Struct EnvironmentalConditions

Nested Relationships

Struct Documentation

struct EnvironmentalConditions

The conditions of the environment.

Definition of light, weather conditions and other environmental conditions.

Note

These conditions apply locally around the host vehicle.

Public Types

enum Precipitation

Definition of discretized precipitation states according to [1]. (I = Intensity of precipitation in mm per hour [mm/h])

References:

  • [1] PAULAT, Marcus, et al. A gridded dataset of hourly precipitation in Germany: Its construction, climatology and application. Meteorologische Zeitschrift, 2008, 17. Jg. Nr. 6, S. 719-732.

Values:

PRECIPITATION_UNKNOWN = 0

Intensity of precipitation is unknown (must not be used in ground truth).

PRECIPITATION_OTHER = 1

Other (unspecified but known) intensity of precipitation.

PRECIPITATION_NONE = 2

No precipitation, when I in [0,0.1[ [mm/h]

PRECIPITATION_VERY_LIGHT = 3

Very light intensity of precipitation, when I in [0.1,0.5[ [mm/h]

PRECIPITATION_LIGHT = 4

Light intensity of precipitation, when I in [0.5,1.9[ [mm/h]

PRECIPITATION_MODERATE = 5

Moderate intensity of precipitation, when I in [1.9,8.1[ [mm/h]

PRECIPITATION_HEAVY = 6

Heavy intensity of precipitation, when I in [8.1,34[ [mm/h]

PRECIPITATION_VERY_HEAVY = 7

Very heavy intensity of precipitation, when I in [34,149[ [mm/h]

PRECIPITATION_EXTREME = 8

Extreme intensity of precipitation, when I in [149,infinity[ [mm/h]

enum Fog

Definition of discretized fog states according to [2]. The bandwidth of thick and dense fog was adjusted to fit the German StVO regarding rear fog lights [3]. (V = Visibility in meters [m])

Visibility is defined as the length of the atmosphere over which a beam of light travels before its luminous flux is reduced to 5% of its original value (definition used by the Meteorological Office [4]). This is approximately equivalent to visibility measured in terms of the contrast of a distant object against its background.

References:

Values:

FOG_UNKNOWN = 0

Visibility is unknown (must not be used in ground truth).

FOG_OTHER = 1

Other (unspecified but known) fog intensity.

FOG_EXCELLENT_VISIBILITY = 2

Excellent visibility, when V in [40000,infinity[ [m]

FOG_GOOD_VISIBILITY = 3

Good visibility, when V in [10000,40000[ [m]

FOG_MODERATE_VISIBILITY = 4

Moderate visibility, when V in [4000,10000[ [m]

FOG_POOR_VISIBILITY = 5

Poor visibility, when V in [2000,4000[ [m]

FOG_MIST = 6

Mist, when V in [1000,2000[ [m]

FOG_LIGHT = 7

Fog, when V in [200,1000[ [m]

FOG_THICK = 8

Thick fog, when V in [50,200[ [m]

FOG_DENSE = 9

Dense fog, when V in [0,50[ [m] (allowed to use rear fog light according to [3])

enum AmbientIllumination

Definition of discretized ambient illumination states: Ambient light is any light in the vehicle’s environment that is not emitted by the vehicle itself. It can include sun/moon light, light from other cars, street lights etc.

Lux [lx] is the SI unit of luminance or illumination of an area of exact one square meter, which is equal to one lumen per square meter 1 [lx] = 1 [lm/m^2] [5]. The lumen [lm] is the SI derived unit of luminous flux and a measure of the total quantity of visible light emitted by a source. The lumen is defined in relation to the candela [cd] as 1 [lm] =1 [cd sr] where [sr] denotes steradian, the unit of solid angle used in 3D geometry analogous to the radian.

Categorization is done based on natural day/night time illuminance levels [6] and standards for required lighting levels on roads [6, 7, 8, 9].

References:

Values:

AMBIENT_ILLUMINATION_UNKNOWN = 0

Ambient illumination is unknown (must not be used in ground truth).

AMBIENT_ILLUMINATION_OTHER = 1

Other (unspecified but known) ambient illumination.

AMBIENT_ILLUMINATION_LEVEL1 = 2

Level 1 illumination in ]0.001, 0.01[ [lx] E.g. Night with no artificial light.

Note

Use AMBIENT_ILLUMINATION_LEVEL1 if illumination is less than 0.001 [lx]

AMBIENT_ILLUMINATION_LEVEL2 = 3

Level 2 illumination in [0.01, 1[ [lx] E.g. Night full moon / Deep twilight.

AMBIENT_ILLUMINATION_LEVEL3 = 4

Level 3 illumination in [1, 3[ [lx] E.g. Deep to average twilight / Minimum lighting on local low pedestrian conflict roads.

AMBIENT_ILLUMINATION_LEVEL4 = 5

Level 4 illumination in [3, 10[ [lx] 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_LEVEL5 = 6

Level 5 illumination in [10, 20[ [lx] E.g. Minimum lighting on major and expressway roads with high pedestrian conflict.

AMBIENT_ILLUMINATION_LEVEL6 = 7

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

AMBIENT_ILLUMINATION_LEVEL7 = 8

Level 7 illumination in [400, 1000[ [lx] E.g. Sunrise or sunset on a clear day / Overcast day.

AMBIENT_ILLUMINATION_LEVEL8 = 9

Level 8 illumination in [1000, 10000[ [lx] E.g. Average to full daylight.

AMBIENT_ILLUMINATION_LEVEL9 = 10

Level 9 illumination in [10000, 120000[ [lx] E.g. Full daylight to intense sunlight.

Note

Use AMBIENT_ILLUMINATION_LEVEL9 if illumination is more than 120000 [lx]

Public Members

optional AmbientIllumination osi3::EnvironmentalConditions::ambient_illumination = 1

The ambient illumination of the environment.

optional TimeOfDay osi3::EnvironmentalConditions::time_of_day = 2

The time of day at the host vehicles location.

optional int64 osi3::EnvironmentalConditions::unix_timestamp = 8

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), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z). Literally speaking the epoch 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).

Note

You can convert the timestamp using the following routines sorted by languages

References:

optional double osi3::EnvironmentalConditions::atmospheric_pressure = 3

Atmospheric pressure in Pascal at z=0.0 in world frame (about 101325 [Pa]).

Unit: [Pa]

optional double osi3::EnvironmentalConditions::temperature = 4

Temperature in Kelvin at z=0.0 in world frame.

Unit: [K]

optional double osi3::EnvironmentalConditions::relative_humidity = 5

Relative humidity in at z=0.0 in world frame.

Note that physically more relevant measures, like absolute or specific humidity can be easily derived from relative_humidity, given that the temperature and atmospheric_pressure are known.

Unit: [%]

optional Precipitation osi3::EnvironmentalConditions::precipitation = 6

Description of the precipitation.

optional Fog osi3::EnvironmentalConditions::fog = 7

Description of the fog.

struct TimeOfDay

The time of day at a specified location.

Note

In general the global position of the parent frame should be obtainable in order to derive the local time. This information can be calculated from the unix_timestamp in combination with osi3::GroundTruth::proj_string and the position of the corresponding osi3::BaseStationary or osi3::BaseMoving .

Public Members

optional uint32 osi3::EnvironmentalConditions::TimeOfDay::seconds_since_midnight = 1

The number of seconds [s] that have passed since midnight local time. Used e.g. for determining the current state of the circadian rhythm of a driver.

Note

No changes of daylight saving time or time zones are considered.