ObstacleDetection instances, attributes and Adaptive CruiseControl

[tguild]

Adaptive cruise control distance setting typically seen on the dashboard user interface as increments (eg 1-5) that may be either vehicle lengths or an incremental variable that also factors in vehicle speed for safe following distance. If the latter a setting of 1 may be 10 meters at 30km/h but 30 at 90 km/h. In that case it would be more important to note the user preferred an adaptive buffer of 1 that has no fixed length but fluctuates with speed. We ask the OEM and suppliers on the VSS call to give clarity to conventions in production wrt adaptive cruise control.

In adding instances to ObstacleDetected, we want to be able to support multiple leaf nodes as multiple obstacles can be detected concurrently. Here too we want input from OEM and suppliers on the multitude of obstacle detecting sensors in mainstream vehicles. We realize more advanced autonomous vehicles will have far more lidar/camera/other sensors detecting and tracking obstacles. Degrees with zero being directly in front would provide more flexibility but trying to keep it simple. We want to avoid Center in both Y and X axis and based on feedback will likely go with "Middle" or "-" for Y.

instances:
- ["Front", "-", "Rear"]
- ["Left", "Center", "Right"]

We also want ObjectType such as wildlife, pedestrian, bicycle, vehicle, etc but again hope someone in the community can direct us to an effort like Sensoris that should be leveraged instead of defining ourselves.

[erikbosch]

Has negative number a meaning, or would uint32 suffice?
Has this one and Distance only significance if ObstacleDetection.IsWarning is True, or what values should be used if there is no obstacle?

[tguild]

Unsigned is fine but wanted decimal instead of rounding to full integer.

[erikbosch]

Do we need the instances also for the existing signals like IsEnabled, IsWarning and so on? If not we could split to two branches, one called ObstacleDetection (without instances) and one called Obstacles (with instances)

[tguild]

Each ObstacleDetection sensor could throw a separate warning, be disabled independently etc,

[tguild]

Previous conversation before considering instances approach

#770

[erikbosch]

MoM:

• Please review
• Ted: For adaptive cruise control you typically have some settings.
• Ted: Setting in meters proposed for now, or would a symblic setting in "steps" (1-2-3-...) be better for OEM needs?
• Ted: Instance concept proposed (front left, front center, and so on) , does it fit OEM needs?
• Stefan: we are not aware of any existing baseline
• Richard: Some vehicles have car-lengths, likely OEM specific. Cars with automatic parking has more sensors so will likely differ vehicle to vehicle.
• Erik: For wipers we have both symbolic steps (e.g. to control frequency when use automatic mode) and absolute (Hz)
• Daniel: ASAM has an extensive model for similar things. https://www.asam.net/fileadmin/News/Brochures/ASAM_SIM-Guide_Online.pdf