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osi_trafficcommand.proto
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syntax = "proto2";
option optimize_for = SPEED;
import "osi_version.proto";
import "osi_common.proto";
package osi3;
//
// \brief The scenario engine provides control commands in the traffic command
// message to traffic participant models. The control commands are based on
// the scenario.
//
// \note This interface is currently just a placeholder and will be
// changed in experimental ways to support basic scenario execution.
// In the future this interface shall be aligned with the level of
// atomic actions as described in OpenSCENARIO 1.0 or later.
//
message TrafficCommand
{
// The interface version used by the sender (scenario engine).
//
// \rules
// is_set
// \endrules
//
optional InterfaceVersion version = 1;
// The data timestamp of the simulation environment. Zero time is arbitrary
// but must be identical for all messages. Zero time does not need to
// coincide with the UNIX epoch. It is recommended to use zero timestamp as
// the starting time point of the simulation.
//
// \note For traffic command data the timestamp coincides both with
// the notional simulation time the data applies to and the time it was sent
// There is no inherent latency for traffic command data, as opposed
// to sensor data.
//
// \rules
// is_set
// \endrules
//
optional Timestamp timestamp = 2;
// The ID of this traffic participant.
//
// \rules
// is_set
// \endrules
//
optional Identifier traffic_participant_id = 3;
// Commanded traffic action(s) if any.
//
// \note If more than one action is supplied in one command message
// all actions are executed in parallel.
//
repeated TrafficAction action = 4;
}
//
// \brief Atomic traffic actions to be performed.
//
// The transmitted commands are the atomic traffic actions described by
// this message.
//
// \note This message is notionally a multiple choice selection, that is, only
// certain combinations of atomic traffic actions shall be transmitted within
// certain time intervals, for example, for plausibility reasons. The restrictions
// regarding that are not part of this message, yet are seen as a task of the
// scenario description, for example, OpenSCENARIO.
//
// \note All traffic actions are sent only once just before they are about
// to start. This is also true, if their execution is expected to
// take simulation time. To inform the traffic participant
// model that certain actions must or shall be terminated, there are
// explicit actions nested inside this message (AbortActionsAction,
// EndActionsAction), which hold a reference to the respective actions.
// Furthermore, there exists a \c TrafficCommandUpdate message for the
// traffic participant to report back on potentially dismissed actions.
//
message TrafficAction
{
// A FollowTrajectoryAction.
//
optional FollowTrajectoryAction follow_trajectory_action = 1;
// A FollowPathAction.
//
optional FollowPathAction follow_path_action = 2;
// An AcquireGlobalPositionAction.
//
optional AcquireGlobalPositionAction acquire_global_position_action = 3;
// A LaneChangeAction.
//
optional LaneChangeAction lane_change_action = 4;
// A SpeedAction.
//
optional SpeedAction speed_action = 5;
// An AbortActionsAction.
//
optional AbortActionsAction abort_actions_action = 6;
// An EndActionsAction.
//
optional EndActionsAction end_actions_action = 7;
// A CustomAction.
//
optional CustomAction custom_action = 8;
// A LongitudinalDistanceAction.
//
optional LongitudinalDistanceAction longitudinal_distance_action = 9;
// A LaneOffsetAction.
//
optional LaneOffsetAction lane_offset_action = 10;
// A LateralDistanceAction.
//
optional LateralDistanceAction lateral_distance_action = 11;
// A TeleportAction.
//
optional TeleportAction teleport_action = 12;
//
// \brief The action header
//
message ActionHeader
{
// The unique id of the action.
//
// \note This field is mandatory.
//
// \note This id must be unique within all traffic command
// messages exchanged with one traffic participant.
//
// \rules
// is_set
// \endrules
//
optional Identifier action_id = 1;
}
// Definition of following mode.
//
enum FollowingMode
{
// Following mode position forces the traffic participant to
// follow a path/trajectory explicitly, disregarding any internal
// constraints, for example, steering dynamics.
//
FOLLOWING_MODE_POSITION = 0;
// Following mode follow allows the traffic participant to
// treat a path/trajectory as a target, to be achieved as closely
// as possible while retaining any internal constraints,
// for example, steering dynamics.
//
FOLLOWING_MODE_FOLLOW = 1;
}
// Definition of dynamic shapes.
//
enum DynamicsShape
{
// Shape is unspecified.
//
DYNAMICS_SHAPE_UNSPECIFIED = 0;
// Shape is linear.
//
DYNAMICS_SHAPE_LINEAR = 1;
// Shape is cubic.
//
DYNAMICS_SHAPE_CUBIC = 2;
// Shape is sinusoidal.
//
DYNAMICS_SHAPE_SINUSOIDAL = 3;
// Shape is a step function.
//
DYNAMICS_SHAPE_STEP = 4;
}
// \brief DynamicConstraints
//
// This message is used in Longitudinal and Lateral Distance Actions as
// constraints on the TrafficParticipant not allowing them to exceed/drop below
// certain speeds/acceleration levels.
//
message DynamicConstraints
{
// Maximum acceleration the distance controller is allowed to use for keeping distance.
//
// Unit: m/s^2
//
optional double max_acceleration = 1;
// Maximum deceleration the distance controller is allowed to use for keeping distance.
//
// Unit: m/s^2
//
optional double max_deceleration = 2;
// Maximum speed the distance controller is allowed to use for keeping distance.
//
// Unit: m/s
//
optional double max_speed = 3;
}
//
// \brief Follow trajectory action.
//
// Controls a traffic participant to follow a trajectory using vertices
// with timings. It specifies the motion in space as a function of time.
//
// \note The StatePoint messages in trajectory_point requires a
// specified timestamp.
//
// \note This action is aligned with the FollowTrajectoryAction of
// OpenSCENARIO 1.0 using a 4/7D trajectory with shape Polyline.
//
message FollowTrajectoryAction
{
// The action header.
//
optional ActionHeader action_header = 1;
// A list of trajectory StatePoints.
//
// Set the timestamp fields and position fields for all
// trajectory points. The orientation fields can be set
// depending on the constrain_orientation field being true.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated StatePoint trajectory_point = 2;
// Constrain the orientation of the traffic participant as specified
// by the trajectory points.
//
// This boolean flag defines whether orientation values supplied in
// the trajectory points (if any) shall be used to constrain the
// orientation of the traffic participant or not.
//
optional bool constrain_orientation = 3;
// Specify the following mode that should be employed in executing
// the trajectory.
//
optional FollowingMode following_mode = 4;
}
//
// \brief Follow path action.
//
// Controls a traffic participant to follow a path using vertices. It
// specifies the motion in space independent of time.
//
// \note The StatePoint messages in path_point only requires a specified
// position field. The orientation can be set optionally. Any
// timestamp StatePoint values are ignored.
//
// \note This action is aligned with the FollowTrajectoryAction of
// OpenSCENARIO 1.0 using a 3/6D trajectory with shape Polyline.
//
message FollowPathAction
{
// The action header
//
optional ActionHeader action_header = 1;
// A list of path StatePoints
//
// Set the position fields for all path points.
// The timestamp field are not required and ignored.
// The orientation fields can be set depending on the constrain_orientation
// field being true.
//
// \note OSI uses singular instead of plural for repeated field names.
//
repeated StatePoint path_point = 2;
// Constrain the orientation of the traffic participant as specified
// by the path points.
//
// This boolean flag defines whether orientation values supplied in
// the path points shall be used to constrain the orientation
// of the traffic participant or not.
//
optional bool constrain_orientation = 3;
// Specify the following mode that should be employed in executing
// the path.
//
optional FollowingMode following_mode = 4;
}
//
// \brief Acquire global position action.
//
// This action assigns a route to a traffic participant. The route
// assigned will be the shortest route (along roads or satisfying any
// other constraints a traffic participant is operating under) between
// the traffic participant's current position and the position specified.
//
// As with all routing actions, the exact way this route is achieved is
// under the control of the traffic participant model.
//
// \note This action is aligned with the AcquirePositionAction of
// OpenSCENARIO 1.0 using a WorldPosition position argument.
//
message AcquireGlobalPositionAction
{
// The action header.
//
optional ActionHeader action_header = 1;
// Position in the global coordinate system.
//
// The position refers to the center (x,y,z) of the bounding box.
//
// \note Remark: The definition of the reference point follows the
// specification of the \c BaseMoving message.
//
optional Vector3d position = 2;
// Orientation in the global coordinate system.
//
// This is optional. If no orientation is given, the end orientation
// is under control of the traffic participant.
//
optional Orientation3d orientation = 3;
}
//
// \brief Lane change action.
//
// This action assigns a lane change to a traffic participant. The fields
// of this message enable different levels of constraint for the traffic
// participant depending on the use case. In case the constraints are
// supposed to be small, the dynamics shape or even the duration and
// the distance for the lane change can be omitted.
//
// \note This action is aligned with LaneChangeAction of OpenSCENARIO 1.0
// defining the targeted lane and optionally the parametrization of the
// lane change.
//
message LaneChangeAction
{
// The action header.
//
optional ActionHeader action_header = 1;
// Targeted lane relative to the current lane.
//
// Convention: +1 means to the right, -1 means to the left.
//
optional int32 relative_target_lane = 2;
// Specified shape of the lane change action.
// If the shape is unspecified (enum value 0), the shape of the
// lane change is open to the traffic participant model.
//
optional DynamicsShape dynamics_shape = 3;
// Duration of the lane change.
//
// A value of 0.0 (the default value) imposes no constraint
// on the duration, unless the dynamics shape is a step function,
// where an immediate step is effected.
//
// Unit: s
//
optional double duration = 4;
// Distance of the lane change.
//
// A value of 0.0 (the default value) imposes no constraint
// on the distance, unless the dynamics shape is a step function,
// where an immediate step is effected.
//
// Unit: m
//
optional double distance = 5;
}
//
// \brief Speed action.
//
// This action assigns a targeted speed to a traffic participant.
// The action can be constrained by specifying the dynamics
// shape or even the duration and the distance of the acceleration /
// deceleration process.
//
// \note This action is aligned with SpeedAction of OpenSCENARIO 1.0
// defining the targeted speed and optionally the parametrization of the
// speed transition.
//
message SpeedAction
{
// The action header
//
optional ActionHeader action_header = 1;
// Targeted absolute speed.
//
optional double absolute_target_speed = 2;
// Specified transition shape of the speed change action.
// If the shape is unspecified (enum value 0), the shape of the
// speed change is open to the traffic participant model.
//
optional DynamicsShape dynamics_shape = 3;
// Duration of the speed change.
//
// A value of 0.0 (the default value) imposes no constraint
// on the duration, unless the dynamics shape is a step function,
// where an immediate step is effected.
//
// Unit: s
//
optional double duration = 4;
// Distance of the speed change.
//
// A value of 0.0 (the default value) imposes no constraint
// on the distance, unless the dynamics shape is a step function,
// where an immediate step is effected.
//
// Unit: m
//
optional double distance = 5;
}
// \brief AbortActionsAction.
//
// This action tells a traffic participant that it should immediately
// abort the execution of other actions referenced within this action.
// In contrast to the EndActionsAction this action forces a hard
// termination of the referenced actions.
//
message AbortActionsAction
{
// The action header
//
optional ActionHeader action_header = 1;
// Actions which must be aborted immediately.
//
// These fields hold the action ids of the actions that must be
// aborted immediately.
//
repeated Identifier target_action_id = 2;
}
// \brief End actions action.
//
// This action tells a traffic participant that the execution of the
// referenced actions is regarded as successfully performed. The
// termination of the referenced actions is allowed to be performed
// gracefully.
//
message EndActionsAction
{
// The action header
//
optional ActionHeader action_header = 1;
// Actions which are regarded as successfully executed.
//
// These fields hold the action ids of the actions that are regarded
// as successfully executed and shall be terminated gracefully.
//
repeated Identifier target_action_id = 2;
}
//
// \brief Custom Action.
//
// This action assigns a custom command to a traffic participant.
// The syntax and semantics of this action is implementation defined.
// It is entirely up to each individual traffic participant which
// custom commands it supports, if any, and how they must be phrased.
//
// \note This action is aligned with CustomCommandAction of OpenSCENARIO 1.0
// providing a customizable user defined action.
//
message CustomAction
{
// The Action Header.
//
optional ActionHeader action_header = 1;
// The custom command given to the traffic participant. Used to convey a specific instruction
// (for example, "exit_highway"), or event (for example, "left_indicator_activated").
//
// \note This corresponds to the content of the OpenSCENARIO 1.0 CustomCommandAction field.
//
optional string command = 2;
// The type of the custom command given to the traffic participant. Can be used to simplify
// how commands are grouped. For example, the command_type could be "sensor_failure" and the
// command value could be "front_right_camera". This avoids long commands, like
//"sensor_failure: front_right_camera".
//
// \note This corresponds to the "type" attribute of the OpenSCENARIO 1.0 CustomCommandAction.
//
optional string command_type = 3;
}
// \brief Longitudinal Distance Action
//
// The action tells the (host) traffic participant to reach a certain longitudinal distance
// relative to a target traffic participant. The longitudinal distance is defined as the distance
// along the centerline of the lane, on which the (host) traffic participant is currently located.
// The interpolation strategy between centerline points for calculating
// that distance along the centerline is open to the traffic participant modeler.
//
// \note This action is aligned with LongitudinalDistanceAction of OpenSCENARIO 1.0
// defining the reference traffic participant and the distance.
//
// \note Limitation: This concept currently only works for lanes with a centerline, i.e. for lanes
// of TYPE_DRIVING, not for lanes of TYPE_NONDRIVING or TYPE_INTERSECTION.
//
message LongitudinalDistanceAction
{
// Action Header of the message
//
optional ActionHeader action_header = 1;
// Unique Id of the reference traffic participant to which the distance is defined.
//
optional Identifier target_traffic_participant_id = 2;
// The distance to reach along the lane
//
// Unit: m
//
optional double distance = 3;
// Determine the measurement of longitudinal distance between the traffic
// participant receiving this action and the reference traffic
// participant.
// True: Longitudinal distance is measured using the distance between closest bounding box points.
// False: Longitudinal distance is measured using the distance between the center of each object's bounding box.
//
optional bool freespace = 4;
// Define whether the traffic participant should only reach the distance once
// or if it should also keep the distance after having reached it.
// True: the traffic participant shall approach the reference participant
// and follow with the distance specified until the action is aborted (communicate with AbortActionsAction).
// False: the action ends as soon as the traffic participant has reached
// the specified distance (communicate with EndActionsAction).
//
optional bool follow = 5;
// Parameter that assigns either unlimited dynamics (if omitted)
// or limited maxAcceleration/maxDeceleration/maxSpeed to the action.
//
optional DynamicConstraints dynamic_constraints = 6;
}
// \brief Lateral Distance Action
//
// The action tells the (host) traffic participant to reach a certain lateral distance relative to
// a target traffic participant. The lateral distance is defined along an imaginative perpendicular line
// with respect to the centerline of the current (host) traffic participant's lane.
// The interpolation strategy between centerline points for calculating that distance along the imaginative
// perpendicular line is open to the traffic participant modeler.
//
// \note This action is aligned with LateralDistanceAction of OpenSCENARIO 1.0
// defining the reference traffic participant and the distance.
//
// \note Limitation: This concept currently only works for lanes with a centerline, i.e. for lanes
// of TYPE_DRIVING, not for lanes of TYPE_NONDRIVING or TYPE_INTERSECTION.
//
message LateralDistanceAction
{
// Action Header of the message
//
optional ActionHeader action_header = 1;
// Id of the reference entity the lateral distance shall be kept to.
//
optional Identifier target_traffic_participant_id = 2;
// Lateral distance value.
//
// Unit: m
//
optional double distance = 3;
// Determine the measurement of lateral distance between the traffic
// participant receiving this action and the reference traffic
// participant.
// True: Lateral distance is measured using the distance between closest bounding box points.
// False: Lateral distance is measured using the distance between the center of each object's bounding box.
//
optional bool freespace = 4;
// Define whether the traffic participant should only reach the distance once
// or if it should also keep the distance after having reached it.
// True: the traffic participant shall approach the reference participant
// and follow with the distance specified until the action is aborted (communicate with AbortActionsAction).
// False: the action ends as soon as the traffic participant has reached
// the specified distance (communicate with EndActionsAction).
//
optional bool follow = 5;
// Parameter that assigns either unlimited dynamics (if omitted)
// or limited maxAcceleration/maxDeceleration/maxSpeed to the action.
//
optional DynamicConstraints dynamic_constraints = 6;
}
// \brief Lane Offset Action
//
// This action assigns a targeted lane offset to a traffic participant.
// The action can be constrained by specifying the dynamics shape of the
// lateral transition profile.
//
// \note This action is aligned with LaneOffsetAction of OpenSCENARIO 1.0.
//
message LaneOffsetAction
{
// The Action Header
//
optional ActionHeader action_header = 1;
// Targeted lane offset in meters relative to the centerline of the
// current traffic participant's lane. Positive values mean left of the centerline,
// negative values mean right of the centerline.
//
// Unit: m
//
optional double target_lane_offset = 2;
// Specified transition shape of reaching the lane offset.
// If the shape is unspecified (enum value 0), the shape of the
// transition is open to the traffic participant model.
//
optional DynamicsShape dynamics_shape = 3;
}
// \brief Teleport Action
//
// This Action allows to immediately place a traffic participant to
// another position.
//
// \note This action is aligned with the TeleportAction of
// OpenSCENARIO 1.0 using a WorldPosition position argument.
//
message TeleportAction
{
// The Action Header
//
optional ActionHeader action_header = 1;
// Position in the global coordinate system.
//
// The position refers to the center (x,y,z) of the bounding box.
//
// \note Remark: The definition of the reference point follows the
// specification of the \c BaseMoving message.
//
optional Vector3d position = 2;
// Orientation in the global coordinate system.
//
// This is optional, if no orientation is given, the end orientation
// is under control of the traffic participant.
//
optional Orientation3d orientation = 3;
}
}