osi3::SensorViewConfiguration Struct Reference

The interface version used by the sender (simulation environment).

Rules

is_set

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

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

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

Rules

is_set

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

The virtual position pertains to the sensor as a whole, regardless of the actual position of individual physical detectors, and governs the sensor-relative coordinates in detected objects of the sensor as a whole. Individual features detected by individual physical detectors are governed by the actual physical mounting positions of the detectors, as indicated in the technology-specific sub-views and sub-view configurations.

• 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.

The root mean squared error of the mounting position.

Field of View in horizontal orientation of the sensor.

This determines the limit of the cone of interest of ground truth that the simulation environment has to provide. 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 in vertical orientation of the sensor.

This determines the limit of the cone of interest of ground truth that the simulation environment has to provide. 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

Maximum range of the sensor.

This determines the limit of the cone of interest of ground truth that the simulation environment has to provide.

Unit: m

Rules

is_greater_than_or_equal_to: 0

The update cycle time of the sensor model.

This specifies the rate at which the sensor model is provided with new input data.

Unit: s

Note

In the case of FMU packaging this will correspond to the communication step size.

Initial update cycle offset of the sensor model.

This specifies the initial offset (i.e. initial delay) of the sensor model update cycle that the simulation should take into account. It is defined against a simulation start time of 0: i.e. an initial offset of 0.008s would mean, that the initial update of sensor input data to the model should occur at 0+0.008s, and then update_cycle_time after that, etc. If the simulation start time of the simulation is non-zero, then the offset still has to be interpreted against a 0 start time, and not simply added on top of the start time: e.g. if the simulation starts at 0.030s, and the update cycle time is 0.020s, then the first update to the sensor input should happen at 0.048s, or 0.018s after simulation start. This convention is needed to ensure stable phase position of the offset in the case of changing simulation start times, e.g. for partial re-simulation.

Unit: s

Simulation Start time.

This specifies the simulation start time that the Simulation has chosen. This field has no defined meaning if provided by the sensor model.

Unit: s

Omit Static Information.

This flag specifies whether GroundTruth information that was already provided using a GroundTruthInit parameter (e.g. OSMP GroundTruthInit) at initialization time shall be omitted from the SensorView ground truth information.

Setting the omit_static_information field allows a clear split between the dynamic simulation data, which is contained in ground truth messages with the omit_static_information flag, and the static simulation data, which is contained in the (OSMP) GroundTruthInit.

Generic Sensor View Configuration(s).

Radar-specific Sensor View Configuration(s).

Lidar-specific Sensor View Configuration(s).

Camera-specific Sensor View Configuration(s).

Ultrasonic-specific Sensor View Configuration(s).