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

1 Functions

The Trajectory Planning and Decision (CAV-TPD) AIM:

Receives Basic Offline Map Object The Offline Map.
Full Environment Descriptors From Full Environment Description.
AMS Data From AMS Memory.
Alert From the Environment Sensing Subsystem.
AMS-MAS Message Response From the Motion Actuation Subsystem.
Route Response From Route Selection Planning.
Produces Route Request To Route Selection Planning.
Full Environment Descriptors To AMS Memory.
AMS-MAS Message Request To the Motion Actuation Subsystem.
Path To AMS Memory.
CAV State To Full Environment Description.
Road State To Full Environment Description.
AMS Data To AMS Memory.

From the Route to be driven, the AIM decides how the CAV moves: the Path along the lanes of the Route, the Trajectory of the next seconds along the Path, and that Trajectory refined against obstacles and the state of the road – the AMS-MAS Message the Motion Actuation Subsystem executes.

2 Reference Model

Figure 1 depicts the Reference Model of the Trajectory Planning and Decision (CAV-TPD) AIM.

Figure 1 – The Trajectory Planning and Decision (CAV-TPD) AIM

Figure 1 – The Trajectory Planning and Decision (CAV-TPD) AIM

3 I/O Data

Table 1 specifies the Input and Output Data of the Trajectory Planning and Decision (CAV-TPD) AIM.

Table 1 – I/O Data of the Trajectory Planning and Decision (CAV-TPD) AIM

Input Data Type Description
Basic Offline Map Object Basic Offline Map Object The lanes and junctions the Path follows.
Full Environment Descriptors Full Environment Descriptors The CAV and the objects around it on the map.
AMS Data (optional) AMS Data What the AMS has decided before.
Alert (optional) Alert Something that calls for an immediate reaction.
AMS-MAS Message Response (optional) AMS-MAS Message Response The MAS’s answer: its Spatial Attitude and the Road State.
Route Response Interaction Response The Route to be driven.
Output Data Type Description
Route Request (optional) Interaction Request A segment of the Route that cannot be driven.
Full Environment Descriptors (optional) Full Environment Descriptors The descriptors the decision was taken on.
AMS-MAS Message Request AMS-MAS Message Request The Trajectory to execute, with the Command.
Path (optional) Path The Path selected.
CAV State (optional) CAV State The state of the CAV.
Road State (optional) Road State The state of the road.
AMS Data (optional) AMS Data The record of the decisions.

4 SubAIMs

4.1 Functions of SubAIMs

Table 2 specifies the Functions of the SubAIMs of the Trajectory Planning and Decision (CAV-TPD) AIM.

Table 2 – Functions of the SubAIMs

SubAIM Function
Path Selection Planning From the Route, the Path: the centreline of the CAV’s lane along each segment and through each junction.
Motion Selection Planning From the Path, the Trajectory of the next seconds, following the object ahead and slowing at corners.
Traffic Obstacle Avoidance The Trajectory refined against Alerts, the object ahead and the Road State; the AMS-MAS Message.

4.2 Operation

Route Selection Planning gives the Route to be driven as a Route Response. Path Selection Planning gives the Path to Motion Selection Planning as a Path Response; a Route that cannot be driven is sent back as a Route Request.

For each Full Environment Descriptors instance, Motion Selection Planning gives the Trajectory of the next seconds along the Path to Traffic Obstacle Avoidance, which refines it and issues the AMS-MAS Message Request to the Motion Actuation Subsystem. The MAS’s AMS-MAS Message Response – its Spatial Attitude and the Road State – bounds the next refinements.

Every decision is given to AMS Memory with the Full Environment Descriptors it was taken on.

4.3 I/O Data of SubAIMs

Table 3 specifies the Input and Output Data of the SubAIMs.

Table 3 – I/O Data of the SubAIMs

SubAIM Input Output
Path Selection Planning Basic Offline Map Object – Basic Offline Map Object
Full Environment Descriptors – Full Environment Descriptors
AMS Data – AMS Data
Route Response – Interaction
Path Request – Interaction		 Route Request – Interaction
Path Response – Interaction
Path – Path
Motion Selection Planning Full Environment Descriptors – Full Environment Descriptors
AMS Data – AMS Data
Path Response – Interaction
Trajectory Request – Interaction		 Path Request – Interaction
Trajectory Response – Interaction
Trajectory – Trajectory
Traffic Obstacle Avoidance Full Environment Descriptors – Full Environment Descriptors
Trajectory – Trajectory
AMS Data – AMS Data
Alert – Alert
AMS-MAS Message Response – AMS-MAS Message		 Full Environment Descriptors – Full Environment Descriptors
AMS-MAS Message Request – AMS-MAS Message
AMS Data – AMS Data
Road State – Road State
CAV State – CAV State
Alert – Alert
Trajectory Request – Interaction

4.4 AIMs and JSON Metadata

Table 4 gives the AIMs and their JSON Metadata.

Table 4 – AIMs and JSON Metadata

AIM Name JSON
CAV-TPD Trajectory Planning and Decision TrajectoryPlanningAndDecision.json
CAV-PSP Path Selection Planning PathSelectionPlanning.json
CAV-MSP Motion Selection Planning MotionSelectionPlanning.json
CAV-TOA Traffic Obstacle Avoidance TrafficObstacleAvoidance.json

5 JSON Metadata

https://schemas.mpai.community/CAV2/V2.0/AIMs/TrajectoryPlanningAndDecision.json

6 Profiles

No Profiles.

7 Reference Software

The reference software runs Path Selection Planning, Motion Selection Planning and Traffic Obstacle Avoidance as one composite, continuously. It is part of the reference software of CAV-TEC V2.0 (see N4195, An introduction to the reference software): C# on .NET 10, released under the BSD 3-Clause licence, obtained from MPAI.

Tested with the Autonomous Motion Subsystem, Stage 1, end to end.

8 Conformance Testing

Table 5 provides the Conformance Testing Method for the Trajectory Planning and Decision (CAV-TPD) AIM: the data it receives and produces. If a schema references other schemas, conformance of data for the primary schema implies that data referencing a secondary schema shall also validate against that schema, if present, and conform with the Qualifier, if present.

Table 5 – Conformance Testing Method for the Trajectory Planning and Decision (CAV-TPD) AIM

Receives Basic Offline Map Object Shall validate against the Basic Offline Map Object schema.
Full Environment Descriptors Shall validate against the Full Environment Descriptors schema.
AMS Data Shall validate against the AMS Data schema.
Alert Shall validate against the Alert schema.
AMS-MAS Message Response Shall validate against the AMS-MAS Message schema.
Interaction Response Shall validate against the Interaction schema.
Produces Interaction Request Shall validate against the Interaction schema.
Full Environment Descriptors Shall validate against the Full Environment Descriptors schema.
AMS-MAS Message Request Shall validate against the AMS-MAS Message schema.
Path Shall validate against the Path schema.
CAV State Shall validate against the CAV State schema.
Road State Shall validate against the Road State schema.
AMS Data Shall validate against the AMS Data schema.

9 Performance Assessment