반응형
해당 포스팅은 자율주행 Sensor 와 Sensor/Data Fusion 간의 Logical Interface 에 관한 표준인 ISo 23150 에서 정의된 용어 중 Axis and coordinate system 에 관한 내용을 정리합니다.
| Term | Description |
| reference frame |
geometric environment in which all points remain fixed with respect to each other all times |
| axis system | set of three orthogonal directions associated with X, Y and Z axes Note1 to entry: A right-handed axis system is assumed throughout this document, where: Z=X x Y |
| coordinate system |
numbering convention used to assign a unique ordered tri of values to each point in reference frame and which consists of an axis system plus an origin point |
| cartesian coordinate system |
set of numerical coordinates (x,y,z), which are the signed distances to the YZ-, ZX- and XY-planes |
| spherical coordinate system |
set of two angles and a distance vector associated with radial distance, azimuth and elevation Note 1 to entry: The azimuth angle is the angle in XY-plane of the axis system counted from X-axis. The elevation angle is the angle from the azimuth direction in the XY-plane of the axis system towards the direction of the distance vector, that is XY-plane has an elevation angle = 0 rad. Note 2 to entry: The angles of the spherical coordinate system have increasing values in counter-clockwise direction. |
| road plane | plane representing the road surface within the front tyre contact patches and the vehicle road-level reference point |
| road level | point related to a road plane |
| vehicle unsprung mass |
unsprung mass mass that is not carried by the suspension, but is supported directly by the tyres |
| vehicle rearaxle reference point |
point fixed in the vehicle sprung mass and located at the centre of the rear-axle |
| vehicle sprung mass axis system |
axis system fixed in the reference frame of the vehicle sprung mass, so that the X-axis is substantially horizontal and forwards (with the vehicle at rest), and is parallel to the vehicle's longitudinal plane of symmetry, and the Y-axis is perpendicular to the vehicle's longitudinal plane of symmetry and points to the left with the Z-axis pointing upward |
| vehicle rearaxle coordinate system |
coordinate system based on the vehicle sprung mass axis system with the origin located at the vehicle rear-axle reference point Note 1 to entry: The vehicle rear-axle coordinate system is a vehicle coordinate system.  |
| vehicle road-level reference point |
point at road level located in the middle of the rear tyre contact patches |
| vehicle road-level axis system |
axis system fixed in the reference frame of the vehicle unsprung mass, so that the X-axis is parallel to the vehicle's longitudinal plane of symmetry and points into forward moving direction and the Y-axis is perpendicular to the vehicle's longitudinal plane of symmetry and points to the left with the Z-axis pointing upward |
| vehicle road-level coordinate system |
coordinate system based on the vehicle road-level axis system with the origin located at the vehicle road-level reference point at the vehicle road lovel Note 1 to entry: The vehicle road-level coordinate system is a vehicle coordinate system.  |
| vehicle coordinate system |
cartesian coordinate system which is either the vehicle rear-axle coordinate system or the vehicle road-level coordinate system |
| sensor axis system |
axis system fixed in the reference frame of the sensor Note 1 to entry: The X-axis is in viewing direction of the sensor and the Z-axis pointing upward. |
| sensor coordinate system |
sperical coordinate system based on the sensor axis system at a defined origin point of the sensor Note 1 to entry: The origin point of the sensor coordinate system has to be selected in a way that detections could easily be specified in a spherical coordinate system. For example, the origin point of a camera sensor is the virtual projection centre of the camera's optics.  |
반응형