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雷达数据消息#

总结#

总而言之,Autoware 使用 radar 数据类型,如下所示.

点云的雷达数据消息#

消息定义#

std_msgs/Header header
radar_msgs/RadarReturn[] returns

# All variables below are relative to the radar`s frame of reference.
# This message is not meant to be used alone but as part of a stamped or array message.

float32 range                            # Distance (m) from the sensor to the detected return.
float32 azimuth                          # Angle (in radians) in the azimuth plane between the sensor and the detected return.
                                         #    Positive angles are anticlockwise from the sensor and negative angles clockwise from the sensor as per REP-0103.
float32 elevation                        # Angle (in radians) in the elevation plane between the sensor and the detected return.
                                         #    Negative angles are below the sensor. For 2D radar, this will be 0.
float32 doppler_velocity                 # The doppler speeds (m/s) of the return.
float32 amplitude                        # The amplitude of the of the return (dB)

跟踪对象的雷达数据消息#

消息定义#

# Object classifications (Additional vendor-specific classifications are permitted starting from 32000 eg. Car)
uint16 NO_CLASSIFICATION=0
uint16 STATIC=1
uint16 DYNAMIC=2

unique_identifier_msgs/UUID uuid            # A unique ID of the object generated by the radar.
                                            # Note: The z component of these fields is ignored for 2D tracking.
geometry_msgs/Point position                # x, y, z coordinates of the centroid of the object being tracked.
geometry_msgs/Vector3 velocity              # The velocity of the object in each spatial dimension.
geometry_msgs/Vector3 acceleration          # The acceleration of the object in each spatial dimension.
geometry_msgs/Vector3 size                  # The object size as represented by the radar sensor eg. length, width, height OR the diameter of an ellipsoid in the x, y, z, dimensions
                                            # and is from the sensor frame`s view.
uint16 classification                       # An optional classification of the object (see above)
float32[6] position_covariance              # Upper-triangle covariance about the x, y, z axes
float32[6] velocity_covariance              # Upper-triangle covariance about the x, y, z axes
float32[6] acceleration_covariance          # Upper-triangle covariance about the x, y, z axes
float32[6] size_covariance                  # Upper-triangle covariance about the x, y, z axes

RadarTracks 的消息使用#

  • 对象分类

在 radar_msgs/msg/RadarTrack.msg 的对象分类中,可以从 32000 开始的数字使用其他分类标签.

为了表示 Autoware 标签定义,Autoware 为 RadarTracks.msg 定义对象分类,如下所示.

uint16 UNKNOWN = 32000;
uint16 CAR = 32001;
uint16 TRUCK = 32002;
uint16 BUS = 32003;
uint16 TRAILER = 32004;
uint16 MOTORCYCLE = 32005;
uint16 BICYCLE = 32006;
uint16 PEDESTRIAN = 32007;

有关详细实现,请参见 radar_tracks_msgs_converter.

备注#

雷达消息调查#

根据传感器制造商及其用途,每个传感器可能会交换原始的后处理数据.本节介绍有关开源社区中以前开发的消息传递系统的调查.虽然输出种类繁多,但雷达主要采用点云和物体两种类型作为输出.ros-perception 中消息定义的相关讨论是 PR #1、PR #2 和 PR #3.这些 PR 总结了现有的雷达开源软件.