Sensor disturbances

The fault injection under the form of sensor disturbances takes place in the Simulink model. The blocks that have a light blue color perform this task. They have a On/Off input (or On/Random/Rain for the Lidars).

This input is connected to a ROS Listen Fault Injection block that allows to control the disturbances from ROS. The input to the ROS Listen Fault Injection are the default values that will be overridden if a message is received on the fault injection topics.

For Test Automation, to control disturbances, this default values needs to be set by the Test Automation and no message should be sent on the fault injection topics.

Topics for disturbances control

For the following topics the message type is alway Float64MultiArray (http://docs.ros.org/en/jade/api/std_msgs/html/msg/Float64MultiArray.html). The content of these arrays is detailed in the next section, Parameters arrays descriptions.

Sensor	Fault Injection Topic
Lidar 1	/fault_injection/lidar1
Lidar 2	/fault_injection/lidar2
Lidar 3	/fault_injection/lidar3
Lidar 4	/fault_injection/lidar4
GNSS	/fault_injection/gnss
Camera 1	/fault_injection/camera1
Camera 2	/fault_injection/camera2
TL camera	/fault_injection/tl_camera
Radar	/fault_injection/radar

Parameters arrays descriptions

Lidar

Index	Parameter	Possible Values	Default Value	Description
0	State	0: Off, 1: Random, 2: Rain Model		Which disturbance model will be used: Random is Gaussian along the range and the polar angle, Rain Models follows specific equations.
1	random/range_variance	>0	0.0001	Variance of Gaussian noise on the range field (only active if state is Random)
2	random/theta_variance	>0	0.0001	Variance of Gaussian noise on the polar angle field (only active if state is Random)
3	rain/rain_intensity	>0	7.5	Rain intensity in mm/h (only active if state is Rain model)
4	rain/a		0.01	a (only active if state is Rain model)
5	rain/b		0.6	b (only active if state is Rain model)
6	rain/reflectivity	0<reflectivity<1	0.9	Objects reflectivity (only active if state is Rain model)
7	rain/max_range	>0	100	Maximum range of the Lidar sensor in nominal conditions (only active if state is Rain model)

GNSS

Index	Parameter	Possible Values	Default Value	Description
0	State	0: Off, 1: Gaussian Noise		Which disturbance model will be used: Gaussian is along x, y and z
1	noise_variance	>0	1	Variance of the Gaussian along x, y and z (only active if state is Gaussian)

Radar

Index	Parameter	Possible Values	Default Value	Description
0	State	0: Off, 1: Gaussian Noise		Which disturbance model will be used: Gaussian is along the three spherical coordinates
2	range_variance	>0	1	Variance of the Gaussian along the range field (only active if state is Gaussian)
3	theta_variance	>0	1	Variance of the Gaussian along the polar angle (only active if state is Gaussian)
4	phi_variance	>0	1	Variance of the Gaussian along the azimuth angle (only active if state is Gaussian)

Camera

Index	Parameter	Possible Values	Default Value	Description
0	State	0: Off, 1: Colored Patch		Which disturbance model will be used: Colored patch replaces all pixels in a specified rectangle by the specified color
1	patch/start_x	integer, less than image x dimension	200	Start of the rectangle along x (only active if state is Colored Patch)
2	path/start_y	integer, less than image y dimension	100	Start of the rectangle along y (only active if state is Colored Patch)
3	patch/size_x	integer, less than image x dimension - start_x	100	Size of the rectangle along x, currently inactive (only active if state is Colored Patch)
4	patch/size_y	integer, less than image y dimension - start_y	150	Size of the rectangle along y, currently inactive (only active if state is Colored Patch)
5	patch/R	integer, <255	0	Color of the rectangle, Red channel (only active if state is Colored Patch)
6	patch/G	integer, <255	0	Color of the rectangle, Green channel (only active if state is Colored Patch)
7	patch/B	integer, <255	0	Color of the rectangle, Blue channel (only active if state is Colored Patch)

Killing nodes