CAV-TEC V1.1 AIMs Traffic Obstacle Avoidance

Function
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance

1 Functions

The Traffic Obstacle Avoidance (CAV‑TOA) AIM:

Receives	Full Environment Descriptors	From Full Environment Description.
	Trajectory	From Motion Selection Planning.
	AMS Data	From AMS Memory.
	Alert	Alert message from AMS.
	AMS‑MAS Message	Message from MAS.
Produces	Full Environment Descriptors	To Full Environment Description.
	Road State	To Full Environment Description.
	CAV State	To Full Environment Description.
	AMS‑MAS Message	Message to MAS.
	Alert	To AMS Memory.
	Interaction	To Motion Selection Planning.

2 Reference Model

Figure 1 depicts the Reference Model of the Traffic Obstacle Avoidance (CAV‑TOA) AIM.

Traffic Obstacle Avoidance CAV-TOA AIM

Figure 1 – The Traffic Obstacle Avoidance (CAV‑TOA) AIM

3 I/O Data

Table 1 specifies the Input and Output Data of the Traffic Obstacle Avoidance (CAV‑TOA) AIM.

Table 1 – I/O Data of the Traffic Obstacle Avoidance (CAV‑TOA) AIM

Input	Description
Full Environment Descriptors	Provided by the Full Environment Description AIM.
Trajectory	From Motion Selection Planning.
AMS Data	From AMS Memory.
Alert	From ESS.
AMS‑MAS Message	Message from MAS.
Output	Description
Full Environment Descriptors	FED updated based on AMS‑MAS Message received from MAS.
AMS‑MAS Message	Message to MAS.
Road State	From AMS‑MAS Message response.
CAV State	From AMS‑MAS Message response.
Alert	To AMS Memory.
Interaction	Request for a new Trajectory.

4 SubAIMs

No SubAIMs.

5 JSON Metadata

https://schemas.mpai.community/CAV2/V1.1/AIMs/TrafficObstacleAvoidance.json

6 Profiles

No Profiles.

7 Reference Software

Not part of this specification.

8 Conformance Testing

Table 2 provides the Conformance Testing Method for the Traffic Obstacle Avoidance (CAV‑TOA) AIM.

If a schema contains references to other schemas, conformance of data for the primary schema implies that any data referencing a secondary schema shall also validate against the relevant schema, if present, and conform with the Qualifier, if present.

Table 2 – Conformance Testing Method for the Traffic Obstacle Avoidance (CAV‑TOA) AIM

Receives	Full Environment Descriptors	Shall validate against Full Environment Descriptors schema.
	Trajectory	Shall validate against Trajectory schema.
	AMS Data	Shall validate against AMS Data schema.
	Alert	Shall validate against Alert schema.
	AMS‑MAS Message	Shall validate against AMS‑MAS Message schema.
Produces	Full Environment Descriptors	Shall validate against Full Environment Descriptors schema.
	AMS‑MAS Message	Shall validate against AMS‑MAS Message schema.
	Road State	Shall validate against Road State schema.
	CAV State	Shall validate against CAV State schema.
	Alert	Shall validate against Alert schema.
	Interaction	Shall validate against Interaction schema.

9 Performance Assessment