ETSI-ITS-CDD.md 410 KB
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 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
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 starting at 1 from the left.

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    **Categories:** Sensing Information 
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    **Revision:** _Created in V2.1.1_
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```asn1
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CorrelationColumn ::= SEQUENCE SIZE (1..13,...) OF CorrelationCellValue
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```

### <a name="Curvature"></a>Curvature
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This DF represents the curvature of the vehicle trajectory and the associated confidence value.
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 The curvature detected by a vehicle represents the curvature of actual vehicle trajectory.

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 It shall include the following components:
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* _curvatureValue_ of type [**CurvatureValue**](#CurvatureValue) <br>
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  Detected curvature of the vehicle trajectory.

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* _curvatureConfidence_ of type [**CurvatureConfidence**](#CurvatureConfidence) <br>
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  along with a confidence value of the curvature value with a predefined confidence level. 
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Vehicle information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Description revised in V2.1.1_
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```asn1
Curvature ::= SEQUENCE {
    curvatureValue         CurvatureValue,
    curvatureConfidence    CurvatureConfidence
}
```

### <a name="DangerousGoodsExtended"></a>DangerousGoodsExtended
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This DF provides a description of dangerous goods being carried by a heavy vehicle.
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 It shall include the following components:
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* _dangerousGoodsType_ of type [**DangerousGoodsBasic**](#DangerousGoodsBasic) <br>
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  Type of dangerous goods.

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* _unNumber_ of type **INTEGER**  (0..9999)<br>
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  a 4-digit number that identifies the substance of the dangerous goods as specified in
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   United Nations Recommendations on the Transport of Dangerous Goods - Model Regulations [[4]](#references),
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* _elevatedTemperature_ of type **BOOLEAN** <br>
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  whether the carried dangerous goods are transported at high temperature.
   If yes, the value shall be set to TRUE,

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* _tunnelsRestricted_ of type **BOOLEAN** <br>
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  whether the heavy vehicle carrying dangerous goods is restricted to enter tunnels.
   If yes, the value shall be set to TRUE,

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* _limitedQuantity_ of type **BOOLEAN** <br>
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  whether the carried dangerous goods are packed with limited quantity.
   If yes, the value shall be set to TRUE,

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* _emergencyActionCode_ of type [**IA5String**](#IA5String)  (SIZE (1..24)) OPTIONAL<br>
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  physical signage placard at the vehicle that carries information on how an emergency
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   service should deal with an incident. This component is optional; it shall be present if the information is available.
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* _phoneNumber_ of type [**PhoneNumber**](#PhoneNumber)  OPTIONAL<br>
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  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.

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* _companyName_ of type [**UTF8String**](#UTF8String)  (SIZE (1..24)) OPTIONAL<br>
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  name of company that manages the transportation of the dangerous goods.
   This component is optional; it shall be present if the information is available.


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Vehicle information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
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```asn1
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,
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    ...
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}
```

### <a name="DeltaReferencePosition"></a>DeltaReferencePosition
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This DF defines a geographical point position as a 3 dimensional offset position to a geographical reference point.
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 It shall include the following components:
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* _deltaLatitude_ of type [**DeltaLatitude**](#DeltaLatitude) <br>
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  A delta latitude offset with regards to the latitude value of the reference position.

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* _deltaLongitude_ of type [**DeltaLongitude**](#DeltaLongitude) <br>
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  A delta longitude offset with regards to the longitude value of the reference position.

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* _deltaAltitude_ of type [**DeltaAltitude**](#DeltaAltitude) <br>
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  A delta altitude offset with regards to the altitude value of the reference position.


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
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```asn1
DeltaReferencePosition ::= SEQUENCE {
    deltaLatitude     DeltaLatitude,
    deltaLongitude    DeltaLongitude,
    deltaAltitude     DeltaAltitude
}
```

### <a name="DigitalMap"></a>DigitalMap
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This DF represents a portion of digital map. It shall contain a list of waypoints [**ReferencePosition**](#ReferencePosition).
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
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```asn1
DigitalMap ::= SEQUENCE (SIZE(1..256)) OF ReferencePosition
```

### <a name="EllipticalShape"></a>EllipticalShape
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This DF represents the shape of an elliptical area or right elliptical cylinder that is centred 
 on the shape's reference point 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. 
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 It shall include the following components:
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* _shapeReferencePoint_ of type [**CartesianPosition3d**](#CartesianPosition3d)  OPTIONAL<br>
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  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. 
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* _semiMajorAxisLength_ of type [**StandardLength12b**](#StandardLength12b) <br>
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  half length of the major axis of the ellipse located in the X-Y Plane.
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* _semiMinorAxisLength_ of type [**StandardLength12b**](#StandardLength12b) <br>
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  half length of the minor axis of the ellipse located in the X-Y Plane.
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* _orientation_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
  the optional orientation of the major axis of the ellipse, measured with 
   positive values turning around the z-axis using the right-hand rule, starting from the X-axis. 
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* _height_ of type [**StandardLength12b**](#StandardLength12b)  OPTIONAL<br>
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  the optional height, present if the shape is a right elliptical cylinder extending 
   in the positive Z-axis.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, the type of the field orientation changed and the description revised in V2.2.1_
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```asn1
EllipticalShape  ::= SEQUENCE {
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    shapeReferencePoint    CartesianPosition3d OPTIONAL,
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    semiMajorAxisLength    StandardLength12b,
    semiMinorAxisLength    StandardLength12b,
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    orientation            CartesianAngleValue OPTIONAL,
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    height                 StandardLength12b OPTIONAL
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### <a name="EulerAnglesWithConfidence"></a>EulerAnglesWithConfidence
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:

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* _zAngle_ of type [**CartesianAngle**](#CartesianAngle) <br>
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  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.

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* _yAngle_ of type [**CartesianAngle**](#CartesianAngle)  OPTIONAL<br>
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  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.

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* _xAngle_ of type [**CartesianAngle**](#CartesianAngle)  OPTIONAL<br>
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  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.


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Basic information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
EulerAnglesWithConfidence ::= SEQUENCE {
    zAngle CartesianAngle,
    yAngle CartesianAngle OPTIONAL,
    xAngle CartesianAngle OPTIONAL
}
```

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### <a name="EuVehicleCategoryCode"></a>EuVehicleCategoryCode
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This DF represents a vehicle category according to the UNECE/TRANS/WP.29/78/Rev.4 [[16]](#references).
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 The following options are available:

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* _euVehicleCategoryL_ of type [**EuVehicleCategoryL**](#EuVehicleCategoryL) <br>
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  indicates a vehicle in the L category.

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* _euVehicleCategoryM_ of type [**EuVehicleCategoryM**](#EuVehicleCategoryM) <br>
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  indicates a vehicle in the M category.

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* _euVehicleCategoryN_ of type [**EuVehicleCategoryN**](#EuVehicleCategoryN) <br>
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  indicates a vehicle in the N category.

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* _euVehicleCategoryO_ of type [**EuVehicleCategoryO**](#EuVehicleCategoryO) <br>
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  indicates a vehicle in the O category.

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* _euVehicleCategoryT_ of type **NULL** <br>
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  indicates a vehicle in the T category.

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* _euVehicleCategoryG_ of type **NULL** <br>
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  indicates a vehicle in the G category.


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Vehicle information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
EuVehicleCategoryCode ::= CHOICE {
	euVehicleCategoryL    EuVehicleCategoryL,  
	euVehicleCategoryM    EuVehicleCategoryM,  
	euVehicleCategoryN    EuVehicleCategoryN,   
	euVehicleCategoryO    EuVehicleCategoryO,   
	euVehicleCategoryT    NULL,
	euVehicleCategoryG    NULL    
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}
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```

### <a name="EventHistory"></a>EventHistory
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The DF shall contain a list of [**EventPoint**](#EventPoint).  
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 The eventPosition of each [**EventPoint**](#EventPoint) is defined with respect to the previous [**EventPoint**](#EventPoint) in the list. 
 Except for the first [**EventPoint**](#EventPoint) which is defined with respect to a position outside of the context of this DF.

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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information Traffic information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Generalized the semantics in V2.1.1_
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NOTE:&emsp;this DF is kept for backwards compatibility reasons only. It is recommended to use the [**EventZone**](#EventZone) instead.
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>>>
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```asn1
EventHistory::= SEQUENCE (SIZE(1..23)) OF EventPoint
```

### <a name="EventPoint"></a>EventPoint
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This DF provides information related to an event at a defined position.
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 It shall include the following components:
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* _eventPosition_ of type [**DeltaReferencePosition**](#DeltaReferencePosition) <br>
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  offset position of a detected event point to a defined position. 

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* _eventDeltaTime_ of type [**PathDeltaTime**](#PathDeltaTime)  OPTIONAL<br>
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  optional time travelled by the detecting ITS-S since the previous detected event point.

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* _informationQuality_ of type [**InformationQuality**](#InformationQuality) <br>
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  Information quality of the detection for this event point.


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information Traffic information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _generalized the semantics in V2.1.1_
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```asn1
EventPoint ::= SEQUENCE {
    eventPosition         DeltaReferencePosition,
    eventDeltaTime        PathDeltaTime OPTIONAL,
    informationQuality    InformationQuality
}
```

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### <a name="EventZone"></a>EventZone
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The DF shall contain a list of [**EventPoint**](#EventPoint), where all [**EventPoint**](#EventPoint) either contain the COMPONENT eventDeltaTime 
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 or do not contain the COMPONENT eventDeltaTime.  
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 The eventPosition of each [**EventPoint**](#EventPoint) is defined with respect to the previous [**EventPoint**](#EventPoint) in the list. 
 Except for the first [**EventPoint**](#EventPoint) which is defined with respect to a position outside of the context of this DF.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information Traffic information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1 based on EventHistory_
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```asn1
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EventZone::= EventHistory
   ((WITH COMPONENT (WITH COMPONENTS {..., eventDeltaTime PRESENT})) |
    (WITH COMPONENT (WITH COMPONENTS {..., eventDeltaTime ABSENT})))
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### <a name="GeoPosition"></a>GeoPosition
This DF indicates a geographical position.

 It shall include the following components:

* _latitude_ of type [**Latitude**](#Latitude) <br>
  the latitude of the geographical position.

* _longitude_ of type [**Longitude**](#Longitude) <br>
  the longitude of the geographical position.

* _altitude_ of type [**AltitudeValue**](#AltitudeValue)  DEFAULT unavailable<br>
  the altitude of the geographical position with default value unavailable.

```asn1
GeoPosition::= SEQUENCE{
	latitude   Latitude,
	longitude  Longitude,
    altitude   AltitudeValue DEFAULT unavailable
}
```

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### <a name="GeneralizedLanePosition"></a>GeneralizedLanePosition
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This DF represents the top-level DF to represent a lane position. A lane position is a transversal position on the carriageway at a specific longitudinal position, in resolution of lanes of the carriageway.
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 It shall include the following components:
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* _lanePositionBased_ of type [**LanePositionOptions**](#LanePositionOptions) <br>
  lane position information for a defined reference position.
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* _mapBased_ of type [**MapPosition**](#MapPosition)  OPTIONAL<br>
  optional lane position information described in the context of a MAPEM as specified in ETSI TS 103 301 [[15]](#references). 
   If present, it shall describe the same reference position using the lane identification in the MAPEM. This component can be used only if a MAPEM is available for the reference position 
   (e.g. on an intersection): In this case it is used as a synonym to the mandatory component lanePositionBased. 
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* _confidence_ of type [**MetaInformation**](#MetaInformation) <br>
  confidence information for expressing the probability that the object is located at the indicated lane.  
   If the value of the component lanePositionBased is generated directly from the absolute reference position and reference topology information, 
   no sensor shall be indicated in the component usedDetectionInformation of the [**MetaInformation**](#MetaInformation).
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road Topology information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _newly created in V2.2.1. The previous DF GeneralizedLanePosition is now renamed to [**LanePositionOptions**](#LanePositionOptions)._

>>>
NOTE:&emsp;This DF is the most general way to represent a lane position: it provides a complete set of information regarding a transversal (dimensionless) position on the carriageway at a specific 
 reference position, i.e. it provides different options and synonyms to represent the lane at which the reference position (the point) is located. A confidence is used to describe the probability 
 that the object is located in the provided lane. The dimension of the object or extension of an area are not considered: See [**OccupiedLanesWithConfidence**](#OccupiedLanesWithConfidence) for describing the occupation of lanes, 
 where the dimensions of an object or the extension of an area is considered.
>>>

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```asn1
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GeneralizedLanePosition ::= SEQUENCE {
    lanePositionBased     LanePositionOptions,
    mapBased              MapPosition OPTIONAL,
    confidence            MetaInformation,
    ... 
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### <a name="GeneralizedLanePositions"></a>GeneralizedLanePositions
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This DF represents transversal position information w.r.t the road, at an externally defined reference position. It shall contain a set of up to `4` [**GeneralizedLanePosition**](#GeneralizedLanePosition).
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 Multiple entries can be used to describe several lane positions with the associated confidence, in cases where the reference position cannot be mapped to a single lane.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road Topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
GeneralizedLanePositions ::= SEQUENCE (SIZE(1..4)) OF GeneralizedLanePosition
```

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### <a name="Heading"></a>Heading
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This DF represents the Heading in a WGS84 co-ordinates system.
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 The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
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 It shall include the following components:
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* _headingValue_ of type [**HeadingValue**](#HeadingValue) <br>
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  the heading value.

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* _headingConfidence_ of type [**HeadingConfidence**](#HeadingConfidence) <br>
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  the confidence value of the heading value with a predefined confidence level.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Kinematic Information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Description revised in V2.1.1_
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NOTE:&emsp;this DF is kept for backwards compatibility reasons only. It is recommended to use the [**Wgs84Angle**](#Wgs84Angle) instead.
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>>>
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```asn1
Heading ::= SEQUENCE {
    headingValue         HeadingValue,
    headingConfidence    HeadingConfidence
}
```

### <a name="HeadingChangeIndication"></a>HeadingChangeIndication
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This DF  provides  information  associated to heading  change indicators  such as  a  change  of  direction.
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 It shall include the following components:
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* _direction_ of type [**TurningDirection**](#TurningDirection) <br>
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  the direction of heading change value.

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* _actionDeltaTime_ of type [**DeltaTimeTenthOfSecond**](#DeltaTimeTenthOfSecond) <br>
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  the period over which a direction change action is performed. 


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Kinematic Information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
HeadingChangeIndication ::= SEQUENCE {
    direction          TurningDirection,
    actionDeltaTime    DeltaTimeTenthOfSecond,
    ...
}
```

### <a name="InterferenceManagementChannel"></a>InterferenceManagementChannel
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This DF represents a frequency channel 
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 It shall include the following components:
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* _centreFrequency_ of type **INTEGER**  (1 .. 99999)<br>
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  the centre frequency of the channel in 10<sup>(exp+2)</sup> Hz (where exp is exponent)
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* _channelWidth_ of type **INTEGER**  (0 .. 9999)<br>
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  width of the channel in 10<sup>exp</sup> Hz (where exp is exponent)
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* _exponent_ of type **INTEGER**  (0 .. 15)<br>
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  exponent of the power of 10 used in the calculation of the components above.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
InterferenceManagementChannel ::= SEQUENCE {
    centreFrequency    INTEGER (1 .. 99999),
    channelWidth       INTEGER (0 .. 9999),
    exponent           INTEGER (0 .. 15) 
}
```

### <a name="InterferenceManagementZone"></a>InterferenceManagementZone
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This DF represents a zone  inside which the ITS communication should be restricted in order to manage interference.
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 It shall include the following components:
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* _zoneDefinition_ of type [**InterferenceManagementZoneDefinition**](#InterferenceManagementZoneDefinition) <br>
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  contains the geographical definition of the zone.

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* _managementInfo_ of type [**InterferenceManagementInfo**](#InterferenceManagementInfo) <br>
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  contains interference management information applicable in the zone defined in the component zoneDefinition.


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
InterferenceManagementZone ::= SEQUENCE {
	zoneDefinition    InterferenceManagementZoneDefinition,
	managementInfo    InterferenceManagementInfo
}
```

### <a name="InterferenceManagementZoneDefinition"></a>InterferenceManagementZoneDefinition
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This DF represents the geographical definition of the zone where band sharing occurs. 
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 It shall include the following components:
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* _interferenceManagementZoneLatitude_ of type [**Latitude**](#Latitude) <br>
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  Latitude of the centre point of the interference management zone.

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* _interferenceManagementZoneLongitude_ of type [**Longitude**](#Longitude) <br>
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  Longitude of the centre point of the interference management zone.

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* _interferenceManagementZoneId_ of type [**ProtectedZoneId**](#ProtectedZoneId)  OPTIONAL<br>
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  optional identification of the interference management zone. 

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* _interferenceManagementZoneShape_ of type [**Shape**](#Shape)  (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT}) OPTIONAL<br>
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  shape of the interference management zone placed at the centre point. 
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
InterferenceManagementZoneDefinition::= SEQUENCE{     
    interferenceManagementZoneLatitude     Latitude, 
    interferenceManagementZoneLongitude    Longitude, 
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    interferenceManagementZoneId           ProtectedZoneId OPTIONAL,
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    interferenceManagementZoneShape        Shape (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT}) OPTIONAL,
    ...
}
```

### <a name="InterferenceManagementInfo"></a>InterferenceManagementInfo
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This DF shall contain a list of up to 16 definitions containing interference management information, per affected frequency channels.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information. 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
InterferenceManagementInfo::= SEQUENCE (SIZE(1..16,...)) OF InterferenceManagementInfoPerChannel
```

### <a name="InterferenceManagementInfoPerChannel"></a>InterferenceManagementInfoPerChannel
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This DF contains interference management information for one affected frequency channel.
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 It shall include the following components:
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* _interferenceManagementChannel_ of type [**InterferenceManagementChannel**](#InterferenceManagementChannel) <br>
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  frequency channel for which the zone should be applied interference management 

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* _interferenceManagementZoneType_ of type [**InterferenceManagementZoneType**](#InterferenceManagementZoneType) <br>
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  type of the interference management zone. 

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* _interferenceManagementMitigationType_ of type [**MitigationForTechnologies**](#MitigationForTechnologies)  OPTIONAL<br>
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  optional type of the mitigation to be used in the interference management zone. 
   In the case where no mitigation should be applied by the ITS-S, this is indicated by the field interferenceManagementMitigationType being absent.
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* _expiryTime_ of type [**TimestampIts**](#TimestampIts)  OPTIONAL<br>
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  optional time at which the validity of the interference management communication zone will expire. 
   This component is present when the interference management is temporarily valid


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
InterferenceManagementInfoPerChannel ::= SEQUENCE {
    interferenceManagementChannel           InterferenceManagementChannel,
    interferenceManagementZoneType          InterferenceManagementZoneType,
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    interferenceManagementMitigationType    MitigationForTechnologies OPTIONAL,
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    expiryTime                              TimestampIts OPTIONAL, 
    ...
}
```

### <a name="InterferenceManagementZones"></a>InterferenceManagementZones
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This DF shall contain a list of up to 16 interference  management zones.  
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 **EXAMPLE**: An interference management communication zone may be defined around a CEN DSRC road side equipment or an urban rail operational area.

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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
InterferenceManagementZones ::= SEQUENCE (SIZE(1..16), ...) OF InterferenceManagementZone
```

### <a name="IntersectionReferenceId"></a>IntersectionReferenceId
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This DF represents a unique id for an intersection, in accordance with ETSI TS 103 301 [[15]](#references).
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 It shall include the following components:
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* _region_ of type [**Identifier2B**](#Identifier2B)  OPTIONAL<br>
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  the optional identifier of the entity that is responsible for the region in which the intersection is placed.
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   It is the duty of that entity to guarantee that the [**Id**](#Id) is unique within the region.
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* _id_ of type [**Identifier2B**](#Identifier2B) <br>
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  the identifier of the intersection


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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NOTE:&emsp;when the component region is present, the IntersectionReferenceId is guaranteed to be globally unique.
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>>>
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```asn1
IntersectionReferenceId ::= SEQUENCE {
    region    Identifier2B OPTIONAL,
    id        Identifier2B
}
```

### <a name="ItineraryPath"></a>ItineraryPath
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This DF shall contain  a list of waypoints [**ReferencePosition**](#ReferencePosition).
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Editorial update in V2.1.1_
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```asn1
ItineraryPath ::= SEQUENCE SIZE(1..40) OF ReferencePosition
```

### <a name="ItsPduHeader"></a>ItsPduHeader
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This DF represents a common message header for application and facilities layer messages.
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 It is included at the beginning of an ITS message as the message header.

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 It shall include the following components:
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* _protocolVersion_ of type [**OrdinalNumber1B**](#OrdinalNumber1B) <br>
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  version of the ITS message.

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* _messageId_ of type [**MessageId**](#MessageId) <br>
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  type of the ITS message.

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* _stationId_ of type [**StationId**](#StationId) <br>
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  the identifier of the ITS-S that generated the ITS message.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _update in V2.1.1: messageID and stationID changed to messageId and stationId; messageId is of type MessageId._
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```asn1
ItsPduHeader ::= SEQUENCE {
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    protocolVersion    OrdinalNumber1B,
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    messageId          MessageId,
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    stationId          StationId
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### <a name="IvimReference"></a>IvimReference
This DF provides the reference to the information contained in a IVIM according to ETSI TS 103 301 [[15]](#references). 

 It shall include the following components:

* _serviceProviderId_ of type [**Provider**](#Provider) <br>
  identifier of the organization that provided the IVIM.

* _iviIdentificationNumber_ of type [**IviIdentificationNumber**](#IviIdentificationNumber) <br>
  identifier of the IVIM, as assigned by the organization identified in serviceProviderId.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
IvimReference::= SEQUENCE {
    serviceProviderId         Provider, 
    iviIdentificationNumber   IviIdentificationNumber
}
```

### <a name="IvimReferences"></a>IvimReferences
This DF shall contain a list of [**IvimReference**](#IvimReference).

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
IvimReferences::= SEQUENCE (SIZE(1..8,...)) OF IvimReference
```

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### <a name="LanePositionAndType"></a>LanePositionAndType
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This DF indicates a transversal position in resolution of lanes and other associated details.
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 It shall include the following components:
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* _transversalPosition_ of type [**LanePosition**](#LanePosition) <br>
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  the transversal position.

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* _laneType_ of type [**LaneType**](#LaneType)  DEFAULT traffic<br>
  the type of the lane identified in the component transversalPosition. By default set to `traffic`.

* _direction_ of type [**Direction**](#Direction)  DEFAULT sameDirection<br>
  the traffic direction for the lane position relative to a defined reference direction. By default set to `sameDirection`, i.e. following the reference direction.

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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _direction added in V2.2.1_
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```asn1
LanePositionAndType::= SEQUENCE {
    transversalPosition    LanePosition,
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    laneType               LaneType DEFAULT traffic,
    direction              Direction DEFAULT sameDirection,
    ...
}
```

### <a name="LanePositionOptions"></a>LanePositionOptions
This DF represents a set of options to describe a lane position and is the second level DF to represent a lane position. The top-level DFs are [**GeneralizedLanePosition**](#GeneralizedLanePosition) or [**OccupiedLanesWithConfidence**](#OccupiedLanesWithConfidence). 
 A lane position is a transversal position on the carriageway at a specific longitudinal position, in resolution of lanes of the carriageway.

 The following options are available:

* _simplelanePosition_ of type [**LanePosition**](#LanePosition) <br>
  a single lane position without any additional context information.

* _simpleLaneType_ of type [**LaneType**](#LaneType) <br>
  a lane type, to be used when the lane position is unknown but the type of lane is known. This can be used in scenarios where a certain confidence about the used lane type is given 
   but no or limited knowledge about the absolute lane number is available. For example, a cyclist on a cycle-lane or vehicles on a specific lane that is unique for the part of the road (e.g. a bus lane).

* _detailedlanePosition_ of type [**LanePositionAndType**](#LanePositionAndType) <br>
  a single lane position with additional lane details.

* _lanePositionWithLateralDetails_ of type [**LanePositionWithLateralDetails**](#LanePositionWithLateralDetails) <br>
  a single lane position with additional details and the lateral position within the lane.

* _trafficIslandPosition_ of type [**TrafficIslandPosition**](#TrafficIslandPosition) <br>
  a position on a traffic island, i.e. between two lanes. 


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road Topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1 from the DF GeneralizedLanePosition of V2.1.1._
```asn1
LanePositionOptions ::= CHOICE {
    simplelanePosition                   LanePosition,
    simpleLaneType                       LaneType,
    detailedlanePosition                 LanePositionAndType,
    lanePositionWithLateralDetails       LanePositionWithLateralDetails,
    trafficIslandPosition                TrafficIslandPosition,
    ...
}
```

### <a name="LanePositionWithLateralDetails"></a>LanePositionWithLateralDetails
This DF is a third-level DF that represents a lane position and is an extended version of [**LanePositionAndType**](#LanePositionAndType) that adds the distances to the left and right lane border.

 It shall additionally include the following components:

* _COMPONENTS_ of type [**OF**](#OF)                LanePositionAndType<br>
* _distanceToLeftBorder_ of type [**StandardLength9b**](#StandardLength9b) <br>
  the distance of the transversal position to the left lane border. The real value shall be rounded to the next lower encoding-value.

* _distanceToRightBorder_ of type [**StandardLength9b**](#StandardLength9b) <br>
  the distance of the transversal position to the right lane border. The real value shall be rounded to the next lower encoding-value.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road Topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
LanePositionWithLateralDetails ::= SEQUENCE {
    COMPONENTS OF               LanePositionAndType,
    distanceToLeftBorder        StandardLength9b,
    distanceToRightBorder       StandardLength9b,
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    ...
}
```

### <a name="LateralAcceleration"></a>LateralAcceleration
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This DF indicates the vehicle acceleration at lateral direction and the confidence value of the lateral acceleration.
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 It shall include the following components:
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* _lateralAccelerationValue_ of type [**LateralAccelerationValue**](#LateralAccelerationValue) <br>
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  lateral acceleration value at a point in time.

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* _lateralAccelerationConfidence_ of type [**AccelerationConfidence**](#AccelerationConfidence) <br>
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  confidence value of the lateral acceleration value.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Vehicle information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Description revised in V2.1.1_
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NOTE:&emsp;this DF is kept for backwards compatibility reasons only. It is recommended to use [**AccelerationComponent**](#AccelerationComponent) instead.
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>>>
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```asn1
LateralAcceleration ::= SEQUENCE {
    lateralAccelerationValue         LateralAccelerationValue,
    lateralAccelerationConfidence    AccelerationConfidence
}
```

### <a name="LongitudinalAcceleration"></a>LongitudinalAcceleration
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This DF indicates the vehicle acceleration at longitudinal direction and the confidence value of the longitudinal acceleration.
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 It shall include the following components:
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* _longitudinalAccelerationValue_ of type [**LongitudinalAccelerationValue**](#LongitudinalAccelerationValue) <br>
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  longitudinal acceleration value at a point in time.

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* _longitudinalAccelerationConfidence_ of type [**AccelerationConfidence**](#AccelerationConfidence) <br>
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  confidence value of the longitudinal acceleration value.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Vehicle information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
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NOTE:&emsp;this DF is kept for backwards compatibility reasons only. It is recommended to use [**AccelerationComponent**](#AccelerationComponent) instead.
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>>>
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```asn1
LongitudinalAcceleration ::= SEQUENCE {
    longitudinalAccelerationValue         LongitudinalAccelerationValue,
    longitudinalAccelerationConfidence    AccelerationConfidence
}
```

### <a name="LongitudinalLanePosition"></a>LongitudinalLanePosition
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This DF represents the estimated position along the longitudinal extension of a carriageway or lane. 
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 It shall include the following components:
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* _longitudinalLanePositionValue_ of type [**LongitudinalLanePositionValue**](#LongitudinalLanePositionValue) <br>
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  the mean value of the longitudinal position along the carriageway or lane w.r.t. an externally defined start position.
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* _longitudinalLanePositionConfidence_ of type [**LongitudinalLanePositionConfidence**](#LongitudinalLanePositionConfidence) <br>
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  The confidence value associated to the value.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1, description revised in V2.2.1_
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```asn1
LongitudinalLanePosition ::= SEQUENCE {
    longitudinalLanePositionValue         LongitudinalLanePositionValue,
    longitudinalLanePositionConfidence    LongitudinalLanePositionConfidence
}
```

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### <a name="LowerTriangularPositiveSemidefiniteMatrices"></a>LowerTriangularPositiveSemidefiniteMatrices
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This DF shall contain a list of a lower triangular positive semi-definite matrices.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
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LowerTriangularPositiveSemidefiniteMatrices::= SEQUENCE SIZE (1..4) OF LowerTriangularPositiveSemidefiniteMatrix
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### <a name="LowerTriangularPositiveSemidefiniteMatrix"></a>LowerTriangularPositiveSemidefiniteMatrix
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This DF represents a lower triangular positive semi-definite matrix. 
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 It shall include the following components:
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* _componentsIncludedIntheMatrix_ of type [**MatrixIncludedComponents**](#MatrixIncludedComponents) <br>
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  the indication of which components of a [**PerceivedObject**](#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".
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* _matrix_ of type [**LowerTriangularPositiveSemidefiniteMatrixColumns**](#LowerTriangularPositiveSemidefiniteMatrixColumns) <br>
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  the list of cells of the lower triangular positive semi-definite matrix ordered by columns and by rows. 
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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.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE{
    componentsIncludedIntheMatrix   MatrixIncludedComponents,
    matrix                          LowerTriangularPositiveSemidefiniteMatrixColumns
}
```
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### <a name="LowerTriangularPositiveSemidefiniteMatrixColumns"></a>LowerTriangularPositiveSemidefiniteMatrixColumns
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This DF represents the columns of a lower triangular positive semi-definite matrix, each column not including the main diagonal cell of the matrix.
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 Given a matrix "A" of size n x n, the number of [**CorrelationColumn**](#CorrelationColumn) to be included in the lower triangular matrix is k=n-1.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, extension indicator added in V2.2.1_
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```asn1
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LowerTriangularPositiveSemidefiniteMatrixColumns ::= SEQUENCE SIZE (1..13,...) OF CorrelationColumn
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### <a name="MapemConfiguration"></a>MapemConfiguration
This DF provides information about the configuration of a road section in terms of MAPEM lanes or connections using a list of [**MapemExtractedElementReference**](#MapemExtractedElementReference).

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
MapemConfiguration::= SEQUENCE(SIZE(1..16,...)) OF MapemElementReference
```

### <a name="MapemElementReference"></a>MapemElementReference
This DF provides references to an element described in a MAPEM according to ETSI TS 103 301 [[i.15]](#references), such as a lane or connection at a specific intersection or road segment. 
 
 It shall include the following components:

* _mapReference_ of type [**MapReference**](#MapReference)  OPTIONAL<br>
  the optional reference to a MAPEM that describes the intersection or road segment. It is absent if the MAPEM topology is known from the context.

* _laneIds_ of type [**MapemLaneList**](#MapemLaneList)   OPTIONAL<br>
  the optional list of the identifiers of the lanes to be referenced. 

* _connectionIds_ of type [**MapemConnectionList**](#MapemConnectionList)   OPTIONAL<br>
  the optional list of the identifiers of the connections to be referenced. 


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
MapemElementReference::= SEQUENCE {
  mapReference      MapReference OPTIONAL,
  laneIds           MapemLaneList  OPTIONAL,
  connectionIds	    MapemConnectionList  OPTIONAL,		
  ...
} 
((WITH COMPONENTS {..., laneIds PRESENT}) |
 (WITH COMPONENTS {..., connectionIds PRESENT }))
```

### <a name="MapemLaneList"></a>MapemLaneList
This DF provides references to MAPEM lanes using a list of [**Identifier1B**](#Identifier1B).

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in 2.2.1_
```asn1
MapemLaneList ::=  SEQUENCE (SIZE(1..8,...)) OF Identifier1B
```

### <a name="MapemConnectionList"></a>MapemConnectionList
This DF provides references to MAPEM connections using a list of [**Identifier1B**](#Identifier1B).
 Note: connections are  allowed “maneuvers” (e.g. an ingress / egress relation) on an intersection.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 

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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
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```asn1
MapemConnectionList ::=  SEQUENCE (SIZE(1..8,...)) OF Identifier1B
```

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### <a name="MapPosition"></a>MapPosition
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This DF indicates a position on a topology description transmitted in a MAPEM according to ETSI TS 103 301 [[15]](#references).
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 It shall include the following components:

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* _mapReference_ of type [**MapReference**](#MapReference)  OPTIONAL<br>
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  optionally identifies the MAPEM containing the topology information.
   It is absent if the MAPEM topology is known from the context.

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* _laneId_ of type [**Identifier1B**](#Identifier1B)  OPTIONAL<br>
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  optionally identifies the lane in the road segment or intersection topology on which the position is located.

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* _connectionId_ of type [**Identifier1B**](#Identifier1B)  OPTIONAL<br>
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  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.

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* _longitudinalLanePosition_ of type [**LongitudinalLanePosition**](#LongitudinalLanePosition)  OPTIONAL<br>
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  optionally indicates the longitudinal offset of the map-matched position of the object along the lane or connection measured from the start of the lane/connection, along the lane.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, definition of longitudinalLanePosition amended in V2.2.1_
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```asn1
MapPosition ::= SEQUENCE {
    mapReference                MapReference OPTIONAL,
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    laneId                      Identifier1B OPTIONAL,
    connectionId                Identifier1B OPTIONAL, 
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    longitudinalLanePosition    LongitudinalLanePosition OPTIONAL,
    ...
}
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   ((WITH COMPONENTS {..., laneId PRESENT, connectionId ABSENT }) |
    (WITH COMPONENTS {..., laneId ABSENT, connectionId PRESENT }))
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```

### <a name="MapReference"></a>MapReference
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This DF provides the reference to the information contained in a MAPEM according to ETSI TS 103 301 [[15]](#references). 
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 The following options are provided:

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* _roadsegment_ of type [**RoadSegmentReferenceId**](#RoadSegmentReferenceId) <br>
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  option that identifies the description of a road segment contained in a MAPEM.

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* _intersection_ of type [**IntersectionReferenceId**](#IntersectionReferenceId) <br>
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  option that identifies the description of an intersection contained in a MAPEM.


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
MapReference::= CHOICE {
	roadsegment     RoadSegmentReferenceId,
	intersection    IntersectionReferenceId
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}
```

### <a name="MapReferences"></a>MapReferences
This DF shall contain a list of [**MapReference**](#MapReference).

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
MapReferences::= SEQUENCE (SIZE(1..8,...)) OF MapReference
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### <a name="MessageRateHz"></a>MessageRateHz
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This DE indicates a message rate.
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* _mantissa_ of type **INTEGER**  (1..100)<br>
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  indicates the mantissa.

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* _exponent_ of type **INTEGER**  (-5..2)<br>
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  indicates the exponent.

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The specified message rate is: mantissa*(10<sup>exponent</sup>)
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&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _Hz_
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information