Struct RadarSensorViewConfiguration

Struct Documentation

struct RadarSensorViewConfiguration

The configuration settings for the Radar Sensor View to be provided by the environment simulation.

Public Members

optional Identifier osi3::RadarSensorViewConfiguration::sensor_id = 1

The ID of the sensor at host vehicle’s mounting_position.

This is the ID of the physical sensor, to be used in its detected features output; it is distinct from the ID of its virtual sensor.

The ID is to be provided by the environment simulation, the sensor model is not in a position to provide a useful default value.

optional MountingPosition osi3::RadarSensorViewConfiguration::mounting_position = 2

The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1]. The physical position pertains to this detector individually, and governs the sensor-relative coordinates in features detected by this detector.

  • x-direction of sensor coordinate system: sensor viewing direction

  • z-direction of sensor coordinate system: sensor (up)

  • y-direction of sensor coordinate system: perpendicular to x and z right hand system

References:

  • [1] DIN ISO 8855:2013-11

Note

The origin of vehicle’s coordinate system in world frame is ( MovingObject::base . BaseMoving::position + Inverse_Rotation_yaw_pitch_roll( MovingObject::base . BaseMoving::orientation) * MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of the vehicle’s coordinate system is equal to the orientation of the vehicle’s bounding box MovingObject::base . BaseMoving::orientation.

Note

A default position can be provided by the sensor model (e.g. to indicate the position the model was validated for), but this is optional; the environment simulation must provide a valid mounting position (based on the vehicle configuration) when setting the view configuration.

optional MountingPosition osi3::RadarSensorViewConfiguration::mounting_position_rmse = 3

The root mean squared error of the mounting position.

optional double osi3::RadarSensorViewConfiguration::field_of_view_horizontal = 4

Field of View in horizontal orientation of the physical sensor.

Viewing range: [- field_of_view_horizontal/2, field_of_view_horizontal/2] azimuth in the sensor frame as defined in Spherical3d.

Unit: [rad]

optional double osi3::RadarSensorViewConfiguration::field_of_view_vertical = 5

Field of View in vertical orientation of the physical sensor.

Viewing range: [- field_of_view_vertical/2, field_of_view_vertical/2] elevation in the sensor frame at zero azimuth as defined in Spherical3d.

Unit: [rad]

optional uint32 osi3::RadarSensorViewConfiguration::number_of_rays_horizontal = 6

Number of rays to cast across horizontal field of view (azimuth).

Note

This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.

optional uint32 osi3::RadarSensorViewConfiguration::number_of_rays_vertical = 7

Number of rays to cast across vertical field of view (elevation).

Note

This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.

optional uint32 osi3::RadarSensorViewConfiguration::max_number_of_interactions = 8

Maximum number of interactions to take into account.

Note

This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.

optional double osi3::RadarSensorViewConfiguration::emitter_frequency = 9

Emitter Frequency.

This information can be used by a ray tracing engine to calculate doppler shift information and take into account differences in refraction and reflection. For doppler shift calculations the sensor model can of course always provide a nominal frequency and adjust the resulting doppler shift information to actual frequency through frequency adjustments. For material and geometry interaction purposes the frequency is also relevant.

Unit: [Hz]

repeated AntennaDiagramEntry osi3::RadarSensorViewConfiguration::tx_antenna_diagram = 10

This represents the TX antenna diagram

Note

OSI uses singular instead of plural for repeated field names.

repeated AntennaDiagramEntry osi3::RadarSensorViewConfiguration::rx_antenna_diagram = 11

This represents the RX antenna diagram

Note

OSI uses singular instead of plural for repeated field names.

struct AntennaDiagramEntry

The radar antenna diagram.

Note

Rotation is defined analog Spherical3d

Public Members

optional double osi3::RadarSensorViewConfiguration::AntennaDiagramEntry::horizontal_angle = 1

Horizontal deflection (azimuth) of entry in sensor/antenna coordinates.

Unit: [rad]

optional double osi3::RadarSensorViewConfiguration::AntennaDiagramEntry::vertical_angle = 2

Vertical deflection (elevation) of entry in sensor/antenna coordinates.

Unit: [rad]

optional double osi3::RadarSensorViewConfiguration::AntennaDiagramEntry::response = 3

Response of antenna at this point (positive dB is gain, negative dB is attenuation).

Unit: [dB]