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 sensed:

  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 Scene Descriptors of a preceding time provided by the Fulle 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 though 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/V1.0/data/BasicEnvironmentDescriptors.json

4   Semantics

Label Size Description
Header N1 Bytes Basic Environment Descriptors Headers
– Standard-BasicEnvironmentDescriptors 9 Bytes The characters “CAV-BED-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
MInstance N4 Bytes Virtual Space where BED is (intended) to be placed.
AVSceneDescriptors N5 Bytes Audio-Visual Scene Descriptors of Environment.
WeatherData N6 Bytes The various elements of weather.
DescrMetadata N7 Bytes Descriptive Metadata.