ETSI-ITS-CDD.md

This DF represents a velocity vector with associated confidence value.

 The following options are available:

* _polarVelocity_ of type [**VelocityPolarWithZ**](#VelocityPolarWithZ) <br>
  the representation of the velocity vector in a polar or cylindrical coordinate system. 

* _cartesianVelocity_ of type [**VelocityCartesian**](#VelocityCartesian) <br>
  the representation of the velocity vector in a cartesian coordinate system.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Kinematic information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
Velocity3dWithConfidence::= CHOICE{
    polarVelocity          VelocityPolarWithZ, 
    cartesianVelocity      VelocityCartesian
}
```

### <a name="VelocityCartesian"></a>VelocityCartesian
This DF represents a velocity vector in a cartesian coordinate system.
 It shall include the following components:

* _xVelocity_ of type [**VelocityComponent**](#VelocityComponent) <br>
  the x component of the velocity vector with the associated confidence value.

* _yVelocity_ of type [**VelocityComponent**](#VelocityComponent) <br>
  the y component of the velocity vector with the associated confidence value.

* _zVelocity_ of type [**VelocityComponent**](#VelocityComponent)  OPTIONAL<br>
  the optional z component of the velocity vector with the associated confidence value.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Kinematic information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
VelocityCartesian::= SEQUENCE {
    xVelocity   VelocityComponent,
    yVelocity   VelocityComponent,
    zVelocity   VelocityComponent OPTIONAL
}
```

### <a name="VelocityComponent"></a>VelocityComponent
This DF represents a component of the velocity vector and the associated confidence value.

 It shall include the following components:

* _value_ of type [**VelocityComponentValue**](#VelocityComponentValue) <br>
  the value of the component.

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


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Kinematic information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V2.1.1_
```asn1
VelocityComponent ::= SEQUENCE {
    value         VelocityComponentValue,
    confidence    SpeedConfidence
}
```

### <a name="VelocityPolarWithZ"></a>VelocityPolarWithZ
This DF represents a velocity vector in a polar or cylindrical coordinate system.

 It shall include the following components:

* _velocityMagnitude_ of type [**Speed**](#Speed) <br>
  magnitude of the velocity vector on the reference plane, with the associated confidence value.

* _velocityDirection_ of type [**CartesianAngle**](#CartesianAngle) <br>
  polar angle of the velocity vector on the reference plane, with the associated confidence value.

* _zVelocity_ of type [**VelocityComponent**](#VelocityComponent)  OPTIONAL<br>
  the optional z component of the velocity vector along the reference axis of the cylindrical coordinate system, with the associated confidence value.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Kinematic information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
VelocityPolarWithZ::= SEQUENCE {
    velocityMagnitude    Speed, 
    velocityDirection    CartesianAngle,
    zVelocity            VelocityComponent OPTIONAL
}
```

### <a name="VruClusterInformation"></a>VruClusterInformation
This DF provides information about a VRU cluster.

 It shall include the following components:

* _clusterId_ of type [**Identifier1B**](#Identifier1B)  OPTIONAL<br>
  optional identifier of a VRU cluster .

* _clusterBoundingBoxShape_ of type [**Shape**](#Shape)  (WITH COMPONENTS{..., elliptical ABSENT, radial ABSENT, radialShapes ABSENT}) OPTIONAL<br>
  optionally indicates the shape of the cluster bounding box, per default inside an East-North-Up coordinate system 
   centered around a reference point defined outside of the context of this DF.

* _clusterCardinalitySize_ of type [**CardinalNumber1B**](#CardinalNumber1B) <br>
  indicates an estimation of the number of VRUs in the group, e.g. the known members in the cluster + 1 (for the cluster leader) .

* _clusterProfiles_ of type [**VruClusterProfiles**](#VruClusterProfiles)  OPTIONAL<br>
  optionally identifies all the VRU profile types that are estimated to be within the cluster.
   if this component is absent it means that the information is unavailable. 


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** VRU information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1, description revised in V2.2.1_
```asn1
VruClusterInformation ::= SEQUENCE { 
   clusterId                  Identifier1B OPTIONAL,
   clusterBoundingBoxShape    Shape (WITH COMPONENTS{..., elliptical ABSENT, radial ABSENT, radialShapes ABSENT}) OPTIONAL,
   clusterCardinalitySize     CardinalNumber1B,
   clusterProfiles            VruClusterProfiles OPTIONAL,
   ...
}
```

### <a name="VruExteriorLights"></a>VruExteriorLights
This DF represents the status of the exterior light switches of a VRU.
 This DF is an extension of the vehicular DE [**ExteriorLights**](#ExteriorLights).

 It shall include the following components:

* _vehicular_ of type [**ExteriorLights**](#ExteriorLights) <br>
  represents the status of the exterior light switches of a road vehicle.

* _vruSpecific_ of type [**VruSpecificExteriorLights**](#VruSpecificExteriorLights) <br>
  represents the status of the exterior light switches of a VRU.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** VRU information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _created in V2.1.1_
```asn1
VruExteriorLights ::= SEQUENCE {
   vehicular      ExteriorLights, 
   vruSpecific    VruSpecificExteriorLights,
   ...
}
```

### <a name="VruProfileAndSubprofile"></a>VruProfileAndSubprofile
This DF indicates the profile of a VRU including sub-profile information
 It identifies four options corresponding to the four types of VRU profiles specified in ETSI TS 103 300-2 [[18]](#references):

* _pedestrian_ of type [**VruSubProfilePedestrian**](#VruSubProfilePedestrian) <br>
  VRU Profile 1 - Pedestrian.

* _bicyclistAndLightVruVehicle_ of type [**VruSubProfileBicyclist**](#VruSubProfileBicyclist) <br>
  VRU Profile  2 - Bicyclist.

* _motorcyclist_ of type [**VruSubProfileMotorcyclist**](#VruSubProfileMotorcyclist) <br>
  VRU Profile 3  - Motorcyclist.

* _animal_ of type [**VruSubProfileAnimal**](#VruSubProfileAnimal) <br>
  VRU Profile  4 -  Animal.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** VRU information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
VruProfileAndSubprofile ::= CHOICE {
   pedestrian                     VruSubProfilePedestrian,
   bicyclistAndLightVruVehicle    VruSubProfileBicyclist,
   motorcyclist                   VruSubProfileMotorcyclist,
   animal                         VruSubProfileAnimal,
   ...
}
```

### <a name="Wgs84Angle"></a>Wgs84Angle
This DF represents an angular component along with a confidence value in the WGS84 coordinate system.
 The specific WGS84 coordinate system is specified by the corresponding standards applying this DE.

 It shall include the following components:

* _value_ of type [**Wgs84AngleValue**](#Wgs84AngleValue) <br>
  the angle value, which can be estimated as the mean of the current distribution.

* _confidence_ of type [**Wgs84AngleConfidence**](#Wgs84AngleConfidence) <br>
  the confidence value associated to the angle value.


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

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _Created in V2.1.1_
```asn1
Wgs84Angle ::= SEQUENCE {
    value         Wgs84AngleValue,
    confidence    Wgs84AngleConfidence
}
```

### <a name="YawRate"></a>YawRate
This DF represents a yaw rate of vehicle at a point in time.

 It shall include the following components:

* _yawRateValue_ of type [**YawRateValue**](#YawRateValue) <br>
  yaw rate value at a point in time.

* _yawRateConfidence_ of type [**YawRateConfidence**](#YawRateConfidence) <br>
  confidence value associated to the yaw rate value.


&nbsp;&nbsp;&nbsp;&nbsp;**Categories:** Vehicle Information 

&nbsp;&nbsp;&nbsp;&nbsp;**Revision:** _V1.3.1_
```asn1
YawRate::= SEQUENCE {
    yawRateValue         YawRateValue,
    yawRateConfidence    YawRateConfidence
}
```



## References:
 1.   ETSI TS 103 900: "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic Service; Release 2".
 2.   ETSI TS 103 831: "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 3: Specifications of Decentralized Environmental Notification Basic Service"; Release 2.
 3.   [European Agreement (Applicable as from 1 January 2011): "Concerning the International Carriage of Dangerous Goods by Road"](http://www.unece.org/trans/danger/publi/adr/adr2011/11ContentsE.html).
 4.   [United Nations: "Recommendations on the Transport of Dangerous Goods - Model Regulations", Twelfth revised edition](http://www.unece.org/trans/danger/publi/unrec/12_e.html).
 5.   ETSI TS 101 539-1: "Intelligent Transport Systems (ITS); V2X Applications; Part 1: Road Hazard Signalling (RHS) application requirements specification".
 6.   ISO 3779 (2011-07): "Road vehicles - Vehicle identification number (VIN) Content and structure".
 7.   VDV recommendation 420 (1992): "Technical Requirements for Automatic Vehicle Location / Control Systems - Radio Data Transmission (BON Version) with Supplement 1 and Supplement 2".
 8.   ISO 1176:1990: "Road vehicles - Masses - Vocabulary and codes".
 9.   ETSI TS 101 556-1: "Intelligent Transport Systems (ITS); Infrastructure to Vehicle Communication; Electric Vehicle Charging Spot Notification Specification".
 10.  ETSI TS 101 556-2: "Intelligent Transport Systems (ITS); Infrastructure to Vehicle Communication; Part 2: Communication system specification to support application requirements for Tyre Information System (TIS) and Tyre Pressure Gauge (TPG) interoperability".
 11.  ETSI TS 101 556-3: "Intelligent Transport Systems (ITS); Infrastructure to Vehicle Communications; Part 3: Communications system for the planning and reservation of EV energy supply using wireless networks".
 12.  ETSI TS 103 300-3: "Intelligent Transport Systems (ITS);  Vulnerable Road Users (VRU) awareness;  Part 3: Specification of VRU awareness basic service; Release 2"
 13.  ETSI TS 103 724: "Intelligent Transport Systems (ITS); Facilities layer  function; Interference Management Zone Message (IMZM); Release 2"
 14.	ETSI TS 102 792: "Intelligent Transport Systems (ITS); Mitigation techniques to avoid interference between European CEN Dedicated Short Range Communication (CEN DSRC) equipment and Intelligent Transport Systems (ITS) operating in the 5 GHz frequency range".
 15.	ETSI TS 103 301: "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Facilities layer protocols and communication requirements for infrastructure services; Release 2".
 16.	UNECE/TRANS/WP.29/78/Rev.4: "Consolidated Resolution on the Construction of Vehicles (R.E.3)".
 17.	ETSI EN 302 890-1: "Intelligent Transport Systems (ITS); Facilities layer function; Part 1: Services Announcement (SA) specification".
 18.	ETSI TS 103 300-2 "Intelligent Transport System (ITS); Vulnerable Road Users (VRU) awareness; Part 2: Functional  Architecture and Requirements definition; Release 2"
 19.	ETSI TS 103 175  "Intelligent Transport Systems (ITS); Cross  Layer DCC Management  Entity for operation in  the ITS G5A  and ITS G5B medium"
 20.	ETSI EN 302 571  "Intelligent Transport Systems (ITS); Radiocommunications equipment operating in the 5 855 MHz to 5 925 MHz frequency  band; Harmonised Standard  covering  the essential  requirements of article 3.2 of  Directive 2014/53/EU"
 21.	ISO 8855: "Road vehicles - Vehicle dynamics and road-holding ability - Vocabulary".
 22.  ISO 3833, "Road vehicles - Types - Terms and definitions".