Functions
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance
1 Functions
The AMS Memory (CAV-AMM) AIM:
| Receives | Full Environment Descriptors | From Full Environment Description. |
| Route | From Route Selection Planning. | |
| Path | From Path Selection Planning. | |
| Trajectory | From Motion Selection Planning. | |
| Alert | From the Environment Sensing Subsystem. | |
| Road State | From Traffic Obstacle Avoidance. | |
| CAV State | From Traffic Obstacle Avoidance. | |
| AMS-MAS Message Request | From Traffic Obstacle Avoidance. | |
| AMS Data | From the AIMs of the AMS. | |
| Produces | AMS Data | To the AIMs of the AMS and outside the AMS. |
The AIM keeps every decision the Autonomous Motion Subsystem takes – Route, Path, Trajectory, Alert, AMS-MAS Message – in the Private Storage of the Module, with the Full Environment Descriptors it was taken on. For each AMS-MAS Message it gives the AMS Data of that instant: the Route in force, the Path, the Trajectory commanded, the latest Alert since the last, and the Full Environment Descriptors.
2 Reference Model
Figure 1 depicts the Reference Model of the AMS Memory (CAV-AMM) AIM.
Figure 1 – The AMS Memory (CAV-AMM) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the AMS Memory (CAV-AMM) AIM.
| Input | Data Type | Description |
|---|---|---|
| Full Environment Descriptors (optional) | Full Environment Descriptors | The descriptors each decision is taken on. |
| Route (optional) | Route | The Route selected. |
| Path (optional) | Path | The Path selected. |
| Trajectory (optional) | Trajectory | The Trajectory planned. |
| Alert (optional) | Alert | An Alert. |
| Road State (optional) | Road State | The state of the road. |
| CAV State (optional) | CAV State | The state of the CAV. |
| AMS-MAS Message Request (optional) | AMS-MAS Message Request | The Trajectory commanded. |
| AMS Data (optional) | AMS Data | Their records of their decisions. |
| Output | Data Type | Description |
| AMS Data | AMS Data | For each AMS-MAS Message: the Route in force, the Path, the Trajectory commanded, the latest Alert and the Full Environment Descriptors. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V2.0/AIMs/AMSMemory.json
6 Profiles
No Profiles.
7 Reference Software
The reference software keeps every decision of the AMS – Route, Path, Trajectory, Alert, AMS-MAS Message – in the Private Storage of the Module with the Full Environment Descriptors it was taken on, and gives the AMS Data of each AMS-MAS Message. It is part of the reference software of CAV-TEC V2.0 (see N4195, An introduction to the reference software): C# on .NET 10, released under the BSD 3-Clause licence, obtained from MPAI.
Tested with the Autonomous Motion Subsystem, Stage 1: the memory and the record of a drive.
8 Conformance Testing
Table 2 provides the Conformance Testing Method for the AMS Memory (CAV-AMM) AIM: the data it receives and produces. If a schema references other schemas, conformance of data for the primary schema implies that data referencing a secondary schema shall also validate against that schema, if present, and conform with the Qualifier, if present.
| Receives | Full Environment Descriptors | Shall validate against the Full Environment Descriptors schema. |
| Route | Shall validate against the Route schema. | |
| Path | Shall validate against the Path schema. | |
| Trajectory | Shall validate against the Trajectory schema. | |
| Alert | Shall validate against the Alert schema. | |
| Road State | Shall validate against the Road State schema. | |
| CAV State | Shall validate against the CAV State schema. | |
| AMS-MAS Message Request | Shall validate against the AMS-MAS Message schema. | |
| AMS Data | Shall validate against the AMS Data schema. | |
| Produces | AMS Data | Shall validate against the AMS Data schema. |
