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Environmental conditions, added Sun, Wind, CloudState #593

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Merged
merged 14 commits into from
May 2, 2022
Merged

Environmental conditions, added Sun, Wind, CloudState #593

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1a9f422
Added wind, cloud state and sun to environment
Oct 20, 2021
da5f946
Rework wind, cloud, and sun definitions in environment
Oct 21, 2021
01154ed
Rework cloud, sun, and wind in environment
Oct 26, 2021
c75adc8
Further rework of environment additions sun, cloud
Nov 26, 2021
cba8940
Changed naming in CloudLayer, added Sky Obscured
Dec 21, 2021
777e4d1
Changed descriptions in CloudLayer
Jan 18, 2022
267c327
Apply suggestions from code review for environment additions
pmai Jan 19, 2022
4035f8f
Changed descriptions for Sun and Wind
Feb 21, 2022
3d90725
Changed cloud, wind descriptions to fulfill comments
Feb 28, 2022
76759d7
Changed description of cloud cover
Mar 8, 2022
5108f23
Fix minor doc formatting issues
thomassedlmayer Mar 28, 2022
920897d
Change sun elevation description
thomassedlmayer Apr 22, 2022
8ecfa77
Add description to unix timestamp
thomassedlmayer Apr 22, 2022
8c2b1db
Specify observation point for sun
thomassedlmayer Apr 29, 2022
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191 changes: 178 additions & 13 deletions osi_environment.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,10 @@ message EnvironmentalConditions
// The time of day at the host vehicles location.
//
optional TimeOfDay time_of_day = 2;


// The unix timestamp describes the time and date at the host vehicle's
// location, referring to UTC.
//
// The Unix epoch (or Unix time or POSIX time or Unix timestamp) is
// the number of seconds that have elapsed since January 1, 1970
// (midnight UTC/GMT [1]), not counting leap seconds [2].
Expand All @@ -31,7 +34,7 @@ message EnvironmentalConditions
// is Unix time 0 (midnight 1/1/1970), but 'epoch' is often used as
// a synonym for 'Unix time'. Many Unix systems store epoch dates as
// a signed 32-bit integer, which might cause problems on January 19,
// 2038 (known as the Year 2038 problem or Y2038).
// 2038 (known as the Year 2038 problem or Y2038).
//
// \note You can convert the timestamp using the following [routines
// sorted by languages](https://www.epochconverter.com/#code).
Expand Down Expand Up @@ -90,7 +93,7 @@ message EnvironmentalConditions

// Optional external reference to the environmental condition sources.
//
// \note For OpenDRIVE and OpenSECNARIO there is no direct counterpart.
// \note For OpenDRIVE and OpenSCENARIO there is no direct counterpart.
//
// \note For non-ASAM standards, it is implementation-specific how
// source_reference is resolved.
Expand All @@ -101,6 +104,18 @@ message EnvironmentalConditions
//
repeated ExternalReference source_reference = 9;

// Description of the clouds.
//
optional CloudLayer clouds = 10;

// Description of the wind.
//
optional Wind wind = 11;

// Description of the sun.
//
optional Sun sun = 12;

// Definition of discretized precipitation states according to [1].
// (I = Intensity of precipitation in mm per hour mm/h)
//
Expand Down Expand Up @@ -242,55 +257,55 @@ message EnvironmentalConditions
//
AMBIENT_ILLUMINATION_OTHER = 1;

// Level 1 illumination in ]0.001, 0.01[ lx
// Level 1 illumination in ]0.001, 0.01[ lx. \n
// E.g. Night with no artificial light.
//
// \note Use \c #AMBIENT_ILLUMINATION_LEVEL1 if illumination is less
// than 0.001 lx
// than 0.001 lx.
//
AMBIENT_ILLUMINATION_LEVEL1 = 2;

// Level 2 illumination in [0.01, 1[ lx
// Level 2 illumination in [0.01, 1[ lx. \n
// E.g. Night full moon / Deep twilight.
//
AMBIENT_ILLUMINATION_LEVEL2 = 3;

// Level 3 illumination in [1, 3[ lx
// Level 3 illumination in [1, 3[ lx. \n
// E.g. Deep to average twilight / Minimum lighting on local low
// pedestrian conflict roads.
//
AMBIENT_ILLUMINATION_LEVEL3 = 4;

// Level 4 illumination in [3, 10[ lx
// Level 4 illumination in [3, 10[ lx. \n
// E.g. Average to full twilight / Minimum lighting on collector roads /
// Minimum lighting on major and expressway roads with low to average
// pedestrian conflict.
//
AMBIENT_ILLUMINATION_LEVEL4 = 5;

// Level 5 illumination in [10, 20[ lx
// Level 5 illumination in [10, 20[ lx. \n
// E.g. Minimum lighting on major and expressway roads with high
// pedestrian conflict.
//
AMBIENT_ILLUMINATION_LEVEL5 = 6;

// Level 6 illumination in [20, 400[ lx
// Level 6 illumination in [20, 400[ lx. \n
// E.g. Roads with more lighting / Very dark overcast day to sunrise or
// sunset on a clear day.
//
AMBIENT_ILLUMINATION_LEVEL6 = 7;

// Level 7 illumination in [400, 1000[ lx
// Level 7 illumination in [400, 1000[ lx. \n
// E.g. Sunrise or sunset on a clear day / Overcast day.
//
AMBIENT_ILLUMINATION_LEVEL7 = 8;

// Level 8 illumination in [1000, 10000[ lx
// Level 8 illumination in [1000, 10000[ lx. \n
// E.g. Average to full daylight.
//
AMBIENT_ILLUMINATION_LEVEL8 = 9;

// Level 9 illumination in [10000, 120000[ lx
// Level 9 illumination in [10000, 120000[ lx. \n
// E.g. Full daylight to intense sunlight.
//
// \note Use \c #AMBIENT_ILLUMINATION_LEVEL9 if illumination is more
Expand Down Expand Up @@ -324,4 +339,154 @@ message EnvironmentalConditions
//
optional uint32 seconds_since_midnight = 1;
}

//
// \brief Description of a cloud layer.
//
message CloudLayer
{
// Properties of a cloud layer given by fractional cloud cover levels.
//
optional FractionalCloudCover fractional_cloud_cover = 1;

// Defines the fractional cloud cover [1] given by observation of total cloud amount in eights (oktas) of the sky.
//
// For visual alignment please see reference [2].
//
// The total degree of coverage indicates how much of the sky is covered with clouds altogether.
// 0 oktas means that there are no traces of clouds in the sky,
// 8 oktas means that the sky is completely covered with clouds and no sky blue can be recognized.
//
// \par References:
// [1] CIE engl. International Commission on Illumination. (2020). <em>CIE S017:2020 ILV: Intl. Lighitng Vocabulary, 2nd edn.</em>. Retrieved March 8, 2022, from https://cie.co.at/eilvterm/17-29-116 \n
// [2] UBC The University of British Columbia. (2018). <em>ATSC 113 Weather for Sailing, Flying & Snow Sports</em>. Retrieved March 8, 2022, from https://www.eoas.ubc.ca/courses/atsc113/flying/met_concepts/01-met_concepts/01c-cloud_coverage/index.html
//
enum FractionalCloudCover
{
// Fractional cloud cover level is unknown (must not be used in ground truth).
//
FRACTIONAL_CLOUD_COVER_UNKNOWN = 0;

// Other (unspecified but known) fractional cloud cover level.
//
FRACTIONAL_CLOUD_COVER_OTHER = 1;

// 0/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_ZERO_OKTAS = 2;

// 1/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_ONE_OKTAS = 3;

// 2/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_TWO_OKTAS = 4;

// 3/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_THREE_OKTAS = 5;

// 4/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_FOUR_OKTAS = 6;

// 5/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_FIVE_OKTAS = 7;

// 6/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_SIX_OKTAS = 8;

// 7/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_SEVEN_OKTAS = 9;

// 8/8 of the sky is covered with clouds.
//
FRACTIONAL_CLOUD_COVER_EIGHT_OKTAS = 10;

// Sky obscured, describes situations where the sky is not perceivable, e.g. in dense fog.
//
FRACTIONAL_CLOUD_COVER_SKY_OBSCURED = 11;
}
}

//
// \brief Defines wind properties.
//
message Wind
{
// The origin direction of the wind (not the target direction) in the ground/xy-plane of the
// world coordinate system. Corresponds to the heading/yaw angle, counted counterclockwise.
// 0 pointing north. If north is not explicitly defined via \c #osi3::GroundTruth::proj_string,
// then north is pointing in y-axis direction. The default orientation (x, y, z) is easting, northing, up [1].
//
// \note 0: north; +pi/2: west; pi: south, 3/2 pi: east.
//
// Unit: rad
//
// The preferred angular range is [0, 2pi].
//
// \par References:
// [1] PROJ contributors. (2019). <em>PROJ coordinate transformation software library</em>. Open Source Geospatial Foundation. Retrieved January 25, 2019, from https://proj.org/usage/projections.html
//
optional double origin_direction = 1;

// The wind speed.
//
// Unit: m/s
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional double speed = 2;
}

//
// \brief Properties of the sun.
//
message Sun
{
// Azimuth of the sun, counted counterclockwise.
// 0 pointing north. If north is not explicitly defined via \c #osi3::GroundTruth::proj_string,
// then north is pointing in y-axis direction. The default orientation (x, y, z) is easting, northing, up [1].
// The point of observation is defined to be the global coordinate system's origin.
//
// \note 0: north; +pi/2: west; pi: south, 3/2 pi: east.
//
// Unit: rad
//
// The preferred angular range is [0, 2pi].
//
// \par References:
// [1] PROJ contributors. (2019). <em>PROJ coordinate transformation software library</em>. Open Source Geospatial Foundation. Retrieved January 25, 2019, from https://proj.org/usage/projections.html
//
optional double azimuth = 1;

// Solar elevation angle.
// The elevation angle is positive when the sun is above the xy-plane, negative when
// the sun is below the xy-plane.
// The point of observation is defined to be the global coordinate system's origin.
//
// \note 0: xy-plane; +pi/2: zenith; -pi/2: nadir.
//
// Unit: rad
//
// The preferred angular range is [-pi/2, +pi/2].
//
optional double elevation = 2;

// Illuminance of the sun, direct sunlight is around 100000 lx.
//
// Unit: lx
//
// \rules
// is_greater_than_or_equal_to: 0
// \endrules
//
optional double intensity = 3;
}
}