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Update after discussion
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Signed-off-by: Erik Jaegervall <[email protected]>
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erikbosch committed Mar 1, 2024
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8 changes: 1 addition & 7 deletions spec/Driver/Driver.vspec
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Expand Up @@ -55,15 +55,9 @@ HeartRate:

HeadPosition:
type: branch
description: The current position of the driver head on vehicle axis according to ISO 8855.
description: The current position of the driver head on vehicle axis according to ISO 23150:2023.
#include HeadPosition.vspec HeadPosition

MidEyePosition:
type: branch
description: Mid eye position on vehicle axis according to ISO 8855.
Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
#include MidEyePosition.vspec MidEyePosition

MidEyeGaze:
type: branch
description: Direction from mid eye position to object driver is looking at
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65 changes: 40 additions & 25 deletions spec/Driver/HeadPosition.vspec
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Expand Up @@ -7,69 +7,84 @@
# SPDX-License-Identifier: MPL-2.0

# This file intends to provide data related to head position.
# It uses axis definition from ISO 8855, where origin is at center of (first) rear axle.
# Definition of "head center" is implementation dependent.
# 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 on vehicle X-axis.
Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
Positive values = forward of rear axle. Negative values = backward of rear axle.
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 on vehicle Y-axis.
Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
Positive values = left of origin. Negative values = right of origin.
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 on vehicle Z-axis.
Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
Positive values = above center of rear axle. Negative values = below center of rear axle.
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.

Roll:
Yaw:
datatype: float
type: sensor
unit: degrees
min: -180
max: 180
description: Head roll (right-hand rule) on vehicle X-axis.
Axis definitions according to ISO 8855.
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 leaned to the right. Negative values = head leaned to the left.
Positive values = Head turned left. Negative values = Head turned right.

Pitch:
datatype: float
type: sensor
unit: degrees
min: -180
max: 180
description: Head pitch (right-hand rule) on vehicle Y-axis.
Axis definitions according to ISO 8855.
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 down. Negative values = head leaning up.

Yaw:
Positive values = Head leaning up. Negative values = Head leaning down.
Roll:
datatype: float
type: sensor
unit: degrees
min: -180
max: 180
description: Head yaw (right-hand rule) on vehicle Z-axis.
Axis definitions according to ISO 8855.
description: Head roll angle about the head X-axis (right-hand rule).
0 = Head in normal position.
Positive values = head turned left. Negative values = head turned right.
Positive values = Head leaning to the right. Negative values = Head leaning to the left.
13 changes: 7 additions & 6 deletions spec/Driver/MidEyeGaze.vspec
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Expand Up @@ -7,10 +7,12 @@
# SPDX-License-Identifier: MPL-2.0

# This file intends to provide data related to mid eye gaze.
# Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
# 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 according to ISO 8855.
# 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
Expand All @@ -26,8 +28,7 @@ Azimuth:
unit: degrees
min: -180
max: 180
description: Mid eye azimuth gaze (right-hand rule) on vehicle Z-axis.
Axis definitions according to ISO 8855.
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.
Expand All @@ -39,8 +40,8 @@ Elevation:
min: -90
max: 90
description: Elevation to observed object measured
as angle between vehicle X/Y plane at driver mid eye position and object.
Axis definitions according to ISO 8855.
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.
48 changes: 0 additions & 48 deletions spec/Driver/MidEyePosition.vspec

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