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

1 Functions

The Autonomous Motion Subsystem (AMS):

  1. Receives requests to reach a destination from the Human-CAV Interaction Subsystem (HCI).
  2. Requests current Position to Environment Sensing Subsystem (ESS).
  3. Converses with HCI (and HCI with humans) and settles on a final Route.
  4. Makes requests of Full Environment Descriptors subsets to selected CAVs in range.
  5. Produces its own Full Environment Descriptors.
  6. Receives and responds to requests of Full Environment Descriptors subsets from CAVs in range.
  7. Issues Message to Motion Actuation Subsystem (MAS).
  8. Processes Message from Motion Actuation Subsystem.
  9. Stores Data Receives/Produced in AMS Memory for future use by AMS AIMs.

The Autonomous Motion Subsystem (CAV-AMS) AIM:

Receives Basic Environment Descriptors CAV’s Environment representation from ESS.
Alert Critical information from an EST in ESS.
AMS-HCI Message Human commands, e.g., “take me home”.
Full Environment Descriptors Other CAVs and vehicles, and roadside units.
AMS-MAS Message Message sent by the AMS to the MAS.
Ego-Remote AMS Message Remote AMS to Ego AMS message.
Produces AMS-HCI Message AMS’s message to HCI-AMS.
AMS-MAS Message Message to MAS, e.g., “in 5s assume a given Spatial Attitude”.
Full Environment Descriptors To Ego CAV’s ESS and to Remote CAVs.
Ego-Remote AMS Message Ego AMS to Remote AMS message.
AMS Data For offline analysis.

2 Reference Model

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

 

Figure 1 – Reference Model of the Autonomous Motion Subsystem (CAV-AMS) AIM

3 I/O Data

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

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

Input data Description
Basic Environment Descriptors CAV’s Environment representation from ESS.
Alert Critical information from an EST in ESS.
AMS-HCI Message Human commands, e.g., “take me home”.
Full Environment Descriptors Other CAVs and vehicles, and roadside units.
AMS-MAS Message Message sent by the AMS to the MAS.
Ego-Remote AMS Message Remote AMS to Ego AMS message.
Output data Description
AMS-HCI Message AMS’s message to HCI-AMS.
AMS-MAS Message Message to MAS, e.g., “in 5s assume a given Spatial Attitude”.
Full Environment Descriptors To Ego CAV’s ESS and to REmote CAVs.
Ego-Remote AMS Message Ego AMS to Remote AMS message.
AMS Data For offline analysis.

4 SubAIMs

4.1 Reference Model

Figure 2 gives the Reference Model of the Autonomous Motion Subsystem (CAV-AMS) AIM.

Figure 2 – Reference Model of the Autonomous Motion Subsystem (CAV-AMS) AIM

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 request and passes the interpretation to the AMS.
  3. The AMS activates Route Planning to generate a set of Waypoints starting from the current Pose (obtained from the ESS) up to destination.
  4. The AMS
    1. Receives Basic Scene Descriptors from the ESS.
    2. Requests (subsets of) Remote AMSs’ Full Scene 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 the Path Selection Planning to generate a set of Positions to reach the next Waypoint.
  6. Motion Selection Planning generates a Trajectory to reach the next Position 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 Planner.
    2. If no collision is detected, Traffic Obstacle Avoidance issues an AMS-MAS Message to MAS.
  9. The MAS sends an AMS-MAS Message to AMS informing about the execution of the Command.
  10. The AMS, based on the received MAS-AMS Messages, may
    1. Discontinue the execution of the earlier AMS-MAS Message.
    2. Issue a new AMS-MAS Message.
    3. Inform Obstacle Avoidance and Full Environment Description.
  11. The decision of each element of the chain may be recorded in the AMS Memory (“black box”).

The Trajectory Planning and Decision (CAV-TPD) is a Composite AIM that includes the Path Selection Planning, Motion Selection Planning, and the Traffic Obstacle Avoidance AIMs

4.3 Functions of AI Modules

Table 2 gives the AI Modules of the Autonomous Motion Subsystem.

Table 2 – Functions of Autonomous Motion Subsystem’s AI Modules

AIM 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.).
4. 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 it is not, it requests a new Trajectory; if it is, it instructs the MAS to execute the Trajectory considering the Environment conditions and receives MAS-AMS Messages about the execution. Updated Road State and CAV State included in the received MAS-AMS Message may be communicated to Full Environment Description.
AMS Memory Records decisions by Route Planning, Path Planning, Motion Planning, Obstacle Avoidance, Full Environment Description, and Command Issuance.

4.4 I/O Data of AI Modules

Table 3 gives, for each AIM (1st column), the input data (2nd column) and the output data (3rd column) of Autonomous Motion Subsystem.

Table 3 – Autonomous Motion Subsystem’s data

AIM Input Output
Full Environment Description – Basic Environment Descriptors
– Full Environment Descriptors
– AMS Data
– Road State
– CAV State		 – Full Environment Descriptors
Route Selection Planning – Full Environment Descriptors
– AMS Data
– AMS-HCI Message
– Selected Route
– Route ID
– Request		 – AMS-HCI Message
– Route
Path Selection Planning – Full Environment Descriptors
– AMS Data
– Route		 – Paths
Motion Selection Planning – Full Environment Descriptors
– AMS Data
– Paths
– Request		 – Trajectory
– Request
Traffic Obstacle Avoidance – Full Environment Descriptors
– Trajectory
– AMS Data
– Alert
– AMS-MAS Message
– Request		 – Full Environment Descriptors
– AMS-MAS Message
– Road State
– CAV State
– Alert
AMS Memory – Full Environment Descriptors
– Route
– Path
– Trajectory
– Alert
– Road State
– CAV State
– AMS-MAS Message		 – AMS Data

4.5 AIMs and JSON Metadata

AIM1 AIM2 Name JSON
CAV-AMS Autonomous Motion Subsystem X
CAV-FEV 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

8 Conformance Testing

9 Performance Assessment

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