Function
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance
1 Functions
The AMS‑MAS Message Interpretation (CAV‑AMI) AIM:
| Receives | AMS‑MAS Message | From Traffic Obstacle Avoidance |
| Produces | Brake Command | To Brake mechanical subsystem |
| Motor Command | To Motor mechanical subsystem | |
| Wheel Command | To Wheel mechanical subsystem |
2 Reference Model
Figure 1 depicts the Reference Model of the AMS‑MAS Message Interpretation (CAV‑AMI) AIM.
Figure 1 – The AMS‑MAS Message Interpretation (CAV‑AMI) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the AMS‑MAS Message Interpretation (CAV‑AMI) AIM.
Table 1 – I/O Data of the AMS‑MAS Message Interpretation (CAV‑AMI) AIM
| Input | Description |
|---|---|
| AMS‑MAS Message | Message from the AMS instructing the MAS to change the CAV’s Spatial Attitude. |
| Output | Description |
| Brake Command | Conversion of AMS‑MAS Message to specific Brake Command to Brake mechanical subsystem. |
| Motor Command | Conversion of AMS‑MAS Message to specific Motor Command to Motor mechanical subsystem. |
| Wheel Command | Conversion of AMS‑MAS Message to specific Wheel Command to Wheel mechanical subsystem. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V1.1/AIMs/AMSMASMessageInterpretation.json
6 Profiles
No Profiles.
7 Reference Software
Not part of this specification.
8 Conformance Testing
Table 2 provides the Conformance Testing Method for the AMS‑MAS Message Interpretation (CAV‑AMI) AIM.
If a schema contains references to other schemas, conformance of data for the primary schema implies that any data referencing a secondary schema shall also validate against the relevant schema, if present, and conform with the Qualifier, if present.
Table 2 – Conformance Testing Method for the AMS‑MAS Message Interpretation (CAV‑AMI) AIM
| Receives | AMS‑MAS Message | Shall validate against AMS‑MAS Message schema. |
| Produces | Brake Command | Shall validate against Brake Command schema. |
| Motor Command | Shall validate against Motor Command schema. | |
| Wheel Command | Shall validate against Wheel Command schema. |
9 Performance Assessment
Not part of this specification.
