diff --git a/src/vcm.c b/src/vcm.c
index e080912..d1cfc9e 100644
--- a/src/vcm.c
+++ b/src/vcm.c
@@ -328,14 +328,14 @@ static int vcm_check_intersection_detected(VCM_t* vcm, mc_neighbour_s* neighbour
     mvc->plannedTrajectory.list.size = trajectoryA_len * sizeof(void*);
     mvc->plannedTrajectory.list.array = malloc(trajectoryA_len * sizeof(void*));
     mvc->plannedTrajectory.list.array[0] = calloc(1, sizeof(STPoint_t));
-    mvc->plannedTrajectory.list.array[0]->latitude = trajectoryA[0].latitude - lat;
-    mvc->plannedTrajectory.list.array[0]->longitude = trajectoryA[0].longitude - lon;
-    asn_ulong2INTEGER(&mvc->plannedTrajectory.list.array[0]->timestamp, trajectoryA[0].timestamp - now);
+    mvc->plannedTrajectory.list.array[0]->deltaLatitude = trajectoryA[0].latitude - lat;
+    mvc->plannedTrajectory.list.array[0]->deltaLongitude = trajectoryA[0].longitude - lon;
+    mvc->plannedTrajectory.list.array[0]->deltaTime = trajectoryA[0].timestamp - now;
     for (int i = 1; i < trajectoryA_len; ++i) {
         mvc->plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
-        mvc->plannedTrajectory.list.array[i]->latitude = trajectoryA[i].latitude - trajectoryA[i-1].latitude;
-        mvc->plannedTrajectory.list.array[i]->longitude = trajectoryA[i].longitude - trajectoryA[i-1].longitude;
-        asn_ulong2INTEGER(&mvc->plannedTrajectory.list.array[i]->timestamp, trajectoryA[i].timestamp - trajectoryA[i-1].timestamp);
+        mvc->plannedTrajectory.list.array[i]->deltaLatitude = trajectoryA[i].latitude - trajectoryA[i-1].latitude;
+        mvc->plannedTrajectory.list.array[i]->deltaLongitude = trajectoryA[i].longitude - trajectoryA[i-1].longitude;
+        mvc->plannedTrajectory.list.array[i]->deltaTime = trajectoryA[i].timestamp - trajectoryA[i-1].timestamp;
     }
 
     // Desired trajectory
@@ -353,14 +353,14 @@ static int vcm_check_intersection_detected(VCM_t* vcm, mc_neighbour_s* neighbour
     pt->trajectory.list.size = sizeof(void*) * trajectoryA_len;
     pt->trajectory.list.array = malloc(sizeof(void*) * trajectoryA_len);
     pt->trajectory.list.array[0] = calloc(1, sizeof(STPoint_t));
-    pt->trajectory.list.array[0]->latitude = trajectoryA[0].latitude - lat;
-    pt->trajectory.list.array[0]->longitude = trajectoryA[0].longitude - lon;
-    asn_ulong2INTEGER(&pt->trajectory.list.array[0]->timestamp, trajectoryA[0].timestamp - now);
+    pt->trajectory.list.array[0]->deltaLatitude = trajectoryA[0].latitude - lat;
+    pt->trajectory.list.array[0]->deltaLongitude = trajectoryA[0].longitude - lon;
+    pt->trajectory.list.array[0]->deltaTime = trajectoryA[0].timestamp - now;
     for (int i = 1; i < trajectoryA_len; ++i) {
         pt->trajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
-        pt->trajectory.list.array[i]->latitude = trajectoryA[i].latitude - trajectoryA[i-1].latitude;
-        pt->trajectory.list.array[i]->longitude = trajectoryA[i].longitude - trajectoryA[i-1].longitude;
-        asn_ulong2INTEGER(&pt->trajectory.list.array[i]->timestamp, trajectoryA[i].timestamp - trajectoryA[i-1].timestamp);
+        pt->trajectory.list.array[i]->deltaLatitude = trajectoryA[i].latitude - trajectoryA[i-1].latitude;
+        pt->trajectory.list.array[i]->deltaLongitude = trajectoryA[i].longitude - trajectoryA[i-1].longitude;
+        pt->trajectory.list.array[i]->deltaTime = trajectoryA[i].timestamp - trajectoryA[i-1].timestamp;
     }
 
     pt->offer = 5;
@@ -517,10 +517,9 @@ int vcm_check(VCM_t* vcm) {
                 asn_INTEGER2ulong(&vcm->vcm.currentPosition.timestamp, (unsigned long long*) &trajectoryB[0].timestamp);
                 ++trajectoryB_len;
                 for (int i = 1; i < mvc->plannedTrajectory.list.count && i < TRAJECTORY_MAX_LEN; ++i) {
-                    trajectoryB[i].latitude = mvc->plannedTrajectory.list.array[i]->latitude + trajectoryB[i-1].latitude;
-                    trajectoryB[i].longitude = mvc->plannedTrajectory.list.array[i]->longitude + trajectoryB[i-1].longitude;
-                    asn_INTEGER2ulong(&mvc->plannedTrajectory.list.array[i]->timestamp, (unsigned long long*) &trajectoryB[i].timestamp);
-                    trajectoryB[i].timestamp += trajectoryB[i-1].timestamp;
+                    trajectoryB[i].latitude = mvc->plannedTrajectory.list.array[i]->deltaLatitude + trajectoryB[i-1].latitude;
+                    trajectoryB[i].longitude = mvc->plannedTrajectory.list.array[i]->deltaLongitude + trajectoryB[i-1].longitude;
+                    trajectoryB[i].timestamp = mvc->plannedTrajectory.list.array[i]->deltaTime + trajectoryB[i-1].timestamp;
                     ++trajectoryB_len;
                 }
 
@@ -615,14 +614,14 @@ static int mk_vcm(uint8_t* vcm_uper, uint16_t* vcm_uper_len) {
         mvc->plannedTrajectory.list.size = trajectory_len * sizeof(void*);
         mvc->plannedTrajectory.list.array = malloc(trajectory_len * sizeof(void*));
         mvc->plannedTrajectory.list.array[0] = calloc(1, sizeof(STPoint_t));
-        mvc->plannedTrajectory.list.array[0]->latitude = trajectory[0].latitude - lat;
-        mvc->plannedTrajectory.list.array[0]->longitude = trajectory[0].longitude - lon;
-        asn_ulong2INTEGER(&mvc->plannedTrajectory.list.array[0]->timestamp, trajectory[0].timestamp - now);
+        mvc->plannedTrajectory.list.array[0]->deltaLatitude = trajectory[0].latitude - lat;
+        mvc->plannedTrajectory.list.array[0]->deltaLongitude = trajectory[0].longitude - lon;
+        mvc->plannedTrajectory.list.array[0]->deltaTime = trajectory[0].timestamp - now;
         for (int i = 1; i < trajectory_len; ++i) {
             mvc->plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
-            mvc->plannedTrajectory.list.array[i]->latitude = trajectory[i].latitude - trajectory[i-1].latitude;
-            mvc->plannedTrajectory.list.array[i]->longitude = trajectory[i].longitude - trajectory[i-1].longitude;
-            asn_ulong2INTEGER(&mvc->plannedTrajectory.list.array[i]->timestamp, trajectory[i].timestamp - trajectory[i-1].timestamp);
+            mvc->plannedTrajectory.list.array[i]->deltaLatitude = trajectory[i].latitude - trajectory[i-1].latitude;
+            mvc->plannedTrajectory.list.array[i]->deltaLongitude = trajectory[i].longitude - trajectory[i-1].longitude;
+            mvc->plannedTrajectory.list.array[i]->deltaTime = trajectory[i].timestamp - trajectory[i-1].timestamp;
         }
     }