1  Description

An Ego‑Remote AMS Message is a Message exchanged between the AMS of an Ego CAV and the AMS of a Remote CAV.
It enables the Ego CAV to obtain the Remote CAV’s interpretation of a portion of its Environment corresponding
to the Ego CAV’s intended U‑Location. The Message may contain:

  • A Request/Response relating to the M‑Location corresponding to the intended U‑Location.
  • The Trajectory the Ego CAV intends to adopt.

2  Functional Requirements

The interaction between Ego and Remote CAVs unfolds as follows:

  1. Request Phase
    The Ego CAV sends an Ego‑Remote AMS Message requesting how the Remote CAV interprets a specific subset
    of its Environment corresponding to the intended U‑Location.
  2. Remote CAV Processing
    Upon accepting the request, the Remote CAV:

    • Converts the requested U‑Location into the corresponding M‑Location in its Full Environment Descriptors (FED).
    • Extracts the FED subset corresponding to that M‑Location using its scene‑based object structure.
    • Adapts the level of detail to the bandwidth currently available.
    • Sends the M‑Location and the relevant FED subset to the Ego CAV.
  3. Ego CAV Processing
    Upon receiving the Response, the Ego CAV:

    • Reconciles its own M‑Location understanding with the Remote CAV’s data.
    • Records major discrepancies between its own Positions and those inferred from the Remote FED.

CAV‑TEC V1.1 does not address any privacy requirements related to hiding the identity of the CAV providing information from its Full Environment Descriptors.

3  Syntax

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

4  Semantics

Label Description
Header Ego‑Remote AMS Message Header – Standard “MMM‑ERA‑V”.
EgoRemoteAMSMessageID Identifier of the Ego‑Remote AMS Message instance.
RequestMessage Message from the Ego CAV requesting information:
– EgoCAVID Identifier of the Ego CAV.
– ULocation Specification of the portion of the Remote CAV’s Environment to be provided
ResponseMessage Message from the Remote CAV providing requested information:
– RemoteCAVID Identifier of the Remote CAV.
– RemoteFED Subset of the Remote CAV’s Full Environment Descriptors relevant to the requested U‑Location.
SenderInfoMessage Information sent by the Ego CAV:
– EgoCAVID Identifier of the Ego CAV.
– Trajectory. Trajectory the Ego CAV intends to adopt.
ReceiverInfoMessage Information sent by the Remote CAV:
– EgoCAVID Identifier of the requesting Ego CAV.
– Accept/Reject Whether the Remote AMS accepts or rejects the Ego CAV’s intended Trajectory.
AMSAlertMessage Messages alerting the Remote CAV about the Ego CAV’s status:
– EgoCAVID Identifier of the Ego CAV.
– AMSAlertMessage One of Ambulance, Authority, Health, Evacuation.
– Road State Appropriate subset of the Road State.
– CAV State Appropriate subset of the CAV State.
DataExchangeMetadata Metadata optionally supporting regulated data exchange.
Trace Provenance trace including Source and Time per AIF V3.0.
DescrMetadata Descriptive Metadata.