sample.log

Latitude, Longitude, Gear, Brake, Throttle, Steering Angle, Speed, FileName
37.399960, -122.131840, 4, 0.147433, 0.307836, 0.005236, 10.150000, images/1475187707065512506.png
37.399813, -122.132192, 4, 0.213535, 0.149950, 0.024435, 0.000000, images/1475187679161015902.png
37.398688, -122.134251, 4, 0.147890, 0.285496, 0.144862, 6.222222, images/1475187468081761839.png
37.401403, -122.139691, 4, 0.147280, 0.263645, 0.038397, 20.450001, images/1475187502136833882.png
37.403349, -122.142816, 4, 0.147860, 0.194278, -0.024435, 14.280556, images/1475187566745658396.png
37.399197, -122.134144, 4, 0.148913, 0.164965, 1.951278, 6.938889, images/1475187647407128007.png
37.380544, -122.114272, 4, 0.148806, 0.149950, 0.095993, 9.966666, images/1475187115183014751.png
37.374752, -122.115904, 4, 0.147189, 0.233234, 0.008727, 17.166666, images/1475187234299197693.png
37.396867, -122.132384, 4, 0.210590, 0.149950, 0.033161, 18.194445, images/1475187389621094591.png

Hi,

Thanks a lot for your laudable effort to provide data from sensor-equipped cars driving through the real world.

Within our company’s quality assurance department, we are heading towards a risk- and model-based quality assurance (validation) of the control software onboard automated cars. In this context we are interested in modelling the motion of your car within a physics engine.

To this end we would like to see some additional sensor data in the log records, and some static parameters to be provided upfront.

Let us start with the dynamic sensor data:

• GPS unit: the elevation of the car above sea level, in addition to the longitude and the latitude data that are already provided
• magnetic field sensor: the angular orientation of the car
• inertial measurement unit (IMU): the 6D acceleration/deceleration data vector
• motion sensor at each wheel: the wheel’s angular velocity

The latter data would be needed in order to detect whether the car was sliding.

In addition the following static parameters related to the car would be helpful:

• the car’s mass
• the car’s moment of inertia
• the diameter/circumference of the car's wheels

Finally we would like to see the following parameters for each sensor onboard the car:

• the sensor’s location (3 parameters) relative to a reference point in the car
• the sensor’s angular orientation (3 parameters) relative to the three axes of the car

There are more parameters and data points that more advanced, more precise modelling would require in the future, but the additional parameters and data points described above would be sufficient to get started with modelling the motion of your car.

What are your plans with regard to RADAR data?

Best regards

Hans-Martin Adorf
[email protected]

mgm technology partners
Munich, Germany
www.mgm-tp.com