Ideation

Motivation

The project's main goal is to transfer the OpenCRG Public Specification and source code to ASAM, to clarify, enhance and add content, and to release the Specification together with the source code as an ASAM public Standard. The main purpose of OpenCRG is to store high-precision elevation data from road surface scans in a Standard File Format, and to provide software functions for reading, writing and processing the data. The original use for this data is in tire, vibration and vehicle dynamics Simulation, but is increasingly used today in virtual development, test and Validation of driver assistance functions, automated and autonomous driving. The transfer to ASAM ensures vendor-independent further development and long-term maintenance of the Standard.

Project Content

The current release of OpenCRG includes a user manual and source code for C and MATLAB. In this project, the user manual shall be transformed into a public Standard with normative descriptions for the CRG File Format and an API description for processing the CRG files and the data. The project also provides an opportunity for members to clarify open questions and to enhance ambiguous or missing specifications. Three new features shall be incorporated into the Standard:

• Georeferencing: The data model of OpenCRG shall be extended with georeferencing parameters for coordinates in order to transform internal coordinates (u,v) to geographic coordinates. This implies the usage of UTM coordinates. 
• Multiple Data Layers: OpenCRG shall support multiple datasets per reference line, i.e. z(u,v) effectively results in a vector. The elements of the vector includes values of different physical properties of the surface, e.g. elevation, friction (μ) or luminance/gray values (Lv). 
• Special Areas: Allow to define areas in the CRG grid, which has no data. This indicates non-drivable areas.

The C and MATLAB source code will be updated to support the latest language versions. The above mentioned features will be integrated. Tests shall ensure conformity between the Standard and the source code. The development and test of source code is primarily carried out by a service provider, while the further development of the Standard itself, including the Specification of new features, is driven by project group members.

OpenCRG is transferred to ASAM at the same time as OpenDRIVE and OpenSCENARIO. The three standards are harmonized with each other and provide a solid foundation for the Simulation and test of complex driving situations.