1 Definition
AMS-HCI Messages are exchanged between the Ego CAV Human-CAV Interaction Subsystem (HCI) and the Autonomous Motion Subsystem (AMS).
2 Functional Requirements
HCI sends Messages requesting the AMS to:
- Send
- A Route connecting the current and the destination Poses, possibly including intermediate Poses and desired Times. Poses refer to a Offline Map.
- The selected Route as a result of an exchange of Routes between HCI and AMS.
- One of the following Commands:
- Execute a Route.
- Suspend a Route.
- Resume a Route.
- Change a Route.
- Stop a Route.
- Request to stream the M-Location corresponding to the U-Location specified by the human via Point of View.
AMS sends AMS-HCI Messages to HCI to:
- List of Route options in response to an HCI-AMS Message requesting it.
- Information, such as:
- Route State.
- CAV State.
- Failure ID of equipment.
The message set is extensible.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/AMSHCIMessage.json
4 Semantics
Label | Size | Description |
Header | N1 Bytes | AMS-HCI Message Header |
– Standard-AMSHCIMessage | 9 Bytes | The characters “CAV-AHM-V” |
– Version | N2 Bytes | Major version – 1 or 2 Bytes |
– Dot-separator | 1 Byte | The character “.” |
– Subversion | N3 Bytes | Minor version – 1 or 2 Bytes |
AMSHCIMessageID | N4 Bytes | Identifier of AMS-HCI Message. |
HCIMessageData | N4 Bytes | Data in HCI to AMS Message. |
– RequestedRoute[] | N5 Bytes | Requested Route with Stops |
– Route | N6 Bytes | A Requested Route |
– OfflineMapID | N7 Bytes | Reference Offline Map ID |
– SelectedRouteID | N9 Bytes | ID of selected Route |
– RouteCommands | N10 Bytes | “Execute”, “Suspend”, “Resume”, “Change”, “Stop” |
– StreamPointOfView | N11 Bytes | Coordinates of Point from where to watch environment. |
– ULocation | N12 Bytes | U-Location that passenger wishes to see from Point of View |
AMSMessageData | N13 Bytes | Data in AMS to HCI Message. |
– RouteList | N14 Bytes | List of Routes |
– FailureID | N15 Bytes | CAV Failure ID. |
– CAVState | N16 Bytes | CAV State information. |
– RoadState | N17 Bytes | Road State information. |
DescrMetadata | N18 Bytes | ID of AMS Messages |