From 70f7ec286d5bddfde101d5f6a625a03ede899c5e Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer Date: Thu, 2 Sep 2021 11:16:21 +0200 Subject: [PATCH 01/11] docs: first draft of glossary Signed-off-by: Patrick Schedlbauer --- general_docs/glossary.adoc | 82 +++++++++++++++++++++++++++++++++----- 1 file changed, 72 insertions(+), 10 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 6be7b996..8a7ef2e8 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -1,12 +1,74 @@ +[glossary] = Terms and definitions -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. -Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. -Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Co-Simulation (CS):: +Co-Simulation (CS) is a type of Functional Mockup Unit (FMU). + +Co-Simulation FMUs contain their own numerical solver. +The importing tool sets the FMU inputs, asks the FMU to step forward a given time, and reads the FMU output after the step is completed. + ++ +(Source: https://www.modelon.com/functional-mock-up-interface-fmi/) + +Ego vehicle:: +An externally controlled vehicle used for scenario descriptions. + +For evaluation of automated driving systems, the Ego vehicle will be the one controlled by the system-under-test. +For human driver experiments, the Ego vehicle will be the one driven by the human driver. + ++ +(Source: Open SCENARIO User Guide 1.0) + +Environmental effect model:: + + +FMI:: +Functional Mockup Interface; + +The Functional Mock-up Interface (FMI) is a free standard that defines a container and an interface to exchange dynamic models using a combination of XML files, binaries and C code zipped into a single file. + ++ +(Source: https://fmi-standard.org/) + +FMU:: +Functional Mockup Unit; + +FMU is a file with the extension _.fmu_ It contains a simulation model that adheres to the FMI standard. +There are two different kinds of FMUs: Model Exchange (ME) and Co-Simulation (CS) + ++ +(Source: https://www.modelon.com/functional-mock-up-interface-fmi/) + +Ground truth:: +The ground truth describes the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances. It is based on data available to the simulation environment. + ++ +(Source: OSI User Guide) + +Model Exchange (ME):: +Model exchange (ME) is a type of Functional Mockup Unit (FMU). + +Object coordinate system:: + + +OSI:: +Open Simulation Interface; + +The Open Simulation Interface (OSI) is a specification for interfaces between models and components of a distributed simulation. OSI has a strong focus on environmental perception of automated driving functions. It also specifies interfaces for modeling traffic participants. + ++ +(Source: OSI User Guide) + +OSMP:: +OSI Sensor Model Packaging; + +OSI Sensor Model Packaging (OSMP) specifies how models that use Open Simulation Interface (OSI) in simulation environments are packaged in accordance with the Functional Mock-up Interface 2.0 (FMI 2.0). + ++ +(Source: OSMP specification) + +Sensor coordinate system:: + +Sensor model:: + +Sensor view:: +The sensor view is derived from GroundTruth and used as input to sensor models. + +The sensor view information is supposed to provide input to sensor models for simulation of actual real sensors. + +(Source: OSI User Guide) + +Traffic participant:: + +Traffic participant model:: + +World coordinate system:: +Coordinate system for all entities that are part of ground truth. +The world coordinate system is an inertial x/y/z-coordinate system. The origin is the global reference point that is determined by the environment simulation. This reference point may be derived from map data or other considerations. \ No newline at end of file From f842997a3173bc32ee47e146b2cb68a5d7f6cbc3 Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer Date: Thu, 2 Sep 2021 16:57:37 +0200 Subject: [PATCH 02/11] docs: worked on glossary Signed-off-by: Patrick Schedlbauer --- general_docs/glossary.adoc | 93 ++++++++++++++++++++++---------------- 1 file changed, 55 insertions(+), 38 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 8a7ef2e8..9685df30 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -1,74 +1,91 @@ [glossary] = Terms and definitions -Co-Simulation (CS):: -Co-Simulation (CS) is a type of Functional Mockup Unit (FMU). + +//Writing style adopted from https://www.iso.org/glossary.html +CS (Co-Simulation):: +Type of Functional Mockup Unit (FMU). + Co-Simulation FMUs contain their own numerical solver. -The importing tool sets the FMU inputs, asks the FMU to step forward a given time, and reads the FMU output after the step is completed. + +The importing tool sets the FMU inputs, asks the FMU to step forward a given time, and reads the FMU output after the step is completed. +With OSMP, models are packaged as valid _FMI-2.0 FMU for co-simulation_ + + -(Source: https://www.modelon.com/functional-mock-up-interface-fmi/) +See also: https://www.modelon.com/functional-mock-up-interface-fmi/ Ego vehicle:: -An externally controlled vehicle used for scenario descriptions. + +Externally controlled vehicle used for scenario descriptions. + For evaluation of automated driving systems, the Ego vehicle will be the one controlled by the system-under-test. -For human driver experiments, the Ego vehicle will be the one driven by the human driver. + -+ -(Source: Open SCENARIO User Guide 1.0) +For human driver experiments, the Ego vehicle will be the one driven by the human driver. Environmental effect model:: +//TODO: input needed +Information set that deals with effects and phenomena caused by, for example, shadows and occlusions, weather effects, the physics of a sensor, or the pre-processing of raw sensor data. +An environmental effect model has a sensor-view message as input, which comes from the environment simulation, and a sensor-view message as output. +The output is sent to the sensor model. - -FMI:: -Functional Mockup Interface; + -The Functional Mock-up Interface (FMI) is a free standard that defines a container and an interface to exchange dynamic models using a combination of XML files, binaries and C code zipped into a single file. + +FMI (Functional Mockup Interface):: +Free standard that defines a container and an interface to exchange dynamic models using a combination of XML files, binaries, and C code zipped into a single file. + + -(Source: https://fmi-standard.org/) +See also: https://fmi-standard.org/ + +FMU (Functional Mockup Unit):: -FMU:: -Functional Mockup Unit; + -FMU is a file with the extension _.fmu_ It contains a simulation model that adheres to the FMI standard. -There are two different kinds of FMUs: Model Exchange (ME) and Co-Simulation (CS) + +Simulation model that adheres to the FMI standard. +There are two different kinds of FMUs that both adhere to the FMI standard: Model Exchange (ME) and Co-Simulation (CS). +An FMU is distributed in a ZIP file with the file extension _.fmu_. + + -(Source: https://www.modelon.com/functional-mock-up-interface-fmi/) +See also: https://www.modelon.com/functional-mock-up-interface-fmi/ Ground truth:: -The ground truth describes the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances. It is based on data available to the simulation environment. + -+ -(Source: OSI User Guide) +Information set that describes the whole simulated environment around any simulated vehicle. +It is based on data available to the simulation environment. -Model Exchange (ME):: -Model exchange (ME) is a type of Functional Mockup Unit (FMU). +Logical model:: +//TODO: input required from working group +Examples: +- Sensor-fusion model: combines the output of multiple sensor models to produce data with less uncertainty +- Fault-injection model which, contrary to a sensor-fusion model, may be used to increase uncertainties Object coordinate system:: +Local object coordinate system whose origin may be identical to the center of the object's bounding box. +If the origin is not identical to the center of the object's bounding box, the object documentation will provide the actual definition. - -OSI:: -Open Simulation Interface; + -The Open Simulation Interface (OSI) is a specification for interfaces between models and components of a distributed simulation. OSI has a strong focus on environmental perception of automated driving functions. It also specifies interfaces for modeling traffic participants. + +OSI (Open Simulation Interface):: +Specification for interfaces between models and components of a distributed simulation. +OSI has a strong focus on environmental perception of automated driving functions. +It also specifies interfaces for modeling traffic participants. + + (Source: OSI User Guide) -OSMP:: -OSI Sensor Model Packaging; + -OSI Sensor Model Packaging (OSMP) specifies how models that use Open Simulation Interface (OSI) in simulation environments are packaged in accordance with the Functional Mock-up Interface 2.0 (FMI 2.0). + -+ -(Source: OSMP specification) +OSMP (OSI Sensor Model Packaging):: +Specifies how models that use Open Simulation Interface (OSI) in simulation environments are packaged in accordance with the Functional Mock-up Interface 2.0 (FMI 2.0). Sensor coordinate system:: +Coordinate system for all entities that are part of sensor data. +The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the OSI message. Sensor model:: +//TODO: research definition +Simulation of a real sensor. +Sensor models consume sensor-view messages and produce sensor-data messages. +Sensor-model output does not represent raw data but detected features or classified objects. Sensor view:: -The sensor view is derived from GroundTruth and used as input to sensor models. - -The sensor view information is supposed to provide input to sensor models for simulation of actual real sensors. - -(Source: OSI User Guide) +Information set that is derived from ground truth and used as input to sensor models. Traffic participant:: +Represents one of the following: +- A living being. +- A means of transportation for living beings or goods. +- Any other movable object that travels the road network. + +A traffic participant is an element of the simulated world, which can change its state during simulation time, for example, position and orientation. Traffic participant model:: +//TODO: input needed World coordinate system:: Coordinate system for all entities that are part of ground truth. -The world coordinate system is an inertial x/y/z-coordinate system. The origin is the global reference point that is determined by the environment simulation. This reference point may be derived from map data or other considerations. \ No newline at end of file +The world coordinate system is an inertial x/y/z-coordinate system. +The origin is the global reference point that is determined by the environment simulation. +This reference point may be derived from map data or other considerations. + +//TODO: Question: difference between World coordinate system and Global coordinate system? \ No newline at end of file From 5626042dc8025e8d6499ff791685ad7c56c7a605 Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer Date: Fri, 3 Sep 2021 09:53:06 +0200 Subject: [PATCH 03/11] docs: worked on glossary Signed-off-by: Patrick Schedlbauer --- general_docs/glossary.adoc | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 9685df30..ff00dbd7 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -12,8 +12,8 @@ See also: https://www.modelon.com/functional-mock-up-interface-fmi/ Ego vehicle:: Externally controlled vehicle used for scenario descriptions. + -For evaluation of automated driving systems, the Ego vehicle will be the one controlled by the system-under-test. -For human driver experiments, the Ego vehicle will be the one driven by the human driver. +For evaluation of automated driving systems, the Ego vehicle is the vehicle that is controlled by the system-under-test. +For human-driver experiments, the Ego vehicle is the vehicle that is driven by the human driver. Environmental effect model:: //TODO: input needed @@ -29,7 +29,7 @@ See also: https://fmi-standard.org/ FMU (Functional Mockup Unit):: Simulation model that adheres to the FMI standard. -There are two different kinds of FMUs that both adhere to the FMI standard: Model Exchange (ME) and Co-Simulation (CS). +There are two different kinds of FMU that both adhere to the FMI standard: Model Exchange (ME) and Co-Simulation (CS). An FMU is distributed in a ZIP file with the file extension _.fmu_. + + See also: https://www.modelon.com/functional-mock-up-interface-fmi/ @@ -45,15 +45,13 @@ Examples: - Fault-injection model which, contrary to a sensor-fusion model, may be used to increase uncertainties Object coordinate system:: -Local object coordinate system whose origin may be identical to the center of the object's bounding box. -If the origin is not identical to the center of the object's bounding box, the object documentation will provide the actual definition. +Local coordinate system whose origin may be identical to the center of the object's bounding box. +If the origin is not identical to the center of the object's bounding box, the object documentation provides the actual definition. OSI (Open Simulation Interface):: Specification for interfaces between models and components of a distributed simulation. OSI has a strong focus on environmental perception of automated driving functions. -It also specifies interfaces for modeling traffic participants. + -+ -(Source: OSI User Guide) +It also specifies interfaces for modeling traffic participants. OSMP (OSI Sensor Model Packaging):: Specifies how models that use Open Simulation Interface (OSI) in simulation environments are packaged in accordance with the Functional Mock-up Interface 2.0 (FMI 2.0). @@ -77,7 +75,7 @@ Represents one of the following: - A means of transportation for living beings or goods. - Any other movable object that travels the road network. -A traffic participant is an element of the simulated world, which can change its state during simulation time, for example, position and orientation. +A traffic participant is an element of the simulated world that can change its state during simulation time, for example, position and orientation. Traffic participant model:: //TODO: input needed From 9cd702e6954282f6fa5e29accab25a738cca192a Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer Date: Thu, 9 Sep 2021 13:26:20 +0200 Subject: [PATCH 04/11] docs: review native speaker Signed-off-by: Patrick Schedlbauer --- general_docs/glossary.adoc | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index ff00dbd7..9253c51c 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -2,18 +2,18 @@ = Terms and definitions //Writing style adopted from https://www.iso.org/glossary.html -CS (Co-Simulation):: +CS (co-simulation):: Type of Functional Mockup Unit (FMU). + -Co-Simulation FMUs contain their own numerical solver. -The importing tool sets the FMU inputs, asks the FMU to step forward a given time, and reads the FMU output after the step is completed. +Co-simulation FMUs contain their own numerical solver. +This importing tool sets the FMU inputs, asks the FMU to step forward a given time, and reads the FMU output after the step is completed. With OSMP, models are packaged as valid _FMI-2.0 FMU for co-simulation_ + + See also: https://www.modelon.com/functional-mock-up-interface-fmi/ Ego vehicle:: Externally controlled vehicle used for scenario descriptions. + -For evaluation of automated driving systems, the Ego vehicle is the vehicle that is controlled by the system-under-test. -For human-driver experiments, the Ego vehicle is the vehicle that is driven by the human driver. +For evaluation of automated driving systems, the ego vehicle is the vehicle that is controlled by the system-under-test. +For human-driver experiments, the ego vehicle is the vehicle that is driven by the human driver. Environmental effect model:: //TODO: input needed @@ -41,7 +41,7 @@ It is based on data available to the simulation environment. Logical model:: //TODO: input required from working group Examples: -- Sensor-fusion model: combines the output of multiple sensor models to produce data with less uncertainty +- Sensor-fusion model: Combines the output of multiple sensor models to produce data with less uncertainty - Fault-injection model which, contrary to a sensor-fusion model, may be used to increase uncertainties Object coordinate system:: @@ -71,11 +71,11 @@ Information set that is derived from ground truth and used as input to sensor mo Traffic participant:: Represents one of the following: -- A living being. -- A means of transportation for living beings or goods. +- Living being. +- Means of transportation for living beings or goods. - Any other movable object that travels the road network. -A traffic participant is an element of the simulated world that can change its state during simulation time, for example, position and orientation. +A traffic participant is an element of the simulated world and can change its state during simulation time, for example, its position and orientation. Traffic participant model:: //TODO: input needed From 624eff345465873a441db21a1ad69c576ccdf07a Mon Sep 17 00:00:00 2001 From: Stefan Cyliax Date: Thu, 16 Sep 2021 14:46:18 +0200 Subject: [PATCH 05/11] Added glossary to documentation Signed-off-by: Stefan Cyliax --- index.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/index.adoc b/index.adoc index f014a0f5..886406d9 100644 --- a/index.adoc +++ b/index.adoc @@ -108,6 +108,6 @@ include::./contributing/review_reviewer.adoc[leveloffset=+3] // -//include::./general_docs/glossary.adoc[leveloffset=+1] +include::./general_docs/glossary.adoc[leveloffset=+1] //include::./general_docs/bibliography.adoc[leveloffset=+1] From cf122130c2fba99329ba7c220a0e2e25d627f01e Mon Sep 17 00:00:00 2001 From: Stefan Cyliax Date: Thu, 16 Sep 2021 15:37:07 +0200 Subject: [PATCH 06/11] #43: replace "world coordinate system" with "global coordinate system" Signed-off-by: Stefan Cyliax --- general_docs/glossary.adoc | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 9253c51c..026acd2f 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -80,10 +80,9 @@ A traffic participant is an element of the simulated world and can change its st Traffic participant model:: //TODO: input needed -World coordinate system:: +Global coordinate system:: Coordinate system for all entities that are part of ground truth. -The world coordinate system is an inertial x/y/z-coordinate system. +The global coordinate system is an inertial x/y/z-coordinate system. The origin is the global reference point that is determined by the environment simulation. This reference point may be derived from map data or other considerations. -//TODO: Question: difference between World coordinate system and Global coordinate system? \ No newline at end of file From 19b3a22cb5b3798c992b1a93b288648832dd32f1 Mon Sep 17 00:00:00 2001 From: Fabian Klopfer Date: Fri, 17 Sep 2021 16:19:40 +0200 Subject: [PATCH 07/11] Added bibliography entries. Relates to OpenSimulationInterface/open-simulation-interface#add_bibliography_entries and OpenSimulationInterface/osi-sensor-model-packing#add_bibliography_entries_osmp Signed-off-by: Fabian Klopfer --- general_docs/glossary.adoc | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 9253c51c..a8b72d01 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -16,7 +16,6 @@ For evaluation of automated driving systems, the ego vehicle is the vehicle that For human-driver experiments, the ego vehicle is the vehicle that is driven by the human driver. Environmental effect model:: -//TODO: input needed Information set that deals with effects and phenomena caused by, for example, shadows and occlusions, weather effects, the physics of a sensor, or the pre-processing of raw sensor data. An environmental effect model has a sensor-view message as input, which comes from the environment simulation, and a sensor-view message as output. The output is sent to the sensor model. @@ -39,7 +38,8 @@ Information set that describes the whole simulated environment around any simula It is based on data available to the simulation environment. Logical model:: -//TODO: input required from working group +Logical models consume sensor-data messages and produce sensor-data messages + Examples: - Sensor-fusion model: Combines the output of multiple sensor models to produce data with less uncertainty - Fault-injection model which, contrary to a sensor-fusion model, may be used to increase uncertainties @@ -78,12 +78,11 @@ Represents one of the following: A traffic participant is an element of the simulated world and can change its state during simulation time, for example, its position and orientation. Traffic participant model:: -//TODO: input needed +The traffic participant model makes decisions how to change position, orientation, and other states of the dedicated moving object. +To do this, it reacts on input given by `SensorView` and `TrafficCommand` resulting in `TrafficUpdate` as output. World coordinate system:: Coordinate system for all entities that are part of ground truth. The world coordinate system is an inertial x/y/z-coordinate system. The origin is the global reference point that is determined by the environment simulation. This reference point may be derived from map data or other considerations. - -//TODO: Question: difference between World coordinate system and Global coordinate system? \ No newline at end of file From 15f2e051d2ccacc12ecc0533ee72dbe745f68d27 Mon Sep 17 00:00:00 2001 From: Fabian Klopfer Date: Fri, 17 Sep 2021 16:32:18 +0200 Subject: [PATCH 08/11] Adapt glossary Signed-off-by: Fabian Klopfer --- general_docs/glossary.adoc | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 026acd2f..2f8fa1a3 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -16,7 +16,6 @@ For evaluation of automated driving systems, the ego vehicle is the vehicle that For human-driver experiments, the ego vehicle is the vehicle that is driven by the human driver. Environmental effect model:: -//TODO: input needed Information set that deals with effects and phenomena caused by, for example, shadows and occlusions, weather effects, the physics of a sensor, or the pre-processing of raw sensor data. An environmental effect model has a sensor-view message as input, which comes from the environment simulation, and a sensor-view message as output. The output is sent to the sensor model. @@ -39,7 +38,8 @@ Information set that describes the whole simulated environment around any simula It is based on data available to the simulation environment. Logical model:: -//TODO: input required from working group +Logical models consume sensor-data messages and produce sensor-data messages. + Examples: - Sensor-fusion model: Combines the output of multiple sensor models to produce data with less uncertainty - Fault-injection model which, contrary to a sensor-fusion model, may be used to increase uncertainties @@ -78,7 +78,8 @@ Represents one of the following: A traffic participant is an element of the simulated world and can change its state during simulation time, for example, its position and orientation. Traffic participant model:: -//TODO: input needed +The traffic participant model makes decisions how to change position, orientation, and other states of the dedicated moving object. +To do this, it reacts on input given by `SensorView` and `TrafficCommand` resulting in `TrafficUpdate` as output. Global coordinate system:: Coordinate system for all entities that are part of ground truth. From 6bf0cefd364a2935d59faf6efa0380bffec73eb7 Mon Sep 17 00:00:00 2001 From: pasched Date: Mon, 25 Oct 2021 15:23:42 +0200 Subject: [PATCH 09/11] revised glossary Signed-off-by: pasched --- general_docs/glossary.adoc | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 2f8fa1a3..6ee88edb 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -17,7 +17,7 @@ For human-driver experiments, the ego vehicle is the vehicle that is driven by t Environmental effect model:: Information set that deals with effects and phenomena caused by, for example, shadows and occlusions, weather effects, the physics of a sensor, or the pre-processing of raw sensor data. -An environmental effect model has a sensor-view message as input, which comes from the environment simulation, and a sensor-view message as output. +An environmental effect model has a `SensorView` message as input, which comes from the environment simulation, and a `SensorView` message as output. The output is sent to the sensor model. FMI (Functional Mockup Interface):: @@ -38,7 +38,7 @@ Information set that describes the whole simulated environment around any simula It is based on data available to the simulation environment. Logical model:: -Logical models consume sensor-data messages and produce sensor-data messages. +Logical models consume `SensorData` messages and produce `SensorData` messages. Examples: - Sensor-fusion model: Combines the output of multiple sensor models to produce data with less uncertainty @@ -61,10 +61,9 @@ Coordinate system for all entities that are part of sensor data. The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the OSI message. Sensor model:: -//TODO: research definition Simulation of a real sensor. -Sensor models consume sensor-view messages and produce sensor-data messages. -Sensor-model output does not represent raw data but detected features or classified objects. +Sensor models consume `SensorView` messages and produce `SensorData` messages. +Sensor model output does not represent raw data but detected features or classified objects. Sensor view:: Information set that is derived from ground truth and used as input to sensor models. From bc1553db5570d5c10d273011717ff592fdfe9b6e Mon Sep 17 00:00:00 2001 From: pasched Date: Wed, 27 Oct 2021 14:19:15 +0200 Subject: [PATCH 10/11] docs: revised glossary Signed-off-by: pasched --- general_docs/glossary.adoc | 35 ++++++++++++----------------------- 1 file changed, 12 insertions(+), 23 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 6ee88edb..4cdf64de 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -2,13 +2,13 @@ = Terms and definitions //Writing style adopted from https://www.iso.org/glossary.html -CS (co-simulation):: +Co-simulation:: Type of Functional Mockup Unit (FMU). + Co-simulation FMUs contain their own numerical solver. This importing tool sets the FMU inputs, asks the FMU to step forward a given time, and reads the FMU output after the step is completed. -With OSMP, models are packaged as valid _FMI-2.0 FMU for co-simulation_ + +With OSMP, models are packaged as valid _FMI-2.0 FMU for co-simulation_. + + -See also: https://www.modelon.com/functional-mock-up-interface-fmi/ +See also: https://fmi-standard.org/ Ego vehicle:: Externally controlled vehicle used for scenario descriptions. + @@ -27,13 +27,11 @@ See also: https://fmi-standard.org/ FMU (Functional Mockup Unit):: -Simulation model that adheres to the FMI standard. -There are two different kinds of FMU that both adhere to the FMI standard: Model Exchange (ME) and Co-Simulation (CS). -An FMU is distributed in a ZIP file with the file extension _.fmu_. + +Simulation model that adheres to the FMI standard. + + -See also: https://www.modelon.com/functional-mock-up-interface-fmi/ +See also: https://fmi-standard.org/ -Ground truth:: +GroundTruth:: Information set that describes the whole simulated environment around any simulated vehicle. It is based on data available to the simulation environment. @@ -57,32 +55,23 @@ OSMP (OSI Sensor Model Packaging):: Specifies how models that use Open Simulation Interface (OSI) in simulation environments are packaged in accordance with the Functional Mock-up Interface 2.0 (FMI 2.0). Sensor coordinate system:: -Coordinate system for all entities that are part of sensor data. +Coordinate system for all entities that are part of `SensorData`. The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the OSI message. Sensor model:: -Simulation of a real sensor. +Within OSI, a sensor model refers to the part of a sensor system model that includes processing algorithms at an object detection level. Sensor models consume `SensorView` messages and produce `SensorData` messages. Sensor model output does not represent raw data but detected features or classified objects. -Sensor view:: -Information set that is derived from ground truth and used as input to sensor models. - -Traffic participant:: -Represents one of the following: -- Living being. -- Means of transportation for living beings or goods. -- Any other movable object that travels the road network. - -A traffic participant is an element of the simulated world and can change its state during simulation time, for example, its position and orientation. +SensorView:: +Information set that is derived from ground truth and used as input to sensor models, environmental effect models, or traffic participant models. Traffic participant model:: -The traffic participant model makes decisions how to change position, orientation, and other states of the dedicated moving object. +It models the dynamic behavior of moving objects by deciding how to change position, orientation, and other states of the dedicated moving object. To do this, it reacts on input given by `SensorView` and `TrafficCommand` resulting in `TrafficUpdate` as output. Global coordinate system:: Coordinate system for all entities that are part of ground truth. The global coordinate system is an inertial x/y/z-coordinate system. The origin is the global reference point that is determined by the environment simulation. -This reference point may be derived from map data or other considerations. - +This reference point may be derived from map data or other considerations. \ No newline at end of file From 25d3be6d9e31d8304c8eb94ed2a9f55628c38c0d Mon Sep 17 00:00:00 2001 From: pasched Date: Thu, 28 Oct 2021 08:33:49 +0200 Subject: [PATCH 11/11] docs: final minor adaptions to glossary Signed-off-by: pasched --- general_docs/glossary.adoc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/general_docs/glossary.adoc b/general_docs/glossary.adoc index 4cdf64de..888a5c7f 100644 --- a/general_docs/glossary.adoc +++ b/general_docs/glossary.adoc @@ -59,7 +59,7 @@ Coordinate system for all entities that are part of `SensorData`. The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the OSI message. Sensor model:: -Within OSI, a sensor model refers to the part of a sensor system model that includes processing algorithms at an object detection level. +From OSI's perspective, a sensor model refers to the part of a sensor system model that includes processing algorithms at an object detection level. Sensor models consume `SensorView` messages and produce `SensorData` messages. Sensor model output does not represent raw data but detected features or classified objects. @@ -67,7 +67,7 @@ SensorView:: Information set that is derived from ground truth and used as input to sensor models, environmental effect models, or traffic participant models. Traffic participant model:: -It models the dynamic behavior of moving objects by deciding how to change position, orientation, and other states of the dedicated moving object. +Information set that models the dynamic behavior of moving objects by deciding how to change position, orientation, and other states of the dedicated moving object. To do this, it reacts on input given by `SensorView` and `TrafficCommand` resulting in `TrafficUpdate` as output. Global coordinate system::