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* If the component asymmetricAreaOffset is present, the symmetricAreaOffset is applied to the enclosed side of a curve.
* If the curvature of the path is 0 the offset is applied to the left handside of the path.
* To determine how the lateral offset is to be applied to the path, the following steps are executed:
* - For each nth pathPointPredicted (ppp_n), vectors v_(n-) and v_(n+) from ppp_n to ppp_(n-1) and from ppp_n to ppp_(n+1) are created.
* - v^_(n-) and v^_(n+), the normalized vectors of vectors v_(n-) and v_(n+) are created.
* - v^_o the normalized sum of the vectors v^_(n-) and v^_(n+) is calculated.
* The symmetrical border offset spans a vector in the direction of both v^_o and -v^_o, if the asymmetrical border offset is ABSENT.
* The symmetrical border offset spans a vector in the direction of v^_o if the asymmetrical border offset is PRESENT.
* The ends of the border offsets vectors of ppp_n for each side are connected to the border offsets vectors of the endings of ppp_(n-1) and ppp_(n+1) to create the indicated zone.
* If @ref PathPredicted has only one element, the encoded area represents a circle with the asymmetricAreaOffset as the defining radius.
*
* @field asymmetricAreaOffset: the optional asymmetric offset applied to the outer curve of the path in order to generate a shape.
* The asymmetrical border offset spans a vector in the direction of -v^_o
* @revision: Created in V2.1.1, type of pathDeltaTime changed and optionality added, fields symmetricAreaOffset and asymmetricAreaOffset added in V2.2.1
deltaLatitude DeltaLatitude,
deltaLongitude DeltaLongitude,
horizontalPositionConfidence PosConfidenceEllipse OPTIONAL,
deltaAltitude DeltaAltitude DEFAULT unavailable,
altitudeConfidence AltitudeConfidence DEFAULT unavailable,
pathDeltaTime PathDeltaTimeChoice,
symmetricAreaOffset StandardLength9b OPTIONAL,
asymmetricAreaOffset StandardLength9b OPTIONAL,
((WITH COMPONENTS {..., symmetricAreaOffset ABSENT, asymmetricAreaOffset ABSENT}) |
(WITH COMPONENTS {..., symmetricAreaOffset PRESENT, asymmetricAreaOffset ABSENT}) |
(WITH COMPONENTS {..., symmetricAreaOffset PRESENT, asymmetricAreaOffset PRESENT}))
/**
* This DF represents a list of references to the components of a @ref Traces or @ref TracesExtended DF using the @ref TraceId.
*
* @category: Road topology information
* @revision: Created in V2.2.1
*/
PathReferences ::= SEQUENCE (SIZE(1..14)) OF PathId
* This DF contains information about a perceived object including its kinematic state and attitude vector in a pre-defined coordinate system and with respect to a reference time.
* @field objectId: optional identifier assigned to a detected object.
* @field measurementDeltaTime: the time difference from a reference time to the time of the measurement of the object.
* Negative values indicate that the provided object state refers to a point in time before the reference time.
* @field position: the position of the geometric centre of the object's bounding box within the pre-defined coordinate system.
* @field velocity: the velocity vector of the object within the pre-defined coordinate system.
* @field acceleration: the acceleration vector of the object within the pre-defined coordinate system.
* @field angles: optional Euler angles of the object bounding box at the time of measurement.
* @field zAngularVelocity: optional angular velocity of the object around the z-axis at the time of measurement.
* The angular velocity is measured with positive values considering the object orientation turning around the z-axis using the right-hand rule.
* @field lowerTriangularCorrelationMatrices: optional set of lower triangular correlation matrices for selected components of the provided kinematic state and attitude vector.
* @field objectDimensionZ: optional z-dimension of object bounding box.
* This dimension shall be measured along the direction of the z-axis after all the rotations have been applied.
* @field objectDimensionY: optional y-dimension of the object bounding box.
* This dimension shall be measured along the direction of the y-axis after all the rotations have been applied.
* @field objectDimensionX: optional x-dimension of object bounding box.
* This dimension shall be measured along the direction of the x-axis after all the rotations have been applied.
*
* @field objectAge: optional age of the detected and described object, i.e. the difference in time between the moment
* it has been first detected and the reference time of the message. Value `1500` indicates that the object has been observed for more than 1.5s.
* @field objectPerceptionQuality: optional confidence associated to the object.
*
* @field sensorIdList: optional list of sensor-IDs which provided the measurement data.
*
* @field classification: optional classification of the described object
*
* @field matchedPosition: optional map-matched position of an object.
*
* @category Sensing information
* @revision: created in V2.1.1
*/
PerceivedObject ::= SEQUENCE {
position CartesianPosition3dWithConfidence,
velocity Velocity3dWithConfidence OPTIONAL,
acceleration Acceleration3dWithConfidence OPTIONAL,
angles EulerAnglesWithConfidence OPTIONAL,
zAngularVelocity CartesianAngularVelocityComponent OPTIONAL,
lowerTriangularCorrelationMatrices LowerTriangularPositiveSemidefiniteMatrices OPTIONAL,
objectDimensionZ ObjectDimension OPTIONAL,
objectDimensionY ObjectDimension OPTIONAL,
objectDimensionX ObjectDimension OPTIONAL,
objectAge DeltaTimeMilliSecondSigned (0..2047) OPTIONAL,
objectPerceptionQuality ObjectPerceptionQuality OPTIONAL,
sensorIdList SequenceOfIdentifier1B OPTIONAL,
classification ObjectClassDescription OPTIONAL,
mapPosition MapPosition OPTIONAL,
...
}
/**
* This DF represents the shape of a polygonal area or of a right prism.
*
* It shall include the following components:
*
* @field shapeReferencePoint: the optional reference point used for the definition of the shape, relative to an externally specified reference position.
* If this component is absent, the externally specified reference position represents the shape's reference point.
* @field polygon: the polygonal area represented by a list of minimum `3` to maximum `16` @ref CartesianPosition3d.
* All nodes of the polygon shall be considered relative to the shape's reference point.
*
* @field height: the optional height, present if the shape is a right prism extending in the positive z-axis.
*
* @category GeoReference information
* @revision: created in V2.1.1
*
*/
PolygonalShape ::= SEQUENCE {
shapeReferencePoint CartesianPosition3d OPTIONAL,
polygon SequenceOfCartesianPosition3d (SIZE(3..16,...)),
height StandardLength12b OPTIONAL
* This DF indicates the horizontal position confidence ellipse which represents the estimated accuracy with a
* confidence level of 95 %. The centre of the ellipse shape corresponds to the reference
* position point for which the position accuracy is evaluated.
*
*
* @field semiMajorConfidence: half of length of the major axis, i.e. distance between the centre point
* and major axis point of the position accuracy ellipse.
*
* @field semiMinorConfidence: half of length of the minor axis, i.e. distance between the centre point
* and minor axis point of the position accuracy ellipse.
*
* @field semiMajorOrientation: orientation direction of the ellipse major axis of the position accuracy
* ellipse with regards to the WGS84 north.
* The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
*
*
* @category GeoReference information
* @revision: V1.3.1
*/
PosConfidenceEllipse ::= SEQUENCE {
semiMajorConfidence SemiAxisLength,
semiMinorConfidence SemiAxisLength,
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semiMajorOrientation HeadingValue
}
/**
* This DF indicates the horizontal position confidence ellipse which represents the estimated accuracy with a
* confidence level of 95 %. The centre of the ellipse shape corresponds to the reference
* position point for which the position accuracy is evaluated.
*
* It shall include the following components:
*
* @field semiMajorAxisLength: half of length of the major axis, i.e. distance between the centre point
* and major axis point of the position accuracy ellipse.
*
* @field semiMinorAxisLength: half of length of the minor axis, i.e. distance between the centre point
* and minor axis point of the position accuracy ellipse.
*
* @field semiMajorAxisOrientation: orientation direction of the ellipse major axis of the position accuracy
* ellipse with regards to the WGS84 north.
* The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
*
* @category GeoReference information
* @revision: created in V2.1.1 based on @ref PosConfidenceEllipse
*/
PositionConfidenceEllipse ::= SEQUENCE {
semiMajorAxisLength SemiAxisLength,
semiMinorAxisLength SemiAxisLength,
semiMajorAxisOrientation Wgs84AngleValue
* This DF shall contain a list of distances @ref PosPillar that refer to the perpendicular distance between centre of vehicle front bumper
* and vehicle pillar A, between neighbour pillars until the last pillar of the vehicle.
*
* Vehicle pillars refer to the vertical or near vertical support of vehicle,
* designated respectively as the A, B, C or D and other pillars moving in side profile view from the front to rear.
*
* The first value of the DF refers to the perpendicular distance from the centre of vehicle front bumper to
* vehicle A pillar. The second value refers to the perpendicular distance from the centre position of A pillar
* to the B pillar of vehicle and so on until the last pillar.
*
* @category: Vehicle information
* @revision: V1.3.1
*/
PositionOfPillars ::= SEQUENCE (SIZE(1..3, ...)) OF PosPillar
/**
* This DF describes a zone of protection inside which the ITS communication should be restricted.
*
* @field protectedZoneType: type of the protected zone.
*
* @field expiryTime: optional time at which the validity of the protected communication zone will expire.
*
* @field protectedZoneLatitude: latitude of the centre point of the protected communication zone.
*
* @field protectedZoneLongitude: longitude of the centre point of the protected communication zone.
*
* @field protectedZoneRadius: optional radius of the protected communication zone in metres.
*
* @field protectedZoneId: the optional ID of the protected communication zone.
*
* @note: A protected communication zone may be defined around a CEN DSRC road side equipment.
*
* @category: Infrastructure information, Communication information
* @revision: revised in V2.1.1 (changed protectedZoneID to protectedZoneId)
*/
ProtectedCommunicationZone ::= SEQUENCE {
protectedZoneType ProtectedZoneType,
expiryTime TimestampIts OPTIONAL,
protectedZoneLatitude Latitude,
protectedZoneLongitude Longitude,
protectedZoneRadius ProtectedZoneRadius OPTIONAL,
* This DF shall contain a list of @ref ProtectedCommunicationZone provided by a road side ITS-S (Road Side Unit RSU).
*
* It may provide up to 16 protected communication zones information.
*
* @category: Infrastructure information, Communication information
* @revision: V1.3.1
*/
ProtectedCommunicationZonesRSU ::= SEQUENCE (SIZE(1..16)) OF ProtectedCommunicationZone
/**
* This DF identifies an organization.
*
* It shall include the following components:
*
* @field countryCode: represents the country code that identifies the country of the national registration administrator for issuers according to ISO 14816.
*
* @field providerIdentifier: identifies the organization according to the national ISO 14816 register for issuers.
*
* @note: See https://www.itsstandards.eu/registries/register-of-nra-i-cs1/ for a list of national registration administrators and their respective registers
*
* @category: Communication information
* @revision: Created in V2.2.1 based on ISO 17573-3 [24]
*/
Provider ::= SEQUENCE {
countryCode CountryCode,
providerIdentifier IssuerIdentifier
}
/**
* This DF represents activation data for real-time systems designed for operations control, traffic light priorities, track switches, barriers, etc.
* using a range of activation devices equipped in public transport vehicles.
*
* The activation of the corresponding equipment is triggered by the approach or passage of a public transport
* vehicle at a certain point (e.g. a beacon).
*
* @field ptActivationType: type of activation.
*
* @field ptActicationData: data of activation.
*
* Today there are different payload variants defined for public transport activation-data. The R09.x is one of
* the industry standard used by public transport vehicles (e.g. buses, trams) in Europe (e.g. Germany Austria)
* for controlling traffic lights, barriers, bollards, etc. This DF shall include information like route, course,
* The R09.x content is defined in VDV recommendation 420 [7]. It includes following information:
* - Priority Request Information (pre-request, request, ready to start)
* - End of Prioritization procedure
* - Priority request direction
* - Public Transport line number
* - Priority of public transport
* - Route line identifier of the public transport
* - Route number identification
* - Destination of public transport vehicle
*
* Other countries may use different message sets defined by the local administration.
* @category: Vehicle information
* @revision: V1.3.1
*/
PtActivation ::= SEQUENCE {
ptActivationType PtActivationType,
ptActivationData PtActivationData
}
/**
* This DF describes a radial shape. The circular sector or cone is constructed by sweeping
* the provided range about the reference position specified outside of the context of this DF or
* about the optional shapeReferencePoint. The range is swept between a horizontal start and a
* horizontal end angle in the X-Y plane of a cartesian coordinate system specified outside of the
* context of this DF, in a right-hand positive angular direction w.r.t. the x-axis.
* A vertical opening angle in the X-Z plane may optionally be provided in a right-hand positive
* angular direction w.r.t. the x-axis.
* @field shapeReferencePoint: the optional reference point used for the definition of the shape,
* relative to an externally specified reference position. If this component is absent, the
* externally specified reference position represents the shape's reference point.
* @field range: the radial range of the shape from the shape's reference point.
* @field horizontalOpeningAngleStart: the start of the shape's horizontal opening angle.
* @field horizontalOpeningAngleEnd: the end of the shape's horizontal opening angle.
* @field verticalOpeningAngleStart: optional start of the shape's vertical opening angle.
* @field verticalOpeningAngleEnd: optional end of the shape's vertical opening angle.
* @revision: created in V2.1.1, names and types of the horizontal opening angles changed, constraint added and description revised in V2.2.1
horizontalOpeningAngleStart CartesianAngleValue,
horizontalOpeningAngleEnd CartesianAngleValue,
verticalOpeningAngleEnd CartesianAngleValue OPTIONAL
((WITH COMPONENTS {..., verticalOpeningAngleStart ABSENT, verticalOpeningAngleEnd ABSENT }) |
(WITH COMPONENTS {..., verticalOpeningAngleStart PRESENT, verticalOpeningAngleEnd PRESENT }))
* This DF describes a list of radial shapes positioned w.r.t. to an offset position defined
* relative to a reference position specified outside of the context of this DF and oriented w.r.t.
* a cartesian coordinate system specified outside of the context of this DF.
* @field refPointId: the identification of the reference point in case of a sensor mounted to trailer. Defaults to ITS ReferencePoint (0).
*
* @field xCoordinate: the x-coordinate of the offset position.
* @field yCoordinate: the y-coordinate of the offset position.
* @field zCoordinate: the optional z-coordinate of the offset position.
*
* @field radialShapesList: the list of radial shape details.
*
* @category: Georeference information
* @revision: created in V2.1.1, description revised in V2.2.1
*/
RadialShapes ::= SEQUENCE {
refPointId Identifier1B,
yCoordinate CartesianCoordinateSmall,
zCoordinate CartesianCoordinateSmall OPTIONAL,
}
/**
* The DF contains a list of @ref RadialShapeDetails.
*
* @category: Georeference information
* @revision: created in V2.1.1
*/
RadialShapesList ::= SEQUENCE SIZE(1..16,...) OF RadialShapeDetails
/**
* This DF describes radial shape details. The circular sector or cone is
* constructed by sweeping the provided range about the position specified outside of the
* context of this DF. The range is swept between a horizontal start and a horizontal end angle in
* the X-Y plane of a right-hand cartesian coordinate system specified outside of the context of
* this DF, in positive angular direction w.r.t. the x-axis. A vertical opening angle in the X-Z
* plane may optionally be provided in positive angular direction w.r.t. the x-axis.
*
*
* @field range: the radial range of the sensor from the reference point or sensor point offset.
*
* @field horizontalOpeningAngleStart: the start of the shape's horizontal opening angle.
* @field horizontalOpeningAngleEnd: the end of the shape's horizontal opening angle.
* @field verticalOpeningAngleStart: optional start of the shape's vertical opening angle.
* @field verticalOpeningAngleEnd: optional end of the shape's vertical opening angle.
* @revision: created in V2.1.1, description revised and constraint added in V2.2.1
*/
RadialShapeDetails ::= SEQUENCE {
range StandardLength12b,
horizontalOpeningAngleStart CartesianAngleValue,
horizontalOpeningAngleEnd CartesianAngleValue,
verticalOpeningAngleStart CartesianAngleValue OPTIONAL,
verticalOpeningAngleEnd CartesianAngleValue OPTIONAL
((WITH COMPONENTS {..., verticalOpeningAngleStart ABSENT, verticalOpeningAngleEnd ABSENT }) |
(WITH COMPONENTS {..., verticalOpeningAngleStart PRESENT, verticalOpeningAngleEnd PRESENT }))
* This DF represents the shape of a rectangular area or a right rectangular prism that is centred
* on a reference position defined outside of the context of this DF and oriented w.r.t. a cartesian
* coordinate system defined outside of the context of this DF.
* @field shapeReferencePoint: represents an optional offset point which the rectangle is centred on with
* respect to the reference position. If this component is absent, the externally specified
* reference position represents the shape's reference point.
* @field semiLength: represents half the length of the rectangle located in the X-Y Plane.
* @field semiBreadth: represents half the breadth of the rectangle located in the X-Y Plane.
* @field orientation: represents the optional orientation of the length of the rectangle,
* measured with positive values turning around the Z-axis using the right-hand rule, starting from
* the X-axis.
* @field height: represents the optional height, present if the shape is a right rectangular prism
* with height extending in the positive Z-axis.
* @revision: created in V2.1.1, centerPoint renamed to shapeReferencePoint, the type of the field orientation changed and description revised in V2.2.1
shapeReferencePoint CartesianPosition3d OPTIONAL,
semiLength StandardLength12b,
semiBreadth StandardLength12b,
orientation CartesianAngleValue OPTIONAL,
height StandardLength12b OPTIONAL
* A position within a geographic coordinate system together with a confidence ellipse.
*
* @field latitude: the latitude of the geographical point.
*
* @field longitude: the longitude of the geographical point.
*
* @field positionConfidenceEllipse: the confidence ellipse associated to the geographical position.
*
* @field altitude: the altitude and an altitude accuracy of the geographical point.
*
* @note: this DE is kept for backwards compatibility reasons only. It is recommended to use the @ref ReferencePositionWithConfidence instead.
* @category: GeoReference information
* @revision: description updated in V2.1.1
*/
ReferencePosition ::= SEQUENCE {
latitude Latitude,
longitude Longitude,
positionConfidenceEllipse PosConfidenceEllipse,
altitude Altitude
}
/**
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* A position within a geographic coordinate system together with a confidence ellipse.
*
* It shall include the following components:
*
* @field latitude: the latitude of the geographical point.
*
* @field longitude: the longitude of the geographical point.
*
* @field positionConfidenceEllipse: the confidence ellipse associated to the geographical position.
*
* @field altitude: the altitude and an altitude accuracy of the geographical point.
*
* @category: GeoReference information
* @revision: created in V2.1.1 based on @ref ReferencePosition but using @ref PositionConfidenceEllipse.
*/
ReferencePositionWithConfidence ::= SEQUENCE {
latitude Latitude,
longitude Longitude,
positionConfidenceEllipse PositionConfidenceEllipse,
altitude Altitude
}
/**
* This DF shall contain a list of @ref StationType. to which a certain traffic restriction, e.g. the speed limit, applies.
*
* @category: Infrastructure information, Traffic information
* @revision: V1.3.1
*/
RestrictedTypes ::= SEQUENCE (SIZE(1..3, ...)) OF StationType
/**
* This DF provides configuration information about a road section.
*
* It shall include the following components:
*
* @field roadSectionDefinition: the topological definition of the road section.
*
* @field roadType: the optional type of road on which the section is located.
*
* @field laneConfiguration: the optional configuration of the road section in terms of basic information per lane.
*
* @field mapemConfiguration: the optional configuration of the road section in terms of MAPEM lanes or connections.
*
* @category: Road topology information
* @revision: Created in V2.2.1
*/
RoadConfigurationSection ::= SEQUENCE {
roadSectionDefinition RoadSectionDefinition,
roadType RoadType OPTIONAL,
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mapemConfiguration MapemConfiguration OPTIONAL,
...
}
((WITH COMPONENTS {..., laneConfiguration PRESENT}) |
(WITH COMPONENTS {..., mapemConfiguration PRESENT}))
/**
* This DF shall contain a list of @ref RoadConfigurationSection.
*
* @category: Road Topology information
* @revision: Created in V2.2.1
*/
RoadConfigurationSectionList::= SEQUENCE (SIZE(1..8,...)) OF RoadConfigurationSection
/**
* This DF provides the basic topological definition of a road section.
*
* It shall include the following components:
*
* @field startingPointSection: the position of the starting point of the section.
*
* @field lengthOfSection: the optional length of the section along the road profile (i.e. including curves).
*
* @field endingPointSection: the optional position of the ending point of the section.
* If this component is absent, the ending position is implicitly defined by other means, e.g. the starting point of the next RoadConfigurationSection, or the sections length.
*
* @field connectedPaths: the identifier(s) of the path(s) having one or an ordered subset of waypoints located upstream of the RoadConfigurationSection starting point.
* @field includedPaths: the identifier(s) of the trace(s) that covers (either with all its length or with a part of it) a RoadConfigurationSection.
*
* @field isEventZoneIncluded: indicates, if set to TRUE, that the eventZone (either with all its length or with a part of it) covers a RoadConfigurationSection.
*
* @field isEventZoneConnected: indicates, if set to TRUE, that the eventZone has one or an ordered subset of waypoints located upstream of the RoadConfigurationSection starting point.
*
* @category: Road topology information
* @revision: Created in V2.2.1
*/
RoadSectionDefinition::= SEQUENCE {
startingPointSection GeoPosition,
lengthOfSection StandardLength2B OPTIONAL,
endingPointSection GeoPosition OPTIONAL,
connectedPaths PathReferences,
includedPaths PathReferences,
isEventZoneIncluded BOOLEAN,
isEventZoneConnected BOOLEAN,
...
}
/**
* This DF represents a unique id for a road segment
*
*
* @field region: the optional identifier of the entity that is responsible for the region in which the road segment is placed.
* It is the duty of that entity to guarantee that the @ref Id is unique within the region.
*
* @note: when the component region is present, the RoadSegmentReferenceId is guaranteed to be globally unique.
* @category: GeoReference information
* @revision: created in V2.1.1
*/
RoadSegmentReferenceId ::= SEQUENCE {
region Identifier2B OPTIONAL,
id Identifier2B
}
/**
* This DF provides the safe distance indication of a traffic participant with other traffic participant(s).
*
*
* @field subjectStation: optionally indicates one "other" traffic participant identified by its ITS-S.
*
* @field safeDistanceIndicator: indicates whether the distance between the ego ITS-S and the traffic participant(s) is safe.
* If subjectStation is present then it indicates whether the distance between the ego ITS-S and the traffic participant indicated in the component subjectStation is safe.
* @field timeToCollision: optionally indicated the time-to-collision calculated as sqrt(LaDi^2 + LoDi^2 + VDi^2/relative speed
* and represented in the nearest 100 ms. This component may be present only if subjectStation is present.
*
* @note: the abbreviations used are Lateral Distance (LaD), Longitudinal Distance (LoD) and Vertical Distance (VD)
* and their respective thresholds, Minimum Safe Lateral Distance (MSLaD), Minimum Safe Longitudinal Distance (MSLoD), and Minimum Safe Vertical Distance (MSVD).
* @category: Traffic information, Kinematic information
* @revision: created in V2.1.1
*/
SafeDistanceIndication ::= SEQUENCE {
* This DF shall contain a list of DF @ref CartesianPosition3d.
*
* @category: GeoReference information
* @revision: created in V2.1.1
*/
SequenceOfCartesianPosition3d ::= SEQUENCE (SIZE(1..16, ...)) OF CartesianPosition3d
/**
*
* @category: Basic information
* @revision: created in V2.1.1
*/
SequenceOfIdentifier1B ::= SEQUENCE SIZE(1..128, ...) OF Identifier1B
/**
* The DF contains a list of DF @ref SafeDistanceIndication.
* @category: Traffic information, Kinematic information
SequenceOfSafeDistanceIndication ::= SEQUENCE(SIZE(1..8,...)) OF SafeDistanceIndication
* The DF shall contain a list of DF @ref TrajectoryInterceptionIndication.
* @category: Traffic information, Kinematic information
SequenceOfTrajectoryInterceptionIndication ::= SEQUENCE (SIZE(1..8,...)) OF TrajectoryInterceptionIndication
/**
* This DF provides the definition of a geographical area or volume, based on different options.
*
* @field rectangular: definition of an rectangular area or a right rectangular prism (with a rectangular base) also called a cuboid, or informally a rectangular box.
* @field circular: definition of an area of circular shape or a right circular cylinder.
* @field polygonal: definition of an area of polygonal shape or a right prism.
* @field elliptical: definition of an area of elliptical shape or a right elliptical cylinder.
* @field radialList: definition of list of radial shapes.
*
* @category: GeoReference information
* @revision: Created in V2.1.1
*/
Shape::= CHOICE {
rectangular RectangularShape,
circular CircularShape,
polygonal PolygonalShape,
elliptical EllipticalShape,
radial RadialShape,
radialShapes RadialShapes,
* This DF represents the speed and associated confidence value.
* @field speedConfidence: the confidence value of the speed value.
* @revision: V1.3.1
*/
Speed ::= SEQUENCE {
speedValue SpeedValue,
speedConfidence SpeedConfidence
}
/**
* This DF provides the indication of change in stability.
*
*
* @field lossProbability: the probability of stability loss.
*
* @field actionDeltaTime: the period over which the the probability of stability loss is estimated.
* @revision: V2.1.1
*/
StabilityChangeIndication ::= SEQUENCE {
lossProbability StabilityLossProbability,
actionDeltaTime DeltaTimeTenthOfSecond,
...
}
/**
* This DF represents the steering wheel angle of the vehicle at certain point in time.
*
*
* @field steeringWheelAngleValue: steering wheel angle value.
*
* @field steeringWheelAngleConfidence: confidence value of the steering wheel angle value.
*
* @category: Vehicle information
* @revision: Created in V2.1.1
*/
SteeringWheelAngle ::= SEQUENCE {
steeringWheelAngleValue SteeringWheelAngleValue,
steeringWheelAngleConfidence SteeringWheelAngleConfidence
}
/**
* This DF represents one or more paths using @ref Path.
*
* @category: GeoReference information
* @revision: Description revised in V2.1.1. Is is now based on Path and not on PathHistory
*/
Traces ::= SEQUENCE SIZE(1..7) OF Path
/**
* This DF represents one or more paths using @ref PathExtended.
*
* @category: GeoReference information
* @revision: Created in V2.2.1
*/
TracesExtended ::= SEQUENCE SIZE(1..7) OF PathExtended
/**
* Ths DF represents the a position on a traffic island between two lanes.
*
*
* @field oneSide: represents one lane.
*
* @field otherSide: represents the other lane.
*
* @category: Road Topology information
* @revision: Created in V2.1.1
*/
TrafficIslandPosition ::= SEQUENCE {
oneSide LanePositionAndType,
otherSide LanePositionAndType,
...
}
/**
* This DF provides detailed information about an attached trailer.
*
*
* @field refPointId: identifier of the reference point of the trailer.
*
* @field hitchPointOffset: optional position of the hitch point in negative x-direction (according to ISO 8855) from the
* vehicle Reference Point.
*
* @field frontOverhang: optional length of the trailer overhang in the positive x direction (according to ISO 8855) from the
* trailer Reference Point indicated by the refPointID. The value defaults to 0 in case the trailer
* is not overhanging to the front with respect to the trailer reference point.
*
* @field rearOverhang: optional length of the trailer overhang in the negative x direction (according to ISO 8855) from the
* trailer Reference Point indicated by the refPointID.
*
* @field trailerWidth: optional width of the trailer.
*
* @field hitchAngle: optional Value and confidence value of the angle between the trailer orientation (corresponding to the x
* direction of the ISO 8855 [21] coordinate system centered on the trailer) and the direction of
* the segment having as end points the reference point of the trailer and the reference point of
* the pulling vehicle, which can be another trailer or a vehicle looking on the horizontal plane
* xy, described in the local Cartesian coordinate system of the trailer. The
* angle is measured with negative values considering the trailer orientation turning clockwise
* starting from the segment direction. The angle value accuracy is provided with the
* confidence level of 95 %.
*
* @category: Vehicle information
* @revision: Created in V2.1.1
*/
hitchPointOffset StandardLength1B,
frontOverhang StandardLength1B OPTIONAL,
rearOverhang StandardLength1B OPTIONAL,
trailerWidth VehicleWidth OPTIONAL,
hitchAngle CartesianAngle,
...
}
/**
* This DF provides the trajectory interception indication of ego-VRU ITS-S with another ITS-Ss.
*
*
* @field subjectStation: indicates the subject station.
*
* @field trajectoryInterceptionProbability: indicates the propbability of the interception of the subject station trajectory
* with the trajectory of the station indicated in the component subjectStation.
*
* @field trajectoryInterceptionConfidence: indicates the confidence of interception of the subject station trajectory
* with the trajectory of the station indicated in the component subjectStation.
*
* @category: Vehicle information
* @revision: Created in V2.1.1
*/
TrajectoryInterceptionIndication ::= SEQUENCE {
subjectStation StationId OPTIONAL,
trajectoryInterceptionProbability TrajectoryInterceptionProbability,
trajectoryInterceptionConfidence TrajectoryInterceptionConfidence OPTIONAL,
/**
* This DF together with its sub DFs Ext1, Ext2 and the DE Ext3 provides the custom (i.e. not ASN.1 standard) definition of an integer with variable lenght, that can be used for example to encode the ITS-AID.
*
* @revision: Created in V2.1.1
*/
VarLengthNumber::=CHOICE{
content [0] INTEGER(0..127), -- one octet length
extension [1] Ext1
}
Ext1::=CHOICE{
content [0] INTEGER(128..16511), -- two octets length
extension [1] Ext2
}
Ext2::=CHOICE{
content [0] INTEGER(16512..2113663), -- three octets length
extension [1] Ext3
}
Ext3::= INTEGER(2113664..270549119,...) -- four and more octets length
/**
* This DF indicates the vehicle acceleration at vertical direction and the associated confidence value.
*
* @field verticalAccelerationValue: vertical acceleration value at a point in time.
*
* @field verticalAccelerationConfidence: confidence value of the vertical acceleration value with a predefined confidence level.
* @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref AccelerationComponent instead.
*/
VerticalAcceleration ::= SEQUENCE {
verticalAccelerationValue VerticalAccelerationValue,
verticalAccelerationConfidence AccelerationConfidence
}
/**
* This DF provides information related to the identification of a vehicle.
*
*
* @field wMInumber: World Manufacturer Identifier (WMI) code.
*
* @field vDS: Vehicle Descriptor Section (VDS).
*
* @category: Vehicle information
* @revision: V1.3.1
*/
VehicleIdentification ::= SEQUENCE {
wMInumber WMInumber OPTIONAL,
vDS VDS OPTIONAL,
...
}
/**
* This DF represents the length of vehicle and accuracy indication information.
*
*
* @field vehicleLengthValue: length of vehicle.
*
* @field vehicleLengthConfidenceIndication: indication of the length value confidence.
* @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref VehicleLengthV2 instead.
* @category: Vehicle information
* @revision: V1.3.1
*/
VehicleLength ::= SEQUENCE {
vehicleLengthValue VehicleLengthValue,
vehicleLengthConfidenceIndication VehicleLengthConfidenceIndication
}
/**
* This DF represents the length of vehicle and accuracy indication information.
*
* It shall include the following components:
*
* @field vehicleLengthValue: length of vehicle.
*
* @field trailerPresenceInformation: information about the trailer presence.
*
* @category: Vehicle information
* @revision: created in V2.1.1 based on @ref VehicleLength but using @ref TrailerPresenceInformation.
*/
VehicleLengthV2 ::= SEQUENCE {
vehicleLengthValue VehicleLengthValue,
trailerPresenceInformation TrailerPresenceInformation
}
/**
* This DF represents a velocity vector with associated confidence value.
*
* The following options are available:
*
* @field polarVelocity: the representation of the velocity vector in a polar or cylindrical coordinate system.
*
* @field cartesianVelocity: the representation of the velocity vector in a cartesian coordinate system.
*
* @revision: Created in V2.1.1
*/
Velocity3dWithConfidence::= CHOICE{
polarVelocity VelocityPolarWithZ,
cartesianVelocity VelocityCartesian
}
/**
* This DF represents a velocity vector in a cartesian coordinate system.
* It shall include the following components:
*
* @field xVelocity: the x component of the velocity vector with the associated confidence value.
*
* @field yVelocity: the y component of the velocity vector with the associated confidence value.
*
* @field zVelocity: the optional z component of the velocity vector with the associated confidence value.
*
* @revision: Created in V2.1.1
*/
VelocityCartesian::= SEQUENCE {
xVelocity VelocityComponent,
yVelocity VelocityComponent,
zVelocity VelocityComponent OPTIONAL
}
/**
* This DF represents a component of the velocity vector and the associated confidence value.
*
* It shall include the following components:
*
* @field value: the value of the component.
*
* @field confidence: the confidence value of the value.
*
* @revision: V2.1.1
*/
VelocityComponent ::= SEQUENCE {
* This DF represents a velocity vector in a polar or cylindrical coordinate system.
*
* It shall include the following components:
*
* @field velocityMagnitude: magnitude of the velocity vector on the reference plane, with the associated confidence value.
* @field velocityDirection: polar angle of the velocity vector on the reference plane, with the associated confidence value.
* @field zVelocity: the optional z component of the velocity vector along the reference axis of the cylindrical coordinate system, with the associated confidence value.
* @revision: Created in V2.1.1
*/
VelocityPolarWithZ::= SEQUENCE {
velocityDirection CartesianAngle,
zVelocity VelocityComponent OPTIONAL
}
/**
* This DF provides information about a VRU cluster.
*
*
* @field clusterId: optional identifier of a VRU cluster .
*
* @field clusterBoundingBoxShape: optionally indicates the shape of the cluster bounding box, per default inside an East-North-Up coordinate system
* centered around a reference point defined outside of the context of this DF.
* @field clusterCardinalitySize: indicates an estimation of the number of VRUs in the group, e.g. the known members in the cluster + 1 (for the cluster leader) .
* @field clusterProfiles: optionally identifies all the VRU profile types that are estimated to be within the cluster.
* if this component is absent it means that the information is unavailable.
* @revision: Created in V2.1.1, description revised in V2.2.1