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1 Human-CAV Interaction
| Types | Formats and Attributes | Requests to Respondents |
| Personal Preferences | The following Data Formats are identified:
– Language Preference. – Seat position. – Mirror position. – Display characteristics. – Preferred driving style. – Preferred routes. |
Respondents are invited to:
1. Comment and elaborate on or extend the functional requirements of the Personal Preferences identified above. 2. Propose representation formats of the Personal Preferences. 3. Propose new Personal Preferences and their formats.
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| Personal Profile | No Data Formats involved, save for Text for which MPAI has selected ISO/IEC 10646. | MPAI requests comments on the Functional Requirements of Personal Profile. |
| Input Text | No new Data Formats required. |
Respondents are invited to comment or elaborate on the MPAI selection of Text. |
| Spatial Attitude | Object Types, Media Types, and Coordinate Types are required. | Respondents are requested to comment on Functional Requirements and Object Type ID, Media Type ID, and Coordinate Type ID |
| Point of View | Object Types, Media Types, and Coordinate Types are required. | Respondents are requested to comment on Functional Requirements and Object Type ID, Media Type ID, and Coordinate Type ID. |
| Audio Object | Audio Object requires the specification of
1. Audio Formats 2. Audio Attributes 3. Audio Attribute Formats.
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MPAI advises Respondents that that the Audio Object Functional Requirements have been developed considering the needs of the various application domains of its Technical Specifications. The current draft specification supports them all. An application not needing some functionalities is allowed to drop them.
MPAI requests: 1. Comments on Functional Requirements and their support by the JSON Syntax. 2. Comments on existing Audio Formats, Attributes, and Attribute Formats and Proposal for new entries. |
| Visual Object | Visual Object requires the specification of
1. Visual Formats 2. Visual Attributes 3. Visual Attribute Formats.
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MPAI advises Respondents that that the Visual Object Functional Requirements have been developed considering the needs of the various application domains of its Technical Specifications. The current draft specification supports them all. An application not needing some functionalities is allowed to drop them.
MPAI requests: 3. Comments on Functional Requirements and their support by the JSON Syntax. 4. Comments on existing Visual Formats, Attributes, and Attribute Formats and Proposal for new entries. |
| Audio-Visual Object | Audio-Visual Object requires the specification of
1. Audio-Visual Formats 2. Audio-Visual Attributes 3. Audio-Visual Attribute Formats. |
MPAI requests:
1. Comments on Functional Requirements and their support by the JSON Syntax. 2. Comments on existing Audio-Visual Formats, Attributes, and Attribute Formats and Proposal for new entries. |
| Audio-Visual Basic Scene Descriptors | No new Data Formats
|
Respondents are invited to:
1. Comment or elaborate on the Functional Requirements. 2. Propose extensions to or alternative formats For the Audio-Visual Basic Scene Descriptors. |
| Audio-Visual Scene Descriptors | No new Data Formats
|
Respondents are invited to:
1. Comment or elaborate on the Functional Requirements. 2. Propose extensions to or alternative formats for the Audio-Visual Scene Descriptors. |
| Audio Scene Descriptors | The Audio Scene Description AIM receives Audio Data, Spatial Attitude from MAS, and a portion of a prior Basic Environment Representation and provides Audio Scene Descriptors. | Respondents are requested to propose functional requirements of Audio Scene Descriptors that provide the information identified in 6.6.8.2. |
| Visual Scene Descriptors | The Visual Scene Description AIM
1. Receives the Spatial Attitude from MAS 2. Retrieves the current Spatial Attitude. 3. Receives or retrieves a specified subset of a prior Basic Environment Representation 4. Provides Visual Scene Descriptors, a machine-readable description of the Visual Scene’s: 1. Spatial Attitudes of the Visual Objects. 2. Visual Objects. |
Respondents are requested to propose functional requirements of Visual Scene Descriptors that provide the information identified in 6.6.8.2.
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| Body Descriptors | Body Descriptors.
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Respondents are invited to:
1. Comment or elaborate on the MPAI Body Descriptors. 2. Propose extensions to the identified technologies. 3. Propose new technologies. |
| Face Descriptors | Action Units are a Data Format.
|
Respondents are invited to:
1. Comment or elaborate on the MPAI Face Descriptors. 2. Propose extensions to the identified technologies or new ones. |
| Face ID | Instance ID is one Data Format.
|
Respondents are invited to:
1. Comment or elaborate on the MPAI Instance ID format for Face Identifier. 2. Propose extensions to the identified technologies or new ones. |
| Speaker ID | Instance ID is one Data Format. | Respondents are invited to:
1. Comment or elaborate on the MPAI Instance ID format for Speaker Identifier. 2. Propose extensions to the identified technologies or new ones. |
| Audio Object ID | Instance ID is one Data Format. | Respondents are invited to:
1. Comment or elaborate on the MPAI Instance ID format. 2. Propose extensions to the identified technologies or new ones. |
| Visual Object ID | Instance ID is one Data Format. | Respondents are invited to:
1. Comment or elaborate on the MPAI Instance ID format. 2. Propose extensions to the identified technologies or new ones. |
| Meaning | Text Descriptors as Meaning specified above are a format for a specific type of Descriptors. | Respondents are invited to:
1. Comment or elaborate on the MPAI specification of Text Descriptors as Meaning. 2. Propose extensions to it or a new specification. |
| Personal Status | Respondents are invited to:
1. Comment or elaborate on the MPAI Personal Status format. 2. Propose extensions of the labels or new sets of labels for the Factors, or new technologies. |
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| Avatar Model | An Avatar Format can be expressed as a glTF data file.
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5.5.21.6 To Respondents
Respondents are invited to: 1. Comment or elaborate on the MPAI-specified technologies identified in this subsection. 2. Propose extensions to the identified technologies or new ones. |
| Speech Model | No entry here.
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Respondents are requested to:
1. Comment on the characterisation of Speech Model. 2. Propose Speech Model Formats. |
| Output Audio | Data Formats and Attributes are required. | Proposals of Formats and Attributes are requested. |
| Output Visual | Data Formats and Attributes are required. | Proposals of Formats and Attributes are requested. |
| HCI-AMS Messages | No Format required.
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Respondents are invited to:
1. Comment or elaborate on the Functional Requirements of the HCI-AMS Messages identified above. 2. Extend the list of Functional Requirements. |
| Ego-Remote HCI Messages | MPAI has defined U-Location as a spatial volume in the Universe.
The payload of a Generic Message may have other formats.
|
Respondents are invited to:
1. Comment or elaborate on the functional requirements identified E-HCI to R-HCI message above. 2. Propose Data Formats of U-Location and Generic Message. |
2 Environment Sensing Subsystem
| Types | Formats and Attributes | Requests to Respondents |
| Input Audio | Input Audio requires:
1. Audio Format. 2. Audio Attribute Format.
|
Respondents are invited to:
1. Comment or elaborate on the relevance and applicability of the above-mentioned three standards to CAV. 2. Comment on the Functional Requirements. 3. Propose motivated Functional Requirements for an Audio Array Format suitable to create a 3D sound field representation of the Environment for the stated purposes. 4. Propose Data Formats and Attributes for use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA). |
| Input Visual | Input Visual required the following Formats:
1. Visual Format 2. Visual Attribute 3. Visual Attribute Format |
Respondents are invited to:
1. Comment Functional Requirements or propose new ones. 2. Comment on and propose formats (2D, 2D+ depth, or 3D visual sensors) use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA). |
| RADAR Data | Input RADAR requires:
1. RADAR Format. 2. RADAR Attribute Format. |
Respondents are invited to:
1. Identify functional requirements of the output data produced by RADAR sensors for indoor/outdoor (cabin) use. 2. Propose Data Formats and Attributes for use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA). |
| Input LiDAR | Input LiDAR requires:
1. LiDAR Format. 2. LiDAR Attribute Format. |
Respondents are invited to:
1. Comment or extend the functional requirements of the data produced by LiDAR sensors for indoor/outdoor (cabin) use. |
| Ultrasound Data | Ultrasound Data Formats are required | Respondents are invited to:
1. Comment or elaborate on the functional requirements of Ultrasound images formats with the goal of achieving tracking and representation of objects for the Ultrasound Scene Description. 2. Propose Data Formats and Attributes for use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA). |
| GNSS Data | Some data formats are:
1. GPS Exchange Format (GPX): an XML schema providing a common GPS data format that can be used to describe waypoints, tracks, and routes. 2. Environment Geodetic System (WGS): definition of the coordinate system’s fundamental and derived constants, the ellipsoidal (normal) Earth Gravitational Model (EGM), a description of the associated Environment Magnetic Model (WMM), and a current list of local datum transfor¬mations. 3. International GNSS Service (IGS) SSR: format used to disseminate real-time products to support the IGS (igs.org) Real-Time Service. The messages support multi-GNSS and include corrections for orbits, clocks, DCBs, phase-biases and ionospheric delays. Extensions are planned to also cover satellite attitude, phase centre offsets and variations and group delay variations. |
Respondents are requested to:
1. Comment on the functional requirements. 2. Propose Data Formats and Attributes for use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA). |
| Offline Map Data | Several Data Formats are used in practice.
|
Respondents are requested to:
1. Comment on the functional requirements of the Offline Map Data Format to support the most common offline map formats. 2. Propose Data Formats and Attributes for use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA). |
| Audio-Visual Scene Descriptors | No new Data Formats
|
Respondents are invited to:
1. Comment or elaborate on the Functional Requirements. 2. Propose extensions to or alternative formats for the Audio-Visual Scene Descriptors. |
| Visual Scene Descriptors | The Visual Scene Description AIM
5. Receives the Spatial Attitude from MAS 6. Retrieves the current Spatial Attitude. 7. Receives or retrieves a specified subset of a prior Basic Environment Representation 8. Provides Visual Scene Descriptors, a machine-readable description of the Visual Scene’s: 3. Spatial Attitudes of the Visual Objects. Visual Objects. |
Respondents are requested to propose functional requirements of Visual Scene Descriptors that provide the information identified in 6.6.8.2.
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| Lidar Scene Descriptors | Respondents are requested to propose functional requirements of LiDAR Scene Descriptors that provide the information identified in 6.6.8.2. | |
| RADAR Scene Descriptors | Respondents are requested to propose functional requirements of RADAR Scene Descriptors that provide the information identified in 6.6.8.2. | |
| Ultrasound Scene Descriptors | Respondents are requested to propose functional requirements of Ultrasound Scene Descriptors that provide the information identified in 6.6.8.2. | |
| Offline Maps Scene Descriptors | Respondents are requested to propose functional requirements of Offline Map Scene Descriptors that provide the information identified in 6.6.8.2. | |
| Audio Scene Descriptors | The Audio Scene Description AIM receives Audio Data, Spatial Attitude from MAS, and a portion of a prior Basic Environment Representation and provides Audio Scene Descriptors. | Respondents are requested to propose functional requirements of Audio Scene Descriptors that provide the information identified in 6.6.8.2. |
| Traffic Signal Descriptors | Traffic Signal Descriptors are Attributes of the Audio-Visual Scene’s Objects. | Respondents are requested to:
1. Comment on, extend, or reformulate the Functional Requirements. 2. Comment on the use MPAI Object and Space Descriptors for Traffic Signal Descriptors needs. 3. Propose alternative Traffic Signal Descriptors solutions. |
| Basic Environment Representation | Respondents are requested to comment on the functional partitioning of Basic and Full Environment Representation. | |
| Alert |
3 Autonomous Motion Subsystem
| Types | Formats and Attributes | Requests to Respondents |
| CAV Identifier | None known.
|
Respondents are requested to:
1. Comment, or extend, or reformulate the functional requirements. 2. Propose Data Formats and Attributes. |
| Basic Environment Representation | Respondents are requested to comment on the functional partitioning of Basic and Full Environment Representation. | |
| Full Environment Representation | The Format of M-Location Data is required.
|
Respondents are invited to:
1. Comment or elaborate on the AMS-Remote AMS message functional requirements identified above. 2. Propose Formats of M-Location Data and Attributes. |
| Ego-RemoteAMS Messages | The Format of M-Location Data is required. | Respondents are invited to:
1. Comment or elaborate on the AMS-Remote AMS message functional requirements identified above. 2. Propose Formats of M-Location Data and Attributes. |
| Offline map | Several Data Formats are used in practice. | Respondents are requested to:
1. Comment on the functional requirements of the Offline Map Data Format to support the most common offline map formats. 2. Propose Data Formats and Attributes for use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA). |
| Route | No Formats required, | Respondents are requested to propose Messages and their Semantics. |
| Path | No Formats required | Respondents are invited to comment or elaborate on the Functional Requirements identified above. |
| Pose | ||
| Trajectory | Respondents are requested to formulate functional requirements of Trajectory. | |
| Goal | ||
| AMS-HCI Message | No Formats required,
|
Respondents are requested to propose Messages and their Semantics. |
| AMS-MAS Message | No Formats required.
|
Respondents are requested to comment on or extend or reformulate the functional requirements of the AMS-MAS Message. |
| Road State | Traffic Flow Format is required. | Respondents are requested to:
1. Comment on, extend, or reformulate the functional requirements of Road State. 2. Propose Traffic Flow Format and any other Format. |
4 Motion Actuation Subsystem
| Types | Formats and Attributes | Requests to Respondents |
| Odometer Data | ||
| Speedometer Data | ||
| Accelerometer Data | ||
| Spatial Attitude | Respondents are requested to comment on the use of the MPAI-specified Spatial Attitude for CAV purposes or to propose the coding of alternative functional requirements for the said set of data, and to comment on the Spatial Attitude specification or to propose a different definition. | |
| Other Environment Data | ||
| MAS-AMS Message | No Formats required. | |
| Brake Command | Brake Format is required. | Respondents are requested to propose Brake Format IDs. |
| Brakes Response | Brake Format is required. | Respondents are requested to propose Brake Format IDs. |
| Steering Wheel Command | Steering Wheel Format is required. | Respondents are requested to propose Steering Wheel Format IDs. |
| Steering Wheels Response | Steering Wheel Format is required. | Respondents are requested to propose Steering Wheel Format IDs. |
| Wheel Motor Command | Wheel Motor Format is required. | Respondents are requested to propose Wheel Motor Format IDs. |
| Wheel Motors Response | Wheel Motor Format is required. | Respondents are requested to propose Wheel Motor Format IDs. |
