Go to CAV-TEC V2.0 Data Types

Definition
Functional Requirements
Syntax
Semantics
Conformance
Performance

1 Definition

Full Environment Descriptors (FED) is the Data Type with which the Autonomous Motion Subsystem describes the environment of the Ego CAV at one instant, on the frame of the Offline Map. It is produced by Full Environment Description from:

  • The Basic Environment Descriptors (BED) produced by the Ego CAV’s Environment Sensing Subsystem.
  • The Offline Map.
  • The Full Environment Descriptors sent by Remote CAVs in range.

2 Functional Requirements

Full Environment Descriptors shall include:

  • The instant described, i.e., that of the Basic Environment Descriptors it was made from.
  • The Ego CAV’s Spatial Attitude on the frame of the Offline Map and, when the CAV is on the map, its Placement: the map segment, the lane relative to the CAV’s (0 the CAV’s lane, +1 to its left, -1 to its right) and the distance from the start of the segment.
  • The Full Environment Objects: each Basic Environment Object as the ESS describes it, relative to the CAV, with its Placement on the map when it has one, and its Source – Ego when perceived by this CAV, Remote when reported by another CAV.
  • The Road Ahead: the segments of the Offline Map the CAV will meet, in order, each with its length, speed limit and number of lanes.
  • Optionally, the Weather Data at the instant described.

A CAV sends its own Full Environment Descriptors – what it perceives itself – to the CAVs in range as an Ego-Remote AMS Message Response. The objects a Remote CAV sends, and the Remote CAV itself, are placed on the map as the Ego’s own are – where the Remote CAV says they are, predicted by their velocity to the instant described – and marked Source Remote. An object is left out where the Ego CAV perceives it itself or where it is the Ego CAV; a message older than a set maximum age is not used.

The V1.1 FED also integrated the Road State and the CAV State, recorded irreconcilable differences in AMS Memory, and offered a scalable, level-of-detail representation. These are not part of V2.0.

3 Syntax

https://schemas.mpai.community/CAV2/V2.0/data/FullEnvironmentDescriptors.json

4 Semantics

Table 1 specifies the semantics of the Full Environment Descriptors Data Type.

Table 1 – Semantics of the Full Environment Descriptors Data Type

Label Type Req. Description
Header string (CAV-FED-V2.0) Yes
MInstanceID string
UEnvironmentID string
FullEnvironmentDescriptorsID string Yes
FullEnvironmentDescriptorsTime Simple Time Yes The instant described: that of the Basic Environment Descriptors it was made from.
OfflineMapID string The Offline Map the placements refer to.
EgoSpatialAttitude Spatial Attitude Yes The CAV’s Spatial Attitude, on the frame of the Offline Map.
EgoPlacement object Where the CAV is on the Offline Map.
EgoPlacement.SegmentID string Yes The segment of the Offline Map.
EgoPlacement.Lane integer 0 the CAV’s lane, +1 the lane to its left, -1 to its right.
EgoPlacement.Along number Yes Metres from the start of the segment.
FullEnvironmentObjectCount integer
FullEnvironmentObjects[] object [] Yes What the CAV perceives – and, at a later stage, what other CAVs report – each placed on the map.
FullEnvironmentObjects[].BasicEnvironmentObject Basic Environment Object Yes The object as the ESS describes it, relative to the CAV.
FullEnvironmentObjects[].Placement object
FullEnvironmentObjects[].Placement.SegmentID string Yes The segment of the Offline Map.
FullEnvironmentObjects[].Placement.Lane integer 0 the CAV’s lane, +1 the lane to its left, -1 to its right.
FullEnvironmentObjects[].Placement.Along number Yes Metres from the start of the segment.
FullEnvironmentObjects[].Source Yes Perceived by this CAV, or reported by another. One of: Ego, Remote.
RoadAhead[] object [] The segments of the Offline Map ahead of the CAV, in the order it meets them.
RoadAhead[].SegmentID string Yes
RoadAhead[].Length number m
RoadAhead[].SpeedLimit number m/s
RoadAhead[].Lanes integer
WeatherData Weather Data
DataXMData Data Exchange Metadata
DescrMetadata string

5 Conformance Testing

Data conform to the Full Environment Descriptors Data Type when they validate against its schema. If the schema references other schemas, data referencing a secondary schema shall also validate against that schema, if present, and conform with the Qualifier, if present.

6 Performance Assessment