Go to CAV-TEC V2.0 Data Types

Definition
Functional Requirements
Syntax
Semantics
Conformance
Performance

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:

  • Spatial Attitude derived from GNSS and Spatial Data.
  • 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:

  • Include:
  • Scene Descriptors of the Environment (possibly improved by the use of static object information, e.g., from Offline Maps).
  • Other environment information – Weather Data and CAV’s Spatial Attitude – enabling the Autonomous Motion Subsystem (AMS) to operate.
  • The Full Environment Descriptors of a preceding time provided by the Full Environment Description AIM.
  • 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/V2.0/data/BasicEnvironmentDescriptors.json

4 Semantics

Table 1 specifies the semantics of the Basic Environment Descriptors Data Type.

Table 1 – Semantics of the Basic Environment Descriptors Data Type

Label Type Req. Description
Header string (CAV-BED-V2.0) Yes
MInstanceID string Identifier of the M-Instance (Virtual Space) associated with these Basic Environment Descriptors.
UEnvironmentID string Identifier of the U-Environment (Real Space) associated with these Basic Environment Descriptors.
BasicEnvironmentDescriptorsID string Yes Unique identifier of this instance.
BasicEnvironmentDescriptorsTime Simple Time Yes The instant the descriptors describe: every Basic Environment Object is brought to it.
EgoSpatialAttitude Spatial Attitude Yes The Spatial Attitude of the CAV at that instant, from Spatial Attitude Generation: the frame of reference of every Basic Environment Object.
BasicEnvironmentObjectCount integer
BasicEnvironmentObjects[] object [] Yes What the CAV perceives around it, fused from every Environment Sensing Technology and from the Offline Map: moving and static objects, and the elements of the road.
BasicEnvironmentObjects[].BasicEnvironmentObjectID string Yes Kept from one instance of the descriptors to the next for as long as the object is perceived: a track.
BasicEnvironmentObjects[].InstanceIdentifier Instance Identifier What the object is – vehicle, pedestrian, cyclist, siren, lane, traffic sign… – against a taxonomy, with the confidence of each candidate.
BasicEnvironmentObjects[].SpatialAttitude Spatial Attitude Yes Position and orientation, their velocities and accelerations, each with its accuracy, relative to the EgoSpatialAttitude.
BasicEnvironmentObjects[].Extent Bounding Box The space the object occupies: a 3D Bounding Box.
BasicEnvironmentObjects[].ExistenceConfidence number Yes The confidence that the object exists.
BasicEnvironmentObjects[].Motion Static: part of the road or its surroundings, as the Offline Map knows them or the sensors establish; Dynamic: a road user or other moving object. One of: Static, Dynamic, Unknown.
BasicEnvironmentObjects[].Contributions[] object [] What the object was fused from.
BasicEnvironmentObjects[].Contributions[].Technology Yes One of: Audio, Visual, RADAR, LiDAR, Ultrasound, OfflineMap, Remote.
BasicEnvironmentObjects[].Contributions[].SceneDescriptorsID string The Basic Scene Descriptors instance the object was fused from; for Remote, the Full Environment Descriptors.
BasicEnvironmentObjects[].Contributions[].ObjectID string The object within them.
BasicEnvironmentObjects[].FirstObserved Simple Time
BasicEnvironmentObjects[].LastObserved Simple Time
BasicAudioVisualSceneDescriptors Basic Audio Visual Scene Descriptors Optional: the audio-visual part of the environment in the form MPAI-OSD specifies, for applications that consume it.
WeatherData Weather Data The Weather Data the descriptors were produced under.
DataXMData Data Exchange Metadata
DescrMetadata string

5 Conformance Testing

Data conform to the Basic Environment Descriptors Data Type when they validate against its schema. If the schema references other schemas, data referencing a secondary schema shall also validate against that schema, if present, and conform with the Qualifier, if present.

6 Performance Assessment