Function
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance
1 Functions
The Basic Environment Description (CAV‑BED) AIM produces Basic Environment Descriptors by integrating Scene Descriptors from all available Environment Sensing Technologies.
| Receives | Audio Scene Descriptors | From Audio Scene Description AIM. |
| LiDAR Scene Descriptors | From LiDAR Scene Description AIM. | |
| RADAR Scene Descriptors | From RADAR Scene Description AIM. | |
| Offline Map Scene Descriptors | From Offline Map Scene Description AIM. | |
| Ultrasound Scene Descriptors | From Ultrasound Scene Description AIM. | |
| Visual Scene Descriptors | From Visual Scene Description AIM. | |
| Weather Data | From Motion Actuation Subsystem. | |
| Full Environment Descriptors | From Autonomous Motion Subsystem. | |
| Integrates | EST Scene Descriptors | Into the Basic Environment Descriptors. |
| Produces | Basic Environment Descriptors | To Environment Sensing Subsystem. |
2 Reference Model
Figure 1 depicts the Reference Model of the Basic Environment Description (CAV‑BED) AIM.
Figure 1 – The Basic Environment Description (CAV‑BED) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the Basic Environment Description (CAV‑BED) AIM.
Table 1 – I/O Data of the Basic Environment Description (CAV‑BED) AIM
| Input | Description |
|---|---|
| Audio Scene Descriptors | Descriptors from Audio Scene Description AIM. |
| LiDAR Scene Descriptors | Descriptors from LiDAR Scene Description AIM. |
| RADAR Scene Descriptors | Descriptors from RADAR Scene Description AIM. |
| Offline Map Scene Descriptors | Descriptors from Offline Map Scene Description AIM. |
| Ultrasound Scene Descriptors | Descriptors from Ultrasound Scene Description AIM. |
| Visual Scene Descriptors | Descriptors from Visual Scene Description AIM. |
| Weather Data | Weather Data from Motion Actuation Subsystem. |
| Full Environment Descriptors | From the Autonomous Motion Subsystem. |
| Output | Description |
| Basic Environment Descriptors | Environment Sensing Subsystem’s Basic Environment Descriptors. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V1.1/AIMs/BasicEnvironmentDescription.json
6 Profiles
No Profiles.
7 Reference Software
Not part of this specification.
8 Conformance Testing
Table 2 provides the Conformance Testing Method for the Basic Environment Description (CAV‑BED) AIM.
If a schema contains references to other schemas, conformance of data for the primary schema implies that any data referencing a secondary schema shall also validate against the relevant schema, if present, and conform with the Qualifier, if present.
Table 2 – Conformance Testing Method for the Basic Environment Description (CAV‑BED) AIM
| Receives | Audio Scene Descriptors | Shall validate against Audio Scene Descriptors schema. |
| LiDAR Scene Descriptors | Shall validate against LiDAR Scene Descriptors schema. | |
| RADAR Scene Descriptors | Shall validate against RADAR Scene Descriptors schema. | |
| Offline Map Scene Descriptors | Shall validate against Offline Map Scene Descriptors schema. | |
| Ultrasound Scene Descriptors | Shall validate against Ultrasound Scene Descriptors schema. | |
| Visual Scene Descriptors | Shall validate against Visual Scene Descriptors schema. | |
| Weather Data | Shall validate against Weather Data schema. | |
| Full Environment Descriptors | Shall validate against Full Environment Descriptors schema. | |
| Produces | Basic Environment Descriptors | Shall validate against Basic Environment Descriptors schema. |
9 Performance Assessment
Not part of this specification.
