From 0c82cf3969d8ba6a9a6e18929be388b285e9b05c Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Thu, 6 May 2021 16:13:58 +0200 Subject: [PATCH 1/2] feat(docs): Describe model types (#517) Signed-off-by: Maximilian Rosin --- .../environmental_effect_model.adoc | 15 +++++++-------- doc/architecture/logical_model.adoc | 12 ++++-------- doc/architecture/sensor_model.adoc | 11 ++++------- doc/architecture/traffic_participant.adoc | 9 ++++++++- doc/images/osi-traffic-participant-advanced.png | Bin 0 -> 54822 bytes .../osi-traffic-participant-principle.png | Bin 0 -> 23836 bytes doc/open-simulation-interface_user_guide.adoc | 2 +- 7 files changed, 24 insertions(+), 25 deletions(-) create mode 100644 doc/images/osi-traffic-participant-advanced.png create mode 100644 doc/images/osi-traffic-participant-principle.png diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index 6c79080e1..a27bc026e 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -1,10 +1,9 @@ = Environmental effect model -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Environmental effect models consume sensor-view data and produce sensor-view data. +Environmental effect models may, for example, include the following: + +* Shadows and oclusion +* Weather effects +* Physics of a sensor +* Pre-processing of raw sensor data diff --git a/doc/architecture/logical_model.adoc b/doc/architecture/logical_model.adoc index af8dbb0e8..cdfe0d5b9 100644 --- a/doc/architecture/logical_model.adoc +++ b/doc/architecture/logical_model.adoc @@ -1,10 +1,6 @@ = Logical model -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Logical models consume sensor-data data and produce sensor-data data. + +An example of a logical model is a sensor-fusion model, which fuses the output of multiple sensor models. +Another use case is the injection of faults after the sensor model. diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc index c6b93997e..b2c373774 100644 --- a/doc/architecture/sensor_model.adoc +++ b/doc/architecture/sensor_model.adoc @@ -1,9 +1,6 @@ = Sensor model -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Sensor models consume sensor-view data and produce sensor-data data. +Those models can be based on physics or phenomenological. + +Sensor-model output does not represent raw data, but detected features or classified objects. \ No newline at end of file diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index 137bea8d0..f6bed48b3 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -14,7 +14,14 @@ Therefore, the ego vehicle is also a traffic participant. The following figure shows the interface of a traffic participant. -TODO: Add image of traffic participant interface. +.Interface of a traffic participant +image::osi-traffic-participant-principle.png[1100] + +Traffic participant models may use other OSI interfaces internally, for example, to model autonomous vehicles. +The following figure shows a more advanced use case for traffic participants. + +.Traffic participant using other OSI interfaces internally +image::osi-traffic-participant-advanced.png.png[1100] With every simulation step, an OSI traffic participant model receives ground truth data from the environment around itself, the sensor view. 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z9pyWjJI>Vc`AkrHVIA|*0%VT80OwauwFR^uJ|I68rRF4vL2|$!5L5vdH5AaqB)VE*ly|oH)zoS*%I)!maUV7-UKjo7 Date: Wed, 7 Jul 2021 08:57:37 +0200 Subject: [PATCH 2/2] fix(docs): Fix typos (#517) Signed-off-by: Maximilian Rosin --- doc/architecture/environmental_effect_model.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index a27bc026e..17ddabf21 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -3,7 +3,7 @@ Environmental effect models consume sensor-view data and produce sensor-view data. Environmental effect models may, for example, include the following: -* Shadows and oclusion +* Shadows and occlusions * Weather effects * Physics of a sensor * Pre-processing of raw sensor data