CPM-PDU-Descriptions {
    itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) tr (103562) cpm (1) version (1)
}

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN

IMPORTS ItsPduHeader, Heading, ReferencePosition, Speed, DriveDirection, LongitudinalAcceleration, LateralAcceleration, VerticalAcceleration, StationType, VehicleLength, VehicleWidth, YawRate, SpeedConfidence
FROM ITS-Container { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }
IntersectionReferenceID, LaneID, NodeOffsetPointXY, Offset-B10, Offset-B11, Offset-B12, Offset-B13, Offset-B14, Offset-B16, RoadSegmentReferenceID, VehicleHeight
FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2) }
GenerationDeltaTime FROM CAM-PDU-Descriptions { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg1(1) en(302637) cam(2) version(2)} ;

--  The root data frame for collective perception message
CPM ::= SEQUENCE {
    header ItsPduHeader,
    cpm CollectivePerceptionMessage
}

CollectivePerceptionMessage ::= SEQUENCE {
    generationDeltaTime GenerationDeltaTime,
    cpmParameters       CpmParameters
}

CpmParameters ::= SEQUENCE {
    managementContainer         CpmManagementContainer,
    stationDataContainer        StationDataContainer OPTIONAL,
    sensorInformationContainer  SensorInformationContainer OPTIONAL,
    perceivedObjectContainer    PerceivedObjectContainer OPTIONAL,
    freeSpaceAddendumContainer  FreeSpaceAddendumContainer OPTIONAL,
    numberOfPerceivedObjects    NumberOfPerceivedObjects,
    ...
}

CpmManagementContainer ::= SEQUENCE {
    stationType                         StationType,
    perceivedObjectContainerSegmentInfo PerceivedObjectContainerSegmentInfo OPTIONAL,
    referencePosition                   ReferencePosition,
    ...
}

StationDataContainer ::= CHOICE {
    originatingVehicleContainer     OriginatingVehicleContainer,
    originatingRSUContainer         OriginatingRSUContainer,
    ...
}

OriginatingVehicleContainer ::= SEQUENCE {
    heading                     Heading,
    speed                       Speed,
    vehicleOrientationAngle     WGS84Angle OPTIONAL,
    driveDirection              DriveDirection DEFAULT forward,
    longitudinalAcceleration    LongitudinalAcceleration OPTIONAL,
    lateralAcceleration         LateralAcceleration OPTIONAL,
    verticalAcceleration        VerticalAcceleration OPTIONAL,
    yawRate                     YawRate OPTIONAL,
    pitchAngle                  CartesianAngle OPTIONAL,
    rollAngle                   CartesianAngle OPTIONAL,
    vehicleLength               VehicleLength OPTIONAL,
    vehicleWidth                VehicleWidth OPTIONAL,
    vehicleHeight               VehicleHeight OPTIONAL,
    trailerDataContainer        TrailerDataContainer OPTIONAL,
    ...
}

OriginatingRSUContainer ::= CHOICE {
    intersectionReferenceId     IntersectionReferenceID,
    roadSegmentReferenceId      RoadSegmentReferenceID,
    ...
}

SensorInformationContainer ::= SEQUENCE SIZE(1..128, ...) OF SensorInformation

SensorInformation ::= SEQUENCE {
    sensorID                Identifier,
    type                    SensorType,
    detectionArea           DetectionArea,
    freeSpaceConfidence     FreeSpaceConfidence OPTIONAL,
    ...
}

PerceivedObjectContainer ::= SEQUENCE SIZE(1..128, ...) OF PerceivedObject

PerceivedObject ::= SEQUENCE {
    objectID                Identifier,
    sensorIDList            SensorIdList OPTIONAL,
    timeOfMeasurement       TimeOfMeasurement,
    objectAge               ObjectAge OPTIONAL,
    objectConfidence        ObjectConfidence DEFAULT 0,
    xDistance               ObjectDistanceWithConfidence,
    yDistance               ObjectDistanceWithConfidence,
    zDistance               ObjectDistanceWithConfidence OPTIONAL,
    xSpeed                  SpeedExtended,
    ySpeed                  SpeedExtended,
    zSpeed                  SpeedExtended OPTIONAL,
    xAcceleration           LongitudinalAcceleration OPTIONAL,
    yAcceleration           LateralAcceleration OPTIONAL,
    zAcceleration           VerticalAcceleration OPTIONAL,
    yawAngle                CartesianAngle OPTIONAL,
    planarObjectDimension1  ObjectDimension OPTIONAL,
    planarObjectDimension2  ObjectDimension OPTIONAL,
    verticalObjectDimension ObjectDimension OPTIONAL,
    objectRefPoint          ObjectRefPoint DEFAULT 0,
    dynamicStatus           DynamicStatus OPTIONAL,
    classification          ObjectClassDescription OPTIONAL,
    matchedPosition         MatchedPosition OPTIONAL,
    ...
}

DetectionArea ::= CHOICE {
    vehicleSensor               VehicleSensor,
    stationarySensorRadial      AreaRadial,
    stationarySensorPolygon     AreaPolygon,
    stationarySensorCircular    AreaCircular,
    stationarySensorEllipse     AreaEllipse,
    stationarySensorRectangle   AreaRectangle,
    ...
}

VehicleSensor ::= SEQUENCE {
    refPointId                  RefPointId DEFAULT 0,
    xSensorOffset               XSensorOffset,
    ySensorOffset               YSensorOffset,
    zSensorOffset               ZSensorOffset OPTIONAL,
    vehicleSensorPropertyList   VehicleSensorPropertyList,
    ...
}

VehicleSensorPropertyList ::= SEQUENCE SIZE(1..10) OF VehicleSensorProperties

VehicleSensorProperties ::= SEQUENCE {
    range                           Range,
    horizontalOpeningAngleStart     CartesianAngleValue,
    horizontalOpeningAngleEnd       CartesianAngleValue,
    verticalOpeningAngleStart       CartesianAngleValue OPTIONAL,
    verticalOpeningAngleEnd         CartesianAngleValue OPTIONAL,
    ...
}

AreaCircular ::= SEQUENCE {
    nodeCenterPoint      OffsetPoint OPTIONAL,
    radius               Radius
}

AreaEllipse  ::= SEQUENCE {
    nodeCenterPoint             OffsetPoint OPTIONAL,
    semiMinorRangeLength        SemiRangeLength,
    semiMajorRangeLength        SemiRangeLength,
    semiMajorRangeOrientation   WGS84AngleValue,
    semiHeight                  SemiRangeLength OPTIONAL
}

AreaRectangle ::= SEQUENCE {
    nodeCenterPoint             OffsetPoint OPTIONAL,
    semiMajorRangeLength        SemiRangeLength,
    semiMinorRangeLength        SemiRangeLength,
    semiMajorRangeOrientation   WGS84AngleValue,
    semiHeight                  SemiRangeLength OPTIONAL
}

AreaPolygon ::= SEQUENCE {
    polyPointList   PolyPointList
}

PolyPointList ::= SEQUENCE (SIZE(3..16, ...)) OF OffsetPoint

AreaRadial ::= SEQUENCE {
    range                                   Range,
    stationaryHorizontalOpeningAngleStart   WGS84AngleValue,
    stationaryHorizontalOpeningAngleEnd     WGS84AngleValue,
    verticalOpeningAngleStart               CartesianAngleValue OPTIONAL,
    verticalOpeningAngleEnd                 CartesianAngleValue OPTIONAL,
    sensorPositionOffset                    OffsetPoint OPTIONAL,
    sensorHeight                            SensorHeight OPTIONAL,
    ...
}

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

FreeSpaceAddendum ::= SEQUENCE {
    freeSpaceConfidence    FreeSpaceConfidence,
    freeSpaceArea          FreeSpaceArea,
    sensorIDList           SensorIdList OPTIONAL,
    shadowingApplies       ShadowingApplies DEFAULT TRUE,
    ...
}

FreeSpaceArea ::= CHOICE {
    freeSpacePolygon     AreaPolygon,
    freeSpaceCircular    AreaCircular,
    freeSpaceEllipse     AreaEllipse,
    freeSpaceRectangle   AreaRectangle,
    ...
}

ObjectDistanceWithConfidence ::= SEQUENCE {
    value        DistanceValue,
    confidence   DistanceConfidence
}

ObjectDimension ::= SEQUENCE {
    value       ObjectDimensionValue,
    confidence  ObjectDimensionConfidence
}

CartesianAngle ::= SEQUENCE {
    value       CartesianAngleValue,
    confidence  AngleConfidence
}

WGS84Angle ::= SEQUENCE {
    value       WGS84AngleValue,
    confidence  AngleConfidence
}

SpeedExtended ::= SEQUENCE {
    value       SpeedValueExtended,
    confidence  SpeedConfidence
}

SensorIdList ::= SEQUENCE SIZE(1..128, ...) OF Identifier

TrailerDataContainer ::= SEQUENCE SIZE(1..2) OF TrailerData

TrailerData ::= SEQUENCE {
    refPointId          RefPointId,
    hitchPointOffset    HitchPointOffset,
    frontOverhang       FrontOverhang,
    rearOverhang        RearOverhang,
    trailerWidth        VehicleWidth OPTIONAL,
    hitchAngle          CartesianAngle OPTIONAL,
    ...
}

LongitudinalLanePosition ::= SEQUENCE {
    longitudinalLanePositionValue        LongitudinalLanePositionValue,
    longitudinalLanePositionConfidence   LongitudinalLanePositionConfidence
}

MatchedPosition ::= SEQUENCE {
    laneID                      LaneID OPTIONAL,
    longitudinalLanePosition    LongitudinalLanePosition OPTIONAL,
    ...
}

PerceivedObjectContainerSegmentInfo ::= SEQUENCE {
    totalMsgSegments    SegmentCount,
    thisSegmentNum      SegmentCount
}

ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClass

ObjectClass ::= SEQUENCE {
    confidence  ClassConfidence,
    class       CHOICE {
        vehicle                 VehicleSubclass,
        person                  PersonSubclass,
        animal                  AnimalSubclass,
        other                   OtherSubclass
    }
}

VehicleSubclass ::= SEQUENCE {
    type        VehicleSubclassType DEFAULT 0,
    confidence  ClassConfidence DEFAULT 0
}

PersonSubclass ::= SEQUENCE {
    type        PersonSubclassType DEFAULT 0,
    confidence  ClassConfidence DEFAULT 0
}

AnimalSubclass ::= SEQUENCE {
    type        AnimalSubclassType DEFAULT 0,
    confidence  ClassConfidence DEFAULT 0
}

OtherSubclass ::= SEQUENCE {
    type        OtherSublassType DEFAULT 0,
    confidence  ClassConfidence DEFAULT 0
}

OffsetPoint ::= SEQUENCE {
    nodeOffsetPointxy   NodeOffsetPointXY (WITH COMPONENTS {..., node-LatLon ABSENT, regional ABSENT}),
    nodeOffsetPointZ    NodeOffsetPointZ OPTIONAL
}

NodeOffsetPointZ ::= CHOICE {
    node-Z1 Offset-B10, -- node is within 5.11m of last node
    node-Z2 Offset-B11, -- node is within 10.23m of last node
    node-Z3 Offset-B12, -- node is within 20.47m of last node
    node-Z4 Offset-B13, -- node is within 40.96m of last node
    node-Z5 Offset-B14, -- node is within 81.91m of last node
    node-Z6 Offset-B16  -- node is within 327.67m of last node
}

AnimalSubclassType          ::= INTEGER {unknown(0)} (0..255)

ClassConfidence             ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)

WGS84AngleValue             ::= INTEGER {wgs84North(0), wgs84East(900), wgs84South(1800), wgs84West(2700), unavailable(3601)} (0..3601)

CartesianAngleValue         ::= INTEGER {zeroPointOneDegree(1), oneDegree(10), unavailable(3601)} (0..3601)

AngleConfidence             ::= INTEGER {zeroPointOneDegree (1), oneDegree (10), outOfRange(126), unavailable(127)} (1..127)

SemiRangeLength             ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..10000)

DistanceValue               ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (-132768..132767)

DistanceConfidence          ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)

DynamicStatus               ::= INTEGER {dynamic(0), hasBeenDynamic(1), static(2)} (0..2)

HitchPointOffset            ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..100)

FrontOverhang               ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..50)

FreeSpaceConfidence         ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)

LongitudinalLanePositionValue       ::= INTEGER {zeroPointOneMeter(1)} (0..32767)

LongitudinalLanePositionConfidence  ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)

ObjectAge                   ::= INTEGER {oneMiliSec(1)} (0..1500)

ObjectConfidence            ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)

ObjectDimensionValue        ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..1023)

ObjectDimensionConfidence   ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)

ObjectRefPoint              ::= INTEGER {mid(0), bottomLeft(1), midLeft(2), topLeft(3), bottomMid(4), topMid(5), bottomRight(6), midRight(7), topRight(8)} (0..8)

OtherSublassType            ::= INTEGER {unknown(0), roadSideUnit(1)} (0..255)

PersonSubclassType          ::= INTEGER {unknown(0), pedestrian(1), personInWheelchair(2), cyclist(3), personWithStroller(4), personOnSkates(5), personGroup(6)} (0..255)

Radius                      ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)}  (0..10000)

Range                       ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..10000)

RearOverhang                ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..150)

RefPointId                  ::= INTEGER (0..255)

SensorHeight                ::= INTEGER  {zeroPointZeroOneMeter(1)} (-5000..5000)

ShadowingApplies            ::= BOOLEAN

Identifier                  ::= INTEGER (0..255)

NumberOfPerceivedObjects    ::= INTEGER (0..255)

SensorType                  ::= INTEGER {undefined(0), radar(1), lidar(2), monovideo(3), stereovision(4), nightvision(5), ultrasonic(6), pmd(7), fusion(8), inductionloop(9), sphericalCamera(10), itssaggregation(11)} (0..15)

SegmentCount                ::= INTEGER(1..127)

SpeedValueExtended          ::= INTEGER {standstill(0), oneCentimeterPerSec(1),unavailable(16383)} (-16383..16383)

TimeOfMeasurement           ::= INTEGER {oneMilliSecond(1)} (-1500..1500)

VehicleSubclassType         ::= INTEGER {unknown(0), moped(1), motorcycle(2), passengerCar(3), bus(4), lightTruck(5), heavyTruck(6), trailer(7), specialVehicles(8), tram(9), emergencyVehicle(10), agricultural(11)} (0..255)

XSensorOffset               ::= INTEGER {negativeZeroPointZeroOneMeter(-1), negativeOneMeter(-100)} (-5000..0)

YSensorOffset               ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (-1000..1000)

ZSensorOffset               ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (0..1000)

END