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LocalOperatingZone

Description

The function of the Local Operating Zone service provides the ability to define an operating zone in which vehicles must remain as well as multiple exclusion zones which vehicles must avoid. Each zone is defined using a simple polygon, where its vertices are represented as is to set the valid operating and exclusionary zones for a vehicle. Each zone is specified Downloaded from SAE International by Nicholas Johnson, Monday, August 19, 2019SAE INTERNATIONAL AS6009™A Page 197 of 249 as a 2D polygon in a list of x and y coordinate pairs, referred to as polygon vertices, using a locally defined coordinate system. The vertices specify a closed area, not a route; for example, a rectangle is represented as four vertices. Additionally, each zone can optionally define a minimum and/or maximum vertical bound, allowing vehicles to operate in the same area but at different altitudes or depths.,A maximum and/or minimum vertical bound may be provided for both operating zones and exclusion zones If the notion of "vertical" is not compatible with the chosen local coordinate system, then use Index 4 (ZLocal) of the ZPosition Fields to set the extent of the volume. One or more optional exclusion zones may be specified to keep the vehicle out of a zone that is inside the operating zone (e.g. an island lays in the center of the operating zone). The Local Operating Zone service also provides the functionality of reporting when vehicles leave the operating zone and when they encroach an exclusion zone.

Messages

The LocalOperatingZone service uses the following messages.

Internal Events

  • VehicleExcursion