osi_environment.proto

syntax = "proto2";

option optimize_for = SPEED;

import "osi_common.proto";

package osi3;

//
// \brief The conditions of the environment.
//
// Definition of light, weather conditions and other environmental conditions.
//
// \note These conditions apply locally around the host vehicle.
//
message EnvironmentalConditions
{
    // The ambient illumination of the environment.
    //
    optional AmbientIllumination ambient_illumination = 1;

    // The time of day at the host vehicles location.
    //
    optional TimeOfDay time_of_day = 2;

    // The unix timestamp describes the time and date at the host vehicle's
    // location, referring to UTC.
    //
    // 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 [1]), not counting leap seconds [2].
    // Historically, the origin of UNIX system time was referred to as
    // "00:00:00 GMT, January 1, 1970" [2]. 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](https://www.epochconverter.com/#code).
    //
    // \par References:
    // [1] ITU Radiocommunication Assembly. (2002). <em>Recommendation  ITU-R  TF.460-6 Standard-frequency and time-signal emissions</em>. (Rec.  ITU-R  TF.460-6). Retrieved January 25, 2020, from http://www.itu.int/dms_pubrec/itu-r/rec/tf/R-REC-TF.460-6-200202-I!!PDF-E.pdf \n
    // [2] The Open Group. (2018). <em>POSIX.1-2017</em> The Open Group Base Specifications Issue 7, 2018 edition. IEEE Std 1003.1-2017 (Revision of IEEE Std 1003.1-2008). Retrieved January 25, 2020, from https://pubs.opengroup.org/onlinepubs/9699919799/xrat/contents.html
    //
    optional int64 unix_timestamp = 8;

    // Atmospheric pressure in Pascal at z=0.0 in world frame (about 101325
    // Pa).
    //
    // Unit: Pa
    //
    // \rules
    // is_greater_than_or_equal_to: 80000
    // is_less_than_or_equal_to: 120000
    // \endrules
    //
    optional double atmospheric_pressure = 3;

    // Temperature in Kelvin at z=0.0 in world frame.
    //
    // Unit: K
    //
    // \rules
    // is_greater_than_or_equal_to: 170
    // is_less_than_or_equal_to: 340
    // \endrules
    //
    optional double temperature = 4;

    // 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: %
    //
    // \rules
    // is_greater_than_or_equal_to: 0
    // is_less_than_or_equal_to: 100
    // \endrules
    //
    optional double relative_humidity = 5;

    // Description of the precipitation.
    //
    optional Precipitation precipitation = 6;

    // Description of the fog.
    //
    optional Fog fog = 7;
    
    // Optional external reference to the environmental condition sources.
    //
    // \note For OpenDRIVE and OpenSCENARIO there is no direct counterpart.
    //
    // \note For non-ASAM standards, it is implementation-specific how
    //       source_reference is resolved.
    //
    // \note The value has to be repeated because one object may be derived
    //       from more than one origin source, for example, from a scenario file
    //       and from sensors.
    //
    repeated ExternalReference source_reference = 9;

    // Description of the clouds.
    //
    optional CloudLayer clouds = 10;

    // Description of the wind.
    //
    optional Wind wind = 11;

    // Description of the sun.
    //
    optional Sun sun = 12;

    // Definition of discretized precipitation states according to [1].
    // (I = Intensity of precipitation in mm per hour mm/h)
    //
    // \par Reference:
    // [1] Paulat, M., Frei, C., Hagen, M. & Wernli, H. (2008). A gridded dataset of hourly precipitation in Germany: Its construction, climatology and application. <em>Meteorologische Zeitschrift</em>. Vol. 17, No. 6. pp. 719-732. Berlin, Stuttgart, Germany. https://doi.org/10.1127/0941-2948/2008/0332
    //
    enum Precipitation
    {
        // Intensity of precipitation is unknown (must not be used in ground
        // truth).
        //
        PRECIPITATION_UNKNOWN = 0;

        // Other (unspecified but known) intensity of precipitation.
        //
        PRECIPITATION_OTHER = 1;

        // No precipitation, when I in [0,0.1[ mm/h
        //
        PRECIPITATION_NONE = 2;

        // Very light intensity of precipitation, when I in [0.1,0.5[ mm/h
        //
        PRECIPITATION_VERY_LIGHT = 3;

        // Light intensity of precipitation, when I in [0.5,1.9[ mm/h
        //
        PRECIPITATION_LIGHT = 4;

        // Moderate intensity of precipitation, when I in [1.9,8.1[ mm/h
        //
        PRECIPITATION_MODERATE = 5;

        // Heavy intensity of precipitation, when I in [8.1,34[ mm/h
        //
        PRECIPITATION_HEAVY = 6;

        // Very heavy intensity of precipitation, when I in [34,149[ mm/h
        //
        PRECIPITATION_VERY_HEAVY = 7;

        // Extreme intensity of precipitation, when I in [149,infinity[ mm/h
        //
        PRECIPITATION_EXTREME = 8;
    }

    // Definition of discretized fog states according to [1].
    // The bandwidth of thick and dense fog was adjusted to fit the German StVO
    // regarding rear fog lights [2, 3].
    // (V = Visibility in 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.
    //
    // \par References:
    // [1] Shepard, F. D. (1996). <em>Reduced visibility due to fog on the highway.</em> Transportation Research Board, National Research Council (Ed.). National Academy Press. Washington, D.C., USA. ISBN 0-309-06006-0. \n
    // [2] Strassenverkehrs-Ordnung (StVO) as of dated  March 06, 2013 (BGBl. I S. 367), lastly changed by article 4a of the order from June 06, 2019 (BGBl. I S. 756). \n
    // [3] stvo.de. (2013, April 01). <em>StVO Par. 17 Beleuchtung</em>. Retrieved January 25, 2020, from https://www.stvo.de/strassenverkehrsordnung/101-17-beleuchtung \n
    // [4] Meteorological Office UK. (2020). <em>Homepage of the Meteorological Office - How we measure visibility</em>. Retrieved January 25, 2020, from http://www.metoffice.gov.uk/guide/weather/observations-guide/how-we-measure-visibility
    //
    enum Fog
    {
        // Visibility is unknown (must not be used in ground truth).
        //
        FOG_UNKNOWN = 0;

        // Other (unspecified but known) fog intensity.
        //
        FOG_OTHER = 1;

        // Excellent visibility, when V in [40000,infinity[ m
        //
        FOG_EXCELLENT_VISIBILITY = 2;

        // Good visibility, when V in [10000,40000[ m
        //
        FOG_GOOD_VISIBILITY = 3;

        // Moderate visibility, when V in [4000,10000[ m
        //
        FOG_MODERATE_VISIBILITY = 4;

        // Poor visibility, when V in [2000,4000[ m
        //
        FOG_POOR_VISIBILITY = 5;

        // Mist, when V in [1000,2000[ m
        //
        FOG_MIST = 6;

        // Fog, when V in [200,1000[ m
        //
        FOG_LIGHT = 7;

        // Thick fog, when V in [50,200[ m
        //
        FOG_THICK = 8;

        // Dense fog, when V in [0,50[ m
        // (allowed to use rear fog light according to [3])
        //
        FOG_DENSE = 9;
    }

    // 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.
    //
    // lx ("lux") 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 [1].
    // lm ("lumen") 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 cd ("candela") as 1 lm = 1 cd sr, where sr
    // denotes steradian, the unit of solid angle used in 3D geometry analogous
    // to the radian [1].
    //
    // Categorization is done based on natural day/night time illuminance levels
    // [2] and standards for required lighting levels on roads [2, 3, 4, 5].
    //
    // \par References:
    // [1] DIN Deutsches Institut fuer Normung e. V. (1982). <em>DIN 5031-3 Strahlungsphysik im optischen Bereich und Lichttechnik - Groessen, Formelzeichen und Einheiten der Lichttechnik</em>. (DIN 5031-3:1982-03). Berlin, Germany. \n
    // [2] National Optical Astronomy Observatory. (2015, December 02). <em>Recommended Light Levels</em>. Retrieved January 25, 2020, from https://www.noao.edu/education/QLTkit/ACTIVITY_Documents/Safety/LightLevels_outdoor+indoor.pdf \n
    // [3] Wang, Y. & Zou, Y., (2016, March). <em>Study on Illumination for State Highways</em>. Washington State Department of Transportation. Retrieved January 25, 2020, from http://www.wsdot.wa.gov/research/reports/fullreports/847.1.pdf \n
    // [4] Laperriere, A. (2011, May). <em>LED street lighting in the municipality of Saint-Gedeon-de-Beauce within the framework of advanced lighting technologies</em>. Retrieved January 25, 2020, from http://sslnet.ca/wp-content/uploads/2011/10/LTE-RT-2011-0076-Anglais.pdf \n
    // [5] Crabb, G. I., Beaumont, R. & Webster, D. (2008, October 17). <em>Review of the class and quality of street lighting</em>. Transport Research Laboratory. Retrieved January 25, 2020, from http://courtneystrong.com/wp-content/uploads/2017/07/css-sl1-class-and-quality-of-street-lighting.pdf
    //
    enum AmbientIllumination
    {
        // Ambient illumination is unknown (must not be used in ground truth).
        //
        AMBIENT_ILLUMINATION_UNKNOWN = 0;

        // Other (unspecified but known) ambient illumination.
        //
        AMBIENT_ILLUMINATION_OTHER = 1;

        // Level 1 illumination in ]0.001, 0.01[ lx. \n
        // E.g. Night with no artificial light.
        //
        // \note Use \c #AMBIENT_ILLUMINATION_LEVEL1 if illumination is less
        // than 0.001 lx.
        //
        AMBIENT_ILLUMINATION_LEVEL1 = 2;

        // Level 2 illumination in [0.01, 1[ lx. \n
        // E.g. Night full moon / Deep twilight.
        //
        AMBIENT_ILLUMINATION_LEVEL2 = 3;

        // Level 3 illumination in [1, 3[ lx. \n
        // E.g. Deep to average twilight / Minimum lighting on local low
        // pedestrian conflict roads.
        //
        AMBIENT_ILLUMINATION_LEVEL3 = 4;

        // Level 4 illumination in [3, 10[ lx. \n
        // 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_LEVEL4 = 5;

        // Level 5 illumination in [10, 20[ lx. \n
        // E.g. Minimum lighting on major and expressway roads with high
        // pedestrian conflict.
        //
        AMBIENT_ILLUMINATION_LEVEL5 = 6;

        // Level 6 illumination in [20, 400[ lx. \n
        // E.g. Roads with more lighting / Very dark overcast day to sunrise or
        // sunset on a clear day.
        //
        AMBIENT_ILLUMINATION_LEVEL6 = 7;

        // Level 7 illumination in [400, 1000[ lx. \n
        // E.g. Sunrise or sunset on a clear day / Overcast day.
        //
        AMBIENT_ILLUMINATION_LEVEL7 = 8;

        // Level 8 illumination in [1000, 10000[ lx. \n
        // E.g. Average to full daylight.
        //
        AMBIENT_ILLUMINATION_LEVEL8 = 9;

        // Level 9 illumination in [10000, 120000[ lx. \n
        // E.g. Full daylight to intense sunlight.
        //
        // \note Use \c #AMBIENT_ILLUMINATION_LEVEL9 if illumination is more
        // than 120000 lx
        //
        AMBIENT_ILLUMINATION_LEVEL9 = 10;
    }

    //
    // \brief 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 \c #unix_timestamp in
    // combination with \c #osi3::GroundTruth::proj_string and the position of
    // the corresponding \c #osi3::BaseStationary or \c #osi3::BaseMoving .
    //
    message TimeOfDay
    {
        // The number of seconds in 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.
        //
        // \rules
        // is_greater_than_or_equal_to: 0
        // is_less_than: 86400
        // \endrules
        //
        optional uint32 seconds_since_midnight = 1;
    }

    //
    // \brief Description of a cloud layer.
    //
    message CloudLayer
    {
        // Properties of a cloud layer given by fractional cloud cover levels.
        //
        optional FractionalCloudCover fractional_cloud_cover = 1;

        // Defines the fractional cloud cover [1] given by observation of total cloud amount in eights (oktas) of the sky.
        //
        // For visual alignment please see reference [2].
        //
        // The total degree of coverage indicates how much of the sky is covered with clouds altogether.
        // 0 oktas means that there are no traces of clouds in the sky,
        // 8 oktas means that the sky is completely covered with clouds and no sky blue can be recognized.
        //
        // \par References:
        // [1] CIE engl. International Commission on Illumination. (2020). <em>CIE S017:2020 ILV: Intl. Lighting Vocabulary, 2nd edn.</em>. Retrieved March 8, 2022, from https://cie.co.at/eilvterm/17-29-116 \n
        // [2] UBC The University of British Columbia. (2018). <em>ATSC 113 Weather for Sailing, Flying & Snow Sports</em>. Retrieved March 8, 2022, from https://www.eoas.ubc.ca/courses/atsc113/flying/met_concepts/01-met_concepts/01c-cloud_coverage/index.html
        //
        enum FractionalCloudCover
        {
            // Fractional cloud cover level is unknown (must not be used in ground truth).
            //
            FRACTIONAL_CLOUD_COVER_UNKNOWN = 0;

            // Other (unspecified but known) fractional cloud cover level.
            //
            FRACTIONAL_CLOUD_COVER_OTHER = 1;

            // 0/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_ZERO_OKTAS = 2;

            // 1/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_ONE_OKTAS = 3;

            // 2/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_TWO_OKTAS = 4;

            // 3/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_THREE_OKTAS = 5;

            // 4/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_FOUR_OKTAS = 6;

            // 5/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_FIVE_OKTAS = 7;

            // 6/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_SIX_OKTAS = 8;

            // 7/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_SEVEN_OKTAS = 9;

            // 8/8 of the sky is covered with clouds.
            //
            FRACTIONAL_CLOUD_COVER_EIGHT_OKTAS = 10;

            // Sky obscured, describes situations where the sky is not perceivable, e.g. in dense fog.
            //
            FRACTIONAL_CLOUD_COVER_SKY_OBSCURED = 11;
        }
    }

    //
    // \brief Defines wind properties.
    //
    message Wind
    {
        // The origin direction of the wind (not the target direction) in the ground/xy-plane of the
        // world coordinate system. Corresponds to the heading/yaw angle, counted counterclockwise.
        // 0 pointing north. If north is not explicitly defined via \c #osi3::GroundTruth::proj_string,
        // then north is pointing in y-axis direction. The default orientation (x, y, z) is easting, northing, up [1].
        //
        // \note 0: north; +pi/2: west; pi: south, 3/2 pi: east.
        //
        // Unit: rad
        //
        // The preferred angular range is [0, 2pi].
        //
        // \par References:
        // [1] PROJ contributors. (2019). <em>PROJ coordinate transformation software library</em>. Open Source Geospatial Foundation. Retrieved January 25, 2019, from https://proj.org/usage/projections.html
        //
        optional double origin_direction = 1;

        // The wind speed.
        //
        // Unit: m/s
        //
        // \rules
        // is_greater_than_or_equal_to: 0
        // \endrules
        //
        optional double speed = 2;
    }

    //
    // \brief Properties of the sun.
    //
    message Sun
    {
        // Azimuth of the sun, counted counterclockwise.
        // 0 pointing north. If north is not explicitly defined via \c #osi3::GroundTruth::proj_string,
        // then north is pointing in y-axis direction. The default orientation (x, y, z) is easting, northing, up [1].
        // The point of observation is defined to be the global coordinate system's origin.
        //
        // \note 0: north; +pi/2: west; pi: south, 3/2 pi: east.
        //
        // Unit: rad
        //
        // The preferred angular range is [0, 2pi].
        //
        // \par References:
        // [1] PROJ contributors. (2019). <em>PROJ coordinate transformation software library</em>. Open Source Geospatial Foundation. Retrieved January 25, 2019, from https://proj.org/usage/projections.html
        //
        optional double azimuth = 1;

        // Solar elevation angle.
        // The elevation angle is positive when the sun is above the xy-plane, negative when
        // the sun is below the xy-plane.
        // The point of observation is defined to be the global coordinate system's origin.
        //
        // \note 0: xy-plane; +pi/2: zenith; -pi/2: nadir.
        //
        // Unit: rad
        //
        // The preferred angular range is [-pi/2, +pi/2].
        //
        optional double elevation = 2;

        // Illuminance of the sun, direct sunlight is around 100000 lx.
        //
        // Unit: lx
        //
        // \rules
        // is_greater_than_or_equal_to: 0
        // \endrules
        //
        optional double intensity = 3;
    }
}