ETSI-ITS-CDD.md 357 KB
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```

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

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

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

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

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* _stationId_ of type [**StationId**](#StationId) <br>
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  the identifier of the ITS-S that generated the ITS message.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _update in V2.1.1: messageID and stationID changed to messageId and stationId; messageId is of type MessageId._
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```asn1
ItsPduHeader ::= SEQUENCE {
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    protocolVersion    OrdinalNumber1B,
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    messageId          MessageId,
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    stationId          StationId
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}
```

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

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* _laneType_ of type [**LaneType**](#LaneType) <br>
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  the type of the lane identified in the component transversalPosition.


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
LanePositionAndType::= SEQUENCE {
    transversalPosition    LanePosition,
    laneType               LaneType,
    ...
}
```

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

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

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

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

### <a name="LongitudinalLanePosition"></a>LongitudinalLanePosition
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This DF represents the estimated position along the longitudinal length of a particular lane. 
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 It shall include the following components:
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* _longitudinalLanePositionValue_ of type [**LongitudinalLanePositionValue**](#LongitudinalLanePositionValue) <br>
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  the mean value of the longitudinal position within a particular length.

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* _longitudinalLanePositionConfidence_ of type [**LongitudinalLanePositionConfidence**](#LongitudinalLanePositionConfidence) <br>
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  The confidence value associated to the value.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Road topology information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
LongitudinalLanePosition ::= SEQUENCE {
    longitudinalLanePositionValue         LongitudinalLanePositionValue,
    longitudinalLanePositionConfidence    LongitudinalLanePositionConfidence
}
```

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### <a name="LowerTriangularPositiveSemidefiniteMatrices"></a>LowerTriangularPositiveSemidefiniteMatrices
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This DF shall contain a list of a lower triangular positive semi-definite matrices.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
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LowerTriangularPositiveSemidefiniteMatrices::= SEQUENCE SIZE (1..4) OF LowerTriangularPositiveSemidefiniteMatrix
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### <a name="LowerTriangularPositiveSemidefiniteMatrix"></a>LowerTriangularPositiveSemidefiniteMatrix
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This DF represents a lower triangular positive semi-definite matrix. 
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 It shall include the following components:
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* _componentsIncludedIntheMatrix_ of type [**MatrixIncludedComponents**](#MatrixIncludedComponents) <br>
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  the indication of which components of a [**PerceivedObject**](#PerceivedObject) are included in the matrix. 
   This component also implicitly indicates the number n of included components which defines the size (n x n) of the full correlation matrix "A".
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* _matrix_ of type [**LowerTriangularPositiveSemidefiniteMatrixColumns**](#LowerTriangularPositiveSemidefiniteMatrixColumns) <br>
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  the list of cells of the lower triangular positive semi-definite matrix ordered by columns and by rows. 
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The number of columns to be included "k" is equal to the number of included components "n" indicated by componentsIncludedIntheMatrix minus 1: k = n-1.
 These components shall be included in the order or their appearance in componentsIncludedIntheMatrix.
 Each column "i" of the lowerTriangularCorrelationMatrixColumns contains k-(i-1) values.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE{
    componentsIncludedIntheMatrix   MatrixIncludedComponents,
    matrix                          LowerTriangularPositiveSemidefiniteMatrixColumns
}
```
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### <a name="LowerTriangularPositiveSemidefiniteMatrixColumns"></a>LowerTriangularPositiveSemidefiniteMatrixColumns
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This DF represents the columns of a lower triangular positive semi-definite matrix, each column not including the main diagonal cell of the matrix.
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 Given a matrix "A" of size n x n, the number of [**CorrelationColumn**](#CorrelationColumn) to be included in the lower triangular matrix is k=n-1.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, extension indicator added in V2.2.1_
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```asn1
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LowerTriangularPositiveSemidefiniteMatrixColumns ::= SEQUENCE SIZE (1..13,...) OF CorrelationColumn
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```

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

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

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

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* _connectionId_ of type [**Identifier1B**](#Identifier1B)  OPTIONAL<br>
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  optionally identifies the connection inside the conflict area of an intersection, i.e. it identifies a trajectory for travelling through the
   conflict area of an intersection which connects e.g an ingress with an egress lane.

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


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

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

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

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


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

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### <a name="MessageRateHz"></a>MessageRateHz
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This DE indicates a message rate.
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* _mantissa_ of type **INTEGER**  (1..100)<br>
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  indicates the mantissa.

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

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The specified message rate is: mantissa*(10<sup>exponent</sup>)
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&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _Hz_
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
MessageRateHz::= SEQUENCE {
    mantissa    INTEGER (1..100),
    exponent    INTEGER (-5..2)
    }
```

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### <a name="MessageSegmentationInfo"></a>MessageSegmentationInfo
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This DF provides information about a message with respect to the segmentation process on facility layer at the sender.
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 It shall include the following components:
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* _totalMsgNo_ of type [**CardinalNumber3b**](#CardinalNumber3b) <br>
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  indicates the total number of messages that have been assembled on the transmitter side to encode the information 
   during the same messsage generation process.
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* _thisMsgNo_ of type [**OrdinalNumber3b**](#OrdinalNumber3b) <br>
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  indicates the position of the message within of the total set of messages generated during the same message generation process.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, description revised in V2.2.1_
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```asn1
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MessageSegmentationInfo ::= SEQUENCE {
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    totalMsgNo  CardinalNumber3b,
    thisMsgNo   OrdinalNumber3b
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    }
```

### <a name="MitigationForTechnologies"></a>MitigationForTechnologies
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This DF shall contain a list of [**MitigationPerTechnologyClass**](#MitigationPerTechnologyClass).
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
MitigationForTechnologies ::= SEQUENCE (SIZE(1..8)) OF MitigationPerTechnologyClass
```

### <a name="MitigationPerTechnologyClass"></a>MitigationPerTechnologyClass
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This DF represents a set of mitigation parameters for a specific technology, as specified in ETSI TS 103 724 [[24]](#references), clause 7.
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 It shall include the following components:
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* _accessTechnologyClass_ of type [**AccessTechnologyClass**](#AccessTechnologyClass) <br>
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  channel access technology to which this mitigation is intended to be applied.
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* _lowDutyCycle_ of type **INTEGER**  (0 .. 10000) OPTIONAL<br>
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  duty cycle limit.

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

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* _dmcToffLimit_ of type **INTEGER**  (0 .. 1200) OPTIONAL<br>
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  idle time limit as defined in ETSI TS 103 175 [[19]](#references).
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* _dmcTonLimit_ of type **INTEGER**  (0 .. 20) OPTIONAL<br>
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  Transmission duration limit, as defined in ETSI EN 302 571 [[20]](#references).
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&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _ms_
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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NOTE:&emsp;All parameters are optional, as they may not apply to some of the technologies or
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 interference management zone types. Specification details are in ETSI TS 103 724 [[24]](#references), clause 7.
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>>>
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```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
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This DF indicates both the class and associated subclass that best describes an object.
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 The following options are available:

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* _vehicleSubClass_ of type [**TrafficParticipantType**](#TrafficParticipantType)  (unknown|passengerCar..tram|agricultural)<br>
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  the object is a road vehicle and the specific subclass is specified.
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* _vruSubClass_ of type [**VruProfileAndSubprofile**](#VruProfileAndSubprofile) <br>
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  the object is a VRU and the specific subclass is specified.
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* _groupSubClass_ of type [**VruClusterInformation**](#VruClusterInformation)  (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT})<br>
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  the object is a VRU group or cluster and the cluster information is specified.
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* _otherSubClass_ of type [**OtherSubClass**](#OtherSubClass) <br>
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  the object is of a different type than the above and the specific subclass is specified.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
ObjectClass ::= CHOICE {
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    vehicleSubClass      TrafficParticipantType (unknown|passengerCar..tram|agricultural),
    vruSubClass          VruProfileAndSubprofile,
    groupSubClass        VruClusterInformation (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT}),
    otherSubClass        OtherSubClass,
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    ...
}
```

### <a name="ObjectClassDescription"></a>ObjectClassDescription
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This DF shall contain a list of object classes.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClassWithConfidence
```

### <a name="ObjectClassWithConfidence"></a>ObjectClassWithConfidence
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This DF represents the classification of a detected object together with a confidence level.
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 It shall include the following components:
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* _objectClass_ of type [**ObjectClass**](#ObjectClass) <br>
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  the class of the object.

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* _confidence_ of type [**ConfidenceLevel**](#ConfidenceLevel) <br>
* Confidence<br>
  the associated confidence level.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
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```asn1
ObjectClassWithConfidence ::= SEQUENCE {
    objectClass    ObjectClass,
    confidence     ConfidenceLevel
}
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```

### <a name="ObjectDimension"></a>ObjectDimension
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This DF represents a dimension of an object together with a confidence value.
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 It shall include the following components:
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* _value_ of type [**ObjectDimensionValue**](#ObjectDimensionValue) <br>
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  the object dimension value which can be estimated as the mean of the current distribution.

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


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

### <a name="Path"></a>Path
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This DF represents a path with a set of path points.
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 It shall contain up to `40` [**PathPoint**](#PathPoint). 
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 The first PathPoint presents an offset delta position with regards to an external reference position.
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 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information Vehicle information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1 based on PathHistory_
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```asn1
Path::= SEQUENCE (SIZE(0..40)) OF PathPoint
```

### <a name="PathHistory"></a>PathHistory
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This DF represents a path history with a set of path points.
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 It shall contain up to `40` [**PathPoint**](#PathPoint). 
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 The first PathPoint presents an offset delta position with regards to an external reference position.
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 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information Vehicle information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _semantics updated in V2.1.1, size corrected to 0..40 in V2.2.1_
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NOTE:&emsp;this DF is kept for backwards compatibility reasons only. It is recommended to use [**Path**](#Path) instead.
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>>>
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```asn1
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PathHistory::= SEQUENCE (SIZE(0..40)) OF PathPoint
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### <a name="PathPredicted"></a>PathPredicted
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This DF represents a predicted path with a set of path points.
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 It shall contain up to `15` [**PathPoint**](#PathPoint). 
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 The first PathPoint presents an offset delta position with regards to an external reference position.
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 Each other PathPoint presents an offset delta position and optionally an offset travel time with regards to the previous PathPoint.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
PathPredicted::= SEQUENCE (SIZE(0..15,...)) OF PathPointPredicted
```

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### <a name="PathPoint"></a>PathPoint
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This DF defines an offset waypoint position within a path.
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 It shall include the following components:
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* _pathPosition_ of type [**DeltaReferencePosition**](#DeltaReferencePosition) <br>
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  The waypoint position defined as an offset position with regards to a pre-defined reference position. 

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


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

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### <a name="PathPointPredicted"></a>PathPointPredicted
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This DF  defines a predicted offset waypoint position within a path.
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 It shall include the following components:
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* _deltaLatitude_ of type [**DeltaLatitude**](#DeltaLatitude) <br>
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  an offset latitude with regards to a pre-defined reference position. 
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* _deltaLongitude_ of type [**DeltaLongitude**](#DeltaLongitude) <br>
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  an offset longitude with regards to a pre-defined reference position. 

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* _horizontalPositionConfidence_ of type [**PosConfidenceEllipse**](#PosConfidenceEllipse)  OPTIONAL<br>
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  the confidence value associated to the horizontal geographical position.
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* _deltaAltitude_ of type [**DeltaAltitude**](#DeltaAltitude)  DEFAULT unavailable<br>
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  an offset altitude with regards to a pre-defined reference position. 

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* _altitudeConfidence_ of type [**AltitudeConfidence**](#AltitudeConfidence)  DEFAULT unavailable<br>
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  the confidence value associated to the altitude value of the geographical position.
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* _pathDeltaTime_ of type [**DeltaTimeTenthOfSecond**](#DeltaTimeTenthOfSecond) <br>
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  The  travel time separated from the waypoint to the predefined reference position.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _semantics updated in V2.1.1_
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```asn1
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PathPointPredicted::= SEQUENCE {
  deltaLatitude                 DeltaLatitude,      
  deltaLongitude                DeltaLongitude, 
  horizontalPositionConfidence  PosConfidenceEllipse OPTIONAL,   
  deltaAltitude                 DeltaAltitude DEFAULT unavailable, 
  altitudeConfidence            AltitudeConfidence DEFAULT unavailable,
  pathDeltaTime                 DeltaTimeTenthOfSecond,
  ... 
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}
```

### <a name="PerceivedObject"></a>PerceivedObject
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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.
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 It shall include the following components:
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* _objectId_ of type [**Identifier2B**](#Identifier2B)  OPTIONAL<br>
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  optional identifier assigned to a detected object.

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* _measurementDeltaTime_ of type [**DeltaTimeMilliSecondSigned**](#DeltaTimeMilliSecondSigned) <br>
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  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.
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* _position_ of type [**CartesianPosition3dWithConfidence**](#CartesianPosition3dWithConfidence) <br>
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  the position of the geometric centre of the object's bounding box within the pre-defined coordinate system.
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* _velocity_ of type [**Velocity3dWithConfidence**](#Velocity3dWithConfidence)  OPTIONAL<br>
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  the velocity vector of the object within the pre-defined coordinate system.
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* _acceleration_ of type [**Acceleration3dWithConfidence**](#Acceleration3dWithConfidence)  OPTIONAL<br>
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  the acceleration vector of the object within the pre-defined coordinate system.
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* _angles_ of type [**EulerAnglesWithConfidence**](#EulerAnglesWithConfidence)  OPTIONAL<br>
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  optional Euler angles of the object bounding box at the time of measurement. 

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* _zAngularVelocity_ of type [**CartesianAngularVelocityComponent**](#CartesianAngularVelocityComponent)  OPTIONAL<br>
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  optional angular velocity of the object around the z-axis at the time of measurement.
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   The angular velocity is measured with positive values considering the object orientation turning around the z-axis using the right-hand rule.
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* _lowerTriangularCorrelationMatrices_ of type [**LowerTriangularPositiveSemidefiniteMatrices**](#LowerTriangularPositiveSemidefiniteMatrices)  OPTIONAL<br>
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  optional set of lower triangular correlation matrices for selected components of the provided kinematic state and attitude vector.
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* _objectDimensionZ_ of type [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
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  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. 
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* _objectDimensionY_ of type [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
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  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. 
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* _objectDimensionX_ of type [**ObjectDimension**](#ObjectDimension)  OPTIONAL<br>
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  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.
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* _objectAge_ of type [**DeltaTimeMilliSecondSigned**](#DeltaTimeMilliSecondSigned)  (0..2047) OPTIONAL<br>
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  optional age of the detected and described object, i.e. the difference in time between the moment 
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   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.
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* _objectPerceptionQuality_ of type [**ObjectPerceptionQuality**](#ObjectPerceptionQuality)  OPTIONAL<br>
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  optional confidence associated to the object. 
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* _sensorIdList_ of type [**SequenceOfIdentifier1B**](#SequenceOfIdentifier1B)  OPTIONAL<br>
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  optional list of sensor-IDs which provided the measurement data. 

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

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* _mapPosition_ of type [**MapPosition**](#MapPosition)  OPTIONAL<br>
* matchedPosition<br>
  optional map-matched position of an object.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Sensing information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
PerceivedObject ::= SEQUENCE {
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    objectId                                          Identifier2B OPTIONAL,
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    measurementDeltaTime                              DeltaTimeMilliSecondSigned,
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    position                                          CartesianPosition3dWithConfidence, 
    velocity                                          Velocity3dWithConfidence OPTIONAL,
    acceleration                                      Acceleration3dWithConfidence OPTIONAL,
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    angles                                            EulerAnglesWithConfidence OPTIONAL,
    zAngularVelocity                                  CartesianAngularVelocityComponent OPTIONAL,
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    lowerTriangularCorrelationMatrices                LowerTriangularPositiveSemidefiniteMatrices OPTIONAL,
    objectDimensionZ                                  ObjectDimension OPTIONAL,
    objectDimensionY                                  ObjectDimension OPTIONAL,
    objectDimensionX                                  ObjectDimension OPTIONAL,
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    objectAge                                         DeltaTimeMilliSecondSigned (0..2047) OPTIONAL,
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    objectPerceptionQuality                           ObjectPerceptionQuality OPTIONAL,
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    sensorIdList                                      SequenceOfIdentifier1B OPTIONAL,
    classification                                    ObjectClassDescription OPTIONAL,
    mapPosition                                       MapPosition OPTIONAL,
    ...
}
```

### <a name="PolygonalShape"></a>PolygonalShape
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This DF represents the shape of a polygonal area or of a right prism.
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 It shall include the following components:
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* _shapeReferencePoint_ of type [**CartesianPosition3d**](#CartesianPosition3d)  OPTIONAL<br>
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  the optional reference point used for the definition of the shape, relative to an externally specified reference position. 
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   If this component is absent, the externally specified reference position represents the shape's reference point. 
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* _polygon_ of type [**SequenceOfCartesianPosition3d**](#SequenceOfCartesianPosition3d)  (SIZE(3..16,...))<br>
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  the polygonal area represented by a list of minimum `3` to maximum `16` [**CartesianPosition3d**](#CartesianPosition3d).
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   All nodes of the polygon shall be considered relative to the shape's reference point.
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* _height_ of type [**StandardLength12b**](#StandardLength12b)  OPTIONAL<br>
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  the optional height, present if the shape is a right prism extending in the positive z-axis.


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

### <a name="PosConfidenceEllipse"></a>PosConfidenceEllipse
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This DF indicates the horizontal position confidence ellipse which represents the estimated accuracy with a 
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 confidence level of 95  %. The centre of the ellipse shape corresponds to the reference
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 position point for which the position accuracy is evaluated.

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

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

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* _semiMajorOrientation_ of type [**HeadingValue**](#HeadingValue) <br>
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  orientation direction of the ellipse major axis of the position accuracy
   ellipse with regards to the WGS84 north. 
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   The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
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```asn1
PosConfidenceEllipse ::= SEQUENCE {
    semiMajorConfidence     SemiAxisLength,
    semiMinorConfidence     SemiAxisLength,
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    semiMajorOrientation    HeadingValue
}
```

### <a name="PositionConfidenceEllipse"></a>PositionConfidenceEllipse
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This DF indicates the horizontal position confidence ellipse which represents the estimated accuracy with a 
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 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:

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

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

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


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

### <a name="PositionOfPillars"></a>PositionOfPillars
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This DF shall contain a list of distances [**PosPillar**](#PosPillar) that refer to the perpendicular distance between centre of vehicle front bumper
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 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.

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

### <a name="ProtectedCommunicationZone"></a>ProtectedCommunicationZone
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This DF describes a zone of protection inside which the ITS communication should be restricted.
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 It shall include the following components:
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* _protectedZoneType_ of type [**ProtectedZoneType**](#ProtectedZoneType) <br>
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  type of the protected zone. 

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

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

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

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

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


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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Infrastructure information Communication information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _revised in V2.1.1 (changed protectedZoneID to protectedZoneId)_
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NOTE:&emsp;A protected communication zone may be defined around a CEN DSRC road side equipment.
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>>>
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```asn1
ProtectedCommunicationZone ::= SEQUENCE {
    protectedZoneType         ProtectedZoneType,
    expiryTime                TimestampIts OPTIONAL,
    protectedZoneLatitude     Latitude,
    protectedZoneLongitude    Longitude,
    protectedZoneRadius       ProtectedZoneRadius OPTIONAL,
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    protectedZoneId           ProtectedZoneId OPTIONAL,
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    ...
}
```

### <a name="ProtectedCommunicationZonesRSU"></a>ProtectedCommunicationZonesRSU
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This DF shall contain a list of [**ProtectedCommunicationZone**](#ProtectedCommunicationZone) provided by a road side ITS-S (Road Side Unit RSU).
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 It may provide up to 16 protected communication zones information.

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

### <a name="PtActivation"></a>PtActivation
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This DF represents activation data for real-time systems designed for operations control, traffic light priorities, track switches, barriers, etc.
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 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).

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

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

### <a name="RadialShape"></a>RadialShape
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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. 
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 It shall include the following components:
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* _shapeReferencePoint_ of type [**CartesianPosition3d**](#CartesianPosition3d)  OPTIONAL<br>
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  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. 
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* _range_ of type [**StandardLength12b**](#StandardLength12b) <br>
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  the radial range of the shape from the shape's reference point. 
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* _horizontalOpeningAngleStart_ of type [**CartesianAngleValue**](#CartesianAngleValue) <br>
  the start of the shape's horizontal opening angle. 
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* _horizontalOpeningAngleEnd_ of type [**CartesianAngleValue**](#CartesianAngleValue) <br>
  the end of the shape's horizontal opening angle. 
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* _verticalOpeningAngleStart_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
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  optional start of the shape's vertical opening angle. 
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* _verticalOpeningAngleEnd_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
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  optional end of the shape's vertical opening angle. 
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1, names and types of the horizontal opening angles changed, constraint added and description revised in V2.2.1_
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```asn1
RadialShape ::= SEQUENCE { 
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    shapeReferencePoint                      CartesianPosition3d OPTIONAL,
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    range                                    StandardLength12b,
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    horizontalOpeningAngleStart              CartesianAngleValue, 
    horizontalOpeningAngleEnd                CartesianAngleValue, 
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    verticalOpeningAngleStart                CartesianAngleValue OPTIONAL,
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    verticalOpeningAngleEnd                  CartesianAngleValue OPTIONAL
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}
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   ((WITH COMPONENTS {..., verticalOpeningAngleStart ABSENT, verticalOpeningAngleEnd ABSENT }) |
    (WITH COMPONENTS {..., verticalOpeningAngleStart PRESENT, verticalOpeningAngleEnd PRESENT }))
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```

### <a name="RadialShapes"></a>RadialShapes
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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. 
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 It shall include the following components:
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* _refPointId_ of type [**Identifier1B**](#Identifier1B) <br>
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  the identification of the reference point in case of a sensor mounted to trailer. Defaults to ITS ReferencePoint (0).

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* _xCoordinate_ of type [**CartesianCoordinateSmall**](#CartesianCoordinateSmall) <br>
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  the x-coordinate of the offset position.
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* _yCoordinate_ of type [**CartesianCoordinateSmall**](#CartesianCoordinateSmall) <br>
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  the y-coordinate of the offset position.
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* _zCoordinate_ of type [**CartesianCoordinateSmall**](#CartesianCoordinateSmall)  OPTIONAL<br>
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  the optional z-coordinate of the offset position.
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* _radialShapesList_ of type [**RadialShapesList**](#RadialShapesList) <br>
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  the list of radial shape details.


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

### <a name="RadialShapesList"></a>RadialShapesList
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The DF contains a list of [**RadialShapeDetails**](#RadialShapeDetails).
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Georeference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
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```asn1
RadialShapesList ::= SEQUENCE SIZE(1..16,...) OF RadialShapeDetails
```

### <a name="RadialShapeDetails"></a>RadialShapeDetails
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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.
 
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 It shall include the following components:
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* _range_ of type [**StandardLength12b**](#StandardLength12b) <br>
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  the radial range of the sensor from the reference point or sensor point offset. 

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* _horizontalOpeningAngleStart_ of type [**CartesianAngleValue**](#CartesianAngleValue) <br>
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  the start of the shape's horizontal opening angle.
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* _horizontalOpeningAngleEnd_ of type [**CartesianAngleValue**](#CartesianAngleValue) <br>
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  the end of the shape's horizontal opening angle. 
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* _verticalOpeningAngleStart_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
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  optional start of the shape's vertical opening angle. 
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* _verticalOpeningAngleEnd_ of type [**CartesianAngleValue**](#CartesianAngleValue)  OPTIONAL<br>
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  optional end of the shape's vertical opening angle. 
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Georeference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1, description revised and constraint added in V2.2.1_
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```asn1
RadialShapeDetails ::= SEQUENCE {
    range                          StandardLength12b,
    horizontalOpeningAngleStart    CartesianAngleValue,
    horizontalOpeningAngleEnd      CartesianAngleValue,
    verticalOpeningAngleStart      CartesianAngleValue OPTIONAL,
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    verticalOpeningAngleEnd        CartesianAngleValue OPTIONAL
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}
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   ((WITH COMPONENTS {..., verticalOpeningAngleStart ABSENT, verticalOpeningAngleEnd ABSENT }) |
    (WITH COMPONENTS {..., verticalOpeningAngleStart PRESENT, verticalOpeningAngleEnd PRESENT }))
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```

### <a name="RectangularShape"></a>RectangularShape
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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. 
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 It shall include the following components:
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* _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. 
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* _semiLength_ of type [**StandardLength12b**](#StandardLength12b) <br>
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  represents half the length of the rectangle located in the X-Y Plane.
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* _semiBreadth_ of type [**StandardLength12b**](#StandardLength12b) <br>
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  represents half the breadth of the rectangle located in the X-Y Plane.
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* _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. 
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* _height_ of type [**StandardLength12b**](#StandardLength12b)  OPTIONAL<br>
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  represents the optional height, present if the shape is a right rectangular prism 
   with height extending in the positive Z-axis.
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&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** GeoReference information 
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&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1, centerPoint renamed to shapeReferencePoint, the type of the field orientation changed and description revised in V2.2.1_
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```asn1
RectangularShape ::= SEQUENCE { 
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    shapeReferencePoint   CartesianPosition3d OPTIONAL,
    semiLength            StandardLength12b,
    semiBreadth           StandardLength12b,
    orientation           CartesianAngleValue OPTIONAL,