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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 Speech Model Output Audio
Output Visual HCI-AMS Messages Ego-Remote HCI Messages

 

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

 

 

Autonomous Motion Subsystem (AMS)
CAV Identifier Basic Environment Representation Full Environment Representation Ego-RemoteAMS Messages
Offline map Route Path Pose
Trajectory Goal AMS-HCI Message AMS-MAS Message
Road State

 

 

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