Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
230 lines
12 KiB
Plaintext
230 lines
12 KiB
Plaintext
-- Draft V0.0.4_2.2.1 - VAM TS 103 300-1 ASN.1 module
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-- Based on the official version available at @url https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3/-/tree/v2.1.1
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-- Modified to import from the CDD module V2.1.1
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VAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)
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wg1(1) 103300 vam(1) major-version-3(3) minor-version-1(1)}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS
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AccelerationChangeIndication, BasicContainer, CartesianAngle, ClusterBreakupInfo,
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ClusterJoinInfo, ClusterLeaveInfo, Curvature, CurvatureCalculationMode,
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DeltaTimeQuarterSecond, GenerationDeltaTime, HeadingChangeIndication, ItsPduHeader, LanePosition,
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LateralAcceleration, LongitudinalAcceleration, PathHistory, PathPredicted,
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SequenceOfSafeDistanceIndication, SequenceOfTrajectoryInterceptionIndication,
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SequenceOfTrajectoryInterceptionIndication, Speed, StabilityChangeIndication, StationId,
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TrajectoryInterceptionIndication, VerticalAcceleration, VruClusterInformation, VruDeviceUsage,
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VruEnvironment, VruExteriorLights, GeneralizedLanePosition, VruProfileAndSubprofile, VruMovementControl,
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VruSizeClass, YawRate, Wgs84Angle
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FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-3 (4) minor-version-3 (3) }
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WITH SUCCESSORS
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;
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VAM ::= SEQUENCE {
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header ItsPduHeaderVam,
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vam VruAwareness
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}
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/**
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* @details ItsPduHeaderVam
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* The ITS PDU header for the VAM.
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*
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* This DF includes DEs for the VAM _protocolVersion_, the VAM message type identifier _messageID_
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* and the station identifier _stationID_ of the originating ITS-S.
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*
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* @category: Communication information
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* @revision: V2.2.1
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*/
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ItsPduHeaderVam ::= ItsPduHeader(WITH COMPONENTS {..., protocolVersion(3), messageId(vam)})
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/**
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* @details VruAwareness
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* VAM payload.
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*
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* It includes the time stamp of the VAM and the VAM different containers
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*
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* @category: Communication information
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* @revision: V2.2.1
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*/
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VruAwareness ::= SEQUENCE {
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generationDeltaTime GenerationDeltaTime,
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vamParameters VamParameters
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}
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/**
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* @details VamParameters
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* The VAM payload includes the @ref BasicContainer and @ref VruHighFrequencyContainer.
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* The VAM payload may also include additional containers: @ref VruLowFrequencyContainer,
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* @ref VruClusterInformationContainer, @ref VruClusterOperationContainer and @ref VruMotionPredictionContainer.
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* The selection of the additional containers depends on the dissemination criteria,
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* e.g. _vruCluster_ or _MotionDynamicPrediction_ availability.
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*
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* @category: Communication information
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* @revision: V2.2.1
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**/
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VamParameters ::= SEQUENCE {
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basicContainer BasicContainer,
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vruHighFrequencyContainer VruHighFrequencyContainer,
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vruLowFrequencyContainer VruLowFrequencyContainer OPTIONAL,
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vruClusterInformationContainer VruClusterInformationContainer OPTIONAL,
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vruClusterOperationContainer VruClusterOperationContainer OPTIONAL,
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vruMotionPredictionContainer VruMotionPredictionContainer OPTIONAL,
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...
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}
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/**
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* @details VruHighFrequencyContainer
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* The VRU HF container of the VAM contains potentially fast-changing status information of the VRU ITS-S.
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* It includes the following components (setting indications are specified in clause 7.3.3 of TS 103 300-3):
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*
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* @field heading: heading and heading confidence of the originating VRU with regards to the true north.
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* @field speed: speed in moving direction and speed confidence of the originating VRU.
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* @field longitudinalAcceleration: longitudinal acceleration of the originating VRU.
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* @field curvature: related to the actual trajectory of the originating VRU vehicle.
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_(recommended for VRU Profile 2)_
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* @field curvatureCalculationMode: indicates whether vehicle yaw-rate is used in the calculation of
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* the curvature of the VRU vehicle ITS-S that originates the VAM. _(recommended for VRU Profile 2)_
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* @field yawRate: yaw rate of originating VRU vehicle. _(recommended for VRU Profile 2)_
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* @field lateralAcceleration: originating VRU lateral acceleration in the street plane.
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* This field shall be present if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
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* @field verticalAcceleration: vertical acceleration of the originating VRU.
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* This field shall be present if the data is available at the originating ITS-S.
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* @field vruLanePosition: lane position of the referencePosition of a VRU, which is either a VRU-specific non-traffic lane
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* or a standard traffic lane. This field shall be present if the data is available at the originating ITS-S.
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* @field environment: provides contextual awareness of the VRU among other road users.
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* This field shall be present only if the data is available at the originating ITS-S.
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* @field movementControl: indicates the mechanism used by the VRU to control the longitudinal movement of the VRU vehicle.
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* This field shall be present only if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
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* @field orientation : complements the dimensions of the VRU vehicle by defining the angle of the VRU vehicle longitudinal
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* axis with regards to the WGS84 north. _(recommended for VRU Profile 2)_
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* @field rollAngle: provides the angle and angle accuracy between the ground plane and the current orientation of a vehicle's
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* y-axis with respect to the ground plane about the x-axis according to the ISO 8855.
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* This field shall be present only if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
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* @field deviceUsage: provides indications from the personal device about the potential
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* activity of the VRU. This field shall be present only if the data is available at the originating ITS-S.
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* _(recommended for VRU Profile 1)_
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*
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* @category: VRU information
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* @revision: V2.2.1
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*/
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VruHighFrequencyContainer ::= SEQUENCE {
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heading Wgs84Angle,
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speed Speed,
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longitudinalAcceleration LongitudinalAcceleration,
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curvature Curvature OPTIONAL,
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curvatureCalculationMode CurvatureCalculationMode OPTIONAL,
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yawRate YawRate OPTIONAL,
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lateralAcceleration LateralAcceleration OPTIONAL,
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verticalAcceleration VerticalAcceleration OPTIONAL,
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vruLanePosition GeneralizedLanePosition OPTIONAL,
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environment VruEnvironment OPTIONAL,
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movementControl VruMovementControl OPTIONAL,
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orientation Wgs84Angle OPTIONAL,
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rollAngle CartesianAngle OPTIONAL,
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deviceUsage VruDeviceUsage OPTIONAL,
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...
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}
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/**
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* @details VruLowFrequencyContainer
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* The VRU LF container of the VAM contains potentially slow-changing information of the VRU ITS-S.
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* It is mandatory with higher periodicity as specified in clause 6.2 or when VRU cluster operation container is present.
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* It includes the following components (setting indications are specified in clause 7.3.4 of TS 103 300-3):
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*
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* @field profileAndSubprofile: profile of the ITS-S that originates the VAM, including sub-profile information.
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* @field sizeClass: information about the size of the VRU.
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* @field exteriorLights: status of the most important exterior lights switches of the VRU ITS-S that originates the VAM.
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* _(conditional mandatory as specified in clause 7.3.4 of TS 103 300-3)_
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*
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* @category: VRU information
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* @revision: V2.2.1
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*/
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VruLowFrequencyContainer ::= SEQUENCE {
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profileAndSubprofile VruProfileAndSubprofile,
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sizeClass VruSizeClass OPTIONAL,
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exteriorLights VruExteriorLights OPTIONAL,
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...
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}
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/**
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* @details VruClusterInformationContainer
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* The VRU Cluster Information container of the VAM provides the information/parameters relevant to the VRU cluster.
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* It is mandatory if the VAM is transmitted by VRU cluster leader.
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* It includes the following components (setting indications are specified in clause 7.3.5 of TS 103 300-3):
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*
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* @field vruClusterInformation: set of parammeters releated to the VRU cluster.
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* When transmitted by a VRU ITS-S, the clusterId and clusterBoundingBoxShape fields inside this DF shall be present.
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* The clusterBoundingBoxShape is positioned with respect to the position sent in the BasicContainer.
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*
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* @category: VRU information
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* @revision: V2.2.1
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*/
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VruClusterInformationContainer::= SEQUENCE{
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vruClusterInformation VruClusterInformation (WITH COMPONENTS{..., clusterId, clusterBoundingBoxShape PRESENT}),
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...
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}
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/**
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* @details VruClusterOperationContainer
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* The VRU Cluster Operation container of the VAM provides information relevant to change of cluster state and composition.
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* It is mandatory if the VAM is transmitted by a VRU joining, leaving or breaking up a cluster.
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* It includes the following components (setting indications are specified in clause 7.3.5 of TS 103 300-3).
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* At least one of the fields below shall be present if the container is present in the VAM:
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*
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* @field clusterJoinInfo: indicates the intent of an individual VAM transmitter to join a cluster.
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* @field clusterLeaveInfo : indicates that an individual VAM transmitter has recently left the VRU cluster.
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* @field clusterBreakupInfo: indicates the intent of a cluster VAM transmitter to stop sending cluster VAMs.
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* @field clusterIdChangeTimeInfo: indicates the intent of a cluster VAM transmitter to change cluster ID.
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*
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* @category: VRU information
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* @revision: V2.2.1
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*/
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VruClusterOperationContainer ::= SEQUENCE {
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clusterJoinInfo ClusterJoinInfo OPTIONAL,
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clusterLeaveInfo ClusterLeaveInfo OPTIONAL,
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clusterBreakupInfo ClusterBreakupInfo OPTIONAL,
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clusterIdChangeTimeInfo DeltaTimeQuarterSecond OPTIONAL,
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...
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}
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/**
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* @details VruMotionPredictionContainer
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* The VRU Motion Prediction container of the VAM carries the past and future motion state information of the VRU.
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* It includes the following components (setting indications are specified in clause 7.3.6 of TS 103 300-3).
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* At least one of the fields below shall be present if the container is present in the VAM:
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*
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* @field pathHistory: represents the VRU's recent movement over some past time and/or distance.
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* It consists of a list of path points.
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* @field pathPrediction: provides the set of predicted locations of the ITS-S, confidence values
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* and the corresponding future time instants.
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* @field safeDistance: provides indication of safe distance between an ego-VRU and up to 8 other ITS-S
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* or entity on the road to indicate whether the ego-VRU is at a safe distance (that is less likely to
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* physically collide) from another ITS-S or entity on the road.
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* @field trajectoryInterceptionIndication: provides the indication for possible trajectory interception
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* with up to 8 VRUs or other objects on the road..
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* @field accelerationChangeIndication: provides an acceleration change indication of the VRU.
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* When present this DF indicates an anticipated change in the VRU speed for period of actionDeltaTime.
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* @field headingChangeIndication: provides additional data elements associated to heading change indicators
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* such as a change of travel direction (left or right).
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* The direction change action is performed for a period of actionDeltaTime.
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* @field stabilityChangeIndication: provides an estimation of the VRU stability.
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*
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* @category: GeoReference information, VRU information
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* @revision: V2.2.1
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*/
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VruMotionPredictionContainer ::= SEQUENCE {
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pathHistory PathHistory OPTIONAL,
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pathPrediction PathPredicted OPTIONAL,
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safeDistance SequenceOfSafeDistanceIndication OPTIONAL,
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trajectoryInterceptionIndication SequenceOfTrajectoryInterceptionIndication OPTIONAL,
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accelerationChangeIndication AccelerationChangeIndication OPTIONAL,
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headingChangeIndication HeadingChangeIndication OPTIONAL,
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stabilityChangeIndication StabilityChangeIndication OPTIONAL,
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...
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}
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END
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