A vehicle appoaches a crossing. The crossing has some fixed mounted sensors e.g. to observe the traffic due to a dangerous situation. The sensors at the crossing emitt their detected sensor data to the approaching vehicles.
Modeling approach:
The sensors can be percieved as additional sensors of the car. The situation can be modeled by representing the fixed sensor setup with one fusion sensor logic model and the fixed sensor with another logic model that is afterwards fused again:
// 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.
//
// \arg \b x-direction of sensor coordinate system: sensor viewing direction
// \arg \b z-direction of sensor coordinate system: sensor (up)
// \arg \b y-direction of sensor coordinate system: perpendicular to x and z
// right hand system
//
// \par Reference:
// [1] DIN Deutsches Institut fuer Normung e. V. (2013). <em>DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe</em>. (DIN ISO 8855:2013-11). Berlin, Germany.
//
// \note This field is usually static during the simulation.
// \note The origin of vehicle's coordinate system in world frame is
// ( \c MovingObject::base . \c BaseMoving::position +
// Inverse_Rotation_yaw_pitch_roll( \c MovingObject::base . \c
// BaseMoving::orientation) * \c
// MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of
// the vehicle's coordinate system is equal to the orientation of the
// vehicle's bounding box \c MovingObject::base . \c
// BaseMoving::orientation.
//
optional MountingPosition mounting_position = 6;
All descriptions in sensordata are with respect to a sensor that is mounted ON a vehicle. If we assume that random objects like traffic lights may also be the bearers of environment perceiving sensors than this description needs a "generalization". This would imply some changes in the documentation and maye a renaming of some signals removing the term "vehicle". This would lead to a breaking change. We could discuss to introduce a intermediate best practise solution in order to be able to model this scenario.
Scenario:
A vehicle appoaches a crossing. The crossing has some fixed mounted sensors e.g. to observe the traffic due to a dangerous situation. The sensors at the crossing emitt their detected sensor data to the approaching vehicles.
Modeling approach:
The sensors can be percieved as additional sensors of the car. The situation can be modeled by representing the fixed sensor setup with one fusion sensor logic model and the fixed sensor with another logic model that is afterwards fused again:
Potential issue:
As stated in osi_sensordata.proto we have the following defintion:
All descriptions in sensordata are with respect to a sensor that is mounted ON a vehicle. If we assume that random objects like traffic lights may also be the bearers of environment perceiving sensors than this description needs a "generalization". This would imply some changes in the documentation and maye a renaming of some signals removing the term "vehicle". This would lead to a breaking change. We could discuss to introduce a intermediate best practise solution in order to be able to model this scenario.