Go to CAV-TEC V2.0 Data Types

Definition
Functional Requirements
Syntax
Semantics
Conformance
Performance

1 Definition

A Motor Command is a directive issued by the Motion Actuation Subsystem to a traction or steering motor of a Connected Autonomous Vehicle (CAV). It defines what the motor shall achieve – typically expressed as target velocity, torque, or position – together with when and how to apply the command.

MPAI‑CAV deployments increasingly rely on motors requiring richer descriptions:

  • Precise torque envelopes.
  • State‑dependent limits.
  • Health and temperature awareness.
  • Actuator‑side feedback expectations.
  • Safety overrides.

2 Functional Requirements

A Motor Command shall:

  • Identify the Command and Motor – Include unique identifiers for the command lifecycle and the target Motor.
  • Support Multi‑Mode Actuation – Express control in velocity, torque, acceleration, or position, depending on motor type.
  • Provide Timing Information – Include the intended moment of application, duration, or scheduling within the control cycle.
  • Support Safety‑Aware Execution – Incorporate optional limits and safety thresholds (current, temperature, torque caps).
  • Allow Explicit Control Profiles – Enable multi‑phase envelopes (e.g., ramp‑up, hold, ramp‑down).
  • Include Optional Predictive Control Parameters – Such as feed‑forward torque correction or expected load compensation.
  • Support Data Exchange and Traceability – Provide standard MPAI‑PTF Data Exchange Metadata for logging and system verification.
  • Be Forward‑Compatible – Allow future additions without breaking existing deployments via optional fields.

3 Syntax

https://schemas.mpai.community/CAV2/V2.0/data/MotorCommand.json

4 Semantics

Table 1 specifies the semantics of the Motor Command Data Type.

Table 1 – Semantics of the Motor Command Data Type

Label Type Req. Description
Header string (CAV-MRC-V2.0) Yes Motor Command Header – Standard CAV-MRC-Vx.y
MInstanceID string Identifier of the M-Instance (Virtual Space) associated with this Motor Command.
UEnvironmentID string Identifier of the U-Environment (Real Space) associated with this Motor Command.
MotorCommandID string Yes Unique identifier of this Motor Command instance.
MotorCommandTime Simple Time Time this Motor Command was produced.
MotorCommandSpaceTime Simple Time Space/Time where/when this Motor Command applies.
MotorID string Yes Identifier of the motor to which this command is addressed.
MotorCommand object Yes Set of Motor Command parameters.
MotorCommand.ControlMode string Yes Specifies which control modality is active. One of: velocity, torque, position, acceleration.
MotorCommand.MotorCommandTime Simple Time Yes Time interval during which the command shall be applied.
MotorCommand.TargetVelocity number Target motor output velocity (m/s). Valid when ControlMode = velocity.
MotorCommand.TargetTorque number Target motor torque (N·m). Valid when ControlMode = torque.
MotorCommand.TargetPosition number Target shaft or steering position (radians or degrees). Valid when ControlMode = position.
MotorCommand.TargetAcceleration number Target acceleration (m/s²). Valid when ControlMode = acceleration.
MotorCommand.ControlProfile[] object [] Optional multi-phase actuation profile (ramp-up, hold, ramp-down).
MotorCommand.ControlProfile[].Phase string Yes Phase of the actuation profile. One of: ramp-up, hold, ramp-down.
MotorCommand.ControlProfile[].Duration number Yes Duration of this phase in seconds.
MotorCommand.ControlProfile[].Velocity number Target velocity for this phase (m/s).
MotorCommand.ControlProfile[].Torque number Target torque for this phase (N·m).
MotorCommand.ControlProfile[].Acceleration number Target acceleration for this phase (m/s²).
MotorCommand.SafetyLimits object Optional safety envelope for this command.
MotorCommand.SafetyLimits.MaxCurrent number Maximum allowable motor current (A).
MotorCommand.SafetyLimits.MaxTemperature number Maximum allowable motor temperature (°C).
MotorCommand.SafetyLimits.MaxTorque number Maximum allowable torque (N·m).
MotorCommand.HealthAwareness object Optional health-aware parameters for this command.
MotorCommand.HealthAwareness.ThermalDerating boolean Indicates whether thermal derating mode is active.
MotorCommand.HealthAwareness.ExpectedLoad number Estimated load to be compensated (N·m or kg).
MotorCommand.HealthAwareness.MotorStateHint string Optional hint from the motor-health subsystem.
DataXMData Data Exchange Metadata MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this Motor Command in a trusted data exchange context.
DescrMetadata string Human-readable descriptive metadata of the Motor Command (plain text, max 2048 characters).

5 Conformance Testing

Data conform to the Motor Command Data Type when they validate against its schema. If the schema references other schemas, data referencing a secondary schema shall also validate against that schema, if present, and conform with the Qualifier, if present.

6 Performance Assessment