3.2.1 Model types
The current specification supports packaging the following model types as Functional Mock-up Units (FMUs).
- Environmental effect model
-
This model type can be used to model environmental effects or the physical parts of sensors. It consumes
osi3::SensorView
as input and producesosi3::SensorView
as output. - Sensor models
-
This model type is used to model the perception function of sensors. It consumes
osi3::SensorView
as input and producesosi3::SensorData
as output. - Logical models
-
This model type is used to model the further processing of sensor output, for example, sensor fusion. It consumes
osi3::SensorData
as input and producesosi3::SensorData
as output. - Traffic participant models
-
This model type is used to model whole traffic participants, such as vehicles or pedestrians. Traffic participant models may internally use environmental effect models, sensor models, or logical models as part of a modeled autonomous vehicle. They may also be used to implement surrounding traffic in simplified ways. Traffic participant models consume
osi3::SensorView
as input and produceosi3::TrafficUpdate
as output. They may additionally consumeosi3::TrafficCommand
as input to allow control by a scenario engine or other coordinating function. They may additionally produceosi3::TrafficCommandUpdate
as output to allow status responses to such control messages. - Streaming update consumer models
-
This model type receives a streaming update input for further processing. Examples of this model type can be visualization, evaluation, or logging modules. Streaming update consumer models consume
osi3::StreamingUpdate
as input; if they produce any output, it is currently not specified as part of this standard.
All models may also consume a global osi3::GroundTruth
parameter during initialization.
Complex models may combine various aspects of the above model types. Manual intervention is needed to configure and set up these FMUs.
In implementations that support the use of the System Structure and Parameterization (SSP) standard, a model can alternatively be packaged as a system consisting of multiple FMUs, if it presents the same interface at system level as this specification mandates for the overall model of the given type.