Definition of discretized ambient illumination states. More...

Detailed Description

Definition of discretized ambient illumination states.

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.

Categorization is done based on natural day/night time illuminance levels [6] and standards for required lighting levels on roads [6, 7, 8, 9].

Requirements

Number	Type name	Requirements
0	AMBIENT_ILLUMINATION_UNKNOWN	Ambient illumination is unknown (must not be used in ground truth).
1	AMBIENT_ILLUMINATION_OTHER	Other (unspecified but known) ambient illumination.
2	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]
3	AMBIENT_ILLUMINATION_LEVEL2	Level 2 illumination in [0.01, 1[ [lx] E.g. Night full moon / Deep twilight.
4	AMBIENT_ILLUMINATION_LEVEL3	Level 3 illumination in [1, 3[ [lx] E.g. Deep to average twilight / Minimum lighting on local low pedestrian conflict roads.
5	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.
6	AMBIENT_ILLUMINATION_LEVEL5	Level 5 illumination in [10, 20[ [lx] E.g. Minimum lighting on major and expressway roads with high pedestrian conflict.
7	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.
8	AMBIENT_ILLUMINATION_LEVEL7	Level 7 illumination in [400, 1000[ [lx] E.g. Sunrise or sunset on a clear day / Overcast day.
9	AMBIENT_ILLUMINATION_LEVEL8	Level 8 illumination in [1000, 10000[ [lx] E.g. Average to full daylight.

Note: Flickering is not considered. It might be very important for camera sensors. Flickering in tunels.; Ambient ilumination color temperature is not considered. It might be important for determination of colors e.g. Road markings white or yellow.; Position of the Sun relative to ego might influence the sensor output quality, as well as driver situational awarness.

References: