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SL-1-0 Sensor Model Repository Template

Credibility Assessment

Enter a short description of the model. What is the purpose of the model? What is the general modeling approach? What inputs does the model need and what outputs does it generate?

< Eye-catcher Image > Eye-catcher Image

State of the Art

Describe and reference the state of the art for your specific model. The state of the art can be put into a separate file in the doc folder. This example contains the state of the art for sensor modeling and model validation as well as potential candidates for future models on OpenMSL.

Modeling Approach

Put details about the inner workings of the model here. Describe the modeling approach in detail. What is the structure of the model? What modules is it comprised of? What sensor effects are represented in the model and how are they modeled?

Parameterization

What parameters are used internally? Which parameters can be set by the user? Each parameter should have a short description as shown in the following example.

Parameter Description
no_of_beams_vertical Number of beams in vertical direction, e.g. layers, of the lidar
no_of_beams_horizontal Number of beams per layer of the lidar

Interface

What interfaces are used as model input and model output? All required field of the interface shall be named in a list as shown in the following example.

Input: Required Fields in OSI3::SensorView

OSI Message Required / Optional
sensor_view.mounting_position required
sensor_view.global_ground_truth.timestamp required
sensor_view.global_ground_truth.host_vehicle_id required
sensor_view.global_ground_truth.moving_object.id required
sensor_view.global_ground_truth.moving_object.base.position required
sensor_view.global_ground_truth.moving_object.base.orientation required
sensor_view.global_ground_truth.moving_object.base.dimension required

Output: Fields in OSI3::SensorData Filled by the Sensor Model

OSI Message Required / Optional
sensor_data.timestamp required
sensor_data.moving_object.header.ground_truth_id required
sensor_data.moving_object.header.tracking_id required
sensor_data.moving_object.header.existence_probability required
sensor_data.moving_object.header.measurement_state required
sensor_data.moving_object.header.sensor_id required
sensor_data.moving_object.base.position required
sensor_data.moving_object.base.dimension required
sensor_data.moving_object.base.orientation required

Build Instructions

What are the dependencies for building the model?

Give step-by-step build instructions for supported operating systems. The following is an example for building a model as an FMU in Ubuntu.

Build Model in Ubuntu 18.04 / 20.04

  1. Clone this repository with submodules:

    git clone https://github.com/openMSL/your-model.git --recurse-submodules

  2. Build the model by executing in the extracted project root directory:

    mkdir cmake-build
cd cmake-build
# If FMU_INSTALL_DIR is not set, CMAKE_BINARY_DIR is used
cmake -DCMAKE_BUILD_TYPE=Release -DFMU_INSTALL_DIR:PATH=/tmp ..
make

  3. Take FMU from FMU_INSTALL_DIR

< The final FMU has to be named according to the repository name. In this example sl-1-0-sensor-model-repository-template.fmu >

Credits

Give credits to funding or third-party contributions. If the model is further described in a publication, it can also be named here.

References

Throughout this readme file, references are to be used, e.g. when citing scientific literature while describing the modeling approach. This can be done by added a number in the text with a reference identifier, like so: [1, p. 192]. For longer papers or book sections, please also give the page number, as shown in this example.

Then add the full list of authors, title and journal or conference in this section. The IEEE citation style [2] should be used. Here is the bibliography from the example above.

[1] P. Rosenberger, M. F. Holder, N. Cianciaruso, P. Aust, J. F. Tamm-Morschel, C. Linnhoff, and H. Winner, “Sequential lidar sensor system simulation: A modular approach for simulation-based safety validation of automated driving,” Automotive and Engine Technology, vol. 5, no. 3-4, pp. 187–197, Dec. 2020.

[2] IEEEDataPort, "How to Cite References: IEEE Documentation Style," [Online]. Available: https://ieee-dataport.org/sites/default/files/analysis/27/IEEE%20Citation%20Guidelines.pdf. [Accessed Jan. 09, 2023]