ITS-Container.asn

/**
 * This DF indicates the vehicle acceleration at lateral direction and the accuracy of the lateral acceleration.
 * 
 * @field: lateralAccelerationValue: lateral acceleration value at a point in time.
 * 
 * @field: lateralAccelerationConfidence: accuracy of the reported lateral acceleration value.
 *
 * @note: this DF is kept forbackwards compatibility reasons only. It is recommended to use @ref Acceleration1d instead.
 * @category Vehicle information
 * Revision: V1.3.1
 */
LateralAcceleration ::= SEQUENCE {
    lateralAccelerationValue LateralAccelerationValue,
    lateralAccelerationConfidence AccelerationConfidence
}

/**
 * This DF indicates the vehicle acceleration at longitudinal direction and the accuracy of the longitudinal acceleration.
 *
 * @field longitudinalAccelerationValue: longitudinal acceleration value at a point in time.

 * @field longitudinalAccelerationConfidence: accuracy of the reported longitudinal acceleration value with a predefined
 *
 * @note: this DF is kept forbackwards compatibility reasons only. It is recommended to use @ref Acceleration1d instead. 
 * @category: Vehicle information
 * Revision: V1.3.1
 */
LongitudinalAcceleration ::= SEQUENCE {
    longitudinalAccelerationValue LongitudinalAccelerationValue,
    longitudinalAccelerationConfidence AccelerationConfidence
}

/** 
 * This DF represents the estimated position along the longitudinal length of a particular lane. 
 *
 * @field  longitudinalLanePositionValue: the mean value of the longitudinal position within a particular length.
 *
 * @field  longitudinalLanePositionConfidence: The confidence associated to the provided value.
 *
 * @note: this DF is kept forbackwards compatibility reasons only. It is recommended to use @ref Acceleration1d instead. 
 * @category: Vehicle information
 * Revision: V1.3.1
*/
LongitudinalLanePosition ::= SEQUENCE {
    longitudinalLanePositionValue        LongitudinalLanePositionValue,
    longitudinalLanePositionConfidence   LongitudinalLanePositionConfidence
}

/** 
 * 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 @ref CorrelationColumn to be included in the lower triangular matrix is k=n-1.
 *
 * @category: Vehicle information
 * Revision: V1.3.1
*/
LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE SIZE (1..17) OF CorrelationColumn -- tbd extension to be addded?

/**
 * This DF indicates a position on a topology description transmitted in a MAPEM according to ETSI TS 103 301.
 * 
 * @field mapReference: optionally identifies the MAPEM carrying the topology.
 * It is absent if the MAPEM topology is known from the context.
 * 
 * @field lane: identifies the lane in the topology.
 *
 * @field longitudinalLanePosition: optionally indicates the longitudinal offset of the map-matched position of the object along the lane.
 * 
 * @category: Road topology information
 * Revision: Created in V2.1.1
 */
MapPosition ::= SEQUENCE {
    mapReference                MapReference OPTIONAL,
    laneId                      LaneId,
    longitudinalLanePosition    LongitudinalLanePosition OPTIONAL,
    ...
}

/**
 * This DF provides the reference to the information contained in a MAPEM according to ETSI TS 103 301. 
 * The following options are provided:
 * 
 * @field roadsegment: option that identifies the description of a road segment contained in a MAPEM.
 * 
 * @field intersection: option that identifies the description of an intersection contained in a MAPEM.
 *
 * @category: Road topology information
 * Revision: Created in V2.1.1
 */

MapReference::= CHOICE {
	roadsegment			RoadSegmentReferenceId,
	intersection 		IntersectionReferenceId
	}

/**
 * 
 * This DF represents a list @ref MitigationPerTechnologyClass.
 * @category: Communication information
 * Revision: Created in V2.1.1
*/
MitigationForTechnologies ::= SEQUENCE (SIZE(1..8)) OF MitigationPerTechnologyClass -- tbd extension needed?

/**
 * 
 * This DF represents a set of mitigation parameters for a specific technology, as specified in ETSI TS 103 724, clause 7..
 *
 * @field accessTechnologyClass:  channel access technology to which this mitigation is applied.
 *
 * @field lowDutyCycle: duty cycle limit.
 * @unit: 0.01% steps
 *
 * @field powerReduction: the delta value of power to be reduced.
 * @unit: dB
 *
 * @field dmcToffLimit: idle time limit as defined in ETSI TS 103 175.
 * @unit: ms
 *
 * @field dmcTonLimit: Transmission duration limit, as defined in ETSI EN 302 571.
 * @unit: ms
 *
 * @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, clause 7. 
 *
 * @category: Communication information
 * Revision: Created in V2.1.1
 */
MitigationPerTechnologyClass ::= SEQUENCE {
   accessTechnologyClass  AccessTechnologyClass, 
   lowDutyCycle  INTEGER (0 .. 10000) OPTIONAL, 
   powerReduction INTEGER (0 .. 30) OPTIONAL,
   dmcToffLimit   INTEGER (0 .. 1200) OPTIONAL,   
   dmcTonLimit   INTEGER (0 .. 20) OPTIONAL,   
   ...
}

/** 
 * This DF indicates both the class and associated subclass that best describes an object, based on different options:
 *
 * @field vehicleSubclass: the object is a road vehicle.
 *
 * @field vruSubclass: the object is a VRU.
 *
 * @field groupSubClass: the object is a VRU CLuster.
 *
 * @field otherSubclass: the object is of a different types as the above.
 *
 * @category: Sensing information
 * Revision: Created in V2.1.1
 */
ObjectClass ::= CHOICE {
    vehicleSubclass    VehicleSubclass,
    vruSubclass        VruProfileAndSubprofile,
    groupSubClass      VruClusterInformation (WITH COMPONENTS{..., clusterBoundingArea ABSENT}),
    otherSubclass      OtherSubclass,
    ...
}

/** 
 * This DF consist of a list of object classes.
 *
 * @category: Sensing information
 * Revision: Created in V2.1.1
*/
ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClassWithConfidence --tbd added extension?

/** 
* This DF represents the classification of a detected object together with a confidence indication.
 *
 * @field objectClass: the class of the object.
 *
 * @field confidence: the associated confidence information.
 *
 * @category: Sensing information
 * Revision: Created in V2.1.1
*/
ObjectClassWithConfidence ::= SEQUENCE {
    objectClass ObjectClass,
    confidence  ObjectClassConfidence
}
/** 
 * This DF represents a dimension of an object together with a confidence indication
 * 
 * @field value: the object dimension value which can be estimated as the mean of the current distribution.
 *
 * @field confidence: the associated confidence information.
 *
 * @category: Sensing information
 * Revision: Created in V2.1.1
*/
ObjectDimension ::= SEQUENCE {
    value       ObjectDimensionValue,
    confidence  ObjectDimensionConfidence
}

/**
 * This DF that represents a path with a set of path points.
 * It may contain up to `40` @ref PathPoin. 
 * 
 * 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. 
 *
 * @category: GeoReference information, Vehicle information
 * Revision: semantics updated in V2.1.1
 */
PathHistory::= SEQUENCE (SIZE(0..40)) OF PathPoint

/**
 * This DF  defines an offset waypoint position within a path.
 *
 * @field pathPosition: The waypoint position defined as an offset position with regards to a pre-defined reference position. 
 *
 * @field pathDeltaTime: The optional travel time separated from a waypoint to the predefined reference position.
 *
 * @category GeoReference information
 * Revision: semantics updated in V2.1.1
 */
PathPoint ::= SEQUENCE {
    pathPosition DeltaReferencePosition,
    pathDeltaTime PathDeltaTime OPTIONAL
}

/**
 * The DF that defines a waypoint position within a path.
 *
 * @field pathPosition: The waypoint position defined as an absolute  position.
 *
 * @field pathDeltaTime: The optional delta time in which the waypoint will be occupied, from a reference time.
 *
 * @category GeoReference information
 * Revision: created in V2.1.1
 */
PathPointAbsolute ::=  SEQUENCE {
    pathPosition     ReferencePosition,                   
    pathDeltaTime    PathDeltaTime     OPTIONAL -- tbd shall this really be optional
}

/** 
 * This DF contains information about a perceived object including its kinematic and attitude representation,
 *
 * @field objectID: Identifier assigned to a detected object, using the DE Identifier,.
 *
 * @field timeOfMeasurement: 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.
 *
 * @field xCoordinate: X Coordinate, i.e. distance to detected object from the ITS-S's reference point to object reference point in x-direction at the time
 * of measurement, in a pre-defined coordinate system.
 * 
 * @field yCoordinat: Y Coordinate, i.e. distance to detected object from the ITS-S's reference point to object reference point in y-direction at the time
 * of measurement, in a pre-defined coordinate system.
 * 
 * @field zCoordinate: Optional Z Coordinate, i.e. distance to detected object to object reference point from the ITS-S's reference point in z-direction at the time
 * of measurement, in a pre-defined coordinate system.
 * 
 * @field xSpeed: Speed of the detected object in the detecting ITS-S’s reference system in x-direction at the time
 * of measurement, in a pre-defined coordinate system, using the DF SpeedExtended.
 *
 * @field ySpeed: Speed of the detected object in the detecting ITS-S’s reference system in y-direction at the time
 * of measurement, in a pre-defined coordinate system, using the DF SpeedExtended.
 *  
 * @field zSpeed
 * Optional Speed of the detected object in the detecting ITS-S’s reference system in z-direction at the time
 *  of measurement, in a pre-defined coordinate system, using the DF SpeedExtended.
 *
 * @field xAcceleration: optional Acceleration of the detected object from the ITS-S's reference point in x-direction
 *   at the time of measurement, in a pre-defined coordinate system, using the DF Acceleration1d.
 * 
 * @field yAcceleration: optional Acceleration of the detected object from the ITS-S's reference point in y-direction
 *   at the time of measurement, in a pre-defined coordinate system, using the DF Acceleration1d.
 *
 * @field zAcceleration: optional Acceleration of the detected object from the ITS-S's reference point in z-direction
 *   at the time of measurement, in a pre-defined coordinate system, using the DF Acceleration1d.
 *
 * @field rollAngle: optional Roll angle of object from the ITS-S's reference point at the time of measurement, in a pre-defined coordinate system.
 *   The angle is measured with positive values considering the object orientation turning counter-clockwise around the x-axis.
 *  
 * @field pitchAngle: optional Pitch angle of object from the ITS-S's reference point at the time of measurement, in a pre-defined coordinate system.    
 * The angle is measured with positive values considering the object orientation turning counter-clockwise around the y-axis.
 *  
 * @field yawAngle: optional Yaw angle of object from the ITS-S's reference pointat the time of measurement, in a pre-defined coordinate system.
 * The angle is measured with positive values considering the object orientation turning counter-clockwise around the z-axis.
 *  
 * @field rollRate: optional Roll rate of object from the ITS-S's reference point at the time of measurement, in a pre-defined coordinate system.
 * The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the x-axis.
 * 
 * @field pitchRate: optional Pitch rate of object from the ITS-S's reference point at the time of measurement, in a pre-defined coordinate system.
 * The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the y-axis.
 *
 * @field yawRate: optional Yaw rate of object from the ITS-S's reference point at the time of measurement, in a pre-defined coordinate system.
 * The angular rate is measured with positive values considering the object orientation turning counter-clockwise around the z-axis.
 *
 * @field rollAcceleration: optional Roll acceleration of object from the ITS-S's reference point at the time of measurement, in a pre-defined coordinate system.
 * The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the x-axis.
 *
 * @field @details pitchAcceleration: optional Pitch acceleration of object from the ITS-S's reference point at the time of measurement, in a pre-defined coordinate system.
 * The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the y-axis.
 *
 * @field yawAcceleration: optional Yaw acceleration of object from the ITS-S's reference point at the time of measurement, in a pre-defined coordinate system.
 * The angular acceleration is measured with positive values considering the object orientation turning counter-clockwise around the z-axis.
 *
 * @field lowerTriangularCorrelationMatrixColumns: optional set of columns of a lower triangular positive semi definite correlation matrix for the
 *   kinematic state and attitude space provided for this object.
 *   The order of the columns and rows of the correlation matrix is as follows:
 *       - xCoordinate
 *       - yCoordinate
 *       - zCoordinate
 *       - xSpeed
 *       - ySpeed
 *       - zSpeed
 *       - xAcceleration
 *       - yAcceleration
 *       - zAcceleration
 *       - rollAngle
 *       - pitchAngle
 *       - yawAngle
 *       - rollRate
 *       - pitchRate
 *       - yawRate
 *       - rollAcceleration
 *       - pitchAcceleration
 *       - yawAcceleration
 *   The number of lowerTriangularCorrelationMatrixColumns to be included "k" is thereby the number of provided
 *   values "n" of the kinematic state and attitude space 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 space are not provided, they are omitted from
 *   the lowerTriangularCorrelationMatrixColumns.
 *
 * @field planarObjectDimension1: 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.
 *   
 * @field planarObjectDimension2: 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.
 *  
 * @field verticalObjectDimension: optionalvertical dimension of object as provided by the sensor or object model.
 * 
 * @field objectRefPoint: 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.
 *  
 * @field objectAge: the 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.
 *
 * @field objectConfidence: 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.
 *
 * @field sensorIdList: optional list of sensor-IDs which provided the measurement data. 
 *
 * @field dynamicStatus: optional dynamic capabilities of a detected object.
 *  
 * @field classification: optional classification of the described object
 *
 * @field matchedPosition: optional map-matched position of an object.
 *
 * @category Sensing information
 * Revision: created in V2.1.1
 */

PerceivedObject ::= SEQUENCE {
    objectID                						  Identifier,
    timeOfMeasurement                                 DeltaTimeMilliSecond,
    xCoordinate                                       CartesianCoordinateWithConfidence, --tbd is the range correct here?
    yCoordinate                                       CartesianCoordinateWithConfidence,
    zCoordinate                                       CartesianCoordinateWithConfidence OPTIONAL,
    xSpeed                                            SpeedExtended,
    ySpeed                                            SpeedExtended,
    zSpeed                                            SpeedExtended OPTIONAL,
    xAcceleration                                     Acceleration1d OPTIONAL,
    yAcceleration                                     Acceleration1d OPTIONAL,
    zAcceleration                                     Acceleration1d OPTIONAL,
    rollAngle                                         CartesianAngle OPTIONAL,
    pitchAngle                                        CartesianAngle OPTIONAL,
    yawAngle                                          CartesianAngle OPTIONAL,
    rollRate                                          CartesianAngularSpeed OPTIONAL,
    pitchRate                                         CartesianAngularSpeed OPTIONAL,
    yawRate                                           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                                         DeltaTimeMilliSecond (0..1500),
    objectConfidence                                  ObjectConfidence OPTIONAL,
    sensorIdList                                      SequenceOfId OPTIONAL,
    dynamicStatus                                     ObjectDynamicStatus OPTIONAL, -- tbd delete optional
    classification                                    ObjectClassDescription OPTIONAL,
    mapPosition                                       MapPosition OPTIONAL, --changed from matchedPosition
    ...
}
/** 
 * This DF represents an area delimited by a polygon and consist of a list of minimum `3` to maximum `16` @ref CartesianPosition3d.
 * 
 * @category GeoReference information
 * Revision: created in V2.1.1
 *
 */
PolygonalArea ::= SequenceOfCartesianPosition3d (SIZE(3..16,...))

/**
 * 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.
 *
 * @field semiMajorConfidence: half of length of the major axis, i.e. distance between the centre point
 * and major axis point of the position accuracy ellipse. 
 *
 * @field semiMinorConfidence: half of length of the minor axis, i.e. distance between the centre point
 * and minor axis point of the position accuracy ellipse. 
 *
 * @field semiMajorOrientation: orientation direction of the ellipse major axis of the position accuracy
 * ellipse with regards to the WGS84 north. 
 *
 *
 * @category GeoReference information
 * Revision: V1.3.1
 */
PosConfidenceEllipse ::= SEQUENCE {
    semiMajorConfidence SemiAxisLength,
    semiMinorConfidence SemiAxisLength,
    semiMajorOrientation Wgs84AngleValue
}

/**
 * This DF contains a list of distances @ref 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.
 *
 * @category: Vehicle information
 * Revision: V1.3.1
 */
PositionOfPillars ::= SEQUENCE (SIZE(1..3, ...)) OF PosPillar

/**
 * This DF describes a zone of protection inside which the ITSG5 communication should be restricted.
 * 
 * @field protectedZoneType: type of the protected zone. 
 * 
 * @field expiryTime: optional time at which the validity of the protected communication zone will expire.
 * 
 * @field protectedZoneLatitude: latitude of the centre point of the protected communication zone.
 * 
 * @field protectedZoneLongitude: longitude of the centre point of the protected communication zone.
 * 
 * @field protectedZoneRadius: optional radius of the protected communication zone in metres.
 * 
 * @field protectedZoneID: the optional ID of the protected communication zone.
 * 
 * @note: A protected communication zone may be defined around a CEN DSRC road side equipment.
 * 
 * @category: Infrastructure information, Communication information
 * Revision: V1.3.1
 */
ProtectedCommunicationZone ::= SEQUENCE {
    protectedZoneType        ProtectedZoneType,
    expiryTime               TimestampIts OPTIONAL,
    protectedZoneLatitude    Latitude,
    protectedZoneLongitude   Longitude,
    protectedZoneRadius      ProtectedZoneRadius OPTIONAL,
    protectedZoneID          ProtectedZoneID OPTIONAL,
    ...
}

/**
 * This DF consist of a list of @ref ProtectedCommunicationZone provided by a road side ITS-S (Road Side Unit RSU).
 *
 * It may provide up to 16 protected communication zones information.
 *
 * @category: Infrastructure information, Communication information
 * Revision: V1.3.1
 */
ProtectedCommunicationZonesRSU ::= SEQUENCE (SIZE(1..16)) OF ProtectedCommunicationZone 

/**
 * This DF represents activation data for real-time systems designed for operations control, traffic light priorities, track switches, barriers, etc.
 * using a range of activation devices equipped in public transport vehicles.
 *
 * The activation of the corresponding equipment is triggered by the approach or passage of a public transport
 * vehicle at a certain point (e.g. a beacon).
 *
 * @field ptActivationType: type of activation. 
 *
 * @field ptActicationData: data of activation. 
 *
 * Today there are different payload variants defined for public transport activation-data. The R09.x is one of
 * the industry standard used by public transport vehicles (e.g. buses, trams) in Europe (e.g. Germany Austria)
 * for controlling traffic lights, barriers, bollards, etc. This DF includes information like route, course,
 * destination, priority, etc.
 * 
 * The R09.x content is defined in VDV recommendation 420 [i.8]. It includes following information:
 * - Priority Request Information (pre-request, request, ready to start)
 * - End of Prioritization procedure
 * - Priority request direction
 * - Public Transport line number
 * - Priority of public transport
 * - Route line identifier of the public transport
 * - Route number identification
 * - Destination of public transport vehicle
 *
 * Other countries may use different message sets defined by the local administration.
 * @category: Vehicle information
 * Revision: V1.3.1
 */
PtActivation ::= SEQUENCE {
    ptActivationType PtActivationType,
    ptActivationData PtActivationData
}

/**
 * This DF describes a radial area. The triangular or cone-shaped area is
 * constructed by sweeping the provided range about the reference point of the ITS-S or about the
 * point described by the sensor offset point (if provided) with respect to the reference point
 * between a horizontal start and a horizontal end angle in positive angular direction of the WGS84
 * coordinate system. A vertical opening angle may be provided in a Cartesian coordinate system with
 * the x-axis located in the North-East plane of the WGS84 coordinate system. The sensor height may
 * be provided to reflect characteristics of sensors mounted at an altitude (e.g. sensors mounted
 * above intersections).
 *
 * It includes the following components:
 * @field range: The radial range of the sensor from the reference point or sensor point offset. 
 *
 * @field stationaryHorizontalOpeningAngleStart:  The orientation indicating the beginning of the 
 * stationary sensor’s horizontal opening angle in positive angular direction with respect to the 
 * WGS84 coordinate system.
 *
 * @field stationaryHorizontalOpeningAngleEnd: The orientation indicating the end of the stationary 
 * sensor’s horizontal opening angle in positive angular direction with respect to the WGS84 coordinate 
 * system.
 *
 * @field verticalOpeningAngleStart: optional orientation indicating the beginning of the stationary sensor’s 
 * vertical opening angle in positive angular direction of a Cartesian coordinate system with its x-axis 
   located in the north-east plane of the WGS84 coordinate system.
 *
 * @field verticalOpeningAngleEnd: optional orientation indicating the end of the stationary sensor’s 
 * vertical opening angle in positive angular direction of a Cartesian coordinate system with its x-axis 
 * located in the north-east plane of the WGS84 coordinate system using the DE CartesianAngleValue. 
 *
 * @field sensorPositionOffset The offset of the mounting poinf of this sensor from the station's ReferencePosition.
 *
 * @field sensorHeight: the height of the sensor mounting point.
 *
 * @category GeoReference information
 * Revision: created in V2.1.1
*/
RadialArea ::= SEQUENCE { -- tbd why is sensorHeight needed?
    range                                   StandardLength,
    stationaryHorizontalOpeningAngleStart   Wgs84AngleValue, --tbd shall this be cartesian?
    stationaryHorizontalOpeningAngleEnd     Wgs84AngleValue, --tbd shall this be cartesian?
    verticalOpeningAngleStart               CartesianAngleValue OPTIONAL,
    verticalOpeningAngleEnd                 CartesianAngleValue OPTIONAL,
    sensorPositionOffset                    CartesianPosition3d OPTIONAL,
   -- sensorHeight                            SensorHeight OPTIONAL,
    ...
}

/** 
 * This DF specifies a rectangular area that is centred on a reference position defined outside of the context of this DF. 
 * 
 * @field centerPoint: represents an optional offset point which the rectangle is centred on with respect to the reference position.
 *
 * @field semiLength: represents half the length of the rectangle.
 * 
 * @field semiBreadth: represents half the breadth of the rectangle.
 *
 * @field orientation: represents the orientation of the lenght of the rectangle in the WGS84 coordinate system.
 *
 * @category GeoReference information
 * Revision: created in V2.1.1
 */

RectangularArea ::= SEQUENCE { -- tbd
    centerPoint          	 CartesianPosition3d OPTIONAL,
    semiLength        		 StandardLength,
    semiBreadth				 StandardLength,
    orientation   			 Wgs84AngleValue
 -- semiHeight               SemiRangeLength OPTIONAL
}

/**
 * A position within a geographic coordinate system together with a confidence indication. 
 *
 * @field latitude: the latitude of the geographical point.
 *
 * @field longitude: the longitude of the geographical point.
 *
 * @field positionConfidenceEllipse: the accuracy of the geographical position.
 *
 * @field altitude: the altitude and an altitude accuracy of the geographical point.
 *
 * @category: GeoReference information
 * Revision: description updated in V2.1.1
 */
ReferencePosition ::= SEQUENCE {
    latitude Latitude,
    longitude Longitude,
    positionConfidenceEllipse PosConfidenceEllipse,
    altitude Altitude
}

/**
 * This DF consist of a list of @ref StationType. to which a certain traffic restriction, e.g. the speed limit, applies.
 * 
 * @category: Infrastructure information, Traffic information
 * Revision: V1.3.1
 */
RestrictedTypes ::= SEQUENCE (SIZE(1..3, ...)) OF StationType

/**
 * This DF represents a unique id for a road segment
 *
 * @field region: the optional identifier of the entity that is responsible for the region in which the road segment is placed.
 * It is the duty of that entity to guarantee that the @ref Id is unique within the region.
 *
 * @field id: the identifier of the road segment
 *
 * @note: when the RoadRegulatorID is present, the RoadSegmentReferenceID is guaranteed to be globally unique.
 * @category: GeoReference information
 * Revision: created in V2.1.1
 */
RoadSegmentReferenceId ::= SEQUENCE {
    region   RoadRegulatorId OPTIONAL,
    id       RoadSegmentID
}

/**
 * This DF provides the safe distance indication of a traffic participant with other traffic participant(s).
 * 
 * @field subjectStation: optionally indicates one "other" traffic participant identified by its ITS-S.
 *  
 * @field safeDistanceIndicator: indicates whether the distance between the ego ITS-S and the traffic participant(s) is safe. 
 *
 * @field timeToCollision: optionally indicated the time-to-collision calculated as sqrt(LaDi^2 + LoDi^2 + VDi^2)/relative speed and represented in  the  nearest 100  ms. 
 *
 * @category: tbd
 * Revision: created in V2.1.1
 */
SafeDistanceIndication ::= SEQUENCE {
    subjectStation                 StationID OPTIONAL,
    safeDistanceIndicator          SafeDistanceIndicator,
    timeToCollision                DeltaTimeHundredthOfSecond OPTIONAL,
    ...
}

/** 
 * This DF represents a list of  maximum `16` @ref CartesianPosition3d.
 * 
 * @category GeoReference information
 * Revision: created in V2.1.1
 */
SequenceOfCartesianPosition3d ::= SEQUENCE (SIZE(1..16, ...)) OF CartesianPosition3d

/** 
 * The DF contains a list of identifiers.
 *
 * @category Basic information
 * Revision: created in V2.1.1
*/
SequenceOfId ::= SEQUENCE SIZE(1..128, ...) OF Identifier

/**
 * This DF contains a list of DFs PathPointAbsolute
 *
 * @category GeoReference information
 * Revision: created in V2.1.1
 */
SequenceOfPathPointAbsolute::= SEQUENCE OF PathPointAbsolute

/**
 * The DF contains a list of DF  SafeDistanceIndication.
 *
 * @category tbd
 * Revision: created in V2.1.1
*/
SequenceOfSafeDistanceIndication ::= SEQUENCE(SIZE(1..8)) OF SafeDistanceIndication

/**
 * The DF contains a list of DF  TrajectoryInterceptionIndication.
 *
 * @category tbd
 * Revision: created in V2.1.1
*/
SequenceOfTrajectoryInterceptionIndication ::=  SEQUENCE (SIZE(1..8)) OF TrajectoryInterceptionIndication

/**
 * This DF describes the speed and corresponding accuracy of the speed information for a moving object (e.g. vehicle).
 * 
 * @field speedValue: the speed value.
 * 
 * @field speedConfidence: the accuracy of the reported speed value.
 *
 * @category: Kinematics information
 * Revision: V1.3.1
 */
Speed ::= SEQUENCE {
    speedValue SpeedValue,
    speedConfidence SpeedConfidence
}

/**
 * This DF describes the extended speed and corresponding accuracy of the speed information for a moving object (e.g. vehicle).
 * 
 * @field speedValue: the extended speed value.
 * 
 * @field speedConfidence: the accuracy of the reported speed value.
 *
 * @category: Kinematics information
 * Revision: V2.1.1
 */
SpeedExtended ::= SEQUENCE {
    speedValue SpeedValueExtended,
    speedConfidence SpeedConfidence
}

/**
 * This DF  provides the  indication of  change in stability.
 * 
 * @field lossProbability: the probability of stability loss. 
 * 
 * @field actionDeltaTime: accuracy of the reported speed value.
 *
 * @category: Kinematics information
 * Revision: V2.1.1
 */
StabilityChangeIndication ::= SEQUENCE {
    lossProbability     StabilityLossProbability,
    actionDeltaTime     DeltaTimeTenthOfSecond,
    ...
}

/**
 * This DF represents the steering wheel angle of the vehicle at certain point in time.
 * 
 * @field steeringWheelAngleValue: steering wheel angle value.
 * 
 * @field steeringWheelAngleConfidence: accuracy of the reported steering wheel angle value.
 * 
 * @category: Vehicle information
 * Revision: Created in V2.1.1
 */
SteeringWheelAngle ::= SEQUENCE {
    steeringWheelAngleValue SteeringWheelAngleValue,
    steeringWheelAngleConfidence SteeringWheelAngleConfidence
}

/**
 * This DF represents one or more paths using @ref PathHistory.
 * 
 * @category: GeoReference information
 * Revision: V1.3.1
 */
Traces ::= SEQUENCE SIZE(1..7) OF PathHistory

/**
 * Ths DF represents the a position on a traffic island between two lanes. 
 *
 * @field oneSide: represents one lane.
 * 
 * @field otherSide: represents the other lane.
 * 
 * @category: Road Topology information
 * Revision: Created in V2.1.1
 */
TrafficIslandPosition ::= SEQUENCE {
    oneSide    LanePositionAndType,
    otherSide  LanePositionAndType,
    ...
}

/** 
 * This DF provides detailed information about an attached trailer.
 *
 * It includes the following components:
 * - @field refPointId: identifier of the reference point of the trailer.
 *
 * - @field hitchPointOffset: optional position of the hitch point in negative x-direction (according to ISO 8855) from the
 *   vehicle Reference Point.
 *
 * - @field frontOverhang: Length of the trailer overhang in the positive x direction (according to ISO 8855) from the
 *   trailer Reference Point indicated by the refPointID. The value defaults to 0 in case the trailer
     is not overhanging to the front with respect to the trailer reference point.
 *
 * - @field rearOverhang: Length of the trailer overhang in the negative x direction (according to ISO 8855) from the
     trailer Reference Point indicated by the @see refPointID.
 *
 * - @field trailerWidth: optional width of the trailer.
 *
 * - @field hitchAngle: optional Value and confidence of the angle between the trailer orientation (corresponding to the x
 *   direction of the ISO 8855 [i.2] coordinate system centered on the trailer) and the direction of
 *   the segment having as end points the reference point of the trailer and the reference point of
 *   the pulling vehicle, which can be another trailer or a vehicle looking on the horizontal plane
 *   xy, described in the local Cartesian coordinate system of the preceding reference point. The
 *   angle is measured with negative values considering the trailer orientation turning clockwise
 *   starting from the segment direction. The angle value accuracy is provided with the
 *   confidence level of 95 %.
 *
 * @category: Vehicle information
 * Revision: Created in V2.1.1
*/
TrailerData ::= SEQUENCE {
    refPointId          RefPointId,
    hitchPointOffset    StandardLengthSmall OPTIONAL, --tbd
    frontOverhang       StandardLengthSmall,
    rearOverhang        StandardLengthSmall,
    trailerWidth        VehicleWidth OPTIONAL,
    hitchAngle          CartesianAngle OPTIONAL,
    ...
}

/**
 * This DF  provides the trajectory  interception  indication  of  ego-VRU  ITS-S  with another ITS-Ss. 
 * 
 * @field: subjectStation:  indicates the  subject  station.
 * 
 * @field: trajectoryInterceptionProbability: indicates the propbability of the interception of the subject station trajectory with the trajectory of the station indicated in @field: subjectStation.
 *
 * @field: trajectoryInterceptionConfidence: indicates the confidence of interception of the subject station trajectory with the trajectory of the station indicated in @field: subjectStation.
 * 
 * @category tbd
 * Revision: Created in V2.1.1
 */
TrajectoryInterceptionIndication  ::= SEQUENCE {
        subjectStation                    StationID OPTIONAL, 
        trajectoryInterceptionProbability TrajectoryInterceptionProbability,
        trajectoryInterceptionConfidence  TrajectoryInterceptionConfidence OPTIONAL,
        ... 
    }

/**
 * This DF indicates the vehicle acceleration at vertical direction and the accuracy of the vertical acceleration.
 * 
 * @field: verticalAccelerationValue: vertical acceleration value at a point in time.
 * 
 * @field: verticalAccelerationConfidence: accuracy of the reported vertical acceleration value with a predefined confidence level.
 * 
 * @note: this DF is kept forbackwards compatibility reasons only. It is recommended to use @ref Acceleration1d instead
 * @category Vehicle information
 * Revision: V1.3.1
 */
VerticalAcceleration ::= SEQUENCE {
    verticalAccelerationValue VerticalAccelerationValue,
    verticalAccelerationConfidence AccelerationConfidence
}

/**
 * This DF provides information related to the identification of a vehicle.
 * 
 * @field wMInumber: World Manufacturer Identifier (WMI) code.
 * 
 * @field vDS: Vehicle Descriptor Section (VDS). 
 * 
 * @category: Vehicle information
 * Revision: V1.3.1
 */
VehicleIdentification ::= SEQUENCE {
    wMInumber WMInumber OPTIONAL,
    vDS VDS OPTIONAL,
    ...
}

/**
 * This DF represents the length of vehicle and accuracy indication information.
 * 
 * @field vehicleLengthValue: length of vehicle. 
 * 
 * @field vehicleLengthConfidenceIndication: indication of reported length value confidence.
 * 
 * @category: Vehicle information
 * Revision: V1.3.1
 */
VehicleLength ::= SEQUENCE {
    vehicleLengthValue VehicleLengthValue,
    vehicleLengthConfidenceIndication VehicleLengthConfidenceIndication
}

/** 
 * This DF provides information about a VRU cluster.
 *
 * It includes the following components:
 * @field clusterId: optional identifier of a VRU cluster .
 *
 * @field clusterBoundingBoxShape: optionally indicates the shape of the cluster bounding box.
 *
 * @field clusterCardinalitySize: indicates an estimation of the number of VRUs in the group.
 *
 * @field clusterProfiles: identifies all the VRU profile types that are believed to be within the cluster .
 *
 * @category: VRU information
 * Revision: Created in V2.1.1
*/
VruClusterInformation ::= SEQUENCE { -- tbd generalize?
   clusterId                     ClusterId OPTIONAL,
   clusterBoundingArea	         Area (WITH COMPONENTS{..., radial ABSENT}) OPTIONAL,
   clusterCardinalitySize        ClusterCardinalitySize,
   clusterProfiles               VruClusterProfiles,
   ...
}

/**
 * This DF indicates the profile of a VRU including sub-profile information
 *
 * It identifies four options corresponding to the four types of VRU profiles specified in ETSI TS 103 300-2:
 *
 * @fieldpedestrian: VRU Profile 1 - Pedestrian.
 *
 * @field lightVruVehicle: VRU Profile  2 - Bicyclist.
 *
 * @fieldmotorcyclist: VRU Profile 3  - Motorcyclist.
 *
 * @fieldanimal: VRU Profile  4 -  Animals.
 *
 * @category: VRU information
 * Revision: Created in V2.1.1
 */
VruProfileAndSubprofile ::= CHOICE {
   pedestrian          VruSubProfilePedestrian,
   lightVruVehicle     VruSubProfilelightVruVehicle, --tbd name
   motorcylist         VruSubProfileMotorcyclist,
   animal              VruSubProfileAnimal,
   ...
}

/** 
 * This DF represents an angular component along with a confidence in the WGS84 coordinate system.
 *
 * @field value: the angle value which can be estimated as the mean of the current distribution.
 *
 * @field confidence: the accuracy associated to the provided value.
 *
 * @category: GeoReference information
 * Revision: Created in V2.1.1
*/
Wgs84Angle ::= SEQUENCE {
    value       Wgs84AngleValue,
    confidence  Wgs84AngleConfidence
}


/**
 * This DF represents a yaw rate of vehicle at a point in time.
 * 
 * @field yawRateValue: yaw rate value at a point in time.
 * 
 * @field vehicleLengthConfidenceIndication: accuracy of reported yaw rate value.
 * 
 * @category: Vehicle Information
 * Revision: V1.3.1
 */
YawRate::= SEQUENCE {
    yawRateValue YawRateValue,
    yawRateConfidence YawRateConfidence
}

END