@prefix : . @prefix owl: . @prefix rdf: . @prefix xml: . @prefix xsd: . @prefix rdfs: . @base . rdf:type owl:Ontology ; owl:versionIRI ; owl:imports , ; "New collaborator ()" , "other ()" ; "2026-04-25T12:00:00"^^xsd:dateTime ; "Carlos Utrilla Guerrero, Vicomtech Research Institute (0000-0002-9994-1462)" , "Marcos Nieto Doncel, Vicomtech Research Institute (0000-0002-7853-6708)" , "Nerea Aranjuelo Ansa, Vicomtech Research Institute (0000-0001-9879-0992)" ; "2026-04-25T12:00:00"^^xsd:dateTime ; "https://creativecommons.org/licenses/by/4.0/" ; "https://www.vicomtech.org/en, (https://ror.org/0023sah13)" ; "Resilient Collective Awareness Ontology" ; "rcao" ; "https://www.w3id.org/rcao#" ; "Cite this ontology as: Utrilla Guerrero, C., Aranjuelo Ansa, N., and Nieto Doncel, M., (2026). Resilient Collective Awareness Ontology 0.1.0. https://w3id.org/rcao/0.1.0" ; "https://raw.githubusercontent.com/Vicomtech/rcao/main/rcao/sections/media/rcao-logo.png" ; rdfs:comment "The RCAO aims to provide a common knowledge model of the resilient collective awareness on automated driving domain."@en ; owl:versionInfo "0.1.0" . ################################################################# # Annotation properties ################################################################# ### http://purl.org/dc/terms/author rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/contributor rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/created rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/creator rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/description rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/identifier rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/issued rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/license rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/modified rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/publisher rdf:type owl:AnnotationProperty . ### http://purl.org/dc/terms/title rdf:type owl:AnnotationProperty . ### http://purl.org/vocab/vann/preferredNamespacePrefix rdf:type owl:AnnotationProperty . ### http://purl.org/vocab/vann/preferredNamespaceUri rdf:type owl:AnnotationProperty . ### http://schema.org/citation rdf:type owl:AnnotationProperty . ### http://schema.org/domainIncludes rdf:type owl:AnnotationProperty . ### http://schema.org/logo rdf:type owl:AnnotationProperty . ### http://schema.org/rangeIncludes rdf:type owl:AnnotationProperty . ### http://www.w3.org/2004/02/skos/core#altLabel rdf:type owl:AnnotationProperty . ### http://www.w3.org/2004/02/skos/core#broader rdf:type owl:AnnotationProperty . ### http://www.w3.org/2004/02/skos/core#definition rdf:type owl:AnnotationProperty . ### http://www.w3.org/2004/02/skos/core#example rdf:type owl:AnnotationProperty . ### http://www.w3.org/2004/02/skos/core#historyNote rdf:type owl:AnnotationProperty . ### http://www.w3.org/2004/02/skos/core#inScheme rdf:type owl:AnnotationProperty . ### http://www.w3.org/2004/02/skos/core#prefLabel rdf:type owl:AnnotationProperty . ################################################################# # Object Properties ################################################################# ### http://schema.org/hasPart rdf:type owl:ObjectProperty , owl:TransitiveProperty . ### http://schema.org/isPartOf rdf:type owl:ObjectProperty , owl:TransitiveProperty . ### http://vcd.vicomtech.org/ontology/automotive#hasPart rdf:type owl:ObjectProperty ; rdfs:subPropertyOf . ### http://vcd.vicomtech.org/ontology/automotive#isIn rdf:type owl:ObjectProperty ; rdfs:domain ; rdfs:range ; rdfs:comment "Denots spatial and positional relation of an object within another." . ### http://vcd.vicomtech.org/ontology/automotive#objectOfAction rdf:type owl:ObjectProperty ; rdfs:domain ; rdfs:range ; rdfs:comment "Links an action to the object that is being acted upon." . ### http://vcd.vicomtech.org/ontology/automotive#subjectOfAction rdf:type owl:ObjectProperty ; rdfs:domain ; rdfs:range ; rdfs:comment "Links an action to the object that is performing it." . ### https://www.w3id.org/rcao#contains :contains rdf:type owl:ObjectProperty ; rdfs:subPropertyOf ; rdfs:domain :V2XMessage ; rdfs:range :AwarenessState ; rdfs:comment "Links a V2X message (Container) to the AwarenessState (Content) it carries." . ### https://www.w3id.org/rcao#derivedFrom :derivedFrom rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range [ rdf:type owl:Class ; owl:unionOf ( :AwarenessState :InformationSource ) ] ; rdfs:comment "Links an awareness state to the source or previous state from which it was derived. Decoupled from PROV-O to prevent Entity coercion." . ### https://www.w3id.org/rcao#fusesState :fusesState rdf:type owl:ObjectProperty ; rdfs:subPropertyOf ; rdfs:domain ; rdfs:range :AwarenessState ; rdfs:comment "Explicitly links the process to the specific intermediate states it consumed. Identifies specific awareness states consumed during a fusion or comprehension process." . ### https://www.w3id.org/rcao#hasAwarenessState :hasAwarenessState rdf:type owl:ObjectProperty ; owl:inverseOf :hasSubject ; rdfs:domain ; rdfs:range :AwarenessState ; rdfs:comment "Links a subject to a state of awareness it possesses." . ### https://www.w3id.org/rcao#hasObject :hasObject rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range [ rdf:type owl:Class ; owl:unionOf ( :AwarenessState ) ] ; rdfs:comment "Connects what is being aware of." . ### https://www.w3id.org/rcao#hasOutcome :hasOutcome rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range :InformationSource ; rdfs:comment "Establishes the link of unique Outcomes from different sensors." . ### https://www.w3id.org/rcao#hasResilience :hasResilience rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range :ResilienceAttribute ; rdfs:comment "Associates an awareness state with its quality and trust metrics." . ### https://www.w3id.org/rcao#hasSource :hasSource rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range :InformationSource ; rdfs:comment "Establishes the link of data from different sensors about perceptual awareness." . ### https://www.w3id.org/rcao#hasSourceResilience :hasSourceResilience rdf:type owl:ObjectProperty ; rdfs:domain :InformationSource ; rdfs:range :ResilienceAttribute . ### https://www.w3id.org/rcao#hasSubject :hasSubject rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range ; rdfs:comment "Connects who is aware of what. Identify the Subject (e.g., any instance of prov:Agent that is linked to an rcao:AwarenessState via the rcao:hasSubject property)." . ### https://www.w3id.org/rcao#informs :informs rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range :ComprehensionAwareness ; rdfs:comment "Establishes the flow from lower levels to Comprehension." . ### https://www.w3id.org/rcao#isAwarenessOf :isAwarenessOf rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range owl:Thing ; rdfs:comment "Links an awareness state to the entity it is about." . ### https://www.w3id.org/rcao#justifiedBy :justifiedBy rdf:type owl:ObjectProperty ; rdfs:domain ; rdfs:range :AwarenessState ; rdfs:comment "Causal link to indicate maneuver is caused from awareness state level X." . ### https://www.w3id.org/rcao#runsProcess :runsProcess rdf:type owl:ObjectProperty ; owl:inverseOf ; rdfs:domain ; rdfs:range [ rdf:type owl:Class ; owl:unionOf ( ) ] ; rdfs:comment "Associate Agents (Humans or machines) with the process or action to be undertaken." . ### https://www.w3id.org/rcao#wasComputedBy :wasComputedBy rdf:type owl:ObjectProperty ; rdfs:domain :AwarenessState ; rdfs:range ; rdfs:comment "A customized provenance property. Links a computed AwarenessState to the specific computational Activity (e.g., PerceptionProcess, FusionProcess) that generated it, bypassing strict PROV-O Entity coercion." . ################################################################# # Data properties ################################################################# ### https://www.w3id.org/rcao#hasBrakeStatus :hasBrakeStatus rdf:type owl:DatatypeProperty ; rdfs:domain :ConnectedVehicle ; rdfs:range xsd:boolean ; rdfs:comment "Status of the brakes (Active/Inactive)." . ### https://www.w3id.org/rcao#hasConfidence :hasConfidence rdf:type owl:DatatypeProperty ; rdfs:domain :AwarenessState ; rdfs:range xsd:float . ### https://www.w3id.org/rcao#hasDetectionConfidence :hasDetectionConfidence rdf:type owl:DatatypeProperty ; rdfs:domain :ConnectedVehicle ; rdfs:range xsd:float ; rdfs:comment "Confidence level of the detection." . ### https://www.w3id.org/rcao#hasEventType :hasEventType rdf:type owl:DatatypeProperty ; rdfs:domain :ConnectedVehicle ; rdfs:range xsd:string ; rdfs:comment "Type of event detected." . ### https://www.w3id.org/rcao#hasFusionStrategy :hasFusionStrategy rdf:type owl:DatatypeProperty ; rdfs:domain :AwarenessState ; rdfs:range xsd:string ; rdfs:comment "Describes the logic strategy used by the RCA_Algo (e.g., 'agreement_consolidation')." . ### https://www.w3id.org/rcao#hasGenderBiasScore :hasGenderBiasScore rdf:type owl:DatatypeProperty ; rdfs:domain :GenderBias ; rdfs:range xsd:float ; rdfs:comment "Quantifiable metric representing the severity of the gender bias." . ### https://www.w3id.org/rcao#hasHeading :hasHeading rdf:type owl:DatatypeProperty ; rdfs:domain :ConnectedVehicle ; rdfs:range xsd:float ; rdfs:comment "Heading of the participant." . ### https://www.w3id.org/rcao#hasSpeed :hasSpeed rdf:type owl:DatatypeProperty ; rdfs:domain :ConnectedVehicle ; rdfs:range xsd:float ; rdfs:comment "Speed of the participant." . ### https://www.w3id.org/rcao#hasTimestamp :hasTimestamp rdf:type owl:DatatypeProperty ; rdfs:range xsd:dateTime ; rdfs:comment "The time at which the data was generated or observed." . ### https://www.w3id.org/rcao#hasTrustScore :hasTrustScore rdf:type owl:DatatypeProperty ; rdfs:domain :ResilienceAttribute ; rdfs:range xsd:float ; rdfs:comment "A link of the trust of the value." . ################################################################# # Classes ################################################################# ### http://vcd.vicomtech.org/ontology/automotive#Action rdf:type owl:Class . ### http://vcd.vicomtech.org/ontology/automotive#Context rdf:type owl:Class . ### http://vcd.vicomtech.org/ontology/automotive#Human rdf:type owl:Class ; rdfs:subClassOf , :TrafficParticipant ; rdfs:comment "Represents the human occupant of a vehicle." . ### http://vcd.vicomtech.org/ontology/automotive#Infrastructure rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents the static and intelligent elements of the road environment." . ### http://vcd.vicomtech.org/ontology/automotive#Object rdf:type owl:Class . ### http://vcd.vicomtech.org/ontology/automotive#RoadMarking rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents the painted indications on the road surface." . ### http://vcd.vicomtech.org/ontology/automotive#TrafficControlElement rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents regulatory objects like TrafficSign, TrafficSignal and RoadMarking." . ### http://vcd.vicomtech.org/ontology/automotive#TrafficSign rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents static displays that provide rules, warnings, or directions, while traffic signals are illuminated devices that control traffic flow using colored lights." . ### http://vcd.vicomtech.org/ontology/automotive#TrafficSignal rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment " Represent active and electronic devices that control vehicle and pedestrian movement at intersections, using colored lights to indicate when to stop or go." . ### https://www.w3id.org/rcao#Algorithm :Algorithm rdf:type owl:Class ; rdfs:subClassOf , :InformationSource ; rdfs:comment "Represents the fusion logic agent that consumes input states and produces fused state." . ### https://www.w3id.org/rcao#AmbientCondition :AmbientCondition rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents environmental factors that affect driving including wather as rain, snow, fog, sun or lighting day, dark, gare or roadSurfaceCondition e.g., wet, icy,debris." . ### https://www.w3id.org/rcao#AutomatedDrivingSystem :AutomatedDrivingSystem rdf:type owl:Class ; rdfs:subClassOf , :TrafficParticipant ; rdfs:comment "Represents the Automated Driving System itself." . ### https://www.w3id.org/rcao#AwarenessState :AwarenessState rdf:type owl:Class ; rdfs:subClassOf owl:Thing ; rdfs:comment "Represents the status of awareness relationship, describing a specific subject's awareness of a specific object at a point in time, characterized by resilience attributes." . ### https://www.w3id.org/rcao#BroadcastActivity :BroadcastActivity rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "The specific activity of encoding and transmitting awareness states via V2X messages (CPM, DENM) to other agents." . ### https://www.w3id.org/rcao#Completeness :Completeness rdf:type owl:Class ; rdfs:subClassOf :ResilienceAttribute ; rdfs:comment "Represents the degree of completion of the information." . ### https://www.w3id.org/rcao#ComprehensionAwareness :ComprehensionAwareness rdf:type owl:Class ; rdfs:subClassOf :AwarenessState ; owl:disjointWith :PerceptualAwareness ; rdfs:comment "Level 2: Represents a synthetised understanding of the meaning or significance of perceived information. An instance of this class is typically derived from one or more PerceptualAwareness states. For example, from perceiving a vehicle's position and its brake light status, a Level 2 state can be inferred: 'Subject S is aware that the vehicle ahead is braking hard, constituting a potential hazard'." . ### https://www.w3id.org/rcao#ComprehensionProcess :ComprehensionProcess rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "The activity of synthesizing multiple PerceptualAwareness states and Context to infer meaning or risk (ComprehensionAwareness). Represents the 'Understanding' phase." . ### https://www.w3id.org/rcao#ConnectedVehicle :ConnectedVehicle rdf:type owl:Class ; rdfs:subClassOf :TrafficParticipant ; rdfs:comment "Represents other vehicles equpped with V2x technology, whose state can be inferred from broadcast messages." . ### https://www.w3id.org/rcao#Driver :Driver rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents the human operator whose awareness is critical for safe takovers." . ### https://www.w3id.org/rcao#FusionProcess :FusionProcess rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "A specific process that aggregates multiple AwarenessStates into a single intermediate fused state (PA_Fused)." . ### https://www.w3id.org/rcao#GenderBias :GenderBias rdf:type owl:Class ; rdfs:subClassOf :ResilienceAttribute ; rdfs:comment "Represents the bias with regards to gender of a model. A model is gender biased if the model's performance and/or output is biased against a faction of population based on their gender." . ### https://www.w3id.org/rcao#InformationSource :InformationSource rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents a source of data or information from which an AwarenessState is derived from different sources, enabling traceability and trust assessment. Represents the hardware or service generating data (e.g., sensor:Lidar, v2x:RSU_1)." . ### https://www.w3id.org/rcao#InfrastructureElement :InfrastructureElement rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents intelligent roadside infrastructure such as Roadside Units (RSUs) and smart traffic signals via SPaT, MAP and CPM messages." . ### https://www.w3id.org/rcao#ODD_MonitoringProcess :ODD_MonitoringProcess rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "The activity of monitoring the Operational Design Domain (ODD) limits to trigger fallbacks if boundaries are exceeded (Scenario 7)." . ### https://www.w3id.org/rcao#PerceptionProcess :PerceptionProcess rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "The activity of converting raw sensor data (Lidar, Camera, Eyes) into a structured PerceptualAwareness state (Level 1 SA). Executed by an Agent." . ### https://www.w3id.org/rcao#PerceptualAwareness :PerceptualAwareness rdf:type owl:Class ; rdfs:subClassOf :AwarenessState ; rdfs:comment "Level 1: Represents the direct, uninterpreted perception of an object and its attributes. An instance of this class would assert, for example, 'Subject S is aware of Object O at position (x, y, z) with velocity V." . ### https://www.w3id.org/rcao#PositionalAccuracy :PositionalAccuracy rdf:type owl:Class ; rdfs:subClassOf :ResilienceAttribute ; rdfs:comment "Represents the uncertain in an object´s location as covariance matrix." . ### https://www.w3id.org/rcao#ProjectionAwareness :ProjectionAwareness rdf:type owl:Class ; rdfs:subClassOf :AwarenessState ; rdfs:comment "Level 3:Represents a prediction about the future state of an object or situation derived from Level 2. Subject S is aware that the vehicle ahead is predicted to come to a complete stop in 1.5 seconds at position (x', y', z')." . ### https://www.w3id.org/rcao#ResilienceAttribute :ResilienceAttribute rdf:type owl:Class ; rdfs:subClassOf owl:Thing ; rdfs:comment "Represents a quantificable or qualitative attribute describing the robustness, quality, or trustworthiness of an AwarnessState or InformationSoruce." . ### https://www.w3id.org/rcao#Risk :Risk rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents a formalised assessment of potential dangerous." . ### https://www.w3id.org/rcao#RoadSideUnit :RoadSideUnit rdf:type owl:Class ; rdfs:subClassOf , :InfrastructureElement ; rdfs:comment "Represents intelligent roadside infrastructure capable of V2X communication." . ### https://www.w3id.org/rcao#TemporalFreshness :TemporalFreshness rdf:type owl:Class ; rdfs:subClassOf :ResilienceAttribute ; rdfs:comment "Represents the age of the information." . ### https://www.w3id.org/rcao#TrafficParticipant :TrafficParticipant rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents anything tangible in the environment." . ### https://www.w3id.org/rcao#TrustScore :TrustScore rdf:type owl:Class ; rdfs:subClassOf :ResilienceAttribute ; rdfs:comment "Represents the degree of confidence and trust of the information." . ### https://www.w3id.org/rcao#V2XMessage :V2XMessage rdf:type owl:Class ; rdfs:subClassOf :InformationSource ; rdfs:comment "Represent the data package intelligent road infrastructure emits." . ### https://www.w3id.org/rcao#VulnerableRoadUser :VulnerableRoadUser rdf:type owl:Class ; rdfs:subClassOf ; rdfs:comment "Represents any single real-world entitity as pederastian, cyclist, and other non-motorized road users." . ### Generated by the OWL API (version 5.1.18) https://github.com/owlcs/owlapi/