diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 328030657..27d7bcbf9 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -449,6 +449,24 @@ message LidarDetection // Lambertian reflectivity. // optional double reflectivity = 10; + + // Echo pulse width of the detection's echo. + // Several sensors output an echo pulse width instead of an intensity for each individual detection. + // The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo. + // \note For more details see [1] Fig. 7 and 8. + // \note Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D. + // \note Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold. + // + // Unit: m + // + // \rules + // is_greater_than_or_equal_to: 0 + // \endrules + // + // \par Reference: + // [1] Rosenberger, P., Holder, M.F., Cianciaruso, N. et al. (2020). Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving Automot. Engine Technol. 5, Fig 7, Fig 8. Retrieved May 10, 2021, from https://doi.org/10.1007/s41104-020-00066-x + // + optional double echo_pulse_width = 11; } //