1 Functions
The Motion Selection Planning (CAV-MSP) AIM:
| Receives | Full Environment Descriptors | From Full Environment Description. |
| AMS Data | CAV Data from AMS Memory. | |
| Path | From Path Selection Planning. | |
| Request | From Traffic Obstacle Avoidance. | |
| Produces | Trajectory | To Traffic Obstacle Avoidance and AMS Memory. |
| Request | To Path Selection Planning. |
2 Reference Architecture
Figure 1 depicts the Reference Architecture of the Motion Selection Planning (CAV-MSP) AIM.
Figure 1 – The Motion Selection Planning (CAV-MSP) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the Motion Selection Planning (CAV-MSP) AIM.
Table 1 – I/O Data of the Motion Selection Planning (CAV-MSP) AIM
| Input | Description |
| Full Environment Descriptors | From Full Environment Description AIM. |
| AMS Data | From AMS Memory. |
| Path | From Path Selection Planning AIM. |
| Request | Request for a new Trajectory. |
| Output | Description |
| Trajectory | Passed to the Traffic Obstacle Avoidance AIM. |
| Request | Request for a new Path. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV1/V1.1/AIMs/MotionSelectionPlanning.json
6 Profiles
No Profiles
