diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index c1bd3ec51..f739be7d8 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -1,10 +1,5 @@ = Feature data -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Feature data contains detected features in the reference frame of a sensor. +Feature data is generated from ground-truth data. +It serves, for example, as input for sensor models simulating object detection or feature fusion models. diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index b15de8ab6..7ae617f47 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,10 +1,5 @@ = Ground truth -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Ground truth describes the simulated environment around all simulated objects in the global coordinate system. +It is based on data available to the simulation environment and published to external subscribers. +Depending on the external subscriber, ground-truth data may be individually restricted to reduce the data to be exchanged. diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index ef5164e41..1db02ddc1 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,9 +1,7 @@ = Sensor data -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Sensor data imitates the output of real sensors. +It can be generated from ground-truth data, sensor-view data, feature data or from sensor data. +Except feature data, all information regarding the environment is given with respect to the virtual sensor coordinate system. +Feature data is given with respect to the physical sensor coordinate system. +Sensor data can be used as input for an automated driving function, a sensor model simulating limited perception, or a sensor fusion model. diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 1bdec6fc7..54f8fdd85 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,9 +1,8 @@ = Sensor view -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Sensor view imitates the input of sensors. +Sensor-view data is derived from ground-truth data. +All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: + +* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position. +* Ground-truth data, given in the global coordinate system. \ No newline at end of file diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index c7e9f3f02..a7ceca4ef 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,9 +1,15 @@ = Sensor view configuration -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +The sensor view configuration configures the sensor view. +There are two sources for sensor-view-configuration data. + +Sensor-view-configuration data can be provided by the environment simulation. +In this case, the data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. +Sensor-view-configuration data is not intended to provide parameters to a generic sensor model. + +Sensor-view-configuration data can also be provided by the sensor model to the environment simulation. +In this case, the data describes the input configuration that is desired by the sensor model. +In response, the environment simulation will configure the input and provide a new message which describes the actual configuration. +The configuration requested by the sensor model may differ from the actual configuration. +This happens when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous. +The message describing the requested configuration differs from the message describing the actual configuration. diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc new file mode 100644 index 000000000..6e70b6bd4 --- /dev/null +++ b/doc/architecture/traffic_command.adoc @@ -0,0 +1,3 @@ += Traffic command + +Traffic commands contain control commands from the scenario engine to traffic participant models. \ No newline at end of file diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc new file mode 100644 index 000000000..b8795e645 --- /dev/null +++ b/doc/architecture/traffic_update.adoc @@ -0,0 +1,4 @@ += Traffic update + +Traffic updates are provided by traffic participants. +They provide updates of the position, state and future trajectory of a traffic participant back to the simulation environment. \ No newline at end of file diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 287f8cbdf..c3d7f10be 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -40,6 +40,10 @@ include::./architecture/sensor_view_configuration.adoc[leveloffset=+3] include::./architecture/sensor_data.adoc[leveloffset=+3] +include::./architecture/traffic_command.adoc[leveloffset=+3] + +include::./architecture/traffic_update.adoc[leveloffset=+3] + === Model types include::./architecture/environmental_effect_model.adoc[leveloffset=+3]