Function
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance
1 Functions
The Full Environment Description (CAV‑FED) AIM:
| Receives | Basic Environment Descriptors | From Environment Sensing Subsystem. |
| Full Environment Descriptors | From CAVs in range. | |
| Road State | From Traffic Obstacle Avoidance. | |
| CAV State | From Traffic Obstacle Avoidance. | |
| AMS Data | From AMS Memory AIM. | |
| Creates | Internal environment representation | By fusing data from ESS, Remote AMSs, and other CAV‑Aware entities. |
| Updates | CAV State | Managed by AMS. |
| Produces | Full Environment Descriptors | To Route Selection Planning, Path Selection Planning, Motion Selection Planning, Traffic Obstacle Avoidance, and AMS Memory. |
2 Reference Model
Figure 1 depicts the Reference Model of the Full Environment Description (CAV‑FED) AIM.
Figure 1 – The Full Environment Description (CAV‑FED) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the Full Environment Description (CAV‑FED) AIM.
Table 1 – I/O Data of the Full Environment Description (CAV‑FED) AIM
| Input | Description |
|---|---|
| Basic Environment Descriptors | From ESS. |
| Full Environment Descriptors | From Remote CAVs. |
| AMS Data | From AMS Memory AIM. |
| CAV State | From Traffic Obstacle Avoidance. |
| Road State | From Traffic Obstacle Avoidance. |
| Output | Description |
| Full Environment Descriptors | Ego CAV’s Full Environment Descriptors to AMS internal AIMs and the ESS. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V1.1/AIMs/FullEnvironmentDescription.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 Full Environment Description (CAV‑FED) 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 Full Environment Description (CAV‑FED) AIM
| Receives | Basic Environment Descriptors | Shall validate against Basic Environment Descriptors schema. |
| Full Environment Descriptors | Shall validate against Full Environment Descriptors schema. | |
| AMS Data | Shall validate against AMS Data schema. | |
| CAV State | Shall validate against CAV State schema. | |
| Road State | Shall validate against Road State schema. | |
| Produces | Full Environment Descriptors | Shall validate against Full Environment Descriptors schema. |
9 Performance Assessment
Not part of this specification.
