Functions
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance
1 Functions
The Full Environment Description (CAV-FED) AIM:
| Receives | Basic Offline Map Object | The Offline Map. |
| Basic Environment Descriptors | From the Environment Sensing Subsystem. | |
| Full Environment Descriptors | Its own, as given before. | |
| Road State | From the Motion Actuation Subsystem. | |
| CAV State | From Traffic Obstacle Avoidance. | |
| AMS Data | From AMS Memory. | |
| Ego-Remote AMS Message | From Remote CAVs in range. | |
| Produces | Ego-Remote AMS Message | To Remote CAVs in range. |
| Full Environment Descriptors | To Route Selection Planning, Trajectory Planning and Decision and AMS Memory. |
The AIM places on the Offline Map the objects the Environment Sensing Subsystem perceives. The CAV is placed by map matching: its position and heading on the map’s frame, the segment it is on, and how far along it. Each object is placed where it is, on a segment and in a lane – 0 the CAV’s lane, +1 the lane to its left. One Full Environment Descriptors instance is given for each Basic Environment Descriptors instance, at its instant.
A CAV with an identity sends the Full Environment Descriptors it perceives itself to the CAVs in range, at a limited rate. What another CAV sends is placed on the map as the CAV’s own objects are – where the other CAV says it is, predicted to this instant – and marked Remote; it is left out where the CAV perceives the object itself, and not used when too old. The Controller has verified who sent it.
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.
| Input | Data Type | Description |
|---|---|---|
| Basic Offline Map Object | Basic Offline Map Object | The roads, lanes and speed limits the objects are placed on. |
| Basic Environment Descriptors | Basic Environment Descriptors | The objects the ESS perceives, on the ego frame. |
| Full Environment Descriptors (optional) | Full Environment Descriptors | The Full Environment Descriptors of the previous instant. |
| Road State (optional) | Road State | The state of the road under the CAV. |
| CAV State (optional) | CAV State | The state of the CAV. |
| AMS Data (optional) | AMS Data | What the AMS has decided before. |
| Ego-Remote AMS Message (optional) | Ego-Remote AMS Message | The Full Environment Descriptors another CAV perceives. |
| Output | Data Type | Description |
| Ego-Remote AMS Message (optional) | Ego-Remote AMS Message | The Full Environment Descriptors this CAV perceives. |
| Full Environment Descriptors | Full Environment Descriptors | The CAV and every object around it placed on the Offline Map. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V2.0/AIMs/FullEnvironmentDescription.json
6 Profiles
No Profiles.
7 Reference Software
The reference software places the CAV by map matching – its position and heading on the map’s frame, the segment it is on, how far along it – and each object on a segment and in a lane. A CAV with an identity (setting CAVID) sends what it perceives to the CAVs in range, at a limited rate; what another CAV sends is placed on the map, marked Remote, left out where the CAV perceives the object itself, and not used when too old. It is part of the reference software of CAV-TEC V2.0 (see N4195, An introduction to the reference software): C# on .NET 10, released under the BSD 3-Clause licence, obtained from MPAI.
Tested with the Autonomous Motion Subsystem, Stage 1, and with two CAVs exchanging Full Environment Descriptors.
8 Conformance Testing
Table 2 provides the Conformance Testing Method for the Full Environment Description (CAV-FED) AIM: the data it receives and produces. If a schema references other schemas, conformance of data for the primary schema implies that data referencing a secondary schema shall also validate against that schema, if present, and conform with the Qualifier, if present.
| Receives | Basic Offline Map Object | Shall validate against the Basic Offline Map Object schema. |
| Basic Environment Descriptors | Shall validate against the Basic Environment Descriptors schema. | |
| Full Environment Descriptors | Shall validate against the Full Environment Descriptors schema. | |
| Road State | Shall validate against the Road State schema. | |
| CAV State | Shall validate against the CAV State schema. | |
| AMS Data | Shall validate against the AMS Data schema. | |
| Ego-Remote AMS Message | Shall validate against the Ego-Remote AMS Message schema. | |
| Produces | Ego-Remote AMS Message | Shall validate against the Ego-Remote AMS Message schema. |
| Full Environment Descriptors | Shall validate against the Full Environment Descriptors schema. |
