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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
CamPdu ::= SEQUENCE {
header ItsPduHeader,
cam CoopAwareness
}
ItsPduHeader ::= SEQUENCE {
-- protocolVersion fixed to 0
protocolVersion INTEGER(0..255),
messageID INTEGER(0..255),
-- milliseconds elapsed since midnight January 1st, 1970 UTC
-- STF405: introduced type StationID
mobileItsStation BOOLEAN, -- will ITS station change position?
privateItsStation BOOLEAN, -- not public authority
physicalRelevantItsStation BOOLEAN, -- can another mobile ITS station crash into this station?
-- Basic characterization of an ITS station. A more detailed classification can be given by VehicleType.
camParameters CHOICE {
irs IrsParameters,
vehicle VehicleParameters
},
...
}
VehicleParameters ::= SEQUENCE {
-- a Parameter list that has optional and mandatory entries depending on the profile of the
-- STF405: replace taggedList with profile as described in chapter 7.2
-- taggedList SET SIZE(0..32) OF TaggedValue,
vehicleCommonParameters VehicleCommonParameters,
profileDependent ProfileParameters OPTIONAL,
ProfileParameters ::= CHOICE {
emergencyVehicle EmergencyVehicle,
publicTransportVehicle PublicTransportVehicle,
-- STF405: replaced by the different profiles BasicVehicle, EmergencyVehicle and PublicTransportVehicle. Also removed tags
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--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
vehicleType VehicleType,
stationLength StationLength,
stationLengthConfidence Confidence OPTIONAL,
stationWidth StationWidth,
stationWidthConfidence Confidence OPTIONAL,
vehicleSpeed VehicleSpeed,
vehicleSpeedConfidence Confidence,
longAcceleration LongAcceleration,
accelerationControl AccelerationControl,
exteriorLights ExteriorLights,
turnAdvice TurnAdvice OPTIONAL,
distanceToStopLine DistanceToStopLine OPTIONAL,
occupancy Occupancy OPTIONAL,
doorOpen DoorOpen OPTIONAL,
posConfidenceEllipse PosConfidenceEllipse,
curvature Curvature,
curvatureGradient CurvatureGradient OPTIONAL,
crashStatus CrashStatus OPTIONAL,
headingConfidence Confidence,
dangerousGoods DangerousGoods OPTIONAL,
...
}
-- STF405: introduced as replacement for TaggedValue to reflect the profiles
EmergencyVehicle ::= SEQUENCE {
lightBarInUse LightBarInUse OPTIONAL,
sireneInUse SireneInUse OPTIONAL,
emergencyResponseType EmergencyResponseType,
...
}
-- STF405: introduced as replacement for TaggedValue to reflect the profiles
PublicTransportVehicle ::= SEQUENCE {
publicVehicleType PublicVehicleType,
pTLineDescription PTLineDescription OPTIONAL,
scheduleDeviation ScheduleDeviation OPTIONAL,
trafficLightPriority TrafficLightPriority 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)
--STF405: splitted ReferencePosition to ReferencePositionVehicle/ReferencePositionIRS for conditionality handling. Also, tags have been removed.
ReferencePositionVehicle ::= SEQUENCE {
longitude Longitude,
latitude Latitude,
elevation Elevation,
-- STF405: changed optionality due to type splitting
-- heading [1] Direction OPTIONAL,
heading Direction,
streetName StreetName OPTIONAL,
-- STF405: changed optionality due to type splitting
-- positionConfidence [3] PositionConfidence OPTIONAL,
positionConfidence Confidence,
-- STF405: changed optionality due to type splitting
-- elevationConfidence [4] Confidence OPTIONAL,
elevationConfidence Confidence,
roadSegmentID RoadSegmentID OPTIONAL
ReferencePositionIrs ::= SEQUENCE {
longitude Longitude,
latitude Latitude,
elevation Elevation,
-- STF405: removed heading and confidence elements due to type splitting
-- heading [1] Direction OPTIONAL,
streetName StreetName OPTIONAL,
-- positionConfidence [3] PositionConfidence OPTIONAL,
-- elevationConfidence [4] Confidence OPTIONAL,
roadSegmentID RoadSegmentID OPTIONAL
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)
StationLength ::= Dimension
StationWidth ::= Dimension
StreetName ::= IA5String(SIZE(1..32))
Temperature ::= INTEGER (-40..215)
TimeStamp ::= INTEGER (0.. 281474976710655) -- units of milliseconds, 6 byte
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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
}