ETSI-ITS-CDD.md

}
```


### <a name="InterferenceManagementInfo"></a>InterferenceManagementInfo
 This DF consists of a list of up to 16 definitions containing interference management information, per affected frequency channels.
 

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Communication information. 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1_
```asn1
InterferenceManagementInfo::= SEQUENCE (SIZE(1..16,...)) OF InterferenceManagementInfoPerChannel
```

### <a name="InterferenceManagementInfoPerChannel"></a>InterferenceManagementInfoPerChannel
 This DF contains interference management information for one affected frequency channel.

 It includes the following components:

Fields:
* interferenceManagementChannel [**InterferenceManagementChannel**](#InterferenceManagementChannel) <br>
  frequency channel for which the zone should be applied interference management 


* interferenceManagementZoneType [**InterferenceManagementZoneType**](#InterferenceManagementZoneType) <br>
  type of the interference management zone. 


   
* interferenceManagementMitigationType [**MitigationForTechnologies**](#MitigationForTechnologies)  OPTIONAL<br>
  optional type of the mitigation to be used in the interference management zone. 
   In the case where no mitigation should be applied by the ITS-S, this is indicated by the field interferenceManagementMitigationType being absent.


   
* expiryTime [**TimestampIts**](#TimestampIts)  OPTIONAL<br>
  optional time at which the validity of the interference management communication zone will expire. 
   This component is present when the interference management is temporarily valid


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Communication information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1_
```asn1
InterferenceManagementInfoPerChannel ::= SEQUENCE {
    interferenceManagementChannel           InterferenceManagementChannel,
    interferenceManagementZoneType          InterferenceManagementZoneType,
    interferenceManagementMitigationType    MitigationForTechnologies OPTIONAL,
    expiryTime                              TimestampIts OPTIONAL, 
    ...
}
```


### <a name="InterferenceManagementZones"></a>InterferenceManagementZones
 This DF consist of a list of up to 16 interference  management zones.  

 **EXAMPLE**: An interference management communication zone may be defined around a CEN DSRC road side equipment or an urban rail operational area.
 

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Communication information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1_
```asn1
InterferenceManagementZones ::= SEQUENCE (SIZE(1..16), ...) OF InterferenceManagementZone
```

### <a name="IntersectionReferenceId"></a>IntersectionReferenceId
 This DF represents a unique id for an intersection, in accordance with ETSI TS 103 301 [i.17].

 It includes the following components:

Fields:
* region [**Identifier2B**](#Identifier2B)  OPTIONAL<br>
  the optional identifier of the entity that is responsible for the region in which the intersection is placed.
   It is the duty of that entity   to guarantee that the [**Id**](#Id) is unique within the region.


* id [**Identifier2B**](#Identifier2B) <br>
  the identifier of the intersection


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Road topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1_

>>>
NOTE: when the RoadRegulatorID is present, the IntersectionReferenceID is guaranteed to be globally unique.
>>>
```asn1
IntersectionReferenceId ::= SEQUENCE {
    region    Identifier2B OPTIONAL,
    id        Identifier2B
}
```


### <a name="ItineraryPath"></a>ItineraryPath
 This DF consists of  a list of waypoints [**ReferencePosition**](#ReferencePosition).
 

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Editorial update in V2.1.1_
```asn1
ItineraryPath ::= SEQUENCE SIZE(1..40) OF ReferencePosition
```

### <a name="ItsPduHeader"></a>ItsPduHeader
 This DF represents a common message header for application and facilities layer messages.
 It is included at the beginning of an ITS message as the message header.

 It includes the following components:

Fields:
* protocolVersion **INTEGER**  (0..255)<br>
  version of the ITS message.


* messageId [**MessageId**](#MessageId) <br>
  type of the ITS message.


   
* stationId [**StationID**](#StationID) <br>
  the identifier of the ITS-S that generates the ITS message in question.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Communication information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _update in V2.1.1: messageID and stationID changed to messageId and stationId; messageId is of type MessageId._
```asn1
ItsPduHeader ::= SEQUENCE {
    protocolVersion    INTEGER (0..255),
    messageId          MessageId,
    stationId          StationID
}
```

### <a name="LanePositionAndType"></a>LanePositionAndType
 This DF indicates a transversal position in resolution of lanes and the associated lane type.

 It includes the following components:

Fields:
* transversalPosition [**LanePosition**](#LanePosition) <br>
  the transversal position.


* laneType [**LaneType**](#LaneType) <br>
  the type of the lane identified in the component transversalPosition.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Created in V2.1.1_
```asn1
LanePositionAndType::= SEQUENCE {
    transversalPosition    LanePosition,
    laneType               LaneType,
    ...
}
```

### <a name="LateralAcceleration"></a>LateralAcceleration
 This DF indicates the vehicle acceleration at lateral direction and the accuracy of the lateral acceleration.

 It includes the following components:

Fields:
* lateralAccelerationValue [**LateralAccelerationValue**](#LateralAccelerationValue) <br>
  lateral acceleration value at a point in time.


* lateralAccelerationConfidence [**AccelerationConfidence**](#AccelerationConfidence) <br>
  accuracy of the reported lateral acceleration value.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _V1.3.1_

>>>
NOTE: this DF is kept forbackwards compatibility reasons only. It is recommended to use [**Acceleration1d**](#Acceleration1d) instead.
>>>
```asn1
LateralAcceleration ::= SEQUENCE {
    lateralAccelerationValue         LateralAccelerationValue,
    lateralAccelerationConfidence    AccelerationConfidence
}
```

### <a name="LongitudinalAcceleration"></a>LongitudinalAcceleration
 This DF indicates the vehicle acceleration at longitudinal direction and the accuracy of the longitudinal acceleration.

 It includes the following components:

Fields:
* longitudinalAccelerationValue [**LongitudinalAccelerationValue**](#LongitudinalAccelerationValue) <br>
  longitudinal acceleration value at a point in time.


* longitudinalAccelerationConfidence [**AccelerationConfidence**](#AccelerationConfidence) <br>
  accuracy of the reported longitudinal acceleration value with a predefined


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _V1.3.1_

>>>
NOTE: this DF is kept forbackwards compatibility reasons only. It is recommended to use [**Acceleration1d**](#Acceleration1d) instead.
>>>
```asn1
LongitudinalAcceleration ::= SEQUENCE {
    longitudinalAccelerationValue         LongitudinalAccelerationValue,
    longitudinalAccelerationConfidence    AccelerationConfidence
}
```

### <a name="LongitudinalLanePosition"></a>LongitudinalLanePosition
 This DF represents the estimated position along the longitudinal length of a particular lane. 

 It includes the following components:

Fields:
* longitudinalLanePositionValue [**LongitudinalLanePositionValue**](#LongitudinalLanePositionValue) <br>
  the mean value of the longitudinal position within a particular length.


* longitudinalLanePositionConfidence [**LongitudinalLanePositionConfidence**](#LongitudinalLanePositionConfidence) <br>
  The confidence associated to the provided value.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Road topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1_
```asn1
LongitudinalLanePosition ::= SEQUENCE {
    longitudinalLanePositionValue         LongitudinalLanePositionValue,
    longitudinalLanePositionConfidence    LongitudinalLanePositionConfidence
}
```


### <a name="LowerTriangularPositiveSemidefiniteMatrix"></a>LowerTriangularPositiveSemidefiniteMatrix
 This DF represents the elements of a lower triangular positive semi-definite matrix, not including the main diagonal elements of the matrix.
 Given a matrix "A" of size n x n, the number of columns [**CorrelationColumn**](#CorrelationColumn) to be included in the lower triangular matrix is k=n-1.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _V1.3.1_
```asn1
LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE SIZE (1..21) OF CorrelationColumn
```

### <a name="MapPosition"></a>MapPosition
 This DF indicates a position on a topology description transmitted in a MAPEM according to ETSI TS 103 301 [i.17].

 It includes the following components:

Fields:
* mapReference [**MapReference**](#MapReference)  OPTIONAL<br>
  optionally identifies the MAPEM containing the topology information.
   It is absent if the MAPEM topology is known from the context.


* laneId [**Identifier1B**](#Identifier1B) <br>
  identifies the lane in the road segment or intersection topology on which the position is located.


   
* longitudinalLanePosition [**LongitudinalLanePosition**](#LongitudinalLanePosition)  OPTIONAL<br>
  optionally indicates the longitudinal offset of the map-matched position of the object along the lane or connection.


   
* connectionId [**Identifier1B**](#Identifier1B) <br>
  identifies the connection inside the conflict area of an intersection, i.e. it identifies a trajectory for travelling through the
   conflict area of an intersection which connects e.g an ingress with an egress lane.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Road topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Created in V2.1.1_
```asn1
MapPosition ::= SEQUENCE {
    mapReference                MapReference OPTIONAL,
    laneId                      Identifier1B,
    longitudinalLanePosition    LongitudinalLanePosition OPTIONAL,
    connectionId                Identifier1B, 
    ...
}
```

### <a name="MapReference"></a>MapReference
 This DF provides the reference to the information contained in a MAPEM according to ETSI TS 103 301 [i.17]. 

 The following options are provided:

Fields:
* roadsegment [**RoadSegmentReferenceId**](#RoadSegmentReferenceId) <br>
  option that identifies the description of a road segment contained in a MAPEM.


* intersection [**IntersectionReferenceId**](#IntersectionReferenceId) <br>
  option that identifies the description of an intersection contained in a MAPEM.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Road topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Created in V2.1.1_
```asn1
MapReference::= CHOICE {
	roadsegment     RoadSegmentReferenceId,
	intersection    IntersectionReferenceId
	}
```

### <a name="MessageSegmentationInfo"></a>MessageSegmentationInfo
 This DF provides information about a message with respect to the segmentation process at the sender.

 It includes the following components:

Fields:
* totalMsgNo [**CardinalNumber1B**](#CardinalNumber1B)  (1..255)<br>
  indicates the total number of messages that has been used on the transmitter side to encode the information.


* thisMsgNo [**OrdinalNumber1B**](#OrdinalNumber1B) <br>
  indicates the position of the message within of the total set of messages.


   
```asn1
MessageSegmentationInfo ::= SEQUENCE {
    totalMsgNo  CardinalNumber1B (1..255),
    thisMsgNo   OrdinalNumber1B
    }
```


### <a name="MitigationForTechnologies"></a>MitigationForTechnologies
 
 This DF represents a list of [**MitigationPerTechnologyClass**](#MitigationPerTechnologyClass).

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Communication information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Created in V2.1.1_
```asn1
MitigationForTechnologies ::= SEQUENCE (SIZE(1..8)) OF MitigationPerTechnologyClass
```

### <a name="MitigationPerTechnologyClass"></a>MitigationPerTechnologyClass
 This DF represents a set of mitigation parameters for a specific technology, as specified in ETSI TS 103 724 [i.24], clause 7.

 It includes the following components:

Fields:
* accessTechnologyClass [**AccessTechnologyClass**](#AccessTechnologyClass) <br>
  channel access technology to which this mitigation is applied.


* lowDutyCycle **INTEGER**  (0 .. 10000) OPTIONAL<br>
  duty cycle limit.


    
* powerReduction **INTEGER**  (0 .. 30) OPTIONAL<br>
  the delta value of power to be reduced.


    
* dmcToffLimit **INTEGER**  (0 .. 1200) OPTIONAL<br>
  idle time limit as defined in ETSI TS 103 175 [i.25].


   
* dmcTonLimit **INTEGER**  (0 .. 20) OPTIONAL<br>
  Transmission duration limit, as defined in ETSI EN 302 571 [i.26].


      

&nbsp;&nbsp;&nbsp;&nbsp;**Unit**: _ms_

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Communication information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Created in V2.1.1_

>>>
NOTE: All parameters are optional, as they may not apply to some of the technologies or
 interference management zone types. Specification details are in ETSI TS 103 724 [i.24], clause 7.
>>>
```asn1
MitigationPerTechnologyClass ::= SEQUENCE {
   accessTechnologyClass    AccessTechnologyClass, 
   lowDutyCycle             INTEGER (0 .. 10000) OPTIONAL, 
   powerReduction           INTEGER (0 .. 30) OPTIONAL,
   dmcToffLimit             INTEGER (0 .. 1200) OPTIONAL,   
   dmcTonLimit              INTEGER (0 .. 20) OPTIONAL,   
   ...
}
```

### <a name="ObjectClass"></a>ObjectClass
 This DF indicates both the class and associated subclass that best describes an object.

 The following options are available:

Fields:
* vehicleSubClass [**VehicleSubClass**](#VehicleSubClass) <br>
  the object is a road vehicle.


* vruSubClass [**VruProfileAndSubprofile**](#VruProfileAndSubprofile) <br>
  the object is a VRU.


   
* groupSubClass [**VruClusterInformation**](#VruClusterInformation)  (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT})<br>
  the object is a VRU group or cluster.


   
* otherSubClass [**OtherSubClass**](#OtherSubClass) <br>
  the object is of a different types as the above.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Created in V2.1.1_
```asn1
ObjectClass ::= CHOICE {
    vehicleSubClass    VehicleSubClass,
    vruSubClass        VruProfileAndSubprofile,
    groupSubClass      VruClusterInformation (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT}),
    otherSubClass      OtherSubClass,
    ...
}
```


### <a name="ObjectClassDescription"></a>ObjectClassDescription
 This DF consist of a list of object classes.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Created in V2.1.1_
```asn1
ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClassWithConfidence
```

### <a name="ObjectClassWithConfidence"></a>ObjectClassWithConfidence
 This DF represents the classification of a detected object together with a confidence indication.

 It includes the following components:

Fields:
* objectClass [**ObjectClass**](#ObjectClass) <br>
  the class of the object.


* confidence [**ConfidenceLevel**](#ConfidenceLevel) <br>
   
* confidence [**ConfidenceLevel**](#ConfidenceLevel) <br>
   
* value [**ObjectDimensionValue**](#ObjectDimensionValue) <br>
   
* confidence [**ObjectDimensionConfidence**](#ObjectDimensionConfidence) <br>
   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _Created in V2.1.1_
```asn1
ObjectClassWithConfidence ::= SEQUENCE {
    objectClass    ObjectClass,
    confidence     ConfidenceLevel
}
ObjectDimension ::= SEQUENCE {
    value         ObjectDimensionValue,
    confidence    ObjectDimensionConfidence
}
```


### <a name="Path"></a>Path
 This DF that represents a path with a set of path points.
 It may contain up to `40` [**PathPoint**](#PathPoint). 
 
 The first PathPoint presents an offset delta position with regards to an external reference position.
 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint. 
 

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1 based on PathHistory_
```asn1
Path::= SEQUENCE (SIZE(0..40)) OF PathPoint
```


### <a name="PathHistory"></a>PathHistory
 This DF that represents a path history with a set of path points.
 It may contain up to `40` [**PathPoint**](#PathPoint). 
 
 The first PathPoint presents an offset delta position with regards to an external reference position.
 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint. 
 

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _semantics updated in V2.1.1_

>>>
NOTE: this DF is kept for backwards compatibility reasons only. It is recommended to use [**Path**](#Path) instead
>>>
```asn1
PathHistory::= SEQUENCE (SIZE(0..40)) OF PathPoint
```


### <a name="PathPredicted"></a>PathPredicted
 This DF that represents a predicted path with a set of path points.
 It may contain up to `15` [**PathPoint**](#PathPoint). 
 
 The first PathPoint presents an offset delta position with regards to an external reference position.
 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint. 
 

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1 based on PathHistory_
```asn1
PathPredicted::= SEQUENCE (SIZE(0..15,...)) OF PathPointPredicted
```

### <a name="PathPoint"></a>PathPoint
 This DF  defines an offset waypoint position within a path.

 It includes the following components:

Fields:
* pathPosition [**DeltaReferencePosition**](#DeltaReferencePosition) <br>
  The waypoint position defined as an offset position with regards to a pre-defined reference position. 


* pathDeltaTime [**PathDeltaTime**](#PathDeltaTime)  OPTIONAL<br>
  The optional travel time separated from a waypoint to the predefined reference position.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _semantics updated in V2.1.1_
```asn1
PathPoint ::= SEQUENCE {
    pathPosition     DeltaReferencePosition,
    pathDeltaTime    PathDeltaTime OPTIONAL
}
```

### <a name="PathPointPredicted"></a>PathPointPredicted
 This DF  defines a predicted offset waypoint position within a path.

 It includes the following components:

Fields:
* deltaLatitude [**DeltaLatitude**](#DeltaLatitude) <br>
  an offset latitude with regards to a pre-defined reference position. 


* deltaLongitude [**DeltaLongitude**](#DeltaLongitude) <br>
  an offset longitude with regards to a pre-defined reference position. 


         
* horizontalPositionConfidence [**PosConfidenceEllipse**](#PosConfidenceEllipse)  OPTIONAL<br>
  the accuracy of the horizontal geographical position.


    
* deltaAltitude [**DeltaAltitude**](#DeltaAltitude)  DEFAULT unavailable<br>
  an offset altitude with regards to a pre-defined reference position. 


      
* altitudeConfidence [**AltitudeConfidence**](#AltitudeConfidence)  DEFAULT unavailable<br>
  the accuracy of the altitude value of the geographical position.


    
* pathDeltaTime [**DeltaTimeTenthOfSecond**](#DeltaTimeTenthOfSecond) <br>
  The  travel time separated from the waypoint to the predefined reference position.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _semantics updated in V2.1.1_
```asn1
PathPointPredicted::= SEQUENCE {
  deltaLatitude                 DeltaLatitude,      
  deltaLongitude                DeltaLongitude, 
  horizontalPositionConfidence  PosConfidenceEllipse OPTIONAL,   
  deltaAltitude                 DeltaAltitude DEFAULT unavailable, 
  altitudeConfidence            AltitudeConfidence DEFAULT unavailable,
  pathDeltaTime                 DeltaTimeTenthOfSecond,
  ... 
}
```

### <a name="PerceivedObject"></a>PerceivedObject
 This DF contains information about a perceived object including its kinematic and attitude vector in a pre-defined coordinate system.
 
 It includes the following components:

Fields:
* objectID [**Identifier2B**](#Identifier2B)  OPTIONAL<br>
  optional identifier assigned to a detected object.


* timeOfMeasurement [**DeltaTimeMilliSecondPosNeg**](#DeltaTimeMilliSecondPosNeg) <br>
  the time difference from a reference time to the time of the  measurement of the object using the DE DeltaTime. 
   Negative values indicate that the provided object state refers to a point in time after the reference time.


   
* xCoordinate [**CartesianCoordinateWithConfidence**](#CartesianCoordinateWithConfidence) <br>
  X Coordinate, i.e. distance to detected object from the origin of the coordinate system to the object reference point in x-direction at the time
   of measurement, with the associated variance.


   
* yCoordinate [**CartesianCoordinateWithConfidence**](#CartesianCoordinateWithConfidence) <br>
  Y Coordinate, i.e. distance to detected object from the origin of the coordinate system to the object reference point in y-direction at the time
   of measurement, with the associated variance.


    
* zCoordinate [**CartesianCoordinateWithConfidence**](#CartesianCoordinateWithConfidence)  OPTIONAL<br>
  optional Z Coordinate, i.e. distance to detected object from the origin of the coordinate system to the object reference point in z-direction 
   at the time of measurement, with the associated variance.


   
* velocityMagnitude [**SpeedExtended**](#SpeedExtended)  OPTIONAL<br>
  magnitude of the velocity vector of the detected object in the X-Y plane at the time of measurement, with the associated variance. 
   Negative magnitude values indicate movement backwards


   
* velocityDirection [**CartesianAngle**](#CartesianAngle)  OPTIONAL<br>
  polar angle of the velocity vector of the detected object in the X-Y plane at the time of measurement, with the associated variance.


    
* xVelocity [**SpeedExtended**](#SpeedExtended)  OPTIONAL<br>
  velocity component of the detected object in x-direction at the time of measurement, with the associated variance.


    
* yVelocity [**SpeedExtended**](#SpeedExtended)  OPTIONAL<br>
  velocity component of the detected object in y-direction at the time of measurement, with the associated variance.


   
* zVelocity [**SpeedExtended**](#SpeedExtended)  OPTIONAL<br>
  optional velocity component of the detected object in z-direction at the time of measurement, with the associated variance.


   
* accelerationMagnitude [**Acceleration1d**](#Acceleration1d)  OPTIONAL<br>
  magnitude of the acceleration vector of the detected object in the X-Y plane at the time of measurement, with the associated variance. 
   Negative magnitude values indicate accelerating backwards.


   
* accelerationDirection [**CartesianAngle**](#CartesianAngle)  OPTIONAL<br>
  polar angle of the acceleration vector of the detected object in the X-Y plane at the time of measurement, with the associated variance.


   
* xAcceleration [**Acceleration1d**](#Acceleration1d)  OPTIONAL<br>
  optional Acceleration of the detected object in x-direction at the time of measurement, with the associated variance.


   
* yAcceleration [**Acceleration1d**](#Acceleration1d)  OPTIONAL<br>
  optional Acceleration of the detected object in y-direction at the time of measurement, with the associated variance.


   
* zAcceleration [**Acceleration1d**](#Acceleration1d)  OPTIONAL<br>
  optional Acceleration of the detected object in z-direction at the time of measurement, with the associated variance.


   
* rollAngle [**CartesianAngle**](#CartesianAngle)  OPTIONAL<br>
  optional Roll angle of object at the time of measurement with the associated variance.
   The angle is measured with positive values considering the object orientation turning counter-clockwise around the x-axis.


   
* pitchAngle [**CartesianAngle**](#CartesianAngle)  OPTIONAL<br>
  optional Pitch angle of object at the time of measurement with the associated variance.    
   The angle is measured with positive values considering the object orientation turning counter-clockwise around the y-axis.


   
* yawAngle [**CartesianAngle**](#CartesianAngle)  OPTIONAL<br>
  optional Yaw angle of object at the time of measurement, with the associated variance.
   The angle is measured with positive values considering the object orientation turning counter-clockwise around the z-axis.


   
* rollSpeed [**CartesianAngularSpeed**](#CartesianAngularSpeed)  OPTIONAL<br>
  optional Roll speed of the object at the time of measurement, with the associated variance.
   The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the x-axis.


   
* pitchSpeed [**CartesianAngularSpeed**](#CartesianAngularSpeed)  OPTIONAL<br>
  optional Pitch speed of the object at the time of measurement, with the associated variance.
   The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the y-axis.


   
* yawSpeed [**CartesianAngularSpeed**](#CartesianAngularSpeed)  OPTIONAL<br>
  optional Yaw speed of the object at the time of measurement, with the associated variance.
   The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the z-axis.


   
* rollAcceleration [**CartesianAngularAcceleration**](#CartesianAngularAcceleration)  OPTIONAL<br>
  optional Roll acceleration of the object at the time of measurement, with the associated variance.
   The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the x-axis.


   
* pitchAcceleration [**CartesianAngularAcceleration**](#CartesianAngularAcceleration)  OPTIONAL<br>
  optional Pitch acceleration of the object at the time of measurement, with the associated variance. 
   The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the y-axis.


   
* yawAcceleration [**CartesianAngularAcceleration**](#CartesianAngularAcceleration)  OPTIONAL<br>
  optional Yaw acceleration of the object at the time of measurement, with the associated variance.
   The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the z-axis.


   
* lowerTriangularCorrelationMatrixColumns [**LowerTriangularPositiveSemidefiniteMatrix**](#LowerTriangularPositiveSemidefiniteMatrix)  OPTIONAL<br>
  optional set of columns of a lower triangular correlation matrix for the provided kinematic state and attitude vector.
   The kinematic and attitude vector is composed of the xCoordinate, yCoordinate and zero or more of the other components listed immediately before this component from zCoordinate to yawAcceleration.
   The columns and rows of the correlation matrix indicate the value components of the vector (i.e. without variance) to which the covariance entries apply and are ordered as follows:
         - xCoordinate 
         - yCoordinate 
         - zCoordinate
         - velocityMagnitude
         - velocityDirection
         - xVelocity
         - yVelocity
         - zVelocityComponent
         - accelerationMagnitude
         - accelerationDirection
         - xAcceleration
         - yAcceleration
         - zAcceleration
         - rollAngle
         - pitchAngle
         - yawAngle
         - rollSpeed
         - pitchSpeed
         - yawSpeed
         - rollAcceleration
         - pitchAcceleration
         - yawAcceleration
     The number of lowerTriangularCorrelationMatrixColumns to be included "k" is thereby the number of provided
     components "n" of the kinematic state and attitude vector minus 1: k = n-1.
     Each column "i" of the lowerTriangularCorrelationMatrixColumns contains k-(i-1) values.
     In case certain values of the kinematic state and attitude vector are not provided, they are omitted from
     the lowerTriangularCorrelationMatrixColumns.


   
* planarObjectDimension1 [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
  optional first dimension of object as provided by the sensor or environment model. 
   This dimension is always contained in the plane which is oriented perpendicular to the direction of the angle
   indicated by the yawAngle and which contains the object's reference point.


   
* planarObjectDimension2 [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
  optional second dimension of the object as provided by the sensor environment model. 
   This dimension is contained in the plane oriented in the direction of the angle indicated by the yawAngle and the object's reference point.


   
* verticalObjectDimension [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
  optional vertical dimension of object as provided by the sensor or object model.


   
* objectRefPoint [**ObjectRefPoint**](#ObjectRefPoint)  DEFAULT 0<br>
  the reference point on the perceived object. The kinematic attitude and state data provided
   for this object are valid for this reference point of the object. In case no object reference
   point can be determined, it is assumed to be the center point of the detected object.


   
* objectAge [**DeltaTimeMilliSecondPosNeg**](#DeltaTimeMilliSecondPosNeg)  (0..1500) OPTIONAL<br>
  optional age of the detected and described object, i.e. the difference in time between the moment 
   it has been first detected and the reference time of the message. Value `1500` indicates that the object has been observed for more than 1.5s.


   
* objectConfidence [**ObjectConfidence**](#ObjectConfidence)  OPTIONAL<br>
  optional confidence associated to the object. The computation of the object confidence is based on a sensor's or
   fusion system's specific detection confidence, the binary detection success that is, if an object
   has been successfully detected by the last measurement and the object age.


   
* sensorIdList [**SequenceOfIdentifier1B**](#SequenceOfIdentifier1B)  OPTIONAL<br>
  optional list of sensor-IDs which provided the measurement data. 


   
* dynamicStatus [**ObjectDynamicStatus**](#ObjectDynamicStatus)  OPTIONAL<br>
  optional dynamic capabilities of a detected object.


   
* classification [**ObjectClassDescription**](#ObjectClassDescription)  OPTIONAL<br>
  optional classification of the described object


   
* mapPosition [**MapPosition**](#MapPosition)  OPTIONAL<br>
   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1_
```asn1
PerceivedObject ::= SEQUENCE {
    objectID                                          Identifier2B OPTIONAL,
    timeOfMeasurement                                 DeltaTimeMilliSecondPosNeg,
    xCoordinate                                       CartesianCoordinateWithConfidence, 
    yCoordinate                                       CartesianCoordinateWithConfidence,
    zCoordinate                                       CartesianCoordinateWithConfidence OPTIONAL,
    velocityMagnitude                                 SpeedExtended OPTIONAL, 
	velocityDirection                                 CartesianAngle OPTIONAL, 
    xVelocity                                         SpeedExtended OPTIONAL,
    yVelocity                                         SpeedExtended OPTIONAL,
    zVelocity                                         SpeedExtended OPTIONAL,
    accelerationMagnitude                             Acceleration1d OPTIONAL,
    accelerationDirection                             CartesianAngle OPTIONAL,
    xAcceleration                                     Acceleration1d OPTIONAL,
    yAcceleration                                     Acceleration1d OPTIONAL,
    zAcceleration                                     Acceleration1d OPTIONAL,
    rollAngle                                         CartesianAngle OPTIONAL,
    pitchAngle                                        CartesianAngle OPTIONAL,
    yawAngle                                          CartesianAngle OPTIONAL,
    rollSpeed                                         CartesianAngularSpeed OPTIONAL,
    pitchSpeed                                        CartesianAngularSpeed OPTIONAL,
    yawSpeed                                          CartesianAngularSpeed OPTIONAL,
    rollAcceleration                                  CartesianAngularAcceleration OPTIONAL,
    pitchAcceleration                                 CartesianAngularAcceleration OPTIONAL,
    yawAcceleration                                   CartesianAngularAcceleration OPTIONAL,
    lowerTriangularCorrelationMatrixColumns           LowerTriangularPositiveSemidefiniteMatrix OPTIONAL,
    planarObjectDimension1                            ObjectDimension OPTIONAL,
    planarObjectDimension2                            ObjectDimension OPTIONAL,
    verticalObjectDimension                           ObjectDimension OPTIONAL,
    objectRefPoint                                    ObjectRefPoint DEFAULT 0,
    objectAge                                         DeltaTimeMilliSecondPosNeg (0..1500) OPTIONAL,
    objectConfidence                                  ObjectConfidence OPTIONAL,
    sensorIdList                                      SequenceOfIdentifier1B OPTIONAL,
    dynamicStatus                                     ObjectDynamicStatus OPTIONAL,
    classification                                    ObjectClassDescription OPTIONAL,
    mapPosition                                       MapPosition OPTIONAL,
    ...
}
```

### <a name="PolygonalShape"></a>PolygonalShape
 This DF represents the shape of a polygonal area or of a right prism.

 It includes the following components:

Fields:
* polygon [**SequenceOfCartesianPosition3d**](#SequenceOfCartesianPosition3d)  (SIZE(3..16,...))<br>
  the polygonal area and consist of a list of minimum `3` to maximum `16` [**CartesianPosition3d**](#CartesianPosition3d).


* height [**StandardLength12b**](#StandardLength12b)  OPTIONAL<br>
  the optional height, present if the shape is a right prism extending in the positive z-axis.


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _created in V2.1.1_
```asn1
PolygonalShape ::= SEQUENCE {
   polygon    SequenceOfCartesianPosition3d (SIZE(3..16,...)),
   height	  StandardLength12b OPTIONAL,
   ...
}
```

### <a name="PosConfidenceEllipse"></a>PosConfidenceEllipse
 This DF provides the horizontal position accuracy in a shape of ellipse with a 
 confidence level of 95 %. The centre of the ellipse shape corresponds to the reference
 position point for which the position accuracy is evaluated.

 It includes the following components:

Fields:
* semiMajorConfidence [**SemiAxisLength**](#SemiAxisLength) <br>
  half of length of the major axis, i.e. distance between the centre point
   and major axis point of the position accuracy ellipse. 


* semiMinorConfidence [**SemiAxisLength**](#SemiAxisLength) <br>
  half of length of the minor axis, i.e. distance between the centre point
   and minor axis point of the position accuracy ellipse. 


   
* semiMajorOrientation [**Wgs84AngleValue**](#Wgs84AngleValue) <br>
  orientation direction of the ellipse major axis of the position accuracy
   ellipse with regards to the WGS84 north. 


   

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _V1.3.1_
```asn1
PosConfidenceEllipse ::= SEQUENCE {
    semiMajorConfidence     SemiAxisLength,
    semiMinorConfidence     SemiAxisLength,
    semiMajorOrientation    Wgs84AngleValue
}
```


### <a name="PositionOfPillars"></a>PositionOfPillars
 This DF contains a list of distances [**PosPillar**](#PosPillar) that refer to the perpendicular distance between centre of vehicle front bumper
 and vehicle pillar A, between neighbour pillars until the last pillar of the vehicle.

 Vehicle pillars refer to the vertical or near vertical support of vehicle,
 designated respectively as the A, B, C or D and other pillars moving in side profile view from the front to rear.
 
 The first value of the DF refers to the perpendicular distance from the centre of vehicle front bumper to 
 vehicle A pillar. The second value refers to the perpendicular distance from the centre position of A pillar
 to the B pillar of vehicle and so on until the last pillar.
 

&nbsp;&nbsp;&nbsp;&nbsp;**Categories**: Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision**: _V1.3.1_
```asn1
PositionOfPillars ::= SEQUENCE (SIZE(1..3, ...)) OF PosPillar
```

### <a name="ProtectedCommunicationZone"></a>ProtectedCommunicationZone
 This DF describes a zone of protection inside which the ITSG5 communication should be restricted.

 It includes the following components:

Fields: