7.6.1    CAV Identifier

7.6.2    Basic Environment Representation.

7.6.3    Full Environment Representation.

7.6.4    Ego-RemoteAMS Messages.

7.6.5    Offline map.

7.6.6    Route.

7.6.7    Path

7.6.8    Pose.

7.6.9    Trajectory.

7.6.10  Goal

7.6.11  AMS-HCI Message.

7.6.12  AMS-MAS Message.

7.6.13  Road State

1.1.1        CAV Identifier

1.1.1.1       Definition

A code uniquely identifying a CAV.

1.1.1.2       Functional Requirements

The CAV identification system carries the following information:

  1. Country where the CAV has been registered.
  2. Registration number in the country.
  3. CAV manufacturer identifier.
  4. CAV model identifier.
  5. M-Instance Identifier

1.1.1.3       Syntax

1.1.1.4       Semantics

Label Size Description
Header N1 Bytes
·         Standard 9 Bytes The characters “MMM-CID-”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
CAVIdentifier N4 Bytes Identifier of CAV instance.
CAVIdentifierData N5 Bytes Set of Data in CAVIdentifier
·         CountryID 2 Bytes 2-character country identifier
·         RegistrationID N6 Bytes CAV Registration ID in country
·         ManufacturerID N7 Bytes ManufacturerID
·         ModelID N8 Bytes ModelID
·         MInstanceID N9 Bytes Identifier of CAV’s M-Instance.
DescrMetadata N10 Bytes Descriptive Metadata

1.1.1.5       Data Formats and Attributes

None known.

1.1.1.6       To Respondents

Respondents are requested to:

  1. Comment, or extend, or reformulate the functional requirements.
  2. Propose Data Formats and Attributes.

1.1.2        Basic Environment Representation

1.1.2.1       Definition

Defined in the Environment Sensing Subsystem.

1.1.2.2       To Respondents

Respondents are requested to comment on the functional partitioning of Basic and Full Environment Representation.

1.1.3        Full Environment Representation

1.1.3.1       Definition

The Full Environment Representation (FER) is produced be the Autonomous Motion Subsystem by integrating:

  1. The BER from the Ego CAV.
  2. BER-related information received from other CAVs in range or Roadside Units.

1.1.3.2       Functional Requirements

The FER format shall satisfy the following requirements:

  1. The FER shall be an extension of the BER.
  2. Each element of the FER shall provide:
    1. The Identifier, Spatial Attitude, and Shape of the other CAVs.
    2. The value of major discrepancies between the elements of the Ego CAV’s BER and those of another CAV.
  3. The Objects in the FER may include additional semantics, such as:
    1. Flags (e.g., warning coming from other CAVs and RSUs).
    2. Platooning information indicating which objects belong to a platoon.
    3. Priority (e.g., the vehicle is a police car, an ambulance, a vehicle carrying hazardous material).
  4. The local Traffic Signal Configuration.
  5. The FER data structure shall allow for actions that are:
    1. deliberative, e.g.: the Obstacle Avoider should have fast access to data in the FER to get information useful to assess whether a Trajectory to be implemented collides with the estimated trajectories of an object.
    2. reactive, e.g., the Obstacle Avoider needs to find a Trajectory that avoids a new object whose trajectory is estimated to collide with the CAV.

 

The AMS may harvest available bandwidth and utilise it to send a version of the Full Environment Representation that is compatible with the available mobile bandwidth.

The AMS reconciles the different values by considering, e.g., the distance of the ego CAV from the object vs the distance of the other CAVs from the object.

1.1.3.3       Syntax

The MPAI Audio-Visual Scene Descriptors is a candidate for FER.

1.1.3.4       Semantics

The MPAI Audio-Visual Scene Descriptors is a candidate for FER.

1.1.3.5       Data Formats and Attributes

The Objects in the MPAI Audio-Visual Scene Descriptors may benefit from Attributes about the CAV that provided additional information.

1.1.3.6       To Respondents

Respondents are requested to:

  1. Comment on, extend, or reformulate the Functional Requirements.
  2. Comments on the use of the MPAI Audio-Visual Scene Descriptors to represent the Full Environment Representation.

1.1.4        Ego-RemoteAMS Messages

1.1.4.1       Description

Information exchanged between the AMS of the Ego CAV and the peer AMS of a Remote CAV in the form of

  1. Request to receive the Remote AMS’s Full Environment Representation of a specific M-Location corresponding to a U-Location of interest.
  2. Its own Full Environment Representation or M-Location.

1.1.4.2       Functional Requirements

Ego-Remote-AMS Messages contain the Full Environment Representation of the Ego CAV or subsets thereof. Subsets can be easily created thanks to the scalable format of the Full Environment Representation Data Type.

The Ego AMS may harvest available bandwidth and utilise it to send a version of the Full Environment Representation that is compatible with the available mobile bandwidth.

The AMS reconciles the different values by considering, e.g., the distance of the ego CAV from the object vs the distance of the other CAV from the object.

Messages from Remote to Ego AMS have the same payload.

1.1.4.3       Syntax

1.1.4.4       Semantics

Label Size Description
Header N1 Bytes
·         Standard 8 Bytes The characters “MMM-ERA-”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
EgoRemoteAMSMessageID N4 Bytes Identifier of EgoRemoteAMSMessage.
EgoRemoteAMSMessageData N5 Bytes Data of Ego-Remote-AMS Message
·         MLocationRequest N6 Bytes M-Location corresponding to U-Location.
o  MLocationID N7 Bytes M-Location in RemoteAMS FER.
·         MLocationData N8 Bytes
o  MLocationDataID N9 Bytes ID of M-Location Data
o  MLocationDataFormatID N10 Bytes ID of M-Location Data Format
o  MLocationDataURI N11 Bytes URI of M-Location Data
DescrMetadata N12 Bytes Descriptive Metadata

1.1.4.5       Data Types and Formats

The Format of M-Location Data is required.

1.1.4.6       To Respondents

Respondents are invited to:

  1. Comment or elaborate on the AMS-Remote AMS message functional requirements identified above.
  2. Propose Formats of M-Location Data and Attributes.

1.1.5        Offline map

Defined in the Environment Sensing Subsystem.

1.1.6        Route

1.1.6.1       Definition

A sequence of Way Points on the Offline Map with attached times of arrival.

1.1.6.2       Functional Requirements

1.1.6.3       Syntax

https://schemas.mpai.community/OSD/V1.1/data/SpaceTime.json

https://schemas.mpai.community/OSD/V1.1/data/Time.json

 

1.1.6.4       Semantics

Label Size Description
Header N1 Bytes Data Type Header
·         Standard 9 Bytes The characters “CAV-RTE-V”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
RouteID N4 Bytes Identifier of Route.
RouteData[] N5 Bytes Route Data set
·         WayPointID N6 Bytes WayPoint Identifier
·         ArrivalTime 9 Bytes WayPoint arrival time
·         AccumulatedTimeError 9 Bytes Total time error.
DescrMetadata N7 Bytes Descriptive Metadata

1.1.6.5       Data Types and Formats

No Formats required.

1.1.6.6       To Respondents

Respondents are invited to comment or elaborate on the Functional Requirements identified above.

1.1.7        Path

1.1.7.1       Definition

Path is a sequence of Poses = (xi, yi, zi, αi, βi, γi) in the Environment.

1.1.7.2       Functional Requirements

1.1.7.3       Syntax

https://schemas.mpai.community/OSD/V1.1/data/PointOfView.json

 

1.1.7.4       Semantics

Label Size Description
Header N1 Bytes Data Type Header
·         Standard 9 Bytes The characters “CAV-PAT-V”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
PathID N4 Bytes Identifier of Path.
PathData[] N5 Bytes Route Data set
·         PoseID N6 Bytes Pose Identifier
DescrMetadata N7 Bytes Descriptive Metadata

1.1.7.5       Data Formats and Attributes

No Formats required

1.1.7.6       To Respondents

Respondents are invited to comment or elaborate on the Functional Requirements identified above.

1.1.8        Pose

Pose is the Position and Orientation of the CAV in the Environment, i.e., the MPAI Point of View.

1.1.9        Trajectory

1.1.9.1       Definition

The sequence of Spatial Attitudes SA (SA1, SA2,…, SAi) and corresponding Times t (t1, t2, tj) planned to reach a Goal.

1.1.9.2       Functional Requirements

1.1.9.3       Syntax

https://schemas.mpai.community/OSD/V1./data/SpatialAttitude.json

https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json

https://schemas.mpai.community/OSD/V1.1/data/Time.json

 

1.1.9.4       Semantics

Label Size Description
Header N1 Bytes
·         Standard 8 Bytes The characters “CAV-TRJ-V”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
TrajectoryID N4 Bytes Identifier of Trajectory.
TrajectoryData 2 Bytes Data in the Trajectory
·         StartSA N5 Bytes Spatial Attitude at StartTime
·         EndSA N6 Bytes Spatial Attitude at EndTime
·         Duration 17 Bytes Expected Duration of Trajectory.
DescrMetadata N8 Bytes Descriptive Metadata

1.1.9.5       Formats and Attributes

1.1.9.6       To Respondents

Respondents are requested to formulate functional requirements of Trajectory.

1.1.10    Goal

A Goal is the Spatial Attitude planned to be reached at the end of a Trajectory.

1.1.11    AMS-HCI Message

1.1.11.1   Definition

A Message sent by the Autonomous Motion Subsystem (AMS) to:

  1. Respond to a previous HCI-AMS Message.
  2. Informs the Human-CAV Interaction.

1.1.11.2   Functional Requirements

An AMS can send the HCI:

  1. A message in response to an HCI-AMS message containing:
    • List of Route options.
  2. Information, such as:
    • Destination reached.
    • Delay compared to plan and amount.
    • Road State.
    • Equipment failure and type.

The message set is obviously extensible.

1.1.11.3   Syntax

https://schemas.mpai.community/CAV2/V1.0/data/FailureID.json

“https://schemas.mpai.community/OSD/V1.1/data/Time.json

https://schemas.mpai.community/CAE2/V1.0/data/AMSMessageID.json

 

1.1.11.4   Semantics

Label Size Description
Header N1 Bytes
·         Standard 8 Bytes The characters “CAV-AHM”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
AMSHCIMessageID N4 Bytes Identifier of AMS-HCI Message.
AMSHCIMessageData N5 Bytes Data in AMS-HCI Message.
·         RouteList N6 Bytes Endpoint of the Route.
·         Messages N7 Bytes Set of possible messages
o  Delay N8 Bytes Delay in travel and amount in seconds.
o  FailureID N9 Bytes CAV FailureID
o  AMSMessageID N10 Bytes One of AMSMessages.
DescrMetadata N11 Bytes Descriptive Metadata

1.1.11.5   Data Formats and Attributes

No Formats required,

1.1.11.6   To Respondents

Respondents are requested to propose Messages and their Semantics.

1.1.12    AMS-MAS Message

1.1.12.1   Definition

An AMS-MAS Messages request the Motion Actuation Subsystem (MAS) to execute, suspend, or resume a Trajectory.

1.1.12.2   Functional Requirements

The AMS-MAS Message pass the following data to the MAS:

Trajectory

Action

  1. Execute the Trajectory to change the CAV’s Spatial Attitude SAA at time tA to Spatial Attitude SAB at time tB.
  2. Suspend the Execute
  3. Resume the Execute

1.1.12.3   Syntax

https://schemas.mpai.community/OSD/V1.1/data/Time.json

https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json

1.1.12.4   Semantics

Label Size Description
Header N1 Bytes
·         Standard 8 Bytes The characters “CAV-AMM”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
AMSMASMessageID N4 Bytes Identifier of AMS-MAS Message.
AMSMASMessageData N4 Bytes Data in AMS-MAS Message.
·         Duration N5 Bytes Duration the Message applies to.
·         SpatialAttitude N6 Bytes
·         TrajectoryID N7 Bytes ID of Trajectory
·         Command N8 Bytes One of Execute or Suspend
DescrMetadata N9 Bytes Descriptive Metadata

1.1.12.5   Data Formats and Attributes

No Formats required.

1.1.12.6   To Respondents

Respondents are requested to comment on or extend or reformulate the functional requirements of the AMS-MAS Message.

1.1.13    Road State

1.1.13.1   Definition

A Description of the state of the road the CAV is traversing inferred by the AMS from information that is internally available and/or received from an external source via a communication channel.

1.1.13.2   Functional Requirements

Road State includes the following information:

  1. Time
  2. The SA reached at Time.
  3. Steering Wheels or Brakes do not respond to a command.
  4. Information about Road state
    • Ice, Wind, Water, Pothole, etc.
  5. Traffic information

1.1.13.3   Syntax

https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json

https://schemas.mpai.community/OSD/V1.1/data/RouteEnvironmentID.json

https://schemas.mpai.community/OSD/V1.1/data/Time.json

1.1.13.4   Semantics

Label Size Description
Header N1 Bytes Data Type Header
·         Standard 8 Bytes The characters “CAV-RDS-V”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
RoadStateID N4 Bytes Identifier of CAV instance.
RouteStateData N5 Bytes Set of RoadState Data
·         Pose N6 Bytes Identifier of WayPoint RoadState refers to.
·         CAVState N7 Bytes One of NoWheelResponse, NoBrakeResponse. NoSteeringResponse,
·         RouteEnvironment N8 Bytes One of Ice, Wind, Water, Pothole.
o  TrafficFlow N9 Bytes Traffic Flow
§  TrafficFlowFormatID N10 Bytes Identifier of Traffic Flow Format
§  TrafficFlowData N11 Bytes Traffic Flow Data
·         Time N12 Bytes Time information.
DescrMetadata N13 Bytes Descriptive Metadata

1.1.13.5   Data Formats and Attributes

Traffic Flow Format is required.

1.1.13.6   To Respondents

Respondents are requested to:

  1. Comment on, extend, or reformulate the functional requirements of Road State.
  2. Propose Traffic Flow Format and any other Format.