Go to CAV-TEC V1.1 Data Types

Definition
Functional Requirements
Syntax
Semantics
Conformance Testing
Performance Assessment

1      Definition

A message exchanged between the Ego CAV’s Human-CAV Interaction (HCI) AIM and the Autonomous Motion Subsystem (AMS).

2      Functional Requirements

HCI sends an HCI Message to AMS requesting to:

  1. Send:
    1. A Route connecting the current and the destination Poses, possibly including intermediate Poses and desired Times. Poses refer to an Offline Map.
    2. The selected Route as a result of an exchange of Routes between HCI and AMS.
    3. One of the following Commands:
      1. Execute a Route.
      2. Suspend a Route.
      3. Resume a Route.
      4. Change a Route.
      5. Stop a Route.
  2. Stream the M-Location corresponding to the human-specified U-Location via Point of View.

AMS sends an AMS Message to HCI providing:

  1. A list of Route options in response to an HCI Message requesting it.
  2. Information such as:
    1. Road State.
    2. CAV State.
    3. Identifier of a CAV equipment failure condition.

The message set is extensible.

3      Syntax

https://schemas.mpai.community/CAV2/V1.1/data/AMSHCIMessage.json

4      Semantics

Table 1 – Semantics of the AMS‑HCI Message Data Type

Label
Description
Header AMS‑HCI Message Header – Standard “CAV‑AHM‑Vx.y”.
MInstanceID Identifier of the M-Instance (Virtual Space) associated with this AMS‑HCI Message.
UEnvironmentID Identifier of the U-Environment (Real Space) associated with this AMS‑HCI Message.
AMSHCIMessageID Unique identifier of this AMS‑HCI Message instance.
AMSHCIMessageTime Time this AMS‑HCI Message was produced.
AMSHCIMessageSpaceTime Time this AMS‑HCI Message was sent.
HCIMessage Data in message from HCI to AMS.
    – RequestedRoutes[] List of requested Routes with Stops.
        – Route A requested Route.
        – OfflineMapID Identifier of the reference Offline Map.
    – SelectedRouteID Identifier of the Route selected by the passenger.
    – RouteCommand Command to apply to the current Route: “Execute”, “Suspend”, “Resume”, “Change”, or “Stop”.
    – StreamPointOfView Request to stream the M-Location corresponding to a human-specified U-Location via Point of View.
        – ULocation U-Location from which the passenger wishes to observe the environment.
AMSMessage Data in message from AMS to HCI.
    – RouteList[] List of candidate Routes provided in response to an HCI request.
    – FailureID Identifier of a CAV equipment failure condition (e.g. battery low, mechanical failure).
    – CAVState Current CAV State.
    – RoadState Current Road State.
DataXMData MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this AMS‑HCI Message in a trusted data exchange context.
DescrMetadata Human-readable descriptive metadata of the AMS‑HCI Message (plain text, max 2048 characters).

5      Conformance Testing

A Data instance conforms with AMS‑HCI Message (CAV‑AHM) if:

  1. The Data validates against the AMS‑HCI Message’s JSON Schema.
  2. All Data in the AMS‑HCI Message’s JSON Schema:
    1. Have the specified type.
    2. Validate against their JSON Schemas.
    3. Conform with their Data Qualifiers.

6      Performance Assessment

Not part of this specification.

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