The conditions of the environment. More...
Classes | |
| struct | CloudLayer |
| Description of a cloud layer. More... | |
| struct | Sun |
| Properties of the sun. More... | |
| struct | TimeOfDay |
| The time of day at a specified location. More... | |
| struct | Wind |
| Defines wind properties. More... | |
Public Attributes | |
| optional AmbientIllumination | ambient_illumination = 1 |
| The ambient illumination of the environment. More... | |
| optional TimeOfDay | time_of_day = 2 |
| The time of day at the host vehicles location. More... | |
| optional int64 | unix_timestamp = 8 |
| The unix timestamp describes the time and date at the host vehicle's location, referring to UTC. More... | |
| optional double | atmospheric_pressure = 3 |
| Atmospheric pressure in Pascal at z=0.0 in world frame (about 101325 Pa). More... | |
| optional double | temperature = 4 |
| Temperature in Kelvin at z=0.0 in world frame. More... | |
| optional double | relative_humidity = 5 |
| Relative humidity in at z=0.0 in world frame. More... | |
| optional Precipitation | precipitation = 6 |
| Description of the precipitation. More... | |
| optional Fog | fog = 7 |
| Description of the fog. More... | |
| repeated ExternalReference | source_reference = 9 |
| Optional external reference to the environmental condition sources. More... | |
| optional CloudLayer | clouds = 10 |
| Description of the clouds. More... | |
| optional Wind | wind = 11 |
| Description of the wind. More... | |
| optional Sun | sun = 12 |
| Description of the sun. More... | |
Detailed Description
The conditions of the environment.
Definition of light, weather conditions and other environmental conditions.
- Note
- These conditions apply locally around the host vehicle.
Member Enumeration Documentation
◆ Precipitation
Definition of discretized precipitation states according to [1].
(I = Intensity of precipitation in mm per hour mm/h)
- Reference:
- [1] Paulat, M., Frei, C., Hagen, M. & Wernli, H. (2008). A gridded dataset of hourly precipitation in Germany: Its construction, climatology and application. Meteorologische Zeitschrift. Vol. 17, No. 6. pp. 719-732. Berlin, Stuttgart, Germany. https://doi.org/10.1127/0941-2948/2008/0332
◆ Fog
Definition of discretized fog states according to [1].
The bandwidth of thick and dense fog was adjusted to fit the German StVO regarding rear fog lights [2, 3]. (V = Visibility in m)
Visibility is defined as the length of the atmosphere over which a beam of light travels before its luminous flux is reduced to 5% of its original value (definition used by the Meteorological Office [4]). This is approximately equivalent to visibility measured in terms of the contrast of a distant object against its background.
- References:
- [1] Shepard, F. D. (1996). Reduced visibility due to fog on the highway. Transportation Research Board, National Research Council (Ed.). National Academy Press. Washington, D.C., USA. ISBN 0-309-06006-0.
[2] Strassenverkehrs-Ordnung (StVO) as of dated March 06, 2013 (BGBl. I S. 367), lastly changed by article 4a of the order from June 06, 2019 (BGBl. I S. 756).
[3] stvo.de. (2013, April 01). StVO Par. 17 Beleuchtung. Retrieved January 25, 2020, from https://www.stvo.de/strassenverkehrsordnung/101-17-beleuchtung
[4] Meteorological Office UK. (2020). Homepage of the Meteorological Office - How we measure visibility. Retrieved January 25, 2020, from http://www.metoffice.gov.uk/guide/weather/observations-guide/how-we-measure-visibility
◆ AmbientIllumination
Definition of discretized ambient illumination states: Ambient light is any light in the vehicle's environment that is not emitted by the vehicle itself.
It can include sun/moon light, light from other cars, street lights etc.
lx ("lux") is the SI unit of luminance or illumination of an area of exact one square meter, which is equal to one lumen per square meter 1 lx = 1 lm/m^2 [1]. lm ("lumen") is the SI derived unit of luminous flux and a measure of the total quantity of visible light emitted by a source. The lumen is defined in relation to cd ("candela") as 1 lm = 1 cd sr, where sr denotes steradian, the unit of solid angle used in 3D geometry analogous to the radian [1].
Categorization is done based on natural day/night time illuminance levels [2] and standards for required lighting levels on roads [2, 3, 4, 5].
- References:
- [1] DIN Deutsches Institut fuer Normung e. V. (1982). DIN 5031-3 Strahlungsphysik im optischen Bereich und Lichttechnik - Groessen, Formelzeichen und Einheiten der Lichttechnik. (DIN 5031-3:1982-03). Berlin, Germany.
[2] National Optical Astronomy Observatory. (2015, December 02). Recommended Light Levels. Retrieved January 25, 2020, from https://www.noao.edu/education/QLTkit/ACTIVITY_Documents/Safety/LightLevels_outdoor+indoor.pdf
[3] Wang, Y. & Zou, Y., (2016, March). Study on Illumination for State Highways. Washington State Department of Transportation. Retrieved January 25, 2020, from http://www.wsdot.wa.gov/research/reports/fullreports/847.1.pdf
[4] Laperriere, A. (2011, May). LED street lighting in the municipality of Saint-Gedeon-de-Beauce within the framework of advanced lighting technologies. Retrieved January 25, 2020, from http://sslnet.ca/wp-content/uploads/2011/10/LTE-RT-2011-0076-Anglais.pdf
[5] Crabb, G. I., Beaumont, R. & Webster, D. (2008, October 17). Review of the class and quality of street lighting. Transport Research Laboratory. Retrieved January 25, 2020, from http://courtneystrong.com/wp-content/uploads/2017/07/css-sl1-class-and-quality-of-street-lighting.pdf
| Enumerator | |
|---|---|
| AMBIENT_ILLUMINATION_UNKNOWN | Ambient illumination is unknown (must not be used in ground truth). |
| AMBIENT_ILLUMINATION_OTHER | Other (unspecified but known) ambient illumination. |
| AMBIENT_ILLUMINATION_LEVEL1 | Level 1 illumination in ]0.001, 0.01[ lx.
|
| AMBIENT_ILLUMINATION_LEVEL2 | Level 2 illumination in [0.01, 1[ lx.
|
| AMBIENT_ILLUMINATION_LEVEL3 | Level 3 illumination in [1, 3[ lx.
|
| AMBIENT_ILLUMINATION_LEVEL4 | Level 4 illumination in [3, 10[ lx.
|
| AMBIENT_ILLUMINATION_LEVEL5 | Level 5 illumination in [10, 20[ lx.
|
| AMBIENT_ILLUMINATION_LEVEL6 | Level 6 illumination in [20, 400[ lx.
|
| AMBIENT_ILLUMINATION_LEVEL7 | Level 7 illumination in [400, 1000[ lx.
|
| AMBIENT_ILLUMINATION_LEVEL8 | Level 8 illumination in [1000, 10000[ lx.
|
| AMBIENT_ILLUMINATION_LEVEL9 | Level 9 illumination in [10000, 120000[ lx.
|
Member Data Documentation
◆ ambient_illumination
| optional AmbientIllumination osi3::EnvironmentalConditions::ambient_illumination = 1 |
The ambient illumination of the environment.
◆ time_of_day
| optional TimeOfDay osi3::EnvironmentalConditions::time_of_day = 2 |
The time of day at the host vehicles location.
◆ unix_timestamp
| optional int64 osi3::EnvironmentalConditions::unix_timestamp = 8 |
The unix timestamp describes the time and date at the host vehicle's location, referring to UTC.
The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970 (midnight UTC/GMT [1]), not counting leap seconds [2]. Historically, the origin of UNIX system time was referred to as "00:00:00 GMT, January 1, 1970" [2]. Literally speaking the epoch is Unix time 0 (midnight 1/1/1970), but 'epoch' is often used as a synonym for 'Unix time'. Many Unix systems store epoch dates as a signed 32-bit integer, which might cause problems on January 19, 2038 (known as the Year 2038 problem or Y2038).
- Note
- You can convert the timestamp using the following routines sorted by languages.
- References:
- [1] ITU Radiocommunication Assembly. (2002). Recommendation ITU-R TF.460-6 Standard-frequency and time-signal emissions. (Rec. ITU-R TF.460-6). Retrieved January 25, 2020, from http://www.itu.int/dms_pubrec/itu-r/rec/tf/R-REC-TF.460-6-200202-I!!PDF-E.pdf
[2] The Open Group. (2018). POSIX.1-2017 The Open Group Base Specifications Issue 7, 2018 edition. IEEE Std 1003.1-2017 (Revision of IEEE Std 1003.1-2008). Retrieved January 25, 2020, from https://pubs.opengroup.org/onlinepubs/9699919799/xrat/contents.html
◆ atmospheric_pressure
| optional double osi3::EnvironmentalConditions::atmospheric_pressure = 3 |
Atmospheric pressure in Pascal at z=0.0 in world frame (about 101325 Pa).
Unit: Pa
- Rules\n\code{.unparsed}
- is_greater_than_or_equal_to: 80000 is_less_than_or_equal_to: 120000
◆ temperature
| optional double osi3::EnvironmentalConditions::temperature = 4 |
Temperature in Kelvin at z=0.0 in world frame.
Unit: K
- Rules\n\code{.unparsed}
- is_greater_than_or_equal_to: 170 is_less_than_or_equal_to: 340
◆ relative_humidity
| optional double osi3::EnvironmentalConditions::relative_humidity = 5 |
Relative humidity in at z=0.0 in world frame.
Note that physically more relevant measures, like absolute or specific humidity can be easily derived from relative_humidity, given that the temperature and atmospheric_pressure are known.
Unit: %
- Rules\n\code{.unparsed}
- is_greater_than_or_equal_to: 0 is_less_than_or_equal_to: 100
◆ precipitation
| optional Precipitation osi3::EnvironmentalConditions::precipitation = 6 |
Description of the precipitation.
◆ fog
| optional Fog osi3::EnvironmentalConditions::fog = 7 |
Description of the fog.
◆ source_reference
| repeated ExternalReference osi3::EnvironmentalConditions::source_reference = 9 |
Optional external reference to the environmental condition sources.
- Note
- For OpenDRIVE and OpenSCENARIO there is no direct counterpart.
- For non-ASAM standards, it is implementation-specific how source_reference is resolved.
- 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.
◆ clouds
| optional CloudLayer osi3::EnvironmentalConditions::clouds = 10 |
Description of the clouds.
◆ wind
| optional Wind osi3::EnvironmentalConditions::wind = 11 |
Description of the wind.
◆ sun
| optional Sun osi3::EnvironmentalConditions::sun = 12 |
Description of the sun.
The documentation for this struct was generated from the following file:
- osi_environment.proto
