ETSI-ITS-CDD.asn

 * several reasons, such as:
 * - the sensor cannot deliver the accuracy at the defined confidence level because it is a low-end sensor,
 * - the sensor cannot calculate the accuracy due to lack of variables, or
 * - there has been a vehicle bus (e.g. CAN bus) error.
 * In all 3 cases above, the yaw rate value may be valid and used by the application.
 * 
 * If a yaw rate value is received and its confidence value is set to `outOfRange(7)`, it means that the 
 * yaw rate value is not valid and therefore cannot be trusted. Such value is not useful the application.
 * 
 * @category: Vehicle information
 * @revision: Description revised in V2.1.1
 */
YawRateConfidence ::= ENUMERATED {
    degSec-000-01 (0),
    degSec-000-05 (1),
    degSec-000-10 (2),
    degSec-001-00 (3), 
    degSec-005-00 (4),
    degSec-010-00 (5),
    degSec-100-00 (6),
    outOfRange    (7),
    unavailable   (8)
}

/**
 * This DE represents the vehicle rotation around z-axis of the coordinate system centred on the centre of mass of the empty-loaded
 * vehicle. The leading sign denotes the direction of rotation.
 * 
 * The value shall be provided in the vehicle coordinate system as defined in ISO 8855 [2], clause 2.11.
 *
 * The value shall be set to:
 * - `-32 766` to indicate that the yaw rate is equal to or greater than 327,66 degrees/second to the right,
 * - `n (n > -32 766 and n <= 0)` to indicate that the rotation is clockwise (i.e. to the right) and is equal to or less than n x 0,01 degrees/s, 
      and greater than (n-1) x 0,01 degrees/s,
 * - `n (n > 0 and n < 32 766)` to indicate that the rotation is anti-clockwise (i.e. to the left) and is equal to or less than n x 0,01 degrees/s, 
      and greater than (n-1) x 0,01 degrees/s,
 * - `32 766` to indicate that the yaw rate is greater than 327.65 degrees/second to the left,
 * - `32 767` to indicate that the information is not available.
 * 
 * The yaw rate value shall be a raw data value, i.e. not filtered, smoothed or otherwise modified.
 * The reading instant should be the same as for the vehicle acceleration.
 * 
 * @note: The empty load vehicle is defined in ISO 1176 [i.8], clause 4.6.
 * 
 * @unit: 0,01 degree per second. 
 * @category: Vehicle Information
 * @revision: Desription revised in V2.1.1 (the meaning of 32766 has changed slightly). 
*/
YawRateValue ::= INTEGER {
    negativeOutOfRange (-32766), 
    positiveOutOfRange (32766), 
    unavailable        (32767)
} (-32766..32767)

----------------------------------------
-- Specification of CDD Data Frames:
----------------------------------------

/**
 * This DF represents an acceleration vector with associated confidence value.
 *
 * It shall include the following components: 
 * 
 * @field polarAcceleration: the representation of the acceleration vector in a polar or cylindrical coordinate system. 
 * 
 * @field cartesianAcceleration: the representation of the acceleration vector in a cartesian coordinate system.
 * 
 * @category: Kinematic information
 * @revision: Created in V2.1.1
 */
Acceleration3dWithConfidence::= CHOICE {
    polarAcceleration                    AccelerationPolarWithZ,
    cartesianAcceleration                AccelerationCartesian 
}

/**
 * This DF represents an acceleration vector in a polar or cylindrical coordinate system.
 
 * It shall include the following components: 
 * 
 * @field accelerationMagnitude: magnitude of the acceleration vector projected onto the reference plane, with the associated confidence value.
 * 
 * @field accelerationDirection: polar angle of the acceleration vector projected onto the reference plane, with the associated confidence value.
 *
 * @field zAcceleration: the optional z component of the acceleration vector along the reference axis of the cylindrical coordinate system, with the associated confidence value.
 * 
 * @category: Kinematic information
 * @revision: Created in V2.1.1
 */
AccelerationPolarWithZ::= SEQUENCE{
    accelerationMagnitude                             AccelerationMagnitude,
    accelerationDirection                             CartesianAngle,
    zAcceleration                                     AccelerationComponent OPTIONAL
}

/**
 * This DF represents a acceleration vector in a cartesian coordinate system.
 
 * It shall include the following components: 
 * 
 * @field xAcceleration: the x component of the acceleration vector with the associated confidence value.
 * 
 * @field yAcceleration: the y component of the acceleration vector with the associated confidence value.
 *
 * @field zAcceleration: the optional z component of the acceleration vector with the associated confidence value.
 * 
 * @category: Kinematic information
 * @revision: Created in V2.1.1
 */
AccelerationCartesian::= SEQUENCE{
    xAcceleration      AccelerationComponent,
    yAcceleration      AccelerationComponent,
    zAcceleration      AccelerationComponent OPTIONAL
}            

/** 
 * This DF represents an acceleration component along with a confidence value.
 *
 * It shall include the following components: 
 *
 * @field value: the value of the acceleration component which can be estimated as the mean of the current distribution.
 *
 * @field confidence: the confidence value associated to the provided value.
 *
 * @category: Kinematic Information
 * @revision: Created in V2.1.1
 */
AccelerationComponent ::= SEQUENCE {
    value         AccelerationValue,
    confidence    AccelerationConfidence
}

/** 
 * This DF represents information associated to changes in acceleration. 
 *
 * It shall include the following components: 
 *
 * @field accelOrDecel: the indication of an acceleration change.
 *
 * @field actionDeltaTime: the period over which the acceleration change action is performed.
 *
 * @category: Kinematic Information
 * @revision: Created in V2.1.1
 */
AccelerationChangeIndication ::= SEQUENCE {
    accelOrDecel       AccelerationChange,
    actionDeltaTime    DeltaTimeTenthOfSecond,
    ...
}

/**
 * This DF represents the magnitude of the acceleration vector and associated confidence value.
 *
 * It shall include the following components: 
 * 
 * @field accelerationMagnitudeValue: the magnitude of the acceleration vector.
 * 
 * @field accelerationConfidence: the confidence value of the magnitude value.
 *
 * @category: Kinematic information
 * @revision: Created in V2.1.1
 */
AccelerationMagnitude::= SEQUENCE {
    accelerationMagnitudeValue   AccelerationMagnitudeValue,
    accelerationConfidence       AccelerationConfidence
}

/**
 * This DF represents an identifier used to describe a protocol action taken by an ITS-S.
 * 
 * It shall include the following components: 
 *
 * @field originatingStationId: Id of the ITS-S that takes the action. 
 * 
 * @field sequenceNumber: a sequence number. 
 * 
 * @category: Communication information
 * @revision: Created in V2.1.1 based on @ref ActionID.
 */
ActionId ::= SEQUENCE {
    originatingStationId    StationId,
    sequenceNumber          SequenceNumber
}

/**
 * This DF represents an identifier used to describe a protocol action taken by an ITS-S.
 * 
 * It shall include the following components: 
 *
 * @field originatingStationId: Id of the ITS-S that takes the action. 
 * 
 * @field sequenceNumber: a sequence number. 
 * 
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use the @ref ActionId instead. 
 * @category: Communication information
 * @revision: V1.3.1
 */
ActionID ::= SEQUENCE {
    originatingStationId    StationID,
    sequenceNumber          SequenceNumber
}

/**
 * This DF shall contain a list of @ref ActionId. 

 * @category: Communication Information
 * @revision: Created in V2.1.1 based on ReferenceDenms from DENM Release 1
*/
ActionIdList::= SEQUENCE (SIZE(1..8, ...)) OF ActionId

/**
 * This DF provides the altitude and confidence level of an altitude information in a WGS84 coordinate system.
 * The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
 *
 * It shall include the following components: 
 *
 * @field altitudeValue: altitude of a geographical point.
 *
 * @field altitudeConfidence: confidence level of the altitudeValue.
 *
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use the @ref AltitudeWithConfidence instead. 
 * @category: GeoReference information
 * @revision: Description revised in V2.1.1
 */
Altitude ::= SEQUENCE {
    altitudeValue         AltitudeValue,
    altitudeConfidence    AltitudeConfidence
}

/** 
 * This DE represents a general container for usage in various types of messages.
 *
 * It shall include the following components: 
 *
 * @field stationType: the type of technical context in which the ITS-S that has generated the message is integrated in.
 *
 * @field referencePosition: the reference position of the station that has generated the message that contains the basic container.
 *
 * @category: Basic information
 * @revision: Created in V2.1.1
*/
BasicContainer ::= SEQUENCE {
	stationType          TrafficParticipantType,
	referencePosition    ReferencePositionWithConfidence,
	...
}

/** 
 * This DF represents a general Data Frame to describe an angle component along with a confidence value in a cartesian coordinate system.
 *
 * It shall include the following components: 
 *
 * @field value: The angle value which can be estimated as the mean of the current distribution.
 *
 * @field confidence: The confidence value associated to the provided value.
 *
 * @category: Basic information
 * @revision: Created in V2.1.1
 */
CartesianAngle ::= SEQUENCE {
    value         CartesianAngleValue,
    confidence    AngleConfidence
}

/** 
 * This DF represents an angular velocity component along with a confidence value in a cartesian coordinate system.
 *
 * It shall include the following components: 
 *
 * @field value: The angular velocity component.
 *
 * @field confidence: The confidence value associated to the provided value.
 *
 * @category: Kinematic information
 * @revision: Created in V2.1.1
 */
CartesianAngularVelocityComponent ::= SEQUENCE {
    value         CartesianAngularVelocityComponentValue,
    confidence    AngularSpeedConfidence
}

/** 
 * This DF represents a general Data Frame to describe an angular acceleration component along with a confidence value in a cartesian coordinate system.
 *
 * It shall include the following components: 
 *
 * @field value: The angular acceleration component value.
 *
 * @field confidence: The confidence value associated to the provided value.
 * 
 * @category: Kinematic information
 * @revision: Created in V2.1.1 
 */
CartesianAngularAccelerationComponent ::= SEQUENCE {
    value         CartesianAngularAccelerationComponentValue,
    confidence    AngularAccelerationConfidence
}

/**
 * This DF represents a coordinate along with a confidence value in a cartesian reference system.
 *
 * It shall include the following components: 
 * 
 * @field value: the coordinate value, which can be estimated as the mean of the current distribution.
 * 
 * @field confidence: the coordinate confidence value associated to the provided value.
 *
 * @category: GeoReference information
 * @revision: Created in V2.1.1
*/
CartesianCoordinateWithConfidence ::= SEQUENCE {
    value         CartesianCoordinateLarge,
    confidence    CoordinateConfidence
}

/** 
 * This DF represents a  position in a two- or three-dimensional cartesian coordinate system.
 *
 * It shall include the following components: 
 *
 * @field xCoordinate: the X coordinate value.
 *
 * @field yCoordinate: the Y coordinate value.
 *
 * @field zCoordinate: the optional Z coordinate value.
 * 
 * @category: GeoReference information
 * @revision: Created in V2.1.1
*/
CartesianPosition3d::=SEQUENCE{
    xCoordinate    CartesianCoordinate,
    yCoordinate    CartesianCoordinate,
    zCoordinate    CartesianCoordinate OPTIONAL
}

/** 
 * This DF represents a  position in a two- or three-dimensional cartesian coordinate system with an associated confidence level for each coordinate.
 *
 * It shall include the following components: 
 *
 * @field xCoordinate: the X coordinate value with the associated confidence level.
 *
 * @field yCoordinate: the Y coordinate value with the associated confidence level.
 *
 * @field zCoordinate: the optional Z coordinate value with the associated confidence level.
 * 
 * @category: GeoReference information
 * @revision: Created in V2.1.1
*/
CartesianPosition3dWithConfidence::= SEQUENCE{    
    xCoordinate    CartesianCoordinateWithConfidence, 
    yCoordinate    CartesianCoordinateWithConfidence, 
    zCoordinate    CartesianCoordinateWithConfidence OPTIONAL
}

/**
 * This DF is a representation of the cause code value of a traffic event. 
 *
 * It shall include the following components: 
 *
 * @field causeCode: the main cause of a detected event. 
 *
 * @field subCauseCode: the subordinate cause of a detected event. 
 *
 * The semantics of the entire DF are completely defined by the component causeCode. The interpretation of the subCauseCode may 
 * provide additional information that is not strictly necessary to understand the causeCode itself, and is therefore optional.
 *
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use the @ref CauseCodeV2 instead. 
 *
 * @category: Traffic information
 * @revision: Editorial update in V2.1.1
 */
CauseCode ::= SEQUENCE {
    causeCode       CauseCodeType,
    subCauseCode    SubCauseCodeType,
    ...
}

/**
 * This DF is a representation of the cause code value and associated sub cause code value of a traffic event. 
 *
 * @note: this DF is defined for use as part of CauseCodeV2. It is recommended to use CauseCodeV2.
 * @category: Traffic information
 * @revision: Created in V2.1.1
 */
CauseCodeChoice::= CHOICE {
    reserved0                                          SubCauseCodeType,
    trafficCondition1                                  TrafficConditionSubCauseCode,
    accident2                                          AccidentSubCauseCode,
    roadworks3                                         RoadworksSubCauseCode,
    reserved4                                          SubCauseCodeType,
    impassability5                                     SubCauseCodeType,
    adverseWeatherCondition-Adhesion6                  AdverseWeatherCondition-AdhesionSubCauseCode,
    aquaplaning7                                       SubCauseCodeType,
    reserved8                                          SubCauseCodeType,
    hazardousLocation-SurfaceCondition9                HazardousLocation-SurfaceConditionSubCauseCode,
    hazardousLocation-ObstacleOnTheRoad10              HazardousLocation-ObstacleOnTheRoadSubCauseCode,
    hazardousLocation-AnimalOnTheRoad11                HazardousLocation-AnimalOnTheRoadSubCauseCode,
    humanPresenceOnTheRoad12                           HumanPresenceOnTheRoadSubCauseCode,
    reserved13                                         SubCauseCodeType,
    wrongWayDriving14                                  WrongWayDrivingSubCauseCode,
    rescueAndRecoveryWorkInProgress15                  RescueAndRecoveryWorkInProgressSubCauseCode,
    reserved16                                         SubCauseCodeType,
    adverseWeatherCondition-ExtremeWeatherCondition17  AdverseWeatherCondition-ExtremeWeatherConditionSubCauseCode,
    adverseWeatherCondition-Visibility18               AdverseWeatherCondition-VisibilitySubCauseCode,
    adverseWeatherCondition-Precipitation19            AdverseWeatherCondition-PrecipitationSubCauseCode,
    violence20                                         SubCauseCodeType,
    reserved21                                         SubCauseCodeType,
    reserved22                                         SubCauseCodeType,
    reserved23                                         SubCauseCodeType,
    reserved24                                         SubCauseCodeType,
    reserved25                                         SubCauseCodeType,
    slowVehicle26                                      SlowVehicleSubCauseCode,
    dangerousEndOfQueue27                              DangerousEndOfQueueSubCauseCode,
    reserved28                                         SubCauseCodeType,
    reserved29                                         SubCauseCodeType,
    reserved30                                         SubCauseCodeType,
    reserved31                                         SubCauseCodeType,
    reserved32                                         SubCauseCodeType,
    reserved33                                         SubCauseCodeType,
    reserved34                                         SubCauseCodeType,
    reserved35                                         SubCauseCodeType,
    reserved36                                         SubCauseCodeType,
    reserved37                                         SubCauseCodeType,
    reserved38                                         SubCauseCodeType,
    reserved39                                         SubCauseCodeType,
    reserved40                                         SubCauseCodeType,
    reserved41                                         SubCauseCodeType,
    reserved42                                         SubCauseCodeType,
    reserved43                                         SubCauseCodeType,
    reserved44                                         SubCauseCodeType,
    reserved45                                         SubCauseCodeType,
    reserved46                                         SubCauseCodeType,
    reserved47                                         SubCauseCodeType,
    reserved48                                         SubCauseCodeType,
    reserved49                                         SubCauseCodeType,
    reserved50                                         SubCauseCodeType,
    reserved51                                         SubCauseCodeType,
    reserved52                                         SubCauseCodeType,
    reserved53                                         SubCauseCodeType,
    reserved54                                         SubCauseCodeType,
    reserved55                                         SubCauseCodeType,
    reserved56                                         SubCauseCodeType,
    reserved57                                         SubCauseCodeType,
    reserved58                                         SubCauseCodeType,   
    reserved59                                         SubCauseCodeType, 
    reserved60                                         SubCauseCodeType,
    reserved61                                         SubCauseCodeType,
    reserved62                                         SubCauseCodeType,
    reserved63                                         SubCauseCodeType,
    reserved64                                         SubCauseCodeType,
    reserved65                                         SubCauseCodeType,
    reserved66                                         SubCauseCodeType,    
    reserved67                                         SubCauseCodeType,
    reserved68                                         SubCauseCodeType,
    reserved69                                         SubCauseCodeType,
    reserved70                                         SubCauseCodeType,
    reserved71                                         SubCauseCodeType,
    reserved72                                         SubCauseCodeType,
    reserved73                                         SubCauseCodeType,
    reserved74                                         SubCauseCodeType,
    reserved75                                         SubCauseCodeType,
    reserved76                                         SubCauseCodeType,
    reserved77                                         SubCauseCodeType,
    reserved78                                         SubCauseCodeType,
    reserved79                                         SubCauseCodeType,
    reserved80                                         SubCauseCodeType,
    reserved81                                         SubCauseCodeType,
    reserved82                                         SubCauseCodeType,
    reserved83                                         SubCauseCodeType,
    reserved84                                         SubCauseCodeType,
    reserved85                                         SubCauseCodeType,
    reserved86                                         SubCauseCodeType,
    reserved87                                         SubCauseCodeType,
    reserved88                                         SubCauseCodeType,
    reserved89                                         SubCauseCodeType,
    reserved90                                         SubCauseCodeType,
    vehicleBreakdown91                                 VehicleBreakdownSubCauseCode,
    postCrash92                                        PostCrashSubCauseCode,
    humanProblem93                                     HumanProblemSubCauseCode,
    stationaryVehicle94                                StationaryVehicleSubCauseCode,
    emergencyVehicleApproaching95                      EmergencyVehicleApproachingSubCauseCode,
    hazardousLocation-DangerousCurve96                 HazardousLocation-DangerousCurveSubCauseCode,
    collisionRisk97                                    CollisionRiskSubCauseCode,
    signalViolation98                                  SignalViolationSubCauseCode,
    dangerousSituation99                               DangerousSituationSubCauseCode,
    railwayLevelCrossing100                            RailwayLevelCrossingSubCauseCode,
    reserved101                                        SubCauseCodeType,
    reserved102                                        SubCauseCodeType,
    reserved103                                        SubCauseCodeType,
    reserved104                                        SubCauseCodeType,
    reserved105                                        SubCauseCodeType,
    reserved106                                        SubCauseCodeType,
    reserved107                                        SubCauseCodeType,
    reserved108                                        SubCauseCodeType,
    reserved109                                        SubCauseCodeType,
    reserved110                                        SubCauseCodeType,
    reserved111                                        SubCauseCodeType,
    reserved112                                        SubCauseCodeType,
    reserved113                                        SubCauseCodeType,
    reserved114                                        SubCauseCodeType,
    reserved115                                        SubCauseCodeType,
    reserved116                                        SubCauseCodeType,
    reserved117                                        SubCauseCodeType,
    reserved118                                        SubCauseCodeType,
    reserved119                                        SubCauseCodeType,
    reserved120                                        SubCauseCodeType,
    reserved121                                        SubCauseCodeType,
    reserved122                                        SubCauseCodeType,
    reserved123                                        SubCauseCodeType,
    reserved124                                        SubCauseCodeType,
    reserved125                                        SubCauseCodeType,
    reserved126                                        SubCauseCodeType,
    reserved127                                        SubCauseCodeType,
    reserved128                                        SubCauseCodeType
  }

/**
 * This DF is an alternative representation of the cause code value of a traffic event. 
 *
 * It shall include the following components: 
 *
 * @field ccAndScc: the main cause of a detected event. Each entry is of a different type and represents the sub cause code.
 *
 * The semantics of the entire DF are completely defined by the component causeCode. The interpretation of the subCauseCode may 
 * provide additional information that is not strictly necessary to understand the causeCode itself, and is therefore optional.
 * 
 * @category: Traffic information
 * @revision: Created in V2.1.1
 */
CauseCodeV2 ::= SEQUENCE {
    ccAndScc    CauseCodeChoice,
    ...
}

/**
 * The DF describes the position of a CEN DSRC road side equipment.
 *
 * It shall include the following components: 
 * 
 * @field protectedZoneLatitude: the latitude of the CEN DSRC road side equipment.
 * 
 * @field protectedZoneLongitude: the latitude of the CEN DSRC road side equipment. 
 * 
 * @field cenDsrcTollingZoneID: the optional ID of the CEN DSRC road side equipment.
 * 
 * @category: Infrastructure information, Communication information
 * @revision: revised in V2.1.1 (cenDsrcTollingZoneId is directly of type ProtectedZoneId)
 */
CenDsrcTollingZone ::= SEQUENCE {
    protectedZoneLatitude     Latitude,
    protectedZoneLongitude    Longitude,
    cenDsrcTollingZoneId      ProtectedZoneId OPTIONAL,
    ...
}

/** 
 * 
 * This DF represents the shape of a circular area or a right cylinder that is centred on the shape´s reference point. 
 *
 * It shall include the following components: 
 * 
 * @field shapeReferencePoint: optional reference point that represents the centre of the circle, relative to an externally specified reference position. 
 * If this component is absent, the externally specified reference position represents the shape´s reference point. 
 *
 * @field radius: the radius of the circular area.
 *
 * @field height: the optional height, present if the shape is a right cylinder extending in the positive z-axis. 
 *
 * 
 * @category: GeoReference information
 * @revision: Created in V2.1.1
 */
CircularShape ::= SEQUENCE {
    shapeReferencePoint    CartesianPosition3d OPTIONAL,
    radius                 StandardLength12b,
    height                 StandardLength12b OPTIONAL
}

/**
 * This DF indicates the opening/closure status of the lanes of a carriageway.
 *
 * It shall include the following components: 
 * 
 * @field innerhardShoulderStatus: this information is optional and shall be included if an inner hard shoulder is present and the information is known.
 * It indicates the open/closing status of inner hard shoulder lanes. 
 * 
 * @field outerhardShoulderStatus: this information is optional and shall be included if an outer hard shoulder is present and the information is known.
 * It indicates the open/closing status of outer hard shoulder lanes. 
 * 
 * @field drivingLaneStatus: this information is optional and shall be included if the information is known.
 * It indicates the open/closing status of driving lanes. 
 * For carriageways with more than 13 driving lanes, the drivingLaneStatus component shall not be present.
 * 
 * @category: Infrastructure information, Road topology information
 * @revision: Description revised in V2.1.1
 */
ClosedLanes ::= SEQUENCE {
    innerhardShoulderStatus    HardShoulderStatus OPTIONAL,
    outerhardShoulderStatus    HardShoulderStatus OPTIONAL,
    drivingLaneStatus          DrivingLaneStatus OPTIONAL,
    ...
}

/**
 * This DF provides information about the breakup of a cluster.
 *
 * It shall include the following components: 
 * 
 * @field clusterBreakupReason: indicates the reason for breakup.
 * 
 * @field breakupTime: indicates the time of breakup. 
 *
 * @category: Cluster Information
 * @revision: Created in V2.1.1
 */
ClusterBreakupInfo ::= SEQUENCE {
    clusterBreakupReason    ClusterBreakupReason,
    breakupTime             DeltaTimeQuarterSecond,
    ...
}

/**
 * This DF provides information about the joining of a cluster.
 *
 * It shall include the following components: 
 * 
 * @field clusterId: indicates the identifier of the cluster.
 * 
 * @field joinTime: indicates the time of joining. 
 *
 * @category: Cluster Information
 * @revision: Created in V2.1.1
 */
ClusterJoinInfo ::= SEQUENCE {
    clusterId    Identifier1B,
    joinTime     DeltaTimeQuarterSecond,
    ...
}

/**
 * The DF provides information about the leaving of a cluster.
 *
 * It shall include the following components: 
 * 
 * @field clusterId: indicates the cluster.
 * 
 * @field clusterLeaveReason: indicates the reason for leaving. 
 *
 * @category: Cluster Information
 * @revision: Created in V2.1.1
 */
ClusterLeaveInfo ::= SEQUENCE {
    clusterId             Identifier1B,
    clusterLeaveReason    ClusterLeaveReason,
    ...
}

/**
 * This DF represents a column of a lower triangular positive semi-definite matrix and consists of a list of correlation cell values ordered by rows.
 * Given a matrix "A" of size n x n, the number of columns to be included in the lower triangular matrix is k=n-1.
 * Each column "i" of the lower triangular matrix then contains k-(i-1) values (ordered by rows from 1 to n-1), where "i" refers to the column number count
 * starting at 1 from the left.
 *
 * @category: Sensing Information
 * @revision: Created in V2.1.1
*/
CorrelationColumn ::= SEQUENCE SIZE (1..13,...) OF CorrelationCellValue  

/**
 * This DF represents the curvature of the vehicle trajectory and the associated confidence value.
 * The curvature detected by a vehicle represents the curvature of actual vehicle trajectory.
 *
 * It shall include the following components: 
 * 
 * @field curvatureValue: Detected curvature of the vehicle trajectory.
 * 
 * @field curvatureConfidence: along with a confidence value of the curvature value with a predefined confidence level. 
 * 
 * @category: Vehicle information
 * @revision: Description revised in V2.1.1
 */
Curvature ::= SEQUENCE {
    curvatureValue         CurvatureValue,
    curvatureConfidence    CurvatureConfidence
}

/**
 * This DF provides a description of dangerous goods being carried by a heavy vehicle.
 *
 * It shall include the following components: 
 * 
 * @field dangerousGoodsType: Type of dangerous goods.
 * 
 * @field unNumber: a 4-digit number that identifies the substance of the dangerous goods as specified in
 * United Nations Recommendations on the Transport of Dangerous Goods - Model Regulations [i.4],
 * 
 * @field elevatedTemperature: whether the carried dangerous goods are transported at high temperature.
 * If yes, the value shall be set to TRUE,
 * 
 * @field tunnelsRestricted: whether the heavy vehicle carrying dangerous goods is restricted to enter tunnels.
 * If yes, the value shall be set to TRUE,
 * 
 * @field limitedQuantity: whether the carried dangerous goods are packed with limited quantity.
 * If yes, the value shall be set to TRUE,
 * 
 * @field emergencyActionCode: physical signage placard at the vehicle that carries information on how an emergency
 * service should deal with an incident. This component is optional; it shall be present if the information is available.
 * 
 * @field phoneNumber: contact phone number of assistance service in case of incident or accident.
 * This component is optional, it shall be present if the information is available.
 * 
 * @field companyName: name of company that manages the transportation of the dangerous goods.
 * This component is optional; it shall be present if the information is available.
 * 
 * @category Vehicle information
 * @revision: V1.3.1
 */
DangerousGoodsExtended ::= SEQUENCE {
    dangerousGoodsType      DangerousGoodsBasic,
    unNumber                INTEGER (0..9999),
    elevatedTemperature     BOOLEAN,
    tunnelsRestricted       BOOLEAN,
    limitedQuantity         BOOLEAN,
    emergencyActionCode     IA5String (SIZE (1..24)) OPTIONAL,
    phoneNumber             PhoneNumber OPTIONAL,
    companyName             UTF8String (SIZE (1..24)) OPTIONAL,
    ...
}

/**
 * This DF defines a geographical point position as a 3 dimensional offset position to a geographical reference point.
 *
 * It shall include the following components: 
 *
 * @field deltaLatitude: A delta latitude offset with regards to the latitude value of the reference position.
 *
 * @field deltaLongitude: A delta longitude offset with regards to the longitude value of the reference position.
 *
 * @field deltaAltitude: A delta altitude offset with regards to the altitude value of the reference position.
 *
 * @category: GeoReference information
 * @revision:  V1.3.1
 */
DeltaReferencePosition ::= SEQUENCE {
    deltaLatitude     DeltaLatitude,
    deltaLongitude    DeltaLongitude,
    deltaAltitude     DeltaAltitude
}

/**
 * This DF represents a portion of digital map. It shall contain a list of waypoints @ref ReferencePosition.
 * 
 * @category: GeoReference information
 * @revision:  V1.3.1
 */
DigitalMap ::= SEQUENCE (SIZE(1..256)) OF ReferencePosition 

/** 
 * 
 * This DF represents the shape of an elliptical area or right elliptical cylinder that is centred on the shape´s reference point. 
 *
 * It shall include the following components: 
 * 
 * @field shapeReferencePoint: optional reference point which represents the centre of the ellipse, relative to an externally specified reference position. 
 * If this component is absent, the externally specified reference position represents the shape´s  reference point. 
 *
 * @field semiMajorAxisLength: half length of the major axis of the ellipse.
 * 
 * @field semiMinorAxisLength: half length of the minor axis of the ellipse.
 *
 * @field orientation: the optional orientation of the major axis of the ellipse in the WGS84 coordinate system.
 * 
 * @field height: the optional height, present if the shape is a right elliptical cylinder extending in the positive z-axis.
 *
 * @category: GeoReference information
 * @revision: Created in V2.1.1
*/

EllipticalShape  ::= SEQUENCE {
    shapeReferencePoint    CartesianPosition3d OPTIONAL,
    semiMajorAxisLength    StandardLength12b,
    semiMinorAxisLength    StandardLength12b,
    orientation            Wgs84AngleValue OPTIONAL,
    height                 StandardLength12b OPTIONAL
}

/** 
 * This DF represents the Euler angles which describe the orientation of an object bounding box in a Cartesian coordinate system with an associated confidence level for each angle.
 *
 * It shall include the following components: 
 *
 * @field zAngle: z-angle of object bounding box at the time of measurement, with the associated confidence.
 * 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 bounding box before all other rotations.
 *
 * @field yAngle: optional y-angle of object bounding box at the time of measurement, with the associated confidence.
 * 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 bounding box after the rotation by zAngle and before the rotation by xAngle.
 *
 * @field xAngle: optional x-angle of object bounding box at the time of measurement, with the associated confidence.
 * 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 bounding box after all other rotations.
 * 
 * @category: Basic information
 * @revision: Created in V2.1.1
*/
EulerAnglesWithConfidence ::= SEQUENCE {
    zAngle CartesianAngle,
    yAngle CartesianAngle OPTIONAL,
    xAngle CartesianAngle OPTIONAL
}

/** 
 * 
 * This DF represents a vehicle category according to the UNECE/TRANS/WP.29/78/Rev.4 [i.16].
 * The following options are available:
 * 
 * @field euVehicleCategoryL: indicates a vehicle in the L category.
 *
 * @field euVehicleCategoryM: indicates a vehicle in the M category.
 *
 * @field euVehicleCategoryN: indicates a vehicle in the N category.
 *
 * @field euVehicleCategoryO: indicates a vehicle in the O category.
 *
 * @field euVehicleCategoryT: indicates a vehicle in the T category.
 *
 * @field euVehicleCategoryG: indicates a vehicle in the G category.
 * 
 * @category: Vehicle information
 * @revision: Created in V2.1.1
*/
EuVehicleCategoryCode ::= CHOICE {
	euVehicleCategoryL    EuVehicleCategoryL,  
	euVehicleCategoryM    EuVehicleCategoryM,  
	euVehicleCategoryN    EuVehicleCategoryN,   
	euVehicleCategoryO    EuVehicleCategoryO,   
	euVehicleCategoryT    NULL,
	euVehicleCategoryG    NULL    
	}

/**
 * The DF shall contain a list of @ref EventPoint.  
 *
 * The eventPosition of each @ref EventPoint is defined with respect to the previous @ref EventPoint in the list. 
 * Except for the first @ref EventPoint which is defined with respect to a position outside of the context of this DF.
 *
 * @category: GeoReference information, Traffic information
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use the @ref EventZone instead. 
 * @revision: Generalized the semantics in V2.1.1
 */
EventHistory::= SEQUENCE (SIZE(1..23)) OF EventPoint

/**
 * This DF provides information related to an event at a defined position.
 *
 * It shall include the following components: 
 * 
 * @field eventPosition: offset position of a detected event point to a defined position. 
 * 
 * @field eventDeltaTime: optional time travelled by the detecting ITS-S since the previous detected event point.
 * 
 * @field informationQuality: Information quality of the detection for this event point.
 * 
 * @category: GeoReference information, Traffic information
 * @revision: generalized the semantics in V2.1.1
 */
EventPoint ::= SEQUENCE {
    eventPosition         DeltaReferencePosition,
    eventDeltaTime        PathDeltaTime OPTIONAL,
    informationQuality    InformationQuality
}

/**
 * The DF shall contain a list of @ref EventPoint, where all @ref EventPoint either contain the COMPONENT eventDeltaTime 
 * or do not contain the COMPONENT eventDeltaTime.  
 *
 * The eventPosition of each @ref EventPoint is defined with respect to the previous @ref EventPoint in the list. 
 * Except for the first @ref EventPoint which is defined with respect to a position outside of the context of this DF.
 *
 * @category: GeoReference information, Traffic information
 * @revision: created in V2.1.1 based on EventHistory
 */
EventZone::= EventHistory
   ((WITH COMPONENT (WITH COMPONENTS {..., eventDeltaTime PRESENT})) |
    (WITH COMPONENT (WITH COMPONENTS {..., eventDeltaTime ABSENT})))

/**
 * This DF indicates a transversal position in relation to the different lanes of the road. 
 * It is an extension of DE_LanePosition to cover locations (sidewalks, bicycle paths), where Vehicle ITS-S would normally not be present. 
 *
 * The following options are available:
 *
 * @field trafficLanePosition: a position on a traffic lane. 
 * 
 * @field nonTrafficLanePosition: a position on a lane which is not a traffic lane.
 * 
 * @field trafficIslandPosition: a position on a traffic island
 * 
 * @field mapPosition: a position on a lane identified in a MAPEM.
 *  
 * @category: Road Topology information
 * @revision: created in V2.1.1
 */
GeneralizedLanePosition::= CHOICE {
    trafficLanePosition       LanePosition,
    nonTrafficLanePosition    LanePositionAndType,
    trafficIslandPosition     TrafficIslandPosition,
    mapPosition               MapPosition,
    ...
}	

/**
 * This DF represents the Heading in a WGS84 co-ordinates system.
 * The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
 *
 * It shall include the following components: 
 * 
 * @field headingValue: the heading value.
 * 
 * @field headingConfidence: the confidence value of the heading value with a predefined confidence level.
 * 
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use the @ref Wgs84Angle instead. 
 * @category: Kinematic Information
 * @revision: Description revised in V2.1.1
 */
Heading ::= SEQUENCE {
    headingValue         HeadingValue,
    headingConfidence    HeadingConfidence
}


/**
 * This DF  provides  information  associated to heading  change indicators  such as  a  change  of  direction.
 *
 * It shall include the following components: 
 * 
 * @field direction: the direction of heading change value.
 * 
 * @field actionDeltaTime: the period over which a direction change action is performed. 
 * 
 * @category: Kinematic Information
 * @revision: created in V2.1.1
 */
HeadingChangeIndication ::= SEQUENCE {
    direction          TurningDirection,
    actionDeltaTime    DeltaTimeTenthOfSecond,
    ...
}

/**
 * This DF represents a frequency channel 
 *
 * It shall include the following components: 
 *
 * @field centreFrequency: the centre frequency of the channel in 10^(exp+2) Hz (where exp is exponent)
 * 
 * @field channelWidth: width of the channel in 10^exp Hz (where exp is exponent)
 *
 * @field exponent: exponent of the power of 10 used in the calculation of the components above.
 *
 * @category: Communication information
 * @revision: created in V2.1.1
*/
InterferenceManagementChannel ::= SEQUENCE {
    centreFrequency    INTEGER (1 .. 99999),
    channelWidth       INTEGER (0 .. 9999),
    exponent           INTEGER (0 .. 15) 
}

/**
 * 
 * This DF represents a zone  inside which the ITS communication should be restricted in order to manage interference.
 *
 * It shall include the following components: 
 *
 * @field zoneDefinition: contains the geographical definition of the zone.
 *
 * @field managementInfo: contains interference management information applicable in the zone defined in the component zoneDefinition.
 *
 * @category: Communication information
 * @revision: created in V2.1.1
 */
InterferenceManagementZone ::= SEQUENCE {
	zoneDefinition    InterferenceManagementZoneDefinition,
	managementInfo    InterferenceManagementInfo
}

/**
 * This DF represents the geographical definition of the zone where band sharing occurs. 
 *
 * It shall include the following components: 
 *
 * @field interferenceManagementZoneLatitude: Latitude of the centre point of the interference management zone.
 *
 * @field interferenceManagementZoneLongitude: Longitude of the centre point of the interference management zone.
 *
 * @field interferenceManagementZoneId: optional identification of the interference management zone. 
 *