1 Functions
The Trajectory Planning and Decision (CAV-TPD) AIM:
| Receives | AMS Data | Data collected by AMS Memory. |
| Alert | Alert message form ESS.. | |
| CAV State | From AMS-MAS Message Issuance. | |
| Road State | From AMS-MAS Message Issuance. | |
| Full Environment Descriptors | From Full Environment Description. | |
| Route | From Route Selection Planning. | |
| Produces | Trajectory (TOA) | From Traffic Obstacle Avoider. |
| Trajectory (MSP) | From Motion Selection Planning. | |
| Path | From Path Selection Planning. |
2 Reference Architecture
Figure 1 depicts the Reference Architecture of the Trajectory Planning and Decision (CAV-TPD) AIM.
Figure 1 – The Trajectory Planning and Decision (CAV-TPD) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the Trajectory Planning and Decision (CAV-TPD) AIM.
Table 1 – I/O Data of the Trajectory Planning and Decision (CAV-TPD) AIM
| Input | Description |
| AMS Data | Data collected by AMS Memory. |
| Alert | Alert message form ESS. |
| AMS-MAS Message | Response from MAS. |
| Full Environment Descriptors | From Full Environment Description. |
| Route | From Route Selection Planning. |
| Output | Description |
| AMS-MAS Message | Message to MAS. |
| CAV State | Update from AMS-MAS Message. |
| Road State | Update from AMS-MAS Message. |
| Alert | Alert for storage in AMS Memory |
| Trajectory | From Motion Selection Planning. |
| Path | From Path Selection Planning. |
4 SubAIMs
Trajectory Planning and Decision (CAV-TPD) AIM is a Composite AIM whose reference Model is depicted in Figure 2.
Figure 2 – Reference Model of Trajectory Planning and Decision (CAV-TPD) Composite AIM
The AIMs composing the Trajectory Planning and Decision (CAV-TPD) Composite AIM are:
| Composite AIM | AIM | Name | JSON |
| CAV-TPD | CAV-TPD | Trajectory Planning and Decision | X |
| CAV-PSP | Path Selection Planning | X | |
| CAV-MSP | Motion Selection Planning | X | |
| CAV-TOA | Traffic Obstacle Avoidance | X |
5 JSON Metadata
https://schemas.mpai.community/CAV2/V1.0/AIMs/TrajectoryPlanningAndDecision.json
6 Profiles
No Profiles
