合作式智能运输系统-车用通信系统应用层及应用数据交互标准 (中)

--Main message frame
MessageFrame ::= CHOICE {
  bsmFrame BasicSafetyMessage,
  mapFrame MapData,
  rsmFrame RoadsideSafetyMessage,
  spatFrame SPAT,
  rsiFrame RoadSideInformation,
}

BasicSafetyMessage ::= SEQUENCE{
  msgCnt MsgCount,
  id OCTET STRING (SIZE(8)),
  --temperary vehicle ID
  secMark DSecond,
  timeConfidence TimeConfidence OPTIONAL,
  pos Position3D,
  posAccuracy PositionalAccuracy OPTIONAL,
  --Accuracy for GNSS system
  posConfidence PositionConfidenceSet OPTIONAL,
  --Realtime position confidence
  transmission TransmissionState,
  speedSpeed,
  heading Heading,
  angle SteeringWheelAngle OPTIONAL,
  motionCfd MotionConfidenceSet OPTIONAL,
  accelSet AccelerationSet4Way,
  brakes BrakeSystemStatus,
  size VehicleSize,
  vehicleClass VehicleClassification,
  --VehicleClassification includes BasicVehicleClass and other extendible type
  safetyExt VehicleSafetyExtensions OPTIONAL,
  emergencyExt VehicleEmergencyExtensions OPTIONAL,
}

MapData ::= SEQUENCE{
  msgCnt MsgCount,
  timeStamp MinuteofTheYear OPTIONAL,
  nodes NodeList,
  --intersections or road endpoints
}

RoadSideInformation ::= SEQUENCE{
  msgCnt MsgCount,
  moy MinuteofTheYear OPTIONAL,
  id OCTET STRING (SIZE(8)),
  --RSU ID
  refPos Position3D,
  --Reference position of this RSI message
  rtes RTEList OPTIONAL,
  --All the rte data packed in this message
  rtss RTSList OPTIONAL,
  --All the rts data packed in this message
}

RoadsideSafetyMessage ::= SEQUENCE{
  msgCnt MsgCount,
  id OCTET STRING (SIZE(8)),
  --RSU ID
  refPos Position3D,
  --Reference position of this RSM message
  participants ParticipantList,
  --All or part of the participants
  --detected by RSU
}

SPAT ::= SEQUENCE{
  msgCnt MsgCount,
  moy MinuteofTheYear OPTIONAL,
  timeStamp DSecond OPTIONAL,
  --Time stamp when this message is formed
  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)
}

AccelerationSet4Way ::= SEQUENCE{
  long Acceleration,
  --Along the Vehicle Longitudinal axis
  lat Acceleration,
  --Along the Vehicle Lateral axis
  vert VerticalAcceleration,
  --Along the Vehicle Vertical axis
  yaw YawRate
}

BrakeSystemStatus ::= SEQUENCE{
    brakePadel BrakePedalStatus OPTIONAL,
    wheelBrakes BrakeAppliedStatus OPTIONAL,
    traction TractionControlStatus OPTIONAL,
    abs AntiLockBrakeStatus OPTIONAL,
    scs StabilityControlStatus OPTIONAL,
    brakeBoost BrakeBoostApplied OPTIONAL,
    auxBrakes AuxiliaryBrakeStatus OPTIONAL
}

ConnectingLane ::= SEQUENCE{
    lane LaneID,
    --Index of the connecting lane
    maneuver AllowedManeuvers OPTIONAL
    --The Maneuver between
    --the enclosing lane and this lane
    --at the stop line to connect them
}

Connection ::= SEQUENCE{
    remoteIntersection NodeReferenceID,
    --This entry indicates the downstream intersection of the link this lane connects to.
    --This provides a means to create meshes of lanes
    connectingLane ConnectingLane OPTIONAL,
    --The index of the connecting lane and also the maneuver from the current lane to it
    --When we want to list the allowed lanes of the next link
    --this lane can lead to,we use this entry
    phaseId PhaseID OPTIONAL
    --The matching signal group send by the SPAT message for this lane/maneuver.
    --Shall be present unless the connectingLane
    --has no signal group (is un-signalized)
}

ConnectsToList ::= SEQUENCE (SIZE(1..16)) OF Connection

DDateTime ::= SEQUENCE{
    year DYear OPTIONAL,
    month DMonth OPTIONAL,
    day DDay OPTIONAL,
    hour DHour OPTIONAL,
    minute DMinute OPTIONAL,
    second DSecond OPTIONAL,
    offset DTimeOffset OPTIONAL --time zone
}

Description ::= CHOICE{
    textString IA5String (SIZE(1..512)),
    --ASCII text
    textGB2312 OCTET STRING (SIZE(2..512))
    --text using Chinese-character encoding GB2312-80
}

FullPositionVector ::= SEQUENCE{
    utcTime DDateTime OPTIONAL,--time with mSec precision
    pos Position3D,
    heading Heading OPTIONAL,
    transmission TransmissionState OPTIONAL,
    speed Speed OPTIONAL,
    posAccuracy PositionalAccuracy OPTIONAL,
    posConficence PositionConfidenceSet OPTIONAL,
    timeConfidence TimeConfidence OPTIONAL,
    motionCfd MotionConfidenceSet OPTIONAL,
}

IntersectionState ::= SEQUENCE{
    intersectionId NodeReferenceID,
    --A globally unique value set,consisting of a regionID and intersection ID assignment
    --provides a unique mapping to the MAP Node
    status IntersectionStatusObject,
    --general status of the controller(s)
    moy MinuteofTheYear OPTIONAL,
    --Minute of current UTC year used only with messages to be archived
    timeStamp DSecond OPTIONAL,
    --the mSec point in the current UTC minute that
    --this message was constructed
    timeConfidence TimeConfidence OPTIONAL,
    --indicate the time confidence of the above UTC time
    phases PhaseList
    --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
}

IntersectionStateList ::= SEQUENCE (SIZE(1..32)) OF IntersectionState

Lane ::= SEQUENCE{
    laneID LaneID,
    --The unique ID number assigned
    --to this lane object
    lanewidth LaneWidth OPTIONAL,
    laneAttributes LaneAttributes OPTIONAL,
    --Define basic attribute of lane
    maneuvers AllowedManeuvers OPTIONAL,
    --the permitted maneuvers for this lane
    connectsTo ConnectsToList OPTIONAL,
    --connection to downsteam lanes
    speedLimits SpeedLimitList OPTIONAL,
    --List all the speed limits
    points PointList OPTIONAL,
    --Define road points and segments
}

LaneAttributes ::= SEQUENCE{
  shareWith LaneSharing OPTIONAL,
  laneType LaneTypeAttributes
}

LaneList ::= SEQUENCE (SIZE(1..32)) OF Lane

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
}

Link ::= SEQUENCE{
    name DescriptiveName OPTIONAL,
    --Link name
    upstreamNodeId NodeReferenceID,
    --this link is from upstreamNode to the Node it belongs to
    speedLimits SpeedLimitList OPTIONAL,
    --List all the speed limits
    linkWidth LaneWidth OPTIONAL,
    --Width of this link
    points PointList OPTIONAL,
    --Define road points along the center of this link
    movements MovementList OPTIONAL,
    --Define movements at intersection
    lanes LaneList,
    --Lanes belong to this link
    ...
}

LinkList ::= SEQUENCE (SIZE (1..32)) OF Link

MotionConfidenceSet ::= SEQUENCE{
    speedCfd SpeedConfidence OPTIONAL,
    headingCfd HeadingConfidence OPTIONAL,
    steerCfd SteeringWheelAngleConfidence OPTIONAL
}

Movement ::= SEQUENCE{
    remoteIntersection NodeReferenceID,
    --This entry indicates the downstream intersection of the link this lane connects to.
    --This provides a means to create meshes of lanes
    phaseId PhaseID OPTIONAL
    --The matching signal group send by
    --the SPAT message for this lane/maneuver.
    --Shall be present unless the connectingLane
    --has no signal group (is un-signalized)
}

MovementList ::= SEQUENCE (SIZE(1..32)) OF Movement

Node ::= SEQUENCE{
    --Node can be an intersection,or a road endpoint
    name DescriptiveName OPTIONAL,
    --Node name
    id NodeReferenceID,
    --A globally unique value set,
    --consisting of a regionID and
    --node ID assignment
    refPos Position3D,
    --3D position of the center of this Node.
    --This position is also the reference position for the elements inside
    inLinks LinkList OPTIONAL,
    --all the links enter this Node
}

NodeList ::=SEQUENCE (SIZE(1..63)) OF Node

NodeReferenceID ::= 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 NodeID
    --a unique mapping to the node
    --in question within the above region of use
}

ParticipantData ::= SEQUENCE{
    ptcType ParticipantType,
    ptcId INTEGER (0..65535),
    --temporary ID set by RSU
    --0 is RSU itself
    --1..255 represent participants detected by RSU
    --ptcId of different participant needs to be unique in RSU
    source SourceType,
    id OCTET STRING (SIZE(8))OPTIONAL,
    --temperary vehicle ID from BSM
    secMark DSecond,
    pos PositionOffsetLLV,
    posConfidence PositionConfidenceSet,
    transmission TransmissionState OPTIONAL,
    speed Speed,
    headingHeading,
    angle SteeringWheelAngle OPTIONAL,
    motionCfd MotionConfidenceSet OPTIONAL,
    accelSet AccelerationSet4Way OPTIONAL,
    size VehicleSize,
    --Size of participant including motor/non-motor/pedestrian/rsu
    --is represented by DE VehilceSize
    vehicleClass VehicleClassification OPTIONAL,
    ...
}

ParticipantList ::= SEQUENCE (SIZE(1..16)) OF ParticipantData

PathHistory ::= SEQUENCE{
    initialPosition FullPositionVector OPTIONAL,
    currGNSSstatus GNSSstatus OPTIONAL,
    crumbData PathHistoryPointList,
    ...
}

PathHistoryPoint ::= SEQUENCE{
    llvOffset PositionOffsetLLV,
    timeOffset TimeOffset,
    --Offset backwards in time
    speedSpeed OPTIONAL,
    --Speed over the reported period

    posAccuracy PositionConfidenceSet OPTIONAL,
    --The accuracy of this value
    heading CoarseHeading OPTIONAL,
    --overall heading
    ...
}

PathHistoryPointList ::= SEQUENCE (SIZE(1..23)) OF PathHistoryPoint

PathPointList ::= SEQUENCE (SIZE(1..32)) OF PositionOffsetLLV
--Path point list for RTS message

PathPrediction ::=SEQUENCE{
    radiusOfCurve RadiusOfCurvature,
    --Units of 10cm
    --straight path to use value of 32767
    confidence Confidence,
    --Units of 0.5 percent
}

Phase ::= SEQUENCE{
    id PhaseID,
    --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
    phaseStates PhaseStateList
    --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
}

PhaseList ::= SEQUENCE (SIZE(1..16)) OF Phase
--List of phases in one traffic signal

PhaseState ::= SEQUENCE
    light LightState,
    --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
    ...
}

PhaseStateList ::= SEQUENCE (SIZE(1..16))OF PhaseState

PointList ::= SEQUENCE (SIZE (2..31)) OF RoadPoint
--At least 2 points of 1 lane
--entry line and exit line
--points need to be listed sequentially
--from upstream to downstream

Position-LL-24B ::= SEQUENCE{
    --ranges of +-0.0002047 degrees
    --ranges of +-22.634554 meters at the equator
    lon OffsetLL-B12,
    lat OffsetLL-B12
}

Position-LL-28B ::= SEQUENCE{
    --ranges of +-0.0008191 degrees
    --ranges of +-90.571389 meters at the equator
    lon OffsetLL-B14,
    lat OffsetLL-B14
}

Position-LL-32B ::= SEQUENCE{
    --ranges of +-0.0032767 degrees
    --ranges of +-362.31873 meters at the equator
    lon OffsetLL-B16,
    lat OffsetLL-B16
}

Position-LL-36B ::= SEQUENCE{
    --ranges of +-0.0131071 degrees
    --ranges of +-01.449308 Kmeters at the equator
    lon OffsetLL-B18,
    lat OffsetLL-B18
}

Position-LL-44B ::= SEQUENCE{
    --ranges of +-0.2097151 degrees
    --ranges of +-23.189096 Kmeters at the equator
    lon OffsetLL-B22,
    lat OffsetLL-B22
}

Position-LL-48B ::= SEQUENCE{
    --ranges of +-0.8388607 degrees
    --ranges of +-92.756481 Kmeters at the equator
    lon OffsetLL-B24,
    lat OffsetLL-B24
}

Position-LLmD-64b ::= SEQUENCE{
    --a full 32b Lat/Lon range
    lon Longitude,
    lat Latitude
}

Position3D ::= SEQUENCE{
    lat Latitude,
    --in 1/10th micro degrees
    long Longitude,
    --in 1/10th micro degrees
    elevation Elevation OPTIONAL
    --in 10 cm units
}

PositionalAccuracy ::= SEQUENCE{
    --NMEA-183 values expressed in strict ASN form
    semiMajor SemiMajorAxisAccuracy,
    semiMinor SemiMinorAxisAccuracy,
    orientation SemiMajorAxisOrientation
}

PositionConfidenceSet ::= SEQUENCE{
    pos PositionConfidence,--for both horizontal directions
    elevation ElevationConfidence OPTIONAL
}

PositionOffsetLL ::= CHOICE{
    --Locations with LL content Span at the equator when using a zoom of one
    position-LL1 Position-LL-24B,
    --within +-22.634554 meters of the reference position
    position-LL2 Position-LL-28B,
    --within +-90.571389 meters of the reference position
    position-LL3 Position-LL-32B,
    --within +362.31873 meters of the reference position
    position-LL4 Position-LL-36B,
    --within +-01.449308 Kmeters of the reference position
    position-LL5 Position-LL-44B,
    --within +-23.189096 Kmeters of the reference position
    position-LL6 Position-LL-48B,
    --within +-92.756481 Kmeters of the reference position
    position-LatLon Position-LLmD-64b
    --node is a Lat/Lon absolute coordinates not a reference position
}

PositionOffsetLLV ::= SEQUENCE{
    offsetLL PositionoffsetLL,
    --offset in lon/lat
    offsetV Verticaloffset OPTIONAL
    --offset in elevation
}

ReferenceLink ::= SEQUENCE{
    --this Link is from Node of upstreamNodeld to Node of downstreamNodeId
    upstreamNodeId NodeReferenceID,
    downstreamNodeId NodeReferenceID,
    referenceLanesReferenceLanes OPTIONAL
    --Provide reference lanes if is necessary
    --Refer to all lanes if this data is not given
}

ReferenceLinkList ::= SEQUENCE (SIZE(1..16)) OF ReferenceLink

ReferencePath ::= SEQUENCE{
    activePath PathPointList,
    --RSI is active for vehicles within this path
    --Points are listed from upstream to downstream
    --along the vehicle drive direction.
    --One path includes at least 1 points.
    --A path with only 1 point means a round alert area
    pathRadius Radius
    --The biggest distance away from the alert path
    --within which the warning is active.
}

ReferencePathList ::= SEQUENCE (SIZE(1..8)) OF ReferencePath

RegulatorySpeedLimit ::= SEQUENCE{
    type SpeedLimitType,
    --The type of regulatory speed which follows
    speed Speed
    --The speed in units of 0.02 m/s
    --See Section 11 for converting and translating
    --speed expressed in mph into units of m/s
}

RSITimeDetails ::= SEQUENCE{
    startTime MinuteOfTheYear OPTIONAL,
    endTime MinuteOfTheYear OPTIONAL,
    --Exact or estimated end time
    endTimeConfidence TimeConfidence OPTIONAL
}

RTEData ::= SEQUENCE{
    rteId INTEGER (0..255),
    --local ID of this rte information set by RSU
    eventType EventType,
    --Type of event,according to China GB/T 29100-2012
    eventSourceEventSource,
    eventPos PositionoffsetLLV OPTIONAL,
    --Position of this event,if exists
    eventRadius Radius OPTIONAL,
    --Radius of this event,if exists
    description Description OPTIONAL,
    --Additional description to this event
    timeDetails RSITimeDetails OPTIONAL,
    --Start time or end time when this event is active
    priority RSIPriority OPTIONAL,
    --the urgency of this RSI data,a relative
    --degree of merit compared with other RSI data
    referencePaths ReferencePathList OPTIONAL,

    --Related links of this traffic event
    eventConfidence Confidence OPTIONAL,
    --indicate the event confidence set by event source
    --the probability/confidence of the detected event
    --being truly extent at a certain place,
    --to help vehicle determine whether to trust the received information.
    ...
}

RTEList ::= SEQUENCE (SIZE(1..8)) OF RTEData
--Road Traffic Event List

RTSData ::= SEQUENCE{
    rtsId INTEGER (0..255),
    --local ID of this rts information set by RSU
    signType SignType,
    --Type of sign,according to China GB 5768.2-2009
    signPos PositionOffsetLLV OPTIONAL,
    --Position of the traffic sign,if exists
    description Description OPTIONAL,
    --Additional description to the sign
    timeDetails RSITimeDetails OPTIONAL,
    --start time or end time when this sign is active,if existed
    priority RSIPriority OPTIONAL,

    --the urgency of this RSI data,a relative
    --degree of merit compared with other RSI data
    referencePaths ReferencePathList OPTIONAL,
    --Related paths of this traffic sign
    referenceLinks ReferenceLinkList OPTIONAL,
    --Related links of this traffic sign
    ...
}

RTSList ::= SEQUENCE (SIZE(1..16)) OF RTSData

RoadPoint ::= SEQUENCE{
    posOffset PositionOffsetLLV,
    --Position offset to the reference position
}

SignalState ::= SEQUENCE{
    status IntersectionStatusObject,
    --general status of the controller(s)
    moy MinuteofTheYear OPTIONAL,
    --Minute of current UTC year
    --used only with messages to be archived
    timeStamp DSecond OPTIONAL,
    --the mSec point in the current UTC minute that
    --this message was constructed
    phases PhaseList
    --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
}

SpeedLimitList ::= SEQUENCE (SIZE(1..9)) OF RegulatorySpeedLimit

TimeChangeDetails ::= CHOICE{
    counting TimeCountingDown,
    utcTiming UTCTiming,
}

TimeCountingDown ::=SEQUENCE{
    startTime TimeMark,
    --When this phase state started,
    --if already started,the value is 0
    minEndTime TimeMark OPTIONAL,
    --Expected shortest end time
    --the value is the min left time from now
    maxEndTime TimeMark OPTIONAL,
    --Expected longest end time
    --the value is the max left time from now
    likelyEndTime TimeMark,
    --Best predicted value based on other data
    --the value is the likely left time from now
    timeConfidence Confidence OPTIONAL,
    --Confidence of likelyTime
    nextStartTime TimeMark OPTIONAL,
    --A rough estimate of time from now when this phase state may next occur again
    --used to support various ECO driving power management needs.
    --If already started,this value is recommended to be delivered.
    nextDuration TimeMark OPTIONAL
    --A rough estimate of the time length of this phase state
    --when it may next occur again.
    --used to support various ECO driving power management needs.
    --If already started,this value is recommended to be delivered.
}

UTCTiming ::= SEQUENCE{
    startUTCTime TimeMark,
    --If already started,the value represents
    --the time stamp when this phase state started.
    --If not,the value represents
    --the time stamp when this phase state starts.
    minEndUTCTime TimeMark OPTIONAL,
    --The time stamp when this state 1st ends in shortest time
    maxEndUTCTime TimeMark OPTIONAL,
    --The time stamp when this state 1st ends in longest time
    likelyEndUTCTime TimeMark,
    --The time stamp when this state 1st ends in best predicted time
    timeConfidence Confidence OPTIONAL,
    --Confidence of likelyEndUTCTime
    nextStartUTCTime TimeMark OPTIONAL,
    --A rough estimate of UTC time stamp when this phase state may next occur again
    --used to support various ECO driving power management needs.
    --If already started,this value is recommended to be delivered.
    nextEndUTCTime TimeMark OPTIONAL
    --A rough estimate of UTC time stamp when this phase state ends again
    used to support various ECO driving power management needs.

    --If already started,this value is recommended to be delivered.
    nextEndUTCTime TimeMark OPTIONAL
    --A rough estimate of UTC time stamp when this phase state ends again
    --used to support various ECO driving power management needs.
    --If already started,this value is recommended to be delivered.
}

VehicleClassification ::= SEQUENCE{
    classification BasicVehicleClass,
    fuelType FuelType OPTIONAL,
}

VehicleEmergencyExtensions ::= SEQUENCE{
    responseType ResponseType OPTIONAL,
    sirenUse SirenInUse OPTIONAL,
    lightsUse LightbarInUse OPTIONAL,
}

VehicleSafetyExtensions ::= SEQUENCE{
    events VehicleEventFlags OPTIONAL,
    pathHistory PathHistory OPTIONAL,
    pathPrediction PathPrediction OPTIONAL,
    lights ExteriorLights OPTIONAL,
}

VehicleSize ::= SEQUENCE{
    width VehicleWidth,
    length VehicleLength,
    height VehicleHeight OPTIONAL
}

Verticaloffset ::= CHOICE{
    --Vertical Offset
    --All below in steps of 10cm above or below the reference ellipsoid
    offset1 VertOffset-B07,--with a range of +-6.3 meters vertical
    offset2 Vertoffset-B08,--with a range of +-12.7 meters vertical
    offset3 Vertoffset-B09,--with a range of +-25.5 meters vertical
    offset4 VertOffset-B10,--with a range of +-51.1 meters vertical
    offset5 Vertoffset-Bl1,--with a range of +-102.3 meters vertical
    offset6 VertOffset-B12,--with a range of +-204.7 meters vertical
    elevation Elevation --with a range of -409.5 to 6143.9 meters
}

Acceleration ::=INTEGER (-2000..2001)
--Units of 0.01 m/s 2
--the value 2000 shall be used for values greater than 2000
--the value -2000 shall be used for values less than -2000
--a value of 2001 shall be used for Unavailable

AllowedManeuvers ::= BIT STRING{
    --With bits as defined:
    --Allowed maneuvers at path end (stop line)
    --All maneuvers with bits not set are therefore prohibited
    --A value of zero shall be used for unknown,indicating no Maneuver

    maneuverStraightAllowed (0),
    --a Straight movement is allowed in this lane
    maneuverLeftAllowed (1),
    --a Left Turn movement is allowed in this lane
    maneuverRightAllowed (2),
    --a Right Turn movement is allowed in this lane
    maneuverUTurnAllowed (3),
    --a U turn movement is allowed in this lane
    maneuverLeftTurnOnRedAllowed (4),
    --a Stop,and then proceed when safe movement
    --is allowed in this lane
    maneuverRightTurnOnRedAllowed (5),
    --a Stop,and then proceed when safe movement
    --is allowed in this lane
    maneuverLaneChangeAllowed (6),
    --a movement which changes to an outer lane
    --on the egress side is allowed in this lane
    --(example:left into either outbound lane)
    maneuverNoStoppingAllowed (7),
    --the vehicle should not stop at the stop line
    --(example:a flashing green arrow)
    yieldAllwaysRequired (8),

    --the allowed movements above are not protected
    --(example:an permanent yellow condition)
    goWithHalt (9),
    --after making a full stop,may proceed
    caution (10),
    --proceed past stop line with caution
    reserved1 (11)
    --used to align to 12 Bit Field
}(SIZE(12)

AntiLockBrakeStatus ::= ENUMERATED{
    unavailable (0),--Vehicle Not Equipped with ABS Brakes
    --or ABS Brakes status is unavailable
    off (1),--Vehicle's ABS are Off

    on (2),--Vehicle's ABS are On but not Engaged
    engaged (3)--Vehicle's ABS control is Engaged on any wheel
}

AuxiliaryBrakeStatus ::= ENUMERATED{
    unavailable (0),--Vehicle Not Equipped with Aux Brakes
    --or Aux Brakes status is unavailable
    off (1),--Vehicle's Aux Brakes are Off
    on (2),--Vehicle's Aux Brakes are On Engaged
    reserved (3)
}

BasicVehicleClass :: INTEGER (0..255) 
    unknownVehicleClass BasicVehicleClass ::= 0
    --Not Equipped,Not known or unavailable
    specialVehicleClass BasicVehicleClass ::= 1
    
    --Special use
    -- Basic Passenger Motor Vehicle Types
    passenger-Vehicle-TypeUnknown BasicVehicleClass ::= 10--default type
    passenger-Vehicle-TypeOther BasicVehicleClass ::= 11
    --various fuel types are handled in another element
    
    --Light Trucks,Pickup,Van,Panel
    lightTruck-Vehicle-TypeUnknown BasicVehicleClass ::= 20 --default type
    lightTruck-Vehicle-TypeOther BasicVehicleClass ::= 21

    --Trucks,Various axle types,includes HPMS items
    truck-Vehicle-TypeUnknown BasicVehicleClass ::= 25 --default type
    truck-Vehicle-TypeOther BasicVehicleClass ::= 26
    truck-axleCnt2 BasicVehicleClass ::= 27 --Two axle,six tire single units
    truck-axleCnt3 BasicVehicleClass ::= 28 --Three axle,single units
    truck-axleCnt4 BasicVehicleClass ::= 29 --Four or more axle,single unit
    truck-axleCnt4Trailer BasicVehicleClass ::= 30--Four or less axle,single trailer
    truck-axleCnt5Trailer BasicVehicleClass ::= 31--Five or less axle,single trailer
    truck-axleCnt6Trailer BasicVehicleClass ::= 32--Six or more axle,single trailer
    truck-axleCnt5MultiTrailer BasicVehicleClass ::= 33 --Five or less axle, multi-trailer
    truck-axleCnt6MultiTrailer BasicVehicleClass ::= 34--Six axle, multi-trailer
    truck-axleCnt7MultiTrailer BasicVehicleClass ::= 35 --Seven or more axle, multi-trailer
    
    -- Motorcycle Types
    motorcycle-TypeUnknown BasicVehicleClass ::= 40 --default type
    motorcycle-TypeOther BasicVehicleClass ::= 41
    motorcycle-Cruiser-Standard BasicVehicleClass ::= 42
    motorcycle-SportUnclad BasicVehicleClass ::= 43
    motorcycle-SportTouring BasicVehicleClass ::= 44
    motorcycle-SuperSport BasicVehicleClass ::= 45
    motorcycle-Touring BasicVehicleClass ::= 46
    motorcycle-Trike BasicVehicleClass ::= 47
    motorcycle-wPassengers BasicVehicleClass ::= 48--type not stated
    
    --Transit Types
    transit-TypeUnknown BasicVehicleClass ::= 50 --default type
    transit-TypeOther BasicVehicleClass ::= 51
    transit-BRT BasicVehicleClass ::= 52
    transit-ExpressBus BasicVehicleClass ::= 53
    transit-LocalBus BasicVehicleClass ::= 54
    transit-SchoolBus BasicVehicleClass ::= 55
    transit-FixedGuideway BasicVehicleClass ::= 56
    transit-Paratransit BasicVehicleClass ::= 57
    transit-Paratransit-Ambulance BasicVehicleClass ::= 58

    --Emergency Vehicle Types
    emergency-TypeUnknown BasicVehicleClass ::= 60 --default type
    emergency-TypeOther BasicVehicleClass ::= 61--includes federal users
    emergency-Fire-Light-Vehicle BasicVehicleClass ::= 62
    emergency-Fire-Heavy-Vehicle BasicVehicleClass ::= 63
    emergency-Fire-Paramedic-Vehicle BasicVehicleClass ::= 64
    emergency-Fire-Ambulance-Vehicle BasicVehicleClass ::= 65
    emergency-Police-Light-Vehicle BasicVehicleClass ::= 66
    emergency-Police-Heavy-Vehicle BasicVehicleClass ::= 67
    emergency-Other-Responder BasicVehicleClass ::= 68
    emergency-Other-Ambulance BasicVehicleClass ::= 69
    
    --Other V2X Equipped Travelers
    otherTraveler-TypeUnknown BasicVehicleClass ::= 80 --default type
    otherTraveler-TypeOther BasicVehicleClass ::= 81
    otherTraveler-Pedestrian BasicVehicleClass ::= 82
    otherTraveler-Visually-Disabled BasicVehicleClass ::= 83
    otherTraveler-Physically-Disabled BasicVehicleClass ::= 84
    otherTraveler-Bicycle BasicVehicleClass ::= 85
    otherTraveler-Vulnerable-Roadworker BasicVehicleClass ::= 86

    --Other V2X Equipped Device Types
    infrastructure-TypeUnknown BasicVehicleClass ::= 90 --default type
    infrastructure-Fixed BasicVehicleClass ::= 91
    infrastructure-Movable BasicVehicleClass ::= 92
    equipped-CargoTrailer BasicVehicleClass ::= 93

BrakeAppliedStatus ::= BIT STRING{
    unavailable (0),--When set,the brake applied status is unavailable
    leftFront (1),--Left Front Active
    leftRear (2),--Left Rear Active
    rightFront (3),--Right Front Active
    rightRear (4)--Right Rear Active
    }(SIZE(5)
}

BrakeBoostApplied ::= ENUMERATED{
    unavailable (0),--Vehicle not equipped with brake boost
    --or brake boost data is unavailable
    off (1),--Vehicle's brake boost is off
    on (2)--Vehicle's brake boost is on (applied)
}

BrakePedalStatus ::= ENUMERATED{
    unavailable (0),--Vehicle brake pedal detector is unavailable
    off (1),--Vehicle's brake pedal is not pressed
    on (2)--Vehicle's brake pedal is pressed
}

CoarseHeading ::= INTEGER (0..240)
--Units of 1.5 degrees
--over a range of 0 358.5 degrees
--the value 240 shall be used for unavailable

Confidence ::= INTEGER (0..200)
--Units of 0.5 percent

DDay ::= INTEGER (0..31)
--units of days

DescriptiveName ::= IA5String (SIZE(1..63))

DHour ::= INTEGER (0..24)
--units of hours

DMinute ::= INTEGER (0..60)
--units of minutes

DMonth ::= INTEGER(0..12)
--units of months

DSecond ::= INTEGER (0..65535)
--units of milliseconds

DTimeOffset ::= INTEGER (-720..721)
--units of minutes from UTC time

DYear ::= INTEGER (0..4095)
--units of years

Elevation ::= INTEGER (-4096..61439)
--In units of 10 cm steps above or below the reference ellipsoid
--Providing a range of -409.5 to 6143.9 meters
--The value -4096 shall be used when Unknown is to be sent

ElevationConfidence ::= ENUMERATED{
  unavailable (0),--Not Equipped or unavailable
  e1ev-500-00(1),--(500m)
  e1ev-200-00(2),--(200m)
  e1ev-100-00(3),--(100m)
  e1ev-050-00(4),--(50m)
  e1ev-020-00(5),--(20m)
  e1ev-010-00(6),--(10m)
  e1ev-005-00(7),--(5m)
  e1ev-002-00(8),--(2m)
  e1ev-001-00(9),--(1m)
  e1ev-000-50(10),--(50cm)
  e1ev-000-20(11),--(20cm)
  e1ev-000-10(12),--(10cm)
  e1ev-000-05(13),--(5cm)
  e1ev-000-02(14),--(2cm)
  e1ev-000-01(15)--(1cm)
}

EventSource ::= ENUMERATED{
    unknown (0),--0 Unknown
    police(1),--1 traffic police
    government(2),--2 govenment
    meteorological (3),--3 meteorological department
    internet(4),
    --4 internet services
    detection(5),--5 local detection
}

EventType ::= INTEGER (0..65535)
--Traffic event type according to AppendixA and China GB/T 29100-2012

ExteriorLights ::= BIT STRING{
    --All lights off is indicated by no bits set
    lowBeamHeadlightsOn (0),
    highBeamHeadlightsOn (1),
    leftTurnSignalOn (2),
    rightTurnSignalOn (3),
    hazardSignalOn (4),
    automaticLightControlOn (5),
    daytimeRunningLightsOn (6),
    fogLightOn (7),
    parkingLightsOn (8)
}(SIZE(9,..)

FuelType ::= INTEGER (0..15){
    unknownFuel FuelType ::= 0 --Gasoline Powered
    gasoline FuelType ::= 1
    ethanol FuelType ::= 2 --Including blends
    diesel FuelType ::= 3--All types
    electric FuelType ::= 4
    hybrid FuelType ::= 5--All types
    hydrogen FuelType ::= 6
    natGasLiquid FuelType ::= 7 --Liquefied
    natGasComp FuelType ::= 8--Compressed
    propane FuelType ::= 9
}

GNSSstatus ::= BIT STRING{
    unavailable (0),--Not Equipped or unavailable
    isHealthy (1),
    isMonitored (2),
    baseStationType (3),--Set to zero if a moving base station,
    --or if a rover device (an OBU),
    set to one if it is a fixed base station
    aPDOPofUnder5 (4),--A dilution of precision greater than 5
    inViewOfUnder5 (5),--Less than 5 satellites in view
    localCorrectionsPresent (6),--pseudo range corrections used
    networkCorrectionsPresent (7)--RTK type corrections used
}(SIZE(8))

Heading ::= INTEGER (0..28800)
--Units of 0.0125 degrees
--A range of 0 to 359.9875 degrees

HeadingConfidence ::= ENUMERATED{
    unavailable (0),--Not Equipped or unavailable
    prec10deg (1),--10 degrees
    prec05deg (2),--5 degrees
    prec0ldeg (3),--1 degrees
    prec0-1deg (4),--0.1 degrees
    prec0-05deg (5),--0.05 degrees
    prec0-01deg(6),--0.01 degrees
    prec0-0125deg (7)--0.0125 degrees
}

IntersectionStatusObject ::= BIT STRING{
    manualControlIsEnabled (0),
    --Timing reported is per programmed values,etc.but person
    --at cabinet can manually request that certain intervals are
    --terminated early (e.g.green).

    stopTimeIsActivated (1),
    --And all counting/timing has stopped.
    failureFlash (2),
    --Above to be used for any detected hardware failures,

    --e.g.conflict monitor as well as for police flash
    preemptIsActive (3),
    signalPriorityIsActive (4),
    --Additional states
    fixedTimeOperation (5),
    --Schedule of signals is based on time only
    --(i.e.the state can be calculated)
    trafficDependentOperation (6),
    --Operation is based on different levels of traffic parameters
    --(requests,duration of gaps or more complex parameters)
    standbyOperation (7),
    --Controller:partially switched off or partially amber flashing
    failureMode (8),
    --Controller has a problem or failure in operation
    off (9),
    --Controller is switched off
    --Related to MAP and SPAT bindings
    recentMAPmessageUpdate (10),
    --Map revision with content changes

    recentChangeInMAPassignedLanesIDsUsed (11),
    --Change in MAP's assigned lanes used (lane changes)
    --Changes in the active lane list description
    noValidMAPisAvailableAtThisTime (12),
    --MAP (and various lanes indexes)not available
    noValidSPATisAvailableAtThisTime (13)

    --SPAT system is not working at this time
    --Bits 14,15 reserved at this time and shall be zero
}(SIZE(16))

LaneAttributes-Barrier ::= BIT STRING{
    --With bits as defined:
    median-RevocableLane (0),
    --this lane may be activated or not based
    --on the current SPAT message contents
    --if not asserted,the lane is ALWAYS present
    median (1),
    whiteLineHashing (2),
    stripedLines (3),
    doubleStripedLines (4),
    trafficCones (5),
    constructionBarrier (6),
    trafficChannels (7),
    lowCurbs (8),
    highCurbs (9)-- Bits 10 15 reserved and set to zero
}(SIZE(16))

LaneAttributes-Bike ::= BIT STRING{
    --With bits as defined:
    bikeRevocableLane (0),
    --this lane may be activated or not based
    --on the current SPAT message contents
    --if not asserted,the lane is ALWAYS present
    pedestrianUseAllowed (1),
    --The path allows pedestrian traffic,
    --if not set,this mode is prohibited
    isBikeFlyOverLane (2),
    --path of lane is not at grade
    fixedCycleTime (3),
    --the phases use preset times
    --i.e.there is not a'push to)cross button
    biDirectionalCycleTimes (4),
    --ped walk phases use different SignalGroupID
    --for each direction.The first SignalGroupID
    --in the first Connection represents inbound'
    --flow (the direction of travel towards the first
    --node point)while second SignalGroupID in the
    --next Connection entry represents the outbound'
    --flow.And use of RestrictionClassID entries

    --in the Connect follow this same pattern in pairs.
    isolatedByBarrier (5),
    unsignalizedSegmentsPresent (6)
    --The lane path consists of one of more segments
    --which are not part of a signal group ID
    --Bits 7 15 reserved and set to zero
}(SIZE(16))

LaneAttributes-Crosswalk ::= BIT STRING{
    --With bits as defined:
    --MUTCD provides no suitable "types"to use here
    crosswalkRevocableLane (0),
    --this lane may be activated or not based
    --on the current SPAT message contents
    --if not asserted,the lane is ALWAYS present
    bicyleUseAllowed (1),
    --The path allows bicycle traffic,

    --if not set,this mode is prohibited
    isXwalkFlyOverLane (2),
    --path of lane is not at grade
    fixedCycleTime (3),
    --ped walk phases
    -- use preset times
    --i.e.there is not a'push to cross'button
    biDirectionalCycleTimes (4),
    --ped walk phases use different SignalGroupID
    --for each direction.The first SignalGroupID
    --in the first Connection represents inbound'
    --flow (the direction of travel towards the first
    --node point)while second SignalGroupID in the
    --next Connection entry represents the 'outbound'
    --flow.And use of RestrictionClassID entries
    --in the Connect follow this same pattern in pairs.
    hasPushToWalkButton (5),
    --Has a demand input
    audioSupport (6),
    --audio crossing cues present

    rfSignalRequestPresent (7),
    --Supports RF push to walk technologies
    unsignalizedSegmentsPresent (8)
    --The lane path consists of one of more segments
    --which are not part of a signal group ID
    --Bits 915 reserved and set to zero
}(SIZE(16))

LaneAttributes-Parking ::= BIT STRING{
    --With bits as defined:
    --Parking use details,note that detailed restrictions such as
    --allowed hours are sent by way of ITIS codes in the TIM message
    parkingRevocableLane (0),
    --this lane may be activated or not based
    --on the current SPAT message contents
    --if not asserted,the lane is ALWAYS present
    parallelParkingInUse (1),

    headInParkingInUse (2),
    doNotParkZone (3),
    --used to denote fire hydrants as well as
    --short disruptions in a parking zone
    parkingForBusUse (4),
    parkingForTaxiUse (5),
    noPublicParkingUse (6)
    --private parking,as in front of
    --private property
    --Bits 715 reserved and set to zero
}(SIZE(16))

LaneAttributes-Sidewalk ::= BIT STRING {
    --With bits as defined:
    sidewalk-RevocableLane (0),
    --this lane may be activated or not based
    --on the current SPAT message contents
    --if not asserted,the lane is ALWAYS present
    bicyleUseAllowed (1),
    --The path allows bicycle traffic,
    --if not set,this mode is prohibited
    isSidewalkFlyOverLane (2),
    --path of lane is not at grade
    walkBikes (3)
    --bike traffic must dismount and walk
    --Bits 4 15 reserved and set to zero
}(SIZE(16))

LaneAttributes-Striping ::= BIT STRING{
    --With bits as defined:
    stripeToConnectingLanesRevocableLane (0),
    --this lane may be activated or not activated based
    --on the current SPAT message contents
    --if not asserted,the lane is ALWAYS present
    stripeDrawOnLeft (1),
    stripeDrawOnRight (2),
    --which side of lane to mark
    stripeToConnectingLanesLeft (3),
    stripeToConnectingLanesRight (4),
    stripeToConnectingLanesAhead (5)
    --the stripe type should be
    --presented to the user visually
    --to reflect stripes in the
    --intersection for the type of movement indicated
    --Bits 6~15 reserved and set to zero
}(SIZE(16))

LaneAttributes-TrackedVehicle ::= BIT STRING{
    --With bits as defined:
    spec-RevocableLane (0),
    -this lane may be activated or not based
    --on the current SPAT message contents
    --if not asserted,the lane is ALWAYS present
    spec-commuterRailRoadTrack (1),
    spec-lightRailRoadTrack (2),
    spec-heavyRailRoadTrack (3),
    spec-otherRailType (4)--Bits 5 15 reserved and set to zero
}(SIZE(16)

LaneAttributes-Vehicle ::= BIT STRING{
    --With bits as defined:
    isVehicleRevocableLane (0),
    --this lane may be activated or not based
    --on the current SPAT message contents
    --if not asserted,the lane is ALWAYS present
    isVehicleFlyOverLane (1),
    --path of lane is not at grade
    hovLaneUseOnly (2),
    restrictedToBusUse (3),
    restrictedToTaxiUse (4),
    restrictedFromPublicUse (5),
    hasIRbeaconCoverage  (6),
    permissionOnRequest (7)--e.g.to inform about a lane for e-cars
}(SIZE(8,..))

LaneID ::= INTEGER (0..255)
--the value 0 shall be used when the lane ID is
--not available or not known
--the value 255 is reserved for future use

LaneSharing ::= BIT STRING{
    --With bits as defined:
    overlappingLaneDescriptionProvided (0),
    --Assert when another lane object is present to describe the
    --path of the overlapping shared lane
    --this construct is not used for lane objects which simply cross

    multipleLanesTreatedAsOneLane (1),
    --Assert if the lane object path and width details represents
    --multiple lanes within it that are not further described
    --Various modes and type of traffic that may share this lane:
    otherNonMotorizedTrafficTypes (2),--horse drawn etc.
    individualMotorizedVehicleTraffic (3),
    busVehicleTraffic (4),
    taxiVehicleTraffic (5),
    pedestriansTraffic (6),
    cyclistVehicleTraffic (7),
    trackedVehicleTraffic (8),
    pedestrianTraffic (9)
}(SIZE(10))
--All zeros would indicate not shared'and'not overlapping'

LaneWidth ::= INTEGER (0..32767)
--units of 1 cm

Latitude ::= INTEGER (-900000000..900000001)
--Units of 1/10 micro degree
--Providing a range of plus-minus 90 degrees

LightbarInUse ::= ENUMERATED{
    unavailable (0),--Not Equipped or unavailable
    notInUse (1),--none active
    inUse (2),
    yellowCautionLights (3),
    schooldBusLights (4),
    arrowSignsActive (5),
    slowMovingVehicle (6),
    freqStops (7)
}

LightState ::= ENUMERATED{
    unavailable (0),
    --This state is used for unknown or error
    dark (1),
    --The signal is dark (unlit)
    --Reds
    flashing-red (2),
    --Reserved for special scenarios
    red (3),
    --Driver Action:
    --Stop vehicle at stop line.
    --Do not proceed.
    --Greens
    flashing-green (4),
    --Reserved for special scenarios
    permissive-green (5),
    --Driver Action:
    --Proceed with caution,
    --must yield to all conflicting traffic
    --Conflicting traffic may be present
    --in the intersection conflict area
    protected-green (6),

    --Driver Action:
    --Proceed,tossing caution to the wind,

    --in indicated (allowed)direction.

    --Yellows /Ambers
    --The vehicle is not allowed to cross the stop bar if it is possible
    --to stop without danger.
    yellow (7),
    --Driver Action:
    --Prepare to stop.
    --Proceed if unable to stop,
    --in indicated direction (to connected lane)
    --Clear Intersection.
    flashing-yellow (8),
    --Driver Action:
    --Proceed with caution,
    --Conflicting traffic may be present
    --in the intersection conflict area
    ...
}

Longitude ::= INTEGER (-1799999999..1800000001)
--Units of 1/10 micro degree
--Providing a range of plus-minus 180 degrees

MinuteOfTheYear ::= INTEGER (0..527040)
--the value 527040 shall be used for invalid

MsgCount ::= INTEGER (0..127)

NodeID ::= INTEGER (0..65535)
--The values zero through 255 are allocated for testing purposes
--Note that the value assigned to a node will be
--unique within a given regional ID only

OffsetLL-B12 ::= INTEGER (-2048..2047)
--A range of +0.0002047 degrees
--Units of 0.1 microdegrees

OffsetLL-B14 ::= INTEGER (-8192..8191)
--A range of +0.0008191 degrees
--Units of 0.1 microdegrees

OffsetLL-B16 ::= INTEGER (-32768..32767)
--A range of +-0.0032767 degrees
--Units of 0.1 microdegrees

OffsetLL-B18 ::= INTEGER(-131072..131071)
--A range of +0.0131071 degrees
--Units of 0.1 microdegrees

OffsetLL-B22 ::= INTEGER(-2097152..2097151)
--A range of +-0.2097151 degrees
--Units of 0.1 microdegrees

OffsetLL-B24 ::= INTEGER(-8388608..8388607)
--A range of +-0.8388607 degrees
--Units of 0.1 microdegrees

ParticipantType ::= ENUMERATED{
    unknown (0),--Unknown
    motor (1),--motor
    non-motor (2),--non-motor
    pedestrian (3),--pedestrian
    rsu (4),--rsu
}

PhaseID INTEGER (0..255)
--The value 0 shall be used when the ID is not available or not known

PositionConfidence ::= ENUMERATED{
    unavailable (0),--Not Equipped or unavailable
    a500m (1),--500m or about 5 * 10 ^ 3 decimal degrees
    a200m (2),--200m or about 2 * 10 ^ 3 decimal degrees
    a100m (3),--100m or about 1 * 10 ^ 3 decimal degrees
    a50m (4),--50m or about 5 * 10 ^ -4 decimal degrees
    a20m (5),--20m or about 2 * 10 ^ -4 decimal degrees
    a10m (6),--10m or about 1 * 10 ^ 4 decimal degrees
    a5m (7),--5m or about 5 * 10 ^ -5 decimal degrees
    a2m (8),--2m or about 2 * 10 ^ -5 decimal degrees
    alm (9),--1m or about 1 * 10 ^ -5 decimal degrees
    a50cm (10),--0.50m or about 5 * 10 ^ -6 decimal degrees
    a20cm (11),--0.20m or about 2 * 10 ^ -6 decimal degrees
    al0cm (12),--0.10m or about 1 * 10 ^ -6 decimal degrees
    a5cm  (13),--0.05m or about 5 * 10 ^ -7 decimal degrees
    a2cm  (14),--0.02m or about 2 * 10 ^ -7 decimal degrees
    alcm  (15)--0.01m or about 1 * 10 ^ -7 decimal degrees
}

Radius ::= INTEGER (0..65535)
--Define radius
--Unit is 0.1m

RadiusOfCurvature ::= INTEGER (-32767..32767)
--Units of 10cm
--A straight path to use value of 32767

ReferenceLanes ::=  BIT STRING{
    --With bits as defined:
    reserved (0),
    1ane1(1),
    lane2(2),
    1ane3(3),
    1ane4(4),
    1ane5(5),
    lane6(6),
    1ane7(7),
    lane8(8),
    lane9(9),
    1ane10(10),
    1ane11(11),
    1ane12(12),
    1ane13(13),
    1ane14(14),
    1ane15(15)
}(SIZE(16))
--Set bit to 1 if the related lane is effective
--Support maximum 15 lanes

ResponseType ::= ENUMERATED{
    notInUseOrNotEquipped (0),
    emergency (1),--active service call at emergency level
    nonEmergency (2),--also used when returning from service call
    pursuit (3),--sender driving may be erratic
    stationary (4),--sender is not moving,stopped along roadside
    slowMoving (5),--such as a litter trucks,etc.
    stopAndGoMovement (6),--such as school bus or garbage truck
}

RSIPriority ::= OCTET STRING (SIZE(1))
--The lower five bits are reserved and shall be set to zero
--Value from B00000000 to B11100000 represents the lowest to the highest level

RoadRegulatorID ::= INTEGER (0..65535)
--The value zero shall be used for testing only

SemiMa jorAxisAccuracy ::= INTEGER (0.255)
--semi-major axis accuracy at one standard dev
--range 0-12.7 meter,units of 0.05m
--254 any value equal or greater than 12.70 meter
--255 unavailable semi-major axis value

SemiMajorAxisOrientation ::= INTEGER (0..65535)
--orientation of semi-major axis
--relative to true north (0 359.9945078786 degrees)
--Units of360/65535deg=0.0054932479
--a value of 0 shall be 0 degrees
--a value of 1 shall be 0.0054932479 degrees
--a value of 65534 shall be 359.9945078786 deg
--a value of 65535 shall be used for orientation unavailable

SemiMinorAxisAccuracy ::= INTEGER (0..255)
--semi-minor axis accuracy at one standard dev
--range 0-12.7 meter,units of 0.05m
--254 any value equal or greater than 12.70 meter
--255 unavailable semi-minor axis value

SignType ::= INTEGER (0..65535)
--Value 0 means unknown type or using text description
--Traffic sign types refer to China GB 5768.2-2009

SirenInUse ::= ENUMERATED{
    unavailable (0),--Not Equipped or unavailable
    notInUse (1),
    inUse (2),
    reserved (3)--for future use
}

SourceType ::= ENUMERATED{
    unknown(0),
    selfinfo(1),
    v2x(2),
    video (3),
    microwaveRadar (4),
    1oop(5),
    lidar (6),
    integrated (7),
    ...
}

Speed ::= INTEGER (0..8191)
--Units of 0.02 m/s
--The value 8191 indicates that
--speed is unavailable

SpeedConfidence ::= ENUMERATED{
unavailable (0),--Not Equipped or unavailable
prec100ms (1),--100 meters/sec
prec10ms (2),--10 meters/sec
prec5ms (3),--5 meters/sec
preclms (4),--1 meters/sec
prec0-1ms (5),--0.1 meters/sec
prec0-05ms (6),--0.05 meters/sec
prec0-01ms (7)--0.01 meters/sec
}

SpeedLimitType ::= ENUMERATED{
    unknown,--Speed limit type not available
    maxSpeedInSchoolZone,--Only sent when the limit is active
    maxSpeedInSchoolZoneWhenChildrenArePresent,--Sent at any time
    maxSpeedInConstructionZone,--Used for work zones,incident zones,etc.
    --where a reduced speed is present
    vehicleMinSpeed,
    vehicleMaxSpeed,--Regulatory speed limit for general traffic
    vehicleNightMaxSpeed,
    truckMinSpeed,
    truckMaxSpeed,
    truckNightMaxSpeed,
    vehiclesWithTrailersMinSpeed,
    vehiclesWithTrailersMaxSpeed,
    vehiclesWithTrailersNightMaxSpeed,
    ...
}

StabilityControlStatus ::= ENUMERATED{
    unavailable (0),--Not Equipped with SC
    --or SC status is unavailable
    off (1),--Off
    on (2),--On or active (but not engaged)
    engaged (3)--stability control is Engaged
}

SteeringWheelAngle ::= INTEGER (-126..127)
--Units of 1.5 degrees,a range of -189 to +189 degrees
--+001=+1.5deg
---126 =-189 deg and beyond
--+126 =+189 deg and beyond
--+127 to be used for unavailable

SteeringWheelAngleConfidence ::= ENUMERATED{
    unavailable (0),--Not Equipped with Wheel angle
    --or Wheel angle status is unavailable
    prec2deg (1),--2 degrees
    precldeg (2),--1 degree
    prec0-02deg (3)--0.02 degrees
}

TimeConfidence ::= ENUMERATED{
    unavailable (0),--Not Equipped or unavailable
    time-100-000 (1),--Better than 100 Seconds
    time-050-000 (2),--Better than 50 Seconds
    time-020-000 (3),--Better than 20 Seconds
    time-010-000 (4),--Better than 10 Seconds
    time-002-000 (5),--Better than 2 Seconds
    time-001-000 (6),--Better than 1 Second
    time-000-500(7),--Better than 0.5 Seconds
    time-000-200(8),--Better than 0.2 Seconds
    time-000-100(9),-- Better than 0.1 Seconds
    time-000-050 (10),--Better than 0.05 Seconds
    time-000-020 (11),--Better than 0.02 Seconds
    time-000-010 (12),--Better than 0.01 Seconds
    time-000-005 (13),--Better than 0.005 Seconds
    time-000-002 (14),--Better than 0.002 Seconds
    time-000-001 (15),--Better than 0.001 Seconds
    --Better than one millisecond
    time-000-000-5 (16),--Better than 0.000,5 Seconds
    time-000-000-2 (17),--Better than 0.000,2 Seconds
    time-000-000-1 (18),--Better than 0.000,1 Seconds
    time-000-000-05 (19),--Better than 0.000,05 Seconds
    time-000-000-02 (20),--Better than 0.000,02 Seconds
    time-000-000-01 (21),--Better than 0.000,01 Seconds
    time-000-000-005 (22),--Better than 0.000,005 Seconds
    time-000-000-002 (23),--Better than 0.000,002 Seconds
    time-000-000-001 (24),--Better than 0.000,001 Seconds
    --Better than one micro second
    time-000-000-000-5(25),--Better than0.000,000,5 Seconds
    time-000-000-000-2(26),--Better than0.000,000,2 Seconds
    time-000-000-000-1 (27),--Better than 0.000,000,1 Seconds
    time-000-000-000-05(28),--Better than0.000,000,05 Seconds
    time-000-000-000-02(29),--Better than0.000,000,02 Seconds
    time-000-000-000-01(30),--Better than0.000,000,01 Seconds
    time-000-000-000-005(31),--Better than0.000,000,005 Seconds
    time-000-000-000-002(32),--Better than0.000,000,002 Seconds
    time-000-000-000-001(33),--Better than0.000,000,001 Seconds
    --Better than one nano second
    time-000-000-000-000-5(34),--Better than0.000,000,000,5 Seconds
    time-000-000-000-000-2(35),--Better than0.000,000,000,2 Seconds
    time-000-000-000-000-1(36),--Better than0.000,000,000,1 Seconds
    time-000-000-000-000-05(37),--Better than0.000,000,000,05 Seconds
    time-000-000-000-000-02(38),--Better than0.000,000,000,02 Seconds
    time-000-000-000-000-01(39)--Better than0.000,000,000,01 Seconds
}

TimeMark ::= INTEGER (0..36001)
--Tenths of a second in the current or next hour
--In units of 1/10th second from UTC time

--A range of 0 36000 covers one hour
--The values 35991..35999 are used when a leap second occurs
--The value 36000 is used to indicate time >3600 seconds

--36001 is to be used when value undefined or unknown
--Note that this is NOT expressed in GNSS time
--or in local time

TimeOffset ::= INTEGER (1..65535)
--Units of 10 mSec,
--with a range of 0.01 seconds to 10 minutes and 55.34 seconds
--a value of 65534 to be used for 655.34 seconds or greater
--a value of 65535 to be unavailable

TractionControlStatus ::= ENUMERATED{
    unavailable (0),--Not Equipped with traction control
    --or traction control status is unavailable
    off (1),--traction control is Off
    on (2),--traction control is On (but not Engaged)
    engaged (3)--traction control is Engaged
}

TransmissionState ::= ENUMERATED{
    neutral (0),--Neutral
    park (1),--Park
    forwardGears (2),--Forward gears
    reverseGears (3),--Reverse gears
    reserved1 (4),
    reserved2 (5),
    reserved3 (6),
    unavailable (7)--not-equipped or unavailable value,
    --Any related speed is relative to the vehicle reference frame used
}

VehicleEventFlags ::= BIT STRING{
    eventHazardLights (0),
    eventStopLineViolation (1),--Intersection Violation
    eventABSactivated (2),
    eventTractionControlLoss (3),
    eventStabilityControlactivated (4),
    eventHazardousMaterials (5),
    eventReserved1 (6),
    eventHardBraking (7),
    eventLightsChanged (8),
    eventWipersChanged (9),
    eventFlatTire (10),
    eventDisabledVehicle (11),--The DisabledVehicle DF may also be sent
    eventAirBagDeployment (12)
}(SIZE(13,..))

VehicleHeight ::= INTEGER (0..127)
--Units of 5 cm,range to 6.35 meters

VehicleLength ::= INTEGER (0..4095)
--Units of 1 cm with a range of >40meters

VehicleWidth ::= INTEGER (0..1023)
--Units are 1 cm with a range of >10 meters

VerticalAcceleration ::= INTEGER(-127..127)
--Units of 0.02 G steps over -2.52 to +2.54 G
--The value +127 shall be used for ranges >=2.54 G
--The value -126 shall be used for ranges <2.52 G
--The value -127 shall be used for unavailable

Vertoffset-B07 ::= INTEGER (-64..63)
--Units of 10 cm
--with a range of +-6.3 meters vertical
--value 63 to be used for 63 or greater
--value -63 to be used for -63 or greater
--value -64 to be unavailable

Vertoffset-B08 ::= INTEGER (-128..127)
-- Units of 10 cm
-- with a range of +-12.7 meters vertical
-- value 127 to be used for 127 or greater
-- value -127 to be used for -127 or greater
-- value -128 to be unavailable

Vertoffset-B09 ::= INTEGER (-256..255)
--Units of 10 cm
--with a range of +-25.5 meters vertical
--value 255 to be used for 255 or greater
--value -255 to be used for -255 or greater
--value -256 to be unavailable

Vertoffset-B10 ::= INTEGER (-512..511)
--Units of 10 cm
--with a range of +-51.1 meters vertical
--value 511 to be used for 511 or greater
--value -511 to be used for -511 or greater
--value -512 to be unavailable

Vertoffset-B11 ::= INTEGER (-1024..1023)
--Units of 10 cm
--with a range of +-102.3 meters vertical
--value 1023 to be used for 1023 or greater
--value -1023 to be used for -1023 or greater
--value -1024 to be unavailable

Vertoffset-B12 ::= INTEGER (-2048..2047)
--Units of 10 cm
--with a range of +-204.7 meters vertical
--value 2047 to be used for 2047 or greater
--value -2047 to be used for -2047 or greater
--value -2048 to be unavailable

YawRate ::= INTEGER (-32767..32767)
--Units of 0.01 degrees per second (signed)