This ontology extends the SAREF ontology for the automotive domain. This work has been developed in the context of the STF 566, which was established with the goal to create four SAREF extensions, one of them for the automotive domain.
SAREF extension for automotive
A spatial representation for a given feature.
The relation between something and the point, or other geometrical thing in space, where it is. For example, the realtionship between a radio tower and a Point with a given lat and long. Or a relationship between a park and its outline as a closed arc of points, or a road and its location as a arc (a sequence of points). Clearly in practice there will be limit to the accuracy of any such statement, but one would expect an accuracy appropriate for the size of the object and uses such as mapping .
location
hasBeginning
hasEnd
A relation that allows to specify the unit of measure associated with a certain confidence
has confidence unit of measure
A relation to describe the entities that can compose the vehicle environment
consists Of Entity
A relation to describe the type of equipment that can compose the vehicle environment
consists of equipment
A relation to describe the events that can compose the vehicle environment
consists of event
A relation to describe the objects that can compose the vehicle environment
consists of object
A relation to describe the users that can compose the vehicle environment
consists of user
A relation to describe the vehicles that can compose the vehicle environment
consists of vehicle
A relation between an entity, e.g., a vehicle or road entity, and AbsolutePosition to represent its absolute position
hasAbsolutePosition
A relation to define the level of automation of a singular vehicle. According to SAE J3016, there are five levels of automation: - Level 0: No Driving Automation. - Level 1: Driver assistance. - Level 2: Partial driving automation. - Level 3: Conditional driving automation. - Level 4: High driving automation. - Level 5: Full Driving automation. .
hasAutomationLevel
A relation between an entity and the various states in which vehicles, platoons and parking spots assume over time.
hasAutomotiveState
A relation to express that the vehicle has the capacity to reduce its speed (by action on the brake pedal or an autonomous actuator)
hasBrakeCapacity
A relation between an estimated measurement (saref:Observation class) and its confidence (:Confidence)
hasConfidence
A relation that defines the destination of an automotive object. For example, in a platoon, the current platoon leader defines the platoon destination. Following vehicles will share (partially) the route of the leader and can, therefore, have different final destinations.
hasDestination
A relation to express the destination of a vehicle in terms of an Address
hasDestinationAddress
A relation to express the destination of a vehicle, a platoon or a route in terms of an end point with latitude and longitude
hasDestinationEndPoint
A relation that allows to describe the environment of a vehicle
hasEnvironment
A relation to express that, during the forming state, a vehicle member of a platoon is given an estimated rendezvous location for joining the platoon. It is expressed in global coordinates (lat, long, alt), e.g. according to WGS 84.
hasEstimatedRendezvousLocation
A relation between an entity and its identifier (:Identifier) which is used to identify 1) a vehicle (station) during data exchange with other devices/stations 2) a platoon during data exchange with other devices/stations, 3) a parking spot within a parking area during data exchange with other devices/stations. In all cases, this identifier may be a pseudonym. It may change over space and/or over time.
hasIdentifier
A general relationship to express that an entity can have members
hasMember
A relation to express the opening time of a parking spot
hasOpeningTimeAvailability
A relation to express the origin of an entity (e.g., a vehicle or a route) in terms of a StartPoint
hasOrigin
A relation to express that a platoon can have vehicles as its members
hasPlatoonMember
A relation to express that a vehicle member of a platoon has a platoon position that is defined as the index of the vehicle in the platoon starting from zero (leader) up to N (trailing vehicle)
hasPlatoonPosition
A relation to specify that in a platoon a vehicle can assume roles such as: unknown, leader, follower, ready-for-leading, trailing, etc.
hasPlatoonRole
A relation to define the position of an entity
has position
A relation between an entity, e.g., a vehicle or road entity, and RelativePosition to represent its relative position (e.g., a car is x,y,z in front of another car)
A relation between Vehicle and RoadTopologyPosition to represent the road topology position of a vehicle
hasRoadTopologyPosition
A general relation to express that an entity can have a role
hasRole
A relation to express the route of an entity, e.g., a vehicle or a platoon
hasRoute
A relation to express that a vehicle can have members in its environment
hasVehicleEnvironmentMember
A relation between Vehicle and VehicleRole classes, to express the role the vehicle plays in traffic. If not specified, it is assumed that it takes a default value. Otherwise, possible values to be specified are: publicTransport, specialTransport, dangerousGoods, roadWork, rescue, emergency, safetyCar, agriculture, commercial, military, roadOperator, taxi (see ETSI TR 103 508).
hasVehicleRole
A relation to express the intermediate destination of a route (e.g., of a vehicle or a platoon) in terms of RoutePoint
isCollectionOf
A relation between the confidence (:Confidence class) of an estimated measurement and this measurement (saref:Observation class)
isConfidenceOf
A general relationship to express that an entity is a member of another entity
isMemberOf
A relation to express that a vehicle can be member of a platoon
isMemberOfPlatoon
A relation to express that an entity, e.g., a vehicle, can be member of another vehicle's environment
isMemberOfVehicleEnvironment
A relation to express that a device can use different types of measurements, such as speed, position of detected road objects (e.g., bicycles, vehicles). This applies in particular to the ElectronicControlUnit and TrafficLightController classes.
usesMeasurement
In SAREF4AUTO, a relation to express that the vehicle has a subsystem called ‘ElectronicControlUnit' (ECU) that provides measurements about relevant properties, such as speed, acceleration, position, etc.
Links a system to one of its sub systems
hasSubSystem
In SAREF4AUTO, a relation to express that the the ElectronicControlUnit (ECU) is a subsystem of the vehicle.
Links a system to its super system. Properties of subsystems somehow contribute to the properties of the super system. The exact meaning of "contribute is defined by sub properties of s4syst:subSystemOf. Property s4syst:subSystemOf is transitive.
subSystemOf
The WGS84 altitude of a SpatialThing (decimal meters above the local reference ellipsoid).
The WGS84 latitude of a SpatialThing (decimal degrees).
The WGS84 longitude of a SpatialThing (decimal degrees).
Position of an instant, expressed using xsd:dateTimeStamp
inXSDDateTimeStamp
A relation between the confidence (:Confidence) and its value, which can be a discrete value (+/- 5 cm/s) or a level (e.g. 95 %)
hasConfidenceValue
A relation to define the X coordinate of a relative position
hasCoordinateX
A relation to define the Y coordinate of a relative position
hasCoordinateY
A relation to define the Z coordinate of a relative position
A relation to define that a parking spot can have a description name
hasDescriptionName
A relation to express that, during the forming state, a vehicle member of a platoon is given an estimated time for joining
hasEstimatedJoiningTime
A relationship to define the value of an identifier
hasIDValue
A relation to express the max size of a platoon. Note that it is defined as a datatype property as this is a fixed/static value of the platoon that does not change over time. In contrast, the current size of the platoon is actually a measurement that may change over time and it is therefore defined as an object property (see :hasSize).
hasMaxSize
A relation to express the index of the vehicle in the platoon starting from zero (leader) up to N (trailing vehicle)
hasPlatoonIndex
This class represents the top-level feature type. This class is equivalent to GFI_Feature defined in ISO 19156:2011, and it is superclass of all feature types.
Feature
The class represents the top-level geometry type. This class is equivalent to the UML class GM_Object defined in ISO 19107, and it is superclass of all geometry types.
Geometry
The class spatial-object represents everything that can have a spatial representation. It is superclass of feature and geometry.
SpatialObject
A point, typically described using a coordinate system relative to Earth, such as WGS84.
Uniquely identified by lat/long/alt. i.e. spaciallyIntersects(P1, P2) :- lat(P1, LAT), long(P1, LONG), alt(P1, ALT), lat(P2, LAT), long(P2, LONG), alt(P2, ALT). sameThing(P1, P2) :- type(P1, Point), type(P2, Point), spaciallyIntersects(P1, P2).
Point
Anything with spatial extent, i.e. size, shape, or position. e.g. people, places, bowling balls, as well as abstract areas like cubes.
Spatial Thing
A temporal entity with zero extent or duration
Instant
A temporal entity with an extent or duration
Interval
TemporaryEntity
AutomotiveState
A class dedicated to describe the relevant states in the automotive domain
The absolute position of an automotive object in terms of lat, long and lat
AbsolutePosition
A type of speed
AbsoluteSpeed
A type of confidence for acceleration measurements that represents the absolute accuracy of a reported vehicle acceleration value with a predefined confidence level (e.g. 95 %)
AccelerationConfidence
A class to define common information related to an address. It is out of scope of SAREF4AUTO to define the details of such an address. It is instead recommended to reuse existing ontologies that specify how to model an address in terms of Street, Postal Code, City, Region, Country, etc.
Address
A type of heading
AngularDirection
A type of state for Platoon
assembling
A type of state for Parking Vehicle
At Drop Off Spot
At Pick Up Spot
The level of automation a platoon of vehicles or a singular vehicle
AutomationLevel
Acceleration
The Acceleration property of an ElectronicControlUnit.
The BrakeCapacity property of a Vehicle.
BrakeCapacity
A type of public transport
Bus
A type of vehicle. Example of a car is a passenger car
Car
unit of measure of size
cardinality unit
A type of state for Parking Spot or for Parking Vehicle
charging
A type of state for Parking Spot
closed
Every measurement in the automotive domain is an estimated measurement coming from the aggregation of several measurements from different sensor or devices taken at the same time or at consecutive times very close to each other. Therefore, a confidence is always associated to each measurement to indicate that it has not 100% accuracy.
Confidence
A critical object located on the road. Critical objects are small object, medium object, large object
CriticalObject
A type of state for Platoon or for a Vehicle in a Platoon
disengaging
Driving To Parking Spot
Driving To Pick Up Spot
A type pf parking spot
ElectricChargingParkingSpot
An electronic control unit (ECU) is any embedded system in automotive electronics that monitors and controls one or more of the electrical systems or subsystems in a vehicle. The ECU provides measurements about relevant properties of the vehicle, such as speed, acceleration, position, etc.
ElectronicControlUnit
The final destination of a vehicle or a platoon, or the final point of a route
EndPoint
A type of state for a Vehicle in a Platoon
engaging
forming
free
The Heading property of an ElectronicControlUnit.
Heading
A type of truck
HeavyTruck
The Height property of a Vehicle.
Height
unit of measure of height
height unit
A class used to identify 1) a vehicle (station) during data exchange with other devices/stations 2) a platoon during data exchange with other devices/stations, 3) a parking spot within a parking area during data exchange with other devices/stations. In all cases, this identifier may be a pseudonym. It may change over space and/or over time.
Identifier
A type of Critical Object
Large Object
A type of acceleration
Lateral Acceleration
The Length property of a Vehicle.
In a platoon, a property to express that a platoon has a size. This size is defined as 1. the total number of vehicles currently in the platoon (see :Size class); or 2. Length of the platoon (sum of all vehicles' length + inter-vehicle distance)
Length
unit of measure of length
length unit
LightTruck
LongitudinalAcceleration
Medium Object
The Movement property of a Vehicle. Relevant types of movement are: Static (position only), moving in same direction (speed, acceleration), moving in reverse direction (speed acceleration), crossing (speed, acceleration, direction)
Movement
The relevant types of events are trafficCondition, accident, roadworks, impassability, adverseWeatherCondition-Adhesion, aquaplannning, hazardousLocation-SurfaceCondition, hazardousLocation-ObstacleOnTheRoad, hazardousLocation-AnimalOnTheRoad, humanPresenceOnTheRoad, wrongWayDriving, rescueAndRecoveryWorkInProgress, adverseWeatherCondition-ExtremeWeatherCondition, adverseWeatherCondition-Visibility, adverseWeatherCondition-Precipitation, slowVehicle, dangerousEndOfQueue, vehicleBreakdown, postCrash, humanProblem, stationaryVehicle, emergencyVehicleApproaching, hazardousLocation-DangerousCurve, collisionRisk, signalViolation, dangerousSituation
NotifiedEvent
occupied
VRU Profile 1 users, for example: adult, child, elderly person, pram, animal, blind person guided by a dog, rider off its bike
P1 Pedestrian
VRU Profile 2 users, for example: user of bicycle, wheelchair, skater, scooter, Segway, or a mounted horse rider
P2 Bicyclist
VRU Profile 3 users are Motorcyclists, which are equipped with engines that allow them to move on the road. It includes users (driver and passengers, e.g. children and animals) of Powered Two Wheelers (PTW) such as mopeds (motorized scooters), motorcycles or side-cars.
P3 Motorcyclist
VRU Profile 4 animals presenting a safety risk to other road users, for example : dogs, wild animals, horses, cows, sheep, kangaroos, etc.
P4 Animal
parked
parking
A location that is designated for parking. A parking spot has a geometry defining the parking area boundaries and its centre point
ParkingSpot
the position of a parking spot (its centre point) in terms of lat, long and alt
ParkingSpotPoint
A type of car
PassengerCar
A personal device is a nomadic device used by a pedestrian or the rider of a two-wheeler. A personal device in modelled as a different type of automotive object, as it normally does not have access to the vehicle CAN bus.
PersonalDevice
A group of vehicles automatically following each other at a relatively close distance
Platoon
A level of automation is defined for a vehicle that it is platooning. For example, in the ENSEMBLE project there are three levels of platoon automation defined: Level A, Level B, Level C. Level C represents the highest level of automation for platooning in terms of longitudinal and lateral control, shortest time gap supported, wider range of situations handled and support for merging of entire platoons.
PlatoonAutomationLevel
A vehicle member of a platoon has a platoon position that is defined as the index of the vehicle in the platoon starting from zero (leader) up to N (trailing vehicle).
PlatoonPosition
In platoon a vehicle can assume roles such as: unknown, leader, follower, ready-for-leading, trailing, etc.
PlatoonRole
The state of a platoon. Examples of states for a platoon are: unknown, standalone, assembling, platooning, disengaging, etc.
PlatoonState
Examples of states for a vehicle in a platoon are: unknown, standalone, engaging, platooning, disengaging, searching, forming.
PlatoonVehicleState
A parking spot has a state. Possible values for parking spot state are Free, occupied, reserved, closed, charging
ParkingSpotState
A vehicle can be found at different states (or parking phases) during parking . Possible values for parking state (or parking phase) of a vehicle are: At drop-off spot, at pick-up spot, driving to parking spot, driving to pick up spot, parking, parked, charging.
ParkingVehicleState
A state of the vehicle related to its environment
perception state
platooning
A geo point in SAREF4AUTO
geographical point
The position of an entity in the automotive domain
Position
A type of confidence that represents horizontal position accuracy in a shape of ellipse with a predefined confidence level (e.g. 95 %). The centre of the ellipse shape corresponds to the reference position point for which the position accuracy is evaluated.
PositionConfidenceEllipse
A type of vehicle. Example of public transport is a bus or a tram
PublicTransport
RegularParkingSpot
It represents the relative position of a vehicle (e.g., a car is x,y,z in front of another car)
RelativePosition
RelativeSpeed
It is the estimated location where the vehicle member joins the platoon. It is expressed in global coordinates (lat, long, alt), e.g. according to WGS 84.
RendezvousLocation
reserved
An entity present on the road in the neighbouring area of a vehicle
RoadEntity
Road side sensors measure properties (such as speed, position, dimension, direction, etc.) of road objects. Types of relevant road objects are Pedestrian, vehicles, obstacles, traffic signs, etc.
RoadObject
Devices deployed along the road that produce signals based on road side sensor data measurements. Types of road side actuators that are relevant are devices such as traffic light controllers changing from red to green based on detected vehicles.
RoadSideActuator
A road side equipment can be either a simple data relay between vehicles and infrastructure or between the vehicles themselves, or it can run applications. It is usually high mounted in existing equipment, such as a street light, city traffic light, VMS or highway sign, or has its own pole.
RoadSideEquipment
Sensors such as cameras, radars that are deployed along the road (e.g. at intersections and at poles along a highway). Road side sensors perform measurements, such as speed, position (relative or absolute), dimension, direction, etc. of road objects.
RoadSideSensor
Position with respect to road topology (e.g. road, segment or lane) and lane characteristics (highway lane, road lane, bicycle lane, pavement, off-road).
Road Topology Position
The role that can be assumed by a vehicle or a platoon
Role
The route of a vehicle or of a platoon. The route of a platoon is defined as the route of the current vehicle leader in the platoon that other follower vehicles (partially) share
Route
The intermediate points of a route
RoutePoint
Searching
The Shape property of a Vehicle.. It defines the overall shape of an entity: i.e., Sphere, Torus, Cylinder, Cone, Ellipsoid, Cube, Cuboid, Pyramid, Prism, Multiple shapes
Shape
The Size property of a Vehicle. A platoon has a size. This size is defined as 1. the total number of vehicles currently in the platoon; or 2. Length of the platoon (sum of all vehicles' length + inter-vehicle distance)
Size
Small Object
A type pf parking spot. Parking spot reserved for special permits (authorities, disabled, blue Zone, resident ...)
SpecialPermitParkingSpot
The Speed property of an ElectronicControlUnit.
Speed
A type of confidence for speed measurements that represents absolute accuracy of a speed value in cm/s
SpeedConfidence
unit of measure of speed
speed unit
standalone
The origin of a route
StartPoint
A type of identifier for vehicles and platoons, as defined in ETSI TS 102 894-2.
StationID
A device that automatically operates coloured lights, typically red, amber, and green, for controlling traffic at road junctions, pedestrian crossings, and roundabouts.
TrafficLight
A traffic centre provides services to road users: exploiting data for road traffic management, providing information about mobility zones, operational management of the road infrastructure, etc.
TrafficManagementCentre
tram
A type of vehicle. Example of trucks are heavy trucks or light trucks.
Truck
A type of vehicle. This class involves all sorts of two wheelers, from motorcycles to bicycles and (e-)scooters.
TwoWheeler
A universally unique identifier (UUID) is a 128-bit number used to identify items and is also known as: globally unique identifier (GUID). In its canonical textual representation, the sixteen octets of a UUID are represented as 32 hexadecimal (base 16) digits, displayed in five groups separated by hyphens, in the form 8-4-4-4-12 for a total of 36 characters (32 alphanumeric characters and four hyphens). UUID are documented in ISO/IEC 11578:1996 "Information technology – Open Systems Interconnection – Remote Procedure Call (RPC)" and in ITU-T Rec. X.667 ISO/IEC 9834-8:2005.
UUID
unknown
The static properties of an AutomotiveObject, whereas ElectronicControlUnit saref:observes the dynamic properties of :Acceleration, :Heading, :Speed, :Position ;
AutomotiveObject
A vehicle is the main object of interest in the automotive domain. Example of types of vehicles are car, truck, public transport and two-wheeler. See ETSI TS 102 894-2 spec for full list of vehicles, which are type of "stations". See also the SENSORIS data model for possible type of vehicles. The main IoT device considered in the vehicle is the ECU (part of the vehicle on board equipment, or OBE), see :ElectronicControlUnit class.
Vehicle
According to SAE J3016, there are five levels of automation for a vehicle: - Level 0: No Driving Automation. - Level 1: Driver assistance. - Level 2: Partial driving automation. - Level 3: Conditional driving automation. - Level 4: High driving automation. - Level 5: Full Driving automation.
VehicleAutomationLevel
The vehicle environment is made of entities which are present on the road in the area around the vehicle
VehicleEnvironment
The role the vehicle plays in traffic. If not specified, it is assumed that it takes a default value. Otherwise, possible values to be specified are: publicTransport, specialTransport, dangerousGoods, roadWork, rescue, emergency, safetyCar, agriculture, commercial, military, roadOperator, taxi.
VehicleRole
Non-motorized road users as well as users of VRU vehicles (L class of vehicles, for example mopeds or motorcycles, etc.) participating to the road traffic
VulnerableRoadUser
The Weight property of a Vehicle.
Weight
The Width property of a Vehicle.
Width
unit of measure of width
width unit
YawRate
The class of systems, i.e., systems virtually isolated from the environment, whose behaviour and interactions with the environment are modeled. Systems can be connected to other systems. Connected systems interact in some ways. Systems can also have subsystems. Properties of subsystems somehow contribute to the properties of the supersystem
System
A type of vehicle role
Agriculture
Commercial
A type of movement
CrossingLeft
CrossingRight
DangerousGood
Emergency
A type of platoon role
Follower
Leader
Military
ReadyForLeading
Rescue
ReverseDirection
RoadOperator
RoadWork
SafetyCar
SameDirection
SpecialTransport
Static
Taxi
Trailing
UnknownPlatoonRole
A kind of platoon state
PlatoonStateKind
A kind of platoon vehicle state
PlatoonVehicleStateKind
A kind of parking vehicle state
ParkingVehicleStateKind
A kind of parking spot state
ParkingSpotStateKind
A kind of perception state
PerceptionStateKind