positive semi-definite matrix consists of correlation row values. +Given a matrix "A" of size n x n, the number of columns to be included in the lower triangular matrix is k=n-1. +Each column "i" of the lower triangular then contains k-(i-1) values, where "i" refers to the column number count +starting at 1 from the left. +*/ +CorrelationColumn ::= SEQUENCE SIZE (1..17) OF CorrelationRowValue + +/** @brief Correlation Row Value +The Bravais-Pearson correlation value for each cell of the lower triangular correlation matrix. +Scaled by 100. +@unit: None +*/ +CorrelationRowValue ::= INTEGER { + not-correlated (0), + point-one (10), + fully-correlated (100) +} (0..100) + /** @brief Object Class Description A list of object classes. */ @@ -462,7 +520,7 @@ WGS84AngleValue ::= INTEGER { } (0..3601) /** @brief Cartesian Angle Value -An angle value in degrees described in a local Cartesian coordinate system, counted positive in +An angle value described in a local Cartesian coordinate system, counted positive in a right-hand local coordinate system from the abscissa. @unit 0,1 degrees */ @@ -472,6 +530,29 @@ CartesianAngleValue ::= INTEGER { unavailable (3601) } (0..3601) +/** @brief Cartesian Angular Speed Value +An angular speed value described in a local Cartesian coordinate system, counted positive in +a right-hand local coordinate system from the abscissa. +@unit 0,01 degrees/s +*/ +CartesianAngularSpeedValue ::= INTEGER { + noSpeed (0), + oneDegreePerSecondAntiClockwise (100), + oneDegreePerSecondClockwise (-100) +} (-32766..32767) + +/** @brief Cartesian Angular Acceleration Value +An angular acceleration value described in a local Cartesian coordinate system, counted positive in +a right-hand local coordinate system from the abscissa. +@unit 0,01 degrees/s^2 (degrees per second squared) +*/ +CartesianAngularAccelerationValue ::= INTEGER { + noAcceleration (0), + oneDegreePerSecondSquaredAntiClockwise (100), + oneDegreePerSecondSquaredClockwise (-100) +} (-32766..32767) + + /** @brief Angle Confidence The absolute accuracy of a reported angle value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. @@ -486,6 +567,43 @@ AngleConfidence ::= INTEGER { unavailable (127) -- if the heading accuracy information is not available } (1..127) +/** @brief Angular Speed Confidence +The absolute accuracy of a reported angular speed value for a predefined confidence level (e.g. 95 %). +The required confidence level is defined by the corresponding standards applying this DE. +For correlation computation, maximum interval levels shall be assumed. +@ N/A +*/ +AngularSpeedConfidence ::= ENUMERATED { + degSec-000-01 (0), -- if the accuracy is equal to or less than 0,01 degree/second + degSec-000-05 (1), -- 1 if the accuracy is equal to or less than 0,05 degrees/second + degSec-000-10 (2), -- if the accuracy is equal to or less than 0,1 degree/second + degSec-001-00 (3), -- 3 if the accuracy is equal to or less than 1 degree/second + degSec-005-00 (4), -- if the accuracy is equal to or less than 5 degrees/second + degSec-010-00 (5), -- if the accuracy is equal to or less than 10 degrees/second + degSec-100-00 (6), -- if the accuracy is equal to or less than 100 degrees/second + outOfRange (7), -- if the accuracy is out of range, i.e. greater than 100 degrees/second + unavailable (8) -- if the accuracy information is unavailable +} + +/** @brief Angular Acceleration Confidence +The absolute accuracy of a reported angular acceleration value for a predefined confidence level (e.g. 95 %). +The required confidence level is defined by the corresponding standards applying this DE. +For correlation computation, maximum interval levels shall be assumed. +@ N/A +*/ +AngularAccelerationConfidence ::= ENUMERATED { + degSecSquared-000-01 (0), -- if the accuracy is equal to or less than 0,01 degree/second^2 + degSecSquared-000-05 (1), -- 1 if the accuracy is equal to or less than 0,05 degrees/second^2 + degSecSquared-000-10 (2), -- if the accuracy is equal to or less than 0,1 degree/second^2 + degSecSquared-001-00 (3), -- 3 if the accuracy is equal to or less than 1 degree/second^2 + degSecSquared-005-00 (4), -- if the accuracy is equal to or less than 5 degrees/second^2 + degSecSquared-010-00 (5), -- if the accuracy is equal to or less than 10 degrees/second^2 + degSecSquared-100-00 (6), -- if the accuracy is equal to or less than 100 degrees/second^2 + outOfRange (7), -- if the accuracy is out of range, i.e. greater than 100 degrees/second^2 + unavailable (8) -- if the accuracy information is unavailable +} + + /** @brief Semi Range Length The length of an axis of an ellipsoid or rectangle, used to describe the extension in a particular direction. diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn index 3ed5ad4..0d4ed26 100644 --- a/asn/PerceivedObject.asn +++ b/asn/PerceivedObject.asn @@ -8,9 +8,9 @@ BEGIN IMPORTS -Acceleration, CartesianAngle, DynamicStatus, Identifier, MatchedPosition, -NumberOfPerceivedObjects, ObjectAge, ObjectConfidence, ObjectClassDescription, ObjectDimension, -ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, TimeOfMeasurement +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 @@ -46,86 +46,190 @@ PerceivedObject ::= SEQUENCE { */ timeOfMeasurement TimeOfMeasurement, /** @details xDistance - Absolute 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 + 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 - Absolute 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 + 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. + axis to the vertical direction */ yDistance ObjectDistance, /** @details zDistance - Absolute 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 + 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. + axis to the vertical direction */ zDistance ObjectDistance OPTIONAL, /** @details xSpeed - Relative speed of the detected object from the ITS-S's reference point in x-direction for the - time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system - as provided by ISO 8855. 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. + 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 - Relative speed of the detected object from the ITS-S's reference point in y-direction for the - time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system - as provided by ISO 8855. 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. + 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 - Relative speed of the detected object from the ITS-S's reference point in z-direction for the - time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system - as provided by ISO 8855. 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. + 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 - Relative acceleration of the detected object from the ITS-S's reference point in x-direction + 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 x-axis corresponds to - the East direction. + 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 - Relative acceleration of the detected object from the ITS-S's reference point in y-direction + 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 y-axis corresponds to - the North Direction. + 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 - Relative acceleration of the detected object from the ITS-S's reference point in z-direction + 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 z-axis corresponds to - the vertical direction. + 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 - 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 - 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. + 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 starting from the x-direction. - A value of 3601 shall be set if the value is unavailable. - The yaw angle confidence is described with a predefined confidence level of 95% for the - component. + 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 -- GitLab From 1cafffc045f21f72708149351e845dd2d2d91706 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Thu, 7 Jan 2021 16:02:59 +0100 Subject: [PATCH 05/10] Whitespace changes and remove unecessary descriptions --- asn/CPM_CommonDataTypes.asn | 4 ---- 1 file changed, 4 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index 389a214..a1b1f3c 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -384,9 +384,7 @@ categories: vehicle, person, animal and other. The classification is provided wi confidence indication. */ ObjectClassWithConfidence ::= SEQUENCE { - -- @todo objectClass ObjectClass, - -- @todo confidence ClassConfidence } @@ -424,8 +422,6 @@ 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 -- GitLab From 4ecc4eda79c1859bca81ef62c21d63df0a54a39a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Mon, 18 Jan 2021 08:36:38 +0100 Subject: [PATCH 06/10] remove heading in comment for angular value --- asn/CPM_CommonDataTypes.asn | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index a1b1f3c..f0a9a50 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -555,19 +555,19 @@ The required confidence level is defined by the corresponding standards applying @unit 0,1 degrees */ AngleConfidence ::= INTEGER { - zeroPointOneDegree (1), -- if the heading accuracy is equal to or less than 0,1 degree + zeroPointOneDegree (1), oneDegree (10), - outOfRange (126), -- if the heading accuracy is out of range, i.e. greater than + outOfRange (126), -- if the accuracy is out of range, i.e. greater than -- 12,5 degrees. A corresponding reported angle value shall be -- considered invalid and cannot be trusted. - unavailable (127) -- if the heading accuracy information is not available + unavailable (127) -- if the accuracy information is not available } (1..127) /** @brief Angular Speed Confidence The absolute accuracy of a reported angular speed value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. For correlation computation, maximum interval levels shall be assumed. -@ N/A +@ n/a */ AngularSpeedConfidence ::= ENUMERATED { degSec-000-01 (0), -- if the accuracy is equal to or less than 0,01 degree/second @@ -585,7 +585,7 @@ AngularSpeedConfidence ::= ENUMERATED { The absolute accuracy of a reported angular acceleration value for a predefined confidence level (e.g. 95 %). The required confidence level is defined by the corresponding standards applying this DE. For correlation computation, maximum interval levels shall be assumed. -@ N/A +@ n/a */ AngularAccelerationConfidence ::= ENUMERATED { degSecSquared-000-01 (0), -- if the accuracy is equal to or less than 0,01 degree/second^2 -- GitLab From b471c7108f465b44b1bc2836ed48cd6911594fa8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Mon, 18 Jan 2021 08:44:41 +0100 Subject: [PATCH 07/10] Object Confidence range set to 15 --- asn/CPM_CommonDataTypes.asn | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index f0a9a50..2ace266 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -715,10 +715,10 @@ on the computation. @unit n/a */ ObjectConfidence ::= INTEGER { - noConfidence (0), -- No confidence in detected object, e.g. for "ghost"-objects - fullConfidence (15), -- Full confidence in detected object - unavailable (16) -- Confidence could not be computed and does not apply -} (0..16) + noConfidence (0), -- No confidence in detected object, e.g. for "ghost"-objects or + -- if confidence could not be computed + fullConfidence (15) -- Full confidence in detected object +} (0..15) /** @brief Object Dimension Value A dimension for an object. -- GitLab From a765e57af3c7643e701f25981cf94124a5674b46 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Mon, 18 Jan 2021 08:45:03 +0100 Subject: [PATCH 08/10] Add comment: Object Age considered for objectConfidence as well --- asn/PerceivedObject.asn | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn index 0d4ed26..0b2231e 100644 --- a/asn/PerceivedObject.asn +++ b/asn/PerceivedObject.asn @@ -258,8 +258,8 @@ PerceivedObject ::= SEQUENCE { 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 and the binary detection success that is, if an object - has been successfully detected by the last measurement. + 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, /** @details sensorIDList -- GitLab From eaf4b32b29bbaac96ea1433e49913299b09a3df1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Fri, 5 Feb 2021 16:29:59 +0100 Subject: [PATCH 09/10] Correlation value can also be negative --- asn/CPM_CommonDataTypes.asn | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index 2ace266..fba26ef 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -368,10 +368,11 @@ Scaled by 100. @unit: None */ CorrelationRowValue ::= INTEGER { - not-correlated (0), - point-one (10), - fully-correlated (100) -} (0..100) + full-negative-correlation (-100), -- Full negative correlation + no-correlation (0), -- If not correlated or unavailable + point-one (10), + full-positive-correlation (100) -- Full positive correlation +} (-100..100) /** @brief Object Class Description A list of object classes. -- GitLab From 9f9566391018190500cc1afc5be257a44a5db20b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Fri, 5 Feb 2021 16:30:14 +0100 Subject: [PATCH 10/10] Object Confidence as an optional element --- asn/PerceivedObject.asn | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn index 0b2231e..0bd9812 100644 --- a/asn/PerceivedObject.asn +++ b/asn/PerceivedObject.asn @@ -261,7 +261,7 @@ PerceivedObject ::= SEQUENCE { 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, + objectConfidence ObjectConfidence OPTIONAL, /** @details sensorIDList List of sensor-IDs which provided the measurement data. Refers to the sensorID in the @see SensorInformationContainer. -- GitLab