1   Definition

HCI-AMS Messages are exchanged between the Human-CAV Interaction Subsystem (HCI) and the Autonomous Motion Subsystem (AMS) of the Ego CAV.

2   Functional Requirements

HCI sends Messages requesting the AMS  to:

  1. Send
    1. A Route connecting the current and the destination Pose including stops and desired times.
    2. Route selected
    3. One of the following Commands:
      1. Execute a Route.
      2. Suspend a Route.
      3. Resume a Route.
      4. Change a Route.
      5. Stop a Route.
  2. Stream the M-Location corresponding to the U-Location specified by the human.

AMS sends Messages to HCI to:

  1. Provide a list of Route options in response to an HCI-AMS Message requesting it.
  2. Send information, such as:
    1. Route State.
    2. CAV State.
    3. Failure ID of equipment.

The message set is extensible.

3   Syntax

https://schemas.mpai.community/CAV2/V1.0/data/AMSHCIMessage.json

4   Semantics

Label Size Description
Header N1 Bytes AMS-HCI Message Header
– Standard-AMSHCIMessage 9 Bytes The characters “CAV-AHM-V”
– Version N2 Bytes Major version – 1 or 2 Bytes
– Dot-separator 1 Byte The character “.”
– Subversion N3 Bytes Minor version – 1 or 2 Bytes
AMSHCIMessageID N4 Bytes Identifier of AMS-HCI Message.
HCIMessageData N4 Bytes Data in HCI to AMS Message.
– RequestedRoute N5 Bytes Requested Route with Stops
– SelectedRoute N6 Bytes ID of Route
– RouteCommands N7 Bytes “Execute”, “Suspend”, “Resume”, “Change”
– StreamPointOfView N8 Bytes Coordinates of Point from where to watch environment
AMSMessageData N9 Bytes Data in AMS to HCI Message.
– RouteList N10 Bytes List of Routes
– FailureID N11 Bytes CAV Failure ID.
– CAVState N12 Bytes CAV State information.
– RoadState N13 Bytes Road State information.
DescrMetadata N14 Bytes ID of AMS Messages