diff --git a/java/iot3/mobility/build.gradle b/java/iot3/mobility/build.gradle
index bc106dc3..9e33038b 100644
--- a/java/iot3/mobility/build.gradle
+++ b/java/iot3/mobility/build.gradle
@@ -12,7 +12,7 @@ plugins {
 }
 
 group 'com.orange.iot3mobility'
-version '0.2.0'
+version '0.2.1-dev'
 
 repositories {
     // Use Maven Central for resolving dependencies.
diff --git a/java/iot3/mobility/src/main/java/com/orange/iot3mobility/managers/RoadSensorManager.java b/java/iot3/mobility/src/main/java/com/orange/iot3mobility/managers/RoadSensorManager.java
index 4d5a3241..f891af87 100644
--- a/java/iot3/mobility/src/main/java/com/orange/iot3mobility/managers/RoadSensorManager.java
+++ b/java/iot3/mobility/src/main/java/com/orange/iot3mobility/managers/RoadSensorManager.java
@@ -115,6 +115,7 @@ private static void checkAndRemoveExpiredObjects() {
                         ROAD_SENSOR_MAP.values().remove(roadSensor);
                     }
                     ioT3RoadSensorCallback.roadSensorExpired(roadSensor);
+                    roadSensor.flushAllSensorObjects();
                 }
             }
         }
diff --git a/java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/RoadSensor.java b/java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/RoadSensor.java
index 77359581..9f823daf 100644
--- a/java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/RoadSensor.java
+++ b/java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/RoadSensor.java
@@ -270,6 +270,24 @@ private void checkAndRemoveExpiredObjects(boolean forceDelete) {
         }
     }
 
+    /**
+     * Use when a RoadSensor expires or is removed.
+     */
+    public void flushAllSensorObjects() {
+        synchronized (sensorObjects) {
+            Iterator<SensorObject> iterator = sensorObjects.iterator();
+            while (iterator.hasNext()) {
+                SensorObject sensorObject = iterator.next();
+                iterator.remove();
+                synchronized (sensorObjectMap) {
+                    // Remove by value
+                    sensorObjectMap.values().remove(sensorObject);
+                }
+                ioT3RoadSensorCallback.sensorObjectExpired(sensorObject);
+            }
+        }
+    }
+
     public ArrayList<SensorObject> getSensorObjects() {
         return sensorObjects;
     }
@@ -331,13 +349,23 @@ private SensorObjectType cpm211ObjectTypeFromObjectClass(
             com.orange.iot3mobility.messages.cpm.v211.model.perceivedobjectcontainer.ObjectClass objectClass) {
         if(objectClass.vehicle() != null) {
             return switch (objectClass.vehicle()) {
-                case 1 -> SensorObjectType.PASSENGER_CAR;
-                case 2 -> SensorObjectType.BUS;
-                case 3 -> SensorObjectType.LIGHT_TRUCK;
-                case 4 -> SensorObjectType.HEAVY_TRUCK;
-                case 5 -> SensorObjectType.TRAILER;
-                case 6, 8 -> SensorObjectType.SPECIAL_VEHICLES;
-                case 7 -> SensorObjectType.TRAM;
+                //*** doesn't make much sense to have VRUs here - v2.1.1 spec issue? ***
+                case 1 -> SensorObjectType.PEDESTRIAN;
+                case 2 -> SensorObjectType.CYCLIST;
+                case 3 -> SensorObjectType.MOPED;
+                case 4 -> SensorObjectType.MOTORCYCLE;
+                //***********************************************************************
+                case 5 -> SensorObjectType.PASSENGER_CAR;
+                case 6 -> SensorObjectType.BUS;
+                case 7 -> SensorObjectType.LIGHT_TRUCK;
+                case 8 -> SensorObjectType.HEAVY_TRUCK;
+                case 9 -> SensorObjectType.TRAILER;
+                case 10 -> SensorObjectType.SPECIAL_VEHICLES;
+                case 11 -> SensorObjectType.TRAM;
+                case 12 -> SensorObjectType.LIGHT_VRU_VEHICLE;
+                case 13 -> SensorObjectType.ANIMAL;
+                case 14 -> SensorObjectType.AGRICULTURAL;
+                case 15 -> SensorObjectType.ROAD_SIDE_UNIT;
                 default -> SensorObjectType.UNKNOWN;
             };
         } else if(objectClass.vru() != null) {
diff --git a/java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/SensorObjectType.java b/java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/SensorObjectType.java
index c93e3b60..0ca0e278 100644
--- a/java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/SensorObjectType.java
+++ b/java/iot3/mobility/src/main/java/com/orange/iot3mobility/roadobjects/SensorObjectType.java
@@ -16,10 +16,12 @@ public enum SensorObjectType {
     TRAILER,
     SPECIAL_VEHICLES,
     TRAM,
+    LIGHT_VRU_VEHICLE,
     PEDESTRIAN_GROUP,
     CYCLIST_GROUP,
     MOTORCYCLE_GROUP,
     ANIMAL,
     ANIMAL_GROUP,
+    AGRICULTURAL,
     ROAD_SIDE_UNIT
 }