From 095b834665e1765d52c0034b9fad5ee66dde6960 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Fri, 7 May 2021 13:46:40 +0200 Subject: [PATCH 1/6] Insert vertical speed to Originating Station Container --- asn/OriginatingStationdata.asn | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/asn/OriginatingStationdata.asn b/asn/OriginatingStationdata.asn index 70360a2..fdeb80e 100644 --- a/asn/OriginatingStationdata.asn +++ b/asn/OriginatingStationdata.asn @@ -20,7 +20,7 @@ Include references from @url https://standards.iso.org/iso/ts/19091/ed-2/en/ISO- IntersectionReferenceID, RoadSegmentReferenceID FROM DSRC {iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2)} -CartesianAngle, TrailerDataContainer, VehicleHeight, WGS84Angle +CartesianAngle, SpeedExtended, 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 @@ -39,6 +39,14 @@ OriginatingVehicleContainer ::= SEQUENCE { DE speedConfidence shall provide the accuracy of the speed value with a confidence level of 95 %. */ speed Speed, + /** @details verticalSpeed + Vertical 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 %. + Vertical means perpendicular to the ground plane of the WGS84 coordinate system at the current + position of the originating ITS-S. + */ + verticalSpeed SpeedExtended OPTIONAL, + /** @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 -- GitLab From d3d1d188f63f6aab05e77629df924163d2314b8c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Fri, 7 May 2021 13:56:29 +0200 Subject: [PATCH 2/6] Contribution ITSWG1(21)000053 from Continental --- asn/CPM_CommonDataTypes.asn | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index fba26ef..bf11786 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -627,9 +627,9 @@ Absolute accuracy of measurement to a confidence level of 95%. DistanceConfidence ::= INTEGER { zeroPointZeroOneMeter (1), oneMeter (100), - outOfRange (101), -- shall be set if the accuracy is out of range - unavailable (102) -- shall be set if the accuracy data is unavailable -} (0..102) + outOfRange (4094), -- shall be set if the accuracy is out of range + unavailable (4095) -- shall be set if the accuracy data is unavailable +} (0..4095) /** @brief Dynamic Status Indication whether the detected object is classified as a dynamic (i.e. moving) object. @@ -652,8 +652,10 @@ vehicle Reference Point. */ HitchPointOffset ::= INTEGER { zeroPointOneMeter (1), - oneMeter (10) -} (0..100) + oneMeter (10), + outOfRange (254), + unavailable (255) +} (0..255) /** @brief Front Overhang Length of the trailer overhang in the positive x direction (according to ISO 8855) from the @@ -899,8 +901,11 @@ indicated by the @see refPointID */ XSensorOffset ::= INTEGER { negativeZeroPointZeroOneMeter (-1), - negativeOneMeter (-100) -} (-5000..0) + negativeOneMeter (-100), + negativeOutOfRange (-3094), + positiveOneMeter (100), + positiveOutOfRange (1001) +} (-5000..1001) /** @brief Y Sensor Offset Described the mounting position of a sensor in y-direction from Reference Point -- GitLab From 54139159d6935899c7c9b0497af589c05ed4880f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Tue, 11 May 2021 11:30:55 +0200 Subject: [PATCH 3/6] Adapt Ragen of speed value to cpmply with literal definition Addresses comment https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324/merge_requests/7#note_13250 --- asn/CPM_CommonDataTypes.asn | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index bf11786..29b6c7a 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -905,7 +905,7 @@ XSensorOffset ::= INTEGER { negativeOutOfRange (-3094), positiveOneMeter (100), positiveOutOfRange (1001) -} (-5000..1001) +} (-3094..1001) /** @brief Y Sensor Offset Described the mounting position of a sensor in y-direction from Reference Point -- GitLab From 4de16e72b821501708fbcb422e774000660b34f0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Tue, 11 May 2021 11:33:44 +0200 Subject: [PATCH 4/6] Add negativeSpeedMaximum literal https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324/merge_requests/7#note_13252 --- asn/CPM_CommonDataTypes.asn | 1 + 1 file changed, 1 insertion(+) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index 29b6c7a..3a167fa 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -864,6 +864,7 @@ Speed value for perceived object described in ITS Reference Frame. @unit 0,01 m/s */ SpeedValueExtended ::= INTEGER { + negativeSpeedMaximum (-16383), -- shall be set for values equal to or smaller than -163,83 m/s standstill (0), oneCentimeterPerSec (1), speedMaximum (16382), -- shall be set for values equal to or greater than 163,82 m/s -- GitLab From 49387cdddbf28a995f0c00086b07797cf10566ef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Mon, 17 May 2021 09:59:57 +0200 Subject: [PATCH 5/6] Make description of Speed and Acceleration Value less CPM specific Addresses comment https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324/merge_requests/7#note_13251 --- asn/CPM_CommonDataTypes.asn | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index 3a167fa..9dbd005 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -860,7 +860,10 @@ or the identification of the received message segment. SegmentCount ::= INTEGER( 1..127) /** @brief Speed Value Extended -Speed value for perceived object described in ITS Reference Frame. +Value of a speed component. +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. @unit 0,01 m/s */ SpeedValueExtended ::= INTEGER { @@ -872,7 +875,7 @@ SpeedValueExtended ::= INTEGER { } (-16383..16383) /** @brief Acceleration Value -Acceleration value for perceived object described in the reference frame of the disseminating ITS-S. +Value of an acceleration component. 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. -- GitLab From bb74276a2b04419e553dd220cdfda07d6d31b030 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Hendrik-J=C3=B6rn=20G=C3=BCnther?= Date: Tue, 18 May 2021 09:53:09 +0200 Subject: [PATCH 6/6] Remove confusing descriptions for speed and acceleration value --- asn/CPM_CommonDataTypes.asn | 6 ------ 1 file changed, 6 deletions(-) diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn index 9dbd005..57515e6 100644 --- a/asn/CPM_CommonDataTypes.asn +++ b/asn/CPM_CommonDataTypes.asn @@ -861,9 +861,6 @@ SegmentCount ::= INTEGER( 1..127) /** @brief Speed Value Extended Value of a speed component. -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. @unit 0,01 m/s */ SpeedValueExtended ::= INTEGER { @@ -876,9 +873,6 @@ SpeedValueExtended ::= INTEGER { /** @brief Acceleration Value Value of an acceleration component. -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 { -- GitLab