1 Functions
The CAV-MSP AIM:
- Receives Full Environment Descriptors, Path, and Road State.
- Produces Trajectory and Road State.
2 Reference Architecture
Figure 1 depicts the Reference Architecture of the Motion Selection Planning AIM.
Figure 1 – The Motion Selection Planning 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 Motion Selection Planning AIM
| Input | Description |
| Full Environment Description | Provided by CAV-FED AIM. |
| Path | From Path Selection Planning. |
| Road State | From Motion Selection Planning. |
| Output | Description |
| Road State | To Path Selection Planning and Full Environment Description. |
| Trajectory | Passed to the Motion Selection Planning AIM. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V1.0/AIMs/MotionSelectionPlanning.json
6 Profiles
No Profiles
