SENSORIS 1.4.0

The Sensor Interface Specification (SENSORIS) defines an interface for requesting and sending vehicle sensor data from vehicles to clouds and across clouds. The specification and its standardization focus on the content and encoding of the interface.

The documentation of the SENSORIS schema is part of the protobuf schema itself, i.e. schema definition and documentation are located together. Documentation is written as protobuf comments. The comments in the protobuf schema are taken over automatically to the auto-generated data classes by the protobuf compiler.

sensoris/protobuf/messages/data.proto
sensoris.protobuf.messages.data

DataMessage

Data message.

Field	Type	Description
envelope	DataMessage.Envelope	Envelope.
event_group	repeated EventGroup	Event group.
event_relation	repeated DataMessage.EventRelation	Event relation.
event_source	repeated DataMessage.EventSource	Event source.

DataMessage.AbsolutePaths

Absolute paths through the message structure by defined field numbers in the protobuf schema. The paths begin at message type DataMessages.

Field	Type	Description
path	repeated DataMessage.AbsolutePaths.Path	Path through the message structure by defined field numbers in the protobuf schema. The path begins at message type DataMessages.

DataMessage.AbsolutePaths.Path

Path through the message structure by defined field numbers in the protobuf schema. The path begins at message type DataMessages.

Example: [2, 2, 4, 2, 5] points to the instance of type sensoris.protobuf.types.base.Int64ValueAndAccuracy at the path data_message.event_group.weather_category.precipitation.absolute_intensity_and_accuracy.

Field	Type	Description
field_number	repeated int64 Unit 1 Resolution 1 Range [1, )	Field number.

DataMessage.Envelope

Envelope.

Field	Type	Description
ids	DataMessage.Envelope.Ids	Identifiers.
job_ids	repeated sensoris.protobuf.types.job.Ids	Job identifiers of jobs requesting the data message.
field_resolution_override	repeated DataMessage.Envelope.FieldResolutionOverride	Field resolution override.
vehicle_dimensions	DataMessage.Envelope.VehicleDimensions	Vehicle dimensions in reference to SENSORIS vehicle coordinate system.
map_identification	DataMessage.Envelope.MapIdentification	Map identification. The combination of the map identification and event relations of type MAP_REFERENCE defined in the data message enable to relate events to map objects defined by map references in the map category. If the map of the vehicle is known to the cloud, then the relations can be interpreted by the cloud.
extension	repeated google.protobuf.Any	Proprietary extension.

DataMessage.Envelope.FieldResolutionOverride

Override resolution of event fields referenced by their paths.

Field	Type	Description
paths	DataMessage.Paths	Paths that are impacted by the field resolution override.
exponent	google.protobuf.Int64Value Unit 1 Resolution 1 Range ( , )	Exponent of the override to the base of 10. Example: Value 2 is interpreted as factor 10^(2) = 100, e.g. the transported value 1234 results in the interpretation of 12.34.

DataMessage.Envelope.Ids

Identifiers.

Field	Type	Description
session_id	google.protobuf.StringValue	Session identifier.
message_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Message identifier.
last_message_of_session	google.protobuf.BoolValue	Flag for last message of session with the session_id. If true, then the message is the last message of the session. If false, then subsequent messages are to be expected.
vehicle_fleet_id	google.protobuf.StringValue	Vehicle fleet identifier.
vehicle_id	google.protobuf.StringValue	Vehicle identifier.
driver_id	google.protobuf.StringValue	Driver identifier.

DataMessage.Envelope.MapIdentification

Map identification. The combination of the map identification and event relations of type MAP_REFERENCE defined in the data message enable to relate events to map objects defined by map references in the map category. If the map of the vehicle is known to the cloud, then the relations can be interpreted by the cloud.

Field	Type	Description
provider_version	DataMessage.Envelope.MapIdentification.MapVersion	Map version as it is extracted from the map provider.
compiler_version	DataMessage.Envelope.MapIdentification.MapVersion	Map version in case the map is compiled through a third party.
format	DataMessage.Envelope.MapIdentification.Format	Map format.

DataMessage.Envelope.MapIdentification.MapVersion

Map version defined by source and version.

Field	Type	Description
source	google.protobuf.StringValue	Map source. Example: Value Map Provider High Definition Live Map.
version	sensoris.protobuf.types.base.Version	Map version. In case of a continuous map update service, the exact version might not be existing.
extraction_timestamp	sensoris.protobuf.types.base.Timestamp	Map extraction timestamp representing the version of the map at the timestamp. Can be set in addition or in exchange of map version. Version and extraction timestamp are redundant in case of an exact mapping between timestamp and version.

DataMessage.Envelope.VehicleDimensions

Vehicle dimensions in reference to SENSORIS vehicle coordinate system.

Field	Type	Description
distance_to_front	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Distance from SENSORIS vehicle coordinate system to vehicle front in direction of positive x-axis.
distance_to_back	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Distance from SENSORIS vehicle coordinate system to vehicle back in direction of negative x-axis.
distance_to_left	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Distance from SENSORIS vehicle coordinate system to vehicle left in direction of positive y-axis.
distance_to_right	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Distance from SENSORIS vehicle coordinate system to vehicle right in direction of negative y-axis.
distance_to_top	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Distance from SENSORIS vehicle coordinate system to vehicle top in direction of positive z-axis.
distance_to_ground	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Distance from SENSORIS vehicle coordinate system to vehicle ground in direction of negative z-axis.

DataMessage.EventRelation

Binary relation between events in a data message. Relations are allowed between events in an EventGroup and across events of different EventGroups.

Field	Type	Description
from_id	repeated google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	From id refers to event with EventEnvelope.id.
type	DataMessage.EventRelation.Type	Type.
to_id	repeated google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	To id refers to event with EventEnvelope.id.
extension	repeated google.protobuf.Any	Proprietary extension.

DataMessage.EventSource

Source of events. Source can be set for individual events or for event types in paths.

Field	Type	Description
source	sensoris.protobuf.types.source.Source	Source.
ids	DataMessage.EventSource.EventEnvelopeIds	Events referenced by their envelope ids are provided by the source.
paths	DataMessage.Paths	All events of the types in the paths are provided by the source.
extension	repeated google.protobuf.Any	Proprietary extension.

DataMessage.EventSource.EventEnvelopeIds

Event envelope ids.

Field	Type	Description
id	repeated google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Refers to EventEnvelope.id. Example: Values [1, 25, 26, 28, 45, 123] define that the six events identified by their ids are provided by the source.

DataMessage.Paths

Paths through the message structure.

Field	Type	Description
absolute_paths	DataMessage.AbsolutePaths	Absolute paths through the message structure by defined field numbers in the protobuf schema. The paths begin at message type DataMessages.

DataMessages

Data messages for transport, i.e. the root message type that is exchanged between Service Cloud, Vehicle Cloud and Vehicle Fleet.

Field	Type	Description
envelope	DataMessages.Envelope	Envelope.
data_message	repeated DataMessage	Data message.

DataMessages.Envelope

Envelope.

Field	Type	Description
version	sensoris.protobuf.types.base.Version	Format version.
submitter	repeated sensoris.protobuf.types.base.Entity	Information about the submitting entity which may be a fleet, a vehicle manufacturer or a specific service/software. The primary id might be the company name whereas the secondary id might be a service reason, a bilateral contract identifier or similar. Example: Values primary_id: "ABC Vehicle Manufacturer", secondary_id: "ConnectedVehicleSensorDataCollectionUnit", type: "HazardWarning".
extension_type_url_and_version	repeated sensoris.protobuf.types.base.ExtensionTypeUrlAndVersion	Proprietary extension type URL and format version of the extension.
extension	repeated google.protobuf.Any	Proprietary extension.

EventGroup

Group of events with same origin.

Field	Type	Description
envelope	EventGroup.Envelope	Envelope.
localization_category	sensoris.protobuf.categories.localization.LocalizationCategory	Localization category.
object_detection_category	sensoris.protobuf.categories.objectdetection.ObjectDetectionCategory	Object detection category.
weather_category	sensoris.protobuf.categories.weather.WeatherCategory	Weather category.
driving_behavior_category	sensoris.protobuf.categories.drivingbehavior.DrivingBehaviorCategory	Driving behavior category.
intersection_attribution_category	sensoris.protobuf.categories.intersectionattribution.IntersectionAttributionCategory	Intersection attribution category.
road_attribution_category	sensoris.protobuf.categories.roadattribution.RoadAttributionCategory	Road attribution category.
traffic_regulation_category	sensoris.protobuf.categories.trafficregulation.TrafficRegulationCategory	Traffic regulation category.
traffic_events_category	sensoris.protobuf.categories.trafficevents.TrafficEventsCategory	Traffic events category.
traffic_maneuver_category	sensoris.protobuf.categories.trafficmaneuver.TrafficManeuverCategory	Traffic maneuver category.
brake_category	sensoris.protobuf.categories.brake.BrakeCategory	Brake category.
powertrain_category	sensoris.protobuf.categories.powertrain.PowertrainCategory	Powertrain category.
map_category	sensoris.protobuf.categories.map.MapCategory	Map category.
vehicle_device_category	sensoris.protobuf.categories.vehicledevice.VehicleDeviceCategory	Vehicle device category.

EventGroup.Envelope

Envelope.

Field	Type	Description
origin	EventGroup.Envelope.Origin	Temporal and spatial origin.
extension	repeated google.protobuf.Any	Proprietary extension.

EventGroup.Envelope.Origin

Temporal and spatial origin.

Field	Type	Description
timestamp	sensoris.protobuf.types.base.Timestamp	Temporal origin.
position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Position and accuracy of spatial origin in absolute spatial reference system.
orientation_and_accuracy	sensoris.protobuf.types.spatial.RotationAndAccuracy	Rotation and accuracy of spatial origin in absolute spatial reference system. If orientation is not defined then orientation is East-North-Up (ENU).

DataMessage.Envelope.MapIdentification.Format

Map format.

Name	#	Description
UNKNOWN_FORMAT	0	Unknown.
OTHER	1	DEPRECATED, as it breaks compatibility between minor releases. Other, i.e. none of the listed enum values.
NDS	2	Navigation Data Standard (NDS).

DataMessage.EventRelation.Type

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
EQUAL	1	Same real world entity described through to and from events.
GROUP	2	Accumulation of from events without to relation.
CONTAIN	3	Accumulation of from events to whole to events.
IMPACT	4	To events add context to or enrich the from events.
START_AT	5	From events start at the to events, e.g. for spatial or temporal relations.
END_AT	6	From events end at the to events, e.g. for spatial or temporal relations.
LEFT_OF	7	From events are spatially left of the to events in the context of the spatial reference system.
RIGHT_OF	8	From events are spatially right of the to events in the context of the spatial reference system.
TRIGGERED_BY	9	From events are consequences of the to events.
DERIVED_FROM	11	To events are derivations or interpretations of the from events.
MAP_REFERENCE	12	From events reference to objects from a map.

sensoris/protobuf/messages/job.proto
sensoris.protobuf.messages.job

JobMessageEnvelope

Envelope for job message.

Field	Type	Description
job_ids	sensoris.protobuf.types.job.Ids	Job identifiers.
extension	repeated google.protobuf.Any	Proprietary extension.

JobMessages

Job messages for transport, i.e. the root message type that is exchanged between Service Cloud, Vehicle Cloud and Vehicle Fleet.

Field	Type	Description
envelope	sensoris.protobuf.types.base.MessagesEnvelope	Envelope.
job_request_message	repeated JobRequestMessage	Job request message.
job_status_message	repeated JobStatusMessage	Job status message.

JobRequestMessage

Job request message.

Field	Type	Description
envelope	JobMessageEnvelope	Envelope.
metadata	JobRequestMessage.Metadata	Metadata.
capability_requirements	JobRequestMessage.CapabilityRequirements	Capability requirements.
overall_restrictions	JobRequestMessage.OverallRestrictions	Overall restrictions.
validity_restrictions	sensoris.protobuf.types.jobvalidity.JobValidityRestrictions	Job validity restrictions.
collection_trigger	JobRequestMessage.CollectionTrigger	Collection trigger.
actions	JobRequestMessage.Actions	Actions.
extension	repeated google.protobuf.Any	Proprietary extension.

JobRequestMessage.Actions

Defines what action shall be performed when the CollectionTrigger is TRUE.

Field	Type	Description
collection_action	sensoris.protobuf.types.collection.CollectionAction	Defines the data structure for the action that is performed after the data collection has started. It defines which data shall be collected, how often, how much, how the data shall be aggregated, and others.
extension	repeated google.protobuf.Any	Proprietary extension.

JobRequestMessage.CapabilityRequirements

The capability requirements define supported format versions of SENSORIS message types. Data collectors shall reject job requests that require versions other than the ones they support.

Field	Type	Description
minimum_supported_job_request_messages_version	sensoris.protobuf.types.base.Version	Minimum supported version of SENSORIS JobMessages required to be able to interpret the job request. Applies to versions within the provided major version only. Data collectors (vehicle cloud and vehicles) shall reject job requests that require versions higher than the ones they support. Example: Value of 1.2.0 supports all versions from 1.2.0 up to the next major version, e.g. versions 1.2.3 and 1.4.0 would be supported, whereas version 2.0.0 would not be supported.
supported_data_messages_versions	JobRequestMessage.CapabilityRequirements.DataMessagesVersion	Supported versions of SENSORIS DataMessages and proprietary extensions.
extension	repeated google.protobuf.Any	Proprietary extension.

JobRequestMessage.CapabilityRequirements.DataMessagesVersion

Supported versions of SENSORIS DataMessages and proprietary extensions.

Field	Type	Description
version_range	repeated sensoris.protobuf.types.base.VersionRange	Supported SENSORIS DataMessages format versions.
extension_type_url_and_version_ranges	repeated sensoris.protobuf.types.base.ExtensionTypeUrlAndVersionRanges	Proprietary extension type URL and supported format versions of the extension.

JobRequestMessage.CollectionTrigger

The collection trigger defines defines in what moment the action (data collection) becomes active.

Field	Type	Description
collection_condition	sensoris.protobuf.types.logicalexpression.LogicalExpression	Based on logical expressions, the collection condition defines under which conditions data collection shall start. If the result of the logical expression is TRUE, the data collection shall start and be executed until collection condition is FALSE or maximum extents per collection event is reached.
max_extents_per_collection_event	sensoris.protobuf.types.collection.CollectionExtents	Defines the maximum extents for a collection event. In normal operation, reaching these extents shall stop the collection event. Exceeding the extents over one collection event (started by a collection condition) shall be interpreted as a sign for faulty data collection.
extension	repeated google.protobuf.Any	Proprietary extension.

JobRequestMessage.Metadata

Provides additional information about the requested data collection.

Field	Type	Description
priority	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, 256]	The job priority defines the relative priority of a job request to all other job request issued by the same submitter. The priority indicates which jobs are less important than other jobs and could e.g. be used to terminate first jobs with low priority in case of resource limitations. However, there is no general scheme to evaluate the priority of the job request. A priority = 1 indicates a job request with the highest priority, whereas priority = 256 indicates a job request with the lowest priority.
requested_submit_before	google.protobuf.Int64Value Unit Second Resolution 1 Range [0, )	Defines the maximum latency in the normal data transmission case. Latency is defined as the time between the last position in the SENSORIS data message and the time at which the last byte of the data message has arrived at the submitter's server. Given that the clocks between the collector and the submitter might not be perfectly in sync, the latency cannot be calculated precisely. In consequence, SENSORIS recommends planning for a buffer if this field is used. This field shall be used as a guideline for the collector to plan an prioritize the transmission of the data messages. A data message with a latency exceeding the value of requested_submit_before shall be still accepted by the submitter.
invalidate_message_after	google.protobuf.Int64Value Unit Second Resolution 1 Range (0, )	Defines the maximum latency after which the requested data is not valid anymore from the submitter's point of view. Latency is defined as the time between the last position in the SENSORIS data message and the time at which the last byte of the data message has arrived at the submitter's server. Given that the clocks between the collector and the submitter might not be perfectly in sync, the latency cannot be calculated precisely. In consequence, SENSORIS recommends planning for a buffer when using this field. A data message with a latency exceeding the value of invalidate_message_after shall not be accepted by the submitter. The collector, vehicle or vehicle cloud, may therefore decide to drop some messages if they are unlikely to arrive on time at the submitter.
collect_when_accessory_is_turned_off	google.protobuf.BoolValue	If true, the job is required to run also during accessory off (e.g. while parking). If vehicle does not support job collection during accessory off mode, the job request may be terminated by the vehicle.
extension	repeated google.protobuf.Any	Proprietary extension.

JobRequestMessage.OverallRestrictions

The overall restrictions define collection restrictions of the entire job request as a whole.

Example: A service cloud may restrict the overall number of data messages that is expecting to receive. The vehicle cloud shall ensure that the requested number of data messages (and no more) are submitted to the service cloud.

Field	Type	Description
max_submissions_per_time	JobRequestMessage.OverallRestrictions.TimeRestrictions	Time based submission restrictions to allow for requesting regular data message submissions. Example: Restriction to maximum 10 DataMessages every 2 hours.
max_submissions_per_spatial_restriction	google.protobuf.Int64Value	Number of submissions per each single spatial restriction in the JobValidityRestrictions. It is the responsibility of the submitter to ensure that e.g. the sizes of the requested areas are dimensioned equally distributed. For example, a spatial restriction of 1 x 1 m and another 1000 m x 1000 m shall not be defined if the submitter wants to achieve even distribution of data message submissions.
max_submission_per_map_tile	JobRequestMessage.OverallRestrictions.MapTileRestrictions	Map tile based submission restrictions. Example: Restriction to maximum 10 DataMessages per tile on defined timing schema and zoom level.
total_collection_extent	sensoris.protobuf.types.collection.CollectionExtents	Total extent for the entire collection. It defines the desired collection extent that the submitter intends to receive. The collector shall use the best of its ability to achieve these extents. However, it may not guarantee the delivery of the totality of the extents.
extension	repeated google.protobuf.Any	Proprietary extension.

JobRequestMessage.OverallRestrictions.MapTileRestrictions

Map tile based submission restrictions.

Field	Type	Description
tiling_scheme	sensoris.protobuf.types.map.MapTilingScheme	Map tiling scheme used by the restriction.
submissions_per_tile	google.protobuf.Int64Value Unit 1 Resolution 1 Range (0, )	Number of data message submissions per tile defined by tiling_scheme.

JobRequestMessage.OverallRestrictions.TimeRestrictions

Time based submission restrictions.

Field	Type	Description
time_unit_and_value	JobRequestMessage.OverallRestrictions.TimeRestrictions.TimeUnitAndValue	Time unit and value define a time range. Example: Time unit of HOUR and value of 1, sets the restriction to be checked for the time range of 1 hour.
submissions_per_time_unit	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Maximum number of data message submissions per time_unit_and_value.

JobRequestMessage.OverallRestrictions.TimeRestrictions.TimeUnitAndValue

Time unit and value define a time range.

Field	Type	Description
unit	sensoris.protobuf.types.base.TimeUnit	Time unit.
value	google.protobuf.Int64Value Unit 1 Resolution 1 Range (0, )	Time value of the time unit.

JobStatusMessage

Job status message.

Field	Type	Description
envelope	JobMessageEnvelope	Envelope.
timestamp	sensoris.protobuf.types.base.Timestamp	Timestamp.
status	JobStatusMessage.Status	Status.
details	google.protobuf.StringValue	Provides additional details regarding the status of the job.
extension	repeated google.protobuf.Any	Proprietary extension.

JobStatusMessage.Status

The status details the reason of termination of a job request message.

Name	#	Description
UNKNOWN_STATUS	0	Unknown.
TERMINATION	1	Termination due to any reason.
TERMINATION_SUCCESS	2	Termination due to successful completion of the job.
TERMINATION_UNSUPPORTED_REQUEST	3	Termination due to request is not supported because of technical limitations, e.g. contains events or event fields which cannot be provided or logical expressions that cannot be evaluated.
TERMINATION_OVERSIZED_REQUEST	4	Termination due to collected data size is out of the max requested extends or is over maximum size supported by the collector.
TERMINATION_NOT_ALLOWED_EVENT_OR_EVENT_FIELD	5	Termination due to collection of some or all events or event fields are not allowed because of legal reason.
TERMINATION_NOT_ALLOWED_LOCATION	6	Termination due to collection is not allowed within requested location because of legal reason.
TERMINATION_COLLECTION_FAILING_IN_COLLECTION_DEVICE	7	Termination due to executing of the request is failing in the collection device.

Brake category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
brake_systems_status	repeated BrakeSystemsStatus	Status of brake systems.

Status of brake systems.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
abs_status	sensoris.protobuf.types.base.SystemStatus	Status of Anti-lock Breaking System (ABS).
esc_status	sensoris.protobuf.types.base.SystemStatus	Status of Electronic Stability Control (ESC).
tcs_status	sensoris.protobuf.types.base.SystemStatus	Status of Traction Control System (TCS).
ebd_status	sensoris.protobuf.types.base.SystemStatus	Status of Electronic Brakeforce Distribution (EBD).
eba_status	sensoris.protobuf.types.base.SystemStatus	Status of Emergency Brake Assist (EBA).

Supported event relations
1..* sensoris.protobuf.categories.localization.VehicleAcceleration TRIGGERED_BY 1 sensoris.protobuf.categories.brake.BrakeSystemsStatus
1 sensoris.protobuf.categories.brake.BrakeSystemsStatus TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehicleAcceleration
1 sensoris.protobuf.categories.brake.BrakeSystemsStatus TRIGGERED_BY 1..* sensoris.protobuf.categories.objectdetection.MovableObject
1 sensoris.protobuf.categories.brake.BrakeSystemsStatus TRIGGERED_BY 1..* sensoris.protobuf.categories.objectdetection.StaticObject

Driving behavior category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
parking_status	repeated ParkingStatus	Parking status.

Parking status describes parking in or parking out of a parking spot along with the parking direction and duration. The vehicle may also report additional information, if such information is available: 1) the direction of parking (longitudinal, lateral, diagonal). 2) the expected (for a park in event) or actual (for a park out event) duration. The duration may contain accuracy. The event may be related with an IMPACTS relation to TrafficSign events describing the parking regulations identified for the parking spot just occupied / vacated by the vehicle. The position of the parked vehicle is reported using one or more events VehiclePositionAndOrientation for which the ParkingStatus timestamp can be interpolated within the path of the positions. If the parking event is identified with a delay, then the original timestamp of the parking event shall be back-calculated. It is recommended to also report the vehicle heading.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
status_and_confidence	ParkingStatus.StatusAndConfidence	Status and confidence.
direction_and_confidence	ParkingStatus.DirectionAndConfidence	Direction and confidence.
duration_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Minute Resolution 1 Range (0, )	Duration of parking in minutes: - for status PARK_IN the planned parking duration, e.g. based on time payed for parking. - for status PARK_OUT the actual duration since the vehicle parked in the location.

Supported event relations
1..* sensoris.protobuf.categories.trafficregulation.TrafficSign IMPACT 1 sensoris.protobuf.categories.drivingbehavior.ParkingStatus
1 sensoris.protobuf.categories.drivingbehavior.ParkingStatus START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.drivingbehavior.ParkingStatus END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation

Direction and confidence.

Field	Type	Description
type	ParkingStatus.DirectionAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Status and confidence.

Field	Type	Description
type	ParkingStatus.StatusAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
LONGITUDINAL	1	Vehicle is parked along the road.
LATERAL	2	Vehicle is parked lateral to the road.
DIAGONAL	3	Vehicle is parked diagonal to the road.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
PARK_IN	1	Vehicle parks in, i.e. vehicle occupies a parking spot.
PARK_OUT	2	Vehicle parks out, i.e. vehicle leaves a parking spot.

Intersection attribution category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
traffic_signal_bulb	repeated TrafficSignalBulb	Bulb of a traffic signal, i.e. the individual traffic light.
traffic_signal	repeated TrafficSignal	Traffic signal of one or more traffic lights for an intersection scenario. Traffic signals also might be part of no intersection, e.g. on pedestrian crossings.

Traffic signal of one or more traffic lights for an intersection scenario. Traffic signals also might be part of no intersection, e.g. on pedestrian crossings. The geometry of a traffic signal is defined by a rectangular box and accuracy around the traffic signal.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a traffic signal has been detected.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
rectangular_box_and_accuracy	sensoris.protobuf.types.spatial.RectangularBoxAndAccuracy	Rectangular box and accuracy.
bulb_count_and_confidence	sensoris.protobuf.types.base.CountAndConfidence	Number of bulbs and confidence. Example: Traffic signal has three bulbs with confidence 90 %.
orientation_and_confidence	TrafficSignal.OrientationAndConfidence	Orientation and confidence.

Supported event relations
1 sensoris.protobuf.categories.intersectionattribution.TrafficSignal CONTAIN 1..* sensoris.protobuf.categories.intersectionattribution.TrafficSignalBulb
1..* sensoris.protobuf.categories.intersectionattribution.TrafficSignal EQUAL 1 sensoris.protobuf.categories.objectdetection.StaticObject

Orientation.

Example: Traffic signal has orientation VERTICAL with confidence 80 %.

Field	Type	Description
type	TrafficSignal.OrientationAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Bulb of a traffic signal, i.e. the individual traffic light.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a traffic signal bulb has been detected.
position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Position and accuracy of traffic signal bulb center.
status_and_confidence	TrafficSignalBulb.StatusAndConfidence	Status and confidence.
color_and_confidence	TrafficSignalBulb.ColorAndConfidence	Color and confidence.
shape_and_confidence	TrafficSignalBulb.ShapeAndConfidence	Shape and confidence.

Supported event relations
1 sensoris.protobuf.categories.intersectionattribution.TrafficSignal CONTAIN 1..* sensoris.protobuf.categories.intersectionattribution.TrafficSignalBulb

Color and confidence.

Example: Traffic signal bulb has the color RED with confidence 90 %.

Field	Type	Description
type	TrafficSignalBulb.ColorAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Shape and confidence.

Example: Traffic signal bulb has the shape ARROW_STRAIGHT with confidence 70 %.

Field	Type	Description
type	TrafficSignalBulb.ShapeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Status and confidence.

Example: Traffic signal bulb has the status BLINKING with confidence 60 %.

Field	Type	Description
type	TrafficSignalBulb.StatusAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
OTHER	1	DEPRECATED, as it breaks compatibility between minor releases. Previous: Other, i.e. none of the listed enum values.
HORIZONTAL	2	Horizontal.
VERTICAL	3	Vertical.
MIXED	4	Mixed, i.e. both horizontal and vertical.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
GREEN	1	Green.
YELLOW	2	Yellow.
RED	3	Red.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
CIRCLE	1	No shape, i.e. full bulb circle is illuminated when on.
ARROW_STRAIGHT	2	Straight arrow.
ARROW_LEFT	3	Left arrow describing left turning only.
ARROW_RIGHT	4	Right arrow describing right turning only.
ARROW_STRAIGHT_AND_LEFT	5	Straight and left arrow describing straight and left turning only.
ARROW_STRAIGHT_AND_RIGHT	6	Straight and right arrow describing straight and right turning only.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
OFF	1	Light is off.
ON	2	Light is on.
BLINKING	3	Light is blinking.

Localization category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
vehicle_position_and_orientation	repeated VehiclePositionAndOrientation	Vehicle position and rotation.
vehicle_odometry	repeated VehicleOdometry	Vehicle odometry.
vehicle_speed	repeated VehicleSpeed	Vehicle speed.
vehicle_acceleration	repeated VehicleAcceleration	Vehicle acceleration.
vehicle_rotation_rate	repeated VehicleRotationRate	Vehicle rotation rate.

Vehicle acceleration.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
value_and_accuracy	sensoris.protobuf.types.spatial.XyzVectorAndAccuracy Unit Meter per Second Squared Resolution 0.1 Range ( , )	Value and accuracy.

Supported event relations
1..* sensoris.protobuf.categories.localization.VehicleAcceleration TRIGGERED_BY 1 sensoris.protobuf.categories.brake.BrakeSystemsStatus
1 sensoris.protobuf.categories.brake.BrakeSystemsStatus TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehicleAcceleration
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehicleAcceleration

Vehicle odometry. A vehicle odometry describes the translation and rotation from the vehicle position at envelope.timestamp to the vehicle position at end_timestamp. The start and end vehicle position of a vehicle odometry can be set explicitly with event relations of type START and END.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
end_timestamp	sensoris.protobuf.types.base.Timestamp	End timestamp. If the end timestamp and the event relation of type END are not set, then the end timestamp is the timestamp of the vehicle position directly following the envelope.timestamp.
translation_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Translation and accuracy.
rotation_and_accuracy	sensoris.protobuf.types.spatial.RotationAndAccuracy	Rotation and accuracy in spatial reference system. If the spatial reference system is absolute, e.g. WGS84, then the rotation refers to East-North-Up (ENU). If the spatial reference system is relative as defined in the EventGroup, then the orientation refers to XYZ, similar to East-North-Up (ENU).

Supported event relations
1 sensoris.protobuf.categories.localization.VehicleOdometry START 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.localization.VehicleOdometry END 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation

Vehicle position and orientation.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Position and accuracy.
orientation_and_accuracy	sensoris.protobuf.types.spatial.RotationAndAccuracy	Orientation and accuracy in spatial reference system. If the spatial reference system is absolute, e.g. WGS84, then the orientation refers to East-North-Up (ENU). If the spatial reference system is relative as defined in the EventGroup, then the orientation refers to XYZ, similar to East-North-Up (ENU).
navigation_satellite_system_status	VehiclePositionAndOrientation.NavigationSatelliteSystemStatus	Status for event source sensor NavigationSatelliteSystem.

Supported event relations
1 sensoris.protobuf.categories.localization.VehicleOdometry START 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.localization.VehicleOdometry END 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.drivingbehavior.ParkingStatus START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.drivingbehavior.ParkingStatus END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.TrafficCondition START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.TrafficCondition END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadWorks START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadWorks END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadWeatherCondition START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadWeatherCondition END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehiclePositionAndOrientation

Status of navigation satellite system.

Field	Type	Description
fix_type	VehiclePositionAndOrientation.NavigationSatelliteSystemStatus.FixType	Fix type.
count	sensoris.protobuf.types.base.Int64Value Unit 1 Resolution 1 Range [1, )	Total number of satellites used for fix.
hdop	sensoris.protobuf.types.base.Int64Value Unit 1 Resolution 0.01 Range (0, )	Horizontal dilution of precision.
vdop	sensoris.protobuf.types.base.Int64Value Unit 1 Resolution 0.01 Range (0, )	Vertical dilution of precision.
pdop	sensoris.protobuf.types.base.Int64Value Unit 1 Resolution 0.01 Range (0, )	Position dilution of precision.
tdop	sensoris.protobuf.types.base.Int64Value Unit 1 Resolution 0.01 Range (0, )	Time dilution of precision.
snr	sensoris.protobuf.types.base.Int64Value Unit Decibel Resolution 0.1 Range ( , )	Signal-to-noise ratio of the satellite signal.

Vehicle rotation rate.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
value_and_accuracy	sensoris.protobuf.types.spatial.RotationRateAndAccuracy	Value and accuracy.

Supported event relations
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehicleRotationRate

Vehicle speed.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
value_and_accuracy	sensoris.protobuf.types.spatial.XyzVectorAndAccuracy Unit Meter per Second Resolution 0.1 Range [0, )	Value and accuracy.

Supported event relations
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehicleSpeed

Fix type.

Name	#	Description
UNKNOWN_FIX_TYPE	0	Unknown.
NONE	1	No fix.
TWO_D	2	2 D fix.
TWO_D_SATELLITE_BASED_AUGMENTATION	3	2 D fix using satellite based augmentation.
TWO_D_GROUND_BASED_AUGMENTATION	4	2 D fix using ground based augmentation.
TWO_D_SATELLITE_AND_GROUND_BASED_AUGMENTATION	5	2 D fix using satellite and ground based augmentation.
THREE_D	6	3 D fix.
THREE_D_SATELLITE_BASED_AUGMENTATION	7	3 D fix using satellite based augmentation.
THREE_D_GROUND_BASED_AUGMENTATION	8	3 D fix using ground based augmentation.
THREE_D_SATELLITE_AND_GROUND_BASED_AUGMENTATION	9	3 D fix using satellite and ground based augmentation.

Map category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
map_reference	repeated MapReference	Map reference.

Map reference of an event object to a map object including its location reference. The combination of the map identification and event relations of type MAP_REFERENCE defined in the data message enable to relate events to map objects defined by map references in the map category. If the map of the vehicle is known to the cloud, then the relations can be interpreted by the cloud.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Envelope.
location_reference	sensoris.protobuf.types.spatial.MapLocationReference	Location reference of the map object.

Supported event relations
1 sensoris.protobuf.categories.objectdetection.StaticObject MAP_REFERENCE 1 sensoris.protobuf.categories.map.MapReference
1 sensoris.protobuf.categories.trafficregulation.TrafficSign MAP_REFERENCE 1 sensoris.protobuf.categories.map.MapReference

Detected object, which is able to move. Traffic signs located on a moving truck or trailer can be related to a movable object of type TRUCK or TRAILER. Static objects of type TRAFFIC_ENFORCEMENT_CAMERA_MOBILE which are hand-held can be related to a movable object of type PERSON. Static objects of type TRAFFIC_ENFORCEMENT_CAMERA_MOBILE which are vehicle-mounted can be related to a movable object of type VEHICLE or one of it's sub-types.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
object_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Movable object identifier. Identifier is unique within a DataMessage and can be used to trace movable objects.
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a movable object has been detected.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	MovableObject.TypeAndConfidence	Type and confidence.
rectangular_box_and_accuracy	sensoris.protobuf.types.spatial.RectangularBoxAndAccuracy	Rectangular box and accuracy.
speed_and_accuracy	sensoris.protobuf.types.spatial.XyzVectorAndAccuracy Unit Meter per Second Resolution 0.1 Range ( , )	Speed relative to SENSORIS vehicle coordinate system or other coordinate system if explicitly mentioned.
acceleration_and_accuracy	sensoris.protobuf.types.spatial.XyzVectorAndAccuracy Unit Meter per Second Squared Resolution 0.1 Range ( , )	Acceleration relative to SENSORIS vehicle coordinate system or other coordinate system if explicitly mentioned.

Supported event relations
1 sensoris.protobuf.categories.objectdetection.MovableObject CONTAIN 1..* sensoris.protobuf.categories.trafficregulation.TrafficSign
1 sensoris.protobuf.categories.brake.BrakeSystemsStatus TRIGGERED_BY 1..* sensoris.protobuf.categories.objectdetection.MovableObject
1..* sensoris.protobuf.categories.objectdetection.MovableObject IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.objectdetection.MovableObject
1 sensoris.protobuf.categories.roadattribution.Lane CONTAINS 1..* sensoris.protobuf.categories.objectdetection.MovableObject
1 sensoris.protobuf.categories.objectdetection.MovableObject IMPACT 1 sensoris.protobuf.categories.powertrain.CruiseControl
1 sensoris.protobuf.categories.objectdetection.MovableObject CONTAIN 1 sensoris.protobuf.categories.objectdetection.StaticObject

Type and confidence.

Example: Detected object is a vehicle with 80 % confidence.

Field	Type	Description
type	MovableObject.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Object detection category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
movable_object	repeated MovableObject	Detected object, which is able to move.
static_object	repeated StaticObject	Detected object, which is not able to move.

Detected object, which is not able to move. Traffic signs can be related to a static object of the type POLE or SIGN_BRIDGE. Traffic lights can be related to static object of type TRAFFIC_LIGHT_BODY.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
object_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Static object identifier. Identifier is unique within a DataMessage and can be used to trace static objects.
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a static object has been detected.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	StaticObject.TypeAndConfidence	Type and confidence.
rectangular_box_and_accuracy	sensoris.protobuf.types.spatial.RectangularBoxAndAccuracy	Rectangular box and accuracy.
cone_and_accuracy	StaticObject.ConeAndAccuracy	Cone shaped circular geometry defined by a lower and upper position and a lower and upper diameter.
surface_type_and_confidence	StaticObject.SurfaceTypeAndConfidence	Surface type and confidence.
surface_material_and_confidence	StaticObject.SurfaceMaterialAndConfidence	Surface material and confidence.
surface_color_and_confidence	repeated StaticObject.SurfaceColorAndConfidence	Surface color and confidence. An object may have multiple colors. If only one color is set, this is the dominant color.

Supported event relations
1 sensoris.protobuf.categories.objectdetection.StaticObject CONTAIN 1..* sensoris.protobuf.categories.trafficregulation.TrafficSign
1 sensoris.protobuf.categories.objectdetection.StaticObject CONTAIN 1..* sensoris.protobuf.categories.intersectionattribution.TrafficSignal
1 sensoris.protobuf.categories.objectdetection.StaticObject MAP_REFERENCE 1 sensoris.protobuf.categories.map.MapReference
1 sensoris.protobuf.categories.brake.BrakeSystemsStatus TRIGGERED_BY 1..* sensoris.protobuf.categories.objectdetection.StaticObject
1..* sensoris.protobuf.categories.intersectionattribution.TrafficSignal EQUAL 1 sensoris.protobuf.categories.objectdetection.StaticObject
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.objectdetection.StaticObject
1 sensoris.protobuf.categories.roadattribution.Lane CONTAINS 1..* sensoris.protobuf.categories.objectdetection.StaticObject

Cone shaped circular geometry defined by a lower and upper position and a lower and upper diameter.

Field	Type	Description
lower_position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Lower position and accuracy. The lower position is closer to the ground than the upper position.
upper_position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Upper position and accuracy.
lower_diameter_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range (0, )	Lower diameter and accuracy at lower position and accuracy.
upper_diameter_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range (0, )	Upper diameter and accuracy at upper position and accuracy.
extension	repeated google.protobuf.Any	Proprietary extension.

Surface color and confidence.

Field	Type	Description
type	StaticObject.SurfaceColorAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Surface material and confidence.

Example: Detected object has a stone surface with 80 % confidence.

Field	Type	Description
type	StaticObject.SurfaceMaterialAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.
reflectivity_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit 1 Resolution 1 Range [0, 100]	Reflectivity. An object is reflective if there are elements on the object, that are explicitly designed to increase visibility in low light or bad light situations.

Surface type and confidence, e.g. of a traffic island.

Example: Detected object has a flat surface with 80 % confidence.

Field	Type	Description
type	StaticObject.SurfaceTypeAndConfidence.Type	Type
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Type and confidence.

Example: Detected object is a bridge with 80 % confidence.

Field	Type	Description
type	StaticObject.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
VEHICLE	1	Any vehicle, e.g. passenger car or truck.
VEHICLE_PASSENGER_CAR	2	Passenger car.
VEHICLE_TRUCK	3	Truck.
VEHICLE_BUS	4	Bus.
VEHICLE_TRAM	5	Tram.
VEHICLE_TRAILER	6	Trailer.
TWO_WHEELER	7	Any two wheeler, e.g. motorcycle or bicycle.
TWO_WHEELER_MOTORCYCLE	8	Motorcycle.
TWO_WHEELER_BICYCLE	9	Bicycle.
PERSON	10	Person.
ANIMAL	11	Animal.

Type.

Name	#	Description
UNKOWN_TYPE	0	Unknown.
OTHER	1	DEPRECATED, as it breaks compatibility between minor releases. Previous: Other, i.e. none of the listed enum values.
WHITE	2	White.
GRAY	3	Gray.
GRAY_LIGHT	4	Light gray.
GRAY_DARK	5	Dark gray.
BLACK	6	Black.
RED	7	Red.
GREEN	8	Green.
BLUE	9	Blue.
YELLOW	10	Yellow.
ORANGE	11	Orange.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
METAL	1	Metal.
CONCRETE	2	Concrete.
STONE	3	Stone.
WOOD	4	Wood.
PLASTIC	5	Plastic.
ASPHALT	6	Asphalt.
ORGANIC	7	Organic.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
FLAT	1	Flat.
ROUGH	2	Rough.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
BRIDGE	1	Bridge.
TUNNEL	2	Tunnel.
POLE	3	Any pole.
POLE_LIGHT	4	Light pole.
POLE_REFLECTOR	5	Reflector pole.
POLE_DELINEATOR	6	Delineator pole.
POLE_GANTRY	7	Gantry pole.
POLE_SIGN	8	Sign pole.
POLE_GUARD_RAIL	9	Guard rail pole.
BAR	10	Bar.
TREE	11	Tree.
BOLLARD	12	Bollard.
CONE	13	Pylon in a construction zone.
BARREL	14	Red/white striped element in a construction zone.
WALL	15	Wall.
TRAFFIC_ISLAND	16	Traffic island.
SPEED_BUMP	17	Speed bump.
POT_HOLE	18	Pot hole.
MANHOLE_COVER	19	Manhole cover.
MANHOLE_COVER_CLOSED	20	Closed manhole cover.
MANHOLE_COVER_OPEN	21	Open manhole cover.
SIGN_BRIDGE	22	Sign bridge. Traffic signs can be related to the sign bridge with event relations.
TRAFFIC_LIGHT_BODY	23	Body of a traffic light. Traffic lights can be related to the traffic light body with event relations.
BARRIER_PARKING_LOT	24	Parking lot barrier.
SURFACE_RAISED	25	Raised surface that belongs to the road / lane.
TRAFFIC_ENFORCEMENT_CAMERA	26	Generic traffic enforcement camera.
TRAFFIC_ENFORCEMENT_CAMERA_FIXED	27	Fixed traffic enforcement camera.
TRAFFIC_ENFORCEMENT_CAMERA_MOBILE	28	Mobile traffic enforcement camera. Mobile traffic enforcement cameras which are hand-held can be related to a movable object of type PERSON with event relations. Mobile traffic enforcement cameras which are vehicle-mounted can be related to a movable object of type VEHICLE with event relations.

Status of the longitudinal driver assistent system for keeping the selected speed and/or temporal distance towards the lead vehicle.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
type	CruiseControlStatus.Type	Type.
status	sensoris.protobuf.types.base.SystemStatus	Status.
selected_speed	sensoris.protobuf.types.base.Int64Value Unit Meter per Second Resolution 0.1 Range (0, )	Selected speed.
selected_time_to_lead_vehicle	sensoris.protobuf.types.base.Int64Value Unit Second Resolution 0.1 Range [0, 100]	Selected lead time.

Supported event relations
1 sensoris.protobuf.categories.objectdetection.MovableObject IMPACT 1 sensoris.protobuf.categories.powertrain.CruiseControl

Status of engine.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
ignition_status	EngineStatus.IgnitionStatus	Ingnition status.
powertrain_status	EngineStatus.PowertrainStatus	Powertrain status.

Powertrain category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
engine_status	repeated EngineStatus	Status of engine.
transmission_status	repeated TransmissionStatus	Status of transmission.
cruise_control_status	repeated CruiseControlStatus	Status of cruise control.

Status of transmission.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
gear_mode	TransmissionStatus.GearMode	Mode of gear.
drive_mode	TransmissionStatus.DriveMode	Drive mode.
current_gear	sensoris.protobuf.types.base.Int64Value Unit 1 Resolution 1 Range [1, )	Current gear in the selected mode for which 1 is the gear with the highest ratio (slowest possible speed) and the maximum number (e.g. 6) is the gear with the lowest ratio (highest possible speed). If gear mode is REVERSE, then current gear refers to the gear in reverse as vehicles might have multiple reverse gears. If gear mode is PARK or NEUTRAL, the current gear is not relevant.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
SPEED	1	Cruise control.
SPEED_AND_DISTANCE	2	Adaptive cruise control.

Ignition status.

Name	#	Description
UNKNOWN_IGNITION_STATUS	0	Unknown.
IGNITION_LOCK	1	Vehicle locked.
IGNITION_OFF	2	Ignition off.
IGNITION_ACCESSORIES	3	Accessories mode on.
IGNITION_ON	4	Ignition on.
IGNITION_START	5	Ignition start.

Powertrain status.

Name	#	Description
UNKNOWN_POWERTRAIN_STATUS	0	Unknown.
POWERTRAIN_OFF	1	Powertrain is not ready.
POWERTRAIN_ECO_MODE	2	Ignition is on, but powertrain is in eco mode (i.e. eco start stop functionality for a stopped vehicle).
POWERTRAIN_READY	3	Powertrain is ready to drive (i.e. combustion engine running or hybrid/electric ready to drive).

Drive mode.

Name	#	Description
UNKNOWN_DRIVE_MODE	0	Unknown.
ECO	1	Eco drive mode.
COMFORT	2	Normal or comfort mode.
SPORT	3	Sport mode.
SUPER_SPORT	4	Super sport mode.

Gear mode.

Name	#	Description
UNKNOWN_GEAR_MODE	0	Unknown.
DRIVE	1	Automatic gear (drive).
MANUAL	2	Manual gear.
REVERSE	3	Reverse gear.
PARK	4	Park.
NEUTRAL	5	Neutral.

Inclination and curvature.

Field	Type	Description
longitudinal_inclination_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Degree Resolution 0.01 Range (-90, 90)	Longitudinal declination and accuracy, also referred as slope.
lateral_inclination_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Degree Resolution 0.01 Range (-90, 90)	Lateral declination and accuracy, also referred as cross fall.
horizontal_curvature_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit 1 per KiloMeter Resolution 0.001 Range ( , )	Horizontal curvature and accuracy. Negative value represents curve to the left, positive value represents curve to the right. Value of 0 represents straight road. The value is the reciproke of the radius (curvature = 1/radius) whereas high radii are represented by low values.

Lane.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
relative_lane_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range ( , )	Relative lane identifier. Identifier is 0 for ego-lane, +1 for lane directly left of vehicle, +2 for lane left of lane +1, -1 for lane directly right of vehicle, -2 for lane right of lane -1.
width_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range (0, )	Width and accuracy.
inclination_and_curvature	InclinationAndCurvature	Inclination and curvature.

Supported event relations
1..* sensoris.protobuf.categories.roadattribution.LaneBoundary LEFT_OF 1 sensoris.protobuf.categories.roadattribution.Lane
1..* sensoris.protobuf.categories.roadattribution.LaneBoundary RIGHT_OF 1 sensoris.protobuf.categories.roadattribution.Lane
1 sensoris.protobuf.categories.roadattribution.Lane LEFT_OF 1 sensoris.protobuf.categories.roadattribution.Lane
1 sensoris.protobuf.categories.roadattribution.Lane RIGHT_OF 1 sensoris.protobuf.categories.roadattribution.Lane
1 sensoris.protobuf.categories.roadattribution.Road CONTAIN 1..* sensoris.protobuf.categories.roadattribution.Lane
1..* sensoris.protobuf.categories.roadattribution.SurfaceMarking IMPACT 1 sensoris.protobuf.categories.roadattribution.Lane
1 sensoris.protobuf.categories.roadattribution.Lane CONTAINS 1..* sensoris.protobuf.categories.objectdetection.MovableObject
1 sensoris.protobuf.categories.roadattribution.Lane CONTAINS 1..* sensoris.protobuf.categories.objectdetection.StaticObject

Lane boundary. For a single lane several lane boundaries to the left or right may be given. If a lane has several lane boundaries in one direction, then the lane boundaries shall be sorted by their distance to the lane.

Example: L1 Lane R1 R2 Lane with lane boundary L1 to the left of type LINE_SINGLE_SOLID and lane boundaries R1 and R2 to the right with R1 of type LINE_SINGLE_SOLID and R2 of type ROAD_EDGE.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
lane_boundary_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Lane boundary identifier. Identifier is unique within a DataMessage and can be used to trace lane boundaries between LaneBoundary events.
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a lane boundary has been detected.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	LaneBoundary.TypeAndConfidence	Type and confidence.
material_and_confidence	MarkingMaterialAndConfidence	Material and confidence.
color_and_confidence	MarkingColorAndConfidence	Marking color and confidence.
position_reference	LaneBoundary.PositionReference	Position reference of lane boundary marking geometry, i.e. polyline_and_accuracy represents left boundary, center line or right boundary of the lane boundary markings. Whereas for e.g. lines all values may be used, for physical barriers the geometry shall represent the boundary closest to the vehicle.
polyline_and_accuracy	sensoris.protobuf.types.spatial.PolylineAndAccuracy	Polyline geometry. Polyline can also be a single point.
width_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range (0, )	Width and accuracy.
height_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range [0, )	Height and accuracy.
distance_between_double_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range (0, )	Distance between parallel double lines. Only applicable for types LINE_DOUBLE, LINE_DOUBLE_SOLID, LINE_DOUBLE_DASHED, LINE_DOUBLE_SOLID_DASHED and LINE_DOUBLE_DASHED_SOLID.
dash_statistics	LaneBoundary.DashStatistics	Statistics of length of single lane dashes and offset between dashes on lane boundary geometry. Only applicable for lane boundaries of type LONG_DASHED_LINE, SOLID_LINE_DASHED_LINE, DASHED_LINE_SOLID_LINE, SHORT_DASHED, DASHED_BLOCKS and DOUBLE_DASHED_LINE.
marking_offsets	LaneBoundary.MarkingOffsets	Offsets of markings as type and offset on lane boundary geometry relative to first vertex of lane boundary geometry.

Supported event relations
1..* sensoris.protobuf.categories.roadattribution.LaneBoundary LEFT_OF 1 sensoris.protobuf.categories.roadattribution.Lane
1..* sensoris.protobuf.categories.roadattribution.LaneBoundary RIGHT_OF 1 sensoris.protobuf.categories.roadattribution.Lane
1 sensoris.protobuf.categories.roadattribution.LaneBoundaryMergeSplit DERIVED_FROM 2..* sensoris.protobuf.categories.roadattribution.LaneBoundary

Statistics of length of single lane dashes and distance between single dashes on lane boundary geometry. Only applicable for lane boundaries of type LINE_SINGLE_DASHED, LINE_SINGLE_DASHED_SHORT, LINE_SINGLE_DASHED_LONG, LINE_DOUBLE_DASHED, LINE_DOUBLE_SOLID_DASHED, LINE_DOUBLE_DASHED_SOLID and BLOCKS_DASHED.

Field	Type	Description
length_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range (0, )	Length of single lane dash.
distance_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range (0, )	Distance between single lane dashes.

Offsets of markings as type and offset on lane boundary geometry relative to first vertex of lane boundary geometry.

Example: S---E S--E for two lane dashes with S as START_OF_MARKING, and E as END_OF_MARKING. -O-O- N O--O for two lane dashes with O as ON_MARKING and N as NO_MARKING.

Field	Type	Description
type_and_offset	repeated LaneBoundary.MarkingOffsets.TypeAndOffset	Offset of marking as type and offset on lane boundary geometry relative to first vertex of lane boundary geometry.

Offset of markings as type and offset on lane boundary geometry relative to first vertex of lane boundary geometry.

Field	Type	Description
type	LaneBoundary.MarkingOffsets.TypeAndOffset.Type	Type.
offset_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range [0, )	Offset and accuracy.

Type and confidence.

Field	Type	Description
type	LaneBoundary.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Lane boundary merge or split.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a lane boundary merge or split has been detected.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	LaneBoundaryMergeSplit.TypeAndConfidence	Type and confidence.
position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Position and accuracy.

Supported event relations
1 sensoris.protobuf.categories.roadattribution.LaneBoundaryMergeSplit DERIVED_FROM 2..* sensoris.protobuf.categories.roadattribution.LaneBoundary

Type and confidence.

Field	Type	Description
type	LaneBoundaryMergeSplit.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Number of lanes and confidence. Count may be given either as 1 count of type TOTAL or as 2 counts of types LEFT_INCLUDING_EGO_LANE and RIGHT. The count of type LEFT_INCLUDING_EGO_LANE includes the vehicle ego lane.

Example: A count of 5 lanes of type TOTAL may be given as a count of 3 lanes of type LEFT_INCLUDING_EGO_LANE and 2 lanes of type RIGHT.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Position and accuracy.
type	LaneCountAndConfidence.Type	Type.
count_and_confidence	sensoris.protobuf.types.base.CountAndConfidence	Number of lanes and confidence.

Marking color and confidence.

Field	Type	Description
type	MarkingColorAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Marking material and confidence.

Field	Type	Description
type	MarkingMaterialAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Road.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
width_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range [1, )	Width and accuracy.
inclination_and_curvature	InclinationAndCurvature	Inclination and curvature.

Supported event relations
1 sensoris.protobuf.categories.roadattribution.Road CONTAIN 1..* sensoris.protobuf.categories.roadattribution.Lane
1..* sensoris.protobuf.categories.roadattribution.SurfaceMarking IMPACT 1 sensoris.protobuf.categories.roadattribution.Road

Road attribution.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Position and accuracy.
type_and_confidence	RoadAttribution.TypeAndConfidence	Type and confidence.
change_type_and_confidence	RoadAttribution.ChangeTypeAndConfidence	Change type and confidence.

Change type and confidence.

Field	Type	Description
type	RoadAttribution.ChangeTypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Type and confidence.

Field	Type	Description
type	RoadAttribution.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Road attribution category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
lane_boundary	repeated LaneBoundary	Lane boundary.
lane_boundary_merge_split	repeated LaneBoundaryMergeSplit	Lane boundary merge or split.
lane	repeated Lane	Lane.
road	repeated Road	Road.
surface_marking	repeated SurfaceMarking	Surface marking.
surface_attribution	repeated SurfaceAttribution	Attributes of road surface.
road_attribution	repeated RoadAttribution	Attributes of road.
detected_lane_count_and_confidence	repeated LaneCountAndConfidence	Detected number of lanes and confidence. Detected lane count may be less than the actual lane count of the road.
estimated_lane_count_and_confidence	repeated LaneCountAndConfidence	Estimated number of lanes and confidence. Estimated lane count derived from multiple lane detections, which may be higher than the detected lane count and unprecise to the actual lane count on the road.

Surface attribution.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
position_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Position and accuracy.
inclination_and_curvature	InclinationAndCurvature	Inclination and curvature.
material_and_confidence	repeated SurfaceMaterialAndConfidence	Material and confidence.
road_roughness_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter per KiloMeter Resolution 1 Range [0, )	International Roughness Index (IRI).

Surface marking.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a surface marking has been detected.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	SurfaceMarking.TypeAndConfidence	Type and confidence.
text	google.protobuf.StringValue	Text on the surface if detailed specification is required additional to type.
color_and_confidence	repeated MarkingColorAndConfidence	Marking color and confidence.
material_and_confidence	repeated MarkingMaterialAndConfidence	Marking material and confidence.
rectangular_box_and_accuracy	sensoris.protobuf.types.spatial.RectangularBoxAndAccuracy	Rectangular box and accuracy.

Supported event relations
1..* sensoris.protobuf.categories.roadattribution.SurfaceMarking IMPACT 1 sensoris.protobuf.categories.roadattribution.Lane
1..* sensoris.protobuf.categories.roadattribution.SurfaceMarking IMPACT 1 sensoris.protobuf.categories.roadattribution.Road
1 sensoris.protobuf.categories.roadattribution.SurfaceMarking EQUAL 1 sensoris.protobuf.categories.trafficregulation.TrafficSign

Type and confidence.

Field	Type	Description
type	SurfaceMarking.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Surface material and confidence.

Field	Type	Description
type	SurfaceMaterialAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
START_OF_MARKING	1	Start of marking.
END_OF_MARKING	2	End of marking.
ON_MARKING	3	On marking.
NO_MARKING	4	No marking, e.g. between two markings.

Position reference of lane boundary marking geometry, i.e. polyline_and_accuracy represents left boundary, center line or right boundary of the lane boundary markings. Whereas for e.g. lines all values may be used, for physical barriers the geometry shall represent the boundary closest to the vehicle.

Name	#	Description
UNKNOWN_POSITION_REFERENCE	0	Unknown.
LEFT_MARKING_BOUNDARY	1	Left marking boundary.
CENTER_LINE	2	Center line.
RIGHT_MARKING_BOUNDARY	3	Right marking boundary.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
LINE	1	Any line.
LINE_SINGLE	2	Any single line.
LINE_SINGLE_SOLID	3	Single solid line.
LINE_SINGLE_DASHED	4	Any single dashed line.
LINE_SINGLE_DASHED_SHORT	5	Single dashed line with short dashes.
LINE_SINGLE_DASHED_LONG	6	Single dashed line with long dashes.
LINE_DOUBLE	7	Any double line.
LINE_DOUBLE_SOLID	8	Double line composed of two solid lines.
LINE_DOUBLE_DASHED	9	Double line composed of two dashed lines.
LINE_DOUBLE_SOLID_DASHED	10	Double line composed of solid left line and dashed right line in direction of lane boundary geometry.
LINE_DOUBLE_DASHED_SOLID	11	Double line composed of dashed left line and solid right line in direction of lane boundary geometry.
SHADED_AREA_MARKING	12	Single marking inside of shaded area.
BLOCKS_DASHED	13	Dashed blocks.
CROSSING_ALERT	14	Crossing alert.
CURB	15	Any curb.
CURB_TRAVERSABLE	16	Traversable curb, i.e. vehicle is allowed to cross traversable curbs in normal traffic situations.
CURB_NON_TRAVERSABLE	17	Non-traversable curb.
PHYSICAL_DIVIDER	18	Any physical divider.
WALL	19	Any wall.
WALL_FLAT	20	Flat wall.
WALL_CURVED	21	Curved wall, e.g. wall of a tunnel.
BARRIER	22	Any barrier.
BARRIER_JERSEY	23	Jersey barrier.
BARRIER_SOUND	24	Sound barrier.
BARRIER_CABLE	25	Cable barrier.
GUARDRAIL	26	Guardrail.
FENCE	27	Fence.
ROAD_EDGE	28	Edge of road pavement.
CLIFF	29	Cliff.
DITCH	30	Ditch.
ASPHALT_JOINT	31	Asphalt joint.
LINE_MULTIPLE	32	Any multiple line with three or more lines.
LINE_MULTIPLE_ALL_DASHED	33	Multiple line with three or more lines, with only dashed lines.
LINE_MULTIPLE_ANY_SOLID	34	Multiple line with three or more lines, with at least one solid line.
PHYSICAL_DIVIDER_CONTINUOUS	35	Continuous physical divider, e.g. continuous wall.
PHYSICAL_DIVIDER_DISCONTINUOUS	36	Discontinuous physical divider, e.g. individual poles.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
MERGE	1	Merge.
SPLIT	2	Split.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
TOTAL	1	Total lane count.
LEFT_INCLUDING_EGO_LANE	2	Left lane count including ego lane.
RIGHT	3	Right lane count.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
WHITE	1	White.
GRAY	2	Gray.
GRAY_LIGHT	3	Light gray.
GRAY_DARK	4	Dark gray.
BLACK	5	Black.
RED	6	Red.
YELLOW	7	Yellow.
GREEN	8	Green.
CYAN	9	Cyan.
BLUE	10	Blue.
ORANGE	11	Orange.
PINK	12	Pink.
PURPLE	13	Purple.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
METAL	1	Metal.
CONCRETE	2	Concrete.
STONE	3	Stone.
WOOD	4	Wood.
PLASTIC	5	Plastic.
TRANSPARENT	6	Transparent.
VIBRATION_MARKINGS	7	Raised markings or markings cut into the road.
PAINT	8	Paint.
ASPHALT	9	Asphalt.
GRAVEL	10	Gravel.
COBBLESTONE	11	Cobblestone.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
DETECTED	1	Change is detected.
START	2	Start of change.
END	3	End of change.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
MOTORWAY	1	Motorway.
ONE_WAY_TRAFFIC	2	One way traffic.
TWO_WAY_TRAFFIC	3	Two way traffic.
OFFROAD	4	Offroad.
TUNNEL	5	Inside a tunnel.
BRIDGE	6	On a bridge.
ARTIFICIAL_ILLUMINATION	7	Artificial illumination.
ROAD_WORKS_NARROW_LANES	8	Roadworks with narrow lanes.
LANE_RIGHT	9	Lane to the right.
LANE_LEFT	10	Lane to the left.
LANE_SPLIT_MIDDLE	11	Lane split in the middle.
LANE_MERGE_MIDDLE	12	Lane merge in the middle.
CROSSWALK	13	Crosswalk.
CENTER_TURN_LANE	14	Center turn lane.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
SIGN	1	Sign painted on road surface. The sign can be detailed by an event relation of type EQUAL to 1 sensoris.protobuf.categories.trafficregulation.TrafficSign.
TEXT	2	Text written on road surface. The text itself may be specified in the field text.
ICON	3	Graphic icon painted on road surface if it is not recognized as sign, text or one of the below enumeration items. The icon itself is not specified.
PATTERN	4	Any patterned area painted on the road surface (e.g. chevron, crosswalk). The pattern itself is not specified.
PATTERN_CROSSWALK	5	Combination of lines making up a crosswalk.
LINE_ELEMENT	6	Rectangular element of a line, for example a dot or block.
STOP_LINE	7	Line mainly perpendicular to the driving direction indicating where to stop.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
ASPHALT	1	Asphalt.
CONCRETE	2	Concrete.
COMPOSITE_PAVEMENT	3	Composite pavement.
RECYCLING	4	Recycling.
GRAVEL	5	Gravel.
COBBLESTONE	6	Cobblestone.

Dangerous slowdown of the ego vehicle (TPEG-TEC 27.0). The cause of the slowdown may be indicated by an event relation from the cause of type IMPACT.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
speed_reduction_and_accuracy	sensoris.protobuf.types.spatial.XyzVectorAndAccuracy Unit Meter Per Second Resolution 0.1 Range ( , 0)	Speed reduction and accuracy.
time_period	google.protobuf.Int64Value Unit Second Resolution 1 Range (0, )	Time period over which the speed reduction was detected.

Supported event relations
1 sensoris.protobuf.categories.trafficevents.Hazard IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown
1 sensoris.protobuf.categories.trafficevents.TrafficCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown
1 sensoris.protobuf.categories.trafficevents.RoadWorks IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown
1 sensoris.protobuf.categories.trafficevents.RoadWeatherCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown

ECall Status.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
activation_type	ECallStatus.ActivationType	Activation type.
availability	ECallStatus.Availability	Availability.

Hazard. Detailed information about the hazard may be inidcated by an event relation from an object detection of type IMPACT.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	Hazard.TypeAndConfidence	Type and confidence.
direction	Hazard.Direction	Direction describes the direction of the hazard in reference to the ego vehicle.

Supported event relations
1..* sensoris.protobuf.categories.objectdetection.MovableObject IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard
1 sensoris.protobuf.categories.trafficevents.Hazard IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown
1 sensoris.protobuf.categories.trafficevents.RoadObstructionCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard
1 sensoris.protobuf.categories.weather.VisibilityCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard
1 sensoris.protobuf.categories.weather.Precipitation IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard
1 sensoris.protobuf.categories.weather.WindCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard
1 sensoris.protobuf.categories.trafficevents.RoadSurfaceCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard
1 sensoris.protobuf.categories.trafficevents.VulnerableRoadUserCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard

Type and confidence.

Field	Type	Description
type	Hazard.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Road obstruction condition. Describes a potentially temporary obstructing condition of a road. The spatial extent of the road surface condition can be defined by an event relation of type START to a vehicle position and event relation of type END to another vehicle position.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	RoadObstructionCondition.TypeAndConfidence	Type and confidence.

Supported event relations
1 sensoris.protobuf.categories.trafficevents.RoadObstructionCondition START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadObstructionCondition END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadObstructionCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown
1 sensoris.protobuf.categories.trafficevents.RoadObstructionCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard

Type and confidence.

Field	Type	Description
type	RoadObstructionCondition.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Road surface condition. Describes a potentially temporary condition of the road surface. The spatial extent of the road surface condition can be defined by an event relation of type START to a vehicle position and event relation of type END to another vehicle position.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	RoadSurfaceCondition.TypeAndConfidence	Type and confidence.

Supported event relations
1 sensoris.protobuf.categories.trafficevents.RoadSurfaceCondition START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadSurfaceCondition END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadSurfaceCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown
1 sensoris.protobuf.categories.trafficevents.RoadSurfaceCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard

Type and confidence.

Field	Type	Description
type	RoadSurfaceCondition.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Road weather condition. The spatial extent of the road weather condition can be defined by an event relation of type START to a vehicle position and event relation of type END to another vehicle position.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	RoadWeatherCondition.TypeAndConfidence	Type and confidence.
depth_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter Resolution 1 Range (0, )	Depth of water or snow on road and accuracy.

Supported event relations
1 sensoris.protobuf.categories.trafficevents.RoadWeatherCondition START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadWeatherCondition END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadWeatherCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown

Type and confidence.

Field	Type	Description
type	RoadWeatherCondition.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Roadworks. Event is used to report the start and end of a roadworks section (TEPG_TEC 3.0). Speed limit can be reported using sign detection. May also contain a report of the number of lanes closed.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	RoadWorks.TypeAndConfidence	Type and confidence.
lanes_closed_and_confidence	sensoris.protobuf.types.base.CountAndConfidence	Total number of closed lanes.

Supported event relations
1..* sensoris.protobuf.categories.trafficregulation.TrafficSign IMPACT 1 sensoris.protobuf.categories.trafficevents.RoadWorks
1 sensoris.protobuf.categories.trafficevents.RoadWorks START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadWorks END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.RoadWorks IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown

Type and confidence.

Field	Type	Description
type	RoadWorks.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Traffic condition. If the vehicle experiences multiple traffic conditions (e.g. few hundred meters of slow traffic, then a section of stop and go, then another section of slow traffic etc.), multiple events may be generated (see also TPEG-TEC 1.0). The spatial extent of the traffic condition can be defined by an event relation of type START to a vehicle position and event relation of type END to another vehicle position.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	TrafficCondition.TypeAndConfidence	Type and confidence.

Supported event relations
1 sensoris.protobuf.categories.trafficevents.TrafficCondition START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.TrafficCondition END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.TrafficCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown

Type and confidence.

Field	Type	Description
type	TrafficCondition.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Traffic events category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
hazard	repeated Hazard	Hazard.
dangerous_slow_down	repeated DangerousSlowDown	Dangerous slowdown of the ego vehicle.
traffic_condition	repeated TrafficCondition	Traffic condition.
roadworks	repeated RoadWorks	Roadworks.
road_weather_condition	repeated RoadWeatherCondition	Road weather condition.
road_surface_condition	repeated RoadSurfaceCondition	Road surface condition.
road_obstruction_condition	repeated RoadObstructionCondition	Road obstruction condition.
vulnerable_road_user_condition	repeated VulnerableRoadUserCondition	Vulnerable road user condition.
e_call_status	repeated ECallStatus	ECall status.

Vulnerable road user condition. Describes a potentially temporary condition of a vulnerable road user on the road, e.g. on a highway.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	VulnerableRoadUserCondition.TypeAndConfidence	Type and confidence.

Supported event relations
1 sensoris.protobuf.categories.trafficevents.VulnerableRoadUserCondition START_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.VulnerableRoadUserCondition END_AT 1 sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficevents.VulnerableRoadUserCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.DangerousSlowDown
1 sensoris.protobuf.categories.trafficevents.VulnerableRoadUserCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard

Type and confidence.

Field	Type	Description
type	VulnerableRoadUserCondition.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

ECall Activation Type.

Name	#	Description
UNKNOWN_ACTIVATION_TYPE	0	ECall activation is unknown.
NONE	1	ECall is not activated.
MANUAL	2	ECall is manually activated.
AUTOMATIC	3	ECall is automatically activated.

ECall Availability.

Name	#	Description
UNKNOWN_AVAILABILITY	0	ECall availability is unknown.
AVAILABLE	1	ECall is available with accessible cellular network.
UNAVAILABLE	2	ECall is unavailable with cellular network not accessible.

Direction describes the direction of the hazard in reference to the ego vehicle.

Name	#	Description
UNKNOWN_DIRECTION	0	Unknown.
EGO_DIRECTION	1	In ego vehicle driving direction.
OPPOSITE_DIRECTION	2	Opposite to ego vehicle driving direction.
BOTH	3	In and opposite to ego vehicle driving direction.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
OBSTRUCTION	1	Obstruction such as fallen trees, parts of tires etc. (TPEG-TEC 10.0). Can be defined in more detail within the message RoadObstructionCondition.
ACCIDENT	2	Accident (TPEG-TEC 2.0).
BROKEN_DOWN_VEHICLE	3	Vehicle breakdown of ego vehicle or any similar event of ego vehicle stopped on the road, that might pose a risk to other road users.
SLOW_VEHICLE	4	Very slow vehicle, e.g. agriculture vehicles, road service vehicles, grass cutters etc. (TPEG-TEC 16.0).
WRONG_WAY_VEHICLE	5	Vehicle driving opposite the allowed direction of travel (TPEG-TEC 14.0).
ROADWORKS	6	Roadworks (TPEG-TEC 3.0).
SLIPPERY_ROAD	7	Slippery road.
PEOPLE_THROWING_OBJECTS	8	People throwing objects.
VEHICLE_ON_FIRE	9	Vehicle on fire.
STATIONARY_VEHICLE	10	Stationary non-ego vehicle, that might pose a risk to ego-vehicle or other road users.
EXCEPTIONAL_CONDITION_LOW_VISIBILITY	11	Exceptional low visibility condition. Can be defined in more details within the message VisibilityCondition.
EXCEPTIONAL_CONDITION_PRECIPITATION	12	Exceptional precipitation condition. Can be defined in more details within the message Precipitation.
EXCEPTIONAL_CONDITION_WIND	13	Exceptional wind condition. Can be defined in more details within the message WindCondition.
EXCEPTIONAL_CONDITION_ROAD_SURFACE	14	Exceptional road surface condition. Can be defined in more details within the message RoadSurfaceCondition.
EXCEPTIONAL_CONDITION_VULNERABLE_ROAD_USER	15	Exceptional vulnerable road user condition. Can be defined in more details within the message VulnerableRoadUserCondition.

Type. The values follow the definitions of TPEG-TEC.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
TREE	1	Tree obstruction.
AVALANCHE	2	Avalanche obstruction.
ROCKFALLS	3	Rockfall obstruction.
SHED_LOAD	4	Shed load obstruction.
LAND_SLIP	5	Landslip obstruction.
ANIMAL	6	Animal obstruction with no risk of danger to the safety of passengers on collision, e.g. cat or dog.
ANIMAL_LARGE	7	Large animal obstruction with a severe risk of danger to passengers on collision, e.g. deer or horse.
ANIMAL_HERD	8	Animal herd on the road.

Type. The values follow the definitions of TPEG-TEC.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
MUD	1	Mud.
CHIPPINGS	2	Chippings.
OIL	3	Oil.
FUEL	4	Fuel.

Type. The values follow the definitions of TPEG-TEC.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
SNOW	1	Snow (TPEG-TEC 6.4).
ICE	2	Ice (TPEG-TEC 6.5).
FREEZING_RAIN	3	Freezing rain / black ice (TPEG-TEC 6.6).
FROST	4	Frost (TPEG-TEC 6.1).
HYDROPLANING	5	Hydroplaning (TPEG-TEC 7.0)
FLOODING	6	Flooding (TPEG-TEC 5.1)
WATER	7	Wet surface.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
START	1	Start.
END	2	End.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
FREE_FLOW	1	Free flow.
HEAVY	2	Heavy traffic.
SLOW	3	Slow traffic.
QUEUING	4	Queuing traffic.
STATIONARY	5	Stationary traffic.

Type. The values follow the definitions of TPEG-TEC.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
PEOPLE	1	People.
CHILDREN	2	Children.
CYCLIST	3	Cyclist.

Charging activity (maneuver).

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
type	Charging.Type	Type.
voltage_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Volt Resolution 1 Range [0, )	Voltage and accuracy measured by the vehicle.
current_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Ampere Resolution 0.1 Range [0, )	Current and accuracy provided to the vehicle.

Vehicle maneuvers on the road.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
type_and_confidence	Maneuver.TypeAndConfidence	Type and confidence.

Supported event relations
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.objectdetection.MovableObject
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.objectdetection.StaticObject
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehiclePositionAndOrientation
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehicleSpeed
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehicleAcceleration
1 sensoris.protobuf.categories.trafficmaneuver.Maneuver TRIGGERED_BY 1..* sensoris.protobuf.categories.localization.VehicleRotationRate

Type and confidence.

Field	Type	Description
type	Maneuver.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Refueling activity (maneuver).

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
type	Refueling.Type	Type.
quantity_to_full_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Litre / KiloGram Resolution 0.1 Range (0, )	The amount of fuel in litres (for fuel) / kilograms (for gas) and accuracy required to achieve a full tank.

Traffic maneuver category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
maneuver	repeated Maneuver	Maneuver.
charging	repeated Charging	Charging.
refueling	repeated Refueling	Refueling.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
PORT_J1772	1	Level 2 Port J1772 connector.
CHADEMO	2	CHAdeMO.
SAE_COMBO	3	SAE Combo CCS.
TESLA_HPWC	4	Tesla HPWC.
TESLA_SUPERCHARGER	5	Tesla supercharger.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
EVASIVE	1	Evasive maneuver is used to describe a maneuver taken to avoid an obstacle or danger.
LANE_CHANGE	2	Any lane change.
LANE_CHANGE_RIGHT	3	Lane change to the right.
LANE_CHANGE_LEFT	4	Lane change to the left.
OVERTAKING	5	Overtaking.
INTERSECTION_STOP	6	Intersection stopping.
TURNING	7	Any turning.
TURNING_RIGHT	8	Turning right.
TURNING_LEFT	9	Turning left.
SHARP_TURNING_RIGHT	10	Sharp turning right.
SHARP_TURNING_LEFT	11	Sharp turning left.
ACCELERATING	12	Accelerating.
BREAKING	13	Breaking.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
PETROL_PREMIUM	1	Petrol - PREMIUM (95 RON).
PETROL_SUPER	2	Petrol - SUPRT (97/98 RON)
DIESEL	3	Diesel.
LPG	4	Liquefied Petroleum Gas.
CNG	5	Compressed Natural Gas.
BIO_DIESEL	6	Bio Diesel.
BIO_ETHANOL	7	Bio Ethanol.
HYDROGEN	8	Hydrogen for Fuel Cell.

Traffic regulation category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
traffic_sign	repeated TrafficSign	Traffic sign.

TrafficSign. A TrafficSign includes the subcategories traffic signs, rectangular signboards, and advertisement signs.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a main sign has been detected.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
rectangular_box_and_accuracy	sensoris.protobuf.types.spatial.RectangularBoxAndAccuracy	Rectangular box and accuracy of main sign, i.e. without supplementary sign(s).
shape_and_confidence	TrafficSign.ShapeAndConfidence	Shape and confidence of main sign.
type_and_confidence	TrafficSign.TypeAndConfidence	Type and confidence of main sign.
value_and_confidence	TrafficSign.ValueAndConfidence	Value of main sign in addition to type.
permanency_and_confidence	TrafficSign.PermanencyAndConfidence	Permanency of main sign provides information if a traffic sign is permanent of variable, e.g. LED.
validation_and_confidence	TrafficSign.ValidationAndConfidence	Validation of main sign provides information if the traffic sign was invalidated by a traffic authority.
background_color_and_confidence	TrafficSign.DominantBackgroundColorAndConfidence	Dominant background color and confidence of main sign.
supplementary_sign_and_confidence	repeated TrafficSign.SupplementarySignAndConfidence	Supplementary sign, which is an attached sign in addition to main sign.

Supported event relations
1 sensoris.protobuf.categories.trafficregulation.TrafficSign CONTAIN 1..* sensoris.protobuf.categories.trafficregulation.TrafficSign
1..* sensoris.protobuf.categories.trafficregulation.TrafficSign GROUP
1..* sensoris.protobuf.categories.trafficregulation.TrafficSign IMPACT 1 sensoris.protobuf.categories.roadattribution.Lane
1..* sensoris.protobuf.categories.objectdetection CONTAIN 1 sensoris.protobuf.categories.roadattribution.Lane
1 sensoris.protobuf.categories.trafficregulation.TrafficSign MAP_REFERENCE 1 sensoris.protobuf.categories.map.MapReference
1..* sensoris.protobuf.categories.trafficregulation.TrafficSign IMPACT 1 sensoris.protobuf.categories.drivingbehavior.ParkingStatus
1 sensoris.protobuf.categories.objectdetection.MovableObject CONTAIN 1..* sensoris.protobuf.categories.trafficregulation.TrafficSign
1 sensoris.protobuf.categories.objectdetection.StaticObject CONTAIN 1..* sensoris.protobuf.categories.trafficregulation.TrafficSign
1 sensoris.protobuf.categories.roadattribution.SurfaceMarking EQUAL 1 sensoris.protobuf.categories.trafficregulation.TrafficSign
1..* sensoris.protobuf.categories.trafficregulation.TrafficSign IMPACT 1 sensoris.protobuf.categories.trafficevents.RoadWorks

Dominant background color and confidence.

Field	Type	Description
type	TrafficSign.DominantBackgroundColorAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Permanency and confidence.

Field	Type	Description
type	TrafficSign.PermanencyAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Shape and confidence.

Field	Type	Description
type	TrafficSign.ShapeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Supplementary sign and confidence.

Field	Type	Description
existence_confidence	sensoris.protobuf.types.base.Confidence	Confidence that a supplementary sign has been detected.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status of supplementary sign.
type_and_confidence	TrafficSign.SupplementarySignAndConfidence.TypeAndConfidence	Type and confidence of supplementary sign.
value_and_confidence	TrafficSign.ValueAndConfidence	Value of supplementary sign in addition to type.

Type and confidence.

Field	Type	Description
type	TrafficSign.SupplementarySignAndConfidence.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.
other_text	google.protobuf.StringValue	DEPRECATED, as it breaks compatibility between minor releases. Previous: If the type or additional information is known by the sensor, then it may be provided as string.

Type and confidence.

Field	Type	Description
type	TrafficSign.TypeAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.
other_text	google.protobuf.StringValue	DEPRECATED, as it breaks compatibility between minor releases. Previous: If the type or additional information is known by the sensor, then it may be provided as string.

Validation and confidence.

Field	Type	Description
type	TrafficSign.ValidationAndConfidence.Type	Type.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Value and confidence.

Field	Type	Description
value	google.protobuf.StringValue	All classified sign values which are not defined or not fully defined in type may be provided as value. Example: Value 70 for traffic sign type SPEED_LIMIT for a speed limit sign with a limit of 70.
confidence	sensoris.protobuf.types.base.Confidence	Confidence of value.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
OTHER	1	DEPRECATED, as it breaks compatibility between minor releases. Other, i.e. none of the listed enum values.
WHITE	2	White.
RED	3	Red.
GREEN	4	Green.
BLUE	5	Blue.
YELLOW	6	Yellow.
BLACK	7	Black.
BROWN	8	Brown.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
STATIC	1	Traffic sign is static and not variable.
VARIABLE	2	Any variable traffic sign, e.g. LED sign or flip sign.
VARIABLE_ELECTRONICALLY	3	Traffic sign is a variable LED sign (this should be preferred over VARIABLE if known).
VARIABLE_MECHANICALLY	4	Traffic sign is a variable flip sign (this should be preferred over VARIABLE if known).
VARIABLE_DEACTIVATED	5	Traffic sign is variable and deactivated (e.g. LED panel switched off).

Type of the traffic sign shape.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
OTHER	1	DEPRECATED, as it breaks compatibility between minor releases. Previous: Other, i.e. none of the listed enum values.
RECTANGLE	2	Rectangle.
SQUARE	3	Square.
TRIANGLE_UP	4	Triangle pointing up.
TRIANGLE_DOWN	5	Triangle pointing down.
DIAMOND	6	Diamond.
HEXAGON	7	Hexagon.
ROUND	8	Round.
CROSS_BUCK	9	Crossbuck, e.g. at railway crossings.
OCTAGON	10	Octagon.
ELLIPSE	11	Ellipse.
PENTAGON	12	Pentagon.
SHIELD	13	Shield.

Type of the supplementary traffic sign face.

Name	#	Description
UNKNOWN_TYPE	0
SUP_OTHER_AS_TEXT	1	DEPRECATED, as it breaks compatibility between minor releases. Previous: Other, i.e. none of the listed enum values. However, if the type is known by the sensor, then it may be provided as string in the field other_text.
SUP_WET	2
SUP_RAIN	3
SUP_SNOW	4
SUP_SNOW_OR_RAIN	5
SUP_FOG	6
SUP_TIME	7	The specific time may be provided in the field value_and_confidence.
SUP_DAY_AND_TIME	8	The specific time may be provided in the field value_and_confidence. The format should be "Mo-Fr 16-18 h" or if available exact text format of sign.
SUP_NIGHT	9	The specific time may be provided in the field value_and_confidence.
SUP_SEASON	10
SUP_WORKDAYS	11
SUP_WORKDAYS_AND_TIME	12	The specific time may be provided in the field value_and_confidence.
SUP_SCHOOL	13
SUP_RAMP	14
SUP_TRUCK	15
SUP_TRUCK_WITH_TRAILER	16
SUP_PASSENGER_CAR	17
SUP_PASSENGER_CAR_WITH_TAILER	18
SUP_TRACTOR_EXCEPT	19
SUP_BUS	20
SUP_TRUCKS_AND_BUS	21
SUP_CARS_TRUCKS_BUS	22
SUP_TAXI	23
SUP_TANK	24
SUP_ROADSIDE	25
SUP_WEIGHT	26	The weight limitation may be provided in the field value_and_confidence. The format is to be provided in "xx.x t" defining the weight in xx.x tons or "xxxxxx.x lbs" defining the weight in x pounds.
SUP_STARTING_IN	27	The start of the validity may be provided in the field value_and_confidence. The format should be "xxx m" or if available exact text format of sign.
SUP_VALID_FOR	28	The end of the validity may be provided in the field value_and_confidence. The format should be "xxx m" or if available exact text format of sign.
SUP_IN_RIGHT_DIRECTION	29	The sign is valid for turning lane(s) to the right side.
SUP_IN_LEFT_DIRECTION	30	The sign is valid for turning lane(s) to the left side.
SUP_ZONE	31
SUP_ZONE_START	32
SUP_ZONE_END	33
SUP_BEGIN_OF_VALIDITY	34	The validity of the traffic signs begins at the sign (no further distance information required).
SUP_END_OF_VALIDITY	35	The validity of the traffic signs ends at the sign (no further distance information required).
SUP_FROG	36
SUP_ALL_WAY	37
SUP_BIKE	38
SUP_BIKE_EXCEPT	39
SUP_BUS_EXCEPT	40
SUP_CAMPER	41
SUP_CARAVAN	42
SUP_CONSTRUCTION_GATEWAY	43
SUP_CROSS_WAY	44
SUP_DELIVERY_EXCEPT	45
SUP_ELECTRONIC_CAR	46
SUP_GATEWAY	47
SUP_GIVE_WAY_LEFT	48
SUP_GIVE_WAY_RIGHT	49
SUP_GRAVEL	50
SUP_HAZMAT	51
SUP_HAZ_WATER	52
SUP_KIDS	53
SUP_LOCAL_EXCEP	54
SUP_LOW_TREE	55
SUP_MOTORCYCLE	56
SUP_MOTORCYCLE_EXCEPT	57
SUP_NEW_ROAD_BED	58
SUP_NO_STOP_SHOULDER	59
SUP_OIL_TRAIL	60
SUP_PASSENGER_CAR_EXCEPT	61
SUP_PASSENGER_CAR_WITH_TAILER_EXCEPT	62
SUP_PEDESTRIAN	63
SUP_PRIORITY_TURN_LEFT	64
SUP_PRIORITY_TURN_RIGHT	65
SUP_ROAD_DAMAGE	66
SUP_RUTS	67
SUP_TRACTOR	68
SUP_TRACTOR_MAY_BE_OVERTAKEN	69
SUP_TRAFFIC_JAM	70
SUP_TRAIN	71
SUP_TRAM	72
SUP_TRUCK_EXCEPT	73
SUP_TRUCK_WITH_TRAILER_EXCEPT	74
SUP_GET_IN_PROPER_LANE	75
SUP_ROADSIDE_TRUCK	76
SUP_RAPPEL	77
SUP_RADAR_ENFORCED	78
SUP_STOP_IN_DISTANCE	79	The distance may be provided in the field value_and_confidence. The format should be "xxx m" or if available exact text format of sign.

Type of the traffic sign face.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
OTHER_AS_TEXT	1	DEPRECATED, as it breaks compatibility between minor releases. Previous: Other, i.e. none of the listed enum values. The type, if known by the sensor, may be provided as string in the field other_text.
SPEED_LIMIT	2	The specific speed limit value may be provided in the field value_and_confidence.
SPEED_LIMIT_END	3	The specific speed limit value may be provided in the field value_and_confidence.
SPEED_LIMIT_CHANGE_UPCOMING	4
ADVISORY_SPEED_LIMIT	5	The specific speed limit value may be provided in the field value_and_confidence.
ADVISORY_SPEED_LIMIT_END	6	The specific speed limit value may be provided in the field value_and_confidence.
NO_OVERTAKING	7
NO_OVERTAKING_END	8
PROTECTED_PASSING_START	9	If direction cannot be provided by sensor.
PROTECTED_PASSING_END	10
PROTECTED_PASSING_LEFT_START	11
PROTECTED_PASSING_RIGHT_START	12
PROTECTED_PASSING_LEFT_END	13
PROTECTED_PASSING_RIGHT_END	14
NO_OVERTAKING_TRUCK	15
NO_OVERTAKING_TRUCK_END	16
ALL_RESTRICTIONS_END	17
CITY_START	18
CITY_END	19
HIGHWAY	20	Highway is a major road (e.g. US Highway, German Bundesstrasse).
HIGHWAY_END	21
MOTORWAY	22	These roads are Class-A roads connecting cities or states (e.g. US Interstate, European E-road or German Autobahn) and in many countries have the rule of limited access.
MOTORWAY_END	23
CONSTRUCTION	24
CONSTRUCTION_END	25
LANE_MERGE	26	If direction cannot be provided by sensor.
LANE_MERGE_ON_RIGHT	27	A lane right merge can also be described as a lane ending on the right side.
LANE_MERGE_ON_LEFT	28	A lane left merge can also be described as a lane ending on the left side.
LANE_MERGE_CENTER	29	A lane merge center can also be described as a lane ending on both sides left and right.
RAILWAY_CROSSING_GENERAL	30
RAILWAY_CROSSING_PROTECTED	31
RAILWAY_CROSSING_UNPROTECTED	32
ROAD_NARROWS	33	If direction cannot be provided by sensor.
ROAD_NARROWS_LEFT	34
ROAD_NARROWS_RIGHT	35
ROAD_NARROWS_CENTER	36
SHARP_CURVE	37	If direction cannot be provided by sensor.
SHARP_CURVE_LEFT	38
SHARP_CURVE_RIGHT	39
WINDING_ROAD	40
WINDING_ROAD_STARTING_LEFT	41
WINDING_ROAD_STARTING_RIGHT	42
STEEP_HILL	43
STEEP_HILL_UPWARDS	44	The percentage of the slope may be provided in the field value_and_confidence. The format is to be provided in "xx %" defining the percent of inclination per 100 meter.
STEEP_HILL_DOWNWARDS	45	The percentage of the slope may be provided in the field value_and_confidence. The format is to be provided in "xx %" defining the percent of declination per 100 meter.
STOP_SIGN	46
LATERAL_WIND	47	If direction cannot be provided by sensor.
LATERAL_WIND_FROM_RIGHT	48
LATERAL_WIND_FROM_LEFT	49
GENERAL_WARNING	50	If information about the text of the warning is available, it may be provided in the field value_and_confidence.
RISK_OF_GROUNDING	51
ANIMAL	52
ICY_CONDITIONS	53
SLIPPERY_ROAD	54
UNEVEN_ROAD	55
SCHOOL_ZONE	56
TRAMWAY_CROSSING	57
CONGESTION_HAZARD	58
ACCIDENT_HAZARD	59
BICYCLE_CROSSING	60
PRIORITY_OVER_ONCOMING_TRAFFIC	61
YIELD	62
PRIORITY_ROAD	63
PRIORITY_ROAD_END	64
TRAFFIC_CALMING	65
TRAFFIC_CALMING_END	66
ENVIRONMENTAL_AREA	67	Further specification of the sign, e.g. green zone in Germany, may be provided in the field value_and_confidence.
ENVIRONMENTAL_AREA_END	68
INTERSECTION	69
ROUNDABOUT	70
PASSING_ON_LEFT	71
PASSING_ON_RIGHT	72
PASSING_ON_LEFT_OR_RIGHT	73
MANDATORY_TURN_RIGHT_ONLY	74
MANDATORY_TURN_LEFT_ONLY	75
MANDATORY_STRAIGHT_ONLY	76
MANDATORY_TURN_LEFT_OR_RIGHT	77
MANDATORY_TURN_RESTRICTION	78	If sensor is not aware of left or right restriction.
MANDATORY_STRAIGHT_OR_LEFT	79
MANDATORY_STRAIGHT_OR_RIGHT	80
NO_LEFT_TURN	81
NO_RIGHT_TURN	82
NO_U_TURN	83
NO_U_OR_LEFT_TURN	84
U_TURN_ALLOWED	85
MANDATORY_LEFT_TRUCK	86	This type is valid for trucks and other transportation vehicles.
MANDATORY_RIGHT_TRUCK	87	This type is valid for trucks and other transportation vehicles.
MANDATORY_STRAIGHT_TRUCK	88	This type is valid for trucks and other transportation vehicles.
NO_ENTRY	89
DEAD_END	90
HIGH_OCCUPANCY_VEHICLE_LANE	91
TOLL	92
TOLL_CAR	93
TOLL_LANE	94
EXPRESS_LANE	95
SHOULDER_OPEN_FOR_TRAFFIC	96
SHOULDER_CLOSED_FOR_TRAFFIC	97
LANE_CLOSED	98
LANE_CLOSED_RIGHT_MOST_LANE	99
LANE_CLOSED_LEFT_MOST_LANE	100
WARNING_PEDESTRIAN	101
WARNING_CHILDREN	102
WARNING_BICYCLE	103
WARNING_BUS	104
PUBLIC_TRANSPORTATION_STOP	105
PEDESTRIAN_CROSSING	106	Directly at the sign, not the "warning of crossing ahead".
WEIGHT_RESTRICTION	107	The weight limitation may be provided in the field value_and_confidence. The format is to be provided in "xx t" defining the weight in xx tons or "xxxxxx lbs" defining the weight in x pounds.
HEIGHT_RESTRICTION	108	The height limitation, e.g. when driving under a bridge, may be provided in the field value_and_confidence. The format is to be provided in "xx.x m" defining the height in xx.x meter or "xx f yy in" defining the height in xx foot and yy inches.
LENGTH_RESTRICTION	109	The length limitation may be provided in the field value_and_confidence. The format is to be provided in "xx.x m" defining the length in xx.x meter or "xx f yy in" defining the height in xx foot and yy inches.
WIDTH_RESTRICTION	110	The width limitation may be provided in the field value_and_confidence. The format is to be provided in "xx.x m" defining the width in xx.x meter or "xx f yy in" defining the height in xx foot and yy inches.
WARNING_TRUCK_ROLLOVER	111
SIGNAL_AHEAD	112
SKI_CROSSING	113
NO_AGRICULTUR_VEHICLE	114
NO_BICYCLE	115
NO_BUS	116
NO_HAUL_EXPLOSIVES	117
NO_HAUL_HARMFUL_TO_WATER	118
NO_HAUL_HAZARDOUS_MATERIAL	119
NO_MOTORCYCLE	120
NO_TRAILER	121
NO_TRUCK_WITH_TRAILER	122
PARK_AND_RIDE	123
ROAD_DISTANCE	124	These signs are typical mounted on a periodical distance. The distance value itself may be provided in the field value_and_confidence. The format is to be provided in "xxx.x" defining the distance offset value in xxx.x, which is to be used without units to represent both kilometer and miles.
EMERGENCY_PHONE	125
SPEED_LIMIT_ENFORCEMENT	126
TRAFFIC_LIGHT_ENFORCEMENT	127
BOARD_DIRECTION	128	Sign board showing direction or distance to a city, location or exit.
STREET_NAME	129	Street name - street name text provided on sign can be specified in value_and_confidence.
TRUCK_SPEED_LIMIT	130	Speed limit only valid for trucks. The specific speed limit value may be provided in the field value_and_confidence. However, speed limit start and supplementary sign TRUCK should be preferred if two signs are mounted on sign post.
TRUCK_SPEED_LIMIT_END	131	Speed limit only valid for trucks. The specific speed limit value may be provided in the field value_and_confidence. However, speed limit start and supplementary sign TRUCK should be preferred if two signs are mounted on sign post.
SPEED_LIMIT_NIGHT	132	Speed limit only valid at night. The specific speed limit value may be provided in the field value_and_confidence. However, speed limit start and supplementary type NIGHT should be preferred if two signs are mounted on sign post.
SPEED_LIMIT_NIGHT_END	133	Speed limit only valid at night. The specific speed limit value may be provided in the field value_and_confidence. However, speed limit start and supplementary type NIGHT should be preferred if two signs are mounted on sign post.
MINIMUM_SPEED	134
MINIMUM_SPEED_END	135
PEDESTRIAN_ZONE	136
PEDESTRIAN_ZONE_END	137
PEDESTRIAN_PATH	138
PEDESTRIAN_PATH_END	139
PEDESTRIAN_BICYCLE_PATH	140
PEDESTRIAN_BICYCLE_PATH_END	141
BICYCLE_PATH	142
BICYCLE_PATH_END	143
BICYCLE_STREET	144
BICYCLE_STREET_END	145
CURVE_LEFT_THEN_RIGHT	146
CURVE_RIGHT_THEN_LEFT	147
CURVE_TRIPLE_HAIRPIN	148
STEEP_DROP	149
STEEP_DROP_ON_LEFT	150
STEEP_DROP_ON_RIGHT	151
NO_ANIMAL_CATTLE	152
ANIMAL_DEER	153
ANIMAL_MOOSE	154
NO_HORSE_RIDING	155
FALLING_ROCKS	156
FALLING_ROCKS_LEFT	157
FALLING_ROCKS_RIGHT	158
YIELD_TO_ONCOMING_TRAFFIC	159
UNPROTECTED_LEFT_TURN	160
ONEWAY_TRAFFIC	161	If sensor is not aware of left or right restriction.
ONEWAY_TRAFFIC_TO_LEFT	162
ONEWAY_TRAFFIC_TO_RIGHT	163
ONEWAY_TRAFFIC_TO_STRAIGHT	164
NO_VEHICLE	165
NO_MOTOR_VEHICLE	166
NO_TRUCK	167
NO_PEDESTRIAN	168
LANE_USED_IN_BOTH_DIRECTIONS	169
FOG_AREA	170
TIRE_CHAINS_MANDATORY	171
HIJACKING_HOTSPOT	172
OVERPASS_AHEAD	173
TUNNEL	174
FERRY_TERMINAL	175
NARROW_BRIDGE	176
NO_IDLING	177
HUMPBACK_BRIDGE	178
EMBANKMENT	179	If sensor is not aware of left or right restriction.
EMBANKMENT_ON_THE_LEFT	180
EMBANKMENT_ON_THE_RIGHT	181
CROSSING_WITH_PRIORITY_OVER_MINOR_ROAD	182
CROSSING_WITH_PRIORITY_TO_THE_RIGHT	183
BRANCH_TO_THE_LEFT	184
BRANCH_TO_THE_RIGHT	185
TWO_WAY_TRAFFIC	186
BUMP	187
DIP	188
ROAD_FLOODED	189
AUDIBLE_WARNING	190
VILLAGE_AHEAD	191
MOVABLE_BRIDGE	192
SLOW_DOWN	193
INTERSECTION_T	194	If sensor is not aware of left or right restriction.
INTERSECTION_T_LEFT	195
INTERSECTION_T_RIGHT	196
INTERSECTION_T_LEFT_RIGHT	197
INTERSECTION_Y	198
USE_LOW_GEAR	199
USE_LOW_GEAR_END	200
NO_COMPRESSION_BRAKING	201
NO_COMPRESSION_BRAKING_END	202
WAITING_LINE	203
DONT_STOP_ZONE	204
HONKING_PROHIBITED	205
FASTEN_SEAT_BELT	206
HAMLET_ENTRY	207
HAMLET_EXIT	208
HIGHWAY_MARKER_1_STRIPE	209
HIGHWAY_MARKER_2_STRIPES	210
HIGHWAY_MARKER_3_STRIPES	211
GUIDING_BEACON	212
COUNTDOWN_MARKER_1_STRIPE	213
COUNTDOWN_MARKER_2_STRIPES	214
COUNTDOWN_MARKER_3_STRIPES	215
DIVERSION_ROUTE	216
DIVERSION_ROUTE_END	217
NO_STOPPING_EXCEPT_TAXI	218
NO_STOPPING	219
NO_STOPPING_LEFT	220
NO_STOPPING_RIGHT	221
NO_STOPPING_LEFT_AND_RIGHT	222
NO_PARKING	223	If sensor is not aware of left or right restriction, or was not present on sign.
NO_PARKING_LEFT	224
NO_PARKING_RIGHT	225
NO_PARKING_LEFT_AND_RIGHT	226
RUNNAWAY_TRUCK_RAMP	227
TURN_ON_GREEN	228
NO_TURN_ON_RED	229
MOTORWAY_ROAD_NUMBER	230
HIGHWAY_ROAD_NUMBER	231
HIGHWAY_INTERCHANGE_NUMBER	232
EUROPEAN_ROAD_NUMBER	233
SPEED_LIMIT_ZONE	234
SPEED_LIMIT_ZONE_END	235
NO_PARKING_ZONE	236
NO_PARKING_ZONE_END	237
PARKING_ZONE	238
PARKING_ZONE_END	239
PARKING	240	If sensor is not aware of left or right restriction, or was not present on sign.
PARKING_TO_LEFT	241
PARKING_TO_RIGHT	242
PARKING_GARAGE	243
PARKING_ON_SIDEWAY	244
SAFETY_DISTANCE	245
SAFETY_DISTANCE_VEHICLE	246
SAFETY_DISTANCE_TRUCK	247
DETOUR	248	If sensor is not aware of left or right restriction.
DETOUR_END	249
DETOUR_LEFT	250
DETOUR_RIGHT	251
STATION_GAS	252
STATION_LPG	253
STATION_CNG	254
STATION_H2	255
STATION_ELECTRO	256
STATION_POLICE	257
CAMPING_SPOT	258
RESTROOMS	259
INFO_POINT	260
MOTORWAY_EXIT_AHEAD	261
HIGHWAY_EXIT_AHEAD	262
MOTORWAY_EXIT	263
HIGHWAY_EXIT	264
FIRST_AID	265
LOW_FLYING	266
LANE_SHIFT	267	If sensor is not aware of left or right restriction.
LANE_SHIFT_TO_LEFT	268
LANE_SHIFT_TO_RIGHT	269
PEDESTRIAN_UNDERPASS	270
PEDESTRIAN_OVERPASS	271
BREAKDOWN_BAY	272
BUS_LANE	273
DOUBLE_HAIRPIN	274
COUNTRY_SPECIFIC_INFORMATION	275
PEDESTRIAN_BICYCLE_SHARED_PATH	276
OVERHEAD_LANE_CONTROL_CLOSED	277
OVERHEAD_LANE_CONTROL_OPEN	278
OVERHEAD_LANE_CONTROL_CLOSING_LEFT	279	Left lane is closing, hence arrow points to the right.
OVERHEAD_LANE_CONTROL_CLOSING_RIGHT	280	Right lane is closing, hence arrow points to the left.
OVERHEAD_LANE_CONTROL_FLASH_ARROW_LEFT	281	Arrow pointing to left side and flashing.
OVERHEAD_LANE_CONTROL_FLASH_ARROW_RIGHT	282	Arrow pointing to right side and flashing.
TRINATURE	283
ANIMAL_FROG	284
GRAVEL	285
WARNING_PEDESTRIAN_CROSSING	286
LOW_TREE	287
WARNING_RIDER	288
STOP_AHEAD	289
YIELD_AHEAD	290
WATER_PROTECTION_AREA	291
TOLL_DOUANE	292
NO_CAR_OR_BIKE	293
DRIVING_DIRECTION_ONLY_UP	294
DRIVING_DIRECTION_UP_AND_DOWN	295
MILITARY_SIGN	296
SMOG	297
ROUNDABOUT_AHEAD	298
MANDATORY_LEFT_OR_STRAIGHT_OR_RIGHT	299
DEAD_END_RIGHT	300
DEAD_END_LEFT	301
TOLL_TRUCK	302
TOLL_TRUCK_END	303
STAGGERED_JUNCTION	304
AXLE_WEIGHT_RESTRICTION	305
TOLL_END	306	A sign notifying the general end of a toll-road.
TOLL_CAR_END	307	A sign notifying the end of a toll-road for cars.
TOLL_LANE_END	308	A sign notifying the end of a toll-lane.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
VALID	1	Traffic sign is observed as valid, i.e. traffic sign is not temporary invalidated due to road construction (e.g. crossed out by red marker).
INVALID	2	Traffic sign is observed as invalid, i.e. if the sign is temporary invalidated due to a road construction (e.g. crossed out by red marker).

Status of exterior light.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
type_and_status	repeated ExteriorLightStatus.TypeAndStatus	Light type and status.

Type and status of exterior light.

Field	Type	Description
type	ExteriorLightStatus.TypeAndStatus.Type	Type of exterior light.
status	Status	Status of exterior light.

Vehicle Device category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
exterior_light_status	repeated ExteriorLightStatus	Status of exterior light.
front_wiper_status	repeated WiperStatus	Status of the front wiper.
rear_wiper_status	repeated WiperStatus	Status of the rear wiper.

Status of the wiper.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
speed_type	WiperStatus.SpeedType	Speed type.
speed_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit RPM of the wiper where one revolution is one complete cycle. Resolution 1 Range (0, )	Wiper speed.

Type of exterior light.

Name	#	Description
UNKNOWN_TYPE	0	Unknown light.
LOW_BEAMS	1	Low beams.
HIGH_BEAMS	2	High beams.
FOG_LIGHT_FRONT	3	Front fog light.
FOG_LIGHT_REAR	4	Rear fog light.
HAZARD	5	Hazard lights.
LEFT_TURN	6	Left turn signal light.
RIGHT_TURN	7	Right turn signal light.
BRAKE	8	Brake lights including CHMSL (center high mounted stop light).
REVERSE	9	Reverse lights.
PARKING	10	Parking lights.

Status of the device.

Name	#	Description
UNKNOWN_STATUS	0	The device status is unknown.
ON	1	The device status is on.
OFF	2	The device status is off.

The detected speed type of the wiper.

Name	#	Description
UNKNOWN_SPEED_TYPE	0	Unknown.
OFF	1	Wiper is off.
SLOW	2	Wiper is on slow setting.
MEDIUM	3	Wiper is on medium setting.
FAST	4	Wiper is on fast setting.
AUTOMATIC	5	Wiper is set to a specific speed automatically.
WASHING	6	Wiper speed is set to a washing cycle.
SINGLE	7	Wiper speed is set to a single cycle.

Atmosphere condition.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
outside_air_temperature	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Degree Celsius Resolution 1 Range ( , )	Outside air temperature.
relative_humidity	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Percent Resolution 1 Range [0,100]	Outside air relative humidity.
static_air_pressure	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit HectoPascal Resolution 1 Range [0, )	Static air pressure.

Precipitation describes precipitation type and intensity (either as a percentage or mm/h).

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	Precipitation.TypeAndConfidence	Type and confidence of type. If type is NONE, then intensity shall not be set.
relative_intensity_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Percent Resolution 1 Range (0, 100]	Intensity as percentage of maximum intensity. Intensity as percentage is non-standardized and may vary, e.g. depending on sensor manufacturer, software and hardware version, or mounting position.
absolute_intensity_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit MilliMeter per Hour Resolution 0.1 Range (0, )	Intensity.

Supported event relations
1 sensoris.protobuf.categories.weather.Precipitation IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard

Type and confidence of type.

Example: Precipitation type identified as RAIN, with 50 % confidence.

Field	Type	Description
type	Precipitation.TypeAndConfidence.Type	Type
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Visibility condition.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
type_and_confidence	VisibilityCondition.TypeAndConfidence	Type and confidence of type. If type is NONE, then distances shall not be set.
visible_distance_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Meter Resolution 1 Range [0, )	Visible light distance and accuracy.
sensor_detection_distance_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Meter Resolution 1 Range [0, )	Non visible light (sensor) distance and accuracy.

Supported event relations
1 sensoris.protobuf.categories.weather.VisibilityCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard

Type and confidence of type.

Example: Low visibility due to FOG with 50 % confidence.

Field	Type	Description
type	VisibilityCondition.TypeAndConfidence.Type	Type
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Weather category.

Field	Type	Description
envelope	sensoris.protobuf.types.base.CategoryEnvelope	Envelope.
precipitation	repeated Precipitation	Precipitation.
atmosphere_condition	repeated AtmosphereCondition	Atmosphere condition.
wind_condition	repeated WindCondition	Wind condition.
visibility_condition	repeated VisibilityCondition	Visibility condition.

Wind condition.

Field	Type	Description
envelope	sensoris.protobuf.types.base.EventEnvelope	Event envelope.
detection_status	sensoris.protobuf.types.base.EventDetectionStatus	Event detection status.
type_and_confidence	WindCondition.TypeAndConfidence	Type and confidence of type. If type is NONE, then speed and direction shall not be set.
speed_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Meter per Second Resolution 1 Range ( , )	Wind speed.
direction_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Degree Resolution 1 Range [0, 360)	Wind direction.

Supported event relations
1 sensoris.protobuf.categories.weather.WindCondition IMPACT 1 sensoris.protobuf.categories.trafficevents.Hazard

Type and confidence of type.

Example: Wind type identified as STRONG_CROSS wind with 50 % confidence.

Field	Type	Description
type	WindCondition.TypeAndConfidence.Type	Type
confidence	sensoris.protobuf.types.base.Confidence	Confidence of type.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
NONE	1	No precipitation.
RAIN	2	Rain.
MIXED_RAIN_SNOW	3	Mixed rain and snow.
SNOW	4	Snow.
HAIL	5	Hail, sleet or freezing rain.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
CLEAR	1	No impact on visibility.
MIST	2	Mist with no impact on visibility.
LOW_HEAVY_RAIN	3	Heavy rain with impact on visibility.
LOW_HEAVY_SNOW	4	Heavy snow with impact on visibility.
LOW_SMOKE	5	Smoke with impact on visibility.
LOW_FOG	6	Fog with impact on visibility.
LOW_SUN_GLARE	7	Sun glare with impact on visibility.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
VARIABLE	1	Variable wind.
STRONG	2	Strong wind.
STRONG_CROSS	3	Strong cross wind.
STORM	4	Stormy wind.

Absolute histogram of int64 values, i.e. bins contain absolute number of total number of elements.

Field	Type	Description
timestamp_interval	TimestampInterval	Timestamp interval.
total_elements	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Total elements.
bin	repeated AbsoluteInt64Histogram.Bin	Bin.
upper_endpoint_inclusive	google.protobuf.Int64Value	Upper endpoint of last bin.

Bin. The range of a bin is defined as [lower_endpoint_inclusive, lower_endpoint_inclusive of following bin). The range of the last bin is defined as [lower_endpoint_inclusive, upper_endpoint_inclusive]. The corresponding exponent to the field is also used for the bin-values.

Example: Unequal sized bins [0, 10) [10, 40) [40, 50].

Field	Type	Description
lower_endpoint_inclusive	google.protobuf.Int64Value	Lower end point of bin.
frequency	google.protobuf.Int64Value Unit 1 Resolution 1 Range [0, )	Absolute frequency.

Absolute path through the message structure or path through the message structure for proprietary extension.

Field	Type	Description
absolute	Path	Absolute path through the message structure by defined field numbers in the protobuf schema. The path begins at message type DataMessages.
extension	ExtensionPath	Path through the message structure for proprietary extension.

Absolute paths through the message structure or paths through the message structure for proprietary extensions.

Field	Type	Description
path	repeated AbsoluteOrExtensionPath	Path.

Category envelope is the mandatory first field of each category.

Field	Type	Description
extension	repeated google.protobuf.Any	Proprietary extension. A category proprietary extension provides an additional event type, that is not part of the SENSORIS specification.

Confidence.

Field	Type	Description
value	int64 Unit Percent Resolution 1 Range (0, 100]	Value.

Count and confidence.

Field	Type	Description
count	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Count.
confidence	Confidence	Confidence of count.

Entity.

Field	Type	Description
primary_id	google.protobuf.StringValue	First level identifier.
secondary_id	google.protobuf.StringValue	Second level identifier.
type	google.protobuf.StringValue	Type.
software_version	Version	Software version.
hardware_version	Version	Hardware version.
extension	repeated google.protobuf.Any	Proprietary extension.

Event detection status.

Field	Type	Description
type	EventDetectionStatus.Type	Type.
confidence	Confidence	Confidence of type.

Event envelope is the mandatory first field of each event.

Field	Type	Description
id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Identifier, shall be unique for all events in a data message.
timestamp	Timestamp	Timestamp. This is the timestamp of when the event has been detected. In case of a longer identification cycle, the actual timestamp of detection needs to be back-calculated. Example: At time t = 10, a traffic sign is observed with the camera sensor. At time t = 15, the processing unit calculates the existence and position of the traffic sign, then the traffic sign event with t = 10 is to be created, so that the relative position fits to the localization of the vehicle at t = 10 in the sensoris.protobuf.categories.localization.VehiclePositionAndOrientation event.
detection_type	EventEnvelope.DetectionType	Detection type. Basic description of the processing of the source to determine the additional complexity of the source reading.
extension	repeated google.protobuf.Any	Proprietary extension. An event proprietary extension provides additional information for the specific event, e.g. provides metadata for the set event fields or adds additional information that is not part of the SENSORIS specification.

Detection type.

Field	Type	Description
type	EventEnvelope.DetectionType.Type	Type.

Path through the message structure for proprietary extension.

Field	Type	Description
to_extension	Path	Absolute path to the extension of message type Any. The path begins at message type DataMessages.
type_url	ExtensionTypeUrl	Type URL of proprietary extension.
in_extension	Path	Absolute path in the extension. The path begins at the message type of the extension. If the absolute path in the extension is not set, then the complete extension is referenced by the extension path.

Type URL of proprietary extension.

Field	Type	Description
google_type_url_suffix	google.protobuf.StringValue	Type URL of proprietary extension as suffix of default Google type URL 'type.googleapis.com/'.
type_url	google.protobuf.StringValue	Full type URL of proprietary extension.

Proprietary extension type URL and format version of the extension.

Field	Type	Description
type_url	ExtensionTypeUrl	Type URL of proprietary extension.
version	Version	Version.

Proprietary extension type URL and format version ranges of the extension.

Field	Type	Description
type_url	ExtensionTypeUrl	Type URL of proprietary extension.
version_range	repeated VersionRange	Version range.

Gaussian distribution of int64 values.

Field	Type	Description
timestamp_interval	TimestampInterval	Timestamp interval.
mean	google.protobuf.Int64Value	Mean.
variance	google.protobuf.Int64Value	Variance.

Interval of int64 values for [min_inclusive, max_exclusive). Supports also numeric intervals that are just restricted by either their minimum or their maximum value.

Field	Type	Description
min_inclusive	google.protobuf.Int64Value	Minimum inclusive value. If value is not set, then minimum value is not restricted.
max_exclusive	google.protobuf.Int64Value	Maximum exclusive value. If value is not set, then maximum value is not restricted.

Matrix of int64 values with dimension of 3 horizontal rows x 3 vertical columns.

Field	Type	Description
a11	google.protobuf.Int64Value
a12	google.protobuf.Int64Value
a13	google.protobuf.Int64Value
a21	google.protobuf.Int64Value
a22	google.protobuf.Int64Value
a23	google.protobuf.Int64Value
a31	google.protobuf.Int64Value
a32	google.protobuf.Int64Value
a33	google.protobuf.Int64Value

Statistic measure of int64 value.

Field	Type	Description
timestamp_interval	TimestampInterval	Timestamp interval.
type	StatisticMeasureType	Type.
value	int64	Value.

Statistic measure of int64 value and accuracy.

Field	Type	Description
timestamp_interval	TimestampInterval	Timestamp interval.
type	StatisticMeasureType	Type.
value	int64	Value.
accuracy	google.protobuf.Int64Value	Accuracy.

Int64 value that is either one int64 value or provides statistics of several int64 values.

Field	Type	Description
value	int64	Value.
statistic_measure	Int64StatisticMeasure	Statistic measure.
absolute_histogram	AbsoluteInt64Histogram	Absolute histogram.
relative_histogram	RelativeInt64Histogram	Relative histogram.
gaussian_distribution	Int64GaussianDistribution	Gaussian distribution.

Int64 value that is either one int64 value and it's accuracy or provides statistics of several int64 values.

Field	Type	Description
value_and_accuracy	Int64ValueAndAccuracy.ValueAndAccuracy	Value and accuracy.
statistic_measure_and_accuracy	Int64StatisticMeasureAndAccuracy	Statistic measure and accuracy.
absolute_histogram	AbsoluteInt64Histogram	Absolute histogram.
relative_histogram	RelativeInt64Histogram	Relative histogram.
gaussian_distribution	Int64GaussianDistribution	Gaussian distribution.

Int64 value and accuracy.

Field	Type	Description
value	int64	Value.
accuracy	google.protobuf.Int64Value	Accuracy.

Int64 value and exponent to the base of 10. The result can be computed with the function (value * (10 ^ exponent)).

Field	Type	Description
value	int64	Value.
exponent	int64	Exponent. Defaults to 0.

MessagesEnvelope

Messages envelope is the mandatory first field of each messages for transport.

Field	Type	Description
version	Version	Format version.
submitter	repeated Entity	Information about the submitting entity which may be a fleet, a vehicle manufacturer or a specific service/software. The primary id might be the company name whereas the secondary id might be a service reason, a bilateral contract identifier or similar. Example: Values primary_id: "ABC Vehicle Manufacturer", secondary_id: "ConnectedVehicleSensorDataCollectionUnit", type: "HazardWarning".
extension_type_url_and_version	repeated ExtensionTypeUrlAndVersion	Proprietary extension type URL and format version of the extension.
extension	repeated google.protobuf.Any	Proprietary extension.

Path through the message structure by defined field numbers in the protobuf schema.

Field	Type	Description
field_number	repeated int64 Unit 1 Resolution 1 Range [1, )	Field number.

Relative histogram of int64 values, i.e. bins contain relative percentage of total number of elements.

Field	Type	Description
timestamp_interval	TimestampInterval	Timestamp interval.
total_elements	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Total elements.
bin	repeated RelativeInt64Histogram.Bin	Bin.
upper_endpoint_inclusive	google.protobuf.Int64Value	Upper endpoint of last bin.

Bin. The range of a bin is defined as [lower_endpoint_inclusive, lower_endpoint_inclusive of following bin). The range of the last bin is defined as [lower_endpoint_inclusive, upper_endpoint_inclusive]. The corresponding exponent to the field is also used for the bin-values.

Example: Unequal sized bins [0, 10) [10, 40) [40, 50].

Field	Type	Description
lower_endpoint_inclusive	google.protobuf.Int64Value	Lower end point of bin.
relative_frequency	google.protobuf.Int64Value Unit Percent Resolution 0.1 Range [0, 100]	Relative frequency.

Timestamp. Timestamp may be also used to model duration.

Field	Type	Description
posix_time	google.protobuf.Int64Value Unit MilliSecond Resolution 1 Range [0, )	POSIX time in milliseconds.
posix_time_fraction	google.protobuf.Int64Value Unit MicroSecond Resolution 1 Range [0, 1000)	Microseconds fraction of POSIX time.

Timestamp interval [start inclusive, end exclusive).

Field	Type	Description
start_inclusive	Timestamp	Start of interval inclusive.
end_exclusive	Timestamp	End of interval exclusive.

Uniform resource name (URN).

Field	Type	Description
value	string	Value with syntax as defined in IETF RFC2141 specification. See also https://tools.ietf.org/html/rfc2141.

Version.

Field	Type	Description
major	google.protobuf.Int64Value Unit 1 Resolution 1 Range [0, )	Major version.
minor	google.protobuf.Int64Value Unit 1 Resolution 1 Range [0, )	Minor version.
patch	google.protobuf.Int64Value Unit 1 Resolution 1 Range [0, )	Patch version.
name	google.protobuf.StringValue	Name.

Version range [minimum inclusive, maximum exclusive).

Field	Type	Description
min_inclusive	Version	Minimum inclusive version.
max_exclusive	Version	Maximum exclusive version.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
EXPECTED_AND_DETECTED	1	Expected and detected by vehicle.
EXPECTED_AND_NOT_DETECTED	2	Expected and not detected by vehicle, without further specification of the reason for the non detection.
EXPECTED_AND_NOT_DETECTED_ACCESS_BLOCKED	3	Expected and not detected by vehicle due to blocked access, e.g. vision of camera sensor to expected event is blocked.
EXPECTED_AND_NOT_DETECTED_ACCESS_AVAILABLE	4	Expected and not detected by vehicle although access is not blocked, e.g. vision of camera sensor to expected event is free.
NOT_EXPECTED_AND_DETECTED	5	Not expected and detected by vehicle.

Type.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
TRIGGERED_MANUALLY	1	Manually triggered message (e.g. if hazard warning lights is triggered).
TRIGGERED_AUTOMATED_REGULAR	2	Automatically triggered message (e.g. if ABS event is activated).
TRIGGERED_AUTOMATED_RARE	3	Automatically triggered message (e.g. if airbag is deployed).
READING_SINGLE	4	A value based from a single continuous sensor reading with minimal processing (e.g. outside air temperature).
READING_SIMPLE	5	Locally simple fused value from continuous sensor reading with some minimal processing (e.g. vehicle speed as the average speed of the four values of the wheels).
READING_FUSION	6	Locally complex fused sensor data (e.g. rain density by locally fusing wiper frequency and rain sensor data with speed and windshield angle).
COMPLEX	7	A value derived from complex calculation. This could also be calculations that come from a black box device (e.g. object detection result by camera).

Type of statistic measure.

Name	#	Description
UNKNOWN_STATISTIC_MEASURE_TYPE	0	Unknown.
MINIMUM	1	Minimum.
MAXIMUM	2	Maximum.
AVERAGE	3	Average.
MEDIAN	4	Median.

System status.

Name	#	Description
UNKNOWN_SYSTEM_STATUS	0	Unknown.
ACTIVE	1	Active, i.e. system is on and controls vehicle.
INACTIVE	2	Inactive, i.e. system is on and doesn't control vehicle.
DISABLED	3	Disabled, i.e. system is off, e.g. disabled by driver.

Time unit.

Name	#	Description
UNKNOWN_TIME_UNIT	0	Unknown.
MILLISECOND	1	Millisecond.
SECOND	2	Second.
MINUTE	3	Minute.
HOUR	4	Hour.
DAY	5	Day.
WEEK	6	Week.
MONTH	7	Month.
YEAR	8	Year.

Weekday.

Name	#	Description
UNKNOWN_WEEKDAY	0	Unknown.
MONDAY	1	Monday.
TUESDAY	2	Tuesday.
WEDNESDAY	3	Wednesday.
THURSDAY	4	Thursday.
FRIDAY	5	Friday.
SATURDAY	6	Saturday.
SUNDAY	7	Sunday.

The collection action defines what to do during a data collection. It consists of tasks to be performed by the collector and in general defines what sensor data shall be collected. When actual collection happens depends on triggers. Triggers are triggering the real collection.

Field	Type	Description
collection_task	repeated CollectionAction.CollectionTask	Collection task.
min_transmitted_message_extents	CollectionExtents	Defines the minimum expected extents of a SENSORIS DataMessage during data collection. If the data message extent value is lower or equal to the requested extent value, the data message shall not be transmitted. Example: The extent contains a minimum of 20 seconds duration. A message containing 15 seconds of data collection will not be transmitted. The specified minimum extent is overriding any lifetime values. If the minimum extent is not met and e.g. the time to submit or the discard after time is reached, then the message is discarded as it poses no value to the submitter.
max_transmitted_message_extents	CollectionExtents	Defines the maximum allowed requested extent of a SENSORIS DataMessage during data collection. If the data message extent value is greater or equal to the requested extent value, the already collected data shall be put into a SENSORIS DataMessage that could be transmitted to the submitter of the job request, and continue the data collection for the next DataMessage.
extension	repeated google.protobuf.Any	Proprietary extension.

Single collection task.

Field	Type	Description
optional	google.protobuf.BoolValue	Defines if the collection task is mandatory and the requested data has to be collected in order to to fulfill the job request (FALSE) or if the collection task is optional (TRUE) and no data has to be collected. If the collection task is optional then also all event fields are optional, irrespective if they are set as mandatory.
prevent_overlapping_by_time	google.protobuf.BoolValue	Defines if two consecutive CollectionAction objects can be aggregated by the one CollectionTask if elements in this collection_task overlaps in time. This flag shall not be set in more than one CollectionTask objects of the JobRequestMessage.
collection_event_or_event_field	repeated CollectionAction.CollectionTask.CollectionEventOrEventField	Defines exactly one event or event field of SENSORIS DataMessages which shall be collected. The event may be a complete SENSORIS event, e.g. vehicle_speed, or a specific event field of a SENSORIS event, e.g. vehicle_speed > value_and_accuracy > metric_vehicle > x. If the event field is a specific event field of a SENSORIS event and other event fields are also specific event fields of the same SENSORIS event, then the fields shall be set on the same event. Example: For the specific event fields vehicle_speed > value_and_accuracy > metric_vehicle > x, vehicle_speed > value_and_accuracy > metric_vehicle > y, and vehicle_speed > value_and_accuracy > metric_vehicle > z only a single SENSORIS event vehicle_speed shall be part of the collected data if they share the same timestamp.
collection_configuration	CollectionAction.CollectionTask.CollectionConfiguration	Defines how the specified sensor data shall be collected for all events and event fields defined in collection_event_or_event_field of this CollectionTask. This field is mandatory for data collection. Events or event fields with different collection configuration need to be defined in different CollectionTasks. Event or event fields with the same collection configuration can be defined in the same CollectionTask. Note: When the collection configuration is missing, it is considered as NATIVE_FREQUENCY triggering. It means it collects all sensor data as it is coming in.
extension	repeated google.protobuf.Any	Proprietary extension.

The collection configuration defines in which instant the actual data collection should happen. It allows also to extend the collection instant to a range via pre- and post-offsets. For example collect traffic signs and 50m before and 50 after it for traffic signs. Trigger type should be ON_CHANGE, pre- and post- trigger 50 with TriggerOffset type DISTANCE. Collection configuration is applicable to the first field_to_collect since it is a "control" field others are going to be collected at NATIVE_FREQUENCY.

Field	Type	Description
pre_trigger_offset	CollectionAction.CollectionTask.CollectionConfiguration.TriggerOffset	Defines the pre-offset trigger around a triggered data collection, i.e. which data shall be additionally included in the data collection.
post_trigger_offset	CollectionAction.CollectionTask.CollectionConfiguration.TriggerOffset	Defines the post-offset trigger around a triggered data collection, i.e. which data shall be additionally included in the data collection.
trigger_frequency	CollectionAction.CollectionTask.CollectionConfiguration.TriggerFrequency	The trigger frequency defines how often sensor data is collected.
extension	repeated google.protobuf.Any	Proprietary extension.

The trigger frequency defines how often sensor data is collected.

Field	Type	Description
type	CollectionAction.CollectionTask.CollectionConfiguration.TriggerFrequency.Type	Type.
value	google.protobuf.Int64Value	Defines the value for the sensor data collection method. The unit of this value is defined by the type data element. This value applies only for the types BY_TIME, BY_DISTANCE, and ON_CHANGE. For other collection types this value shall not be interpreted.

The trigger offset can be used to define a pre- and post-offset around a triggered data collection, i.e. it is defined that data collection shall not only contain the data defined by the trigger itself, but also data before or after the trigger.

Example: If a data collection trigger requests detected traffic signs by the camera, it is possible to define e.g. a pre-offset and a post-offset with each 10 vehicle positions before and after the traffic sign event.

Field	Type	Description
type	CollectionAction.CollectionTask.CollectionConfiguration.TriggerOffset.Type	Defines which type of metric has to be considered for the data collection offset before/after the data collection is started/ended.
value	google.protobuf.Int64Value	The amount of values before/after data recording.

Defines exactly one event or event field of SENSORIS DataMessages which shall be collected.

Field	Type	Description
event_or_event_field_to_collect	sensoris.protobuf.types.base.AbsoluteOrExtensionPath	Defines exactly one event or event field to be collected, referenced by it's path in SENSORIS DataMessages. The event may be a complete SENSORIS event, e.g. vehicle_speed, or a specific event field of a SENSORIS event, e.g. vehicle_speed > value_and_accuracy > metric_vehicle > x. Example: A path of 2.2.2.4 references the data_message = 2 > event_group = 2 > localization_category = 2 > vehicle_speed = 4. A path of 2.2.2.4.2.1.1 references the data_message = 2 > event_group = 2 > localization_category = 2 > vehicle_speed = 4 > value_and_accuracy = 2 > metric_vehicle = 1 > x = 1.
optional	google.protobuf.BoolValue	Defines if the event_or_event_field_to_collect is mandatory and has to be provided in order to fulfill the collection task (FALSE) or if the event_or_event_field_to_collect is optional (TRUE) in the resulting requested SENSORIS DataMessage.
current_value	google.protobuf.BoolValue	If true, the current value shall be used.
aggregation_type	CollectionAction.CollectionTask.CollectionEventOrEventField.AggregationType	Requested aggregation of the event_or_event_field_to_collect over a past time period.
absolute_histogram_specification	sensoris.protobuf.types.job.AbsoluteHistogramSpecification	The event_or_event_field_to_collect is requested based on a histogram structure. A histogram is created over a duration of multiple collection events by adding the values (e.g. speed every second) into the persistent histogram. Specification of an absolute histogram of int64 values, i.e. bins contain absolute number of total number of elements.
relative_histogram_specification	sensoris.protobuf.types.job.RelativeHistogramSpecification	The event_or_event_field_to_collect is requested based on a histogram structure. A histogram is created over a duration of multiple collection events by adding the values (e.g. speed every second) into the persistent histogram. Specification of a relative histogram of int64 values, i.e. bins contain relative percentage of total number of elements.
requested_exponent	google.protobuf.Int64Value	For event_or_event_field_to_collect of type int64 the field option exponent as defined in the SENSORIS specification version, see sensoris.protobuf.types.base.exponent, can be overridden by providing the requested exponent to allow for higher or lower resolution of this field. If no override is provided, the default exponent value of the SENSORIS specification is used.
extension	repeated google.protobuf.Any	Proprietary extension.

The extent of a collection allows to restrict the amount of collected data by various dimensions. If any of the fields is not set, the field shall not be considered as a restricting extent.

Field	Type	Description
count	google.protobuf.Int64Value Unit 1 Resolution 1 Range (0, )	Count.
data_message_size	google.protobuf.Int64Value Unit Byte Resolution 1 Range (0, )	Size of SENSORIS DataMessage.
path_length	google.protobuf.Int64Value Unit Meter Resolution 1 Range (0, )	Length of accumulated SENSORIS DataMessage LocalizationCategory VehiclePositionAndOrientations.
duration	google.protobuf.Int64Value Unit Second Resolution 1 Range (0, )	Duration.
extension	repeated google.protobuf.Any	Proprietary extension.

Trigger type. - Types ONCE, BY_TIME, and BY_DISTANCE are defined for the entire set of sensor data information specified in the attribute_to_collect list of CollectionAttribute. - Type ON_CHANGE is only valid for the check of the first element in the event_or_event_field_to_collect list of CollectionEventOrEventField as only this first element will be checked for change. - Type NATIVE_FREQUENCY provides the collection information when it becomes available based on the in vehicle native frequency.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
ONCE	1	Only one collection is done. If the data collection is started all defined sensor data values which are available in the memory buffer of the vehicle data collector are stored immediately. If no sensor data value is available, no value is stored.
ON_CHANGE	2	Collection is done when sensor data value has changed. If the data collection is started the first available value is also stored. Value in case of ON_CHANGE defines count of changes which triggers e.g. 2 means collect on every second value change.
BY_TIME	3	Time in unit MilliSecond and resolution 1 is used as reference. This is different than the usual SI-unit of time. All available sensor data values shall be collected in time intervals of the defined value.
BY_DISTANCE	4	Distance in unit Meter and resolution 1 is used as reference. All available sensor data values shall be collected in distance intervals of the defined value. If the data collection is started the first available values are also stored.
NATIVE_FREQUENCY	5	Native frequency of the sensor. All available sensor data values shall be collected as they are being produced by the sensors.

Name	#	Description
UNKNOWN_TYPE	0	Unknown.
COUNT	1	The reference unit is the count of sensor data readings before/after the data collection is started/stopped.
DISTANCE	2	The reference unit is the distance in meters before/after the data collection is started/stopped.

Requested aggregation of the event_or_event_field_to_collect. See also sensoris.protobuf.types.base.StatisticMeasureType.

Name	#	Description
UNKNOWN_AGGREGATION_TYPE	0	Unknown.
ALL	1	All values shall be used, i.e. no aggregation.
MINIMUM	2	The minimum value reading between last and current collection shall be used.
MAXIMUM	3	The maximum reading between last and current collection shall be used.
AVERAGE	4	The average reading between last and current collection shall be used.
MEDIAN	5	The median reading between last and current collection shall be used.

Specification of an absolute histogram of int64 values, i.e. bins contain absolute number of total number of elements. See also sensoris.protobuf.types.base.AbsoluteInt64Histogram.

Field	Type	Description
minimum_total_elements	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Minimum total elements.
lower_endpoint_inclusive	sensoris.protobuf.types.base.Int64ValueAndExponent	Lower endpoint of first bin.
bins	HistogramSpecificationBins	Bins.
number_of_bins	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Number of equal sized bins.
upper_endpoint_inclusive	sensoris.protobuf.types.base.Int64ValueAndExponent	Upper endpoint of last bin.

Bins of a histogram specification.

Field	Type	Description
bin	repeated HistogramSpecificationBins.Bin	Bins.

Bin. The range of a bin is defined as [lower_endpoint_inclusive, lower_endpoint_inclusive of following bin). The range of the first bin is defined as [lower_endpoint_inclusive of histogram specification, lower_endpoint_inclusive of following bin). The range of the last bin is defined as [lower_endpoint_inclusive, upper_endpoint_inclusive of histogram specification].

Example: Unequal sized bins [0, 10) [10, 40) [40, 50].

Field	Type	Description
lower_endpoint_inclusive	sensoris.protobuf.types.base.Int64ValueAndExponent	Lower end point of bin.

Identifiers.

Field	Type	Description
submitter	repeated sensoris.protobuf.types.base.Entity	Information about the submitting entity which may be a fleet, a vehicle manufacturer or a specific service/software. The primary id might be the company name whereas the secondary id might be a service reason, a bilateral contract identifier or similar. Example: Values primary_id: "ABC Vehicle Manufacturer", secondary_id: "ConnectedVehicleSensorDataCollectionUnit", type: "HazardWarning".
job_id	repeated google.protobuf.StringValue	Job identifier. The concatenation of all job identifiers shall be unique for the submitters.
vehicle_fleet_id	repeated google.protobuf.StringValue	Vehicle fleet identifier.
vehicle_id	repeated google.protobuf.StringValue	Vehicle identifier.
driver_id	repeated google.protobuf.StringValue	Driver identifier.

Specification of a relative histogram of int64 values, i.e. bins contain relative percentage of total number of elements. See also sensoris.protobuf.types.base.RelativeInt64Histogram.

Field	Type	Description
minimum_total_elements	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Minimum total elements.
lower_endpoint_inclusive	sensoris.protobuf.types.base.Int64ValueAndExponent	Lower endpoint of first bin.
bins	HistogramSpecificationBins	Bins.
number_of_bins	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Number of equal sized bins.
upper_endpoint_inclusive	sensoris.protobuf.types.base.Int64ValueAndExponent	Upper endpoint of last bin.
relative_frequency_exponent	google.protobuf.Int64Value Unit 1 Resolution 1 Range ( , )	Exponent for relative frequency.

JobValidityRestrictions define conditions under which a job request message is valid and data collection shall be possible. If job validity restrictions are not met, data collection shall not happen.

Field	Type	Description
basic_job_validity_restrictions	JobValidityRestrictions.BasicJobValidityRestrictions	Basic job validity restrictions.

The temporal, spatial and map job validity restrictions define if data collection for a job request shall be possible. The restrictions are conjuncted by logical AND, i.e. data collection shall be possible if: - the composite temporal restriction is TRUE AND - the composite spatial restriction is TRUE AND - the repeated values of the map restriction conjuncted by logical AND are TRUE. If no restrictions are specified, it is assumed that the job request is valid any time and everywhere.

Field	Type	Description
time_restrictions	JobValidityRestrictions.BasicJobValidityRestrictions.CompositeTimeRange	The composite temporal restriction defines when data collection shall be possible.
spatial_restrictions	JobValidityRestrictions.BasicJobValidityRestrictions.CompositeLocation	The composite spatial restriction defines where data collection shall be possible.
map_restriction	repeated JobValidityRestrictions.BasicJobValidityRestrictions.MapRestriction	The map restriction defines if data collection shall be possible based on map attribute values.
extension	repeated google.protobuf.Any	Proprietary extension.

The composite spatial restrictions defines where data collection shall be possible. The repeated values of all fields are conjuncted by logical OR, i.e. if any of the spatial restrictions is TRUE, then the composite spatial restriction is TRUE. If all repeated values of all fields are FALSE, then the composite spatial restrictions is also FALSE.

Field	Type	Description
circle	repeated sensoris.protobuf.types.spatial.CircleAndAccuracy	Circle with geographic or metric center position and metric radius without accuracy.
rectangle	repeated sensoris.protobuf.types.spatial.RectangleAndAccuracy	Rectangle with geographic or metric minimum and maximum positions without accuracy.
polygon	repeated sensoris.protobuf.types.spatial.PolygonAndAccuracy	Polygon of geographic or metric positions without accuracy.
directed_polyline_corridor	repeated sensoris.protobuf.types.spatial.DirectedPolylineCorridor	The directed polyline defines the required driving direction from first polyline vertex to last polyline vertex.
extension	repeated google.protobuf.Any	Proprietary extension.

The composite temporal restriction defines when data collection shall be possible. The repeated values of the same field are conjuncted by logical OR whereas all field values are conjuncted by logical AND.

Example: The composite temporal restriction with the date_range [[2019-01-01 to 2019-01-10], [2019-02-01 to 2019-02-10]], weekday [Monday, Wednesday], time_of_the_day_range [[8:00 to 9:00], [16:00 to 17:00]], is TRUE if the date restriction AND the weekday restriction AND the time of the day restriction are TRUE. The date restriction is TRUE if the date is within any of the specified ranges, e.g. 2019-01-01 or 2019-02-05. The weekday restriction is TRUE if the weekday is Monday OR Wednesday. The time of the day restriction is TRUE if the time is within any of the provided time ranges, e.g. 8:00, 16:30.

Field	Type	Description
date_range	repeated sensoris.protobuf.types.base.TimestampInterval	Range of dates defined by a [start timestamp inclusive, end timestamp inclusive] with possible coverage of multiple days.
weekday	repeated sensoris.protobuf.types.base.Weekday	Weekday.
time_of_the_day_range	repeated sensoris.protobuf.types.base.Int64Interval Unit Seconds since midnight Resolution 1 Range [0, 86400)	Time of the day range defined by a [start time inclusive, end time inclusive] in vehicle local timezone. Example: [2:00:00 - 4:59:59] refers to data collection between 2 am and 5 am. [0:00:00 - 23:59:59] refers all day to data collection.
extension	repeated google.protobuf.Any	Proprietary extension.

The map restriction defines if data collection shall be possible based on map attribute values. The restriction is defined as follows: - The map restriction is TRUE if the map attribute and value restriction is met and therefore TRUE OR the ignore_if_not_supported flag is TRUE. - The map restriction is FALSE if the map attribute and value restriction is not met and therefore FALSE AND the ignore_if_not_supported is FALSE.

Field	Type	Description
map_attribute_and_value	sensoris.protobuf.types.map.MapAttributeAndValue	Map attribute and value.
ignore_if_not_supported	google.protobuf.BoolValue	Flag that indicates what to do if the map_attribute_and_value is not supported by the vehicle.
extension	repeated google.protobuf.Any	Proprietary extension.

Defines constituents for boolean expressions which consists of an operator applied on multiple operands. The operands may include boolean expressions, arithmetic expressions as well as sensor, map, or system parameters.

Field	Type	Description
not	google.protobuf.BoolValue	Negates the overall boolean result. If set to TRUE, the boolean result changes from TRUE to FALSE and respectively from FALSE to TRUE. If not set, the boolean result is not negated.
operator	LogicalExpression.LogicalOperator	Logical boolean operator for all elements of the field operand. The usage of the operator follows the rules: - If the field operand has more than one element, UNKNOWN_LOGICAL_OPERATOR shall not be used. If the field operand has exactly one element, then the operand is not evaluated. - Applying the operator AND to a list of elements [A, B, C] returns TRUE if every element is TRUE and FALSE otherwise. Evaluation of the operator can return early with FALSE for the first element being FALSE. - Applying the operator OR to a list of elements [A, B, C] returns FALSE if every element is FALSE and TRUE otherwise. Evaluation of the operator can return early with TRUE for the first element being TRUE.
operand	repeated LogicalExpression.LogicalOperand	Operand. If no operand is set, the logical expression is FALSE by definition.
extension	repeated google.protobuf.Any	Proprietary extension.

Logical operand with a boolean result of TRUE or FALSE, resulting either out of a comparison expression or a boolean function.

Field	Type	Description
not	google.protobuf.BoolValue	Negates the overall boolean result. If field is set to TRUE, the result of the boolean expression or function changes from TRUE to FALSE and respectively from FALSE to TRUE. If not set, the result is not negated.
comparison_expression	LogicalExpression.LogicalOperand.ComparisonExpression	Comparison expression with a boolean result of TRUE or FALSE.
extension	repeated google.protobuf.Any	Proprietary extension.

Comparison expression with a boolean result of TRUE or FALSE. Only data types that are comparable can be evaluated: - int64 to int64 including the interpretation of exponent usage, also used for enum value to enum value - bool to bool - string to string - bytes to bytes

Example: Vehicle speed > 2 [m/s].

Field	Type	Description
not	google.protobuf.BoolValue	Negates the overall boolean result. If field is set to TRUE, the result of the boolean expression changes from TRUE to FALSE and respectively from FALSE to TRUE. If not set, the result is not negated.
first_operation	LogicalExpression.LogicalOperand.ComparisonExpression.Operation	Left side value of the boolean expression.
operator	LogicalExpression.LogicalOperand.ComparisonExpression.ComparisonOperatorType	Operator for comparison of the two boolean expressions.
second_operation	LogicalExpression.LogicalOperand.ComparisonExpression.Operation	Right side value of the boolean expression.
extension	repeated google.protobuf.Any	Proprietary extension.

Operation.

Field	Type	Description
first_operand	LogicalExpression.LogicalOperand.ComparisonExpression.Operation.Operand	First operand.
operator	LogicalExpression.LogicalOperand.ComparisonExpression.Operation.OperationType	Operator. If the operator is a binary operator, then the field second_operand shall be set.
second_operand	LogicalExpression.LogicalOperand.ComparisonExpression.Operation.Operand	Second operand.
extension	repeated google.protobuf.Any	Proprietary extension.

Operand as part of an operation, which can be either a constant value or a field value of a SENSORIS event.

Field	Type	Description
int64_value_and_exponent	sensoris.protobuf.types.base.Int64ValueAndExponent	Int64 value and exponent.
bool_value	google.protobuf.BoolValue	Boolean value.
string_value	google.protobuf.StringValue	String value.
bytes_value	google.protobuf.BytesValue	Bytes value.
event_field_value	sensoris.protobuf.types.base.AbsoluteOrExtensionPath	Field value of a SENSORIS event, referenced by it's path in SENSORIS DataMessages. Actual event field value has to be one of the supported operands, see alternatives in oneof. Example: A path of 2.2.2.4.2.1.1 references the data_message = 2 > event_group = 2 > localization_category = 2 > vehicle_speed = 4 > value_and_accuracy = 2 > metric_vehicle = 1 > x = 1.
extension	repeated google.protobuf.Any	Proprietary extension.

Comparison operator type.

Name	#	Description
UNKNOWN_COMPARISON_OPERATOR_TYPE	0	Unknown.
EQUAL	1	Returns TRUE if first_operation is equal to second_operation.
NOT_EQUAL	2	Returns TRUE if first_operation is not equal to second_operation.
GREATER	3	Returns TRUE if first_operation is greater than second_operation. Only defined if both operations are of type int64.
LESS	4	Return TRUE if first_operation is less than second_operation. Only defined if both operations are of type int64.
GREATER_OR_EQUAL	5	Returns TRUE if first_operation is greater than or equal to second_operation. Only defined if both operations are of type int64.
LESS_OR_EQUAL	6	Returns TRUE if first_operation is less than or equal to second_operation. Only defined if both operations are of type int64.

Operation type.

Name	#	Description
UNKNOWN_OPERATION_TYPE	0	Unknown.
NO_OPERATION	1	No operation. The value of first_operand is returned.
SUM	2	Addition operation. Only defined if both operands are of type int64. The value of (first_operand + second_operand) is returned.
SUBTRACTION	3	Subtraction operation. Only defined if both operands are of type int64. The value of (first_operand - second_operand) is returned.
MULTIPLICATION	4	Multiplication operation. Only defined if both operands are of type int64. The value of (first_operand * second_operand) is returned.
DIVISION	5	Division operation. Only defined if both operands are of type int64. The value of (first_operand / second_operand) is returned.

Logical boolean operator.

Name	#	Description
UNKNOWN_LOGICAL_OPERATOR	0	Unknown.
AND	1	Conjunction operator logical AND.
OR	2	Conjunction operator logical OR.

Map attribute.

Field	Type	Description
urn	sensoris.protobuf.types.base.Urn	Uniform resource name (URN). Example: urn:map-attribute:mapmaker:hd-map:::functional_road_class

Map attribute and value.

Field	Type	Description
attribute	MapAttribute	Attribute.
values	google.protobuf.StringValue	Values. Example: 5 for value equal 5 !5 for value not equal 5 1;3;5 for value 1, 3 or 5 1-4) for value 1, 2 or 3 with value 4 exclusive -4) for value up to 4 exclusive

Map tiles.

Field	Type	Description
tiling_scheme	MapTilingScheme	Map tiling scheme.
tile_ids	google.protobuf.StringValue	Tile ids in the map tiling scheme.

Map tiling scheme.

Field	Type	Description
urn	sensoris.protobuf.types.base.Urn	Uniform resource name (URN).

Navigation satellite system.

Field	Type	Description
satellite_system	repeated NavigationSatelliteSystem.SatelliteSystem	Satellite system.
satellite_based_augmentation_system	repeated NavigationSatelliteSystem.SatelliteBasedAugmentationSystem	Satellite based augmentation system.
ground_based_augmentation_system	repeated NavigationSatelliteSystem.GroundBasedAugmentationSystem	Ground based augmentation system.
elevation_mask	google.protobuf.Int64Value Unit Degree Resolution 1 Range [0, 90)	Elevation mask. All satellites that have an elevation below the elevation mask are not used for determination of positions.
antenna_offset_and_accuracy	sensoris.protobuf.types.spatial.XyzVectorAndAccuracy Unit MilliMeter Resolution 1 Range ( , )	3 D vector describing the offset from the SENSORIS vehicle coordinate system reference point to the GNSS antenna reference point. If the antenna offset is set, then all GNSS positions measured by the sensor shall be transformed to the SENSORIS vehicle coordinate system by applying the antenna offset and the corresponding vehicle rotation. Example: Value of (x = 0, y = 0, z = 1000) corresponds to a GNSS antenna reference point being exactly 1 meter above the SENSORIS vehicle coordinate system reference point.
extension	repeated google.protobuf.Any	Proprietary extension.

Sensor.

Field	Type	Description
mounting_position_and_orientation	Sensor.MountingPositionAndOrientation	Mounting position and orientation relative to SENSORIS vehicle coordinate system.
navigation_satellite_system	NavigationSatelliteSystem	Navigation satellite system.

Mounting position and orientation relative to SENSORIS vehicle coordinate system.

Field	Type	Description
translation_and_accuracy	sensoris.protobuf.types.spatial.PositionAndAccuracy	Metric translation relative to SENSORIS vehicle coordinate system.
orientation_and_accuracy	sensoris.protobuf.types.spatial.RotationAndAccuracy	Orientation relative to SENSORIS vehicle coordinate system.

Sensor fusion.

Field	Type	Description
sensor_id	repeated google.protobuf.Int64Value	Fused sensors referenced by their Source.id.

Source.

Field	Type	Description
id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Identifier, shall be unique for all sensors and sensor fusions in a data message.
entity	sensoris.protobuf.types.base.Entity	Information about the source entity which may be a sensor or a sensor fusion software providing the information. The primary id might be the company name as the manufacturer of the sensor whereas the secondary id might be a specific name of the sensor. Example: Values primary_id: "ABC Sensors Ltd.", secondary_id: "Mono Color Generation 8 Front", type: "Camera".
sampling_frequency	sensoris.protobuf.types.base.Int64Value Unit Hertz Resolution 0.001 Range [0, )	Sensor sampling frequency.
sensor	Sensor	Sensor.
sensor_fusion	SensorFusion	Sensor fusion.
extension	repeated google.protobuf.Any	Proprietary extension.

Ground based augmentation system.

Name	#	Description
UNKNOWN_GROUND_BASED	0	Unknown.
GROUND_BASED	1	Any ground based augmentation system.
GBAS	2	International Civil Aviation Organization Ground-Based Augmentation System (GBAS).
NDGPS	3	United States' US Nationwide Differential GPS System (NDGPS).
SAPOS	4	German Satellitenpositionierungsdienst der deutschen Landesvermessung (SAPOS).
ALF	5	German Accurate Positioning by Low Frequency (ALF).
AXIO_NET	6	Commercial AXIO-NET.
VRS_NOW	7	Commercial VRS Now.
SMART_NET	8	Commercial SmartNet.

Satellite based augmentation system.

Name	#	Description
UNKNOWN_SATELLITE_BASED	0	Unknown.
SATELLITE_BASED	1	Any satellite based augmentation system.
WAAS	2	United States' Wide Area Augmentation System (WAAS).
EGNOS	3	European Geostationary Navigation Overlay Service (EGNOS).
MSAS	4	Japanese Multi-functional Satellite Augmentation System (MSAS).
QZSS_SATELLITE_BASED	5	Japanese Quasi-Zenith Satellite System (QZSS).
GAGAN	6	Indian GPS-aided GEO augmented navigation (GAGAN).
SDCM	7	Russian System for Differential Correction and Monitoring (SDCM).
SNAS	8	Chinese Satellite Navigation Augmentation System (SNAS).
WAGE	9	United States' Wide Area GPS Enhancement (WAGE).
STAR_FIRE	10	Commercial StarFire.
STAR_FIX	11	Commercial Starfix.
OMNI_STAR	12	Commercial OmniSTAR.

Satellite system.

Name	#	Description
UNKNOWN_SATELLITE_SYSTEM	0	Unknown.
GPS	1	United States' Global Positioning System (GPS).
GLONASS	2	Russian Global'naya Navigatsionnaya Sputnikovaya Sistema (GLONASS).
GALILEO	3	European Union Galileo positioning system (GALILEO).
BEIDOU_1	4	Chinese BeiDou Satellite Navigation Experimental System (BeiDou-1).
BEIDOU_2	5	Chinese BeiDou Navigation Satellite System (BDS, COMPASS, BeiDou-2).
NAVIC	6	Indian NAVigation with Indian Constellation (NAVIC).
QZSS	7	Japanese Quasi-Zenith Satellite System (QZSS).

Circle with geographic or metric center position and metric radius with metric accuracies.

Field	Type	Description
center_position_and_accuracy	PositionAndAccuracy	Center position and accuracy.
radius_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit Meter Resolution 1 Range (0, )	Radius and accuracy.
extension	repeated google.protobuf.Any	Proprietary extension.

Directed corridor defined by center polyline and total lateral width with metric accuracies. The following restrictions shall be met: - If the vehicle exits the corridor in any direction (sideways or at the end of the corridor) the restriction is FALSE. - The restriction is only TRUE if the vehicle is traveling along the center line following the polyline continuously and its heading doesn't deviate from the heading of the polyline more than heading_deviation_from_center_line clockwise and counterclockwise at any time.

Field	Type	Description
polyline_corridor	PolylineCorridorAndAccuracy	Corridor defined by center polyline and total width without accuracy.
is_bidirectional	google.protobuf.BoolValue	Directionality of the corridor. The directionality is defined as follows: - TRUE defines a corridor which can be driven in both directions. It matches restriction in both directions (forward and backward). - FALSE or not set defines a corridor which can be driven only in one direction. It matches restriction in forward direction only.
heading_deviation_from_center_line	google.protobuf.Int64Value Unit Degree Resolution 1 Range (0, 90)	Maximum allowed heading deviation from the center line direction at the projected position of the vehicle against the center line. The deviation is an absolute value symmetrical in both direction (clockwise and counterclockwise).
extension	repeated google.protobuf.Any	Proprietary extension.

Map location reference.

Field	Type	Description
position_and_accuracy	PositionAndAccuracy	Absolute position of the map object.
z_level	google.protobuf.Int64Value Unit 1 Resolution 1 Range [0, )	Map z-level at the absolute position of the map object.
tile_link_offset_reference	MapLocationReference.TileIdLinkIdOffset	Location reference of a map object defined by a tile id, link id and offset on link id.
map_object_id	MapLocationReference.TileIdObjectId	Location reference of a map object defined by a tile id and object id.
extension	repeated google.protobuf.Any	Proprietary extension.

Location reference of a map object defined by a tile id, link id and offset on link id.

Field	Type	Description
tile_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Map tile id.
link_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Map link id.
offset	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Offset of the position starting from the beginning of the link id.
extension	repeated google.protobuf.Any	Proprietary extension.

Location reference of a map object defined by a tile id and object id.

Field	Type	Description
tile_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Map tile id.
object_id	google.protobuf.Int64Value Unit 1 Resolution 1 Range [1, )	Map object id.
extension	repeated google.protobuf.Any	Proprietary extension.

Polygon of geographic or metric positions and metric accuracy.

Field	Type	Description
position_and_accuracy	repeated PositionAndAccuracy	Polygon vertex position and accuracy. The following restrictions shall be met by the vertex positions: - the first and last vertex positions shall be identical, - at least 4 vertices shall be defined resulting in a triangle, - the line segments shall not intersect at non vertex positions, - the polygon shall have no holes - the vertex positions should be ordered clockwise - the defined area is right side on the polygon segments
extension	repeated google.protobuf.Any	Proprietary extension.

Polyline of geographic or metric positions with metric accuracies.

Field	Type	Description
position_and_accuracy	repeated PositionAndAccuracy	Polyline vertex position and accuracy.
extension	repeated google.protobuf.Any	Proprietary extension.

Corridor defined by center polyline and total lateral width with metric accuracies.

Field	Type	Description
center_polyline_and_accuracy	PolylineAndAccuracy	Center polyline of geographic or metric positions and metric accuracy.
total_width_and_accuracy	sensoris.protobuf.types.base.Int64ValueAndAccuracy Unit CentiMeter Resolution 1 Range (0, )	Total width and accuracy defined as double symmetric distance from the center polyline.
extension	repeated google.protobuf.Any	Proprietary extension.

Geographic or metric position and metric accuracy.

Field	Type	Description
geographic_wgs84	PositionAndAccuracy.Geographic	Geographic position in World Geodetic System 84 (WGS84) reference system.
metric_vehicle	PositionAndAccuracy.Metric	Metric position in SENSORIS vehicle coordinate system.
metric_event_group	PositionAndAccuracy.Metric	Metric position in relative coordinate system, the reference coordinate system is the origin of the event group.
metric_ecef	PositionAndAccuracy.Metric	Metric position in Earth-Centered Earth-Fixed (ECEF) reference system.
combined_std_dev	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Accuracy as combined standard deviation of metric horizontal and metric vertical position.
std_dev	PositionAndAccuracy.HorizontalVerticalStdDev	Accuracy as standard deviation of metric horizontal position and metric vertical position.
horizontal_confidence_ellipse_vertical_std_dev	PositionAndAccuracy.HorizontalConfidenceEllipseVerticalStdDev	Accuracy as metric horizontal confidence ellipse and standard deviation of metric vertical position.
covariance	sensoris.protobuf.types.base.Int64Matrix3x3 Unit MilliMeter squared Resolution 1 Range ( , )	Accuracy as 3 x 3 covariance matrix of metric position of (x, x), (x, y), (x, z), (y, x), (y, y), (y, z), (z, x), (z, y), (z, z).
extension	repeated google.protobuf.Any	Proprietary extension.

Geographic position in reference system.

Field	Type	Description
longitude	sensoris.protobuf.types.base.Int64Value Unit Degree Resolution 0.00000001 Range [-180, 180)	Longitude.
latitude	sensoris.protobuf.types.base.Int64Value Unit Degree Resolution 0.00000001 Range [-90, 90]	Latitude.
altitude	sensoris.protobuf.types.base.Int64Value Unit Meter Resolution 0.001 Range ( , )	Altitude.

Accuracy as metric horizontal confidence ellipse and standard deviation of metric vertical position.

Field	Type	Description
horizontal_ellipse_major	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range (0, )	Metric length of major axis of confidence ellipse.
horizontal_ellipse_minor	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range (0, )	Metric length of minor axis of confidence ellipse.
horizontal_ellipse_major_heading	google.protobuf.Int64Value Unit Degree Resolution 0.01 Range [0, 360)	Heading of major axis of confidence ellipse, references geographic north with 0 degree north, 90 degree east, 180 degree south and 270 degree west.
vertical	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Standard deviation of metric vertical position.

Accuracy as standard deviation of metric horizontal position and vertical position.

Field	Type	Description
horizontal	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Standard deviation of metric horizontal position.
vertical	google.protobuf.Int64Value Unit MilliMeter Resolution 1 Range [0, )	Standard deviation of metric vertical position.

Metric position in reference system.

Field	Type	Description
x	sensoris.protobuf.types.base.Int64Value Unit MilliMeter Resolution 1 Range ( , )	Delta on x-axis.
y	sensoris.protobuf.types.base.Int64Value Unit MilliMeter Resolution 1 Range ( , )	Delta on y-axis.
z	sensoris.protobuf.types.base.Int64Value Unit MilliMeter Resolution 1 Range ( , )	Delta on z-axis.

Rectangle with geographic or metric minimum and maximum positions and metric accuracies.

Field	Type	Description
minimum_position_and_accuracy	PositionAndAccuracy	Minimum position and accuracy.
maximum_position_and_accuracy	PositionAndAccuracy	Maximum position and accuracy.
extension	repeated google.protobuf.Any	Proprietary extension.

Rectangular box and accuracy. A rectangular box is defined by either - three (x, y, z) corner vectors or by - position of center point of box, orientation of box in center point and size of box in direction of x-, y- and z-axis of coordinate system defined by center point and orientation. A rectangular box may be also used to represent - a bounding box oriented to the axes of the respective coordinate system or - a two-dimensional rectangle.

Field	Type	Description
corner_vectors	RectangularBoxAndAccuracy.CornerVectors	Rectangular box defined by three (x, y, z) corner vectors.
center_orientation_size	RectangularBoxAndAccuracy.CenterOrientationSize	Rectangular box defined by position of center point of box, orientation of box in center point and size of box in direction of x-, y- and z-axis of coordinate system defined by center point and orientation.
extension	repeated google.protobuf.Any	Proprietary extension.

Rectangular box defined by position of center point of box, orientation of box in center point and size of box in direction of x-, y- and z-axis of coordinate system defined by center point and orientation. If the orientation is not set, then the rectangular box represents a bounding box oriented to the axes of the respective coordinate system. If only two dimensions of the size are set, then the box represents a two-dimensional rectangle.

Field	Type	Description
center_position_and_accuracy	PositionAndAccuracy	Position and accuracy of center point of box.
orientation_and_accuracy	RotationAndAccuracy	Orientation and accuracy of box in center point.
size_and_accuracy	XyzVectorAndAccuracy Unit MilliMeter Resolution 1 Range ( , )	Size and accuracy of box in direction of x-, y- and z-axis of coordinate system defined by center point as origin and orientation. The (x, y, z) values are set in the field metric origin.

Rectangular box defined by three (x, y, z) corner vectors. If only two (x, y, z) corner vectors are set, then the rectangular box represents a bounding box oriented to the axes of the respective coordinate system.

Field	Type	Description
first_and_accuracy	XyzVectorAndAccuracy Unit MilliMeter Resolution 1 Range ( , )	First (x, y, z) corner vector and accuracy.
second_and_accuracy	XyzVectorAndAccuracy Unit MilliMeter Resolution 1 Range ( , )	Second (x, y, z) corner vector and accuracy.
third_and_accuracy	XyzVectorAndAccuracy Unit MilliMeter Resolution 1 Range ( , )	Third (x, y, z) corner vector and accuracy.

Rotation as Euler angles or quaternion and accuracy as Euler angles.

Field	Type	Description
euler_vehicle	RotationAndAccuracy.Euler	Euler angles yaw, pitch and roll in SENSORIS vehicle coordinate system or other coordinate system if explicitly mentioned.
euler_event_group	RotationAndAccuracy.Euler	Euler angles yaw, pitch and roll in relative coordinate system, the reference coordinate system is the origin of the event group.
quaternion_vehicle	RotationAndAccuracy.Quaternion	Quaternion in SENSORIS vehicle coordinate system or other coordinate system if explicitly mentioned.
quaternion_event_group	RotationAndAccuracy.Quaternion	Quaternion in relative coordinate system, the reference coordinate system is the origin of the event group.
combined_std_dev	google.protobuf.Int64Value Unit Degree Resolution 0.01 Range [0, 360)	Accuracy as combined standard deviation of yaw, pitch and roll angles.
std_dev	RotationAndAccuracy.StdDev	Accuracy as standard deviation of yaw angle, pitch angle and roll angle.
covariance	sensoris.protobuf.types.base.Int64Matrix3x3 Unit Degree squared Resolution 0.01 Range ( , )	Accuracy as 3 x 3 covariance matrix of (yaw, yaw), (yaw, pitch), (yaw, roll), (pitch, yaw), (pitch, pitch), (pitch, roll), (roll, yaw), (roll, pitch), (roll, roll) angles.
extension	repeated google.protobuf.Any	Proprietary extension.

Euler angles yaw, pitch and roll. Rotation order is yaw, pitch and roll.

Field	Type	Description
yaw	sensoris.protobuf.types.base.Int64Value Unit Degree Resolution 0.01 Range [0, 360)	Yaw angle.
pitch	sensoris.protobuf.types.base.Int64Value Unit Degree Resolution 0.01 Range [0, 360)	Pitch angle.
roll	sensoris.protobuf.types.base.Int64Value Unit Degree Resolution 0.01 Range [0, 360)	Roll angle.

Quaternion. Usually sqrt(x^2 + y^2 + z^2 + w^2) = 1.

Field	Type	Description
x	sensoris.protobuf.types.base.Int64Value Resolution 0.001 Range ( , )	Value of x.
y	sensoris.protobuf.types.base.Int64Value Resolution 0.001 Range ( , )	Value of y.
z	sensoris.protobuf.types.base.Int64Value Resolution 0.001 Range ( , )	Value of z.
w	sensoris.protobuf.types.base.Int64Value Resolution 0.001 Range ( , )	Value of w.

Accuracy as standard deviation of yaw angle, pitch angle and roll angle.

Field	Type	Description
yaw	google.protobuf.Int64Value Unit Degree Resolution 0.01 Range [0, 360)	Standard deviation of yaw angle.
pitch	google.protobuf.Int64Value Unit Degree Resolution 0.01 Range [0, 360)	Standard deviation of pitch angle.
roll	google.protobuf.Int64Value Unit Degree Resolution 0.01 Range [0, 360)	Standard deviation of roll angle.

Rotation rate as change in Euler angles over time and accuracy.

Field	Type	Description
yaw	sensoris.protobuf.types.base.Int64Value Unit Degree per Second Resolution 0.01 Range ( , )	Yaw angle rate.
pitch	sensoris.protobuf.types.base.Int64Value Unit Degree per Second Resolution 0.01 Range ( , )	Pitch angle rate.
roll	sensoris.protobuf.types.base.Int64Value Unit Degree per Second Resolution 0.01 Range ( , )	Roll angle rate.
combined_std_dev	google.protobuf.Int64Value Unit Degree per Second Resolution 0.01 Range [0, )	Accuracy as combined standard deviation of yaw, pitch and roll angle rates.
std_dev	RotationRateAndAccuracy.StdDev	Accuracy as standard deviation of yaw angle rate, pitch angle rate and roll angle rates.
covariance	sensoris.protobuf.types.base.Int64Matrix3x3 Unit Degree squared per Second squared Resolution 0.01 Range ( , )	Accuracy as 3 x 3 covariance matrix of (yaw, yaw), (yaw, pitch), (yaw, roll), (pitch, yaw), (pitch, pitch), (pitch, roll), (roll, yaw), (roll, pitch), (roll, roll) angle rates.
extension	repeated google.protobuf.Any	Proprietary extension.

Accuracy as standard deviation of yaw, pitch and roll angle rate.

Field	Type	Description
yaw	google.protobuf.Int64Value Unit Degree per Second Resolution 0.01 Range [0, )	Standard deviation for yaw angle rate.
pitch	google.protobuf.Int64Value Unit Degree per Second Resolution 0.01 Range [0, )	Standard deviation for pitch angle rate.
roll	google.protobuf.Int64Value Unit Degree per Second Resolution 0.01 Range [0, )	Standard deviation for roll angle rate.

Generic (x, y, z) vector and accuracy. The vector may contain one, two or three values, e.g. only a value in direction of x-axis.

Field	Type	Description
metric_vehicle	XyzVectorAndAccuracy.Metric	Metric (x, y, z) values in SENSORIS vehicle coordinate system.
metric_event_group	XyzVectorAndAccuracy.Metric	Metric (x, y, z) values in relative coordinate system, the reference coordinate system is the origin of the event group.
metric_origin	XyzVectorAndAccuracy.Metric	Metric (x, y, z) values in coordinate system specified by origin and orientation defined in enclosing type.
combined_std_dev	google.protobuf.Int64Value Unit defined by enclosing field Resolution defined by enclosing field Range [0, )	Accuracy as combined standard deviation of x, y and z values.
std_dev	XyzVectorAndAccuracy.StdDev	Accuracy as standard deviation of x value, y value and z value.
covariance	sensoris.protobuf.types.base.Int64Matrix3x3 Unit defined by enclosing field Squared Resolution defined by enclosing field Range ( , )	Accuracy as 3 x 3 covariance matrix of (x, x), (x,y ), (x, z), (y, x), (y, y), (y, z), (z, x), (z, y), (z, z) values.
extension	repeated google.protobuf.Any	Proprietary extension.

Metric values in reference system.

Field	Type	Description
x	sensoris.protobuf.types.base.Int64Value Unit defined by enclosing field Resolution defined by enclosing field Range defined by enclosing field	Value in direction of x-axis.
y	sensoris.protobuf.types.base.Int64Value Unit defined by enclosing field Resolution defined by enclosing field Range defined by enclosing field	Value in direction of y-axis.
z	sensoris.protobuf.types.base.Int64Value Unit defined by enclosing field Resolution defined by enclosing field Range defined by enclosing field	Value in direction of z-axis.

Accuracy as standard deviation of x value, y value and z value.

Field	Type	Description
x	google.protobuf.Int64Value Unit defined by enclosing field Resolution defined by enclosing field Range [0, )	Standard deviation of x value.
y	google.protobuf.Int64Value Unit defined by enclosing field Resolution defined by enclosing field Range [0, )	Standard deviation of y value.
z	google.protobuf.Int64Value Unit defined by enclosing field Resolution defined by enclosing field Range [0, )	Standard deviation of z value.

Any contains an arbitrary serialized protocol buffer message along with a URL that describes the type of the serialized message.

Protobuf library provides support to pack/unpack Any values in the form of utility functions or additional generated methods of the Any type.

The pack methods provided by protobuf library will by default use 'type.googleapis.com/full.type.name' as the type URL and the unpack methods only use the fully qualified type name after the last '/' in the type URL, for example "foo.bar.com/x/y.z" will yield type name "y.z".

Field	Type	Description
type_url	string	A URL/resource name whose content describes the type of the serialized protocol buffer message.
value	bytes	Must be a valid serialized protocol buffer of the above specified type.

Wrapper message for bool.

Field	Type	Description
value	bool	The bool value.

Wrapper message for bytes.

Field	Type	Description
value	bytes	The bytes value.

Wrapper message for int64.

Field	Type	Description
value	int64	The int64 value.

Wrapper message for string.

Field	Type	Description
value	string	The string value.

Protobuf scalar value types.

Type	Notes	C++ Type	Java Type	Python Type
int64	Uses variable-length encoding.	int64	long	int/long
bool		bool	boolean	boolean
string	A string must always contain UTF-8 encoded or 7-bit ASCII text.	string	String	str/unicode
bytes	May contain any arbitrary sequence of bytes.	string	ByteString	str

SENSORIS Sensor Interface Specification

sensoris/protobuf/messages/data.proto sensoris.protobuf.messages.data

DataMessage

DataMessage.AbsolutePaths

DataMessage.AbsolutePaths.Path

DataMessage.Envelope

DataMessage.Envelope.FieldResolutionOverride

DataMessage.Envelope.Ids

DataMessage.Envelope.MapIdentification

DataMessage.Envelope.MapIdentification.MapVersion

DataMessage.Envelope.VehicleDimensions

DataMessage.EventRelation

DataMessage.EventSource

DataMessage.EventSource.EventEnvelopeIds

DataMessage.Paths

DataMessages

DataMessages.Envelope

EventGroup

EventGroup.Envelope

EventGroup.Envelope.Origin

DataMessage.Envelope.MapIdentification.Format

DataMessage.EventRelation.Type

sensoris/protobuf/messages/job.proto sensoris.protobuf.messages.job

JobMessageEnvelope

JobMessages

JobRequestMessage

JobRequestMessage.Actions

JobRequestMessage.CapabilityRequirements

JobRequestMessage.CapabilityRequirements.DataMessagesVersion

JobRequestMessage.CollectionTrigger

JobRequestMessage.Metadata

JobRequestMessage.OverallRestrictions

JobRequestMessage.OverallRestrictions.MapTileRestrictions

JobRequestMessage.OverallRestrictions.TimeRestrictions

JobRequestMessage.OverallRestrictions.TimeRestrictions.TimeUnitAndValue

JobStatusMessage

JobStatusMessage.Status

sensoris/protobuf/categories/brake.proto sensoris.protobuf.categories.brake

BrakeCategory

BrakeSystemsStatus

sensoris/protobuf/categories/driving_behavior.proto sensoris.protobuf.categories.drivingbehavior

DrivingBehaviorCategory

ParkingStatus

ParkingStatus.DirectionAndConfidence

ParkingStatus.StatusAndConfidence

ParkingStatus.DirectionAndConfidence.Type

ParkingStatus.StatusAndConfidence.Type

sensoris/protobuf/categories/intersection_attribution.proto sensoris.protobuf.categories.intersectionattribution

IntersectionAttributionCategory

TrafficSignal

TrafficSignal.OrientationAndConfidence

TrafficSignalBulb

TrafficSignalBulb.ColorAndConfidence

TrafficSignalBulb.ShapeAndConfidence

TrafficSignalBulb.StatusAndConfidence

TrafficSignal.OrientationAndConfidence.Type

TrafficSignalBulb.ColorAndConfidence.Type

TrafficSignalBulb.ShapeAndConfidence.Type

TrafficSignalBulb.StatusAndConfidence.Type

sensoris/protobuf/categories/localization.proto sensoris.protobuf.categories.localization

LocalizationCategory

VehicleAcceleration

VehicleOdometry

VehiclePositionAndOrientation

VehiclePositionAndOrientation.NavigationSatelliteSystemStatus

VehicleRotationRate

VehicleSpeed

VehiclePositionAndOrientation.NavigationSatelliteSystemStatus.FixType

sensoris/protobuf/categories/map.proto sensoris.protobuf.categories.map

MapCategory

MapReference

sensoris/protobuf/categories/object_detection.proto sensoris.protobuf.categories.objectdetection

MovableObject

MovableObject.TypeAndConfidence

ObjectDetectionCategory

StaticObject

StaticObject.ConeAndAccuracy

StaticObject.SurfaceColorAndConfidence

StaticObject.SurfaceMaterialAndConfidence

StaticObject.SurfaceTypeAndConfidence

SENSORIS
Sensor Interface Specification

sensoris/protobuf/messages/data.proto
sensoris.protobuf.messages.data

sensoris/protobuf/messages/job.proto
sensoris.protobuf.messages.job

sensoris/protobuf/categories/brake.proto
sensoris.protobuf.categories.brake

sensoris/protobuf/categories/driving_behavior.proto
sensoris.protobuf.categories.drivingbehavior

sensoris/protobuf/categories/intersection_attribution.proto
sensoris.protobuf.categories.intersectionattribution

sensoris/protobuf/categories/localization.proto
sensoris.protobuf.categories.localization

sensoris/protobuf/categories/map.proto
sensoris.protobuf.categories.map

sensoris/protobuf/categories/object_detection.proto
sensoris.protobuf.categories.objectdetection

sensoris/protobuf/categories/powertrain.proto
sensoris.protobuf.categories.powertrain

sensoris/protobuf/categories/road_attribution.proto
sensoris.protobuf.categories.roadattribution

sensoris/protobuf/categories/traffic_events.proto
sensoris.protobuf.categories.trafficevents