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.
  3. BED-related information received from Remote AMSs in range or Roadside Units.

2       Functional Requirements

The FED is generated from the BED where the objects that are identified as:

  1. Any object may be replaced or complemented by more accurate versions provided by CAVs in range. 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.
  2. Traffic signs carry Traffic Annotations.
  3. CAVs
    1. Include
      1. The ID of the CAV.
      2. Traffic Annotations.
    2. May be replaced by the actual shape of the CAV derived from the CAV’s Model ID.

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

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 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
MInstance N4 Bytes Virtual Space of the BED.
FullEnviroment DescriptorsID N5 Bytes FED ID
AudioVisualSceneDescriptors N6 Bytes AV Scene Descriptors of Environment.
RoadState N7 Bytes Road State
DescrMetadata N8 Bytes Descriptive Metadata.