A simulated object that is either a vehicle or another moving object (animal, pedestrian, etc), but not a stationary object (TrafficLight, TrafficSign, or StationaryObject). More...

Collaboration diagram for osi3::MovingObject:

[legend]

Classes
struct	MovingObjectClassification
	Information for the classification of moving objects regarding `MovingObject` (host or other). More...

struct	VehicleAttributes
	The vehicle attributes for `MovingObject` (host or other). More...

struct	VehicleClassification
	Information for the classification of vehicles regarding `MovingObject` (host or other). More...

Public Types
enum	Type { TYPE_UNKNOWN = 0 , TYPE_OTHER = 1 , TYPE_VEHICLE = 2 , TYPE_PEDESTRIAN = 3 , TYPE_ANIMAL = 4 }

Public Attributes
optional Identifier	id = 1

optional BaseMoving	base = 2

optional Type	type = 3

repeated Identifier	assigned_lane_id = 4

optional VehicleAttributes	vehicle_attributes = 5

optional VehicleClassification	vehicle_classification = 6

optional string	model_reference = 7

repeated StatePoint	future_trajectory = 8

optional MovingObjectClassification	moving_object_classification = 9

repeated ExternalReference	source_reference = 10

optional ColorDescription	color_description = 11

Detailed Description

A simulated object that is either a vehicle or another moving object (animal, pedestrian, etc), but not a stationary object (TrafficLight, TrafficSign, or StationaryObject).

Note: The field MovingObject::vehicle_extension has to be filled if the MovingObject::Type is a vehicle.

Member Enumeration Documentation

◆ Type

enum osi3::MovingObject::Type

Definition of object types.

Enumerator
TYPE_UNKNOWN	Type of the object is unknown (must not be used in ground truth).
TYPE_OTHER	Other (unspecified but known) type of moving object.
TYPE_VEHICLE	Object is a vehicle.
TYPE_PEDESTRIAN	Object is a pedestrian.
TYPE_ANIMAL	Object is an animal.

Member Data Documentation

◆ assigned_lane_id

repeated Identifier osi3::MovingObject::assigned_lane_id = 4

The IDs of the lanes that this object is assigned to.

Note: Might be multiple if the object is switching lanes or moving from one lane into another following lane.; OSI uses singular instead of plural for repeated field names.; DEPRECATED: Use assigned_lane_id in MovingObjectClassification instead.

◆ base

optional BaseMoving osi3::MovingObject::base = 2

The base parameters of the vehicle.

Note: The bounding box does NOT include side mirrors for vehicles.; The height includes the ground_clearance. It always goes from the top to the ground.

◆ color_description

optional ColorDescription osi3::MovingObject::color_description = 11

The dominating color of the material of the moving object.

◆ future_trajectory

repeated StatePoint osi3::MovingObject::future_trajectory = 8

The trajectory that this moving object expects to follow in the future.

This is not externally perceivable information, rather this is to aid realistic simulation of traffic participants that are not under test. This information should not be made available to the stack under test.

Note: Moving objects are not required to stick to this trajectory, it is indicative, and equivalent to the output of a perception + prediction system.

◆ id

optional Identifier osi3::MovingObject::id = 1

The ID of the object.

\rules is_globally_unique \endrules

◆ model_reference

optional string osi3::MovingObject::model_reference = 7

Opaque reference of an associated 3D model of the moving object.

Note: It is implementation-specific how model_references are resolved to 3d models.

◆ moving_object_classification

optional MovingObjectClassification osi3::MovingObject::moving_object_classification = 9

Specific information about the classification of the vehicle.

◆ source_reference

repeated ExternalReference osi3::MovingObject::source_reference = 10

Optional external reference to the moving-object source

The external reference points to the source of an moving object, if it is derived from an external sources like OpenSCENARIO.

For example, to reference OpenSCENARIO entities of the type Vehicle or Pedestrian, which describe moving objects, the items should be set as follows:

reference = URI to the OpenSCENARIO File
type = "net.asam.openscenario"
identifier[0] = Entity-Type ("Vehicle" or "Pedestrian")
identifier[1] = name of Vehicle/Pedestrian in Entity

Todo:
OpenSCENARIO currently does not provide an animal type.

Note: For non-ASAM Standards, it is implementation-specific how source_reference is resolved.; The value has to be repeated because one object may be derived from more than one origin source, for example, from a scenario file and from sensors.

◆ type

optional Type osi3::MovingObject::type = 3

The type of the object.

◆ vehicle_attributes

optional VehicleAttributes osi3::MovingObject::vehicle_attributes = 5

Specific information about the vehicle.

Note: This field is mandatory if the type is TYPE_VEHICLE .

\rules check_if this.type is_equal_to 2 else do_check is_set \endrules

◆ vehicle_classification

optional VehicleClassification osi3::MovingObject::vehicle_classification = 6