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

2       Functional Requirements

The FED format shall satisfy the following requirements:

  1. The FED Data Type shall be an extension of the BED Data Type.
  2. Each data element of the FED 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 BED and those of another CAV.
  3. The Objects in the FED 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 FED 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 Descriptors  that are 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.

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.
BasicEnvironmentDescriptors N5 Bytes AVScene Descriptors of Environment.
RoadState N7 Bytes Road State
DescrMetadata N9 Bytes Descriptive Metadata.

5       Data Formats and Attributes

The Objects in the MPAI Audio-Visual Scene Descriptors benefit from CAV FED Attributes.

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.