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ObstacleDetection instances, attributes and Adaptive CruiseControl #780

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ObstacleDetection instances, attributes and Adaptive CruiseControl #780

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36 changes: 36 additions & 0 deletions spec/ADAS/ADAS.vspec
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,17 @@ CruiseControl.IsError:
type: sensor
description: Indicates if cruise control system incurred an error condition. True = Error. False = No Error.

CruiseControl.IsAdaptive:
datatype: boolean
type: actuator
description: Indicates if cruise control system is adaptive (i.e. actively controls speed).

CruiseControl.AdaptiveDistanceSet:
datatype: float
type: actuator
unit: m
description: Distance in meters to keep from lead vehicle

#
# Lane Departure Detection System
#
Expand Down Expand Up @@ -113,6 +124,9 @@ LaneDepartureDetection.IsError:
#
ObstacleDetection:
type: branch
instances:
- ["Front", "Rear"]
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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)

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

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Previous conversation before considering instances approach

#770

- ["Left", "Center", "Right"]
description: Signals form Obstacle Sensor System.

ObstacleDetection.IsEnabled:
Expand All @@ -131,6 +145,28 @@ ObstacleDetection.IsError:
type: sensor
description: Indicates if obstacle sensor system incurred an error condition. True = Error. False = No Error.

ObstacleDetection.Distance:
datatype: float
type: sensor
unit: m
description: Distance in meters to detected object

ObstacleDetection.TimeGap:
datatype: int32
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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?

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

type: sensor
unit: ms
description: Time in milliseconds before potential impact object

ObstacleDetection.WarningType:
datatype: string
type: sensor
allowed: [
'UNDEFINED', # Object detection warning not further categorized
'CROSS_TRAFFIC', # Detected object is on an indirect trajectory that may intersect
'BLIND_SPOT', # Detected object may not be in driver line of sight, including from mirrors
]
description: Indicates the type of obstacle warning detected as some track not only the presence of an obstacle but potential intercepting trajectory or other characteristics.
comment: Undefined obstacle warning type would merely alert of presence of obstacle and may measure distance.

#
# Antilock Braking System
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