signal_list_reference.md

SceanrioDB signal list version 3.0

Name	Group	Subgroup	Subsubgroup	Attribute	Signal Class	Description	Data Type	Unit	Minimal Accuracy	Frequency	Comment
posX	Polyline, Trajectory	-	-	-	Measured	X coordinate in polyline	double (Relativ to Lat/Long reference point)	m	0,2 m	25 Hz / 10Hz	-
posY	Polyline, Trajectory	-	-	-	Measured	Y coordinate in polyline	double (Relativ to Lat/Long reference point)	m	0,2 m	25 Hz / 10Hz	-
posZ	Polyline, Trajectory	-	-	-	Measured	Z coordinate in polyline (elevation)	double (Relativ to Lat/Long reference point)	m	0,2 m	25 Hz / 10Hz	-
heading	Trajectory	-	-	-	Measured	Heading angle of object	double	deg	0,035 rad (2°)	25 Hz / 10Hz	-
pitch	Trajectory	-	-	-	Measured	Pitch angle of object	double	deg	0,035 rad (2°)	25 Hz / 10Hz	-
roll	Trajectory	-	-	-	Measured	Roll angle of object	double	deg	0,035 rad (2°)	25 Hz / 10Hz	-
headingDer	Trajectory	-	-	-	Measured	Heading rate	double	deg/s	0,035 rad/s	25 Hz / 10Hz	-
pitchDer	Trajectory	-	-	-	Measured	Pitch rate	double	deg/s	0,035 rad/s	25 Hz / 10Hz	-
rollDer	Trajectory	-	-	-	Measured	Roll rate	double	deg/s	0,035 rad/s	25 Hz / 10Hz	-
velLongitudinal	Trajectory	-	-	-	Measured	Velocity in longitudinal direction (vehicle coordinate system)	double	m/s	0,1 m/s	25 Hz / 10Hz	-
velLateral	Trajectory	-	-	-	Measured	Velocity in lateral direction (vehicle coordinate system)	double	m/s	0,1 m/s	25 Hz / 10Hz	-
velZ	Trajectory	-	-	-	Measured	_Velocity in z-direction (vehicle coordinate system)	double	m/s	0,1 m/s	25 Hz / 10Hz	-
accLongitudinal	Trajectory	-	-	-	Measured	Acceleration in longitudinal direction (vehicle coordinate system)	double	m/s^2	0,1 m/s^2	25 Hz / 10Hz	-
accLateral	Trajectory	-	-	-	Measured	Acceleration in lateral direction (vehicle coordinate system)	double	m/s^2	0,1 m/s^2	25 Hz / 10Hz	-
accZ	Trajectory	-	-	-	Measured	Acceleration in z-direction (vehicle coordinate system)	double	m/s^2	0,1 m/s^2	_25 Hz / 10Hzv	-

Name	Group	Subgroup	Subsubgroup	Attribute	Signal Class	Description	Data Type	Unit	Minimal Accuracy	Frequency	Comment
timestamps	-	-	-	no	Measured	Timestamp vector for the complete file. Every value that is time dependent in the following follows this one timestamp vector	dobule (vector)	s	-	25 Hz / 10Hz	-

Name	Group	Subgroup	Subsubgroup	Attribute	Signal Class	Description	Data Type	Unit	Minimal Accuracy	Frequency	Comment
formatVersion	-	-	-	yes	Determined	Version number of file format used when generating the file	string	-	-	-	Version x.y
refPointLong	-	-	-	yes	Determined	Absolute reference point longitudinal coordinate	double	°E	-	-	-
refPointLat	-	-	-	yes	Determined	Absolute reference point latitudinal coordinate	double	°N	-	-	-
recorderNumber	-	-	-	yes	Determined	UUID identifing the partner, that created the file/recording. Together with recorder number unique filename to connect ground truth recordings with the corresponding sensor under test recordings	string	-	-	-	Same name can be found in perception input format.
recordingNumber	-	-	-	yes	Determined	Identifier of recording. Together with recorder number unique filename to connect ground truth recordings with the corresponding sensor under test recordings	string	-	-	-	Same name can be found in perception input format.
converterVersion	-	-	yes	Determined	Can be filled with version of tool to merge road data, dynamic objects and weather data	string	-	-	-	-
referenceModality	-	-	-	yes	Determined	Include information on the method used to gather the reference data	int	-	-	-	Lookup table will be provided
customInformation	-	-	-	yes	Determined	Include custom information that you want to be contained in the file but does not fit in any other signal	string	-	-	-	-
naturalBehavior	-	-	-	yes	Determined	Flag to save if the measurement is part of a planned snippet scenario or naturalistic driving data	bool	-	-	-	Needed in order to determine if driving was naturalistic
naturalExposure	-	-	-	yes	Determined	Flag to save wether this recording reflects true exposure. Set to false if data has been preprocessed to find "interesting" scenario of some form	bool	-	-	-	Needed in order to calculate true exposure of scenarios
daytime	-	-	-	yes	Measured	Exact date and time at beginning of recording	string	-	-	-	Timestamps are only seconds, therefore date and time at beginning needed. Rest can be calculated by summation. String format: yymmddhhmmss

Name	Group	Subgroup	Subsubgroup	Attribute	Signal Class	Description	Data Type	Unit	Minimal Accuracy	Frequency	Comment
Road ID	road	-	-	-	Determined	Unique ID of road	int	-	-	-	Depicted for demonstration purposes. Not explicitly contained in file. Known through postion in file.
converterVersion	road	-	-	yes	Determined	Version number of converter used to convert the map data	string	-	-	-	Version x.y. Short documentation on converter also needs to be provided
location	road/{id}	-	-	yes	Determined	Determine location of road: Urban, nonurban, highway.	int	-	-	-	Lookup table provided. All entries need to be uniform
numLanes	road/{id}	-	-	yes	Measured /Enriched	Absolute number of lanes on particular road	int	-	-	-	-
border	road/{id}	-	-	-	-	Description of the borders of the lanes of one road	Object type with subgroups	-	-	-	-
lane	road/{id}	-	-	-	-	Description of lanes belonging to road	Object type with subgroups	-	-	-	-
sign	road/{id}	-	-	-	-	Description of signs belonging to road	Object type with subgroups	-	-	-	-
lateralMarking	road/{id}	-	-	-	-	Description of Markings going accross the street	Object type with subgroups	-	-	-	-
roadObject	road/{id}	-	-	-	-	Description of other road objects	Object type with subgroups	-	-	-	-
structuralObject	road/{id}	-	-	-	-	Description of structural objects	Object type with subgroups	-	-	-	-
border ID	road	-	-	-	Determined	Unique ID of border	int	-	-	-	-
polyline	road/{id}	border/{id}	-	no	Measured/Enriched	Polyline describing the border of the lane (just physical description of lane course)	double (Vector for posX, posY and posZ)	-	-	-	-
Lane ID	road	lane	-	-	Determined	Unique ID of lane	int	-	-	-	-
type	road/{id}	lane/{id}	-	yes	Measured /Enriched	e.g. driving, sidewalk, bike lane, bus and bike, bus etc.	int	-	-	-	Lookup table provided. All entries need to be uniform
subtype	road/{id}	lane/{id}	-	yes	Measured /Enriched	Is this lane part of a bridge or a tunnel	int	-	-	-	Lookup table provided. All entries need to be uniform
class	road/{id}	lane/{id}	-	yes	Determined	Is this lane part of an intersection or roundabout etc.	int	-	-	-	Lookup table provided. All entries need to be uniform
predecessor	road/{id}	lane/{id}	-	no	Measured /Enriched	All lane ids of the predecessors that are connected to this current lane	List of id tuples	-	-	-	-
successor	road/{id}	lane/{id}	-	no	Measured /Enriched	All lane ids of the successors that are connected to this current lane	List of id tuples	-	-	-	-
borderRight	road/{id}	lane/{id}	-	no	Measured /Enriched	Polyline describing the right border of the lane	Tuple of ids	-	-	-	-
invertedRight	road/{id}	lane/{id}	-	yes	Measured /Enriched	Is border described in driving direction (=false) or does it need to be inverted (=true)	bool	-	-	-	-
borderLeft	road/{id}	lane/{id}	-	no	Measured /Enriched	Polyline describing the left border of the lane	Tuple of ids	-	-	-	-
invertedLeft	road/{id}	lane/{id}	-	yes	Measured /Enriched	Is border described in driving direction (=false) or does it need to be inverted (=true)	bool	-	-	-	-
layerFlag	road/{id}	lane/{id}	-	yes	-	-	int	-	-	-	-
boundary	road/{id}	lane/{id}	-	-	-	Boundaries of lane	Object type with subgroups	-	-	-	needs to be defined on the left and the right, multiple possible
flatMarking	road/{id}	lane/{id}	-	-	-	All markings within one lane that are not already boundaries	Object type with subgroups	-	-	-	e.g. turn arrows etc.
surface	road/{id}	lane/{id}	-	-	-	Surface of the lane	Object type with subgroups	-	-	-	-
Boundary ID	road	lane/{id}	boundary	-	Determined	Unique ID of praticular boundary element	int	-	-	-	-
type	road/{id}	lane/{id}	boundary	yes	Measured /Enriched	Type of boundary element, e.g. solid line, dashed line, guard rail, curb etc.	int	-	-	-	Lookup table provided. All entries need to be uniform
subtype	road/{id}	lane/{id}	boundary	yes	Measured /Enriched	subtype dependent on actual type	int	-	-	-	E.g. thick/thin marking etc. Lookup table provided. All entries need to be uniform
right	road/{id}	lane/{id}	boundary	yes	Measured /Enriched	Indicator if boundary is at the left or right border polyline (if false than left)	bool	-	-	-	-
polyIndexStart	road/{id}	lane/{id}	boundary	yes	Measured /Enriched	Point in polyline of lane border at which this boundary begins (if not valid for whole lane)	int	-	-	-	Only index at which boundary starts. Length of boundary is given by amount of offset points
polyIndexEnd	road/{id}	lane/{id}	boundary	yes	Measured /Enriched	Point in polyline of lane border at which this boundary begins (if not valid for whole lane)	int	-	-	-	Only index at which boundary starts. Length of boundary is given by amount of offset points
height	road/{id}	lane/{id}	boundary	yes	Measured /Enriched	Optional. Height of boudnary	double	-	-	-	Can be used for guard rails, other seperators, curbs etc. if desired. If not used standard values are assumed. Do not use for markings
color	road/{id}	lane/{id}	boundary	yes	Measured /Enriched	Color of the boundary	int	-	-	-	most relevant for markings, Lookup table and guidelines provided
overrides	road/{id}	lane/{id}	boundary	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 Information). ID of original object that has been modified can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
overriddenBy	road/{id}	lane/{id}	boundary	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 information). ID of the modified object can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
condition	road/{id}	lane/{id}	boundary	yes	Measured /Enriched	Conditon of boundary (especially relevant for lane markings)	int	-	-	-	Lookup table provided. All entries need to be uniform
layerFlag	road/{id}	lane/{id}	boundary	yes	Determined	Note down if information is temporary	int	-	-	-	-
Flat Marking ID	road	lane	flatMarking	-	Determined	Unique ID of marking within lane	int	-	-	-	-
type	road/{id}	lane/{id}	flatMarking	yes	Measured /Enriched	Type of marking, e.g turn arrow, bike sign etc.	string	-	-	-	within this particular lane, Lookup table provided. All entries need to be uniform
value	road/{id}	lane/{id}	flatMarking	yes	Measured /Enriched	Value of marking if needed additonally because not specified by type	int	-	-	-	-
polyline	road/{id}	lane/{id}	flatMarking	no	Measured /Enriched	Point describing the center of the position of this marking. Or two points describing center line of marking	double (One or two polyline points posX, posY, posZ)	-	0,2 m	-	Only one point necessary as flat markings are mostly signs painted on road, arrows etc. If desired two points can be provided as centerline in order to save size of marking. Fields for posX, posY and posZ
color	road/{id}	lane/{id}	flatMarking	yes	Measured /Enriched	Color of the marking	int	-	-	-	Lookup table and guidelines provided
condition	road/{id}	lane/{id}	flatMarking	yes	Measured /Enriched	Condition of marking	int	-	-	-	Lookup table provided. All entries need to be uniform
overrides	road/{id}	lane/{id}	flatMarking	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 Information). ID of original object that has been modified can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
overriddenBy	road/{id}	lane/{id}	flatMarking	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 information). ID of the modified object can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
layerFlag	road/{id}	lane/{id}	flatMarking	yes	Determined	Note down if information is temporary	int	-	-	-	-
material	road/{id}	lane/{id}	surface	yes	Measured /Enriched	Material the surface of the road	int	-	-	-	Lookup table provided. All entries need to be uniform
color	road/{id}	lane/{id}	surface	yes	Measured /Enriched	Color of the road surface	int	-	-	-	e.g. marking of red bike lanes. Lookup table and guidelines provided
condition	road/{id}	lane/{id}	surface	yes	Measured /Enriched	Condition of the surface (e.g. when containing gaps or bitumen)	int	-	-	-	Lookup tableprovided. All entries need to be uniform. Pot holes and bitumen etc. can also be described individually as road objects if desired to describe them in greater detail
overrides	road/{id}	lane/{id}	surface	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 Information). ID of original object that has been modified can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
overriddenBy	road/{id}	lane/{id}	surface	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 information). ID of the modified object can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
layerFlag	road/{id}	lane/{id}	surface	yes	Determined	Note down if information is temporary	int	-	-	-	-
Sign ID	road	sign	-	-	Determined	Unique ID of traffic sign	int	-	-	-	-
type	road/{id}	sign/{id}	-	yes	Measured /Enriched	Type of traffic sign (this includes traffic lights). Set to string as it uses the offical names of the BAST catalog.	string	-	-	-	e.g. https://www.bast.de/BASt_2017/DE/Verkehrstechnik/Fachthemen/v1-verkehrszeichen/vz-download.html?nn=1817946 and traffic lights, Lookup table provided. All entries need to be uniform
value	road/{id}	sign/{id}	-	yes	Measured /Enriched	Particular value on traffic sign (see also comment)	int	-	-	-	unnecessary for all traffic signs already in the catalogue above, except for those with specific values such as x m etc.
sizeClass	road/{id}	sign/{id}	-	yes	Measured /Enriched	Size class of sign (1,2,3) dependent on velocity on road	int	-	-	-	-
history	road/{id}	sign/{id}	-	yes	Measured /Enriched	Symbols of signs have changed over the years in their design. If necessary note down old number of sign here	string	-	-	-	an overview of all signs valid during the different years can be found here: https://de.wikipedia.org/wiki/Bildtafeln_der_Verkehrszeichen_in_Deutschland
timedependent	road/{id}	sign/{id}	-	yes	Measured /Enriched	Does this sign, i.e. its indication, change somehow over time	bool	-	-	-	-
weatherdependent	road/{id}	sign/{id}	-	yes	Measured /Enriched	Does this sign, i.e. its indication, change somehow with the weather	bool	-	-	-	-
applicableLanes	road/{id}	sign/{id}	-	no	Measured /Enriched	Which lanes on the road does the sign apply to	List of id tuples	-	-	-	-
connectedTo	road/{id}	sign/{id}	-	no	Measured /Enriched	To which other traffic sign is this sign connected	List of id tuples	-	-	-	most relevant for traffic lights or additional signs such as steep curve in combination with speed limit signs
fallback	road/{id}	sign/{id}	-	yes	Measured /Enriched	Flag if this sign is only a fallback, e.g., for yield signs at traffic lights if traffic light is broken	bool	-	-	-	-
polyline	road/{id}	sign/{id}	-	no	Measured /Enriched	Position of the traffic sign in x,y,z	double (One polyline point posX, posY, posZ)	-	0,2 m	-	fields for posX, posY and posZ
heading	road/{id}	sign/{id}	-	yes	Measured /Enriched	Rotation of traffic sign around its height axis	double	deg	-	-	-
overrides	road/{id}	sign /{id}	-	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 Information). ID of original object that has been modified can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
overriddenBy	road/{id}	sign/{id}	-	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 information). ID of the modified object can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
layerFlag	road/{id}	sign/{id}	-	yes	Determined	Note down if information is temporary	int	-	-	-	-
Lateral Marking ID	road	lateralMarking	-	-	Determined	Unique ID of marking going accross multiple lines (e.g. pedestrian crossings or stop lines)	int	-	-	-	-
type	road/{id}	lateralMarking/{id}	-	yes	Measured /Enriched	Type of Lateral Marking	int	-	-	-	Lookup table provided. All entries need to be uniform
polyline	road/{id}	lateralMarking/{id}	-	no	Measured /Enriched	Course and position of marking. Centerline	double (Vector for posX, posY and posZ)	-	0,2 m	-	Multiple points possible to describe course of marking. Points should form centerline (lateral direction) of marking. Fields for posX, posY and posZ
longSize	road/{id}	lateralMarking/{id}	-	yes	Measured /Enriched	Size of marking in longitudinal direction.	double	-	-	-	e.g., for size of cross walk in longitudinal direction. For most lines irrelevant because of standard values
color	road /{id}	lateralMarking/{id}	-	yes	Measured /Enriched	Color of marking	int	-	-	-	Lookup table and guidelinesprovided
applicableLanes	road/{id}	lateralMarking/{id}	-	no	Measured /Enriched	On which lanes is this marking located on	list of ids	-	-	-	-
condition	road/{id}	lateralMarking/{id}	-	yes	Measured /Enriched	Condition of marking	int	-	-	-	Lookup table will be provided. All entries need to be uniform
overrides	road/{id}	lateralMarking/{id}	-	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 Information). ID of original object that has been modified can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
overriddenBy	road/{id}	lateralMarking /{id}	-	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 information). ID of the modified object can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
layerFlag	road/{id}	lateralMarking/{id}	-	yes	Determined	Note down if information is temporary	int	-	-	-	-
Road Object ID	road	roadObject	-	-	Determined	Unique ID of any road object that is not already covered	int	-	-	-	-
type	road/{id}	roadObject/{id}	-	yes	Meaured /Enriched	Type of road object (e.g. roundabout center, traffic island)	int	-	-	-	Lookup tableprovided. All entries need to be uniform
polyline	road /{id}	roadObject/{id}	-	no	Meaured /Enriched	Course and position of road object	double (Vector for posX, posY and posZ)	-	0,2 m	-	Multiple points possible to describe area of object. Fields for posX, posY and posZ
drivable	road/{id}	roadObject/{id}	-	yes	Meaured /Enriched	Is it possible to drive on this object if necessary	bool	-	-	-	-
walkable	road/{id}	roadObject/{id}	-	yes	Meaured /Enriched	Is it possible to walk on this object	bool	-	-	-	-
height	road/{id}	roadObject/{id}	-	yes	Meaured /Enriched	Optional. Height of road object if needed.	double	-	-	-	-
overrides	road/{id}	roadObject/{id}	-	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 Information). ID of original object that has been modified can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
overriddenBy	road /{id}	roadObject/{id}	-	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 information). ID of the modified object can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
layerFlag	road/{id}	roadObject/{id}	-	yes	Determined	Note down if information is temporary	int	-	-	-	-
Structural Object ID	road	structuralObject	-	-	Determined	Unique ID of structural object	int	-	-	-	-
type	road/{id}	structuralObject/{id}	-	yes	Meaured /Enriched	Type of structural object (e.g. building, bench etc.)	int	-	-	-	Lookup table provided. All entries need to be uniform
polyline	road/{id}	structuralObject/{id}	-	no	Meaured /Enriched	Course and position of structural object (base area)	double (Vector for posX, posY and posZ)	-	0,2 m	-	Multiple points possible to describe area of object. Fields for posX, posY and posZ
height	road/{id}	structuralObject /{id}	-	yes	Meaured /Enriched	Height of structural object	double	m	-	-	-
overrides	road/{id}	structuralObject/{id}	-	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 Information). ID of original object that has been modified can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
overriddenBy	road/{id}	structuralObject/{id}	-	no	Determined	Relevant if an existing object in the DGT is modified (Layer 3 information). ID of the modified object can be provided here	id tuple	-	-	-	Allows to use same type definitions for layer 1,2 and 3. Modifications on existing objects can be made visible. Objects are crossreferenced
layerFlag	road/{id}	structuralObject/{id}	-	yes	Determined	Note down if information is temporary	int	-	-	-	-

Name	Group	Subgroup	Subsubgroup	Attribute	Signal Class	Description	Data Type	Unit	Minimal Accuracy	Frequency	Comment
road user ID	roadUser	-	-	-	Determined	Unique ID of Traffic Participant	int	-	-	-	-
converterVersion	roadUser	-	-	yes	Determined	Version number of converter used to convert the dynamic data	string	-	-	-	Veryion x.y. Short documentation on converter also needs to be provided
type	dynamicObjects/RU{id}	-	-	yes	Measured / Determined	Traffic Participant type (e.g. vehicle, truck, bicycle etc.)	int	-	-	-	Lookup table provided. All entries need to be uniform
subtype	dynamicObjects/RU{id}	-	-	yes	Measured / Determined	sub type for clearer specification if needed	int	-	-	-	Lookup table provided. All entries need to be uniform
connectedTo	dynamicObjects/RU{id}	-	-	yes	Measured	E.g. for trailers or for people walking dogs etc.	RU(id) or M(id)	-	-	-	is '*-1' or if not connected to anything
attachedTo	dynamicObjects/RU{id}	-	-	yes	Measured	E.g. for car on a tow truck.	RU(id) or M(id)	-	-	-	is '*-1' if not connected to anything
isDataRecorder	dynamicObjects/RU{id}	-	-	yes	Measured / Determined	Field to note if this traffic participant is ego (recording the DGT data)	bool	-	-	-	-
birthStamp	dynamicObjects/RU{id}	-	-	yes	Measured / Determined	Index in timevector at birth of traffic participant (when it was first recorded in scenario)	int	-	-	-	-
trajectory	dynamicObjects/RU{id}	-	-	-	Measured	Trajectory of the object. Position is measured in center of base area	Object type with subgroups	-	see above	25 Hz / 10Hz	for description of values see above. All values are vectors provided for each timestamp
boundBox	dynamicObjects/RU{id}	-	-	-	Measured	bounding box of object	Object type with subgroups	-	-	-	-
length	dynamicObjects/RU{id}	boundBox	-	no	Meaured / Determined	Length of road user	double	m	0,2 m	-	-
confident	dynamicObjects/RU{id}	boundBox	attribute of dataset length	yes	Determined	Was it possible to measure length exactly to determine center point (1) or is it of low accuracy (0)?	bool	-	-	-	might be needed for perception analysis if center point provided in trajectory can not be taken as accurate. Attribute of dataset length e.g. located in groups roadUser/0/boundBox
width	dynamicObjects/RU{id}	boundBox	-	no	Meaured / Determined	Width of road user	double	m	0,2 m	-	-
confident	dynamicObjects/RU{id}	boundBox	attribute of dataset width	yes	Determined	Was it possible to measure width exactly to determine center pint (1) or is it of low accuracy (0)?	bool	-	-	-	might be needed for perception analysis if center point provided in trajectory can not be taken as accurate. Attribute of dataset width e.g. located in groups roadUser/0/boundBox
height	dynamicObjects/RU{id}	boundBox	-	no	Meaured / Determined	Optional. Height of road object. Always considered as not exactly accurate, but nice additonal information if available	double	m	0,2 m	-	not needed for center point estimation for position, therefore, not as important for evalulation
indicatorRight	dynamicObjects/RU{id}	vehicleLights	-	no	Determined	Note if right indicator light is switched on (1) or not (0), if unknown -1	vector of ints	-	-	25 Hz / 10Hz	-
indicatorLeft	dynamicObjects/RU{id}	vehicleLights	-	no	Determined	Note if left indicator light is switched on (1) or not (0), if unknown -1	vector of ints	-	-	25 Hz / 10Hz	-
brakeLights	dynamicObjects/RU{id}	vehicleLights	-	no	Determined	Note if brake lights are turned on (1) or not (0), if unknown -1	vector of ints	-	-	25 Hz / 10Hz	-
headlights	dynamicObjects/RU{id}	vehicleLights	-	no	Determined	Note if headlights (front and/or back) are turned (1) on or not (0), if unknown -1	vector of ints	-	-	25 Hz / 10Hz	-
reversingLights	dynamicObjects/RU{id}	vehicleLights	-	no	Determined	Note if reversing lights are turned on (1) or not (0), if unknown -1	vector of ints	-	-	25 Hz / 10Hz	-
blueLight	dynamicObjects/RU{id}	vehicleLights	-	no	Determined	Note if blue lights (emergency vehicles) are turned on (1) or not (0), if unknown -1	vector of ints	-	-	25 Hz / 10Hz	-
orangeLight	dynamicObjects/RU{id}	vehicleLights	-	no	Determined	Note if orange lights (construction vehicles) are turned on (1) or not (0), if unknown -1	vector of ints	-	-	25 Hz / 10Hz	-
Misc Object ID	miscObject	-	-	-	Determined	Unique object id of all objects with trajectory not covered in Traffic Participant	int	-	-	-	e.g. ball, animal etc.
type	dynamicObjects/M{id}	-	-	yes	Measured / Determined	Object Type	int	-	-	-	Lookup table provided. All entries need to be uniform
subtype	dynamicObjects/M{id}	-	-	yes	Measured / Determined	Subtype for more detailed specification if needed	int	-	-	-	Lookup table provided. All entries need to be uniform
birthStamp	dynamicObjects/M{id}	-	-	yes	Measured / Determined	Index in timevector at birth of misc object (when it was first recorded in scenario)	int	-	-	-	-
trajectory	dynamicObjects/M{id}	-	-	-	Measured	Trajectory of misc object	Object type with subgroups	-	see above	25 Hz / 10 Hz	for description of values see above
boundBox	dynamicObjects/M{id}	-	-	-	Measured	bounding box of object	Object type with subgroups	-	-	-	-
width	dynamicObjects/M{id}	boundBox	-	no	Measured	width of object	double	m	0,2 m	-	-
length	dynamicObjects/M{id}	boundBox	-	no	Measured	length of object	double	m	0,2 m	-	-
height	dynamicObjects/M{id}	boundBox	-	no	Measured	height of object	double	m	0,2 m	-	-
connectedTo	dynamicObjects/M{id}	-	-	yes	Measured	E.g. for sledge dogs etc.	RU(id) or M(id)	-	-	-	is '*-1' if not connected to anything
attachedTo	dynamicObjects/M{id}	-	-	yes	Measured	E.g. for an object attached to another object.	RU(id) or M(id)	-	-	-	is '*-1' if not connected to anything

Name	Group	Subgroup	Subsubgroup	Attribute	Signal Class	Description	Data Type	Unit	Minimal Accuracy	Frequency	Comment
referenceId	state	-	-	no	Determined	ID of traffic sign (or traffic light) this refers to	int	-	-	-	this will actually mainly be for traffic lights
value	state/{id}	-	-	no	Measured	Current traffic light or traffic sign state	vector of ints	-	-	25 Hz / 10Hz	Lookup Table of possible signals provided. Input needs to be uniform

Name	Group	Subgroup	Subsubgroup	Attribute	Signal Class	Description	Data Type	Unit	Minimal Accuracy	Frequency	Comment
converterVersion	weather	-	-	yes	Determined	Version number of the converter used to convert the weather data	string	-	-	-	Veryion x.y. Short documentation on converter also needs to be provided
weatherStationId	weather	-	-	yes	Enriched	ID of weather station used to gather the data	int	-	-	-	In this case accuracy depends on the source. If data of the DWD is used for later enrichment of the data a quality control is given (especially when using older data)
type	weather	precipitation	-	no	Enriched /Measured	Type of Precipitation (fluid or solid) and classified by amount	Vector of ints	-	-	25 Hz / 10 Hz	Lookup table provided. All entries need to be uniform
amountMinute	weather	precipitation	-	no	Enriched /Measured	Amount of Precipitation per minute	vector of double	mm	-	25 Hz / 10 Hz	-
amountHourly	weather	precipitation	-	no	Enriched /Measured	Amount of Precipitation per hour	vector of double	mm	-	25 Hz / 10 Hz	-
source	weather	precipitation	-	yes	Determined	Is this measured or gathered from external source	int	-	-	-	-
snowDepth	weather	precipitation	-	no	Enriched /Measured	Depth of snow (measured in the morning)	vector of double	cm	-	25 Hz/10 Hz	-
newSnowDepth	weather	precipitation	-	no	Enriched /Measured	Depth of new snow (measured in the morning)	vector of double	cm	-	25 Hz/10 Hz	-
visibility	weather	visibility	-	no	Enriched /Measured	predominant visibility range	vector of double	m	-	25 Hz/10 Hz	-
source	weather	visibility	-	yes	Determined	Is this measured or gathered from external source	int	-	-	-	-
surfaceCondition	weather	roadCondition	-	no	Measured	Condition of road surface	vector of ints	-	-	25 Hz / 10 Hz	Lookup tabl provided. All entries need to be uniform
maintenanceStatus	weather	roadCondition	-	no	Measured	Status of winter maintenance (salted, bare etc.) or if dirt etc. is present	Vector of ints	-	-	25 Hz / 10 Hz	Lookup table provided. All entries need to be uniform
spray	weather	roadCondition	-	no	Measured	Is spray visible yes or no (no quantification)	vector of bool	-	-	25 Hz / 10 Hz	Lookup table provided. All entries need to be uniform
degree	weather	cloudiness	-	no	Enriched /Measured	Degree by how much it is cloudy (usual way is to describe it in 1/8 steps)	double (vector of eigths)	x/8	-	25 Hz / 10 Hz	When using DWD Data this field gives the same information as type. When providing cloudiness in eigths please provide the numerator of the fraction. Field might become useful when using other weather sensors
source	weather	cloudiness	-	yes	Determined	Is this measured or gathered from external source	int	-	-	-	-
solarHours	weather	solar	-	no	Enriched /Measured	Amount of sunshine measured in 10 minute interval given in hours	vector of double	h	-	25 Hz / 10 Hz	DWD Data only available in 10 Minute intervals, however, it can give an impression of possible lighting conditions (together with cloudiness)
diffSolarRadiation	weather	solar	-	no	Enriched /Measured	Diffuse solar radiation in 10 minute intervall	vector of double	J/cm^2	-	25 Hz / 10 Hz	-
solarIncomingRadiation	weather	solar	-	no	Enriched /Measured	Solar incoming radiation in 10 minute intervall	vector of double	J/cm^2	-	25 Hz / 10 Hz	-
longwaveDownRadiation	weather	solar	-	no	Enriched /Measured	Longwave downward radiation in 10 minute intervall	vector of double	J/cm^2	-	25 Hz / 10 Hz	-
source	weather	solar	-	yes	Determined	Is this measured or gathered from external source	int	-	-	-	-
airTemp	weather	temperature	-	no	Enriched /Measured	Temperature (usually measured in 2m height if gathered from external data)	vector of double	Celsius	-	25 Hz / 10 Hz	-
airTemp5cm	weather	temperature	-	no	Enriched /Measured	Temperature in 5cm height. Can be gathered from external data	vector of double	Celsius	-	25 Hz / 10 Hz	-
groundTemp	weather	temperature	-	no	Enriched	Temperature of soil (usually measured 2cm below ground if gathered from external data)	vector of double	Celsius	-	25 Hz / 10 Hz	-
source	weather	temperature	-	yes	Determined	Is this measured or gathered from external source	int	-	-	-	-
type	weather	wind	-	no	Enriched	Classification of wind by amount (Beaufort-Skala)	Vector of ints	-	-	25 Hz / 10 Hz	Lookup table provided. All entries need to be uniform
windSpeed	weather	wind	-	no	Enriched /Measured	Average wind speed in time interval	vector of double	m/s	-	25 Hz / 10 Hz	-
windDirection	weather	wind	-	no	Enriched /Measured	General direction of wind in time interval	vector of double	degree	-	25 Hz / 10 Hz	-
source	weather	wind	-	yes	Determined	Is this measured or gathered from external source	int	-	-	-	-
windSpeed	weather	gustOfWind	-	no	Enriched /Measured	Maximum wind speed over 10 minutes	vector of double	m/s	-	25 Hz / 10 Hz	-
type	weather	gustOfWind	-	no	Enriched	Which type of gust of wind was present (classified by severity)	vector of ints	-	-	25 Hz / 10 Hz	Lookup table provided. All entries need to be uniform
source	weather	gustOfWind	-	yes	Determined	Is this measured or gathered from external source	int	-	-	-	-
airPressureNN	weather	airPressure	-	no	Enriched /Measured	air pressure at NN	vector of double	hPa	-	25 Hz / 10 Hz	-
airPressureZero	weather	airPressure	-	no	Enriched /Measured	Air pressure at elevation of weather station	vector of double	hPa	-	25 Hz / 10 Hz	-
source	weather	airPressure	-	yes	Determined	Is this measured or gathered from external source	int	-	-	25 Hz / 10 Hz	-
humidity	weather	humidity	-	no	Enriched /Measured	Humiditiy	vector of double	%	-	25 Hz / 10 Hz	Mainly relevant in order to determine if there is any fog
source	weather	humidity	-	yes	Determined	Is this measured or gathered from external source	int	-	-	-	-