Logical Lanes in OSI

CMakeLists.txt

@@ -74,8 +74,10 @@ set(OSI_PROTO_FILES
  osi_trafficlight.proto
  osi_trafficupdate.proto
  osi_trafficcommand.proto
+ osi_referenceline.proto
  osi_roadmarking.proto
  osi_lane.proto
+ osi_logicallane.proto
  osi_featuredata.proto
  osi_logicaldetectiondata.proto
  osi_object.proto

osi_common.proto

@@ -338,6 +338,55 @@ message Spherical3d
  optional double elevation = 3;
 }
 
+//
+// \brief Assignment of an object to a logical lane
+//
+// An object is assigned to a logical lane if it overlaps the logical lane.
+// Assignment happens even if the reference point is outside the lane, and only
+// a part of the object overlaps (any object overlapping the lane more than 5cm
+// has to be assigned to the lane).
+//
+// As an exception to this, \c TrafficSign and \c TrafficLight are assigned to
+// a logical lane if they control traffic on that lane. For \c TrafficSign and
+// \c TrafficLight , #s_position refers to the position where the sign or light
+// is valid (e.g. where vehicles should stop in case of a red traffic light),
+// not the physical position (where the sign or light is in the world).
+// Typically, t_position and angle_to_lane do not have any meaning in this
+// case, and will be 0.
+//
+message LogicalLaneAssignment
+{
+ // ID of the LogicalLane the object is assigned to.
+ //
+ // \rules
+ // refers_to: LogicalLane
+ // \endrules
+ //
+ optional Identifier assigned_lane_id = 1;
+
+ // S position of the object reference point on the lane, in the ST
+ // coordinate system of the lane.
+ //
+ // #s_position might be outside [s_start,s_end] of the lane (and even
+ // outside [startS,endS] of the reference line) if the reference point is
+ // outside the lane, but the object overlaps the lane or a TrafficSign or
+ // TrafficLight is assigned to a lane.
+ //
+ optional double s_position = 2;
+
+ // T position of the object reference point on the lane, in the ST
+ // coordinate system of the lane.
+ //
+ optional double t_position = 3;
+
+ // Angle of the object relative to the lane.
+ // See the ReferenceLine description how the angle is calculated.
+ //
+ // Unit: rad
+ //
+ optional double angle_to_lane = 4;
+}
+
 //
 // \brief The base attributes of a stationary object or entity.
 //

osi_groundtruth.proto

@@ -9,6 +9,8 @@ import "osi_trafficsign.proto";
 import "osi_trafficlight.proto";
 import "osi_roadmarking.proto";
 import "osi_lane.proto";
+import "osi_logicallane.proto";
+import "osi_referenceline.proto";
 import "osi_object.proto";
 import "osi_occupant.proto";
 
@@ -171,4 +173,16 @@ message GroundTruth
  // derives street geometries automatically from a map reference.
  //
  optional string model_reference = 16;
+
+ // Reference lines used by LogicalLane
+ //
+ repeated ReferenceLine reference_line = 17;
+
+ // Logical lane boundaries used by LogicalLane
+ //
+ repeated LogicalLaneBoundary logical_lane_boundary = 18;
+
+ // Logical lanes used e.g. by traffic agents
+ //
+ repeated LogicalLane logical_lane = 19;
 }