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Definition
Functional Requirements
Syntax
Semantics
Conformance Testing
Performance Assessment

1      Definition

A Motor Response is the signal produced by a Motor in a Connected Autonomous Vehicle (CAV) after receiving a Motor Command from the Motion Actuation Subsystem. It indicates actual motor behaviour, including achieved velocity, torque, position, operational state, health indicators, thermal status, and anomalies.

2      Functional Requirements

A Motor Response shall:

  1. Identify the Response and Motor – Provide unique identifiers enabling tracking within the Actuation Subsystem.
  2. Report Actual Achieved Values – Include measured velocity, torque, position, and acceleration as applicable to motor type.
  3. Return Timing Information – Indicate when the measurement was taken.
  4. Expose Motor State – Report the motor operational state (active, idle, saturated, derated, faulted).
  5. Include Health and Temperature Indicators – Report thermal and electrical stress affecting performance.
  6. Expose Anomalies – Report sensor faults, overloads, or deviations from expected behaviour.
  7. Support Traceability – Provide MPAI‑PTF Data Exchange Metadata for verification and audit.

3      Syntax

https://schemas.mpai.community/CAV2/V1.1/data/MotorResponse.json

4      Semantics

Table 1 – Semantics of the Motor Response Data Type

Label
Description
Header Motor Response Header – Standard “CAV‑MRP‑Vx.y”.
MInstanceID Identifier of the M-Instance (Virtual Space) associated with this Motor Response.
UEnvironmentID Identifier of the U-Environment (Real Space) associated with this Motor Response.
MotorResponseID Unique identifier of this Motor Response instance.
MotorResponseTime Time this Motor Response was produced.
MotorResponseSpaceTime Space/Time where/when this Motor Response applies.
MotorID Identifier of the motor producing this response.
MotorState Operational state of the motor (e.g., active, idle, derated, fault).
AchievedVelocity Velocity actually reached at MotorResponseTime (m/s).
AchievedTorque Torque actually delivered by the motor (N·m).
AchievedPosition Shaft or steering position measured at response time (radians or degrees).
AchievedAcceleration Acceleration measured at response time (m/s²).
MotorTemperature Temperature of motor windings or housing (°C).
CurrentDraw Electrical current drawn by the motor at response time (A).
DeratingActive Indicates whether thermal or current derating mode is active.
AnomalyFlags Set of flags indicating detected anomalies.
    – SensorFault Indicates a motor sensor fault.
    – Overload Indicates the motor is in an overload condition.
    – ThermalWarning Indicates a thermal warning has been triggered.
    – UnexpectedBehavior Indicates deviation from expected motor behaviour.
DataXMData MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this Motor Response in a trusted data exchange context.
DescrMetadata Human-readable descriptive metadata of the Motor Response (plain text, max 2048 characters).

5      Conformance Testing

A Data instance conforms with Motor Response (CAV‑MTR) if:

  1. The Data validates against the Motor Response’s JSON Schema.
  2. All Data in the Motor Response’s JSON Schema:
    1. Have the specified type.
    2. Validate against their JSON Schemas.
    3. Conform with their Data Qualifiers.

6      Performance Assessment

Not part of this specification.

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