dwVehicleIONonSafetyCommand Struct Reference
Detailed Description
Non-safety critical RoV commands.
Expected to be received by VAL in CCPLEX from AV Stack NOTE: This structure will be deprecated in a future release. Please use use dwVehicleIOASILCommand or dwVehicleIOQMCommand instead.
Definition at line 9967 of file VehicleIOValStructures.h.
Collaboration diagram for dwVehicleIONonSafetyCommand:
Field Documentation
◆ cameraFoldRequest
| dwVioCameraFoldRequest dwVehicleIONonSafetyCommand::cameraFoldRequest[2] |
- Note
- ID VS-30231
- description State of SVS cameras (front/rear) folding procedure (FOLD, MOVING, UNFOLD).
- 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
Definition at line 10017 of file VehicleIOValStructures.h.
◆ cameraFWCCalibratedOrientation
| float32_t dwVehicleIONonSafetyCommand::cameraFWCCalibratedOrientation[3] |
- Note
- ID VS-20231
- description Current orientation values from sensor calibration, in dw rig coordinate system [Roll, Pitch, Yaw].
- min -180 max 180
- unit deg [SYS-REQ-25679701]
Definition at line 10134 of file VehicleIOValStructures.h.
◆ cameraFWCCalibratedProgress
| float32_t dwVehicleIONonSafetyCommand::cameraFWCCalibratedProgress |
- Note
- ID VS-20233
- description Current front wide camera calibration progress, result is a valid accepted result when progress reaches 100.
- min 0 max 100
- unit Percent [SYS-REQ-25679708]
Definition at line 10148 of file VehicleIOValStructures.h.
◆ cameraFWCCalibratedStatus
| dwVioCalibratedStatus dwVehicleIONonSafetyCommand::cameraFWCCalibratedStatus |
- Note
- ID VS-20234
- description Current status of front wide camera calibration.
- unit unitless [SYS-REQ-25679710]
Definition at line 10154 of file VehicleIOValStructures.h.
◆ cameraFWCCalibratedTimestamp
| dwTime_t dwVehicleIONonSafetyCommand::cameraFWCCalibratedTimestamp |
- Note
- ID VS-20230
- description Timstamp belonging to the data message for the front wide camera calibration.
- min 0 max none
- unit ns [SYS-REQ-25679699]
Definition at line 10127 of file VehicleIOValStructures.h.
◆ cameraFWCCalibratedTranslation
| float32_t dwVehicleIONonSafetyCommand::cameraFWCCalibratedTranslation[3] |
- Note
- ID VS-20232
- description Current translation values from sensor calibration, in dw rig coordinate system. x and y come are from nominals, z is calibrated height. [X, Y, Z].
- min -21000000 max 21000000
- unit m [SYS-REQ-25679703]
Definition at line 10141 of file VehicleIOValStructures.h.
◆ emAngularAccel
| float32_t dwVehicleIONonSafetyCommand::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 10047 of file VehicleIOValStructures.h.
◆ emAngularVelocity
| float32_t dwVehicleIONonSafetyCommand::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 10041 of file VehicleIOValStructures.h.
◆ emIntegrationHalted
| uint8_t dwVehicleIONonSafetyCommand::emIntegrationHalted |
- Note
- ID VS-31143
- description Egomotion Integration of Dead Reckoning halted Integration is active while vehicle motion is detected (based on consensus from odometry signals). Integration is halted at standstill to avoid unwanted drifts.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-25004378]
- Deprecated:
- REL_23_02 - dwVehicleIONonSafetyCommand::emIntegrationHalted is deprecated. emIntegrationHalted exists only for binary layout compatibility.
Definition at line 10099 of file VehicleIOValStructures.h.
◆ emLinearAccel
| float32_t dwVehicleIONonSafetyCommand::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 10035 of file VehicleIOValStructures.h.
◆ emLinearVelocity
| float32_t dwVehicleIONonSafetyCommand::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 10023 of file VehicleIOValStructures.h.
◆ emLinearVelocityStdev
| float32_t dwVehicleIONonSafetyCommand::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 10029 of file VehicleIOValStructures.h.
◆ emOrientation
| float32_t dwVehicleIONonSafetyCommand::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 10053 of file VehicleIOValStructures.h.
◆ emOrientationStdev
| float32_t dwVehicleIONonSafetyCommand::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 10059 of file VehicleIOValStructures.h.
◆ emSensorPosition
| float32_t dwVehicleIONonSafetyCommand::emSensorPosition[3] |
- Note
- ID VS-31141
- description Egomotion Position of "virtual" sensor.
- unit m [SYS-REQ-25004376]
Definition at line 10083 of file VehicleIOValStructures.h.
◆ emStandStillWheelBased
| dwVioEmStandStillWheelBased dwVehicleIONonSafetyCommand::emStandStillWheelBased |
- Note
- ID VS-31142
- description Egomotion standstill detected based on wheel ticks.
- unit unitless [SYS-REQ-25004377]
Definition at line 10089 of file VehicleIOValStructures.h.
◆ emStatus
| dwVioEmStatus dwVehicleIONonSafetyCommand::emStatus |
- Note
- ID VS-31140
- description Validity of egomotion signals.
- unit unitless [SYS-REQ-25004375]
Definition at line 10077 of file VehicleIOValStructures.h.
◆ emTimestamp
| dwTime_t dwVehicleIONonSafetyCommand::emTimestamp |
- Note
- ID VS-31130
- description Timestamp of egomotion signals.
- unit us [SYS-REQ-25004374]
Definition at line 10071 of file VehicleIOValStructures.h.
◆ emTranslation
| float64_t dwVehicleIONonSafetyCommand::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 10065 of file VehicleIOValStructures.h.
◆ hazardFlasherRequest
| uint8_t dwVehicleIONonSafetyCommand::hazardFlasherRequest |
- Note
- ID VS-11290
- description Request of emergency/hazard lights.
- 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
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-25004423]
Definition at line 9992 of file VehicleIOValStructures.h.
◆ headlightRequest
| dwVioHeadlightRequest dwVehicleIONonSafetyCommand::headlightRequest |
- Note
- ID VS-11300
- description Request of low beam/high beam.
- 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-25004424]
Definition at line 9999 of file VehicleIOValStructures.h.
◆ hornOnRequest
| dwVioHornOnRequest dwVehicleIONonSafetyCommand::hornOnRequest |
- Note
- ID VS-20240
- description Horn shall be requested by ADH(L3), if warning of OTPs is necessary. (1 FALSE; 2 TRUE).
- 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
Definition at line 10160 of file VehicleIOValStructures.h.
◆ ivpDevTrajectoryPos
| float32_t dwVehicleIONonSafetyCommand::ivpDevTrajectoryPos[2] |
- Note
- ID VS-17190
- description An array of 2 elements containing the x and y deviation from the planned trajectory by the AVP infrastructure { deltaX; deltaY }.
- 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]
- FUTURE_DEPRECATED_24_12 - dwVehicleIONonSafetyCommand::ivpDevTrajectoryPos & dwVehicleIOQMCommand::ivpDevTrajectoryPos will be deprecated in the future. Deprecation tracking ticket [DWVAL-4280]. This signal is no longer planned.
- unit m
Definition at line 10172 of file VehicleIOValStructures.h.
◆ ivpDevTrajectoryPsi
| float32_t dwVehicleIONonSafetyCommand::ivpDevTrajectoryPsi |
- Note
- ID VS-17191
- description The Angular deviation from the planned trajectory by the AVP infrastructure { deltaPsi }.
- 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]
- FUTURE_DEPRECATED_24_12 - dwVehicleIONonSafetyCommand::ivpDevTrajectoryPsi & dwVehicleIOQMCommand::ivpDevTrajectoryPsi will be deprecated in the future. Deprecation tracking ticket [DWVAL-4280]. This signal is no longer planned.
- unit rad
Definition at line 10179 of file VehicleIOValStructures.h.
◆ ivpDevTrajectoryVelocity
| float32_t dwVehicleIONonSafetyCommand::ivpDevTrajectoryVelocity |
- Note
- ID VS-1712
- description The Velocity deviation from the planned trajectory by the AVP infrastructure { deltaVelocity }.
- 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]
- FUTURE_DEPRECATED_24_12 - dwVehicleIONonSafetyCommand::ivpDevTrajectoryVelocity & dwVehicleIOQMCommand::ivpDevTrajectoryVelocity will be deprecated in the future. Deprecation tracking ticket [DWVAL-4280]. This signal is no longer planned.
- unit m/s
Definition at line 10186 of file VehicleIOValStructures.h.
◆ latCtrlTrajectoryConfidence
| float32_t dwVehicleIONonSafetyCommand::latCtrlTrajectoryConfidence |
- Note
- ID VS-17170
- description Planner / NDAS confidence about planned trajectory.
- unit Percent
- Deprecated:
- REL_23_09 - dwVehicleIONonSafetyCommand::latCtrlTrajectoryConfidence is deprecated, latCtrlC0SteeringGradientGainLt and latCtrlC0SteeringGradientGainRt should be used instead. latCtrlTrajectoryConfidence exists only for binary layout compatibility.
Definition at line 10120 of file VehicleIOValStructures.h.
◆ mirrorFoldRequest
| dwVioMirrorFoldRequest dwVehicleIONonSafetyCommand::mirrorFoldRequest |
- Note
- ID VS-11280
- description Request to fold / unfold the outside mirrors.
- 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-25533520]
Definition at line 9983 of file VehicleIOValStructures.h.
◆ sequenceId
| uint32_t dwVehicleIONonSafetyCommand::sequenceId |
- Note
- ID VS-10072
- description Unique Sequence ID assigned by the producer of this structure.
- unit -
Definition at line 10165 of file VehicleIOValStructures.h.
◆ size
| uint32_t dwVehicleIONonSafetyCommand::size |
- Note
- ID VS-10000
- description User need to set size = sizeof(itself).
- unit nan
Definition at line 9976 of file VehicleIOValStructures.h.
◆ timestamp_us
| dwTime_t dwVehicleIONonSafetyCommand::timestamp_us |
- Note
- ID VS-17550
- description QMCommand Timestamp.
- unit us in all contexts except when timestampUsFormat field in this structure is equal to dwVioTimestampFormat::DW_VIO_TIMESTAMP_FORMAT_PTP16 in which case the smallest unit is 100us.
Definition at line 10011 of file VehicleIOValStructures.h.
◆ timestampUsFormat
| dwVioTimestampFormat dwVehicleIONonSafetyCommand::timestampUsFormat |
- Note
- ID VS-21170
- description Format of the timestamp_us field in the current structure.
- 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
Definition at line 10192 of file VehicleIOValStructures.h.
◆ turnSignalRequestRemovedPlaceholder
| uint32_t dwVehicleIONonSafetyCommand::turnSignalRequestRemovedPlaceholder |
- Note
- ID VS-11312
- description The turnsignalRequest field has been removed and this is now a placeholder to ensure structure layout compatibility.
- unit unitless
Definition at line 10006 of file VehicleIOValStructures.h.
◆ validityInfo
| dwVehicleIONonSafetyCommandValidityInfo dwVehicleIONonSafetyCommand::validityInfo |
validity info of VehicleIONonSafetyCommand fields [SYS-REQ-26614800]
Definition at line 9971 of file VehicleIOValStructures.h.
◆ wiperFrontRequest
| float32_t dwVehicleIONonSafetyCommand::wiperFrontRequest |
- Note
- ID VS-80130
- description request of the windshield wiper .
- 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 Hz [SYS-REQ-25004434]
Definition at line 10113 of file VehicleIOValStructures.h.
◆ wiperFrontSecondaryRequest
| float32_t dwVehicleIONonSafetyCommand::wiperFrontSecondaryRequest |
- Note
- ID VS-80120
- description request of the second windshield wiper, in case it is independend to primary.
- 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 Hz [SYS-REQ-25004433]
Definition at line 10106 of file VehicleIOValStructures.h.
The documentation for this struct was generated from the following file: