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Sensor Data Ingestion Interface (SDII) Data Specification

Sensor Data Ingestion Interface Data Specification

Vehicle​Dynamics

Message Summary

message VehicleDynamics

Vehicle Dynamics are measurements beyond the position of a vehicle. Typically vehicle dynamics information is measured by the vehicle using on board sensors at high frequency compared to positions (e.g. 5Hz or 10Hz). Depending of the set of sensors in the vehicle different values could be provided. In order to keep the complexity at a manageable level these raw measurements must be converted into meaningful values and hence are a result of calculations either in the vehicle or in the OEM or System Vendor backend.

Include: sdii.v3.3.1.proto

Properties

Field Type Label Description
time​Stamp​UTC_​ms int64 required

Timestamp of the message

curvature​_​1pm double optional

The curvature as measured (calculated) by the vehicle at the location of the vehicle. A positive value means a curve to the right in driving direction.

Unit: 1/Meter [1/m] | Range: -1..1/m| Resolution: 0.001/m

slope​_​percent double optional

The slope as measured (calculated) by the vehicle at the location of the vehicle. A positive value means uphill slope in driving direction, a negative value means downhill slope in driving direction.

Unit: Percent [%] | Range: -100..100% | Resolution: 0.1%

curvature​Accuracy​_​1pm double optional

The standard deviation for the curvature.

Unit: 1/Meter [1/m] | Range: -1..1/m| Resolution: 0.0001/m

slope​Accuracy​_​percent double optional

The standard deviation for the curvature.

Unit: 1/Meter [1/m] | Range: -1..1/m| Resolution: 0.0001/m

average​Suspension​Travel​_​mm int32 optional

Over a duration of 1 seconds the accumulated travel of the suspensions (averaged over all 4 wheels) is provided in this attribute.

Unit: Milimeter [mm] | Range: 0..10000mm| Resolution: 1mm

average​Acceleration​Vector​_​mps​2 Vector​3D optional

TODO

Unit: Meter per Square Second [mps2] in 3D| Range: -100..100mps2 in 3D | Resolution: 0.5mps2 in 3D

average​Rotation​Rate​Vector​_​omega Vector​3D optional

Over a timerange of 1 second the average rotation rate vector is provided in this complex data type as a yaw,pitch,roll rotation rate. A value of 2*PI ~ 6.28 equals a rotation rate of one full rotation per second. The direction of positive values is describted in the object Vector3D.

Unit: Angular Velocity [rad/s] | Range: -314..314rad/s| Resolution: 0.1rad/s

average​Suspension​Travel​Accuracy​_​mm int32 optional

the accuracy of the provided suspension travel value

Unit: Milimeter [mm] | Range: 0..10000mm | Resolution: 1mm

bank​Angle​_​percent double optional

The bank angle is the angle at which the vehicle is inclined about its longitudinal axis with respect to the horizontal. A negative value describes an inclination to the left, a positive value describes an inclination to the right.

Unit: Degree [°] | Range: -200°..200°| Resolution: 0.1°

steering​Wheel​Angle​_​deg int32 optional

The steering wheel angle. Where 0 is the angle of the steering wheel where the vehicle is driving straight. A positive value describes a rotated steering wheel to the left, a negative value describes a rotated steering wheel to the right.

Unit: Degree [°] | Range: -1080..1080°| Resolution:

steering​Wheel​Angle​Accuracy​_​deg int32 optional

Standard deviation of the steering wheel angle accuracy.

Unit: Degree [°] | Range: -180..180°| Resolution:

steering​Wheel​Angle​Change​_​deg​Per​Sec int32 optional

The rate of the steering wheel angle change in unit of degree per second. A positive value describes in a steering wheel change to the left (increase of steering wheel angle), a negative value describes the steering wheel change to the right (decrease of steering wheel angle).

Unit: Degree per Second [°/sec] | Range: -360..360°/sec| Resolution: 1°/sec

steering​Wheel​Angle​Change​Accuracy​_​deg​Per​Sec int32 optional

Standard deviation of the steering wheel angle change accuracy in unit of degree per second.

Unit: Degree per Second [°/sec] | Range: -180..180°/sec| Resolution: 1°/sec

acceleration​Pedal​Position​_​percent int32 optional

Acceleration pedal position – percentage in relate to the original position. The value 0 describes no pedal pressing where the value 100% describes a full pressed down pedal position.

Unit: Percent [%] | Range: 0..100%| Resolution: 1%

brake​Pedal​Position​_​percent int32 optional

Bake pedal position – percentage in relate to the original position. The value 0 describes no pedal pressing where the value 100% describes a full pressed down pedal position.

Unit: Percent [%] | Range: 0..100%| Resolution: 1%

engine​Speed​_​rpm int32 optional

Engine speed in revolutions per minute.

Unit: Revolutions per Minute [rpm] | Range: 0..MAX_INT | Resolution: 1rpm

engine​Torque​_​nm int32 optional

Engine torque.

Unit: Newtonmeter [nm] | Range: 0..MAX_INT| Resolution: 1nm

brake​Torque​_​nm int32 optional

Brake Torque

Unit: Newtonmeter [nm] | Range: 0..MAX_INT| Resolution: 1nm

extension​Container Extension​Container repeated

Contains the description and byte value of an dynamic extension content, that is undefined in this Specification.