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
6 Profiles
No Profiles