1 Functions
The Traffic Obstacle Avoidance (CAV-TOA) AIM:
| Receives | Full Environment Descriptors | From Full Environment Description |
| Alert | Alert message form AMS. | |
| Trajectory | From Motion Selection Planning. | |
| Road State | From AMS Command Issuance. | |
| Produces | Trajectory | To AMS Command Issuance and AMS. Decision Recording. |
| Alert | To AMS Decision Recording. |
2 Reference Architecture
Figure 1 depicts the Reference Architecture of the Traffic Obstacle Avoidance AIM.
Figure 1 – The Traffic Obstacle Avoidance AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the Motion Selection Planning AIM.
Table 1 – I/O Data of the Traffic Obstacle Avoidance AIM
| Input | Description |
| Full Environment Descriptors | Provided by CAV-FED AIM. |
| Trajectory | From Motion Selection Planning. |
| Road State | From AMS Command Issuance. |
| Alert | From AMS Message Issuance |
| Output | Description |
| Trajectory | Passed to the AMS Decision Recording AIM. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV1/V1.1/AIMs/TrafficObstacleAvoidance.json
6 Profiles
No Profiles
