ETSI-ITS-CDD.asn

 * @field interferenceManagementZoneShape: shape of the interference management zone placed at the centre point. 
 *
 * @category: Communication information
 * @revision: created in V2.1.1
 */
InterferenceManagementZoneDefinition::= SEQUENCE{     
    interferenceManagementZoneLatitude     Latitude, 
    interferenceManagementZoneLongitude    Longitude, 
    interferenceManagementZoneId           ProtectedZoneId OPTIONAL,
    interferenceManagementZoneShape        Shape (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT}) OPTIONAL,
    ...
}

/**
 * This DF shall contain a list of up to 16 definitions containing interference management information, per affected frequency channels.
 *  
 * @category: Communication information.
 * @revision: created in V2.1.1
 */
InterferenceManagementInfo::= SEQUENCE (SIZE(1..16,...)) OF InterferenceManagementInfoPerChannel


/**
 * This DF contains interference management information for one affected frequency channel.
 *
 * It shall include the following components: 
 *
 * @field interferenceManagementChannel: frequency channel for which the zone should be applied interference management 
 *
 * @field interferenceManagementZoneType: type of the interference management zone. 
 *
 * @field interferenceManagementMitigationType: 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.
 *
 * @field expiryTime: 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
 *
 * @category: Communication information
 * @revision: created in V2.1.1
 */
InterferenceManagementInfoPerChannel ::= SEQUENCE {
    interferenceManagementChannel           InterferenceManagementChannel,
    interferenceManagementZoneType          InterferenceManagementZoneType,
    interferenceManagementMitigationType    MitigationForTechnologies OPTIONAL,
    expiryTime                              TimestampIts OPTIONAL, 
    ...
}

/**
 * This DF shall contain 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.
 * 
 * @category: Communication information
 * @revision: created in V2.1.1
 */
InterferenceManagementZones ::= SEQUENCE (SIZE(1..16), ...) OF InterferenceManagementZone

/**
 * This DF represents a unique id for an intersection, in accordance with ETSI TS 103 301 [i.15].
 *
 * It shall include the following components: 
 *
 * @field region: 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 @ref Id is unique within the region.
 *
 * @field id: the identifier of the intersection
 *
 * @note: when the component region is present, the IntersectionReferenceId is guaranteed to be globally unique.
 * @category: Road topology information
 * @revision: created in V2.1.1
 */
IntersectionReferenceId ::= SEQUENCE {
    region    Identifier2B OPTIONAL,
    id        Identifier2B
}

/**
 * This DF shall contain  a list of waypoints @ref ReferencePosition.
 *
 * @category: GeoReference information
 * @revision: Editorial update in V2.1.1
 */
ItineraryPath ::= SEQUENCE SIZE(1..40) OF ReferencePosition

/**
 * 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 shall include the following components: 
 *
 * @field protocolVersion: version of the ITS message.
 *
 * @field messageId: type of the ITS message.
 *
 * @field stationId: the identifier of the ITS-S that generated the ITS message.
 *
 * @category: Communication information
 * @revision:  update in V2.1.1: messageID and stationID changed to messageId and stationId; messageId is of type MessageId.
 */
ItsPduHeader ::= SEQUENCE {
    protocolVersion    OrdinalNumber1B,
    messageId          MessageId,
    stationId          StationId
}

/**
 * This DF indicates a transversal position in resolution of lanes and the associated lane type.
 *
 * It shall include the following components: 
 * 
 * @field transversalPosition: the transversal position.
 * 
 * @field laneType: the type of the lane identified in the component transversalPosition.
 * 
 * @category Road topology information
 * @revision: Created in V2.1.1
 */
LanePositionAndType::= SEQUENCE {
    transversalPosition    LanePosition,
    laneType               LaneType,
    ...
}

/**
 * This DF indicates the vehicle acceleration at lateral direction and the confidence value of the lateral acceleration.
 *
 * It shall include the following components: 
 * 
 * @field lateralAccelerationValue: lateral acceleration value at a point in time.
 * 
 * @field lateralAccelerationConfidence: confidence value of the lateral acceleration value.
 *
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref AccelerationComponent instead.
 * @category Vehicle information
 * @revision: Description revised in V2.1.1
 */
LateralAcceleration ::= SEQUENCE {
    lateralAccelerationValue         LateralAccelerationValue,
    lateralAccelerationConfidence    AccelerationConfidence
}

/**
 * This DF indicates the vehicle acceleration at longitudinal direction and the confidence value of the longitudinal acceleration.
 *
 * It shall include the following components: 
 *
 * @field longitudinalAccelerationValue: longitudinal acceleration value at a point in time.

 * @field longitudinalAccelerationConfidence: confidence value of the longitudinal acceleration value.
 *
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref AccelerationComponent 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. 
 *
 * It shall include the following components: 
 *
 * @field  longitudinalLanePositionValue: the mean value of the longitudinal position within a particular length.
 *
 * @field  longitudinalLanePositionConfidence: The confidence value associated to the value.
 *
 * @category: Road topology information
 * @revision: created in V2.1.1
 */
LongitudinalLanePosition ::= SEQUENCE {
    longitudinalLanePositionValue         LongitudinalLanePositionValue,
    longitudinalLanePositionConfidence    LongitudinalLanePositionConfidence
}

/** 
 * This DF shall contain a list of a lower triangular positive semi-definite matrices.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
LowerTriangularPositiveSemidefiniteMatrices::= SEQUENCE SIZE (1..4) OF LowerTriangularPositiveSemidefiniteMatrix

/** 
 * This DF represents a lower triangular positive semi-definite matrix. 
 *
 * It shall include the following components: 
 *
 * @field componentsIncludedIntheMatrix: the indication of which components of a @ref PerceivedObject are included in the matrix. 
 * This component also implicitly indicates the number n of included components which defines the size (n x n) of the full correlation matrix "A".
 *
 * @field matrix: the list of cells of the lower triangular positive semi-definite matrix ordered by columns and by rows. 
 *
 * The number of columns to be included "k" is equal to the number of included components "n" indicated by componentsIncludedIntheMatrix minus 1: k = n-1.
 * These components shall be included in the order or their appearance in componentsIncludedIntheMatrix.
 * Each column "i" of the lowerTriangularCorrelationMatrixColumns contains k-(i-1) values.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE{
    componentsIncludedIntheMatrix   MatrixIncludedComponents,
    matrix                          LowerTriangularPositiveSemidefiniteMatrixColumns
}

/** 
 * This DF represents the columns of a lower triangular positive semi-definite matrix, each column not including the main diagonal cell of the matrix.
 * Given a matrix "A" of size n x n, the number of @ref CorrelationColumn to be included in the lower triangular matrix is k=n-1.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
LowerTriangularPositiveSemidefiniteMatrixColumns ::= SEQUENCE SIZE (1..13) OF CorrelationColumn

/**
 * This DF indicates a position on a topology description transmitted in a MAPEM according to ETSI TS 103 301 [i.15].
 *
 * It shall include the following components: 
 * 
 * @field mapReference: optionally identifies the MAPEM containing the topology information.
 * It is absent if the MAPEM topology is known from the context.
 * 
 * @field laneId: optionally identifies the lane in the road segment or intersection topology on which the position is located.
 *
 * @field connectionId: 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.
 *
 * @field longitudinalLanePosition: optionally indicates the longitudinal offset of the map-matched position of the object along the lane or connection.
 * 
 * @category: Road topology information
 * @revision: Created in V2.1.1
 */
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 }))

/**
 * This DF provides the reference to the information contained in a MAPEM according to ETSI TS 103 301 [i.15]. 
 *
 * 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 DE indicates a message rate.
 *
 * @field mantissa: indicates the mantissa.
 *
 * @field exponent: indicates the exponent.
 *
 * The specified message rate is: mantissa*(10^exponent) 
 *
 * @unit: Hz
 * @category: Communication information
 * @revision: Created in V2.1.1
 */
MessageRateHz::= SEQUENCE {
    mantissa    INTEGER (1..100),
    exponent    INTEGER (-5..2)
    }

/**
 * This DF provides information about a message with respect to the segmentation process at the sender.
 *
 * It shall include the following components: 
 * 
 * @field totalMsgNo: indicates the total number of messages that has been used on the transmitter side to encode the information.
 *
 * @field thisMsgNo: indicates the position of the message within of the total set of messages.
 *
 * @category: Communication information
 * @revision: Created in V2.1.1
 */
MessageSegmentationInfo ::= SEQUENCE {
    totalMsgNo  CardinalNumber3b,
    thisMsgNo   OrdinalNumber3b
    }

/**
 * This DF shall contain a list of @ref MitigationPerTechnologyClass.
 *
 * @category: Communication information
 * @revision: Created in V2.1.1
*/
MitigationForTechnologies ::= SEQUENCE (SIZE(1..8)) OF 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 shall include the following components: 
 *
 * @field accessTechnologyClass:  channel access technology to which this mitigation is intended to be 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 [i.19].
 * @unit: ms
 *
 * @field dmcTonLimit: Transmission duration limit, as defined in ETSI EN 302 571 [i.20].
 * @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 [i.24], 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.
 *
 * The following options are available:
 *
 * @field vehicleSubClass: the object is a road vehicle and the specific subclass is specified.
 *
 * @field vruSubClass: the object is a VRU and the specific subclass is specified.
 *
 * @field groupSubClass: the object is a VRU group or cluster and the cluster information is specified.
 *
 * @field otherSubClass: the object is of a different type than the above and the specific subclass is specified.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
 */
ObjectClass ::= CHOICE {
    vehicleSubClass      TrafficParticipantType (unknown|passengerCar..tram|agricultural),
    vruSubClass          VruProfileAndSubprofile,
    groupSubClass        VruClusterInformation (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT}),
    otherSubClass        OtherSubClass,
    ...
}

/** 
 * This DF shall contain a list of object classes.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClassWithConfidence

/** 
 * This DF represents the classification of a detected object together with a confidence level.
 *
 * It shall include the following components: 
 *
 * @field objectClass: the class of the object.
 *
 * @field Confidence: the associated confidence level.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
ObjectClassWithConfidence ::= SEQUENCE {
    objectClass    ObjectClass,
    confidence     ConfidenceLevel
}

/** 
 * This DF represents a dimension of an object together with a confidence value.
 *
 * It shall include the following components: 
 * 
 * @field value: the object dimension value which can be estimated as the mean of the current distribution.
 *
 * @field confidence: the associated confidence value.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
ObjectDimension ::= SEQUENCE {
    value         ObjectDimensionValue,
    confidence    ObjectDimensionConfidence
}

/**
 * This DF represents a path with a set of path points.
 * It shall contain up to `40` @ref 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. 
 *
 * @category: GeoReference information, Vehicle information
 * @revision: created in V2.1.1 based on PathHistory
 */
Path::= SEQUENCE (SIZE(0..40)) OF PathPoint

/**
 * This DF represents a path history with a set of path points.
 * It shall contain up to `40` @ref 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. 
 *
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref Path instead.
 * @category: GeoReference information, Vehicle information
 * @revision: semantics updated in V2.1.1
 */
PathHistory::= SEQUENCE (SIZE(40)) OF PathPoint

/**
 * This DF represents a predicted path with a set of path points.
 * It shall contain up to `15` @ref 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. 
 *
 * @category: GeoReference information
 * @revision: created in V2.1.1 based on PathHistory
 */
PathPredicted::= SEQUENCE (SIZE(0..15,...)) OF PathPointPredicted

/**
 * This DF defines an offset waypoint position within a path.
 *
 * It shall include the following components: 
 *
 * @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
}

/**
 * This DF  defines a predicted offset waypoint position within a path.
 *
 * It shall include the following components: 
 *
 * @field deltaLatitude: an offset latitude with regards to a pre-defined reference position. 
 *
 * @field deltaLongitude: an offset longitude with regards to a pre-defined reference position. 
 * 
 * @field horizontalPositionConfidence: the confidence value associated to the horizontal geographical position.
 *
 * @field deltaAltitude: an offset altitude with regards to a pre-defined reference position. 
 *
 * @field altitudeConfidence: the confidence value associated to the altitude value of the geographical position.
 * 
 * @field pathDeltaTime: The  travel time separated from the waypoint to the predefined reference position.
 *
 * @category 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,
  ... 
}

/** 
 * This DF contains information about a perceived object including its kinematic state and attitude vector in a pre-defined coordinate system and with respect to a reference time.
 * 
 * It shall include the following components: 
 *
 * @field objectId: optional identifier assigned to a detected object.
 *
 * @field measurementDeltaTime: the time difference from a reference time to the time of the  measurement of the object. 
 * Negative values indicate that the provided object state refers to a point in time before the reference time.
 *
 * @field position: the position of the geometric centre of the object?s bounding box within the pre-defined coordinate system.
 *
 * @field velocity: the velocity vector of the object within the pre-defined coordinate system.
 *
 * @field acceleration: the acceleration vector of the object within the pre-defined coordinate system.
 *
 * @field angles: optional Euler angles of the object bounding box at the time of measurement. 
 * 
 * @field zAngularVelocity: optional angular velocity of the object around the z-axis at the time of measurement.
 * The angular velocity is measured with positive values considering the object orientation turning around the z-axis using the right-hand rule.
 *
 * @field lowerTriangularCorrelationMatrices: optional set of lower triangular correlation matrices for selected components of the provided kinematic state and attitude vector.
 *
 * @field objectDimensionZ: optional z-dimension of object bounding box. 
 * This dimension shall be measured along the direction of the z-axis after all the rotations have been applied. 
 *
 * @field objectDimensionY: optional y-dimension of the object bounding box. 
 * This dimension shall be measured along the direction of the y-axis after all the rotations have been applied. 
 *
 * @field objectDimensionX: optional x-dimension of object bounding box.
 * This dimension shall be measured along the direction of the x-axis after all the rotations have been applied.
 * 
 * @field objectAge: 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.
 *
 * @field objectPerceptionQuality: optional confidence associated to the object. 
 *
 * @field sensorIdList: optional list of sensor-IDs which provided the measurement data. 
 *
 * @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                                          Identifier2B OPTIONAL,
    measurementDeltaTime                              DeltaTimeMilliSecondSigned,
    position                                          CartesianPosition3dWithConfidence, 
    velocity                                          Velocity3dWithConfidence OPTIONAL,
    acceleration                                      Acceleration3dWithConfidence OPTIONAL,
    angles                                            EulerAnglesWithConfidence OPTIONAL,
    zAngularVelocity                                  CartesianAngularVelocityComponent OPTIONAL,
    lowerTriangularCorrelationMatrices                LowerTriangularPositiveSemidefiniteMatrices OPTIONAL,
    objectDimensionZ                                  ObjectDimension OPTIONAL,
    objectDimensionY                                  ObjectDimension OPTIONAL,
    objectDimensionX                                  ObjectDimension OPTIONAL,
    objectAge                                         DeltaTimeMilliSecondSigned (0..2047) OPTIONAL,
    objectPerceptionQuality                           ObjectPerceptionQuality OPTIONAL,
    sensorIdList                                      SequenceOfIdentifier1B OPTIONAL,
    classification                                    ObjectClassDescription OPTIONAL,
    mapPosition                                       MapPosition OPTIONAL,
    ...
}

/** 
 * This DF represents the shape of a polygonal area or of a right prism.
 *
 * It shall include the following components: 
 *
 * @field shapeReferencePoint: the optional reference point used for the definition of the shape, relative to an externally specified reference position. 
 * If this component is absent, the externally specified reference position represents the shape?s reference point. 
 *
 * @field polygon: the polygonal area represented by a list of minimum `3` to maximum `16` @ref CartesianPosition3d.
 * All nodes of the polygon shall be considered relative to the shape?s reference point.
 *
 * @field height: the optional height, present if the shape is a right prism extending in the positive z-axis.
 * 
 * @category GeoReference information
 * @revision: created in V2.1.1
 *
 */
PolygonalShape ::= SEQUENCE {
   shapeReferencePoint    CartesianPosition3d OPTIONAL,
   polygon                SequenceOfCartesianPosition3d (SIZE(3..16,...)),
   height                 StandardLength12b OPTIONAL
}

/**
 * This DF indicates the horizontal position confidence ellipse which represents the estimated accuracy 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 shall include the following components: 
 *
 * @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. 
 * The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
 *
 *
 * @category GeoReference information
 * @revision: V1.3.1
 */
PosConfidenceEllipse ::= SEQUENCE {
    semiMajorConfidence     SemiAxisLength,
    semiMinorConfidence     SemiAxisLength,
    semiMajorOrientation    HeadingValue
}

/**
 * This DF indicates the horizontal position confidence ellipse which represents the estimated accuracy 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 shall include the following components: 
 *
 * @field semiMajorAxisLength: half of length of the major axis, i.e. distance between the centre point
 * and major axis point of the position accuracy ellipse. 
 *
 * @field semiMinorAxisLength: half of length of the minor axis, i.e. distance between the centre point
 * and minor axis point of the position accuracy ellipse. 
 *
 * @field semiMajorAxisOrientation: orientation direction of the ellipse major axis of the position accuracy
 * ellipse with regards to the WGS84 north. 
 * The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
 *
 * @category GeoReference information
 * @revision: created in V2.1.1 based on @ref PosConfidenceEllipse
 */
PositionConfidenceEllipse ::= SEQUENCE {
    semiMajorAxisLength         SemiAxisLength,
    semiMinorAxisLength         SemiAxisLength,
    semiMajorAxisOrientation    Wgs84AngleValue
}

/**
 * This DF shall contain 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 ITS communication should be restricted.
 *
 * It shall include the following components: 
 * 
 * @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: revised in V2.1.1 (changed protectedZoneID to protectedZoneId)
 */
ProtectedCommunicationZone ::= SEQUENCE {
    protectedZoneType         ProtectedZoneType,
    expiryTime                TimestampIts OPTIONAL,
    protectedZoneLatitude     Latitude,
    protectedZoneLongitude    Longitude,
    protectedZoneRadius       ProtectedZoneRadius OPTIONAL,
    protectedZoneId           ProtectedZoneId OPTIONAL,
    ...
}

/**
 * This DF shall contain 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 shall include information like route, course,
 * destination, priority, etc.
 * 
 * The R09.x content is defined in VDV recommendation 420 [i.7]. 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 shape. The triangular or cone-shaped volume is
 * constructed by sweeping the provided range about 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 shall include the following components:
 * 
 * @field shapeReferencePoint: the optional reference point used for the definition of the shape, relative to an externally specified reference position. 
 * If this component is absent, the externally specified reference position represents the shape?s  reference point. 
 *
 * @field range: the radial range of the shape from the shape?s reference point. 
 *
 * @field stationaryHorizontalOpeningAngleStart:  the orientation indicating the beginning of the 
 * shape's horizontal opening angle in positive angular direction with respect to the 
 * WGS84 coordinate system.
 *
 * @field stationaryHorizontalOpeningAngleEnd: The orientation indicating the end of the shape's 
 * horizontal opening angle in positive angular direction with respect to the WGS84 coordinate system.
 *
 * @field verticalOpeningAngleStart: optional orientation indicating the beginning of the shape`s
 * 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 shape'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. 
 *
 * @category GeoReference information
 * @revision: created in V2.1.1
*/
RadialShape ::= SEQUENCE { 
    shapeReferencePoint                      CartesianPosition3d OPTIONAL,
    range                                    StandardLength12b,
    stationaryHorizontalOpeningAngleStart    Wgs84AngleValue, 
    stationaryHorizontalOpeningAngleEnd      Wgs84AngleValue, 
    verticalOpeningAngleStart                CartesianAngleValue OPTIONAL,
    verticalOpeningAngleEnd                  CartesianAngleValue OPTIONAL
}


/**
 * This DF describes a list of radial shapes. 
 *
 * It shall include the following components:

 * @field refPointId: the identification of the reference point in case of a sensor mounted to trailer. Defaults to ITS ReferencePoint (0).
 * 
 * @field xCoordinate: the x-coordinate of the offset point.
 *
 * @field yCoordinate: the y-coordinate of the offset point.
 *
 * @field zCoordinate: the optional z-coordinate of the offset point.
 *
 * @field radialShapesList: the list of radial shape details.
 *
 * @category: Georeference information
 * @revision: created in V2.1.1
 */ 
RadialShapes ::= SEQUENCE {
    refPointId          Identifier1B,
    xCoordinate         CartesianCoordinateSmall, 
    yCoordinate         CartesianCoordinateSmall,
    zCoordinate         CartesianCoordinateSmall OPTIONAL,
    radialShapesList    RadialShapesList
}

/** 
 * The DF contains a list of @ref RadialShapeDetails.
 *
 * @category: Georeference information
 * @revision: created in V2.1.1
 */

RadialShapesList ::= SEQUENCE SIZE(1..16,...) OF RadialShapeDetails

/**
 * This DF describes a radial shape details. The triangular or cone-shaped volume is
 * constructed by sweeping the provided range about the reference point  or about the offset
 * point (if provided) 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 shall include the following components:
 * 
 * @field range: the radial range of the sensor from the reference point or sensor point offset. 
 *
 * @field horizontalOpeningAngleStart:  the orientation indicating the beginning of the 
 * shape's horizontal opening angle in positive angular direction.
 *
 * @field horizontalOpeningAngleEnd: The orientation indicating the end of the shape's horizontal 
 * opening angle in positive angular direction.
 *
 * @field verticalOpeningAngleStart: optional orientation indicating the beginning of the shape'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 shape'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. 
 *
 * @category: Georeference information
 * @revision: created in V2.1.1
 */
RadialShapeDetails ::= SEQUENCE {
    range                          StandardLength12b,
    horizontalOpeningAngleStart    CartesianAngleValue,
    horizontalOpeningAngleEnd      CartesianAngleValue,
    verticalOpeningAngleStart      CartesianAngleValue OPTIONAL,
    verticalOpeningAngleEnd        CartesianAngleValue OPTIONAL
}

/** 
 * This DF represents the shape of a rectangular area or a right rectangular prism that is centred on a reference position defined outside of the context of this DF. 
 *
 * It shall include the following components: 
 * 
 * @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 optional orientation of the lenght of the rectangle in the WGS84 coordinate system.
 * The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
 *
 * @field height: represents the optional height, present if the shape is a right rectangular prism with height extending in the positive z-axis.
 *
 * @category GeoReference information
 * @revision: created in V2.1.1
 */
RectangularShape ::= SEQUENCE { 
    centerPoint    CartesianPosition3d OPTIONAL,
    semiLength     StandardLength12b,
    semiBreadth    StandardLength12b,
    orientation    Wgs84AngleValue OPTIONAL,
    height         StandardLength12b OPTIONAL
}

/**
 * A position within a geographic coordinate system together with a confidence ellipse. 
 *
 * It shall include the following components: 
 *
 * @field latitude: the latitude of the geographical point.
 *
 * @field longitude: the longitude of the geographical point.
 *
 * @field positionConfidenceEllipse: the confidence ellipse associated to the geographical position.
 *
 * @field altitude: the altitude and an altitude accuracy of the geographical point.
 *
 * @note: this DE is kept for backwards compatibility reasons only. It is recommended to use the @ref ReferencePositionWithConfidence instead. 
 * @category: GeoReference information
 * @revision: description updated in V2.1.1
 */
ReferencePosition ::= SEQUENCE {
    latitude                     Latitude,
    longitude                    Longitude,
    positionConfidenceEllipse    PosConfidenceEllipse,
    altitude                     Altitude
}

/**
 * A position within a geographic coordinate system together with a confidence ellipse. 
 *
 * It shall include the following components: 
 *
 * @field latitude: the latitude of the geographical point.
 *
 * @field longitude: the longitude of the geographical point.
 *
 * @field positionConfidenceEllipse: the confidence ellipse associated to the geographical position.
 *
 * @field altitude: the altitude and an altitude accuracy of the geographical point.
 *
 * @category: GeoReference information
 * @revision: created in V2.1.1 based on @ref ReferencePosition but using @ref PositionConfidenceEllipse.
 */
ReferencePositionWithConfidence ::= SEQUENCE {
    latitude                     Latitude,
    longitude                    Longitude,
    positionConfidenceEllipse    PositionConfidenceEllipse,
    altitude                     Altitude
}

/**
 * This DF shall contain 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
 *
 * It shall include the following components: 
 *
 * @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 component region is present, the RoadSegmentReferenceId is guaranteed to be globally unique.
 * @category: GeoReference information
 * @revision: created in V2.1.1
 */
RoadSegmentReferenceId ::= SEQUENCE {
    region    Identifier2B OPTIONAL,
    id        Identifier2B
}

/**
 * This DF provides the safe distance indication of a traffic participant with other traffic participant(s).
 *
 * It shall include the following components: 
 * 
 * @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.
 * If subjectStation is present then it indicates whether the distance between the ego ITS-S and the traffic participant indicated in the component subjectStation 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. This component may be present only if subjectStation is present. 
 *
 * @note: the abbreviations used are Lateral Distance (LaD),  Longitudinal Distance (LoD) and Vertical Distance (VD) 
 * and their respective  thresholds, Minimum  Safe  Lateral  Distance (MSLaD), Minimum  Safe  Longitudinal Distance  (MSLoD),  and  Minimum  Safe Vertical Distance (MSVD).
 *
 * @category: Traffic information, Kinematic information
 * @revision: created in V2.1.1
 */
SafeDistanceIndication ::= SEQUENCE {
    subjectStation           StationId OPTIONAL,
    safeDistanceIndicator    SafeDistanceIndicator,
    timeToCollision          DeltaTimeTenthOfSecond OPTIONAL,
    ...
}

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

/** 
 * The DF contains a list of DE @ref Identifier1B.
 *
 * @category: Basic information
 * @revision: created in V2.1.1
*/
SequenceOfIdentifier1B ::= SEQUENCE SIZE(1..128, ...) OF Identifier1B

/**
 * The DF contains a list of DF @ref SafeDistanceIndication.
 *
 * @category: Traffic information, Kinematic information
 * @revision: created in V2.1.1
*/
SequenceOfSafeDistanceIndication ::= SEQUENCE(SIZE(1..8,...)) OF SafeDistanceIndication

/**
 * The DF shall contain a list of DF @ref TrajectoryInterceptionIndication.
 *
 * @category: Traffic information, Kinematic information
 * @revision: created in V2.1.1
*/
SequenceOfTrajectoryInterceptionIndication ::=  SEQUENCE (SIZE(1..8,...)) OF TrajectoryInterceptionIndication

/**