CAV-TEC V1.1 AIMs – Autonomous Motion Subsystem

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Function
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance

1      Functions

The Autonomous Motion Subsystem (CAV-AMS) Composite AIM enables a CAV to plan and actuate a Route. It performs the following:

1. Receive requests to reach a destination from the Human‑CAV Interaction Subsystem (HCI).
2. Request the current Point of View from the Environment Sensing Subsystem (ESS).
3. Converse with HCI (and HCI with humans) and settles on a final Route.
4. Make requests of Full Environment Descriptors subsets to selected CAVs in range.
5. Produce its own Full Environment Descriptors.
6. Receive and responds to requests of Full Environment Descriptors subsets from CAVs in range.
7. Issue AMS‑MAS Messages to the Motion Actuation Subsystem (MAS).
8. Process AMS‑MAS Messages from the Motion Actuation Subsystem.
9. Store Data received and produced in AMS Memory for future use by AMS SubAIMs.

Receives	Basic Environment Descriptors	From Environment Sensing Subsystem.
	Full Environment Descriptors	From Environment Sensing Subsystem.
	AMS‑HCI Message	From Human‑CAV Interaction Subsystem.
	AMS‑MAS Message	From Motion Actuation Subsystem.
	Full Environment Descriptors	From Remote AMSs.
	Alert	From Environment Sensing Subsystem.
Produces	AMS‑HCI Message	To Human‑CAV Interaction Subsystem.
	AMS‑MAS Message	To Motion Actuation Subsystem.
	Full Environment Descriptors	To Remote CAVs and Environment Sensing Subsystem.
	AMS Data	To authorised external applications (e.g., law enforcement) that may read the recorded AMS Data.
	AMS Data	To external device (black box).

2      Reference Model

Figure 1 depicts the Reference Model of the Autonomous Motion Subsystem (CAV-AMS) Composite AIM.

 

Figure 1 – The Autonomous Motion Subsystem (CAV‑AMS) Composite AIM

3      I/O Data

Table 1 gives the Input and Output Data of the Autonomous Motion Subsystem (CAV-AMS) Composite AIM.

Table 1 – I/O Data of the Autonomous Motion Subsystem (CAV‑AMS) Composite AIM

Input	Description
Basic Environment Descriptors	CAV’s environment representation from ESS.
Full Environment Descriptors	From Environment Sensing Subsystem.
AMS‑HCI Message	Human commands, e.g., “take me home”.
AMS‑MAS Message	Message from the Motion Actuation Subsystem.
Full Environment Descriptors	From Remote AMSs.
Alert	Critical information from an EST in ESS.
Output	Description
Full Environment Descriptors	To Ego CAV’s ESS and to Remote CAVs.
AMS‑HCI Message	AMS response to HCI.
AMS‑MAS Message	Message to MAS, e.g., “in 5s assume a given Spatial Attitude”.
AMS Data	AMS recording data accessible by authorised external applications (e.g., law enforcement, offline analysis).

4      SubAIMs

4.1 Functions of SubAIMs

Table 2 gives the functions of the Autonomous Motion Subsystem’s SubAIMs.

Table 2 – Functions of the Autonomous Motion Subsystem (CAV‑AMS) SubAIMs

SubAIM	Function
Full Environment Description	Creates an internal environment representation by fusing information received from ESS, Remote AMSs, and other CAV‑Aware entities. Updates the CAV State.
Route Selection Planning	Computes a set of possible Routes through the road network from the current to the target destination.
Path Selection Planning	Generates a set of Paths considering: (1) Route; (2) Full Environment Descriptors (Spatial Attitude, Road State, etc.); (3) Traffic Rules.
Motion Selection Planning	Defines a Trajectory to reach a Goal using the Spatial Attitude considering: (1) CAV’s kinematic and dynamic constraints; (2) Full Environment Descriptors; (3) Passengers’ comfort.
Traffic Obstacle Avoidance	Checks whether Trajectory is compatible with Alert information: if not, requests a new Trajectory from Motion Selection Planning; if so, instructs the MAS to execute the Trajectory and receives AMS‑MAS Messages about the execution.
AMS Memory	Records decisions by Route Selection Planning, Path Selection Planning, Motion Selection Planning, Traffic Obstacle Avoidance, and Full Environment Description.

4.2 Operation

The operation of the Autonomous Motion Subsystem unfolds as follows:

1. A human requests the Human‑CAV Interaction to take them to a destination.
2. HCI interprets the request and passes the interpretation to the AMS.
3. The AMS activates Route Selection Planning to generate a set of Waypoints starting from the current Point of View (obtained from the ESS) up to the destination.
4. The AMS:
   1. Receives Basic Environment Descriptors from the ESS.
   2. Requests subsets of Remote AMSs’ Full Environment Descriptors and responds to similar requests from Remote AMSs.
   3. Integrates all sources of Environment Descriptors into Full Environment Descriptors.
5. The Route’s Waypoints cause Path Selection Planning to generate a set of Points of View to reach the next Waypoint.
6. Motion Selection Planning generates a Trajectory to reach the next Point of View in each Path.
7. Traffic Obstacle Avoidance receives the Trajectory and checks if an Alert was received.
8. If an Alert was received, Traffic Obstacle Avoidance detects whether the Trajectory creates a collision:
   1. If a collision is detected, Traffic Obstacle Avoidance requests a new Trajectory from Motion Selection Planning.
   2. If no collision is detected, Traffic Obstacle Avoidance issues an AMS‑MAS Message to the MAS.
9. The MAS sends an AMS‑MAS Message to the AMS informing it about the execution of the command.
10. The AMS, based on the received AMS‑MAS Messages, may:
    1. Discontinue the execution of the earlier AMS‑MAS Message.
    2. Issue a new AMS‑MAS Message.
    3. Inform Traffic Obstacle Avoidance and Full Environment Description.
11. The decision of each element of the chain may be recorded in the AMS Memory (“black box”).

4.3 I/O Data of SubAIMs

Table 3 gives, for each SubAIM, the Input and Output Data of the Autonomous Motion Subsystem.

Table 3 – I/O Data of the Autonomous Motion Subsystem (CAV‑AMS) SubAIMs

SubAIM	Input	Output
Full Environment Description	Basic Environment Descriptors Full Environment Descriptors (from ESS) Full Environment Descriptors(from Remote AMSs) Full Environment Descriptors (from TOA) AMS Data	Full Environment Descriptors (to RSP, PSP, MSP, TOA) Full Environment Descriptors(to Remote AMSs) CAV State (to TOA) Road State (to TOA)
Route Selection Planning	Full Environment Descriptors AMS‑HCI Message Route Response (from PSP) AMS Data	AMS‑HCI Message Route Request (to PSP) Route (to AMS Memory)
Path Selection Planning	Full Environment Descriptors Route Request (from RSP) Path Response (from MSP) AMS Data	Route Response (to RSP) Path Request (to MSP) Path (to AMS Memory)
Motion Selection Planning	Full Environment Descriptors Path Request (from PSP) AMS Data	Path Response (to PSP) Trajectory Response (to TOA) Trajectory (to AMS Memory)
Traffic Obstacle Avoidance	Full Environment Descriptors CAV State (from FED) Road State (from FED) Trajectory Response (from MSP) Trajectory Request (to MSP) AMS‑MAS Message (from MAS) Alert AMS Data	AMS‑MAS Message (to MAS) Full Environment Descriptors (to FED) CAV State (to AMS Memory) Road State (to AMS Memory) Alert (to AMS Memory) AMS‑MAS Message (to AMS Memory) AMS Data
AMS Memory	Route (from RSP) Path (from PSP) Trajectory (from MSP) CAV State (from TOA) Road State (from TOA) Alert (from TOA) AMS‑MAS Message (from TOA) Full Environment Descriptors (from FED)	AMS Data (to FED, RSP, PSP, MSP, TOA) AMS Data (to external device)

4.4 AIMs and JSON Metadata

Table 4 provides the links to the AIM specifications and JSON schemas. AIM1 indicates the Composite AIM and AIM2 its SubAIMs.

Table 4 – AIMs and JSON Metadata of the Autonomous Motion Subsystem (CAV‑AMS)

AIM1	AIM2	Name	JSON
CAV‑AMS		Autonomous Motion Subsystem	X
	CAV‑FED	Full Environment Description	X
	CAV‑RSP	Route Selection Planning	X
	CAV‑PSP	Path Selection Planning	X
	CAV‑MSP	Motion Selection Planning	X
	CAV‑TOA	Traffic Obstacle Avoidance	X
	CAV‑AMM	AMS Memory	X

5      JSON Metadata

https://schemas.mpai.community/CAV2/V1.1/AIMs/AutonomousMotionSubsystem.json

6      Profiles

No Profiles.

7      Reference Software

Not part of this specification.

8      Conformance Testing

Table 5 provides the Conformance Testing Method for the Autonomous Motion Subsystem (CAV-AMS) Composite AIM. Conformance Testing of the individual SubAIMs is given by the individual AIM specifications.

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 5 – Conformance Testing Method for the Autonomous Motion Subsystem (CAV‑AMS) Composite AIM

Receives	Basic Environment Descriptors	Shall validate against Basic Environment Descriptors schema.
	Full Environment Descriptors	Shall validate against Full Environment Descriptors schema.
	AMS‑HCI Message	Shall validate against AMS‑HCI Message schema.
	AMS‑MAS Message	Shall validate against AMS‑MAS Message schema.
	Full Environment Descriptors (from Remote AMSs)	Shall validate against Full Environment Descriptors schema.
	Alert	Shall validate against Alert schema.
Produces	Full Environment Descriptors	Shall validate against Full Environment Descriptors schema.
	AMS‑HCI Message	Shall validate against AMS‑HCI Message schema.
	AMS‑MAS Message	Shall validate against AMS‑MAS Message schema.
	AMS Data(to Remote AMSs)	Shall validate against AMS Data schema.
	AMS Data	Shall validate against AMS Data schema.

9      Performance Assessment

Not part of this specification.

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