1       Definition

Data produced by the “time-of-flight”-based Radio Detection and Ranging (RADAR) active sensor able to measure the distance and speed of objects from the time it takes for a signal emitted by the sensor to hit an object and be reflected.

RADAR operates in the mm range. It can detect vehicles (CAVs and trucks) because they typically reflect radar signals while smaller and less reflecting objects, e.g., pedestrians and motorcycles have a poor reflectance. In a busy environment, the reflections of big vehicles can overcome a motorcycle’s causing missed detection of important objects (e.g., a human next to a vehicle), while a can may produce an image out of proportion to its size.

2       Functional Requirements

The main features of Radar Data are:

  1. Ability to detect objects and measure speed @ ≤ 250 m (long range radar in the 76-77 GHz).
  2. Ability to provide a resolution of ~25-cm radial and ~1.5 degrees angular.
  3. Suitability to measure distance (short range radar in the 25 GHz band).

3       Syntax

https://schemas.mpai.community/CAV2/V1.0/data/RADARObject.json

4       Semantics

Label Size Description
Header N1 Bytes RADAR Object Data Header
– Standard-RADARObject 9 Bytes The characters “CAV-RAO-V”
– Version N2 Bytes Major version – 1 or 2 characters
– Dot-separator 1 Byte The character “.”
– Subversion N3 Bytes Minor version – 1 or 2 characters
MInstanceID N4 Bytes Identifier of M-Instance.
RADARObjectID N5 Bytes Identifier of the RADAR Object.
ParentRADARObjects N6 Bytes Identifier(s) of Parent RADAR Objects.
RADARObjectSpace-Time N7 Bytes Space-Time info of Data Object.
RADARDataQualifier N8 Bytes RADAR Data Qualifier.
RADARDataAnnotations[] N9 Bytes Annotations of RADAR Data
– Annotation N10 Bytes ID of Annotation
– AnnotationSpaceTime N11 Bytes Where/when Annotation is attached.
– ProcessActionID N12 Bytes What is possible to do with the Annotation
RADARDataLength N13 Bytes Number of Bytes of RADAR Data
RADARDataURI N14 Bytes URI of Data of RADAR Data
DescrMetadata N15 Bytes Descriptive Metadata