1       Definition

A Message sent by:

  1. The AMS to the MAS requesting it to move the CAV along the specified Trajectory.
  2. The MAS by the MAS informing it about the execution of the last AMS-MAS Message.

2       Functional Requirements

The AMS-MAS Message sent to the MAS contains the following data requesting that the MAS move the CAV along a Trajectory:

  1. Trajectory
  2. One of the two Actions:
    1. Execute the Trajectory to change the CAV’s Spatial Attitude SAA at time tA to Spatial Attitude SAB at time tB.
    2. Suspend the Execute Action.

Upon receiving an AMS-MAS Message, the MAS implements the requests and may issue a series of AMS-MAS Messages at intermediate Positions containing

  1. Current Time
  2. CAV Spatial Attitude derived from MAS-internal sensors.
  3. Road State in case of serious misalignment between the expected and the actual Spatial Attitude at the current Time, such as caused by Ice Conditions and Submersion.
  4. CAV State

informing the AMS about the progress in the execution of the AMS-MAS Message.

3       Syntax

https://schemas.mpai.community/CAV2/V1.1/data/AMSMASMessage.json

4       Semantics

Label Description
Header AMS-MAS Message Header – Standard “CAV-AMM-V”
AMSMASMessageID Identifier of AMS-MAS Message.
AMSMessage Data in AMS-MAS Message.
– Time Duration the Message applies to.
– Trajectory Trajectory to be executed.
– Command One of Execute, Suspend, Resume, Change.
MASMessage Data in AMS-MAS Message.
– RoadState Current Road State.
– CAVState Current CAV State.
DescrMetadata Descriptive Metadata