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OSI KPIs definitions
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The ground truth information from the simulation environment. More...
The ground truth information from the simulation environment.
The sensor view is derived from GroundTruth and used as input to sensor models.
This ground truth information is supposed to describe the whole simulated environment around any simulated vehicle. For each simulated host vehicle (there may be one or multiple), define an area around the vehicle which is greater than the combined field of views (FOV) of all obstructed sensors in the vehicle. The ground truth data is supposed to describe the convex hull of all such areas w.r.t. a global simulation coordinate system.
The simulation coordinate system may change during the simulation if and only if all coordinates w.r.t. this coordinate system are also changed.
The data has to be sent at a rate defined by the receiving partner. When sending, values with default values might be left default in order to improve performance.
To provide a complete interface, all fields of all contained messages must be properly set unless specifically stated in the field's definition that the field may remain unset.
In enums (e.g. types) the unknown (first / default) value is not allowed to be used in the ground truth interface.
| Field | Type | Repeated | Requirements |
|---|---|---|---|
| version | InterfaceVersion | No | Must be set and valid |
| timestamp | Timestamp | No | Must be set and valid |
| host_vehicle_id | Identifier | No | Must correspond to the host_vehicle_id |
| stationary_object | StationaryObject | Yes | If set must be valid |
| moving_object | MovingObject | Yes | If set must be valid |
| traffic_sign | TrafficSign | Yes | If set must be valid |
| traffic_light | TrafficLight | Yes | If set must be valid |
| road_marking | RoadMarking | Yes | If set must be valid |
| lane_boundary | LaneBoundary | Yes | If set must be valid |
| lane | Lane | Yes | If set must be valid |
| occupant | Occupant | Yes | If set must be valid |
| environmental_conditions | EnvironmentalConditions | No | Must be set and valid |
| country_code | uint32 | No | Must be set and correspond to a ISO-3166 country code |
| proj_string | string | No | If set must be valid |
map_reference | string | No |
The data timestamp of the simulation environment. The zero time point is arbitrary but must be identical for all messages. Recommendation: Zero time point for start point of the simulation.
The sensor view information is supposed to provide input to sensor models for simulation of actual real sensors. All information regarding the environment is given with respect to the virtual sensor coordinate system specified in SensorView::mounting_position, except for the individual physical technology-specific data, which is given with respect to the physical sensor coordinate system specified in the corresponding physical sensor's #mounting_position, and the #global_ground_truth, which is given in global coordinates.
When simulating multiple distinct sensors, each sensor can consume an individual copy of the SensorView interface. This allows an independent treatment of the sensors.
Alternatively combined sensor models can also consume one combined SensorView, with either combined or separate SensorData outputs, depending on model architecture.
| field | type | repeated | Requirements |
|---|---|---|---|
| version | InterfaceVersion | No | Must be set and valid |
| timestamp | Timestamp | No | Must be set and valid |
| sensor_id | Identifier | No | Must correspond to the id of a virtual sensor |
| mounting_position | MountingPosition | No | Must be set and valid |
| mounting_position_rmse | MountingPosition | No | Must be set and valid |
| host_vehicle_data | HostVehicleData | No | Must be set and valid |
| global_ground_truth | GroundTruth | No | Must be set and valid |
| host_vehicle_id | Identifier | No | Must be set and correspond to a MovingObject |
| generic_sensor_view | GenericSensorView | Yes | If set, must be valid |
| radar_sensor_view | RadarSensorView | Yes | If set, must be valid |
| lidar_sensor_view | LidarSensorView | Yes | If set, must be valid |
| camera_sensor_view | CameraSensorView | Yes | If set, must be valid |
| ultrasonic_sensor_view | UltrasonicSensorView | Yes | If set, must be valid |
The timestamp of the sensor data. 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.
The time that the actual measurement was performed (which will usually correspond with the timestamp of the GroundTruth the sensor model processed to arrive at these results) can be found in the additional field SensorData::last_measurement_time.
For an ideal zero latency sensor the two timestamps would be the same and would correspond with the timestamp from the current GroundTruth message.
For a sensor model that does not know its own internal latencies (e.g. a dumb sensor with no internal time concept), the two timestamps might also be identical, but delayed from the GroundTruth timestamp.
The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1]. The physical position pertains to this detector individually, and governs the sensor-relative coordinates in features detected by this detector.
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.
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