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Human-CAV Interaction (HCI)
Personal Preferences Personal Profile Input Text Spatial Attitude
Point of View Audio Object Visual Object Audio-Visual Object
Audio-Visual Basic Scene Descriptors Audio-Visual Scene Descriptors Audio Scene Descriptors Visual Scene Descriptors
Body Descriptors Face Descriptors Face ID Speaker ID
Audio Object ID Visual Object ID Meaning Personal Status
Avatar Model Speech Model Output Audio Output Visual
Ego-Remote HCI Message HCI-AMS Message

 

Environment Sensing Subsystem (ESS)
Input Audio Input Visual Input RADAR Input LiDAR
Input Ultrasound Input GNSS Offline Map Data Audio Scene Descriptors
Visual Scene Descriptors RADAR Scene Descriptors Lidar Scene Descriptors Ultrasound Scene Descriptors
Offline Map Scene Descriptors Traffic Signal Descriptors Basic Environment Descriptors Alert

 

Autonomous Motion Subsystem (AMS)
CAV Identifier Basic Environment Descriptors Full Environment Descriptors AMS-HCI Message
Path Pose Trajectory HCI-AMS Message
Route Goal Road State Ego-Remote AMS Message

 

Motion Actuation Subsystem (MAS)
Odometer Data Speedometer Data Accelerometer Data Spatial Attitude
Other Environment Descriptors MAS-AMS Message Brake Command Brake Response
Steering Command Steering Response Motor Command Motor Response