OpenSimulationInterface · max-rosin · Jul 7, 2021 · Apr 19, 2021 · May 26, 2021 · Jun 10, 2021
diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc
@@ -1,10 +1,5 @@
 = Feature data
 
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+Feature data contains detected features in the reference frame of a sensor.
+Feature data is generated from ground-truth data.
+It serves, for example, as input for sensor models simulating object detection or feature fusion models.
diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc
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 = Ground truth
 
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+Ground truth describes the simulated environment around all simulated host vehicles in a global coordinate system.
+Ground truth provides an exact view on the simulated objects in a global coordinate system.
+It is based on internally available data and published to external subscribers.
+Depending on the external subscriber, ground-truth data may be individually restricted.
+
+//TODO: It looks like we may have two conflicting descriptions here.
+// I cannot tell which one is correct or if they are conflicting at all.
+// The first sentence is based on the comments in the proto files.
+// The second sentence is based on the description on Github pages.
diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc
@@ -1,9 +1,6 @@
 = Sensor data
 
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+Sensor data imitates the output of real sensors.
+It is generated from ground-truth data, feature data or from sensor data.
+All information regarding the environment is given with respect to the virtual sensor coordinate system, except for feature data, which is given with respect to the physical sensor coordinate system.
+Sensor data can be used as input of an automated driving function,  a sensor model simulating limited perception, or a sensor fusion model.
diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc
@@ -1,9 +1,8 @@
 = Sensor view
 
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+Sensor view imitates the input of sensors.
+Sensor-view data is derived from ground-truth data.
+All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions:
+
+* Individual physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position
+* Ground truth data, given in global coordinates.
diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc
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 = Sensor view configuration
 
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+The sensor view configuration configures the sensor view.
+It is provided by the environment simulation.
+Sensor view configuration data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model.
+Sensor view configuration data is not intended to provide parameters to a generic sensor model. 
+
+Sensor view configuration data can also be provided by the sensor model to the environment simulation.
+In that case, it describes the input configuration that is desired by the sensor model.
+In response the environment simulation will configure the input and provide a new message which describes the actual configuration.
+These two messages may differ, when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous.
diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc
@@ -0,0 +1,3 @@
+= Traffic command
+
+Traffic commands contain control commands from the scenario engine to traffic participant models.
diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc
@@ -0,0 +1,4 @@
+= Traffic update
+
+Traffic updates are provided by traffic participants.
+They provide updates of the position, state and future trajectory of a traffic participant back to the simulation environment.
diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc
@@ -40,6 +40,10 @@ include::./architecture/sensor_view_configuration.adoc[leveloffset=+3]
 
 include::./architecture/sensor_data.adoc[leveloffset=+3]
 
+include::./architecture/traffic_command.adoc[leveloffset=+3]
+
+include::./architecture/traffic_update.adoc[leveloffset=+3]
+
 === Model types
 
 include::./architecture/environmental_effect_model.adoc[leveloffset=+3]
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		= Traffic command

		Traffic commands contain control commands from the scenario engine to traffic participant models.