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Definition
Functional Requirements
Syntax
Semantics
Conformance Testing
Performance Assessment

1    Definition

Spatial Data is a Data Type produced by the Motion Actuation Subsystem that describes the Spatial Attitude of the Connected Autonomous Vehicle (CAV). It captures positional evolution, motion intensity, and inclination of the CAV in relation to its environment, enabling downstream AIMs to interpret movement, acceleration, and orientation consistently.

2    Functional Requirements

Spatial Data shall represent the following four measurements:

Table 1 – Functional Requirements of the Spatial Data Data Type

Name Unit of Measure
Odometer Data Scalar whose coefficients are expressed in metres (m).
Speedometer Data Scalar whose coefficients are expressed in metres/second (m/s).
Accelerometer Data Scalar whose coefficients are expressed in metres/second/second (m/s²).
Inclinometer Data Vector of CAV inclination in the direction of travel and perpendicular to it, in degrees (°).

3    Syntax

https://schemas.mpai.community/CAV2/V1.1/data/SpatialData.json

4    Semantics

Table 2 – Semantics of the Spatial Data Data Type

Label Description
Header Spatial Data Header – Standard “CAV-SPD-Vx.y”.
SpatialDataID Unique identifier of this Spatial Data instance.
SpaceTime Spatial Attitude and Time of this Spatial Data instance.
SpatialData Set of Spatial Data measurements.
– OdometerData Distance travelled by the CAV, expressed in metres (m).
– SpeedometerData Speed of the CAV, expressed in metres/second (m/s).
– AccelerometerData Acceleration of the CAV, expressed in metres/second/second (m/s²).
– InclinometerData Inclination of the CAV in the direction of travel and perpendicular to it, in degrees (°).
DataXMData MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this Spatial Data instance in a trusted data exchange context.
DescrMetadata Human-readable descriptive metadata of the Spatial Data instance (plain text, max 2048 characters).

5    Conformance Testing

A Data instance conforms with Spatial Data (CAV-SPD) if:

  1. The Data validates against the Spatial Data JSON Schema.
  2. All Data in the Spatial Data JSON Schema:
    1. Have the specified type.
    2. Validate against their JSON Schemas.
    3. Conform with their Data Qualifiers.

6    Performance Assessment

Not part of this specification.

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