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

1 Functions

The Autonomous Motion Subsystem (CAV-AMS) AIM:

Receives Basic Environment Descriptors From the Environment Sensing Subsystem.
Basic Offline Map Object The Offline Map.
AMS-HCI Message Request From Human-CAV Interaction.
Alert From the Environment Sensing Subsystem.
AMS-MAS Message Response From the Motion Actuation Subsystem.
Ego-Remote AMS Message From Remote CAVs in range.
Produces AMS-HCI Message Response To Human-CAV Interaction.
AMS-MAS Message Request To the Motion Actuation Subsystem.
AMS Data Outside the CAV.
Ego-Remote AMS Message To Remote CAVs in range.

The AIM plans and decides how the CAV moves. It places on the Offline Map what the Environment Sensing Subsystem perceives and what Remote CAVs report; it proposes to Human-CAV Interaction the Routes to the Destination the passenger asks for and drives the one selected; it plans the Path and the Trajectory and gives the Motion Actuation Subsystem the AMS-MAS Messages that execute them; it records every decision.

2 Reference Model

Figure 1 depicts the Reference Model of the Autonomous Motion Subsystem (CAV-AMS) AIM.

Figure 1 – The Autonomous Motion Subsystem (CAV-AMS) AIM

Figure 1 – The Autonomous Motion Subsystem (CAV-AMS) AIM

3 I/O Data

Table 1 specifies the Input and Output Data of the Autonomous Motion Subsystem (CAV-AMS) AIM.

Table 1 – I/O Data of the Autonomous Motion Subsystem (CAV-AMS) AIM

Input Data Type Description
Basic Environment Descriptors Basic Environment Descriptors The objects around the CAV, on the ego frame.
Basic Offline Map Object Basic Offline Map Object The roads, lanes, speed limits and named places.
AMS-HCI Message Request AMS-HCI Message Request The Destination, the Route selected and the Route Command.
Alert (optional) Alert Something that calls for an immediate reaction.
AMS-MAS Message Response (optional) AMS-MAS Message Response The MAS’s answer: its Spatial Attitude and the Road State.
Ego-Remote AMS Message (optional) Ego-Remote AMS Message What another CAV perceives.
Output Data Type Description
AMS-HCI Message Response (optional) AMS-HCI Message Response The Routes proposed; the Route’s state (Route Status).
AMS-MAS Message Request AMS-MAS Message Request The Trajectory to execute, with the Command.
AMS Data AMS Data The record of every decision.
Ego-Remote AMS Message (optional) Ego-Remote AMS Message What the CAV perceives.

4 SubAIMs

4.1 Functions of SubAIMs

Table 2 specifies the Functions of the SubAIMs of the Autonomous Motion Subsystem (CAV-AMS) AIM.

Table 2 – Functions of the SubAIMs

SubAIM Function
Full Environment Description The CAV and every object around it – those it perceives and those Remote CAVs report – placed on the Offline Map.
Route Selection Planning The Routes to the Destination proposed to Human-CAV Interaction; the one selected driven; the Route’s state told.
Trajectory Planning and Decision From the Route, the Path, the Trajectory and the AMS-MAS Message.
AMS Memory Every decision recorded with the Full Environment Descriptors it was taken on; the AMS Data.

4.2 Operation

Full Environment Description places on the Offline Map, at each instant, the objects the Environment Sensing Subsystem perceives and those Remote CAVs report, and sends to Remote CAVs what the CAV perceives.

When Human-CAV Interaction requests a Destination, Route Selection Planning proposes the Routes to it; the CAV does not move until one is selected with Execute. The Route to be driven is given to Trajectory Planning and Decision as a Route Response; each Route Command is answered with the Route’s state.

For each Full Environment Descriptors instance, Trajectory Planning and Decision gives the AMS-MAS Message Request to the Motion Actuation Subsystem, bounded by its AMS-MAS Message Response and by the Alerts. AMS Memory records the Route, the Path, the AMS-MAS Messages and the Alerts with the Full Environment Descriptors, and gives the AMS Data.

4.3 I/O Data of SubAIMs

Table 3 specifies the Input and Output Data of the SubAIMs.

Table 3 – I/O Data of the SubAIMs

SubAIM Input Output
Full Environment Description Basic Offline Map Object – Basic Offline Map Object
Basic Environment Descriptors – Basic Environment Descriptors
Full Environment Descriptors – Full Environment Descriptors
Road State – Road State
CAV State – CAV State
AMS Data – AMS Data
Ego-Remote AMS Message – Ego-Remote AMS Message		 Ego-Remote AMS Message – Ego-Remote AMS Message
Full Environment Descriptors – Full Environment Descriptors
Route Selection Planning Basic Offline Map Object – Basic Offline Map Object
Full Environment Descriptors – Full Environment Descriptors
AMS Data – AMS Data
AMS-HCI Message Request – AMS-HCI Message
Route – Route
Route Request – Interaction		 AMS-HCI Message Response – AMS-HCI Message
Route Response – Interaction
AMS Data – AMS Data
Route – Route
Trajectory Planning and Decision Basic Offline Map Object – Basic Offline Map Object
AMS Data – AMS Data
Alert – Alert
AMS-MAS Message Response – AMS-MAS Message
Full Environment Descriptors – Full Environment Descriptors
Route Response – Interaction		 Route Request – Interaction
Full Environment Descriptors – Full Environment Descriptors
AMS-MAS Message Request – AMS-MAS Message
Path – Path
CAV State – CAV State
Road State – Road State
AMS Data – AMS Data
AMS Memory Full Environment Descriptors – Full Environment Descriptors
Route – Route
Path – Path
Trajectory – Trajectory
Alert – Alert
Road State – Road State
CAV State – CAV State
AMS-MAS Message Request – AMS-MAS Message
AMS Data – AMS Data
AMS Data – AMS Data		 AMS Data – AMS Data

4.4 AIMs and JSON Metadata

Table 4 gives the AIMs and their JSON Metadata.

Table 4 – AIMs and JSON Metadata

AIM Name JSON
CAV-AMS Autonomous Motion Subsystem AutonomousMotionSubsystem.json
CAV-FED Full Environment Description FullEnvironmentDescription.json
CAV-RSP Route Selection Planning RouteSelectionPlanning.json
CAV-TPD Trajectory Planning and Decision TrajectoryPlanningAndDecision.json
CAV-AMM AMS Memory AMSMemory.json

5 JSON Metadata

https://schemas.mpai.community/CAV2/V2.0/AIMs/AutonomousMotionSubsystem.json

6 Profiles

No Profiles.

7 Reference Software

The reference software implements every Sub-AIM of the AMS, run continuously, recording Always. 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 end to end on perfect perception and with the Environment Sensing Subsystem; in dialogue with Human-CAV Interaction; with two CAVs exchanging what they perceive.

8 Conformance Testing

Table 5 provides the Conformance Testing Method for the Autonomous Motion Subsystem (CAV-AMS) 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.

Table 5 – Conformance Testing Method for the Autonomous Motion Subsystem (CAV-AMS) AIM

Receives Basic Environment Descriptors Shall validate against the Basic Environment Descriptors schema.
Basic Offline Map Object Shall validate against the Basic Offline Map Object schema.
AMS-HCI Message Request Shall validate against the AMS-HCI Message schema.
Alert Shall validate against the Alert schema.
AMS-MAS Message Response Shall validate against the AMS-MAS Message schema.
Ego-Remote AMS Message Shall validate against the Ego-Remote AMS Message schema.
Produces AMS-HCI Message Response Shall validate against the AMS-HCI Message schema.
AMS-MAS Message Request Shall validate against the AMS-MAS Message schema.
AMS Data Shall validate against the AMS Data schema.
Ego-Remote AMS Message Shall validate against the Ego-Remote AMS Message schema.

9 Performance Assessment