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docs/CAM-PDU-Descriptions.md

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# ASN.1 module CAM-PDU-Descriptions

 OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) en (302637) cam (2) version (2) }_



## Imports:

 * **[ITS-Container](ITS-Container.md)** *{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }*<br/>



## Data Elements:

### <a name="CAM"></a>CAM



Fields:

* header [**ItsPduHeader**](ITS-Container.md#ItsPduHeader) <br>

* cam [**CoopAwareness**](#CoopAwareness) <br>

```asn1

CAM ::= SEQUENCE {

	header ItsPduHeader,

	cam CoopAwareness

}

```



### <a name="CoopAwareness"></a>CoopAwareness



Fields:

* generationDeltaTime [**GenerationDeltaTime**](CAM-PDU-Descriptions.md#GenerationDeltaTime) <br>

* camParameters [**CamParameters**](#CamParameters) <br>

```asn1

CoopAwareness ::= SEQUENCE {

	generationDeltaTime GenerationDeltaTime,

	camParameters CamParameters

}

```



### <a name="CamParameters"></a>CamParameters



Fields:

* basicContainer [**BasicContainer**](#BasicContainer) <br>

* highFrequencyContainer [**HighFrequencyContainer**](#HighFrequencyContainer) <br>

* lowFrequencyContainer [**LowFrequencyContainer**](#LowFrequencyContainer)  OPTIONAL<br>

* specialVehicleContainer [**SpecialVehicleContainer**](#SpecialVehicleContainer)  OPTIONAL<br>

```asn1

CamParameters ::= SEQUENCE {

	basicContainer BasicContainer,

	highFrequencyContainer HighFrequencyContainer,

	lowFrequencyContainer LowFrequencyContainer OPTIONAL,

	specialVehicleContainer SpecialVehicleContainer OPTIONAL,

	...

}

```



### <a name="HighFrequencyContainer"></a>HighFrequencyContainer



Fields:

* basicVehicleContainerHighFrequency [**BasicVehicleContainerHighFrequency**](#BasicVehicleContainerHighFrequency) <br>

* rsuContainerHighFrequency [**RSUContainerHighFrequency**](#RSUContainerHighFrequency) <br>

```asn1

HighFrequencyContainer ::= CHOICE {

	basicVehicleContainerHighFrequency BasicVehicleContainerHighFrequency,

	rsuContainerHighFrequency RSUContainerHighFrequency,

	...

}

```



### <a name="LowFrequencyContainer"></a>LowFrequencyContainer



Fields:

* basicVehicleContainerLowFrequency [**BasicVehicleContainerLowFrequency**](#BasicVehicleContainerLowFrequency) <br>

```asn1

LowFrequencyContainer ::= CHOICE {

  basicVehicleContainerLowFrequency BasicVehicleContainerLowFrequency,

	...

}

```



### <a name="SpecialVehicleContainer"></a>SpecialVehicleContainer



Fields:

* publicTransportContainer [**PublicTransportContainer**](#PublicTransportContainer) <br>

* specialTransportContainer [**SpecialTransportContainer**](#SpecialTransportContainer) <br>

* dangerousGoodsContainer [**DangerousGoodsContainer**](#DangerousGoodsContainer) <br>

* roadWorksContainerBasic [**RoadWorksContainerBasic**](#RoadWorksContainerBasic) <br>

* rescueContainer [**RescueContainer**](#RescueContainer) <br>

* emergencyContainer [**EmergencyContainer**](#EmergencyContainer) <br>

* safetyCarContainer [**SafetyCarContainer**](#SafetyCarContainer) <br>

```asn1

SpecialVehicleContainer ::= CHOICE {

	publicTransportContainer PublicTransportContainer,

	specialTransportContainer SpecialTransportContainer,

	dangerousGoodsContainer DangerousGoodsContainer,

	roadWorksContainerBasic RoadWorksContainerBasic,

	rescueContainer RescueContainer,

	emergencyContainer EmergencyContainer,

	safetyCarContainer SafetyCarContainer,

	...

}

```



### <a name="BasicContainer"></a>BasicContainer



Fields:

* stationType [**StationType**](ITS-Container.md#StationType) <br>

* referencePosition [**ReferencePosition**](ITS-Container.md#ReferencePosition) <br>

```asn1

BasicContainer ::= SEQUENCE {

	stationType StationType,

	referencePosition ReferencePosition,

	...

}

```



### <a name="BasicVehicleContainerHighFrequency"></a>BasicVehicleContainerHighFrequency



Fields:

* heading [**Heading**](ITS-Container.md#Heading) <br>

* speed [**Speed**](ITS-Container.md#Speed) <br>

* driveDirection [**DriveDirection**](ITS-Container.md#DriveDirection) <br>

* vehicleLength [**VehicleLength**](ITS-Container.md#VehicleLength) <br>

* vehicleWidth [**VehicleWidth**](ITS-Container.md#VehicleWidth) <br>

* longitudinalAcceleration [**LongitudinalAcceleration**](ITS-Container.md#LongitudinalAcceleration) <br>

* curvature [**Curvature**](ITS-Container.md#Curvature) <br>

* curvatureCalculationMode [**CurvatureCalculationMode**](ITS-Container.md#CurvatureCalculationMode) <br>

* yawRate [**YawRate**](ITS-Container.md#YawRate) <br>

* accelerationControl [**AccelerationControl**](ITS-Container.md#AccelerationControl)  OPTIONAL<br>

* lanePosition [**LanePosition**](ITS-Container.md#LanePosition)  OPTIONAL<br>

* steeringWheelAngle [**SteeringWheelAngle**](ITS-Container.md#SteeringWheelAngle)  OPTIONAL<br>

* lateralAcceleration [**LateralAcceleration**](ITS-Container.md#LateralAcceleration)  OPTIONAL<br>

* verticalAcceleration [**VerticalAcceleration**](ITS-Container.md#VerticalAcceleration)  OPTIONAL<br>

* performanceClass [**PerformanceClass**](ITS-Container.md#PerformanceClass)  OPTIONAL<br>

* cenDsrcTollingZone [**CenDsrcTollingZone**](ITS-Container.md#CenDsrcTollingZone)  OPTIONAL<br>

```asn1

BasicVehicleContainerHighFrequency ::= SEQUENCE {

	heading Heading,

	speed Speed,

	driveDirection DriveDirection,

	vehicleLength VehicleLength,

	vehicleWidth VehicleWidth,

	longitudinalAcceleration LongitudinalAcceleration,

	curvature Curvature,

	curvatureCalculationMode CurvatureCalculationMode,

	yawRate YawRate,

	accelerationControl AccelerationControl OPTIONAL,

	lanePosition LanePosition OPTIONAL,

	steeringWheelAngle SteeringWheelAngle OPTIONAL,

	lateralAcceleration LateralAcceleration OPTIONAL,

	verticalAcceleration VerticalAcceleration OPTIONAL,

	performanceClass PerformanceClass OPTIONAL,

	cenDsrcTollingZone CenDsrcTollingZone OPTIONAL

}

```



### <a name="BasicVehicleContainerLowFrequency"></a>BasicVehicleContainerLowFrequency



Fields:

* vehicleRole [**VehicleRole**](ITS-Container.md#VehicleRole) <br>

* exteriorLights [**ExteriorLights**](ITS-Container.md#ExteriorLights) <br>

* pathHistory [**PathHistory**](ITS-Container.md#PathHistory) <br>

```asn1

BasicVehicleContainerLowFrequency  ::= SEQUENCE {

	vehicleRole VehicleRole,

	exteriorLights ExteriorLights,

	pathHistory PathHistory

}

```



### <a name="PublicTransportContainer"></a>PublicTransportContainer



Fields:

* embarkationStatus [**EmbarkationStatus**](ITS-Container.md#EmbarkationStatus) <br>

* ptActivation [**PtActivation**](ITS-Container.md#PtActivation)  OPTIONAL<br>

```asn1

PublicTransportContainer ::= SEQUENCE {

	embarkationStatus EmbarkationStatus,

	ptActivation PtActivation OPTIONAL

}

```



### <a name="SpecialTransportContainer"></a>SpecialTransportContainer



Fields:

* specialTransportType [**SpecialTransportType**](ITS-Container.md#SpecialTransportType) <br>

* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>

```asn1

SpecialTransportContainer ::= SEQUENCE {

	specialTransportType SpecialTransportType,

	lightBarSirenInUse LightBarSirenInUse

}

```



### <a name="DangerousGoodsContainer"></a>DangerousGoodsContainer



Fields:

* dangerousGoodsBasic [**DangerousGoodsBasic**](ITS-Container.md#DangerousGoodsBasic) <br>

```asn1

DangerousGoodsContainer ::= SEQUENCE {

  dangerousGoodsBasic DangerousGoodsBasic

 }

```



### <a name="RoadWorksContainerBasic"></a>RoadWorksContainerBasic



Fields:

* roadworksSubCauseCode [**RoadworksSubCauseCode**](ITS-Container.md#RoadworksSubCauseCode)  OPTIONAL<br>

* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>

* closedLanes [**ClosedLanes**](ITS-Container.md#ClosedLanes)  OPTIONAL<br>

```asn1

RoadWorksContainerBasic ::= SEQUENCE {

  roadworksSubCauseCode RoadworksSubCauseCode OPTIONAL,

  lightBarSirenInUse LightBarSirenInUse,

  closedLanes ClosedLanes OPTIONAL

 }

```



### <a name="RescueContainer"></a>RescueContainer



Fields:

* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>

```asn1

RescueContainer ::= SEQUENCE {

	lightBarSirenInUse LightBarSirenInUse

}

```



### <a name="EmergencyContainer"></a>EmergencyContainer



Fields:

* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>

* incidentIndication [**CauseCode**](ITS-Container.md#CauseCode)  OPTIONAL<br>

* emergencyPriority [**EmergencyPriority**](ITS-Container.md#EmergencyPriority)  OPTIONAL<br>

```asn1

EmergencyContainer ::= SEQUENCE {

	lightBarSirenInUse LightBarSirenInUse,

	incidentIndication CauseCode OPTIONAL,

	emergencyPriority EmergencyPriority OPTIONAL

}

```



### <a name="SafetyCarContainer"></a>SafetyCarContainer



Fields:

* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>

* incidentIndication [**CauseCode**](ITS-Container.md#CauseCode)  OPTIONAL<br>

* trafficRule [**TrafficRule**](ITS-Container.md#TrafficRule)  OPTIONAL<br>

* speedLimit [**SpeedLimit**](ITS-Container.md#SpeedLimit)  OPTIONAL<br>

```asn1

SafetyCarContainer ::= SEQUENCE {

	lightBarSirenInUse LightBarSirenInUse,

	incidentIndication CauseCode OPTIONAL,

	trafficRule TrafficRule OPTIONAL,

	speedLimit SpeedLimit OPTIONAL

}

```



### <a name="RSUContainerHighFrequency"></a>RSUContainerHighFrequency



Fields:

* protectedCommunicationZonesRSU [**ProtectedCommunicationZonesRSU**](ITS-Container.md#ProtectedCommunicationZonesRSU)  OPTIONAL<br>

```asn1

RSUContainerHighFrequency ::= SEQUENCE {

	protectedCommunicationZonesRSU ProtectedCommunicationZonesRSU OPTIONAL,

	...

}

```



### <a name="GenerationDeltaTime"></a>GenerationDeltaTime



```asn1

GenerationDeltaTime ::= INTEGER { oneMilliSec(1) } (0..65535)

```

docs/CPM-CommonDataTypes-Descriptions.md

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docs/CPM-FreeSpaceAddendum-Descriptions.md

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# ASN.1 module CPM-FreeSpaceAddendum-Descriptions

 OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) freeSpaceAddendum (6) version1 (1) }_



## Imports:

 * **[CPM-CommonDataTypes-Descriptions](CPM-CommonDataTypes-Descriptions.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)}*<br/>



## Data Elements:

### <a name="FreeSpaceAddendumContainer"></a>FreeSpaceAddendumContainer



Free Space Addendum Container

A list of provided free space addendums. Each addendum shall be described asa provided by

@see FreeSpaceAddendum.





```asn1

FreeSpaceAddendumContainer ::= SEQUENCE SIZE(1..128, ...) OF FreeSpaceAddendum

```



### <a name="FreeSpaceAddendum"></a>FreeSpaceAddendum



Free Space Addendum

This container shall only be added if the confidence indication needs to be altered with respect

to the isotropic @see FreeSpaceConfidence confidence level indication provided in the

@see SensorInformation.



Fields:

* freeSpaceConfidence [**FreeSpaceConfidence**](CPM-CommonDataTypes-Descriptions.md#FreeSpaceConfidence) <br>

   @detailsfreeSpaceConfidence

   Describes an isotropic free space confidence that applies to the entire area as defined in

   the @see freeSpaceArea of a particular free space addendum container.

   

* freeSpaceArea [**FreeSpaceArea**](#FreeSpaceArea) <br>



   Describes the free space area for which the free space confidence of this addendum

   container is valid.

   

* sensorIDList [**SensorIdList**](CPM-CommonDataTypes-Descriptions.md#SensorIdList)  OPTIONAL<br>



   Provides a list of pseudonym sensor IDs which performed the measurement to indicate the

   free space.

   

* shadowingApplies [**ShadowingApplies**](CPM-CommonDataTypes-Descriptions.md#ShadowingApplies)  DEFAULT TRUE<br>

```asn1

FreeSpaceAddendum ::= SEQUENCE {

        freeSpaceConfidence    FreeSpaceConfidence,

        freeSpaceArea          FreeSpaceArea,

	    sensorIDList           SensorIdList OPTIONAL,

        shadowingApplies       ShadowingApplies DEFAULT TRUE,

	...

}

```



### <a name="FreeSpaceArea"></a>FreeSpaceArea



Free Space Area

The described area that is considered as not occupied by any traffic participant or obstacle by

the disseminating ITS-S.



Fields:

* freeSpacePolygon [**AreaPolygon**](CPM-CommonDataTypes-Descriptions.md#AreaPolygon) <br>



   A sequence of node points from a given offset point to describe an arbitrary area shape.

   

* freeSpaceCircular [**AreaCircular**](CPM-CommonDataTypes-Descriptions.md#AreaCircular) <br>

* freeSpaceEllipse [**AreaEllipse**](CPM-CommonDataTypes-Descriptions.md#AreaEllipse) <br>



   A description of an elliptical area.

   

* freeSpaceRectangle [**AreaRectangle**](CPM-CommonDataTypes-Descriptions.md#AreaRectangle) <br>



   A description of a rectangular area.

   

```asn1

FreeSpaceArea ::= CHOICE {

        freeSpacePolygon     AreaPolygon,

        freeSpaceCircular    AreaCircular,

        freeSpaceEllipse     AreaEllipse,

        freeSpaceRectangle   AreaRectangle,

    ...

}

```

docs/CPM-OriginatingStationContainers.md

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# ASN.1 module CPM-OriginatingStationContainers

 OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}_



## Imports:

 * **[ETSI-ITS-CDD](ETSI-ITS-CDD.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1)}*<br/>

  

## Data Elements:

### <a name="OriginatingVehicleContainer"></a>OriginatingVehicleContainer

This DF  represents the Originating Vehicle Container



 It shall include the following components:



Fields:

* orientationAngle of type [**Wgs84Angle**](ETSI-ITS-CDD.md#Wgs84Angle) <br>

  the angle and angle accuracy of the absolute orientation of the disseminating vehicle in the WGS84 coordinate system with respect to true North.





* pitchAngle of type [**CartesianAngle**](ETSI-ITS-CDD.md#CartesianAngle)  OPTIONAL<br>

  the optional angle and angle accuracy between the ground plane and the current orientation of the vehicle's x-axis with respect to the ground plane about the y-axis according to the ISO 8855.





   

* rollAngle of type [**CartesianAngle**](ETSI-ITS-CDD.md#CartesianAngle)  OPTIONAL<br>

  the optional angle and angle accuracy between the ground plane and the current orientation of a vehicle's y-axis with respect to the ground plane about the x-axis according to the ISO 8855





   

* trailerDataSet of type [**TrailerDataSet**](#TrailerDataSet)  OPTIONAL<br>

   

```asn1

OriginatingVehicleContainer ::= SEQUENCE {

    orientationAngle   Wgs84Angle,

    pitchAngle         CartesianAngle OPTIONAL,

    rollAngle          CartesianAngle OPTIONAL,

    trailerDataSet     TrailerDataSet OPTIONAL,

    ...

}

```



### <a name="OriginatingRsuContainer"></a>OriginatingRsuContainer

This DF  represents the Originating RSU Container.



 It shall include the following components:



Fields:

* mapReference of type [**MapReference**](ETSI-ITS-CDD.md#MapReference)  OPTIONAL<br>

  identifies the MAPEM containing the topology information reference in the Perceived Object Container





```asn1

OriginatingRsuContainer ::= SEQUENCE{

    mapReference    MapReference OPTIONAL,

    ...

}

```





### <a name="TrailerDataSet"></a>TrailerDataSet

This DF  represents a list of trailer data.

```asn1

TrailerDataSet::= SEQUENCE SIZE(1..8,...) OF TrailerData (WITH COMPONENTS {... ,frontOverhang ABSENT, rearOverhang ABSENT, trailerWidth ABSENT})

```







This DF  represents a list of trailer data.

docs/CPM-OriginatingStationData-Descriptions.md

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# ASN.1 module CPM-OriginatingStationData-Descriptions

 OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationData (3) version1 (1) }_



## Imports:

 * **[ITS-Container](ITS-Container.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)}*<br/>

   Include ETSI TS 102 894-2

   Include references from https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn



 * **[DSRC](DSRC.md)** *{iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2)}*<br/>

   Include ISO 19091

   Include references from https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn



 * **[CPM-CommonDataTypes-Descriptions](CPM-CommonDataTypes-Descriptions.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)}*<br/>



## Data Elements:

### <a name="OriginatingVehicleContainer"></a>OriginatingVehicleContainer



Originating Vehicle Container

The _originatingVehicleContainer_ provides detailed information about the vehicle ITS-S

disseminating the CPM.





```asn1

OriginatingVehicleContainer ::= SEQUENCE {

        heading                     Heading,

        speed                       Speed,

        verticalSpeed               SpeedExtended OPTIONAL,

```



### <a name="OriginatingRSUContainer"></a>OriginatingRSUContainer





Angle and angle accuracy of the absolute orientation of the disseminating vehicle in the

WGS84 coordinate system with respect to true North. This is opposed to the vehicle heading

which is calculated taking into account the speed vector. The confidence denotes the accuracy

of the measured angle value for a confidence level of 95 %.

Angle and angle accuracy between the ground plane and the current orientation of a vehicle's

x-axis with respect to the ground plane about the y-axis according to the ISO 8855.

Angle and angle accuracy between the ground plane and the current orientation of a vehicle's

y-axis with respect to the ground plane about the x-axis according to the ISO 8855

Provides detailed information about the trailers dimensions and orientation in case a trailer is present.



Originating RSU Container

The _originatingRSUContainer_ provides information about the RSU type ITS-S disseminating the CPM.



Fields:

* intersectionReferenceId [**IntersectionReferenceID**](DSRC.md#IntersectionReferenceID) <br>



   Conveys the combination of an optional RoadRegulatorID and of an IntersectionID that is

   unique within that region. When the RoadRegulatorID is present, the IntersectionReferenceID

   is guaranteed to be globally unique.

   

* roadSegmentReferenceId [**RoadSegmentReferenceID**](DSRC.md#RoadSegmentReferenceID) <br>



   Conveys the RoadSegmentReferenceID which is unique to a given road segment of interest, and

   also the RoadRegulatorID assigned to the region in which it is operating

   

```asn1

OriginatingRSUContainer ::= CHOICE {

        intersectionReferenceId     IntersectionReferenceID,

        roadSegmentReferenceId      RoadSegmentReferenceID,

    ...

}

```