1   Definition

A messages exchanged between the Ego CAV’s Human-CAV Interaction Subsystem (HCI) and the Autonomous Motion Subsystem (AMS).

2   Functional Requirements

HCI sends HCI Message to AMS  requesting to:

  1. Send
    1. A Route connecting the current and the destination Poses, possibly including intermediate Poses and desired Times. Poses refer to a Offline Map.
    2. The selected Route as a result of an exchange of Routes between HCI and AMS.
    3. One of the following Commands:
      1. Execute a Route.
      2. Suspend a Route.
      3. Resume a Route.
      4. Change a Route.
      5. Stop a Route.
  2. Request to stream the M-Location corresponding to the human-specified U-Location via Point of View.

AMS sends AMS Message to HCI to:

  1. List of Route options in response to an HCI-AMS Message requesting it.
  2. Information, such as:
    1. Road State.
    2. CAV State.
    3. Failure ID of equipment.

The message set is extensible.

3   Syntax

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

4   Semantics

Label Description
Header AMS-HCI Message Header – Standard “CAV-AHM-Vx.y”
AMSHCIMessageID Identifier of AMS-HCI Message.
HCIMessage Data in HCI to AMS Message from issuing CAV.
– RequestedRoutes[] Requested Route with Stops
  – Route A Requested Route
  – OfflineMapID Reference Offline  Map ID
– SelectedRouteID ID of selected Route
– RouteCommands “Execute”, “Suspend”, “Resume”, “Change”, “Stop”
– StreamPointOfView Coordinates of Point from where to watch environment.
– ULocation U-Location from which passenger wishes to see from Point of View
AMSMessage Data in AMS to HCI Message to receiving CAV.
– RouteList List of Routes
– FailureID CAV Failure ID one 0f Battery low, Mechanics.
– CAVState CAV State information.
– RoadState Road State information.
DataXMData Information about this AMS-HCI Instance.
DescrMetadata ID of AMS Messages