Definiton of external references

osi_common.proto

@@ -215,6 +215,68 @@ message Identifier
     optional uint64 value = 1;
 }
 
+// \brief References to external objects.
+//
+// The external reference is an optional recommendation to refer to objects defined outside of OSI.
+// This could be other OpenX standards, 3rd-party standards or user-defined objects.
+//
+// \note ExternalReference is optional and can be left empty.
+//
+message ExternalReference
+{
+    // The source of the external references.
+    //
+    // Defines the original source of an object as uniquely identifiable reference.
+    // In case of using \c GroundTruth::map_reference or 
+    // \c GroundTruth::model_reference, the reference can be left empty.
+    // If not otherwise required, an URI is suggested. The syntax should follow 
+    // \link https://tools.ietf.org/html/rfc3986 RFC 3986\endlink.
+    //
+    //
+    optional string reference = 1;
+
+    // The type of the external references.
+    //
+    // Mandatory value describing the type of the original source.
+    //
+    // For OpenX/ASAM standards it is specified as follows:
+    // - net.asam.opendrive
+    // - net.asam.openscenario
+    //
+    // For third-party standards and user-defined objects, 
+    // reverse domain name notation with lower-case type field
+    // is recommended to guarantee unique and interoperable identification.
+    //
+    optional string type = 2;    
+
+    // The external identifier reference value.
+    //
+    // The repeated string is chosen as a common description of the external
+    // identifier, because a variety of identificatier types could be
+    // involved .
+    //
+    // For example, referencing a unique lane in OpenDRIVE requires the
+    // following identifiers:
+    // * RoadId: String
+    // * S-Value of LaneSection: Double
+    // * LaneId: Int
+    // 
+    // \note The detailed description of the identifiers and how they are 
+    //       used for referencing external objects is given in the individual
+    //       messages where the external identifier is used.
+    //
+    // \see EnvironmentalConditions::source_reference
+    // \see Lane::source_reference
+    // \see LaneBoundary::source_reference
+    // \see StationaryObject::source_reference
+    // \see MovingObject::source_reference
+    // \see RoadMarking::source_reference
+    // \see TrafficLight::source_reference
+    // \see TrafficSign::source_reference
+    //
+    repeated string identifier = 3;
+}
+
 //
 // \brief Specifies the mounting position of a sensor.
 //
@@ -517,4 +579,3 @@ message WavelengthData
     //
     optional double samples_number = 3;
 }
-

osi_environment.proto

@@ -2,6 +2,8 @@ syntax = "proto2";
 
 option optimize_for = SPEED;
 
+import "osi_common.proto";
+
 package osi3;
 
 //
@@ -85,6 +87,19 @@ message EnvironmentalConditions
     // Description of the fog.
     //
     optional Fog fog = 7;
+
+    // Optional external reference to the environmental condition sources.
+    //
+    // \note For OpenDRIVE and OpenSECNARIO there is no direct counterpart.
+    //
+    // \note For non-ASAM standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note The value has to be repeated because one object may be derived
+    //       from more than one origin source, for example, from a scenario file
+    //       and from sensors.
+    //
+    repeated ExternalReference source_reference = 9;
 
     // Definition of discretized precipitation states according to [1].
     // (I = Intensity of precipitation in mm per hour mm/h)

osi_lane.proto

@@ -50,6 +50,30 @@ message Lane
     //
     optional Classification classification = 2;
 
+    // Optional external reference to the lane source.
+    //
+    // The external reference points to the source of the lane, if it is derived
+    // from one or more objects or external references.
+    //
+    // For example, to reference a lane defined in an OpenDRIVE map
+    // the items should be set as follows:
+    // * reference = URI to map, can remain empty if identical with definiton
+    //               in \c GroundTruth::map_reference
+    // * type = "net.asam.opendrive"
+    // * identifier[0] = id of t_road
+    // * identifier[1] = s of t_road_lanes_laneSection
+    // * identifier[2] = id of t_road_lanes_laneSection_left_lane,
+    //                         t_road_lanes_laneSection_right_lane
+    //
+    // \note For non-ASAM Standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note The value has to be repeated, because one lane segment may be
+    //       derived from more than one origin segment. Multiple sources
+    //       may be added as reference as well, for example, a map and sensors.
+    //
+    repeated ExternalReference source_reference = 3;
+
     //
     // \brief \c Classification of a lane.
     //
@@ -724,6 +748,20 @@ message LaneBoundary
     // The classification of the lane boundary.
     //
     optional Classification classification = 3;
+
+    // Optional external reference to the lane boundary source.
+    //
+    // \note For OpenDRIVE, there is no direct possibility to reference the
+    //       RoadMark, as there is no unique identifier in this sub-object.
+    //
+    // \note For non-ASAM Standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note The value has to be repeated because one object may be derived
+    //       from more than one origin source, for example, from a scenario file
+    //       and from sensors.
+    //
+    repeated ExternalReference source_reference = 4;
 
     //
     // \brief A single point of a lane boundary.

osi_object.proto

@@ -40,6 +40,41 @@ message StationaryObject
     //
     optional string model_reference = 4;
 
+    // External reference to the stationary-object source.
+    //
+    // The external reference points to the source of a stationary object, if it
+    // is derived from an external sources like OpenDRIVE or OpenSCENARIO.
+    //
+    // For example, to reference an object defined in an OpenDRIVE map
+    // the items should be set as follows:
+    // * reference = URI to map, can remain empty if identical with definiton
+    //               in \c GroundTruth::map_reference
+    // * type = "net.asam.opendrive"
+    // * identifier[0] = "object" for t_road_objects_object and
+    //                   "bridge" for t_road_objects_bridge
+    // * identifier[1] = id of t_road_objects_object or t_road_objects_bridge
+    //
+    // For example, to reference OpenSCENARIO entities of the type MiscObject,
+    // which describe partly stationary objects, the items should be set as 
+    // follows:
+    // * reference = URI to the OpenSCENARIO File
+    // * type = "net.asam.openscenario"
+    // * identifier[0] = Entity-Type ("MiscObject")
+    // * identifier[1] = name of MiscObject in Entity
+    //
+    // \note The following rule, described in OpenDRIVE, also applies:
+    // * Objects derived from OpenSCENARIO shall not be mixed with objects
+    //   described in OpenDRIVE.
+    //
+    // \note For non-ASAM Standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note The value has to be repeated because one object may be derived
+    //       from more than one origin source, for example, from a scenario file
+    //       and from sensors.
+    //
+    repeated ExternalReference source_reference = 5;
+
     //
     // \brief Classification data for a stationary object.
     //
@@ -359,6 +394,30 @@ message MovingObject
     //
     optional MovingObjectClassification moving_object_classification = 9;    
 
+    // Optional external reference to the moving-object source
+    //
+    // The external reference points to the source of an moving object, if it
+    // is derived from an external sources like OpenSCENARIO.
+    //
+    // For example, to reference OpenSCENARIO entities of the type Vehicle or
+    // Pedestrian, which describe moving objects, the items should be set as
+    // follows:
+    // * reference = URI to the OpenSCENARIO File
+    // * type = "net.asam.openscenario"
+    // * identifier[0] = Entity-Type ("Vehicle" or "Pedestrian")
+    // * identifier[1] = name of Vehicle/Pedestrian in Entity
+    //
+    // \todo OpenSCENARIO currently does not provide an animal type.
+    // 
+    // \note For non-ASAM Standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note The value has to be repeated because one object may be derived
+    //       from more than one origin source, for example, from a scenario file
+    //       and from sensors.
+    //
+    repeated ExternalReference source_reference = 10;
+
     // Definition of object types.
     //
     enum Type

osi_occupant.proto

@@ -23,6 +23,19 @@ message Occupant
     //
     optional Classification classification = 2;
 
+    // External reference to the occupant source.
+    //
+    // \note For OpenDRIVE and OpenSCENARIO there is no direct counterpart.
+    //
+    // \note For non-ASAM Standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note The value has to be repeated because one object may be derived
+    //       from more than one origin source, for example, from a scenario file
+    //       and from sensors.
+    //
+    repeated ExternalReference source_reference = 3;
+
     //
     // \brief Information regarding the classification of the occupant.
     //

osi_roadmarking.proto

@@ -55,6 +55,33 @@ message RoadMarking
     //
     optional Classification classification = 3;
 
+    // Optional external reference to the road-marking source.
+    //
+    // The external reference points to the source of the surface marking, if it
+    // is derived from one or more objects or external references. An example
+    // here is the reference to the signal defined in a OpenDRIVE map.
+    //
+    // For example, to reference a signal defined in an OpenDRIVE map
+    // the items should be set as follows:
+    // * reference = URI to map, can remain empty if identical with definiton
+    //               in \c GroundTruth::map_reference
+    // * type = "net.asam.opendrive"
+    // * identifier[0] = id of t_road_signals_signal
+    //
+    // \note With OpenDRIVE, surface markings can also be defined as objects.
+    //       In this case, the associated object is usually referenced within
+    //       OpenDRIVE using the reference t_road_signals_signal_reference.
+    //       An additional reference to the object is therefore not necessary.
+    //
+    // \note For non-ASAM Standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note The value has to be repeated, because one lane segment may be
+    //       derived from more than one origin segment. Multiple sources
+    //       may be added as reference as well, for example, a map and sensors.
+    //
+    repeated ExternalReference source_reference = 4;
+
     //
     // \brief \c Classification data for a road surface marking.
     //

osi_trafficlight.proto

@@ -42,6 +42,27 @@ message TrafficLight
     //
     optional string model_reference = 4;
 
+    // Optional external reference to the traffic light source.
+    //
+    // The external reference points to the source of the traffic light, if it 
+    // is derived from one or more objects or external references.
+    //
+    // For example, to reference a signal defined in an OpenDRIVE map
+    // the items should be set as follows:
+    // * reference = URI to map, can remain empty if identical with definition
+    //               in \c GroundTruth::map_reference
+    // * type = "net.asam.opendrive"
+    // * identifier[0] = id of t_road_signals_signal
+    //
+    // \note For non-ASAM Standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note The value has to be repeated, because one lane segment may be
+    //       derived from more than one origin segment. Multiple sources
+    //       may be added as reference as well, for example, a map and sensors.
+    //
+    repeated ExternalReference source_reference = 5;
+
     //
     // \brief \c Classification data for a traffic light.
     //

osi_trafficsign.proto

@@ -156,6 +156,32 @@ message TrafficSign
     //
     repeated SupplementarySign supplementary_sign = 3;
 
+
+    // Optional external reference to the traffic sign source.
+    //
+    // The external reference point to the source of the traffic sign, if it is
+    // derived from one or more objects or external references.
+    //
+    // For example, to reference a signal defined in an OpenDRIVE map
+    // the items should be set as follows:
+    // * reference = URI to map, can remain empty if identical with definition
+    //               in \c GroundTruth::map_reference
+    // * type = "net.asam.opendrive"
+    // * identifier[0] = id of t_road_signals_signal
+    //
+    // \note For non-ASAM Standards, it is implementation-specific how
+    //       source_reference is resolved.
+    //
+    // \note If an individual identification of MainSign and SupplementarySign
+    //       is necessary, this should be done via multiple individual
+    //       entries of this source_reference.
+    //
+    // \note The value has to be repeated, because one lane segment may be
+    //       derived from more than one origin segment. Multiple sources
+    //       may be added as reference as well, for example, a map and sensors.
+    //
+    repeated ExternalReference source_reference = 4;
+
     //
     // \brief Main sign of the traffic sign.
     //