CAV-TEC V1.1 AIMs - Motion Selection Planning

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

1 Functions

The Motion Selection Planning (CAV‑MSP) AIM:

Receives	Full Environment Descriptors	From Full Environment Description.
	AMS Data	From AMS Memory.
	Path Request	From Path Selection Planning.
	Trajectory Request	From Traffic Obstacle Avoidance.
Produces	Path Response	To Path Selection Planning.
	Trajectory Response	To Traffic Obstacle Avoidance.
	Trajectory	To AMS Memory.

2 Reference Model

Figure 1 depicts the Reference Model of the Motion Selection Planning (CAV‑MSP) AIM.

Motion Selection Planning CAV-MSP AIM

Figure 1 – The Motion Selection Planning (CAV‑MSP) AIM

3 I/O Data

Table 1 specifies the Input and Output Data of the Motion Selection Planning (CAV‑MSP) AIM.

Table 1 – I/O Data of the Motion Selection Planning (CAV‑MSP) AIM

Input	Description
Full Environment Descriptors	From Full Environment Description AIM.
AMS Data	From AMS Memory.
Path Request	From Path Selection Planning AIM.
Trajectory Request	From Traffic Obstacle Avoidance AIM.
Output	Description
Path Response	To Path Selection Planning AIM.
Trajectory Response	To Traffic Obstacle Avoidance AIM.
Trajectory	To AMS Memory.

4 SubAIMs

No SubAIMs.

5 JSON Metadata

https://schemas.mpai.community/CAV2/V1.1/AIMs/MotionSelectionPlanning.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 Motion Selection Planning (CAV‑MSP) 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 Motion Selection Planning (CAV‑MSP) AIM

Receives	Full Environment Descriptors	Shall validate against Full Environment Descriptors schema.
	AMS Data	Shall validate against AMS Data schema.
	Path Request	Shall validate against Interaction schema.
	Trajectory Request	Shall validate against Interaction schema.
Produces	Path Response	Shall validate against Interaction schema.
	Trajectory Response	Shall validate against Interaction schema.
	Trajectory	Shall validate against Trajectory schema.

9 Performance Assessment