CAV-TEC V2.0 AIMs – Traffic Obstacle Avoidance

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Functions
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	From the Environment Sensing Subsystem.
	AMS-MAS Message Response	From the Motion Actuation Subsystem.
Produces	Full Environment Descriptors	To AMS Memory.
	AMS-MAS Message Request	To the Motion Actuation Subsystem.
	AMS Data	To AMS Memory.
	Road State	To Full Environment Description.
	CAV State	To Full Environment Description.
	Alert	To AMS Memory.
	Trajectory Request	To Motion Selection Planning.

The AIM refines each Trajectory where an Alert has come recently, or where the object ahead in the CAV’s lane would be reached too soon: the deceleration that stops the closing before the gap falls below a minimum, at least the Trajectory’s own and at most an emergency one, held over the Trajectory. The result is the AMS-MAS Message, with the Command Execute and the CAV’s Spatial Attitude of the latest Full Environment Descriptors – GNSS and the MAS’s own estimate combined – from which the MAS follows the Trajectory.

With the answer of the Motion Actuation Subsystem: on a road whose friction the Road State estimates, no deceleration beyond what it gives, and no faster than the CAV can still stop behind the object ahead.

2 Reference Model

Figure 1 depicts the Reference Model of the 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	Data Type	Description
Full Environment Descriptors	Full Environment Descriptors	The object ahead in the CAV’s lane.
Trajectory	Trajectory	The Trajectory to refine.
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: the Road State.
Output	Data Type	Description
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, the CAV’s Spatial Attitude, and the Command Execute.
AMS Data (optional)	AMS Data	The record of the decision.
Road State (optional)	Road State	The state of the road, as the MAS estimates it.
CAV State (optional)	CAV State	The state of the CAV.
Alert (optional)	Alert	The Alert acted on.
Trajectory Request (optional)	Interaction Request	A request for a new Trajectory.

4 SubAIMs

No SubAIMs.

5 JSON Metadata

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

6 Profiles

No Profiles.

7 Reference Software

The reference software refines the Trajectory where an Alert came recently or the object ahead would be reached within a time to collision, within the friction the Road State estimates, and sends it with the CAV’s Spatial Attitude of the latest Full Environment Descriptors. 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: obstacles avoided; with the Motion Actuation Subsystem on icy stretches.

8 Conformance Testing

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

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

9 Performance Assessment