dwValEgomotion Struct Reference
Detailed Description
Command signals of ValEgomotion. Expected to be sent from NDAS to VAL.
Definition at line 5308 of file VehicleIOValStructures.h.
Collaboration diagram for dwValEgomotion:
Field Documentation
◆ emAngularAccel
| float32_t dwValEgomotion::emAngularAccel[3] |
- Note
- ID VS-31040
- description Vehicle angular acceleration aligned to body coordinate frame (X-Y-Z Axis).
- unit rad/s2 [SYS-REQ-25004370]
Definition at line 5358 of file VehicleIOValStructures.h.
◆ emAngularVelocity
| float32_t dwValEgomotion::emAngularVelocity[3] |
- Note
- ID VS-31030
- description Vehicle angular velocity aligned to body coordinate frame (X-Y-Z Axis).
- unit rad/s [SYS-REQ-25004369]
Definition at line 5352 of file VehicleIOValStructures.h.
◆ emBaseAccelerometerOffset
| float32_t dwValEgomotion::emBaseAccelerometerOffset[3] |
- Note
- ID VS-31125
- description Base IMU's accelerometer offset, in sensor coordinate frame, [X, Y, Z].
- unit m/s2 [SYS-REQ-29512054]
Definition at line 5515 of file VehicleIOValStructures.h.
◆ emBaseGyroscopeOffset
| float32_t dwValEgomotion::emBaseGyroscopeOffset[3] |
- Note
- ID VS-31126
- description Base IMU's gyroscope offset, in sensor coordinate frame, [X, Y, Z].
- unit rad/s [SYS-REQ-29512056]
Definition at line 5521 of file VehicleIOValStructures.h.
◆ emFrontSteeringOffset
| float32_t dwValEgomotion::emFrontSteeringOffset |
- Note
- ID VS-31129
- description Front steering angle offset, positive to left.
- unit rad [SYS-REQ-29512061]
Definition at line 5541 of file VehicleIOValStructures.h.
◆ emImuAAccelerometerOffset
| float32_t dwValEgomotion::emImuAAccelerometerOffset[3] |
- Note
- ID VS-31127
- description HIGH IMU A accelerometer offset, in sensor coordinate frame, [X, Y, Z].
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit m/s2 [SYS-REQ-29512058]
Definition at line 5528 of file VehicleIOValStructures.h.
◆ emImuAGyroscopeOffset
| float32_t dwValEgomotion::emImuAGyroscopeOffset[3] |
- Note
- ID VS-31128
- description High IMU A gyroscope offset, in sensor coordinate frame, [X, Y, Z].
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit rad/s [SYS-REQ-29512059]
Definition at line 5535 of file VehicleIOValStructures.h.
◆ emLinearAccel
| float32_t dwValEgomotion::emLinearAccel[3] |
- Note
- ID VS-31020
- description Vehicle linear velocity aligned to body coordinate frame. Output of a KF filtering wheel odometry (VS-10080, VS-30110, VS-30120, VS-30130, VS-30170), linear accelerometer (VS-90050), angular velocity (VS-90040), angular acceleration (VS-90120), suspension signals (VS-30310), including their corresponding timestamps. Accuracy limited by quality of effective wheel radius calibration. Expect approx. 0.2% error 1σ. Will be validated against a reference INS solution (e.g. Novatel dGPS) on a selection of maneuvers representative of use cases.
- unit m/s2 [SYS-REQ-25004368]
Definition at line 5346 of file VehicleIOValStructures.h.
◆ emLinearVelocity
| float32_t dwValEgomotion::emLinearVelocity[3] |
- Note
- ID VS-31010
- description Vehicle linear velocity aligned to body coordinate frame. Output of a KF filtering wheel odometry (VS-10080, VS-30110, VS-30120, VS-30130, VS-30170), linear accelerometer (VS-90050), angular velocity (VS-90040), angular acceleration (VS-90120), suspension signals (VS-30310), including their corresponding timestamps. Accuracy limited by quality of effective wheel radius calibration. Expect approx. 0.2% error 1σ. Will be validated against a reference INS solution (e.g. Novatel dGPS) on a selection of maneuvers representative of use cases.
- unit m/s [SYS-REQ-25004366]
Definition at line 5334 of file VehicleIOValStructures.h.
◆ emLinearVelocityStdev
| float32_t dwValEgomotion::emLinearVelocityStdev[3] |
- Note
- ID VS-31011
- description Vehicle linear velocity standard deviation aligned to body coordinate frame (X-Y-Z Axis).
- unit m/s [SYS-REQ-25004367]
Definition at line 5340 of file VehicleIOValStructures.h.
◆ emOrientation
| float32_t dwValEgomotion::emOrientation[3] |
- Note
- ID VS-31110
- description Vehicle orientation (integrated, as Euler angles, since t0). Differently from VS-90020 (which is a signal that can be provided by certain types of IMUs as part of their internal state estimation, and is not used by egomotion), this is an output signal from egomotion estimator. Egomotion outputs the orientation of the vehicle, as NDAS “rig” coordinate frame, relative to a local horizontal, local vertical coordinate frame. Validated against a reference INS solution (e.g. Novatel dGPS) on a selection of maneuvers representative of use cases A Kalman filter and integrator combine information from wheel odometry (incl. steering), suspension and IMU into a 6 degrees of freedom motion estimation, also known as dead reckoning. The orientation representation in VS-31110 uses the DriveWorks Euler angle convention, described as: - One rotation is applied about each of the axes (use of a Tait-Bryan convention) - The order of the rotations is either of (both are equivalent): – z-y’-x’’: (1) yaw about original fixed z axis, (2) pitch about interim rotated y axis, (3) roll about interim rotated x axis – x-y-z: (1) roll about fixed x axis, (2) pitch about fixed y axis, (3) yaw about fixed z axis All coordinate frames are right-handed.
- unit rad [SYS-REQ-25004371]
Definition at line 5364 of file VehicleIOValStructures.h.
◆ emOrientationStdev
| float32_t dwValEgomotion::emOrientationStdev[3] |
- Note
- ID VS-31111
- description Vehicle orientation standard deviation (for each Euler angle) (X-Y-Z Axis).
- unit rad [SYS-REQ-25004372]
Definition at line 5370 of file VehicleIOValStructures.h.
◆ emQualityAngularAccelerationLower
| float32_t dwValEgomotion::emQualityAngularAccelerationLower[3] |
- Note
- ID VS-31041
- description Egomotion angular acceleration lower error bound [X, Y, Z].
- unit rad/s2 [SYS-REQ-27417280]
Definition at line 5454 of file VehicleIOValStructures.h.
◆ emQualityAngularAccelerationStatus
| dwVioEmIntegrity dwValEgomotion::emQualityAngularAccelerationStatus[3] |
- Note
- ID VS-31043
- description Egomotion angular acceleration status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417286]
Definition at line 5466 of file VehicleIOValStructures.h.
◆ emQualityAngularAccelerationUpper
| float32_t dwValEgomotion::emQualityAngularAccelerationUpper[3] |
- Note
- ID VS-31042
- description Egomotion angular acceleration upper error bound [X, Y, Z].
- unit rad/s2 [SYS-REQ-27417284]
Definition at line 5460 of file VehicleIOValStructures.h.
◆ emQualityAngularVelocityLower
| float32_t dwValEgomotion::emQualityAngularVelocityLower[3] |
- Note
- ID VS-31031
- description Egomotion angular velocity lower error bound [X, Y, Z].
- unit rad/s [SYS-REQ-27417274]
Definition at line 5436 of file VehicleIOValStructures.h.
◆ emQualityAngularVelocityStatus
| dwVioEmIntegrity dwValEgomotion::emQualityAngularVelocityStatus[3] |
- Note
- ID VS-31033
- description Egomotion angular velocity status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417279]
Definition at line 5448 of file VehicleIOValStructures.h.
◆ emQualityAngularVelocityUpper
| float32_t dwValEgomotion::emQualityAngularVelocityUpper[3] |
- Note
- ID VS-31032
- description Egomotion angular velocity upper error bound [X, Y, Z].
- unit rad/s [SYS-REQ-27417276]
Definition at line 5442 of file VehicleIOValStructures.h.
◆ emQualityLinearAccelerationLower
| float32_t dwValEgomotion::emQualityLinearAccelerationLower[3] |
- Note
- ID VS-31021
- description Egomotion acceleration lower error bound [X, Y, Z].
- unit m/s2 [SYS-REQ-27417262]
Definition at line 5418 of file VehicleIOValStructures.h.
◆ emQualityLinearAccelerationStatus
| dwVioEmIntegrity dwValEgomotion::emQualityLinearAccelerationStatus[3] |
- Note
- ID VS-31023
- description Egomotion acceleration status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417271]
Definition at line 5430 of file VehicleIOValStructures.h.
◆ emQualityLinearAccelerationUpper
| float32_t dwValEgomotion::emQualityLinearAccelerationUpper[3] |
- Note
- ID VS-31022
- description Egomotion acceleration upper error bound [X, Y, Z].
- unit m/s2 [SYS-REQ-27417265]
Definition at line 5424 of file VehicleIOValStructures.h.
◆ emQualityLinearVelocityLower
| float32_t dwValEgomotion::emQualityLinearVelocityLower[3] |
- Note
- ID VS-31012
- description Egomotion velocities lower error bound [X, Y, Z].
- unit m/s [SYS-REQ-27417226]
Definition at line 5400 of file VehicleIOValStructures.h.
◆ emQualityLinearVelocityStatus
| dwVioEmIntegrity dwValEgomotion::emQualityLinearVelocityStatus[3] |
- Note
- ID VS-31014
- description Egomotion velocities status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417261]
Definition at line 5412 of file VehicleIOValStructures.h.
◆ emQualityLinearVelocityUpper
| float32_t dwValEgomotion::emQualityLinearVelocityUpper[3] |
- Note
- ID VS-31013
- description Egomotion velocities upper error bound [X, Y, Z].
- unit m/s [SYS-REQ-27417228]
Definition at line 5406 of file VehicleIOValStructures.h.
◆ emQualityOrientationLower
| float32_t dwValEgomotion::emQualityOrientationLower[3] |
- Note
- ID VS-31112
- description Egomotion orientation lower error bound [X, Y, Z].
- unit rad [SYS-REQ-27417288]
Definition at line 5472 of file VehicleIOValStructures.h.
◆ emQualityOrientationStatus
| dwVioEmIntegrity dwValEgomotion::emQualityOrientationStatus[3] |
- Note
- ID VS-31114
- description Egomotion orientation status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417290]
Definition at line 5484 of file VehicleIOValStructures.h.
◆ emQualityOrientationUpper
| float32_t dwValEgomotion::emQualityOrientationUpper[3] |
- Note
- ID VS-31113
- description Egomotion orientation upper error bound [X, Y, Z].
- unit rad [SYS-REQ-27417289]
Definition at line 5478 of file VehicleIOValStructures.h.
◆ emQualityTranslationLower
| float32_t dwValEgomotion::emQualityTranslationLower[3] |
- Note
- ID VS-31121
- description Egomotion translation lower error bound [X, Y, Z].
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit m
Definition at line 5490 of file VehicleIOValStructures.h.
◆ emQualityTranslationStatus
| dwVioEmIntegrity dwValEgomotion::emQualityTranslationStatus[3] |
- Note
- ID VS-31123
- description Egomotion translation status level integrity [X, Y, Z].
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit unitless [SYS-REQ-27417296]
Definition at line 5503 of file VehicleIOValStructures.h.
◆ emQualityTranslationUpper
| float32_t dwValEgomotion::emQualityTranslationUpper[3] |
- Note
- ID VS-31122
- description Egomotion translation upper error bound [X, Y, Z].
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit m
Definition at line 5496 of file VehicleIOValStructures.h.
◆ emSensorPosition
| float32_t dwValEgomotion::emSensorPosition[3] |
- Note
- ID VS-31141
- description Egomotion Position of "virtual" sensor.
- unit m [SYS-REQ-25004376]
Definition at line 5388 of file VehicleIOValStructures.h.
◆ emStandStillWheelBased
| dwVioEmStandStillWheelBased dwValEgomotion::emStandStillWheelBased |
- Note
- ID VS-31142
- description Egomotion standstill detected based on wheel ticks.
- unit unitless [SYS-REQ-25004377]
Definition at line 5394 of file VehicleIOValStructures.h.
◆ emStatus
| dwVioEmStatus dwValEgomotion::emStatus |
- Note
- ID VS-31140
- description Validity of egomotion signals.
- unit unitless [SYS-REQ-25004375]
Definition at line 5382 of file VehicleIOValStructures.h.
◆ emTimestamp
| dwTime_t dwValEgomotion::emTimestamp |
- Note
- ID VS-31130
- description Timestamp of egomotion signals.
- unit us [SYS-REQ-25004374]
Definition at line 5323 of file VehicleIOValStructures.h.
◆ emTranslation
| float64_t dwValEgomotion::emTranslation[3] |
- Note
- ID VS-31120
- description Vehicle translation (integrated, since t0). The translation representation in VS-31120 is the position of the vehicle in the local horizontal, local vertical coordinate frame defined at t=0. As egomotion is a dead reckoning solution, the position values should only be used and compared in a local sense; the motion of the vehicle between two points nearby in time (order: a couple seconds, tens of seconds, depending on the application and accuracy requirements). Egomotion will drift and interpreting the position signal as an absolute signal in a fixed coordinate frame will lead to incorrect use. Egomotion is not localization. Localization will provide an absolute position in a global coordinate system (e.g. WGS-84). Validated against a reference INS solution (e.g. Novatel dGPS) on a selection of maneuvers representative of use cases.
- unit m [SYS-REQ-25004373]
Definition at line 5376 of file VehicleIOValStructures.h.
◆ emUndersteerAngleGrad
| float32_t dwValEgomotion::emUndersteerAngleGrad |
- Note
- ID VS-31131
- description Understeer angle gradient relates lateral acceleration to steering angle deviation. The understeer angle is the difference between the actual on-road steering angle and angle of the bicycle model that follows the effective vehicle trajectory. A positive value indicates the vehicle steers to the outside of the curve.
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit rad/(m/s2) [SYS-REQ-29512062]
Definition at line 5548 of file VehicleIOValStructures.h.
◆ emVehicleRollingDirection
| dwVioEmVehicleRollingDirection dwValEgomotion::emVehicleRollingDirection |
- Note
- ID VS-31124
- description Egomotion estimated vehicle rolling direction.
- unit unitless [SYS-REQ-27528376]
Definition at line 5509 of file VehicleIOValStructures.h.
◆ sequenceId
| uint32_t dwValEgomotion::sequenceId |
- Note
- ID VS-10072
- description Unique Sequence ID assigned by the producer of this structure.
- unit -
Definition at line 5328 of file VehicleIOValStructures.h.
◆ size
| uint32_t dwValEgomotion::size |
- Note
- ID VS-10000
- description User need to set size = sizeof(itself).
- unit nan
Definition at line 5317 of file VehicleIOValStructures.h.
◆ validityInfo
| dwValEgomotionValidityInfo dwValEgomotion::validityInfo |
validity info of ValEgomotion fields [SYS-REQ-26614800]
Definition at line 5312 of file VehicleIOValStructures.h.
The documentation for this struct was generated from the following file: