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Definition
Functional Requirements
Syntax
Semantics
Conformance Testing
Performance Assessment

1    Definition

Wheel Response is a Data Type representing the measured state and condition of a specific wheel of the Connected Autonomous Vehicle in response to a steering command, including angle, steering rate, actuator load, temperature, and anomaly flags.

2    Functional Requirements

A Wheel Response instance shall include:

  1. The identifier of the wheel reporting the response.
  2. The current state of the wheel.
  3. The measured steering angle.

A Wheel Response instance may include:

  1. The measured angular steering rate.
  2. The estimated actuator load or torque.
  3. The temperature of the steering actuator.
  4. Anomaly flags indicating fault conditions.

3    Syntax

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

4    Semantics

Table 1 – Semantics of the Wheel Response Data Type

Label Description
Header Wheel Response Header – Standard “CAV-WHR-Vx.y”.
MInstanceID Identifier of the M-Instance (Virtual Space) associated with this Wheel Response instance.
WheelResponseID Unique identifier of this Wheel Response instance.
WheelID Identifier of the wheel reporting the response.
WheelResponseTime Time this Wheel Response instance was produced.
WheelResponse Set of measured wheel response parameters.
– WheelState Current state of the wheel.
– WheelAngle Measured steering angle in degrees (–90 to +90).
– SteeringRate Measured angular steering rate in degrees per second.
– ActuatorLoad Estimated steering actuator load or torque (Nm).
– Temperature Temperature of the steering actuator (°C).
– AnomalyFlags Anomaly flags indicating fault conditions of the steering actuator.
  – SensorFault Indicates a sensor fault condition.
  – MechanicalStopProximity Indicates proximity to the mechanical steering stop.
  – Overload Indicates an actuator overload condition.
  – UnexpectedBehavior Indicates unexpected steering behaviour.
  – CommunicationFault Indicates a communication fault condition.
DataXMData MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this Wheel Response instance in a trusted data exchange context.
DescrMetadata Human-readable descriptive metadata of the Wheel Response instance (plain text, max 2048 characters).

5    Conformance Testing

A Data instance conforms with Wheel Response (CAV-WHR) if:

  1. The Data validates against the Wheel Response JSON Schema.
  2. All Data in the Wheel Response 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.

Go to CAV-TEC V1.1 Data Types