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1 General

An Implementation of an AIM of CAV-TEC – a Basic AIM, a Composite AIM, a subsystem, or Connected Autonomous Operation as a whole – conforms with CAV-TEC V2.0 when:

  1. its AIM Instance Metadata validates against the AIM Metadata Schema and is an instance of the AIM Metadata that CAV-TEC specifies for it, so that it runs in an AI Framework conforming with MPAI-AIF V3.0 (Conformance);
  2. every Object it produces at its Output Ports validates against the JSON Schema of its Data Type;
  3. it performs its Function as specified, as judged by the criteria of 3.

2 Principles

  • Performance, not speed. A CAV is judged on the correctness of its decisions and the accuracy of its descriptions. Every input is processed: an Implementation that keeps up by dropping inputs does not conform. Latency is measured and reported, not judged.
  • The boundary is the interface. An Implementation is tested at the boundary Ports of the AIM under test, by Data Type and Port Number, whatever its internal composition.
  • Reproducibility. A test drive is a record of the boundary: sensor data and messages with their stamps, played back through the User Agent at their original rate (Storage), so that the same drive can be given to any Implementation.

3 What is tested

Table 1 – Conformance Testing of the subsystems

Subsystem Given Observed Criteria
Human-CAV Interaction Speech and text of a person: requests of a destination, questions, conversation. Messages to the Autonomous Motion Subsystem; spoken and displayed responses. Requests recognised and conveyed; responses consistent with the state of the CAV.
Environment Sensing Subsystem A drive: the data of the sensors and of the GNSS, with the ground truth of the environment. Basic Environment Descriptors, Alerts and the Spatial Attitude of the CAV. Objects detected and located against the ground truth – missed and false detections, position errors; the Spatial Attitude against the true one; every frame processed.
Autonomous Motion Subsystem Basic Environment Descriptors of a drive, a destination, messages of remote CAVs. Route, Path and Trajectory; AMS-MAS Messages; the Full Environment Description. The destination reached by a lawful route; obstacles avoided; decisions consistent with the environment.
Motion Actuation Subsystem AMS-MAS Messages carrying a Trajectory and the Spatial Attitude of the CAV, in closed loop with a vehicle. Commands to the actuators; MAS-AMS Messages. The Trajectory followed within its tolerance; responses reporting the state of the actuators.
Connected Autonomous Operation A drive from origin to destination, with other road users and remote CAVs. The motion of the CAV and its exchanges. Arrival at the destination; no collision; deviations from the planned Trajectory.

Where a subsystem is tested in closed loop, the vehicle may be simulated: its dynamics, and motion sensors with their noise and bias, respond to the commands of the Motion Actuation Subsystem.

Note. The test drives, their ground truth and the tolerances of Table 1 are under study.

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