Merge pull request #613 from adrianschultz/OSI-584-VehicleRole

Add Role to VehicleClassification

Author: pmai

osi_object.proto

@@ -55,7 +55,7 @@ message StationaryObject
     // * identifier[1] = id of t_road_objects_object or t_road_objects_bridge
     //
     // For example, to reference OpenSCENARIO entities of the type MiscObject,
-    // which describe partly stationary objects, the items should be set as 
+    // which describe partly stationary objects, the items should be set as
     // follows:
     // * reference = URI to the OpenSCENARIO File
     // * type = "net.asam.openscenario"
@@ -446,7 +446,7 @@ message MovingObject
     // The trajectory that this moving object expects to follow in the future.
     //
     // This is not externally perceivable information, rather this is to aid
-    // realistic simulation of traffic participants that are not under test.  
+    // realistic simulation of traffic participants that are not under test.
     // This information should not be made available to the stack under test.
     //
     // \note Moving objects are not required to stick to this trajectory, it is
@@ -457,7 +457,7 @@ message MovingObject
 
     // Specific information about the classification of the vehicle.
     //
-    optional MovingObjectClassification moving_object_classification = 9;    
+    optional MovingObjectClassification moving_object_classification = 9;
 
     // Optional external reference to the moving-object source
     //
@@ -473,7 +473,7 @@ message MovingObject
     // * identifier[1] = name of Vehicle/Pedestrian in Entity
     //
     // \todo OpenSCENARIO currently does not provide an animal type.
-    // 
+    //
     // \note For non-ASAM Standards, it is implementation-specific how
     //       source_reference is resolved.
     //
@@ -579,9 +579,9 @@ message MovingObject
         //
         optional Vector3d bbcenter_to_front = 5;
 
-        // Static minimal distance or space from the lowest point of the vehicle's 
+        // Static minimal distance or space from the lowest point of the vehicle's
         // body to the surface plane below it under neutral load conditions. This
-        // distance disregards, for example, driving-dynamic effects or 
+        // distance disregards, for example, driving-dynamic effects or
         // road-surface effects. Can be useful to approximate the clearance area
         // under a vehicle that a sensor can see through.
         // \note \c ground_clearance is included in the bounding box height.
@@ -594,7 +594,7 @@ message MovingObject
         //
         repeated WheelData wheel_data = 7;
 
-        // Angle of the steering wheel. 
+        // Angle of the steering wheel.
         // Zero means the steering wheel is in its center postion, a positive value
         // means the steering wheel is turned to the left and a negative value
         // means the steering wheel is turned to the right of the center position.
@@ -604,8 +604,8 @@ message MovingObject
         optional double steering_wheel_angle = 8;
 
         // \brief Detailed wheel data.
-        // The focus is on the description of a wheel regarding the perceivable 
-        // information from the outside. 
+        // The focus is on the description of a wheel regarding the perceivable
+        // information from the outside.
         // It is not intended to be used for dynamic calculations, for example.
         //
         message WheelData
@@ -624,8 +624,8 @@ message MovingObject
             // This concept works also for twin tires.
             //
             optional uint32 index = 2;
-            
-            // A vector pointing from the vehicle's reference system (center of bounding 
+
+            // A vector pointing from the vehicle's reference system (center of bounding
             // box) to the geometric center of the wheel.
             //
             optional Vector3d position = 3;
@@ -642,7 +642,7 @@ message MovingObject
             // Unit: m
             //
             optional double rim_radius = 5;
-            
+
             // Median width of the tire.
             //
             // Unit: m
@@ -657,7 +657,7 @@ message MovingObject
 
             // Rotation rate of the wheel.
             // The rotation rate around the y-axis with respect to the wheel's coordinate system.
-            // 
+            //
             // Unit: rad/s.
             //
             // The sign convention is defined using the right-hand rule.
@@ -668,7 +668,7 @@ message MovingObject
             // \note The vehicle's reference coordinate system is only used to determine the sign convention of the rotation rate.
             //
             optional double rotation_rate = 8;
-            
+
             // Opaque reference of an associated 3D model of the wheel.
             //
             // \note It is implementation-specific how model_references are resolved to
@@ -749,6 +749,10 @@ message MovingObject
         //
         optional Identifier trailer_id = 4;
 
+        // The role of the vehicle.
+        //
+        optional Role role = 5;
+
         // Definition of vehicle types.
         //
         // \note OSI provides a richer set of vehicle types than is supported by some
@@ -1005,5 +1009,65 @@ message MovingObject
                 BRAKE_LIGHT_STATE_STRONG = 4;
             }
         }
+
+        // Definition of vehicle roles. 
+        //
+        // The role specifies the perceived role of a vehicle. Therefore, a 
+        // civil police car is set to ROLE_CIVIL as long as it cannot be 
+        // perceived as a ROLE_POLICE. 
+        // The normal use case will consist of 99% ROLE_CIVIL, as this role is 
+        // used for normal vehicles.
+        // These roles may influence the behavior in traffic of the surrounding vehicles.
+        // To check whether a role is "active" (e.g. blue flashing light of an 
+        // ambulance or an amber flashing light of a sweeper) can be looked up 
+        // in message LightState.
+        // 
+        //
+        enum Role
+        {
+            // Role of vehicle is unknown (must not be used in ground truth).
+            //
+            ROLE_UNKNOWN = 0;
+
+            // Other (unspecified but known) role of vehicle.
+            //
+            ROLE_OTHER = 1;
+
+            // The vehicle role is civil, e.g. a "normal" car.
+            //
+            ROLE_CIVIL = 2;
+            
+            // The vehicle role is ambulance.
+            //
+            ROLE_AMBULANCE = 3;
+
+            // The vehicle role is fire fighting, e.g. fire engine.
+            //
+            ROLE_FIRE = 4;
+
+            // The vehicle role is police.
+            //
+            ROLE_POLICE = 5;
+
+            // The vehicle role is public transport, e.g. a school bus.
+            //
+            ROLE_PUBLIC_TRANSPORT = 6;
+
+            // The vehicle role is roadside assistance, e.g. tow truck.
+            //
+            ROLE_ROAD_ASSISTANCE = 7;
+            
+            // The vehicle role is garbage collection, e.g. a garbage truck or sweeper.
+            //
+            ROLE_GARBAGE_COLLECTION = 8;
+
+            // The vehicle role is road construction, e.g. a excavator or tipper truck.
+            //
+            ROLE_ROAD_CONSTRUCTION = 9;
+            
+            // The vehicle role is military, e.g. camouflaged truck.
+            //
+            ROLE_MILITARY = 10;
+        }
     }
 }