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1     Functions

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

Receives AMS Data Data collected by AMS Memory.
Alert Alert message form ESS..
CAV State From AMS-MAS Message Issuance.
Road State From AMS-MAS Message Issuance.
Full Environment Descriptors From Full Environment Description.
Route From Route Selection  Planning.
Produces Trajectory (TOA) From Traffic Obstacle Avoider.
Trajectory (MSP) From Motion Selection Planning.
Path From Path Selection Planning.

2      Reference Architecture

Figure 1 depicts the Reference Architecture of the Traffic Obstacle Avoidance AIM.

Figure 1 – The Traffic Obstacle Avoidance AIM

3      I/O Data

Table 1 specifies the Input and Output Data of the Motion Selection Planning AIM.

Table 1 – I/O Data of the Traffic Obstacle Avoidance AIM

Input Description
AMS Data Data collected by AMS Memory.
Alert Alert message form ESS.
CAV State CAV State.
Road State From AMS Command Issuance.
Full Environment Descriptors From Full Environment Description.
Route From Route Selection  Planning.
Output Description
Alert Alert for storage in AMS Memory
Trajectory (TOA) From Traffic Obstacle Avoider.
Trajectory (MSP) From Motion Selection Planning.
Path From Path Selection Planning.

4      SubAIMs

Trajectory Planning and Decision (CAV-TPD) AIM is a Composite AIM whose reference Model is depicted in Figure 2.

Figure 2 – Reference Model of Trajectory Planning and Decision (CAV-TPD) Composite AIM

5     JSON Metadata

https://schemas.mpai.community/CAV1/V1.1/AIMs/TrajectoryPlanningAndDecision.json

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