osi3::EnvironmentalConditions Struct Reference

The conditions of the environment. More...

Collaboration diagram for osi3::EnvironmentalConditions:

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 Types

enum  Precipitation {
  PRECIPITATION_UNKNOWN = 0, PRECIPITATION_OTHER = 1, PRECIPITATION_NONE = 2, PRECIPITATION_VERY_LIGHT = 3,
  PRECIPITATION_LIGHT = 4, PRECIPITATION_MODERATE = 5, PRECIPITATION_HEAVY = 6, PRECIPITATION_VERY_HEAVY = 7,
  PRECIPITATION_EXTREME = 8
}
 Definition of discretized precipitation states according to [1]. More...
 
enum  Fog {
  FOG_UNKNOWN = 0, FOG_OTHER = 1, FOG_EXCELLENT_VISIBILITY = 2, FOG_GOOD_VISIBILITY = 3,
  FOG_MODERATE_VISIBILITY = 4, FOG_POOR_VISIBILITY = 5, FOG_MIST = 6, FOG_LIGHT = 7,
  FOG_THICK = 8, FOG_DENSE = 9
}
 Definition of discretized fog states according to [1]. More...
 
enum  AmbientIllumination {
  AMBIENT_ILLUMINATION_UNKNOWN = 0, AMBIENT_ILLUMINATION_OTHER = 1, AMBIENT_ILLUMINATION_LEVEL1 = 2, AMBIENT_ILLUMINATION_LEVEL2 = 3,
  AMBIENT_ILLUMINATION_LEVEL3 = 4, AMBIENT_ILLUMINATION_LEVEL4 = 5, AMBIENT_ILLUMINATION_LEVEL5 = 6, AMBIENT_ILLUMINATION_LEVEL6 = 7,
  AMBIENT_ILLUMINATION_LEVEL7 = 8, AMBIENT_ILLUMINATION_LEVEL8 = 9, AMBIENT_ILLUMINATION_LEVEL9 = 10
}
 Definition of discretized ambient illumination states: Ambient light is any light in the vehicle's environment that is not emitted by the vehicle itself. 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
Enumerator
PRECIPITATION_UNKNOWN 

Intensity of precipitation is unknown (must not be used in ground truth).

PRECIPITATION_OTHER 

Other (unspecified but known) intensity of precipitation.

PRECIPITATION_NONE 

No precipitation, when I in [0,0.1[ mm/h.

PRECIPITATION_VERY_LIGHT 

Very light intensity of precipitation, when I in [0.1,0.5[ mm/h.

PRECIPITATION_LIGHT 

Light intensity of precipitation, when I in [0.5,1.9[ mm/h.

PRECIPITATION_MODERATE 

Moderate intensity of precipitation, when I in [1.9,8.1[ mm/h.

PRECIPITATION_HEAVY 

Heavy intensity of precipitation, when I in [8.1,34[ mm/h.

PRECIPITATION_VERY_HEAVY 

Very heavy intensity of precipitation, when I in [34,149[ mm/h.

PRECIPITATION_EXTREME 

Extreme intensity of precipitation, when I in [149,infinity[ mm/h.

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
Enumerator
FOG_UNKNOWN 

Visibility is unknown (must not be used in ground truth).

FOG_OTHER 

Other (unspecified but known) fog intensity.

FOG_EXCELLENT_VISIBILITY 

Excellent visibility, when V in [40000,infinity[ m.

FOG_GOOD_VISIBILITY 

Good visibility, when V in [10000,40000[ m.

FOG_MODERATE_VISIBILITY 

Moderate visibility, when V in [4000,10000[ m.

FOG_POOR_VISIBILITY 

Poor visibility, when V in [2000,4000[ m.

FOG_MIST 

Mist, when V in [1000,2000[ m.

FOG_LIGHT 

Fog, when V in [200,1000[ m.

FOG_THICK 

Thick fog, when V in [50,200[ m.

FOG_DENSE 

Dense fog, when V in [0,50[ m (allowed to use rear fog light according to [3])

◆ 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.


E.g. Night with no artificial light.

Note
Use AMBIENT_ILLUMINATION_LEVEL1 if illumination is less than 0.001 lx.
AMBIENT_ILLUMINATION_LEVEL2 

Level 2 illumination in [0.01, 1[ lx.


E.g. Night full moon / Deep twilight.

AMBIENT_ILLUMINATION_LEVEL3 

Level 3 illumination in [1, 3[ lx.


E.g. Deep to average twilight / Minimum lighting on local low pedestrian conflict roads.

AMBIENT_ILLUMINATION_LEVEL4 

Level 4 illumination in [3, 10[ lx.


E.g. Average to full twilight / Minimum lighting on collector roads / Minimum lighting on major and expressway roads with low to average pedestrian conflict.

AMBIENT_ILLUMINATION_LEVEL5 

Level 5 illumination in [10, 20[ lx.


E.g. Minimum lighting on major and expressway roads with high pedestrian conflict.

AMBIENT_ILLUMINATION_LEVEL6 

Level 6 illumination in [20, 400[ lx.


E.g. Roads with more lighting / Very dark overcast day to sunrise or sunset on a clear day.

AMBIENT_ILLUMINATION_LEVEL7 

Level 7 illumination in [400, 1000[ lx.


E.g. Sunrise or sunset on a clear day / Overcast day.

AMBIENT_ILLUMINATION_LEVEL8 

Level 8 illumination in [1000, 10000[ lx.


E.g. Average to full daylight.

AMBIENT_ILLUMINATION_LEVEL9 

Level 9 illumination in [10000, 120000[ lx.


E.g. Full daylight to intense sunlight.

Note
Use AMBIENT_ILLUMINATION_LEVEL9 if illumination is more than 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
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
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
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.

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.

optional Sun osi3::EnvironmentalConditions::sun = 12

Description of the sun.


  • osi_environment.proto