1       Definition

A Message sent by:

  1. The AMS to the MAS requesting it to move the CAV along the specified Trajectory.
  2. The MAS by the MAS informing it about the execution of the last AMS-MAS Message.

2       Functional Requirements

The AMS‑MAS Message sent by the AMS to the MAS contains:
  • Trajectory – the path to be executed.
  • Command – one of the following Actions:
    • Execute: execute the Trajectory, changing the CAV’s Spatial Attitude SAA at time tA to Spatial Attitude SAB at time tB.
    • Suspend: temporarily stop executing the current Trajectory.
    • Resume: continue execution of the suspended Trajectory.
    • Change: replace the current Trajectory with a new one.

When receiving an AMS‑MAS Message, the MAS implements the requested Action and may issue a series of AMS‑MAS Messages at intermediate Positions containing:

  • CurrentTime – the current Time.
  • CAV Spatial Attitude – estimated from MAS‑internal sensors.
  • Road State – reported when significant divergence between expected and actual Spatial Attitude is detected (e.g., Ice Conditions, Submersion).
  • CAV State – current functional state of the CAV.

These updates inform the AMS about the progress of executing the AMS‑MAS Message.

3       Syntax

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

4       Semantics

Label Description
Header AMS-MAS Message Header – Standard “CAV-AMM-V”
AMSMASMessageID Identifier of AMS-MAS Message.
AMSMessage Data in AMS-MAS Message.
– Time Duration the Message applies to.
– Trajectory Trajectory to be executed.
– Command One of Execute, Suspend, Resume, Change.
MASMessage Data in AMS-MAS Message.
– RoadState Current Road State.
– CAVState Current CAV State.
DataExchangeMetadata Metadata supporting data exchange.
Trace Provenance trace (Source and Time) per AIF V3.0 rules.
DescrMetadata Descriptive Metadata