1       Definition

The Full Environment Descriptors (FED) is the result of the Autonomous Motion Subsystem’s integration of:

  1. The BED from the Ego CAV’s ESS.
  2. The Road State and CAV State.
  3. FED-related information received from Remote AMSs in range or Roadside Units.

2       Functional Requirements

The FED is generated from the BED with the following characteristics:

  1. The Road State is added to the BED.
  2. The CAV State is added to the BED as an Annotation to the Ego CAV.
  3. Information from Remote CAVs or other CAV-enabled equipment is used to:
    1. Add to improve on or replace existing or missing information in the BED.
    2. Record in MAS Memory irreconcilable differences in the Ego-CAV Spatial Attitude between the Ego CAV’s measurements and the values deduced from Remote CAVs.
  4. Replaced or complemented objects retain the Device ID of the remote CAV’s device that provided the information used by the Remote CAV to create the object.
  5. The actual shape of the CAV may replace the existing representation, e.g., because the shape is derived from the CAV’s Model ID.
  6. The FED has a scalable representation allowing for:
    • Refinement of FED when new EST-specific Scene Descriptors are added.
    • Extraction of a FED subset based on a required Level of Detail in the form of, e.g., Object bounding boxes and their Spatial Attitudes.
    • Addition of new data, e.g., the shape of an Object improving on a previous 2D or bounding box information.
    • Fast access to Object metadata, such as Spatial Attitude and shape (e.g., bounding box for a Visual Object).
    • Update of Objects and Scenes from one Scene to another.

The AMS may:

  1. Communicate the FED to the ESS.
  2. Communicate a subset of Ego FED to other CAVs with different levels of detail, e.g., starting from Position and Bounding Box, depending on the available bandwidth.
  3. Verify the feasibility of a Trajectory, e.g., to enable the AMS to check that the intended Trajectory of the Ego CAV does not collide with other Objects in the Decision Horizon or planned Trajectories communicated by Remote CAVs.

3       Syntax

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

4       Semantics

Label Size Description
Header N1 Bytes Full Environment Descriptors Headers
– Standard-FullEnvironmentDescriptors 9 Bytes The characters “CAV-FED-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
MInstanceID N4 Bytes ID of Virtual Space of the BED.
FullEnviroment DescriptorsID N5 Bytes FED ID.
AudioVisualSceneDescriptors N6 Bytes AV Scene Descriptors of Environment.
WeatherData N7 Bytes Weather Data integrated in Scene Description.
RoadState N8 Bytes Road State integrated in Scene Description.
CAVState N9 Bytes CAV State integrated in Scene Description.
DescrMetadata N10 Bytes Descriptive Metadata.