Newer
Older
-- ETSI TS 103 300-3 V2.1.1 (2020-11)
VAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)
wg1(1) ts(103300) vam(1) version1(1)}
Curvature, CurvatureCalculationMode, ExteriorLights, Heading,
LanePosition, LateralAcceleration, LongitudinalAcceleration,
PathDeltaTime, PathHistory, ReferencePosition, Speed,
StationID, VerticalAcceleration, YawRate
FROM ITS-Container {itu-t(0) identified-organization(4) etsi(0)
itsDomain(5) wg1(1) ts(102894) cdd(2) version(2)}
GenerationDeltaTime
FROM CAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0)
itsDomain(5) wg1(1) en(302637) cam(2) version(2)}
-- Note: sVAM-Temp-Imports defines types that are intended to be updated within
-- or added to the Common Data Dictionary. Once the CDD has been updated,
-- VAM-Temp-Imports will also be updated to import the new types directly
-- from the CDD. The use of WITH SUCCESSORS ensures that the import
-- statement below will not have to change.
AreaCircular, AreaPolygon, AreaRectangle, BasicContainer, ItsPduHeader
FROM VAM-Temp-Imports {itu-t(0) identified-organization(4) etsi(0)
itsDomain(5) wg1(1) ts(103300) temp-imports(255) version1(1)}
WITH SUCCESSORS
IntersectionReferenceID, LaneID
FROM DSRC {iso (1) standard (0) signalizedIntersection (19091) profilec(2)
dsrc (2) version (2)}
VAM ::= SEQUENCE {
header ItsPduHeaderVam,
vam VruAwareness
}
ItsPduHeaderVam ::= ItsPduHeader(WITH COMPONENTS {
...,
messageID(vam)
})
generationDeltaTime GenerationDeltaTime, -- from CAM-PDU-Descriptions
vamParameters VamParameters
basicContainer BasicContainer, -- from VAM-Temp-Imports
vruHighFrequencyContainer VruHighFrequencyContainer OPTIONAL,
vruLowFrequencyContainer VruLowFrequencyContainer OPTIONAL,
vruClusterInformationContainer VruClusterInformationContainer OPTIONAL,
vruClusterOperationContainer VruClusterOperationContainer OPTIONAL,
vruMotionPredictionContainer VruMotionPredictionContainer OPTIONAL,
VruProfile ::= ENUMERATED {
unavailable(0), pedestrian(1), cyclist(2), motorcyclist(3), animal(4),
max(15)
}
VruHighFrequencyContainer ::= SEQUENCE {
heading Heading, -- from ITS-Container
speed Speed, -- from ITS-Container
longitudinalAcceleration LongitudinalAcceleration, -- from ITS-Container
curvature Curvature OPTIONAL, -- from ITS-Container
curvatureCalculationMode CurvatureCalculationMode OPTIONAL, -- from ITS-Container
yawRate YawRate OPTIONAL, -- from ITS-Container
lateralAcceleration LateralAcceleration OPTIONAL, -- from ITS-Container
verticalAcceleration VerticalAcceleration OPTIONAL, -- from ITS-Container
vruLanePosition VruLanePosition OPTIONAL,
environment VruEnvironment OPTIONAL,
movementControl VruMovementControl OPTIONAL,
orientation VruOrientation OPTIONAL,
rollAngle VruRollAngle OPTIONAL,
deviceUsage VruDeviceUsage OPTIONAL,
...
VruLanePosition ::= CHOICE {
offRoadLanePosition OffRoadLanePosition,
vehicularLanePosition LanePosition, -- from ITS-Container
trafficIslandPosition TrafficIslandPosition,
mapPosition MapPosition,
OffRoadLanePosition ::= ENUMERATED {
unavailable(0), sidewalk(1), parkingLane(2), bikeLane(3),
max(15)
}
TrafficIslandPosition ::= SEQUENCE {
oneSide NonIslandLanePosition,
otherSide NonIslandLanePosition,
...
}
NonIslandLanePosition ::= CHOICE {
offRoadLanePosition OffRoadLanePosition,
vehicularLanePosition LanePosition, -- from ITS-Container
mapPosition MapPosition,
MapPosition ::= SEQUENCE {
intersectionId IntersectionReferenceID,
lane LaneID
}
VruEnvironment ::= ENUMERATED {
unavailable (0), intersectionCrossing(1), zebraCrossing(2), sidewalk (3),
onVehicleRoad(4), protectedGeographicArea(5), max (255)
-- values 6-254 reserved for later use
}
VruMovementControl ::= ENUMERATED {
unavailable (0), braking(1), hardBraking(2), stopPedaling (3),
brakingAndStopPedaling(4), hardBrakingAndStopPedaling (5),
noReaction(6), max (255)
-- values 7-254 reserved for later use
}
VruOrientation ::= Heading -- from ITS-Container
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
VruDeviceUsage ::= ENUMERATED {
unavailable(0), other(1), idle(2), listeningToAudio(3), typing(4),
calling(5), playingGames(6), reading(7), viewing(8), max(255)
-- values 9-254 reserved for later use
}
VruLowFrequencyContainer ::= SEQUENCE {
profileAndSubprofile VruProfileAndSubprofile OPTIONAL,
exteriorLights VruExteriorLights OPTIONAL,
sizeClass VruSizeClass OPTIONAL,
...
}
VruProfileAndSubprofile ::= CHOICE {
pedestrian VruSubProfilePedestrian,
bicyclist VruSubProfileBicyclist,
motorcylist VruSubProfileMotorcyclist,
animal VruSubProfileAnimal,
...
}
VruSubProfilePedestrian ::= ENUMERATED {
unavailable(0), ordinary-pedestrian(1),
road-worker(2), first-responder(3),
max(15)
}
VruSubProfileBicyclist ::= ENUMERATED {
unavailable(0), bicyclist(1), wheelchair-user(2), horse-and-rider(3),
rollerskater(4), e-scooter(5), personal-transporter(6),
pedelec(7), speed-pedelec(8),
max(15)
}
VruSubProfileMotorcyclist ::= ENUMERATED {
unavailable(0), moped(1), motorcycle(2), motorcycle-and-sidecar-right(3),
motorcycle-and-sidecar-left(4), max(15)
}
VruSubProfileAnimal ::= ENUMERATED {
unavailable(0), wild-animal(1), farm-animal(2), service-animal(3), max(15)
}
VruExteriorLights ::= SEQUENCE {
vruSpecific VruSpecificExteriorLights, -- defined below
}
VruSpecificExteriorLights ::= BIT STRING {
unavailable (0),
backFlashLight (1),
helmetLight (2),
armLight (3),
legLight (4),
wheelLight (5)
} (SIZE(8))
VruSizeClass ::= ENUMERATED {
unavailable (0), low(1), medium(2), high (3), max(15)
-- values 4-14 reserved for later use
}
VruClusterInformationContainer ::= SEQUENCE {
clusterId ClusterId,
clusterBoundingBoxShape ClusterBoundingBoxShape,
clusterCardinalitySize ClusterCardinalitySize, -- 0 means unknown
clusterProfiles ClusterProfiles,
...
}
ClusterId ::= INTEGER(0..255)
ClusterBoundingBoxShape::= CHOICE {
clusterRectangle AreaRectangle, -- from VAM-Temp-Imports
clusterCircle AreaCircular, -- from VAM-Temp-Imports
clusterPolygon AreaPolygon, -- from VAM-Temp-Imports
...
}
ClusterCardinalitySize ::= INTEGER {unavailable(0), onlyLeader(1)} (0..255)
ClusterProfiles ::= BIT STRING {
pedestrian(0),
bicyclist(1),
motorcyclist(2),
animal(3)
} (SIZE(4))
-- this is OPTIONAL elements rather than a CHOICE because a
-- VRU ITS-S could be leaving one cluster and joining another.
VruClusterOperationContainer ::= SEQUENCE {
clusterJoinInfo ClusterJoinInfo OPTIONAL,
clusterLeaveInfo ClusterLeaveInfo OPTIONAL,
clusterBreakupInfo ClusterBreakupInfo OPTIONAL,
clusterIdChangeTimeInfo VruClusterOpTimestamp OPTIONAL,
...
}
VruClusterOpTimestamp ::= INTEGER (1..255)
clusterId ClusterId,
joinTime VruClusterOpTimestamp,
...
}
ClusterLeaveInfo ::= SEQUENCE {
clusterId ClusterId,
clusterLeaveReason ClusterLeaveReason,
ClusterBreakupInfo ::= SEQUENCE {
clusterBreakupReason ClusterBreakupReason,
breakupTime VruClusterOpTimestamp,
ClusterLeaveReason ::= ENUMERATED {
notProvided (0),
clusterLeaderLost (1),
clusterDisbandedByLeader (2),
outOfClusterBoundingBox (3),
outOfClusterSpeedRange (4),
joiningAnotherCluster (5),
ClusterBreakupReason ::= ENUMERATED {
notProvided (0),
clusteringPurposeCompleted (1),
leaderMovedOutOfClusterBoundingBox (2),
joiningAnotherCluster (3),
enteringLowRiskAreaBasedOnMaps (4),
receptionOfCpmContainingCluster (5),
max(15)
}
VruMotionPredictionContainer ::= SEQUENCE {
safeDistance SequenceOfVruSafeDistanceIndication OPTIONAL,
trajectoryInterceptionIndication SequenceOfTrajectoryInterceptionIndication OPTIONAL,
accelerationChangeIndication AccelerationChangeIndication OPTIONAL,
headingChangeIndication HeadingChangeIndication OPTIONAL,
stabilityChangeIndication StabilityChangeIndication OPTIONAL,
SequenceOfVruPathPoint ::= SEQUENCE OF VruPathPoint
VruPathPoint ::= SEQUENCE {
pathPosition ReferencePosition,
pathDeltaTime PathDeltaTime OPTIONAL
}
SequenceOfVruSafeDistanceIndication ::=
SEQUENCE(SIZE(1..8)) OF VruSafeDistanceIndication
VruSafeDistanceIndication ::= SEQUENCE {
subjectStation StationID OPTIONAL,
stationSafeDistanceIndication StationSafeDistanceIndication,
timeToCollision ActionDeltaTime OPTIONAL,
SequenceOfTrajectoryInterceptionIndication ::=
SEQUENCE (SIZE(1..8)) OF TrajectoryInterceptionIndication
TrajectoryInterceptionIndication ::= SEQUENCE {
subjectStation StationID OPTIONAL,
trajectoryInterceptionProbability TrajectoryInterceptionProbability,
trajectoryInterceptionConfidence TrajectoryInterceptionConfidence OPTIONAL,
TrajectoryInterceptionProbability ::= INTEGER { zero(0), twoPercent(1),
fourPercent(2), oneHundredPercent(50), unavailable (63) } (0..63)
TrajectoryInterceptionConfidence ::= INTEGER { lessthan50percent(0),
between50and70Percent(1), between70and90Percent(2), above90Percent(3) } (0..3)
HeadingChangeIndication ::= SEQUENCE {
direction LeftOrRight,
actionDeltaTime ActionDeltaTime,
...
}
LeftOrRight ::= ENUMERATED { left, right }
ActionDeltaTime ::= INTEGER {zero(0), hundredMs(1), twoHundredMs(2),
unavailable (127) } (0..127)
AccelerationChangeIndication ::= SEQUENCE {
accelOrDecel AccelOrDecel,
actionDeltaTime ActionDeltaTime,
...
}
AccelOrDecel ::= ENUMERATED { accelerate, decelerate }
StabilityChangeIndication ::= SEQUENCE {
lossProbability StabilityLossProbability,
actionDeltaTime ActionDeltaTime,
...
}
StabilityLossProbability ::= INTEGER { zero(0), twoPercent (1),
fourPercent(2), unavailable (63) } (0..63)