Extension of the hostVehicleData #441
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@@ -2,31 +2,354 @@ syntax = "proto2"; | |
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| option optimize_for = SPEED; | ||
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| import "osi_version.proto"; | ||
| import "osi_common.proto"; | ||
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| package osi3; | ||
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| // \brief Host vehicle data is about the perception of the vehicle about it's own, internal states. | ||
| // It can be understood as an interface container for restbussimulation signals. | ||
| // If there is a duplication with values from the rest of SensorView or SensorData, than these shall be taken. | ||
| // | ||
| // It consists of different messages categorizing the vehicle in: | ||
| // Vehicle-Basics, Vehicle-Powermanagement, Vehicle-Powertrain, Vehicle-SteeringWheel, Vehicle-Wheels, Vehicle-Localization. | ||
| // | ||
| // \image html OSI_HostVehicle.svg | ||
| // | ||
| message HostVehicleData | ||
| { | ||
| // The interface version used by the sender. | ||
| // | ||
| optional InterfaceVersion version = 10; | ||
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| // The timestamp of the host vehicle data. Zero time is arbitrary but must be | ||
| // identical for all messages. Zero time does not need to coincide with | ||
| // the unix epoch. Recommended is the starting time point of the | ||
| // simulation or measurement. | ||
| // | ||
| // \note This is the point in time that the host vehicle data message becomes | ||
| // available as snapshot from the board net information. | ||
| // | ||
| optional Timestamp timestamp = 11; | ||
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| // Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics. | ||
| // Current estimated location based on GPS- and related navigation sensors. | ||
| // | ||
| // \note Note that dimension and base_polygon need not be set. | ||
| // | ||
| optional BaseMoving location = 1; | ||
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| // Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics. | ||
| // Current estimated location error based on GPS- and related navigation | ||
| // sensors. | ||
| // | ||
| // \note Note that dimension and base_polygon need not be set. | ||
| // | ||
| optional BaseMoving location_rmse = 2; | ||
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Contributor
There was a problem hiding this comment. We might want to add fields for the current time of day, as known to the vehicle, and a simulation-time current timestamp to indicate for which point in simulation time the fields of this message are considered valid (which indicates the time when the car networks would have transmitted this data, which is different from individual measurement times that went into the calculations for the values). There was a problem hiding this comment. I also agree that we need an addtional timestamp that excludes the additional latency from the system (this is the time of the actual measurement when it was measured (real data) or generated (simulation)). |
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| // The basic parameters of the vehicle. | ||
| // | ||
| optional VehicleBasics vehicle_basics = 3; | ||
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| // Interface regarding the powermanagement. | ||
| // | ||
| optional VehiclePowermanagement vehicle_powermanagement = 4; | ||
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| // Interface regarding the powertrain. | ||
| // | ||
| optional VehiclePowertrain vehicle_powertrain = 5; | ||
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| // Interface regarding the steering wheel. | ||
| // | ||
| optional VehicleSteeringWheel vehicle_steering_wheel = 6; | ||
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| // Interface regarding the wheels. | ||
| // | ||
| optional VehicleWheels vehicle_wheels = 7; | ||
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| // Interface regarding the navigation. | ||
| // | ||
| optional VehiclePositionAndKinematics vehicle_position_and_kinematics = 8; | ||
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| // | ||
| // \brief The absolute base parameters of the vehicle. | ||
| // | ||
| message VehicleBasics | ||
| { | ||
| // The total mass of the vehicle (curb weight). | ||
| // | ||
| // Unit: kg | ||
| // | ||
| // \par Reference: | ||
| // Paragraph 42 of the German Road Traffic Admission Regulations (StVZO). | ||
| // | ||
| optional double curb_weight = 1; | ||
| } | ||
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| // | ||
| // \brief State description of the powertrain. | ||
| // | ||
| message VehiclePowermanagement | ||
| { | ||
| // To be discussed. | ||
| // | ||
| } | ||
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| // | ||
| // \brief State description of the powertrain. | ||
| // | ||
| message VehiclePowertrain | ||
| { | ||
| // The positions of the pedals. | ||
| // | ||
| optional Pedalry pedalry = 1; | ||
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| // The actual gear of the gear lever. | ||
| // May come up later. For now just to be mentioned. | ||
| // | ||
| // optional GearLeverState gear_lever_state = 2; | ||
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| // The actual gear of the transmission. | ||
| // E.g. gear_lever can be in "D" and transmission in "4", but not the | ||
| // other way around. | ||
| // | ||
| // The sign of this field is linked to the gear's mode as following: | ||
| // - zero: neutral position | ||
| // - positive: driving forward mode | ||
| // - negative: reverse mode (generally -1, but few vehicles have several | ||
| // reverse mode gears) | ||
| // | ||
| optional int32 gear_transmission = 3; | ||
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| // Information about the motor(s). | ||
| // | ||
| repeated Motor motor = 4; | ||
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| // | ||
| // \brief A description for the positions of the pedals. | ||
| // | ||
| message Pedalry | ||
| { | ||
| // Position of the acceleration-pedal. | ||
| // Range: 0-1 (Unpressed - fully pressed) | ||
| // | ||
| optional double pedal_position_acceleration = 1; | ||
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| // Position of the brake-pedal. | ||
| // Range: 0-1 (Unpressed - fully pressed) | ||
| // | ||
| optional double pedal_position_brake = 2; | ||
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| // Position of the clutch-pedal. | ||
| // Range: 0-1 (Unpressed - fully pressed) | ||
| // | ||
| optional double pedal_position_clutch = 3; | ||
| } | ||
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| // | ||
| // \brief A description for the positions of the pedals. | ||
| // | ||
| message Motor | ||
| { | ||
| // The type of the motor. | ||
| // | ||
| optional Type type = 1; | ||
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| // Rounds per minute of the engine. RPM can be from E-Motor/ Engine. | ||
| // | ||
| // Unit: 1/min | ||
| // | ||
| optional double rpm = 2; | ||
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| // Torque in Nm. It can either be from Engine/E-Motor or combined Torque values. | ||
| // | ||
| // Unit: N*m | ||
| // | ||
| optional double torque = 3; | ||
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| // Definition which type of motor is used. | ||
| // | ||
| enum Type | ||
| { | ||
| // The powertrain mode is unknown. | ||
| // | ||
| TYPE_UNKNOWN = 0; | ||
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| // It is another powertrain mode. | ||
| // | ||
| TYPE_OTHER = 1; | ||
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| // A motor working after the principle of Nicolaus Otto. | ||
| // | ||
| TYPE_OTTO = 2; | ||
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| // A motor working after the principle of Rudolf Diesel. | ||
| // | ||
| TYPE_DIESEL = 3; | ||
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| // A motor working electric. | ||
| // | ||
| TYPE_ELECTRIC = 4; | ||
| } | ||
| } | ||
| } | ||
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| // | ||
| // \brief Interface to the vehicle-model. | ||
| // The focus here is on the steering wheel. | ||
| // | ||
| message VehicleSteeringWheel | ||
| { | ||
| // Angle of the steering wheel. | ||
| // 0=Central (Straight); Left>0; 0>Right. | ||
| // | ||
| // Unit: rad | ||
| // | ||
| optional double angle = 1; | ||
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| // Angle-speed of the steering wheel. | ||
| // 0=Central (Straight); Left>0; 0>Right. | ||
| // | ||
| // Unit: rad/s | ||
| // | ||
| optional double angular_speed = 2; | ||
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| // Torque of the steering wheel to the hand. | ||
| // 0=Central (Straight); Left>0; 0>Right. | ||
| // | ||
| // Unit: N*m | ||
| // | ||
| optional double torque = 3; | ||
| } | ||
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| // | ||
| // \brief The focus here is on the description of the wheels. | ||
| // | ||
| message VehicleWheels | ||
| { | ||
| // Contains the description of a wheel. | ||
| // | ||
| repeated Wheel wheel = 1; | ||
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| // | ||
| // \brief The focus here is on the description of a wheel. | ||
| // | ||
| message Wheel | ||
| { | ||
| // The axle which contains this wheel. A value of 0 represents the | ||
| // front-most axle of the vehicle with higher numbers incrementing | ||
| // towards the rear-most axle. | ||
| // | ||
| optional uint32 axle = 1; | ||
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| // The index of the wheel on the axle, counting in the direction | ||
| // of positive-y, i.e. right-to-left. | ||
| // | ||
| // For example, on a standard 2-axle, 4-wheel car, the rear-right | ||
| // wheel would be (axle=1, index=0). | ||
| // | ||
| optional uint32 index = 2; | ||
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| // Dry friction is a force that opposes the relative lateral motion of two solid surfaces | ||
| // in contact. It is subdivided into static friction between non-moving surfaces and kinetic | ||
| // friction between moving surfaces. | ||
| // Ued here is the dry friction coefficient of the paired materials (see reference). | ||
| // Dimensionless. | ||
| // | ||
| // Unit: - | ||
| // | ||
| // \par References: | ||
| // - http://adaptivemap.ma.psu.edu/websites/6_friction/dry_friction/dryfriction.html | ||
| // | ||
| //optional double kinetic_friction_coefficient = 3; | ||
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| // Contact point of the mid of the tire tread with the world. | ||
| // Absolute coordinates (x, y, z). | ||
| // | ||
| // Unit: m | ||
| // | ||
| //optional Vector3d contact_point = 4; | ||
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| // Contains the rotation rate of the wheel per second in radians. | ||
| // Based on the processed output of the hall sensor at the wheel. | ||
| // | ||
| // Unit: rad/s | ||
| // | ||
| optional double rotation_rate = 5; | ||
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| // Contains the longitudinal slip of the tire. | ||
| // \par References: | ||
| // - https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm | ||
| // | ||
| // Unit: % | ||
| // | ||
| optional double slip = 6; | ||
| } | ||
| } | ||
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| // | ||
| // \brief Current calculated and estimated location that can be based on GNSS- and related navigation sensors, | ||
| // but this message does not contain the single sensor values of the sensorics. | ||
| // | ||
| // This message contains the most accurate information the vehicle knows about its positioning and kinematics | ||
| // available on the board net. | ||
| // Because of this the values can differ from the "true" values calculated out of | ||
| // GroundTruth::proj_string, GroundTruth::MovingObject::BaseMoving::position, GroundTruth::host_vehicle_id. | ||
| // | ||
| message VehiclePositionAndKinematics | ||
| { | ||
| // Geodetic origin of the ENU (east-north-up) cartesian coordinate system regarding WGS84. | ||
| // | ||
| optional GeodeticPosition enu_origin = 1; | ||
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Contributor
Author
There was a problem hiding this comment. @u21n80 : I adapted this PR as suggested (with a smaller restructuring). |
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| // The host vehicle location and kinematics at \c HostVehicleData::timestamp. | ||
| // | ||
| // \note If \c HostVehicleData::enu_origin is specified, then the \c BaseMoving parent frame used by | ||
| // \c HostVehicleData::location is the ENU frame according to ISO8855 with the geodetic origin of | ||
| // \c HostVehicleData::enu_origin. Otherwise \c BaseMoving parent frame is an arbitrary cartesian coordinate system | ||
| // with its axis conventions following ISO8855. | ||
| // | ||
| // \note Note that dimension and base_polygon need not be set. | ||
| // | ||
| optional BaseMoving location = 2; | ||
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| // The host vehicle location and kinematics root-mean-square errors at \c HostVehicleData::timestamp. | ||
| // | ||
| // \note If \c HostVehicleData::enu_origin is specified, then the \c BaseMoving parent frame used by | ||
| // \c HostVehicleData::location is the ENU frame according to ISO8855 with the geodetic origin of | ||
| // \c HostVehicleData::enu_origin. Otherwise \c BaseMoving parent frame is an arbitrary cartesian coordinate system | ||
| // with its axis conventions following ISO8855. | ||
| // | ||
| // \note Note that dimension and base_polygon need not be set. | ||
| // | ||
| optional BaseMoving location_rmse = 3; | ||
| } | ||
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| // | ||
| // \brief The geodetic position of the vehicle. | ||
| // In which context it is used has to be specified in the concrete field. | ||
| // | ||
| message GeodeticPosition | ||
| { | ||
| // Longitude in decimal degrees regarding WGS84. | ||
| // | ||
| // Unit: Degree | ||
| // Range: [-180; 180] | ||
| // | ||
| optional double longitude = 1; | ||
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| // Latitude in decimal degrees regarding WGS84. | ||
| // | ||
| // Unit: Degree | ||
| // Range: [-90; 90] | ||
| // | ||
| optional double latitude = 2; | ||
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| // Height above sea level regarding EGM96. | ||
| // | ||
| // Unit: m | ||
| // Range: [-300; 10000] | ||
| // | ||
| optional double altitude = 3; | ||
| } | ||
| } | ||
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