ISO23150: Check and confirm

[jdsika]

Check following mandatory signals from IS23150:

A.1.20 Vehicle coordinate system type – header
A.2.119 Supported axis
A.2.158 Colour tone type
A.2.201 Free space type
A.2.203 Limitation geometry type
A.6.25 Vehicle coordinate system type – input level
A.6.26 Vehicle state reference point type****

[jdsika]

Check the mechanism of "object grouping ID"

[jdsika]

Proposal:
@PhRosenberger will check this offline. Comment the findings here and make possible Prs and I will review them.

[PhRosenberger]

Checks:

• A.1.20 Vehicle coordinate system type – header
  • Possible vehicle coordinate system origins in ISO23150 are RearAxle and RoadLevel.
  • OSI is totally flexible for LogicalDetections: All information is given with respect to the reference frame of the logical/virtual sensor (e.g. center of rear axle of the ego car) in Cartesian coordinates.
  • As both standards are based on ISO8855, it fits.
• A.2.119 Supported axis
  • The supported axis belongs to a polynomial representation of measured/estimated lane boundaries.
  • Disclaimer: I am not an expert for lane boundary descriptions in OSI.
  • It is confusing for me as a beginner with this topic that ISO has XYZ coordinates for lanes, while OSI has XYZ and ST coordinates.
  • I do not see a field for supported axis in OSI.
  • @ThomasNaderBMW Can you support me here?
• A.2.158 Colour tone type
  • I could not find a color type in OSI for trafic signs.

@jdsika Why have exactly these specific fields in ISO23150 been selected for investigation in the first place?

[PhRosenberger]

• A.2.201 Free space type
  • I could not find any free space type in OSI
• A.2.203 Limitation geometry type
  • To my knowledge, there is no free space "sensor" in OSI, so there is no limitation geometry.
• A.6.25 Vehicle coordinate system type – input level
  • This belongs to A.1.20 and defines, if the vehicle coordinate system origin is on RearAxle or RoadLevel
  • See comments to A.1.20 above regarding OSI.
• A.6.26 Vehicle state reference point type
  • Reference point options are: Vehicle coordinate system (A.6.25, center of gravity or sensor
  • See comments to A.1.20 above regarding OSI.

[PhRosenberger]

• A.2.3 object grouping ID
  • As there are possibly multiple sensors forming a sensor cluster, the object grouping ID links related objects of one or multiple object lists in the sensor cluster.
  • Examples: Truck and trailor or a construction side vehicle carrying a traffic sign
  • Very interesting and valuable concept and should IMHO be considered in future OSI releases. @jdsika what do you think?

[thomassedlmayer]

Harmonization WG 2023/03/01: @jdsika How to proceed with this issue?

[jdsika]

A.1.20 Vehicle coordinate system type – header

• Clarifications in Fix sensordata reference frame definitions #721 and Fix documentation on coordinate systems and transformations #723
• Question: Road Level or Rear Axis Level of the origin of the vehicle coordinate system?