SL-2-0 Traffic Participant Repository Template

Enter a short description of the model. What is the purpose of the model? What is the general modeling approach? What inputs does the model need and what outputs does it generate?

In this template, a very simple traffic participant is modeled. The model consumes an osi3::SensorView and an osi3::TrafficCommand as input and outputs an osi3::TrafficUpdate and an osi3::TrafficCommandUpdate. The TrafficUpdate at the output contains the update message with updated position and velocity data.

< Eye-catcher Image >

Modeling Approach

Put details about the inner workings of the model here. Describe the modeling approach in detail. What is the structure of the model? What modules is it comprised of? What sensor effects are represented in the model and how are they modeled?

Parameterization

What parameters are used internally? Which parameters can be set by the user? Each parameter should have a short description as shown in the following example.

Parameter	Description
parameter_a	Some parameter to customize the model
parameter_b	Another parameter to customize the model

Interface

What interfaces are used as model input and model output? All required and optional messages of the interface shall be named in a list as shown in the following example.

Input: Required Fields in osi3::SensorView and/or osi3::TrafficCommand

OSI Message	Required / Optional
sensor_view.global_ground_truth.timestamp	required
sensor_view.global_ground_truth.host_vehicle_id	required
sensor_view.global_ground_truth.moving_object.id	required
sensor_view.global_ground_truth.moving_object.base.position	required
sensor_view.global_ground_truth.moving_object.base.orientation	required
sensor_view.global_ground_truth.moving_object.base.velocity	required
traffic_command.traffic_participant_id	required
traffic_command.action	optional

Output: Fields in osi3::TrafficUpdate and/or osi3::TrafficCommandUpdate filled by the Model

OSI Message	Required / Optional
traffic_update.version	required
traffic_update.timestamp	required
traffic_update.update.base.position	required
traffic_update.update.base.orientation	required
traffic_update.update.base.velocity	required
traffic_command_update.version	required
traffic_command_update.timestamp	required
traffic_command_update.dismissed_action	optional

Build Instructions

What are the dependencies for building the model?

Give step-by-step build instructions for supported operating systems. The following is an example for building a model as an FMU in Ubuntu.

Build Model in Ubuntu 18.04 / 20.04

1. Clone this repository with submodules:

   git clone https://github.com/openMSL/your-model.git --recurse-submodules

2. Build the model by executing in the extracted project root directory:

   mkdir cmake-build
   cd cmake-build
   # If FMU_INSTALL_DIR is not set, CMAKE_BINARY_DIR is used
   cmake -DCMAKE_BUILD_TYPE=Release -DFMU_INSTALL_DIR:PATH=/tmp ..
   make

3. Take FMU from FMU_INSTALL_DIR

< The final FMU has to be named according to the repository name. In this example sl-1-0-sensor-model-repository-template.fmu >

Credits

Give credits to funding or third-party contributions. If the model is further described in a publication, it can also be named here.

References

Throughout this readme file, references are to be used, e.g. when citing scientific literature while describing the modeling approach. This can be done by added a number in the text with a reference identifier, like so: [1, p. 192]. For longer papers or book sections, please also give the page number, as shown in this example.

Then add the full list of authors, title and journal or conference in this section. The IEEE citation style [2] should be used. Here is the bibliography from the example above.

[1] P. Rosenberger, M. F. Holder, N. Cianciaruso, P. Aust, J. F. Tamm-Morschel, C. Linnhoff, and H. Winner, “Sequential lidar sensor system simulation: A modular approach for simulation-based safety validation of automated driving,” Automotive and Engine Technology, vol. 5, no. 3-4, pp. 187–197, Dec. 2020.

[2] IEEEDataPort, "How to Cite References: IEEE Documentation Style," [Online]. Available: https://ieee-dataport.org/sites/default/files/analysis/27/IEEE%20Citation%20Guidelines.pdf. [Accessed Jan. 09, 2023]

State-of-the-Art

This section is a state-of-the-art collection for the traffic participant model sub-library. When you clone this template to implement your own model, delete this entire section from the readme.

Traffic Participant Model Validation and Verification

General Simulation Credibility

• Credible Simulation Process Framework from the German research project SET Level of the PEGASUS project family
• Credibility-Assessment-Framework incl. Credibility Development Kit from the European research project UPSIM incl. corresponding publication

Dedicated Publications

Authors	Date	Title	Link / Repo / Paper / DOI	Data Set	Modality	Facility	Funding

Collection of Traffic Participant Model Candidates for OpenMSL

Vehicle Models

Authors	Date	Title	Link / Repo / Paper / DOI	Standards?	Facility	Funding

Pedestrian Models

Authors	Date	Title	Link / Repo / Paper / DOI	Standards?	Facility	Funding