Commit d88b54fd authored by ASN.1 Documenter's avatar ASN.1 Documenter
Browse files

Merge development branch 'v.1.1.1' into master

parents d9fdc37a 2fe61160

README.md

+4 −4
Original line number Diff line number Diff line 
# ASN.1 module for VAM - ETSI TS 103 300-3



This repository contains Specification of the VRU Awareness Message format for the VRU Awareness Basic Service in ETSI TS 103 300-3.

This repository contains VRU Awareness Basic Service ETSI TS 103 300-3  Specification of the VRU Awareness Message format.



The asn.1 files for TS 103 300-1 V2.1.1 can be found in the tagged version : https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3/tree/v.1.1.1/



The text of the TS 103 300-1 V2.1.1 can be found using the link (still ongoing).

The text of the TS 103 300-1 V2.1.1 can be found using the link https://www.etsi.org/deliver/etsi_ts/103300_103399/10330003/02.01.01_60/ts_10330003v020101p.pdf.



## License
@@ -17,3 +15,5 @@ To compile the VAM, the following dependencies are required: 


- **[CAM-PDU-Descriptions](https://forge.etsi.org/rep/ITS/asn1/cam_ts302637_2)** module from [ETSI EN 302 637-2 v1.4.1](https://www.etsi.org/deliver/etsi_en/302600_302699/30263702/01.04.01_60/en_30263702v010401p.pdf) - Cooperative Awareness Service

- **[ITS-Container](https://forge.etsi.org/rep/ITS/asn1/cdd_ts102894_2)** module from [ETSI TS 102 894-2 v1.3.1](https://www.etsi.org/deliver/etsi_ts/102800_102899/10289402/01.03.01_60/ts_10289402v010301p.pdf) - Common Data Dictionary

- **[DSRC, AddGrpC](https://standards.iso.org/iso/ts/19091/)** modules from [ISO TS 19091](https://www.iso.org/standard/69897.html) - for intersection and lane identifiers

- **[ElectronicRegistrationIdentificationVehicleDataModule](https://standards.iso.org/iso/24534/-4/)** module from [ISO TS 24534-3](https://www.iso.org/standard/59306.html)

VAM-PDU-Descriptions.asn

0 → 100755
+353 −0
Original line number Diff line number Diff line 
-- 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)}

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN



    IMPORTS

    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)

    })



    VruAwareness ::= SEQUENCE {

        generationDeltaTime  GenerationDeltaTime, -- from CAM-PDU-Descriptions

        vamParameters        VamParameters 

    }



    VamParameters ::= SEQUENCE {

        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



    VruRollAngle ::= Heading -- from ITS-Container



    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

        vehicular         ExteriorLights

    }



    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)



    ClusterJoinInfo ::= SEQUENCE {

        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),

         cancelledJoin                 (6),

         failedJoin                    (7),

         safetyCondition               (8),

         max(15)            

    }



    ClusterBreakupReason ::= ENUMERATED {

         notProvided                        (0),

         clusteringPurposeCompleted         (1),

         leaderMovedOutOfClusterBoundingBox (2),    

         joiningAnotherCluster              (3),

         enteringLowRiskAreaBasedOnMaps     (4),

         receptionOfCpmContainingCluster    (5),

         max(15)                                                                 

    }



    VruMotionPredictionContainer ::= SEQUENCE {

        pathHistory                      PathHistory OPTIONAL,

        pathPrediction                   SequenceOfVruPathPoint OPTIONAL,

        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,

        ...

    }



    StationSafeDistanceIndication ::= BOOLEAN



    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) 





END

VAM-Temp-Imports.asn

0 → 100644
+110 −0
Original line number Diff line number Diff line 
-- ETSI TS 103 300-3 V2.1.1 (2020-11)



-- Note: This module defines types that are intended to be updated within 

-- or added to the Common Data Dictionary. Defining the types in this

-- module allows them to be used by the VAM before the CDD has been

-- updated. Once the CDD has been updated, this module will also be 

-- updated to import the new types directly from the CDD, and the

-- version number of this module will be incremented.



VAM-Temp-Imports {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)

    wg1(1) ts(103300) temp-imports(255) version1(1)}



DEFINITIONS AUTOMATIC TAGS ::=



BEGIN



IMPORTS



ReferencePosition, StationID

FROM ITS-Container 

  {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 

   ts (102894) cdd (2) version (2)}



NodeOffsetPointXY, Offset-B10, Offset-B11, Offset-B12, Offset-B13, 

Offset-B14, Offset-B16

FROM DSRC 

  {iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) 

   version (2)}



;



-- identical to BasicContainer as used in CAM 

BasicContainer ::= SEQUENCE {

    stationType       StationType, -- from VAM-Temp-Imports

    referencePosition ReferencePosition, -- from ITS-Container

    ...

}



ItsPduHeader ::= SEQUENCE {

    protocolVersion INTEGER (0..255),

    messageID INTEGER{ denm(1), cam(2), poi(3), spatem(4), mapem(5), ivim(6), ev-rsr(7), tistpgtransaction(8), srem(9), ssem(10), evcsn(11), saem(12), rtcmem(13), vam(14) } (0..255),  -- Mantis #7209, #7005

    stationID StationID

}









AreaCircular ::= SEQUENCE {

    nodeCenterPoint      OffsetPoint OPTIONAL,

    radius               Radius

}



AreaPolygon ::= SEQUENCE {

    polyPointList   PolyPointList

}



AreaRectangle ::= SEQUENCE {

    nodeCenterPoint             OffsetPoint OPTIONAL,

    semiMajorRangeLength        SemiRangeLength,

    semiMinorRangeLength        SemiRangeLength,

    semiMajorRangeOrientation   WGS84AngleValue,

    semiHeight                  SemiRangeLength OPTIONAL

}



OffsetPoint ::= SEQUENCE{

    nodeOffsetPointXY   NodeOffsetPointXY (WITH COMPONENTS {..., node-LatLon ABSENT, regional ABSENT}),

    nodeOffsetPointZ    NodeOffsetPointZ OPTIONAL

}





NodeOffsetPointZ ::= CHOICE {

    node-Z1 Offset-B10, -- node is within 5.11m of last node

    node-Z2 Offset-B11, -- node is within 10.23m of last node

    node-Z3 Offset-B12, -- node is within 20.47m of last node

    node-Z4 Offset-B13, -- node is within 40.96m of last node

    node-Z5 Offset-B14, -- node is within 81.91m of last node

    node-Z6 Offset-B16  -- node is within 327.67m of last node

}





Radius ::= INTEGER {

    zeroPointOneMeter   (1),

    oneMeter            (10)

}  (0..10000)





PolyPointList ::= SEQUENCE (SIZE(3..16, ...)) OF OffsetPoint



SemiRangeLength ::= INTEGER {

    zeroPointOneMeter   (1),

    oneMeter            (10)

} (0..10000)



WGS84AngleValue ::= INTEGER {

    wgs84North          (0),

    wgs84East           (900),

    wgs84South          (1800),

    wgs84West           (2700),

    unavailable         (3601)

} (0..3601)



StationType ::= INTEGER {

    unknown(0), pedestrian(1), cyclist(2), moped(3), motorcycle(4),

    passengerCar(5), bus(6), lightTruck(7), heavyTruck(8), trailer(9), 

    specialVehicles(10), tram(11), lightVruVehicle(12), animal(13), 

    roadSideUnit(15)

}

(0..255)



END

motorcyclist-special-container.asn

0 → 100644
+41 −0
Original line number Diff line number Diff line 
-- ETSI TS 103 300-3 V2.1.1 (2020-11)



-- This module defines a special container for motorcycles, to be integrated into the 

-- Cooperative Awareness Message (CAM) defined in EN 302 637-2



VRU-Motorcyclist-Special-Container {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)

    wg1(1) ts(103300) motorcyclist-special-container(2) version1(1)}





DEFINITIONS AUTOMATIC TAGS ::= 



BEGIN



IMPORTS

    SequenceOfVruPathPoint, SequenceOfVruSafeDistanceIndication,

    StabilityChangeIndication, VruOrientation, VruRollAngle,

    VruSizeClass, VruSubProfileMotorcyclist

FROM VAM-PDU-Descriptions 

    {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)

     wg1(1) ts(103300) vam(1) version1(1)}



    PathHistory

FROM ITS-Container 

    {itu-t(0) identified-organization(4) etsi(0)

     itsDomain(5) wg1(1) ts(102894) cdd(2) version(2)}

;



MotorcylistSpecialContainer ::= SEQUENCE {

   vruSubProfileMotorcyclist   VruSubProfileMotorcyclist,

   vruSizeClass                VruSizeClass,

   rollAngle                   VruRollAngle OPTIONAL, 

   orientation                 VruOrientation OPTIONAL,

   vruSafeDistance             SequenceOfVruSafeDistanceIndication OPTIONAL,

   pathPrediction              SequenceOfVruPathPoint OPTIONAL,

   stabilityChangeIndication   StabilityChangeIndication OPTIONAL,

   ...

}







END