ETSI-ITS-CDD.md

 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 at an externally defined reference position. 


 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="PathDeltaTimeChoice"></a>PathDeltaTimeChoice
This DF represents estimated/predicted travel time between a position and a predefined reference position. 

 the following options are available:

* _deltaTimeHighPrecision_ of type [**DeltaTimeTenthOfSecond**](#DeltaTimeTenthOfSecond) <br>
  delta time with precision of 0,1 s.

* _deltaTimeBigRange_ of type [**DeltaTimeTenSeconds**](#DeltaTimeTenSeconds) <br>
  delta time with precision of 10 s.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V2.2.1_
```asn1
PathDeltaTimeChoice::= CHOICE {
    deltaTimeHighPrecision	DeltaTimeTenthOfSecond,
    deltaTimeBigRange	    DeltaTimeTenSeconds
}
```

### <a name="PathExtended"></a>PathExtended
This DF represents a path towards a specific point specified in the [**EventZone**](#EventZone).

 It shall include the following components:

* _pointOfEventZone_ of type **INTEGER** (1..23)<br>
  the ordinal number of the point within the DF EventZone, i.e. within the list of EventPoints.

* _path_ of type [**Path**](#Path) <br>
  the associated path towards the point specified in pointOfEventZone.
   The first PathPoint presents an offset delta position with regards to the position of that pointOfEventZone.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
PathExtended::= SEQUENCE {
  pointOfEventZone    INTEGER(1..23),
  path                Path
}
```

### <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 or trajectory with a set of predicted points and optional information to generate a shape which is estimated to contain the real path. 
 It shall contain up to `16` [**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 , size constraint changed to SIZE(1..16) in V2.2.1_
```asn1
PathPredicted::= SEQUENCE (SIZE(1..16,...)) OF PathPointPredicted
```

### <a name="PathPredicted2"></a>PathPredicted2
This DF represents a predicted path, predicted trajectory or predicted path zone together with usage information and a prediction confidence.

 It shall include the following components:

* _pathPredicted_ of type [**PathPredicted**](#PathPredicted) <br>
  the predicted path (pathDeltaTime ABSENT) or trajectory (pathDeltaTime PRESENT) and/or the path zone (symmetricAreaOffset PRESENT).

* _usageIndication_ of type [**UsageIndication**](#UsageIndication) <br>
  an indication of how the predicted path will be used. 

* _confidenceLevel_ of type [**ConfidenceLevel**](#ConfidenceLevel) <br>
  the confidence that the path/trajectory in pathPredicted will occur as predicted


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.2.1_
```asn1
PathPredicted2::= SEQUENCE{
    pathPredicted     PathPredicted,
    usageIndication   UsageIndication,
    confidenceLevel   ConfidenceLevel,   
    ...
}
```

### <a name="PathPredictedList"></a>PathPredictedList
This DF represents one or more predicted paths, or trajectories or path zones (zones that include all possible paths/trajectories within its boundaries) using [**PathPredicted2**](#PathPredicted2).
 It shall contain up to `16` [**PathPredicted2**](#PathPredicted2).

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V2.2.1_
```asn1
PathPredictedList ::= SEQUENCE SIZE(1..16,...) OF PathPredicted2
```

### <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 position that can be used within a predicted path or trajectory, together with optional data to describe a path zone shape.

 It shall include the following components:

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

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

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

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

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

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

* _symmetricAreaOffset_ of type [**StandardLength9b**](#StandardLength9b)  OPTIONAL<br>
  the optional symmetric offset applied to the position in order to generate a shape.
   if the component asymmetricAreaOffset is absent, the symmetricAreaOffset is applied to both sides of the position (left and right)
   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<sup>_</sup>(n-) and v<sup>_</sup>(n+), the normalized vectors of vectors v_(n-) and v_(n+) are created.  
   - v<sup>_o</sup> the normalized sum of the vectors v<sup>_</sup>(n-) and v<sup>_</sup>(n+) is calculated. 
   The symmetrical border offset spans a vector in the direction of both v<sup>_o</sup> and -v<sup>_o</sup>, if the asymmetrical border offset is ABSENT.
   The symmetrical border offset spans a vector in the direction of v<sup>_o</sup> 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 [**PathPredicted**](#PathPredicted) has only one element, the encoded area represents a circle with the asymmetricAreaOffset as the defining radius.

* _asymmetricAreaOffset_ of type [**StandardLength9b**](#StandardLength9b)  OPTIONAL<br>
  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<sup>_o</sup>


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, type of pathDeltaTime changed and optionality added, fields symmetricAreaOffset and asymmetricAreaOffset added in V2.2.1_
```asn1
PathPointPredicted::= SEQUENCE {
  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}))
```

### <a name="PathReferences"></a>PathReferences
This DF represents a list of references to the components of a [**Traces**](#Traces) or [**TracesExtended**](#TracesExtended) DF using the [**PathId**](#PathId).

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1_
```asn1
PathReferences ::= SEQUENCE (SIZE(1..14)) OF PathId
```

### <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:

* _shapeReferencePoint_ of type [**CartesianPosition3d**](#CartesianPosition3d)  OPTIONAL<br>
  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. 

* _polygon_ of type [**SequenceOfCartesianPosition3d**](#SequenceOfCartesianPosition3d)  (SIZE(3..16,...))<br>
  the polygonal area represented by a list of minimum `3` to maximum `16` [**CartesianPosition3d**](#CartesianPosition3d).
   All nodes of the polygon shall be considered relative to the shape's reference point.

* _height_ of type [**StandardLength12b**](#StandardLength12b)  OPTIONAL<br>
  the optional height, present if the shape is a right prism extending in the positive z-axis.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
```asn1
PolygonalShape ::= SEQUENCE {
   shapeReferencePoint    CartesianPosition3d OPTIONAL,
   polygon                SequenceOfCartesianPosition3d (SIZE(3..16,...)),
   height                 StandardLength12b OPTIONAL
}
```

### <a name="PosConfidenceEllipse"></a>PosConfidenceEllipse
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:

* _semiMajorConfidence_ of type [**SemiAxisLength**](#SemiAxisLength) <br>
  half of length of the major axis, i.e. distance between the centre point
   and major axis point of the position accuracy ellipse. 

* _semiMinorConfidence_ of type [**SemiAxisLength**](#SemiAxisLength) <br>
  half of length of the minor axis, i.e. distance between the centre point
   and minor axis point of the position accuracy ellipse. 

* _semiMajorOrientation_ of type [**HeadingValue**](#HeadingValue) <br>
  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.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
```asn1
PosConfidenceEllipse ::= SEQUENCE {
    semiMajorConfidence     SemiAxisLength,
    semiMinorConfidence     SemiAxisLength,
    semiMajorOrientation    HeadingValue
}
```

### <a name="PositionConfidenceEllipse"></a>PositionConfidenceEllipse
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:

* _semiMajorAxisLength_ of type [**SemiAxisLength**](#SemiAxisLength) <br>
  half of length of the major axis, i.e. distance between the centre point
   and major axis point of the position accuracy ellipse. 

* _semiMinorAxisLength_ of type [**SemiAxisLength**](#SemiAxisLength) <br>
  half of length of the minor axis, i.e. distance between the centre point
   and minor axis point of the position accuracy ellipse. 

* _semiMajorAxisOrientation_ of type [**Wgs84AngleValue**](#Wgs84AngleValue) <br>
  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.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1 based on [**PosConfidenceEllipse**](#PosConfidenceEllipse)_
```asn1
PositionConfidenceEllipse ::= SEQUENCE {
    semiMajorAxisLength         SemiAxisLength,
    semiMinorAxisLength         SemiAxisLength,
    semiMajorAxisOrientation    Wgs84AngleValue
}
```

### <a name="PositionOfPillars"></a>PositionOfPillars
This DF shall contain a list of distances [**PosPillar**](#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.

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
```asn1
PositionOfPillars ::= SEQUENCE (SIZE(1..3, ...)) OF PosPillar
```

### <a name="ProtectedCommunicationZone"></a>ProtectedCommunicationZone
This DF describes a zone of protection inside which the ITS communication should be restricted.

 It shall include the following components:

* _protectedZoneType_ of type [**ProtectedZoneType**](#ProtectedZoneType) <br>
  type of the protected zone. 

* _expiryTime_ of type [**TimestampIts**](#TimestampIts)  OPTIONAL<br>
  optional time at which the validity of the protected communication zone will expire.

* _protectedZoneLatitude_ of type [**Latitude**](#Latitude) <br>
  latitude of the centre point of the protected communication zone.

* _protectedZoneLongitude_ of type [**Longitude**](#Longitude) <br>
  longitude of the centre point of the protected communication zone.

* _protectedZoneRadius_ of type [**ProtectedZoneRadius**](#ProtectedZoneRadius)  OPTIONAL<br>
  optional radius of the protected communication zone in metres.

* _protectedZoneId_ of type [**ProtectedZoneId**](#ProtectedZoneId)  OPTIONAL<br>
  the optional ID of the protected communication zone.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _revised in V2.1.1 (changed protectedZoneID to protectedZoneId)_

>>>
NOTE:&emsp;A protected communication zone may be defined around a CEN DSRC road side equipment.
>>>

```asn1
ProtectedCommunicationZone ::= SEQUENCE {
    protectedZoneType         ProtectedZoneType,
    expiryTime                TimestampIts OPTIONAL,
    protectedZoneLatitude     Latitude,
    protectedZoneLongitude    Longitude,
    protectedZoneRadius       ProtectedZoneRadius OPTIONAL,
    protectedZoneId           ProtectedZoneId OPTIONAL,
    ...
}
```

### <a name="ProtectedCommunicationZonesRSU"></a>ProtectedCommunicationZonesRSU
This DF shall contain a list of [**ProtectedCommunicationZone**](#ProtectedCommunicationZone) provided by a road side ITS-S (Road Side Unit RSU).

 It may provide up to 16 protected communication zones information.

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
```asn1
ProtectedCommunicationZonesRSU ::= SEQUENCE (SIZE(1..16)) OF ProtectedCommunicationZone
```

### <a name="Provider"></a>Provider
This DF identifies an organization.

 It shall include the following components:

* _countryCode_ of type [**CountryCode**](#CountryCode) <br>
  represents the country code that identifies the country of the national registration administrator for issuers according to ISO 14816.

* _providerIdentifier_ of type [**IssuerIdentifier**](#IssuerIdentifier) <br>
  identifies the organization according to the national ISO 14816 register for issuers.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.2.1 based on ISO 17573-3 [[24]](#references)_

>>>
NOTE:&emsp;See https://www.itsstandards.eu/registries/register-of-nra-i-cs1/ for a list of national registration administrators and their respective registers
>>>

```asn1
Provider ::= SEQUENCE {
	countryCode		CountryCode,
	providerIdentifier	IssuerIdentifier
}
```

### <a name="PtActivation"></a>PtActivation
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).

* _ptActivationType_ of type [**PtActivationType**](#PtActivationType) <br>
  type of activation. 

* _ptActivationData_ of type [**PtActivationData**](#PtActivationData) <br>
* ptActicationData<br>
  data of activation. 

Today there are different payload variants defined for public transport activation-data. The R09.x is one of
 the industry standard used by public transport vehicles (e.g. buses, trams) in Europe (e.g. Germany Austria)
 for controlling traffic lights, barriers, bollards, etc. This DF shall include information like route, course,
 destination, priority, etc.
 
 The R09.x content is defined in VDV recommendation 420 [[7]](#references). 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.

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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
```asn1
PtActivation ::= SEQUENCE {
    ptActivationType    PtActivationType,
    ptActivationData    PtActivationData
}
```

### <a name="RadialShape"></a>RadialShape
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. 

 It shall include the following components:

* _shapeReferencePoint_ of type [**CartesianPosition3d**](#CartesianPosition3d)  OPTIONAL<br>
  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. 

* _range_ of type [**StandardLength12b**](#StandardLength12b) <br>
  the radial range of the shape from the shape's reference point. 

* _horizontalOpeningAngleStart_ of type [**CartesianAngleValue**](#CartesianAngleValue) <br>
  the start of the shape's horizontal opening angle. 

* _horizontalOpeningAngleEnd_ of type [**CartesianAngleValue**](#CartesianAngleValue) <br>
  the end of the shape's horizontal opening angle. 

* _verticalOpeningAngleStart_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
  optional start of the shape's vertical opening angle. 

* _verticalOpeningAngleEnd_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
  optional end of the shape's vertical opening angle. 


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1, names and types of the horizontal opening angles changed, constraint added and description revised in V2.2.1_
```asn1
RadialShape ::= SEQUENCE { 
    shapeReferencePoint                      CartesianPosition3d OPTIONAL,
    range                                    StandardLength12b,
    horizontalOpeningAngleStart              CartesianAngleValue, 
    horizontalOpeningAngleEnd                CartesianAngleValue, 
    verticalOpeningAngleStart                CartesianAngleValue OPTIONAL,
    verticalOpeningAngleEnd                  CartesianAngleValue OPTIONAL
}
   ((WITH COMPONENTS {..., verticalOpeningAngleStart ABSENT, verticalOpeningAngleEnd ABSENT }) |
    (WITH COMPONENTS {..., verticalOpeningAngleStart PRESENT, verticalOpeningAngleEnd PRESENT }))
```

### <a name="RadialShapes"></a>RadialShapes
This DF describes a list of radial shapes positioned w.r.t. to an offset position defined  
 relative to a reference position specified outside of the context of this DF and oriented w.r.t.  
 a cartesian coordinate system specified outside of the context of this DF. 

 It shall include the following components:

* _refPointId_ of type [**Identifier1B**](#Identifier1B) <br>
  the identification of the reference point in case of a sensor mounted to trailer. Defaults to ITS ReferencePoint (0).

* _xCoordinate_ of type [**CartesianCoordinateSmall**](#CartesianCoordinateSmall) <br>
  the x-coordinate of the offset position.

* _yCoordinate_ of type [**CartesianCoordinateSmall**](#CartesianCoordinateSmall) <br>
  the y-coordinate of the offset position.

* _zCoordinate_ of type [**CartesianCoordinateSmall**](#CartesianCoordinateSmall)  OPTIONAL<br>
  the optional z-coordinate of the offset position.

* _radialShapesList_ of type [**RadialShapesList**](#RadialShapesList) <br>
  the list of radial shape details.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Georeference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1, description revised in V2.2.1_
```asn1
RadialShapes ::= SEQUENCE {
    refPointId          Identifier1B,
    xCoordinate         CartesianCoordinateSmall, 
    yCoordinate         CartesianCoordinateSmall,
    zCoordinate         CartesianCoordinateSmall OPTIONAL,
    radialShapesList    RadialShapesList
}
```

### <a name="RadialShapesList"></a>RadialShapesList
The DF contains a list of [**RadialShapeDetails**](#RadialShapeDetails).

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Georeference information 

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

### <a name="RadialShapeDetails"></a>RadialShapeDetails
This DF describes radial shape details. The circular sector or cone is
 constructed by sweeping the provided range about the position specified outside of the  
 context of this DF. The range is swept between a horizontal start and a horizontal end angle in 
 the X-Y plane of a right-hand cartesian coordinate system specified outside of the context of 
 this DF, in positive angular direction w.r.t. the x-axis. A vertical opening angle in the X-Z 
 plane may optionally be provided in positive angular direction w.r.t. the x-axis.
 
 It shall include the following components:

* _range_ of type [**StandardLength12b**](#StandardLength12b) <br>
  the radial range of the sensor from the reference point or sensor point offset. 

* _horizontalOpeningAngleStart_ of type [**CartesianAngleValue**](#CartesianAngleValue) <br>
  the start of the shape's horizontal opening angle.

* _horizontalOpeningAngleEnd_ of type [**CartesianAngleValue**](#CartesianAngleValue) <br>
  the end of the shape's horizontal opening angle. 

* _verticalOpeningAngleStart_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
  optional start of the shape's vertical opening angle. 

* _verticalOpeningAngleEnd_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
  optional end of the shape's vertical opening angle. 


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Georeference information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1, description revised and constraint added in V2.2.1_
```asn1
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 }))
```

### <a name="RectangularShape"></a>RectangularShape
This DF represents the shape of a rectangular area or a right rectangular prism that is centred 
 on a reference position defined outside of the context of this DF and oriented w.r.t. a cartesian    
 coordinate system defined outside of the context of this DF. 

 It shall include the following components:

* _shapeReferencePoint_ of type [**CartesianPosition3d**](#CartesianPosition3d)  OPTIONAL<br>
  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. 

* _semiLength_ of type [**StandardLength12b**](#StandardLength12b) <br>
  represents half the length of the rectangle located in the X-Y Plane.

* _semiBreadth_ of type [**StandardLength12b**](#StandardLength12b) <br>
  represents half the breadth of the rectangle located in the X-Y Plane.

* _orientation_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
  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. 

* _height_ of type [**StandardLength12b**](#StandardLength12b)  OPTIONAL<br>
  represents the optional height, present if the shape is a right rectangular prism 
   with height extending in the positive Z-axis.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1, centerPoint renamed to shapeReferencePoint, the type of the field orientation changed and description revised in V2.2.1_
```asn1
RectangularShape ::= SEQUENCE { 
    shapeReferencePoint   CartesianPosition3d OPTIONAL,
    semiLength            StandardLength12b,
    semiBreadth           StandardLength12b,
    orientation           CartesianAngleValue OPTIONAL,
    height                StandardLength12b OPTIONAL
}
```

### <a name="ReferencePosition"></a>ReferencePosition
A position within a geographic coordinate system together with a confidence ellipse. 

 It shall include the following components:

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

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

* _positionConfidenceEllipse_ of type [**PosConfidenceEllipse**](#PosConfidenceEllipse) <br>
  the confidence ellipse associated to the geographical position.

* _altitude_ of type [**Altitude**](#Altitude) <br>
  the altitude and an altitude accuracy of the geographical point.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _description updated in V2.1.1_

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

```asn1
ReferencePosition ::= SEQUENCE {
    latitude                     Latitude,
    longitude                    Longitude,
    positionConfidenceEllipse    PosConfidenceEllipse,
    altitude                     Altitude
}
```

### <a name="ReferencePositionWithConfidence"></a>ReferencePositionWithConfidence
A position within a geographic coordinate system together with a confidence ellipse. 

 It shall include the following components:

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

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

* _positionConfidenceEllipse_ of type [**PositionConfidenceEllipse**](#PositionConfidenceEllipse) <br>
  the confidence ellipse associated to the geographical position.

* _altitude_ of type [**Altitude**](#Altitude) <br>
  the altitude and an altitude accuracy of the geographical point.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1 based on [**ReferencePosition**](#ReferencePosition) but using [**PositionConfidenceEllipse**](#PositionConfidenceEllipse)._
```asn1
ReferencePositionWithConfidence ::= SEQUENCE {
    latitude                     Latitude,
    longitude                    Longitude,
    positionConfidenceEllipse    PositionConfidenceEllipse,
    altitude                     Altitude
}
```

### <a name="RestrictedTypes"></a>RestrictedTypes
This DF shall contain a list of [**StationType**](#StationType). to which a certain traffic restriction, e.g. the speed limit, applies.

&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Infrastructure information Traffic information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
```asn1
RestrictedTypes ::= SEQUENCE (SIZE(1..3, ...)) OF StationType
```