Interfaces & Coordinate Systems

This is a description of the most important bus signals within the control software.

Contact person: alexander.wischnewski@tum.de

General remarks on coordinate systems

The vehicle pose is given in east (x_m) and north (y_m) coordinates. The heading is counterclockwise positive and zero at north direction. It is defined between -pi and +pi. All sensor signals are defined positive in forward direction or in left-hand corners.

VehicleSensorData

Signal name	Unit	Positive Sign Conv.	Description
s_DamperPotsFL_mm	mm		Damper potentiometer
s_DamperPotsFR_mm	mm		Damper potentiometer
s_DamperPotsRL_mm	mm		Damper potentiometer
s_DamperPotsRR_mm	mm		Damper potentiometer
p_TirePressureFL_bar	bar		Tire pressure
p_TirePressureFR_bar	bar		Tire pressure
p_TirePressureRL_bar	bar		Tire pressure
p_TirePressureRR_bar	bar		Tire pressure
T_TireFL_Celsius	C		Tire temperature
T_TireFR_Celsius	C		Tire temperature
T_TireRL_Celsius	C		Tire temperature
T_TireRR_Celsius	C		Tire temperature
BatteryVoltage_V	V		Low voltage supply battery voltage
Delta_Manual_rad	rad	left turn	Steering angle requested from remote control
Throttle_Manual_perc	%		Throttle requested from remote control
Brake_Manual_bar	bar		Brake pressure requested from remote control
Gear_Manual			Gear requested from remote control
T_CoolantTemp_Celsius	C		Coolant temperature
T_TransmissionOilTemp_C	C		Transmission oil temperature
p_Fuel_kPa	kPa		Fuel pressure
p_EngineOil_kPa	kPa		Engine oil pressure
Delta_Manual_rad	rad	left turn	Steering angle requested from remote control
Tz_Powertrain_Nm	Nm	clockwise	The overall yaw moment generated by the four electric motors. Calculated based on motor torque and vehicle geometry.
Fx_Powertrain_N	N	forward	The overall driving force acting on the vehicle generated by the four electric motors. Calculated based on motor torques.
T_WheelFL_Nm	Nm	accelerating	The torque at the wheel generated by the front left motor.
T_WheelFR_Nm	Nm	accelerating	The torque at the wheel generated by the front right motor.
T_WheelRL_Nm	Nm	accelerating	The torque at the wheel generated by the rear left motor.
T_WheelRR_Nm	Nm	accelerating	The torque at the wheel generated by the rear right motor.
Delta_Wheel_rad	rad	left turn	Steering angle measured at the wheels. Left and right wheel mean-value.
p_BrakeF_bar	bar	Braking	Brake pressure in the front brake circuit.
p_BrakeR_bar	bar	Braking	Brake pressure in the rear brake circuit.
omega_WheelFL_radps	rad	forward driving	The wheelspeed of the front left wheel.
omega_WheelFR_radps	rad	forward driving	The wheelspeed of the front right wheel.
omega_WheelRL_radps	rad	forward driving	The wheelspeed of the rear left wheel.
omega_WheelRR_radps	rad	forward driving	The wheelspeed of the rear right wheel.
valid_Wheelspeeds_b	bool		All wheelspeed signals are valid and trustworthy.
x_Loc1_m	m	East	The west/east coordinate in the global coordinate system measured by localization method 1.
y_Loc1_m	m	North	The north/south coordinate in the global coordinate system measured by localization method 1.
z_Loc1_m	m	Up	The up/down coordinate in the global coordinate system measured by localization method 1.
phi_RollAngleLoc1_rad	rad	counter clockwise	The chassis roll angle measured by localization method 1.
theta_PitchAngleLoc1_rad	rad	forward	The chassis pitch angle measured by localization method 1.
t_EstimateLoc1_s	s		Timestamp of localization method 1.
valid_Loc1_b	bool		Localization method 1 signals are valid and trustworthy.
accuracy_Loc1	m		Accuracy signal used for diagnosis for localization method 1.
x_Loc2_m	m	East	The west/east coordinate in the global coordinate system measured by localization method 2.
y_Loc2_m	m	North	The north/south coordinate in the global coordinate system measured by localization method 2.
z_Loc2_m	m	Up	The up/down coordinate in the global coordinate system measured by localization method 2.
phi_RollAngleLoc2_rad	rad	counter clockwise	The chassis roll angle measured by localization method 2.
theta_PitchAngleLoc2_rad	rad	forward	The chassis pitch angle measured by localization method 2.
t_EstimateLoc2_s	s		Timestamp of localization method 2.
valid_Loc2_b	bool		Localization method 2 signals are valid and trustworthy.
accuracy_Loc2	m		Accuracy signal used for diagnosis for localization method 2.
x_Loc3_m	m	East	The west/east coordinate in the global coordinate system measured by localization method 3.
y_Loc3_m	m	North	The north/south coordinate in the global coordinate system measured by localization method 3.
z_Loc3_m	m	Up	The up/down coordinate in the global coordinate system measured by localization method 3.
phi_RollAngleLoc3_rad	rad	counter clockwise	The chassis roll angle measured by localization method 3.
theta_PitchAngleLoc3_rad	rad	forward	The chassis pitch angle measured by localization method 3.
t_EstimateLoc3_s	s		Timestamp of localization method 3.
valid_Loc3_b	bool		Localization method 3 signals are valid and trustworthy.
accuracy_Loc3	m		Accuracy signal used for diagnosis for localization method 3.
vx_CoGVel1_mps	mps	forward	Speed along the vehicles longitudinal direction measured at the centre of gravity by velocity measurement method 1.
vy_CoGVel1_mps	mps	left	Speed along the vehicles lateral direction measured at the centre of gravity by velocity measurement method 1.
valid_Vel1_b	bool		Velocity measurement method 1 signals are valid and trustworthy.
vx_CoGVel2_mps	mps	forward	Speed along the vehicles longitudinal direction measured at the centre of gravity by velocity measurement method 2.
vy_CoGVel2_mps	mps	left	Speed along the vehicles lateral direction measured at the centre of gravity by velocity measurement method 2.
valid_Vel2_b	bool		Velocity measurement method 1 signals are valid and trustworthy.
ax_CoGIMU1_mps2	mps2	forward	Acceleration along the vehicles longitudinal direction measured at the centre of gravity by IMU 1.
ay_CoGIMU1_mps2	mps2	left turn	Acceleration along the vehicles lateral direction measured at the centre of gravity by IMU 1.
az_CoGIMU1_mps2	mps2	upwards	Acceleration along the vehicles z axis measured at the centre of gravity by IMU 1.
dPhi_RollRateIMU1_radps	radps	counter clockwise	Roll rate of the chassis measured by IMU 1.
dTheta_PitchRateIMU1_radps	radps	counter clockwise	Pitch rate of the chassis measured by IMU 1.
dPsi_YawRateIMU1_radps	radps	counter clockwise	Yaw rate of the chassis measured by IMU 1.
valid_IMU1_b	bool		IMU 1 signals are valid and trustworthy.
ax_CoGIMU2_mps2	mps2	forward	Acceleration along the vehicles longitudinal direction measured at the centre of gravity by IMU 1.
ay_CoGIMU2_mps2	mps2	left turn	Acceleration along the vehicles lateral direction measured at the centre of gravity by IMU 1.
az_CoGIMU2_mps2	mps2	upwards	Acceleration along the vehicles z axis measured at the centre of gravity by IMU 1.
dPhi_RollRateIMU2_radps	radps	counter clockwise	Roll rate of the chassis measured by IMU 2.
dTheta_PitchRateIMU2_radps	radps	counter clockwise	Pitch rate of the chassis measured by IMU 2.
dPsi_YawRateIMU2_radps	radps	counter clockwise	Yaw rate of the chassis measured by IMU 2.
valid_IMU2_b	bool		IMU 2 signals are valid and trustworthy.

VehicleDynamicState

Signal name	Unit	Positive Sign Conv.	Description
SEOk	bool		Health status of the state estimation. If this is true, all values are initialized and valid.
SEStatus			Detailed status of the state estimation with additional debug information.
Pos.x_m	m	East	The west/east coordinate in the global coordinate system based.
Pos.y_m	m	North	The north/south coordinate in the global coordinate system.
Pos.psi_rad	rad	counter clockwise	The heading coordinate in the global coordinate system (zero at north heading)
z_m	m	upwards	Height above sea level
PosAccuracy			Vector with localization accuracies for x and y coordinates and heading. Specified as standard deviations in respective units.
VelAccuracy			Vector with accuracies for vx and vy velocities and yaw rate. Specified as standard deviations in respective units.
dPsi_radps	radps	counter clockwise	Yaw rate of the chassis.
vx_mps	mps	forward	Speed along the vehicles longitudinal direction measured at the centre of gravity.
vy_mps	mps	left	Speed along the vehicles lateral direction measured at the centre of gravity.
v_mps	mps	forward	Absolute speed measured at the centre of gravity
beta_rad	rad	left turn	Side slip angle measured at the centre of gravity. Positive in left turn if no tire side slip is present (kinematic model).
ax_mps2	mps2	forward	Acceleration along the vehicles longitudinal direction measured at the centre of gravity.
ay_mps2	mps2	left turn	Acceleration along the vehicles lateral direction measured at the centre of gravity.
psi_vel_rad	rad	counter clockwise	Heading of the velocity vector in global coordinates (zero at north heading)
kappa_radpm	radpm	left turn	Curvature driven by the vehicle at centre of gravity.
dBeta_radps	radps	counter clockwise	Side slip angle rate at centre of gravity.
ddPsi_radps2	radps2	counter clockwise	Yaw rate acceleration of the chassis.
ax_vel_mps2	mps2	forward	Acceleration along the velocity vector measured at the centre of gravity.
ay_vel_mps2	mps2	left	Acceleration orthogonal to the velocity vector measured at the centre of gravity.
lambdaFL_perc	perc	forward	Longitudinal slip of the front left wheel
lambdaFR_perc	perc	forward	Longitudinal slip of the front right wheel
lambdaRL_perc	perc	forward	Longitudinal slip of the rear left wheel
lambdaRR_perc	perc	forward	Longitudinal slip of the rear right wheel
alphaFL_rad	rad	clockwise	Side slip angle of the front left wheel
alphaFR_rad	rad	clockwise	Side slip angle of the front right wheel
alphaRL_rad	rad	clockwise	Side slip angle of the rear left wheel
alphaRR_rad	rad	clockwise	Side slip angle of the rear right wheel

Trajectory

Signal name	Unit	Data Type	Description
LapCnt		uint32	Lap counter (data logging only)
TrajCnt		uint32	Trajectory counter, used to trigger loading a new Trajectory
s_loc_m	m	double 50x1 vector	Arc length parameter of path. Must be strictly monotonic increasing.
s_glob_m	m	double 50x1 vector	Arc length parameter of global coordinate system. Only for debugging purposes, can be left to zero.
x_m	m	double 50x1 vector	East/West coordinate in global coordinates. East is positive.
y_m	m	double 50x1 vector	North/South coordinate in global coordinates. North is positive.
psi_rad	rad	double 50x1 vector	Path heading. Counter-clockwise positive, zero for north direction. Range -pi/pi
kappa_radpm	radpm	double 50x1 vector	Path curvature. Left-turn positive.
v_mps	mps	double 50x1 vector	Velocity profile
ax_mps2	mps2	double 50x1 vector	Acceleration value for interval between this point and next point.
banking_rad	rad	double 50x1 vector	Track banking in rad (left banked positive)
ax_lim_mps2	mps2	double 50x1 vector	Longitudinal acceleration limit between this point and next point.
ay_lim_mps2	mps2	double 50x1 vector	Lateral acceleration limit between this point and next point.
tube_r_m	m	double 50x1 vector	Lateral maximum deviation (right side) for controller between this point and next point
tube_l_m	m	double 50x1 vector	Lateral maximum deviation (left side) for controller between this point and next point