1       Description

Information exchanged between the AMS of the Ego CAV and the peer AMS of a Remote CAV in the form of

  1. Request to receive the Remote AMS’s Full Environment Representation of a specific M-Location corresponding to a U-Location of interest.
  2. Its own Full Environment Representation or M-Location.

2       Functional Requirements

Ego-Remote-AMS Messages contain the Full Environment Representation of the Ego CAV or subsets thereof. Subsets can be easily created thanks to the scalable format of the Full Environment Representation Data Type.

The Ego AMS may harvest available bandwidth and utilise it to send a version of the Full Environment Representation that is compatible with the available mobile bandwidth.

The AMS reconciles the different values by considering, e.g., the distance of the ego CAV from the object vs the distance of the other CAV from the object.

Messages from Remote to Ego AMS have the same payload.

3       Syntax


4       Semantics

Label Size Description
Header N1 Bytes Road State Header
– Standard 8 Bytes The characters “MMM-ERA-”
– Version N2 Bytes Major version – 1 or 2 Bytes
– Dot-separator 1 Byte The character “.”
– Subversion N3 Bytes Minor version – 1 or 2 Bytes
EgoRemoteAMSMessageID N4 Bytes Identifier of Ego-Remote-AMS Message.
EgoRemoteAMSMessageData N5 Bytes Data of Ego-Remote-AMS Message
– MLocationID N6 Bytes M-Location in Remote AMS.
– MLocationData N7 Bytes M-Location Data in Ego AMS.
DescrMetadata N8 Bytes Descriptive Metadata

5       Data Types and Formats

The Format of M-Location Data is required.

6       To Respondents

Respondents are invited to:

  1. Comment or elaborate on the AMS-Remote AMS message functional requirements identified above.
  2. Propose Formats of M-Location Data and Attributes.