Functions
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance
1 Functions
The Path Selection Planning (CAV-PSP) AIM:
| Receives | Basic Offline Map Object | The Offline Map. |
| Full Environment Descriptors | From Full Environment Description. | |
| AMS Data | From AMS Memory. | |
| Route Response | From Route Selection Planning. | |
| Path Request | From Motion Selection Planning. | |
| Produces | Route Request | To Route Selection Planning. |
| Path Response | To Motion Selection Planning. | |
| Path | To AMS Memory. |
From the Route, the AIM gives the Path: the centreline of the CAV’s lane along each segment and through each junction, as a Point of View every 5 m, its heading the direction of travel. The Path is given to Motion Selection Planning as the Response of an Interaction, and as a Path to AMS Memory. The lane is kept; lane changes are for a later version.
2 Reference Model
Figure 1 depicts the Reference Model of the Path Selection Planning (CAV-PSP) AIM.
Figure 1 – The Path Selection Planning (CAV-PSP) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the Path Selection Planning (CAV-PSP) 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 | Where the CAV is on the map. |
| AMS Data (optional) | AMS Data | What the AMS has decided before. |
| Route Response | Interaction Response | The Route to be driven. |
| Path Request (optional) | Interaction Request | A request for a new Path. |
| Output | Data Type | Description |
| Route Request (optional) | Interaction Request | A segment of the Route that cannot be driven. |
| Path Response | Interaction Response | The Path, on which a Trajectory is planned. |
| Path | Path | The Path selected. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V2.0/AIMs/PathSelectionPlanning.json
6 Profiles
No Profiles.
7 Reference Software
The reference software gives the centreline of the CAV’s lane along each segment and through each junction, a Point of View every 5 m; lane changes are for a later stage. 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: the Path from the Route.
8 Conformance Testing
Table 2 provides the Conformance Testing Method for the Path Selection Planning (CAV-PSP) 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.
| 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. | |
| Interaction Response | Shall validate against the Interaction schema. | |
| Interaction Request | Shall validate against the Interaction schema. | |
| Produces | Interaction Request | Shall validate against the Interaction schema. |
| Interaction Response | Shall validate against the Interaction schema. | |
| Path | Shall validate against the Path schema. |
