1 Functions
The AMS Decision Recording (CAV-ADR) AIM:
| Receives | Route | From Route Selection Planning |
| Path | From Path Selection Planning | |
| Trajectory (MSP) | From Motion Selection Planning | |
| Trajectory (TOA) | From Traffic Obstacle Avoidance | |
| AMS-MAS Message | From AMS-MAS Message Issuance, including sent and received messages | |
| Full Environment Descriptors | From Full Environment Description | |
| Produces | AMS Recording Data | To external processing. |
2 Reference Architecture
Figure 1 depicts the Reference Architecture of the AMS Decision Recording AIM.
Figure 1 – The AMS Decision Recording AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the AMS Decision Recording AIM.
Table 1 – I/O Data of the AMS Decision Recording AIM
| Input | Description |
| Route | From CAV-FED AIM. |
| Path | Form CAV-PSP. |
| Trajectory (MSP) | From CAV-MSP. |
| Trajectory (TOA) | From CAV-TOA |
| Road State | From CAV-AMI. |
| AMS-MAS Message | To/from Motion Actuation SubSystem. |
| Output | Description |
| AMS Recording Data | AMS Recording Data for use by external Device. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V1.0/AIMs/AMSDecisionRecording.json
6 Profiles
No Profiles
