DSRC_REG_D.asn

-- ############################################################################
-- ############################################################################
--
-- This is the ASN.1 definition used in the J2735 ballot of Nov 04th 2014.
-- It includes the messages SPAT, MapData and the related data frames and
-- data elements for usage within European region.
-- 
-- The definiton of the ASN.1 included in this document is identified by 
-- the Version: 1.0.
-- The element "msgSubID" in the messages MapData and SPAT are used for
-- identification of the ASN.1 definition for Region D (e.g. Europe) and are
-- set to the integer value = 1.
-- 
-- The data elements of the messages SPAT and MapData are harmonized  
-- with the data elements from the data dictionary ETSI TS 102 894-2 V1.1.15.
--
-- The message set for SPAT and MapData has been harmonized for usage in
-- diffrerent international regions. Some data elements include regional
-- enhancements. If no enhancement is defined, the regional ASN.1 extension
-- points to an empty data element of the Module "REGION".
-- If regional enhancements are defined the regional ASN.1 extension points
-- to a data element of the specific region. For Europe the ASN.1 extensions
-- are defined in the module REG-D.

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-- ############################################################################



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-- Begin module: DSRC
-- 
-- ^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-^-
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DSRC DEFINITIONS AUTOMATIC TAGS::= BEGIN 
 
-- =============================================================================
-- 
-- Imports from Modules:
-- ITS-Container: ETSI common Data Dictionary
-- REGION:        Generic or empty regional data elements.
-- RED_D:         Region D extension (e.g Europe).
-- 
-- =============================================================================
 
IMPORTS
	Latitude, Longitude, SpeedConfidence
    FROM ITS-Container

	Reg-AdvisorySpeed,Reg-ComputedLane, Reg-GenericLane, Reg-Intersection,
	Reg-LaneAttributes, Reg-LaneDataAttribute,
	Reg-MovementEvent, Reg-MovementState, Reg-NodeAttribute,
 	Reg-NodeOffsetPoint, Reg-RoadSegment, Reg-SignalControlZone, Reg-SPAT
	FROM REGION

	Reg-MapData, Reg-ConnectionManeuverAssist, Reg-IntersectionState,
	Reg-Position3D, Reg-RestrictionUserType
	FROM REG-D;

	
-- =============================================================================
-- MSG_MapData  (MAP) (Desc Name) Record 6
--
-- Region D: different usage of the following elements within Europe:
--
-- msgSubID: Set to integer 1 for identification of this actual ASN.1 definition
--  of the MapData message.
--
-- layerType: Based on the value of the "LayerType" the topological description
--  for "intersection" or "roadSegments" is used. The usage of both
--  "intersection" and "roadSegments" are not forseen in Europe.
--
-- msgIssueRevision: Not used in Region D (e.g. Europe)
--
-- layerID: Used for logical fragmentation of MapData
--
-- dataParameters: Not used in Region D (e.g. Europe)
--
-- crc: not used in Region D (e.g. in Europe)
--
MapData ::=  SEQUENCE {
   msgID             DSRCmsgID2,      
   
   msgSubID          DSRCmsgSubID OPTIONAL, 
				     -- Region D: Version of ASN.1 definition 
					 
   msgIssueRevision  MsgCount,
  					 -- Region D: msgIssueRevision
 					 --  is not used Region D (e.g. Europe)
					 
   layerType         LayerType OPTIONAL,
   
   layerID           LayerID  OPTIONAL,
   
   intersections     IntersectionGeometryList OPTIONAL,
                     -- All Intersection definitions 
   
   -- NOTE:
   -- other map data will be added here as it is defined
   -- (curve warnings, construction routes, etc.)
   -- as an example of this:
   roadSegments      RoadSegmentList OPTIONAL,
                     -- All roadway descriptions
  
   dataParameters    DataParameters OPTIONAL,
  					 -- Region D: dataParameters
 					 --  is not used in Region D (e.g. Europe)
					 
   restrictionList   RestrictionClassList OPTIONAL,
                     -- Any restriction ID tables which have  
                     -- established for these map entries.
					 
   regional          RegionalMapData OPTIONAL, 
                     -- regional extensions.
					 
   crc               MsgCRC OPTIONAL,
  					 -- Region D: crc
 					 --  is not used in Region D (e.g. Europe)
   ... -- # LOCAL_CONTENT
   }

   
-- =============================================================================
-- MSG_SignalPhaseAndTiming Message  (SPAT) (Desc Name) Record 14
--
-- Region D: different usage of the following elements within Europe:
--
-- msgSubID: Set to integer 1 for identification of this actual ASN.1 definition
--  of the SPAT message.
--
SPAT ::=  SEQUENCE { 
   msgID         DSRCmsgID2,      
   msgSubID      DSRCmsgSubID OPTIONAL,
				 -- Region D: Version of ASN.1 definition 
				 
   name          DescriptiveName OPTIONAL, 
                 -- human readable name for this collection 
                 -- to be used only in debug mode
   
   intersections IntersectionStateList,
                 -- sets of SPAT data (one per intersection)  
   
   -- If PrioritizationResponse data is required, it is found 
   -- in the RegionalSPAT entry below
   
   regional     RegionalSPAT OPTIONAL, -- regional extensions
   ... -- # LOCAL_CONTENT
   }

   
-- -_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_
-- 
-- Start of entries from table Data_Frames...
-- This table contains data frame entries.
-- -_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_

-- ============================================================================
-- DF_AdvisorySpeed (Desc Name) Record 3
AdvisorySpeed ::=  SEQUENCE {
   type        AdvisorySpeedType,
               -- the type of advisory which this is.
			   
   speed       SpeedAdvice OPTIONAL,
               -- See Remarks under the SpeedAdvice entry for
               -- converting and transmitting a speed expressed
               -- in MPH to units of 0.1 m/s
               -- This element is optional ONLY when superceded 
               -- by the presence of a regional speed element found in
               -- RegionalAdvisorySpeed
			   
   confidence  SpeedConfidence OPTIONAL,
               -- A confidence value for the above speed
			   
   distance    ZoneLength OPTIONAL,
               -- Unit = 1 meter,  
               -- The distance indicates the region for which the advised speed 
               -- is recommended, it is specified upstream from the stop bar  
               -- along the connected egressing lane
			   
   class       RestrictionClassID OPTIONAL,
               -- the vehicle types to which it applies
               -- when absent, the AdvisorySpeed applies to
               -- all motor vehicle types
			   
   regional    RegionalAdvisorySpeed OPTIONAL,
               -- regional extensions
   ...
   }

   
-- =============================================================================
-- DF_AdvisorySpeedList (Desc Name) Record 4
AdvisorySpeedList ::=  SEQUENCE (SIZE(1..16)) OF AdvisorySpeed

 
-- =============================================================================
-- DF_ComputedLane CHANGED (Desc Name) Record 10
ComputedLane ::=  SEQUENCE {
   -- Data needed to created a computed lane
   referenceLaneId    LaneID,
                         -- the lane ID upon which this 
                         -- computed lane will be based 
						 
   -- Lane Offset in X and Y direction
   offsetXaxis        CHOICE {
                         small   DrivenLineOffsetSm, 
                         large   DrivenLineOffsetLg
                         },  
   offsetYaxis        CHOICE {
                         small   DrivenLineOffsetSm, 
                         large   DrivenLineOffsetLg
                         },  
                         -- An path X offset value for translations of the 
                         -- path's points when created translated lanes. 
                         -- The values found in the reference lane are 
                         -- all offset based on the X and Y values from 
                         -- the coordinates of the reference lane's 
                         -- starting initial point.   
   -- Lane Rotation
   rotateXY           Angle OPTIONAL, 
                         -- A path rotation value for the entire lane
                         -- Observe that this rotates the existing orientation 
                         -- of the referenced lane, it does not replace it.
						 
   -- Lane Path Scale (zooming)
   scaleXaxis         Scale-B12 OPTIONAL, 
   scaleYaxis         Scale-B12 OPTIONAL, 
                         -- value for translations or zooming of the path's 
                         -- points. The values found in the reference lane 
                         -- are all expanded of contracted based on the X 
                         -- and Y and width values from the coordinates of 
                         -- the reference lane's starting initial point.  
                         -- The Z axis remains untouched.  
   regional           RegionalComputedLane OPTIONAL, 
                      -- regional extensions
   ... 
   }

   
-- =============================================================================
-- DF_ConnectingLane (Desc Name) Record 12
ConnectingLane ::=  SEQUENCE {
   lane      LaneID,   -- Index of the connecting lane
   maneuver  AllowedManeuvers OPTIONAL
                       -- Region D: Not Used in Europe
                       -- The information within "maneuver" is not precise
                       -- Use "connectsTo" for maneuver description
   }

   
-- =============================================================================
-- DF_Connection (Desc Name) Record 13
Connection ::=  SEQUENCE {
   -- The subject lane connecting to this lane is:
   connectingLane     ConnectingLane, 
                      -- The index of the connecting lane and also
                      -- the maneuver from the current lane to it
					  
   remoteIntersection IntersectionReferenceID OPTIONAL,  
                      -- This entry is only used when the 
                      -- indicated connecting lane belongs 
                      -- to another intersection layout. This 
                      -- provides a means to create meshes of lanes
   
   -- SPAT mapping details at the stop line are:
   signalGroup        SignalGroupID OPTIONAL,    
                      -- The matching signal group send by 
                      -- the SPAT message for this lane/maneuver
                      -- Shall be present unless the connectingLane 
                      -- has not signal group (is un-signalized)
					  
   userClass          RestrictionClassID OPTIONAL, 
                      -- The Restriction Class of users this applies to
                      -- The use of some lane/maneuver and SignalGroupID 
                      -- pairings are restricted to selected users
                      -- when absent, the SignalGroupID applies to all
   
   -- Movement assist details are given by:
   connectionID       LaneConnectionID OPTIONAL
                      -- An optional connection index used to 
                      -- relate this lane connection to any dynamic 
                      -- clearance data in the SPAT. Note that
                      -- the index may be shared with other 
                      -- connections if the clearance data is common
   }

   
-- =============================================================================
-- DF_ConnectionManeuverAssist (Desc Name) Record 14
ConnectionManeuverAssist ::=  SEQUENCE {
   connectionID         LaneConnectionID,
                        -- the common connectionID used by all lanes to which
                        -- this data applies 
                        -- (this value traces to ConnectsTo entries in lanes)
						
   -- Expected Clearance Information
   queueLength          ZoneLength OPTIONAL,
                        -- Unit = 1 meter, 0 = no queue
                        -- The distance from the stop line to the back 
                        -- edge of the last vehicle in the queue,                     
                        -- as measured along the lane center line.
						
   availableStorageLength ZoneLength OPTIONAL,
                        -- Unit = 1 meter, 0 = no space remains
                        -- Distance (e.g. beginning from the downstream 
                        -- stop-line up to a given distance) with a high 
                        -- probability for successfully executing the 
                        -- connection maneuver between the two lanes 
                        -- during the current cycle. 
                        -- Used for enhancing the awareness of vehicles 
                        -- to anticipate if they can pass the stop line
                        -- of the lane. Used for optimizing the green wave, 
                        -- due to knowledge of vehicles waiting in front 
                        -- of a red light (downstream).
                        -- The element nextTime in TimeChangeDetails
                        -- in the containing data frame contains the next 
                        -- timemark at which an active phase is expected, 
                        -- a form of storage flush interval.
						
   waitOnStop           WaitOnStopline OPTIONAL,
                        -- If "true", the vehicles on this specific connecting 
                        -- maneuver have to stop on the stop-line and not 
                        -- to enter the collision area 
						
   pedBicycleDetect     PedestrianBicycleDetect OPTIONAL,
                        -- true if ANY ped or bicycles are detected crossing 
                        -- the above lanes. Set to false ONLY if there is a 
                        -- high certainty that there are none present, 
                        -- otherwise element is not sent.
						
   regional             RegionalConnectionManeuverAssist OPTIONAL, 
                        -- regional extensions
   ... -- # LOCAL_CONTENT
   }

   
-- =============================================================================
-- DF_ConnectsToList (Desc Name) Record 15
ConnectsToList ::=  SEQUENCE (SIZE(1..16)) OF Connection

 
-- =============================================================================
-- DF_DataParameters (Desc Name) Record 16
DataParameters ::=  SEQUENCE {
   processMethod     IA5String(SIZE(1..255)) OPTIONAL, 
   processAgency     IA5String(SIZE(1..255)) OPTIONAL, 
   lastCheckedDate   IA5String(SIZE(1..255)) OPTIONAL, 
   geoidUsed         IA5String(SIZE(1..255)) OPTIONAL, 
   ... -- # LOCAL_CONTENT
   }

   
-- =============================================================================
-- DF_EnabledLaneList (Desc Name) Record 23
EnabledLaneList ::=  SEQUENCE (SIZE(1..16)) OF LaneID
   -- The unique ID numbers for each
   -- lane object which is 'active' 
   -- as part of the dynamic map contents.

   
-- =============================================================================
-- DF_GenericLane  CHANGED (Desc Name) Record 26
GenericLane ::=  SEQUENCE { 

   laneID           LaneID, 
                    -- The unique ID number assigned 
                    -- to this lane object
					
   name             DescriptiveName OPTIONAL,        
                    -- often for debug use only 
                    -- but at times used to name ped crossings
					
   ingressApproach  ApproachID OPTIONAL, -- inbound
   egressApproach   ApproachID OPTIONAL, -- outbound
                    -- Approach IDs to which this lane belongs

   laneAttributes   LaneAttributes, 
                    -- All Attribute information about 
                    -- the basic selected lane type
                    -- Directions of use, Geometric co-sharing
                    -- and Type Specific Attributes
                    -- These Attributes are 'lane - global' that is,
                    -- they are true for the entire length of the lane
					
   maneuvers        AllowedManeuvers OPTIONAL,
					-- Region D: Not used e.g. in Europe!
					-- The information within "maneuvers" is not precise
					-- Use the "connectsTo" element for maneuver direction description

   nodeList         NodeList2,
                    -- Lane spatial path information as well as
                    -- various Attribute information along the node path  
                    -- Attributes found here are more general and may
                    -- come and go over the length of the lane.
					
   connectsTo       ConnectsToList OPTIONAL, 
                    -- a list of other lanes and their signal group IDs
                    -- each connecting lane and its signal group ID
                    -- is given, therefore this element provides the
                    -- information formally in "signalGroups" in prior
                    -- editions.
					
   overlays         OverlayLaneList OPTIONAL, 
                    -- A list of any lanes which have spatial paths that
                    -- overlay (run on top of, and not simply cross) 
                    -- the path of this lane when used
					
   regional         RegionalGenericLane OPTIONAL, 
                    -- regional extensions
   ... 
   }

   
-- =============================================================================
-- DF_IntersectionGeometry CHANGED (Desc Name) Record 28
IntersectionGeometry ::=  SEQUENCE {
   name        DescriptiveName OPTIONAL, 
                            -- For debug use only
   id          IntersectionReferenceID,  
                            -- A globally unique value set, 
                            -- consisting of a regionID and 
                            -- intersection ID assignment
   revision    MsgCount, 
                -- Region D: 
				-- The actual valid revision of the intersection geometry.
				-- The revision Remains the if geometry is not changed.
				-- The revision of the geometry is related to the revision of
				--  the intersection state (see "DF_IntersectionState").
				
   -- Required default values about lane descriptions follow
   refPoint    Position3D-2, -- The reference from which subsequent 
                            -- data points are offset until a new
                            -- point is used. 
							
   laneWidth   LaneWidth OPTIONAL,   
                            -- Reference width used by all subsequent 
                            -- lanes unless a new width is given.  
							
   speedLimits SpeedLimitList OPTIONAL, 
                            -- Reference regulatory speed limits
                            -- used by all subsequent 
                            -- lanes unless a new speed is given 
                            -- See Remarks under the SpeedAdvice entry 
                            -- for converting and transmitting a speed 
                            -- expressed in MPH to units of 0.1 m/s

   -- Complete details regarding each lane type in this intersection
   laneSet     LaneList,    -- Data about one or more lanes
                            -- (all lane data is found here)
							
   preemptPriorityData PreemptPriorityList OPTIONAL, 
							-- Region D: preemptPriorityData
 							--  is not used in Region D (e.g. Europe)
							
   regional    RegionalIntersection  OPTIONAL,
               -- regional message content to be placed here
   ... 
   }

   
-- =============================================================================
-- DF_IntersectionGeometryList (Desc Name) Record 29
IntersectionGeometryList ::=  SEQUENCE (SIZE(1..32)) OF IntersectionGeometry

 
-- =============================================================================
-- DF_IntersectionReferenceID  CHANGED (Desc Name) Record 30
IntersectionReferenceID ::=  SEQUENCE {
   region  RoadRegulatorID OPTIONAL,
           -- a globally unique regional assignment value
           -- typical assigned to a regional DOT authority
           -- the value zero shall be used for testing needs
		   
   id      IntersectionID
           -- a unique mapping to the intersection
           -- in question within the above region of use
   }

   
-- =============================================================================
-- DF_IntersectionState CHANGED (Desc Name) Record 31
IntersectionState ::=  SEQUENCE {
   name         DescriptiveName OPTIONAL, 
                -- human readable name for intersection  
                -- to be used only in debug mode.
				
   id           IntersectionReferenceID,  
                -- A globally unique value set, consisting of a 
                -- regionID and intersection ID assignment
                -- provides a unique mapping to the 
                -- intersection MAP in question
                -- which provides complete location 
                -- and approach/move/lane data
				
   revision     MsgCount,    
   
   status       IntersectionStatusObject,
                -- general status of the controller(s)
				
   moy          MinuteOfTheYear OPTIONAL,
                -- Minute of current UTC year
                -- used only with messages to be archived 
				
   timeStamp    DSecond2 OPTIONAL, 
                -- the mSec point in the current UTC minute that
                -- this message was constructed
				
   enabledLanes EnabledLaneList OPTIONAL,  
                -- a list of lanes where the RevocableLane bit 
                -- has been set which are now active and 
                -- therefore part of the current intersection
				
   states       MovementList,
                -- Each Movement is given in turn
                -- and contains its signal phase state, 
                -- mapping to the lanes it applies to, and
                -- point in time it will end, and it
                -- may contain both active and future states 
				
   maneuverAssistList  ManeuverAssistList OPTIONAL,
                -- Assist data
				
   priority     SignalControlState OPTIONAL,
                -- the active priority state data, if present
				
   preempt      SignalControlState OPTIONAL,
                -- the active preemption state data, if present
   
   regional     RegionalIntersectionState OPTIONAL, 
                -- regional extensions   
   ... 
   }

   
-- =============================================================================
-- DF_IntersectionStateList (Desc Name) Record 32
IntersectionStateList ::=  SEQUENCE (SIZE(1..32)) OF  IntersectionState

 
-- =============================================================================
-- DF_LaneAttributes (Desc Name) Record 34
LaneAttributes ::=  SEQUENCE {
   directionalUse  LaneDirection,      -- directions of lane use
   sharedWith      LaneSharing,        -- co-users of the lane path
   laneType        LaneTypeAttributes, -- specific lane type data
   regional        RegionalLaneAttributes OPTIONAL 
                                       -- regional extensions
   }

   
-- =============================================================================
-- DF_LaneDataAttribute (Desc Name) Record 35
LaneDataAttribute ::=  CHOICE {
    -- Segment attribute types and the data needed for each
    pathEndPointAngle        DeltaAngle,  
                             -- adjusts final point/width slant
                             -- of the lane to align with the stop line.
							 
    laneCrownPointCenter     RoadwayCrownAngle,  
                             -- sets the canter of the road bed      
                             -- from centerline point.
							 
    laneCrownPointLeft       RoadwayCrownAngle,  
                             -- sets the canter of the road bed
                             -- from left edge.
							 
    laneCrownPointRight      RoadwayCrownAngle,  
                             -- sets the canter of the road bed
                             -- from right edge.
							 
    laneAngle                MergeDivergeNodeAngle,  
                             -- the angle or direction of another lane
                             -- this is required to support Japan style
                             -- when a merge point angle is required.
							 
    speedLimits              SpeedLimitList,
                             -- Reference regulatory speed limits
                             -- used by all segments.
							    
    -- Add others as needed, here or in regional space
    regional                 RegionalLaneDataAttribute,
                             -- regional extensions
    ...
    }

	
-- =============================================================================
-- DF_LaneDataAttributeList (Desc Name) Record 36
LaneDataAttributeList ::=  SEQUENCE (SIZE(1..8)) OF LaneDataAttribute

 
-- =============================================================================
-- DF_LaneList (Desc Name) Record 37
LaneList ::=  SEQUENCE (SIZE(1..255)) OF GenericLane

 
-- =============================================================================
-- DF_LaneTypeAttributes (Desc Name) Record 38
LaneTypeAttributes ::=  CHOICE {
   vehicle        LaneAttributes-Vehicle,        -- motor vehicle lanes
   crosswalk      LaneAttributes-Crosswalk,      -- pedestrian crosswalks
   bikeLane       LaneAttributes-Bike,           -- bike lanes
   sidewalk       LaneAttributes-Sidewalk,       -- pedestrian sidewalk paths
   median         LaneAttributes-Barrier,        -- medians & channelization
   striping       LaneAttributes-Striping,       -- roadway markings
   trackedVehicle LaneAttributes-TrackedVehicle, -- trains and trolleys
   parking        LaneAttributes-Parking,        -- parking and stopping lanes
   ...
   }

   
-- =============================================================================
-- DF_ManeuverAssistList (Desc Name) Record 39
ManeuverAssistList ::=  SEQUENCE (SIZE(1..16)) OF ConnectionManeuverAssist

 
-- =============================================================================
-- DF_MovementEvent CHANGED (Desc Name) Record 40
MovementEvent ::=  SEQUENCE {
   eventState   MovementPhaseState,
                -- Consisting of:
                -- Phase state (the basic 11 states)
                -- Directional, protected, or permissive state
   
   timing       TimeChangeDetails OPTIONAL,
                -- Timing Data in UTC time stamps for event
                -- includes start and min/max end times of phase
                -- confidence and estimated next occurrence
   
   speeds       AdvisorySpeedList OPTIONAL,
                -- various speed advisories for use by
                -- general and specific types of vehicles
                -- supporting green-wave and other flow needs
                -- See Remarks under the SpeedAdvice entry for
                -- converting and transmitting a speed expressed
                -- in MPH to units of 0.1 m/s
   
   regional     RegionalMovementEvent OPTIONAL, 
                -- regional extensions
   ... -- # LOCAL_CONTENT
   }

   
-- =============================================================================
-- DF_MovementEventList (Desc Name) Record 41
MovementEventList ::=  SEQUENCE (SIZE(1..16)) OF MovementEvent

 
-- =============================================================================
-- DF_MovementList (Desc Name) Record 42
MovementList ::=  SEQUENCE (SIZE(1..255)) OF MovementState

 
-- =============================================================================
-- DF_MovementState (Desc Name) Record 43
MovementState ::=  SEQUENCE {
   movementName       DescriptiveName OPTIONAL,
                      -- uniquely defines movement by name   
                      -- human readable name for intersection  
                      -- to be used only in debug mode.
					  
   signalGroup        SignalGroupID,    
                      -- the group id is used to map to lists 
                      -- of lanes (and their descriptions) 
                      -- which this MovementState data applies to 
                      -- see comments in the Remarks for usage details 
					  
   state-time-speed   MovementEventList,   
                      -- Consisting of sets of movement data with:
                      -- a)  SignalPhaseState
                      -- b)  TimeChangeDetails,  and 
                      -- c)  AdvisorySpeeds      (optional )
                      -- Note one or more of the movement events may be for 
                      -- a future time and that this allows conveying multiple 
                      -- predictive phase and movement timing for various uses
                      -- for the current signal group.
					  
   maneuverAssistList ManeuverAssistList OPTIONAL,
                      -- This information may also be placed in the 
                      -- IntersectionState when common information applies to
                      -- different lanes in the same way.
					  
   regional           RegionalMovementState OPTIONAL, 
                      -- regional extensions
   ... -- # LOCAL_CONTENT
   }

   
-- =============================================================================
-- DF_Node (Desc Name) Record 44
Node ::=  SEQUENCE {
   delta       NodeOffsetPoint,
               -- A choice of which X,Y offset value to use  
               -- this includes various delta values as well a regional choices.
			   
   attributes  NodeAttributeSet OPTIONAL,
               -- Any optional Attributes which are needed
               -- This includes changes to the current lane width and elevation
   ... 
   }

   
-- =============================================================================
-- DF_NodeAttributeList (Desc Name) Record 45
NodeAttributeList ::=  SEQUENCE (SIZE(1..8)) OF NodeAttribute

 
-- =============================================================================
-- DF_NodeAttributeSet (Desc Name) Record 46
NodeAttributeSet ::=  SEQUENCE {
   localNode    NodeAttributeList OPTIONAL,
                -- Attribute states which pertain to this node point.
				
   disabled     SegmentAttributeList OPTIONAL,
                -- Attribute states which are disabled at this node point.
				
   enabled      SegmentAttributeList OPTIONAL,
                -- Attribute states which are enabled at this node point
                -- and which remain enabled until disabled or the lane ends.
				
   data         LaneDataAttributeList OPTIONAL,
                -- Attributes which require an additional data values
                -- some of these are local to the node point, while others
                -- persist with the provided values until changed
                -- and this is indicated in each entry.
				
   regional     RegionalNodeAttributeList OPTIONAL, 
                -- Regional extensions.
				
   dWidth       Offset-B10 OPTIONAL,
                -- A value added to the current lane width
                -- at this node and from this node onwards, in 1cm steps
                -- lane width between nodes are a linear taper between pts
                -- the value of zero shall not be sent here.
				
   dElevation   Offset-B10 OPTIONAL,
                -- A value added to the current Elevation 
                -- at this node from this node onwards, in 10cm steps
                -- elevations between nodes are a linear taper between pts
                -- the value of zero shall not be sent here
   ...
   }

   
-- =============================================================================
-- DF_NodeList2 CHANGED (Desc Name) Record 48
NodeList2 ::=  CHOICE {
   nodes     NodeSet,
             -- a lane made up of two or more
             -- node points and any attributes 
             -- defined in those nodes.

   computed  ComputedLane,
             -- a lane path computed by translating 
             -- the data defined by another lane.
   ...
   }

   
-- =============================================================================
-- DF_Node_LLmD_64b (Desc Name) Record 49
Node-LLmD-64b ::=  SEQUENCE {
   lon  Longitude,
   lat  Latitude
   }

   
-- =============================================================================
-- DF_NodeOffsetPoint (Desc Name) Record 50
NodeOffsetPoint ::=  CHOICE {
   -- Nodes with X,Y content
   node-XY1         Node-XY-20b,    -- node is within   5.11m of last node
   node-XY2         Node-XY-22b,    -- node is within  10.23m of last node
   node-XY3         Node-XY-24b,    -- node is within  20.47m of last node
   node-XY4         Node-XY-26b,    -- node is within  40.96m of last node
   node-XY5         Node-XY-28b,    -- node is within  81.91m of last node
   node-XY6         Node-XY-32b,    -- node is within 327.67m of last node
   node-LatLon      Node-LLmD-64b,  -- node is a full 32b Lat/Lon range
   node-Regional    RegionalNodeOffsetPoint
                                    -- node which follows is of a 
                                    -- regional definition type 
   }

   
-- =============================================================================
-- DF_NodeSet (Desc Name) Record 51
NodeSet ::=  SEQUENCE (SIZE(2..63)) OF Node

 
-- =============================================================================
-- DF_Node_XY_20b (Desc Name) Record 52
Node-XY-20b ::=  SEQUENCE {
   x  Offset-B10,
   y  Offset-B10
   }

   
-- =============================================================================
-- DF_Node_XY_22b (Desc Name) Record 53
Node-XY-22b ::=  SEQUENCE {
   x  Offset-B11,
   y  Offset-B11
   }

   
-- =============================================================================
-- DF_Node_XY_24b (Desc Name) Record 54
Node-XY-24b ::=  SEQUENCE {
   x  Offset-B12,
   y  Offset-B12
   }

   
-- =============================================================================
-- DF_Node_XY_26b (Desc Name) Record 55
Node-XY-26b ::=  SEQUENCE {
   x  Offset-B13,
   y  Offset-B13
   }

   
-- =============================================================================
-- DF_Node_XY_28b (Desc Name) Record 56
Node-XY-28b ::=  SEQUENCE {
   x  Offset-B14,
   y  Offset-B14
   }

   
-- =============================================================================
-- DF_Node_XY_32b (Desc Name) Record 57
Node-XY-32b ::=  SEQUENCE {
   x  Offset-B16,
   y  Offset-B16
   }

   
-- =============================================================================
-- DF_OverlayLaneList (Desc Name) Record 59
OverlayLaneList ::=  SEQUENCE (SIZE(1..5)) OF LaneID
   -- The unique ID numbers for any lane object which have
   -- spatial paths that overlay (run on top of, and not
   -- simply cross with) the current lane.
   -- Such as a train path that overlays a motor vehicle
   -- lane object for a roadway segment.

   
-- =============================================================================
-- DF_Position3D_2 CHANGED (Desc Name) Record 73
Position3D-2 ::=  SEQUENCE {
   lat        Latitude,                -- in 1/10th micro degrees
   long       Longitude,               -- in 1/10th micro degrees
   
   elevation  Elevation2 OPTIONAL,
                    -- Region D: Not used e.g. in Europe!
                    -- For compatibility with the European Data Dictionary 
                    -- please use the RegionalPosition3D for Europe

   regional   RegionalPosition3D OPTIONAL,
                    -- Region D:
                    -- Elevation is coded based on ETSI CDD definition
					-- and defined in the european Module. 
   ...
   }

   
-- =============================================================================
-- DF_PreemptPriorityList (Desc Name) Record 76
PreemptPriorityList ::=  SEQUENCE (SIZE(1..32)) OF RegionalSignalControlZone
 
-- =============================================================================
-- DF_Regional_AdvisorySpeed (Desc Name) Record 77
RegionalAdvisorySpeed ::=  Reg-AdvisorySpeed 
 
-- =============================================================================
-- DF_Regional_ComputedLane (Desc Name) Record 78
RegionalComputedLane ::=  Reg-ComputedLane
 
-- =============================================================================
-- DF_Regional_ConnectionManeuverAssist (Desc Name) Record 79
RegionalConnectionManeuverAssist ::=  Reg-ConnectionManeuverAssist
 
-- =============================================================================
-- DF_Regional_GenericLane (Desc Name) Record 80
RegionalGenericLane ::=  Reg-GenericLane
 
-- =============================================================================
-- DF_Regional_Intersection (Desc Name) Record 81
RegionalIntersection ::=  Reg-Intersection
 
-- =============================================================================
-- DF_Regional_IntersectionState (Desc Name) Record 82
RegionalIntersectionState ::=  Reg-IntersectionState
 
-- =============================================================================
-- DF_Regional_RegionalLaneAttributes (Desc Name) Record 83
RegionalLaneAttributes ::=  Reg-LaneAttributes
 
-- =============================================================================
-- DF_Regional_LaneDataAttribute (Desc Name) Record 84
RegionalLaneDataAttribute ::=  Reg-LaneDataAttribute
 
-- =============================================================================
-- DF_Regional_MapData (Desc Name) Record 85
RegionalMapData ::=  Reg-MapData
 
-- =============================================================================
-- DF_Regional_MovementEvent (Desc Name) Record 86
RegionalMovementEvent ::=  Reg-MovementEvent
 
-- =============================================================================
-- DF_Regional_MovementState (Desc Name) Record 87
RegionalMovementState ::=  Reg-MovementState
 
-- =============================================================================
-- DF_Regional_RegionalNodeAttribute (Desc Name) Record 88
RegionalNodeAttribute ::=  Reg-NodeAttribute
 
-- =============================================================================
-- DF_RegionalNodeAttributeList (Desc Name) Record 89
RegionalNodeAttributeList ::=  SEQUENCE (SIZE(1..8)) OF RegionalNodeAttribute
 
-- =============================================================================
-- DF_Regional_NodeOffsetPoint (Desc Name) Record 90
RegionalNodeOffsetPoint ::=  Reg-NodeOffsetPoint
 
-- =============================================================================
-- DF_Regional_Position3D (Desc Name) Record 91
RegionalPosition3D ::=  Reg-Position3D

-- =============================================================================
-- DF_Regional_RestrictionUserType (Desc Name) Record 92
RegionalRestrictionUserType ::=  Reg-RestrictionUserType
 
-- =============================================================================
-- DF_Regional_RoadSegment (Desc Name) Record 93
RegionalRoadSegment ::=  Reg-RoadSegment
 
-- =============================================================================
-- DF_Regional_SignalControlZone (Desc Name) Record 94
RegionalSignalControlZone ::=  Reg-SignalControlZone
 
-- =============================================================================
-- DF_Regional_SPAT (Desc Name) Record 95
RegionalSPAT ::=  Reg-SPAT
 
-- =============================================================================
-- DF_RegulatorySpeedLimit (Desc Name) Record 99
RegulatorySpeedLimit ::=  SEQUENCE {
   type        SpeedLimitType, 
               -- The type of regulatory speed which follows.
			   
   speed       Velocity
               -- The speed in units of 0.02 m/s
               -- when expressed in MPH this shall be rounded
               -- to the closest integer value
               -- See Remarks under the SpeedAdvice entry for
               -- converting and transmitting a speed expressed
               -- in MPH to units of 0.1 m/s
   }
 
-- =============================================================================
-- DF_RestrictionClassAssignment (Desc Name) Record 100
RestrictionClassAssignment ::=  SEQUENCE {
   id       RestrictionClassID,
            -- the unique value (within an intersection or local region)
            -- that is assigned to this group of users.
			
   users    RestrictionUserTypeList 
            -- The list of user types/classes 
            -- to which this restriction ID applies
   }
 
-- =============================================================================
-- DF_RestrictionClassList (Desc Name) Record 101
RestrictionClassList ::=  SEQUENCE (SIZE(1..254)) OF
   RestrictionClassAssignment
 
-- =============================================================================
-- DF_RestrictionUserType (Desc Name) Record 102
RestrictionUserType ::=  CHOICE {
   basicType   RestrictionAppliesTo,
               -- a set of the most commonly used types.
			   
   regional    RegionalRestrictionUserType 
               -- regional extensions
   }
 
-- =============================================================================
-- DF_RestrictionUserTypeList (Desc Name) Record 103
RestrictionUserTypeList ::=  SEQUENCE (SIZE(1..16)) OF  RestrictionUserType
 
-- =============================================================================
-- DF_RoadLaneSetList (Desc Name) Record 104
RoadLaneSetList ::=  SEQUENCE (SIZE(1..255)) OF GenericLane
 
-- =============================================================================
-- DF_RoadSegment CHANGED (Desc Name) Record 105