ETSI-ITS-CDD.asn

 * @category: Road Topology information
 * @revision: Created in V2.2.1
 */
OccupiedLanesWithConfidence::= SEQUENCE {
    lanePositionBased     SEQUENCE (SIZE(1..4)) OF LanePositionOptions,
    mapBased              SEQUENCE (SIZE(1..4)) OF MapPosition  OPTIONAL,
    confidence            MetaInformation,
    ... 
}

/**
 * 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 estimated/predicted travel time between a position and a predefined reference position. 
 *
 * the following options are available:
 * 
 * @field deltaTimeHighPrecision: delta time with precision of 0,1 s.
 *
 * @field deltaTimeBigRange: delta time with precision of 10 s.
 *
 * @category: Basic information
 * @revision: Created in V2.2.1
 */
PathDeltaTimeChoice::= CHOICE {
    deltaTimeHighPrecision	DeltaTimeTenthOfSecond,
    deltaTimeBigRange	    DeltaTimeTenSeconds,
    ...
}

/** 
 * This DF represents a path towards a specific point specified in the @ref EventZone.
 *
 * It shall include the following components: 
 * 
 * @field pointOfEventZone: the ordinal number of the point within the DF EventZone, i.e. within the list of EventPoints.
 *
 * @field path: the associated path towards the point specified in pointOfEventZone.
 * The first PathPoint presents an offset delta position with regards to the position of that pointOfEventZone.
 *
 * @category: GeoReference information
 * @revision: Created in V2.2.1
*/
PathExtended::= SEQUENCE {
  pointOfEventZone    INTEGER(1..23),
  path                Path
}

/**
 * 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, size corrected to 0..40 in V2.2.1
 */
PathHistory::= SEQUENCE (SIZE(0..40)) OF PathPoint

/**
 * This DF represents a predicted path or trajectory with a set of predicted points and optional information to generate a shape which is estimated to contain the real path. 
 * It shall contain up to `16` @ref PathPointPredicted. 
 * 
 * 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 , size constraint changed to SIZE(1..16, ...) in V2.2.1
 */
PathPredicted::= SEQUENCE (SIZE(1..16,...)) OF PathPointPredicted

/** 
 * This DF represents a predicted path, predicted trajectory or predicted path zone together with usage information and a prediction confidence.
 *
 * It shall include the following components: 
 *
 * @field pathPredicted: the predicted path (pathDeltaTime ABSENT) or trajectory (pathDeltaTime PRESENT) and/or the path zone (symmetricAreaOffset PRESENT).
 *
 * @field usageIndication: an indication of how the predicted path will be used. 
 *
 * @field confidenceLevel: the confidence that the path/trajectory in pathPredicted will occur as predicted.
 *
 * @category: GeoReference information
 * @revision: created in V2.2.1
 */
PathPredicted2::= SEQUENCE{
    pathPredicted     PathPredicted
   ((WITH COMPONENT (WITH COMPONENTS {..., pathDeltaTime ABSENT, symmetricAreaOffset ABSENT})) |
    (WITH COMPONENT (WITH COMPONENTS {..., pathDeltaTime PRESENT, symmetricAreaOffset ABSENT})) |
    (WITH COMPONENT (WITH COMPONENTS {..., pathDeltaTime ABSENT, symmetricAreaOffset PRESENT})) |
    (WITH COMPONENT (WITH COMPONENTS {..., pathDeltaTime PRESENT, symmetricAreaOffset PRESENT}))),
    usageIndication   UsageIndication,
    confidenceLevel   ConfidenceLevel,   
    ...
}

/**
 * This DF represents one or more predicted paths, or trajectories or path zones (zones that include all possible paths/trajectories within its boundaries) using @ref PathPredicted2.
 * It shall contain up to `16` @ref PathPredicted2. 
 * 
 * @category: GeoReference information
 * @revision: V2.2.1
 */
PathPredictedList ::= SEQUENCE SIZE(1..16,...) OF PathPredicted2

/**
 * 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 position that can be used within a predicted path or trajectory, together with optional data to describe a path zone shape.
 *
 * It shall include the following components: 
 *
 * @field deltaLatitude: the offset latitude with regards to a pre-defined reference position. 
 *
 * @field deltaLongitude: the offset longitude with regards to a pre-defined reference position. 
 * 
 * @field horizontalPositionConfidence: the optional confidence value associated to the horizontal geographical position.
 *
 * @field deltaAltitude: the optional offset altitude with regards to a pre-defined reference position, with default value unavailable. 
 *
 * @field altitudeConfidence: the optional confidence value associated to the altitude value of the geographical position, with default value unavailable.
 * 
 * @field pathDeltaTime: the optional travel time to the waypoint from the predefined reference position.

 * @field symmetricAreaOffset: the optional symmetric offset to generate a shape, see Annex D for details.
 *  
 * @field asymmetricAreaOffset: the optional asymmetric offset to generate a shape, see Annex D for details. 
 *
 * @category GeoReference information
 * @revision: Created in V2.1.1, type of pathDeltaTime changed and optionality added, fields symmetricAreaOffset and asymmetricAreaOffset added in V2.2.1
 */
PathPointPredicted::= SEQUENCE {
  deltaLatitude                 DeltaLatitude,      
  deltaLongitude                DeltaLongitude, 
  horizontalPositionConfidence  PosConfidenceEllipse OPTIONAL,   
  deltaAltitude                 DeltaAltitude DEFAULT unavailable, 
  altitudeConfidence            AltitudeConfidence DEFAULT unavailable,
  pathDeltaTime                 PathDeltaTimeChoice OPTIONAL,
  symmetricAreaOffset           StandardLength9b OPTIONAL, 
  asymmetricAreaOffset          StandardLength9b OPTIONAL, 
  ... 
}
 ((WITH COMPONENTS {..., symmetricAreaOffset   ABSENT, asymmetricAreaOffset   ABSENT}) |
  (WITH COMPONENTS {..., symmetricAreaOffset   PRESENT, asymmetricAreaOffset   ABSENT}) |
  (WITH COMPONENTS {..., symmetricAreaOffset   PRESENT, asymmetricAreaOffset   PRESENT}))

/** 
 * This DF represents a list of references to the components of a @ref Traces or @ref TracesExtended DF using the @ref PathId. 
 *
 * @category: Road topology information
 * @revision: Created in V2.2.1
*/
PathReferences ::= SEQUENCE (SIZE(1..14)) OF PathId

/** 
 * 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 identifies an organization.
 *
 * It shall include the following components: 
 * 
 * @field countryCode: represents the country code that identifies the country of the national registration administrator for issuers according to ISO 14816.
 *
 * @field providerIdentifier: identifies the organization according to the national ISO 14816 register for issuers.
 *
 * @note: See https://www.itsstandards.eu/registries/register-of-nra-i-cs1/ for a list of national registration administrators and their respective registers
 * 
 * @category: Communication information
 * @revision: Created in V2.2.1 based on ISO 17573-3 [24]
 */
Provider ::= SEQUENCE {
	countryCode		CountryCode,
	providerIdentifier	IssuerIdentifier
} 

/**
 * 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 [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 circular or spherical sector is constructed by sweeping      
 * the provided range about the reference position specified outside of the context of this DF or 
 * about the optional shapeReferencePoint. The range is swept between a horizontal start and a 
 * horizontal end angle in the X-Y plane of a cartesian coordinate system specified outside of the 
 * context of this DF, in a right-hand positive angular direction w.r.t. the x-axis. 
 * A vertical opening angle in the X-Z plane may optionally be provided in a right-hand positive 
 * angular direction w.r.t. the x-axis. 
 *
 * 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 horizontalOpeningAngleStart: the start of the shape's horizontal opening angle. 
 *
 * @field horizontalOpeningAngleEnd: the end of the shape's horizontal opening angle. 
 *
 * @field verticalOpeningAngleStart: optional start of the shape's vertical opening angle. 
 *
 * @field verticalOpeningAngleEnd: optional end of the shape's vertical opening angle. 
 *
 * @category GeoReference information
 * @revision: created in V2.1.1, names and types of the horizontal opening angles changed, constraint added and description revised in V2.2.1
*/
RadialShape ::= SEQUENCE { 
    shapeReferencePoint                      CartesianPosition3d OPTIONAL,
    range                                    StandardLength12b,
    horizontalOpeningAngleStart              CartesianAngleValue, 
    horizontalOpeningAngleEnd                CartesianAngleValue, 
    verticalOpeningAngleStart                CartesianAngleValue OPTIONAL,
    verticalOpeningAngleEnd                  CartesianAngleValue OPTIONAL
}
   ((WITH COMPONENTS {..., verticalOpeningAngleStart ABSENT, verticalOpeningAngleEnd ABSENT }) |
    (WITH COMPONENTS {..., verticalOpeningAngleStart PRESENT, verticalOpeningAngleEnd PRESENT }))


/**
 * This DF describes a list of radial shapes positioned w.r.t. to an offset position defined  
 * relative to a reference position specified outside of the context of this DF and oriented w.r.t.  
 * a cartesian coordinate system specified outside of the context of this DF. 
 *
 * 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 position.
 *
 * @field yCoordinate: the y-coordinate of the offset position.
 *
 * @field zCoordinate: the optional z-coordinate of the offset position.
 *
 * @field radialShapesList: the list of radial shape details.
 *
 * @category: Georeference information
 * @revision: created in V2.1.1, description revised in V2.2.1
 */ 
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 radial shape details. The circular sector or cone is
 * constructed by sweeping the provided range about the position specified outside of the  
 * context of this DF. The range is swept between a horizontal start and a horizontal end angle in 
 * the X-Y plane of a right-hand cartesian coordinate system specified outside of the context of 
 * this DF, in positive angular direction w.r.t. the x-axis. A vertical opening angle in the X-Z 
 * plane may optionally be provided in positive angular direction w.r.t. the x-axis.
 * 
 * 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 start of the shape's horizontal opening angle.
 *
 * @field horizontalOpeningAngleEnd: the end of the shape's horizontal opening angle. 
 *
 * @field verticalOpeningAngleStart: optional start of the shape's vertical opening angle. 
 *
 * @field verticalOpeningAngleEnd: optional end of the shape's vertical opening angle. 
 *
 * @category: Georeference information
 * @revision: created in V2.1.1, description revised and constraint added in V2.2.1
 */
RadialShapeDetails ::= SEQUENCE {
    range                          StandardLength12b,
    horizontalOpeningAngleStart    CartesianAngleValue,
    horizontalOpeningAngleEnd      CartesianAngleValue,
    verticalOpeningAngleStart      CartesianAngleValue OPTIONAL,
    verticalOpeningAngleEnd        CartesianAngleValue OPTIONAL
}
   ((WITH COMPONENTS {..., verticalOpeningAngleStart ABSENT, verticalOpeningAngleEnd ABSENT }) |
    (WITH COMPONENTS {..., verticalOpeningAngleStart PRESENT, verticalOpeningAngleEnd PRESENT }))

/** 
 * 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 and oriented w.r.t. a cartesian    
 * coordinate system defined outside of the context of this DF. 
 *
 * It shall include the following components: 
 * 
 * @field shapeReferencePoint: represents an optional offset point which the rectangle is centred on with 
 * respect to the reference position. If this component is absent, the externally specified  
 * reference position represents the shape's reference point. 
 *
 * @field semiLength: represents half the length of the rectangle located in the X-Y Plane.
 * 
 * @field semiBreadth: represents half the breadth of the rectangle located in the X-Y Plane.
 *
 * @field orientation: represents the optional orientation of the length of the rectangle, 
 * measured with positive values turning around the Z-axis using the right-hand rule, starting from
 * the X-axis. 
 *
 * @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, centerPoint renamed to shapeReferencePoint, the type of the field orientation changed and description revised in V2.2.1
 */
RectangularShape ::= SEQUENCE { 
    shapeReferencePoint   CartesianPosition3d OPTIONAL,
    semiLength            StandardLength12b,
    semiBreadth           StandardLength12b,
    orientation           CartesianAngleValue 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 provides configuration information about a road section.
 *
 * It shall include the following components: 
 *
 * @field roadSectionDefinition: the topological definition of the road section for which the information in the other components applies throughout its entire length.
 * 
 * @field roadType: the optional type of road on which the section is located.
 * 
 * @field laneConfiguration: the optional configuration of the road section in terms of basic information per lane.
 *
 * @field mapemConfiguration: the optional configuration of the road section in terms of MAPEM lanes or connections.
 *
 * @category: Road topology information
 * @revision: Created in V2.2.1
*/

RoadConfigurationSection ::= SEQUENCE {
  roadSectionDefinition  RoadSectionDefinition,
  roadType               RoadType OPTIONAL, 
  laneConfiguration      BasicLaneConfiguration OPTIONAL,
  mapemConfiguration     MapemConfiguration OPTIONAL,
  ...
} 
  ((WITH COMPONENTS {..., laneConfiguration PRESENT}) |
   (WITH COMPONENTS {..., mapemConfiguration PRESENT})) 

/**
 * This DF shall contain a list of @ref RoadConfigurationSection.
 * 
 * @category: Road Topology information
 * @revision: Created in V2.2.1
 */
RoadConfigurationSectionList::=  SEQUENCE (SIZE(1..8,...))  OF RoadConfigurationSection

/** 
 * This DF provides the basic topological definition of a road section.
 *
 * It shall include the following components: 
 * 
 * @field startingPointSection: the position of the starting point of the section. 
 * 
 * @field lengthOfSection: the optional length of the section along the road profile (i.e. including curves).
 * 
 * @field endingPointSection: the optional position of the ending point of the section. 
 * If this component is absent, the ending position is implicitly defined by other means, e.g. the starting point of the next RoadConfigurationSection, or the section�s length.
 *
 * @field connectedPaths: the identifier(s) of the path(s) having one or an ordered subset of waypoints located upstream of the RoadConfigurationSection� starting point. 
 * 
 * @field includedPaths: the identifier(s) of the path(s) that covers (either with all its length or with a part of it) a RoadConfigurationSection. 
 *
 * @field isEventZoneIncluded: indicates, if set to TRUE, that the @ref EventZone incl. its reference position covers a RoadConfigurationSection (either with all its length or with a part of it). 
 * 
 * @field isEventZoneConnected: indicates, if set to TRUE, that the @ref EventZone incl. its reference position has one or an ordered subset of waypoints located upstream of the RoadConfigurationSection� starting point.
 *
 * @category: Road topology information
 * @revision: Created in V2.2.1
*/
RoadSectionDefinition::= SEQUENCE {
  startingPointSection      GeoPosition,
  lengthOfSection	  	    StandardLength2B OPTIONAL,
  endingPointSection       	GeoPosition OPTIONAL, 
  connectedPaths		    PathReferences,	
  includedPaths          	PathReferences,
  isEventZoneIncluded       BOOLEAN,  
  isEventZoneConnected      BOOLEAN,
  ...
}  

/**
 * 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

/**
 * This DF provides the definition of a geographical area or volume, based on different options.
 *
 * It is a choice of the following components: 
 *
 * @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 radial: definition of a radial shape.
 *
 * @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.
 *
 * It shall include the following components: 
 * 
 * @field speedValue: the speed value.
 * 
 * @field speedConfidence: the confidence value of the speed value.
 *
 * @category: Kinematic information
 * @revision: V1.3.1
 */
Speed ::= SEQUENCE {
    speedValue         SpeedValue,
    speedConfidence    SpeedConfidence
}

/**
 * This DF  provides the  indication of  change in stability.
 *
 * It shall include the following components: 
 * 
 * @field lossProbability: the probability of stability loss. 
 * 
 * @field actionDeltaTime: the period over which the the probability of stability loss is estimated. 
 *
 * @category: Kinematic 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.
 *
 * It shall include the following components: 
 * 
 * @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 Path.
 * 
 * @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

/**
 * This DF represents one or more paths using @ref PathExtended.
 * 
 * @category: GeoReference information
 * @revision: Created in V2.2.1
 */
TracesExtended ::= SEQUENCE SIZE(1..7) OF PathExtended

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

/** 
 * This DF provides detailed information about an attached trailer.
 *
 * It shall include the following components: 
 *
 * @field refPointId: identifier of the reference point of the trailer.
 *
 * @field hitchPointOffset: optional position of the hitch point in negative x-direction (according to ISO 8855) from the
 * vehicle Reference Point.
 *
 * @field frontOverhang: 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 [21] 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
 * confidence level of 95 %.
 *
 * @category: Vehicle information
 * @revision: Created in V2.1.1
*/
TrailerData ::= SEQUENCE { 
    refPointId          Identifier1B,
    hitchPointOffset    StandardLength1B, 
    frontOverhang       StandardLength1B OPTIONAL, 
    rearOverhang        StandardLength1B OPTIONAL, 
    trailerWidth        VehicleWidth OPTIONAL,
    hitchAngle          CartesianAngle,
    ...
}

/**
 * This DF  provides the trajectory  interception  indication  of  ego-VRU  ITS-S  with another ITS-Ss. 
 *
 * It shall include the following components: 
 * 
 * @field subjectStation: indicates the subject station.
 * 
 * @field trajectoryInterceptionProbability: indicates the propbability of the interception of the subject station trajectory 
 * with the trajectory of the station indicated in the component subjectStation.
 *
 * @field trajectoryInterceptionConfidence: indicates the confidence of interception of the subject station trajectory 
 * with the trajectory of the station indicated in the component subjectStation.
 * 
 * @category: Vehicle information
 * @revision: Created in V2.1.1
 */
TrajectoryInterceptionIndication  ::= SEQUENCE {
   subjectStation                     StationId OPTIONAL, 
   trajectoryInterceptionProbability  TrajectoryInterceptionProbability,
   trajectoryInterceptionConfidence   TrajectoryInterceptionConfidence OPTIONAL,
        ... 
}

/**
 * This DF together with its sub DFs Ext1, Ext2 and the DE Ext3 provides the custom (i.e. not ASN.1 standard) definition of an integer with variable lenght, that can be used for example to encode the ITS-AID. 
 *
 * @category: Basic information
 * @revision: Created in V2.1.1
 */
VarLengthNumber::=CHOICE{
	content	    [0] INTEGER(0..127), -- one octet length
	extension	[1]	Ext1
	}
Ext1::=CHOICE{
	content	    [0]	INTEGER(128..16511), -- two octets length
	extension	[1]	Ext2
}
Ext2::=CHOICE{
	content	    [0]	INTEGER(16512..2113663), -- three octets length
	extension	[1]	Ext3
	}
Ext3::= INTEGER(2113664..270549119,...) -- four and more octets length

/**
 * This DF indicates the vehicle acceleration at vertical direction and the associated confidence value.
 *
 * It shall include the following components: 
 * 
 * @field verticalAccelerationValue: vertical acceleration value at a point in time.
 * 
 * @field verticalAccelerationConfidence: confidence value of the vertical acceleration value with a predefined confidence level.
 * 
 * @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
 */
VerticalAcceleration ::= SEQUENCE {
    verticalAccelerationValue         VerticalAccelerationValue,
    verticalAccelerationConfidence    AccelerationConfidence
}

/**
 * This DF provides information related to the identification of a vehicle.
 *