1       Definition

A Message issued by the Motion Actuation Subsystem after receiving an AMS-MAS Message.

2       Functional Requirements

The MAS issues a series of MAS-AMS Messages at intermediate Poses to inform the AMS about the progress of execution of the AMS-MAS Message containing:

  1. Current Time
  2. CAV Spatial Attitude
  3. Road State in case of serious misalignment between the expected and the actual Spatial Attitude at the current Time.

3       Syntax

https://schemas.mpai.community/OSD/V1.1/data/Time.json

https://schemas.mpai.community/OSD/V1.0/data/SpatialAttitude.json

https://schemas.mpai.community/CAV/V2.0/data/RoadState.json

4       Semantics

Label Size Description
Header N1 Bytes
·         Standard 8 Bytes The characters “CAV-MAM-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
MAMIdentifier N4 Bytes Identifier of the MAS-AMS Message.
MAMData N5 Bytes Set of Data in MAS-AMS Message.
·         Time N6 Bytes Time information.
·         SpatialAttitude N7 Bytes SA when MAS-AMS Message is issued.
·         RoadState N8 Bytes RoadState at Time and SpatialAttitude.
DescrMetadata N9 Bytes Descriptive Metadata

5       Data Formats and Attributes

No Formats required.

6       To Respondents