osi3::SensorView Struct Reference

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

Rules

is_set

The data timestamp of the simulation environment.

Zero time is arbitrary but must be identical for all messages. Zero time does not need to coincide with the UNIX epoch. Recommended is the starting time point of the simulation.

Note

For sensor view data this timestamp coincides both with the notional simulation time the data applies to and the time it was sent (there is no inherent latency for sensor view data, as opposed to sensor data).

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.

Rules

is_set

The virtual mounting position of the sensor (origin and orientation of the sensor frame).

Both origin and orientation are given in and with respect to the host vehicle coordinate system [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

This field is usually static during the simulation.

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.

Rules

is_set

The root mean squared error of the mounting position.

Host vehicle data.

Host vehicle data is data that the host vehicle knows about itself, e.g. from location sensors, internal sensors and ECU bus data, etc., that is made available to sensors as input.

Ground truth w.r.t.

global coordinate system.

This is the ground truth that is provided to the sensor model by the simulation environment. It may be filtered as per the requirements of the sensor model as expressed by the SensorViewConfiguration message(s) that where exchanged during the simulation initialization phase.

Note

The host vehicle is always contained in the ground truth provided, regardless of any filtering. The ground truth MUST contain at least as much of the ground truth data, as is requested by the sensor model, but MAY always contain more data, since the filtering is intended only as an optimization mechanism, not as a replacement of a proper sensor field of view modeling.

The ID of the host vehicle in the global_ground_truth data.

Rules

refers_to: 'MovingObject'

is_set

Generic SensorView(s).

Radar-specific SensorView(s).

Lidar-specific SensorView(s).

Camera-specific SensorView(s).

Ultrasonic-specific SensorView(s).