1       Definition

A Message sent to:

  1. The MAS by the AMS.
  2. the AMS from the MAS.

2       Functional Requirements

The AMS issues an AMS Message to request that the MAS move the CAV along the Trajectory. This contains:

  1. Trajectory
  2. One of the two Actions:
    1. Execute the Trajectory to change the CAV’s Spatial Attitude SAA at time tA to Spatial Attitude SAB at time tB.
    2. Suspend the Execute Action.

Upon receiving an AMS-MAS Message, the MAS implements the requests and issues a series of AMS-MAS Messages at intermediate Poses informing the AMS about the progress in the execution of the AMS-MAS Message.

Messages contain:

  1. Current Time
  2. CAV Spatial Attitude derived from MAS-internal sensors.
  3. Road State in case of serious misalignment between the expected and the actual Spatial Attitude at the current Time, such as caused by Ice Conditions and Submersion.
  4. CAV State.

3       Syntax

https://schemas.mpai.community/CAV2/V1.0/data/AMSMASMessage.json

4       Semantics

Label Size Description
Header N1 Bytes AMS-MAS Message Header
– Standard – AMSMASMessage 8 Bytes The characters “CAV-AMM-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
AMSMASMessageID N4 Bytes Identifier of AMS-MAS Message.
AMSMessage N5 Bytes Data in AMS-MAS Message.
– Time N6 Bytes Duration the Message applies to.
– Trajectory N7 Bytes Trajectory to be executed.
– Command N8 Bytes One of Execute, Suspend, Resume, Change.
MASMessage N9 Bytes Data in AMS-MAS Message.
– RoadState N10 Bytes Current Road State.
– CAVState N11 Bytes Current CAV State.
DescrMetadata N12 Bytes Descriptive Metadata