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CAM-PDU-Descriptions {
itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102637) cam (2) version1 (1)
}
DEFINITIONS AUTOMATIC TAGS ::=
BEGIN
-- The root data frame for cooperative awareness messages
CoopAwareness ::= SEQUENCE {
-- protocolVersion fixed to 0
protocolVersion INTEGER(0..255),
-- message type ID associated to CAM = 0
messageID INTEGER(0..255),
-- milliseconds elapsed since midnight January 1st, 1970 UTC
generationTime INTEGER (0.. 281474976710655),
-- STF405: introduced type StationID
stationId StationID,
referencePosition ReferencePosition,
-- Basic characterization of an ITS station. A more detailed classification can be given by
-- VehicleType.
stationCharacteristics SEQUENCE {
mobile BOOLEAN, -- will ITS station change position?
private BOOLEAN, -- not public authority
physicalRelevant BOOLEAN, -- can another mobile ITS station crash into this station?
...
},
-- tagged list has optional and mandatory entries depending on the profile of the
-- ITS station, this is defined in a separate document
-- STF405: replace taggedList with profile as described in chapter 7.2
-- taggedList SET SIZE(0..32) OF TaggedValue,
profile ProfileParameters,
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ProfileParameters ::= CHOICE {
basicVehicle [1] BasicVehicle,
basicIRS [2] NULL,
emergencyVehicle [3] EmergencyVehicle,
publicTransportVehicle [4] PublicTransportVehicle,
...
}
-- STF405: replaced by the different profiles BasicVehicle, BasicIRS, EmergencyVehicle and PublicTransportVehicle
--TaggedValue ::= CHOICE {
-- vehicleType [1] VehicleType,
-- publicVehicleType [2] PublicVehicleType,
-- lightBarInUse [3] LightBarInUse,
-- sireneInUse [4] SireneInUse,
-- emergencyResponseType [5] EmergencyResponseType,
-- stationLength [6] StationLength,
-- stationLengthConfidence [7] Confidence,
-- stationWidth [8] StationWidth,
-- stationWidthConfidence [9] Confidence,
-- vehicleSpeed [10] VehicleSpeed,
-- vehicleSpeedConfidence [11] Confidence,
-- longAcceleration [12] LongAcceleration,
-- longAccelConfidence [13] Confidence,
-- yawRate [14] YawRate,
-- yawRateConfidence [15] Confidence,
-- accelerationControl [16] AccelerationControl,
-- exteriorLights [17] ExteriorLights,
-- causeCode [18] CauseCode,
-- ambientAirTemperature [19] AmbientAirTemperature,
-- speed [20] Speed,
-- pTLineDescription [22] PTLineDescription,
-- turnAdvice [23] TurnAdvice,
-- distanceToStopLine [24] DistanceToStopLine,
-- distanceToStoLineConfidence [25] Confidence,
-- occupancy [26] Occupancy,
-- scheduleDeviation [27] ScheduleDeviation,
-- trafficLightPriority [28] TrafficLightPriority,
-- doorOpen [29] DoorOpen,
-- dataReference [30] DataReference,
-- posConfidenceElli [31] PosConfidenceEllipse,
-- curvature [32] Curvature,
-- curvatureGradient [33] CurvatureGradient,
-- curvatureConfidence [34] Confidence,
-- wiperSystemFront [35] WiperSystemFront,
-- crashStatus [36] CrashStatus,
-- headingConfidence [37] Confidence,
-- dangerousGoods [38] DangerousGoods,
-- ...
-- }
-- STF405: introduced as replacement for TaggedValue to reflect the profiles
BasicVehicle ::= SEQUENCE {
vehicleType [1] VehicleType,
stationLength [6] StationLength,
stationLengthConfidence [7] Confidence OPTIONAL,
stationWidth [8] StationWidth,
stationWidthConfidence [9] Confidence OPTIONAL,
vehicleSpeed [10] VehicleSpeed,
vehicleSpeedConfidence [11] Confidence,
longAcceleration [12] LongAcceleration,
accelerationControl [16] AccelerationControl,
exteriorLights [17] ExteriorLights,
turnAdvice [23] TurnAdvice OPTIONAL,
distanceToStopLine [24] DistanceToStopLine OPTIONAL,
occupancy [26] Occupancy OPTIONAL,
doorOpen [29] DoorOpen OPTIONAL,
posConfidenceEllipse [31] PosConfidenceEllipse,
curvature [32] Curvature,
curvatureGradient [33] CurvatureGradient OPTIONAL,
crashStatus [36] CrashStatus OPTIONAL,
headingConfidence [37] Confidence,
dangerousGoods [38] DangerousGoods OPTIONAL,
...
}
-- STF405: introduced as replacement for TaggedValue to reflect the profiles
EmergencyVehicle ::= SEQUENCE {
vehicleType [1] VehicleType,
lightBarInUse [3] LightBarInUse OPTIONAL,
sireneInUse [4] SireneInUse OPTIONAL,
emergencyResponseType [5] EmergencyResponseType,
stationLength [6] StationLength,
stationLengthConfidence [7] Confidence OPTIONAL,
stationWidth [8] StationWidth,
stationWidthConfidence [9] Confidence OPTIONAL,
vehicleSpeed [10] VehicleSpeed,
vehicleSpeedConfidence [11] Confidence,
longAcceleration [12] LongAcceleration,
accelerationControl [16] AccelerationControl,
exteriorLights [17] ExteriorLights,
turnAdvice [23] TurnAdvice OPTIONAL,
distanceToStopLine [24] DistanceToStopLine OPTIONAL,
occupancy [26] Occupancy OPTIONAL,
doorOpen [29] DoorOpen OPTIONAL,
posConfidenceEllipse [31] PosConfidenceEllipse,
curvature [32] Curvature,
curvatureGradient [33] CurvatureGradient OPTIONAL,
crashStatus [36] CrashStatus OPTIONAL,
headingConfidence [37] Confidence,
dangerousGoods [38] DangerousGoods OPTIONAL,
...
}
-- STF405: introduced as replacement for TaggedValue to reflect the profiles
PublicTransportVehicle ::= SEQUENCE {
vehicleType [1] VehicleType,
publicVehicleType [2] PublicVehicleType,
stationLength [6] StationLength,
stationLengthConfidence [7] Confidence OPTIONAL,
stationWidth [8] StationWidth,
stationWidthConfidence [9] Confidence OPTIONAL,
vehicleSpeed [10] VehicleSpeed,
vehicleSpeedConfidence [11] Confidence,
longAcceleration [12] LongAcceleration,
accelerationControl [16] AccelerationControl,
exteriorLights [17] ExteriorLights,
pTLineDescription [22] PTLineDescription OPTIONAL,
turnAdvice [23] TurnAdvice OPTIONAL,
distanceToStopLine [24] DistanceToStopLine OPTIONAL,
occupancy [26] Occupancy OPTIONAL,
scheduleDeviation [27] ScheduleDeviation OPTIONAL,
trafficLightPriority [28] TrafficLightPriority OPTIONAL,
doorOpen [29] DoorOpen OPTIONAL,
posConfidenceEllipse [31] PosConfidenceEllipse,
curvature [32] Curvature,
curvatureGradient [33] CurvatureGradient OPTIONAL,
crashStatus [36] CrashStatus OPTIONAL,
headingConfidence [37] Confidence,
dangerousGoods [38] DangerousGoods OPTIONAL,
...
}
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AccelerationControl ::= BIT STRING {
brakePedal (0),
throttlePedal (1),
cruiseControl (2),
acc (3),
limiter (4),
brakeAssist (5)
}
AmbientAirTemperature ::= Temperature
CauseCode ::= INTEGER (0..100, ...)
Confidence ::= INTEGER (0..15)
CourseOfJourney ::= IA5String(SIZE(0..32))
CrashStatus ::= BOOLEAN
Curvature ::= INTEGER (-32765..32765)
CurvatureGradient ::= INTEGER (-1023..1023)
DataReference ::= IA5String(SIZE(1..128))
DangerousGoods ::= INTEGER (0..8191)
Dimension ::= INTEGER (0..16383)
Direction ::= INTEGER{north(0), east(7200), south(14400), west(21600)} (0..28799)
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Distance ::= INTEGER (0..65535) -- multiples of 1.0m
DistanceToStopLine ::= Distance
DoorOpen ::= BIT STRING {
driver (0),
passenger (1), -- any passenger door
maintenance (2), -- hood, other access to engine, or similar
luggage (3)
}
Elevation ::= INTEGER (-10000..16767215) -- multiples of 0.1 m
EmergencyResponseType ::= ENUMERATED {
none (0),
staticSafeguard (1), -- e.g. at accident spot
movingSafeguard (2), -- e.g. convoy or abnormal load
rightOfWay (3), -- claiming right of way
...
}
ExteriorLights ::= BIT STRING {
lowBeamHeadlightsOn (0),
highBeamHeadlightsOn (1),
leftTurnSignalOn (2),
rightTurnSignalOn (3),
automaticLightControlOn (4),
daytimeRunningLightsOn (5),
fogLightOn (6),
parkingLightsOn (7)
}
Heading ::= Direction
Latitude ::= SEQUENCE {
isSouth BOOLEAN, -- true if on southern hemisphere (sign flag)
degree INTEGER (0..900000000) -- multiples of 0.1 microdegree
}
LightBarInUse ::= SimpleSystemState
LineRef ::= IA5String(SIZE(0..32))
LongAcceleration ::= INTEGER (-2000..2000) -- multiples of 0.01 m/s^2
Longitude ::= SEQUENCE {
isEast BOOLEAN, -- true if east of 0-meridian (sign flag)
degree INTEGER (0..1800000000) -- multiples of 0.1 microdegree
}
Occupancy ::= INTEGER (0..255)
PosConfidenceEllipse ::= SEQUENCE {
-- STF405: changed type from PositionConfidence to Confidence
-- semiMajorConfidence PositionConfidence,
semiMajorConfidence Confidence, -- confidence of the ellipse's major semi-axes
-- STF405: changed type from PositionConfidence to Confidence
-- semiMinorConfidence PositionConfidence,
semiMinorConfidence Confidence, -- confidence of the ellipse's minor semi-axes
-- STF405: deleted as there is not need for this special type, all occurencies can be expressed directly by using Confidence
--PositionConfidence ::= Confidence
-- 2^PositionConfidence * 0.1m
Priority ::= INTEGER(0..7)
PTLineDescription ::= SEQUENCE {
courseOfJourney CourseOfJourney,
lineRef LineRef,
routeRef RouteRef
}
PublicVehicleType ::= INTEGER(0..255)
ReferencePosition ::= SEQUENCE {
longitude Longitude,
latitude Latitude,
elevation Elevation,
heading [1] Direction OPTIONAL, -- if relevant for position reference
streetName [2] StreetName OPTIONAL,
-- STF405: changed optionallity due to introduction of new PositionConfidence type
-- positionConfidence [3] PositionConfidence OPTIONAL,
positionConfidence [3] PositionConfidence, -- ommitted for fixed position, e.g. infrastructure location
-- STF405: changed optionallity due to introduction of new PositionConfidence type
-- elevationConfidence [4] Confidence OPTIONAL,
elevationConfidence [4] ElevationConfidence, -- ommitted for fixed position, e.g. infrastructure location
-- STF405: introduced
PositionConfidence ::= CHOICE {
mobile Confidence,
stationary NULL -- omitted for fixed position, e.g. infrastructure location
}
-- STF405: introduced
ElevationConfidence ::= CHOICE {
mobile Confidence,
stationary NULL -- omitted for fixed position, e.g. infrastructure location
}
RoadSegmentID ::= INTEGER (0..99999999)
RouteRef ::= IA5String(SIZE(0..32))
ScheduleDeviation ::= INTEGER (-900..3600) -- seconds, positiv delay; negative ahead of schedule
SimpleSystemState ::= ENUMERATED {
unavailable (0), -- not equipped or out of order
disabled (1), -- switched off by user or due to driving situation, e.g. ACC below minimum speed
enabled (2), -- switched on but no action, e.g. ESP in normal operation, limiter below limit speed
engaged (3) -- switched on and in action, e.g. light bar flashing, limiter limiting speed
}
SireneInUse ::= SimpleSystemState
Speed ::= INTEGER (-32765..32765) -- multiples of 0.01 m/s
-- STF405: introduced
StationID ::= INTEGER(0..4294967295)
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StationLength ::= Dimension
StationWidth ::= Dimension
StreetName ::= IA5String(SIZE(1..32))
Temperature ::= INTEGER (-40..215)
TrafficLightPriority ::= Priority
TurnAdvice ::= SEQUENCE {
direction TurnDirection,
distance Distance
}
TurnDirection ::= BIT STRING {
uTurn (0),
sharpRight (1),
right (2),
slightRight (3),
straight (4),
slightLeft (5),
left (6),
sharpLeft (7)
}
VehicleSpeed ::= Speed
VehicleType ::= INTEGER (0..255)
WiperSystemFront ::= ENUMERATED {
idle (0),
interval (1),
normal (2),
fast (3),
washerActive (4)
}
-- STF405: changed
-- YawRate ::= INTEGER (-32765..32765)
YawRate ::= SEQUENCE {
isLeft BOOLEAN, -- true if yaw is to the left
yawRate INTEGER (0..32765) -- multiples of 0.01deg/s
}