Table 2.
Details of logging items for an autonomous driving system.
| Component | Category | Item | Description |
|---|---|---|---|
| Maneuver | Mode | Mode | System’s current working mode |
| ReasonCode | Reasons for entering the current mode | ||
| FailCode | Reasons for system failure | ||
| Mode Change Info |
Buttons | Buttons pressed by the driver | |
| StateIn | Previous system mode | ||
| Driver Input |
APS | Accelerator pedal position value | |
| BPS | Brake pedal position value | ||
| SAS | Steering angle sensor value | ||
| GearPos | Transmission gear position (P, R, N, D) | ||
| OBD2Spd | OBD2-based vehicle speed | ||
| PushBrake | Push brake? On/Off | ||
| SteeringTorque | Steering torque value | ||
| Auto Control Info |
TargetSteer | Target steering command | |
| TargetSpeed | Target speed command | ||
| TargetAccel | Target acceleration command | ||
| Target Signal | Left/Right turn signal command | ||
| Path Info | PathLen | Path length | |
| PathMinSpd | Minimum speed in path | ||
| PathPoints | Start, mid, last points in path | ||
| Environment | Vehicle Status |
Longitude | GPS longitude |
| Latitude | GPS latitude | ||
| Heading | GPS heading | ||
| LongVel | Longitude velocity | ||
| LatiVel | Latitude velocity | ||
| LongAccel | Longitude acceleration | ||
| LatiAccel | Latitude acceleration | ||
| WheelSpd | Vehicle rear wheel average speed | ||
| VelCurr | Current speed of the vehicle | ||
| Time | Time | Logging Time | Current logging time |
| Event | Object Info |
ObjectType | Object type |
| Drel | Relative distance to object | ||
| Vrel | Relative velocity to object | ||
| Size | Object size | ||
| Signals | Traffic light signals |