Think Deeply about Geo Referencing within Types and Use - Incorporate 3.1.7. Coordinate Systems from ASAM_OpenSCENARIO_BS-1-2_User-Guide_V1-0-0.pdf
Think Deeply about Geo Referencing within Types and Use - Incorporate 3.1.7. Coordinate Systems from ASAM_OpenSCENARIO_BS-1-2_User-Guide_V1-0-0.pdf
**World Coordinate System (Xw, Yw, Zw)**
"Coordinate system of type (X, Y, Z) fixed in the inertial reference frame of the simulation environment, with
Xw and Yw axes parallel to the ground plane and Zw axis pointing upward.
Neither origin nor orientation of the world coordinate system are defined by the standard. If a road
network is referenced from a scenario, the world coordinate system is aligned with the inertial coordinate
system present in this description."
**Road Coordinate System (s, t)**
"To every road specified in the world coordinate system there is an s, t-type coordinate system assigned.
The s-axis follows road reference line while the t-axis, orthogonal to the s-axis, points left. The origin of the
s-coordinate resides at the starting node of the road. The origin of the t-coordinate is fixed to the road
centerline at the current s-position."