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| 1 | +# Copyright (c) 2024 Contributors to COVESA |
| 2 | +# |
| 3 | +# This program and the accompanying materials are made available under the |
| 4 | +# terms of the Mozilla Public License 2.0 which is available at |
| 5 | +# https://www.mozilla.org/en-US/MPL/2.0/ |
| 6 | +# |
| 7 | +# SPDX-License-Identifier: MPL-2.0 |
| 8 | + |
| 9 | +# This file intends to provide data related to head position. |
| 10 | +# |
| 11 | +# As specified in "Euro NCAP - Assessment Protocol - Safety Assist" section 3.5.3.1 |
| 12 | +# (https://www.euroncap.com/media/80158/euro-ncap-assessment-protocol-sa-safe-driving-v104.pdf) |
| 13 | +# Head Movement (Owl) can be used to assess detection of driver distraction. |
| 14 | +# |
| 15 | +# Head position in this file refers to mid eye position. |
| 16 | +# Mid eye position refers to the center of a line drawn between the drivers eyes. |
| 17 | +# Absence of an eye does not affect mid eye position, as it shall be calculated as if both eyes were present. |
| 18 | +# |
| 19 | +# Position is given in the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12 |
| 20 | +# This coordinate system corresponds to a vehicle coordinate system as defined by ISO 8855:2011 section 2.11 |
| 21 | +# with the vehicle reference point at centre of the (first) rear axle. |
| 22 | +# |
| 23 | +# With the definitions given below example values for a regular LHD passenger vehicle |
| 24 | +# could be something like |
| 25 | +# X = 2000 mm (head position 2 meters in front of rear axle) |
| 26 | +# Y = 600 mm (head position 60 cm left of vehicle center) |
| 27 | +# Z = 1000 mm (head position 100 cm above center of rear axis) |
| 28 | +# |
| 29 | +# Head Roll/Pitch/Yaw refers to relationship between head axis system and the vehicle rear-axle coordinate system. |
| 30 | +# |
| 31 | +# Head axis system is defined as follows |
| 32 | +# Head X-axis corresponds to a vector from midway between left and right pre-auricular point and nasion. |
| 33 | +# Head Y-axis corresponds to a vector orthogonal to X going left from the head on the plane defined by left and right |
| 34 | +# pre-auricular point and nasion. |
| 35 | +# Head Z-axis corresponds to vector orthogonal to X and Y going upward. |
| 36 | +# |
| 37 | + |
| 38 | +X: |
| 39 | + datatype: int16 |
| 40 | + type: sensor |
| 41 | + unit: mm |
| 42 | + description: Longitudinal position of head center measured as mid eye position on X-axis |
| 43 | + of the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12 |
| 44 | + Mid eye position refers to the center of a line drawn between the center of the drivers eyes. |
| 45 | + Positive values = forward of (first) rear-axle. Negative values = backward of (first) rear-axle. |
| 46 | + |
| 47 | +Y: |
| 48 | + datatype: int16 |
| 49 | + type: sensor |
| 50 | + unit: mm |
| 51 | + description: Lateral position of head center measured as mid eye position on X-axis |
| 52 | + of the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12 |
| 53 | + Mid eye position refers to the center of a line drawn between the center of the drivers eyes. |
| 54 | + Positive values = left of rear-axle center. Negative values = right of rear-axle center. |
| 55 | + |
| 56 | +Z: |
| 57 | + datatype: int16 |
| 58 | + type: sensor |
| 59 | + unit: mm |
| 60 | + description: Height position of head center measured as mid eye position on X-axis |
| 61 | + of the vehicle rear-axle coordinate system as defined by ISO 23150:2023 section 3.7.12 |
| 62 | + Mid eye position refers to the center of a line drawn between the center of the drivers eyes. |
| 63 | + Positive values = above center of rear-axle reference point. |
| 64 | + Negative values = below center of rear-axle reference point. |
| 65 | + |
| 66 | +Yaw: |
| 67 | + datatype: float |
| 68 | + type: sensor |
| 69 | + unit: degrees |
| 70 | + min: -180 |
| 71 | + max: 180 |
| 72 | + description: Head yaw angle, measured from the vehicle sprung mass X-axis as defined by ISO 23150:2023 |
| 73 | + to the head X-axis, around the vehicle Z-axis (right-hand rule). |
| 74 | + 0 = Head in normal position. |
| 75 | + Positive values = Head turned left. Negative values = Head turned right. |
| 76 | + |
| 77 | +Pitch: |
| 78 | + datatype: float |
| 79 | + type: sensor |
| 80 | + unit: degrees |
| 81 | + min: -90 |
| 82 | + max: 90 |
| 83 | + description: Head pitch angle, measured as angle from vehicle sprung mass XY-plane as defined by ISO 23150:2023 |
| 84 | + to the head X-axis. |
| 85 | + 0 = Head in normal position. |
| 86 | + Positive values = Head leaning up. Negative values = Head leaning down. |
| 87 | +Roll: |
| 88 | + datatype: float |
| 89 | + type: sensor |
| 90 | + unit: degrees |
| 91 | + min: -180 |
| 92 | + max: 180 |
| 93 | + description: Head roll angle about the head X-axis (right-hand rule). |
| 94 | + 0 = Head in normal position. |
| 95 | + Positive values = Head leaning to the right. Negative values = Head leaning to the left. |
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