Definition
Functional Requirements
Syntax
Semantics
Conformance Testing
Performance Assessment
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
| Header | Full Environment Descriptors Header – Standard “CAV‑FED‑Vx.y”. |
| MInstanceID | Identifier of the M-Instance (Virtual Space) associated with this Full Environment Descriptors instance. |
| UEnvironmentID | Identifier of the U-Environment (Real Space) associated with this Full Environment Descriptors instance. |
| FullEnvironmentDescriptorsID | Unique identifier of this Full Environment Descriptors instance. |
| FullEnvironmentDescriptorsTime | Time this Full Environment Descriptors instance was produced. |
| FullEnvironmentDescriptorsSpaceTime | Space/Time where/when this Full Environment Descriptors instance applies. |
| AudioVisualSceneDescriptors | Audio‑Visual Scene Descriptors representing the CAV’s perception of the Environment. |
| SpatialAttitude | CAV Spatial Attitude derived from GNSS and Spatial Data. |
| WeatherData | Weather information integrated into the Scene Description. |
| RoadState | Road State information integrated into the Scene. |
| CAVState | CAV State information integrated into the Scene. |
| DataXMData | MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this Full Environment Descriptors instance in a trusted data exchange context. |
| DescrMetadata | Human-readable descriptive metadata of the Full Environment Descriptors instance (plain text, max 2048 characters). |
5 Conformance Testing
A Data instance conforms with Full Environment Descriptors (CAV‑FED) if:
- The Data validates against the Full Environment Descriptors’ JSON Schema.
- All Data in the Full Environment Descriptors’ JSON Schema:
- Have the specified type.
- Validate against their JSON Schemas.
- Conform with their Data Qualifiers.
6 Performance Assessment
Not part of this specification.
