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Add driver assist to host vehicle data
Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai>
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‎osi_hostvehicledata.proto

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@@ -32,6 +32,14 @@ message HostVehicleData
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//
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optional Timestamp timestamp = 11;
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// The ID of the object.
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//
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// \rules
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// is_globally_unique
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// \endrules
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//
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optional Identifier id = 9;
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// Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics.
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// Current estimated location based on GPS- and related navigation sensors.
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//
@@ -71,6 +79,15 @@ message HostVehicleData
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//
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optional VehicleLocalization vehicle_localization = 8;
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// What driver assistance is active.
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//
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// This can include:
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// - information presented to the driver, for example, parking sensors
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// - warnings raised by the vehicle, for example, forward collision warning
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// - corrective action taken by the vehicle, for example, auto emergency braking
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//
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repeated DriverAssistState driver_assist_state = 12;
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//
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// \brief The absolute base parameters of the vehicle.
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//
@@ -271,4 +288,201 @@ message HostVehicleData
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//
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optional GeodeticPosition geodetic_position = 3;
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}
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//
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// \brief The driver assist state specifically relating to recognised
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// Advanced Driver Assistance Systems.
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//
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message DriverAssistState
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{
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// The particular feature being reported about.
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//
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optional AssistFeature assist_feature = 1;
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// Custom feature name.
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//
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// Only used if assist_feature is set to ASSIST_FEATURE_OTHER.
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//
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optional string custom_name = 2;
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// The activation state of the feature.
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//
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// This is whether the feature has actually been triggered, for
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// example, a warning has been raised, or additional braking is
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// in effect.
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//
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optional ActivationState activation_state = 3;
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// Custom activation state.
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//
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// Only used if the activation_state is set to ACTIVATION_STATE_OTHER.
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//
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optional string custom_activation_state = 4;
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// Custom detail.
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//
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// An opaque set of key-value pairs which capture any user specific
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// details that may be relevant. This could include details about
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// how a warning was raised (dashboard, audible, etc.) or it could
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// be about settings which would influence evaluation, such as
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// sensitivity settings.
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//
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repeated CustomDetail custom_detail = 5;
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// ADAS feature that is raising the notification.
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//
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// \note The naming convention is taken from the SAE guidance on ADAS
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// nomenclature:
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// https://www.sae.org/binaries/content/assets/cm/content/miscellaneous/adas-nomenclature.pdf
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//
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enum AssistFeature
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{
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// Unknown feature, should not be used.
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//
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ASSIST_FEATURE_UNKNOWN = 0;
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// Custom feature, see custom_name.
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//
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ASSIST_FEATURE_OTHER = 1;
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// Blind spot warning.
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//
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ASSIST_FEATURE_BLIND_SPOT_WARNING = 2;
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// Forward collision warning.
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//
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ASSIST_FEATURE_FORWARD_COLLISION_WARNING = 3;
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// Lane departure warning.
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//
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ASSIST_FEATURE_LANE_DEPARTURE_WARNING = 4;
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// Parking collision warning.
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//
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ASSIST_FEATURE_PARKING_COLLISION_WARNING = 5;
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// Rear cross-traffic warning
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//
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ASSIST_FEATURE_REAR_CROSS_TRAFFIC_WARNING = 6;
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// Automatic emergency braking
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//
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ASSIST_FEATURE_AUTOMATIC_EMERGENCY_BRAKING = 7;
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// Emergency steering
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//
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ASSIST_FEATURE_AUTOMATIC_EMERGENCY_STEERING = 8;
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// Reverse automatic emergency braking
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//
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ASSIST_FEATURE_REVERSE_AUTOMATIC_EMERGENCY_BRAKING = 9;
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// Adaptive cruise control
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//
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ASSIST_FEATURE_ADAPTIVE_CRUISE_CONTROL = 10;
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// Lane keeping assist
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//
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ASSIST_FEATURE_LANE_KEEPING_ASSIST = 11;
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// Active driving assistance
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//
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ASSIST_FEATURE_ACTIVE_DRIVING_ASSISTANCE = 12;
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// Backup camera
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//
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ASSIST_FEATURE_BACKUP_CAMERA = 13;
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// Surround view camera
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//
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ASSIST_FEATURE_SURROUND_VIEW_CAMERA = 14;
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// Active parking assistance
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//
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ASSIST_FEATURE_ACTIVE_PARKING_ASSISTANCE = 15;
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// Remote parking assistance
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//
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ASSIST_FEATURE_REMOTE_PARKING_ASSISTANCE = 16;
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// Trailer assistance
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//
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ASSIST_FEATURE_TRAILER_ASSISTANCE = 17;
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// Automatic high beams
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//
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ASSIST_FEATURE_AUTOMATIC_HIGH_BEAMS = 18;
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// Driver monitoring
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//
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ASSIST_FEATURE_DRIVER_MONITORING = 19;
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// Head up display
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//
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ASSIST_FEATURE_HEAD_UP_DISPLAY = 20;
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// Night vision
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//
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ASSIST_FEATURE_NIGHT_VISION = 21;
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}
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// The activation state of a feature.
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//
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// \note Not all of these will be applicable for all vehicles
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// and features.
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//
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enum ActivationState
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{
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// An unknown activation state, this should not be used.
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//
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ACTIVATION_STATE_UNKNOWN = 0;
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// Used for custom states not covered by the definitions below.
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//
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// A string state can be specified in custom_activation_state.
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//
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ACTIVATION_STATE_OTHER = 1;
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// The feature has been disabled.
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//
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ACTIVATION_STATE_TURNED_OFF = 2;
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// The feature has errored in some way that renders it ineffective.
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//
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ACTIVATION_STATE_ERRORED = 3;
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// The feature is enabled but conditions have not caused it to be
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// triggered, for example, no vehicles in front to trigger a FCW.
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//
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ACTIVATION_STATE_STANDBY = 4;
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// The feature is currently active, for example, a warning is being
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// shown to the driver, or emergency braking is being applied/
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//
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ACTIVATION_STATE_ACTIVE = 5;
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// The feature would be ACTIVE, but the user has show sufficient
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// input to override, for example, by applying throttle or steering
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// input.
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//
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ACTIVATION_STATE_ACTIVE_DRIVER_OVERRIDE = 6;
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}
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//
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// \brief Custom detail message
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//
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// To contain driver-assist related information that is too function
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// specific to be captured in a generic way.
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//
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message CustomDetail
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{
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// A generic string key to identify the information.
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//
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optional string key = 1;
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// A generic string value to capture the information.
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//
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optional string value = 2;
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}
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}
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}

‎osi_trafficupdate.proto

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@@ -5,6 +5,7 @@ option optimize_for = SPEED;
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import "osi_version.proto";
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import "osi_common.proto";
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import "osi_object.proto";
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import "osi_hostvehicledata.proto";
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package osi3;
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@@ -52,4 +53,14 @@ message TrafficUpdate
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// MovingObject::VehicleClassification::trailer_id.
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//
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repeated MovingObject update = 3;
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// Internal state for each vehicle.
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//
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// \note This covers any information which cannot be externally perceived
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// and therefore cannot be included in messages available in ground truth.
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//
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// \note The id field from this should match the id in the update field
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// above where the same vehicle is being referenced.
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//
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repeated HostVehicleData internal_state = 4;
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}

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