From b39b04e67fb19c8e9e5bfba74c29bea576311bb7 Mon Sep 17 00:00:00 2001 From: Erik Jaegervall Date: Fri, 1 Mar 2024 14:15:51 +0100 Subject: [PATCH] Update after discussion Signed-off-by: Erik Jaegervall --- spec/Driver/Driver.vspec | 8 +--- spec/Driver/HeadPosition.vspec | 65 ++++++++++++++++++++------------ spec/Driver/MidEyeGaze.vspec | 13 ++++--- spec/Driver/MidEyePosition.vspec | 48 ----------------------- 4 files changed, 48 insertions(+), 86 deletions(-) delete mode 100644 spec/Driver/MidEyePosition.vspec diff --git a/spec/Driver/Driver.vspec b/spec/Driver/Driver.vspec index 3635e8884..d1fffb791 100644 --- a/spec/Driver/Driver.vspec +++ b/spec/Driver/Driver.vspec @@ -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 diff --git a/spec/Driver/HeadPosition.vspec b/spec/Driver/HeadPosition.vspec index aacd72be6..45838b2ca 100644 --- a/spec/Driver/HeadPosition.vspec +++ b/spec/Driver/HeadPosition.vspec @@ -7,8 +7,13 @@ # 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 @@ -16,60 +21,70 @@ # 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. diff --git a/spec/Driver/MidEyeGaze.vspec b/spec/Driver/MidEyeGaze.vspec index de1b8c59b..ff69d4ac3 100644 --- a/spec/Driver/MidEyeGaze.vspec +++ b/spec/Driver/MidEyeGaze.vspec @@ -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 @@ -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. @@ -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. diff --git a/spec/Driver/MidEyePosition.vspec b/spec/Driver/MidEyePosition.vspec deleted file mode 100644 index 8fdf5d57c..000000000 --- a/spec/Driver/MidEyePosition.vspec +++ /dev/null @@ -1,48 +0,0 @@ -# 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 position. -# Mid eye position refers to the center of a line drawn between the center of the drivers eyes. -# It uses axis definition from ISO 8855, where origin is at center of (first) rear axle. -# Definition of mid eye position for one-eyed drivers is implementation dependent. -# It may be the position of the only existing eye, or the hypothetical mid eye position -# if the driver would have had two eyes. -# -# 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) -# - -X: - datatype: int16 - type: sensor - unit: mm - description: Longitudinal mid eye position on vehicle X-axis. - Mid eye position refers to the center of a line drawn between the center of the drivers eyes. - 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. - -Y: - datatype: int16 - type: sensor - unit: mm - description: Lateral mid eye position on vehicle Y-axis. - Mid eye position refers to the center of a line drawn between the center of the drivers eyes. - Axis definitions according to ISO 8855. Origin at center of (first) rear axle. - Positive values = left of origin. Negative values = right of origin. - -Z: - datatype: int16 - type: sensor - unit: mm - description: Lateral mid eye position on vehicle Z-axis. - Mid eye position refers to the center of a line drawn between the center of the drivers eyes. - 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.