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IDProjectCategoryView StatusDate SubmittedLast Update
0006441ASN.1Base Specpublic20-03-2013 16:3110-04-2013 19:37
ReporterSebastian Muellers 
Assigned ToAndras Kovacs 
PrioritynormalSeverityminorReproducibilityhave not tried
StatusresolvedResolutionfixed 
PlatformOSOS Version
Product VersionV0.0.4 
Target VersionFixed in VersionV0.0.5 
Summary0006441: add YawRate
DescriptionYawRate::= SEQUENCE {
yawRateValue YawRateValue,
yawRateConfidence yawRateConfidence
}
YawRateValue ::= INTEGER (-16383..16383)
-- LSB units of 0.01 degrees per second

YawRateConfidence ::= ENUMERATED {
unavailable (0), -- B'000 Not Equipped with yaw rate status
-- or yaw rate status is unavailable
degSec-100-00 (1), -- B'001 100 deg/sec
degSec-010-00 (2), -- B'010 10 deg/sec
degSec-005-00 (3), -- B'011 5 deg/sec
degSec-001-00 (4), -- B'100 1 deg/sec
degSec-000-10 (5), -- B'101 0.1 deg/sec
degSec-000-05 (6), -- B'110 0.05 deg/sec
degSec-000-01 (7) -- B'111 0.01 deg/sec
}
Additional Informationopen question where to add it
TagsNo tags attached.
Attached Files

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-  Notes
(0011342)
Andras Kovacs (developer)
28-03-2013 10:32

 I added this definition to the Common Container
(0011343)
Andras Kovacs (developer)
28-03-2013 10:33

 I added this definition to the Common Container
(0011357)
Sebastian Muellers (administrator)
29-03-2013 13:38

 Where to add YawRate definition?
The yawRate should be part of the BasicVehicleContainerHighFrequency.
The definition should be added to the CDD.
(0011358)
Sebastian Muellers (administrator)
29-03-2013 13:40

 YawRateValue ::= INTEGER (-16383..16383)
-- LSB units of 0.01 degrees per second
But this definition seems not suitable for the proposed unit? See below. If integer value is used, 1 radian corresponds to 57.3 degrees per second. This granularity is quite high?

Or do we use 0.01 degrees per second, or 0.01 radian per second? If 0.01 radian per second, is the range appropriate?
.32 yawRate
Description This DF includes:
• yawRateValue denotes the vehicle rotation around the center of mass of the empty-loaded vehicle in radians per second. The leading sign denotes the direction of rotation. The value is negative if the motion is clockwise when viewing from the top. The yaw rate value shall be a raw data value, i.e., not filtered, smoothed or otherwise modified. The reading instant should be the same as for the vehicle acceleration.
• yawRateConfidence denotes the 95% confidence interval for the measured yawRateValue. Otherwise, the value of yawRateConfidence shall be set to unavailable.
 
Data setting & presentation requirements The DE shall be presented as specified in [2] YawRate



YawRateConfidence ::= ENUMERATED {
unavailable (0), -- B'000 Not Equipped with yaw rate status
-- or yaw rate status is unavailable
degSec-100-00 (1), -- B'001 100 deg/sec
degSec-010-00 (2), -- B'010 10 deg/sec
degSec-005-00 (3), -- B'011 5 deg/sec
degSec-001-00 (4), -- B'100 1 deg/sec
degSec-000-10 (5), -- B'101 0.1 deg/sec
degSec-000-05 (6), -- B'110 0.05 deg/sec
degSec-000-01 (7) -- B'111 0.01 deg/sec
}

There seems to be a discrepancy to following specification:

yawRateConfidence denotes the 95% confidence interval for the measured yawRateValue. Otherwise, the value of yawRateConfidence shall be set to unavailable.

It should say: yawRateConfidence denotes the confidence interval for the 95% confidence level for the measured yawRateValue. Otherwise, the value of yawRateConfidence shall be set to unavailable.

Additionally we note that it is not appropriate to express the curvature confidence as a percent of the measured value, as it is currently in CDD:

CurvatureConfidence ::= INTEGER { lessThanOnePercentDeviation(0), onePercentDeviation(1), tenPercentDeviation(10), overTenPercentDeviation(11), unAvailable(12) } (0..12)


E.g., what happens when curvature is zero or very small? We would need very large percent ratios to be able to express a small or large confidence value (note in SAE Standard the percent is given as percent of the radius, not of the curvature=1/R) We therefore propose the following confidence intervals for the 95% confidence level (3 bits):

(B'000) 0.00002 /m
(001) 0.0001 /m
(010) 0.0005 /m
(011) 0.002 /m
(100) 0.01 /m
(101) 0.1 /m
(110) Out of range (e.g., should be used for unknown or unstable vehicle dynamics)
(111) Unavailable (should be used if vehicle not equipped or not available due to buss error, e.g. )
(0011364)
Sebastian Muellers (administrator)
02-04-2013 10:12

 decision to use 0.01 radion per second
to add the range to eb confirmed by Audi
the YawRateConfidence is OK, no change needed
(0011371)
Sebastian Muellers (administrator)
02-04-2013 13:43

 The yawRate should be part of the BasicVehicleContainerHighFrequency.
(0011372)
Sebastian Muellers (administrator)
02-04-2013 13:44

 wait for audi confirmation on range
(0011417)
Sebastian Muellers (administrator)
10-04-2013 10:18

 latest proposal is

YawRateConfidence ::= ENUMERATED {
0.0002 rad/s (0)
0.0001 rad/s (1)
0.002 rad/s (2)
0.1 rad/s (3)
0.2 rad/s (4)
2 rad/s (5)
Larger than 2 rad/s - outOfRange (6)
unavailable (7)
}
(0011424)
Sebastian Muellers (administrator)
10-04-2013 18:57

 it was decided to stay with

YawRate::= SEQUENCE {
yawRateValue YawRateValue,
yawRateConfidence yawRateConfidence
}
YawRateValue ::= INTEGER (-16383..16383)
-- LSB units of 0.01 degrees per second

YawRateConfidence ::= ENUMERATED {
unavailable (0), -- B'000 Not Equipped with yaw rate status
-- or yaw rate status is unavailable
degSec-100-00 (1), -- B'001 100 deg/sec
degSec-010-00 (2), -- B'010 10 deg/sec
degSec-005-00 (3), -- B'011 5 deg/sec
degSec-001-00 (4), -- B'100 1 deg/sec
degSec-000-10 (5), -- B'101 0.1 deg/sec
degSec-000-05 (6), -- B'110 0.05 deg/sec
degSec-000-01 (7) -- B'111 0.01 deg/sec
}
(0011425)
Sebastian Muellers (administrator)
10-04-2013 19:37

 and to add outOfRange for confidence

and unavailable for the yawRateValue

- Issue History
Date Modified Username Field Change
20-03-2013 16:31 Sebastian Muellers New Issue
28-03-2013 10:32 Andras Kovacs Note Added: 0011342
28-03-2013 10:32 Andras Kovacs Assigned To => Andras Kovacs
28-03-2013 10:32 Andras Kovacs Status new => confirmed
28-03-2013 10:33 Andras Kovacs Note Added: 0011343
28-03-2013 10:33 Andras Kovacs Status confirmed => acknowledged
29-03-2013 13:38 Sebastian Muellers Note Added: 0011357
29-03-2013 13:40 Sebastian Muellers Note Added: 0011358
29-03-2013 13:47 Sebastian Muellers Status acknowledged => assigned
02-04-2013 10:12 Sebastian Muellers Note Added: 0011364
02-04-2013 13:43 Sebastian Muellers Note Added: 0011371
02-04-2013 13:44 Sebastian Muellers Note Added: 0011372
02-04-2013 13:44 Sebastian Muellers Status assigned => feedback
10-04-2013 10:18 Sebastian Muellers Note Added: 0011417
10-04-2013 18:57 Sebastian Muellers Note Added: 0011424
10-04-2013 18:57 Sebastian Muellers Status feedback => resolved
10-04-2013 18:57 Sebastian Muellers Fixed in Version => V0.0.5
10-04-2013 18:57 Sebastian Muellers Resolution open => fixed
10-04-2013 19:37 Sebastian Muellers Note Added: 0011425

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