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Proposal for discussion: Add more detailed lane information to MovingObject #587

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Proposal for discussion: Add more detailed lane information to MovingObject #587

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77 changes: 52 additions & 25 deletions osi_object.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -397,18 +397,6 @@ message MovingObject
//
optional Type type = 3;

// The IDs of the lanes that this object is assigned to.
//
// \note Might be multiple if the object is switching lanes or moving from
// one lane into another following lane.
//
// \note OSI uses singular instead of plural for repeated field names.
//
// \note DEPRECATED: Use assigned_lane_id in MovingObjectClassification
// instead.
//
repeated Identifier assigned_lane_id = 4;

// Specific information about the vehicle.
//
// \note This field is mandatory if the \c #type is
Expand Down Expand Up @@ -452,8 +440,14 @@ message MovingObject
repeated StatePoint future_trajectory = 8;

// Specific information about the classification of the vehicle.
// One entry for each lane the object overlaps.
//
optional MovingObjectClassification moving_object_classification = 9;
// \note Might be multiple if the object is switching lanes or moving from
// one lane into another following lane.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated MovingObjectClassification moving_object_classification = 9;

// Optional external reference to the moving-object source
//
Expand Down Expand Up @@ -675,29 +669,62 @@ message MovingObject
}

//
// \brief Information for the classification of moving objects regarding
// \brief Information for the classification of moving objects regarding a
// lane the moving object overlaps. This describes an object relative to a
// lane.
//
// \c MovingObject (host or other).
//
message MovingObjectClassification
{
// The IDs of the lanes that this object is assigned to.
// The IDs of the lane that this object is assigned to.
optional Identifier assigned_lane_id = 1;

// Percentage value of the object width in the corresponding lane.
optional double assigned_lane_percentage = 2;

// Distance along the lane.
//
// \note Might be multiple if the object is switching lanes or moving from
// one lane into another following lane.
// Unit: m
//
// \note OSI uses singular instead of plural for repeated field names.
// Calculation: The centerline of the lane is treated as a polyline.
// The point on this polyline, which is nearest to the reference point
// of the object, is taken as a base point.
// If there are multiple points with the same distance to the reference
// point, the first of these points is chosen (starting at the
// beginning of the centerline).
//
repeated Identifier assigned_lane_id = 1;
// distance_along_lane is the distance along this polyline from the
// start of the line to the chosen base point.
//
optional double distance_along_lane = 3;

// Percentage value of the object width in the corresponding lane.
// Signed distance of the reference point to the lane center.
//
// Unit: m
//
// \note Might be multiple if the object is switching lanes or moving from
// one lane into another following lane.
// Distance between the reference point of the object and the base
// point, as calculated for distance_along_lane.
// If the reference point is to the left (in definition direction of
// the centerline), the value is positive, otherwise it is negative.
//
// \note OSI uses singular instead of plural for repeated field names.
// \c distance_along_lane
//
optional double directed_distance_from_lane_center = 4;

// Angle between the lane center and the object.
//
// Unit: rad
//
// Calculation: the base point on the centerline is chosen, using the
// same algorithm as for distance_along_lane.
// angle_to_lane is the difference between the yaw angle of the object
// and the direction of the centerline at the base point.
// If the base point is directly between two line segments, the angular
// mean of the angles of the two adjunct line segments is taken as the
// direction of the centerline.
//
repeated double assigned_lane_percentage = 2;

optional double angle_to_lane = 5;
}

//
Expand Down