hash stringlengths 32 32 | doc_id stringlengths 7 13 | section stringlengths 3 121 | content stringlengths 0 2.2M |
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3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.1 MIM structure overview | The MIM is the message which carries the Remote Operation RO commands and addresses the SVs. The hierarchical representation of the Mim containers and its data elements is portrayed in Figure 7 and Figure 8 and together build a summary of the complete MIM message. The depicted format is generated from eXtensible Markup... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.2 e2eProtection (container: AvmE2Eprotection) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.2.1 End to end protection of the Mim container content | The structure of the e2eProtection container is portrayed in Figure 10 and shows the data elements to support the implementation of E2E protection mechanisms for the Mim container. These data elements are described in clauses 7.2.2, 7.2.3, 7.2.4 and 7.2.5 according to the AUTOSAR E2E Protocol Specification [i.6]. The d... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.2.2 length data element | The data element length represents the overall size in octets over that the protection mechanism is applied. The ItsPduHeader length (6 bytes) are subtracted from the complete length of the MIM. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.2.3 rollingCounter data element | The data element rollingCounter is an identifier of a MIM message. For the first generation request the counter shall be initialized with 0 and shall be incremented by 1 for every subsequent generation request of a MIM message. In case of overflow due to the size limit of the data element (0xFFFF) the counter shall res... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.2.4 dataID data element | The data element dataID supports the verification of each transmitted MIM message at the SV side. dataID is to the best effort unique within the network of communicating systems as defined in [i.2]. In the VO subsystem, the comparison of the dataID of the received MIM against the expected dataID allows detection of the... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.2.5 crc32 data element | As defined in [i.2], the Cyclic Redundancy Check is used in the VO subsystem to determine if bits flipped during the transmission of the MIM and thus the MIM has to be regarded as corrupted. The calculation of CRC data element applies to the boundaries of the MIM bit stream while the starting 6 bytes from the ItsPduHea... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.3 Mims: SEQUENCE OF Mim | The mims sequence of the Mim containers after the e2eProtection provides a sequence of optional containers mainly to transmit commands and instructions from an RO subsystem to the VO subsystem. A MIM message shall include at least one Mim, thus the minimum number of vehicles to be addressed is 1 as shown in Figure 11. ... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4 General Structure of mim (container: Mim) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.1 Overview | The structure of a single Mim container is illustrated in Figure 9. A single Mim is assembled as a set of optional containers, each container supporting some functionality. Available optional containers are: 1) mimDataControlField 2) systemManagementData 3) vehicleIdentification 4) drivingPermission 5) syfetyTimeSyncRe... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.2 mimDataControlField (container) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.2.1 Introduction | The mimDataControlField container is an optional container. It consists of data elements mainly for the purpose of controlling the bidirectional communication between the VO subsystem and the RO subsystem. Data elements in mimDataControlField as shown in Figure 13 are: 1) checksum 2) mimGenerationTime 3) rollingCounter... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.2.2 checksum data element (optional) | The checksum data element is optional and serves as supplementary mean to support end-to-end protection. The checksum is calculated over a single vehicle container. Calculation rules and references like in clause 7.2 are not specified but are to be handled individually by the implementer. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.2.3 mimGenerationTime data element (optional) | The mimGenerationTime data element is optional. It is used for checking the data freshness on the receiving side from message generation time included as part of the message transmission from the transmitter side. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.2.4 rollingCounterFromMvm: SEQUENCE OF Counter | The data element rollingCounterFromMvm serves as a mirror of the rolling counter that was received with the latest, up to 10 MVM messages of the corresponding vehicle. It enables the vehicle system to recognize whether the RO has received fresh data from the vehicle or if there are lost messages in the radio transmissi... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.2.5 proprietaryExtensionField (optional element) | This data element defines 2 bytes that are used to carry specific information or request from an RO subystem to a specific OEM vehicle, e.g. an information that the vehicle now enters a car wash station or a request to open the charging flap at an electric charging station. The bytes are unformatted, i.e. the format is... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.3 systemManagementData (optional) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.3.1 Introduction | The systemManagementData container is portrayed in Figure 14. It consists of a series of optional data elements supporting to exchange the identification labels between the VO subsystem and the RO subsystem. Available data elements are: 1) sessionID 2) missionID 3) vehicleID 4) facilityID ETSI ETSI TS 103 882 V2.1.1 (2... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.3.2 sessionID data element | The sessionID data element is a unique identifier to a sequence of interactions for a given SV between check-in and check-out. It identifies a set of multiple tasks or missionIDs, i.e. a sequence of driving manoeuvres between a check-in and a check-out. It is negotiated and agreed upfront by both participants. Addition... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.3.3 missionID data element | The missionID data element is a unique identifier that is known by the RO subsystem and the vehicle side at the same time. It identifies and describes a task that is negotiated and agreed upfront on both sides, e.g. driving from a parking location (origin) to the destination for a particular purpose like electric charg... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.3.4 vehicleID data element | The vehicleID data element is an optional identifier. As several sessions can in principle be related to the same vehicle over time, this data element makes sure that the RO subsystem can uniquely identify vehicles. This also allows the RO to deal with vehicle parameters, as the Vehicle Backend (VB) can communicate a l... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.3.5 facilityID data element | The data element facilityID provides the option for the identification of the infrastructure facility, e.g. a parking lot or a logistics depot, depending on the use case. It serves for documentation purposes and should be identical in the corresponding MIMs and MVMs. ETSI ETSI TS 103 882 V2.1.1 (2024-05) 29 |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.4 vehicleIdentification: CHOICE | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.4.1 Introduction | The vehicleIdentification allows the selection of the mechanism for physical identification of the SV by the sensors of the AVM system. The blinking method using the SV blinkers is available but alternative identification methods may be defined in the future as depicted in Figure 15. Figure 15: Structure of the vehicle... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.4.2 blinking (container: Blinking) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.4.2.1 Introduction | The blinking container shown in Figure 16 carries signals that transmit a code to the vehicle to generate a blinking pattern for the direction indicator lights. This light pattern transmitted by the vehicle is used by the infrastructure sensors to identify the according vehicle at its expected starting or drive-off loc... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.4.2.2 vidRoPublicKey data element | Using the vidRoPublicKey, a 64-bit public key is transmitted from the RO subsystem to the VO subsystem to derive the SV identification secret. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.4.2.3 codeLength data element | The codelength data element sends a value that indicates how many bits (8 to 20) from the vidRoPublicKey shall be used for generating the blinking pattern. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.4.2.4 blinkingCommand data element | This data element mirrors the current identification request status from the perspective of the RO system. The blinkingCommand values are shown in Table 2. Table 2: blinkingCommand values State Description generateNewCode A new safe vehicle identification cycle was started with no intent to flash. generateNewCodeAndPre... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.5 drivingPermission (container: DrivingPermission) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.5.1 Introduction | The drivingPermission concept offers an expiration time for drivingPermission and the boundary values of longitudinal and lateral movement of the SV. The time synchronization between RO subsystem and VO subsystem is a binding prerequisite to apply the concept of expiration time. A detailed description of the drivingPer... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.5.2 expirationTime data element | The data element expirationTime represents an absolute time stamp, aligned with the time synchronization process between RO subsystem and the VO subsystem. It indicates that the vehicle should start braking when the expiration time is reached. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.5.3 velocityMax data element | This DE shall indicate that the vehicle should not exceed the maximal velocitiy value velocityMax. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.5.4 curvatureMin and curvatureMax data elements | These data elements shall indicate that the vehicle should not exceed the maximal and minimal curvature values velocitiy value curvatureMax and curvatureMin. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.5.5 checksum data element | The container drivingPermission shall be protected by a dedicated checksum to ensure end-to-end protection against accidental changes between the safety components in the SV and in the AVM system. An example on how to calculate data element checksum is provided in the informative clause D.4.3. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.6 safetyTimeSyncRequest (container: SafetyTimeSyncRequest) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.6.1 Introduction | To calculate the ITS timestamp given in drivingPermission:expirationTime, the RO subsystem needs to be able to continuously determine the current time in which the VO subsystem of an SV operates. ETSI ETSI TS 103 882 V2.1.1 (2024-05) 32 This means that the RO subsystem determines the offset between the RO clock and the... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.6.2 challenge data element | The DE challenge is chosen by the RO subsystem in accordance with the safety requirements. The RO subsystem shall use this challenge to relate the response from the VO subsystem to the safetyTimeSyncRequest. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.6.3 checksum data element | The safetyTimeSyncRequest needs to be protected by a dedicated safety checksum transmitted using the data element checksum. An example how to calculate data element checksum is provided in clause D.4.2. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7 driveCommand (container: DriveCommand) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.1 Introduction | The drive command is core of the MIM messaging. It addresses the specific vehicle and determines the actual state request to the vehicle, especially the active drive request for the overall VMC operation. The structure of the driveCommand container within the MIM message is shown in Figure 19. ETSI ETSI TS 103 882 V2.1... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.2 driveCommandAction data element | The data element driveCommandAction offers the states shown in Table 3. Table 3: driveCommandActions states State Description sleep The vehicle is commanded to go into sleep mode for low power consumption. initialize The vehicle remains in standstill and shall initialize and prepare for a driving job, including a seque... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.3 terminateReason data element | The data element terminateReason offers the states presented in Table 4. Table 4: terminateReason states State Description proceed Everything is okay. Proceed, do not terminate. destinationReached Vehicle has reached its destination. infrastructureError Error in infrastructure. vehicleError Vehicle has sent an error co... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.4 gearRequest data element (optional) | Data element gearRequest commands the gear selection in the SV and it is an optional container. It offers the following requests shown in Table 5. Table 5: gearRequest commands State Description park P: Vehicle shall engage P. backwards R: Vehicle shall drive backwards. neutral N: Vehicle shall engage neutral gear. for... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.5 directionIndicatorRequest data element (optional) | Data element directionIndicatorRequest offers the commands shown in Table 6. Table 6: diretionIndicatorRequest commands State Description off Do not flashlights. right Flash right. left Flash left. both Flash left and right. unknown Direction indicator request is undefined. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.6 parkingBrakeRequest data element (optional) | Data element parkingBrakeRequest offers the commands shown in Table 7. Table 7:parkingBrakeRequest commands State Description disengage The vehicle shall disengage the electric parking brake. engage The vehicle shall activate the electric parking brake. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.7 motorSystemRequest data element (optional) | Data element motorSystemRequest offers the commands shown in Table 8. Table 8: motorRequest commands State Description off The propulsion motor: off. on The propulsion motor: on. umknown The propulsion motor state is unknown (not used as a command). |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.8 emergencyStopRequest data element (optional) | This data element enables as part of an optional safety concept to apply a vehicle specific emergency stop manoeuvre at any time, even outside of a regular message periodicity of MIM. It is initiated by the infrastructure and executed by the according vehicle, also to support the pre-charge of the hydraulic brake syste... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.9 interlockRequest data element (optional) | This data element enables an optional safety concept to apply a vehicle interlock. This data element offers the commands described in Table 10. Table 10: interlockRequest commands State Description none The vehicle does not use interlock at this stage. zonalInterlock The vehicle applies a zonal interlock function. glob... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.7.10 hornRequest data element (optional) | This data element enables an optional safety concept. It commands the vehicle to sound the horn in different formats in order to warn pedestrians or animals. This data element offers the states described in Table 11. Table 11: hornRequest states State Description none The vehicle does not sound a horn at this stage. si... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.8 detectedVehiclePose (optional container: DetectedVehiclePose) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.8.1 Introduction | The AVM system permanently senses the vehicle's position in a relative two-dimensional coordinate system (X and Y). The pointed vehicle position reference is the middle of the rear axle. The detected vehicle pose is reported in this data element and complemented with the vehicle's heading psi and a timestamp poseMeasur... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.8.2 detectedPose (container: Pose) | This field implements the sequence of data elements pose described in clause 7.7.7.2. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.4.8.3 poseMeasurementTime data element | The DE signals an absolute time stamp within the time synchronization of RO and VO. It represents when the RO measurement of the position was taken. It is aligned with the time synchronization process. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.5 controlInterface: CHOICE | The protocol is offering two different control methods with variants (clause 4.3.4) to drive the vehicles remotely by commands of the infrastructure system. The control method is addressed as a CHOICE as described in the ASN.1 definitions for a MIM message. Herewith additional control methods are applicable in later ve... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6 pathControl (container: PathControl) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.1 Introduction | The pathControl container transfers the path snippets described in clause 7.6.2 from the RO into the VO. The structure of the pathControl container within the MIM message is shown in Figure 22. Figure 22: Structure of the pathControl container within the MIM message ETSI ETSI TS 103 882 V2.1.1 (2024-05) 38 |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.2 PathSnippet: SEQUENCE OF WayPoint | The pathSnippet container transfers a sequence of wayPoint containers. It is possible to send a sequence of wayPoint elements. In accordance to clause 6.3 the number of wayPoint containers shall be chosen such that the generated MIM complies with MTU_MIM. This can be done, e.g. through segmentation of the generated PDU... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.3 wayPoint (container: WayPoint) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.3.1 Introduction | The wayPoint container offers signal information like index, a two-dimensional position in a proprietary coordination system as well as the desired driving direction (heading). It also contains the requested speed and curvature commands. The structure of the wayPoint container within the MIM message is shown in Figure ... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.3.2 index data element (optional) | The index DE is a 2-byte value. It is used to build an array of consecutive way points, stored in the VO subsystem. Way points are updated with this index DE if a planned trajectory is to be changed. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.3.3 wayPointPose (container: Pose) | This field implements the sequence of data elements described in clauses 7.7.7.2.2, 7.7.7.2.3 and 7.7.7.2.4. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.3.4 velocity data element | This data element represents the target speed of the vehicle in that specific way point. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.3.5 curvature data element | This data element represents the target curvature of the vehicle in that specific way point. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.3.6 pitchAngle data element (optional) | This data element represents the road inclination on which of the vehicle drives in that specific way point. On inclined road segments this support the vehicle to better adopt the velocity control. The unit is cartesian angle value. ETSI ETSI TS 103 882 V2.1.1 (2024-05) 40 |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.4 clearedDistanceOnPath data element | With this data element the RO can tell the vehicle to stop at the according distance on the known path snippet without sending a new path snippet. The unit of the DE is centimetre. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.6.5 situationalVelocityLimit data element (optional) | With this data element the RO can tell the vehicle temporarily drive slower than indicated on the known path snippet without sending a new path snippet. The unit of the DE is m/s. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7 trajectoryControl (container: TrajectoryControl) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.1 Introduction | A vehicle trajectory consists of a vector of control and state points transmitted from the RO to the SV using the controlTrajectory and stateTrajectory containers. This structure within a MIM is shown in Figure 25. The trajectoryControl container also contains a reference time stamp and an optional drive direction elem... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.2 timeReference data element | The reference time indicates the absolute time given in Vehicle Functional Clock at which the first element of the ControlTrajectory vector and StateTrajectory vector is expected to be executed. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.3 driveDirection data element | The data element driveDirection is optional. It describes the desired driving direction of the vehicle in alignment with the signed value of the vehicle acceleration requests as shown in Table 12. ETSI ETSI TS 103 882 V2.1.1 (2024-05) 41 Table 12: driveDirection states State Description forwards D: Vehicle shall drive ... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.4 controlTrajectory: SEQUENCE OF ControlPoint | The controlTrajectory container consists of a sequence of controlPoint containers. In accordance to clause 6.3 the number of controlPoint containers shall be chosen such that the generated MIM complies with MTU_MIM. This can be done, e.g. through segmentation of the generated PDU into smaller segments. The number of co... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5 controlPoint (container: ControlPoint) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5.1 Introduction | A controlPoint container carries a set of control point elements: curvature as a data element and controlParameter as a CHOICE as depicted in Figure 26. ETSI ETSI TS 103 882 V2.1.1 (2024-05) 42 |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5.2 curvature data element | The data element represents the target curvature in the control point. The format of this data element is described by the element "HighResCurvature" in the AVM_commons.asn, see Annex A. It differs from the CDD element curvatureValue because a higher resolution is required, that comes with new steering angle sensor tec... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5.3 controlParameter: CHOICE | The choice given to controlParameter allows selecting between longitudinal acceleration via controlAcceleration or longitudinal velocity via the container controlVelocity. The CHOICE structure is presented in Figure 26. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5.4 controlAcceleration data element | The data element represents the target acceleration in the control point as described with Figure 27. The format of this data element is adopted to the common data dictionary CDD data element "LongitudinalAccelerationValue". For details refer to ETSI TS 102 894-2 [i.11]. Figure 27: Structure of the controlPoint contain... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5.5 controlVelocity (container:ControlVelocity) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5.5.1 Introduction | The container controlVelocity offers the data elements velocity and distanceToStop as shown in Figure 28. ETSI ETSI TS 103 882 V2.1.1 (2024-05) 43 Figure 28: Structure of the controlPoint container for CHOICE controlVelocity TRUE |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5.5.2 velocity data element | The data element represents the target speed of the vehicle. It is a signed velocity value. The unit is cm/s. A positive value represents the forward drive of the vehicle, a negative value means reverse driving. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.5.5.3 distanceToStop data element (optional) | The data element represents the maximum distance that the vehicle can drive before a standstill. Size for distance measurement is 20 bit, resolution is 1 cm. It is to use optionally in order to position the vehicle accordingly when it goes over ramps and wheel chocks. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.6 stateTrajectory: SEQUENCE OF StatePoint | The elements in the stateTrajectory are considered as odometry target values. These consist of a sequence of statePoint containers. The number of statePoint containers shall be chosen such that the generated MIM complies with MTU_MIM. This can be done, e.g. through segmentation of the generated PDU into smaller segment... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.7 statePoint (container: StatePoint) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.7.1 Introduction | A statePoint container carries a set of state point elements, offering the following elements: statePose as container and velocity as data element. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.7.2 statePose (Container: Pose) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.7.2.1 Introduction | The statePose container carries the target coordinates x, y and psi of the vehicle. The according reference point of a vehicle pose/position is an agreed point of the vehicle that is agreed between the RO and the vehicle VO e.g. the centre of the rear axle. The coordinate system is proprietary and established by the RO... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.7.2.2 x data element | This data element is 20 bit for the x position of the way point. Resolution is 1 cm. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.7.2.3 y data element | This data element is 20 bit for the y position of the way point. Resolution is 1 cm. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.7.2.4 psi data element | This data element is 16 bits for the desired heading position of the vehicle in that specific way point. A heading (psi) value of 0 represents a drive in x-direction. The unit is in 0,0001 radian and counted counter-clockwise. ETSI ETSI TS 103 882 V2.1.1 (2024-05) 45 |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 7.7.7.3 velocity data element | The data element represents the target speed of the vehicle. It is a signed velocity value. The unit is cm/s. A positive value represents the forward drive of the vehicle; a negative value means reverse driving. |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8 MVM containers and data elements | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.1 MVM structure overview | The MVM is the message which elements describe the remote operation of the vehicle from the vehicle perspective. The hierarchical representation of the MVM containers and its data elements is portrayed in Figure 30 and Figure 31. The type and range information complies with ASN.1 Unaligned Packed Encoding Rules (UPER).... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.2 e2eProtection (container: AvmE2EProtection) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.2.1 End to end protection of the MVM container content | The structure of the e2eProtection container is portrayed in Figure 33 and shows the data elements supporting e2e protection mechanisms for the MVM container. These data elements share the same characteristics to those within the MIM container described in clause 7.2. An example how to calculate e2e protection data ele... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.2.2 length data element | The data element length represents the overall size in octets over that the protection mechanism is applied. The ItsPduHeader length (6 bytes) are subtracted from the complete length of the MVM. ETSI ETSI TS 103 882 V2.1.1 (2024-05) 48 |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.2.3 rollingCounter data element | The data element rollingCounter is a recurring identifier of a MVM message. For the first transmission request the counter shall be initialize with 0 and shall be incremented by 1 for every subsequent send request of a MVM message. In case of overflow due to the size limit of the data element (0xFFFF) the counter shall... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.2.4 dataID data element | The data element dataID supports the verification of each transmitted MVM message at the SV side. dataID is to the best effort unique within the network of communicating systems as defined in [i.2]. In the RO subsystem, the comparison of the dataID of the received MVM against the expected dataID allows detection of the... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.2.5 crc32 data element | As defined in [i.2], the Cyclic Redundancy Check is used in the SV subsystem to determine if bits flipped during the transmission of the MVM and thus the MVM has to be regarded as corrupted. The calculation of CRC data element applies to the boundaries of the MVM bit stream while the starting 6 bytes from the ItsPduHea... |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.3 General Structure of mvm (container: Mvm) | |
3de14d1e28d8b7752a880e033db3bf4d | 103 882 | 8.3.1 Overview | The mvm container within the MVM message starts right after the e2eProtection container as defined in the previous clause. The structure of a single Mvm container is portrayed in Figure 32. It provides the following containers to transmit information from the VO subsystem to the RO subsystem: 1) mvmDataControlField 2) ... |
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