ETSI-ITS-CDD.asn

 * @field drivingLaneStatus: this information is optional and shall be included if the information is known.
 * It indicates the open/closing status of driving lanes. 
 * For carriageways with more than 13 driving lanes, the drivingLaneStatus component shall not be present.
 * 
 * @category: Infrastructure information, Road topology information
 * @revision: Description revised in V2.1.1
 */
ClosedLanes ::= SEQUENCE {
    innerhardShoulderStatus    HardShoulderStatus OPTIONAL,
    outerhardShoulderStatus    HardShoulderStatus OPTIONAL,
    drivingLaneStatus          DrivingLaneStatus OPTIONAL,
    ...
}

/**
 * This DF provides information about the breakup of a cluster.
 *
 * It shall include the following components: 
 * 
 * @field clusterBreakupReason: indicates the reason for breakup.
 * 
 * @field breakupTime: indicates the time of breakup. 
 *
 * @category: Cluster Information
 * @revision: Created in V2.1.1
 */
ClusterBreakupInfo ::= SEQUENCE {
    clusterBreakupReason    ClusterBreakupReason,
    breakupTime             DeltaTimeQuarterSecond,
    ...
}

/**
 * This DF provides information about the joining of a cluster.
 *
 * It shall include the following components: 
 * 
 * @field clusterId: indicates the identifier of the cluster.
 * 
 * @field joinTime: indicates the time of joining. 
 *
 * @category: Cluster Information
 * @revision: Created in V2.1.1
 */
ClusterJoinInfo ::= SEQUENCE {
    clusterId    Identifier1B,
    joinTime     DeltaTimeQuarterSecond,
    ...
}

/**
 * The DF provides information about the leaving of a cluster.
 *
 * It shall include the following components: 
 * 
 * @field clusterId: indicates the cluster.
 * 
 * @field clusterLeaveReason: indicates the reason for leaving. 
 *
 * @category: Cluster Information
 * @revision: Created in V2.1.1
 */
ClusterLeaveInfo ::= SEQUENCE {
    clusterId             Identifier1B,
    clusterLeaveReason    ClusterLeaveReason,
    ...
}

/**
 * This DF represents a column of a lower triangular positive semi-definite matrix and consists of a list of correlation cell values ordered by rows.
 * Given a matrix "A" of size n x n, the number of columns to be included in the lower triangular matrix is k=n-1.
 * Each column "i" of the lower triangular matrix then contains k-(i-1) values (ordered by rows from 1 to n-1), where "i" refers to the column number count
 * starting at 1 from the left.
 *
 * @category: Sensing Information
 * @revision: Created in V2.1.1
*/
CorrelationColumn ::= SEQUENCE SIZE (1..13,...) OF CorrelationCellValue  

/**
 * This DF represents the curvature of the vehicle trajectory and the associated confidence value.
 * The curvature detected by a vehicle represents the curvature of actual vehicle trajectory.
 *
 * It shall include the following components: 
 * 
 * @field curvatureValue: Detected curvature of the vehicle trajectory.
 * 
 * @field curvatureConfidence: along with a confidence value of the curvature value with a predefined confidence level. 
 * 
 * @category: Vehicle information
 * @revision: Description revised in V2.1.1
 */
Curvature ::= SEQUENCE {
    curvatureValue         CurvatureValue,
    curvatureConfidence    CurvatureConfidence
}

/**
 * This DF provides a description of dangerous goods being carried by a heavy vehicle.
 *
 * It shall include the following components: 
 * 
 * @field dangerousGoodsType: Type of dangerous goods.
 * 
 * @field unNumber: a 4-digit number that identifies the substance of the dangerous goods as specified in
 * United Nations Recommendations on the Transport of Dangerous Goods - Model Regulations [4],
 * 
 * @field elevatedTemperature: whether the carried dangerous goods are transported at high temperature.
 * If yes, the value shall be set to TRUE,
 * 
 * @field tunnelsRestricted: whether the heavy vehicle carrying dangerous goods is restricted to enter tunnels.
 * If yes, the value shall be set to TRUE,
 * 
 * @field limitedQuantity: whether the carried dangerous goods are packed with limited quantity.
 * If yes, the value shall be set to TRUE,
 * 
 * @field emergencyActionCode: physical signage placard at the vehicle that carries information on how an emergency
 * service should deal with an incident. This component is optional; it shall be present if the information is available.
 * 
 * @field phoneNumber: contact phone number of assistance service in case of incident or accident.
 * This component is optional, it shall be present if the information is available.
 * 
 * @field companyName: name of company that manages the transportation of the dangerous goods.
 * This component is optional; it shall be present if the information is available.
 * 
 * @category Vehicle information
 * @revision: V1.3.1
 */
DangerousGoodsExtended ::= SEQUENCE {
    dangerousGoodsType      DangerousGoodsBasic,
    unNumber                INTEGER (0..9999),
    elevatedTemperature     BOOLEAN,
    tunnelsRestricted       BOOLEAN,
    limitedQuantity         BOOLEAN,
    emergencyActionCode     IA5String (SIZE (1..24)) OPTIONAL,
    phoneNumber             PhoneNumber OPTIONAL,
    companyName             UTF8String (SIZE (1..24)) OPTIONAL,
    ...
}

/**
 * This DF defines a geographical point position as a 3 dimensional offset position to a geographical reference point.
 *
 * It shall include the following components: 
 *
 * @field deltaLatitude: A delta latitude offset with regards to the latitude value of the reference position.
 *
 * @field deltaLongitude: A delta longitude offset with regards to the longitude value of the reference position.
 *
 * @field deltaAltitude: A delta altitude offset with regards to the altitude value of the reference position.
 *
 * @category: GeoReference information
 * @revision:  V1.3.1
 */
DeltaReferencePosition ::= SEQUENCE {
    deltaLatitude     DeltaLatitude,
    deltaLongitude    DeltaLongitude,
    deltaAltitude     DeltaAltitude
}

/**
 * This DF represents a portion of digital map. It shall contain a list of waypoints @ref ReferencePosition.
 * 
 * @category: GeoReference information
 * @revision:  V1.3.1
 */
DigitalMap ::= SEQUENCE (SIZE(1..256)) OF ReferencePosition 

/** 
 * 
 * This DF represents the shape of an elliptical area or right elliptical cylinder that is centred 
 * on the shape's reference point defined outside of the context of this DF and oriented w.r.t. a  
 * cartesian coordinate system defined outside of the context of this DF. 
 *
 * It shall include the following components: 
 * 
 * @field shapeReferencePoint: optional reference point which represents the centre of the ellipse, 
 * relative to an externally specified reference position. If this component is absent, the 
 * externally specified reference position represents the shape's reference point. 
 *
 * @field semiMajorAxisLength: half length of the major axis of the ellipse located in the X-Y Plane.
 * 
 * @field semiMinorAxisLength: half length of the minor axis of the ellipse located in the X-Y Plane.
 *
 * @field orientation: the optional orientation of the major axis of the ellipse, measured with 
 * positive values turning around the z-axis using the right-hand rule, starting from the X-axis. 
 * 
 * @field height: the optional height, present if the shape is a right elliptical cylinder extending 
 * in the positive Z-axis.
 *
 * @category: GeoReference information
 * @revision: Created in V2.1.1, the type of the field orientation changed and the description revised in V2.2.1
*/

EllipticalShape  ::= SEQUENCE {
    shapeReferencePoint    CartesianPosition3d OPTIONAL,
    semiMajorAxisLength    StandardLength12b,
    semiMinorAxisLength    StandardLength12b,
    orientation            CartesianAngleValue OPTIONAL,
    height                 StandardLength12b OPTIONAL
}

/** 
 * This DF represents the Euler angles which describe the orientation of an object bounding box in a Cartesian coordinate system with an associated confidence level for each angle.
 *
 * It shall include the following components: 
 *
 * @field zAngle: z-angle of object bounding box at the time of measurement, with the associated confidence.
 * The angle is measured with positive values considering the object orientation turning around the z-axis using the right-hand rule, starting from the x-axis. 
 * This extrinsic rotation shall be applied around the centre point of the object bounding box before all other rotations.
 *
 * @field yAngle: optional y-angle of object bounding box at the time of measurement, with the associated confidence.
 * The angle is measured with positive values considering the object orientation turning around the y-axis using the right-hand rule, starting from the z-axis. 
 * This extrinsic rotation shall be applied around the centre point of the object bounding box after the rotation by zAngle and before the rotation by xAngle.
 *
 * @field xAngle: optional x-angle of object bounding box at the time of measurement, with the associated confidence.
 * The angle is measured with positive values considering the object orientation turning around the x-axis using the right-hand rule, starting from the z-axis. 
 * This extrinsic rotation shall be applied around the centre point of the object bounding box after all other rotations.
 * 
 * @category: Basic information
 * @revision: Created in V2.1.1
*/
EulerAnglesWithConfidence ::= SEQUENCE {
    zAngle CartesianAngle,
    yAngle CartesianAngle OPTIONAL,
    xAngle CartesianAngle OPTIONAL
}

/** 
 * 
 * This DF represents a vehicle category according to the UNECE/TRANS/WP.29/78/Rev.4 [16].
 * The following options are available:
 * 
 * @field euVehicleCategoryL: indicates a vehicle in the L category.
 *
 * @field euVehicleCategoryM: indicates a vehicle in the M category.
 *
 * @field euVehicleCategoryN: indicates a vehicle in the N category.
 *
 * @field euVehicleCategoryO: indicates a vehicle in the O category.
 *
 * @field euVehicleCategoryT: indicates a vehicle in the T category.
 *
 * @field euVehicleCategoryG: indicates a vehicle in the G category.
 * 
 * @category: Vehicle information
 * @revision: Created in V2.1.1
*/
EuVehicleCategoryCode ::= CHOICE {
	euVehicleCategoryL    EuVehicleCategoryL,  
	euVehicleCategoryM    EuVehicleCategoryM,  
	euVehicleCategoryN    EuVehicleCategoryN,   
	euVehicleCategoryO    EuVehicleCategoryO,   
	euVehicleCategoryT    NULL,
	euVehicleCategoryG    NULL    
}

/**
 * The DF shall contain a list of @ref EventPoint.  
 *
 * The eventPosition of each @ref EventPoint is defined with respect to the previous @ref EventPoint in the list. 
 * Except for the first @ref EventPoint which is defined with respect to a position outside of the context of this DF.
 *
 * @category: GeoReference information, Traffic information
 * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use the @ref EventZone instead. 
 * @revision: Generalized the semantics in V2.1.1
 */
EventHistory::= SEQUENCE (SIZE(1..23)) OF EventPoint

/**
 * This DF provides information related to an event at a defined position.
 *
 * It shall include the following components: 
 * 
 * @field eventPosition: offset position of a detected event point to a defined position. 
 * 
 * @field eventDeltaTime: optional time travelled by the detecting ITS-S since the previous detected event point.
 * 
 * @field informationQuality: Information quality of the detection for this event point.
 * 
 * @category: GeoReference information, Traffic information
 * @revision: generalized the semantics in V2.1.1
 */
EventPoint ::= SEQUENCE {
    eventPosition         DeltaReferencePosition,
    eventDeltaTime        PathDeltaTime OPTIONAL,
    informationQuality    InformationQuality
}

/**
 * The DF shall contain a list of @ref EventPoint, where all @ref EventPoint either contain the COMPONENT eventDeltaTime 
 * or do not contain the COMPONENT eventDeltaTime.  
 *
 * The eventPosition of each @ref EventPoint is defined with respect to the previous @ref EventPoint in the list. 
 * Except for the first @ref EventPoint which is defined with respect to a position outside of the context of this DF.
 *
 * @category: GeoReference information, Traffic information
 * @revision: created in V2.1.1 based on EventHistory
 */
EventZone::= EventHistory
   ((WITH COMPONENT (WITH COMPONENTS {..., eventDeltaTime PRESENT})) |
    (WITH COMPONENT (WITH COMPONENTS {..., eventDeltaTime ABSENT})))

/** 
 * This DF indicates a geographical position.
 *
 * It shall include the following components: 
 *
 * @field latitude: the latitude of the geographical position.
 *
 * @field longitude: the longitude of the geographical position.
 *
 * @field altitude: the altitude of the geographical position with default value unavailable.
 *
*/ 
GeoPosition::= SEQUENCE{
	latitude   Latitude,
	longitude  Longitude,
    altitude   AltitudeValue DEFAULT unavailable
}

/**
 * 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 transversal position information with respect to the road, at an externally defined reference position. It shall contain a 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 provides the reference to the information contained in a IVIM according to ETSI TS 103 301 [15]. 
 *
 * It shall include the following components: 
 * 
 * @field serviceProviderId: identifier of the organization that provided the IVIM.
 *
 * @field iviIdentificationNumber: identifier of the IVIM, as assigned by the organization identified in serviceProviderId.
 *
 * @category: Communication information
 * @revision: Created in V2.2.1
 */
IvimReference::= SEQUENCE {
    serviceProviderId         Provider, 
    iviIdentificationNumber   IviIdentificationNumber
}

/**
 * This DF shall contain a list of @ref IvimReference.
 *
 * @category: Communication information
 * @revision: Created in V2.2.1
*/
IvimReferences::= SEQUENCE (SIZE(1..8,...)) OF IvimReference

/**
 * 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.
 *
 * @category Road topology information
 * @revision: direction added in V2.2.1
 */
LanePositionAndType::= SEQUENCE {
    transversalPosition    LanePosition,
    laneType               LaneType DEFAULT traffic,
    direction              Direction DEFAULT sameDirection,
    ...
}

/**
 * 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 extension of a carriageway or lane. 
 *
 * It shall include the following components: 
 *
 * @field  longitudinalLanePositionValue: the mean value of the longitudinal position along the carriageway or lane w.r.t. an externally defined start position.
 *
 * @field  longitudinalLanePositionConfidence: The confidence value associated to the value.
 *
 * @category: Road topology information
 * @revision: created in V2.1.1, description revised in V2.2.1
 */
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 V2.2.1
*/
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 measured from the start of the lane/connection, along the lane.
 * 
 * @category: Road topology information
 * @revision: Created in V2.1.1, definition of longitudinalLanePosition amended in V2.2.1
 */
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 DF shall contain a list of @ref MapReference.
 *
 * @category: Road topology information
 * @revision: Created in V2.2.1
*/
MapReferences::= SEQUENCE (SIZE(1..8,...)) OF MapReference


/**
 * 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.