V2.1.1 - publication (!1) · Merge requests · ITS - Intelligent Transport Systems / ASN1 / VAM TS 103 300-3

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README.md

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		# ASN.1 module for VAM - ETSI TS 103 300-3

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

		@@ -13,3 +14,5 @@ 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

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Changes for VAM-PDU-Descriptions.asn: 298 added lines, 47 removed lines.
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		-- ETSI TS 103 300-3 V0.5.0 (2020-09)

		VAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)
		wg1(1) ts(103300) vam(3) version(1)}
		wg1(1) ts(103300) vam(1) version1(1)}
		DEFINITIONS AUTOMATIC TAGS ::=
		BEGIN

		IMPORTS
		ItsPduHeader, ReferencePosition, AccelerationControl,
		Heading, HeadingValue, Speed, StationID, VehicleLength, VehicleWidth,
		PathHistory, ProtectedCommunicationZone, PtActivation,
		Latitude, Longitude, ProtectedCommunicationZonesRSU
		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)}

		@@ -15,88 +17,337 @@ BEGIN
		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
		}

		-- contains StationId
		-- StationId should change when certificate changes, or when VRU
		-- enters or leaves a cluster (as leader or otherwise)
		ItsPduHeaderVam ::= ItsPduHeader(WITH COMPONENTS {
		...,
		messageID(vam)
		})

		VruAwareness ::= SEQUENCE {
		generationDeltaTime GenerationDeltaTime,
		vamParameters VamParameters,
		vamExtensions SEQUENCE (SIZE(0..MAX)) OF VamExtension
		generationDeltaTime GenerationDeltaTime, -- from CAM-PDU-Descriptions
		vamParameters VamParameters
		}

		VamParameters ::= SEQUENCE {
		activeProfile VruProfileId,
		physicalProperties VruPhysicalProperties,
		dyanmicProperties VruDynamicProperties,
		basicContainer BasicContainer, -- from VAM-Temp-Imports
		vruHighFrequencyContainer VruHighFrequencyContainer OPTIONAL,
		vruLowFrequencyContainer VruLowFrequencyContainer OPTIONAL,
		vruClusterInformationContainer VruClusterInformationContainer OPTIONAL,
		vruClusterOperationContainer VruClusterOperationContainer OPTIONAL,
		vruMotionPredictionContainer VruMotionPredictionContainer OPTIONAL,
		...
		}

		VruProfileId ::= ENUMERATED {
		pedestrian(1), lowSpeedTwoWheel(2), fullSpeedTwoWheel(3), animal(4), ...

		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,
		...
		}

		VruPhysicalProperties ::= CHOICE {
		singleVruPhysInfo SingleVruPhysicalInfo,
		clusterPhysInfo VruClusterPhysicalInfo,
		VruLanePosition ::= CHOICE {
		offRoadLanePosition OffRoadLanePosition,
		vehicularLanePosition LanePosition, -- from ITS-Container
		trafficIslandPosition TrafficIslandPosition,
		mapPosition MapPosition,
		...
		}

		SingleVruPhysicalInfo ::= SEQUENCE {
		referencePoint ReferencePosition,
		orientation Heading,
		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,
		clusterExitInfo StationID OPTIONAL,
		clusterLeaveInfo ClusterLeaveInfo OPTIONAL,
		clusterBreakupInfo ClusterBreakupInfo OPTIONAL,
		clusterIdChangeTimeInfo VruClusterOpTimestamp OPTIONAL,
		...
		}

		VruClusterOpTimestamp ::= INTEGER (1..255)

		ClusterJoinInfo ::= SEQUENCE {
		clusterId StationID,
		countdown INTEGER(0..7),
		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,
		...
		}

		VruClusterPhysicalInfo ::= SEQUENCE {
		referencePoint ReferencePosition, -- middle of front edge of cluster
		heading HeadingValue, -- direction of perp. line through referencePoint
		width VruClusterSideLength, -- width (with referencePoint in the
		-- middle) in units of 10 cm
		length VruClusterSideLength, -- length (from referencePoint to rear of
		-- cluster) in units of 10 cm
		number INTEGER(0..255), -- 0 means unknown
		StationSafeDistanceIndication ::= BOOLEAN

		SequenceOfTrajectoryInterceptionIndication ::=
		SEQUENCE (SIZE(1..8)) OF TrajectoryInterceptionIndication

		TrajectoryInterceptionIndication ::= SEQUENCE {
		subjectStation StationID OPTIONAL,
		trajectoryInterceptionProbability TrajectoryInterceptionProbability,
		trajectoryInterceptionConfidence TrajectoryInterceptionConfidence OPTIONAL,
		...
		}

		VruClusterSideLength ::= INTEGER {tenCentimeters(1), outOfRange(61), unavailable(62)} (1..62)
		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)

		-- none of these fields are OPTIONAL as each of the types below has an "unknown" value, which
		-- should be used if the value isn't provided.
		VruDynamicProperties ::= SEQUENCE {
		heading Heading,
		speed Speed,
		longitudinalAcceleration LongitudinalAcceleration,
		laterialAcceleration LateralAcceleration,
		verticalAcceleration VerticalAcceleration,
		yawRate YawRate,
		pastLocations PathHistory,
		predictedLocations PathHistory,
		HeadingChangeIndication ::= SEQUENCE {
		direction LeftOrRight,
		actionDeltaTime ActionDeltaTime,
		...
		}

		VamExtension ::= CHOICE {
		dummy NULL,
		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

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		-- ETSI TS 103 300-3 V0.5.0 (2020-09)

		-- 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

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Changes for motorcyclist-special-container.asn: 41 added lines, 0 removed lines.
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		-- ETSI TS 103 300-3 V0.5.0 (2020-09s)

		-- 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

V2.1.1 - publication

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