CAV-TEC V1.0 AIMs Trajectory Planning and Decision

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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.
	AMS-MAS Message	Response from MAS.
	Full Environment Descriptors	From Full Environment Description.
	Route	From Route Selection  Planning.
Produces	Full Environment Descriptors	From Full Environment Description.
	AMS-MAS Message	Message to MAS.
	CAV State	To Full Environment Description and MAS.
	Road State	To Full Environment Description and MAS.
	Alert	To AMS Memory.
	Request	To Route Selection Planning.

2      Reference Architecture

Figure 1 depicts the Reference Architecture of the Trajectory Planning and Decision (CAV-TPD) AIM.

Figure 1 – The Trajectory Planning and Decision (CAV-TPD) AIM

3      I/O Data

Table 1 specifies the Input and Output Data of the Trajectory Planning and Decision (CAV-TPD) AIM.

Table 1 – I/O Data of the Trajectory Planning and Decision (CAV-TPD) AIM

Input	Description
AMS Data	Data collected by AMS Memory.
Alert	Alert message form ESS.
AMS-MAS Message	Response from MAS.
Full Environment Descriptors	From Full Environment Description.
Route	From Route Selection Planning.
Output	Description
Full Environment Descriptors	To Full Environment Description.
AMS-MAS Message	Message to MAS.
CAV State	Update from AMS-MAS Message.
Road State	Update from AMS-MAS Message.
Alert	Alert for storage in AMS Memory
Request	Request for a new Route.

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

The AIMs composing the Trajectory Planning and Decision (CAV-TPD) Composite AIM are:

Composite AIM	AIM	Name	JSON
CAV-TPD	CAV-TPD	Trajectory Planning and Decision	X
	CAV-PSP	Path Selection Planning	X
	CAV-MSP	Motion Selection Planning	X
	CAV-TOA	Traffic Obstacle Avoidance	X

5     JSON Metadata

https://schemas.mpai.community/CAV2/V1.0/AIMs/TrajectoryPlanningAndDecision.json

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