Data Structures
struct	dwEgomotionLinearAccelerationFilterParams
	Defines egomotion linear acceleration filter parameters. More...

struct	dwEgomotionSuspensionParameters
	Suspension model type and parameters. More...

struct	dwEgomotionSensorCharacteristics
	Sensor measurement noise characteristics. More...

struct	dwEgomotionParameters
	Holds initialization parameters for the Egomotion module. More...

struct	dwEgomotionQuality
	Egomotion quality: integrity and error bounds. More...

struct	dwEgomotionResultQuality
	Quality of instantaneous state estimate. More...

struct	dwEgomotionResult
	Instantaneous state estimate. More...

struct	dwEgomotionUncertainty
	Instantaneous state uncertainty estimates. More...

struct	dwEgomotionTransformationQuality
	Relative transformation validity and uncertainty. More...

Typedefs
typedef enum dwMotionModel	dwMotionModel
	Defines the motion models. More...

typedef enum dwEgomotionIMUIdentifier	dwEgomotionIMUIdentifier
	Defines IMU identifiers. More...

typedef enum dwMotionModelMeasurement	dwMotionModelMeasurement
	Defines motion measurements. More...

typedef enum dwEgomotionSpeedMeasurementType	dwEgomotionSpeedMeasurementType
	Defines speed measurement types. More...

typedef enum dwEgomotionSteeringMeasurementType	dwEgomotionSteeringMeasurementType
	Defines steering measurement types. More...

typedef enum dwEgomotionLinearAccelerationFilterMode	dwEgomotionLinearAccelerationFilterMode
	Defines egomotion linear acceleration filter mode. More...

typedef enum dwEgomotionSuspensionModel	dwEgomotionSuspensionModel
	Defines egomotion suspension model. More...

typedef enum dwEgomotionDataField	dwEgomotionDataField
	Defines flags that indicate validity of corresponding data in dwEgomotionResult and dwEgomotionUncertainty. More...

typedef enum dwEgomotionIntegrity	dwEgomotionIntegrity
	Egomotion integrity levels. More...

typedef struct dwEgomotionLinearAccelerationFilterParams	dwEgomotionLinearAccelerationFilterParams
	Defines egomotion linear acceleration filter parameters. More...

typedef struct dwEgomotionSuspensionParameters	dwEgomotionSuspensionParameters
	Suspension model type and parameters. More...

typedef struct dwEgomotionSensorCharacteristics	dwEgomotionSensorCharacteristics
	Sensor measurement noise characteristics. More...

typedef struct dwEgomotionParameters	dwEgomotionParameters
	Holds initialization parameters for the Egomotion module. More...

typedef struct dwEgomotionQuality	dwEgomotionQuality
	Egomotion quality: integrity and error bounds. More...

typedef struct dwEgomotionResultQuality	dwEgomotionResultQuality
	Quality of instantaneous state estimate. More...

typedef struct dwEgomotionResult	dwEgomotionResult
	Instantaneous state estimate. More...

typedef struct dwEgomotionUncertainty	dwEgomotionUncertainty
	Instantaneous state uncertainty estimates. More...

typedef struct dwEgomotionTransformationQuality	dwEgomotionTransformationQuality
	Relative transformation validity and uncertainty. More...

Enumerations
enum	dwMotionModel { DW_EGOMOTION_ODOMETRY = 1 << 0, DW_EGOMOTION_IMU_ODOMETRY = (1 << 2) - 1, DW_EGOMOTION_VEHICLE_MOTION_OBSERVER = 1 << 2 }
	Defines the motion models. More...

enum	dwEgomotionIMUIdentifier { DW_EGOMOTION_IMU_BASE = 0, DW_EGOMOTION_IMU_HIGH_A = 1, DW_EGOMOTION_IMU_HIGH_B = 2, DW_EGOMOTION_IMU_COUNT_MAX = 3 }
	Defines IMU identifiers. More...

enum	dwMotionModelMeasurement { DW_EGOMOTION_MEASUREMENT_VELOCITY = 0, DW_EGOMOTION_MEASUREMENT_STEERINGANGLE = 1, DW_EGOMOTION_MEASUREMENT_STEERINGWHEELANGLE = 2 }
	Defines motion measurements. More...

enum	dwEgomotionSpeedMeasurementType { DW_EGOMOTION_FRONT_SPEED = 0, DW_EGOMOTION_REAR_WHEEL_SPEED = 1, DW_EGOMOTION_REAR_SPEED = 2 }
	Defines speed measurement types. More...

enum	dwEgomotionSteeringMeasurementType { DW_EGOMOTION_FRONT_STEERING = 0, DW_EGOMOTION_STEERING_WHEEL_ANGLE = 1 }
	Defines steering measurement types. More...

enum	dwEgomotionLinearAccelerationFilterMode { DW_EGOMOTION_ACC_FILTER_NO_FILTERING = 0, DW_EGOMOTION_ACC_FILTER_SIMPLE = 1 }
	Defines egomotion linear acceleration filter mode. More...

enum	dwEgomotionSuspensionModel { DW_EGOMOTION_SUSPENSION_RIGID_MODEL = 0, DW_EGOMOTION_SUSPENSION_TORSIONAL_SPRING_MODEL = 1 }
	Defines egomotion suspension model. More...

enum	dwEgomotionDataField { DW_EGOMOTION_ROTATION = 1 << 0, DW_EGOMOTION_LIN_VEL_X = 1 << 1, DW_EGOMOTION_LIN_VEL_Y = 1 << 2, DW_EGOMOTION_LIN_VEL_Z = 1 << 3, DW_EGOMOTION_ANG_VEL_X = 1 << 4, DW_EGOMOTION_ANG_VEL_Y = 1 << 5, DW_EGOMOTION_ANG_VEL_Z = 1 << 6, DW_EGOMOTION_LIN_ACC_X = 1 << 7, DW_EGOMOTION_LIN_ACC_Y = 1 << 8, DW_EGOMOTION_LIN_ACC_Z = 1 << 9, DW_EGOMOTION_ANG_ACC_X = 1 << 10, DW_EGOMOTION_ANG_ACC_Y = 1 << 11, DW_EGOMOTION_ANG_ACC_Z = 1 << 12, DW_EGOMOTION_CURVATURE = 1 << 13 }
	Defines flags that indicate validity of corresponding data in dwEgomotionResult and dwEgomotionUncertainty. More...

enum	dwEgomotionIntegrity { DW_EGOMOTION_INTEGRITY_INVALID = 0, DW_EGOMOTION_INTEGRITY_VALID_QM = 1, DW_EGOMOTION_INTEGRITY_VALID_A = 2, DW_EGOMOTION_INTEGRITY_VALID_B = 3, DW_EGOMOTION_INTEGRITY_VALID_C = 4, DW_EGOMOTION_INTEGRITY_VALID_D = 5 }
	Egomotion integrity levels. More...

Typedef Documentation

◆ dwEgomotionDataField

typedef enum dwEgomotionDataField dwEgomotionDataField

Defines flags that indicate validity of corresponding data in dwEgomotionResult and dwEgomotionUncertainty.

◆ dwEgomotionIMUIdentifier

typedef enum dwEgomotionIMUIdentifier dwEgomotionIMUIdentifier

Defines IMU identifiers.

◆ dwEgomotionIntegrity

typedef enum dwEgomotionIntegrity dwEgomotionIntegrity

Egomotion integrity levels.

Non-QM integrity levels are only applicable to vehicle platforms developed for NDAS. No guarantees are made for usage of egomotion as part of non-NDAS DriveWorks SDK.

Non-QM integrity levels are only provided for select egomotion modalities.

See also: dwEgomotionQuality

◆ dwEgomotionLinearAccelerationFilterMode

typedef enum dwEgomotionLinearAccelerationFilterMode dwEgomotionLinearAccelerationFilterMode

Defines egomotion linear acceleration filter mode.

◆ dwEgomotionLinearAccelerationFilterParams

typedef struct dwEgomotionLinearAccelerationFilterParams dwEgomotionLinearAccelerationFilterParams

Defines egomotion linear acceleration filter parameters.

◆ dwEgomotionParameters

typedef struct dwEgomotionParameters dwEgomotionParameters

Holds initialization parameters for the Egomotion module.

◆ dwEgomotionQuality

typedef struct dwEgomotionQuality dwEgomotionQuality

Egomotion quality: integrity and error bounds.

Egomotion provides (conservative) error bounds on its signals by leveraging an extensive monitoring framework and quantifying the impact of any input or internal error on its output. Not all egomotion modalities support this.

Lower and upper error bounds are given relative to the estimated quantity and only valid if status indicates ASIL level. Absolute angular quantities are subject to [-PI, PI] limits and error bounds do not wrap around.

For example, linear velocity upper and lower bounds of +1 m/s, -2 m/s respectively indicate that the true velocity is within this range from the current estimate, with corresponding integrity. If the velocity estimated by egomotion is 10 m/s, the bounds translate to a guarantee that the true velocity is between 8 and 11 m/s. In other words, the velocity is at most under estimated by 10/11=~9%, or over estimated by 10/8=25%.

◆ dwEgomotionResult

typedef struct dwEgomotionResult dwEgomotionResult

Instantaneous state estimate.

Note: Validity of data fields indicated by flags in dwEgomotionResultQuality

◆ dwEgomotionResultQuality

typedef struct dwEgomotionResultQuality dwEgomotionResultQuality

Quality of instantaneous state estimate.

See also: dwEgomotionResult

◆ dwEgomotionSensorCharacteristics

typedef struct dwEgomotionSensorCharacteristics dwEgomotionSensorCharacteristics

Sensor measurement noise characteristics.

◆ dwEgomotionSpeedMeasurementType

typedef enum dwEgomotionSpeedMeasurementType dwEgomotionSpeedMeasurementType

Defines speed measurement types.

◆ dwEgomotionSteeringMeasurementType

typedef enum dwEgomotionSteeringMeasurementType dwEgomotionSteeringMeasurementType

Defines steering measurement types.

◆ dwEgomotionSuspensionModel

typedef enum dwEgomotionSuspensionModel dwEgomotionSuspensionModel

Defines egomotion suspension model.

◆ dwEgomotionSuspensionParameters

typedef struct dwEgomotionSuspensionParameters dwEgomotionSuspensionParameters

Suspension model type and parameters.

◆ dwEgomotionTransformationQuality

typedef struct dwEgomotionTransformationQuality dwEgomotionTransformationQuality

Relative transformation validity and uncertainty.

Note: Covariances are provided "as is" for usage in fusion algorithms depending on egomotion estimation but no accuracy claims are made. Review the disclaimer on covariances provided in dwEgomotionUncertainty.

◆ dwEgomotionUncertainty

typedef struct dwEgomotionUncertainty dwEgomotionUncertainty

Instantaneous state uncertainty estimates.

Data in these fields represent the uncertainties of the corresponding fields in dwEgomotionResult. The uncertainties are represented as covariance matrix when appropriate, or in standard deviation around the estimate otherwise. These values are provided "as is" for usage in fusion algorithms depending on egomotion estimation but no accuracy claims are made (see below).

Note

The uncertainties do not represent estimate accuracy, only the precision of the estimate, under the classical filtering assumptions and limitation of the state and models used in internal estimators:

error distributions are zero mean
error distributions are Gaussian Neither exactly hold in practice, at least not in all cases. Errors that do not fit the zero mean Gaussian distribution might include calibration errors, model inaccuracies and limitations, input signal degradations or outlier measurements. Such errors are unobservable (or the estimator would correct for them) and result in biased error distributions. Covariances are therefore not a suitable signal to assess egomotion accuracy (i.e. “quality”), particularly in safety-relevant context. Use dwEgomotionResultQuality instead.

Units are identical to those used in dwEgomotionResult. Units in covariance matrices are squared.

Rotation is represented as a quaternion; however, here a 3x3 covariance of the equivalent euler angles is given (order: roll, pitch, yaw) in [rad].

◆ dwMotionModel

typedef enum dwMotionModel dwMotionModel

Defines the motion models.

◆ dwMotionModelMeasurement

typedef enum dwMotionModelMeasurement dwMotionModelMeasurement

Defines motion measurements.

Enumeration Type Documentation

◆ dwEgomotionDataField

enum dwEgomotionDataField

Defines flags that indicate validity of corresponding data in dwEgomotionResult and dwEgomotionUncertainty.

Enumerator
DW_EGOMOTION_ROTATION	indicates validity of rotation, See also limitations of selected dwMotionModel
DW_EGOMOTION_LIN_VEL_X	indicates validity of linearVelocity[0]
DW_EGOMOTION_LIN_VEL_Y	indicates validity of linearVelocity[1]
DW_EGOMOTION_LIN_VEL_Z	indicates validity of linearVelocity[2]
DW_EGOMOTION_ANG_VEL_X	indicates validity of angularVelocity[0]
DW_EGOMOTION_ANG_VEL_Y	indicates validity of angularVelocity[1]
DW_EGOMOTION_ANG_VEL_Z	indicates validity of angularVelocity[2]
DW_EGOMOTION_LIN_ACC_X	indicates validity of linearAcceleration[0]
DW_EGOMOTION_LIN_ACC_Y	indicates validity of linearAcceleration[1]
DW_EGOMOTION_LIN_ACC_Z	indicates validity of linearAcceleration[2]
DW_EGOMOTION_ANG_ACC_X	indicates validity of angularAcceleration[0]
DW_EGOMOTION_ANG_ACC_Y	indicates validity of angularAcceleration[1]
DW_EGOMOTION_ANG_ACC_Z	indicates validity of angularAcceleration[2]
DW_EGOMOTION_CURVATURE	indicates validity of curvature

Definition at line 205 of file EgomotionTypes.h.

◆ dwEgomotionIMUIdentifier

enum dwEgomotionIMUIdentifier

Defines IMU identifiers.

Enumerator
DW_EGOMOTION_IMU_BASE	Base IMU used in L2 and L3 products.
DW_EGOMOTION_IMU_HIGH_A	High IMU (A) used in L3 product.
DW_EGOMOTION_IMU_HIGH_B	High IMU (B) used in L3 product.
DW_EGOMOTION_IMU_COUNT_MAX	Max number of IMUs supported. Invalid value.

Definition at line 98 of file EgomotionTypes.h.

◆ dwEgomotionIntegrity

enum dwEgomotionIntegrity

Egomotion integrity levels.

Non-QM integrity levels are only applicable to vehicle platforms developed for NDAS. No guarantees are made for usage of egomotion as part of non-NDAS DriveWorks SDK.

Non-QM integrity levels are only provided for select egomotion modalities.

See also: dwEgomotionQuality

Enumerator
DW_EGOMOTION_INTEGRITY_INVALID	Signal is invalid, do not use.
DW_EGOMOTION_INTEGRITY_VALID_QM	Signal is valid without guarantees (no error bounds provided).
DW_EGOMOTION_INTEGRITY_VALID_A	Signal is valid and within error bounds with ASIL A guarantee.
DW_EGOMOTION_INTEGRITY_VALID_B	Signal is valid and within error bounds with ASIL B guarantee.
DW_EGOMOTION_INTEGRITY_VALID_C	Signal is valid and within error bounds with ASIL C guarantee.
DW_EGOMOTION_INTEGRITY_VALID_D	Signal is valid and within error bounds with ASIL D guarantee.

Definition at line 233 of file EgomotionTypes.h.

◆ dwEgomotionLinearAccelerationFilterMode

enum dwEgomotionLinearAccelerationFilterMode

Defines egomotion linear acceleration filter mode.

Enumerator
DW_EGOMOTION_ACC_FILTER_NO_FILTERING	no filtering of the output linear acceleration
DW_EGOMOTION_ACC_FILTER_SIMPLE	simple low-pass filtering of the acceleration

Definition at line 189 of file EgomotionTypes.h.

◆ dwEgomotionSpeedMeasurementType

enum dwEgomotionSpeedMeasurementType

Defines speed measurement types.

Enumerator

DW_EGOMOTION_FRONT_SPEED

Indicates that speed is linear speed [m/s] measured at front wheels (along steering direction).

Steering angle [rad] is used internally to compute longitudinal speed.

Positive speed corresponds to a forward motion of the vehicle.
Positive steering angle corresponds to a left turn.

Note

: estimation quality is dependent on measurement accuracy, resolution and sampling rate. We recommend the following:

speed signal at >=50Hz sampling rate and resolution of 0.02 m/s or higher.
steering angle signal at >=50Hz sampling rate and resolution of 0.01 deg or higher.

Provide front speed measurement and steering angle with the dwEgomotion_addVehicleState API where the dwVehicleIOState struct contains speed, frontSteeringAngle, speedTimestamp and steeringTimestamp or with dwEgomotion_addVehicleIOState API where at least one of dwVehicleIOSafetyState, dwVehicleIONonSafetyState or dwVehicleIOActuationFeedback contain valid values of speed, frontSteeringAngle, speedTimestamp and frontSteeringTimestamp.

DW_EGOMOTION_REAR_WHEEL_SPEED

Indicates that speeds are angular speeds [rad/s] measured at rear wheels.

Positive angular speeds correspond to a forward motion of the vehicle.

Note

This mode requires valid dwEgomotionParameters.dwVehicle.wheelRadius otherwise incorrect estimation of the longitudinal speed will be made.

It is expected that both rear wheel speed measurements are not far apart in time, otherwise degradation in estimation quality is expected.

: estimation quality is dependent on measurement accuracy, resolution and sampling rate. We recommend the following:

speed signal at >=50Hz sampling rate and resolution of 0.05 rad/s or higher.

: Egomotion supports steered rear axles.

Provide rear wheel speed measurements with the dwEgomotion_addVehicleState API where the dwVehicleIOState struct contains wheelSpeed and wheelSpeedTimestamp or with dwEgomotion_addVehicleIOState API where at least one of dwVehicleIOSafetyState, dwVehicleIONonSafetyState or dwVehicleIOActuationFeedback contain valid values of wheelSpeed and wheelTickTimestamp.

DW_EGOMOTION_REAR_SPEED

Indicates that speed is linear speed [m/s] measured at rear axle center (along steering direction).

Rear steering angle [rad] given by dwVehicleIOState.rearWheelAngle is used internally to compute longitudinal speed.

Positive speed corresponds to a forward motion of the vehicle.
Positive steering angle corresponds to a lateral motion towards the left at the rear axle.

Note

: estimation quality is dependent on measurement accuracy, resolution and sampling rate. We recommend the following:

speed signal at >=50Hz sampling rate and resolution of 0.02 m/s or higher.

Provide rear speed measurement with the dwEgomotion_addVehicleState API where the dwVehicleIOState struct contains speed, rearWheelAngle and speedTimestamp or with dwEgomotion_addVehicleIOState API where at least one of dwVehicleIOSafetyState, dwVehicleIONonSafetyState or dwVehicleIOActuationFeedback contain valid values for speed, rearWheelAngle and speedTimestamp.

Definition at line 117 of file EgomotionTypes.h.

◆ dwEgomotionSteeringMeasurementType

enum dwEgomotionSteeringMeasurementType

Defines steering measurement types.

Enumerator
DW_EGOMOTION_FRONT_STEERING	See also dwVehicleIOState frontSteeringAngle
DW_EGOMOTION_STEERING_WHEEL_ANGLE	See also dwVehicleIOState steeringWheelAngle

Definition at line 181 of file EgomotionTypes.h.

◆ dwEgomotionSuspensionModel

enum dwEgomotionSuspensionModel

Defines egomotion suspension model.

Enumerator

DW_EGOMOTION_SUSPENSION_RIGID_MODEL

No suspension model.

Equivalent to perfectly rigid suspension.

DW_EGOMOTION_SUSPENSION_TORSIONAL_SPRING_MODEL

Models suspension as single-axis damped torsional spring.

Definition at line 197 of file EgomotionTypes.h.

◆ dwMotionModel

enum dwMotionModel

Defines the motion models.

Enumerator

DW_EGOMOTION_ODOMETRY

Given odometry information, estimates motion of the vehicle using a bicycle model.

The following parameters are required for this model:

dwEgomotionParameters
- vehicle
  - wheelbase, mass, inertia3D, frontCorneringStiffness, rearCorneringStiffness, centerOfMassToRearAxle, wheelRadius (1), steeringWheelToSteeringMap (2), maxSteeringWheelAngle (2), frontSteeringOffset (2)
- speedMeasurementType

This model is capable of providing the following estimates:

dwEgomotionResult
- rotation (only around vehicle rig yaw axis, relative to initial orientation)
- linearVelocity[0] and linearVelocity[1]
- angularVelocity[2]
- linearAcceleration[1]
dwTransformation3f (with dwEgomotion_computeRelativeTransformation)
- motion only estimated in plane, i.e. x, y translation and yaw rotation.

Uncertainty estimates are not supported at this time.

(1) if dwEgomotionParameters.speedMeasurementType == DW_EGOMOTION_REAR_WHEEL_SPEED

DW_EGOMOTION_IMU_ODOMETRY

Fuses odometry model with IMU measurements to estimate motion of the vehicle.

The following parameters are required for this model:

dwEgomotionParameters
- vehicle
  - wheelRadius (1), steeringWheelToSteeringMap (2), maxSteeringWheelAngle (2), wheelbase (3, 4), mass (3, 4), centerOfMassHeight (3), inertia3D (3), centerOfMassToFrontAxle (4) rearCorneringStiffness (4)
- imu2rig
- speedMeasurementType

This model is capable of providing the following estimates:

dwEgomotionResult
- rotation (in local vertical, local horizontal coordinate frame aligned with initial heading of vehicle)
- linearVelocity[0] and linearVelocity[1]
- angularVelocity
- linearAcceleration
dwTransformation3f (with dwEgomotion_computeRelativeTransformation)

Uncertainty estimates are provided for all state estimates listed above.

(1) if dwEgomotionParameters.speedMeasurementType == DW_EGOMOTION_REAR_WHEEL_SPEED
(2) if dwEgomotionParameters.suspension.model == DW_EGOMOTION_SUSPENSION_TORSIONAL_SPRING_MODEL
(3) if dwEgomotionParameters.lateralSlipCoefficient == 0

DW_EGOMOTION_VEHICLE_MOTION_OBSERVER

Egomotion estimation based on IMU and RoV sensors (wheel encoders, steering, suspension, drive status, ...) targeted for NDAS production.

Not officially supported as part of DriveWorks SDK, backwards compatibility and deprecation process will not be followed. See disclaimer in dw/egomotion/2.0/Egomotion2.h for more information.

Definition at line 32 of file EgomotionTypes.h.

◆ dwMotionModelMeasurement

enum dwMotionModelMeasurement

Defines motion measurements.

Enumerator
DW_EGOMOTION_MEASUREMENT_VELOCITY	Vehicle velocity [m/s].
DW_EGOMOTION_MEASUREMENT_STEERINGANGLE	Steering angle [rad].
DW_EGOMOTION_MEASUREMENT_STEERINGWHEELANGLE	Steering wheel angle [rad].

Definition at line 108 of file EgomotionTypes.h.

NVIDIA DriveOS Linux NSR SDK API Reference

7.0.3.0 Release

Data Structures

Typedefs

Enumerations

Typedef Documentation

◆ dwEgomotionDataField

◆ dwEgomotionIMUIdentifier

◆ dwEgomotionIntegrity

◆ dwEgomotionLinearAccelerationFilterMode

◆ dwEgomotionLinearAccelerationFilterParams

◆ dwEgomotionParameters

◆ dwEgomotionQuality

◆ dwEgomotionResult

◆ dwEgomotionResultQuality

◆ dwEgomotionSensorCharacteristics

◆ dwEgomotionSpeedMeasurementType

◆ dwEgomotionSteeringMeasurementType

◆ dwEgomotionSuspensionModel

◆ dwEgomotionSuspensionParameters

◆ dwEgomotionTransformationQuality

◆ dwEgomotionUncertainty

◆ dwMotionModel

◆ dwMotionModelMeasurement

Enumeration Type Documentation

◆ dwEgomotionDataField

◆ dwEgomotionIMUIdentifier

◆ dwEgomotionIntegrity

◆ dwEgomotionLinearAccelerationFilterMode

◆ dwEgomotionSpeedMeasurementType

◆ dwEgomotionSteeringMeasurementType

◆ dwEgomotionSuspensionModel

◆ dwMotionModel

◆ dwMotionModelMeasurement