SAREF extension for automotive
type: Ontology
description: This ontology extends the SAREF ontology for the automotive domain. This work has been developed in the context of the STF 566, which was established with the goal to create four SAREF extensions, one of them for the automotive domain.
creator: lauradaniele
creator: netellany.fr
contributor: https://scholar.google.com/citations
issued: 2020-07-27
modified: 2024-03-30
license: etsi-software-license
publisher: www.etsi.org
source: saref4auto
preferred namespace prefix: s4auto
version IRI: v2.1.1
version info: v2.1.1
imports: v3.2.1
imports: v1.1.2

hasGeometry
type: ObjectProperty
domain: Feature
range: Geometry
comment: A spatial representation for a given feature.

location
type: ObjectProperty
range: Spatial Thing
comment: The relation between something and the point, or other geometrical thing in space, where it is. For example, the realtionship between a radio tower and a Point with a given lat and long. Or a relationship between a park and its outline as a closed arc of points, or a road and its location as a arc (a sequence of points). Clearly in practice there will be limit to the accuracy of any such statement, but one would expect an accuracy appropriate for the size of the object and uses such as mapping .

hasBeginning
type: ObjectProperty
domain: TemporaryEntity
range: Instant
comment: Beginning of a temporal entity

hasEnd
type: ObjectProperty
domain: TemporaryEntity
range: Instant
comment: End of a temporal entity.

has confidence unit of measure
type: ObjectProperty
comment: A relation that allows to specify the unit of measure associated with a certain confidence

consists Of Entity
type: ObjectProperty
sub property of: consistsOf
comment: A relation to describe the entities that can compose the vehicle environment

consists of equipment
type: ObjectProperty
sub property of: consistsOf
comment: A relation to describe the type of equipment that can compose the vehicle environment

consists of event
type: ObjectProperty
sub property of: consistsOf
comment: A relation to describe the events that can compose the vehicle environment

consists of object
type: ObjectProperty
sub property of: consistsOf
comment: A relation to describe the objects that can compose the vehicle environment

consists of user
type: ObjectProperty
sub property of: consistsOf
comment: A relation to describe the users that can compose the vehicle environment

consists of vehicle
type: ObjectProperty
sub property of: consistsOf
comment: A relation to describe the vehicles that can compose the vehicle environment

hasAbsolutePosition
type: ObjectProperty
sub property of: has position
comment: A relation between an entity, e.g., a vehicle or road entity, and AbsolutePosition to represent its absolute position

hasAutomationLevel
type: ObjectProperty
comment: A relation to define the level of automation of a singular vehicle. According to SAE J3016, there are five levels of automation: - Level 0: No Driving Automation. - Level 1: Driver assistance. - Level 2: Partial driving automation. - Level 3: Conditional driving automation. - Level 4: High driving automation. - Level 5: Full Driving automation. .

hasAutomotiveState
type: ObjectProperty
sub property of: hasState
comment: A relation between an entity and the various states in which vehicles, platoons and parking spots assume over time.

hasBrakeCapacity
type: ObjectProperty
range: BrakeCapacity
comment: A relation to express that the vehicle has the capacity to reduce its speed (by action on the brake pedal or an autonomous actuator)

hasConfidence
type: ObjectProperty
inverse of: isConfidenceOf
range: Confidence
comment: A relation between an estimated measurement (saref:Observation class) and its confidence (:Confidence)

hasDestination
type: ObjectProperty
comment: A relation that defines the destination of an automotive object. For example, in a platoon, the current platoon leader defines the platoon destination. Following vehicles will share (partially) the route of the leader and can, therefore, have different final destinations.

hasDestinationAddress
type: ObjectProperty
sub property of: hasDestination
comment: A relation to express the destination of a vehicle in terms of an Address

hasDestinationEndPoint
type: ObjectProperty
sub property of: hasDestination
comment: A relation to express the destination of a vehicle, a platoon or a route in terms of an end point with latitude and longitude

hasEnvironment
type: ObjectProperty
comment: A relation that allows to describe the environment of a vehicle

hasEstimatedRendezvousLocation
type: ObjectProperty
range: RendezvousLocation
comment: A relation to express that, during the forming state, a vehicle member of a platoon is given an estimated rendezvous location for joining the platoon. It is expressed in global coordinates (lat, long, alt), e.g. according to WGS 84.

hasIdentifier
type: ObjectProperty
range: Identifier
comment: A relation between an entity and its identifier (:Identifier) which is used to identify 1) a vehicle (station) during data exchange with other devices/stations 2) a platoon during data exchange with other devices/stations, 3) a parking spot within a parking area during data exchange with other devices/stations. In all cases, this identifier may be a pseudonym. It may change over space and/or over time.

hasMember
type: ObjectProperty
inverse of: isMemberOf
comment: A general relationship to express that an entity can have members

hasOpeningTimeAvailability
type: ObjectProperty
comment: A relation to express the opening time of a parking spot

hasOrigin
type: ObjectProperty
comment: A relation to express the origin of an entity (e.g., a vehicle or a route) in terms of a StartPoint

hasPlatoonMember
type: ObjectProperty
sub property of: hasMember
comment: A relation to express that a platoon can have vehicles as its members

hasPlatoonPosition
type: ObjectProperty
sub property of: has position
comment: A relation to express that a vehicle member of a platoon has a platoon position that is defined as the index of the vehicle in the platoon starting from zero (leader) up to N (trailing vehicle)

hasPlatoonRole
type: ObjectProperty
sub property of: hasRole
comment: A relation to specify that in a platoon a vehicle can assume roles such as: unknown, leader, follower, ready-for-leading, trailing, etc.

has position
type: ObjectProperty
range: RelativePosition
comment: A relation to define the position of an entity

hasPlatoonPosition
type: ObjectProperty
sub property of: has position
comment: A relation between an entity, e.g., a vehicle or road entity, and RelativePosition to represent its relative position (e.g., a car is x,y,z in front of another car)

hasRoadTopologyPosition
type: ObjectProperty
sub property of: has position
comment: A relation between Vehicle and RoadTopologyPosition to represent the road topology position of a vehicle

hasRole
type: ObjectProperty
range: Role
comment: A general relation to express that an entity can have a role

hasRoute
type: ObjectProperty
comment: A relation to express the route of an entity, e.g., a vehicle or a platoon

hasVehicleEnvironmentMember
type: ObjectProperty
sub property of: hasMember
comment: A relation to express that a vehicle can have members in its environment

hasVehicleRole
type: ObjectProperty
sub property of: hasRole
comment: A relation between Vehicle and VehicleRole classes, to express the role the vehicle plays in traffic. If not specified, it is assumed that it takes a default value. Otherwise, possible values to be specified are: publicTransport, specialTransport, dangerousGoods, roadWork, rescue, emergency, safetyCar, agriculture, commercial, military, roadOperator, taxi (see ETSI TR 103 508).

isCollectionOf
type: ObjectProperty
comment: A relation to express the intermediate destination of a route (e.g., of a vehicle or a platoon) in terms of RoutePoint

isConfidenceOf
type: ObjectProperty
comment: A relation between the confidence (:Confidence class) of an estimated measurement and this measurement (saref:Observation class)

isMemberOf
type: ObjectProperty
comment: A general relationship to express that an entity is a member of another entity

isMemberOfPlatoon
type: ObjectProperty
sub property of: isMemberOf
comment: A relation to express that a vehicle can be member of a platoon

isMemberOfVehicleEnvironment
type: ObjectProperty
sub property of: isMemberOf
comment: A relation to express that an entity, e.g., a vehicle, can be member of another vehicle's environment

usesMeasurement
type: ObjectProperty
comment: A relation to express that a device can use different types of measurements, such as speed, position of detected road objects (e.g., bicycles, vehicles). This applies in particular to the ElectronicControlUnit and TrafficLightController classes.

hasSubSystem
type: ObjectProperty
inverse of: subSystemOf
comment: In SAREF4AUTO, a relation to express that the vehicle has a subsystem called ‘ElectronicControlUnit' (ECU) that provides measurements about relevant properties, such as speed, acceleration, position, etc.
comment: Links a system to one of its sub systems

subSystemOf
type: ObjectProperty
comment: In SAREF4AUTO, a relation to express that the the ElectronicControlUnit (ECU) is a subsystem of the vehicle.
comment: Links a system to its super system. Properties of subsystems somehow contribute to the properties of the super system. The exact meaning of "contribute is defined by sub properties of s4syst:subSystemOf. Property s4syst:subSystemOf is transitive.

altitude
type: DatatypeProperty
domain: Spatial Thing
comment: The WGS84 altitude of a SpatialThing (decimal meters above the local reference ellipsoid).

latitude
type: DatatypeProperty
domain: Spatial Thing
comment: The WGS84 latitude of a SpatialThing (decimal degrees).

longitude
type: DatatypeProperty
domain: Spatial Thing
comment: The WGS84 longitude of a SpatialThing (decimal degrees).

inXSDDateTimeStamp
type: DatatypeProperty
domain: Instant
range: dateTimeStamp
comment: Position of an instant, expressed using xsd:dateTimeStamp

hasConfidenceValue
type: DatatypeProperty
comment: A relation between the confidence (:Confidence) and its value, which can be a discrete value (+/- 5 cm/s) or a level (e.g. 95 %)

hasCoordinateX
type: DatatypeProperty
comment: A relation to define the X coordinate of a relative position

hasCoordinateY
type: DatatypeProperty
comment: A relation to define the Y coordinate of a relative position

hasCoordinateY
type: DatatypeProperty
comment: A relation to define the Z coordinate of a relative position

hasDescriptionName
type: DatatypeProperty
comment: A relation to define that a parking spot can have a description name

hasEstimatedJoiningTime
type: DatatypeProperty
range: dateTime
comment: A relation to express that, during the forming state, a vehicle member of a platoon is given an estimated time for joining

hasIDValue
type: DatatypeProperty
comment: A relationship to define the value of an identifier

hasMaxSize
type: DatatypeProperty
comment: A relation to express the max size of a platoon. Note that it is defined as a datatype property as this is a fixed/static value of the platoon that does not change over time. In contrast, the current size of the platoon is actually a measurement that may change over time and it is therefore defined as an object property (see :hasSize).

hasPlatoonIndex
type: DatatypeProperty
range: int
comment: A relation to express the index of the vehicle in the platoon starting from zero (leader) up to N (trailing vehicle)

Feature
type: Class
subclass of: SpatialObject
disjoint with: Geometry
comment: This class represents the top-level feature type. This class is equivalent to GFI_Feature defined in ISO 19156:2011, and it is superclass of all feature types.

Geometry
type: Class
subclass of: SpatialObject
comment: The class represents the top-level geometry type. This class is equivalent to the UML class GM_Object defined in ISO 19107, and it is superclass of all geometry types.

SpatialObject
type: Class
comment: The class spatial-object represents everything that can have a spatial representation. It is superclass of feature and geometry.

Point
type: Class
subclass of: Spatial Thing
comment: A point, typically described using a coordinate system relative to Earth, such as WGS84.
comment: Uniquely identified by lat/long/alt. i.e. spaciallyIntersects(P1, P2) :- lat(P1, LAT), long(P1, LONG), alt(P1, ALT), lat(P2, LAT), long(P2, LONG), alt(P2, ALT). sameThing(P1, P2) :- type(P1, Point), type(P2, Point), spaciallyIntersects(P1, P2).

Spatial Thing
type: Class
comment: Anything with spatial extent, i.e. size, shape, or position. e.g. people, places, bowling balls, as well as abstract areas like cubes.

Instant
type: Class
subclass of: TemporaryEntity
comment: A temporal entity with zero extent or duration

Interval
type: Class
subclass of: TemporaryEntity
comment: A temporal entity with an extent or duration

TemporaryEntity
type: Class
comment: A temporal interval or instant.

AutomotiveState
type: Class
subclass of: State
subclass of: Restriction
  on property: hasTimestamp
  all values from: dateTime
comment: A class dedicated to describe the relevant states in the automotive domain

AbsolutePosition
type: Class
subclass of: geographical point
subclass of: Position
subclass of: Restriction
  on property: altitude
  some values from: float
subclass of: Restriction
  on property: latitude
  some values from: float
subclass of: Restriction
  on property: longitude
  some values from: float
comment: The absolute position of an automotive object in terms of lat, long and lat

AbsoluteSpeed
type: Class
subclass of: Speed
comment: A type of speed

AccelerationConfidence
type: Class
subclass of: Confidence
subclass of: Restriction
  on property: hasConfidenceValue
  some values from: float
comment: A type of confidence for acceleration measurements that represents the absolute accuracy of a reported vehicle acceleration value with a predefined confidence level (e.g. 95 %)

Address
type: Class
comment: A class to define common information related to an address. It is out of scope of SAREF4AUTO to define the details of such an address. It is instead recommended to reuse existing ontologies that specify how to model an address in terms of Street, Postal Code, City, Region, Country, etc.

AngularDirection
type: Class
subclass of: Heading
comment: A type of heading

assembling
type: Class
subclass of: PlatoonState
comment: A type of state for Platoon

At Drop Off Spot
type: Class
subclass of: ParkingVehicleState
comment: A type of state for Parking Vehicle

At Pick Up Spot
type: Class
subclass of: ParkingVehicleState
comment: A type of state for Parking Vehicle

AutomationLevel
type: Class
comment: The level of automation a platoon of vehicles or a singular vehicle

Acceleration
type: Property
is property of: ElectronicControlUnit
comment: The Acceleration property of an ElectronicControlUnit.

BrakeCapacity
type: Property
is property of: Vehicle
comment: The BrakeCapacity property of a Vehicle.

Bus
type: Class
subclass of: PublicTransport
comment: A type of public transport

Car
type: Class
subclass of: Vehicle
comment: A type of vehicle. Example of a car is a passenger car

cardinality unit
type: Class
subclass of: UnitOfMeasure
comment: unit of measure of size

charging
type: Class
subclass of: ParkingSpotState
subclass of: ParkingVehicleState
comment: A type of state for Parking Spot or for Parking Vehicle

closed
type: Class
subclass of: ParkingSpotState
comment: A type of state for Parking Spot

Confidence
type: Class
subclass of: Restriction
  on property: has confidence unit of measure
  some values from: UnitOfMeasure
subclass of: Restriction
  on property: hasConfidenceValue
  some values from: float
comment: Every measurement in the automotive domain is an estimated measurement coming from the aggregation of several measurements from different sensor or devices taken at the same time or at consecutive times very close to each other. Therefore, a confidence is always associated to each measurement to indicate that it has not 100% accuracy.

CriticalObject
type: Class
subclass of: Thing
subclass of: Restriction
  on property: hasHeight
  some values from: Height
subclass of: Restriction
  on property: hasLength
  some values from: Length
subclass of: Restriction
  on property: hasMovement
  some values from: Movement
subclass of: Restriction
  on property: hasShape
  some values from: Shape
subclass of: Restriction
  on property: hasWidth
  some values from: Width
comment: A critical object located on the road. Critical objects are small object, medium object, large object

disengaging
type: Class
subclass of: PlatoonState
subclass of: PlatoonVehicleState
comment: A type of state for Platoon or for a Vehicle in a Platoon

Driving To Parking Spot
type: Class
subclass of: ParkingVehicleState
comment: A type of state for Parking Vehicle

Driving To Pick Up Spot
type: Class
subclass of: ParkingVehicleState
comment: A type of state for Parking Vehicle

ElectricChargingParkingSpot
type: Class
subclass of: ParkingSpot
comment: A type pf parking spot

Vehicle
consists of: ElectronicControlUnit
type: FeatureKind
type: System
broader: AutomotiveObject
has property: AbsolutePosition
has property: Address
has property: AutomationLevel
has property: AutomotiveState
has property: EndPoint
has property: Identifier
has property: Platoon
has property: PlatoonPosition
has property: PlatoonRole
has property: RelativePosition
has property: RendezvousLocation
has property: Road Topology Position
has property: Route
has property: VehicleEnvironment
has property: Restriction
  on property: hasEstimatedJoiningTime
  some values from: dateTime
comment: A vehicle is the main object of interest in the automotive domain. Example of types of vehicles are car, truck, public transport and two-wheeler. See ETSI TS 102 894-2 spec for full list of vehicles, which are type of "stations". See also the SENSORIS data model for possible type of vehicles. The main IoT device considered in the vehicle is the ECU (part of the vehicle on board equipment, or OBE), see :ElectronicControlUnit class.

ElectronicControlUnit
type: FeatureOfInterest
type: System
observes: Acceleration
observes: Heading
observes: Speed
observes: Position
comment: An electronic control unit (ECU) is any embedded system in automotive electronics that monitors and controls one or more of the electrical systems or subsystems in a vehicle. The ECU provides measurements about relevant properties of the vehicle, such as speed, acceleration, position, etc.

EndPoint
type: Class
subclass of: geographical point
comment: The final destination of a vehicle or a platoon, or the final point of a route

engaging
type: Class
subclass of: PlatoonVehicleState
comment: A type of state for a Vehicle in a Platoon

forming
type: Class
subclass of: PlatoonVehicleState
comment: A type of state for a Vehicle in a Platoon

free
type: Class
subclass of: ParkingSpotState
comment: A type of state for Parking Spot

Heading
type: Property
is property of: ElectronicControlUnit
comment: The Heading property of an ElectronicControlUnit.

HeavyTruck
type: Class
subclass of: Truck
comment: A type of truck

Height
type: Property
is property of: Vehicle
comment: The Height property of a Vehicle.

height unit
type: Class
subclass of: UnitOfMeasure
comment: unit of measure of height

Identifier
type: Class
subclass of: Restriction
  on property: hasIDValue
  some values from: string
comment: A class used to identify 1) a vehicle (station) during data exchange with other devices/stations 2) a platoon during data exchange with other devices/stations, 3) a parking spot within a parking area during data exchange with other devices/stations. In all cases, this identifier may be a pseudonym. It may change over space and/or over time.

Large Object
type: Class
subclass of: CriticalObject
comment: A type of Critical Object

Lateral Acceleration
type: Property
broader: Acceleration
comment: A type of acceleration

Length
type: Property
is property of: Vehicle
comment: The Length property of a Vehicle.
comment: In a platoon, a property to express that a platoon has a size. This size is defined as 1. the total number of vehicles currently in the platoon (see :Size class); or 2. Length of the platoon (sum of all vehicles' length + inter-vehicle distance)

length unit
type: Class
subclass of: UnitOfMeasure
comment: unit of measure of length

LightTruck
type: Class
subclass of: Truck
comment: A type of truck

LongitudinalAcceleration
type: Property
broader: Acceleration
comment: A type of acceleration

Medium Object
type: Class
subclass of: CriticalObject
comment: A type of Critical Object

Movement
type: Property
is property of: Vehicle
comment: The Movement property of a Vehicle. Relevant types of movement are: Static (position only), moving in same direction (speed, acceleration), moving in reverse direction (speed acceleration), crossing (speed, acceleration, direction)

NotifiedEvent
type: Class
subclass of: Thing
comment: The relevant types of events are trafficCondition, accident, roadworks, impassability, adverseWeatherCondition-Adhesion, aquaplannning, hazardousLocation-SurfaceCondition, hazardousLocation-ObstacleOnTheRoad, hazardousLocation-AnimalOnTheRoad, humanPresenceOnTheRoad, wrongWayDriving, rescueAndRecoveryWorkInProgress, adverseWeatherCondition-ExtremeWeatherCondition, adverseWeatherCondition-Visibility, adverseWeatherCondition-Precipitation, slowVehicle, dangerousEndOfQueue, vehicleBreakdown, postCrash, humanProblem, stationaryVehicle, emergencyVehicleApproaching, hazardousLocation-DangerousCurve, collisionRisk, signalViolation, dangerousSituation

occupied
type: Class
subclass of: ParkingSpotState
comment: A type of state for Parking Spot

P1 Pedestrian
type: Class
subclass of: VulnerableRoadUser
comment: VRU Profile 1 users, for example: adult, child, elderly person, pram, animal, blind person guided by a dog, rider off its bike

P2 Bicyclist
type: Class
subclass of: VulnerableRoadUser
comment: VRU Profile 2 users, for example: user of bicycle, wheelchair, skater, scooter, Segway, or a mounted horse rider

P3 Motorcyclist
type: Class
subclass of: VulnerableRoadUser
comment: VRU Profile 3 users are Motorcyclists, which are equipped with engines that allow them to move on the road. It includes users (driver and passengers, e.g. children and animals) of Powered Two Wheelers (PTW) such as mopeds (motorized scooters), motorcycles or side-cars.

P4 Animal
type: Class
subclass of: VulnerableRoadUser
comment: VRU Profile 4 animals presenting a safety risk to other road users, for example : dogs, wild animals, horses, cows, sheep, kangaroos, etc.

parked
type: Class
subclass of: ParkingVehicleState
comment: A type of state for Parking Vehicle

parking
type: Class
subclass of: ParkingVehicleState
comment: A type of state for Parking Vehicle

ParkingSpot
type: Class
subclass of: Feature
subclass of: Restriction
  on property: hasGeometry
  some values from: ParkingSpotPoint
subclass of: Restriction
  on property: hasHeight
  some values from: Height
subclass of: Restriction
  on property: hasIdentifier
  some values from: Identifier
subclass of: Restriction
  on property: hasLength
  some values from: Length
subclass of: Restriction
  on property: hasOpeningTimeAvailability
  some values from: TemporaryEntity
subclass of: Restriction
  on property: hasWidth
  some values from: Width
subclass of: Restriction
  on property: hasAutomotiveState
  max qualified cardinality: 1
  on class: ParkingSpotState
subclass of: Restriction
  on property: hasDescriptionName
  some values from: string
comment: A location that is designated for parking. A parking spot has a geometry defining the parking area boundaries and its centre point

ParkingSpotPoint
type: Class
subclass of: geographical point
comment: the position of a parking spot (its centre point) in terms of lat, long and alt

PassengerCar
type: Class
subclass of: Car
comment: A type of car

PersonalDevice
type: Class
subclass of: Device
comment: A personal device is a nomadic device used by a pedestrian or the rider of a two-wheeler. A personal device in modelled as a different type of automotive object, as it normally does not have access to the vehicle CAN bus.

Platoon
type: Class
subclass of: Restriction
  on property: hasDestinationEndPoint
  some values from: EndPoint
subclass of: Restriction
  on property: hasIdentifier
  some values from: Identifier
subclass of: Restriction
  on property: hasLength
  some values from: Length
subclass of: Restriction
  on property: hasPlatoonMember
  some values from: Vehicle
subclass of: Restriction
  on property: hasAutomotiveState
  some values from: AutomotiveState
subclass of: Restriction
  on property: hasRoute
  some values from: Route
subclass of: Restriction
  on property: hasSize
  some values from: Size
subclass of: Restriction
  on property: hasMaxSize
  some values from: int
comment: A group of vehicles automatically following each other at a relatively close distance

PlatoonAutomationLevel
type: Class
subclass of: AutomationLevel
comment: A level of automation is defined for a vehicle that it is platooning. For example, in the ENSEMBLE project there are three levels of platoon automation defined: Level A, Level B, Level C. Level C represents the highest level of automation for platooning in terms of longitudinal and lateral control, shortest time gap supported, wider range of situations handled and support for merging of entire platoons.

PlatoonPosition
type: Class
subclass of: Position
subclass of: Restriction
  on property: hasPlatoonIndex
  some values from: int
comment: A vehicle member of a platoon has a platoon position that is defined as the index of the vehicle in the platoon starting from zero (leader) up to N (trailing vehicle).

PlatoonRole
type: Class
subclass of: Role
comment: In platoon a vehicle can assume roles such as: unknown, leader, follower, ready-for-leading, trailing, etc.

PlatoonState
type: Class
subclass of: AutomotiveState
narrower: assembling
narrower: disengaging
narrower: platooning
narrower: standalone
narrower: unknown
comment: The state of a platoon. Examples of states for a platoon are: unknown, standalone, assembling, platooning, disengaging, etc.

PlatoonVehicleState
type: Class
subclass of: AutomotiveState
narrower: disengaging
narrower: platooning
narrower: standalone
narrower: unknown
narrower: engaging
narrower: forming
narrower: Shape
comment: Examples of states for a vehicle in a platoon are: unknown, standalone, engaging, platooning, disengaging, searching, forming.

ParkingSpotState
type: Class
subclass of: AutomotiveState
narrower: charging
narrower: closed
narrower: free
narrower: occupied
narrower: reserved
comment: A parking spot has a state. Possible values for parking spot state are Free, occupied, reserved, closed, charging

ParkingVehicleState
type: Class
subclass of: AutomotiveState
narrower: At Drop Off Spot
narrower: At Pick Up Spot
narrower: Driving To Parking Spot
narrower: Driving To Pick Up Spot
narrower: parked
narrower: parking
comment: A vehicle can be found at different states (or parking phases) during parking . Possible values for parking state (or parking phase) of a vehicle are: At drop-off spot, at pick-up spot, driving to parking spot, driving to pick up spot, parking, parked, charging.

perception state
type: Class
subclass of: AutomotiveState
comment: A state of the vehicle related to its environment

platooning
type: Class
subclass of: PlatoonState
subclass of: PlatoonVehicleState
comment: A type of state for Platoon or for a Vehicle in a Platoon

geographical point
type: Class
subclass of: Geometry
subclass of: Point
comment: A geo point in SAREF4AUTO

Position
type: Class
subclass of: Restriction
  on property: hasConfidence
  some values from: Confidence
is property of: Vehicle
comment: The position of an entity in the automotive domain

PositionConfidenceEllipse
type: Class
subclass of: Confidence
comment: A type of confidence that represents horizontal position accuracy in a shape of ellipse with a predefined confidence level (e.g. 95 %). The centre of the ellipse shape corresponds to the reference position point for which the position accuracy is evaluated.

PublicTransport
type: Class
subclass of: Vehicle
comment: A type of vehicle. Example of public transport is a bus or a tram
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

RegularParkingSpot
type: Class
subclass of: ParkingSpot
comment: A type pf parking spot

RelativePosition
type: Class
subclass of: Position
subclass of: Restriction
  on property: hasCoordinateX
  some values from: float
subclass of: Restriction
  on property: hasCoordinateY
  some values from: float
subclass of: Restriction
  on property: hasCoordinateY
  some values from: float
comment: It represents the relative position of a vehicle (e.g., a car is x,y,z in front of another car)

RelativeSpeed
type: Class
subclass of: Speed
comment: A type of speed

RendezvousLocation
type: Class
subclass of: geographical point
comment: It is the estimated location where the vehicle member joins the platoon. It is expressed in global coordinates (lat, long, alt), e.g. according to WGS 84.

reserved
type: Class
subclass of: ParkingSpotState
comment: A type of state for Parking Spot

RoadEntity
type: FeatureKind
broader: AutomotiveObject
has property: RoadSideEquipment
has property: NotifiedEvent
has property: CriticalObject
has property: VulnerableRoadUser
has property: Height
has property: AbsolutePosition
has property: Length
has property: Movement
has property: RelativePosition
has property: Shape
has property: Width
comment: An entity present on the road in the neighbouring area of a vehicle

RoadObject
type: FeatureKind
broader: AutomotiveObject
comment: Road side sensors measure properties (such as speed, position, dimension, direction, etc.) of road objects. Types of relevant road objects are Pedestrian, vehicles, obstacles, traffic signs, etc.

RoadSideActuator
type: Class
subclass of: Actuator
subclass of: Restriction
  on property: usesMeasurement
  some values from: Observation
comment: Devices deployed along the road that produce signals based on road side sensor data measurements. Types of road side actuators that are relevant are devices such as traffic light controllers changing from red to green based on detected vehicles.

RoadSideEquipment
type: Class
comment: A road side equipment can be either a simple data relay between vehicles and infrastructure or between the vehicles themselves, or it can run applications. It is usually high mounted in existing equipment, such as a street light, city traffic light, VMS or highway sign, or has its own pole.

RoadSideSensor
type: Class
subclass of: Sensor
subclass of: Restriction
  on property: hasPhenomenonTime
  some values from: TemporaryEntity
subclass of: Restriction
  on property: detectsPosition
  some values from: AbsolutePosition
subclass of: Restriction
  on property: detectsPosition
  some values from: RelativePosition
observes: Heading
observes: Height
observes: Length
observes: Speed
observes: Width
comment: Sensors such as cameras, radars that are deployed along the road (e.g. at intersections and at poles along a highway). Road side sensors perform measurements, such as speed, position (relative or absolute), dimension, direction, etc. of road objects.

Road Topology Position
type: Class
subclass of: Position
comment: Position with respect to road topology (e.g. road, segment or lane) and lane characteristics (highway lane, road lane, bicycle lane, pavement, off-road).

Role
type: Class
comment: The role that can be assumed by a vehicle or a platoon

Route
type: Class
subclass of: Restriction
  on property: hasDestinationEndPoint
  some values from: EndPoint
subclass of: Restriction
  on property: hasOrigin
  some values from: StartPoint
subclass of: Restriction
  on property: isCollectionOf
  some values from: RoutePoint
comment: The route of a vehicle or of a platoon. The route of a platoon is defined as the route of the current vehicle leader in the platoon that other follower vehicles (partially) share

RoutePoint
type: Class
subclass of: geographical point
comment: The intermediate points of a route

Searching
type: Class
subclass of: PlatoonVehicleState
comment: A type of state for a Vehicle in a Platoon

Shape
type: Property
is property of: Vehicle
comment: The Shape property of a Vehicle.. It defines the overall shape of an entity: i.e., Sphere, Torus, Cylinder, Cone, Ellipsoid, Cube, Cuboid, Pyramid, Prism, Multiple shapes

Size
type: Property
is property of: Vehicle
comment: The Size property of a Vehicle. A platoon has a size. This size is defined as 1. the total number of vehicles currently in the platoon; or 2. Length of the platoon (sum of all vehicles' length + inter-vehicle distance)

Small Object
type: Class
subclass of: CriticalObject
comment: A type of Critical Object

SpecialPermitParkingSpot
type: Class
subclass of: ParkingSpot
comment: A type pf parking spot. Parking spot reserved for special permits (authorities, disabled, blue Zone, resident ...)

Speed
type: Property
is property of: ElectronicControlUnit
comment: The Speed property of an ElectronicControlUnit.

SpeedConfidence
type: Class
subclass of: Confidence
subclass of: Restriction
  on property: hasConfidenceValue
  some values from: int
comment: A type of confidence for speed measurements that represents absolute accuracy of a speed value in cm/s

speed unit
type: Class
subclass of: UnitOfMeasure
comment: unit of measure of speed

standalone
type: Class
subclass of: PlatoonState
subclass of: PlatoonVehicleState
comment: A type of state for Platoon or for a Vehicle in a Platoon

StartPoint
type: Class
subclass of: geographical point
comment: The origin of a route

StationID
type: Class
subclass of: Identifier
comment: A type of identifier for vehicles and platoons, as defined in ETSI TS 102 894-2.

TrafficLight
type: Class
subclass of: Restriction
  on property: hasPhenomenonTime
  some values from: TemporaryEntity
subclass of: RoadSideActuator
comment: A device that automatically operates coloured lights, typically red, amber, and green, for controlling traffic at road junctions, pedestrian crossings, and roundabouts.

TrafficManagementCentre
type: Class
comment: A traffic centre provides services to road users: exploiting data for road traffic management, providing information about mobility zones, operational management of the road infrastructure, etc.

tram
type: Class
subclass of: PublicTransport
comment: A type of public transport

Truck
type: Class
subclass of: Vehicle
comment: A type of vehicle. Example of trucks are heavy trucks or light trucks.

TwoWheeler
type: Class
subclass of: Vehicle
comment: A type of vehicle. This class involves all sorts of two wheelers, from motorcycles to bicycles and (e-)scooters.

UUID
type: Class
subclass of: Identifier
comment: A universally unique identifier (UUID) is a 128-bit number used to identify items and is also known as: globally unique identifier (GUID). In its canonical textual representation, the sixteen octets of a UUID are represented as 32 hexadecimal (base 16) digits, displayed in five groups separated by hyphens, in the form 8-4-4-4-12 for a total of 36 characters (32 alphanumeric characters and four hyphens). UUID are documented in ISO/IEC 11578:1996 "Information technology – Open Systems Interconnection – Remote Procedure Call (RPC)" and in ITU-T Rec. X.667 ISO/IEC 9834-8:2005.

unknown
type: Class
subclass of: PlatoonState
subclass of: PlatoonVehicleState
comment: A type of state for Platoon or for a Vehicle in a Platoon

AutomotiveObject
type: FeatureKind
narrower: Vehicle
narrower: RoadEntity
narrower: RoadObject
has property: BrakeCapacity
has property: Height
has property: Length
has property: Movement
has property: Shape
has property: Size
has property: Weight
has property: Width
comment: The static properties of an AutomotiveObject, whereas ElectronicControlUnit saref:observes the dynamic properties of :Acceleration, :Heading, :Speed, :Position ;

VehicleAutomationLevel
type: Class
subclass of: AutomationLevel
comment: According to SAE J3016, there are five levels of automation for a vehicle: - Level 0: No Driving Automation. - Level 1: Driver assistance. - Level 2: Partial driving automation. - Level 3: Conditional driving automation. - Level 4: High driving automation. - Level 5: Full Driving automation.

VehicleEnvironment
type: Class
subclass of: Restriction
  on property: consists Of Entity
  some values from: RoadEntity
subclass of: Restriction
  on property: consists of vehicle
  some values from: Vehicle
comment: The vehicle environment is made of entities which are present on the road in the area around the vehicle

VehicleRole
type: Class
subclass of: Role
comment: The role the vehicle plays in traffic. If not specified, it is assumed that it takes a default value. Otherwise, possible values to be specified are: publicTransport, specialTransport, dangerousGoods, roadWork, rescue, emergency, safetyCar, agriculture, commercial, military, roadOperator, taxi.

VulnerableRoadUser
type: Class
subclass of: Thing
subclass of: Restriction
  on property: hasHeight
  some values from: Height
subclass of: Restriction
  on property: hasLength
  some values from: Length
subclass of: Restriction
  on property: hasMovement
  some values from: Movement
subclass of: Restriction
  on property: hasWidth
  some values from: Width
comment: Non-motorized road users as well as users of VRU vehicles (L class of vehicles, for example mopeds or motorcycles, etc.) participating to the road traffic

Weight
type: Property
is property of: Vehicle
comment: The Weight property of a Vehicle.

Width
type: Property
is property of: Vehicle
comment: The Width property of a Vehicle.

width unit
type: Class
subclass of: UnitOfMeasure
comment: unit of measure of width

YawRate
type: Class
subclass of: Heading
comment: A type of heading

System
type: Class
comment: The class of systems, i.e., systems virtually isolated from the environment, whose behaviour and interactions with the environment are modeled. Systems can be connected to other systems. Connected systems interact in some ways. Systems can also have subsystems. Properties of subsystems somehow contribute to the properties of the supersystem

Agriculture
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

Commercial
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

CrossingLeft
type: NamedIndividual
type: Movement
comment: A type of movement

CrossingRight
type: NamedIndividual
type: Movement
comment: A type of movement

DangerousGood
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

Emergency
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

Follower
type: NamedIndividual
type: PlatoonRole
comment: A type of platoon role

Leader
type: NamedIndividual
type: PlatoonRole
comment: A type of platoon role

Military
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

ReadyForLeading
type: NamedIndividual
type: PlatoonRole
comment: A type of platoon role

Rescue
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

ReverseDirection
type: NamedIndividual
type: Movement
comment: A type of movement

RoadOperator
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

RoadWork
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

SafetyCar
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

SameDirection
type: NamedIndividual
type: Movement
comment: A type of movement

SpecialTransport
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

Static
type: NamedIndividual
type: Movement
comment: A type of movement

Taxi
type: NamedIndividual
type: VehicleRole
comment: A type of vehicle role

Trailing
type: NamedIndividual
type: PlatoonRole
comment: A type of platoon role

UnknownPlatoonRole
type: NamedIndividual
type: PlatoonRole
comment: A type of platoon role

PlatoonStateKind
type: NamedIndividual
type: PlatoonState
comment: A kind of platoon state

PlatoonVehicleStateKind
type: NamedIndividual
type: PlatoonVehicleState
comment: A kind of platoon vehicle state

ParkingVehicleStateKind
type: NamedIndividual
type: ParkingVehicleState
comment: A kind of parking vehicle state

ParkingSpotStateKind
type: NamedIndividual
type: ParkingSpotState
comment: A kind of parking spot state

PerceptionStateKind
type: NamedIndividual
type: perception state
comment: A kind of perception state