Sensor_Driver

This module collects and distributes data from the WorldInterface and AgentInterface concerning the own vehicle, traffic rule and geometry information and surrounding object. It creates a data struct to store the world and agent data of the own vehicle, traffic rule and geometry information, other objects and surrounding vehicles.

Components of the module

The information collected by SensorDriver consists of generally four different data structs:

• OwnVehicleStates includes all information about the vehicle of the driver (e.g. speed, acceleration, …)

• TrafficRuleInformation includes information about the static environment (e.g. traffic signs, lane markings, …)

• GeometryInformation includes information about surrounding lanes that describe its geometric features

• SurroundingObjects includes information about objects surrounding the own agent as seen by the driver

OwnVehicleStates

The Information of the own vehicle are based on the following general struct OwnVehicleInformation :

Variable	Type	Unit	Description	Default value
absoluteVelocity	Double	m/s	Velocity of agent	-999
acceleration	Double	m/s²	Acceleration of agent	-999
lateralPosition	Double	m	t-coordinate	-999
heading	Double	rad	Heading relative to lane	-999
steeringWheelAngle	Double	rad	Angle of the steering wheel	-999
distanceToLaneBoundaryLeft	Double	m	Distance between the left front point and the left boundary of the lane it is in	-999
distanceToLaneBoundaryRight	Double	m	Distance between the right front point and the right boundary of the lane it is in	-999
collision	Boolean		Whether this agent has collided with another object	false

TrafficRuleInformation

The struct TrafficRuleInformation contains infrastructure information of surrounding lanes that are used to establish traffic rules.

The general structure is shown in the following table.

Variable	Description
laneLeft	Data about the lane to left (in driving direction) of the mainLane
laneEgo	Data about the lane the where the middle of the front of the agent is (i.e. mainLane)
laneRight	Data about the lane to right (in driving direction) of the mainLane
laneMarkingsLeft	List of lane markings on the left side of mainLane
laneMarkingsRight	List of lane markings on the right side of mainLane
laneMarkingsLeftOfLeftLane	List of lane markings on the left side of lane to the left
laneMarkingsRightOfRightLane	List of lane markings on the right side of lane to the right

The basis for the respective variables is the following general struct LaneInformationTrafficRules, which is used to trasport data of a lane concerning traffic rules as seen by the driver.

Variable	Description
trafficSigns	Vector of all traffic signs valid for this lane inside the visibility distance
trafficLights	Vector of all traffic lights valid for this lane inside the visibility distance

GeometryInformation

The struct GeometryInformation contains infrastructure information of surrounding lanes that describe its geometric features.

The general structure is shown in the following table.

Variable	Description
visibilityDistance	Current maximum visibility distance as specified by the world
laneLeft	Data about the lane to left (in driving direction) of the mainLane
laneEgo	Data about the lane the where the middle of the front of the agent is (i.e. mainLane)
laneRight	Data about the lane to right (in driving direction) of the mainLane

The basis for the respective variables is the following general struct LaneInformationGeometry, which is used to transport data of a lane concerning its geometric features as seen by the driver.

Variable	Type	Unit	Description	Default value
exists	Boolean		Whether there is a lane on this position	false
curvature	Double	1/m	Curvature at current s position (default if not existing)	-999
width	Double	m	Width at current s position (default if not existing)	-999
distanceToEndOfLane	Double	m	Distance from current position to the end of the lane or infinity if the end is farther away than the visibility distance	-999

SurroundingObjects

This struct SurroundingObjects contains data of the objects surrounding the own agent as seen by the driver. For all cases mainLaneId is used as own lane.

Variable	Description
objectFront	Next object in the same lane
objectRear	Closest object behind the agent in the same lane
objectFrontLeft	Next object in the lane to the left
objectRearLeft	Closest object behind the agent in the lane to the left
objectFrontRight	Next object in the lane to the right
objectRearRight	Closest object behind the agent in the lane to the right

The basis for the respective variables is the following general struct ObjectInformation, which is used to transport data of an object as seen by the driver:

Variable	Type	Unit	Description	Default value
id	Integer		Id of the object	-1 (not existing)
exist	Boolean		False if there is no object in this position	false
isStatic	Boolean		True if stationary object, false if agent	false
absoluteVelocity	Double	m/s	Absolute velocity of the agent	-999 (object is not an agent)
acceleration	Double	m/s²	Acceleration of the agent	-999 (object is not an agent)
heading	Double	rad	Heading relative to the street	-999 (not existing)
length	Double	m	Length of object	-999 (not existing)
width	Double	m	Width of object	-999 (not existing)
height	Double	m	Heigth of object	-999 (not existing)
relativeLongitudinalDistance	Double	m	Relative distance along the road (i.e. in direction s) between own agent and object	-999 (not existing)
relativeLateralDistance	Double	m	Relative distance at right angle to the road (i.e in direction t) between own agent and object	-999 (not existing)