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SAE J2735-Draft-Rev18 [issued: 06-26-07]
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208 -
This is an SAE Motor Vehicle Council draft document of the DSRC committee, subject to change.
“AH_CAWMap” using the TwoByteTagList as indicated this Standard: Upper
byte of the tag is set to 127 (as required from this Standard), lower byte of the tag
is set to 123 (as defined by the CAW application). Refer to clause 4.3 for details.
Three different messages are structured as indicated below. (Note that data elements in
the 10Hz message also appear in the 5Hz message (for example). This is because every
second send at 10Hz is essentially a 5Hz message and rather than send two messages at
that time a combined one is sent. This is process is further illustrated in the next section.)
Msg10Hz ::= SEQUENCE {
-- Standard data.
valueCnt1
= 2,
item1 SEQUENCE(4) OF SEQUENCE {
tag
= StdTagList.positionLong,
value
= <DF_PositionLong data (6 bytes)>,
tag
= StdTagList.positionShort,
value
= <DF_PositionShort data (6 bytes)>
},
-- Ad hoc data
valueCnt2
= 1,
item2 SEQUENCE(2) OF SEQUENCE {
tag
= <AH_CAWMap>,
data
= <AH_CAWMap data>
},
}
Msg5Hz ::= SEQUENCE {
-- Standard data.
valueCnt1
= 8,
item1 SEQUENCE(16) OF SEQUENCE {
tag
= StdTagList.accelerationSet4Way,
value
= <DF_AccelerationSet4Way data (6 bytes)>,
tag
= StdTagList.speedHeadingConfidence,
value
= <DF_SpeedHeadingConfidence data (1 byte)>,
tag
= StdTagList.positionLong,
value
= <DF_PositionLong data data (6 bytes)>,
tag
= StdTagList.positionShort,
value
= <DF_PositionShort data data (6 bytes)>,
tag
= StdTagList.obstacleDirection,
value
= <DE_ObstacleDirection data (1 byte)>,
tag
= StdTagList.obstacleDistance,
value
= <DE_ObstacleDistance data (1 byte)>,
tag
= StdTagList.steeringWheelAngleRateOfChange,
value
= <DE_SteeringWheelAngleRateOfChange data (1 byte)>,
tag
= StdTagList.steeringWheelAngle,
value
= <DE_SteeringWheelAngle data (1 byte)>
},
-- Ad hoc data
valueCnt2
= 1,
item2 SEQUENCE(2) OF SEQUENCE {
tag
= <AH_CAWMap>,
data
= <AH_CAWMap data>
},
}
Msg3Hz ::= SEQUENCE {
-- Standard data.
valueCnt1
= 1,
item1 SEQUENCE(1) OF SEQUENCE {
tag
= StdTagList.accelandYawConfidence,
value
= <DF_AcceladnYawConfidence data (1 byte)>,
tag
= StdTagList.accelerationSet4Way,
value
= <DF_AccelerationSet4Way data (6 bytes)>,
tag
= StdTagList.speedHeadingConfidence,