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Table 1 defines the CAV-specific Terms used by CAV-TEC. All MPAI-defined Terms – some of which are used by CAV-TEC – are available online.
Table 1 – Terms and Definitions
Note A dash “-” preceding a Term in this Table means the following:
- If the font is normal, the Term in the table without a dash and preceding the one with a dash should be placed before that Term. The notation is used to concentrate in one place all the Terms that are composed of, e.g., the word Audio followed by one of the words Object, Scene, and Scene Descriptors.
- If the font is italic, the Term in the table without a dash and preceding the one with a dash should be placed after that Term. The notation is used to concentrate in one place all the Terms that are composed of, e.g., the word Attitude preceded by one of the words Social or Spatial.
| Term | Definition |
| Acceleration | The 2nd order time derivative of a Position or Orientation. |
| – Coordinate | The acceleration measured in a coordinate system. |
| – Proper | The physical acceleration, i.e., measured by an accelerometer experienced by an object. |
| Accuracy | An estimate of how well the measurement of a physical entity corresponds to the actual value of that entity. |
| Alert | A Data Type representing environment-related elements that should be treated with priority by the Traffic Obstacle Avoidance AIM. |
| AMS-MAS Message | A Data Type representing the command issued by the Autonomous Motion Subsystem instructing the Motion Actuation Subsystem to change the Ego CAV’s Spatial Attitude SAA at time tA to Spatial Attitude SAB at time tB and the MAS response the to the AMS-MAS Message. |
| AMS-HCI Message | A Data Type representing high-level instructions issued by HCI to AMS to request it to reach a destination and the AMS response. |
| Brake | A system activated by the Motion Actuation Subsystem having the function to decelerate a CAV. |
| – Command | A Data Type representing the command that the Motion Actuation Subsystem issues to the Brakes after interpreting an AMS-MAS Message. |
| – Response | A Data Type representing the Brakes’ response to the AMS Command Interpreter in response to a Brake Command. |
| Connected Autonomous Vehicle | (CAV) The information technology-related components of a vehicle enabling it to autonomously reach a destination by: 1. Understanding human utterances in the Subsystem. 2. Planning a Route. 3. Sensing and building a series of Basic Environment Descriptors (BED). 4. Exchanging refined BEDs (FED) with other CAVs and CAV-Aware entities. 5. Making decisions about how to execute the Route. 6. Acting on the Motion Actuation Subsystem. |
| – Aware | An attribute of equipment possessing some of the sensing and communication capabilities of a CAV without being a CAV, e.g., Roadside Units and Traffic Lights. |
| – Centre | The point in a CAV selected to have coordinates (0,0,0). |
| – Ego | The Object in the Environment that the CAV recognises as being itself. |
| – Environment | The Digital Representation of the portion of the external environment of current interest to a CAV. |
| – Identifier | A Data Type uniquely identifying a CAV and carrying information, such as: 1. Country code where the CAV has been registered. 2. Registration number in that country. 3. CAV manufacturer identifier. 4. CAV model identifier. |
| – State | A Description of the state of the CAV generated by the CAV’s AMS using information available inside the CAV as assessed by the CAV and received from an external source, e.g., another CAV or Roadside Unit. |
| Data | Information in digital form |
| – Accelerometer | A Data Type representing the acceleration forces acting on a CAV. |
| – Environment | A Data Type representing the Environment such as produced by an Environment Sensing Technology or derived from the Basic or Full Environment Descriptors. |
| – LiDAR | A Data Type representing Data captured by a LiDAR sensor. |
| – Odometer | A Data Type representing the distance from an initial to the current Position measured by the number of wheel rotations times the tire circumference (π x tire diameter). |
| – Offline Map | A Data Type representing the type of Data provided in response to a given set of coordinate values. |
| – RADAR | A Data Type representing the Data captured by a RADAR sensor. |
| – Spatial | A Data Type containing Odometer, Speedometer, Accelerometer, and Inclinometer Data. |
| – Speedometer | A Data Type representing the speed of a CAV as measured by the sensor. |
| – Ultrasound | A Data Type representing the Data provided by an ultrasonic sensor. |
| – Weather | Weather Data is a set of data that includes Temperature, Humidity, Air Pressure, Ice conditions, Wind conditions and water in various states. |
| Decision Horizon | The time interval within which a decision is planned to be implemented. |
| Sensing Technology | (EST) One of the technologies used to sense the environment by the Environment Sensing Subsystem, e.g., Audio, LiDAR, RADAR, Ultrasound, Visual including the Offline Map. |
| Environment Scene Descriptors | A Data Type representing the combination of EST-specific Scene Descriptors (e.g., 2D, 2.5D, or 3D) used by an EST Scene Description in an EST-specific time window. |
| – Basic | (BED) A Data Type representing Environment using information provided by a variety of sensors and including the Scene Description produced by integrating the available Environment Sensing Technologies and Weather Data. |
| – Full | (FED) the Environment Descriptors that extend the Basic Environment Descriptors of the Ego CAV with elements provided by other CAVs in range and CAV-Aware entities, the CAV State and the Road State. |
| Global Navigation Satellite System (GNSS) | A Data Type provided by one of the global navigation systems such as GPS, Galileo, Glonass, BeiDou, Quasi Zenith Satellite System (QZSS) and Indian Regional Navigation Satellite System (IRNSS). |
| – Object | A Data Type composed of GNSS Data and GNSS Qualifier. |
| – Qualifier | A Data Type providing information of GNSS Data, such as Sub-Type, Format, and Attributes. |
| Goal | The Spatial Attitude planned to be reached at the end of a Decision Horizon. |
| Inertial Measurement Unit | An inertial positioning device, e.g., odometer, accelerometer, speedometer, inclinometer, etc. |
| Latitude | A Data Type representing the angular distance of a point on the surface of the Earth placed North or South of the equator measured in degrees. |
| LiDAR | A Data Type representing signals captured by an active time-of-flight sensor operating in the µm range – ultraviolet, visible, or near infrared light (900 to 1550 nm). |
| – Object | A Data Type composed of LiDAR Data and LiDAR Qualifier. |
| – Qualifier | A Data Type providing information of LiDAR Data, such as Sub-Type, Format, and Attributes. |
| Longitude | A Data Type representing the angular distance of a point west of the Greenwich meridian measured in degrees. |
| MAS Subsystem | The CAV Subsystem interpreting AMS-MAS Messages from the AMS; issuing commands and receiving responses from Brakes, Wheel, and Motors; and responding with AMS-MAS Messages to the AMS. |
| Motor | A system activated by the Motion Actuation Subsystem having the function to accelerate a CAV. |
| – Command | A Data Type representing the command issued to a Motor by the Motion Actuation Subsystem after interpreting an AMS-MAS Message. |
| – Response | A Data Type representing the Motor’s response to AMS Command Interpreter in response to a Motor Command. |
| Offline Map | A previously created digital map of an Environment and associated metadata. |
| – Object | A Data Type composed of Offline Map Data and Offline Map Qualifier. |
| – Qualifier | A Data Type providing information of Offline Map Data, such as Sub-Type, Format, and Attributes. |
| Pose | A Data Type representing the Point of View of the CAV as obtained by processing the data from the CAV sensors. |
| RADAR | A Data Type representing signals captured by an active time-of-flight sensor operating in the 24-81 GHz range. |
| – Object | A Data Type composed of RADAR Data and RADAR Qualifier. |
| – Qualifier | A Data Type providing information of RADAR Data, such as Sub-Type, Format, and Attributes. |
| Remote | |
| – AMS | The Autonomous Motion Subsystem of a CAV or CAV-Aware entity in range. |
| – HCI | The Human-CAV Interaction Subsystem of a CAV or CAV-aware entity in range. |
| Road | A portion of the Environment typically used by CAVs for their movements. |
| – Geometry | A Data Type representing the positioning of the physical elements of the roadway, e.g., traffic poles, road signs, traffic lights, etc. |
| – State | A Data Type representing the state of the road the CAV is traversing such as weather, submersion, destruction, pothole and roadwork position, etc. |
| Roadside Unit | A wireless communicating device located on the roadside providing information to CAVs in range. |
| Route | A Data Type representing a sequence of Waypoints. |
| Scene Descriptors | |
| – LiDAR | A Data Type describing the LiDAR Data and produced by the LiDAR Scene Description AIM also using previous Basic Environment Representations. |
| – Offline Map | A Data Type including the objects of a Scene described by an Offline Map. |
| – RADAR | A Data Type representing the Visual Data captured by RADAR and produced by the RADAR Scene Description AIM also using previous Basic Environment Representations. |
| – Ultrasound | A Data Type representing the Visual Data captured by Ultrasound and produced by the Ultrasound Scene Description AIM also using previous Basic Environment Representations. |
| Shape | A Data Type representing the volume occupied by a CAV. |
| Subsystem | One of HCI, ESS, AMS, and MAS. |
| Traffic | |
| – Rules | The Digital Representation of the traffic rules applying to an Environment. |
| – Signals | A Data Type representing the traffic signals on a road and around it, their Spatial Attributes, and the semantics of the traffic signals. |
| Ultrasound | A Data Type representing signals captured by an ultrasonic sensor, an active time-of-flight sensor typically operating in the 40 kHz to 250 kHz range. |
| – Object | A Data Type composed of Ultrasound Data and Ultrasound Qualifier. |
| – Qualifier | A Data Type providing information of Ultrasound Data, such as Sub-Type, Format, and Attributes. |
| Waypoint | The coordinates of a point on an Offline Map. |
| Wheel | A system activated by the Motion Actuation Subsystem having the function to rotate a CAV. |
| – Command | A Data Type representing the command issued to the Steering Wheel by the Motion Actuation Subsystem after interpreting an AMS-MAS Message. |
| – Response | A Data Type representing the Wheel’s response to the AMS Command Interpreter in response to a Direction Command. |
