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L3Pilot Common Data Format

Generated by Johannes Hiller on 20-Aug-2019 13:41:09

Datasets

egoVehicle

Signal name Array signal name Data type Description
UTCTime native long long System time in milliseconds since epoch
FileTime native double Time since beginning of recording
ABSIntervention enum native signed char Whether the ABS system is intervening; -1 = not applicable; 0 = ABS system not intervening; 1 = ABS system intervening; 9 = unknown
ADFunctionActive enum native signed char Status of the autonomous driving function; -1 = not applicable; 0 = not active; 1 = active; 9 = unknown
ADFunctionAvailable enum native signed char Whether the preconditions are met to enable the autonomous driving function; -1 = not applicable; 0 = preconditions not met; 1 = preconditions met; 9 = unknown
AmbientLightLevel native double Ambient light level at the location of the ego vehicle; Measured as the natural log of the raw value (because the range is huge)
AmbientTemperature native double Ambient temperature recorded by the ego vehicles temperature sensor
BaselineADASActive native int The combination of ADAS active in baseline mode, bit-wise encoding; -2 = unknown; -1 = not applicable; 0 = none; Bits:; 1 = CC (Cruise controls); 2 = SRS (Speed restriction system); 3 = ACC (Adaptive cruise controls); 4 = FCW (Forward collision warning); 5 = AEB (Automatic emergency braking); 6 = BLIS (Blind spot information system); 7 = LDW (Lane departure warning); 8 = LKA (Lane keeping assist); 9 = FEA (Fuel efficiency advisor); 10 = ...
BaselineADASIntervention native int The combination of ADAS intervening / showing warnings in baseline mode, bit-wise encoding; -2 = unknown; -1 = not applicable; 0 = none; Bits:; 1 = CC (Cruise controls); 2 = SRS (Speed restriction system); 3 = ACC (Adaptive cruise controls); 4 = FCW (Forward collision warning); 5 = AEB (Automatic emergency braking); 6 = BLIS (Blind spot information system); 7 = LDW (Lane departure warning); 8 = LKA (Lane keeping assist); 9 = FEA (Fuel efficiency advisor); 10 = ...
BrakeLight enum native signed char Status of the brake light.; -1 = not applicable; 0 = off; 1 = on; 2 = flashing; 9 = unknown
BrakePedalPos native int The position of the brake pedal in %.; -1 = not applicable; 0 = not pressed; 100 = fully pressed
BrakePressure native int Brake system pressure in percentage of maximum pressure
DirectionIndicator enum native signed char The status of the turn indicator.; -1 = not applicable; 0 = off; 1 = left; 2 = right; 3 = hazard; 9 = unknown
EnergyConsumption native double Current energy consumption
ESCIntervention enum native signed char Whether the Electronic Slip Control / Traction Control system is intervening; -1=not applicable; 0 = ESC system not intervening; 1 = ESC system intervening; 9 = unknown
FrontFogLightStatus enum native signed char The status of the front fog light; -1 = not applicable; 0 = off; 1 = on; 9 = unknown
FrontWiperStatus enum native signed char The operation state of the front wiper; -1 = not applicable; 0 = off; 1 = slow interval; 2 = fast interval; 3 = slow; 4 = fast; 9 = unknown
FuelConsumption native double Current fuel consumption
HandsOnDetection enum native signed char Whether the driver has their hands on the steering wheel; -1 = not applicable; 0 = hands off; 1 = one hand on; 2 = two hands on; 9 = unknown
LatAcceleration native double lateral acceleration (Y axis)
LongAcceleration native double longitudinal acceleration (X axis)
Odometer native double The vehicle odometer reading
RearFogLightStatus enum native signed char The status of the rear fog light; -1 = not applicable; 0 = off; 1 = on; 9 = unknown
SteeringAngle native double The steering wheel angle.; Turning left (counterclockwise) is positive; Turning right (clockwise) is negative
SteeringAngleADF native double Steering angle desired by the ADF; This can be used to detect whether the driver or the ADF is driving
ThrottlePedalPos native int The position of the throttle pedal in %.; -1 = not applicable; 0 = not pressed; 100 = fully pressed
TOR enum native signed char Whether the take-over-request to return control to the driver is active; -TOR at known system limits; -TOR at unknown system limits (system failures); -1 = not applicable; 0 = TOR not active; 1 = TOR active; 2 = short TOR active; 9 = unknown
TorsionBarTorque native double Steering force applied by the driver on the torsion bar
VehicleSpeed native double Speed of the ego vehicle as reported by the ABS / wheel sensing module
YawRate native double The yaw rate of the ego vehicle; Towards left is positive; Towards right is negative

objects

Signal name Array signal name Data type Description
UTCTime native long long System time in milliseconds since epoch
FileTime native double Time since beginning of recording
LeadVehicleID native int ID of the objects currently selected as lead vehicle
NumberOfObjects native int Number of objects in timestep
sObject [32] struct
Classification enum native signed char Classification of the object; -1 = not applicable; 0 = other; 1 = car; 2 = truck; 3 = motorcycle; 4 = bicycle; 5 = pedestrian; 9 = unknown
Height native double Height of the object
ID native int Unique ID of the object
LatPosition native double Position in lateral direction in the ego coordinate system
LatVelocity native double Relative velocity in lateral direction
Length native double Length of the object
LongPosition native double Position in longitudinal direction in the ego coordinate system
LongVelocity native double Relative velocity in longitudinal direction
Width native double Width of the object
YawAngle native double Relative yaw angle of the object; Positive is to the left of the azimuth; Negative is to the right of the azimuth
YawRate native double Relative yaw angle rate of the object

laneLines

Signal name Array signal name Data type Description
UTCTime native long long System time in milliseconds since epoch
FileTime native double Time since beginning of recording
EgoLaneWidth native double Width of the current lane
sLaneLine [4] struct 0 = right; 1 = left; 2 = right of right lane; 3 = left of left lane
Curvature native double The curvature of the lane markings. ; Needed for the calculation of the lane marking polynomial
CurvatureDx native double Differential curvature of the lane markings
Dy native double Lateral Position of lane markings
QualityIndex native int Quality index for lane detection
MarkingType enum native signed char Type of lane marking; -1 = not applicable; 0 = none; 1 = continuous; 2 = dashed; 3 = dots; 4 = double; 5 = other; 9 = unknown
YawAngle native double Yaw angle between ego heading and lane markings

positioning

Signal name Array signal name Data type Description
UTCTime native long long System time in milliseconds since epoch
FileTime native double Time since beginning of recording
Altitude native double Altitude of the ego vehicle (WGS84)
GNSSSpeed native double Speed of the ego vehicle as reported by the GNSS module / IMU
GNSSTime native long long GNSS time (UTC) in milliseconds since epoch
Heading native double Heading of the ego vehicle; 0 = North; pi/2 = West; pi = South; 3pi/2 = East
Latitude native double Latitude of the ego vehicle (WGS84)
Longitude native double Longitude of the ego vehicle (WGS84)
NumberOfSatellites native int The number of used satellites

externalData

Signal name Array signal name Data type Description
map dataset
UTCTime native long long System time in milliseconds since epoch
FileTime native double Time since beginning of recording
DistIntersection native double Distance to next intersection
NumberOfLanes native int The number of lanes on the current road section.
RoadType enum native signed char The roadtype is coded as follows:; -1 = initial value; 1 = highway / motorway / autostrada / autobahn; 2 = major aterial / A-road; 3 = minor road / B-road; 4 = local road / street; 5 = car park
RulesIntersection enum native signed char Type of priority rule at intersection according to UDRIVE codebook; -1 = not applicable; 0 = other; 1 = regulated by law only; 2 = traffic signs and road markings; 3 = traffic light allowing partial conflicts; 4 = traffic lights not allowing partial conflicts; 9 = unknown
SpeedLimit native int The speed limit at the current location of the ego vehicle in m/s; Unlimited = -1; No information = 0
TypeIntersection enum native signed char The type of the next intersection according to UDRIVE codebook; -1 = not applicable; 0 = none; 1 = X intersection; 2 = T intersection right; 3 = T intersection left; 4 = T intersection by-road; 5 = Y intersection; 6 = Roundabout; 7 = 5 or more legs; 8 = merging lane; 9 = passing by merging lane; 10 = exit or turning lane; 11 = complex intersection; 99 = unkown