ETSI-ITS-CDD.md

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


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Kinematic Information 

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

### <a name="InterferenceManagementChannel"></a>InterferenceManagementChannel
This DF represents a frequency channel 

 It shall include the following components:

* _centreFrequency_ of type **INTEGER**  (1 .. 99999)<br>
  the centre frequency of the channel in 10<sup>(exp+2)</sup> Hz (where exp is exponent)

* _channelWidth_ of type **INTEGER**  (0 .. 9999)<br>
  width of the channel in 10<sup>exp</sup> Hz (where exp is exponent)

* _exponent_ of type **INTEGER**  (0 .. 15)<br>
  exponent of the power of 10 used in the calculation of the components above.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
```asn1
InterferenceManagementChannel ::= SEQUENCE {
    centreFrequency    INTEGER (1 .. 99999),
    channelWidth       INTEGER (0 .. 9999),
    exponent           INTEGER (0 .. 15) 
}
```

### <a name="InterferenceManagementZone"></a>InterferenceManagementZone
This DF represents a zone  inside which the ITS communication should be restricted in order to manage interference.

 It shall include the following components:

* _zoneDefinition_ of type [**InterferenceManagementZoneDefinition**](#InterferenceManagementZoneDefinition) <br>
  contains the geographical definition of the zone.

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


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

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

### <a name="InterferenceManagementZoneDefinition"></a>InterferenceManagementZoneDefinition
This DF represents the geographical definition of the zone where band sharing occurs. 

 It shall include the following components:

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

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

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

* _interferenceManagementZoneShape_ of type [**Shape**](#Shape)  (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT}) OPTIONAL<br>
  shape of the interference management zone placed at the centre point. 


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
```asn1
InterferenceManagementZoneDefinition::= SEQUENCE{     
    interferenceManagementZoneLatitude     Latitude, 
    interferenceManagementZoneLongitude    Longitude, 
    interferenceManagementZoneId           ProtectedZoneId OPTIONAL,
    interferenceManagementZoneShape        Shape (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT}) OPTIONAL,
    ...
}
```

### <a name="InterferenceManagementInfo"></a>InterferenceManagementInfo
This DF shall contain a list of up to 16 definitions containing interference management information, per affected frequency channels.

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
```asn1
InterferenceManagementInfo::= SEQUENCE (SIZE(1..16,...)) OF InterferenceManagementInfoPerChannel
```

### <a name="InterferenceManagementInfoPerChannel"></a>InterferenceManagementInfoPerChannel
This DF contains interference management information for one affected frequency channel.

 It shall include the following components:

* _interferenceManagementChannel_ of type [**InterferenceManagementChannel**](#InterferenceManagementChannel) <br>
  frequency channel for which the zone should be applied interference management 

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

* _interferenceManagementMitigationType_ of type [**MitigationForTechnologies**](#MitigationForTechnologies)  OPTIONAL<br>
  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.

* _expiryTime_ of type [**TimestampIts**](#TimestampIts)  OPTIONAL<br>
  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


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

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

### <a name="InterferenceManagementZones"></a>InterferenceManagementZones
This DF shall contain a list of up to 16 interference  management zones.  

 **EXAMPLE**: An interference management communication zone may be defined around a CEN DSRC road side equipment or an urban rail operational area.

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

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

### <a name="IntersectionReferenceId"></a>IntersectionReferenceId
This DF represents a unique id for an intersection, in accordance with ETSI TS 103 301 [[15]](#references).

 It shall include the following components:

* _region_ of type [**Identifier2B**](#Identifier2B)  OPTIONAL<br>
  the optional identifier of the entity that is responsible for the region in which the intersection is placed.
   It is the duty of that entity to guarantee that the [**Id**](#Id) is unique within the region.

* _id_ of type [**Identifier2B**](#Identifier2B) <br>
  the identifier of the intersection


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_

>>>
NOTE:&emsp;when the component region is present, the IntersectionReferenceId is guaranteed to be globally unique.
>>>

```asn1
IntersectionReferenceId ::= SEQUENCE {
    region    Identifier2B OPTIONAL,
    id        Identifier2B
}
```

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

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Editorial update in V2.1.1_
```asn1
ItineraryPath ::= SEQUENCE SIZE(1..40) OF ReferencePosition
```

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

 It shall include the following components:

* _protocolVersion_ of type [**OrdinalNumber1B**](#OrdinalNumber1B) <br>
  version of the ITS message.

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

* _stationId_ of type [**StationId**](#StationId) <br>
  the identifier of the ITS-S that generated the ITS message.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _update in V2.1.1: messageID and stationID changed to messageId and stationId; messageId is of type MessageId._
```asn1
ItsPduHeader ::= SEQUENCE {
    protocolVersion    OrdinalNumber1B,
    messageId          MessageId,
    stationId          StationId
}
```

### <a name="LanePositionAndType"></a>LanePositionAndType
This DF indicates a transversal position in resolution of lanes and other associated details.

 It shall include the following components:

* _transversalPosition_ of type [**LanePosition**](#LanePosition) <br>
  the transversal position.

* _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.

* _laneWidth_ of type [**LaneWidth**](#LaneWidth)  OPTIONAL<br>
  the width of the lane, optional.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _direction and laneWidth added in V2.2.1_
```asn1
LanePositionAndType::= SEQUENCE {
    transversalPosition    LanePosition,
    laneType               LaneType DEFAULT traffic,
    direction              Direction DEFAULT sameDirection,
    laneWidth              LaneWidth OPTIONAL,
    ...
}
```

### <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,
    ...
}
```

### <a name="LateralAcceleration"></a>LateralAcceleration
This DF indicates the vehicle acceleration at lateral direction and the confidence value of the lateral acceleration.

 It shall include the following components:

* _lateralAccelerationValue_ of type [**LateralAccelerationValue**](#LateralAccelerationValue) <br>
  lateral acceleration value at a point in time.

* _lateralAccelerationConfidence_ of type [**AccelerationConfidence**](#AccelerationConfidence) <br>
  confidence value of the lateral acceleration value.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Description revised in V2.1.1_

>>>
NOTE:&emsp;this DF is kept for backwards compatibility reasons only. It is recommended to use [**AccelerationComponent**](#AccelerationComponent) instead.
>>>

```asn1
LateralAcceleration ::= SEQUENCE {
    lateralAccelerationValue         LateralAccelerationValue,
    lateralAccelerationConfidence    AccelerationConfidence
}
```

### <a name="LongitudinalAcceleration"></a>LongitudinalAcceleration
This DF indicates the vehicle acceleration at longitudinal direction and the confidence value of the longitudinal acceleration.

 It shall include the following components:

* _longitudinalAccelerationValue_ of type [**LongitudinalAccelerationValue**](#LongitudinalAccelerationValue) <br>
  longitudinal acceleration value at a point in time.

* _longitudinalAccelerationConfidence_ of type [**AccelerationConfidence**](#AccelerationConfidence) <br>
  confidence value of the longitudinal acceleration value.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_

>>>
NOTE:&emsp;this DF is kept for backwards compatibility reasons only. It is recommended to use [**AccelerationComponent**](#AccelerationComponent) instead.
>>>

```asn1
LongitudinalAcceleration ::= SEQUENCE {
    longitudinalAccelerationValue         LongitudinalAccelerationValue,
    longitudinalAccelerationConfidence    AccelerationConfidence
}
```

### <a name="LongitudinalLanePosition"></a>LongitudinalLanePosition
This DF represents the estimated position along the longitudinal length of a particular lane. 

 It shall include the following components:

* _longitudinalLanePositionValue_ of type [**LongitudinalLanePositionValue**](#LongitudinalLanePositionValue) <br>
  the mean value of the longitudinal position within a particular length.

* _longitudinalLanePositionConfidence_ of type [**LongitudinalLanePositionConfidence**](#LongitudinalLanePositionConfidence) <br>
  The confidence value associated to the value.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
```asn1
LongitudinalLanePosition ::= SEQUENCE {
    longitudinalLanePositionValue         LongitudinalLanePositionValue,
    longitudinalLanePositionConfidence    LongitudinalLanePositionConfidence
}
```

### <a name="LowerTriangularPositiveSemidefiniteMatrices"></a>LowerTriangularPositiveSemidefiniteMatrices
This DF shall contain a list of a lower triangular positive semi-definite matrices.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
LowerTriangularPositiveSemidefiniteMatrices::= SEQUENCE SIZE (1..4) OF LowerTriangularPositiveSemidefiniteMatrix
```

### <a name="LowerTriangularPositiveSemidefiniteMatrix"></a>LowerTriangularPositiveSemidefiniteMatrix
This DF represents a lower triangular positive semi-definite matrix. 

 It shall include the following components:

* _componentsIncludedIntheMatrix_ of type [**MatrixIncludedComponents**](#MatrixIncludedComponents) <br>
  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".

* _matrix_ of type [**LowerTriangularPositiveSemidefiniteMatrixColumns**](#LowerTriangularPositiveSemidefiniteMatrixColumns) <br>
  the list of cells of the lower triangular positive semi-definite matrix ordered by columns and by rows. 

The number of columns to be included "k" is equal to the number of included components "n" indicated by componentsIncludedIntheMatrix minus 1: k = n-1.
 These components shall be included in the order or their appearance in componentsIncludedIntheMatrix.
 Each column "i" of the lowerTriangularCorrelationMatrixColumns contains k-(i-1) values.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE{
    componentsIncludedIntheMatrix   MatrixIncludedComponents,
    matrix                          LowerTriangularPositiveSemidefiniteMatrixColumns
}
```

### <a name="LowerTriangularPositiveSemidefiniteMatrixColumns"></a>LowerTriangularPositiveSemidefiniteMatrixColumns
This DF represents the columns of a lower triangular positive semi-definite matrix, each column not including the main diagonal cell of the matrix.
 Given a matrix "A" of size n x n, the number of [**CorrelationColumn**](#CorrelationColumn) to be included in the lower triangular matrix is k=n-1.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, extension indicator added in V2.2.1_
```asn1
LowerTriangularPositiveSemidefiniteMatrixColumns ::= SEQUENCE SIZE (1..13,...) OF CorrelationColumn
```

### <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 

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

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

 It shall include the following components:

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

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

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

* _longitudinalLanePosition_ of type [**LongitudinalLanePosition**](#LongitudinalLanePosition)  OPTIONAL<br>
  optionally indicates the longitudinal offset of the map-matched position of the object along the lane or connection.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
MapPosition ::= SEQUENCE {
    mapReference                MapReference OPTIONAL,
    laneId                      Identifier1B OPTIONAL,
    connectionId                Identifier1B OPTIONAL, 
    longitudinalLanePosition    LongitudinalLanePosition OPTIONAL,
    ...
}
   ((WITH COMPONENTS {..., laneId PRESENT, connectionId ABSENT }) |
    (WITH COMPONENTS {..., laneId ABSENT, connectionId PRESENT }))
```

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

 The following options are provided:

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

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


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

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

### <a name="MessageRateHz"></a>MessageRateHz
This DE indicates a message rate.

* _mantissa_ of type **INTEGER**  (1..100)<br>
  indicates the mantissa.

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

The specified message rate is: mantissa*(10<sup>exponent</sup>)

&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _Hz_

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
MessageRateHz::= SEQUENCE {
    mantissa    INTEGER (1..100),
    exponent    INTEGER (-5..2)
    }
```

### <a name="MessageSegmentationInfo"></a>MessageSegmentationInfo
This DF provides information about a message with respect to the segmentation process on facility layer at the sender.

 It shall include the following components:

* _totalMsgNo_ of type [**CardinalNumber3b**](#CardinalNumber3b) <br>
  indicates the total number of messages that have been assembled on the transmitter side to encode the information 
   during the same messsage generation process.

* _thisMsgNo_ of type [**OrdinalNumber3b**](#OrdinalNumber3b) <br>
  indicates the position of the message within of the total set of messages generated during the same message generation process.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, description revised in V2.2.1_
```asn1
MessageSegmentationInfo ::= SEQUENCE {
    totalMsgNo  CardinalNumber3b,
    thisMsgNo   OrdinalNumber3b
    }
```

### <a name="MetaInformation"></a>MetaInformation
This DF provides information about the source of and confidence in information.

 It shall include the following components:

* _usedDetectionInformation_ of type [**SensorTypes**](#SensorTypes) <br>
  the type of sensor(s) that is used to provide the detection information.

* _usedStoredInformation_ of type [**StoredInformationType**](#StoredInformationType) <br>
  the type of source of the stored information 

* _confidenceValue_ of type [**ConfidenceLevel**](#ConfidenceLevel)  OPTIONAL<br>
  an optional confidence value associated to the information. 


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Basic information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
MetaInformation::=SEQUENCE{		
  usedDetectionInformation   SensorTypes, 
  usedStoredInformation      StoredInformationType,
  confidenceValue            ConfidenceLevel OPTIONAL,
  ...
}
```

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

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
MitigationForTechnologies ::= SEQUENCE (SIZE(1..8)) OF MitigationPerTechnologyClass
```

### <a name="MitigationPerTechnologyClass"></a>MitigationPerTechnologyClass
This DF represents a set of mitigation parameters for a specific technology, as specified in ETSI TS 103 724 [[24]](#references), clause 7.

 It shall include the following components:

* _accessTechnologyClass_ of type [**AccessTechnologyClass**](#AccessTechnologyClass) <br>
  channel access technology to which this mitigation is intended to be applied.

* _lowDutyCycle_ of type **INTEGER**  (0 .. 10000) OPTIONAL<br>
  duty cycle limit.

* _powerReduction_ of type **INTEGER**  (0 .. 30) OPTIONAL<br>
  the delta value of power to be reduced.

* _dmcToffLimit_ of type **INTEGER**  (0 .. 1200) OPTIONAL<br>
  idle time limit as defined in ETSI TS 103 175 [[19]](#references).

* _dmcTonLimit_ of type **INTEGER**  (0 .. 20) OPTIONAL<br>
  Transmission duration limit, as defined in ETSI EN 302 571 [[20]](#references).


&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _ms_

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_

>>>
NOTE:&emsp;All parameters are optional, as they may not apply to some of the technologies or
 interference management zone types. Specification details are in ETSI TS 103 724 [[24]](#references), clause 7.
>>>

```asn1
MitigationPerTechnologyClass ::= SEQUENCE {
   accessTechnologyClass    AccessTechnologyClass, 
   lowDutyCycle             INTEGER (0 .. 10000) OPTIONAL, 
   powerReduction           INTEGER (0 .. 30) OPTIONAL,
   dmcToffLimit             INTEGER (0 .. 1200) OPTIONAL,   
   dmcTonLimit              INTEGER (0 .. 20) OPTIONAL,   
   ...
}
```

### <a name="ObjectClass"></a>ObjectClass
This DF indicates both the class and associated subclass that best describes an object.

 The following options are available:

* _vehicleSubClass_ of type [**TrafficParticipantType**](#TrafficParticipantType)  (unknown|passengerCar..tram|agricultural)<br>
  the object is a road vehicle and the specific subclass is specified.

* _vruSubClass_ of type [**VruProfileAndSubprofile**](#VruProfileAndSubprofile) <br>
  the object is a VRU and the specific subclass is specified.

* _groupSubClass_ of type [**VruClusterInformation**](#VruClusterInformation)  (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT})<br>
  the object is a VRU group or cluster and the cluster information is specified.

* _otherSubClass_ of type [**OtherSubClass**](#OtherSubClass) <br>
  the object is of a different type than the above and the specific subclass is specified.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
ObjectClass ::= CHOICE {
    vehicleSubClass      TrafficParticipantType (unknown|passengerCar..tram|agricultural),
    vruSubClass          VruProfileAndSubprofile,
    groupSubClass        VruClusterInformation (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT}),
    otherSubClass        OtherSubClass,
    ...
}
```

### <a name="ObjectClassDescription"></a>ObjectClassDescription
This DF shall contain a list of object classes.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClassWithConfidence
```

### <a name="ObjectClassWithConfidence"></a>ObjectClassWithConfidence
This DF represents the classification of a detected object together with a confidence level.

 It shall include the following components:

* _objectClass_ of type [**ObjectClass**](#ObjectClass) <br>
  the class of the object.

* _confidence_ of type [**ConfidenceLevel**](#ConfidenceLevel) <br>
* Confidence<br>
  the associated confidence level.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
ObjectClassWithConfidence ::= SEQUENCE {
    objectClass    ObjectClass,
    confidence     ConfidenceLevel
}
```

### <a name="ObjectDimension"></a>ObjectDimension
This DF represents a dimension of an object together with a confidence value.

 It shall include the following components:

* _value_ of type [**ObjectDimensionValue**](#ObjectDimensionValue) <br>
  the object dimension value which can be estimated as the mean of the current distribution.

* _confidence_ of type [**ObjectDimensionConfidence**](#ObjectDimensionConfidence) <br>
  the associated confidence value.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
ObjectDimension ::= SEQUENCE {
    value         ObjectDimensionValue,
    confidence    ObjectDimensionConfidence
}
```

### <a name="OccupiedLanesWithConfidence"></a>OccupiedLanesWithConfidence
This DF represents a set of lanes which are partially or fully occupied by an object or event. 


 It shall include the following components:

* _lanePositionBased_ of type **SEQUENCE**  (SIZE(1..4)) OF LanePositionOptions<br>
  a set of up to `4` lanes that are partially or fully occupied by an object or event, ordered by increasing value of [**LanePosition**](#LanePosition). 
   Lanes that are partially occupied can be described using the component lanePositionWithLateralDetails of [**Options**](#Options), with the following constraints: 
   The distance to lane borders which are covered by the object / event shall be set to 0. Only the distances to the leftmost and/or rightmost border which are not covered by 
   the object / event shall be provided with values > 0. Those values shall be added to the respective instances of [**LanePositionOptions**](#LanePositionOptions), i.e. the first entry shall contain the component distanceToLeftBorder > 0 , 
   and/or the last entry shall contain the component distanceToRightBorder > 0; the respective other components of these entries shall be set to 0.

* _mapBased_ of type **SEQUENCE**  (SIZE(1..4)) OF MapPosition  OPTIONAL<br>
  optional lane information described in the context of a MAPEM as specified in ETSI TS 103 301 [[15]](#references). 
   If present, it shall describe the same lane(s) as listed in the component lanePositionBased, but using the lane identification of 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. 

* _confidence_ of type [**MetaInformation**](#MetaInformation) <br>
  mandatory confidence information for expressing the probability that all the provided lanes are occupied. It also provides information on how the lane 
   information were generated. If none of the sensors were used, the lane information is assumed to be derived directly from the absolute reference position and the related dimension.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_

>>>
NOTE:&emsp;In contrast to [**GeneralizedLanePosition**](#GeneralizedLanePosition), the dimension of the object or event area (width and length) is taken into account to determine the occupancy, 
 i.e. this DF describes the lanes which are blocked by an object or event and not the position of the object / event itself. A confidence is used to describe the 
 probability that exactly all the provided lanes are occupied.
>>>

```asn1
OccupiedLanesWithConfidence::= SEQUENCE {
    lanePositionBased     SEQUENCE (SIZE(1..4)) OF LanePositionOptions,
    mapBased              SEQUENCE (SIZE(1..4)) OF MapPosition  OPTIONAL,
    confidence            MetaInformation,
    ... 
}
```

### <a name="Path"></a>Path
This DF represents a path with a set of path points.
 It shall contain up to `40` [**PathPoint**](#PathPoint). 
 
 The first PathPoint presents an offset delta position with regards to an external reference position.
 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1 based on PathHistory_
```asn1
Path::= SEQUENCE (SIZE(0..40)) OF PathPoint
```

### <a name="PathHistory"></a>PathHistory
This DF represents a path history with a set of path points.
 It shall contain up to `40` [**PathPoint**](#PathPoint). 
 
 The first PathPoint presents an offset delta position with regards to an external reference position.
 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information Vehicle information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _semantics updated in V2.1.1, size corrected to 0..40 in V2.2.1_

>>>
NOTE:&emsp;this DF is kept for backwards compatibility reasons only. It is recommended to use [**Path**](#Path) instead.
>>>

```asn1
PathHistory::= SEQUENCE (SIZE(0..40)) OF PathPoint
```

### <a name="PathPredicted"></a>PathPredicted
This DF represents a predicted path with a set of path points.
 It shall contain up to `15` [**PathPoint**](#PathPoint). 
 
 The first PathPoint presents an offset delta position with regards to an external reference position.
 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
```asn1
PathPredicted::= SEQUENCE (SIZE(0..15,...)) OF PathPointPredicted
```

### <a name="PathPoint"></a>PathPoint
This DF defines an offset waypoint position within a path.

 It shall include the following components:

* _pathPosition_ of type [**DeltaReferencePosition**](#DeltaReferencePosition) <br>
  The waypoint position defined as an offset position with regards to a pre-defined reference position. 

* _pathDeltaTime_ of type [**PathDeltaTime**](#PathDeltaTime)  OPTIONAL<br>
  The optional travel time separated from a waypoint to the predefined reference position.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _semantics updated in V2.1.1_
```asn1
PathPoint ::= SEQUENCE {
    pathPosition     DeltaReferencePosition,
    pathDeltaTime    PathDeltaTime OPTIONAL
}
```

### <a name="PathPointPredicted"></a>PathPointPredicted
This DF defines a predicted offset waypoint position within a path.

 It shall include the following components:

* _deltaLatitude_ of type [**DeltaLatitude**](#DeltaLatitude) <br>
  an offset latitude with regards to a pre-defined reference position. 

* _deltaLongitude_ of type [**DeltaLongitude**](#DeltaLongitude) <br>
  an offset longitude with regards to a pre-defined reference position. 

* _horizontalPositionConfidence_ of type [**PosConfidenceEllipse**](#PosConfidenceEllipse)  OPTIONAL<br>
  the confidence value associated to the horizontal geographical position.

* _deltaAltitude_ of type [**DeltaAltitude**](#DeltaAltitude)  DEFAULT unavailable<br>
  an offset altitude with regards to a pre-defined reference position. 

* _altitudeConfidence_ of type [**AltitudeConfidence**](#AltitudeConfidence)  DEFAULT unavailable<br>
  the confidence value associated to the altitude value of the geographical position.

* _pathDeltaTime_ of type [**DeltaTimeTenthOfSecond**](#DeltaTimeTenthOfSecond) <br>
  The  travel time separated from the waypoint to the predefined reference position.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _semantics updated in V2.1.1_
```asn1
PathPointPredicted::= SEQUENCE {
  deltaLatitude                 DeltaLatitude,      
  deltaLongitude                DeltaLongitude, 
  horizontalPositionConfidence  PosConfidenceEllipse OPTIONAL,   
  deltaAltitude                 DeltaAltitude DEFAULT unavailable, 
  altitudeConfidence            AltitudeConfidence DEFAULT unavailable,
  pathDeltaTime                 DeltaTimeTenthOfSecond,
  ... 
}
```

### <a name="PerceivedObject"></a>PerceivedObject
This DF contains information about a perceived object including its kinematic state and attitude vector in a pre-defined coordinate system and with respect to a reference time.
 
 It shall include the following components:

* _objectId_ of type [**Identifier2B**](#Identifier2B)  OPTIONAL<br>
  optional identifier assigned to a detected object.

* _measurementDeltaTime_ of type [**DeltaTimeMilliSecondSigned**](#DeltaTimeMilliSecondSigned) <br>
  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.

* _position_ of type [**CartesianPosition3dWithConfidence**](#CartesianPosition3dWithConfidence) <br>
  the position of the geometric centre of the object's bounding box within the pre-defined coordinate system.

* _velocity_ of type [**Velocity3dWithConfidence**](#Velocity3dWithConfidence)  OPTIONAL<br>
  the velocity vector of the object within the pre-defined coordinate system.

* _acceleration_ of type [**Acceleration3dWithConfidence**](#Acceleration3dWithConfidence)  OPTIONAL<br>
  the acceleration vector of the object within the pre-defined coordinate system.

* _angles_ of type [**EulerAnglesWithConfidence**](#EulerAnglesWithConfidence)  OPTIONAL<br>
  optional Euler angles of the object bounding box at the time of measurement. 

* _zAngularVelocity_ of type [**CartesianAngularVelocityComponent**](#CartesianAngularVelocityComponent)  OPTIONAL<br>
  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.

* _lowerTriangularCorrelationMatrices_ of type [**LowerTriangularPositiveSemidefiniteMatrices**](#LowerTriangularPositiveSemidefiniteMatrices)  OPTIONAL<br>
  optional set of lower triangular correlation matrices for selected components of the provided kinematic state and attitude vector.

* _objectDimensionZ_ of type [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
  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. 

* _objectDimensionY_ of type [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
  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. 

* _objectDimensionX_ of type [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
  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.

* _objectAge_ of type [**DeltaTimeMilliSecondSigned**](#DeltaTimeMilliSecondSigned)  (0..2047) OPTIONAL<br>
  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.

* _objectPerceptionQuality_ of type [**ObjectPerceptionQuality**](#ObjectPerceptionQuality)  OPTIONAL<br>
  optional confidence associated to the object. 

* _sensorIdList_ of type [**SequenceOfIdentifier1B**](#SequenceOfIdentifier1B)  OPTIONAL<br>
  optional list of sensor-IDs which provided the measurement data. 

* _classification_ of type [**ObjectClassDescription**](#ObjectClassDescription)  OPTIONAL<br>
  optional classification of the described object

* _mapPosition_ of type [**MapPosition**](#MapPosition)  OPTIONAL<br>
* matchedPosition<br>
  optional map-matched position of an object.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
```asn1
PerceivedObject ::= SEQUENCE {
    objectId                                          Identifier2B OPTIONAL,
    measurementDeltaTime                              DeltaTimeMilliSecondSigned,
    position                                          CartesianPosition3dWithConfidence, 
    velocity                                          Velocity3dWithConfidence OPTIONAL,
    acceleration                                      Acceleration3dWithConfidence OPTIONAL,
    angles                                            EulerAnglesWithConfidence OPTIONAL,
    zAngularVelocity                                  CartesianAngularVelocityComponent OPTIONAL,
    lowerTriangularCorrelationMatrices                LowerTriangularPositiveSemidefiniteMatrices OPTIONAL,
    objectDimensionZ                                  ObjectDimension OPTIONAL,
    objectDimensionY                                  ObjectDimension OPTIONAL,
    objectDimensionX                                  ObjectDimension OPTIONAL,
    objectAge                                         DeltaTimeMilliSecondSigned (0..2047) OPTIONAL,
    objectPerceptionQuality                           ObjectPerceptionQuality OPTIONAL,
    sensorIdList                                      SequenceOfIdentifier1B OPTIONAL,
    classification                                    ObjectClassDescription OPTIONAL,
    mapPosition                                       MapPosition OPTIONAL,
    ...
}
```

### <a name="PolygonalShape"></a>PolygonalShape
This DF represents the shape of a polygonal area or of a right prism.

 It shall include the following components: