Add head and eye position signals for driver (#731)

Signed-off-by: Erik Jaegervall <[email protected]>

spec/Cabin/Cabin.vspec

@@ -148,7 +148,7 @@ Seat:
     - Row[1,2]
     - ["DriverSide","Middle","PassengerSide"]
   description: All seats.
-#include SingleSeat.vspec Seat
+#include Seat.vspec Seat
 
 #
 # Seat attributes.

spec/Cabin/SingleSeat.vspec → spec/Cabin/Seat.vspec

@@ -35,7 +35,7 @@ Occupant:
 # Include the Cabin/Occupant.vspec file and attach all its data under the
 # Occupant branch created above.
 
-#include Occupant.vspec Occupant
+#include Seat/Occupant.vspec Occupant
 
 IsBelted:
   datatype: boolean

spec/Cabin/Seat/Occupant.vspec

@@ -0,0 +1,28 @@
+# Copyright (c) 2020 Contributors to COVESA
+#
+# This program and the accompanying materials are made available under the
+# terms of the Mozilla Public License 2.0 which is available at
+# https://www.mozilla.org/en-US/MPL/2.0/
+#
+# SPDX-License-Identifier: MPL-2.0
+
+#
+# Occupant data
+#
+
+Identifier:
+  deprecation: v5.0 - use data from Vehicle.Occupant.*.*.Identifier.
+  type: branch
+  description: Identifier attributes based on OAuth 2.0.
+
+Identifier.Subject:
+  deprecation: v5.0 - use data from Vehicle.Occupant.*.*.Identifier.
+  datatype: string
+  type: sensor
+  description: Subject for the authentication of the occupant e.g. UserID 7331677.
+
+Identifier.Issuer:
+  deprecation: v5.0 - use data from Vehicle.Occupant.*.*.Identifier.
+  datatype: string
+  type: sensor
+  description: Unique Issuer for the authentication of the occupant e.g. https://accounts.funcorp.com.

spec/Driver/Driver.vspec

@@ -10,8 +10,22 @@
 # Driver data
 #
 
+Identifier:
+  deprecation: v5.0 - use data from Vehicle.Occupant.*.*.Identifier.
+  type: branch
+  description: Identifier attributes based on OAuth 2.0.
 
-#include ../Cabin/Occupant.vspec
+Identifier.Subject:
+  deprecation: v5.0 - use data from Vehicle.Occupant.*.*.Identifier.
+  datatype: string
+  type: sensor
+  description: Subject for the authentication of the occupant e.g. UserID 7331677.
+
+Identifier.Issuer:
+  deprecation: v5.0 - use data from Vehicle.Occupant.*.*.Identifier.
+  datatype: string
+  type: sensor
+  description: Unique Issuer for the authentication of the occupant e.g. https://accounts.funcorp.com.
 
 DistractionLevel:
   datatype: float

spec/Vehicle/Occupant.vspec

@@ -0,0 +1,26 @@
+# Copyright (c) 2020 Contributors to COVESA
+#
+# This program and the accompanying materials are made available under the
+# terms of the Mozilla Public License 2.0 which is available at
+# https://www.mozilla.org/en-US/MPL/2.0/
+#
+# SPDX-License-Identifier: MPL-2.0
+
+#
+# Occupant data
+#
+
+Identifier:
+  type: branch
+  description: Identifier attributes based on OAuth 2.0.
+#include ../include/Identifier.vspec Identifier
+
+HeadPosition:
+  type: branch
+  description: The current position of the driver head on vehicle axis according to ISO 23150:2023.
+#include Occupant/HeadPosition.vspec HeadPosition
+
+MidEyeGaze:
+  type: branch
+  description: Direction from mid eye position to object driver is looking at.
+#include Occupant/MidEyeGaze.vspec MidEyeGaze

spec/Vehicle/Occupant/HeadPosition.vspec

@@ -0,0 +1,95 @@
+# Copyright (c) 2024 Contributors to COVESA
+#
+# This program and the accompanying materials are made available under the
+# terms of the Mozilla Public License 2.0 which is available at
+# https://www.mozilla.org/en-US/MPL/2.0/
+#
+# SPDX-License-Identifier: MPL-2.0
+
+# This file intends to provide data related to head position.
+#
+# As specified in "Euro NCAP - Assessment Protocol - Safety Assist" section 3.5.3.1
+# (https://www.euroncap.com/media/80158/euro-ncap-assessment-protocol-sa-safe-driving-v104.pdf)
+# Head Movement (Owl) can be used to assess detection of driver distraction.
+#
+# Head position in this file refers to mid eye position.
+# Mid eye position refers to the center of a line drawn between the drivers eyes.
+# Absence of an eye does not affect mid eye position, as it shall be calculated as if both eyes were present.
+#
+# Position is given in the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12
+# This coordinate system corresponds to a vehicle coordinate system as defined by ISO 8855:2011 section 2.11
+# with the vehicle reference point at centre of the (first) rear axle.
+#
+# With the definitions given below example values for a regular LHD passenger vehicle
+# could be something like
+#           X = 2000 mm (head position 2 meters in front of rear axle)
+#           Y = 600 mm (head position 60 cm left of vehicle center)
+#           Z = 1000 mm (head position 100 cm above center of rear axis)
+#
+# Head Roll/Pitch/Yaw refers to relationship between head axis system and the vehicle rear-axle coordinate system.
+#
+# Head axis system is defined as follows
+# Head X-axis corresponds to a vector from midway between left and right pre-auricular point and nasion.
+# Head Y-axis corresponds to a vector orthogonal to X going left from the head on the plane defined by left and right
+# pre-auricular point and nasion.
+# Head Z-axis corresponds to vector orthogonal to X and Y going upward.
+#
+
+X:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Longitudinal position of head center measured as mid eye position on X-axis
+               of the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12
+               Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+               Positive values = forward of (first) rear-axle. Negative values = backward of (first) rear-axle.
+
+Y:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Lateral position of head center measured as mid eye position on X-axis
+               of the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12
+               Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+               Positive values = left of rear-axle center. Negative values = right of rear-axle center.
+
+Z:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Height position of head center measured as mid eye position on X-axis
+               of the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12
+               Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+               Positive values = above center of rear-axle reference point.
+               Negative values = below center of rear-axle reference point.
+
+Yaw:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -180
+  max: 180
+  description: Head yaw angle, measured from the vehicle sprung mass X-axis as defined by ISO 23150:2023
+               to the head X-axis, around the vehicle Z-axis (right-hand rule).
+               0 = Head in normal position.
+               Positive values = Head turned left. Negative values = Head turned right.
+
+Pitch:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -90
+  max: 90
+  description: Head pitch angle, measured as angle from vehicle sprung mass XY-plane as defined by ISO 23150:2023
+               to the head X-axis.
+               0 = Head in normal position.
+               Positive values = Head leaning up. Negative values = Head leaning down.
+Roll:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -180
+  max: 180
+  description: Head roll angle about the head X-axis (right-hand rule).
+               0 = Head in normal position.
+               Positive values = Head leaning to the right. Negative values = Head leaning to the left.

spec/Vehicle/Occupant/MidEyeGaze.vspec

@@ -0,0 +1,52 @@
+# Copyright (c) 2024 Contributors to COVESA
+#
+# This program and the accompanying materials are made available under the
+# terms of the Mozilla Public License 2.0 which is available at
+# https://www.mozilla.org/en-US/MPL/2.0/
+#
+# SPDX-License-Identifier: MPL-2.0
+
+# This file intends to provide data related to mid eye gaze.
+#
+# As specified in "Euro NCAP - Assessment Protocol - Safety Assist" section 3.5.3.1
+# (https://www.euroncap.com/media/80158/euro-ncap-assessment-protocol-sa-safe-driving-v104.pdf)
+# Eye Movement (Lizard) can be used to assess detection of driver distraction.
+#
+# Mid eye position refers to the center of a line drawn between the drivers eyes.
+# Absence of an eye does not affect mid eye position, as it shall be calculated as if both eyes were present.
+#
+# Gaze refers to the direction to the object the driver is looking at measured from
+# mid eye position.
+# Axis definitions correspond to the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12
+#
+# Some examples (at long distance from vehicle)
+#            Object in front of vehicle (at far distance) - Azimuth==0, Elevation == 0
+#            Object to the left of vehicle (at far distance) - Azimuth==90, Elevation == 0
+#            Object to the right of vehicle (at far distance)- Azimuth==-90, Elevation == 0
+#            Object behind the vehicle (at far distance) - Azimuth==180 or -180, Elevation == 0
+#            Object right above the vehicle (at height) - Azimuth==<any>, Elevation == 90
+#            Object deep down below the vehicle - Azimuth==<any>, Elevation == -90
+
+Azimuth:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -180
+  max: 180
+  description: Mid eye azimuth gaze (right-hand rule) on vehicle sprung mass Z-axis as defined by ISO 23150:2023
+               0 = Driver looking forward.
+               Positive values = Driver looking at something on the left side of driver.
+               Negative values = Driver looking at something on the right side of driver.
+
+Elevation:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -90
+  max: 90
+  description: Elevation to observed object measured
+               as angle between vehicle sprung mass XY-plane as defined by ISO 23150:2023
+               at driver mid eye position and object.
+               0 = Driver looking at something at same height as mid eye position.
+               Positive values = Driver looking at something above mid eye position.
+               Negative values = Driver looking at something below mid eye position.

spec/VehicleSignalSpecification.vspec

@@ -166,6 +166,17 @@ Vehicle.Driver:
 
 #include Driver/Driver.vspec Vehicle.Driver
 
+#
+# Occupant Data
+#
+
+Vehicle.Occupant:
+  type: branch
+  instances:
+    - Row[1,2]
+    - ["DriverSide","Middle","PassengerSide"]
+  description: Occupant (Driver or Passenger) data.
+#include Vehicle/Occupant.vspec Vehicle.Occupant
 
 #
 # Exterior information