1  Definition

The Full Environment Descriptors (FED) is the result of the Autonomous Motion Subsystem’s integration of:

  • The BED produced by the Ego CAV’s Environmental Sensing Subsystem (ESS).
  • The Road State and the CAV State.
  • FED‑related information received from Remote AMSs in range or from Roadside Units.

2  Functional Requirements

The FED is generated from the BED with the following characteristics:

  • The Road State is added to the BED.
  • The CAV State is added to the BED as an annotation to the Ego CAV.
  • Information from Remote CAVs or CAV‑enabled infrastructure may be used to:
    • Add, improve, or replace objects or attributes missing in the BED.
    • Record in MAS Memory irreconcilable differences between the Ego CAV’s Spatial Attitude and the one inferred from Remote FED sources. Maintain, for replaced or complemented objects, the Device ID of the Remote CAV device that provided the contributing information.
    • Replace simplified object representations with more accurate shapes (e.g., based on the Remote CAV’s Model ID).
  • The FED supports a scalable representation allowing:
    • Refinement whenever new EST‑specific Scene Descriptors are added.
    • Extraction of subsets with a required Level of Detail (e.g., bounding boxes with Spatial Attitudes).
    • Addition of new data, such as improved object shapes over older 2D or coarse bounding box representations.
    • Fast access to object metadata, including Spatial Attitude and shape.
    • Update of objects and scenes across Scene transitions.

The AMS may:

  • Communicate the FED to the ESS.
  • Communicate subsets of the Ego FED to other CAVs at levels of detail suitable to the
    communication bandwidth (e.g., only Position and Bounding Box).
  • Verify the feasibility of a Trajectory, including collision checking within the
    Decision Horizon and consistency with Trajectories communicated by Remote CAVs.

3  Syntax

https://schemas.mpai.community/CAV2/V1.1/data/FullEnvironmentDescriptors.json

4  Semantics

Label Description
Header Full Environment Descriptors Header – Standard “CAV‑FED‑V”.
MInstanceID Identifier of the Virtual Space associated with the BED.
FullEnvironmentDescriptorsID Identifier of the FED instance.
AudioVisualSceneDescriptors Audio‑Visual Scene Descriptors representing the CAV’s perception of the Environment.
WeatherData Weather information integrated into the Scene Description.
RoadState Road State information integrated into the Scene.
CAVState CAV State information integrated into the Scene.
DataExchangeMetadata Metadata optionally supporting regulated exchange of FED Data.
Trace Provenance trace including Source and Time per AIF V3.0 rules.
DescrMetadata Descriptive Metadata.