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ThomasNaderBMWThomasNaderBMW
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New Branch and update of the necessary changes from PR "Extension of the hostVehicleData #441" (before it broke down).
Signed-off-by: Nader Thomas <thomas.nader@bmw.de> Signed-off-by: spider <Thomas.Nader@bmw.de> Signed-off-by: Thomas Nader <Thomas.Nader@bmw.de>
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‎osi_common.proto

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@@ -553,6 +553,7 @@ message StatePoint
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//
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optional Orientation3d orientation = 3;
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}
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//
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// \brief Detailed WavelengthRange message.
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//
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//
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optional double samples_number = 3;
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}
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//
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// \brief A description for the positions of the pedals.
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//
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message Pedalry
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{
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// Position of the acceleration-pedal.
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// Range: 0-1 (Unpressed - fully pressed)
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//
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optional double pedal_position_acceleration = 1;
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// Position of the brake-pedal.
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// Range: 0-1 (Unpressed - fully pressed)
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//
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optional double pedal_position_brake = 2;
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// Position of the clutch-pedal.
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// Range: 0-1 (Unpressed - fully pressed)
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//
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optional double pedal_position_clutch = 3;
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}
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//
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// A description of the steering wheel.
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//
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message VehicleSteeringWheel
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{
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// Angle of the steering wheel.
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// Zero means the steering wheel is in its center position, a positive value
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// means the steering wheel is turned to the left and a negative value
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// means the steering wheel is turned to the right of the center position.
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//
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// Unit: rad
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//
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optional double angle = 1;
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// Angular speed of the steering wheel.
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// Zero means the steering wheel stays in its position, a positive value
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// means the steering wheel is turned to the left and a negative value
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// means the steering wheel is turned to the right.
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//
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// Unit: rad/s
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//
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optional double angular_speed = 2;
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// Torque of the steering wheel to the hand.
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// Zero means there is no force from the steering wheel to the driver`s hands.
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// A positive value means the steering wheel would turn to the left without driver`s forces
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// and a negative value means the steering wheel would turn to the right without driver`s forces.
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//
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// Unit: N*m
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//
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optional double torque = 3;
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}

‎osi_hostvehicledata.proto

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@@ -2,31 +2,281 @@ syntax = "proto2";
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option optimize_for = SPEED;
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import "osi_version.proto";
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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.
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// It can be understood as an interface container for restbussimulation signals.
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// If there is a duplication with values from the rest of SensorView or SensorData, than these shall be taken.
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//
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// \brief Interface for host vehicle data that is available to sensors and
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// other functions due to host vehicle's internal communication.
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// It consists of different messages categorizing the vehicle in:
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// Vehicle-Basics, Vehicle-Powertrain, Vehicle-SteeringWheel, Vehicle-Wheels, Vehicle-Localization.
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//
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// \image html OSI_HostVehicle.svg
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//
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// All coordinates and orientations are relative to the global ground truth
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// coordinate system.
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//
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message HostVehicleData
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{
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// The interface version used by the sender.
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//
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optional InterfaceVersion version = 10;
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// The timestamp of the host vehicle data. Zero time is arbitrary but must be
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// identical for all messages. Zero time does not need to coincide with
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// the unix epoch. Recommended is the starting time point of the
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// simulation or measurement.
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//
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// \note This is the point in time that the host vehicle data message becomes
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// available as snapshot from the board net information.
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//
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optional Timestamp timestamp = 11;
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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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//
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// \note Note that dimension and base_polygon need not be set.
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//
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optional BaseMoving location = 1;
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// Current estimated location error based on GPS- and related navigation
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// Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics.
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// Current estimated location error based on GPS- and related navigation
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// sensors.
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//
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// \note Note that dimension and base_polygon need not be set.
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//
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optional BaseMoving location_rmse = 2;
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// The basic parameters of the vehicle.
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//
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optional VehicleBasics vehicle_basics = 3;
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// Interface regarding the powertrain.
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//
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optional VehiclePowertrain vehicle_powertrain = 4;
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// Interface regarding the steering wheel.
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//
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optional VehicleSteeringWheel vehicle_steering_wheel = 5;
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// Interface regarding the wheels.
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//
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optional VehicleWheels vehicle_wheels = 6;
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// Interface regarding the localization.
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//
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optional VehiclePositionAndKinematics vehicle_position_and_kinematics = 7;
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//
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// \brief The absolute base parameters of the vehicle.
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//
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message VehicleBasics
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{
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// The total mass of the vehicle (curb weight).
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//
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// Unit: kg
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//
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// \par Reference:
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// Paragraph 42 of the German Road Traffic Admission Regulations (StVZO).
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//
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optional double curb_weight = 1;
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}
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//
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// \brief State description of the powertrain.
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//
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message VehiclePowertrain
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{
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// The positions of the pedals.
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//
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optional Pedalry pedalry = 1;
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// The actual gear of the transmission.
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// E.g. a gear lever can be in "D" and transmission in "4", but not the
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// other way around.
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//
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// The sign of this field is linked to the gear's mode as following:
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// - zero: neutral position
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// - positive: driving forward mode
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// - negative: reverse mode (generally -1, but few vehicles have several
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// reverse mode gears)
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//
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optional int32 gear_transmission = 2;
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// Information about the motor(s).
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//
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repeated Motor motor = 3;
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//
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// \brief A description for the positions of the pedals.
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//
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message Motor
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{
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// The type of the motor.
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//
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optional Type type = 1;
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// Rounds per minute of the engine. RPM can be from E-Motor/ Engine.
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//
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// Unit: 1/min
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//
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optional double rpm = 2;
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// Torque in Nm. It can either be from Engine/E-Motor or combined Torque values.
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//
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// Unit: N*m
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//
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optional double torque = 3;
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// Definition which type of motor is used.
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//
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enum Type
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{
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// The powertrain mode is unknown.
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//
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TYPE_UNKNOWN = 0;
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// It is another powertrain mode.
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//
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TYPE_OTHER = 1;
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// A motor working after the principle of Nicolaus Otto.
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//
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TYPE_OTTO = 2;
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// A motor working after the principle of Rudolf Diesel.
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//
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TYPE_DIESEL = 3;
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// A motor working electric.
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//
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TYPE_ELECTRIC = 4;
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}
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}
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}
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//
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// \brief The focus here is on the description of the wheels.
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//
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message VehicleWheels
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{
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// Description of each wheel.
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated WheelData wheel_data = 1;
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//
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// \brief The focus here is on the description of a wheel.
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//
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message WheelData
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{
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// The axle which contains this wheel. A value of 0 represents the
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// front-most axle of the vehicle with higher numbers incrementing
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// towards the rear-most axle.
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//
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optional uint32 axle = 1;
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// The index of the wheel on the axle, counting in the direction
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// of positive-y, that is, right-to-left.
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//
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// For example, on a standard 2-axle, 4-wheel car, the rear-right
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// wheel would be (axle=1, index=0).
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// This concept works also for twin tires.
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//
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optional uint32 index = 2;
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// Rotation rate of the wheel based on the processed output of the hall sensor measurements at the wheel.
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// The rotation rate around the y-axis with respect to the wheel's coordinate system.
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//
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// Unit: rad/s.
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//
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// The sign convention is defined using the right-hand rule.
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// It is applied on the y-axis of the vehicle's reference system (center of bounding box).
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// Counterclockwise is positive and clockwise is negative.
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//
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// \image html OSI_RotationRate.svg
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// \note The vehicle's reference coordinate system is only used to determine the sign convention of the rotation rate.
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//
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optional double rotation_rate = 3;
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// Contains the longitudinal, measured slip of the tire.
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// \par References:
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// - https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm
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//
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// Unit: %
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//
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// The sign convention is defined using the right-hand rule.
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// It is applied on the y-axis of the vehicle's reference system (center of bounding box).
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// Counterclockwise is positive and clockwise is negative.
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//
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optional double slip = 4;
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}
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}
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//
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// \brief Current calculated and estimated location that can be based on GNSS- and related navigation sensors,
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// but this message does not contain the single sensor values of the sensorics.
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//
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// This message contains the most accurate information the vehicle knows about its positioning and kinematics
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// available on the board net.
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// Because of this the values can differ from the "true" values calculated out of
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// GroundTruth::proj_string, GroundTruth::MovingObject::BaseMoving::position, GroundTruth::host_vehicle_id.
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//
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message VehiclePositionAndKinematics
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{
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// Geodetic origin of the ENU (east-north-up) cartesian coordinate system regarding WGS84.
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//
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optional GeodeticPosition enu_origin = 1;
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// The host vehicle location and kinematics at \c HostVehicleData::timestamp.
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//
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// \note If \c HostVehicleData::enu_origin is specified, then the \c BaseMoving parent frame used by
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// \c HostVehicleData::location is the ENU frame according to ISO8855 with the geodetic origin of
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// \c HostVehicleData::enu_origin. Otherwise \c BaseMoving parent frame is an arbitrary cartesian coordinate system
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// with its axis conventions following ISO8855.
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//
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// \note Note that dimension and base_polygon need not be set.
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//
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optional BaseMoving base = 2;
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// The host vehicle location and kinematics root-mean-square errors at \c HostVehicleData::timestamp.
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//
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// \note If \c HostVehicleData::enu_origin is specified, then the \c BaseMoving parent frame used by
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// \c HostVehicleData::location is the ENU frame according to ISO8855 with the geodetic origin of
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// \c HostVehicleData::enu_origin. Otherwise \c BaseMoving parent frame is an arbitrary cartesian coordinate system
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// with its axis conventions following ISO8855.
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//
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// \note Note that dimension and base_polygon need not be set.
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//
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optional BaseMoving base_rmse = 3;
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//
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// \brief The geodetic position of the vehicle.
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// In which context it is used has to be specified in the concrete field.
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//
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message GeodeticPosition
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{
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// Longitude in decimal degrees regarding WGS84.
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//
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// Unit: Degree
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// Range: [-180; 180]
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//
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optional double longitude = 1;
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// Latitude in decimal degrees regarding WGS84.
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//
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// Unit: Degree
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// Range: [-90; 90]
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//
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optional double latitude = 2;
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// Height above sea level regarding EGM96.
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//
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// Unit: m
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// Range: [-300; 10000]
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//
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optional double altitude = 3;
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}
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}
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}

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