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* managementInfo [**InterferenceManagementInfo**](#InterferenceManagementInfo) <br>
contains interference management information applicable in the zone defined in the component zoneDefinition.
**Categories**: Communication information
**Revision**: _created in V2.1.1_
```asn1
InterferenceManagementZone ::= SEQUENCE {
zoneDefinition InterferenceManagementZoneDefinition,
managementInfo InterferenceManagementInfo
}
```
### <a name="InterferenceManagementZoneDefinition"></a>InterferenceManagementZoneDefinition
This DF represents the geographical definition of the zone where band sharing occurs.
It includes the following components:
Fields:
* interferenceManagementZoneLatitude [**Latitude**](#Latitude) <br>
Latitude of the centre point of the interference management zone.
* interferenceManagementZoneLongitude [**Longitude**](#Longitude) <br>
Longitude of the centre point of the interference management zone.
* interferenceManagementZoneRadius [**ProtectedZoneRadius**](#ProtectedZoneRadius) OPTIONAL<br>
optional radius of the interference management zone in metres.
* interferenceManagementZoneId [**ProtectedZoneId**](#ProtectedZoneId) OPTIONAL<br>
optional identification of the interference management zone.
* interferenceManagementZoneShape [**Shape**](#Shape) (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT}) OPTIONAL<br>
shape of the interference management zone.
**Categories**: Communication information
**Revision**: _created in V2.1.1_
```asn1
InterferenceManagementZoneDefinition::= SEQUENCE{
interferenceManagementZoneLatitude Latitude,
interferenceManagementZoneLongitude Longitude,
interferenceManagementZoneRadius ProtectedZoneRadius OPTIONAL,
interferenceManagementZoneId ProtectedZoneId OPTIONAL,
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interferenceManagementZoneShape Shape (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT}) OPTIONAL,
...
}
```
### <a name="InterferenceManagementInfo"></a>InterferenceManagementInfo
This DF consists of a list of up to 16 definitions containing interference management information, per affected frequency channels.
**Categories**: Communication information.
**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
**Categories**: Communication information
**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.
**Categories**: Communication information
**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.15].
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
**Categories**: Road topology information
**Revision**: _created in V2.1.1_
>>>
NOTE: when the component region is present, the IntersectionReferenceId is guaranteed to be globally unique.
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>>>
```asn1
IntersectionReferenceId ::= SEQUENCE {
region Identifier2B OPTIONAL,
id Identifier2B
}
```
### <a name="ItineraryPath"></a>ItineraryPath
This DF consists of a list of waypoints [**ReferencePosition**](#ReferencePosition).
**Categories**: GeoReference information
**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 [**OrdinalNumber1B**](#OrdinalNumber1B) <br>
version of the ITS message.
* messageId [**MessageId**](#MessageId) <br>
type of the ITS message.
the identifier of the ITS-S that generates the ITS message in question.
**Categories**: Communication information
**Revision**: _update in V2.1.1: messageID and stationID changed to messageId and stationId; messageId is of type MessageId._
```asn1
ItsPduHeader ::= SEQUENCE {
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}
```
### <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.
**Categories**: GeoReference information
**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.
**Categories**: Vehicle information
**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
**Categories**: Vehicle information
**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.
**Categories**: Road topology information
**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.
**Categories**: Vehicle information
**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.15].
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) OPTIONAL<br>
optionally identifies the lane in the road segment or intersection topology on which the position is located.
* connectionId [**Identifier1B**](#Identifier1B) OPTIONAL<br>
optionally 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.
* longitudinalLanePosition [**LongitudinalLanePosition**](#LongitudinalLanePosition) OPTIONAL<br>
optionally indicates the longitudinal offset of the map-matched position of the object along the lane or connection.
**Categories**: Road topology information
**Revision**: _Created in V2.1.1_
```asn1
MapPosition ::= SEQUENCE {
mapReference MapReference OPTIONAL,
laneId Identifier1B OPTIONAL,
connectionId Identifier1B OPTIONAL,
longitudinalLanePosition LongitudinalLanePosition OPTIONAL,
...
}
((WITH COMPONENTS {..., laneId PRESENT, connectionId ABSENT }) |
(WITH COMPONENTS {..., laneId ABSENT, connectionId PRESENT }))
```
### <a name="MapReference"></a>MapReference
This DF provides the reference to the information contained in a MAPEM according to ETSI TS 103 301 [i.15].
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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.
**Categories**: Road topology information
**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) (1..255)<br>
indicates the position of the message within of the total set of messages.
MessageSegmentationInfo ::= SEQUENCE {
totalMsgNo CardinalNumber1B (1..255),
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}
```
### <a name="MitigationForTechnologies"></a>MitigationForTechnologies
This DF represents a list of [**MitigationPerTechnologyClass**](#MitigationPerTechnologyClass).
**Categories**: Communication information
**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.21].
* dmcTonLimit **INTEGER** (0 .. 20) OPTIONAL<br>
Transmission duration limit, as defined in ETSI EN 302 571 [i.22].
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**Unit**: _ms_
**Categories**: Communication information
**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.
**Categories**: Sensing information
**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.
**Categories**: Sensing information
**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>
**Categories**: Sensing information
**Revision**: _Created in V2.1.1_
```asn1
ObjectClassWithConfidence ::= SEQUENCE {
objectClass ObjectClass,
confidence ConfidenceLevel
}
```
### <a name="ObjectDimension"></a>ObjectDimension
This DF represents a dimension of an object together with a confidence indication.
It includes the following components:
Fields:
* value [**ObjectDimensionValue**](#ObjectDimensionValue) <br>
* confidence [**ObjectDimensionConfidence**](#ObjectDimensionConfidence) <br>
**Categories**: Sensing information
**Revision**: _Created in V2.1.1_
```asn1
ObjectDimension ::= SEQUENCE {
value ObjectDimensionValue,
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}
```
### <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.
**Categories**: GeoReference information Vehicle information
**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.
**Categories**: GeoReference information Vehicle information
**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.
**Categories**: GeoReference information
**Revision**: _created in V2.1.1 based on PathHistory_
```asn1
PathPredicted::= SEQUENCE (SIZE(0..15,...)) OF PathPointPredicted
```
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### <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.
**Categories**: GeoReference information
**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.
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* 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.
**Categories**: GeoReference information
**Revision**: _semantics updated in V2.1.1_
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 state and attitude vector in a pre-defined coordinate system.
It includes the following components:
Fields:
* objectId [**Identifier2B**](#Identifier2B) OPTIONAL<br>
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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 (i.e. from zCoordinate to yawAcceleration).
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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.
This component can only be present if the component yawAngle is present.
* 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.
This component can only be present if the component yawAngle is present.
* verticalObjectDimension [**ObjectDimension**](#ObjectDimension) OPTIONAL<br>
optional vertical dimension of object as provided by the sensor or object model.
* objectRefPoint [**ObjectRefPoint**](#ObjectRefPoint) DEFAULT 4<br>
the reference point on the perceived object.
The point is located on the object´s face that is perpendicular to the direction of the object's [**yawAngleValue**](#yawAngleValue).
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.
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* 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>
**Categories**: Sensing information
**Revision**: _created in V2.1.1_
```asn1
PerceivedObject ::= SEQUENCE {
timeOfMeasurement DeltaTimeMilliSecondPosNeg,
xCoordinate CartesianCoordinateWithConfidence,
yCoordinate CartesianCoordinateWithConfidence,
zCoordinate CartesianCoordinateWithConfidence OPTIONAL,
velocityMagnitude SpeedExtended OPTIONAL,
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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,
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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.
**Categories**: GeoReference information