diff --git a/asn/CPM_CommonDataTypes.asn b/asn/CPM_CommonDataTypes.asn
index 5fe7781b07d5f9be8752d1eb9280ff53643e9bb9..a31e39ef7b7c54d99013ca594a22645388f04b56 100644
--- a/asn/CPM_CommonDataTypes.asn
+++ b/asn/CPM_CommonDataTypes.asn
@@ -9,7 +9,7 @@ BEGIN
 IMPORTS
 -- @brief Include ETSI TS 102 894-2
 -- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn
-SpeedConfidence, VehicleWidth
+SpeedConfidence, AccelerationConfidence, VehicleWidth
 FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)}
 
 -- @brief Include ISO 19091
@@ -187,6 +187,19 @@ SpeedExtended ::= SEQUENCE {
     confidence  SpeedConfidence
 }
 
+-- @brief Acceleration
+-- A general Data Frame to describe an acceleration component along with a confidence with a predefined
+-- confidence level of 95% for the component.
+Acceleration ::= SEQUENCE {
+    -- @details value
+    -- The acceleration value which can be estimated as the mean of the current distribution.
+    value       AccelerationValue,
+    -- @details confidence
+    -- The accuracy associated to the provided value at a predefined confidence level
+    -- of 95% for the component.
+    confidence  AccelerationConfidence
+}
+
 -- @brief Sensor ID List
 -- List of sensor IDs.
 SensorIdList ::= SEQUENCE SIZE(1..128, ...) OF Identifier
@@ -652,6 +665,18 @@ SpeedValueExtended ::= INTEGER {
     unavailable            (16383)  -- shall be set if information is not available
 } (-16383..16383)
 
+-- @brief Acceleration Value
+-- Acceleration value for perceived object described in the reference frame of the disseminating ITS-S.
+-- For a vehicle, the acceleration is reported in a body-fixed coordinate system as provided by ISO 8855.
+-- For a RSU, the acceleration is reported in a coordinate system in which the y-axis corresponds to the
+-- North direction, the x-axis to the East direction, and the z-axis to the vertical direction.
+-- @unit 0,1 m/s2
+AccelerationValue ::= INTEGER {
+    pointOneMeterPerSecSquared      (1),
+    minusPointOneMeterPerSecSquared (-1),
+    unavailable                     (161)  -- shall be set if information is not available
+} (-160 .. 161)
+
 -- @brief Time of Measurement
 -- Time difference with respect to the @see generationDeltaTime for the provided measurement for the
 -- object. Negative values indicate that the provided object state refers to a point in time after
diff --git a/asn/PerceivedObject.asn b/asn/PerceivedObject.asn
index fbacf69db034bbb37220bd3c0281236ab79dc216..6bea81799fad8de1c9dee39c974177a257d95c94 100644
--- a/asn/PerceivedObject.asn
+++ b/asn/PerceivedObject.asn
@@ -9,12 +9,9 @@ BEGIN
 IMPORTS
 -- @brief Include ETSI TS 102 894-2
 -- Include references from @url https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn
-LongitudinalAcceleration, LateralAcceleration, VerticalAcceleration
-FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }
-
 CartesianAngle, DynamicStatus, Identifier, MatchedPosition,
 NumberOfPerceivedObjects, ObjectAge, ObjectConfidence, ObjectClassDescription, ObjectDimension,
-ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, TimeOfMeasurement
+ObjectDistance, ObjectRefPoint, SensorIdList, SpeedExtended, Acceleration, TimeOfMeasurement
 FROM CPM-CommonDataTypes-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)};
 
 -- @brief Perceived Object Container
@@ -92,24 +89,21 @@ PerceivedObject ::= SEQUENCE {
     -- @details xAcceleration
     -- Relative acceleration of the detected object from the ITS-S's reference point in x-direction
     -- for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed
-    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration is reported in a
-    -- coordinate system in which the y-axis corresponds to the North direction, the x-axis to the
-    -- East direction, and the z-axis to the vertical direction.
-    xAcceleration           LongitudinalAcceleration OPTIONAL,
+    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration x-axis corresponds to
+    -- the East direction.
+    xAcceleration           Acceleration OPTIONAL,
     -- @details yAcceleration
     -- Relative acceleration of the detected object from the ITS-S's reference point in y-direction
     -- for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed
-    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration is reported in a
-    -- coordinate system in which the y-axis corresponds to the North direction, the x-axis to the
-    -- East direction, and the z-axis to the vertical direction.
-    yAcceleration           LateralAcceleration OPTIONAL,
+    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration y-axis corresponds to
+    -- the North direction.
+    yAcceleration           Acceleration OPTIONAL,
     -- @details zAcceleration
     -- Relative acceleration of the detected object from the ITS-S's reference point in z-direction
     -- for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed
-    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration is reported in a
-    -- coordinate system in which the y-axis corresponds to the North direction, the x-axis to the
-    -- East direction, and the z-axis to the vertical direction.
-    zAcceleration           VerticalAcceleration OPTIONAL,
+    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration z-axis corresponds to
+    -- the vertical direction.
+    zAcceleration           Acceleration OPTIONAL,
     -- @details yawAngle
     -- Relative yaw angle of object from the ITS-S's reference point. For a vehicle, the angle is
     -- reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the angle is