ETSI-ITS-CDD.asn

}

/**
 * This DF represents the top-level DF to represent a lane position. A lane position is a transversal position on the carriageway at a specific longitudinal position, in resolution of lanes of the carriageway.
 *
 * @note: This DF is the most general way to represent a lane position: it provides a complete set of information regarding a transversal (dimensionless) position on the carriageway at a specific 
 * reference position, i.e. it provides different options and synonyms to represent the lane at which the reference position (the point) is located. A confidence is used to describe the probability 
 * that the object is located in the provided lane. The dimension of the object or extension of an area are not considered: See @ref OccupiedLanesWithConfidence for describing the occupation of lanes, 
 * where the dimensions of an object or the extension of an area is considered.
 *
 * It shall include the following components: 
 *
 * @field lanePositionBased: lane position information for a defined reference position.
 * 
 * @field mapBased: optional lane position information described in the context of a MAPEM as specified in ETSI TS 103 301 [15]. 
 * If present, it shall describe the same reference position using the lane identification in the MAPEM. This component can be used only if a MAPEM is available for the reference position 
 * (e.g. on an intersection): In this case it is used as a synonym to the mandatory component lanePositionBased. 
 * 
 * @field confidence: confidence information for expressing the probability that the object is located at the indicated lane.  
 * If the value of the component lanePositionBased is generated directly from the absolute reference position and reference topology information, 
 * no sensor shall be indicated in the component usedDetectionInformation of the @ref MetaInformation.
 *
 * @category: Road Topology information
 * @revision: newly created in V2.2.1. The previous DF GeneralizedLanePosition is now renamed to @ref LanePositionOptions. 
 */
GeneralizedLanePosition ::= SEQUENCE {
    lanePositionBased     LanePositionOptions,
    mapBased              MapPosition OPTIONAL,
    confidence            MetaInformation,
    ... 
}

/**
 * This DF represents set of up to `4` @ref GeneralizedLanePosition.
 * Multiple entries can be used to describe several lane positions with the associated confidence, in cases where the reference position cannot be mapped to a single lane.
 *
 * @category: Road Topology information
 * @revision: Created in V2.2.1
 */
GeneralizedLanePositions ::= SEQUENCE (SIZE(1..4)) OF GeneralizedLanePosition

/**
 * This DF represents the Heading in a WGS84 co-ordinates system.
 * The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
 *
 * It shall include the following components: 
 * 
 * @field headingValue: the heading value.
 * 
 * @field headingConfidence: the confidence value of the heading value with a predefined confidence level.
 * 
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use the @ref Wgs84Angle instead. 
 * @category: Kinematic Information
 * @revision: Description revised in V2.1.1
 */
Heading ::= SEQUENCE {
    headingValue         HeadingValue,
    headingConfidence    HeadingConfidence
}


/**
 * This DF  provides  information  associated to heading  change indicators  such as  a  change  of  direction.
 *
 * It shall include the following components: 
 * 
 * @field direction: the direction of heading change value.
 * 
 * @field actionDeltaTime: the period over which a direction change action is performed. 
 * 
 * @category: Kinematic Information
 * @revision: created in V2.1.1
 */
HeadingChangeIndication ::= SEQUENCE {
    direction          TurningDirection,
    actionDeltaTime    DeltaTimeTenthOfSecond,
    ...
}

/**
 * This DF represents a frequency channel 
 *
 * It shall include the following components: 
 *
 * @field centreFrequency: the centre frequency of the channel in 10^(exp+2) Hz (where exp is exponent)
 * 
 * @field channelWidth: width of the channel in 10^exp Hz (where exp is exponent)
 *
 * @field exponent: exponent of the power of 10 used in the calculation of the components above.
 *
 * @category: Communication information
 * @revision: created in V2.1.1
*/
InterferenceManagementChannel ::= SEQUENCE {
    centreFrequency    INTEGER (1 .. 99999),
    channelWidth       INTEGER (0 .. 9999),
    exponent           INTEGER (0 .. 15) 
}

/**
 * 
 * This DF represents a zone  inside which the ITS communication should be restricted in order to manage interference.
 *
 * It shall include the following components: 
 *
 * @field zoneDefinition: contains the geographical definition of the zone.
 *
 * @field managementInfo: contains interference management information applicable in the zone defined in the component zoneDefinition.
 *
 * @category: Communication information
 * @revision: created in V2.1.1
 */
InterferenceManagementZone ::= SEQUENCE {
	zoneDefinition    InterferenceManagementZoneDefinition,
	managementInfo    InterferenceManagementInfo
}

/**
 * This DF represents the geographical definition of the zone where band sharing occurs. 
 *
 * It shall include the following components: 
 *
 * @field interferenceManagementZoneLatitude: Latitude of the centre point of the interference management zone.
 *
 * @field interferenceManagementZoneLongitude: Longitude of the centre point of the interference management zone.
 *
 * @field interferenceManagementZoneId: optional identification of the interference management zone. 
 *
 * @field interferenceManagementZoneShape: shape of the interference management zone placed at the centre point. 
 *
 * @category: Communication information
 * @revision: created in V2.1.1
 */
InterferenceManagementZoneDefinition::= SEQUENCE{     
    interferenceManagementZoneLatitude     Latitude, 
    interferenceManagementZoneLongitude    Longitude, 
    interferenceManagementZoneId           ProtectedZoneId OPTIONAL,
    interferenceManagementZoneShape        Shape (WITH COMPONENTS{..., radial ABSENT, radialShapes ABSENT}) OPTIONAL,
    ...
}

/**
 * This DF shall contain a list of up to 16 definitions containing interference management information, per affected frequency channels.
 *  
 * @category: Communication information.
 * @revision: created in V2.1.1
 */
InterferenceManagementInfo::= SEQUENCE (SIZE(1..16,...)) OF InterferenceManagementInfoPerChannel


/**
 * This DF contains interference management information for one affected frequency channel.
 *
 * It shall include the following components: 
 *
 * @field interferenceManagementChannel: frequency channel for which the zone should be applied interference management 
 *
 * @field interferenceManagementZoneType: type of the interference management zone. 
 *
 * @field interferenceManagementMitigationType: optional type of the mitigation to be used in the interference management zone. 
 * In the case where no mitigation should be applied by the ITS-S, this is indicated by the field interferenceManagementMitigationType being absent.
 *
 * @field expiryTime: optional time at which the validity of the interference management communication zone will expire. 
 * This component is present when the interference management is temporarily valid
 *
 * @category: Communication information
 * @revision: created in V2.1.1
 */
InterferenceManagementInfoPerChannel ::= SEQUENCE {
    interferenceManagementChannel           InterferenceManagementChannel,
    interferenceManagementZoneType          InterferenceManagementZoneType,
    interferenceManagementMitigationType    MitigationForTechnologies OPTIONAL,
    expiryTime                              TimestampIts OPTIONAL, 
    ...
}

/**
 * This DF shall contain a list of up to 16 interference  management zones.  
 *
 * **EXAMPLE**: An interference management communication zone may be defined around a CEN DSRC road side equipment or an urban rail operational area.
 * 
 * @category: Communication information
 * @revision: created in V2.1.1
 */
InterferenceManagementZones ::= SEQUENCE (SIZE(1..16), ...) OF InterferenceManagementZone

/**
 * This DF represents a unique id for an intersection, in accordance with ETSI TS 103 301 [15].
 *
 * It shall include the following components: 
 *
 * @field region: the optional identifier of the entity that is responsible for the region in which the intersection is placed.
 * It is the duty of that entity to guarantee that the @ref Id is unique within the region.
 *
 * @field id: the identifier of the intersection
 *
 * @note: when the component region is present, the IntersectionReferenceId is guaranteed to be globally unique.
 * @category: Road topology information
 * @revision: created in V2.1.1
 */
IntersectionReferenceId ::= SEQUENCE {
    region    Identifier2B OPTIONAL,
    id        Identifier2B
}

/**
 * This DF shall contain  a list of waypoints @ref ReferencePosition.
 *
 * @category: GeoReference information
 * @revision: Editorial update in V2.1.1
 */
ItineraryPath ::= SEQUENCE SIZE(1..40) OF ReferencePosition

/**
 * This DF represents a common message header for application and facilities layer messages.
 * It is included at the beginning of an ITS message as the message header.
 *
 * It shall include the following components: 
 *
 * @field protocolVersion: version of the ITS message.
 *
 * @field messageId: type of the ITS message.
 *
 * @field stationId: the identifier of the ITS-S that generated the ITS message.
 *
 * @category: Communication information
 * @revision:  update in V2.1.1: messageID and stationID changed to messageId and stationId; messageId is of type MessageId.
 */
ItsPduHeader ::= SEQUENCE {
    protocolVersion    OrdinalNumber1B,
    messageId          MessageId,
    stationId          StationId
}

/**
 * This DF indicates a transversal position in resolution of lanes and other associated details.
 *
 * It shall include the following components: 
 * 
 * @field transversalPosition: the transversal position.
 * 
 * @field laneType: the type of the lane identified in the component transversalPosition. By default set to `traffic`.
 *
 * @field direction: the traffic direction for the lane position relative to a defined reference direction. By default set to `sameDirection`, i.e. following the reference direction.
 *
 * @field laneWidth: the width of the lane, optional.
 *
 * @category Road topology information
 * @revision: direction and laneWidth added in V2.2.1
 */
LanePositionAndType::= SEQUENCE {
    transversalPosition    LanePosition,
    laneType               LaneType DEFAULT traffic,
    direction              Direction DEFAULT sameDirection,
    laneWidth              LaneWidth OPTIONAL,
    ...
}

/**
 * This DF represents a set of options to describe a lane position and is the second level DF to represent a lane position. The top-level DFs are @ref GeneralizedLanePosition or @ref OccupiedLanesWithConfidence. 
 * A lane position is a transversal position on the carriageway at a specific longitudinal position, in resolution of lanes of the carriageway.
 *
 * The following options are available:
 *
 * @field simplelanePosition: a single lane position without any additional context information.
 *
 * @field simpleLaneType: a lane type, to be used when the lane position is unknown but the type of lane is known. This can be used in scenarios where a certain confidence about the used lane type is given 
 * but no or limited knowledge about the absolute lane number is available. For example, a cyclist on a cycle-lane or vehicles on a specific lane that is unique for the part of the road (e.g. a bus lane).
 * 
 * @field detailedlanePosition: a single lane position with additional lane details.
 * 
 * @field lanePositionWithLateralDetails: a single lane position with additional details and the lateral position within the lane.
 *
 * @field trafficIslandPosition: a position on a traffic island, i.e. between two lanes. 
 *
 * @category: Road Topology information
 * @revision: Created in V2.2.1 from the DF GeneralizedLanePosition of V2.1.1. 
 */
LanePositionOptions ::= CHOICE {
    simplelanePosition                   LanePosition,
    simpleLaneType                       LaneType,
    detailedlanePosition                 LanePositionAndType,
    lanePositionWithLateralDetails       LanePositionWithLateralDetails,
    trafficIslandPosition                TrafficIslandPosition,
    ...
}

/**
 * This DF is a third-level DF that represents a lane position and is an extended version of @ref LanePositionAndType that adds the distances to the left and right lane border.
 *
 * It shall additionally include the following components: 
 *
 * @field distanceToLeftBorder: the distance of the transversal position to the left lane border. The real value shall be rounded to the next lower encoding-value.
 *
 * @field distanceToRightBorder: the distance of the transversal position to the right lane border. The real value shall be rounded to the next lower encoding-value.
 * 
 * @category: Road Topology information
 * @revision: Created in V2.2.1
 */
LanePositionWithLateralDetails ::= SEQUENCE {
    COMPONENTS OF               LanePositionAndType,
    distanceToLeftBorder        StandardLength9b,
    distanceToRightBorder       StandardLength9b,
    ...
}

/**
 * This DF indicates the vehicle acceleration at lateral direction and the confidence value of the lateral acceleration.
 *
 * It shall include the following components: 
 * 
 * @field lateralAccelerationValue: lateral acceleration value at a point in time.
 * 
 * @field lateralAccelerationConfidence: confidence value of the lateral acceleration value.
 *
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref AccelerationComponent instead.
 * @category Vehicle information
 * @revision: Description revised in V2.1.1
 */
LateralAcceleration ::= SEQUENCE {
    lateralAccelerationValue         LateralAccelerationValue,
    lateralAccelerationConfidence    AccelerationConfidence
}

/**
 * This DF indicates the vehicle acceleration at longitudinal direction and the confidence value of the longitudinal acceleration.
 *
 * It shall include the following components: 
 *
 * @field longitudinalAccelerationValue: longitudinal acceleration value at a point in time.

 * @field longitudinalAccelerationConfidence: confidence value of the longitudinal acceleration value.
 *
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref AccelerationComponent instead. 
 * @category: Vehicle information
 * @revision: V1.3.1
 */
LongitudinalAcceleration ::= SEQUENCE {
    longitudinalAccelerationValue         LongitudinalAccelerationValue,
    longitudinalAccelerationConfidence    AccelerationConfidence
}

/** 
 * This DF represents the estimated position along the longitudinal length of a particular lane. 
 *
 * It shall include the following components: 
 *
 * @field  longitudinalLanePositionValue: the mean value of the longitudinal position within a particular length.
 *
 * @field  longitudinalLanePositionConfidence: The confidence value associated to the value.
 *
 * @category: Road topology information
 * @revision: created in V2.1.1
 */
LongitudinalLanePosition ::= SEQUENCE {
    longitudinalLanePositionValue         LongitudinalLanePositionValue,
    longitudinalLanePositionConfidence    LongitudinalLanePositionConfidence
}

/** 
 * This DF shall contain a list of a lower triangular positive semi-definite matrices.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
LowerTriangularPositiveSemidefiniteMatrices::= SEQUENCE SIZE (1..4) OF LowerTriangularPositiveSemidefiniteMatrix

/** 
 * This DF represents a lower triangular positive semi-definite matrix. 
 *
 * It shall include the following components: 
 *
 * @field componentsIncludedIntheMatrix: the indication of which components of a @ref 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".
 *
 * @field matrix: the list of cells of the lower triangular positive semi-definite matrix ordered by columns and by rows. 
 *
 * The number of columns to be included "k" is equal to the number of included components "n" indicated by componentsIncludedIntheMatrix minus 1: k = n-1.
 * These components shall be included in the order or their appearance in componentsIncludedIntheMatrix.
 * Each column "i" of the lowerTriangularCorrelationMatrixColumns contains k-(i-1) values.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
LowerTriangularPositiveSemidefiniteMatrix ::= SEQUENCE{
    componentsIncludedIntheMatrix   MatrixIncludedComponents,
    matrix                          LowerTriangularPositiveSemidefiniteMatrixColumns
}

/** 
 * This DF represents the columns of a lower triangular positive semi-definite matrix, each column not including the main diagonal cell of the matrix.
 * Given a matrix "A" of size n x n, the number of @ref CorrelationColumn to be included in the lower triangular matrix is k=n-1.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1, extension indicator added in V2.2.1
*/
LowerTriangularPositiveSemidefiniteMatrixColumns ::= SEQUENCE SIZE (1..13,...) OF CorrelationColumn

/** 
 * This DF provides information about the configuration of a road section in terms of MAPEM lanes or connections using a list of @ref MapemExtractedElementReference. 

 * @category: Road topology information
 * @revision: Created in V2.2.1
*/
MapemConfiguration::= SEQUENCE(SIZE(1..16,...)) OF MapemElementReference

/** 
 * This DF provides references to an element described in a MAPEM according to ETSI TS 103 301 [i.15], such as a lane or connection at a specific intersection or road segment. 
 * 
 * It shall include the following components: 
 * 
 * @field mapReference: the optional reference to a MAPEM that describes the intersection or road segment. It is absent if the MAPEM topology is known from the context.
 * 
 * @field laneIds: the optional list of the identifiers of the lanes to be referenced. 
 * 
 * @field connectionIds: the optional list of the identifiers of the connections to be referenced. 
 *
 * @category: Road topology information
 * @revision: Created in V2.2.1
*/

MapemElementReference::= SEQUENCE {
  mapReference      MapReference OPTIONAL,
  laneIds           MapemLaneList  OPTIONAL,
  connectionIds	    MapemConnectionList  OPTIONAL,		
  ...
} 
((WITH COMPONENTS {..., laneIds PRESENT}) |
 (WITH COMPONENTS {..., connectionIds PRESENT }))

/** 
 * This DF provides references to MAPEM lanes using a list of @ref Identifier1B.
 *
 * @category: Road topology information
 * @revision: Created in 2.2.1
*/
MapemLaneList ::=  SEQUENCE (SIZE(1..8,...)) OF Identifier1B


/** 
 * This DF provides references to MAPEM connections using a list of @ref Identifier1B.
 * Note: connections are  allowed “maneuvers” (e.g. an ingress / egress relation) on an intersection.
 *
 * @category: Road topology information
 * @revision: Created in ?2.2.1
*/
MapemConnectionList ::=  SEQUENCE (SIZE(1..8,...)) OF Identifier1B

/**
 * This DF indicates a position on a topology description transmitted in a MAPEM according to ETSI TS 103 301 [15].
 *
 * It shall include the following components: 
 * 
 * @field mapReference: optionally identifies the MAPEM containing the topology information.
 * It is absent if the MAPEM topology is known from the context.
 * 
 * @field laneId: optionally identifies the lane in the road segment or intersection topology on which the position is located.
 *
 * @field connectionId: 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.
 *
 * @field longitudinalLanePosition: optionally indicates the longitudinal offset of the map-matched position of the object along the lane or connection.
 * 
 * @category: Road topology information
 * @revision: Created in V2.1.1
 */
MapPosition ::= SEQUENCE {
    mapReference                MapReference OPTIONAL,
    laneId                      Identifier1B OPTIONAL,
    connectionId                Identifier1B OPTIONAL, 
    longitudinalLanePosition    LongitudinalLanePosition OPTIONAL,
    ...
}
   ((WITH COMPONENTS {..., laneId PRESENT, connectionId ABSENT }) |
    (WITH COMPONENTS {..., laneId ABSENT, connectionId PRESENT }))

/**
 * This DF provides the reference to the information contained in a MAPEM according to ETSI TS 103 301 [15]. 
 *
 * The following options are provided:
 * 
 * @field roadsegment: option that identifies the description of a road segment contained in a MAPEM.
 * 
 * @field intersection: option that identifies the description of an intersection contained in a MAPEM.
 *
 * @category: Road topology information
 * @revision: Created in V2.1.1
 */
MapReference::= CHOICE {
	roadsegment     RoadSegmentReferenceId,
	intersection    IntersectionReferenceId
	}

/**
 * This DE indicates a message rate.
 *
 * @field mantissa: indicates the mantissa.
 *
 * @field exponent: indicates the exponent.
 *
 * The specified message rate is: mantissa*(10^exponent) 
 *
 * @unit: Hz
 * @category: Communication information
 * @revision: Created in V2.1.1
 */
MessageRateHz::= SEQUENCE {
    mantissa    INTEGER (1..100),
    exponent    INTEGER (-5..2)
    }

/**
 * This DF provides information about a message with respect to the segmentation process on facility layer at the sender.
 *
 * It shall include the following components: 
 * 
 * @field totalMsgNo: indicates the total number of messages that have been assembled on the transmitter side to encode the information 
 * during the same messsage generation process.
 *
 * @field thisMsgNo: indicates the position of the message within of the total set of messages generated during the same message generation process.
 *
 * @category: Communication information
 * @revision: Created in V2.1.1, description revised in V2.2.1
 */
MessageSegmentationInfo ::= SEQUENCE {
    totalMsgNo  CardinalNumber3b,
    thisMsgNo   OrdinalNumber3b
    }

/** 
 * This DF provides information about the source of and confidence in information.
 *
 * It shall include the following components: 
 * 
 * @field usedDetectionInformation: the type of sensor(s) that is used to provide the detection information.
 * 
 * @field usedStoredInformation: the type of source of the stored information 
 *
 * @field confidenceValue: an optional confidence value associated to the information. 
 * 
 * @category: Basic information
 * @revision: Created in V2.2.1
*/
MetaInformation::=SEQUENCE{		
  usedDetectionInformation   SensorTypes, 
  usedStoredInformation      StoredInformationType,
  confidenceValue            ConfidenceLevel OPTIONAL,
  ...
}

/**
 * This DF shall contain a list of @ref MitigationPerTechnologyClass.
 *
 * @category: Communication information
 * @revision: Created in V2.1.1
*/
MitigationForTechnologies ::= SEQUENCE (SIZE(1..8)) OF MitigationPerTechnologyClass 

/**
 * This DF represents a set of mitigation parameters for a specific technology, as specified in ETSI TS 103 724 [24], clause 7.
 *
 * It shall include the following components: 
 *
 * @field accessTechnologyClass:  channel access technology to which this mitigation is intended to be applied.
 *
 * @field lowDutyCycle: duty cycle limit.
 * @unit: 0,01 % steps
 *
 * @field powerReduction: the delta value of power to be reduced.
 * @unit: dB
 *
 * @field dmcToffLimit: idle time limit as defined in ETSI TS 103 175 [19].
 * @unit: ms
 *
 * @field dmcTonLimit: Transmission duration limit, as defined in ETSI EN 302 571 [20].
 * @unit: ms
 *
 * @note: 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], clause 7. 
 *
 * @category: Communication information
 * @revision: Created in V2.1.1
 */
MitigationPerTechnologyClass ::= SEQUENCE {
   accessTechnologyClass    AccessTechnologyClass, 
   lowDutyCycle             INTEGER (0 .. 10000) OPTIONAL, 
   powerReduction           INTEGER (0 .. 30) OPTIONAL,
   dmcToffLimit             INTEGER (0 .. 1200) OPTIONAL,   
   dmcTonLimit              INTEGER (0 .. 20) OPTIONAL,   
   ...
}

/** 
 * This DF indicates both the class and associated subclass that best describes an object.
 *
 * The following options are available:
 *
 * @field vehicleSubClass: the object is a road vehicle and the specific subclass is specified.
 *
 * @field vruSubClass: the object is a VRU and the specific subclass is specified.
 *
 * @field groupSubClass: the object is a VRU group or cluster and the cluster information is specified.
 *
 * @field otherSubClass: the object is of a different type than the above and the specific subclass is specified.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
 */
ObjectClass ::= CHOICE {
    vehicleSubClass      TrafficParticipantType (unknown|passengerCar..tram|agricultural),
    vruSubClass          VruProfileAndSubprofile,
    groupSubClass        VruClusterInformation (WITH COMPONENTS{..., clusterBoundingBoxShape ABSENT}),
    otherSubClass        OtherSubClass,
    ...
}

/** 
 * This DF shall contain a list of object classes.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClassWithConfidence

/** 
 * This DF represents the classification of a detected object together with a confidence level.
 *
 * It shall include the following components: 
 *
 * @field objectClass: the class of the object.
 *
 * @field Confidence: the associated confidence level.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
ObjectClassWithConfidence ::= SEQUENCE {
    objectClass    ObjectClass,
    confidence     ConfidenceLevel
}

/** 
 * This DF represents a dimension of an object together with a confidence value.
 *
 * It shall include the following components: 
 * 
 * @field value: the object dimension value which can be estimated as the mean of the current distribution.
 *
 * @field confidence: the associated confidence value.
 *
 * @category: Sensing information
 * @revision: Created in V2.1.1
*/
ObjectDimension ::= SEQUENCE {
    value         ObjectDimensionValue,
    confidence    ObjectDimensionConfidence
}

/**
 * This DF represents a set of lanes which are partially or fully occupied by an object or event. 
 *
 * @note: In contrast to @ref 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. 
 *
 * It shall include the following components: 
 *
 * @field lanePositionBased: a set of up to `4` lanes that are partially or fully occupied by an object or event, ordered by increasing value of @ref LanePosition. 
 * Lanes that are partially occupied can be described using the component lanePositionWithLateralDetails of @ref  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 @ref 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.
 * 
 * @field mapBased: optional lane information described in the context of a MAPEM as specified in ETSI TS 103 301 [15]. 
 * 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. 
 *
 * @field confidence: 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.
 *
 * @category: Road Topology information
 * @revision: Created in V2.2.1
 */
OccupiedLanesWithConfidence::= SEQUENCE {
    lanePositionBased     SEQUENCE (SIZE(1..4)) OF LanePositionOptions,
    mapBased              SEQUENCE (SIZE(1..4)) OF MapPosition  OPTIONAL,
    confidence            MetaInformation,
    ... 
}

/**
 * This DF represents a path with a set of path points.
 * It shall contain up to `40` @ref 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. 
 *
 * @category: GeoReference information, Vehicle information
 * @revision: created in V2.1.1 based on PathHistory
 */
Path::= SEQUENCE (SIZE(0..40)) OF PathPoint

/**
 * This DF represents a path history with a set of path points.
 * It shall contain up to `40` @ref 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. 
 *
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use @ref Path instead.
 * @category: GeoReference information, Vehicle information
 * @revision: semantics updated in V2.1.1, size corrected to 0..40 in V2.2.1
 */
PathHistory::= SEQUENCE (SIZE(0..40)) OF PathPoint

/**
 * This DF represents a predicted path with a set of path points.
 * It shall contain up to `15` @ref 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. 
 *
 * @category: GeoReference information
 * @revision: created in V2.1.1 
 */
PathPredicted::= SEQUENCE (SIZE(0..15,...)) OF PathPointPredicted

/**
 * This DF defines an offset waypoint position within a path.
 *
 * It shall include the following components: 
 *
 * @field pathPosition: The waypoint position defined as an offset position with regards to a pre-defined reference position. 
 *
 * @field pathDeltaTime: The optional travel time separated from a waypoint to the predefined reference position.
 *
 * @category GeoReference information
 * @revision: semantics updated in V2.1.1
 */
PathPoint ::= SEQUENCE {
    pathPosition     DeltaReferencePosition,
    pathDeltaTime    PathDeltaTime OPTIONAL
}

/**
 * This DF defines a predicted offset waypoint position within a path.
 *
 * It shall include the following components: 
 *
 * @field deltaLatitude: an offset latitude with regards to a pre-defined reference position. 
 *
 * @field deltaLongitude: an offset longitude with regards to a pre-defined reference position. 
 * 
 * @field horizontalPositionConfidence: the confidence value associated to the horizontal geographical position.
 *
 * @field deltaAltitude: an offset altitude with regards to a pre-defined reference position. 
 *
 * @field altitudeConfidence: the confidence value associated to the altitude value of the geographical position.
 * 
 * @field pathDeltaTime: The  travel time separated from the waypoint to the predefined reference position.
 *
 * @category GeoReference information
 * @revision: semantics updated in V2.1.1
 */
PathPointPredicted::= SEQUENCE {
  deltaLatitude                 DeltaLatitude,      
  deltaLongitude                DeltaLongitude, 
  horizontalPositionConfidence  PosConfidenceEllipse OPTIONAL,   
  deltaAltitude                 DeltaAltitude DEFAULT unavailable, 
  altitudeConfidence            AltitudeConfidence DEFAULT unavailable,
  pathDeltaTime                 DeltaTimeTenthOfSecond,
  ... 
}

/** 
 * 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: 
 *
 * @field objectId: optional identifier assigned to a detected object.
 *
 * @field measurementDeltaTime: the time difference from a reference time to the time of the  measurement of the object. 
 * Negative values indicate that the provided object state refers to a point in time before the reference time.
 *
 * @field position: the position of the geometric centre of the object's bounding box within the pre-defined coordinate system.
 *
 * @field velocity: the velocity vector of the object within the pre-defined coordinate system.
 *
 * @field acceleration: the acceleration vector of the object within the pre-defined coordinate system.
 *
 * @field angles: optional Euler angles of the object bounding box at the time of measurement. 
 * 
 * @field zAngularVelocity: optional angular velocity of the object around the z-axis at the time of measurement.
 * The angular velocity is measured with positive values considering the object orientation turning around the z-axis using the right-hand rule.
 *
 * @field lowerTriangularCorrelationMatrices: optional set of lower triangular correlation matrices for selected components of the provided kinematic state and attitude vector.
 *
 * @field objectDimensionZ: optional z-dimension of object bounding box. 
 * This dimension shall be measured along the direction of the z-axis after all the rotations have been applied. 
 *
 * @field objectDimensionY: optional y-dimension of the object bounding box. 
 * This dimension shall be measured along the direction of the y-axis after all the rotations have been applied. 
 *
 * @field objectDimensionX: optional x-dimension of object bounding box.
 * This dimension shall be measured along the direction of the x-axis after all the rotations have been applied.
 * 
 * @field objectAge: optional age of the detected and described object, i.e. the difference in time between the moment 
 * it has been first detected and the reference time of the message. Value `1500` indicates that the object has been observed for more than 1.5s.
 *
 * @field objectPerceptionQuality: optional confidence associated to the object. 
 *
 * @field sensorIdList: optional list of sensor-IDs which provided the measurement data. 
 *
 * @field classification: optional classification of the described object
 *
 * @field matchedPosition: optional map-matched position of an object.
 *
 * @category Sensing information
 * @revision: created in V2.1.1
 */
PerceivedObject ::= SEQUENCE {
    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,
    ...
}

/** 
 * This DF represents the shape of a polygonal area or of a right prism.
 *
 * It shall include the following components: 
 *
 * @field shapeReferencePoint: the optional reference point used for the definition of the shape, relative to an externally specified reference position. 
 * If this component is absent, the externally specified reference position represents the shape's reference point. 
 *
 * @field polygon: the polygonal area represented by a list of minimum `3` to maximum `16` @ref CartesianPosition3d.
 * All nodes of the polygon shall be considered relative to the shape's reference point.
 *
 * @field height: the optional height, present if the shape is a right prism extending in the positive z-axis.
 * 
 * @category GeoReference information
 * @revision: created in V2.1.1
 *
 */
PolygonalShape ::= SEQUENCE {
   shapeReferencePoint    CartesianPosition3d OPTIONAL,
   polygon                SequenceOfCartesianPosition3d (SIZE(3..16,...)),
   height                 StandardLength12b OPTIONAL
}

/**
 * This DF indicates the horizontal position confidence ellipse which represents the estimated accuracy with a 
 * confidence level of 95  %. The centre of the ellipse shape corresponds to the reference
 * position point for which the position accuracy is evaluated.
 *
 * It shall include the following components: 
 *
 * @field semiMajorConfidence: half of length of the major axis, i.e. distance between the centre point
 * and major axis point of the position accuracy ellipse. 
 *
 * @field semiMinorConfidence: half of length of the minor axis, i.e. distance between the centre point
 * and minor axis point of the position accuracy ellipse. 
 *
 * @field semiMajorOrientation: orientation direction of the ellipse major axis of the position accuracy
 * ellipse with regards to the WGS84 north. 
 * The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
 *
 *
 * @category GeoReference information
 * @revision: V1.3.1
 */
PosConfidenceEllipse ::= SEQUENCE {
    semiMajorConfidence     SemiAxisLength,
    semiMinorConfidence     SemiAxisLength,
    semiMajorOrientation    HeadingValue
}

/**
 * This DF indicates the horizontal position confidence ellipse which represents the estimated accuracy with a 
 * confidence level of 95 %. The centre of the ellipse shape corresponds to the reference
 * position point for which the position accuracy is evaluated.
 *
 * It shall include the following components: 
 *
 * @field semiMajorAxisLength: half of length of the major axis, i.e. distance between the centre point
 * and major axis point of the position accuracy ellipse. 
 *
 * @field semiMinorAxisLength: half of length of the minor axis, i.e. distance between the centre point
 * and minor axis point of the position accuracy ellipse. 
 *
 * @field semiMajorAxisOrientation: orientation direction of the ellipse major axis of the position accuracy
 * ellipse with regards to the WGS84 north. 
 * The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.
 *
 * @category GeoReference information
 * @revision: created in V2.1.1 based on @ref PosConfidenceEllipse
 */
PositionConfidenceEllipse ::= SEQUENCE {
    semiMajorAxisLength         SemiAxisLength,
    semiMinorAxisLength         SemiAxisLength,
    semiMajorAxisOrientation    Wgs84AngleValue
}

/**
 * This DF shall contain a list of distances @ref PosPillar that refer to the perpendicular distance between centre of vehicle front bumper
 * and vehicle pillar A, between neighbour pillars until the last pillar of the vehicle.
 *
 * Vehicle pillars refer to the vertical or near vertical support of vehicle,
 * designated respectively as the A, B, C or D and other pillars moving in side profile view from the front to rear.
 * 
 * The first value of the DF refers to the perpendicular distance from the centre of vehicle front bumper to 
 * vehicle A pillar. The second value refers to the perpendicular distance from the centre position of A pillar
 * to the B pillar of vehicle and so on until the last pillar.
 *
 * @category: Vehicle information
 * @revision: V1.3.1
 */
PositionOfPillars ::= SEQUENCE (SIZE(1..3, ...)) OF PosPillar

/**
 * This DF describes a zone of protection inside which the ITS communication should be restricted.
 *
 * It shall include the following components: 
 * 
 * @field protectedZoneType: type of the protected zone. 
 * 
 * @field expiryTime: optional time at which the validity of the protected communication zone will expire.
 * 
 * @field protectedZoneLatitude: latitude of the centre point of the protected communication zone.
 * 
 * @field protectedZoneLongitude: longitude of the centre point of the protected communication zone.
 * 
 * @field protectedZoneRadius: optional radius of the protected communication zone in metres.
 * 
 * @field protectedZoneId: the optional ID of the protected communication zone.
 * 
 * @note: A protected communication zone may be defined around a CEN DSRC road side equipment.
 * 
 * @category: Infrastructure information, Communication information
 * @revision: revised in V2.1.1 (changed protectedZoneID to protectedZoneId)
 */
ProtectedCommunicationZone ::= SEQUENCE {
    protectedZoneType         ProtectedZoneType,
    expiryTime                TimestampIts OPTIONAL,
    protectedZoneLatitude     Latitude,
    protectedZoneLongitude    Longitude,
    protectedZoneRadius       ProtectedZoneRadius OPTIONAL,
    protectedZoneId           ProtectedZoneId OPTIONAL,
    ...
}

/**
 * This DF shall contain a list of @ref ProtectedCommunicationZone provided by a road side ITS-S (Road Side Unit RSU).
 *
 * It may provide up to 16 protected communication zones information.
 *
 * @category: Infrastructure information, Communication information
 * @revision: V1.3.1
 */
ProtectedCommunicationZonesRSU ::= SEQUENCE (SIZE(1..16)) OF ProtectedCommunicationZone 

/**
 * This DF represents activation data for real-time systems designed for operations control, traffic light priorities, track switches, barriers, etc.
 * using a range of activation devices equipped in public transport vehicles.
 *
 * The activation of the corresponding equipment is triggered by the approach or passage of a public transport
 * vehicle at a certain point (e.g. a beacon).
 *
 * @field ptActivationType: type of activation. 
 *
 * @field ptActicationData: data of activation. 
 *
 * Today there are different payload variants defined for public transport activation-data. The R09.x is one of
 * the industry standard used by public transport vehicles (e.g. buses, trams) in Europe (e.g. Germany Austria)
 * for controlling traffic lights, barriers, bollards, etc. This DF shall include information like route, course,
 * destination, priority, etc.
 * 
 * The R09.x content is defined in VDV recommendation 420 [7]. It includes following information:
 * - Priority Request Information (pre-request, request, ready to start)
 * - End of Prioritization procedure
 * - Priority request direction
 * - Public Transport line number
 * - Priority of public transport
 * - Route line identifier of the public transport
 * - Route number identification
 * - Destination of public transport vehicle
 *