1       Definition

A Message sent to the MAS by the AMS (AMS Message) or received by the AMS from the MAS (MAS Message).

2       Functional Requirements

The AMS issues an AMS Message to request that the MAS moves the CAV from the current to the next Spatial Attitude. This contains:

  1. Spatial Attitude and Time at the current Pose.
  2. Spatial Attitude and Time at the expected Pose.

The MAS who has received an AMS Message implements the requests and issues a series of MAS Messages at intermediate Poses to inform the AMS about the progress of execution of the AMS Message. These contain:

  1. Spatial Attitude and Time when the MAS Message has been sent.
  2. Road State in case of serious misalignment between the expected and the actual Spatial Attitude at the current Time.
  3. CAV State in case of anomalous CAV conditions.

3       Syntax

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

4       Semantics

Label Size Description
Header N1 Bytes MAS-AMS Message Header
– Standard 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 the MAS-AMS Message.
AMSMessageData N5 Bytes Set of Data in MAS-AMS Message.
– CurrentSAAndTime N6 Bytes Current CAV Space and Time information.
– ExpectedSAAndTime N7 Bytes Expected CAV Space and Time information.
MASMessageData N8 Bytes Set of Data in MAS-AMS Message.
– CurrentSAAndTime N9 Bytes CAV’s Space and Time information.
– RoadState N10 Bytes Road State.
– CAVState N11 Bytes CAV State.
DescrMetadata N12 Bytes Descriptive Metadata