Merge pull request #511 from OpenSimulationInterface/extension_echo-pulse-width

echo_pulse_width added in osi_featuredata.proto for message LidarDetection

Author: pmai

osi_featuredata.proto

@@ -449,6 +449,24 @@ message LidarDetection
     // Lambertian reflectivity.
     //
     optional double reflectivity = 10;
+
+    // Echo pulse width of the detection's echo.
+    // Several sensors output an echo pulse width instead of an intensity for each individual detection.
+    // The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo.
+    // \note For more details see [1] Fig. 7 and 8.
+    // \note Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D.
+    // \note Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold.
+    //
+    // Unit: m
+    //
+    // \rules
+    // is_greater_than_or_equal_to: 0
+    // \endrules
+    //
+    // \par Reference:
+    // [1] Rosenberger, P., Holder, M.F., Cianciaruso, N. et al. (2020). <em>Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving</em> Automot. Engine Technol. 5, Fig 7, Fig 8. Retrieved May 10, 2021, from https://doi.org/10.1007/s41104-020-00066-x
+    //
+    optional double echo_pulse_width = 11;
 }
 
 //