osi3::RadarSensorViewConfiguration Struct Reference

The configuration settings for the Radar Sensor View to be provided by the environment simulation. More...

Collaboration diagram for osi3::RadarSensorViewConfiguration:

Classes

struct  AntennaDiagramEntry
 The radar antenna diagram. More...
 

Public Attributes

optional Identifier sensor_id = 1
 The ID of the sensor at host vehicle's mounting_position. More...
 
optional MountingPosition mounting_position = 2
 The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1]. More...
 
optional MountingPosition mounting_position_rmse = 3
 The root mean squared error of the mounting position. More...
 
optional double field_of_view_horizontal = 4
 Field of View in horizontal orientation of the physical sensor. More...
 
optional double field_of_view_vertical = 5
 Field of View in vertical orientation of the physical sensor. More...
 
optional uint32 number_of_rays_horizontal = 6
 Number of rays to cast across horizontal field of view (azimuth). More...
 
optional uint32 number_of_rays_vertical = 7
 Number of rays to cast across vertical field of view (elevation). More...
 
optional uint32 max_number_of_interactions = 8
 Maximum number of interactions to take into account. More...
 
optional double emitter_frequency = 9
 Emitter Frequency. More...
 
repeated AntennaDiagramEntry tx_antenna_diagram = 10
 This represents the TX antenna diagram. More...
 
repeated AntennaDiagramEntry rx_antenna_diagram = 11
 This represents the RX antenna diagram. More...
 

Detailed Description

The configuration settings for the Radar Sensor View to be provided by the environment simulation.

Member Data Documentation

◆ sensor_id

optional Identifier osi3::RadarSensorViewConfiguration::sensor_id = 1

The ID of the sensor at host vehicle's mounting_position.

This is the ID of the physical sensor, to be used in its detected features output; it is distinct from the ID of its virtual sensor.

The ID is to be provided by the environment simulation, the sensor model is not in a position to provide a useful default value.

◆ mounting_position

optional MountingPosition osi3::RadarSensorViewConfiguration::mounting_position = 2

The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1].

The physical position pertains to this detector individually, and governs the sensor-relative coordinates in features detected by this detector.

  • x-direction of sensor coordinate system: sensor viewing direction
  • z-direction of sensor coordinate system: sensor (up)
  • y-direction of sensor coordinate system: perpendicular to x and z right hand system
Reference:
[1] DIN Deutsches Institut fuer Normung e. V. (2013). DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe. (DIN ISO 8855:2013-11). Berlin, Germany.
Note
The origin of vehicle's coordinate system in world frame is ( MovingObject::base . BaseMoving::position + Inverse_Rotation_yaw_pitch_roll( MovingObject::base . BaseMoving::orientation) * MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of the vehicle's coordinate system is equal to the orientation of the vehicle's bounding box MovingObject::base . BaseMoving::orientation.
A default position can be provided by the sensor model (e.g. to indicate the position the model was validated for), but this is optional; the environment simulation must provide a valid mounting position (based on the vehicle configuration) when setting the view configuration.

◆ mounting_position_rmse

optional MountingPosition osi3::RadarSensorViewConfiguration::mounting_position_rmse = 3

The root mean squared error of the mounting position.

◆ field_of_view_horizontal

optional double osi3::RadarSensorViewConfiguration::field_of_view_horizontal = 4

Field of View in horizontal orientation of the physical sensor.

Viewing range: [- field_of_view_horizontal/2, field_of_view_horizontal/2] azimuth in the sensor frame as defined in Spherical3d.

Unit: rad

◆ field_of_view_vertical

optional double osi3::RadarSensorViewConfiguration::field_of_view_vertical = 5

Field of View in vertical orientation of the physical sensor.

Viewing range: [- field_of_view_vertical/2, field_of_view_vertical/2] elevation in the sensor frame at zero azimuth as defined in Spherical3d.

Unit: rad

◆ number_of_rays_horizontal

optional uint32 osi3::RadarSensorViewConfiguration::number_of_rays_horizontal = 6

Number of rays to cast across horizontal field of view (azimuth).

Note
This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.
Rules
is_greater_than_or_equal_to: 1

◆ number_of_rays_vertical

optional uint32 osi3::RadarSensorViewConfiguration::number_of_rays_vertical = 7

Number of rays to cast across vertical field of view (elevation).

Note
This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.
Rules
is_greater_than_or_equal_to: 1

◆ max_number_of_interactions

optional uint32 osi3::RadarSensorViewConfiguration::max_number_of_interactions = 8

Maximum number of interactions to take into account.

Note
This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.
Rules
is_greater_than_or_equal_to: 1

◆ emitter_frequency

optional double osi3::RadarSensorViewConfiguration::emitter_frequency = 9

Emitter Frequency.

This information can be used by a ray tracing engine to calculate doppler shift information and take into account differences in refraction and reflection. For doppler shift calculations the sensor model can of course always provide a nominal frequency and adjust the resulting doppler shift information to actual frequency through frequency adjustments. For material and geometry interaction purposes the frequency is also relevant.

Unit: Hz

Rules
is_greater_than_or_equal_to: 0

◆ tx_antenna_diagram

repeated AntennaDiagramEntry osi3::RadarSensorViewConfiguration::tx_antenna_diagram = 10

This represents the TX antenna diagram.

◆ rx_antenna_diagram

repeated AntennaDiagramEntry osi3::RadarSensorViewConfiguration::rx_antenna_diagram = 11

This represents the RX antenna diagram.


  • osi_sensorviewconfiguration.proto