From 45f045f495418593cd54e1b60766fb9e24784716 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Fri, 11 Apr 2025 15:37:35 +0200 Subject: [PATCH 1/6] Adapt vehicle types from openx harmonization Signed-off-by: Thomas Sedlmayer --- .github/spelling_custom_words_en_US.txt | 1 + osi_object.proto | 108 ++++++++++++++++++++---- 2 files changed, 94 insertions(+), 15 deletions(-) diff --git a/.github/spelling_custom_words_en_US.txt b/.github/spelling_custom_words_en_US.txt index ee6e0358f..9c15772de 100644 --- a/.github/spelling_custom_words_en_US.txt +++ b/.github/spelling_custom_words_en_US.txt @@ -161,6 +161,7 @@ Hagen halten hier Hochwasser +hoverboards href hsv htm diff --git a/osi_object.proto b/osi_object.proto index fb0c518b3..02a4f503b 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -808,7 +808,9 @@ message MovingObject // TYPE_COMPACT_CAR = 3; - // Vehicle is a car. + // A car is a motorized vehicle designed primarily for passenger + // transportation. + // Typically has four wheels. // // This is to be used for all car-like vehicles, without any // further differentiated type available. @@ -835,34 +837,49 @@ message MovingObject // // \image html OSI_TYPE_DELIVERY_VAN.svg // + // \note Deprecated differentiation, use TYPE_VAN instead + // TYPE_DELIVERY_VAN = 6; - // Vehicle is a (heavy) truck. + // A van is a motorized vehicle with a larger cargo area than a car, + // used for transporting goods or people. + // + TYPE_VAN = 6; + + // A heavy truck is a large commercial vehicle designed for + // transporting heavy loads. + // The cargo area is rigidly fixed to the vehicle itself. // // \image html OSI_TYPE_HEAVY_TRUCK.svg // TYPE_HEAVY_TRUCK = 7; - // Vehicle is a tractor capable of pulling a semi-trailer. + // A semi-tractor is a vehicle designed for towing semi-trailers for + // the transportation of heavy loads. // // \image html OSI_TYPE_SEMITRACTOR.svg // TYPE_SEMITRACTOR = 16; - // This vehicle is a semi-trailer that can be pulled by a + // A semi-trailer is a vehicle designed for being towed by a + // semi-tractor. + // Characteristics compared to a regular trailer are the large size, + // the fact that a large portion of the weight is supported at the + // hitch and a large overlap with the towing vehicle, i.e. the // semi-tractor. // - // \note The vehicle can be, but doesn't need to be, - // attached to another vehicle. + // \note The vehicle can be, but doesn't need to be, attached to + // another vehicle. // // \image html OSI_TYPE_SEMITRAILER.svg // TYPE_SEMITRAILER = 8; - // Vehicle is a trailer. + // A trailer is a non-motorized vehicle designed for being towed by + // a motorized vehicle to carry goods, animals or people. // - // \note The vehicle can be, but doesn't need to be, - // attached to another vehicle. + // \note The vehicle can be, but doesn't need to be, attached to + // another vehicle. // // \image html OSI_TYPE_TRAILER.svg // @@ -870,21 +887,49 @@ message MovingObject // Vehicle is a motorbike or moped. // + // \note Deprecated differentiation, use TYPE_MOTORCYCLE instead + // TYPE_MOTORBIKE = 10; - // Vehicle is a bicycle (without motor and specific lights). + // A motorcycle is a motorized vehicle designed primarily for + // passenger transportation. + // Compared to a car, typically fewer passive safety features such + // as a full passenger cell are present. + // This category includes typical two-wheeled motorcycles, but also + // three-wheeled vehicles like motorcycles with side-cars or even + // trikes. + // + TYPE_MOTORCYCLE = 10; + + // A bicycle is a human-powered or motor-assisted, pedal-driven + // vehicle. + // This category includes typical two-wheeled bicycles, but + // also cargo-bikes and alike with more than two wheels. // TYPE_BICYCLE = 11; - // Vehicle is a bus. + // A bus is a motorized vehicle designed to carry multiple + // passengers. // TYPE_BUS = 12; - // Vehicle is a tram. + // A tram is a vehicle designed for using rail infrastructure for + // the transport of passengers on rail infrastructure. + // The rail infrastructure may fully or partially overlap with + // public road infrastructure. + // In contrast to trains, trams do not have exclusive right-of-way. + // Often as a series of connected vehicles. // TYPE_TRAM = 13; - // Vehicle is a train. + // A train is a vehicle designed for the transport of passengers and + // freight on rail infrastructure. + // The rail infrastructure for trains is mostly grade-separated from + // the public road infrastructure as trains have exclusive + // right-of-way. + // Therefore, in case crossings with the road infrastructure occur, + // the exclusive right-of-way is ensured, e.g. by railway barriers. + // Often as a series of connected vehicles. // TYPE_TRAIN = 14; @@ -892,10 +937,43 @@ message MovingObject // TYPE_WHEELCHAIR = 15; - // Vehicle is a stand-up scooter, including - // motorized versions. + // Vehicle is a stand-up scooter, including motorized versions. // TYPE_STANDUP_SCOOTER = 17; + + // A micro-mobility device is a small, lightweight vehicle for + // short-distance travel excluding bicycles (e.g. electric stand-up + // scooters, hoverboards and wheelchairs). + // + TYPE_MICROMOBILITY_DEVICE = 18; + + // A work-machine is a vehicle designed for specific tasks (e.g., + // construction equipment, agricultural tractors, forklifts). + // + TYPE_WORK_MACHINE = 19; + + // A watercraft is a vehicle designed for travel on water (boats, + // ships, etc.). + // + // \note This category is intentionally unspecific and may be + // detailed out in future versions if use-cases require so. + // + TYPE_WATERCRAFT = 20; + + // An aircraft is a vehicle designed for flight through the air + // (airplanes, helicopters, etc.). + // + // \note This category is intentionally unspecific and may be + // detailed out in future versions if use-cases require so. + // + TYPE_AIRCRAFT = 21; + + // A land vehicle is a vehicle designed for travel on land. + // + // \note This category is intentionally unspecific and may be + // detailed out in future versions if use-cases require so. + // + TYPE_LAND_VEHICLE = 22; } // The type of the vehicle. From 08205ac019030ee9155805130c2d8d5e5e2669d2 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Thu, 12 Jun 2025 16:00:02 +0200 Subject: [PATCH 2/6] Update deprecation wording Co-authored-by: jakobkaths <54845080+jakobkaths@users.noreply.github.com> Signed-off-by: Thomas Sedlmayer --- osi_object.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_object.proto b/osi_object.proto index 02a4f503b..95dbafdf2 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -887,7 +887,7 @@ message MovingObject // Vehicle is a motorbike or moped. // - // \note Deprecated differentiation, use TYPE_MOTORCYCLE instead + // \note Deprecated name, use TYPE_MOTORCYCLE instead // TYPE_MOTORBIKE = 10; From 60af20e28c069b2cb8976979ff5fa0e6d61e1a4a Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Thu, 12 Jun 2025 17:01:28 +0200 Subject: [PATCH 3/6] Update micro-mobility dev., notes and references Signed-off-by: Thomas Sedlmayer --- .github/spelling_custom_words_en_US.txt | 3 + osi_object.proto | 76 +++++++++++++++++++++++-- 2 files changed, 75 insertions(+), 4 deletions(-) diff --git a/.github/spelling_custom_words_en_US.txt b/.github/spelling_custom_words_en_US.txt index 9c15772de..5c2d93953 100644 --- a/.github/spelling_custom_words_en_US.txt +++ b/.github/spelling_custom_words_en_US.txt @@ -90,6 +90,7 @@ dvr dürfen easting EBIKES +ECE edn edu egm @@ -343,6 +344,8 @@ uk umich umtri und +UNECE +unece Unfall UNGATED Universitaet diff --git a/osi_object.proto b/osi_object.proto index 95dbafdf2..b43a46ada 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -815,6 +815,11 @@ message MovingObject // This is to be used for all car-like vehicles, without any // further differentiated type available. // + // \note Corresponds roughly with UNECE [1] categories M1, G and L7. + // + // \par References: + // [1] United Nations Economic and Social Council. (2023). Consolidated Resolution on the Construction of Vehicles (ECE/TRANS/WP.29/78/Rev.7) [PDF]. United Nations. Retrieved May 3, 2024, from https://unece.org/sites/default/files/2023-12/ECE_TRANS_WP.29_78_Rev.7e.pdf + // TYPE_CAR = 4; // Vehicle is a medium car. @@ -844,21 +849,39 @@ message MovingObject // A van is a motorized vehicle with a larger cargo area than a car, // used for transporting goods or people. // + // \note Corresponds roughly with UNECE [1] categories M2 and N1. + // + // \note This category is not intended for mini vans, which shall + // rather be categorized as cars. + // + // \par References: + // [1] United Nations Economic and Social Council. (2023). Consolidated Resolution on the Construction of Vehicles (ECE/TRANS/WP.29/78/Rev.7) [PDF]. United Nations. Retrieved May 3, 2024, from https://unece.org/sites/default/files/2023-12/ECE_TRANS_WP.29_78_Rev.7e.pdf + // TYPE_VAN = 6; // A heavy truck is a large commercial vehicle designed for // transporting heavy loads. // The cargo area is rigidly fixed to the vehicle itself. // + // \note Corresponds roughly with UNECE [1] category "N2". + // // \image html OSI_TYPE_HEAVY_TRUCK.svg // + // \par References: + // [1] United Nations Economic and Social Council. (2023). Consolidated Resolution on the Construction of Vehicles (ECE/TRANS/WP.29/78/Rev.7) [PDF]. United Nations. Retrieved May 3, 2024, from https://unece.org/sites/default/files/2023-12/ECE_TRANS_WP.29_78_Rev.7e.pdf + // TYPE_HEAVY_TRUCK = 7; // A semi-tractor is a vehicle designed for towing semi-trailers for // the transportation of heavy loads. // + // \note Corresponds roughly with UNECE [1] category N3. + // // \image html OSI_TYPE_SEMITRACTOR.svg // + // \par References: + // [1] United Nations Economic and Social Council. (2023). Consolidated Resolution on the Construction of Vehicles (ECE/TRANS/WP.29/78/Rev.7) [PDF]. United Nations. Retrieved May 3, 2024, from https://unece.org/sites/default/files/2023-12/ECE_TRANS_WP.29_78_Rev.7e.pdf + // TYPE_SEMITRACTOR = 16; // A semi-trailer is a vehicle designed for being towed by a @@ -868,21 +891,36 @@ message MovingObject // hitch and a large overlap with the towing vehicle, i.e. the // semi-tractor. // + // \note Corresponds roughly with UNECE [1] category O4. + // + // \note Main reason for separation from the "Trailer" category is + // the difference in motion behavior (vehicle dynamics) and the + // different sensor perception due to the overlay with the towing + // vehicle. + // // \note The vehicle can be, but doesn't need to be, attached to // another vehicle. // // \image html OSI_TYPE_SEMITRAILER.svg // + // \par References: + // [1] United Nations Economic and Social Council. (2023). Consolidated Resolution on the Construction of Vehicles (ECE/TRANS/WP.29/78/Rev.7) [PDF]. United Nations. Retrieved May 3, 2024, from https://unece.org/sites/default/files/2023-12/ECE_TRANS_WP.29_78_Rev.7e.pdf + // TYPE_SEMITRAILER = 8; // A trailer is a non-motorized vehicle designed for being towed by // a motorized vehicle to carry goods, animals or people. // + // \note Corresponds roughly with UNECE [1] category O1 to O3. + // // \note The vehicle can be, but doesn't need to be, attached to // another vehicle. // // \image html OSI_TYPE_TRAILER.svg // + // \par References: + // [1] United Nations Economic and Social Council. (2023). Consolidated Resolution on the Construction of Vehicles (ECE/TRANS/WP.29/78/Rev.7) [PDF]. United Nations. Retrieved May 3, 2024, from https://unece.org/sites/default/files/2023-12/ECE_TRANS_WP.29_78_Rev.7e.pdf + // TYPE_TRAILER = 9; // Vehicle is a motorbike or moped. @@ -899,6 +937,13 @@ message MovingObject // three-wheeled vehicles like motorcycles with side-cars or even // trikes. // + // \note Corresponds roughly with UNECE [1] categories L1 to L5. + // + // \note Usually considered as a vulnerable road user. + // + // \par References: + // [1] United Nations Economic and Social Council. (2023). Consolidated Resolution on the Construction of Vehicles (ECE/TRANS/WP.29/78/Rev.7) [PDF]. United Nations. Retrieved May 3, 2024, from https://unece.org/sites/default/files/2023-12/ECE_TRANS_WP.29_78_Rev.7e.pdf + // TYPE_MOTORCYCLE = 10; // A bicycle is a human-powered or motor-assisted, pedal-driven @@ -906,11 +951,19 @@ message MovingObject // This category includes typical two-wheeled bicycles, but // also cargo-bikes and alike with more than two wheels. // + // \note Usually considered as a vulnerable road user. + // TYPE_BICYCLE = 11; // A bus is a motorized vehicle designed to carry multiple // passengers. // + // \note Corresponds roughly with UNECE [1] category M3 classes I, + // II, II. + // + // \par References: + // [1] United Nations Economic and Social Council. (2023). Consolidated Resolution on the Construction of Vehicles (ECE/TRANS/WP.29/78/Rev.7) [PDF]. United Nations. Retrieved May 3, 2024, from https://unece.org/sites/default/files/2023-12/ECE_TRANS_WP.29_78_Rev.7e.pdf + // TYPE_BUS = 12; // A tram is a vehicle designed for using rail infrastructure for @@ -933,17 +986,32 @@ message MovingObject // TYPE_TRAIN = 14; - // Vehicle is a wheelchair. + // A wheelchair is a manually or electrically powered mobility + // device with a seat mounted on a wheeled frame. + // Manual propulsion may be provided by the seated person or a + // person pushing the wheelchair. + // + // \note Usually considered as a vulnerable road user. // TYPE_WHEELCHAIR = 15; - // Vehicle is a stand-up scooter, including motorized versions. + // A stand-up scooter is a compact, typically two-wheeled device. + // It is operated with the rider standing on a deck between the + // wheels. + // It may be propelled by a motor or the rider making a kicking + // movement. + // + // \note Usually considered as a vulnerable road user. // TYPE_STANDUP_SCOOTER = 17; // A micro-mobility device is a small, lightweight vehicle for - // short-distance travel excluding bicycles (e.g. electric stand-up - // scooters, hoverboards and wheelchairs). + // short-distance travel like hoverboards or roller skates. + // While bicycles, stand-up scooters and wheelchairs may technically + // fall into this category, the respective detailed categories shall + // be used instead. + // + // \note Usually considered as a vulnerable road user. // TYPE_MICROMOBILITY_DEVICE = 18; From 1338c79cfeae67d6686fa0ffb9fa1da4aeb51bb3 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Fri, 13 Jun 2025 10:58:15 +0200 Subject: [PATCH 4/6] Revise vehicle type description - Add note on compliance with ASAM TrafficParticipants Specification - Adapt note on OSI's obsolete type mapping issue (switch to past tense, revise wording) - Remove obsolete note on difficult distinction between OSI's vehicle types Signed-off-by: Thomas Sedlmayer --- .github/spelling_custom_words_en_US.txt | 2 ++ osi_object.proto | 40 ++++++++++++++----------- 2 files changed, 25 insertions(+), 17 deletions(-) diff --git a/.github/spelling_custom_words_en_US.txt b/.github/spelling_custom_words_en_US.txt index 5c2d93953..e1dbe552b 100644 --- a/.github/spelling_custom_words_en_US.txt +++ b/.github/spelling_custom_words_en_US.txt @@ -83,6 +83,7 @@ dms doi doppler drivable +DSL dt Duesseldorf Durchgangsverkehr @@ -175,6 +176,7 @@ illuminance ilv im Immission +implementer's incrementing Industriegebiet innerhalb diff --git a/osi_object.proto b/osi_object.proto index b43a46ada..8c3492560 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -760,23 +760,29 @@ message MovingObject { // Definition of vehicle types. // - // \note OSI provides a richer set of vehicle types than is supported by some - // other OpenX standards (in particular, OpenScenario 1.x and 2.x, and OpenLabel). - // This is primarily for historical reasons. Where a single type from a - // different standard can map to multiple OSI types it is left up to the - // discretion of the OSI implementer how that mapping is achieved. In previous - // versions, for example, a simulator might have used the dimensions of a provided - // 3d model of a vehicle with type "car" in OpenScenario, to determine whether it - // should be a TYPE_SMALL_CAR or TYPE_MEDIUM_CAR in OSI. As part of the harmonization - // effort, it should now map to TYPE_CAR, which is an alias of the old TYPE_MEDIUM_CAR, - // and all other car type enums have been deprecated in favor of TYPE_CAR. - // - // \note Vehicle type classification is a complex area and there are no - // universally recognized standards. As such, the boundaries between some of the - // OSI vehicle types are not well-defined. It is left to the implementer to - // decide how to distinguish between them and agree that with any applications which - // make use of that specific interface instance. For example, how to distinguish - // between a HEAVY_TRUCK and a DELIVERY_VAN, or a TRAILER and a SEMITRAILER. + // \note OSI defines a set of vehicle types derived directly from the + // vehicle main categories specified in the ASAM TrafficParticipants + // Specification [1]. The type names and definitions reflect an effort + // toward compatibility with multiple ASAM OpenX standards, to support + // consistent cross-standard mapping. As part of ongoing and future + // harmonization efforts, OSI will continue to keep its vehicle type + // definitions synchronized with the ASAM TrafficParticipants + // Specification as permitted by technical and practical constraints. + // + // \note Historically, OSI offered a more granular set of vehicle types + // than some other OpenX standards (e.g., OpenScenario XML/DSL and + // OpenLabel). This was due to legacy design choices. Mapping a single + // type from another standard to multiple OSI types was left to the + // implementer's discretion. For instance, a simulator might have relied + // on the 3D model's dimensions for an OpenScenario "car" to choose + // between TYPE_SMALL_CAR or TYPE_MEDIUM_CAR in OSI. With the ongoing + // harmonization effort, such ambiguities have been resolved. The + // recommended mapping is now TYPE_CAR, which serves as an alias for the + // former TYPE_MEDIUM_CAR. Previous car-specific enums (e.g., + // TYPE_SMALL_CAR) have been deprecated in favor of TYPE_CAR. + // + // \par References: + // [1] ASAM e.V. (2024). ASAM TrafficParticipants Specification. ASAM OpenX Standards. Retrieved June 12, 2025, from https://publications.pages.asam.net/standards/ASAM_TrafficParticipants_Specification/ASAM_TrafficParticipants_Specification/v1.0.0/specification/index.html // enum Type { From a276403d5a112d8c9de7c2644c789cf443fb5c59 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Wed, 24 Sep 2025 14:46:41 +0200 Subject: [PATCH 5/6] Update grammar and wording Signed-off-by: Thomas Sedlmayer --- osi_object.proto | 47 ++++++++++++++++++++++++----------------------- 1 file changed, 24 insertions(+), 23 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 8c3492560..8ab1dfae4 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -894,7 +894,7 @@ message MovingObject // semi-tractor. // Characteristics compared to a regular trailer are the large size, // the fact that a large portion of the weight is supported at the - // hitch and a large overlap with the towing vehicle, i.e. the + // hitch, and a large overlap with the towing vehicle, i.e. the // semi-tractor. // // \note Corresponds roughly with UNECE [1] category O4. @@ -915,7 +915,7 @@ message MovingObject TYPE_SEMITRAILER = 8; // A trailer is a non-motorized vehicle designed for being towed by - // a motorized vehicle to carry goods, animals or people. + // a motorized vehicle to carry goods, animals, or people. // // \note Corresponds roughly with UNECE [1] category O1 to O3. // @@ -937,11 +937,10 @@ message MovingObject // A motorcycle is a motorized vehicle designed primarily for // passenger transportation. - // Compared to a car, typically fewer passive safety features such - // as a full passenger cell are present. - // This category includes typical two-wheeled motorcycles, but also - // three-wheeled vehicles like motorcycles with side-cars or even - // trikes. + // Compared to a car, fewer passive safety features, such as a full + // passenger cell, are typically present. + // This category includes both two-wheeled motorcycles and + // three-wheeled vehicles like motorcycles with side-cars or trikes. // // \note Corresponds roughly with UNECE [1] categories L1 to L5. // @@ -954,8 +953,9 @@ message MovingObject // A bicycle is a human-powered or motor-assisted, pedal-driven // vehicle. - // This category includes typical two-wheeled bicycles, but - // also cargo-bikes and alike with more than two wheels. + // This category includes typical two-wheeled bicycles as well as + // cargo-bikes and other pedal-driven vehicles with more than two + // wheels. // // \note Usually considered as a vulnerable road user. // @@ -977,18 +977,18 @@ message MovingObject // The rail infrastructure may fully or partially overlap with // public road infrastructure. // In contrast to trains, trams do not have exclusive right-of-way. - // Often as a series of connected vehicles. + // A tram often acts as a series of connected vehicles. // TYPE_TRAM = 13; // A train is a vehicle designed for the transport of passengers and - // freight on rail infrastructure. + // freight on rail infrastructure. // The rail infrastructure for trains is mostly grade-separated from // the public road infrastructure as trains have exclusive // right-of-way. // Therefore, in case crossings with the road infrastructure occur, // the exclusive right-of-way is ensured, e.g. by railway barriers. - // Often as a series of connected vehicles. + // A train often acts as a series of connected vehicles. // TYPE_TRAIN = 14; @@ -1012,16 +1012,16 @@ message MovingObject TYPE_STANDUP_SCOOTER = 17; // A micro-mobility device is a small, lightweight vehicle for - // short-distance travel like hoverboards or roller skates. - // While bicycles, stand-up scooters and wheelchairs may technically - // fall into this category, the respective detailed categories shall - // be used instead. + // short-distance travel, like hoverboards or roller skates. + // While bicycles, stand-up scooters, and wheelchairs may + // technically fall into this category, the respective detailed + // categories shall be used instead. // // \note Usually considered as a vulnerable road user. // TYPE_MICROMOBILITY_DEVICE = 18; - // A work-machine is a vehicle designed for specific tasks (e.g., + // A work machine is a vehicle designed for specific tasks (e.g., // construction equipment, agricultural tractors, forklifts). // TYPE_WORK_MACHINE = 19; @@ -1029,23 +1029,24 @@ message MovingObject // A watercraft is a vehicle designed for travel on water (boats, // ships, etc.). // - // \note This category is intentionally unspecific and may be - // detailed out in future versions if use-cases require so. + // \note This category is deliberately generic and may be refined in + // future versions as needed. // TYPE_WATERCRAFT = 20; // An aircraft is a vehicle designed for flight through the air // (airplanes, helicopters, etc.). // - // \note This category is intentionally unspecific and may be - // detailed out in future versions if use-cases require so. + // \note This category is deliberately generic and may be refined in + // future versions as needed. // TYPE_AIRCRAFT = 21; // A land vehicle is a vehicle designed for travel on land. // - // \note This category is intentionally unspecific and may be - // detailed out in future versions if use-cases require so. + // \note This category is deliberately generic to include land + // vehicles that do not fall into other categories and may be + // refined in future versions as needed. // TYPE_LAND_VEHICLE = 22; } From 5fafb625090bc7ed841f7ffc67ed3e70f7d4aa73 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Thu, 25 Sep 2025 09:06:41 +0200 Subject: [PATCH 6/6] Adapt ASAM style of standard names Signed-off-by: Thomas Sedlmayer --- osi_object.proto | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 8ab1dfae4..cb1ce02bf 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -770,11 +770,11 @@ message MovingObject // Specification as permitted by technical and practical constraints. // // \note Historically, OSI offered a more granular set of vehicle types - // than some other OpenX standards (e.g., OpenScenario XML/DSL and - // OpenLabel). This was due to legacy design choices. Mapping a single + // than some other OpenX standards (e.g., OpenSCENARIO XML/DSL and + // OpenLABEL). This was due to legacy design choices. Mapping a single // type from another standard to multiple OSI types was left to the // implementer's discretion. For instance, a simulator might have relied - // on the 3D model's dimensions for an OpenScenario "car" to choose + // on the 3D model's dimensions for an OpenSCENARIO "car" to choose // between TYPE_SMALL_CAR or TYPE_MEDIUM_CAR in OSI. With the ongoing // harmonization effort, such ambiguities have been resolved. The // recommended mapping is now TYPE_CAR, which serves as an alias for the