CAV-TEC V1.1 AIMs - Trajectory Planning and Decision

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

1 Functions

The Trajectory Planning and Decision (CAV‑TPD) AIM:

Receives	AMS Data	Data collected by AMS Memory.
	Alert	Alert message from ESS.
	AMS‑MAS Message	Response from MAS.
	Full Environment Descriptors	From Full Environment Description.
	Route Response	From Route Selection Planning.
	Route Request	To Route Selection Planning.
Produces	Full Environment Descriptors	To Full Environment Description.
	AMS‑MAS Message	Message to MAS.
	CAV State	To Full Environment Description and MAS.
	Road State	To Full Environment Description and MAS.
	Alert	To AMS Memory.

2 Reference Model

Figure 1 depicts the Reference Model of the Trajectory Planning and Decision (CAV‑TPD) AIM.

Trajectory Planning and Decision CAV-TPD AIM

Figure 1 – The Trajectory Planning and Decision (CAV‑TPD) AIM

3 I/O Data

Table 1 specifies the Input and Output Data of the Trajectory Planning and Decision (CAV‑TPD) AIM.

Table 1 – I/O Data of the Trajectory Planning and Decision (CAV‑TPD) AIM

Input	Description
AMS Data	Data collected by AMS Memory.
Alert	Alert message from ESS.
AMS‑MAS Message	Response from MAS.
Full Environment Descriptors	From Full Environment Description.
Route Response	From Route Selection Planning.
Route Request	To Route Selection Planning.
Output	Description
Full Environment Descriptors	To Full Environment Description.
AMS‑MAS Message	Message to MAS.
CAV State	Update from AMS‑MAS Message.
Road State	Update from AMS‑MAS Message.
Alert	Alert for storage in AMS Memory.

4 SubAIMs

4.1 Functions of SubAIMs

The Trajectory Planning and Decision (CAV‑TPD) AIM is a Composite AIM whose Reference Model is depicted in Figure 2.

Trajectory Planning and Decision CAV-TPD Composite AIM

Figure 2 – The Trajectory Planning and Decision (CAV‑TPD) Composite AIM

4.2 Operation

Trajectory Planning and Decision receives a Route that is used across Path Selection Planning and Motion Selection Planning. It also receives AMS‑MAS Message from Motion Actuation Subsystem and Alert from Environment Sensing Subsystem and sends an AMS‑MAS Message to Motion Actuation Subsystem.

4.3 I/O Data of SubAIMs

Table 2 gives the Input and Output Data of the CAV‑TPD SubAIMs.

Table 2 – I/O Data of the Trajectory Planning and Decision (CAV‑TPD) SubAIMs

SubAIM	Input	Output
Path Selection Planning	AMS Data Full Environment Descriptors Route Response	Route Request Path Response Path Request
Motion Selection Planning	AMS Data Full Environment Descriptors Path Response Trajectory Request	Trajectory Response
Traffic Obstacle Avoidance	AMS‑MAS Message Alert AMS Data Trajectory Response	AMS‑MAS Message CAV State Road State Alert

4.4 AIMs and JSON Metadata

Table 3 provides the links to the AIM specifications and JSON schemas. AIM1 indicates the Composite AIM and AIM2 its SubAIMs.

Table 3 – AIMs and JSON Metadata of the Trajectory Planning and Decision (CAV‑TPD)

AIM1	AIM2	Name	JSON
CAV‑TPD		Trajectory Planning and Decision	X
	CAV‑PSP	Path Selection Planning	X
	CAV‑MSP	Motion Selection Planning	X
	CAV‑TOA	Traffic Obstacle Avoidance	X

5 JSON Metadata

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

6 Profiles

No Profiles.

7 Reference Software

Not part of this specification.

8 Conformance Testing

Table 4 provides the Conformance Testing Method for the Trajectory Planning and Decision (CAV‑TPD) 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 4 – Conformance Testing Method for the Trajectory Planning and Decision (CAV‑TPD) Composite AIM

Receives	AMS Data	Shall validate against AMS Data schema.
	Alert	Shall validate against Alert schema.
	AMS‑MAS Message	Shall validate against AMS‑MAS Message schema.
	Full Environment Descriptors	Shall validate against Full Environment Descriptors schema.
	Route Response	Shall validate against Interaction schema.
	Route Request	Shall validate against Interaction schema.
Produces	Full Environment Descriptors	Shall validate against Full Environment Descriptors schema.
	AMS‑MAS Message	Shall validate against AMS‑MAS Message schema.
	CAV State	Shall validate against CAV State schema.
	Road State	Shall validate against Road State schema.
	Alert	Shall validate against Alert schema.

9 Performance Assessment