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Improvement on Gear handling (HMI-ADAS extension) #334

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Merged
merged 3 commits into from
Jul 12, 2019
Merged

Improvement on Gear handling (HMI-ADAS extension) #334

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2b1cfe2
update of Gear (->GearLeverState) message
Jul 10, 2019
cf1047c
Corrected types and field numbers
Jul 11, 2019
69555f8
removed spaces
jdsika Jul 11, 2019
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113 changes: 62 additions & 51 deletions osi_common.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -549,81 +549,92 @@ message Trajectory

// The actual gear of the car.
//
enum Gear
message GearLeverState
{
// The actual gear was not calculated by the dynamicmodell.
// Current set gear of the gear lever. It is optional if none of these
// conditions is fulfilled:
// - the gear lever controls a manual transmission
// - the gear lever controls an automatic transmission with the manual
// override mode set.
//
GEAR_UNKNOWN = 0;

// The actual gear is 1.
//
GEAR_1 = 1;

// The actual gear is 2.
// The sign of this field set the gear's mode as following:
// - zero: neutral position
// - positive: driving forward mode
// - negative: reverse mode (generally -1, but some vehicles have several
// reverse mode gears)
//
GEAR_2 = 2;
optional int32 gear = 1;

// The actual gear is 3.
// This Gear Lever controls an automatic transmission.
//
GEAR_3 = 3;
optional bool controls_automatic_transmission = 2;

// The actual gear is 4.
// Transmission mode of an automatic transmission.
//
GEAR_4 = 4;

// The actual gear is 5.
// Optional if the transmission is manual.
//
GEAR_5 = 5;
optional AutomaticTransmissionMode automatic_transmission_mode = 3;

// The actual gear is 6.
// The request from the driver to shift gear if the transmission mode is
// MANUAL_OVERRIDE_MODE.
//
GEAR_6 = 6;
optional ManualOverrideRequest manual_override_request = 4;

// The actual gear is 7.
// The all-wheel drive (AWD) mode is engaged by the driver.
//
GEAR_7 = 7;
optional bool is_all_wheel_drive_engaged = 5;

// The actual gear is 8.
// Describe the possible mode of an automatic transmission.
//
GEAR_8 = 8;
enum AutomaticTransmissionMode
{
// The gear lever is in automatic parking mode.
//
PARK_MODE = 0;

// The actual gear is 9.
//
GEAR_9 = 9;
// The gear lever is in reverse motion mode.
//
REVERSE_MODE = 1;

// The car is in idling-mode.
//
GEAR_IDLING = 10;
// The gear lever is in automatic neutral mode.
//
NEUTRAL_MODE = 2;

// The car is in reverse-mode.
//
GEAR_REVERSE = 11;
// The gear lever is in automatic driving mode.
//
DRIVE_MODE = 3;

// The car is in automatic-driving-mode.
//
GEAR_D = 20;
// The gear lever is in a manual override mode.
//
MANUAL_OVERRIDE_MODE = 4;

// The car is in automatic-idling-mode.
//
GEAR_N = 21;
// The gear lever is in a non common mode.
//
OTHER_MODE = 5;

// The car is in automatic-parking-mode.
//
GEAR_P = 22;
// The gear lever's position is unknown.
//
UKNOWN_MODE = 6;
}

// The car has an automatic transmission, but the driver shifts up by his
// own.
// Describe a request for a gear change on automatic transmission vehicle
// with a gear shifter.
//
GEAR_UP = 30;
enum ManualOverrideRequest
{
// The driver shifts down on his own.
//
GEAR_DOWN = 0;

// The car has an automatic transmission, but the driver shifts by his own.
//
GEAR_MID = 31;
// The automatic transmission is in manual override mode but the driver
// is not shifting the gear.
//
GEAR_MID = 1;

// The car has an automatic transmission, but the driver shifts down by his
// own.
//
GEAR_DOWN = 32;
// The driver shifts up on his own.
//
GEAR_UP = 2;
}
}

//
Expand Down
4 changes: 2 additions & 2 deletions osi_driver_inputs.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -71,10 +71,10 @@ message DriverInputs
//
optional double handbrake_position = 8;

// Position of the gear lever.
// State of the gear lever.
// See osi_common_extension.
//
optional Gear gear_lever = 9;
optional GearLeverState gear_lever_state = 9;
}

//
Expand Down
70 changes: 40 additions & 30 deletions osi_vehicle.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -138,23 +138,33 @@ message OsiVehicle
//
// Unit: [l]
//
optional double fuel_consumption = 4;
optional double fuel_consumption = 5;

// Consumption of electrical or hybrid vehicle per 100 km
//
// Unit: [kWh]
//
optional double electrical_energy_consumption = 5;
optional double electrical_energy_consumption = 6;

// The actual gear of the gear lever.
//
optional Gear gear_gear_lever = 6;
optional GearLeverState gear_lever_state = 7;

// The actual gear of the transmission.
// E.g. gear_lever can be in "D" and transmission in "4", but not the
// other way around.
//
optional Gear gear_transmission = 7;
// 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 = 8;

// The all-wheel drive (AWD) mode is engaged on the powertrain.
//
optional bool is_all_wheel_drive_engaged = 9;
}

//
Expand Down Expand Up @@ -264,31 +274,31 @@ message OsiVehicle
// Unit: [mm]
//
optional double springdeflection = 7;
//Contains the relativ position of the wheel to the center of the car
//
//Unit: [m]
//
optional Vector3d position = 8;
//Contains the relativ orientation of the wheel to the center of the car
//As the rotation of the wheel is also controlled by this value,
//
//Unit: [rad]
//
optional Orientation3d orientation = 9;
//Contains the absolute (longitunal) slip of the tire
//0-100 percent
//
//Unit: []
//
optional double slip = 10;
//Contains the slip-angle of the tire
//
//Unit: [rad]
//
optional double slipangle = 11;

//Contains the relativ position of the wheel to the center of the car
//
//Unit: [m]
//
optional Vector3d position = 8;

//Contains the relativ orientation of the wheel to the center of the car
//As the rotation of the wheel is also controlled by this value,
//
//Unit: [rad]
//
optional Orientation3d orientation = 9;

//Contains the absolute (longitunal) slip of the tire
//0-100 percent
//
//Unit: []
//
optional double slip = 10;

//Contains the slip-angle of the tire
//
//Unit: [rad]
//
optional double slipangle = 11;
}
}