1       Definition

The specific command issued by the Motion Actuation Subsystem to a Brake to execute an AMS-MAS Message.

2       Functional Requirements

A Brake Command is expressed in m/s2 and duration in second.

3       Syntax

https://schemas.mpai.community/OSD/V1.1/data/Time.json

https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json

4       Semantics

Label Size Description
Header N1 Bytes
·         Standard 9 Bytes The characters “CAV-BRC-V”
·         Version N2 Bytes Major version – 1 or 2 Bytes
·         Dot-separator 1 Byte The character “.”
·         Subversion N3 Bytes Minor version – 1 or 2 Bytes
BrakeID N4 Bytes Identifier of Brake.
BrakeCommandDuration N5 Bytes Duration of set of BrakeCommands.
BrakeFormatID N6 Bytes Format ID of BrakeCommand.
BrakeCommands N7 Bytes Set of BrakeCommand.
·         Duration N8 Bytes Duration of BrakeCommand.
·         SpatialAttitude N9 Bytes Initial Spatial Attitude of CAV.
·         BrakeCommandID N10 Bytes Deceleration in m/s2 passed to Brake.
DescrMetadata N11 Bytes Descriptive Metadata

5       Data Formats and Attitudes

Brake Format is required.

6       To Respondents

Respondents are requested to propose Brake Format IDs.