CAV-TEC V1.1 AIMs – Environment Sensing Subsystem

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Function

Ref. Model

I/O Data

SubAIMs

JSON MData

Profiles

Ref. Software

Conformance

Performance

1     Functions

The Environment Sensing Subsystem (CAV-ESS) AIM senses the environment’s electromagnetic and acoustic sources, receives weather information from the Motion Actuation Subsystem (MAS), computes its Spatial Attitude using GNSS and spatial data from the MAS, produces and passes to the AMS a sequence of Basic Environment Descriptors by processing data acquired by a variety of sensors (Audio, Visual, LiDAR, RADAR, Ultrasound, and Offline Map).

The Environment Sensing Subsystem (CAV-ESS) AIM:

Receives	Audio Object	Environment Audio.
	Visual Object	Environment Visual.
	LiDAR Object	LiDAR generated by CAV received from Environment.
	RADAR Object	RADAR generated by CAV received from Environment.
	Offline Map Object	Offline Map data from Autonomous Motion Subsystem.
	Ultrasound Object	Ultrasound generated by CAV received from Environment.
	GNSS Object	GNSS data.
	Spatial Attitude	Spatial data from sensors
	Weather Data	Weather data from sensors
	Full Environment Descriptors	Main output of Environment Sensing Subsystem.
Produces	Audio Object	Audio to User/Environment.
	LiDAR Object	LiDAR generated by CAV.
	RADAR Object	RADAR generated by CAV.
	Ultrasound Object	Ultrasound generated by CAV.
	Basic Environment Descriptors	Main output of CAV-ESS
	Alert	Alert from one Environment Sensing Technology.

2      Reference Model

Figure 1 gives the Reference Model of the Environment Sensing Subsystem.

Figure 1 – Environment Sensing Subsystem Reference Model

3      I/O Data

Table 1 specifies the Input and Output Data of the (CAV-) AIM.

Table 1 – I/O Data of the (CAV-) AIM

Input Data	Description
Audio Object	Environment Audio.
Visual Object	Environment Visual.
LiDAR Object	LiDAR generated by CAV received from Environment.
Offline Map Object	Offline Map data from Autonomous Motion Subsystem.
RADAR Object	RADAR generated by CAV received from Environment.
Ultrasound Object	Ultrasound generated by CAV received from Environment.
GNSS Object	GNSS data.
Spatial Attitude	Spatial data from sensors
Weather Data	Weather data from sensors
Full Environment Descriptors	Main output of Environment Sensing Subsystem.
Output Data	Description
Audio Object	Audio to User/Environment.
LiDAR Object	LiDAR generated by CAV.
RADAR Object	RADAR generated by CAV.
Ultrasound Object	Ultrasound generated by CAV.
Basic Environment Descriptors	Main output of CAV-ESS
Alert	Alert from one Environment Sensing Technology.

4      SubAIMs

4.1 Reference Model

The Environment Sensing Subsystem (CAV-ESS) AIM is a Composite AIM depicted in Figure 2.

Figure 2 – Reference Model of Environment Sensing Subsystem (CAV-ESS) Composite AIM

4.2 Operation

The sequence of operations of the Environment Sensing Subsystem unfolds as follows:

1. The Spatial Attitude Generation AIM computes the CAV’s Spatial Attitude using the initial Motion Actuation Subsystem’s Spatial Attitude and GNSS Object.
2. All EST-specific Scene Description AIMs available onboard:
   1. Receive EST-specific Data Objects, e.g., the RADAR Scene Descriptions AIM receives a RADAR Object provided by the RADAR EST (not shown in Figure 1). The Online Map is considered as an EST.
   2. Produce and send Alerts, if necessary, to the Autonomous Motion Subsystem.
   3. Accesses Basic Environment Descriptors of previous times, if needed.
   4. Produce EST-specific Scene Descriptors, e.g., the RADAR Scene Descriptors.
3. The Basic Environment Description AIM integrate the different EST-specific Scene Descriptors, Weather Data, and Road State into the Basic Environment Descriptors.

Note 1: Although Figure 2 shows individually processed ESTs, an implementation may combine two or more Scene Description AIMs to handle two or more ESTs, provided the relevant interfaces are preserved.

Note 2: The Objects in the BEDs may carry Annotations specifically related to traffic signalling,, e.g.:

1. Position and Orientation of traffic signals in the environment:
2. Traffic Policemen
3. Road signs (lanes, turn right/left on the road, one way, stop signs, words on the road).
4. Traffic signs – vertical signalisation (signs above the road, signs on objects, poles with signs).
5. Traffic lights
6. Walkways
7. Traffic sound (siren, whistle, horn).

4.3 Functions of AI Modules

Table 2 gives the functions of all AIMs of the Environment Sensing Subsystem.

Table 2 – Functions of Environment Sensing Subsystem’s AI Modules

AIM	Function
Spatial Attitude Generation	Computes the CAV Spatial Attitude from CAV Centre using GNSS Object and MAS’s initial Spatial Attitude.
Audio Scene Description	Produces Audio Scene Descriptors and Alert.
Visual Scene Description	Produces Visual Scene Descriptors and Alert.
LiDAR Scene Description	Produces LiDAR Scene Descriptors and Alert.
RADAR Scene Description	Produces RADAR Scene Descriptors and Alert.
Ultrasound Scene Description	Produces Ultrasound Scene Descriptors and Alert.
Offline Map Scene Description	Produces Offline Map Scene Descriptors.
Basic Environment Description	Produces Basic Environment Descriptors.

4.4 I/O Data of AI Modules

For each AIM (1^st column), Table 3 gives the input (2^nd column) and the output data (3^rd column) of the Environment Sensing Subsystem. Note that the Basic Environment Descriptors in column 2 refers to a previously produced BED.

Table 3 – I/O Data of Environment Sensing Subsystem’s AI Modules

AIM	Input	Output
Audio Scene Description	– Audio Object – Spatial Attitude – Other Scene Descriptors – Basic Environment Descriptors	– Alert – Audio Scene Descriptors
Visual Scene Description	– Visual Object – Spatial Attitude – Other Scene Descriptors – Basic Environment Descriptors	– Alert – Visual Scene Descriptors
LiDAR Scene Description	– LiDAR Object – Spatial Attitude – Other Scene Descriptors – Basic Environment Descriptors	– Alert – LiDAR Scene Descriptors
RADAR Scene Description	– RADAR Object – Spatial Attitude – Basic Environment Descriptors	– Alert – RADAR Scene Descriptors
Spatial Attitude Generation	– GNSS Object – MAS’s Spatial Attitude	– Spatial Attitude
Ultrasound Scene Description	– Ultrasound Object – Spatial Attitude – Other Scene Descriptors – Basic Environment Descriptors	– Alert – Ultrasound Scene Descriptors
Offline Map Scene Description	– Offline Map Object – Spatial Attitude	– Offline Map Scene Descriptors
Basic Environment Description	– Audio Scene Descriptors – LiDAR Scene Descriptors – Offline Map Scene Descriptors – RADAR Scene Descriptors – Spatial Attitude – Ultrasound Scene Descriptors – Visual Scene Descriptors – Weather Data – Full Environment Descriptors

4.5 AIW, AIMs, and JSON

Table 2 – AIMs composing the Connected Autonomous Operation (CAV-CAO) Composite AIM

AIM1	AIM2	Name	JSON
CAV-ESS		Environment Sensing Subsystem	Link
	OSD-ASD	Audio Scene Description	Link
	CAV-BED	Basic Environment Description	Link
	CAV-LSD	LiDAR Scene Description	Link
	CAV-OSD	Offline Map Scene Description	Link
	CAV-RSD	RADAR Scene Description	Link
	CAV-SAG	Spatial Attitude Generation	Link
	CAV-USD	Ultrasound Scene Description	Link
	OSD-VSD	Visual Scene Description	Link

5     JSON Metadata

https://schemas.mpai.community/CAV2/V1.1/AIMs/EnvironmentSensingSubsystem.json

6 Profiles

No Profiles

7     Reference Software

8     Conformance Testing

9     Performance Assessment

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