Sensing#
Inputs#
Ultrasonics#
Distance data from ultrasonic radar driver.
Camera Image#
Image data from camera driver.
Radar Tracks#
Tracks from radar driver.
Radar Scan#
Scan from radar driver.
Lidar Point Cloud#
Pointcloud from lidar driver.
GNSS-INS Position#
Initial pose from GNSS driver.
GNSS-INS Orientation#
Initial orientation from GNSS driver.
GNSS Velocity#
Initial velocity from GNSS driver.
GNSS Acceleration#
Initial acceleration from GNSS driver.
Output#
Ultrasonics#
Distance data from ultrasonic radar. Used by the Perception.
Camera Image#
Image data from camera. Used by the Perception.
Combined Radar Tracks#
Radar tracks from radar. Used by the Perception.
Radar Point Cloud#
Pointcloud from radar. Used by the Perception.
Combined Lidar Point Cloud#
Lidar pointcloud after preprocessing. Used by the Perception and Localization.
GNSS-INS pose#
Initial pose of the ego vehicle from GNSS. Used by the Localization.
GNSS-INS Orientation#
Orientation info from GNSS. Used by the Localization.
GNSS velocity#
Velocity of the ego vehicle from GNSS. Used by the Localization.
GNSS Acceleration#
Acceleration of the ego vehicle from GNSS. Used by the Localization.