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 behavior, 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: Motor operational state (active, idle, saturated, derated, faulted).
  5. Include Health and Temperature Indicators: Because thermal and electrical stress directly affect performance.
  6. Expose Anomalies: Report sensor faults, overloads, or deviations from expected behavior.
  7. Support Traceability: Provide trace metadata for verification and audit, consistent with AIF conventions.

 3   Syntax

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

 4   Semantics

Label Description
Header Motor Response Header — “CAV‑MRP‑Vx.y” (x.y = version).
MotorResponseID ID of the Motor Response instance.
MotorID Identifier of the Motor producing the response.
MotorResponseTime Time at which the response measurement was taken.
MotorState Operating state of the motor (e.g., active, idle, derated, fault).
AchievedVelocity Velocity actually reached at MotorResponseTime.
AchievedTorque Torque actually delivered by the motor.
AchievedPosition Shaft/steering position measured at response time.
AchievedAcceleration Acceleration measured at response time.
MotorTemperature Temperature (°C) of motor windings or housing.
CurrentDraw Electrical current drawn by the motor at response time.
DeratingActive Indicates thermal/current derating mode is active.
AnomalyFlags Set of booleans indicating issues (sensor fault, overload, deviation, etc.).
DataExchangeMetadata Metadata about data exchange context (AIF V3.0).
Trace Trace information enabling reproducibility of processing (AIF V3.0).
DescrMetadata Optional descriptive metadata.