1 Functions
The Full Environment Description (CAV-FED) AIM
:
| Receives | Basic Environment Descriptors | From Environment Sensing Subsystem. |
| Full Environment Descriptors | From CAVs in range. | |
| Road State | From Traffic Obstacle Avoidance. | |
| CAV State | From Traffic Obstacle Avoidance. | |
| AMS Data | CAV Data from AMS Memory AIM. | |
| Creates | Internal environment representation | By fusing Data from ESS, Remote AMSs, and other CAV-aware entities. |
| Updates | CAV State | Managed by AMS. |
| Produces | Full Environment Descriptors | To Route, Path, Motion Selection Planning, Traffic Obstacle Avoidance, and AMS Decision Recording. |
2 Reference Architecture
Figure 1 depicts the Reference Architecture of the Full Environment Description AIM.
Figure 1 – The Full Environment Description AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the Full Environment Description AIM.
Table 1 – I/O Data of the Full Environment Description AIM
| Input | Description |
| Basic Environment Descriptors | From ESS. |
| Full Environment Descriptors | From Remote CAVs. |
| AMS Data | CAV Data from AMS Memory AIM. |
| CAV State | From AMS-MAS Message. |
| Road State | From MAS Command Issuer, forwarding Road State from MAS. |
| Output | Description |
| Full Environment Descriptors | Ego CAV’s Full Environment Descriptors to AMS internal AIMs and the ESS. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV1/V1.1/AIMs/FullEnvironmentDescription.json
6 Profiles
No Profiles
