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Definition
Functional Requirements
Syntax
Semantics
Conformance Testing
Performance Assessment

1      Definition

Basic Environment Descriptors (BED) digitally represent the environment traversed by a CAV at a time. BED results from the integration of a subset of CAV-sensed data:

  1. Spatial Attitude derived from GNSS and Spatial Data.
  2. Audio-Visual Scene Descriptors obtained from the fusion of the Scene Descriptors of available Environment Sensing Technologies (EST). The Visual component of the Audio-Visual Scene Descriptors integrates Visual‑LiDAR‑RADAR‑Ultrasound‑Offline Map into a scene that is represented by the Visual Scene Format.

2      Functional Requirements

BEDs at a given Time:

  1. Include:
    1. Scene Descriptors of the Environment (possibly improved by the use of static object information, e.g., from Offline Maps).
    2. Other environment information – Weather Data and CAV’s Spatial Attitude – enabling the Autonomous Motion Subsystem (AMS) to operate.
    3. The Full Environment Descriptors of a preceding time provided by the Full Environment Description AIM.
  2. Describe each Object with the following attributes:
    • Object Identifier.
    • AIM Identifier of the AIM that provided the Data used to represent the Object through Object Data Qualifier.
    • Object dimensionality (2D, 2.5D and 3D), shape, and Format through its Qualifier.
    • Parent Object(s).
    • Spatial Attitude of Object.
    • Relationship with other Objects, e.g., groups of Objects (platoon) deduced from the components of the platoon broadcasting Platooning Information, or from observation of a group of CAVs.
    • Accuracy of Object values.

3      Syntax

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

4      Semantics

Table 1 – Semantics of the Basic Environment Descriptors Data Type

Label
Description
Header Basic Environment Descriptors Header – Standard “CAV‑BED‑Vx.y”.
MInstanceID Identifier of the M-Instance (Virtual Space) associated with this Basic Environment Descriptors instance.
UEnvironmentID Identifier of the U-Environment (Real Space) associated with this Basic Environment Descriptors instance.
ValueID Identifier of the value set associated with this Basic Environment Descriptors instance.
BasicEnvironmentDescriptorsID Unique identifier of this Basic Environment Descriptors instance.
BasicEnvironmentDescriptorsTime Time this Basic Environment Descriptors instance was produced.
BasicEnvironmentDescriptorsSpaceTime Space/Time where/when this Basic Environment Descriptors instance applies.
AudioVisualSceneDescriptors Audio-Visual Scene Descriptors of the environment, resulting from the fusion of available EST Scene Descriptors.
SpatialAttitude CAV Spatial Attitude derived from GNSS and Spatial Data.
WeatherData Weather data enabling the AMS to operate.
FED Full Environment Descriptors of a preceding time provided by the Full Environment Description AIM.
DataXMData MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this Basic Environment Descriptors instance in a trusted data exchange context.
DescrMetadata Human-readable descriptive metadata of the Basic Environment Descriptors instance (plain text, max 2048 characters).

5      Conformance Testing

A Data instance conforms with Basic Environment Descriptors (CAV‑BED) if:

  1. The Data validates against the Basic Environment Descriptors’ JSON Schema.
  2. All Data in the Basic Environment Descriptors’ 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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