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*
* @field longitudinalAccelerationValue: longitudinal acceleration value at a point in time.
* @field longitudinalAccelerationConfidence: confidence value of the longitudinal 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
*/
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 value associated to the value.
*
* @category: Road topology information
* @revision: created in V2.1.1
*/
LongitudinalLanePosition ::= SEQUENCE {
longitudinalLanePositionValue LongitudinalLanePositionValue,
longitudinalLanePositionConfidence LongitudinalLanePositionConfidence
}
/**
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* 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 columns @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].
*
* @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.
*
*
* @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.
*/
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.
*
* @field accessTechnologyClass: channel access technology to which this mitigation is intended to be applied.
*
* @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].
* @field dmcTonLimit: Transmission duration limit, as defined in ETSI EN 302 571 [i.20].
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* @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.
*
* @field vruSubClass: the object is a VRU.
*
* @field groupSubClass: the object is a VRU group or cluster.
*
* @field otherSubClass: the object is of a different type than the above.
*
* @category: Sensing information
* @revision: Created in V2.1.1
*/
ObjectClass ::= CHOICE {
vehicleSubClass VehicleSubClass,
vruSubClass VruProfileAndSubprofile,
groupSubClass VruClusterInformation (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT}),
otherSubClass OtherSubClass,
...
}
/**
*
* @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.
* @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.
* @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,
* 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.
*
* @category: GeoReference information, Vehicle information
* @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref Path instead
* @revision: semantics updated in V2.1.1
*/
* 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.
*
* @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.
*
*
* @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,
* This DF contains information about a perceived object including its kinematic state and attitude vector in a pre-defined coordinate system.
* @field objectId: optional identifier assigned to a detected object.
* @field timeOfMeasurement: 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 after the reference time.
*
* @field position: the position of the geometric centre of the object´s bounding box within the pre-defined coordinate system, with the associated variance.
* @field velocity: the velocity vector of the object within the pre-defined coordinate system with the associated variance.
* @field acceleration: the acceleration vector of the object within the pre-defined coordinate system with the associated variance.
* @field angleZ: optional first angle of object bounding box at the time of measurement, with the associated variance.
* The angle is measured with positive values considering the object orientation turning around the z-axis using the right-hand rule, starting from the x-axis.
* This extrinsic rotation shall be applied around the centre point of the object´s bounding box before all other rotations.
* @field angleY: optional second angle of object bounding box at the time of measurement with the associated variance.
* The angle is measured with positive values considering the object orientation turning around the y-axis using the right-hand rule, starting from the z-axis.
* This extrinsic rotation shall be applied around the centre point of the object´s bounding box after the rotation by angleZ and before the rotation by angleX.
* @field angleX: optional third angle of object bounding box at the time of measurement with the associated variance.
* The angle is measured with positive values considering the object orientation turning around the x-axis using the right-hand rule, starting from the z-axis.
* This extrinsic rotation shall be applied around the centre point of the object´s bounding box after all other rotations.
* @field zAngleRate: optional rate 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.
* @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 {
position CartesianPosition3dWithConfidence,
velocity Velocity3dWithConfidence OPTIONAL,
acceleration Acceleration3dWithConfidence OPTIONAL,
zAngle CartesianAngle OPTIONAL,
yAngle CartesianAngle OPTIONAL,
xAngle CartesianAngle OPTIONAL,
zAngleRate CartesianAngularSpeed OPTIONAL,
lowerTriangularCorrelationMatrices LowerTriangularPositiveSemidefiniteMatrices OPTIONAL,
objectDimensionZ ObjectDimension OPTIONAL,
objectDimensionY ObjectDimension OPTIONAL,
objectDimensionX ObjectDimension 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:
*
* @8ref: @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.
*
*
* @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,
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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.
*
* @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,
* This DF shall contain a list of @ref ProtectedCommunicationZone provided by a road side ITS-S (Road Side Unit RSU).
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*
* 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,
* 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).
*
* @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
* @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 Sensing information
* @revision: created in V2.1.1
*/
RadialShape ::= SEQUENCE {
range StandardLength12b,
stationaryHorizontalOpeningAngleStart Wgs84AngleValue,
stationaryHorizontalOpeningAngleEnd Wgs84AngleValue,
verticalOpeningAngleStart CartesianAngleValue OPTIONAL,
verticalOpeningAngleEnd CartesianAngleValue OPTIONAL
}
/**
* This DF describes a list of radial shapes.
*
* @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,
yCoordinate CartesianCoordinateSmall,
zCoordinate CartesianCoordinateSmall OPTIONAL,
}
/**
* 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).
*
*
* @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.
*
*
* @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,
* A position within a geographic coordinate system together with a confidence ellipse.
*
* @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
}
/**
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* 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
*
*
* @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).
*
*
* @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<sup>2</sup> + LoDi<sup>2</sup> + VDi<sup>2</sup>)/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, Kinematics information
* @revision: created in V2.1.1
*/
SafeDistanceIndication ::= SEQUENCE {
* 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
/**
*
* @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, Kinematics 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, Kinematics information
* @revision: created in V2.1.1
*/
SequenceOfTrajectoryInterceptionIndication ::= SEQUENCE (SIZE(1..8,...)) OF TrajectoryInterceptionIndication
/**
* This DF provides the definition of a geographical area or volume, based on different options.
*
* @field rectangular: definition of an rectangular area or a right rectangular prism (with a rectangular base) also called a cuboid, or informally a rectangular box.
* @field circular: definition of an area of circular shape or a right circular cylinder.
* @field polygonal: definition of an area of polygonal shape or a right prism.
* @field elliptical: definition of an area of elliptical shape or a right elliptical cylinder.
* @field radialList: definition of list of radial shapes.
*
* @category: GeoReference information
* @revision: Created in V2.1.1
*/
Shape::= CHOICE {
rectangular RectangularShape,
circular CircularShape,
polygonal PolygonalShape,
elliptical EllipticalShape,
radial RadialShape,
radialShapes RadialShapes,
* This DF represents the speed and associated confidence value.
* @field speedConfidence: the confidence value of the speed value.
*
* @category: Kinematics information
* @revision: V1.3.1
*/
Speed ::= SEQUENCE {
speedValue SpeedValue,
speedConfidence SpeedConfidence
}
/**
* This DF provides the indication of change in stability.
*
*
* @field lossProbability: the probability of stability loss.
*
* @field actionDeltaTime: the period over which the the probability of stability loss is estimated.
*
* @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: confidence value of the 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: Description revised in V2.1.1. Is is now based on Path and not on PathHistory
*/
Traces ::= SEQUENCE SIZE(1..7) OF Path
/**
* 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.
*
*
* @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: optional 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: optional length of the trailer overhang in the negative x direction (according to ISO 8855) from the
* trailer Reference Point indicated by the refPointID.
*
* @field trailerWidth: optional width of the trailer.
*
* @field hitchAngle: optional Value and confidence value of the angle between the trailer orientation (corresponding to the x
* direction of the ISO 8855 [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 trailer. 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