Go to CAV-TEC V2.0 Data Types

Definition
Functional Requirements
Syntax
Semantics
Conformance
Performance

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:

  • The identifier of the wheel reporting the response.
  • The current state of the wheel.
  • The measured steering angle.

A Wheel Response instance may include:

  • The measured angular steering rate.
  • The estimated actuator load or torque.
  • The temperature of the steering actuator.
  • Anomaly flags indicating fault conditions.

3 Syntax

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

4 Semantics

Table 1 specifies the semantics of the Wheel Response Data Type.

Table 1 – Semantics of the Wheel Response Data Type

Label Type Req. Description
Header string (CAV-WHR-V2.0) Yes Wheel Response Header – Standard CAV-WHR-Vx.y.
MInstanceID string Identifier of the M-Instance (Virtual Space) associated with this Wheel Response instance.
WheelResponseID string Yes Unique identifier of this Wheel Response instance.
WheelID string Yes Identifier of the wheel reporting the response.
WheelResponseTime Simple Time Yes Time this Wheel Response instance was produced.
WheelResponse object Yes Set of measured wheel response parameters.
WheelResponse.WheelState Wheel States Yes Current state of the wheel.
WheelResponse.WheelAngle number Yes Measured steering angle in degrees (-90 to +90).
WheelResponse.SteeringRate number Measured angular steering rate in degrees per second.
WheelResponse.ActuatorLoad number Estimated steering actuator load or torque (N·m).
WheelResponse.Temperature number Temperature of the steering actuator (°C).
WheelResponse.AnomalyFlags object Anomaly flags indicating fault conditions of the steering actuator.
WheelResponse.AnomalyFlags.SensorFault boolean Indicates a sensor fault condition.
WheelResponse.AnomalyFlags.MechanicalStopProximity boolean Indicates proximity to the mechanical steering stop.
WheelResponse.AnomalyFlags.Overload boolean Indicates an actuator overload condition.
WheelResponse.AnomalyFlags.UnexpectedBehavior boolean Indicates unexpected steering behaviour.
WheelResponse.AnomalyFlags.CommunicationFault boolean Indicates a communication fault condition.
DataXMData Data Exchange Metadata 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 string Human-readable descriptive metadata of the Wheel Response instance (plain text, max 2048 characters).

5 Conformance Testing

Data conform to the Wheel Response 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