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Human-CAV Interaction (HCI)
Ego-Remote HCI Message HCI-AMS Message Personal Preferences Personal Profile

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

 

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

 

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