Documentation update

# <a name="CAM-PDU-Descriptions"></a>ASN.1 module CAM-PDU-Descriptions

OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) camPduRelease2 (103900) major-version-2 (2) minor-version-1 (1)}_

draft 0.0.3 of the CAM module for TS 103 900 V2.2.1 integrating:

- ITSWG1(24)000011r8 containing the following:

	- ExtensionContainers 

	- GeneralizedLanePositionsContainer

	- LocationSharingContainer

	- PathPredictionContainer

	- TwoWheelerContainer

- ITSWG1(24)000002r1 containing the Very Low Frequency Container

## Imports:

* **[ETSI-ITS-CDD](ETSI-ITS-CDD.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-4 (4) minor-version-1 (1)} WITH SUCCESSORS*<br/>

  The special container of the CAM shall be present as defined in clause 6.1.2. 

   The content of the container shall be set according to the value of the vehicleRole component as specified in Table 5. 

* _extensionContainers_ of type [**WrappedExtensionContainers**](#WrappedExtensionContainers)  OPTIONAL<br>

  the list of CAM extension containers, including its container type identifier and the container itself.

```asn1

CamParameters ::= SEQUENCE {

	basicContainer           BasicContainer,

	highFrequencyContainer   HighFrequencyContainer,

	lowFrequencyContainer    LowFrequencyContainer OPTIONAL,

	specialVehicleContainer  SpecialVehicleContainer OPTIONAL,

	...

	...,

	extensionContainers		 WrappedExtensionContainers OPTIONAL

}

```

}

```

### <a name="EXTENSION-CONTAINER-ID-AND-TYPE"></a>EXTENSION-CONTAINER-ID-AND-TYPE

This information object class is an abstract template to instantiate containers.

 It shall include the following components:

* _id_ of type [**ExtensionContainerId**](#ExtensionContainerId)  UNIQUE<br>

  the identifier of the container type.

* Type<br>

  the container content.

```asn1

EXTENSION-CONTAINER-ID-AND-TYPE ::= CLASS {

    &id     ExtensionContainerId UNIQUE,

    &Type

} WITH SYNTAX {&Type IDENTIFIED BY &id}

```

### <a name="ExtensionContainerId"></a>ExtensionContainerId

This DE represents the identifier of the container type.

```asn1

ExtensionContainerId ::= INTEGER (1..16,...)

```

These value assignments represent specific values of the container type identifier.

```asn1

twoWheelerContainer ExtensionContainerId ::= 1

eHorizonLocationSharingContainer ExtensionContainerId ::= 2

veryLowFrequencyContainer ExtensionContainerId ::= 3

pathPredictionContainer ExtensionContainerId ::= 4

generalizedLanePositionsContainer ExtensionContainerId ::= 5

```

### <a name="ExtensionContainers"></a>ExtensionContainers

This information object set represents the association between the container type and the container content.

```asn1

ExtensionContainers EXTENSION-CONTAINER-ID-AND-TYPE ::= {

    {TwoWheelerContainer IDENTIFIED BY twoWheelerContainer} |

    {EHorizonLocationSharingContainer IDENTIFIED BY eHorizonLocationSharingContainer} |

    {VeryLowFrequencyContainer IDENTIFIED BY veryLowFrequencyContainer} |

    {PathPredictionContainer IDENTIFIED BY pathPredictionContainer} |

    {GeneralizedLanePositionsContainer IDENTIFIED BY generalizedLanePositionsContainer},

    ...

}

```

### <a name="WrappedExtensionContainer"></a>WrappedExtensionContainer

This DF represents a CAM container preceded by its type identifier and a length indicator.

 It shall include the following components:

* _containerId_ of type [**EXTENSION-CONTAINER-ID-AND-TYPE**](#EXTENSION-CONTAINER-ID-AND-TYPE) .&id( {ExtensionContainers} )<br>

  the identifier of the container type.

* _containerData_ of type [**EXTENSION-CONTAINER-ID-AND-TYPE**](#EXTENSION-CONTAINER-ID-AND-TYPE) .&Type( {ExtensionContainers}{@containerId} )<br>

  the container content consistent with the container type.

```asn1

WrappedExtensionContainer ::= SEQUENCE {

   containerId     EXTENSION-CONTAINER-ID-AND-TYPE.&id( {ExtensionContainers} ),

   containerData   EXTENSION-CONTAINER-ID-AND-TYPE.&Type( {ExtensionContainers}{@containerId} )

}

```

### <a name="WrappedExtensionContainers"></a>WrappedExtensionContainers

This DF represents a list of CAM containers, each with their type identifier.

```asn1

WrappedExtensionContainers ::= SEQUENCE SIZE(1..8,...) OF WrappedExtensionContainer

```

### <a name="TwoWheelerContainer"></a>TwoWheelerContainer

This type contains detailed information about two wheelers. It is meant to use for StationType

 cyclist, moped and motorcycle.

 It shall include the following components:

* _typeSpecificInformation_ of type [**TwoWheelerTypeSpecificInformation**](#TwoWheelerTypeSpecificInformation)  OPTIONAL<br>

  this data field contains type specific information about two wheelers.

* _rollAngle_ of type [**CartesianAngle**](ETSI-ITS-CDD.md#CartesianAngle)  OPTIONAL<br>

  this data field describes the roll angle of the two wheeler.

* _orientation_ of type [**Wgs84Angle**](ETSI-ITS-CDD.md#Wgs84Angle)  OPTIONAL<br>

  this data field describes the orientation of the two wheeler.

* _stabilityChangeIndication_ of type [**StabilityChangeIndication**](ETSI-ITS-CDD.md#StabilityChangeIndication)  OPTIONAL<br>

  this data field describes if the two wheeler is about to lose control.

```asn1

TwoWheelerContainer ::= SEQUENCE {

    typeSpecificInformation     TwoWheelerTypeSpecificInformation OPTIONAL,

    rollAngle                   CartesianAngle OPTIONAL,

    orientation                 Wgs84Angle OPTIONAL,

    stabilityChangeIndication   StabilityChangeIndication OPTIONAL,

    ...

}

```

### <a name="TwoWheelerTypeSpecificInformation"></a>TwoWheelerTypeSpecificInformation

This type contains type specific information about a two wheeler.

 It includes one of the following components:

* _cyclist_ of type [**CyclistTypeSpecificInformation**](#CyclistTypeSpecificInformation) <br>

  it contains cyclist-specific information.

```asn1

TwoWheelerTypeSpecificInformation ::= CHOICE {

    cyclist CyclistTypeSpecificInformation,

    ...

}

```

### <a name="CyclistTypeSpecificInformation"></a>CyclistTypeSpecificInformation

This type contains type-specific information about cyclists.

 It shall include the following components:

* _vruSubProfileBicyclist_ of type [**VruSubProfileBicyclist**](ETSI-ITS-CDD.md#VruSubProfileBicyclist)  (unavailable | bicyclist | e-scooter | pedelec | speed-pedelec | roadbike | childrensbike) OPTIONAL<br>

  it indicates the detailed type of the cyclist.

* _vruMovementControl_ of type [**VruMovementControl**](ETSI-ITS-CDD.md#VruMovementControl)  OPTIONAL<br>

  it includes information about the movement control of the bicycle.

```asn1

CyclistTypeSpecificInformation ::= SEQUENCE {

    vruSubProfileBicyclist  VruSubProfileBicyclist (unavailable | bicyclist | e-scooter | pedelec | speed-pedelec | roadbike | childrensbike) OPTIONAL,

    vruMovementControl      VruMovementControl OPTIONAL,

    ...

}

```

### <a name="EHorizonLocationSharingContainer"></a>EHorizonLocationSharingContainer

This type contains contextual, map-based location information.

 eHorizon is defined as a tool to convey the part of the road network and its characteristics derived from map data located in front of or behind the vehicle along the road.

 It shall include the following components:

* _segmentAhead_ of type [**PolygonalLine**](ETSI-ITS-CDD.md#PolygonalLine) <br>

  the road segment that the vehicle is predicted to reach, starting from the reference position.

   At least one node must be filled in so that the current map position can be calculated on the receiver side.

* _nodeProbabilities_ of type [**ConfidenceLevels**](ETSI-ITS-CDD.md#ConfidenceLevels)  OPTIONAL<br>

  confidence values for each node in segmentAhead, indicating how confident we are that the ITS station will reach that point.

* _segmentBehind_ of type [**PolygonalLine**](ETSI-ITS-CDD.md#PolygonalLine) <br>

  the road segment that the vehicle has passed, based on the collected data, starting from the reference position.

   At least one node must be filled in so that the current map position can be calculated on the receiver side.

* _laneLevelDetails_ of type [**BasicLaneConfiguration**](ETSI-ITS-CDD.md#BasicLaneConfiguration)  OPTIONAL<br>

  provides information about the configuration of the road at the position indicated by the component referencePosition of the Basic Container and for a given reference direction.

* _segmentSource_ of type [**SegmentSource**](ETSI-ITS-CDD.md#SegmentSource)  OPTIONAL<br>

  it represents the origin of the map-specific data.

```asn1

EHorizonLocationSharingContainer ::= SEQUENCE {

    segmentAhead        PolygonalLine,

    nodeProbabilities   ConfidenceLevels OPTIONAL,

    segmentBehind       PolygonalLine,

    laneLevelDetails    BasicLaneConfiguration OPTIONAL,

    segmentSource       SegmentSource OPTIONAL,

    ...

}

```

### <a name="VeryLowFrequencyContainer"></a>VeryLowFrequencyContainer

This type represents the very low frequency container.

 It shall include the following components:

* _vehicleHeight_ of type [**VehicleHeight2**](ETSI-ITS-CDD.md#VehicleHeight2)  OPTIONAL<br>

  this component represents the height of the vehicle that originates the CAM.

* _wiperStatus_ of type [**WiperStatus**](ETSI-ITS-CDD.md#WiperStatus)  OPTIONAL<br>

  this component represents the status of the wipers of the vehicle that originates the CAM, at the time indicated by generationDeltaTime.

* _brakeControl_ of type [**BrakeControl**](ETSI-ITS-CDD.md#BrakeControl)  OPTIONAL<br>

  this component represents the status of the brake control system of the vehicle that originates the CAM, 

   at the time indicated by generationDeltaTime and during the period 10 seconds before that time.

```asn1

VeryLowFrequencyContainer ::= SEQUENCE {

    vehicleHeight  VehicleHeight2 OPTIONAL,

    wiperStatus    WiperStatus OPTIONAL,

    brakeControl   BrakeControl OPTIONAL,

    ...

}

```

### <a name="PathPredictionContainer"></a>PathPredictionContainer

This type represents the path prediction container.

 Contains information about the possible future paths of ITS station.

```asn1

PathPredictionContainer ::= PathPredictedList

```

### <a name="GeneralizedLanePositionsContainer"></a>GeneralizedLanePositionsContainer

This type represents the generalized lane positions container.

 Contains detailed information about the road layout that the ITS station is currently using.

```asn1

GeneralizedLanePositionsContainer ::= GeneralizedLanePositions

```